Implemented a thruster hardware interface and manager (#5)

* Started thruster hardware

* Implemented initial version of thruster hardware interface

* Added a few notes for future work

* Added commented out code from initial testing

* Working state for thruster hardware

* Finished last bit of todos

* Updated CI/CD to reflect project structure

* Added simple ardusub manager

* Fixed ardusub manager build

* Fixed bug in parameters

* Started thruster hardware docs

* cleaned up command interfaces section and specified required mavros plugin

* Fixed grammatical error

* Added manager readme

* Added top level readme

* Added missing mavros link

* cleanup

* Fixed grammatical errors in ardusub manager readme

* Noted the support for simulation and hardware deployment

* Fixed linting error

.clang-tidy

@@ -26,117 +26,42 @@ Checks: >
   -bugprone-implicit-widening-of-multiplication-result,
   -clang-diagnostic-error,
   -bugprone-exception-escape,
-  -misc-include-cleaner
+  -misc-include-cleaner,
+  -bugprone-reserved-identifier
 WarningsAsErrors: "*"
 CheckOptions:
   - key: readability-braces-around-statements.ShortStatementLines
     value: "2"
   - key: readability-identifier-naming.NamespaceCase
     value: lower_case
-  - key: readability-identifier-naming.ClassCase
+  # type names
+  - key:   readability-identifier-naming.ClassCase
     value: CamelCase
-  - key: readability-identifier-naming.StructCase
+  - key:   readability-identifier-naming.StructCase
     value: CamelCase
-  - key: readability-identifier-naming.TemplateParameterCase,
-    value: CamelCase,
-  - key: readability-identifier-naming.FunctionCase
-    value: lower_case
-  - key: readability-identifier-naming.MethodCase
-    value: lower_case
-  - key: readability-identifier-naming.VariableCase
-    value: lower_case
-  - key: readability-identifier-naming.ClassMemberCase
-    value: lower_case
-  - key: readability-identifier-naming.ClassMemberSuffix
-    value: _
-  - key: readability-identifier-naming.PrivateMemberSuffix
-    value: _
-  - key: readability-identifier-naming.ProtectedMemberSuffix
-    value: _
-  - key: readability-identifier-naming.EnumConstantCase
-    value: CamelCase
-  - key: readability-identifier-naming.EnumConstantPrefix
-    value: k
-  - key: readability-identifier-naming.ConstexprVariableCase
-    value: CamelCase
-  - key: readability-identifier-naming.ConstexprVariablePrefix
-    value: k
-  - key: readability-identifier-naming.GlobalConstantCase
+  - key:   readability-identifier-naming.EnumCase
     value: CamelCase
-  - key: readability-identifier-naming.GlobalConstantPrefix
-    value: k
-  - key: readability-identifier-naming.StaticConstantCase
+  - key:   readability-identifier-naming.UnionCase
     value: CamelCase
-  - key: readability-identifier-naming.StaticConstantPrefix
-    value: k
----
-Checks: >
-  -*,
-  abseil-*,
-  bugprone-*,
-  google-*,
-  misc-*,
-  modernize-*,
-  performance-*,
-  portability-*,
-  readability-*,
-  -google-readability-braces-around-statements,
-  -google-readability-namespace-comments,
-  -google-runtime-references,
-  -misc-non-private-member-variables-in-classes,
-  -modernize-return-braced-init-list,
-  -modernize-use-trailing-return-type,
-  -readability-braces-around-statements,
-  -readability-identifier-length,
-  -readability-magic-numbers,
-  -readability-named-parameter,
-  -readability-redundant-declaration,
-  -readability-function-cognitive-complexity,
-  -bugprone-narrowing-conversions,
-  -bugprone-easily-swappable-parameters,
-  -bugprone-implicit-widening-of-multiplication-result,
-  -clang-diagnostic-error,
-  -bugprone-exception-escape,
-  -misc-include-cleaner
-WarningsAsErrors: "*"
-CheckOptions:
-  - key: readability-braces-around-statements.ShortStatementLines
-    value: "2"
-  - key: readability-identifier-naming.NamespaceCase
-    value: lower_case
-  - key: readability-identifier-naming.ClassCase
-    value: CamelCase
-  - key: readability-identifier-naming.StructCase
-    value: CamelCase
-  - key: readability-identifier-naming.TemplateParameterCase,
-    value: CamelCase,
-  - key: readability-identifier-naming.FunctionCase
+  # function names
+  - key:   readability-identifier-naming.FunctionCase
     value: lower_case
-  - key: readability-identifier-naming.MethodCase
+  # method names
+  - key:   readability-identifier-naming.MethodCase
     value: lower_case
-  - key: readability-identifier-naming.VariableCase
+  # variable names
+  - key:   readability-identifier-naming.VariableCase
     value: lower_case
-  - key: readability-identifier-naming.ClassMemberCase
-    value: lower_case
-  - key: readability-identifier-naming.ClassMemberSuffix
-    value: _
-  - key: readability-identifier-naming.PrivateMemberSuffix
-    value: _
-  - key: readability-identifier-naming.ProtectedMemberSuffix
-    value: _
-  - key: readability-identifier-naming.EnumConstantCase
-    value: CamelCase
-  - key: readability-identifier-naming.EnumConstantPrefix
-    value: k
-  - key: readability-identifier-naming.ConstexprVariableCase
-    value: CamelCase
-  - key: readability-identifier-naming.ConstexprVariablePrefix
-    value: k
-  - key: readability-identifier-naming.GlobalConstantCase
-    value: CamelCase
-  - key: readability-identifier-naming.GlobalConstantPrefix
-    value: k
-  - key: readability-identifier-naming.StaticConstantCase
-    value: CamelCase
-  - key: readability-identifier-naming.StaticConstantPrefix
-    value: k
+  - key:   readability-identifier-naming.PrivateMemberSuffix
+    value: "_"
+  - key:   readability-identifier-naming.ProtectedMemberSuffix
+    value: "_"
+  # const, static, or global variables
+  - key:   readability-identifier-naming.EnumConstantCase
+    value: UPPER_CASE
+  - key:   readability-identifier-naming.StaticConstantCase
+    value: UPPER_CASE
+  - key:   readability-identifier-naming.GlobalConstantCase
+    value: UPPER_CASE
+  - key:   readability-identifier-naming.ClassConstantCase
+    value: UPPER_CASE

.devcontainer/nouveau/Dockerfile

@@ -9,8 +9,6 @@ WORKDIR $USER_WORKSPACE
 
 COPY --chown=$USER_UID:$USER_GID . src/$PROJECT_NAME
 
-RUN ls src/$PROJECT_NAME
-
 RUN sudo apt-get -q update \
     && sudo apt-get -q -y upgrade \
     && rosdep update \
@@ -19,11 +17,6 @@ RUN sudo apt-get -q update \
     && sudo apt-get clean -y \
     && sudo rm -rf /var/lib/apt/lists/*
 
-# Install debugging/linting Python packages
-COPY --chown=$USER_UID:$USER_GID requirements-dev.txt .
-RUN python3 -m pip install -r requirements-dev.txt \
-    && rm -rf requirements-dev.txt
-
 # Disable the setuputils installation warning
 # This prevents us from needing to pin the setuputils version (which doesn't always work)
 ENV PYTHONWARNINGS="ignore"

.devcontainer/nouveau/devcontainer.json

@@ -24,17 +24,13 @@
     "vscode": {
       "extensions": [
         "ms-azuretools.vscode-docker",
-        "ms-python.python",
-        "njpwerner.autodocstring",
         "ms-vscode.cpptools",
         "redhat.vscode-xml",
         "redhat.vscode-yaml",
         "smilerobotics.urdf",
         "DavidAnson.vscode-markdownlint",
         "esbenp.prettier-vscode",
-        "xaver.clang-format",
-        "charliermarsh.ruff",
-        "ms-python.black-formatter"
+        "xaver.clang-format"
       ]
     }
   }

.devcontainer/nvidia/Dockerfile

@@ -9,8 +9,6 @@ WORKDIR $USER_WORKSPACE
 
 COPY --chown=$USER_UID:$USER_GID . src/$PROJECT_NAME
 
-RUN ls src/$PROJECT_NAME
-
 RUN sudo apt-get -q update \
     && sudo apt-get -q -y upgrade \
     && rosdep update \
@@ -19,11 +17,6 @@ RUN sudo apt-get -q update \
     && sudo apt-get clean -y \
     && sudo rm -rf /var/lib/apt/lists/*
 
-# Install debugging/linting Python packages
-COPY --chown=$USER_UID:$USER_GID requirements-dev.txt .
-RUN python3 -m pip install -r requirements-dev.txt \
-    && rm -rf requirements-dev.txt
-
 # Disable the setuputils installation warning
 # This prevents us from needing to pin the setuputils version (which doesn't always work)
 ENV PYTHONWARNINGS="ignore"

.devcontainer/nvidia/devcontainer.json

@@ -28,17 +28,13 @@
     "vscode": {
       "extensions": [
         "ms-azuretools.vscode-docker",
-        "ms-python.python",
-        "njpwerner.autodocstring",
         "ms-vscode.cpptools",
         "redhat.vscode-xml",
         "redhat.vscode-yaml",
         "smilerobotics.urdf",
         "DavidAnson.vscode-markdownlint",
         "esbenp.prettier-vscode",
-        "xaver.clang-format",
-        "charliermarsh.ruff",
-        "ms-python.black-formatter"
+        "xaver.clang-format"
       ]
     }
   }

.docker/Dockerfile

@@ -37,7 +37,7 @@ RUN apt-get -q update \
     && apt-get clean -y \
     && rm -rf /var/lib/apt/lists/*
 
-FROM ci as robot
+FROM ci as desktop
 
 # Configure a new non-root user
 ARG USERNAME=ros
@@ -61,9 +61,6 @@ WORKDIR $USER_WORKSPACE
 
 COPY --chown=$USER_UID:$USER_GID . src/$PROJECT_NAME
 
-# Uncomment to download and install external repos used by the project
-# RUN vcs import src < src/$PROJECT_NAME/ros2.repos
-
 # Install all ROS dependencies
 WORKDIR $USER_WORKSPACE
 RUN sudo apt-get -q update \
@@ -80,39 +77,6 @@ RUN . "/opt/ros/${ROS_DISTRO}/setup.sh" \
     && echo "source ${USER_WORKSPACE}/install/setup.bash" >> /home/$USERNAME/.bashrc \
     && echo "if [ -f /opt/ros/${ROS_DISTRO}/setup.bash ]; then source /opt/ros/${ROS_DISTRO}/setup.bash; fi" >> /home/$USERNAME/.bashrc
 
-FROM robot as desktop
-
-ENV DEBIAN_FRONTEND=noninteractive
-ENV USER_WORKSPACE=/home/$USERNAME/ws_ros
-WORKDIR $USER_WORKSPACE
-
-# Install tools needed for Gazebo installation
-RUN sudo apt-get -q update \
-    && sudo apt-get -q -y upgrade \
-    && sudo apt-get install -y \
-    lsb-release \
-    wget \
-    gnupg \
-    && sudo apt-get autoremove -y \
-    && sudo apt-get clean -y \
-    && sudo rm -rf /var/lib/apt/lists/*
-
-# Set to the desired version of Gazebo
-# Refer to the official documentation for the recommended pairings:
-# https://gazebosim.org/docs/harmonic/ros_installation
-ENV GAZEBO_VERSION=harmonic
-
-RUN sudo wget https://packages.osrfoundation.org/gazebo.gpg -O /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg \
-    && echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null \
-    && sudo apt-get -q update \
-    && sudo apt-get -q -y upgrade \
-    && sudo apt-get install -y \
-    gz-$GAZEBO_VERSION \
-    ros-$ROS_DISTRO-ros-gz$GAZEBO_VERSION \
-    && sudo apt-get autoremove -y \
-    && sudo apt-get clean -y \
-    && sudo rm -rf /var/lib/apt/lists/*
-
 FROM desktop as desktop-nvidia
 
 # Install NVIDIA software

.dockerignore

@@ -5,4 +5,4 @@
 !requirements-dev.txt
 
 # Allow your ROS 2 packages here, e.g.:
-!example_pkg
+!thruster_hardware

.github/workflows/docker.yml

@@ -55,54 +55,6 @@ jobs:
           labels: ${{ steps.meta.outputs.labels }}
           push: ${{ env.PUSH }}
 
-  robot:
-    strategy:
-      fail-fast: false
-      matrix:
-        ROS_DISTRO: [iron]
-    runs-on: ubuntu-latest
-    permissions:
-      packages: write
-      contents: read
-    steps:
-      - name: Checkout repository
-        uses: actions/checkout@v4
-
-      - name: Set up QEMU
-        uses: docker/[email protected]
-
-      - name: Set up Docker Buildx
-        uses: docker/setup-buildx-action@v3
-
-      - name: Log into registry
-        if: env.PUSH == 'true'
-        uses: docker/[email protected]
-        with:
-          registry: ghcr.io
-          username: ${{ github.actor }}
-          password: ${{ secrets.GITHUB_TOKEN }}
-
-      - name: Extract Docker metadata
-        if: env.PUSH == 'true'
-        id: meta
-        uses: docker/[email protected]
-        with:
-          images: ghcr.io/${{ github.repository }}
-          tags: |
-            type=raw,value=${{ matrix.ROS_DISTRO }}-${{ github.job }}
-
-      - name: Build and push Docker image
-        uses: docker/[email protected]
-        with:
-          context: .
-          file: .docker/Dockerfile
-          build-args: ROS_DISTRO=${{ matrix.ROS_DISTRO }}
-          target: ${{ github.job }}
-          tags: ${{ steps.meta.outputs.tags }}
-          labels: ${{ steps.meta.outputs.labels }}
-          push: ${{ env.PUSH }}
-          platforms: linux/amd64,linux/arm64
-
   desktop:
     strategy:
       fail-fast: false

.pre-commit-config.yaml

@@ -1,15 +1,4 @@
 repos:
-  - repo: https://github.com/psf/black
-    rev: 23.1.0
-    hooks:
-      - id: black
-
-  - repo: https://github.com/astral-sh/ruff-pre-commit
-    rev: v0.0.291
-    hooks:
-      - id: ruff
-        args: ["--fix", "--exit-non-zero-on-fix"]
-
   - repo: https://github.com/codespell-project/codespell
     rev: v2.2.4
     hooks:

.vscode/c_cpp_properties.json

@@ -5,7 +5,7 @@
       "includePath": [
         "${workspaceFolder}/**",
         "/opt/ros/iron/include/**",
-        "/usr/include/gz/**"
+        "/home/ros/ws_ros/**"
       ],
       "defines": [],
       "compilerPath": "/usr/bin/gcc",