Demo algorithms for the Nova Rover

This is a repo to demonstrate some system control and filtering ideas for an autonomous rover. In general this repo is for concept development and demonstration.

NOTE Main branch is develop, branch from that - and open a pull request once it is developed.

Master is for deployment ready code.

Key features

• Path-finding algorithms
  • A*
  • Dijkstra
  • Best-First (greedy)
• Localization algorithms
  • EKF and pose manipulation
• Mapping algorithms
  • Potential Field mapping

Code Quality

Follow PEP8 style guide conventions

Unit tests

Before a feature can be merged into master, unit tests must be written to validate the correctness of the feature. Tests should be included in the tests/ sub-directory and be named test_<feature name>.py Unit tests would be run by pytest in the clone directory, which can installed using pip install -U pytest

Python packages

To create a python package in a sub-directory, include a file in the directory called __init__.py. This defines the directory as a package and allows it to be directly imported as from <package> import <module>. When a regular package is imported, this __init__.py file is implicitly executed, and the objects it defines are bound to names in the package’s namespace.

Git Conventions

Branch Naming

• feature/<insert feature name here>
  • for new features
• hotfix/<thing being fixed here>
  • dedicated branches for squashing bugs that have been merged into in master
• refactor/<thing being refactored here>
  • dedicated branch to cleaning up part of the code base

NOTE Before merging code make sure that you haven't broken anything else in the repo.

Feature Integration

• Once a feature is complete

1. rebase onto master
2. Squash all commits in the branch into one
3. Rename commit to something meaningful
   • e.g. Added demo of A* algorithm
4. Create a pull request and nominate another member of the team (preferable someone with knowledge of the feature) as a reviewer

TODO

• Test integration some examples here