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ci(pre-commit): autoupdate #30

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2f7f9b2
ci(pre-commit): autoupdate
pre-commit-ci[bot] Jan 6, 2025
20d23e9
ci(pre-commit): autofix
pre-commit-ci[bot] Jan 6, 2025
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24 changes: 12 additions & 12 deletions .pre-commit-config.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -4,7 +4,7 @@ ci:

repos:
- repo: https://github.com/pre-commit/pre-commit-hooks
rev: v4.5.0
rev: v5.0.0
hooks:
- id: check-json
- id: check-merge-conflict
Expand All @@ -18,51 +18,51 @@ repos:
args: [--markdown-linebreak-ext=md]

- repo: https://github.com/igorshubovych/markdownlint-cli
rev: v0.37.0
rev: v0.43.0
hooks:
- id: markdownlint
args: [-c, .markdownlint.yaml, --fix]

- repo: https://github.com/pre-commit/mirrors-prettier
rev: v4.0.0-alpha.3
rev: v4.0.0-alpha.8
hooks:
- id: prettier

- repo: https://github.com/adrienverge/yamllint
rev: v1.33.0
rev: v1.35.1
hooks:
- id: yamllint

- repo: https://github.com/tier4/pre-commit-hooks-ros
rev: v0.8.0
rev: v0.10.0
hooks:
- id: prettier-package-xml
- id: sort-package-xml

- repo: https://github.com/shellcheck-py/shellcheck-py
rev: v0.9.0.6
rev: v0.10.0.1
hooks:
- id: shellcheck

- repo: https://github.com/scop/pre-commit-shfmt
rev: v3.7.0-4
rev: v3.10.0-2
hooks:
- id: shfmt
args: [-w, -s, -i=4]

- repo: https://github.com/pycqa/isort
rev: 5.12.0
rev: 5.13.2
hooks:
- id: isort

- repo: https://github.com/psf/black
rev: 23.11.0
rev: 24.10.0
hooks:
- id: black
args: [--line-length=100]

- repo: https://github.com/PyCQA/flake8
rev: 6.1.0
rev: 7.1.1
hooks:
- id: flake8
additional_dependencies:
Expand All @@ -78,12 +78,12 @@ repos:
]

- repo: https://github.com/pre-commit/mirrors-clang-format
rev: v17.0.6
rev: v19.1.6
hooks:
- id: clang-format

- repo: https://github.com/cpplint/cpplint
rev: 1.6.1
rev: 2.0.0
hooks:
- id: cpplint
args: [--quiet]
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39 changes: 20 additions & 19 deletions README.md
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Expand Up @@ -2,37 +2,38 @@

## Introduction

This repository provides a ROS2 package for generating sensor trigger signals on a Jetson AGX Xavier. It is specifically designed for use with the ADLINK ROSCube RQX-58G, providing pin mapping for the GPIO which are internally connected to the FPGA which controls FSYNC for the built-in GMSL deserializers.

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## Requirements

- ECU: Jetson Xavier AGX from NVIDIA Corp.
- The software in this package is pre-configured for use with ROSCube RQX-58G from ADLINK, although it can be modified to run hardware triggers by using different GPIO on any Jetson Xavier AGX based ECU. The remainder of this document assumes that the user is working with an RQX-58G.
- OS: Ubuntu 18.04 or higher
- ROS2: Galactic Geochelone

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- With current BSP versions, Ubuntu 18.04 must be run on Jetson Xavier AGX within a docker environment. Please refer to [tier4/perception_ecu_container](https://github.com/tier4/perception_ecu_container) for how to prepare the OS and ROS2 environment.

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## Installation

1. Create or change into your workspace directory, and execute the following:

```bash
mkdir -p src
git clone [email protected]:tier4/sensor_trigger.git src
colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release --packages-up-to sensor_trigger
```
```bash
mkdir -p src
git clone [email protected]:tier4/sensor_trigger.git src
colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release --packages-up-to sensor_trigger
```

2. The sensor trigger node requires as close to real-time operation as possible to maintain reliable trigger timing under heavy CPU load. If this is required, it is recommended to allow thread schedule priority setting to the ROS2 user by adding the following line to `/etc/security/limits.conf`:

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```
<username> - rtprio 98
```
```
<username> - rtprio 98

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```

After saving the edited file (as sudo), a reboot will be required.
After saving the edited file (as sudo), a reboot will be required.

Some notes about thread scheduling:
- If you do not make the settings in (2), the node will run but the timing thread will not be scheduled at any higher priority that other user threads and interruption may occur, resulting in high jitter in the trigger output.
- When running in a ROS2 docker, the settings in (2) are not required as the docker user is by default the root user.
Some notes about thread scheduling:

- If you do not make the settings in (2), the node will run but the timing thread will not be scheduled at any higher priority that other user threads and interruption may occur, resulting in high jitter in the trigger output.
- When running in a ROS2 docker, the settings in (2) are not required as the docker user is by default the root user.

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## Usage

Expand Down Expand Up @@ -63,13 +64,13 @@

### Core Parameters

| Name | Type | Description |
| ------------- | ------ | ------------------------------------------------------------ |
| `gpio` | int | Output GPIO pin - see below for assigned pins on RQX-58G |
| `phase` | double | Desired phase of the trigger relative to ToS (Top of Second) |
| `frame_rate` | double | Desired frequency of the trigger in Hz |
| `cpu_core_id` | int | Desired CPU core for execution\* |
| `pulse_width_ms` | int | Desired pulse width (the time period in milliseconds for the GPIO pin to remain high) |
| Name | Type | Description |
| ---------------- | ------ | ------------------------------------------------------------------------------------- |
| `gpio` | int | Output GPIO pin - see below for assigned pins on RQX-58G |
| `phase` | double | Desired phase of the trigger relative to ToS (Top of Second) |
| `frame_rate` | double | Desired frequency of the trigger in Hz |
| `cpu_core_id` | int | Desired CPU core for execution\* |
| `pulse_width_ms` | int | Desired pulse width (the time period in milliseconds for the GPIO pin to remain high) |

\*This is indexed from CPU core 0 (which will be CPU 1 in `htop`).

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