Pre-Commit

.devcontainer/caddy/srv/assets/foxglove/nav2_layout.json

@@ -460,4 +460,4 @@
       "direction": "row",
       "splitPercentage": 74.87855655794587
     }
-  }
+  }

.devcontainer/caddy/srv/nav2/github-markdown.css

@@ -1099,4 +1099,4 @@
 
   .markdown-body ::-webkit-calendar-picker-indicator {
     filter: invert(50%);
-  }
+  }

.github/mergify.yml

@@ -7,7 +7,7 @@ pull_request_rules:
       backport:
         branches:
           - jazzy
-  
+
   - name: backport to iron at reviewers discretion
     conditions:
       - base=main
@@ -16,7 +16,7 @@ pull_request_rules:
       backport:
         branches:
           - iron
-  
+
   - name: backport to humble at reviewers discretion
     conditions:
       - base=main

.github/workflows/codespell.yml

@@ -0,0 +1,14 @@
+name: Codespell
+on:
+  pull_request:
+
+jobs:
+  codespell:
+    name: Run codespell
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+      - name: Install codespell
+        run: pip install codespell
+      - name: Run codespell
+        run: codespell --toml ./tools/pyproject.toml

.gitignore

@@ -69,4 +69,3 @@ Session.vim
 
 # Vim Temporary
 .netrwhist
-

.pre-commit-config.yaml

@@ -0,0 +1,96 @@
+
+# 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
+exclude: ".pgm$|.svg$"
+repos:
+-   repo: https://github.com/pre-commit/pre-commit-hooks
+    rev: v5.0.0
+    hooks:
+      - id: check-added-large-files
+      - id: check-ast
+      - id: check-case-conflict
+      - id: check-merge-conflict
+      - id: check-symlinks
+      - id: check-xml
+      - id: check-yaml
+        args: ["--allow-multiple-documents"]
+      - id: debug-statements
+      - id: end-of-file-fixer
+      - id: mixed-line-ending
+      - id: trailing-whitespace
+        exclude_types: [rst]
+      - id: fix-byte-order-marker
+-   repo: https://github.com/pycqa/isort
+    rev: 6.0.1
+    hooks:
+      - id: isort
+        args: ["tools/pyproject.toml"]
+        name: isort (python)
+
+-   repo: https://github.com/codespell-project/codespell
+    rev: v2.4.1
+    hooks:
+    -   id: codespell
+        additional_dependencies:
+        -   tomli
+        args:
+            [--toml=./tools/pyproject.toml]
+-   repo: https://github.com/python-jsonschema/check-jsonschema
+    rev: 0.31.1
+    hooks:
+      - id: check-github-workflows
+        args: ["--verbose"]
+      - id: check-github-actions
+        args: ["--verbose"]
+      - id: check-dependabot
+        args: ["--verbose"]
+-   repo: local
+    hooks:
+    -   id: ament_lint_cmake
+        name: ament_lint_cmake
+        description: Check CMake code style using cmakelint.
+        language: system
+        types: [cmake]
+        entry: ament_lint_cmake
+    -   id: ament_cpplint
+        name: ament_cpplint
+        description: Code style checking using cpplint.
+        language: system
+        types: [c++]
+        entry: ament_cpplint
+    -   id: ament_uncrustify
+        name: ament_uncrustify
+        description: Code style checking using uncrustify.
+        language: system
+        types: [c++]
+        args: ["--reformat"]
+        entry: ament_uncrustify
+    -   id: ament_xmllint
+        name: ament_xmllint
+        description: Check XML markup using xmllint.
+        language: system
+        types: [xml]
+        entry: ament_xmllint
+    -   id: ament_flake8
+        name: ament_flake8
+        description: Check Python code style using flake8.
+        language: system
+        types: [python]
+        entry: ament_flake8
+    -   id: ament_pep257
+        name: ament_pep257
+        description: Check Python code style using pep257.
+        language: system
+        types: [python]
+        entry: ament_pep257

Dockerfile

@@ -168,7 +168,7 @@ RUN mkdir -p $ROOT_SRV
 
 # install demo dependencies
 RUN apt-get update && apt-get install -y \
-      ros-$ROS_DISTRO-rviz2 
+      ros-$ROS_DISTRO-rviz2
 
 # install gzweb dependacies
 RUN apt-get install -y --no-install-recommends \

doc/development/codespaces.md

@@ -20,4 +20,4 @@ TODO: gazebo example with gzweb
 
 # References
 
-TODO: links to more info
+TODO: links to more info

doc/requirements/_template_requirement.md

@@ -3,7 +3,7 @@ The \<navigation system> should be able to \<shall> \<do something>
 
 ## More details
 - Why is this needed?
-- What is the expected user interaction? 
+- What is the expected user interaction?
 - What use case does this map to?
 - Are there any non-functional requirements (build system, tools, performance, etc)
 

doc/requirements/requirements.md

@@ -156,7 +156,7 @@ Id | Handle | Priority | Description | Notes
 TP001 | Target Platforms.Operating Systems.Ubuntu | 1 | The Navigation System MUST support Ubuntu Desktop 16.04 and Ubuntu Desktop 18.04
 TP002 | Target Platforms.Operating Systems.MacOS | 1 | The Navigation System MUST support MacOS 10.13 (High Sierra) and MacOS 10.14 (Mohave)
 TP003 | Target Platforms.Operating Systems.Windows | 1 | The Navigation System MUST support Windows 10 Professional
-TP004 | Target Platforms.Operating Systems.Clear Linux | 1 | The Navigation System SHOULD support the Intel's Clear Linux distribution | Clear Linux uses a continuous deployment model. 
+TP004 | Target Platforms.Operating Systems.Clear Linux | 1 | The Navigation System SHOULD support the Intel's Clear Linux distribution | Clear Linux uses a continuous deployment model.
 TP005 | Target Platforms.CPU.Word Size | 1 | The Navigation System SHALL support 64-bit processors | Don't assume a specific pointer size
 TP006 | Target Platforms.Minimum Platform | 1 | *TODO: Should we specify a minimum target platform? Or, should this be expressed as minimum platform requirements?*
 
@@ -178,7 +178,7 @@ MP005 | Mission Planning.Navigation Commands.Enqueue | 2 | The Mission Plan SHOU
 MP006 | Mission Planning.Navigation Commands.Follow | 2 | The Mission Plan SHOULD be able to convey the information required for a robot to be able to follow another specified robot. | This one doesn't have a completion state (reaching the goal), unless it specifies additional information such as "follow until destination reached."
 MP007 | Mission Planning.Navigation Commands.Maintain Pose | 1 | The Mission Plan SHOULD be able to convey the information required for a robot to maintain its current pose. | Could be indefinite or time-based.
 MP008 | Mission Planning.Navigation Commands.Park | 2 | The Mission Plan SHOULD be able to convey the information required for a robot to park itself. | The implementation of the parking command could interact with the robot to cause it, for example, to shut down or enter a low-power state.
-MP009 | Mission Planning.Navigation Commands.Dock to Charger | 2 | The Mission Plan SHOULD be able to convey the information required for a robot to dock to a specific charging station. 
+MP009 | Mission Planning.Navigation Commands.Dock to Charger | 2 | The Mission Plan SHOULD be able to convey the information required for a robot to dock to a specific charging station.
 MP010 | Mission Planning.Policy | 1 | The Mission Plan SHOULD be able to express information about how and when the navigation commands are to be carried out. | Time and safety constraints.
 MP011 | Mission Planning.Policy.Time.Initiation | 1 | The Mission Plan SHOULD be able to convey when a mission should begin.
 MP012 | Mission Planning.Policy.Time.Completion | 1 | The Mission Plan SHOULD be able to convey by when a mission should end.
@@ -216,7 +216,7 @@ PLN002 | Planning.Inputs.Navigation Command | 1 | The Planning Module SHALL rece
 PLN003 | Planning.Inputs.Policy | 1 | The Planning Module SHALL receive policy information associated with the Navigation Command to execute. | This could be global policy and/or per-command policy. Policy could contain, for example, a list of conventions for the robot to follow (navigate on the right side of a path, for example).
 PLN004 | Planning.Inputs.Mapping.Maps | 1 | The Planning Module MUST have access to one or more maps available that describe the robot's environment.
 PLN005 | Planning.Inputs.Perception.Sensory Input | 1 | The Planning Module MUST have access to data from the Perception Subsystem.
-PLN006 | Planning.Inputs.Prediction.Predicted Trajectories | 1 | The Planning Module MAY have access to predicted trajectories of objects detected by the Perception Subsystem. | In simple planners, there is no prediction of moving objects, but in more complex planners, this may be considered. 
+PLN006 | Planning.Inputs.Prediction.Predicted Trajectories | 1 | The Planning Module MAY have access to predicted trajectories of objects detected by the Perception Subsystem. | In simple planners, there is no prediction of moving objects, but in more complex planners, this may be considered.
 PLN007 | Planning.Inputs.Localization.Current Pose | 1 | The Planning Module MUST have access to the robot's current pose. | The pose could be be provided manually or automatically determined (outside of this module).
 PLN008 | Planning.Outputs.Path | 1 | The Planning Module SHOULD output the Path for the robot to follow to execute the input Navigation Command and MUST respect any associated policy.
 PLN009 | Planning.Feedback.Inputs | 1 | The Planning Module MAY receive error input from the downstream Execution Module. | So that it can attempt to recover from execution failures.
@@ -303,7 +303,7 @@ PER002 | Perception.Latency | 1 | *TODO*
 
 ### 2.4.3 Prediction
 
-The Prediction Subsystem uses input from the Perception Subsystem and predicts the trajectories of the detected objects over time. 
+The Prediction Subsystem uses input from the Perception Subsystem and predicts the trajectories of the detected objects over time.
 
 Id | Handle | Priority | Description | Notes
 -- | ------ | -------- | ----------- | -----
@@ -325,8 +325,8 @@ LOC002 | Localization.Robot Pose.Accuracy | 1 | The Localization Module MUST pro
 * What are the scalability for the ROS2 Navigation System?
 * Any other important design goals to call out?
 * Should we specify a minimum target platform? Or, should this be expressed as minimum platform requirements?
-* What is the right latency value for detecting a collision? 
-* Should we add any safety-related functionality at the robot interface level? 
-* Do safety zones need unique names? 
+* What is the right latency value for detecting a collision?
+* Should we add any safety-related functionality at the robot interface level?
+* Do safety zones need unique names?
 * What is the target latency for the perception subsystem?
-* How far into the future should the object prediction work? 
+* How far into the future should the object prediction work?

doc/use_cases/README.md

@@ -13,4 +13,3 @@ The Nav2 system is targeting the following use cases:
 
 ## Stretch Target
 3D Navigation - Drones
-

doc/use_cases/_template_use_case.md

@@ -3,7 +3,7 @@ As a \<Developer, Researcher, Technician, etc.> I want the robot to \<action> so
 
 ## More details
 - Why is this needed?
-- What is the expected user interaction? 
+- What is the expected user interaction?
 - Are there any non-functional requirements? (build system, tools, performance, etc)
 
 # Example:
@@ -15,7 +15,7 @@ As a robot user, I want the robot to navigate without colliding into people or o
  - Why is this needed?
    - I want this so that I know the robot won't damage itself, damage property or hurt anyone
    - Example: a logistics robot in a warehouse must avoid shelves, people, forklifts, and other robots
- - What is the expected user interaction? 
+ - What is the expected user interaction?
    - I shouldn't have to interact with the robot to prevent it from crashing into people or things
 - Are there any non-functional requirements? (build system, tools, performance, etc)
    - The performance needs to be fast enough to avoid moving objects such as people walking or other moving robots

doc/use_cases/collision_avoidance_use_case.md

@@ -10,5 +10,3 @@ As a Robot user I want to my robot to avoid colliding with people or objects so
    - The user should be able to walk in front of a robot and it should avoid crashing into that person
 
 - Are there any non-functional requirements? (build system, tools, performance, etc)
-
-

doc/use_cases/indoor_localization_use_case.md

@@ -11,5 +11,3 @@ As a Robot user I want my robot to know its location on a given map of an indoor
    - The robot should be able to deduce it's own position on a map autonomously
 
 - Are there any non-functional requirements? (build system, tools, performance, etc)
-
-

doc/use_cases/indoor_navigation_use_case.md

@@ -7,8 +7,6 @@ As a Robot user I want my robot to autonomously navigate to a given location on
    - Example: a courier robot in a logistics warehouse
 
 - What is the expected user interaction?
-   - The user should be able to specify a map to use and a location on that map for the robot to move to. 
+   - The user should be able to specify a map to use and a location on that map for the robot to move to.
 
 - Are there any non-functional requirements? (build system, tools, performance, etc)
-
-

doc/use_cases/keep_out_zones_use_case.md

@@ -1,5 +1,5 @@
 # Keep Out Zones
-As a Robot user I want to be able to designate keep-out zones or areas on a map so that my robot will go around those areas instead of through them 
+As a Robot user I want to be able to designate keep-out zones or areas on a map so that my robot will go around those areas instead of through them
 
 ## More details
 - Why is this needed?
@@ -10,5 +10,3 @@ As a Robot user I want to be able to designate keep-out zones or areas on a map
    - The user should be able to specify keep out zones for the robot to avoid
 
 - Are there any non-functional requirements? (build system, tools, performance, etc)
-
-

doc/use_cases/multi-story-building_use_case.md

@@ -3,13 +3,11 @@ As a Robot user I want my robot to be able to navigate stairways, ramps or eleva
 
 ## More details
 - Why is this needed?
-   - Example: a delivery robot in an office building 
+   - Example: a delivery robot in an office building
 
 - What is the expected user interaction?
    - The user should be able to specify stairways, ramps and elevators on a map for a robot to use or not use
-     - via a GUI 
+     - via a GUI
      - via a config file or API so that it can be done by another program
 
 - Are there any non-functional requirements? (build system, tools, performance, etc)
-
-

doc/use_cases/outdoor_localization_use_case.md

@@ -11,5 +11,3 @@ As a Robot user I want my robot to know its location on a given map of an outdoo
    - The robot should be able to deduce it's own position on a map autonomously
 
 - Are there any non-functional requirements? (build system, tools, performance, etc)
-
-

doc/use_cases/outdoor_navigation_use_case.md

@@ -7,8 +7,6 @@ As a Robot user I want my robot to autonomously navigate to a given location on
    - Example: a delivery robot on a college campus
 
 - What is the expected user interaction?
-   - The user should be able to specify a map to use and a location on that map for the robot to move to. 
+   - The user should be able to specify a map to use and a location on that map for the robot to move to.
 
 - Are there any non-functional requirements? (build system, tools, performance, etc)
-
-

nav2_behavior_tree/README.md

@@ -9,7 +9,7 @@ The nav2_behavior_tree module provides:
 
 See its [Configuration Guide Page](https://docs.nav2.org/configuration/packages/configuring-bt-xml.html) for additional parameter descriptions and a list of XML nodes made available in this package. Also review the [Nav2 Behavior Tree Explanation](https://docs.nav2.org/behavior_trees/index.html) pages explaining more context on the default behavior trees and examples provided in this package. A [tutorial](https://docs.nav2.org/plugin_tutorials/docs/writing_new_bt_plugin.html) is also provided to explain how to create a simple BT plugin.
 
-See the [Navigation Plugin list](https://docs.nav2.org/plugins/index.html) for a list of the currently known and available planner plugins. 
+See the [Navigation Plugin list](https://docs.nav2.org/plugins/index.html) for a list of the currently known and available planner plugins.
 
 ## The bt_action_node Template and the Behavior Tree Engine
 

nav2_behavior_tree/plugins_list.hpp.in

@@ -1,6 +1,6 @@
 
 // This was automativally generated by cmake
-namespace nav2::details 
+namespace nav2::details
 {
   const char* BT_BUILTIN_PLUGINS = "@plugin_libs@";
 }

nav2_behavior_tree/test/plugins/action/test_spin_cancel_node.cpp

@@ -36,7 +36,7 @@ class CancelSpinServer : public TestActionServer<nav2_msgs::action::Spin>
     goal_handle)
   {
     while (!goal_handle->is_canceling()) {
-      // Spining here until goal cancels
+      // Spinning here until goal cancels
       std::this_thread::sleep_for(std::chrono::milliseconds(15));
     }
   }
@@ -135,7 +135,7 @@ TEST_F(CancelSpinActionTestFixture, test_ports)
   // Setting target yaw
   goal_msg.target_yaw = 1.57;
 
-  // Spining for server and sending a goal
+  // Spinning for server and sending a goal
   client_->wait_for_action_server();
   client_->async_send_goal(goal_msg, send_goal_options);
 

nav2_behaviors/README.md

@@ -15,4 +15,4 @@ See its [Configuration Guide Page](https://docs.nav2.org/configuration/packages/
 See the [Navigation Plugin list](https://docs.nav2.org/plugins/index.html) for a list of the currently known and available planner plugins.
 
 The `TimedBehavior` template makes use of a [nav2_util::TwistPublisher](../nav2_util/README.md#twist-publisher-and-twist-subscriber-for-commanded-velocities).
-The `AssistedTeleop` behavior makes use of a [nav2_util::TwistSubscriber](../nav2_util/README.md#twist-publisher-and-twist-subscriber-for-commanded-velocities).
+The `AssistedTeleop` behavior makes use of a [nav2_util::TwistSubscriber](../nav2_util/README.md#twist-publisher-and-twist-subscriber-for-commanded-velocities).

nav2_bringup/launch/bringup_launch.py

@@ -15,17 +15,15 @@
 import os
 
 from ament_index_python.packages import get_package_share_directory
-
 from launch import LaunchDescription
-from launch.actions import (
-    DeclareLaunchArgument,
-    GroupAction,
-    IncludeLaunchDescription,
-    SetEnvironmentVariable,
-)
+from launch.actions import DeclareLaunchArgument
+from launch.actions import GroupAction
+from launch.actions import IncludeLaunchDescription
+from launch.actions import SetEnvironmentVariable
 from launch.conditions import IfCondition
 from launch.launch_description_sources import PythonLaunchDescriptionSource
-from launch.substitutions import LaunchConfiguration, PythonExpression
+from launch.substitutions import LaunchConfiguration
+from launch.substitutions import PythonExpression
 from launch_ros.actions import Node
 from launch_ros.actions import PushROSNamespace
 from launch_ros.descriptions import ParameterFile