Merge pull request #1 from ubc-subbots/rename

Rename

Author: hashaam1217

.github/workflows/build_and_test.yml

@@ -8,7 +8,7 @@ jobs:
   build_and_test:
     runs-on: ubuntu-24.04
     container:
-      image: hashaam1217/subbots_steelhead_testing:1.0.1
+      image: hashaam1217/subbots_spiderfish_testing:1.0.1
     steps:
       - name: Ensure Permissions
         run: |
@@ -46,7 +46,7 @@ jobs:
           echo "/usr/local/cuda/lib64" >> $GITHUB_PATH
           echo "/usr/local/cuda/bin" >> $GITHUB_PATH
 
-      - name: Check out ubc-subbots/steelhead
+      - name: Check out ubc-subbots/spiderfish
         uses: actions/checkout@v3  # Update to the latest version.
 
       - name: Install deps with rosdep

.github/workflows/push_docker.yml

@@ -1,4 +1,4 @@
-name: Build and push steelhead Docker image
+name: Build and push spiderfish Docker image
 
 on:
   push:
@@ -9,7 +9,7 @@ jobs:
     runs-on: ubuntu-24.04
     steps:
 
-      - name: Check out ubc-subbots/steelhead
+      - name: Check out ubc-subbots/spiderfish
         uses: actions/checkout@v2
 
       - name: Log in to Docker Hub
@@ -23,4 +23,4 @@ jobs:
         with:
           context: ./docker
           push: true
-          tags: ubcsubbots/steelhead:latest
+          tags: ubcsubbots/spiderfish:latest

.github/workflows/sbc-docker-image.yml

@@ -11,7 +11,7 @@ on:
   workflow_dispatch:
 
 env:
-  IMAGE_NAME: ghcr.io/ubc-subbots/steelhead-sbc
+  IMAGE_NAME: ghcr.io/ubc-subbots/spiderfish-sbc
   PLATFORMS: linux/amd64,linux/arm64
 
 jobs:

CONVENTIONS.md

@@ -125,19 +125,19 @@ The C++ programming conventions we use are loosely based off the [ROS C++ Style
 - Member variables are **under_scored_suffix_**
 - Members should be organized **Functions, Constants, Variables**
 - Leave **2** lines between functions and classes
-- If the C++ file exists in `steelhead_<PACKAGE_NAME>`, then the classes/functions should be namespaced using **<PACKAGE_NAME>**. 
-- If the file `example_file.hpp` exists in `steelhead_<PACKAGE_NAME>`, it's should have a definition **STEELHEAD_<PACKAGE_NAME>__EXAMPLE_FILE**
+- If the C++ file exists in `spiderfish_<PACKAGE_NAME>`, then the classes/functions should be namespaced using **<PACKAGE_NAME>**. 
+- If the file `example_file.hpp` exists in `spiderfish_<PACKAGE_NAME>`, it's should have a definition **SPIDERFISH_<PACKAGE_NAME>__EXAMPLE_FILE**
 - Includes should be organized **Standard, Third-Party, Application**
 - Includes should be in the `.hpp` as much as possible
 - Brackets (ie. `{` and `}`) should start on a new line
 - Function should be commented as per [Doxygen C++](https://www.doxygen.nl/manual/docblocks.html)
 
-Here is an example `.hpp` and `.cpp` file in the package `steelhead_example` dispalying these conventions
+Here is an example `.hpp` and `.cpp` file in the package `spiderfish_example` dispalying these conventions
 
 ```
 // example_file.hpp
-#ifndef STEELHEAD_EXAMPLE__EXAMPLE_FILE
-#define STEELHEAD_EXAMPLE__EXAMPLE_FILE
+#ifndef SPIDERFISH_EXAMPLE__EXAMPLE_FILE
+#define SPIDERFISH_EXAMPLE__EXAMPLE_FILE
 
 #include <some_standard_library>
 #include <another_standard_library>
@@ -203,12 +203,12 @@ namespace example
 
 } // namespace example
 
-#endif  //STEELHEAD_EXAMPLE__EXAMPLE_FILE
+#endif  //SPIDERFISH_EXAMPLE__EXAMPLE_FILE
 ```
 
 ```
 // example_file.cpp
-#include "steelhead_example/example_file.hpp"
+#include "spiderfish_example/example_file.hpp"
 
 namespace example
 {
@@ -242,7 +242,7 @@ namespace example
 
 # ROS2
 ROS2 has it's own set of conventions which we will follow. The following list gives the conventions that should be followed
-- Packages should be named **steelhead_<PACKAGE_NAME>** where `<PACKAGE_NAME>` is short and descriptive of the packages purpose (e.g `steelhead_example`)
+- Packages should be named **spiderfish_<PACKAGE_NAME>** where `<PACKAGE_NAME>` is short and descriptive of the packages purpose (e.g `spiderfish_example`)
 - Namespaces should be **under_scored** and as short as possible (e.g `/ns/component_one/output`)
 - Topics, actions, services, and node_names should also be **under_scored**
 - All interface files (`.msg`,`.srv`,`.action`) should be **CamelCase** (e.g `CustomMessage.msg`)

README.md

@@ -1,6 +1,6 @@
-# Steelhead AUV
+# Spiderfish AUV
 
-This repository contains the ROS2 system for the UBC SubBots Steelhead AUV. It is meant to be launched in Ubuntu 20.04 on the Jetson TX2 on board the Steelhead AUV.
+This repository contains the ROS2 system for the UBC SubBots Spiderfish AUV. It is meant to be launched in Ubuntu 20.04 on the Jetson TX2 on board the Spiderfish AUV.
 
 ## DISCLAIMER
 
@@ -20,7 +20,7 @@ This guide already assumes you have already followed the guide for installing Ub
 
 To get started, first clone this repo to your computer running Ubuntu 20.04 into whatever directory you choose by running
 
-    git clone https://github.com/ubc-subbots/steelhead.git
+    git clone https://github.com/ubc-subbots/spiderfish.git
 
 ### Gazebo Sourcing
 Next, we need to add the setup script to our `.bashrc` so that it is sourced on every new terminal. Open up `~/.bashrc` in a text editor or in nano as such
@@ -73,7 +73,7 @@ Next, install rosdep as such
     sudo apt install python3-rosdep2 -y --allow-unauthenticated 
     rosdep update --include-eol #(Foxy is now at end of life)
 
-Then, from the folder `steelhead`, resolve any dependency issues using the following command
+Then, from the folder `spiderfish`, resolve any dependency issues using the following command
 
         rosdep install -i --from-path src --rosdistro foxy -y -r
 
@@ -89,15 +89,15 @@ To finish the setup, edit your `.bashrc` file to source the global and local set
 
     nano ~/.bashrc
 
-Navigate to the bottom of the file and add the following three lines; be sure to set `<PATH_TO_STEELHEAD>` to whatever it is on your machine
+Navigate to the bottom of the file and add the following three lines; be sure to set `<PATH_TO_SPIDERFISH>` to whatever it is on your machine
 
     source /opt/ros/foxy/setup.bash                     # global setup script
-    source <PATH_TO_STEELHEAD>/steelhead/install/setup.bash   # local setup script
+    source <PATH_TO_SPIDERFISH>/spiderfish/install/setup.bash   # local setup script
     export RCUTILS_COLORIZED_OUTPUT=1
 
 The last line is helpful in that it colorizes ROS2 logging so that info/warn/error messages are easier to differentiate. Once this is done, open a new terminal for the `.bashrc` to be executed and the required scripts be sourced. To perform a sanity check that everything is working, launch the Gazebo sim by launching
 
-    ros2 launch steelhead_bringup barebones_gazebo_launch.py
+    ros2 launch spiderfish_bringup barebones_gazebo_launch.py
 
 If this command executes successfully, you are ready to develop!
 
@@ -106,16 +106,16 @@ To learn how to contribute to this repo, see the seperate [workflow](WORKFLOW.md
 
 ## Tips
 Here are some tips to be aware of when developing on this repository and when developing in ROS2 in general
-- Make sure when you run any `colcon` command such as `colcon build` or `colcon test` that you do so in the root folder of this directory (i.e `steelhead`)
+- Make sure when you run any `colcon` command such as `colcon build` or `colcon test` that you do so in the root folder of this directory (i.e `spiderfish`)
 - After creating any new component nodes, you must either source the local setup script or simply open up a new terminal for them to show up under the command `ros2 component types` and be usable by the pipeline.
 - Make sure you spell topics/services/actions correctly, be sure to debug by using `ros2 topic|service|action list`and `rqt_graph` to see that you are using the desired communication channels.
-- If you have added a dependency to a package by modifying the appropriate files (`CMakeLists.txt`, `package.xml`) and the build of that package is failing because it says it can't find the package, make sure you have it installed by running `rosdep install -i --from-path src --rosdistro foxy -y` in the `steelhead` folder, and also that a release for the distro we are using (`foxy`) exists on the ROS2 package index.
+- If you have added a dependency to a package by modifying the appropriate files (`CMakeLists.txt`, `package.xml`) and the build of that package is failing because it says it can't find the package, make sure you have it installed by running `rosdep install -i --from-path src --rosdistro foxy -y` in the `spiderfish` folder, and also that a release for the distro we are using (`foxy`) exists on the ROS2 package index.
 - For non-ROS2 dependencies, check [here](https://github.com/ros/rosdistro/tree/master/rosdep) to see the available system dependencies that can be used with `rosdep`.
 
 ## Useful Shortcuts
 If you'd like, add these aliases to the bottom of your .bashrc
 
 ```
 alias build='colcon build && source install/setup.bash' # clean build
-alias clean='rm -r build install log' # cleans the workspace (MAKE SURE THAT YOU ONLY USE THIS IN THE BASE OF STEELHEAD)
+alias clean='rm -r build install log' # cleans the workspace (MAKE SURE THAT YOU ONLY USE THIS IN THE BASE OF SPIDERFISH)
 ```

WORKFLOW.md

@@ -1,20 +1,20 @@
 # Workflow
 This document outlines the workflow that one should follow when developing on this repo.
 
- First, you will have been assigned to a GitHub issue associated to the `steelhead` repo that will look something like this: 
+ First, you will have been assigned to a GitHub issue associated to the `spiderfish` repo that will look something like this: 
 
   ![Workflow Issue](assets/workflow_issue.png)
 
- This issue will generally have the following sections, a section describing the reason for the issue and what should be done to resolve it, a set of resources that might come in handy, a set of notes that should be taken into consideration when developing, and a set of tasks which break the issue up into smaller components. These tasks are meant to guide you through the issue, but are not concrete and are simply there to help keep you on track. Feel free to add to or modify the tasks as you see fit. To start working on the issue, you must branch off from the latest state of the `main` branch of `steelhead` as such **(*NOTE*: In some cases, you will be branching off of someone else's branch, keep track of if you do this and let a team lead know before submitting a pull request as you will have to merge with the other branch before `main` as shown later on)**
+ This issue will generally have the following sections, a section describing the reason for the issue and what should be done to resolve it, a set of resources that might come in handy, a set of notes that should be taken into consideration when developing, and a set of tasks which break the issue up into smaller components. These tasks are meant to guide you through the issue, but are not concrete and are simply there to help keep you on track. Feel free to add to or modify the tasks as you see fit. To start working on the issue, you must branch off from the latest state of the `main` branch of `spiderfish` as such **(*NOTE*: In some cases, you will be branching off of someone else's branch, keep track of if you do this and let a team lead know before submitting a pull request as you will have to merge with the other branch before `main` as shown later on)**
 
-    cd <PATH_TO_STEELHEAD>/steelhead
+    cd <PATH_TO_SPIDERFISH>/spiderfish
     git checkout main
     git pull
     git checkout -b <YOUR_FIRST_NAME>/<APPROPRIATE_LABEL>
 
-Note that `<PATH_TO_STEELHEAD>` should be substituted to what it is on your machine,  `<YOUR_FIRST_NAME>` should be substituted as your first name, and `<APPROPRIATE_LABEL>` should be some short label that describes the changes you made.
+Note that `<PATH_TO_SPIDERFISH>` should be substituted to what it is on your machine,  `<YOUR_FIRST_NAME>` should be substituted as your first name, and `<APPROPRIATE_LABEL>` should be some short label that describes the changes you made.
 
-To update the state of your branch, follow the basic add, commit, and push workflow in git. [Here](https://www.atlassian.com/git/glossary) is a tutorial on that if you are new to git. Once you are have completed the tasks given in the issue, and are sure that it follows the [conventions](CONVENTIONS.md) (make sure you add/edit any package documentation as stated [here](CONVENTIONS.md#github)) you are asked to follow, it is time to make a pull request. Go to the `steelhead` repo on GitHub, make sure you are viewing the branch which you are trying to make a pull request for, and you should see a button which says "Contribute", which leads to a "Open pull request" button (GitHub also prompts you to compare and make pull request on branches that had recent pushes, as seen highlighted below):
+To update the state of your branch, follow the basic add, commit, and push workflow in git. [Here](https://www.atlassian.com/git/glossary) is a tutorial on that if you are new to git. Once you are have completed the tasks given in the issue, and are sure that it follows the [conventions](CONVENTIONS.md) (make sure you add/edit any package documentation as stated [here](CONVENTIONS.md#github)) you are asked to follow, it is time to make a pull request. Go to the `spiderfish` repo on GitHub, make sure you are viewing the branch which you are trying to make a pull request for, and you should see a button which says "Contribute", which leads to a "Open pull request" button (GitHub also prompts you to compare and make pull request on branches that had recent pushes, as seen highlighted below):
 
 ![Pull Request](assets/workflow_pull_request.png)
 

docker-sbc/Dockerfile

@@ -11,9 +11,9 @@ RUN apt-get install -y apt-transport-https apt-utils bash-completion python3-pip
 WORKDIR /opt/ros/foxy
 RUN /bin/bash -c "source /opt/ros/foxy/setup.bash; RTI_NC_LICENSE_ACCEPTED=yes rosdep install --from-paths . --ignore-src --rosdistro foxy -yr"
 
-# Clone Steelhead repo
+# Clone Spiderfish repo
 WORKDIR /root/
-RUN git clone https://github.com/ubc-subbots/steelhead.git 
+RUN git clone https://github.com/ubc-subbots/spiderfish.git 
 
 # Realsense install. Only works on amd64! To run on Jetson we need to follow their specific guide (pain)
 RUN if [ "$TARGETARCH" = "amd64" ]; then \
@@ -41,14 +41,14 @@ RUN if [ "$TARGETARCH" = "amd64" ]; then \
 #RUN make -j4 && make install
 #RUN /bin/bash -c "source /opt/ros/foxy/setup.bash; rosdep update"
 
-# Setup and build Steelhead
-WORKDIR /root/steelhead
+# Setup and build Spiderfish
+WORKDIR /root/spiderfish
 RUN /bin/bash -c 'source /opt/ros/foxy/setup.bash; rosdep update --include-eol-distros; rosdep install -i --from-path src --rosdistro foxy --skip-keys "gazebo_ros gazebo_dev gazebo_ros_pkgs phidgets_spatial realsense2_camera camera_model" -y'
 RUN python3 -m pip install setuptools==58.2.0 pyserial sshkeyboard
-RUN /bin/bash -c "source /opt/ros/foxy/setup.bash; colcon build --packages-skip steelhead_gazebo"
-RUN echo "source /root/steelhead/install/setup.bash" >> /root/.bashrc
-RUN echo 'echo "Sourced Steelhead in /root/steelhead/"' >> /root/.bashrc
-RUN echo "alias cbs='colcon build --packages-skip steelhead_gazebo && source install/setup.bash'" >> /root/.bashrc
+RUN /bin/bash -c "source /opt/ros/foxy/setup.bash; colcon build --packages-skip spiderfish_gazebo"
+RUN echo "source /root/spiderfish/install/setup.bash" >> /root/.bashrc
+RUN echo 'echo "Sourced Spiderfish in /root/spiderfish/"' >> /root/.bashrc
+RUN echo "alias cbs='colcon build --packages-skip spiderfish_gazebo && source install/setup.bash'" >> /root/.bashrc
 RUN echo "alias clean='rm -r build install log'" >> /root/.bashrc
 
 CMD /bin/bash

docker-sbc/README.md

@@ -4,8 +4,8 @@ This Dockerfile is compatible with any SBC with amd64 or arm64 architecture CPU
 However, it is only tested on the NVIDIA Jetson TX2 and Radxa X4, running Ubuntu 18.04 and 24.04 respectively.
 
 ## How to use
-1. Build the image by copying this Dockerfile to a new folder on the target SBC, then run `docker build -t "steelhead-foxy:<version>" . 2>&1 | tee build.log`. `<version>` convention is MAJOR.MINOR.BUGFIX-ARCH, e.g. `1.0.0-amd64`
-2. Run the container with `sudo docker run -it --net=host -v /dev:/dev --privileged steelhead-foxy:<version> bash`.
+1. Build the image by copying this Dockerfile to a new folder on the target SBC, then run `docker build -t "spiderfish-foxy:<version>" . 2>&1 | tee build.log`. `<version>` convention is MAJOR.MINOR.BUGFIX-ARCH, e.g. `1.0.0-amd64`
+2. Run the container with `sudo docker run -it --net=host -v /dev:/dev --privileged spiderfish-foxy:<version> bash`.
 3. To open a new terminal session on an existing container, run `docker exec -it <container_id> bash`. `byobu` is supported within the container to allow multiple sessions in the same terminal window
-4. Update and `colcon build` the steelhead repo if necessary.
+4. Update and `colcon build` the spiderfish repo if necessary.
 5. Profit!

docker/Dockerfile

@@ -1,6 +1,6 @@
 FROM ros:foxy
 
-# setup steelhead
+# setup spiderfish
 RUN mkdir -p /subbots
 COPY build.sh /subbots
 WORKDIR /subbots

docker/README.md

@@ -1,8 +1,8 @@
-# THIS WAS FOR TRITON AND MAY BE OUTDATED FOR STEELHEAD
+# THIS WAS FOR TRITON AND MAY BE OUTDATED FOR SPIDERFISH
 
 ## Docker
 
-We use `docker-compose` to orchestrate the `micro-ros` agent contianer with our custom built `steelhead` container. This Docker system can be launched on the TX2 and still be able to communicate with various devices as the `/dev` directory is mounted to every container.
+We use `docker-compose` to orchestrate the `micro-ros` agent contianer with our custom built `spiderfish` container. This Docker system can be launched on the TX2 and still be able to communicate with various devices as the `/dev` directory is mounted to every container.
 
 ### Setup Micro-Ros
 
@@ -16,14 +16,14 @@ To develop with micro-ros on a Teensy 4.0 (i.e be able to compile and upload Ard
 
 ### Building
 
-There is no need to build manually, on every push to main, the image `ubcsubbots/steelhead:latest` on `dockerhub` is updated. The credentials used are stored in Github secrets and have to belong to a member of the `ubcsubbots` organization on `dockerhub`.
+There is no need to build manually, on every push to main, the image `ubcsubbots/spiderfish:latest` on `dockerhub` is updated. The credentials used are stored in Github secrets and have to belong to a member of the `ubcsubbots` organization on `dockerhub`.
 
 ### Usage
 To launch the entire docker system, run the following command in this directory. Note that for this to work, you need to have the micro-controller connected to the host on `/dev/ttyACM0`.
 
     docker-compose up
 
-To enter into the ROS2 container (which is running the `steelhead` system), use the following command
+To enter into the ROS2 container (which is running the `spiderfish` system), use the following command
 
     docker exec -it docker_ros_1 /subbots/entrypoint.sh /bin/bash