Contributing

Panduan untuk berkontribusi ke project BASCORRO.

Getting Started

1. Fork & Clone

# Fork repository di GitHub, lalu clone fork kamu
git clone https://github.com/YOUR_USERNAME/motion_webots.git
cd motion_webots

# Add upstream remote
git remote add upstream https://github.com/ProgramBascorro/motion_webots.git

2. Setup Development Environment

# Install dependencies
source /opt/ros/humble/setup.bash
cd ros_ws
rosdep install --from-paths src --ignore-src -r -y

# Build
colcon build --continue-on-error
source install/setup.bash

Git Workflow

Branch Strategy

main ──────────────────────────────────────────→
    │                    │               │
    │ feature/vision     │               │
    └──────┬────────────────────────────→ merge
           │
           │ feature/walking
           └────────────────────→ merge

Branch Naming

# Feature
feature/add-yolo-detection
feature/improve-walking-speed

# Bug fix
fix/ball-detection-crash
fix/walking-drift

# Documentation
docs/update-installation-guide

# Experiment (not for merge)
experiment/new-localization

Development Cycle

1. Create Branch

# Sync with upstream
git fetch upstream
git checkout main
git merge upstream/main

# Create new branch
git checkout -b feature/your-feature

2. Make Changes

# Edit files
# ...

# Check status
git status

# Stage changes
git add .

# Commit
git commit -m "feat: add new feature"

3. Keep Branch Updated

# Regularly sync with main
git fetch upstream
git rebase upstream/main

# Resolve conflicts if any

4. Push & Create PR

# Push to your fork
git push origin feature/your-feature

# Create Pull Request on GitHub

Commit Guidelines

Format

<type>(<scope>): <subject>

<body>

<footer>

Types

Type	Use Case
feat	New feature
fix	Bug fix
docs	Documentation only
style	Formatting
refactor	Code restructuring
test	Adding tests
chore	Build/tooling

Examples

# Simple commit
git commit -m "feat: add ball tracking"

# With scope
git commit -m "feat(vision): add YOLO detection"

# With body
git commit -m "fix(walking): correct step calculation

The step length was calculated incorrectly causing drift.
Added proper conversion from meters to motor units.

Fixes #123"

Pull Request Process

Before Creating PR

PR Template

## Description
Brief description of changes

## Type of Change
- [ ] Bug fix
- [ ] New feature
- [ ] Breaking change
- [ ] Documentation update

## Testing
How was this tested?

## Checklist
- [ ] Code follows style guidelines
- [ ] Tests added/updated
- [ ] Documentation updated
- [ ] No new warnings

## Screenshots (if applicable)

Review Process

Create PR → Assigned reviewers
Reviewers provide feedback
Address feedback, push updates
Approval from reviewer(s)
Merge to main

Minimal 1 approval required untuk merge. Untuk critical changes, perlu 2 approvals.

Code Review Guidelines

For Authors

Keep PRs small and focused
Write clear PR description
Respond to feedback constructively
Don't take feedback personally

For Reviewers

Be constructive, not critical
Explain the "why" behind suggestions
Approve when satisfied, don't block unnecessarily
Review within 24-48 hours

What to Look For

Category	Check
Logic	Does it work correctly?
Design	Is it well-structured?
Style	Follows conventions?
Tests	Adequate coverage?
Docs	Clear documentation?
Performance	Any obvious issues?

Common Tasks

Add New ROS 2 Package

# Create package (Python)
cd ros_ws/src
ros2 pkg create --build-type ament_python my_package

# Create package (C++)
ros2 pkg create --build-type ament_cmake my_package

# Edit package.xml, CMakeLists.txt/setup.py
# Add source files
# Build and test

Update Dependencies

# Add dependency to package.xml
<depend>new_package</depend>

# Install dependencies
rosdep install --from-paths src --ignore-src -r -y

Run Tests

# All tests
colcon test

# Specific package
colcon test --packages-select soccer_vision

# With output
colcon test --event-handlers console_direct+

Troubleshooting

Merge Conflicts

# When rebasing
git rebase upstream/main

# If conflicts:
# 1. Edit conflicted files
# 2. git add <resolved files>
# 3. git rebase --continue

# Abort if needed
git rebase --abort

Build Errors After Merge

# Clean and rebuild
rm -rf build/ install/ log/
colcon build --continue-on-error

CI Failed

Check CI logs
Reproduce locally
Fix and push

Getting Help

Stuck? Ask in WhatsApp/Discord
Bug? Open GitHub Issue
Ideas? Discuss in weekly meeting
Pairing? Request pair programming session

Recognition

Contributors akan dicantumkan di:

README contributors section
Team Description Paper
Competition acknowledgments

Contributing

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