ci

scripts/visualizer.py

@@ -98,17 +98,11 @@ def __init__(self, state_machine_instance, *args, **kwargs):
         self.viz = Node("Visualizer")
 
         self.viz.create_subscription(
-            StateMachineStructure,
-            STRUCTURE_TOPIC,
-            self.state_machine.container_structure_callback,
-            1
+            StateMachineStructure, STRUCTURE_TOPIC, self.state_machine.container_structure_callback, 1
         )
 
         self.viz.create_subscription(
-            StateMachineStateUpdate,
-            STATUS_TOPIC,
-            self.state_machine.container_status_callback,
-            1
+            StateMachineStateUpdate, STATUS_TOPIC, self.state_machine.container_status_callback, 1
         )
 
     def paintEvent(self, event):
@@ -144,20 +138,14 @@ def main():
         signal.signal(signal.SIGINT, signal.SIG_DFL)
         state_machine = StateMachine()
 
-<<<<<<< HEAD
         print("Node Created...")
 
         print("Subscriptions Created...")
 
-=======
-
         print("Node Created...")
 
-
         print("Subscriptions Created...")
 
-
->>>>>>> nav_fixes
         app = QApplication([])  # type: ignore
         g = GUI(state_machine)
         g.show()

starter_project/autonomy/launch/starter_project.launch.py

@@ -31,22 +31,21 @@ def generate_launch_description():
         condition=LaunchConfigurationEquals("rviz", "true"),
     )
 
-    return LaunchDescription([
-        launch_include_sim,
-        rviz_node,
-
-        # ==========
-        # Perception
-        # ==========
-        perception_node,
-
-        # ===========
-        # Navigation
-        # ===========
-        navigation_node,
-
-        # ============
-        # Localization
-        # ============
-        localization_node
-    ])
+    return LaunchDescription(
+        [
+            launch_include_sim,
+            rviz_node,
+            # ==========
+            # Perception
+            # ==========
+            perception_node,
+            # ===========
+            # Navigation
+            # ===========
+            navigation_node,
+            # ============
+            # Localization
+            # ============
+            localization_node,
+        ]
+    )

starter_project/autonomy/src/localization.py

@@ -61,6 +61,7 @@ def spherical_to_cartesian(spherical_coord: np.ndarray, reference_coord: np.ndar
         """
         # TODO
 
+
 def main():
     # initialize the node
     rclpy.init()

starter_project/autonomy/src/navigation/context.py

@@ -14,7 +14,8 @@
 
 import sys
 import os
-sys.path.append(os.getcwd() + '/starter_project/autonomy/src')
+
+sys.path.append(os.getcwd() + "/starter_project/autonomy/src")
 from util.SE3 import SE3
 from visualization_msgs.msg import Marker
 
@@ -35,6 +36,7 @@ def send_drive_stop(self):
         # TODO: tell the rover to stop
         pass
 
+
 @dataclass
 class Environment:
     """

starter_project/autonomy/src/navigation/drive_state.py

@@ -5,6 +5,7 @@
 from state_machine.state import State
 from tag_seek import TagSeekState
 
+
 class DriveState(State):
     def on_enter(self, context) -> None:
         pass
@@ -21,7 +22,7 @@ def on_loop(self, context) -> State:
         # (HINT: use get_drive_command(), with completion_thresh set to 0.7 and turn_in_place_thresh set to 0.2)
 
         # TODO: if we are finished getting to the target, go to TagSeekState
-        
+
         # TODO: send the drive command to the rover
 
         # TODO: tell state machine to stay in the DriveState by returning self

starter_project/autonomy/src/navigation/navigation_starter_project.py

@@ -50,6 +50,7 @@ def __init__(self, ctx: Context):
 
         self.create_timer(1 / 60, self.state_machine.update)
 
+
 def main():
     try:
         # TODO: init a node called "navigation"

starter_project/autonomy/src/navigation/state.py

@@ -6,6 +6,7 @@
 
 from context import Context
 
+
 class DoneState(State):
     def on_enter(self, context) -> None:
         pass
@@ -18,7 +19,8 @@ def on_loop(self, context) -> State:
         cmd_vel = Twist()
         context.rover.send_drive_command(cmd_vel)
         return self
-
+
+
 class FailState(State):
     def on_enter(self, context) -> None:
         pass
@@ -30,4 +32,4 @@ def on_loop(self, context) -> State:
         # Stop rover
         cmd_vel = Twist()
         context.rover.send_drive_command(cmd_vel)
-        return self
+        return self