Feature/cleanup 2d places

.cmake-format.yaml

@@ -1,3 +1,4 @@
+---
 parse:
   additional_commands:
     catkin_package:

.github/workflows/ci.yaml

@@ -1,7 +1,6 @@
 ---
-# based on https://github.com/actions/starter-workflows/blob/main/ci/cmake-single-platform.yml
 name: Hydra-ROS Build and Test
-on: {push: {branches: [main]}, pull_request: {branches: [main]}}
+on: {push: {branches: [main, develop]}, pull_request: {branches: [main, develop]}}
 jobs:
   ros2:
     runs-on: ubuntu-latest
@@ -19,7 +18,7 @@ jobs:
       - name: Dependencies
         run: |
           apt update && apt install -y python3-vcstool git ccache
-          vcs import src < src/hydra_ros/install/packages.yaml
+          vcs import src < src/hydra_ros/install/ci/${{ github.base_ref || github.ref_name }}.yaml
           rosdep update --rosdistro jazzy && rosdep install --rosdistro jazzy --from-paths src --ignore-src -r -y
       - name: Build
         shell: bash

.github/workflows/linting.yaml

@@ -1,6 +1,6 @@
 ---
 # based on https://github.com/actions/starter-workflows/blob/main/ci/cmake-single-platform.yml
-name: Hydra-ROS Linting
+name: Linting
 on: {push: {branches: [main, develop]}, pull_request: {}}
 jobs:
   lint:

.pre-commit-config.yaml

@@ -1,16 +1,26 @@
 ---
 # See https://pre-commit.com for more information
 # See https://pre-commit.com/hooks.html for more hooks
-exclude: .*\.tsv|\.clang-format
+exclude: .*\.tsv|\.clang-format|.*docker-compose.yml
 repos:
   - repo: https://github.com/pre-commit/pre-commit-hooks
-    rev: v3.2.0
+    rev: v6.0.0
     hooks:
       - id: trailing-whitespace
       - id: end-of-file-fixer
-      - id: check-yaml
       - id: check-added-large-files
   - repo: https://github.com/pre-commit/mirrors-clang-format
-    rev: v14.0.6
+    rev: v21.1.8
     hooks:
       - id: clang-format
+  - repo: https://github.com/astral-sh/ruff-pre-commit
+    rev: v0.14.14
+    hooks:
+      - {id: ruff, args: [--select, I, --fix]}
+      - id: ruff
+      - id: ruff-format
+  - repo: https://github.com/lyz-code/yamlfix
+    rev: 1.19.1
+    hooks:
+      - id: yamlfix
+        entry: env YAMLFIX_LINE_LENGTH=200 yamlfix

README.md

@@ -74,7 +74,7 @@ echo "build: {cmake-args: [-DCMAKE_BUILD_TYPE=Release]}" > colcon_defaults.yaml
 
 cd src
 git clone git@github.com:MIT-SPARK/Hydra-ROS.git hydra_ros
-vcs import . < hydra_ros/install/ros2.yaml
+vcs import . < hydra_ros/install/packages.yaml
 rosdep install --from-paths . --ignore-src -r -y
 
 cd ..

docker/README.md

@@ -60,9 +60,7 @@ Before using Docker, make sure to:
 
     cd src
     git clone https://github.com/MIT-SPARK/Hydra-ROS.git hydra_ros
-
-    #replace ros2.yaml with ros2_docker.yaml to use https
-    vcs import . < hydra_ros/install/ros2.yaml
+    vcs import . < hydra_ros/install/packages.yaml
     ```
 
 > :warning: **Warning**</br>
@@ -131,7 +129,7 @@ cd $WORKSPACE/src
 git clone https://github.com/stereolabs/zed-ros2-wrapper.git
 ```
 
-2. While the uhumans2 dataset has pre-segmented images, you must run semantic segmentation on the images. You can use [semantic_inference](https://github.com/MIT-SPARK/semantic_inference), which should already be installed via `ros2.yaml`. Download the default [pretrained model](https://drive.google.com/file/d/1XRcsyLSvqqhqNIaOI_vmqpUpmBT6gk9-/view?usp=drive_link) to the directory `$WORKSPACE/.models/`.
+2. While the uhumans2 dataset has pre-segmented images, you must run semantic segmentation on the images. You can use [semantic_inference](https://github.com/MIT-SPARK/semantic_inference), which should already be installed via `packages.yaml`. Download the default [pretrained model](https://drive.google.com/file/d/1XRcsyLSvqqhqNIaOI_vmqpUpmBT6gk9-/view?usp=drive_link) to the directory `$WORKSPACE/.models/`.
 
 3. (optional) To avoid re-optimizing the model when running the container, set the `ZED_CACHE` environment variable to mount a host directory for the zed cache:
 

hydra_ros/app/csv_to_tf

@@ -4,12 +4,11 @@
 import pathlib
 import sys
 
+import geometry_msgs.msg
 import rclpy
 import rclpy.node
 import rclpy.utilities
 import tf2_ros
-import geometry_msgs.msg
-
 
 DEFAULT_ORDER = ["x", "y", "z", "qw", "qx", "qy", "qz"]
 
@@ -58,7 +57,9 @@ class CsvToTf(rclpy.node.Node):
         self._stale_threshold = rclpy.duration.Duration(seconds=stale_threshold_s)
         lookahead_s = self._get_param("lookahead_s", 0.1).double_value
         self._lookahead = rclpy.duration.Duration(seconds=lookahead_s)
-        self.get_logger().info(f"offset: {self._offset}, lookahead: {self._lookahead}, stale: {self._stale_threshold}")
+        self.get_logger().info(
+            f"offset: {self._offset}, lookahead: {self._lookahead}, stale: {self._stale_threshold}"
+        )
 
         trajectory_file = self._get_param("trajectory_file", "").string_value
         if trajectory_file == "":

hydra_ros/app/dsg_republisher

@@ -1,9 +1,11 @@
 #!/usr/bin/env python3
 """Script that receives and republishes a dsg."""
-import hydra_ros
+
 import rclpy
 from rclpy.node import Node
 
+import hydra_ros
+
 
 class DsgRepublishNode(Node):
     """Node to republish a DSG."""

hydra_ros/app/noisy_tf_publisher

@@ -2,11 +2,10 @@
 
 import numpy as np
 import rclpy
-from rclpy.node import Node
-
 import tf2_ros
 from geometry_msgs.msg import TransformStamped
 from nav_msgs.msg import Odometry
+from rclpy.node import Node
 from scipy.spatial.transform import Rotation as R
 
 

hydra_ros/app/odom_to_tf

@@ -1,11 +1,11 @@
 #!/usr/bin/env python3
 """Broadcast a tf from odom."""
 
+import geometry_msgs.msg
+import nav_msgs.msg
 import rclpy
-from rclpy.node import Node
 import tf2_ros
-import nav_msgs.msg
-import geometry_msgs.msg
+from rclpy.node import Node
 
 
 class OdomToTf(Node):

hydra_ros/config/datasets/a1.yaml

@@ -1,3 +1,4 @@
+---
 map_frame: map
 odom_frame: cam_t265_odom_frame
 robot_frame: cam_d455_link

hydra_ros/config/datasets/kitti_360.yaml

@@ -12,7 +12,7 @@ input:
         min_range: $(arg sensor_min_range)
         max_range: $(arg sensor_max_range)
         is_asymmetric: true
-        horizontal_resolution: 0.16   # true resolution 0.08
+        horizontal_resolution: 0.16  # true resolution 0.08
         vertical_resolution: 0.41875  # true resolution 0.41875
         horizontal_fov: 360.0
         vertical_fov: 26.8

hydra_ros/config/datasets/zed2i.yaml

@@ -1,3 +1,4 @@
+---
 map_frame: map
 odom_frame: odom
 robot_frame: zed_camera_link

hydra_ros/config/sinks/mesh_segmenter_sinks.yaml

@@ -1,2 +1,3 @@
+---
 sinks:
   - type: ObjectVisualizer