Merge branch 'master' into simulation-raise-switch

.github/ISSUE_TEMPLATE/navigator.yaml

@@ -7,26 +7,6 @@ body:
     attributes:
       value: |
         Hey, thanks for taking the time to add this software issue!
-  - type: input
-    id: assignee
-    attributes:
-      label: Assignee
-      description: >
-        Does this issue need to be completed by a specific person on the team?
-        If so, mention them below.
-      placeholder: ex. @torvalds is already working on this task!
-    validations:
-      required: false
-  - type: input
-    id: deadline
-    attributes:
-      label: Deadline
-      description: >
-        Does this task need a deadline? _If this task is related to a competition,
-        it should have a deadline._
-      placeholder: ex. 2023-12-25
-    validations:
-      required: false
   - type: textarea
     id: description
     attributes:

.pre-commit-config.yaml

@@ -15,7 +15,7 @@ repos:
     hooks:
       - id: yamllint
   - repo: https://github.com/psf/black
-    rev: 23.7.0
+    rev: 23.9.1
     hooks:
       - id: black
   - repo: https://github.com/pre-commit/mirrors-clang-format
@@ -28,7 +28,7 @@ repos:
       - id: autoflake
         args: [--remove-all-unused-imports, --ignore-init-module-imports]
   - repo: https://github.com/shellcheck-py/shellcheck-py
-    rev: v0.9.0.5
+    rev: v0.9.0.6
     hooks:
       - id: shellcheck
         exclude: ^docker|deprecated|NaviGator/simulation/VRX
@@ -40,7 +40,7 @@ repos:
         exclude: ^docker|deprecated|NaviGator/simulation/VRX
   - repo: https://github.com/astral-sh/ruff-pre-commit
     # Ruff version.
-    rev: 'v0.0.287'
+    rev: 'v0.0.292'
     hooks:
       - id: ruff
         args: [--fix, --exit-non-zero-on-fix]

NaviGator/mission_control/navigator_launch/launch/vrx/vrx_master.launch

@@ -7,6 +7,7 @@
     <param name="/is_vrx" type="bool" value="True" />
 
     <include file="$(find navigator_launch)/launch/gnc/thruster_mapper.launch"/>
+    <include file="$(find navigator_launch)/launch/vrx/vrx_classifier.launch" />
     <include file="$(find navigator_launch)/launch/vrx/vrx_tf.launch" />
     <include file="$(find navigator_launch)/launch/vrx/vrx_localization.launch" />
     <include file="$(find navigator_launch)/launch/vrx/vrx_upload_urdf.launch" />
@@ -30,5 +31,4 @@
 
     <node if="$(arg run_task)" name="run_vrx_task" pkg="mil_missions" type="mission_client"
           args="run Vrx" output="screen" />
-    <include file="$(find navigator_launch)/launch/vrx/vrx_classifier.launch" />
 </launch>

NaviGator/mission_control/navigator_missions/vrx_missions/vrx.py

@@ -29,145 +29,143 @@
 class Vrx(NaviGatorMission):
     nh: NodeHandle
 
-    def __init__(self, *args, **kwargs):
-        super().__init__(*args, **kwargs)
-
-    @staticmethod
-    async def init():
-        if hasattr(Vrx, "_vrx_init"):
+    @classmethod
+    async def setup(cls):
+        if hasattr(cls, "_cls_init"):
             return
-        Vrx.from_lla = Vrx.nh.get_service_client("/fromLL", FromLL)
-        Vrx.to_lla = Vrx.nh.get_service_client("/toLL", ToLL)
-        Vrx.task_info_sub = Vrx.nh.subscribe("/vrx/task/info", Task)
-        await Vrx.task_info_sub.setup()
-        Vrx.scan_dock_color_sequence = Vrx.nh.get_service_client(
+        cls.from_lla = cls.nh.get_service_client("/fromLL", FromLL)
+        cls.to_lla = cls.nh.get_service_client("/toLL", ToLL)
+        cls.task_info_sub = cls.nh.subscribe("/vrx/task/info", Task)
+        cls.scan_dock_color_sequence = cls.nh.get_service_client(
             "/vrx/scan_dock_deliver/color_sequence",
             ColorSequence,
         )
-        Vrx.fire_ball = Vrx.nh.advertise("/wamv/shooters/ball_shooter/fire", Empty)
-        Vrx.station_keep_goal = Vrx.nh.subscribe(
+        cls.fire_ball = cls.nh.advertise("/wamv/shooters/ball_shooter/fire", Empty)
+        cls.station_keep_goal = cls.nh.subscribe(
             "/vrx/station_keeping/goal",
             GeoPoseStamped,
         )
-        Vrx.wayfinding_path_sub = Vrx.nh.subscribe("/vrx/wayfinding/waypoints", GeoPath)
-        Vrx.station_keeping_pose_error = Vrx.nh.subscribe(
+        cls.wayfinding_path_sub = cls.nh.subscribe("/vrx/wayfinding/waypoints", GeoPath)
+        cls.station_keeping_pose_error = cls.nh.subscribe(
             "/vrx/station_keeping/pose_error",
             Float64,
         )
-        Vrx.station_keeping_rms_error = Vrx.nh.subscribe(
+        cls.station_keeping_rms_error = cls.nh.subscribe(
             "/vrx/station_keeping/rms_error",
             Float64,
         )
-        Vrx.wayfinding_min_errors = Vrx.nh.subscribe(
+        cls.wayfinding_min_errors = cls.nh.subscribe(
             "/vrx/wayfinding/min_errors",
             Float64MultiArray,
         )
-        Vrx.wayfinding_mean_error = Vrx.nh.subscribe(
+        cls.wayfinding_mean_error = cls.nh.subscribe(
             "/vrx/wayfinding/mean_error",
             Float64,
         )
-        Vrx.perception_landmark = Vrx.nh.advertise(
+        cls.perception_landmark = cls.nh.advertise(
             "/vrx/perception/landmark",
             GeoPoseStamped,
         )
         await asyncio.gather(
-            Vrx.fire_ball.setup(),
-            Vrx.station_keep_goal.setup(),
-            Vrx.wayfinding_path_sub.setup(),
-            Vrx.station_keeping_pose_error.setup(),
-            Vrx.station_keeping_rms_error.setup(),
-            Vrx.wayfinding_min_errors.setup(),
-            Vrx.wayfinding_mean_error.setup(),
-            Vrx.perception_landmark.setup(),
+            cls.task_info_sub.setup(),
+            cls.fire_ball.setup(),
+            cls.station_keep_goal.setup(),
+            cls.wayfinding_path_sub.setup(),
+            cls.station_keeping_pose_error.setup(),
+            cls.station_keeping_rms_error.setup(),
+            cls.wayfinding_min_errors.setup(),
+            cls.wayfinding_mean_error.setup(),
+            cls.perception_landmark.setup(),
         )
 
-        Vrx.animal_landmarks = Vrx.nh.subscribe("/vrx/wildlife/animals/poses", GeoPath)
-        Vrx.beacon_landmark = Vrx.nh.get_service_client("beaconLocator", AcousticBeacon)
-        Vrx.circle_animal = Vrx.nh.get_service_client("/choose_animal", ChooseAnimal)
-        Vrx.set_long_waypoint = Vrx.nh.get_service_client(
+        cls.animal_landmarks = cls.nh.subscribe("/vrx/wildlife/animals/poses", GeoPath)
+        cls.beacon_landmark = cls.nh.get_service_client("beaconLocator", AcousticBeacon)
+        cls.circle_animal = cls.nh.get_service_client("/choose_animal", ChooseAnimal)
+        cls.set_long_waypoint = cls.nh.get_service_client(
             "/set_long_waypoint",
             MoveToWaypoint,
         )
-        Vrx.yolo_objects = Vrx.nh.subscribe("/yolov7/detections", Detection2DArray)
-        Vrx.tf_listener = axros_tf.TransformListener(Vrx.nh)
-        await Vrx.tf_listener.setup()
-        Vrx.database_response = Vrx.nh.get_service_client(
+        cls.yolo_objects = cls.nh.subscribe("/yolov7/detections", Detection2DArray)
+        cls.tf_listener = axros_tf.TransformListener(cls.nh)
+        await cls.tf_listener.setup()
+        cls.database_response = cls.nh.get_service_client(
             "/database/requests",
             ObjectDBQuery,
         )
-        Vrx.get_two_closest_cones = Vrx.nh.get_service_client(
+        cls.get_two_closest_cones = cls.nh.get_service_client(
             "/get_two_closest_cones",
             TwoClosestCones,
         )
         await asyncio.gather(
-            Vrx.animal_landmarks.setup(),
-            Vrx.yolo_objects.setup(),
+            cls.animal_landmarks.setup(),
+            cls.yolo_objects.setup(),
         )
 
-        Vrx.pcodar_reset = Vrx.nh.get_service_client("/pcodar/reset", Trigger)
+        cls.pcodar_reset = cls.nh.get_service_client("/pcodar/reset", Trigger)
 
-        Vrx.front_left_camera_info_sub = None
-        Vrx.front_left_camera_sub = None
-        Vrx.front_right_camera_info_sub = None
-        Vrx.front_right_camera_sub = None
+        cls.front_left_camera_info_sub = None
+        cls.front_left_camera_sub = None
+        cls.front_right_camera_info_sub = None
+        cls.front_right_camera_sub = None
 
-        Vrx._vrx_init = True
+        cls._cls_init = True
 
-    @staticmethod
-    async def shutdown():
+    @classmethod
+    async def shutdown(cls):
+        return
         await asyncio.gather(
-            Vrx.task_info_sub.shutdown(),
-            Vrx.animal_landmarks.shutdown(),
-            Vrx.yolo_objects.shutdown(),
-            Vrx.fire_ball.shutdown(),
-            Vrx.station_keep_goal.shutdown(),
-            Vrx.wayfinding_path_sub.shutdown(),
-            Vrx.station_keeping_pose_error.shutdown(),
-            Vrx.station_keeping_rms_error.shutdown(),
-            Vrx.wayfinding_min_errors.shutdown(),
-            Vrx.wayfinding_mean_error.shutdown(),
-            Vrx.perception_landmark.shutdown(),
+            cls.task_info_sub.shutdown(),
+            cls.animal_landmarks.shutdown(),
+            cls.yolo_objects.shutdown(),
+            cls.fire_ball.shutdown(),
+            cls.station_keep_goal.shutdown(),
+            cls.wayfinding_path_sub.shutdown(),
+            cls.station_keeping_pose_error.shutdown(),
+            cls.station_keeping_rms_error.shutdown(),
+            cls.wayfinding_min_errors.shutdown(),
+            cls.wayfinding_mean_error.shutdown(),
+            cls.perception_landmark.shutdown(),
         )
 
     def cleanup(self):
         pass
 
-    @staticmethod
-    async def init_front_left_camera():
-        if Vrx.front_left_camera_sub is None:
-            Vrx.front_left_camera_sub = Vrx.nh.subscribe(
+    @classmethod
+    async def init_front_left_camera(cls):
+        if cls.front_left_camera_sub is None:
+            cls.front_left_camera_sub = cls.nh.subscribe(
                 "/wamv/sensors/cameras/front_left_camera/image_raw",
                 Image,
             )
 
-        if Vrx.front_left_camera_info_sub is None:
-            Vrx.front_left_camera_info_sub = Vrx.nh.subscribe(
+        if cls.front_left_camera_info_sub is None:
+            cls.front_left_camera_info_sub = cls.nh.subscribe(
                 "/wamv/sensors/cameras/front_left_camera/camera_info",
                 CameraInfo,
             )
 
         await asyncio.gather(
-            Vrx.front_left_camera_sub.setup(),
-            Vrx.front_left_camera_info_sub.setup(),
+            cls.front_left_camera_sub.setup(),
+            cls.front_left_camera_info_sub.setup(),
         )
 
-    @staticmethod
-    async def init_front_right_camera():
-        if Vrx.front_right_camera_sub is None:
-            Vrx.front_right_camera_sub = Vrx.nh.subscribe(
+    @classmethod
+    async def init_front_right_camera(cls):
+        if cls.front_right_camera_sub is None:
+            cls.front_right_camera_sub = cls.nh.subscribe(
                 "/wamv/sensors/cameras/front_right_camera/image_raw",
                 Image,
             )
 
-        if Vrx.front_right_camera_info_sub is None:
-            Vrx.front_right_camera_info_sub = Vrx.nh.subscribe(
+        if cls.front_right_camera_info_sub is None:
+            cls.front_right_camera_info_sub = cls.nh.subscribe(
                 "/wamv/sensors/cameras/front_right_camera/camera_info",
                 CameraInfo,
             )
 
         await asyncio.gather(
-            Vrx.front_right_camera_sub.setup(),
-            Vrx.front_right_camera_info_sub.setup(),
+            cls.front_right_camera_sub.setup(),
+            cls.front_right_camera_info_sub.setup(),
         )
 
     async def geo_pose_to_enu_pose(self, geo):

SubjuGator/drivers/magnetic_compensation/sub8_magnetic_hardsoft_compensation/scripts/generate_config

@@ -9,6 +9,7 @@ import rosbag
 import roslib
 import scipy.linalg
 import yaml
+from mpl_toolkits.mplot3d import Axes3D
 from tf import transformations
 
 roslib.load_manifest("magnetic_hardsoft_compensation")
@@ -20,7 +21,7 @@ def normalized_matrix(m):
 
 
 def calculate_error(points):
-    radii = map(numpy.linalg.norm, points)
+    radii = list(map(numpy.linalg.norm, points))
     error = numpy.std(radii) / numpy.mean(radii)
     return error
 
@@ -47,7 +48,7 @@ def fit_ellipsoid(points):
 
     B = numpy.ones((points.shape[0], 1))
 
-    X = numpy.linalg.lstsq(A, B)[0].flatten()
+    X = numpy.linalg.lstsq(A, B, rcond=-1)[0].flatten()
     if X[0] < 0:
         X = -X  # make sure ka turns out positive definite
 
@@ -150,7 +151,7 @@ if __name__ == "__main__":
         import matplotlib.pyplot as plt
 
         fig = plt.figure(figsize=(10, 10))
-        ax = fig.add_subplot("111", projection="3d")
+        ax = Axes3D(fig)
         ax.scatter([0], [0], [0], s=100, c="r")
         ax.scatter(*zip(*points[::10, :]))
         axisEqual3D(ax)
@@ -168,7 +169,7 @@ if __name__ == "__main__":
         import matplotlib.pyplot as plt
 
         fig = plt.figure(figsize=(10, 10))
-        ax = fig.add_subplot("111", projection="3d")
+        ax = Axes3D(fig)
         ax.scatter([0], [0], [0], s=100, c="r")
         ax.scatter(*zip(*points[::10, :]))
         ax.scatter(*zip(*compensated[::10, :]), c="g")
@@ -183,8 +184,8 @@ if __name__ == "__main__":
     print(
         yaml.dump(
             {
-                "scale": (map(float, x) for x in scale),
-                "shift": map(float, shift),
+                "scale": scale.tolist(),
+                "shift": shift.tolist(),
             },
         ),
     )

SubjuGator/etc/motd

@@ -0,0 +1,9 @@
+#-------#-------#-------#-------#-------#-------#-------#-------#
+		You have connected to SubjuGator 8!
+#-------#-------#-------#-------#-------#-------#-------#-------#
+
+If you are testing the sub in the water (or are preparing to do so), please make sure to read the Subjugator Testing Procedures page on uf-mil.github.io for useful tips, advice, and checklists.
+
+We (the previous MIL members) will watch your testing session with great interest.
+
+Happy Testing!

SubjuGator/simulation/subjugator_gazebo/urdf/sub8.urdf.xacro

@@ -11,8 +11,6 @@
   <xacro:include filename="$(find mil_gazebo)/xacro/passive_sonar.xacro"/>
   <xacro:include filename="$(find mil_gazebo)/xacro/inclinometer.xacro"/>
 
-  <link name="world"/>
-
   <!-- Base link of sub -->
   <link name="base_link">
     <inertial>
@@ -33,11 +31,6 @@
     </collision>
   </link>
 
-  <joint name="dummy_joint" type="fixed">
-    <parent link="world"/>
-    <child link="base_link"/>
-  </joint>
-
   <!-- Sensors -->
   <xacro:mil_fixed_link name="front_stereo" parent="base_link" xyz="0.2559 0 0.1707" rpy="0 0 0"/>
   <xacro:mil_camera name="front_left_cam" parent="front_stereo" namespace="/camera/front/left" xyz="0 0.0445 0" rpy="0 0 0"/>

docs/software/getting_started.md

@@ -63,8 +63,8 @@ methods.
 
 | Architecture | URL |
 | ------------ | --- |
-| AMD64 (most Windows computers, Intel-based Mac computers) | [focal-desktop-amd64.iso](https://cdimage.ubuntu.com/focal/daily-live/current/focal-desktop-amd64.iso) |
-| ARM64 (Apple Silicon Mac computers) | [focal-desktop-arm64.iso](https://cdimage.ubuntu.com/focal/daily-live/current/focal-desktop-arm64.iso) |
+| AMD64 (most Windows computers, Intel-based Mac computers) | [focal-desktop-amd64.iso](https://releases.ubuntu.com/focal/ubuntu-20.04.6-desktop-amd64.iso) |
+| ARM64 (Apple Silicon Mac computers) | Unfortunately, Ubuntu 20.04 no longer has an ARM-compatible ISO. While we are working on finding/building a new iso image, you may not be able to install. |
 
 The following subsections cover various installation methods. Please choose the
 installation option that best meets your use case. If you're not sure what the

docs/subjugator/index.rst

@@ -16,6 +16,8 @@ SubjuGator 8
     Enabling <enabling>
     Cameras <cameras>
     PID Controller <pid>
+    Nav Tube <nav_tube>
+    Watercooling <watercooling>
 
     electrical