Merge pull request #15 from mintar/add-precommit-checks

Add pre-commit checks

.flake8

@@ -0,0 +1,10 @@
+[flake8]
+# The line length here has to match the black config in pyproject.toml
+max-line-length = 120
+exclude =
+    .git,
+    __pycache__
+extend-ignore =
+    # See https://github.com/PyCQA/pycodestyle/issues/373
+    E203,
+    E741,

.mdl_style.rb

@@ -0,0 +1,26 @@
+# Style file for markdownlint
+
+all
+
+exclude_rule 'fenced-code-language' # Fenced code blocks should have a language specified
+exclude_rule 'first-line-h1' # First line in file should be a top level header
+
+exclude_rule 'ul-style'
+
+exclude_rule 'no-multiple-blanks'
+
+exclude_rule 'header-style'
+
+exclude_rule 'no-bare-urls'
+
+# Line lenght
+rule 'MD013', :line_length => 120, :code_blocks => false, :tables => false
+
+# Unordered list indentation
+rule 'MD007', :indent => 2
+
+# Ordered list item prefix
+rule 'MD029', :style => 'ordered'
+
+# Multiple headers with the same content
+rule 'no-duplicate-header', :allow_different_nesting => true

.mdlrc

@@ -0,0 +1,2 @@
+git_recurse true
+style ".mdl_style.rb"

.pre-commit-config.yaml

@@ -0,0 +1,73 @@
+# To use:
+#
+#     pre-commit run -a
+#
+# Or:
+#
+#     pre-commit install  # (runs every time you commit in git)
+#
+# To update this file:
+#
+#     pre-commit autoupdate
+#
+# See https://github.com/pre-commit/pre-commit
+
+repos:
+  # Standard hooks
+  - repo: https://github.com/pre-commit/pre-commit-hooks
+    rev: v4.1.0
+    hooks:
+      - id: check-added-large-files
+      - id: check-case-conflict
+      - id: check-executables-have-shebangs
+      - id: check-docstring-first
+      - id: check-merge-conflict
+      - id: check-shebang-scripts-are-executable
+      - id: check-symlinks
+      - id: check-vcs-permalinks
+      - id: check-xml
+      - id: check-yaml
+        exclude: mobipick_description/config/joint_limits.yaml
+      - id: debug-statements
+      - id: end-of-file-fixer
+        exclude: &excludes |
+          (?x)^(
+              .*\.blend|
+              .*\.dae|
+              .*\.mtl|
+              .*\.obj|
+              .*\.pgm|
+              .*\.step|
+              .*\.stl
+          )$
+      - id: fix-byte-order-marker
+      - id: mixed-line-ending
+        exclude: *excludes
+      - id: trailing-whitespace
+        exclude: *excludes
+
+  - repo: https://github.com/psf/black
+    rev: 22.3.0
+    hooks:
+      - id: black
+
+  - repo: https://github.com/PyCQA/flake8.git
+    rev: 5.0.4
+    hooks:
+    - id: flake8
+
+  - repo: https://github.com/markdownlint/markdownlint
+    rev: v0.11.0
+    hooks:
+    - id: markdownlint
+
+  - repo: local
+    hooks:
+      - id: catkin_lint
+        name: catkin_lint
+        description: Check package.xml and cmake files
+        entry: catkin_lint .
+        language: system
+        always_run: true
+        pass_filenames: false
+        args: [ "--strict", "--ignore", "UNINSTALLED_SCRIPT" ]

CMakeLists.txt

@@ -20,17 +20,17 @@ catkin_python_setup()
 ## Generate actions in the 'action' folder
 add_action_files(
   FILES
-  PickObject.action
-  PlaceObject.action
-  InsertObject.action
+    InsertObject.action
+    PickObject.action
+    PlaceObject.action
 )
 
 ## Generate added messages and services with any dependencies listed here
 generate_messages(
   DEPENDENCIES
-  actionlib_msgs
-  geometry_msgs
-  std_msgs
+    actionlib_msgs
+    geometry_msgs
+    std_msgs
 )
 
 generate_dynamic_reconfigure_options(
@@ -43,7 +43,41 @@ generate_dynamic_reconfigure_options(
 catkin_package(
   CATKIN_DEPENDS
     actionlib_msgs
+    dynamic_reconfigure
     geometry_msgs
     message_runtime
     std_msgs
 )
+
+#############
+## Install ##
+#############
+
+catkin_install_python(PROGRAMS
+  scripts/insert_obj_test_action_client
+  scripts/object_recognition_mockup.py
+  scripts/pick_obj_test_action_client
+  scripts/place_obj_test_action_client
+  scripts/publish_tf_world_to_robot
+  scripts/rqt_grasplan
+  scripts/rqt_planning_scene
+  scripts/set_rviz_logger_level.py
+  scripts/visualize_planning_scene_node
+  DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
+
+# Mark other files for installation (e.g. launch and bag files, etc.)
+install(DIRECTORY
+  config
+  launch
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+)
+
+install(FILES
+        plugin.xml
+        DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
+
+#############
+## Testing ##
+#############
+
+roslaunch_add_file_check(launch)

README.md

@@ -1,3 +1,26 @@
 # grasplan
 
 Documentation can be found under: https://grasplan-documentation.readthedocs.io/en/latest/
+
+
+pre-commit Formatting Checks
+----------------------------
+
+This repo has a [pre-commit](https://pre-commit.com/) check that runs in CI.
+You can use this locally and set it up to run automatically before you commit
+something. To install, use pip:
+
+```bash
+pip3 install --user pre-commit
+```
+
+To run over all the files in the repo manually:
+
+```bash
+pre-commit run -a
+```
+
+To run pre-commit automatically before committing in the local repo, install the git hooks:
+
+```bash
+pre-commit install

launch/grasp_planning/pick_handcoded_grasp_planner.launch

@@ -5,8 +5,8 @@
   <node pkg="grasplan" type="pick.py" name="pick_object_node" output="screen" >
     <param name="import_file" type="string" value="grasp_planner.handcoded_grasp_planner" />
     <param name="import_class" type="string" value="HandcodedGraspPlanner" />
-    <rosparam file="$(find grasplan)/config/pick_params.yaml" command="load" />
-    <rosparam file="$(find grasplan)/config/grasp_planning_core_params.yaml" command="load" />
+    <rosparam file="$(find mobipick_pick_n_place)/config/grasplan/pick_params.yaml" command="load" />
+    <rosparam file="$(find mobipick_pick_n_place)/config/grasplan/grasp_planning_core_params.yaml" command="load" />
     <!-- grasp planner parameters -->
     <rosparam file="$(find grasplan)/config/grasp_planner/handcoded_grasp_planner/handcoded_grasp_planner_all_objecst.yaml"
               command="load" ns="handcoded_grasp_planner_transforms" />

launch/grasp_planning/pick_simple_pregrasp_planner.launch

@@ -5,8 +5,8 @@
   <node pkg="grasplan" type="pick.py" name="pick_object_node" output="screen" >
     <param name="import_file" type="string" value="grasp_planner.simple_pregrasp_planner" />
     <param name="import_class" type="string" value="SimpleGraspPlanner" />
-    <rosparam file="$(find grasplan)/config/pick_params.yaml" command="load" />
-    <rosparam file="$(find grasplan)/config/grasp_planning_core_params.yaml" command="load" />
+    <rosparam file="$(find mobipick_pick_n_place)/config/grasplan/pick_params.yaml" command="load" />
+    <rosparam file="$(find mobipick_pick_n_place)/config/grasplan/grasp_planning_core_params.yaml" command="load" />
     <!-- pregrasp planner parameters -->
     <rosparam file="$(find grasplan)/config/grasp_planner/simple_pregrasp_planner_params.yaml" command="load" />
   </node>

launch/visualization/rviz_gripper_visualizer.launch

@@ -3,7 +3,7 @@
 
   <!-- visualize a gripper in rviz -->
   <node pkg="grasplan" type="rviz_gripper_visualizer.py" name="rviz_gripper_visualizer" output="screen" >
-    <rosparam file="$(find mobipick_pick_n_place)/config/gripper_open_transformations.yaml" command="load" ns="gripper_transformations"/>
+    <rosparam file="$(find mobipick_pick_n_place)/config/grasplan/gripper_open_transformations.yaml" command="load" ns="gripper_transformations"/>
   </node>
 
 </launch>

package.xml

@@ -8,35 +8,49 @@
 
   <license>MIT</license>
 
-  <author email="[email protected]">Oscar Lima</author> 
+  <author email="[email protected]">Oscar Lima</author>
 
+  <build_export_depend>actionlib_msgs</build_export_depend>
+  <build_export_depend>dynamic_reconfigure</build_export_depend>
+  <build_export_depend>geometry_msgs</build_export_depend>
   <build_export_depend>rqt_gui</build_export_depend>
   <build_export_depend>rqt_gui_py</build_export_depend>
-  <build_export_depend>dynamic_reconfigure</build_export_depend>
+  <build_export_depend>std_msgs</build_export_depend>
 
   <build_depend>actionlib_msgs</build_depend>
+  <build_depend>dynamic_reconfigure</build_depend>
   <build_depend>geometry_msgs</build_depend>
   <build_depend>message_generation</build_depend>
+  <build_depend>rqt_gui</build_depend>
+  <build_depend>rqt_gui_py</build_depend>
   <build_depend>std_msgs</build_depend>
 
   <exec_depend>actionlib</exec_depend>
   <exec_depend>actionlib_msgs</exec_depend>
   <exec_depend>dynamic_reconfigure</exec_depend>
+  <exec_depend>gazebo_ros</exec_depend>
   <exec_depend>geometry_msgs</exec_depend>
   <exec_depend>message_runtime</exec_depend>
+  <exec_depend>mobipick_description</exec_depend>
+  <exec_depend>mobipick_gazebo</exec_depend>
+  <exec_depend>mobipick_pick_n_place</exec_depend>
   <exec_depend>moveit_commander</exec_depend>
   <exec_depend>moveit_msgs</exec_depend>
+  <exec_depend>rostopic</exec_depend>
   <exec_depend>rqt_gui</exec_depend>
   <exec_depend>rqt_gui_py</exec_depend>
+  <exec_depend>rviz</exec_depend>
+  <exec_depend>spacenav_node</exec_depend>
   <exec_depend>std_msgs</exec_depend>
   <exec_depend>std_srvs</exec_depend>
+  <exec_depend>tables_demo_bringup</exec_depend>
   <exec_depend>tf</exec_depend>
   <exec_depend>trajectory_msgs</exec_depend>
+  <exec_depend>xacro</exec_depend>
 
   <buildtool_depend>catkin</buildtool_depend>
 
   <export>
-    <rqt_gui plugin="${prefix}/plugin.xml"/> 
+    <rqt_gui plugin="${prefix}/plugin.xml"/>
   </export>
-
 </package>

pyproject.toml

@@ -0,0 +1,4 @@
+[tool.black]
+line-length = 120
+target-version = ['py38']
+skip-string-normalization = true

scripts/insert_obj_test_action_client

@@ -22,8 +22,10 @@ if __name__ == '__main__':
         elif myargv[2] == 'false' or myargv[2] == 'False':
             observe_before_insert = False
     else:
-        rospy.logwarn('you have run this node without arguments, at least the mobipick namespace is expected! ( __ns:=mobipick )')
-    timeout = 50.0 # in seconds, default: 50.0
+        rospy.logwarn(
+            'you have run this node without arguments, at least the mobipick namespace is expected! ( __ns:=mobipick )'
+        )
+    timeout = 50.0  # in seconds, default: 50.0
     insert_object_server_name = 'insert_object'
     action_client = actionlib.SimpleActionClient(insert_object_server_name, InsertObjectAction)
     rospy.loginfo(f'waiting for {insert_object_server_name} action server')
@@ -38,11 +40,11 @@ if __name__ == '__main__':
         if action_client.wait_for_result(rospy.Duration.from_sec(timeout)):
             result = action_client.get_result()
             rospy.loginfo(f'{insert_object_server_name} is done with execution, resuĺt was = "{result}"')
-            if result.success == True:
-                rospy.loginfo(f'Succesfully inserted object')
+            if result.success:
+                rospy.loginfo('Succesfully inserted object')
             else:
-                rospy.logerr(f'Failed to insert object')
+                rospy.logerr('Failed to insert object')
         else:
-            rospy.logerr(f'Failed to insert object, timeout?')
+            rospy.logerr('Failed to insert object, timeout?')
     else:
-        rospy.logerr(f'action server {insert_object_server_name} not available')
+        rospy.logerr('action server {insert_object_server_name} not available')