Auton overtake feature, as well as pylint fixes

.github/workflows/.pylintrc

@@ -0,0 +1,10 @@
+[MESSAGES CONTROL]
+
+disable=all
+
+enable=
+    bad-indentation,
+    trailing-whitespace,
+    wrong-import-order,
+    unused-variable,
+    unused-import

.github/workflows/pylint.yml

@@ -0,0 +1,35 @@
+name: Pylint
+
+on: [push]
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+    strategy:
+      matrix:
+        python-version: ["3.8", "3.9", "3.10"]
+    steps:
+    - uses: actions/checkout@v3
+    - name: Set up Python ${{ matrix.python-version }}
+      uses: actions/setup-python@v3
+      with:
+        python-version: ${{ matrix.python-version }}
+    - name: Install dependencies
+      run: |
+        python -m pip install --upgrade pip
+        pip install pylint
+    - name: Getting changed Python files and Analysing the code with pylint
+      run: |
+        git fetch origin ${CI_MERGE_REQUEST_TARGET_BRANCH_NAME}
+        echo CI_COMMIT_SHA=${GITHUB_SHA}
+        tmp_files=$(git diff --name-only origin/main ${CI_COMMIT_SHA})
+        echo "Changed files are $tmp_files"
+        if [ -z "$(echo "$tmp_files" | grep "\.py")" ]; then exit 0; else echo "Python files are found"; fi
+        tmp_pfiles=$(echo "$tmp_files" | grep "\.py")
+        echo "Python files are $tmp_pfiles"
+        if [[ -z "$tmp_pfiles" ]]; then
+          echo "No files to lint"
+        else
+          echo "Running Linter!"
+          pylint --rc-file=/home/runner/work/RoboBuggy2/RoboBuggy2/.github/workflows/.pylintrc $tmp_pfiles
+        fi

rb_ws/src/buggy/launch/sim_2d_2buggies.launch

@@ -3,34 +3,36 @@
 <!-- <arg name="name" value="INS" /> -->
 
 <launch>
-    <arg name="sc_controller"       default="stanley" />
-    <arg name="sc_start_dist"       default="0.0" />
-    <arg name="sc_path"             default="buggycourse_safe_1.json" />
     <arg name="sc_starting_pose"    default="Hill1_SC" />
     <arg name="sc_velocity"         default="15.0" />
 
     <arg name="nand_controller"     default="stanley" />
-    <arg name="nand_start_dist"     default="30.0" />
     <arg name="nand_path"           default="buggycourse_safe_1.json" />
+
     <arg name="nand_starting_pose"  default="Hill1_NAND" />
-    <arg name="nand_velocity"       default="12.0" />
+    <arg name="nand_velocity"       default="10.0" />
+
 
-    <node name="foxglove" pkg="foxglove_bridge" type="foxglove_bridge" />
+    <node name="foxglove" pkg="foxglove_bridge" type="foxglove_bridge" />  
+
+    <node name="nand_sim_2d_engine" pkg="buggy" type="engine.py" output="screen" 
+        args="$(arg nand_starting_pose) $(arg nand_velocity) NAND"/>
+    <!-- <node name="nand_vel_updater" pkg="buggy" type="velocity_updater.py"
+        output="screen" args="$(arg nand_velocity) NAND"/> -->
+
+    <!-- NAND is not aware of SC -->
+    <arg name="nand_autonsystem_args" default="--controller stanley --dist 0.0 --traj buggycourse_safe_1.json --self_name NAND" />
+    <node name="nand_auton_system" pkg="buggy" type="autonsystem.py" output="screen" 
+        args="$(arg nand_autonsystem_args)"/>
 
     <node name="sc_sim_2d_engine" pkg="buggy" type="engine.py" output="screen"
         args="$(arg sc_starting_pose) $(arg sc_velocity) SC"/>
-    <node name="sc_vel_updater" pkg="buggy" type="velocity_updater.py"
-        output="screen" args="$(arg sc_velocity) SC"/>
+    <!-- <node name="sc_vel_updater" pkg="buggy" type="velocity_updater.py"
+        output="screen" args="$(arg sc_velocity) SC"/> -->
 
-    <!-- autonsystem args: controller start_dist path buggy_name is_sim -->
+    <arg name="sc_autonsystem_args" default="--controller stanley --dist 0.0 --traj buggycourse_safe_1.json --self_name SC --other_name NAND" />
     <node name="sc_auton_system" pkg="buggy" type="autonsystem.py" output="screen" 
-        args="$(arg sc_controller) $(arg sc_start_dist) $(arg sc_path) SC True"/>
+        args="$(arg sc_autonsystem_args)"/>
 
-    <node name="nand_sim_2d_engine" pkg="buggy" type="engine.py" output="screen" 
-        args="$(arg nand_starting_pose) $(arg nand_velocity) Nand"/>
-    <node name="nand_vel_updater" pkg="buggy" type="velocity_updater.py"
-        output="screen" args="$(arg nand_velocity) Nand"/>
 
-    <node name="nand_auton_system" pkg="buggy" type="autonsystem.py" output="screen" 
-        args="$(arg nand_controller) $(arg nand_start_dist) $(arg nand_path) Nand True"/>
 </launch>

rb_ws/src/buggy/launch/sim_2d_single.launch

@@ -3,21 +3,20 @@
 <!-- <arg name="name" value="INS" /> -->
 
 <launch>
-    <arg name="buggy_name"       default="SC" />
-    <arg name="controller"       default="stanley" />
-    <arg name="start_dist"       default="0.0" />
-    <arg name="path"             default="buggycourse_safe_1.json" />
+    <arg name="autonsystem_args" default="--controller stanley --dist 0.0 --traj buggycourse_safe_1.json --self_name SC" />
     <arg name="starting_pose"    default="Hill1_SC" />
     <arg name="velocity"         default="15.0" />
-
+    <arg name="buggy_name"       default="SC" />
+
     <node name="foxglove" pkg="foxglove_bridge" type="foxglove_bridge" />
 
     <node name="sim_2d_engine" pkg="buggy" type="engine.py" output="screen"
         args="$(arg starting_pose) $(arg velocity) $(arg buggy_name)"/>
-    <node name="vel_updater" pkg="buggy" type="velocity_updater.py"
-        output="screen" args="$(arg velocity) $(arg buggy_name)"/>
-    <!-- autonsystem args: controller start_dist path buggy_name is_sim -->
+
+    <!-- <node name="vel_updater" pkg="buggy" type="velocity_updater.py"
+        output="screen" args="$(arg velocity) $(arg buggy_name)"/> -->
+
     <node name="auton_system" pkg="buggy" type="autonsystem.py" output="screen" 
-        args="$(arg controller) $(arg start_dist) $(arg path) $(arg buggy_name) True"/>
+        args="$(arg autonsystem_args)"/>
 
 </launch>

rb_ws/src/buggy/scripts/2d_sim/engine.py

@@ -1,14 +1,16 @@
 #! /usr/bin/env python3
+
+import sys
+import threading
+
 import rospy
 from geometry_msgs.msg import Pose, Twist, PoseWithCovariance, TwistWithCovariance
 from std_msgs.msg import Float64
 from sensor_msgs.msg import NavSatFix
 from nav_msgs.msg import Odometry
-import threading
 import numpy as np
 import utm
-import time
-import sys
+
 
 
 class Simulator:
@@ -45,15 +47,16 @@ def __init__(self, starting_pose, velocity, buggy_name):
             buggy_name + "/state/pose_navsat", NavSatFix, queue_size=1
         )
 
-        # to plot on Foxglove (with noise)
-        self.navsatfix_noisy_publisher = rospy.Publisher(
-            buggy_name + "/state/pose_navsat_noisy", NavSatFix, queue_size=1
-        )
+        if Simulator.NOISE:
+            # to plot on Foxglove (with noise)
+            self.navsatfix_noisy_publisher = rospy.Publisher(
+                buggy_name + "/state/pose_navsat_noisy", NavSatFix, queue_size=1
+            )
 
         # (UTM east, UTM north, HEADING(degs))
         self.starting_poses = {
-            "Hill1_SC": (Simulator.UTM_EAST_ZERO + 60, Simulator.UTM_NORTH_ZERO + 150, -110),
-            "Hill1_NAND": (Simulator.UTM_EAST_ZERO + 55, Simulator.UTM_NORTH_ZERO + 165, -125),
+            "Hill1_NAND": (Simulator.UTM_EAST_ZERO + 0, Simulator.UTM_NORTH_ZERO + 0, -110),
+            "Hill1_SC": (Simulator.UTM_EAST_ZERO + 20, Simulator.UTM_NORTH_ZERO + 30, -110),
         }
 
         # Start position for End of Hill 2
@@ -69,12 +72,12 @@ def __init__(self, starting_pose, velocity, buggy_name):
         # self.e_utm = utm_coords[0]
         # self.n_utm = utm_coords[1]
 
-        self.e_utm, self.n_utm, self.heading = self.starting_poses[starting_pose]        
+        self.e_utm, self.n_utm, self.heading = self.starting_poses[starting_pose]
         self.velocity = velocity # m/s
 
         self.steering_angle = 0  # degrees
-        self.rate = 100  # Hz
-        self.pub_skip = 10  # publish every pub_skip ticks
+        self.rate = 200  # Hz
+        self.pub_skip = 1  # publish every pub_skip ticks
 
         self.lock = threading.Lock()
 
@@ -121,7 +124,7 @@ def dynamics(self, state, v):
             dstate (np.Array): time derivative of state from dynamics
         """
         l = Simulator.WHEELBASE
-        x, y, theta, delta = state
+        _, _, theta, delta = state
 
         return np.array([v * np.cos(theta),
                          v * np.sin(theta),