Merge branch 'master' into features/wild_point_filter

.clang-format

@@ -1,59 +1,137 @@
 ---
-BasedOnStyle:  Google
+Language:        Cpp
+# BasedOnStyle:  LLVM
 AccessModifierOffset: -2
-ConstructorInitializerIndentWidth: 2
+AlignAfterOpenBracket: Align
+AlignConsecutiveMacros: false
+AlignConsecutiveAssignments: false
+AlignConsecutiveDeclarations: false
+AlignEscapedNewlines: Right
+AlignOperands:   true
 AlignTrailingComments: true
-AllowAllParametersOfDeclarationOnNextLine: false
-AllowShortIfStatementsOnASingleLine: WithoutElse
+AllowAllArgumentsOnNextLine: true
+AllowAllConstructorInitializersOnNextLine: true
+AllowAllParametersOfDeclarationOnNextLine: true
+AllowShortBlocksOnASingleLine: Never
+AllowShortCaseLabelsOnASingleLine: false
+AllowShortFunctionsOnASingleLine: All
+AllowShortLambdasOnASingleLine: All
+AllowShortIfStatementsOnASingleLine: Never
 AllowShortLoopsOnASingleLine: false
-AllowShortFunctionsOnASingleLine: None
-AlwaysBreakTemplateDeclarations: Yes
+AlwaysBreakAfterDefinitionReturnType: None
+AlwaysBreakAfterReturnType: None
 AlwaysBreakBeforeMultilineStrings: false
-BreakBeforeBinaryOperators: None
-BreakBeforeTernaryOperators: false
-BreakConstructorInitializersBeforeComma: true
+AlwaysBreakTemplateDeclarations: MultiLine
+BinPackArguments: true
 BinPackParameters: true
-ColumnLimit:    120
-ConstructorInitializerAllOnOneLineOrOnePerLine: true
+BraceWrapping:
+  AfterCaseLabel:  false
+  AfterClass:      false
+  AfterControlStatement: false
+  AfterEnum:       false
+  AfterFunction:   false
+  AfterNamespace:  false
+  AfterObjCDeclaration: false
+  AfterStruct:     false
+  AfterUnion:      false
+  AfterExternBlock: false
+  BeforeCatch:     false
+  BeforeElse:      false
+  IndentBraces:    false
+  SplitEmptyFunction: true
+  SplitEmptyRecord: true
+  SplitEmptyNamespace: true
+BreakBeforeBinaryOperators: None
+BreakBeforeBraces: Attach
+BreakBeforeInheritanceComma: false
+BreakInheritanceList: BeforeColon
+BreakBeforeTernaryOperators: true
+BreakConstructorInitializersBeforeComma: false
+BreakConstructorInitializers: BeforeColon
+BreakAfterJavaFieldAnnotations: false
+BreakStringLiterals: true
+ColumnLimit:     80
+CommentPragmas:  '^ IWYU pragma:'
+CompactNamespaces: false
+ConstructorInitializerAllOnOneLineOrOnePerLine: false
+ConstructorInitializerIndentWidth: 4
+ContinuationIndentWidth: 4
+Cpp11BracedListStyle: true
+DeriveLineEnding: true
+DerivePointerAlignment: false
+DisableFormat:   false
 ExperimentalAutoDetectBinPacking: false
-IndentCaseLabels: true
+FixNamespaceComments: true
+ForEachMacros:
+  - foreach
+  - Q_FOREACH
+  - BOOST_FOREACH
+IncludeBlocks:   Preserve
+IncludeCategories:
+  - Regex:           '^"(llvm|llvm-c|clang|clang-c)/'
+    Priority:        2
+    SortPriority:    0
+  - Regex:           '^(<|"(gtest|gmock|isl|json)/)'
+    Priority:        3
+    SortPriority:    0
+  - Regex:           '.*'
+    Priority:        1
+    SortPriority:    0
+IncludeIsMainRegex: '(Test)?$'
+IncludeIsMainSourceRegex: ''
+IndentCaseLabels: false
+IndentGotoLabels: true
+IndentPPDirectives: None
+IndentWidth:     2
+IndentWrappedFunctionNames: false
+JavaScriptQuotes: Leave
+JavaScriptWrapImports: true
+KeepEmptyLinesAtTheStartOfBlocks: true
+MacroBlockBegin: ''
+MacroBlockEnd:   ''
 MaxEmptyLinesToKeep: 1
 NamespaceIndentation: None
+ObjCBinPackProtocolList: Auto
+ObjCBlockIndentWidth: 2
+ObjCSpaceAfterProperty: false
 ObjCSpaceBeforeProtocolList: true
+PenaltyBreakAssignment: 2
 PenaltyBreakBeforeFirstCallParameter: 19
-PenaltyBreakComment: 60
-PenaltyBreakString: 1
-PenaltyBreakFirstLessLess: 1000
-PenaltyExcessCharacter: 1000
-PenaltyReturnTypeOnItsOwnLine: 90
-SpacesBeforeTrailingComments: 2
-Cpp11BracedListStyle: false
-Standard:        Auto
-IndentWidth:     2
-TabWidth:        2
-UseTab:          Never
-SpacesInParentheses: false
-SpacesInAngles:  false
+PenaltyBreakComment: 300
+PenaltyBreakFirstLessLess: 120
+PenaltyBreakString: 1000
+PenaltyBreakTemplateDeclaration: 10
+PenaltyExcessCharacter: 1000000
+PenaltyReturnTypeOnItsOwnLine: 60
+PointerAlignment: Right
+ReflowComments:  true
+SortIncludes:    true
+SortUsingDeclarations: true
+SpaceAfterCStyleCast: false
+SpaceAfterLogicalNot: false
+SpaceAfterTemplateKeyword: true
+SpaceBeforeAssignmentOperators: true
+SpaceBeforeCpp11BracedList: false
+SpaceBeforeCtorInitializerColon: true
+SpaceBeforeInheritanceColon: true
+SpaceBeforeParens: ControlStatements
+SpaceBeforeRangeBasedForLoopColon: true
+SpaceInEmptyBlock: false
 SpaceInEmptyParentheses: false
+SpacesBeforeTrailingComments: 1
+SpacesInAngles:  false
+SpacesInConditionalStatement: false
+SpacesInContainerLiterals: true
 SpacesInCStyleCastParentheses: false
-SpaceBeforeAssignmentOperators: true
-ContinuationIndentWidth: 2
-SortIncludes: false
-SpaceAfterCStyleCast: false
-
-# Configure each individual brace in BraceWrapping
-BreakBeforeBraces: Custom
-
-# Control of individual brace wrapping cases
-BraceWrapping:
-    AfterClass: true
-    AfterControlStatement: true
-    AfterEnum : true
-    AfterFunction : true
-    AfterNamespace : true
-    AfterStruct : true
-    AfterUnion : true
-    BeforeCatch : true
-    BeforeElse : true
-    IndentBraces : false
+SpacesInParentheses: false
+SpacesInSquareBrackets: false
+SpaceBeforeSquareBrackets: false
+Standard:        Latest
+StatementMacros:
+  - Q_UNUSED
+  - QT_REQUIRE_VERSION
+TabWidth:        8
+UseCRLF:         false
+UseTab:          Never
 ...
+

.dockerignore

@@ -1,2 +1 @@
-.travis.yml
 .gitignore

.github/workflows/clang-format-check.yml

@@ -0,0 +1,14 @@
+name: clang-format check
+on: [push]
+jobs:
+  formatting-check:
+    name: C/C++ LLVM formatting check
+    runs-on: ubuntu-20.04
+    steps:
+    - uses: actions/checkout@v2
+    - name: Run clang-format style check for C/C++ packages
+      uses: jidicula/[email protected]
+      with:
+        clang-format-version: '13'
+        check-path: '.'
+        fallback-style: 'llvm' # for when the .clang-format file does not exist

.github/workflows/docker-publish.yml

@@ -0,0 +1,42 @@
+name: Publish Docker image to ghcr
+
+on:
+  push:
+    branches: [ master ]
+
+
+env:
+  REGISTRY: ghcr.io
+  IMAGE_NAME: ${{ github.repository }}
+
+jobs:
+  build-and-push-image:
+    runs-on: ubuntu-20.04
+    permissions:
+      contents: read
+      packages: write
+
+    steps:
+      - name: Checkout repository
+        uses: actions/checkout@v2
+
+      - name: Log in to the Container registry
+        uses: docker/login-action@f054a8b539a109f9f41c372932f1ae047eff08c9
+        with:
+          registry: ${{ env.REGISTRY }}
+          username: ${{ github.actor }}
+          password: ${{ secrets.GITHUB_TOKEN }}
+
+      - name: Extract metadata (tags, labels) for Docker
+        id: meta
+        uses: docker/metadata-action@98669ae865ea3cffbcbaa878cf57c20bbf1c6c38
+        with:
+          images: ${{ env.REGISTRY }}/${{ env.IMAGE_NAME }}
+
+      - name: Build and push Docker image
+        uses: docker/build-push-action@ad44023a93711e3deb337508980b4b5e9bcdc5dc
+        with:
+          context: .
+          push: true
+          tags: ${{ steps.meta.outputs.tags }}
+          labels: ${{ steps.meta.outputs.labels }}

Dockerfile

@@ -1,10 +1,11 @@
-FROM ros:kinetic-ros-core-xenial
-WORKDIR /catkin_ws
-RUN apt-get update
-RUN apt-get install --yes python-catkin-tools
-COPY . ./src/stim300
-
-# See https://stackoverflow.com/questions/20635472/using-the-run-instruction-in-a-dockerfile-with-source-does-not-work
-RUN ["/bin/bash", "-c", "source /opt/ros/kinetic/setup.bash && \
-    catkin build && \
-    catkin run_tests driver_stim300 --no-deps"]
+FROM ros:noetic-ros-core-focal
+
+SHELL ["/bin/bash", "-c"] 
+
+RUN apt-get update && apt-get install --yes --no-install-recommends python3-catkin-tools build-essential
+
+COPY . ./imu_ws/src
+RUN source /opt/ros/noetic/setup.bash && cd /imu_ws && catkin build
+
+COPY ./entrypoint.sh /
+CMD ["/entrypoint.sh"]

README.md

@@ -77,3 +77,28 @@ This will show a list on available commands including how to go back to normal m
     c
 
  will perform a system check.
+
+ ## Calibration 
+
+The following commands are used to calibrate the stim300 driver with the ESKF (Error-state Kalman filter)
+
+First launch the stim300 driver
+
+```bash
+roslaunch driver_stim300 stim300_driver.launch
+```
+
+Then move to another terminal and do the following
+
+```bash
+rosservice call /IMU_calibration
+```
+
+Now head over to the stim300-driver.launch terminal window and take note of the roll and pitch alignment errors.
+
+Find the parameter list for the ESKF and put in the roll and pitch errors in the following parameters
+
+```bash
+sr_accelerometer_alignment 
+sr_gyro_alignment
+```

entrypoint.sh

@@ -0,0 +1,4 @@
+#!/bin/bash
+
+source /imu_ws/devel/setup.bash
+roslaunch driver_stim300 stim300_driver.launch