Port/traversability (#35)

* port traversability visualization, builds

* fix segfaults

* run linting on all files

* address review comments

Author: Schmluk

.github/ISSUE_TEMPLATE/bug_report.md

@@ -11,9 +11,9 @@ assignees: nathanhhughes
 A clear and concise description of what the bug is.
 
 **System Information:**
- - OS [e.g. Ubuntu 18.04, Ubuntu 20.04]: 
- - Any build warnings? [yes/no]: 
- - Any non-system dependency versions that you know of? [yes/no]: 
+ - OS [e.g. Ubuntu 18.04, Ubuntu 20.04]:
+ - Any build warnings? [yes/no]:
+ - Any non-system dependency versions that you know of? [yes/no]:
 
 **Additional Information:**
 If possible and/or relevant, please take a look [here](/MIT-SPARK/Hydra/blob/main/doc/debugging.md) and try to obtain the following (attached as files preferrably):

.github/ISSUE_TEMPLATE/feature_request.md

@@ -13,5 +13,5 @@ assignees: nathanhhughes
 **Relation to a paper or application (it's useful for us to understand how Hydra is potentially being applied)**:
 [N/A]
 
-**Is this something you would be comfortable contributing yourself? Is there any additional information that would enable the contribution of this feature?:** 
+**Is this something you would be comfortable contributing yourself? Is there any additional information that would enable the contribution of this feature?:**
 [e.g. yes, but what would be the best way to integrate feature X into the backend?]

.github/ISSUE_TEMPLATE/question.md

@@ -6,5 +6,3 @@ labels: question
 assignees: nathanhhughes
 
 ---
-
-

.gitignore

@@ -214,3 +214,6 @@ pyrightconfig.json
 .vscode/
 
 .clangd
+
+# ROS2
+log/

docker/Makefile

@@ -40,7 +40,7 @@ build: check-profile check-env
 run: check-profile check-env
 	docker compose --env-file .env -f $(DOCKER_DIR)/docker-compose.yml run --rm $(SERVICE_NAME) bash
 
-#start the container in detached mode to keep container running 
+#start the container in detached mode to keep container running
 up: check-profile check-env
 	docker compose --env-file .env -f $(DOCKER_DIR)/docker-compose.yml up -d
 

docker/README.md

@@ -3,7 +3,7 @@
 This directory contains multiple examples to build and run Hydra with different Docker configurations.
 
 ## Requirements
-You will need `git`, `make`, and `vcstool` as well as [docker](https://docs.docker.com/engine/install/ubuntu/) and the [NVIDIA Container Toolkit](https://docs.nvidia.com/datacenter/cloud-native/container-toolkit/latest/install-guide.html) for the profiles with GPU support. You may need to run `sudo usermod -aG docker $USER` + `newgrp docker` after installing docker, and similarly, you may need to run `sudo systemctl restart docker` after installing the toolkit. 
+You will need `git`, `make`, and `vcstool` as well as [docker](https://docs.docker.com/engine/install/ubuntu/) and the [NVIDIA Container Toolkit](https://docs.nvidia.com/datacenter/cloud-native/container-toolkit/latest/install-guide.html) for the profiles with GPU support. You may need to run `sudo usermod -aG docker $USER` + `newgrp docker` after installing docker, and similarly, you may need to run `sudo systemctl restart docker` after installing the toolkit.
 
 ## Profiles
 
@@ -98,7 +98,7 @@ ros2 launch hydra_ros uhumans2.launch.yaml
 ```
 
 
-> **:warning: Warning**<br> 
+> **:warning: Warning**<br>
 > If you encounter graphical issues (e.g. rviz not displaying), make sure you run `xhost +local:root` on the host machine and that `DISPLAY` is correctly set.
 
 2. In a separate terminal, open another shell in the container:
@@ -116,13 +116,13 @@ ros2 bag play /root/data/path/to/rosbag --clock --qos-profile-overrides-path ~/.
 ```
 
 
-> **:warning: Warning**<br> 
+> **:warning: Warning**<br>
 > You must convert the ROS 1 bag to a ROS 2 bag before playing it. The `rosbags-convert` tool is preinstalled in the container, and you can use it to convert the bag using the following command: `rosbags-convert --src path/to/office.bag --dst path/to/office` (in ROS2, you do not need `.bag` since a ROS 2 bag is a directory). You should run this in the container if you don't have `rosbags-convert` installed on your host machine.
 
 ## Quick Start (PROFILE=zed)
 
 ### Host (PROFILE=zed)
-You can repeat the steps above using the `zed` profile instead of `minimal`, but you must complete a few additional steps on the host to run with hardware. 
+You can repeat the steps above using the `zed` profile instead of `minimal`, but you must complete a few additional steps on the host to run with hardware.
 
 1. Add the `zed-ros2-wrapper` to your workspace, and the dependencies will be installed automatically via the dockerfile (if you forget this step, you must rebuild the image):
 

docker/dev/Dockerfile

@@ -44,7 +44,7 @@ RUN apt-get update && apt-get install -y pipx && \
     echo 'export PATH=$PATH:/root/.local/bin' >> /root/.bashrc && \
     rm -rf /var/lib/apt/lists/*
 
-#install tensorrt (must remove conflicting cuda repo to make work, unsure why 
+#install tensorrt (must remove conflicting cuda repo to make work, unsure why
 #cuda12.8 comes with the base image instead of cuda12.6)
 RUN rm -f /etc/apt/sources.list.d/cuda-ubuntu2404-x86_64.list && \
     rm -f /etc/apt/sources.list.d/cuda*.list && \

docker/dev/docker-compose.yml

@@ -22,4 +22,4 @@ services:
       - /dev/dri
     privileged: true
     stdin_open: true
-    tty: true
+    tty: true

docker/minimal/docker-compose.yml

@@ -19,4 +19,4 @@ services:
       - /dev/dri
     privileged: true
     stdin_open: true
-    tty: true
+    tty: true

docker/zed/Dockerfile

@@ -45,7 +45,7 @@ RUN apt-get update && apt-get install -y pipx && \
     echo 'export PATH=$PATH:/root/.local/bin' >> /root/.bashrc && \
     rm -rf /var/lib/apt/lists/*
 
-#install tensorrt (must remove conflicting cuda repo to make work, unsure why 
+#install tensorrt (must remove conflicting cuda repo to make work, unsure why
 #cuda12.8 comes with the base image instead of cuda12.6)
 RUN rm -f /etc/apt/sources.list.d/cuda-ubuntu2404-x86_64.list && \
     rm -f /etc/apt/sources.list.d/cuda*.list && \