husarion · rafal-gorecki · Dec 14, 2023
diff --git a/.github/workflows/ros-docker-image.yaml b/.github/workflows/ros-docker-image.yaml
@@ -1,28 +1,32 @@
-name: Build/Publish ROS Docker Image 
+---
+name: Build/Publish ROS Docker Image
 
-on: 
+on:
   workflow_dispatch:
     inputs:
       build_type:
-        description: "Is it a \"development\" or a \"stable\" release?"
+        description: Is it a "development" or a "stable" release?
         required: true
-        default: 'development'
+        default: development
         type: choice
         options:
           - development
           - stable
       target_distro:
-        description: "In case of \"stable\" release specify the ROS distro of the existing docker image (eg. humble)"
+        description: In case of "stable" release specify the ROS distro of the existing docker image (eg.
+          humble)
         type: string
-        default: "ardent"
+        default: ardent
       target_release:
-        description: "In case of \"stable\" release specify the version of the existing docker image (eg. 1.0.12)"
+        description: In case of "stable" release specify the version of the existing docker image (eg.
+          1.0.12)
         type: string
-        default: "0.0.0"
+        default: 0.0.0
       target_date:
-        description: "In case of \"stable\" release specify the date of the existing docker image in format YYYYMMDD (eg. 20220124)"
+        description: In case of "stable" release specify the date of the existing docker image in format
+          YYYYMMDD (eg. 20220124)
         type: string
-        default: "20131206"
+        default: '20131206'
   repository_dispatch:
     types: [rebuild]
   pull_request:
@@ -36,7 +40,7 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        ros-distro: [ "humble" ] # iron is not supported on arm
+        ros-distro: [humble]     # iron is not supported on arm
 
     steps:
 
@@ -47,12 +51,11 @@ jobs:
         uses: husarion-ci/[email protected]
         with:
           dockerhub_username: ${{ secrets.DOCKERHUB_USERNAME }}
-          dockerhub_token:  ${{ secrets.DOCKERHUB_TOKEN }}
+          dockerhub_token: ${{ secrets.DOCKERHUB_TOKEN }}
           build_type: ${{ inputs.build_type }}
           ros_distro: ${{ matrix.ros-distro }}
-          platforms: "linux/amd64, linux/arm64"
+          platforms: linux/amd64, linux/arm64
           # variables important only for stable release
           target_distro: ${{ inputs.target_distro }}
           target_release: ${{ inputs.target_release }}
           target_date: ${{ inputs.target_date }}
-
diff --git a/.github/workflows/vulcanexus-docker-image.yaml b/.github/workflows/vulcanexus-docker-image.yaml
@@ -1,28 +1,32 @@
+---
 name: Build/Publish Vulcanexus Docker Image
 
 on:
   workflow_dispatch:
     inputs:
       build_type:
-        description: "Is it a \"development\" or a \"stable\" release?"
+        description: Is it a "development" or a "stable" release?
         required: true
-        default: 'development'
+        default: development
         type: choice
         options:
           - development
           - stable
       target_distro:
-        description: "In case of \"stable\" release specify the ROS distro of the existing docker image (eg. humble)"
+        description: In case of "stable" release specify the ROS distro of the existing docker image (eg.
+          humble)
         type: string
-        default: "ardent"
+        default: ardent
       target_release:
-        description: "In case of \"stable\" release specify the version of the existing docker image (eg. 1.0.12)"
+        description: In case of "stable" release specify the version of the existing docker image (eg.
+          1.0.12)
         type: string
-        default: "0.0.0"
+        default: 0.0.0
       target_date:
-        description: "In case of \"stable\" release specify the date of the existing docker image in format YYYYMMDD (eg. 20220124)"
+        description: In case of "stable" release specify the date of the existing docker image in format
+          YYYYMMDD (eg. 20220124)
         type: string
-        default: "20131206"
+        default: '20131206'
   repository_dispatch:
     types: [rebuild]
   pull_request:
@@ -36,7 +40,7 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        ros-distro: [ "humble" ] # iron is not supported on arm
+        ros-distro: [humble]     # iron is not supported on arm
 
     steps:
 
@@ -47,13 +51,12 @@ jobs:
         uses: husarion-ci/[email protected]
         with:
           dockerhub_username: ${{ secrets.DOCKERHUB_USERNAME }}
-          dockerhub_token:  ${{ secrets.DOCKERHUB_TOKEN }}
+          dockerhub_token: ${{ secrets.DOCKERHUB_TOKEN }}
           build_type: ${{ inputs.build_type }}
           ros_distro: ${{ matrix.ros-distro }}
-          platforms: "linux/amd64, linux/arm64"
-          prefix: "vulcanexus-"
+          platforms: linux/amd64, linux/arm64
+          prefix: vulcanexus-
           # variables important only for stable release
           target_distro: ${{ inputs.target_distro }}
           target_release: ${{ inputs.target_release }}
           target_date: ${{ inputs.target_date }}
-
diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
@@ -0,0 +1,55 @@
+---
+repos:
+  - repo: https://github.com/pre-commit/pre-commit-hooks
+    rev: v4.5.0
+    hooks:
+      - id: check-merge-conflict
+      - id: trailing-whitespace
+      - id: end-of-file-fixer
+      - id: check-yaml
+      - id: check-xml
+      - id: check-added-large-files
+      - id: check-ast
+      - id: check-json
+      - id: name-tests-test
+        files: ^.*\/test\/.*$
+        args: [--pytest-test-first]
+
+  - repo: https://github.com/codespell-project/codespell
+    rev: v2.2.6
+    hooks:
+      - id: codespell
+        entry: codespell *
+
+  - repo: https://github.com/jumanjihouse/pre-commit-hook-yamlfmt
+    rev: 0.2.3
+    hooks:
+      - id: yamlfmt
+        files: ^(?!.*compose).*$
+        args: [--mapping, '2', --sequence, '4', --offset, '2', --width, '100']
+
+  - repo: https://github.com/psf/black
+    rev: 23.12.0
+    hooks:
+      - id: black
+        args: [--line-length=99]
+
+  - repo: https://github.com/PyCQA/flake8
+    rev: 6.1.0
+    hooks:
+      - id: flake8
+        args: ['--ignore=E501,W503']   # ignore too long line and line break before binary operator,
+                                       # black checks it
+
+      # Docs - RestructuredText hooks
+  - repo: https://github.com/PyCQA/doc8
+    rev: v1.1.1
+    hooks:
+      - id: doc8
+        args: [--max-line-length=100, --ignore=D001]
+        exclude: ^.*\/CHANGELOG\.rst/.*$
+
+  - repo: https://github.com/pre-commit/mirrors-clang-format
+    rev: v17.0.6
+    hooks:
+      - id: clang-format
diff --git a/README.md b/README.md
@@ -3,19 +3,18 @@
 Building a Docker image with Navigation 2.
 
 Available for ROS distros:
-- ROS 2 galactic
-- ROS 2 humble
+- ROS 2 Humble
 
 Using in Docker Compose:
 
 ```yaml
   nav2:
     image: husarion/navigation2:humble
     restart: unless-stopped
-    volumes: 
+    volumes:
       - ./config/nav2_params.yaml:/nav2_params.yaml
     command: >
-      ros2 launch nav2_bringup navigation_launch.py    
+      ros2 launch nav2_bringup navigation_launch.py
         params_file:=/nav2_params.yaml
 ```
 
@@ -25,4 +24,4 @@ Using in Docker Compose:
 ```bash
 sudo apt install -y qemu-user-static binfmt-support
 docker buildx build --platform linux/arm64,linux/amd64 -t nav2-test --build-arg PREFIX=vulcanexus- .
-```
+```
diff --git a/healthcheck/healthcheck_localization.cpp b/healthcheck/healthcheck_localization.cpp
@@ -22,8 +22,7 @@ int main(int argc, char *argv[]) {
   auto node = rclcpp::Node::make_shared("healthcheck_node");
 
   auto sub = node->create_subscription<lifecycle_msgs::msg::TransitionEvent>(
-      "amcl/transition_event", rclcpp::SystemDefaultsQoS(),
-      msg_callback);
+      "amcl/transition_event", rclcpp::SystemDefaultsQoS(), msg_callback);
 
   rclcpp::spin(node);
 

diff --git a/nav2_params/rosbot2_amcl.yaml b/nav2_params/rosbot2_amcl.yaml
@@ -1,32 +1,33 @@
+---
 amcl:
   ros__parameters:
-    use_sim_time: False
+    use_sim_time: false
     alpha1: 0.2
     alpha2: 0.2
     alpha3: 0.2
     alpha4: 0.2
     alpha5: 0.2
-    base_frame_id: "base_link"
+    base_frame_id: base_link
     beam_skip_distance: 0.5
     beam_skip_error_threshold: 0.9
     beam_skip_threshold: 0.3
     do_beamskip: false
-    global_frame_id: "map"
+    global_frame_id: map
     lambda_short: 0.1
     laser_likelihood_max_dist: 2.0
     laser_max_range: 12.0
     laser_min_range: -1.0
-    laser_model_type: "likelihood_field"
+    laser_model_type: likelihood_field
     max_beams: 60
     max_particles: 25000
     min_particles: 6000
-    odom_frame_id: "odom"
+    odom_frame_id: odom
     pf_err: 0.05
     pf_z: 0.99
     recovery_alpha_fast: 0.0
     recovery_alpha_slow: 0.0
     resample_interval: 1
-    robot_model_type: nav2_amcl::DifferentialMotionModel # robot_model_type: "differential" # on foxy 
+    robot_model_type: nav2_amcl::DifferentialMotionModel # robot_model_type: "differential" # on foxy
     save_pose_rate: 0.5
     sigma_hit: 0.2
     tf_broadcast: true
@@ -37,7 +38,7 @@ amcl:
     z_max: 0.05
     z_rand: 0.5
     z_short: 0.05
-    scan_topic: "scan"
+    scan_topic: scan
     set_initial_pose: true
     always_reset_initial_pose: true
     initial_pose:
@@ -48,13 +49,13 @@ amcl:
 
 amcl_map_client:
   ros__parameters:
-    use_sim_time: False
+    use_sim_time: false
 
 amcl_rclcpp_node:
   ros__parameters:
-    use_sim_time: False
+    use_sim_time: false
 
 map_server:
   ros__parameters:
-    use_sim_time: False
-    yaml_filename: "map.yaml"
+    use_sim_time: false
+    yaml_filename: map.yaml