Added .pre-commit-config.yaml and codespell_word, including github actions CI, fixed spellchecks accordingly (ros-navigation#581)

Signed-off-by: Chris Schindlbeck <[email protected]>
Signed-off-by: Rob Fisher <[email protected]>

Author: cschindlbeck

.codespell_words

@@ -0,0 +1,5 @@
+Configurating
+Segway
+implementors
+retuned
+segway

.github/workflows/precommit.yaml

@@ -0,0 +1,15 @@
+---
+name: pre-commit
+
+on:
+  pull_request:
+  push:
+    branches: [main]
+
+jobs:
+  pre-commit:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v3
+      - uses: actions/setup-python@v3
+      - uses: pre-commit/[email protected]

.pre-commit-config.yaml

@@ -0,0 +1,23 @@
+# To use:
+#
+#     pre-commit run -a
+#
+# Or:
+#
+#     pre-commit install  # (runs every time you commit in git)
+#
+# To update this file:
+#
+#     pre-commit autoupdate
+#
+# See https://github.com/pre-commit/pre-commit
+---
+repos:
+  # Spellcheck in comments and docs
+  # skipping of *.svg files is not working...
+  - repo: https://github.com/codespell-project/codespell
+    rev: v2.3.0
+    hooks:
+      - id: codespell
+        args: ['--write-changes', '--ignore-words=.codespell_words']
+        exclude: CHANGELOG\.rst|\.(svg|pyc|drawio|dcf|eds)$

2021summerOfCode/projects/create_configuration_assistant.rst

@@ -7,7 +7,7 @@
 
 **Task description** 
 
-`Moveit <https://moveit.ros.org/>`_ has long has a QT `configuration assistant <http://docs.ros.org/kinetic/api/moveit_tutorials/html/doc/setup_assistant/setup_assistant_tutorial.html>`_. This setup assistent helps the user configure their UDRF and needs to setup MoveIt configuration files.
+`Moveit <https://moveit.ros.org/>`_ has long has a QT `configuration assistant <http://docs.ros.org/kinetic/api/moveit_tutorials/html/doc/setup_assistant/setup_assistant_tutorial.html>`_. This setup assistant helps the user configure their UDRF and needs to setup MoveIt configuration files.
 
 A configuration assistant could be extremely beneficial to Navigation2 users as a way to minimize friction. We should provide a gui tool to cover the following configurations:
 

2021summerOfCode/projects/multithreading.rst

@@ -12,7 +12,7 @@ Some examples include:
 - AMCL particle cloud updates
 - Costmap layer updates
 - Costmap sensor data population
-- Controller critic evalulation
+- Controller critic evaluation
 - Collision checking
 - Voxel grid ray casting
 - and more.

2021summerOfCode/projects/semantics.rst

@@ -18,7 +18,7 @@ After creating the generic representation, your project will be to create demons
 
 **Project output requirements**
 - Generic semantics standard added to Nav2 documentation
-- Generic semantics ROS 2 library that implements the standard and makes it easy for applications to get, retreive, or analyze semantic data for custom purposes
+- Generic semantics ROS 2 library that implements the standard and makes it easy for applications to get, retrieve, or analyze semantic data for custom purposes
 - A route server to enable navigation-graph and/or route following capabilities
 - 1 more demonstration using the semantics library of your choice (could be costmap layer with different rules in different rooms or with different objects, a multi-story building demo using semantic info to allow a robot to plan and execute multi-story trajectories, etc)
 

2021summerOfCode/projects/spinners.rst

@@ -11,7 +11,7 @@ This project is admittedly abstract to explain to someone unfamiliar with the in
 
 ROS 2 architecturally was changed before Foxy in order to ensure that any single process containing multiple ROS 2 node objects will share the same DDS participant on the network. This is important due to the overhead that each additional DDS participant has on the system.
 
-In order for nav2 to leverage this the best, we need to adjust our usage of ROS 2 nodes and executors to further minimize the number of node objects in existance. In the early days of ROS 2 when Nav2 was being built, we were required to have many nodes in a single server in order to handle action requests and other callbacks. Now, we can make use of multi-threaded spinners, callback groups, and individual executors for specific tasks.
+In order for nav2 to leverage this the best, we need to adjust our usage of ROS 2 nodes and executors to further minimize the number of node objects in existence. In the early days of ROS 2 when Nav2 was being built, we were required to have many nodes in a single server in order to handle action requests and other callbacks. Now, we can make use of multi-threaded spinners, callback groups, and individual executors for specific tasks.
 
 This project will involve identifying all of the Node objects in the stack (control+F makes this easy) and work with mentors to ensure by the end of the summer each server contains only a single node. Additionally, the behavior tree plugins should be updated to leverage callback groups to ensure that any single BT node spinning to check if any new messages are on its callback will **only** trigger its own callback by the same mechanisms.
 

configuration/packages/bt-plugins/actions/AssistedTeleop.rst

@@ -33,7 +33,7 @@ Input Ports
   ====== =======
 
   Description
-      Time to envoke behavior for, if exceeds considers it a stuck condition or failure case (seconds).
+      Time to invoke behavior for, if exceeds considers it a stuck condition or failure case (seconds).
 
 :server_name:
 

configuration/packages/bt-plugins/actions/BackUp.rst

@@ -43,7 +43,7 @@ Input Ports
   ====== =======
 
   Description
-      Time to envoke behavior for, if exceeds considers it a stuck condition or failure case (seconds).
+      Time to invoke behavior for, if exceeds considers it a stuck condition or failure case (seconds).
 
 :server_name:
 

configuration/packages/bt-plugins/actions/DriveOnHeading.rst

@@ -42,7 +42,7 @@ Input Ports
   ====== =======
 
   Description
-      Time to envoke behavior for, if exceeds considers it a stuck condition or failure case (seconds).
+      Time to invoke behavior for, if exceeds considers it a stuck condition or failure case (seconds).
 
 :server_name: