AMP Autonomous Software Stack v2

Second iteration of the Autonomous Software Stack (ASS) for the AMP go-kart. Go to the wiki to learn more about this repo and code standards.

Developing

The best way to work with the codebase is within a Ubuntu 20.04 VM. To do so, clone this repo, install all the dependencies and build the project.

rosdep update
rosdep install --from-paths src -iry
catkin_make

For people unable to work in a Ubuntu 20.04 VM, it is recommended to work on the code base within a virtual ROS environment in a docker container. To do so, the amp-cli will help you set up all you'll need.

• To build the amp-cli tool, run:

sudo pip install .

• Run amp-cli to view the available options. Run the devel option in order to have a good consistent environment.

Formatting

In order to run the pre-commit formatter, install pre-commit (via PyPI) and clang (via your distro's package manager) on your Linux Machine and run:

pre-commit install

This will make it so that a format check is executed whenever you attempt to commit changes.

In order to pass the formatting check, run the following before every commit:

pre-commit run -a

The formatter was borrowed from MoveIt's ROS Repo.