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.devcontainer/Jammy.dockerfile

@@ -196,12 +196,6 @@ RUN mkdir -p ~/.config/fish/ && echo 'set fish_greeting; function random_message
 # Set Fish as Default Shell.
 RUN chsh -s /usr/bin/fish
 
-# Clone Autonomy Software Repository
-RUN git clone --recurse-submodules -j8 https://github.com/MissouriMRDT/Autonomy_Software.git
-
-# Set Working Directory
-WORKDIR /opt/Autonomy_Software/
-
 # Set Labels
 LABEL authors="Missouri S&T Mars Rover Design Team"
 LABEL maintainer="Mars Rover Design Team <marsrover@mst.edu>"

.devcontainer/JetPack.dockerfile

@@ -185,15 +185,9 @@ RUN wget -q https://github.com/MissouriMRDT/Autonomy_Packages/raw/main/gtest/arm
 # Set Fish as Default Shell
 RUN chsh -s /usr/bin/fish && mkdir -p ~/.config/fish/ && echo 'set fish_greeting' >> ~/.config/fish/config.fish
 
-# Clone Autonomy Software Repository
-RUN git clone --recurse-submodules -j8 https://github.com/MissouriMRDT/Autonomy_Software.git /opt/Autonomy_Software
-
 # Disable the VSCode server requirements check, this fixes the cross architecture issues and potentially fixes mismatching VSCode server versions. Can be unstable.
 RUN touch /tmp/vscode-skip-server-requirements-check
 
-# Set Working Directory
-WORKDIR /opt/Autonomy_Software/
-
 # Set Labels
 LABEL authors="Missouri S&T Mars Rover Design Team"
 LABEL maintainer="Mars Rover Design Team <marsrover@mst.edu>"

.github/workflows/clang_check.yml

@@ -30,7 +30,23 @@ jobs:
       - name: Checkout repository
         uses: actions/checkout@v4
         with:
-          submodules: recursive
+          submodules: false
+
+      - name: Init only needed submodules (and block LiDAR)
+        shell: bash
+        run: |
+          set -euo pipefail
+
+          # Only allow these submodules to ever be touched
+          git config --local --unset-all submodule.active || true
+          git config --local --add submodule.active external/threadpool
+          git config --local --add submodule.active external/rovecomm
+
+          # Extra safety: make LiDAR a no-op if anything tries to update all submodules
+          git config --local submodule.data/LiDAR.update none
+
+          git submodule sync --recursive
+          git submodule update --init --recursive external/threadpool external/rovecomm
 
       - name: Fix Dubious Ownership
         run: git config --global --add safe.directory /opt/Autonomy_Software

.github/workflows/codeql.yml

@@ -40,12 +40,12 @@ jobs:
         if: always()
         run: |
           cd /opt
-          if [ ! -d "Autonomy_Software" ]; then git clone --recurse-submodules -j8 https://github.com/MissouriMRDT/Autonomy_Software.git; fi
+          if [ ! -d "Autonomy_Software" ]; then git clone -j8 https://github.com/MissouriMRDT/Autonomy_Software.git; fi
 
       - name: Checkout repository
         uses: actions/checkout@v4
         with:
-          submodules: recursive
+          submodules: false
 
       - name: Fix Dubious Ownership
         run: git config --global --add safe.directory /opt/Autonomy_Software
@@ -57,16 +57,30 @@ jobs:
 
       - name: Update Branch
         run: |
+          set -euo pipefail
           cd /opt/Autonomy_Software/
-          git fetch --force --recurse-submodules
+
           branch=${{ steps.extract_branch.outputs.branch }}
-          echo $branch
-          git reset --hard origin/$branch
-          git checkout $branch
-          git pull --ff-only
-          git submodule update --force --recursive --init
+          echo "Using branch: $branch"
+
+          git fetch --force origin "$branch"
+          git checkout -B "$branch" "origin/$branch"
+          git reset --hard "origin/$branch"
+
+          # Only allow these two submodules to ever be touched
+          git config --local --unset-all submodule.active || true
+          git config --local --add submodule.active external/threadpool
+          git config --local --add submodule.active external/rovecomm
+
+          # Extra safety: make LiDAR a no-op if anything tries to update all submodules
+          git config --local submodule.data/LiDAR.update none
+
+          git submodule sync --recursive
+          git submodule update --init --recursive external/threadpool external/rovecomm
+
           git config --global --add safe.directory /opt/Autonomy_Software/external
 
+
       - name: Initialize CodeQL
         uses: github/codeql-action/init@v3
         with:

.github/workflows/coverage.yml

@@ -22,12 +22,12 @@ jobs:
         if: always()
         run: |
           cd /opt
-          if [ ! -d "Autonomy_Software" ]; then git clone --recurse-submodules -j8 https://github.com/MissouriMRDT/Autonomy_Software.git; fi
+          if [ ! -d "Autonomy_Software" ]; then git clone -j8 https://github.com/MissouriMRDT/Autonomy_Software.git; fi
 
       - name: Checkout repository
         uses: actions/checkout@v4
         with:
-          submodules: recursive
+          submodules: false
           ref: ${{ github.event.pull_request.head.sha }}
 
       - name: Fix Dubious Ownership
@@ -40,14 +40,25 @@ jobs:
 
       - name: Update Branch
         run: |
+          set -euo pipefail
           cd /opt/Autonomy_Software/
-          git fetch --force --recurse-submodules
-          branch=${{ steps.extract_branch.outputs.branch }}
-          echo ${{ github.event.pull_request.head.sha }}
+
+          echo "PR SHA: ${{ github.event.pull_request.head.sha }}"
+          git fetch --force origin ${{ github.event.pull_request.head.sha }}
+          git checkout --detach ${{ github.event.pull_request.head.sha }}
           git reset --hard ${{ github.event.pull_request.head.sha }}
-          git checkout ${{ github.event.pull_request.head.sha }}
-          # git pull --ff-only
-          git submodule update --force --recursive --init
+
+          # Only allow these submodules to ever be touched
+          git config --local --unset-all submodule.active || true
+          git config --local --add submodule.active external/threadpool
+          git config --local --add submodule.active external/rovecomm
+
+          # Extra safety: make LiDAR a no-op if anything tries to update all submodules
+          git config --local submodule.data/LiDAR.update none
+
+          git submodule sync --recursive
+          git submodule update --init --recursive external/threadpool external/rovecomm
+
           git config --global --add safe.directory /opt/Autonomy_Software/external
 
       - name: Configure and Build
@@ -56,7 +67,7 @@ jobs:
           if [ -d "build" ]; then rm -Rf build; fi
           mkdir build
           cd build
-          cmake .. -DCMAKE_BUILD_TYPE=RelWithDebInfo -DBUILD_TESTS_MODE=ON -DBUILD_CODE_COVERAGE=ON -DBUILD_COVERAGE_WATCH=OFF -DBUILD_VERBOSE_MODE=ON
+          cmake .. -DCMAKE_BUILD_TYPE=RelWithDebInfo -DBUILD_TESTS_MODE=ON -DENABLE_LIDAR_GEO_UTESTS=OFF -DBUILD_CODE_COVERAGE=ON -DBUILD_COVERAGE_WATCH=OFF -DBUILD_VERBOSE_MODE=ON
           make -j8
 
       - name: Run Tests
@@ -73,7 +84,8 @@ jobs:
             --exclude '../src/vision/aruco/TagDetector.h' --exclude '../src/vision/aruco/TagDetector.cpp' \
             --exclude '../src/vision/cameras/.*' \
             --exclude '../src/vision/objects/ObjectDetector.h' --exclude '../src/vision/objects/ObjectDetector.cpp' \
-            --exclude 'util/vision/YOLOModel.hpp'
+            --exclude 'util/vision/YOLOModel.hpp' \
+            --exclude '../src/algorithms/planners/GeoPlanner.h'
 
       - name: Upload Test Coverage to Codacy
         if: steps.run_tests.outcome == 'success'

.github/workflows/deploy_autonomy.yml

@@ -65,12 +65,12 @@ jobs:
         if: always()
         run: |
           cd /opt
-          if [ ! -d "Autonomy_Software" ]; then git clone --recurse-submodules -j8 https://github.com/MissouriMRDT/Autonomy_Software.git; fi
+          if [ ! -d "Autonomy_Software" ]; then git clone -j8 https://github.com/MissouriMRDT/Autonomy_Software.git; fi
 
       - name: Checkout repository
         uses: actions/checkout@v4
         with:
-          submodules: recursive
+          submodules: false
 
       - name: Fix Dubious Ownership
         run: git config --global --add safe.directory /opt/Autonomy_Software
@@ -86,10 +86,21 @@ jobs:
           # Setup Environment
           cd /opt/Autonomy_Software
           git remote set-url origin git@github.com:MissouriMRDT/Autonomy_Software.git
-          git fetch --tags --force --recurse-submodules
+          git fetch --tags --force
           git checkout development
           git pull
-          git submodule update --force --recursive --init
+
+          # Allowlist only the submodules you want in non-release jobs
+          git config --local --unset-all submodule.active || true
+          git config --local --add submodule.active external/threadpool
+          git config --local --add submodule.active external/rovecomm
+
+          # Make LiDAR a no-op even if something tries "update all"
+          git config --local submodule.data/LiDAR.update none
+
+          git submodule sync --recursive
+          git submodule update --init --recursive external/threadpool external/rovecomm
+
           git config --global --add safe.directory /opt/Autonomy_Software/external
 
           # Find and Format Latest Tag
@@ -141,7 +152,7 @@ jobs:
         uses: actions/checkout@v4
         with:
           ref: development
-          submodules: recursive
+          submodules: false
 
       - name: Check for Branch
         id: check_branch

.github/workflows/deploy_docker.yml

@@ -84,15 +84,15 @@ jobs:
         if: always()
         run: |
           cd /opt
-          if [ ! -d "Autonomy_Software" ]; then git clone --recurse-submodules -j8 https://github.com/MissouriMRDT/Autonomy_Software.git; fi
+          if [ ! -d "Autonomy_Software" ]; then git clone -j8 https://github.com/MissouriMRDT/Autonomy_Software.git; fi
 
       # This step is used to checkout the repository. It is needed so that the package build scripts can be
       # checked for changes.
       - name: Checkout Repository
         uses: actions/checkout@v4
         with:
           fetch-depth: 0
-          submodules: recursive
+          submodules: false
 
       # This step is used to check if any of the package build scripts have been updated. If any of the package
       # build scripts have been updated, then the packages need to be rebuilt in the next job. This step outputs
@@ -172,15 +172,15 @@ jobs:
         if: always()
         run: |
           cd /opt
-          if [ ! -d "Autonomy_Software" ]; then git clone --recurse-submodules -j8 https://github.com/MissouriMRDT/Autonomy_Software.git; fi
+          if [ ! -d "Autonomy_Software" ]; then git clone -j8 https://github.com/MissouriMRDT/Autonomy_Software.git; fi
 
       # This step is used to checkout the repository. It is needed so that the package build scripts can be
       # checked for changes.
       - name: Checkout Repository
         uses: actions/checkout@v4
         with:
           fetch-depth: 0
-          submodules: recursive
+          submodules: false
 
       # This step is used to rebuild the updated package. It gets the list of packages that need to be rebuilt
       # from the previous job. It runs the package build script for the package that is being built.
@@ -262,14 +262,14 @@ jobs:
         run: |
           cd /opt
           if [ ! -d "Autonomy_Software" ]; then 
-            git clone --recurse-submodules -j8 https://github.com/MissouriMRDT/Autonomy_Software.git
+            git clone -j8 https://github.com/MissouriMRDT/Autonomy_Software.git
           fi
 
       - name: Checkout Repository
         uses: actions/checkout@v4
         with:
           fetch-depth: 0
-          submodules: recursive
+          submodules: false
 
       # --- Check if FFmpeg rebuild is needed. ---
       - name: Check if FFmpeg Rebuild is Needed
@@ -472,15 +472,15 @@ jobs:
         if: always()
         run: |
           cd /opt
-          if [ ! -d "Autonomy_Software" ]; then git clone --recurse-submodules -j8 https://github.com/MissouriMRDT/Autonomy_Software.git; fi
+          if [ ! -d "Autonomy_Software" ]; then git clone -j8 https://github.com/MissouriMRDT/Autonomy_Software.git; fi
 
       # This step is used to checkout the repository. It is needed so that the package build scripts can be
       # checked for changes.
       - name: Checkout Repository
         uses: actions/checkout@v4
         with:
           fetch-depth: 0
-          submodules: recursive
+          submodules: false
 
       # This step is used to check if any of the package build scripts have been updated. If any of the package
       # build scripts have been updated, then the packages need to be rebuilt in the next job. This step outputs
@@ -559,15 +559,15 @@ jobs:
         if: always()
         run: |
           cd /opt
-          if [ ! -d "Autonomy_Software" ]; then git clone --recurse-submodules -j8 https://github.com/MissouriMRDT/Autonomy_Software.git; fi
+          if [ ! -d "Autonomy_Software" ]; then git clone  -j8 https://github.com/MissouriMRDT/Autonomy_Software.git; fi
 
       # This step is used to checkout the repository. It is needed so that the package build scripts can be
       # checked for changes.
       - name: Checkout Repository
         uses: actions/checkout@v4
         with:
           fetch-depth: 0
-          submodules: recursive
+          submodules: false
 
       # This step is used to rebuild the updated package. It gets the list of packages that need to be rebuilt
       # from the previous job. It runs the package build script for the package that is being built.
@@ -649,14 +649,14 @@ jobs:
         run: |
           cd /opt
           if [ ! -d "Autonomy_Software" ]; then 
-            git clone --recurse-submodules -j8 https://github.com/MissouriMRDT/Autonomy_Software.git
+            git clone -j8 https://github.com/MissouriMRDT/Autonomy_Software.git
           fi
 
       - name: Checkout Repository
         uses: actions/checkout@v4
         with:
           fetch-depth: 0
-          submodules: recursive
+          submodules: false
 
       # --- Check if FFmpeg rebuild is needed for ARM64 ---
       - name: Check if FFmpeg Rebuild is Needed
@@ -839,15 +839,15 @@ jobs:
         if: always()
         run: |
           cd /opt
-          if [ ! -d "Autonomy_Software" ]; then git clone --recurse-submodules -j8 https://github.com/MissouriMRDT/Autonomy_Software.git; fi
+          if [ ! -d "Autonomy_Software" ]; then git clone -j8 https://github.com/MissouriMRDT/Autonomy_Software.git; fi
 
       # This step is used to checkout the repository. It is needed so that the package build scripts can be
       # checked for changes.
       - name: Checkout Repository
         uses: actions/checkout@v4
         with:
           fetch-depth: 0
-          submodules: recursive
+          submodules: false
 
       # This step is used to check if any of the package build scripts have been updated. If any of the package
       # build scripts have been updated, then the packages need to be rebuilt in the next job. This step outputs
@@ -943,15 +943,15 @@ jobs:
         if: always()
         run: |
           cd /opt
-          if [ ! -d "Autonomy_Software" ]; then git clone --recurse-submodules -j8 https://github.com/MissouriMRDT/Autonomy_Software.git; fi
+          if [ ! -d "Autonomy_Software" ]; then git clone -j8 https://github.com/MissouriMRDT/Autonomy_Software.git; fi
 
       # This step is used to checkout the repository. It is needed so that the package build scripts can be
       # checked for changes.
       - name: Checkout Repository
         uses: actions/checkout@v4
         with:
           fetch-depth: 0
-          submodules: recursive
+          submodules: false
 
       # This step is used to check if any of the package build scripts have been updated. If any of the package
       # build scripts have been updated, then the packages need to be rebuilt in the next job. This step outputs

.github/workflows/doxygen_generate.yml

@@ -39,11 +39,27 @@ jobs:
       - name: Checkout repository
         uses: actions/checkout@v4
         with:
-          submodules: recursive
+          submodules: false
 
       - name: Fix Dubious Ownership
         run: git config --global --add safe.directory /opt/Autonomy_Software
 
+      - name: Init only needed submodules (and block LiDAR)
+        shell: bash
+        run: |
+          set -euo pipefail
+
+          # Only allow these submodules to ever be touched
+          git config --local --unset-all submodule.active || true
+          git config --local --add submodule.active external/threadpool
+          git config --local --add submodule.active external/rovecomm
+
+          # Extra safety: make LiDAR a no-op if anything tries to update all submodules
+          git config --local submodule.data/LiDAR.update none
+
+          git submodule sync --recursive
+          git submodule update --init --recursive external/threadpool external/rovecomm
+
       - name: Setup Pages
         uses: actions/configure-pages@v4
 

.github/workflows/help_requester.yml

@@ -13,7 +13,7 @@ jobs:
       - name: Checkout code
         uses: actions/checkout@v4
         with:
-          submodules: recursive
+          submodules: false
           fetch-depth: 0
 
       - name: Fetch all branches and commits