pre-commit update

Author: --global

.docker/ros_entrypoint.sh

@@ -4,4 +4,4 @@ set -e
 # setup ros environment
 cd /
 source "/opt/ros/$ROS_DISTRO/setup.bash"
-exec "$@"
+exec "$@"

.pre-commit-config.yaml

@@ -0,0 +1,15 @@
+default_language_version:
+  python: python3
+
+repos:
+  - repo: https://github.com/pre-commit/pre-commit-hooks
+    rev: v4.6.0
+    hooks:
+      - id: trailing-whitespace
+      - id: end-of-file-fixer
+      - id: check-yaml
+      - id: check-json
+      - id: check-merge-conflict
+      - id: mixed-line-ending
+      - id: check-added-large-files
+      - id: detect-private-key

export.py

@@ -58,4 +58,3 @@ def export_pdf(config_yaml):
             export_slides(day_dir, id, slides)
 
 export_pdf(os.path.join(root_dir, "export_list.yaml"))
-

export_list.yaml

@@ -2,8 +2,8 @@ export:
   - Day: 1
     slides:
       1: slides/Basics/source/Core_concepts.html
-      2: slides/Basics/source/filesystem.html  
- 
+      2: slides/Basics/source/filesystem.html
+
   - Day: 2
     slides:
       1: slides/Basics/source/CLI.html
@@ -14,4 +14,4 @@ export:
     slides:
       1: slides/Navigation/source/Basics.html
       2: slides/Navigation/source/SLAM.html
-      3: slides/Navigation/source/Navigation2.html
+      3: slides/Navigation/source/Navigation2.html

readme.md

@@ -10,6 +10,16 @@ This repository contains source of training material for `ROS 2 Foxy`. The topic
 - Manipulation
     - Basics of manipulation
 
+## Development
+
+Enable pre-commit hooks to keep formatting tidy before pushing changes:
+
+```sh
+pip install pre-commit
+pre-commit install
+pre-commit run --all-files
+```
+
 ***
 <!--
     ROSIN acknowledgement from the ROSIN press kit
@@ -20,12 +30,12 @@ This repository contains source of training material for `ROS 2 Foxy`. The topic
   <img src="https://raw.githubusercontent.com/rosin-project/press_kit/master/img/rosin_ack_logo_wide.png" alt="rosin_logo" height="60" >
 </a>
 
-Supported by ROSIN - ROS-Industrial Quality-Assured Robot Software Components.  
+Supported by ROSIN - ROS-Industrial Quality-Assured Robot Software Components.
 More information: <a href="http://rosin-project.eu">rosin-project.eu</a>
 
 <img src="https://raw.githubusercontent.com/rosin-project/press_kit/master/img/rosin_eu_flag.jpg" alt="eu_flag" height="45" align="left" >
 
-This project has received funding from the European Union’s Horizon 2020  
+This project has received funding from the European Union’s Horizon 2020
 research and innovation programme under grant agreement no. 732287.
 ***
 <a rel="license" href="http://creativecommons.org/licenses/by/4.0/"><img alt="Creative Commons License" style="border-width:0" src="https://i.creativecommons.org/l/by/4.0/80x15.png" /></a><br />This work is licensed under a <a rel="license" href="http://creativecommons.org/licenses/by/4.0/">Creative Commons Attribution 4.0 International License</a>.

slides/Basics/source/CLI.html

@@ -38,21 +38,21 @@
 ---
 
 ## 1.1 Installing and Sourcing ROS 2
-* Two types of installation - [Binary](https://docs.ros.org/en/foxy/Installation/Ubuntu-Install-Debians.html) (recommended) or [Source](https://docs.ros.org/en/foxy/Installation/Ubuntu-Development-Setup.html). 
-* Live USB has ROS 2 Foxy Binary - Verify :   
- `ll /opt/ros/foxy`. 
-* Source ROS 2 to use commands, libraries, packages etc..:   
-`source /opt/ros/foxy/setup.bash`   
-* Source your local workspace as needed (which source ROS as well):   
+* Two types of installation - [Binary](https://docs.ros.org/en/foxy/Installation/Ubuntu-Install-Debians.html) (recommended) or [Source](https://docs.ros.org/en/foxy/Installation/Ubuntu-Development-Setup.html).
+* Live USB has ROS 2 Foxy Binary - Verify :
+ `ll /opt/ros/foxy`.
+* Source ROS 2 to use commands, libraries, packages etc..:
+`source /opt/ros/foxy/setup.bash`
+* Source your local workspace as needed (which source ROS as well):
 `source /path/to/ws/install/local_setup.bash`
 
 ---
-  
+
 ## 1.2 Aliasing
-* Aliases are custom defined abbreviations for commands. 
-* Simply type 
-`source_foxy` (or any string you wish) 
-instead of 
+* Aliases are custom defined abbreviations for commands.
+* Simply type
+`source_foxy` (or any string you wish)
+instead of
 `source /opt/ros/foxy/setup.bash`  (or any command you wish)
 * See cheat sheet for syntax.
 
@@ -62,7 +62,7 @@
 
 ## 1.3 ROS_DOMAIN_ID
 
-* Environment variable 
+* Environment variable
 * Unique identifier number for each machine
 * Physically separates network
 * Stop ROS 2 node interference
@@ -84,24 +84,24 @@
 ---
 
 ## 2.1 Basic command structure
-  
+
 
 We only explore default packages that come with the binary for simplicity.
 
 * All ROS 2 commands follow this syntax :
-`ros2 <main_command> <sub_command> <<arguments>>`   
+`ros2 <main_command> <sub_command> <<arguments>>`
 
-* Examples :  
-`ros2 pkg list`   
+* Examples :
+`ros2 pkg list`
 `ros2 pkg executables`
 
-Use tab completion to either complete a command, or to see a list of available options. 
+Use tab completion to either complete a command, or to see a list of available options.
 * Example: `ros2 ` *tab* *tab* - List all ROS 2 commands.
-* `ros2 pkg ` *tab* *tab* - List of sub-commands for `pkg`.   
-* `-h` at almost any point to get a brief help description. 
-`ros2 -h`   
-`ros2 pkg -h`     
-`ros2 pkg executable -h`   
+* `ros2 pkg ` *tab* *tab* - List of sub-commands for `pkg`.
+* `-h` at almost any point to get a brief help description.
+`ros2 -h`
+`ros2 pkg -h`
+`ros2 pkg executable -h`
 
 ---
 class: center, middle
@@ -111,84 +111,84 @@
 ---
 
 ##  3.1 Publisher
-  
 
-The most basic example of ROS - a *Publisher/Subscriber* pair 
 
-* Remember to source ROS 2 
-* Command `run` to run an executable within a package (C++ compiled object/Python script):    
+The most basic example of ROS - a *Publisher/Subscriber* pair
+
+* Remember to source ROS 2
+* Command `run` to run an executable within a package (C++ compiled object/Python script):
 
-`ros2 run <package_name> <executable_name> <<optional_command_line_arguments>>`   
+`ros2 run <package_name> <executable_name> <<optional_command_line_arguments>>`
 
-* Try the example publisher node packaged with ROS 2. 
-* We first need to find out what the name of the package is.   
-* Run the package listing command  with a filter:    
-`ros2 pkg list | grep demo`   
-* Next find the available executables we could use by running  :      
-`ros2 pkg executables demo_nodes_cpp`   
-* Run one of these executables - the publisher:   
-`ros2 run demo_nodes_cpp talker`   
+* Try the example publisher node packaged with ROS 2.
+* We first need to find out what the name of the package is.
+* Run the package listing command  with a filter:
+`ros2 pkg list | grep demo`
+* Next find the available executables we could use by running  :
+`ros2 pkg executables demo_nodes_cpp`
+* Run one of these executables - the publisher:
+`ros2 run demo_nodes_cpp talker`
 
-Observe the state of the ROS 2 runtime system so far...    
+Observe the state of the ROS 2 runtime system so far...
 
 ---
 
 ## 3.2 Introspection - Publisher
 
 ### Nodes
-* To look at what nodes are currently running:   
-`ros2 node list`   
-* To see more info about a node:   
-`ros2 node info <node_name>`   
+* To look at what nodes are currently running:
+`ros2 node list`
+* To see more info about a node:
+`ros2 node info <node_name>`
 
 ### Topics
-* To see currently running topics and their message types:   
-`ros2 topic list -t`   
-* To get more info about a topic (Foxy: Verbose output):   
+* To see currently running topics and their message types:
+`ros2 topic list -t`
+* To get more info about a topic (Foxy: Verbose output):
 `ros2 topic info -v <topic_name>`<!-- Thanks AWS!!-->
-* To see what is being published on a topic:   
+* To see what is being published on a topic:
 `ros2 topic echo <topic_name>`
 
 ---
 
 ## 3.3 Subscriber
 
-* Start a subscriber that listens to this topic:   
-`ros2 run demo_nodes_cpp listener`   
+* Start a subscriber that listens to this topic:
+`ros2 run demo_nodes_cpp listener`
 
 * The subscriber echoes on the terminal what it hears over the topic.
 
 * Check the running nodes and topics again to see the update.
 
 ---
-  
+
 ## 3.4 Introspection - Terminal Publisher
 
-* Publishers can also be created from the terminal.   
-`ros2 topic pub <topic_nam> <msg_type> "{<field1_key>: <field1_value>,  <field2_key>: <field2_value>, ...}"`   
-* The message type must be properly understood first.   
-`ros2 topic list -t`  
-* The message type of `/topic` is `std_msgs/msg/String` 
-* For more info: `ros2 interface show std_msgs/msg/String`   
+* Publishers can also be created from the terminal.
+`ros2 topic pub <topic_nam> <msg_type> "{<field1_key>: <field1_value>,  <field2_key>: <field2_value>, ...}"`
+* The message type must be properly understood first.
+`ros2 topic list -t`
+* The message type of `/topic` is `std_msgs/msg/String`
+* For more info: `ros2 interface show std_msgs/msg/String`
 * It has only one field - `data` - of the type `string`.
-* The message body is a dictionary type, with key-value pairs for the message fields. 
-* Use `ros2 interface proto std_msgs/msg/String` to get an example of the dictionary to use.   
-> NOTE THAT SPACING IS VERY IMPORTANT!!   
+* The message body is a dictionary type, with key-value pairs for the message fields.
+* Use `ros2 interface proto std_msgs/msg/String` to get an example of the dictionary to use.
+> NOTE THAT SPACING IS VERY IMPORTANT!!
 * To spawn a publisher over `/topic` with a rate of 10 Hz:
 `ros2 topic pub -r10 /topic std_msgs/msg/String "data: "Hello""`
 
 ---
 
 ## 3.5 Launch files
 
-* A way to start many nodes from a single starting point:   
+* A way to start many nodes from a single starting point:
 
-`ros2 launch <package_name> <launch_file_name.launch> <<optional_command_line_arguments>>`   
+`ros2 launch <package_name> <launch_file_name.launch> <<optional_command_line_arguments>>`
 
-* To run both the Subscriber and Publisher from one point:   
-`ros2 launch demo_nodes_cpp talker_listener.launch.py`   
+* To run both the Subscriber and Publisher from one point:
+`ros2 launch demo_nodes_cpp talker_listener.launch.py`
 
-* Use introspection to verify results and compare.   
+* Use introspection to verify results and compare.
 
 ---
 class: center, middle
@@ -200,34 +200,34 @@
 
 ## 4.1 Introduction - Services
 
-* Useful for making short but guaranteed transfer of messages between nodes. 
+* Useful for making short but guaranteed transfer of messages between nodes.
 * It involves two entities - a Server that provides the service and a Client that consumes this service.
-* Start these just just like a typical node:   
-`ros2 run demo_nodes_cpp add_two_ints_server`   
-`ros2 run demo_nodes_cpp add_two_ints_client`   
+* Start these just just like a typical node:
+`ros2 run demo_nodes_cpp add_two_ints_server`
+`ros2 run demo_nodes_cpp add_two_ints_client`
 
 * A Topic streams data whereas a Service makes one exchange per call.
 
 ---
 
 ## 4.2 Introspection - Services
 
-* List the services offered by servers:   
+* List the services offered by servers:
 `ros2 service list -t`
-* Service offered by the demo server - *add_two_ints* 
+* Service offered by the demo server - *add_two_ints*
 * We invoked this service by running a client node
-* You can also do this via the CLI. 
+* You can also do this via the CLI.
 
 Syntax: `ros2 service call <service_name> <service_type_name> "{<field1_key>: <field1_value>,  <field2_key>: <field2_value>, ...}"`
 
-* To understand the service type:   
-`ros2 interface list -s`   (-s for services. Also, -m, -a)   
+* To understand the service type:
+`ros2 interface list -s`   (-s for services. Also, -m, -a)
 `ros2 interface show <service_type_name>`
 
 Example: `ros2 service call /add_two_ints example_interfaces/srv/AddTwoInts "{a: 5, b: 6}"`
 > NOTE THAT SPACING IS VERY IMPORTANT!!
 
- 
+
 ---
 class: center, middle
 name: main_title
@@ -242,7 +242,7 @@
 * Useful for longer tasks that need a feedback & involves an action server and an action client.
 * Interface has 3 parts - goal, feedback and result.
 * Typical sequence - Publish a goal, observe feedback & receive result  when execution is completed/aborted
-* Use the `ros2 action [..]` commands to interact. (New in ROS 2)  
+* Use the `ros2 action [..]` commands to interact. (New in ROS 2)
     * Similar to `ros2 topic [..]`
 
 
@@ -261,22 +261,22 @@
 class: center, middle
 name: main_title
 
- # 6. Tools 
+ # 6. Tools
 
 ---
 
-## 6.1 Tools - RQT 
+## 6.1 Tools - RQT
 
 * QT Based ROS GUI tool.
-* Offers plugins for many purposes:   
-    * Node graph monitor, 
-    * Service caller/type viewer, 
-    * Topic publisher/listener/type viewer, 
-    * Image view, 
+* Offers plugins for many purposes:
+    * Node graph monitor,
+    * Service caller/type viewer,
+    * Topic publisher/listener/type viewer,
+    * Image view,
     * Plot  etc....
 * Similar to ROS 1, but few plugins still missing
 * `rqt &` to launch default main window (`&` ->detached process)
-or 
+or
 `ros2 run rqt_<plugin> rqt_<plugin>` to launch a specific plugin
 * Load a plugin : `Plugins -> <Library> -> <Plugin>`
     * Example to monitor node graph `Plugins -> Introspection -> Node Graph`