[Code Style] [merge after #565] add pre-commit tool

.clang-format

@@ -0,0 +1,63 @@
+---
+BasedOnStyle: Google
+AccessModifierOffset: -2
+ConstructorInitializerIndentWidth: 2
+AlignEscapedNewlinesLeft: false
+AlignTrailingComments: true
+AllowAllParametersOfDeclarationOnNextLine: false
+AllowShortIfStatementsOnASingleLine: false
+AllowShortLoopsOnASingleLine: false
+AllowShortFunctionsOnASingleLine: None
+AlwaysBreakTemplateDeclarations: true
+AlwaysBreakBeforeMultilineStrings: true
+BreakBeforeBinaryOperators: false
+BreakBeforeTernaryOperators: false
+BreakConstructorInitializersBeforeComma: true
+BinPackParameters: true
+ColumnLimit: 120
+ConstructorInitializerAllOnOneLineOrOnePerLine: true
+DerivePointerBinding: false
+PointerBindsToType: true
+ExperimentalAutoDetectBinPacking: false
+IndentCaseLabels: true
+MaxEmptyLinesToKeep: 1
+NamespaceIndentation: None
+ObjCSpaceBeforeProtocolList: true
+PenaltyBreakBeforeFirstCallParameter: 19
+PenaltyBreakComment: 60
+PenaltyBreakString: 1
+PenaltyBreakFirstLessLess: 1000
+PenaltyExcessCharacter: 1000
+PenaltyReturnTypeOnItsOwnLine: 90
+SpacesBeforeTrailingComments: 2
+Cpp11BracedListStyle: false
+Standard: Auto
+IndentWidth: 2
+TabWidth: 2
+UseTab: Never
+IndentFunctionDeclarationAfterType: false
+SpacesInParentheses: false
+SpacesInAngles: false
+SpaceInEmptyParentheses: false
+SpacesInCStyleCastParentheses: false
+SpaceAfterControlStatementKeyword: true
+SpaceBeforeAssignmentOperators: true
+ContinuationIndentWidth: 4
+SortIncludes: false
+SpaceAfterCStyleCast: false
+
+# Configure each individual brace in BraceWrapping
+BreakBeforeBraces: Custom
+
+# Control of individual brace wrapping cases
+BraceWrapping:
+  AfterClass: true
+  AfterControlStatement: 'true'
+  AfterEnum: true
+  AfterFunction: true
+  AfterNamespace: true
+  AfterStruct: true
+  AfterUnion: true
+  BeforeCatch: true
+  BeforeElse: true
+  IndentBraces: false

.github/workflows/uml.yml

@@ -0,0 +1,19 @@
+name: generate plantuml
+on: push
+jobs:
+  generate_plantuml:
+    runs-on: ubuntu-latest
+    name: plantuml
+    steps:
+      - name: checkout
+        uses: actions/checkout@v1
+        with:
+          fetch-depth: 1
+      - name: plantuml
+        id: plantuml
+        uses: grassedge/[email protected]
+        with:
+          path: docs/UMLs
+          message: "Render PlantUML files"
+        env:
+          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}

.gitignore

@@ -6,7 +6,8 @@
 .LSOverride
 
 # Icon must end with two \r
-Icon
+Icon
+
 
 # Thumbnails
 ._*
@@ -101,4 +102,8 @@ tags
 
 
 # python
-*.pyc
+*.pyc
+
+# Jetbrains
+.idea/
+*cmake-build-debug/

.pre-commit-config.yaml

@@ -0,0 +1,32 @@
+---
+repos:
+  - repo: https://github.com/pre-commit/pre-commit-hooks
+    rev: v2.3.0
+    hooks:
+      - id: check-yaml
+      - id: check-xml
+      - id: check-json
+      - id: end-of-file-fixer
+      - id: trailing-whitespace
+      - id: check-added-large-files
+
+    # Python
+  - repo: https://github.com/psf/black
+    rev: 22.10.0
+    hooks:
+      - id: black
+        language: python
+        args: [--line-length=120]
+
+    # C++
+  - repo: https://github.com/pre-commit/mirrors-clang-format
+    rev: v17.0.3
+    hooks:
+      - id: clang-format
+
+#    # YAML  - still bad support for comments in YAML files
+#  - repo: https://github.com/jumanjihouse/pre-commit-hook-yamlfmt
+#    rev: 0.2.1    # or other specific tag
+#    hooks:
+#      - id: yamlfmt
+#        args: [--mapping, '2', --sequence, '4', --offset, '2', --width, '120']

README.md

@@ -22,5 +22,3 @@ catkin build
 
 ## Demo
 Please check instruction in [wiki](https://github.com/JSKAerialRobot/aerial_robot/wiki).
-
-

aerial_robot_control/include/aerial_robot_control/flight_navigation.h

@@ -26,7 +26,7 @@ namespace aerial_robot_navigation
   /* control frame */
   enum control_frame
     {
-      WORLD_FRAME, /* global frame, e.g. NEU, mocap */
+      WORLD_FRAME, /* global frame, e.g. ENU, mocap */
       LOCAL_FRAME /* head frame which is identical with imu head direction */
     };
 

aerial_robot_estimation/src/sensor/plane_detection.cpp

@@ -97,7 +97,7 @@ namespace sensor_plugin
     /* initialization */
     if (getStatus() == Status::INACTIVE) {
 
-      // 1. check altmeter is initialized, and check the height
+      // 1. check altimeter is initialized, and check the height
       bool alt_initialized = false;
       for (const auto& handler: estimator_->getAltHandlers()) {
         if (handler->getStatus() == Status::ACTIVE) {

aerial_robot_simulation/scripts/gazebo_control_bridge.py

@@ -69,7 +69,7 @@ def init(self):
             init_values[group_name] = subgroup_init_values
             self.actuator_command_pubs[group_name] = actuator_command_pubs
 
-            # setup the control subcriber
+            # setup the control subscriber
             group_ctrl_topic_name = rospy.get_param("actuator_controller/" + group_name + "/ctrl_topic_name", group_name + "_ctrl")
             self.joint_ctrl_sub_ = rospy.Subscriber(group_ctrl_topic_name, JointState, self.actuatorSubGroupCtrlCallback, group_name)
 

docs/UMLs/classes.puml

@@ -0,0 +1,102 @@
+@startuml
+'https://plantuml.com/class-diagram
+
+set namespaceSeparator ::
+
+abstract class aerial_robot_control::ControlBase {
+    + ControlBase()
+    + ~ControlBase()
+    + initialize()
+    + update()
+    + activate()
+    + reset()
+}
+
+abstract class aerial_robot_control::PoseLinearController extends aerial_robot_control::ControlBase {
+    + PoseLinearController()
+    + ~PoseLinearController()
+    + initialize()
+    + update()
+    + reset()
+}
+
+class aerial_robot_control::FullyActuatedController extends aerial_robot_control::PoseLinearController {
+    + FullyActuatedController()
+    + ~FullyActuatedController()
+    + initialize()
+    + reset()
+    + controlCore()
+    + sendCmd()
+}
+
+class aerial_robot_control::UnderActuatedController extends aerial_robot_control::PoseLinearController {
+    + UnderActuatedController()
+    + ~UnderActuatedController()
+    + initialize()
+    + reset()
+}
+
+class aerial_robot_control::UnderActuatedLQIController extends aerial_robot_control::PoseLinearController {
+    + UnderActuatedLQIController()
+    + ~UnderActuatedLQIController()
+    + initialize()
+    + activate()
+}
+
+class aerial_robot_control::UnderActuatedTiltedLQIController extends aerial_robot_control::UnderActuatedLQIController {
+    + UnderActuatedTiltedLQIController()
+    + ~UnderActuatedTiltedLQIController()
+    + initialize()
+    + activate()
+}
+
+class aerial_robot_control::HydrusLQIController extends aerial_robot_control::UnderActuatedLQIController {
+    + HydrusLQIController()
+    + initialize()
+    + checkRobotModel()
+}
+
+class aerial_robot_control::HydrusTiltedLQIController extends aerial_robot_control::UnderActuatedTiltedLQIController {
+    + HydrusTiltedLQIController()
+    + initialize()
+    + checkRobotModel()
+}
+
+class aerial_robot_control::DragonLQIGimbalController extends aerial_robot_control::HydrusLQIController {
+    + DragonLQIGimbalController()
+    + ~DragonLQIGimbalController()
+    + initialize()
+    + update()
+    + reset()
+}
+
+class aerial_robot_control::DragonFullVectoringController extends aerial_robot_control::PoseLinearController {
+    + DragonFullVectoringController()
+    + ~DragonFullVectoringController()
+    + initialize()
+}
+
+namespace aerial_robot_control {
+    note "under-actuated multi-rotor (quad-rotor)" as ud_mr
+    note "hydrus (option)" as hy
+    note "fully-actuated multi-rotor (tilted hex-rotor)" as fu_mr
+    note "hydrus_xi (hex type)" as hy_xi
+    note "hydrus (non tilted)" as hy_nt
+    note "dragon" as dragon
+    note "hydrus (non tilted/ tilted)" as hy_all
+}
+UnderActuatedController .. ud_mr
+UnderActuatedController .. hy
+FullyActuatedController .. fu_mr
+FullyActuatedController .. hy_xi
+HydrusLQIController .. hy_nt
+HydrusLQIController .. ud_mr
+HydrusTiltedLQIController .. hy_all
+DragonLQIGimbalController .. dragon
+DragonFullVectoringController .. dragon
+
+
+
+'TODO: give a unique namespace to robot specific controllers
+
+@enduml

docs/UMLs/folder_structure.puml

@@ -0,0 +1,123 @@
+@startuml
+'https://plantuml.com/component-diagram
+
+'Legend
+' - Blue: common packages
+' - Orange: only for simulation
+' - Green: only for real machine
+
+package "jsk_aerial_robot" {
+
+[aerial_robot_base] #LightBlue
+note right of aerial_robot_base
+  * standalone core
+  - execute functions from following blocks
+end note
+
+[aerial_robot_model] #LightBlue
+note right of [aerial_robot_model]
+  * joint based modelling
+  - kinematics, statics, stability
+  - jacobian
+  - derive model class as ros plugin
+  - servo motor interface (bridge)
+end note
+
+[aerial_robot_estimation] #LightBlue
+note right of [aerial_robot_estimation]
+  * sensor fusion
+  - cog motion estimation
+  - sensor interface as ros plugin
+  - kalman filter as ros plugin
+end note
+
+[aerial_robot_control] #LightBlue
+note right of [aerial_robot_control]
+  * flight control / navigation
+  - control based on cog motion
+  - navigation for cog and joint motion
+  - derive control/navigation class as ros plugin
+end note
+
+[aerial_robot_msgs] #LightBlue
+note right of [aerial_robot_msgs]
+  * ros messages
+  - aerial_robot_msgs/XXXXX
+end note
+
+[aerial_robot_base] -[hidden]-> [aerial_robot_model]
+[aerial_robot_model] -[hidden]-> [aerial_robot_estimation]
+[aerial_robot_estimation] -[hidden]-> [aerial_robot_control]
+[aerial_robot_control] -[hidden]-> [aerial_robot_msgs]
+
+package "robots" {
+
+  note right of "robots"
+    * derive class as plugin for:
+    - model  from aerial_robot_model
+    - control  from aerial_robot_control
+    - navigation  from aerial_robot_control (option)
+  end note
+
+  [hydrus] #LightBlue
+  note right of [hydrus]
+    - two dimensional multilinked type
+    - vertical thrust
+  end note
+
+  [hydrus_xi] #LightBlue
+  note right of [hydrus_xi]
+    - two dimensional multilinked type
+    - 1D vectorable thrust
+  end note
+
+  [dragon] #LightBlue
+  note right of [dragon]
+    - three dimensional multilinked type
+    - 2D vectorable thrust
+  end note
+
+  [hydrus] -[hidden]-> [hydrus_xi]
+  [hydrus_xi] -[hidden]-> [dragon]
+}
+
+[aerial_robot_simulation] #Orange
+note right of [aerial_robot_simulation]
+  * interface for gazebo
+  - hardware interface
+  - controller interface as plugin
+end note
+
+[aerial_robot_msgs] -[hidden]-> [aerial_robot_simulation]
+
+
+package "aerial_robot_nerve" {
+  [spinal_ros_bridge] #LightGreen
+  note right of [spinal_ros_bridge]
+    * uart between ros and spinal
+    - rosserial based
+  end note
+
+  [spinal] #LightGreen
+  note right of [spinal]
+    * project for stm32 mcu
+    - attitude estimation
+    - attitude control
+    - CAN comm with neuron
+  end note
+
+  [neuron] #LightGreen
+  note right of [neuron]
+    * project for stm32 mcu
+    - sensor interface via GPIO
+    - actuator interface via GPIO
+    - CAN comm with spinal
+  end note
+
+  [spinal_ros_bridge] -[hidden]-> [spinal]
+    [spinal] -[hidden]-> [neuron]
+}
+
+}
+
+@enduml