Implemented base control architecture and demonstrations (#11)

* Added skeleton packages for controllers

* Added vcs install to devcontainers and fixed example_pkg build error

* Fixed clang format andlicense

* Implemented velocity controller, TAM controller, and thruster controller (#6)

* Started ISMC implementation

* Continued implementing ismc

* Started implementation file

* Added hydrodynamic parameters

* Added generate_parameter_library integration

* Added everything but state callback and control law

* Added system state updates

* Finished initial version of velocity controller

* Cleanup and minor bug fixes

* Added missing imports

* Added dummy package for testing

* Added call to update state values

* thruster allocation matrix controller before testing

* changes according to PR comments

* Fixed pluginlib issue. Able to load both controllers but need to address why ros2_control node dies

* WIP: Modified URDF

* Partially works. Still need to fix TAM controller

* Save point

* Started fixed

* Added configuration type

* Rewrite of tam controller and isolated bug in velocity controller

* Added author names

* Cleaned up velocity controller and fixed some bugs

* Fixed bug with URDF and cleaned up thruster controller

* Finished thrust curve controller

* Fixed linter errors

* Fixed tam bug

* fixing tam todos. more work needed.

* Added deadband into thruster controller

* renamed command interface prefix to reference controller

* Updated meta package

* Added auv_control_msg package and fixed the TODOs in TAM controller

* Removed unnecessary deps

* Cleanup a bit

* Added missing dep for hydrodynamics to package configuration

* Updated to use effort interfaces

* Removed unused package

* Initial cleanup for pr

* Fixed precommit errors and attempting to fix ci workflow

* i hate devops so much

* take two

* Trying ros industrial again

* Trying again

* WHY

* tired

* Attempting to setup the upstream workspace

* fixed clang-tidy file and linter errors

* you win clang tidy

* Forgot to remove colcon build from devcontainer stage

* Resolved pr comments

---------

Co-authored-by: unknown <coamitch@gmail.com>
Co-authored-by: EverardoG <everardo.a.gonzalez@gmail.com>
Co-authored-by: Rakesh Vivekanandan <rakeshvivek97@gmail.com>

* Added documentation and examples to demonstrate project use (#10)

* Create README.md

Added a readme for the tam controller

* Update README.md

* additional edits to tam README.md

* fixed formatting README.md

* revert code block formatting and update summary in tam README.md

* Created README.md for velocity controller.

* Fixed velocity controller README.md formatting

* Created README.md for thrust controllers.

* Update README.md

* Update README.md

* Update README.md

* Updated main README

* Cleaned up readmes

* Fixed notice

* More formatting changes

* Fixed capitalization of chainable

* Fixed formatting in velocity control readme

* Added missing abbreviation declaration

* Implemented examples and associated documentation (#9)

* add auv_control_demos

* added example for individual controller

* updated package.xml

* minor fix to launch file

* Suggested PR changes

* Made some minor grammar fixes and added copyright to launch files

* Fixed lint errors in auv_control_demos top-level readme

* Made some formatting improvements to the chained controller demo

* Made some final small changes

---------

Co-authored-by: EverardoG <everardo.a.gonzalez@gmail.com>
Co-authored-by: Evan Palmer <evanp922@gmail.com>

---------

Co-authored-by: coamitch <52305806+coamitch@users.noreply.github.com>
Co-authored-by: Rakesh Vivekanandan <rakeshvivek97@gmail.com>
Co-authored-by: Rakesh Vivekanandan <34474602+rakeshv24@users.noreply.github.com>
Co-authored-by: EverardoG <everardo.a.gonzalez@gmail.com>

---------

Co-authored-by: unknown <coamitch@gmail.com>
Co-authored-by: EverardoG <everardo.a.gonzalez@gmail.com>
Co-authored-by: Rakesh Vivekanandan <rakeshvivek97@gmail.com>
Co-authored-by: coamitch <52305806+coamitch@users.noreply.github.com>
Co-authored-by: Rakesh Vivekanandan <34474602+rakeshv24@users.noreply.github.com>

Author: 4 people

.clang-format

@@ -1,7 +1,7 @@
 ---
 Language: Cpp
 BasedOnStyle: Google
-ColumnLimit: 100
+ColumnLimit: 120
 MaxEmptyLinesToKeep: 1
 
 IndentWidth: 2

.clang-tidy

@@ -25,56 +25,43 @@ Checks: >
   -bugprone-easily-swappable-parameters,
   -bugprone-implicit-widening-of-multiplication-result,
   -clang-diagnostic-error,
-  -bugprone-exception-escape
+  -bugprone-exception-escape,
+  -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: camelBack
-  - key: readability-identifier-naming.MethodCase
-    value: camelBack
-  - 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.MemberConstantCase
+  - key:   readability-identifier-naming.UnionCase
     value: CamelCase
-  - key: readability-identifier-naming.MemberConstantPrefix
-    value: k
-  - key: readability-identifier-naming.StaticConstantCase
-    value: CamelCase
-  - key: readability-identifier-naming.StaticConstantPrefix
-    value: k
-  - key: readability-implicit-bool-conversion.AllowIntegerConditions
-    value: 1
-  - key: readability-implicit-bool-conversion.AllowPointerConditions
-    value: 1
-  - key: readability-function-cognitive-complexity.IgnoreMacros
-    value: 1
+  # function names
+  - key:   readability-identifier-naming.FunctionCase
+    value: lower_case
+  # method names
+  - key:   readability-identifier-naming.MethodCase
+    value: lower_case
+  # variable names
+  - key:   readability-identifier-naming.VariableCase
+    value: lower_case
+  - 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 \

.devcontainer/nouveau/devcontainer.json

@@ -34,7 +34,8 @@
         "esbenp.prettier-vscode",
         "xaver.clang-format",
         "charliermarsh.ruff",
-        "ms-python.black-formatter"
+        "ms-python.black-formatter",
+        "josetr.cmake-language-support-vscode"
       ]
     }
   }

.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 \

.devcontainer/nvidia/devcontainer.json

@@ -38,7 +38,8 @@
         "esbenp.prettier-vscode",
         "xaver.clang-format",
         "charliermarsh.ruff",
-        "ms-python.black-formatter"
+        "ms-python.black-formatter",
+        "josetr.cmake-language-support-vscode"
       ]
     }
   }

.docker/Dockerfile

@@ -4,7 +4,6 @@ FROM ros:$ROS_DISTRO-ros-base as ci
 ENV DEBIAN_FRONTEND=noninteractive
 WORKDIR /root/ws_ros
 
-# Update to be your project's name
 ENV PROJECT_NAME=auv_controllers
 
 COPY . src/$PROJECT_NAME
@@ -28,7 +27,8 @@ RUN apt-get -q update \
     && rm -rf /var/lib/apt/lists/*
 
 # Install all ROS dependencies needed for CI
-RUN apt-get -q update \
+RUN vcs import src < src/$PROJECT_NAME/ros2.repos \
+    && apt-get -q update \
     && apt-get -q -y upgrade \
     && rosdep update \
     && rosdep install -y --from-paths src --ignore-src --rosdistro ${ROS_DISTRO} --as-root=apt:false \
@@ -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
@@ -61,12 +61,10 @@ 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 $USER_WORKSPACE
-RUN sudo apt-get -q update \
+RUN vcs import src < src/$PROJECT_NAME/ros2.repos \
+    && sudo apt-get -q update \
     && sudo apt-get -q -y upgrade \
     && rosdep update \
     && rosdep install -y --from-paths src --ignore-src -r --rosdistro ${ROS_DISTRO} \
@@ -80,39 +78,6 @@ RUN . "/opt/ros/${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

@@ -3,6 +3,9 @@
 
 # Except the following
 !requirements-dev.txt
-
-# Allow your ROS 2 packages here, e.g.:
-!example_pkg
+!auv_controllers
+!velocity_controllers
+!thruster_allocation_matrix_controller
+!thruster_controllers
+!auv_control_msgs
+!ros2.repos

.github/workflows/ci.yml

@@ -38,6 +38,9 @@ jobs:
         uses: ros-industrial/industrial_ci@master
         env:
           DOCKER_IMAGE: ghcr.io/robotic-decision-making-lab/auv_controllers:${{ matrix.env.IMAGE }}
+          UPSTREAM_WORKSPACE: ros2.repos
+          AFTER_SETUP_UPSTREAM_WORKSPACE: vcs pull $BASEDIR/upstream_ws/src
+          AFTER_SETUP_DOWNSTREAM_WORKSPACE: vcs pull $BASEDIR/downstream_ws/src
           CXXFLAGS: >-
             -Wall -Wextra -Wpedantic -Wwrite-strings -Wunreachable-code -Wpointer-arith -Wredundant-decls
           CC: ${{ env.CLANG_TIDY && 'clang' }}

.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/setup-qemu-action@v3.0.0
-
-      - name: Set up Docker Buildx
-        uses: docker/setup-buildx-action@v3
-
-      - name: Log into registry
-        if: env.PUSH == 'true'
-        uses: docker/login-action@v3.1.0
-        with:
-          registry: ghcr.io
-          username: ${{ github.actor }}
-          password: ${{ secrets.GITHUB_TOKEN }}
-
-      - name: Extract Docker metadata
-        if: env.PUSH == 'true'
-        id: meta
-        uses: docker/metadata-action@v5.5.1
-        with:
-          images: ghcr.io/${{ github.repository }}
-          tags: |
-            type=raw,value=${{ matrix.ROS_DISTRO }}-${{ github.job }}
-
-      - name: Build and push Docker image
-        uses: docker/build-push-action@v5.3.0
-        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