Add pre-commit

.config/.yamllint.yaml

@@ -0,0 +1,12 @@
+---
+extends: default
+
+rules:
+  line-length:
+    max: 256
+  commas: false
+
+  truthy:
+    ignore: |
+      .github/workflows/build_base_images.yml
+      .github/workflows/build_and_unitest.yml

.config/clang-format

@@ -0,0 +1,69 @@
+---
+# C++ Formatting rules for WATonomous Standard
+
+# See https://releases.llvm.org/14.0.0/tools/clang/docs/ClangFormatStyleOptions.html for documentation of these options
+BasedOnStyle: Google
+IndentWidth: 2
+ColumnLimit: 120
+
+AccessModifierOffset: -2
+AlignAfterOpenBracket: AlwaysBreak
+AlignConsecutiveAssignments: None
+AlignConsecutiveDeclarations: None
+AlignEscapedNewlines: Left
+AlignTrailingComments: false
+AllowAllArgumentsOnNextLine: true
+AllowAllParametersOfDeclarationOnNextLine: true
+AllowShortBlocksOnASingleLine: Empty
+AllowShortFunctionsOnASingleLine: false
+BinPackArguments: false
+BinPackParameters: false
+BraceWrapping:
+  AfterClass: true
+  AfterControlStatement: MultiLine
+  AfterEnum: true
+  AfterFunction: true
+  AfterNamespace: true
+  AfterStruct: true
+  AfterUnion: true
+  AfterExternBlock: true
+  BeforeCatch: false
+  BeforeElse: false
+  BeforeLambdaBody: false
+  BeforeWhile: false
+  IndentBraces: false
+  SplitEmptyFunction: false
+  SplitEmptyRecord: false
+  SplitEmptyNamespace: false
+BreakBeforeBraces: Custom
+BreakConstructorInitializers: BeforeComma
+CompactNamespaces: false
+ContinuationIndentWidth: 2
+ConstructorInitializerIndentWidth: 0
+DerivePointerAlignment: false
+EmptyLineAfterAccessModifier: Never
+EmptyLineBeforeAccessModifier: LogicalBlock
+FixNamespaceComments: true
+IncludeBlocks: Regroup
+IncludeCategories:
+  # Headers in <> with .h extension (best guess at C system headers)
+  - Regex:           '<([A-Za-z0-9\Q/-_\E])+\.h>'
+    Priority:        1
+  # Headers in <> without extension (C++ system headers)
+  - Regex:           '<([A-Za-z0-9\Q/-_\E])+>'
+    Priority:        2
+  # Headers in <> with other extensions.
+  - Regex:           '<([A-Za-z0-9.\Q/-_\E])+>'
+    Priority:        3
+  # Headers in ""
+  - Regex:           '"([A-Za-z0-9.\Q/-_\E])+"'
+    Priority:        4
+IndentAccessModifiers: false
+IndentPPDirectives: BeforeHash
+PackConstructorInitializers: Never
+PointerAlignment: Middle
+ReferenceAlignment: Middle
+ReflowComments: false
+SeparateDefinitionBlocks: Always
+SortIncludes: CaseInsensitive
+SpacesBeforeTrailingComments: 2

.config/copyright.txt

@@ -0,0 +1,13 @@
+Copyright (c) 2025-present WATonomous. All rights reserved.
+
+Licensed under the Apache License, Version 2.0 (the "License");
+you may not use this file except in compliance with the License.
+You may obtain a copy of the License at
+
+    http://www.apache.org/licenses/LICENSE-2.0
+
+Unless required by applicable law or agreed to in writing, software
+distributed under the License is distributed on an "AS IS" BASIS,
+WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+See the License for the specific language governing permissions and
+limitations under the License.

.cpplint.cfg

@@ -0,0 +1,14 @@
+# Because of cpplint's config file assumptions, this can't be contained in .config/ directory
+linelength=256
+
+filter=-legal/copyright
+filter=-build/header_guard
+filter=-build/c++17
+
+# Disable all formatting checks, this is handled by clang-format
+filter=-readability/braces
+filter=-whitespace/braces
+filter=-whitespace/indent
+filter=-whitespace/newline
+filter=-whitespace/parens
+filter=-whitespace/semicolon

.gitignore

@@ -5,4 +5,4 @@ __pycache__
 
 watod-config.local.sh
 **/.DS_Store
-draft_*
+draft_*

.pre-commit-config.yaml

@@ -0,0 +1,114 @@
+---
+# WATonomous Pre-commit Config
+
+# See https://pre-commit.com for more information on these settings
+repos:
+  # General-purpose sanity checks
+  - repo: https://github.com/pre-commit/pre-commit-hooks
+    rev: v5.0.0
+    hooks:
+      - id: check-added-large-files
+      - id: check-ast
+      - id: check-case-conflict
+      - id: check-merge-conflict
+      - id: check-shebang-scripts-are-executable
+      - id: check-symlinks
+      - id: check-toml
+      - id: check-xml
+      - id: end-of-file-fixer
+      - id: forbid-submodules
+      - id: mixed-line-ending
+      - id: trailing-whitespace
+
+  # JSON (supports comments)
+  - repo: https://gitlab.com/bmares/check-json5
+    rev: v1.0.0
+    hooks:
+      - id: check-json5
+        files: '\.(json|json5|jsonc)$'
+
+  # Python (formatting + linting)
+  - repo: https://github.com/astral-sh/ruff-pre-commit
+    rev: v0.11.5
+    hooks:
+      - id: ruff-format
+      - id: ruff
+        args: [--fix]
+
+  # C++ formatting
+  - repo: https://github.com/pre-commit/mirrors-clang-format
+    rev: v19.1.7
+    hooks:
+      - id: clang-format
+        args: ["--style=file:.config/clang-format"]
+        exclude: 'nlohmann/json\.hpp$'
+
+  # C++ linting
+  - repo: https://github.com/cpplint/cpplint
+    rev: 2.0.0
+    hooks:
+      - id: cpplint
+        args: ["--config=.cpplint.cfg", "--filter=-runtime/references", --quiet, --output=sed]
+        exclude: 'nlohmann/json\.hpp$'
+
+  # CMake linting
+  - repo: https://github.com/cmake-lint/cmake-lint
+    rev: 1.4.3
+    hooks:
+      - id: cmakelint
+        args: [--linelength=140]
+
+  # Bash / Shell scripts
+  - repo: https://github.com/shellcheck-py/shellcheck-py
+    rev: v0.10.0.1
+    hooks:
+      - id: shellcheck
+        args: [-e, SC1091]
+
+  # Dockerfile linting
+  - repo: https://github.com/AleksaC/hadolint-py
+    rev: v2.12.1b3
+    hooks:
+      - id: hadolint
+        args: [--ignore, SC1091, --ignore, DL3006, --ignore, DL3008]
+
+  # Markdown linting
+  - repo: https://github.com/jackdewinter/pymarkdown
+    rev: v0.9.28
+    hooks:
+      - id: pymarkdown
+        args: [-d, MD013, -d, MD029, -d, MD031, fix]
+
+  # XML (ROS-specific)
+  - repo: https://github.com/emersonknapp/ament_xmllint
+    rev: v0.1
+    hooks:
+      - id: ament_xmllint
+
+  # YAML linting
+  - repo: https://github.com/adrienverge/yamllint.git
+    rev: v1.29.0
+    hooks:
+      - id: yamllint
+        args: ["-c", ".config/.yamllint.yaml"]
+
+  # License headers
+  - repo: https://github.com/Lucas-C/pre-commit-hooks
+    rev: v1.5.5
+    hooks:
+      - id: insert-license
+        types_or: [python, cmake, shell]
+        name: Copyright headers for Python/CMake
+        args:
+          [
+            --license-filepath,
+            .config/copyright.txt,
+            --comment-style,
+            "#",
+            --allow-past-years,
+            --no-extra-eol,
+          ]
+      - id: insert-license
+        types_or: [c++, c]
+        name: Copyright headers for C/C++
+        args: [--license-filepath, .config/copyright.txt, --comment-style, "//", --allow-past-years]

README.md

@@ -8,5 +8,3 @@ These steps are to setup the repo to work on your own PC. We utilize docker to e
 1. This repo is supported on Linux Ubuntu >= 22.04, Windows (WSL), and MacOS. This is standard practice that roboticists can't get around. To setup, you can either setup an [Ubuntu Virtual Machine](https://ubuntu.com/tutorials/how-to-run-ubuntu-desktop-on-a-virtual-machine-using-virtualbox#1-overview), setting up [WSL](https://learn.microsoft.com/en-us/windows/wsl/install), or setting up your computer to [dual boot](https://opensource.com/article/18/5/dual-boot-linux). You can find online resources for all three approaches.
 2. Once inside Linux, [Download Docker Engine using the `apt` repository](https://docs.docker.com/engine/install/ubuntu/#install-using-the-repository)
 3. You're all set! You can visit the [WATO Wiki](https://wiki.watonomous.ca/autonomous_software_general/monorepo_infrastructure) for more documentation on the WATO infrastructure.
-
-

config/rover_foxglove_config.json

@@ -493,4 +493,4 @@
     "direction": "row",
     "splitPercentage": 25.272610647851184
   }
-}
+}

config/wato_asd_training_foxglove_config .json

@@ -136,7 +136,8 @@
           "instanceId": "9e830917-d6fe-4f25-8e7b-25afa5a47d21",
           "layerId": "foxglove.Urdf",
           "sourceType": "url",
-          "url": "https://raw.githubusercontent.com/WATonomous/wato_asd_training/refs/heads/main/src/gazebo/launch/robot.urdf",
+          "url":
+            "https://raw.githubusercontent.com/WATonomous/wato_asd_training/refs/heads/main/src/gazebo/launch/robot.urdf",
           "filePath": "",
           "parameter": "",
           "topic": "",
@@ -174,7 +175,8 @@
           "instanceId": "cadf14d8-072e-4af6-8fd0-60bf81d00399",
           "layerId": "foxglove.Urdf",
           "sourceType": "url",
-          "url": "https://raw.githubusercontent.com/WATonomous/wato_asd_training/refs/heads/main/src/gazebo/launch/env.urdf",
+          "url":
+            "https://raw.githubusercontent.com/WATonomous/wato_asd_training/refs/heads/main/src/gazebo/launch/env.urdf",
           "filePath": "",
           "parameter": "",
           "topic": "",
@@ -275,4 +277,4 @@
     "direction": "row",
     "splitPercentage": 65.85648148148148
   }
-}
+}

custom_images/Dockerfile.clean_base_arm64

@@ -1,13 +1,15 @@
 FROM ghcr.io/watonomous/robot_base/base:humble-arm64
 
 # Remove conflicting ROS sources and keyrings
+SHELL ["/bin/bash", "-o", "pipefail", "-c"]
 RUN rm -f /etc/apt/sources.list.d/ros2* && \
     rm -f /usr/share/keyrings/ros2-* && \
     rm -f /usr/share/keyrings/ros-* && \
-    apt-get update && apt-get install -y curl gnupg lsb-release && \
+    apt-get update && apt-get install -y --no-install-recommends curl gnupg lsb-release && \
     curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key \
     | gpg --dearmor -o /usr/share/keyrings/ros-archive-keyring.gpg && \
     echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] \
     http://packages.ros.org/ros2/ubuntu $(lsb_release -cs) main" \
     > /etc/apt/sources.list.d/ros2.list && \
-    apt-get update
+    apt-get update && \
+    rm -rf /var/lib/apt/lists/*

docker/gazebo/gazeboserver.Dockerfile

@@ -5,13 +5,15 @@ FROM ${BASE_IMAGE} AS source
 
 WORKDIR ${AMENT_WS}/src
 
-# Copy in source code 
+# Copy in source code
 COPY src/gazebo gazebo
 
-RUN apt-get update && apt-get install -y curl \
- && curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
+RUN apt-get update && apt-get install -y --no-install-recommends curl \
+ && curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg \
+ && rm -rf /var/lib/apt/lists/*
 
 # Scan for rosdeps
+SHELL ["/bin/bash", "-o", "pipefail", "-c"]
 RUN apt-get -qq update && rosdep update && \
     (rosdep install --from-paths . --ignore-src -r -s \
         | grep 'apt-get install' \
@@ -20,24 +22,27 @@ RUN apt-get -qq update && rosdep update && \
 
 ################################# Dependencies ################################
 FROM ${BASE_IMAGE} AS dependencies
+SHELL ["/bin/bash", "-o", "pipefail", "-c"]
 
-RUN apt-get update && apt-get install -y curl \
- && curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
-
-# RUN apt-key adv --keyserver keyserver.ubuntu.com --recv-keys A4B469963BF863CC
-RUN apt-get update && apt-get install ffmpeg libsm6 libxext6 -y
+RUN apt-get update && apt-get install -y --no-install-recommends curl \
+ && curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg \
+ && rm -rf /var/lib/apt/lists/*
 
-RUN apt install -y lsb-release wget gnupg
-RUN wget https://packages.osrfoundation.org/gazebo.gpg -O /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg
-RUN echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" | tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null
-RUN apt-get -y update
-RUN apt-get -y install ros-${ROS_DISTRO}-ros-gz ignition-fortress
-RUN echo $GAZEBO_PLUGIN_PATH=/opt/ros/humble/lib
+RUN apt-get update && apt-get install -y --no-install-recommends ffmpeg libsm6 libxext6 && \
+    rm -rf /var/lib/apt/lists/*
+
+RUN apt-get update && apt-get install -y --no-install-recommends lsb-release curl gnupg && \
+    curl --progress-bar https://packages.osrfoundation.org/gazebo.gpg -o /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg && \
+    echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" | tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null && \
+    apt-get -y update && \
+    apt-get -y install --no-install-recommends "ros-${ROS_DISTRO}-ros-gz" ignition-fortress && \
+    echo "$GAZEBO_PLUGIN_PATH=/opt/ros/humble/lib" && \
+    rm -rf /var/lib/apt/lists/*
 
 # Install Rosdep requirements
 COPY --from=source /tmp/colcon_install_list /tmp/colcon_install_list
 RUN if [ -s /tmp/colcon_install_list ] && ! grep -q "^#" /tmp/colcon_install_list; then \
-        apt-fast install -qq -y --no-install-recommends $(cat /tmp/colcon_install_list); \
+        xargs -a /tmp/colcon_install_list apt-fast install -qq -y --no-install-recommends; \
     fi
 
 # Copy in source code from source stage
@@ -54,11 +59,11 @@ FROM dependencies AS build
 
 # Build ROS2 packages
 WORKDIR ${AMENT_WS}
-RUN . /opt/ros/$ROS_DISTRO/setup.sh && \
+RUN . "/opt/ros/${ROS_DISTRO}/setup.sh" && \
     colcon build \
-        --cmake-args -DCMAKE_BUILD_TYPE=Release --install-base ${WATONOMOUS_INSTALL}
+        --cmake-args -DCMAKE_BUILD_TYPE=Release --install-base "${WATONOMOUS_INSTALL}"
 
-# Source and Build Artifact Cleanup 
+# Source and Build Artifact Cleanup
 RUN rm -rf src/* build/* devel/* install/* log/*
 
 # Entrypoint will run before any CMD on launch. Sources ~/opt/<ROS_DISTRO>/setup.bash and ~/ament_ws/install/setup.bash