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Signed-off-by: Daisuke Sato <[email protected]>
CMU-cabot · Apr 10, 2024 · abb58c9 · abb58c9
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diff --git a/.github/linters/.python-lint b/.github/linters/.python-lint
@@ -0,0 +1,7 @@
+[MASTER]
+
+# Use multiple processes to speed up Pylint.
+jobs=0
+
+[FORMAT]
+max-line-length=200
diff --git a/.github/workflows/super-linter.yaml b/.github/workflows/super-linter.yaml
@@ -31,3 +31,11 @@ jobs:
         env:
           # To report GitHub Actions status checks
           GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+          # MULTI_STATUS: false
+          # DEFAULT_BRANCH: ros2
+          VALIDATE_EDITORCONFIG: false
+          VALIDATE_PYTHON_PYLINT: false
+          VALIDATE_CHECKOV: false
+          VALIDATE_DOCKERFILE_HADOLINT: false
+          VALIDATE_NATURAL_LANGUAGE: false
+          VALIDATE_MARKDOWN: false
diff --git a/doc/customization.md b/doc/customization.md
@@ -3,13 +3,13 @@
 ## Build own cabot driver for your robot
 
 - This repository uses `cabot-drivers` and `cabot-description` repositories for managing hardware components and describing the robot
-    - these repositories will be imported by `./setup-dependency.sh` script which uses `vcs` command to import repos described in `dependency.repos` files
-    - `cabot-navigation` repo also has dependency to `cabot-description` which is used for gazebo simulation
+  - these repositories will be imported by `./setup-dependency.sh` script which uses `vcs` command to import repos described in `dependency.repos` files
+  - `cabot-navigation` repo also has dependency to `cabot-description` which is used for gazebo simulation
 - You can modify those repositories and this `cabot` repos to build your own cabot-navigation compatible robot
-    - simplest way is to fork those repositories to your own space, and modify `dependency.repos` to points to your repo
-    - make sure all dependency.repos points to your forked repos
-    - you may use `./setup-dependency.sh -c` to remove cloned repo first then run `./setup-dependency.sh` to clone correct one
-```
+  - simplest way is to fork those repositories to your own space, and modify `dependency.repos` to points to your repo
+  - make sure all dependency.repos points to your forked repos
+  - you may use `./setup-dependency.sh -c` to remove cloned repo first then run `./setup-dependency.sh` to clone correct one
+```text
 - cabot
   - dependency.repos               <- modify
   - cabot-common
@@ -29,13 +29,13 @@
 ### requirements
 
 - define own `CABOT_MODEL` for example `cabotX-1`
-    - `CABOT_MAJOR` will be first 6 letters of your `CABOT_MODEL` (i.e., `cabot-X`)
+  - `CABOT_MAJOR` will be first 6 letters of your `CABOT_MODEL` (i.e., `cabot-X`)
 - `cabot-descrption/cabot_description/robots/{CABOT_MODEL}.urdf.xacro.xml` (i.e., `cabotX-1.urdf.xacro.xml`)
-    - this file will be used in `cabot-drivers` (pyshical robot) and `cabot-navigation` (gazebo simulation)
-    - please refer to existing URDF descriptions and check [README of cabot-description](https://github.com/CMU-cabot/cabot-description)
+  - this file will be used in `cabot-drivers` (pyshical robot) and `cabot-navigation` (gazebo simulation)
+  - please refer to existing URDF descriptions and check [README of cabot-description](https://github.com/CMU-cabot/cabot-description)
 - cabot-drivers will launch `cabot_base` `{CABOT_MAJOR}.launch.py` (i.e., `cabotX.launch.py)
-    - you can modify launch script at `cabot-drivers/script/launch_driver.sh`
-    - refers to the [README of cabot-drivers](https://github.com/CMU-cabot/cabot-drivers) to see required servies/topics
+  - you can modify launch script at `cabot-drivers/script/launch_driver.sh`
+  - refers to the [README of cabot-drivers](https://github.com/CMU-cabot/cabot-drivers) to see required servies/topics
 
 ## Build own cabot site (map) for your environment
 - cabot site package
@@ -49,7 +49,7 @@
     - localization map/data and static map images made for gazebo worlds
     - menu configuration and i18n strings
   - Directory structure
-    ```
+    ```text
     cabot_site/
     ├ config
     ├ i18n
@@ -90,19 +90,19 @@
 - Procedure
   - [build docker images](../README.md#build-docker-images)
   - start scannning and walk
-    ```
-    $ ./mapping-launch.sh -o TEST1 -e           # use ESP32 for IMU with prefix TEST1
-    $ ./mapping-launch.sh -o TEST2 -x           # use XSENS for IMU with prefix TEST2
-    $ ./mapping-launch.sh -o TEST3 -a           # use Arduino for IMU with prefix TEST3
+    ```bash
+    ./mapping-launch.sh -o TEST1 -e           # use ESP32 for IMU with prefix TEST1
+    ./mapping-launch.sh -o TEST2 -x           # use XSENS for IMU with prefix TEST2
+    ./mapping-launch.sh -o TEST3 -a           # use Arduino for IMU with prefix TEST3
     ```
     - these commands record topics into a bag file for post processing
     - the bag file started with the prefix you specified can be found under docker/home/recordings
 
   - run post processes the bag file (would be better to use PC with at least 6 core and 16GB)
-    ```
-    $ ./mapping-launch.sh -p <bag file>
-    $ ./mapping-launch.sh -p <bag file> -w     # if the bag file is more than a few minitues, this option would be better
-    $ ./mapping-launch.sh -p <bag file> -w -n  # the script will not skip previously completed tasks
+    ```bash
+    ./mapping-launch.sh -p <bag file>
+    ./mapping-launch.sh -p <bag file> -w     # if the bag file is more than a few minitues, this option would be better
+    ./mapping-launch.sh -p <bag file> -w -n  # the script will not skip previously completed tasks
     ```
     - post processes consist of 1) converting packets topics to pointcloud topics 2) running cartographer for SLAM 3) making a pgm image file from cartographer submaps
     - you can find the result under docker/home/post_process (the specified bag file will be copied here)