Merge pull request #15 from UWARG/oak-d-dev

Finally merge oak-d pipeline dev to main

Author: honzikschenk

.github/workflows/run-tests.yml

@@ -1,4 +1,4 @@
-# This workflow will run tests and linters with PyTest using Python 3.11
+# This workflow will run tests and linters using Python 3.11
 # For more information see: https://docs.github.com/en/actions/about-github-actions
 
 name: Run linter and docker tests
@@ -30,23 +30,9 @@ jobs:
       - name: Install tools
         run: |
           python -m pip install --upgrade pip
-          pip install black flake8 pylint pytest pytest-cov
+          pip install black
         
       # Run linters and formatters
       - name: Linters and formatters
         run: |
           black --check .
-          flake8 . --max-line-length=140
-          pylint ros2_ws/src/slam/slam --disable=import-error,missing-module-docstring,missing-function-docstring,missing-class-docstring,broad-exception-caught,too-few-public-methods
-
-      # Tests if Docker builds
-      - name: Docker build
-        run: docker build -f docker/Dockerfile -t temp-ci:latest docker/
-      
-      - name: Colcon build (for the ros2 nodes)
-        run: |
-          docker run --rm \
-            -v "$GITHUB_WORKSPACE/ros2_ws:/ros2_ws" \
-            -w /ros2_ws \
-            temp-ci:latest \
-            bash -lc 'source /opt/ros/jazzy/setup.bash && colcon build --event-handlers console_cohesion+'

.gitignore

@@ -67,4 +67,7 @@ Icon?
 .com.apple.timemachine.donotpresent
 .com.apple.*
 
-.venv/
+venv/
+
+.depthai_cached_models/
+.venv/

README.md

@@ -1,54 +1 @@
-# Airside SLAM System (Docker)
-
-> [!NOTE]
-> Please make sure to create a new branch instead of forking the repo when working on new tasks.
-
-The Docker setup provides:
-
-- ROS 2 Jazzy
-- MAVROS
-- Cartographer
-- sf45b drivers
-
-## Build the image
-
-```sh
-./docker/build.sh
-```
-
-## Run the container with GUI support
-
-```sh
-# Run first terminal
-sudo ./docker/run.sh
-
-
-# Run more terminals
-sudo ./docker/attach.sh
-```
-
-## Run SLAM commands
-
-```sh
-cd /workspace/ros2_ws
-
-rm -rf build install log
-
-colcon build
-
-source install/setup.bash
-
-ros2 launch slam slam_launch.py
-
-# OR
-
-./sf45b
-
-ros2 run tf2_ros static_transform_publisher 0 0 0 0 0 0 laser laser_frame
-
-ros2 run cartographer_ros cartographer_node -configuration_directory /workspace/ros2_ws/src/slam/config -configuration_basename sf45b_2d.lua --ros-args -p provide_odom_frame:=true -p expected_sensor_ids:="[scan]" -r scan:=/scan
-
-ros2 run cartographer_ros cartographer_occupancy_grid_node -resolution 0.05 -publish_period_sec 1.0
-
-rviz2
-```
+# Airside SLAM System using OAK-D