Update pre-commit workflow

UniversalRobots · Apr 24, 2024 · 2961d50 · 2961d50
1 parent d6687ba
commit 2961d50
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Showing 10 changed files with 59 additions and 71 deletions.
diff --git a/.github/workflows/pre-commit.yml b/.github/workflows/pre-commit.yml
@@ -3,17 +3,16 @@ name: pre-commit
 on:
   pull_request:
 jobs:
-  pre-commits:
+  pre-commit:
     name: pre-commit
-    runs-on: ubuntu-latest
+    runs-on: ubuntu-22.04
     steps:
-      - uses: actions/checkout@v2
-      - uses: actions/setup-python@v2
+      - uses: actions/checkout@v4
+      - uses: actions/setup-python@v5
         with:
-          python-version: 3.9.7
-      - name: "Install dependencies"
-        run: |
-          python -m pip install catkin_lint
-      - uses: pre-commit/[email protected]
+          python-version: "3.10"
+      - uses: actions/cache@v4
         with:
-          extra_args: --all-files --hook-stage manual
+          path: ~/.cache/pre-commit
+          key: pre-commit-3|${{ hashFiles('.pre-commit-config.yaml') }}
+      - uses: pre-commit/[email protected]
diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
@@ -1,7 +1,7 @@
 ---
 repos:
   - repo: https://github.com/pre-commit/pre-commit-hooks
-    rev: v2.3.0
+    rev: v4.6.0
     hooks:
       - id: check-added-large-files
       - id: check-docstring-first
@@ -12,34 +12,14 @@ repos:
       - id: mixed-line-ending
       - id: trailing-whitespace
   - repo: https://github.com/psf/black
-    rev: 21.12b0
+    rev: 24.4.0
     hooks:
       - id: black
         args: ["--line-length=100"]
-  # Cmake hooks
-  - repo: local
-    hooks:
-      - id: ament_lint_cmake
-        name: ament_lint_cmake
-        description: Check format of CMakeLists.txt files.
-        stages: [commit]
-        entry: ament_lint_cmake
-        language: system
-        files: CMakeLists.txt$
-
-  # Copyright
-  - repo: local
-    hooks:
-      - id: ament_copyright
-        name: ament_copyright
-        description: Check if copyright notice is available in all files.
-        stages: [commit]
-        entry: ament_copyright
-        language: system
   # Spellcheck in comments and docs
   # skipping of *.svg files is not working...
   - repo: https://github.com/codespell-project/codespell
-    rev: v2.0.0
+    rev: v2.2.6
     hooks:
       - id: codespell
         args: ['--write-changes']

diff --git a/my_robot_cell/my_robot_cell_control/launch/rsp.launch.py b/my_robot_cell/my_robot_cell_control/launch/rsp.launch.py
@@ -58,10 +58,13 @@ def generate_launch_description():
         [
             PathJoinSubstitution([FindExecutable(name="xacro")]),
             " ",
-            PathJoinSubstitution([
-                FindPackageShare("my_robot_cell_control"),
-                                 "urdf",
-                                 "my_robot_cell_controlled.urdf.xacro"]),
+            PathJoinSubstitution(
+                [
+                    FindPackageShare("my_robot_cell_control"),
+                    "urdf",
+                    "my_robot_cell_controlled.urdf.xacro",
+                ]
+            ),
             " ",
             "robot_ip:=",
             robot_ip,
@@ -113,12 +116,12 @@ def generate_launch_description():
         DeclareLaunchArgument(
             "kinematics_parameters_file",
             default_value=PathJoinSubstitution(
-        [
-            FindPackageShare("my_robot_cell_control"),
-            "config",
-            "my_robot_calibration.yaml",
-        ]
-    ),
+                [
+                    FindPackageShare("my_robot_cell_control"),
+                    "config",
+                    "my_robot_calibration.yaml",
+                ]
+            ),
             description="The calibration configuration of the actual robot used.",
         )
     )

diff --git a/my_robot_cell/my_robot_cell_control/launch/start_robot.launch.py b/my_robot_cell/my_robot_cell_control/launch/start_robot.launch.py
@@ -39,8 +39,8 @@ def generate_launch_description():
     declared_arguments.append(
         DeclareLaunchArgument(
             "robot_ip",
-            default_value="192.168.56.101", # put your robot's IP address here
-            description="IP address by which the robot can be reached."
+            default_value="192.168.56.101",  # put your robot's IP address here
+            description="IP address by which the robot can be reached.",
         )
     )
 

diff --git a/my_robot_cell/my_robot_cell_description/launch/view_robot.launch.py b/my_robot_cell/my_robot_cell_description/launch/view_robot.launch.py
@@ -8,33 +8,34 @@
 
 def generate_launch_description():
     description_package = FindPackageShare("my_robot_cell_description")
-    description_file = PathJoinSubstitution([description_package, "urdf", "my_robot_cell.urdf.xacro"])
+    description_file = PathJoinSubstitution(
+        [description_package, "urdf", "my_robot_cell.urdf.xacro"]
+    )
     rvizconfig_file = PathJoinSubstitution([description_package, "rviz", "urdf.rviz"])
 
-    robot_description = ParameterValue(Command(['xacro ', description_file, " ", "ur_type:=", "ur20"]),
-                                       value_type=str)
+    robot_description = ParameterValue(
+        Command(["xacro ", description_file, " ", "ur_type:=", "ur20"]), value_type=str
+    )
 
     robot_state_publisher_node = Node(
-        package='robot_state_publisher',
-        executable='robot_state_publisher',
-        parameters=[{'robot_description': robot_description}]
-        )
+        package="robot_state_publisher",
+        executable="robot_state_publisher",
+        parameters=[{"robot_description": robot_description}],
+    )
 
     joint_state_publisher_gui_node = Node(
-        package='joint_state_publisher_gui',
-        executable='joint_state_publisher_gui',
-        )
+        package="joint_state_publisher_gui",
+        executable="joint_state_publisher_gui",
+    )
 
     rviz_node = Node(
-        package='rviz2',
-        executable='rviz2',
-        name='rviz2',
-        output='screen',
-        arguments=['-d', rvizconfig_file],
+        package="rviz2",
+        executable="rviz2",
+        name="rviz2",
+        output="screen",
+        arguments=["-d", rvizconfig_file],
     )
 
-    return LaunchDescription([
-        joint_state_publisher_gui_node,
-        robot_state_publisher_node,
-        rviz_node
-    ])
+    return LaunchDescription(
+        [joint_state_publisher_gui_node, robot_state_publisher_node, rviz_node]
+    )
diff --git a/my_robot_cell/my_robot_cell_moveit_config/launch/move_group.launch.py b/my_robot_cell/my_robot_cell_moveit_config/launch/move_group.launch.py
@@ -3,5 +3,7 @@
 
 
 def generate_launch_description():
-    moveit_config = MoveItConfigsBuilder("my_robot_cell", package_name="my_robot_cell_moveit_config").to_moveit_configs()
+    moveit_config = MoveItConfigsBuilder(
+        "my_robot_cell", package_name="my_robot_cell_moveit_config"
+    ).to_moveit_configs()
     return generate_move_group_launch(moveit_config)
diff --git a/my_robot_cell/my_robot_cell_moveit_config/launch/moveit_rviz.launch.py b/my_robot_cell/my_robot_cell_moveit_config/launch/moveit_rviz.launch.py
@@ -3,5 +3,7 @@
 
 
 def generate_launch_description():
-    moveit_config = MoveItConfigsBuilder("my_robot_cell", package_name="my_robot_cell_moveit_config").to_moveit_configs()
+    moveit_config = MoveItConfigsBuilder(
+        "my_robot_cell", package_name="my_robot_cell_moveit_config"
+    ).to_moveit_configs()
     return generate_moveit_rviz_launch(moveit_config)
diff --git a/my_robot_cell/my_robot_cell_moveit_config/launch/setup_assistant.launch.py b/my_robot_cell/my_robot_cell_moveit_config/launch/setup_assistant.launch.py
@@ -3,5 +3,7 @@
 
 
 def generate_launch_description():
-    moveit_config = MoveItConfigsBuilder("my_robot_cell", package_name="my_robot_cell_moveit_config").to_moveit_configs()
+    moveit_config = MoveItConfigsBuilder(
+        "my_robot_cell", package_name="my_robot_cell_moveit_config"
+    ).to_moveit_configs()
     return generate_setup_assistant_launch(moveit_config)
diff --git a/ur_documentation/docs/source/conf.py b/ur_documentation/docs/source/conf.py
@@ -40,8 +40,7 @@
 # ones.
 extensions = [
     "sphinx.ext.todo",
-    'sphinx_rtd_theme',
-
+    "sphinx_rtd_theme",
 ]
 
 # Add any paths that contain templates here, relative to this directory.

diff --git a/ur_documentation/docs/source/examples/my_robot_cell/build_moveit_config.rst b/ur_documentation/docs/source/examples/my_robot_cell/build_moveit_config.rst
@@ -31,7 +31,7 @@ joints are in the 0 position. Hence, the collision is allowed as "Collision by d
 that tick, since we don't want that collision to be ignored.
 
 .. image:: self_collisions.png
-   :alt: Adjust self-collisions - Remove the tick for the collsion between monitor and ur20_upper_arm_link.
+   :alt: Adjust self-collisions - Remove the tick for the collision between monitor and ur20_upper_arm_link.
 
 
 We skip adding virtual joints for now and continue with our **planning group(s)**.