Fix style.sh, add venv to gitignore, update dockerfile, comment ansib…

…le, make dev.yml perform sysstem upgrade, make ansible handle python virtualenv instead of bootstrap, specify versions exactly in pyproject, format some code in auton

.gitignore

@@ -32,4 +32,7 @@ logs/
 moteus-cal*
 
 # CSV
-*.csv
+*.csv
+
+# Virtual Environment
+venv/

Dockerfile

@@ -1,33 +1,26 @@
 FROM ros:noetic
 
-RUN apt-get update && apt-get upgrade -y
-# Add apt repo for latest version of Git
-RUN apt-get install software-properties-common -y && add-apt-repository ppa:git-core/ppa -y
-RUN apt-get update && apt-get install -y \
-    zsh neovim sudo git git-lfs \
-    clang-format-12 clang-tidy-12 \
-    python3-catkin-tools python3-pip
-RUN DEBIAN_FRONTEND=noninteractive apt-get install keyboard-configuration -y
+RUN apt-get update -y && apt-get upgrade -y && apt-get install software-properties-common -y
+RUN apt-add-repository ppa:ansible/ansible -y
+RUN apt-add-repository ppa:git-core/ppa -y
+RUN apt install -y ansible git git-lfs
 
 RUN useradd --create-home --groups sudo --shell /bin/zsh mrover
 # Give mrover user sudo access with no password
 RUN echo '%sudo ALL=(ALL) NOPASSWD:ALL' >> /etc/sudoers
 
 USER mrover
-RUN mkdir -p ~/catkin_ws/src/mrover
+RUN mkdir -p /home/mrover/catkin_ws/src/mrover
 WORKDIR /home/mrover/catkin_ws/src/mrover
-# ROS package manager (rosdep) reads this file to install dependencies
 ADD ./package.xml .
-# Python package manager (pip) reads this file to install dependencies
-ADD ./requirements.txt .
-# Install ROS packages
-RUN rosdep update && rosdep install --from-paths . --ignore-src -y --rosdistro=noetic
+ADD ./pyproject.toml .
+ADD ./ansible ./ansible
+ADD ./ansible.sh .
+RUN ./ansible.sh build.yml
 
 USER root
 # Remove apt cache to free up space in the image
 RUN apt-get clean && rm -rf /var/lib/apt/lists/*
-# Install Python packags, sudo so it is a global install
-RUN pip3 install -r ./requirements.txt
 
 USER mrover
 ENTRYPOINT [ "/bin/zsh" ]

ansible/roles/build/tasks/main.yml

@@ -1,8 +1,10 @@
+# Allows us to install Python versions newer than 3.8
 - name: Add Python PPA
   become: True
   apt_repository:
     repo: ppa:deadsnakes/ppa
 
+# Allows us to install G++11, so we can use an updated libstdc++ which provides more standard library features (C++20)
 - name: Add GCC PPA
   become: True
   apt_repository:
@@ -13,6 +15,7 @@
   apt_key:
     url: https://apt.llvm.org/llvm-snapshot.gpg.key
 
+# Allows us to install Clang 16 and other LLVM tools
 - name: Add LLVM APT List
   become: True
   apt_repository:
@@ -25,6 +28,7 @@
     url: https://apt.kitware.com/keys/kitware-archive-latest.asc
     keyring: /usr/share/keyrings/kitware-archive-keyring.gpg
 
+# Allows us to install CMake versions newer than 3.16
 - name: Add CMake APT List
   become: True
   apt_repository:
@@ -42,6 +46,13 @@
     repo: deb http://packages.ros.org/ros/ubuntu {{ ubuntu_release }} main
     filename: ros
 
+- name: Upgrade APT Packages
+  become: True
+  apt:
+    cache_valid_time: 604800
+    state: latest
+    upgrade: yes
+
 - name: Install APT Packages
   become: True
   apt:
@@ -53,12 +64,16 @@
       - neovim
       - sudo
       - cmake
+      # Caches intermediate build files, speeds up compilation over time
       - ccache
+      # Faster than make
       - ninja-build
       - tmux
       - zstd
       - htop
       - curl
+      - unzip
+      - rsync
       - python3-pip
       - python3-rosdep
       - python3-catkin-tools
@@ -77,6 +92,7 @@
   become: True
   command: rosdep init
   args:
+    # This command will be skipped if this file already exists
     creates: /etc/ros/rosdep/sources.list.d/20-default.list
 
 - name: Update rosdep
@@ -133,3 +149,11 @@
     path: /usr/bin/clang-16
     link: /usr/bin/clang
     priority: 160
+
+- name: Setup Python Virtual Environment
+  pip:
+    name:
+      # Installs from pyproject.toml
+      - "{{ catkin_workspace }}/src/mrover[dev]"
+    virtualenv: "{{ catkin_workspace }}/src/mrover/venv"
+    virtualenv_command: python3.10 -m venv

pyproject.toml

@@ -9,23 +9,23 @@ maintainers = [
     { name = "Michigan Mars Rover Team" }
 ]
 dependencies = [
-    "django",
-    "empy",
-    "numpy",
-    "pandas",
-    "shapely",
-    "pyserial",
-    "moteus",
-    "pymap3d",
-    "aenum",
-    "pyyaml",
-    "rospkg",
+    "Django==4.2.5",
+    "empy==3.3.4",
+    "numpy==1.26.0",
+    "pandas==2.1.0",
+    "shapely==2.0.1",
+    "pyserial==3.5",
+    "moteus==0.3.59",
+    "pymap3d==3.0.1",
+    "aenum==3.1.15",
+    "PyYAML==6.0.1",
+    "rospkg==1.5.0",
 ]
 
 [project.optional-dependencies]
 dev = [
-    "black",
-    "mypy",
+    "black==23.9.1",
+    "mypy==1.5.1",
 ]
 
 [project.urls]

src/esw/brushless.py

@@ -125,12 +125,10 @@ def is_mode_indicating_error(mode: int) -> bool:
 
 
 class MoteusBridge:
-
     MOTEUS_RESPONSE_TIME_INDICATING_DISCONNECTED_S = 0.01
     ROVER_NODE_TO_MOTEUS_WATCHDOG_TIMEOUT_S = 0.1
 
     def __init__(self, can_id: int, transport, gear_ratio: int):
-
         self._can_id = can_id
         self.controller = moteus.Controller(id=can_id, transport=transport)
         self.command_lock = threading.Lock()
@@ -369,7 +367,6 @@ async def send_command(self) -> None:
 
         for bridge in self._motor_bridges.values():
             if lost_communication_now:
-
                 # If we only just lost communications this iteration.
                 if not self._lost_communication:
                     rospy.loginfo(

src/esw/cameras.py

@@ -169,7 +169,6 @@ def __del__(self) -> None:
 
 
 class StreamManager:
-
     MAX_STREAMS: int = rospy.get_param("cameras/max_streams")
     """
     The maximum number of streams that can be simultaneously sustained.
@@ -316,7 +315,6 @@ def handle_req(self, req: ChangeCamerasRequest) -> ChangeCamerasResponse:
             # If a stream is being requested...
             # (resolution == -1 means a request to cancel stream)
             if req.camera_cmd.resolution >= 0:
-
                 # If we cannot handle any more streams, return False.
                 available_port_arr = [True, True, True, True]
                 for i, stream in enumerate(self._stream_by_device):
@@ -414,7 +412,6 @@ def send(
 
     # Transmit loop
     while True:
-
         ret, frame = cap_send.read()
         if not ret:
             rospy.logerr("Empty frame")

src/esw/imu_driver.py

@@ -91,7 +91,6 @@ def main():
     attempts = 0
 
     while not rospy.is_shutdown():
-
         # try to read a line from the serial connection,
         # if this fails 100 times in a row then end the program
         try:

src/esw/science.py

@@ -90,7 +90,6 @@ class ScienceBridge:
     _last_mcu_active: Bool
 
     def __init__(self) -> None:
-
         self._active_publisher = rospy.Publisher("science_mcu_active", Bool, queue_size=1)
 
         self._mcu_active_timeout_s = rospy.get_param("science/info/mcu_active_timeout_s")

src/navigation/gate.py

@@ -216,7 +216,6 @@ class GateTraverseStateTransitions(Enum):
 
 
 class GateTraverseState(BaseState):
-
     STOP_THRESH = get_rosparam("gate/stop_thresh", 0.2)
     DRIVE_FWD_THRESH = get_rosparam("gate/drive_fwd_thresh", 0.34)  # 20 degrees
     APPROACH_DISTANCE = get_rosparam("gate/approach_distance", 2.0)

src/navigation/partial_gate.py

@@ -64,7 +64,6 @@ class PartialGateStateTransitions(Enum):
 
 
 class PartialGateState(BaseState):
-
     traj: Optional[PartialGateTrajectory] = None
 
     def __init__(

src/navigation/state.py

@@ -1,5 +1,5 @@
 from abc import ABC
-from typing import List
+from typing import List, Optional
 
 import smach
 from context import Context
@@ -19,9 +19,9 @@ def __init__(
         self,
         context: Context,
         own_transitions: List[str],
-        add_outcomes: List[str] = None,
-        add_input_keys: List[str] = None,
-        add_output_keys: List[str] = None,
+        add_outcomes: Optional[List[str]] = None,
+        add_input_keys: Optional[List[str]] = None,
+        add_output_keys: Optional[List[str]] = None,
     ):
         add_outcomes = add_outcomes or []
         add_input_keys = add_input_keys or []
@@ -72,7 +72,7 @@ def reset(self):
 
     def evaluate(self, ud: smach.UserData) -> str:
         """Override me instead of execute!"""
-        pass
+        raise NotImplementedError
 
 
 class DoneStateTransitions(Enum):

src/navigation/waypoint.py

@@ -1,11 +1,10 @@
-from typing import List
-
-import numpy as np
-import rospy
+from typing import List, Optional
 
 import tf2_ros
-from context import Context, Environment
+
+import numpy as np
 from aenum import Enum, NoAlias
+from context import Context
 from state import BaseState
 from util.ros_utils import get_rosparam
 
@@ -31,9 +30,9 @@ class WaypointState(BaseState):
     def __init__(
         self,
         context: Context,
-        add_outcomes: List[str] = None,
-        add_input_keys: List[str] = None,
-        add_output_keys: List[str] = None,
+        add_outcomes: Optional[List[str]] = None,
+        add_input_keys: Optional[List[str]] = None,
+        add_output_keys: Optional[List[str]] = None,
     ):
         add_outcomes = add_outcomes or []
         add_input_keys = add_input_keys or []

src/teleop/jetson/arm_trajectory_server.py

@@ -74,17 +74,14 @@ def error_threshold_exceeded(feedback: FollowJointTrajectoryFeedback) -> str:
 
 
 class MoveItAction(object):
-
     # Rearranges the point path following the name convention joint_0, ... joint_6
     def rearrange(self, joint_trajectory: JointTrajectory) -> None:
-
         mapping = [joint_trajectory.joint_names.index(j) for j in conf_joint_names]
 
         # Return early if already arranged properly
         if mapping == sorted(mapping):
             return
         for point in joint_trajectory.points:
-
             temp_positions: List[float] = []
             temp_velocities: List[float] = []
             temp_accelerations: List[float] = []
@@ -121,7 +118,6 @@ def __init__(self, name: str) -> None:
 
     # Action callback
     def execute_cb(self, goal: FollowJointTrajectoryGoal) -> None:
-
         rospy.loginfo("Executing FollowJointTrajectory Action")
         # It is required to rearrange the arrays because MoveIt doesn't guarantee order preservation
         self.rearrange(goal.trajectory)