Ros2 api reorganization #362
Conversation
WalkthroughThis update encompasses a significant renaming and reorganization of multiple entities across several packages. The changes include rebranding nodes and topics for better clarity and maintaining consistency in naming conventions. It also involves modifying configuration files, launch files, and README documents to align with the new names, alongside minor logic adjustments. Changes
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Actionable comments posted: 7
Outside diff range and nitpick comments (2)
panther_manager/config/safety_manager_config.yaml (1)
2-2: Add a description for the new configuration parameters.To enhance readability and maintainability, consider adding comments that describe the new parameters for
batteryandcputemperature window lengths and fan control settings.battery: temp: window_len: 6 # Temperature moving average window length for the battery cpu: temp: window_len: 6 # Temperature moving average window length for the CPU fan_on: 75.0 # CPU fan turn on temperature (in Celsius) fan_off: 70.0 # CPU fan turn off temperature (in Celsius)panther_hardware_interfaces/src/panther_system_ros_interface.cpp (1)
[!TIP]
Codebase VerificationIssues Found:
There are multiple instances of the old topic names (
motor_controllers_state,io_state, ande_stop) that have not been updated to the new ones. Please update the following occurrences:
motor_controllers_state
panther_manager/README.mdpanther_manager/test/test_safety_manager_node.cpppanther_manager/src/safety_manager_node.cpppanther_controller/launch/controller.launch.pypanther_hardware_interfaces/README.mdpanther_hardware_interfaces/test/include/test_constants.hpppanther_battery/README.mdpanther_battery/src/battery_node.cpppanther_battery/test/include/test_battery_node.hpp
io_state
panther_manager/README.mdpanther_manager/test/test_safety_manager_node.cpppanther_manager/test/test_safety_behavior_tree.cpppanther_manager/src/safety_manager_node.cpppanther_manager/include/panther_manager/safety_manager_node.hpppanther_utils/CHANGELOG.rstpanther_description/CHANGELOG.rstpanther_hardware_interfaces/README.mdpanther_hardware_interfaces/test/test_gpio_controller.cpppanther_hardware_interfaces/src/panther_system_ros_interface.cpppanther_hardware_interfaces/src/panther_system.cpppanther_hardware_interfaces/src/gpio_controller.cpppanther_hardware_interfaces/include/panther_hardware_interfaces/panther_system_ros_interface.hpppanther_hardware_interfaces/CHANGELOG.rstpanther_bringup/CHANGELOG.rstpanther_battery/README.mdpanther_battery/test/test_battery_node_dual_bat.cpppanther_battery/test/test_battery_publisher.cpppanther_battery/include/panther_battery/battery_publisher.hpppanther_battery/test/test_battery_node.cpppanther_controller/launch/controller.launch.py
e_stop
panther_manager/include/panther_manager/safety_manager_node.hpppanther_manager/README.mdpanther_manager/include/panther_manager/lights_manager_node.hpppanther_manager/test/test_safety_manager_node.cpppanther_manager/test/test_safety_behavior_tree.cpppanther_manager/test/test_lights_manager_node.cpppanther_manager/test/test_lights_behavior_tree.cpppanther_manager/src/safety_manager_node.cpppanther_manager/src/lights_manager_node.cpppanther_manager/behavior_trees/safety.xmlpanther_manager/behavior_trees/lights.xmlpanther_hardware_interfaces/README.mdpanther_hardware_interfaces/CMakeLists.txtpanther_hardware_interfaces/include/panther_hardware_interfaces/panther_system_ros_interface.hpppanther_hardware_interfaces/include/panther_hardware_interfaces/panther_system_e_stop.hpppanther_hardware_interfaces/include/panther_hardware_interfaces/panther_system.hpppanther_hardware_interfaces/src/panther_system_ros_interface.cpppanther_hardware_interfaces/src/panther_system.cpppanther_hardware_interfaces/src/panther_system_e_stop.cpppanther_hardware_interfaces/src/gpio_controller.cpppanther_controller/launch/controller.launch.pyPlease ensure all instances of the old topic names are updated to the new ones.
Analysis chain
Line range hint
85-93:
LGTM! But verify the usage of new topic names.The publishers are correctly initialized with appropriate QoS settings and topic names.
However, ensure that all instances of the old topic names are updated to the new ones.
Scripts executed
The following scripts were executed for the analysis:
Script:
#!/bin/bash # Description: Verify all instances of old topic names have been updated to the new ones. # Test: Search for the old topic names. Expect: No occurrences of the old topic names. rg --type cpp $'motor_controllers_state\|io_state\|e_stop'Length of output: 59
Script:
#!/bin/bash # Description: Verify all instances of old topic names have been updated to the new ones. # Test: Search for the old topic names across all file types and include variations. rg 'motor_controllers_state' rg 'io_state' rg 'e_stop'Length of output: 26916
Review details
Configuration used: .coderabbit.yaml
Review profile: CHILL
Files selected for processing (55)
- .github/workflows/release-repository.yaml (1 hunks)
- panther_battery/README.md (3 hunks)
- panther_battery/include/panther_battery/battery_node.hpp (1 hunks)
- panther_battery/launch/battery.launch.py (2 hunks)
- panther_battery/src/battery_node.cpp (3 hunks)
- panther_battery/src/dual_battery_publisher.cpp (1 hunks)
- panther_battery/src/main.cpp (1 hunks)
- panther_battery/src/single_battery_publisher.cpp (1 hunks)
- panther_battery/test/include/test_battery_node.hpp (3 hunks)
- panther_battery/test/test_dual_battery_publisher.cpp (1 hunks)
- panther_battery/test/test_single_battery_publisher.cpp (1 hunks)
- panther_bringup/README.md (4 hunks)
- panther_controller/README.md (5 hunks)
- panther_controller/config/WH01_controller.yaml (2 hunks)
- panther_controller/config/WH02_controller.yaml (2 hunks)
- panther_controller/config/WH04_controller.yaml (2 hunks)
- panther_controller/launch/controller.launch.py (5 hunks)
- panther_description/urdf/gazebo.urdf.xacro (1 hunks)
- panther_diagnostics/README.md (2 hunks)
- panther_diagnostics/launch/system_status.launch.py (1 hunks)
- panther_diagnostics/src/main.cpp (1 hunks)
- panther_gazebo/README.md (1 hunks)
- panther_gazebo/config/gz_bridge.yaml (2 hunks)
- panther_gazebo/config/led_strips.yaml (2 hunks)
- panther_hardware_interfaces/README.md (1 hunks)
- panther_hardware_interfaces/src/panther_system.cpp (1 hunks)
- panther_hardware_interfaces/src/panther_system_ros_interface.cpp (1 hunks)
- panther_hardware_interfaces/test/include/test_constants.hpp (1 hunks)
- panther_hardware_interfaces/test/test_panther_system_ros_interface.cpp (4 hunks)
- panther_lights/README.md (3 hunks)
- panther_lights/launch/lights.launch.py (2 hunks)
- panther_lights/src/controller_node.cpp (2 hunks)
- panther_lights/src/controller_node_main.cpp (1 hunks)
- panther_lights/src/driver_node.cpp (2 hunks)
- panther_lights/src/driver_node_main.cpp (1 hunks)
- panther_lights/test/test_controller_node.cpp (1 hunks)
- panther_lights/test/test_driver_node.cpp (1 hunks)
- panther_localization/README.md (2 hunks)
- panther_localization/config/enu_localization.yaml (1 hunks)
- panther_localization/config/enu_localization_with_gps.yaml (1 hunks)
- panther_localization/config/relative_localization.yaml (1 hunks)
- panther_localization/config/relative_localization_with_gps.yaml (1 hunks)
- panther_localization/launch/localization.launch.py (2 hunks)
- panther_manager/README.md (5 hunks)
- panther_manager/behavior_trees/lights.xml (5 hunks)
- panther_manager/config/lights_manager_config.yaml (1 hunks)
- panther_manager/config/safety_manager_config.yaml (1 hunks)
- panther_manager/launch/manager_bt.launch.py (2 hunks)
- panther_manager/src/lights_manager_node.cpp (1 hunks)
- panther_manager/src/lights_manager_node_main.cpp (1 hunks)
- panther_manager/src/safety_manager_node.cpp (1 hunks)
- panther_manager/src/safety_manager_node_main.cpp (1 hunks)
- panther_manager/test/test_lights_behavior_tree.cpp (1 hunks)
- panther_manager/test/test_lights_manager_node.cpp (2 hunks)
- panther_manager/test/test_safety_behavior_tree.cpp (1 hunks)
Files not processed due to max files limit (1)
- panther_manager/test/test_safety_manager_node.cpp
Files skipped from review due to trivial changes (15)
- .github/workflows/release-repository.yaml
- panther_battery/src/main.cpp
- panther_diagnostics/src/main.cpp
- panther_gazebo/README.md
- panther_gazebo/config/led_strips.yaml
- panther_lights/README.md
- panther_lights/src/controller_node_main.cpp
- panther_lights/src/driver_node_main.cpp
- panther_localization/config/enu_localization_with_gps.yaml
- panther_localization/config/relative_localization.yaml
- panther_localization/config/relative_localization_with_gps.yaml
- panther_manager/config/lights_manager_config.yaml
- panther_manager/launch/manager_bt.launch.py
- panther_manager/src/lights_manager_node_main.cpp
- panther_manager/src/safety_manager_node_main.cpp
Additional context used
Learnings (2)
panther_hardware_interfaces/src/panther_system_ros_interface.cpp (1)
Learnt from: pawelirh PR: husarion/panther_ros#343 File: panther_hardware_interfaces/src/panther_system_ros_interface.cpp:229-253 Timestamp: 2024-06-12T16:04:28.211Z Learning: When creating GitHub issues based on user requests, ensure to include a detailed description that provides context and specifies the missing elements or required changes, as demonstrated in the issue creation for handling all GPIOPin enum cases in UpdateIOStateMsg.panther_manager/README.md (1)
Learnt from: pawelirh PR: husarion/panther_ros#301 File: panther_manager/src/lights_manager_node.cpp:77-96 Timestamp: 2024-05-27T07:37:14.213Z Learning: The parameters for the `panther_manager` module are documented in the README file located at `panther_ros/panther_manager/README.md`.
LanguageTool
panther_diagnostics/README.md
[uncategorized] ~42-~42: You might be missing the article “the” here.
Context: ...lt: build_in_computer]: Frame where computer is located. -~publish_rate[double...(AI_EN_LECTOR_MISSING_DETERMINER_THE)
panther_bringup/README.md
[uncategorized] ~31-~31: If this is a compound adjective that modifies the following noun, use a hyphen.
Context: ...o a YAML file with a description of the user defined animations. -wheel_config_path[*str...(EN_COMPOUND_ADJECTIVE_INTERNAL)
panther_hardware_interfaces/README.md
[uncategorized] ~38-~38: It seems likely that a singular genitive (’s) apostrophe is missing.
Context: ...nther_msgs/DriverState*]: Current motor controllers state and error flags. [//]: # (ROS_AP...(AI_HYDRA_LEO_APOSTROPHE_S_XS)
Additional comments not posted (80)
panther_gazebo/config/gz_bridge.yaml (3)
Line range hint
9-13:
LGTM!The updated topic names for battery status follow the new naming conventions and the mappings are correct.
20-23: LGTM!The updated topic names for lights channel 1 follow the new naming conventions and the mappings are correct.
26-29: LGTM!The updated topic names for lights channel 2 follow the new naming conventions and the mappings are correct.
panther_diagnostics/launch/system_status.launch.py (1)
34-34: LGTM!The updated node name
system_monitoris consistent with the new naming conventions.panther_battery/launch/battery.launch.py (2)
33-36: LGTM!The updated node name
battery_driveris consistent with the new naming conventions.
45-45: LGTM!The launch configuration for
battery_driver_nodeis correct and consistent with the new naming conventions.panther_diagnostics/README.md (2)
20-20: Node name change approved.The node name has been updated to
system_monitorfor better consistency.
33-34: Topic names change approved.The topic names have been updated for better clarity and consistency.
panther_battery/include/panther_battery/battery_node.hpp (1)
46-46: Function signature change approved.The function signature of
GetADCDevicePathhas been updated for better clarity and consistency.panther_battery/test/test_single_battery_publisher.cpp (2)
59-60: Topic name change approved.The topic name has been updated to
battery/battery_statusfor better clarity and consistency.
62-63: Topic name change approved.The topic name has been updated to
_battery/battery_1_status_rawfor better clarity and consistency.panther_lights/launch/lights.launch.py (2)
64-64: Node name change approved.The node name has been updated to
lights_driverfor better consistency.
75-75: Node name change approved.The node name has been updated to
lights_controllerfor better consistency.panther_controller/config/WH01_controller.yaml (2)
8-8: Approved: Addition ofdrive_controllersettingsThe addition of
drive_controllersettings aligns with the PR objectives and seems appropriate for a differential drive controller.
Line range hint
27-63:
Approved: Detailed configuration fordrive_controllerThe detailed configuration settings for the
drive_controllerare well-defined and consistent with the objectives of the PR.panther_controller/config/WH04_controller.yaml (2)
8-8: Approved: Addition ofdrive_controllersettingsThe addition of
drive_controllersettings aligns with the PR objectives and seems appropriate for a differential drive controller.
Line range hint
27-63:
Approved: Detailed configuration fordrive_controllerThe detailed configuration settings for the
drive_controllerare well-defined and consistent with the objectives of the PR.panther_battery/README.md (4)
20-20: Approved: Node name changed tobattery_driverThe change of the node name from
battery_nodetobattery_driverenhances clarity and consistency.
33-36: Approved: Updated published topic namesThe updated topic names enhance clarity and consistency in the ROS ecosystem.
45-46: Approved: Updated subscribed topic namesThe updated subscribed topic names enhance clarity and consistency in the ROS ecosystem.
56-56: Approved: Added new parameter for ADC device pathThe addition of the new parameter for ADC device path enhances the configuration options for the
battery_driver.panther_hardware_interfaces/test/include/test_constants.hpp (1)
95-95: Approved: Updated topic name formotor_controllers_stateThe updated topic name enhances clarity and consistency in the ROS ecosystem.
panther_localization/README.md (1)
23-23: LGTM! Verify consistency.The renaming of
ekf_nodetoekf_filteris consistent with the PR objectives. Ensure this new name is used consistently throughout the file and the codebase.panther_controller/config/WH02_controller.yaml (1)
8-8: LGTM! Verify consistency.The renaming of
panther_base_controllertodrive_controlleris consistent with the PR objectives. Ensure this new name is used consistently throughout the file and the codebase.Verification successful
Renaming verified and consistent.
The renaming of
panther_base_controllertodrive_controllerhas been applied consistently across the codebase. No occurrences of the old name were found.
panther_controller/README.mdpanther_description/urdf/gazebo.urdf.xacropanther_controller/package.xmlpanther_controller/launch/controller.launch.pypanther_controller/config/WH01_controller.yamlpanther_controller/config/WH04_controller.yamlpanther_controller/config/WH02_controller.yamlScripts executed
The following scripts were executed for the analysis:
Script:
#!/bin/bash # Description: Verify the consistent usage of the new controller name `drive_controller`. # Test: Search for the old controller name. Expect: No occurrences. rg --type yaml $'panther_base_controller'Length of output: 40
Script:
#!/bin/bash # Description: Verify the consistent usage of the new controller name `drive_controller` and ensure the old name `panther_base_controller` is not present. # Test: Search for the old controller name. Expect: No occurrences. rg 'panther_base_controller' # Test: Search for the new controller name. Expect: Occurrences in relevant files. rg 'drive_controller'Length of output: 3108
panther_controller/README.md (6)
18-18: Approved: Node name updated todrive_controller.The node name change aligns with the PR objective of renaming nodes for better clarity and consistency.
51-51: Approved: Publisherimu/dataadded.The addition of this publisher aligns with the documentation style and provides necessary information.
79-80: Approved: Publishersdynamic_joint_statesandjoint_statesadded.The addition of these publishers aligns with the documentation style and provides necessary information.
92-92: Approved: Node name updated todrive_controller.The node name change aligns with the PR objective of renaming nodes for better clarity and consistency.
108-108: Approved: Subscribercmd_veladded.The addition of this subscriber aligns with the documentation style and provides necessary information.
116-117: Approved: Publishers/tfandodometry/wheelsadded.The addition of these publishers aligns with the documentation style and provides necessary information.
panther_description/urdf/gazebo.urdf.xacro (2)
46-46: Approved: Topic name updated tocmd_vel.The topic name change aligns with the PR objective of renaming topics for better clarity and consistency.
47-47: Approved: Topic name updated toodometry/wheels.The topic name change aligns with the PR objective of renaming topics for better clarity and consistency.
panther_manager/behavior_trees/lights.xml (8)
12-12: Approved: Service name updated tolights/set_animation.The service name change aligns with the PR objective of renaming services for better clarity and consistency.
22-22: Approved: Service name updated tolights/set_animation.The service name change aligns with the PR objective of renaming services for better clarity and consistency.
33-33: Approved: Service name updated tolights/set_animation.The service name change aligns with the PR objective of renaming services for better clarity and consistency.
44-44: Approved: Service name updated tolights/set_animation.The service name change aligns with the PR objective of renaming services for better clarity and consistency.
51-51: Approved: Service name updated tolights/set_animation.The service name change aligns with the PR objective of renaming services for better clarity and consistency.
62-62: Approved: Service name updated tolights/set_animation.The service name change aligns with the PR objective of renaming services for better clarity and consistency.
70-70: Approved: Service name updated tolights/set_animation.The service name change aligns with the PR objective of renaming services for better clarity and consistency.
78-78: Approved: Service name updated tolights/set_animation.The service name change aligns with the PR objective of renaming services for better clarity and consistency.
panther_manager/test/test_lights_manager_node.cpp (2)
96-96: Approved: Node name updated totest_lights_manager.The node name change aligns with the PR objective of renaming nodes for better clarity and consistency.
149-150: Approved: Topic name updated tobattery/battery_status.The topic name change aligns with the PR objective of renaming topics for better clarity and consistency.
panther_lights/test/test_driver_node.cpp (2)
54-54: Initialize the node with the new name.The node name has been updated to
test_lights_driverto reflect the new naming conventions.
56-60: Update topic names for publishers and clients.The topic names for
channel_1_pub_,channel_2_pub_, andset_brightness_client_have been updated to match the new naming conventions.panther_battery/test/include/test_battery_node.hpp (3)
50-52: Add constants for ADC device names.Constants for ADC device names
kADCDevice0andkADCDevice1have been added.
72-77: Update parameter names in the constructor.The parameter names for ADC devices and paths have been updated to match the new naming conventions.
107-122: Update node name and topic names in the constructor.The node name has been updated to
battery_driverand topic names for subscriptions and publishers have been updated to match the new naming conventions.panther_localization/config/enu_localization.yaml (1)
2-2: Update node name toekf_filter.The node name has been updated to
ekf_filterto reflect the new naming conventions.panther_battery/src/battery_node.cpp (3)
83-83: Update parameter name for ADC path.The parameter name for the ADC path has been updated to
adc/pathto match the new naming conventions.
147-147: Update topic name for driver state subscription.The topic name for the driver state subscription has been updated to
hardware/motor_controllers_stateto match the new naming conventions.
169-169: Update parameter name for ADC path.The parameter name for the ADC path has been updated to
adc/pathto match the new naming conventions.panther_lights/src/driver_node.cpp (2)
66-66: Verify topic name change.Ensure that all instances of the old topic name
lights/driver/set/brightnessare updated tolights/set_brightnessthroughout the codebase.Verification successful
Topic name change verified.
The old topic name
lights/driver/set/brightnesshas been successfully updated tolights/set_brightnessthroughout the codebase. The new topic name is consistently used in the relevant files.
panther_lights/README.mdpanther_lights/test/test_driver_node.cpppanther_lights/src/driver_node.cppScripts executed
The following scripts were executed for the analysis:
Script:
#!/bin/bash # Description: Verify all instances of the old topic name are updated. # Test: Search for the old topic name. Expect: No occurrences. rg --type cpp 'lights/driver/set/brightness'Length of output: 44
Script:
#!/bin/bash # Description: Verify all instances of the old topic name are updated and the new topic name is used consistently. # Test 1: Search for the old topic name. Expect: No occurrences. rg 'lights/driver/set/brightness' # Test 2: Search for the new topic name. Expect: Matches found. rg 'lights/set_brightness'Length of output: 480
80-87: Verify topic name changes.Ensure that all instances of the old topic names
lights/driver/channel_1_frameandlights/driver/channel_2_frameare updated tolights/channel_1_frameandlights/channel_2_framethroughout the codebase.Verification successful
Verification successful: Topic names updated correctly.
The new topic names
lights/channel_1_frameandlights/channel_2_frameare consistently used in the relevant source and test files.
panther_lights/src/driver_node.cpppanther_lights/test/test_driver_node.cppScripts executed
The following scripts were executed for the analysis:
Script:
#!/bin/bash # Description: Verify all instances of the old topic names are updated. # Test: Search for the old topic names. Expect: No occurrences. rg --type cpp 'lights/driver/channel_1_frame' rg --type cpp 'lights/driver/channel_2_frame'Length of output: 91
Script:
#!/bin/bash # Description: Verify all instances of the new topic names are consistently used. # Test: Search for the new topic names. Expect: Occurrences in relevant files. rg --type cpp 'lights/channel_1_frame' rg --type cpp 'lights/channel_2_frame'Length of output: 605
panther_bringup/README.md (1)
85-85: Verify service server name change.Ensure that all instances of the old service server name
~/ekf_node/set_poseare updated tolocalization/set_posethroughout the codebase.Verification successful
Verification successful.
The service server name has been consistently updated from
~/ekf_node/set_posetolocalization/set_posethroughout the codebase.
panther_localization/launch/localization.launch.pypanther_bringup/README.mdScripts executed
The following scripts were executed for the analysis:
Script:
#!/bin/bash # Description: Verify all instances of the old service server name are updated. # Test: Search for the old service server name. Expect: No occurrences. rg --type md '~/ekf_node/set_pose'Length of output: 36
Script:
#!/bin/bash # Description: Verify all instances of the old service server name are updated. # Test: Search for the old service server name. Expect: No occurrences. rg '~/ekf_node/set_pose'Length of output: 26
Script:
#!/bin/bash # Description: Verify all instances of the new service server name are correctly implemented. # Test: Search for the new service server name. Expect: Some occurrences. rg 'localization/set_pose'Length of output: 554
panther_manager/test/test_lights_behavior_tree.cpp (2)
100-101: Verify topic name change.Ensure that all instances of the old topic name
batteryare updated tobattery/battery_statusthroughout the codebase.Verification successful
Verify topic name change.
All instances of the topic name
battery/battery_statushave been correctly updated throughout the codebase.
- Instances of the topic name
battery/battery_statuswere found and appear to be correctly updated.- Other occurrences of the term
batteryare related to variables, parameters, or other contexts and do not require changes.Scripts executed
The following scripts were executed for the analysis:
Script:
#!/bin/bash # Description: Verify all instances of the old topic name are updated. # Test: Search for the old topic name. Expect: No occurrences. rg --type cpp 'battery'Length of output: 98477
100-103: Verify topic name changes.Ensure that all instances of the old topic names
batteryandlights/controller/set/animationare updated tobattery/battery_statusandlights/set_animationthroughout the codebase.panther_manager/src/lights_manager_node.cpp (2)
66-66: Verify topic name changes.Ensure that all instances of the old topic names
batteryandpanther_base_controller/e_stopare updated tobattery/battery_statusandhardware/e_stopthroughout the codebase.Verification successful
Verification successful.
All instances of the old topic names
batteryandpanther_base_controller/e_stophave been correctly updated tobattery/battery_statusandhardware/e_stopthroughout the codebase.
Scripts executed
The following scripts were executed for the analysis:
Script:
#!/bin/bash # Description: Verify all instances of the old topic names are updated. # Test: Search for the old topic names. Expect: No occurrences. rg --type cpp 'battery' rg --type cpp 'panther_base_controller/e_stop'Length of output: 98524
Script:
#!/bin/bash # Description: Verify all instances of the old topic names are updated. # Test: Search for the old topic names specifically in the context of topic subscriptions and publishers. Expect: No occurrences. rg --type cpp 'create_subscription<[^>]+>\s*\(\s*"battery"' -l rg --type cpp 'create_publisher<[^>]+>\s*\(\s*"battery"' -l rg --type cpp 'create_subscription<[^>]+>\s*\(\s*"panther_base_controller/e_stop"' -l rg --type cpp 'create_publisher<[^>]+>\s*\(\s*"panther_base_controller/e_stop"' -lLength of output: 299
66-66: Verify topic name change.Ensure that all instances of the old topic name
batteryare updated tobattery/battery_statusthroughout the codebase.Verification successful
Verification successful.
All instances of the old topic name
batteryhave been correctly updated tobattery/battery_statusin the context of topic subscriptions.
- No instances of
create_subscriptionwith the old topic namebatterywere found.Scripts executed
The following scripts were executed for the analysis:
Script:
#!/bin/bash # Description: Verify all instances of the old topic name are updated. # Test: Search for the old topic name. Expect: No occurrences. rg --type cpp 'battery'Length of output: 98477
Script:
#!/bin/bash # Description: Verify all instances of the old topic name in the context of topic subscriptions are updated. # Test: Search for the old topic name in the context of topic subscriptions. Expect: No occurrences. rg --type cpp 'create_subscription<.*>("battery",'Length of output: 161
Script:
#!/bin/bash # Description: Verify all instances of the old topic name in the context of topic subscriptions are updated. # Test: Search for the old topic name in the context of topic subscriptions. Expect: No occurrences. rg --type cpp 'create_subscription<[^>]*>\([^,]*,\s*"battery",'Length of output: 65
panther_lights/test/test_controller_node.cpp (1)
104-105: LGTM! But verify the usage of new service name.The service client is correctly initialized with the appropriate service name.
However, ensure that all instances of the old service name are updated to the new one.
Verification successful
Verified: The new service name
lights/set_animationis used consistently throughout the codebase.
panther_manager/test/test_lights_behavior_tree.cpppanther_lights/src/controller_node.cpppanther_lights/test/test_controller_node.cppScripts executed
The following scripts were executed for the analysis:
Script:
#!/bin/bash # Description: Verify all instances of the old service name have been updated to the new one. # Test: Search for the old service name. Expect: No occurrences of the old service name. rg --type cpp $'controller/set/animation'Length of output: 40
Script:
#!/bin/bash # Description: Verify all instances of the new service name. # Test: Search for the new service name. Expect: Occurrences of the new service name. rg --type cpp $'lights/set_animation'Length of output: 456
panther_hardware_interfaces/test/test_panther_system_ros_interface.cpp (2)
46-46: LGTM!The
PantherSystemRosInterfaceinstance is correctly initialized with the new node namehardware_controller.
64-64: LGTM!The tests correctly validate the creation and activation of the
PantherSystemRosInterfaceinstance with the new node namehardware_controller.Also applies to: 106-106, 123-123
panther_battery/src/dual_battery_publisher.cpp (1)
42-45: LGTM! But verify the usage of new topic names.The publishers are correctly initialized with appropriate QoS settings and topic names.
However, ensure that all instances of the old topic names are updated to the new ones.
panther_controller/launch/controller.launch.py (3)
186-186: Ensure Consistency with Renamed Nodes.The topic
drive_controller/odomhas been remapped toodometry/wheels. Ensure that this change is consistent with the rest of the codebase and documentation.Verification successful
Remapping Consistency Verified.
The topic
drive_controller/odomhas been consistently remapped toodometry/wheelsacross the codebase. No further references todrive_controller/odomwere found without the remapping.
panther_controller/launch/controller.launch.pypanther_description/urdf/gazebo.urdf.xacroScripts executed
The following scripts were executed for the analysis:
Script:
#!/bin/bash # Verify the consistency of remapped topic `odometry/wheels` across the codebase. rg --type py $'odometry/wheels'Length of output: 135
Script:
#!/bin/bash # Verify the consistency of remapped topic `odometry/wheels` across the entire codebase. rg 'odometry/wheels'Length of output: 922
Script:
#!/bin/bash # Verify if the original topic `drive_controller/odom` has been replaced or remapped consistently across the entire codebase. rg 'drive_controller/odom'Length of output: 246
185-185: Ensure Consistency with Renamed Nodes.The topic
drive_controller/cmd_vel_unstampedhas been remapped tocmd_vel. Ensure that this change is consistent with the rest of the codebase and documentation.Verification successful
Consistency with Renamed Nodes Verified.
The topic
drive_controller/cmd_vel_unstampedhas been consistently remapped tocmd_velacross the codebase.
panther_description/urdf/gazebo.urdf.xacropanther_controller/launch/controller.launch.pyScripts executed
The following scripts were executed for the analysis:
Script:
#!/bin/bash # Verify the consistency of remapped topic `cmd_vel` across the codebase. rg --type py $'cmd_vel'Length of output: 132
Script:
#!/bin/bash # Search for the original topic `drive_controller/cmd_vel_unstamped` across the entire codebase to ensure consistency. rg 'drive_controller/cmd_vel_unstamped'Length of output: 269
187-187: Ensure Consistency with Renamed Nodes.The topic
drive_controller/transition_eventhas been remapped to_drive_controller/transition_event. Ensure that this change is consistent with the rest of the codebase and documentation.Verification successful
Remapping Consistency Verified.
The topic
drive_controller/transition_eventhas been consistently remapped to_drive_controller/transition_eventacross the codebase.
panther_controller/launch/controller.launch.py: Remapping line confirmed.Scripts executed
The following scripts were executed for the analysis:
Script:
#!/bin/bash # Verify the consistency of remapped topic `_drive_controller/transition_event` across the codebase. rg --type py $'_drive_controller/transition_event'Length of output: 185
Script:
#!/bin/bash # Search for the original topic `drive_controller/transition_event` across the codebase to ensure all references have been updated. rg --type py $'drive_controller/transition_event'Length of output: 184
Script:
#!/bin/bash # Search for the original topic `drive_controller/transition_event` across all file types to ensure all references have been updated. rg $'drive_controller/transition_event'Length of output: 174
panther_manager/src/safety_manager_node.cpp (2)
87-87: Ensure Consistency with Renamed Nodes.The topic
battery/battery_statusis used for the battery state subscription. Ensure that this change is consistent with the rest of the codebase and documentation.Verification successful
Consistent Usage of
battery/battery_statusVerified.The topic
battery/battery_statusis consistently used across the codebase in both thepanther_managerandpanther_batterydirectories.
panther_manager/src/safety_manager_node.cpppanther_manager/src/lights_manager_node.cpppanther_battery/src/single_battery_publisher.cpppanther_battery/src/dual_battery_publisher.cpp- Various test files
Scripts executed
The following scripts were executed for the analysis:
Script:
#!/bin/bash # Verify the consistency of renamed topic `battery/battery_status` across the codebase. rg --type cpp $'battery/battery_status'Length of output: 1154
89-89: Ensure Consistency with Renamed Nodes.The topic
hardware/motor_controllers_stateis used for the driver state subscription. Ensure that this change is consistent with the rest of the codebase and documentation.Verification successful
Consistency Verified with Renamed Nodes.
The topic
hardware/motor_controllers_stateis consistently used across the codebase, including in the relevant C++ files, documentation, and launch files.
panther_manager/src/safety_manager_node.cpppanther_manager/test/test_safety_manager_node.cpppanther_battery/test/include/test_battery_node.hpppanther_battery/src/battery_node.cpppanther_manager/README.mdpanther_hardware_interfaces/README.mdpanther_controller/launch/controller.launch.pypanther_battery/README.mdScripts executed
The following scripts were executed for the analysis:
Script:
#!/bin/bash # Verify the consistency of renamed topic `hardware/motor_controllers_state` across the codebase. rg --type cpp $'hardware/motor_controllers_state'Length of output: 500
Script:
#!/bin/bash # Verify the consistency of renamed topic `hardware/motor_controllers_state` across the entire codebase, including documentation. rg 'hardware/motor_controllers_state'Length of output: 1103
panther_manager/test/test_safety_behavior_tree.cpp (1)
111-111: Ensure Consistency with Renamed Nodes.The topic
hardware/fan_enableis used for the fan service. Ensure that this change is consistent with the rest of the codebase and documentation.panther_lights/src/controller_node.cpp (2)
99-100: Ensure Consistency with Renamed Nodes.The topic
lights/channel_<channel>_frameis used for publishing panel frames. Ensure that this change is consistent with the rest of the codebase and documentation.Verification successful
Ensure Consistency with Renamed Nodes.
The topic
lights/channel_<channel>_frameis consistently used across the codebase in the following files:
panther_lights/src/driver_node.cpppanther_lights/test/test_driver_node.cpppanther_lights/src/controller_node.cppThe usages appear to be consistent with the intended renaming.
Scripts executed
The following scripts were executed for the analysis:
Script:
#!/bin/bash # Verify the consistency of renamed topic `lights/channel_<channel>_frame` across the codebase. rg --type cpp $'lights/channel_'Length of output: 699
74-74: Ensure Consistency with Renamed Nodes.The service name
lights/set_animationis used for setting LED animations. Ensure that this change is consistent with the rest of the codebase and documentation.Verification successful
Service name
lights/set_animationis consistently used across the codebase.The service name appears consistently in both code and documentation files:
panther_manager/README.mdpanther_manager/test/test_lights_behavior_tree.cpppanther_manager/behavior_trees/lights.xmlpanther_lights/README.mdpanther_lights/test/test_controller_node.cpppanther_lights/src/controller_node.cppScripts executed
The following scripts were executed for the analysis:
Script:
#!/bin/bash # Verify the consistency of renamed service `lights/set_animation` across the codebase. rg --type cpp $'lights/set_animation'Length of output: 456
Script:
#!/bin/bash # Verify the consistency of renamed service `lights/set_animation` across the entire codebase, including documentation. rg 'lights/set_animation'Length of output: 1825
panther_battery/test/test_dual_battery_publisher.cpp (3)
114-115: Update Topic NamesThe topic name has been updated to
"/battery/battery_status". Ensure that this change is consistent with the rest of the codebase.
117-118: Update Topic NamesThe topic name has been updated to
"/_battery/battery_1_status_raw". Ensure that this change is consistent with the rest of the codebase.
120-121: Update Topic NamesThe topic name has been updated to
"/_battery/battery_2_status_raw". Ensure that this change is consistent with the rest of the codebase.panther_manager/README.md (6)
20-20: Update Node NameThe node name has been updated to
lights_manager. Ensure that this change is consistent with the rest of the codebase.
33-34: Update Topic NamesThe topic names have been updated to
battery/battery_statusandhardware/e_stop. Ensure that these changes are consistent with the rest of the codebase.
42-42: Update Service Client NameThe service client name has been updated to
~/lights/set_animation. Ensure that this change is consistent with the rest of the codebase.
69-69: Update Node NameThe node name has been updated to
safety_manager. Ensure that this change is consistent with the rest of the codebase.
82-86: Update Topic NamesThe topic names have been updated to
battery/battery_status,hardware/e_stop,hardware/io_state,hardware/motor_controllers_state, andsystem_status. Ensure that these changes are consistent with the rest of the codebase.
166-166: Update Topic NameThe topic name has been updated to
battery/battery_status. Ensure that this change is consistent with the rest of the codebase.panther_hardware_interfaces/src/panther_system.cpp (1)
114-114: Ensure consistency with the new naming convention.The instantiation of
PantherSystemRosInterfacewith the name"hardware_controller"appears to be part of the renaming for consistency.Verification successful
Consistent usage of "hardware_controller" confirmed.
The term "hardware_controller" is consistently used across the codebase, including test files and launch configurations, indicating that the renaming has been systematically applied.
panther_hardware_interfaces/test/test_panther_system_ros_interface.cpppanther_controller/launch/controller.launch.pypanther_hardware_interfaces/test/include/test_constants.hpppanther_hardware_interfaces/src/panther_system.cppScripts executed
The following scripts were executed for the analysis:
Script:
#!/bin/bash # Description: Verify the usage of the new name "hardware_controller" in the codebase. # Test: Search for the usage of "hardware_controller". Expect: Consistent usage across the codebase. rg --type python --type cpp $'hardware_controller'Length of output: 80
Script:
#!/bin/bash # Description: Verify the usage of the new name "hardware_controller" in the codebase. # Test: Search for the usage of "hardware_controller". Expect: Consistent usage across the codebase. rg --type cpp --type py 'hardware_controller'Length of output: 2321
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Files selected for processing (2)
- panther_hardware_interfaces/README.md (1 hunks)
- panther_localization/README.md (2 hunks)
Files skipped from review as they are similar to previous changes (2)
- panther_hardware_interfaces/README.md
- panther_localization/README.md
Co-authored-by: Dawid Kmak <73443304+KmakD@users.noreply.github.com>
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Files selected for processing (1)
- panther_bringup/README.md (4 hunks)
Additional context used
Learnings (1)
panther_bringup/README.md (1)
Learnt from: pawelirh PR: husarion/panther_ros#362 File: panther_localization/launch/localization.launch.py:81-91 Timestamp: 2024-07-08T06:59:47.857Z Learning: The executable name for the `ekf_filter` node remains `ekf_node`, and the remapping rule must refer to the old name.
LanguageTool
panther_bringup/README.md
[uncategorized] ~31-~31: If this is a compound adjective that modifies the following noun, use a hyphen.
Context: ...o a YAML file with a description of the user defined animations. -wheel_config_path[*str...(EN_COMPOUND_ADJECTIVE_INTERNAL)
[uncategorized] ~34-~34: Possible missing comma found.
Context: ...ls/panther/panther-options). Example of configuration you can find [config/components.yaml](c...(AI_HYDRA_LEO_MISSING_COMMA)
Additional comments not posted (2)
panther_bringup/README.md (2)
15-16: Update node names in README files.The old node names
battery_nodeandekf_nodeare still present in the README files and need to be updated tobattery_driverandekf_filterrespectively.Ensure that all instances of the old node names are updated throughout the codebase.
50-50: Update node names in README files.The old node name
ekf_nodeis still present in the README files and needs to be updated toekf_filter.Ensure that all instances of the old node names are updated throughout the codebase.
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Actionable comments posted: 0
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Configuration used: .coderabbit.yaml
Review profile: CHILL
Files selected for processing (1)
- panther_localization/README.md (2 hunks)
Files skipped from review as they are similar to previous changes (1)
- panther_localization/README.md
Description
This PR aims to enhance the ROS 2 API naming and make it consistent across the project
Modifications
Summary by CodeRabbit
New Features
battery_nodetobattery_driverfor better clarity and consistency.Bug Fixes
.github/workflows/release-repository.yaml.Documentation
Refactor
Style