Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

Refactor #121

Draft
wants to merge 129 commits into
base: main
Choose a base branch
from
Draft

Refactor #121

wants to merge 129 commits into from

Conversation

Shamiivan
Copy link
Contributor

Refactor: Project Structure and Development Environment Improvements

This PR introduces structural improvements and development environment enhancements to streamline our development workflow.

Project Structure

  • Reorganized project structure into a cleaner hierarchy: 
    ├── configs/          # Configuration files
├── docker/          # Container configurations and scripts
├── src/            # Core source code and ROS2 packages
└── utils/          # Common utilities and helpers

Build System

  • Introduced Python-based build scripts (newton.py). INtroduced for better a better CLI
  • Improved Docker configurations with separate dev and production environments
  • Improved Image building base on architecture.
    • Note : currently support x86_64 and aarch_64
  • Added devcontainer support for consistent development environments

Modified package names

using n_package

  • IMU (n_imu)
  • controller node with ONNX support (n_controller)
  • motor controller integration (n_motor_controller). NOTE : This controls all 12 motors
  • Added ROS2 launch files for each component

Documentation

  • Updated README with new project structure
  • Added package-specific documentation
  • Added setup and usage instructions

Closes #[Related Issue Number]
#106
#56
#51
#2

@Shamiivan
Initial Commit
e79052a
@Shamiivan
wip : add semi working master program
bf6b893
@Shamiivan
WIP : added logger
503c7b4
@Shamiivan
Feat : add functional logger with levels
364daf6
@Shamiivan
wip : add diagnostics
3a7c434
@Shamiivan
Feat : add result wrapper for error handling
dc809cb
@Shamiivan
fix (logger) : added missing #pragma once
ee4af6c
@Shamiivan
fix : changed function signature to fix compiler error
5fd7420
@Shamiivan
chore : added comment to explain what result class does
98b64fd
@Shamiivan
wip : new project setup to include testing
b078750
@Shamiivan
fix : fixed compilation issues
d17f6bc
@Shamiivan
chore : update .gitignore
77d52d7
@Shamiivan
feat : added jetson-containers module.
297ade6
@Shamiivan
Merge remote-tracking branch 'origin/feature/10-container-build-syste…
610ebbc 
…m' into feature/10-container-build-system
@Shamiivan
ref : removed shell.py not needed.
e58fe4f
@Shamiivan
ref : add git submodule
e27de42
@Shamiivan
interminent push BREAKING CHANGES
a834d9b
@Shamiivan
intermittent push BREAKING CHANGES
90d57c6
@Shamiivan
updated .gitignore
60af265
@Shamiivan
feat : add search and build cmds
f018610
@Shamiivan
Merge remote-tracking branch 'origin/feature/10-container-build-syste…
f0b93b2 
…m' into feature/10-container-build-system
@Shamiivan
update readME
2797419
@Shamiivan
Merge branch 'feature/10-container-build-system' into feature/test-setup
acc4541 
# Conflicts:
#	.gitignore
@Shamiivan
Merge remote-tracking branch 'origin/main' into feature/test-setup
56454f3 
# Conflicts:
#	.gitignore
@Shamiivan
Merge remote-tracking branch 'origin/feature/test-setup' into feature…
e13faf2 
…/test-setup

# Conflicts:
#	.gitignore
@Shamiivan
Merge remote-tracking branch 'origin/main' into feature/utils/result-…
c7f346e 
…wrapper

# Conflicts:
#	.gitignore
@Shamiivan
chore : update .gitignore and merge main into feature/utils/result-wr…
4c5c672 
…apper
@Shamiivan
ref : changed result class to use factory functions instead of static…
bda761a 
… functions!
@Shamiivan
Merge remote-tracking branch 'origin/feature/test-setup' into feature…
f70aac0 
…/utils/result-wrapper

# Conflicts:
#	.gitignore
#	.vscode/settings.json
#	utils/logger.hpp
@Shamiivan
feat : add tests for the result for the wrapper.
0c1a124
@Shamiivan
feat: add clean and build commands for ROS packages
70c1c7d
@Shamiivan
fix: remove deprecated newton and setup scripts
2294857
@Shamiivan
ref: update Dockerfiles to install python dependicy directly instead …
3f89856 
…of relying on requirements.txt
@Shamiivan
fix: update newton_entrypoint.sh to add alias for newton.py
6d52d98
@Shamiivan
fix: streamline Python dependency installation in Dockerfile.aarch_64
1c8a70b
@Shamiivan
fix: update Dockerfile and newton.py to improve dependency installati…
e536958 
…on and path handling
@Shamiivan
wip: interminent commit
14fc81c
@Shamiivan
fix: update newton_entrypoint.sh to add greeting and ensure correct R…
f5ab506 
…OS setup sourcing
@Shamiivan
fix: update devcontainer.json to rename container and add post-start …
f1e5b11 
…command
@Shamiivan
feat: add ODrive CAN node with message and service definitions
8a497e0
@Shamiivan
fix: update install.sh to set WORKSPACE_ROOT and correct bashrc typo
672b2e4
@Shamiivan
fix: update .gitignore to exclude .local and .cache directories
dc639ee
@Shamiivan
ref: building packages to be built and source in the same place
2ae1cd9
@Shamiivan
ref: update devcontainer.json to configure C++ IntelliSense and Clang…
ddf8538 
…d settings. usefult for go to definition in development
@Shamiivan
fix: update VSCode settings to change CMake source directory and add …
86cad22 
…Python paths for ROS packages
@Shamiivan
ref: remove unused build_kit modules and classes to streamline the co…
bb7bb7b 
…debase
@Shamiivan
ref: moved core files and launch configurations for project cleanup
3ee3a7c
@Shamiivan
ref: restructure codebase to be more like ros codebase.
7a7e76a
@Shamiivan
ref: update .gitignore to include .donet and remove obsolete CRL files
df5773d
@Shamiivan
fix: add cleaning and building functionality for n_utils package
b9ccb0a
@Shamiivan
ref: refactor result class to use static methods for success and erro…
3bdd761 
…r handling
@Shamiivan
ref: move static function
e33fe9e
@Shamiivan
ref: update MotorDriver methods to return result<void> for better err…
d710719 
…or handling
@Shamiivan
ref: add comments
0913e34
@Shamiivan
ref: modifiy result class to add severity levels and enhanced error l…
a93e56f 
…ogging
@Shamiivan
ref: modify the request axis state function to be more readable
e404acb
@Shamiivan
Merge remote-tracking branch 'origin/feature/hardware-interface/motor…
b14a169 
…' into refactor
@Shamiivan Shamiivan marked this pull request as draft February 15, 2025 20:16
Sign up for free to join this conversation on GitHub. Already have an account? Sign in to comment
Reviewers
No reviews
Assignees

@Shamiivan Shamiivan

@mbedair mbedair

Labels
None yet
Projects
None yet
Milestone
No milestone
Development

Successfully merging this pull request may close these issues.
3 participants
@Shamiivan @mbedair @AugustDG