freeflyer2

ASL FreeFlyer software stack with ROS2. See build status for support on ROS2 distrbutions.

Quick Start

Install ROS2 ( Humble or Rolling)
Clone the repo into a ROS2 workspace, e.g.

mkdir -p ~/ff_ws/src
git clone git@github.com:StanfordASL/freeflyer2.git ~/ff_ws/src/freeflyer2

Install dependencies

rosdep update && rosdep install --from-paths ~/ff_ws/src --ignore-src -y

Build the code (skipping the driver package)

cd ~/ff_ws && colcon build --packages-skip ff_drivers

Source workspace install

source ~/ff_ws/install/local_setup.bash

Development Guide

The CI will build and run all registered tests. PR can be merged only when all status checks pass. ROS2 code styles are enforced for C++. Python code style is enforced through black. Here are some tips for fixing code style issues for a PR.

Run the following command to manually run all tests and see detailed test results including format violation

$ colcon build && colcon test && colcon test-result --verbose

Copyright

Every source file (e.g. .cpp, .hpp, .py) including launch files should have a copy of the license at the very top. See any source files for an example.

C++ Code Style

Run ament_uncrustify --reformat to automatically format C++ source files.
Run ament_cpplint to check for style violations and fix them manually.

Python Code Style

Please install black with pip install black for the first time.

Importantly

to format all Python code with black automatically run

$ cd freeflyer2
$ black .

to check formatting without changing the files run

$ cd freeflyer2
$ black --check .

Disable Code Style Test

If you hate the ROS2 conventions so bad, you can disable specific code style test by adding the following line before ament_lint_auto_find_test_dependencies() in CMakeLists.txt.

set(AMENT_LINT_AUTO_EXCLUDE <test1> [<test2> ...])

For example, if you want to disable code style checks for all Python files, you can add

set(AMENT_LINT_AUTO_EXCLUDE ament_cmake_flake8 ament_cmake_pep257)

Package Layout

freeflyer -- top level pacakge (contains just launch files)
ff_estimate -- implement different state estimators
ff_control -- implement different controllers
ff_drivers -- driver code that interfaces with hardware
ff_msgs -- custom message types
ff_params -- shared parameters about dynamics and actuators
ff_sim -- a lightweight pure Python simulator
ff_viz -- RVIZ visualization

StanfordASL / freeflyer2