Session 17: Documentation & Portfolio Submission¶

Week: 17 Element: ICTPRG430 Element 3.1, ICTPRG439 Element 3.3 Duration: 4 hours Phase: GO2 Capstone Project

Session Introduction¶

This is the final session of the GO2 Capstone Project. You'll finalize your documentation, complete your portfolio evidence, and submit your work. This session focuses on professional documentation standards and reflective practice.

Good documentation is as important as good code - it ensures your work can be understood, maintained, and extended by others (including your future self).

Portfolio 2 Submission

Session 17 is your final submission opportunity for Portfolio 2. This session focuses on professional documentation, demo videos, and portfolio evidence compilation. All code development should be complete by the end of Session 16.

Learning Objectives¶

By the end of this session, you will be able to:

Document code with professional standards (README, API docs)
Compile portfolio evidence demonstrating competency
Reflect on learning journey and technical decisions
Present work in a clear, professional manner
Submit completed assessment deliverables

Session Structure¶

README Documentation - Create comprehensive project README
API Documentation - Generate and review API docs
Portfolio Finalization - Complete evidence collection
Reflection Writing - Technical reflection on project
Submission - Final checks and submission

Part 1: README Documentation¶

1.1 Create Professional README¶

Create go2_wave/README.md:

# go2_wave Package

A ROS2 Python package for the Unitree GO2 quadruped robot, providing:
- A high-level `GO2Controller` class (wraps ROS2 services/topics)
- A `HighFiveServer` ROS2 action server for a custom high five behavior

## Overview

This package demonstrates:

- Object-oriented programming (encapsulation, methods, docstrings)
- ROS2 Actions (Goal/Feedback/Result for long-running behaviors)
- Integration with `go2_ros2_sim_py` simulation component
- Sim-to-real portability via topic remapping

## Installation

### Prerequisites

- ROS2 Jazzy (Ubuntu 24.04 in WSL2)
- Gazebo simulation (installed via `~/go_sim/go2_sim_setup.sh`)
- `quadropted_msgs` (included in `go2_ros2_sim_py`)

### Build

```bash
cd ~/go_sim/src
git clone <your-repo-url> go2_wave
cd ~/go_sim
colcon build --packages-select go2_wave
source ~/go_sim/go2_sim.env

Usage¶

Basic Example¶

import rclpy
from go2_wave.controller import GO2Controller

rclpy.init()
controller = GO2Controller('robot1')

controller.stand()
controller.sit()

controller.destroy_node()
rclpy.shutdown()

Running the High Five Action¶

# Terminal 1: Start simulation
source ~/go_sim/go2_sim.env
ros2 launch gazebo_sim launch.py

# Terminal 2: Start the action server
ros2 run go2_wave high_five_server

# Terminal 3: Send a goal (or use your high_five_client)
ros2 action send_goal --feedback /high_five go2_wave/action/HighFive \
  "{target_height: 0.4, hold_seconds: 2}"

Sim-to-Real (topic remapping)¶

# On real robot hardware, remap topics to match simulator interface
ros2 run go2_wave high_five_server \
  --ros-args \
  --remap /robot1/joint_states:=/go2/joint_states \
  --remap /robot1/joint_command:=/go2/joint_command

API Reference¶

GO2Controller¶

Constructor¶

GO2Controller(namespace: str = "robot1") — Create controller for specified robot

Methods¶

Method	Description	Returns
`sit()`	Make robot sit down	`bool`
`stand()`	Make robot stand	`bool`
`walk()`	Enable walking mode	`bool`
`move(linear_x, angular_z)`	Send velocity command	`None`
`stop()`	Stop all movement	`None`

Properties¶

Property	Description	Type
`is_ready`	Check if controller ready	`bool`

HighFiveServer (Action)¶

Action name: /high_five
Action type: go2_wave/action/HighFive

Goal¶

Field	Type	Description
`target_height`	`float32`	How high to raise the front leg
`hold_seconds`	`int32`	How long to hold the raised position

Feedback¶

Field	Type	Description
`phase`	`string`	"raising", "ready", "lowering", "complete"
`progress`	`float32`	0.0 → 1.0

Result¶

Field	Type	Description
`success`	`bool`	True if behavior completed
`message`	`string`	Status message

Configuration¶

Behavior parameters via config/go2_params.yaml:

high_five_server:
  ros__parameters:
    high_five:
      default_target_height: 0.4
      default_hold_seconds: 2
      raise_duration: 1.0
      lower_duration: 0.8

Testing¶

# Unit tests
colcon test --packages-select go2_wave
colcon test-result --verbose

# Integration test
python3 src/go2_wave/scripts/integration_test.py

Architecture¶

go2_wave/
├── go2_wave/
│   ├── __init__.py
│   ├── controller.py          # GO2Controller class
│   └── high_five_server.py    # HighFiveServer action server
├── action/
│   └── HighFive.action        # Custom action definition
├── config/
│   └── go2_params.yaml
├── launch/
│   └── high_five.launch.py    # Launch with remap support
├── scripts/
│   ├── high_five_client.py    # Action client demo
│   └── integration_test.py
├── test/
│   └── test_controller.py
├── package.xml
├── setup.py
└── README.md

Dependencies¶

rclpy — ROS2 Python client library
geometry_msgs — Twist for velocity commands
sensor_msgs — JointState messages
quadropted_msgs — Custom GO2 service definitions
go2_ros2_sim_py — Simulation runtime

Author¶

[Your Name]

License¶

[Your License]

### 1.2 Add CHANGELOG

Create `go2_wave/CHANGELOG.md`:

```markdown
# Changelog

All notable changes to this project are documented here.

## [1.0.0] - YYYY-MM-DD

### Added
- `GO2Controller` class: sit, stand, walk, move, stop
- `HighFive.action` — custom ROS2 action definition
- `HighFiveServer` — action server with Goal/Feedback/Result
- `HighFiveClient` — action client demo
- Action cancellation handling with safe robot recovery
- ROS2 parameter support via `config/go2_params.yaml`
- Launch file with topic remap support for sim-to-real
- Integration tests verifying full action sequence
- Unit tests with mocked ROS2 interfaces

### Technical Details
- Built on ROS2 Jazzy, Ubuntu 24.04 (WSL2)
- Tested with Gazebo Harmonic simulation
- Compatible with prgrobots/go2_ros2_sim_py

Part 2: Portfolio Evidence¶

2.1 Complete Evidence Document¶

Finalize your PORTFOLIO-EVIDENCE.md with:

All required screenshots with captions
Code snippets for key implementations
Test results showing all tests passing
Video link to demonstration

2.2 Evidence Checklist¶

ICTPRG430 - Object-Oriented Programming:

Element	Evidence	Collected
2.1 Create classes	`GO2Controller` class definition
2.1 Encapsulation	Private attributes/methods
2.2 Implement methods	`HighFiveServer._execute_callback`
2.2 Custom action	`HighFive.action` definition
2.2 Documentation	Docstrings with type hints
2.3 Testing	Unit tests passing
2.3 Debugging	Integration test with feedback output

ICTPRG439 - Component Integration:

Element	Evidence	Collected
1.1 Requirements	Component evaluation notes
2.1 Integration	`quadropted_msgs` dependency in `package.xml`
2.1 Wrapper code	`GO2Controller` service client usage
3.2 Testing	Integration test results
3.2 Verification	Simulation demo with feedback phases visible
3.3 Documentation	README and API docs

2.3 Evidence Organization¶

Organize your portfolio folder:

portfolio/
├── README.md                    # Evidence index
├── PORTFOLIO-EVIDENCE.md        # Main evidence document
├── screenshots/
│   ├── 01-controller-class.png
│   ├── 02-highfive-action-def.png
│   ├── 03-action-server-impl.png
│   ├── 04-unit-tests-pass.png
│   ├── 05-integration-test-feedback.png
│   └── 06-simulation-demo.png
├── code/
│   ├── controller.py
│   ├── high_five_server.py
│   └── test_controller.py
└── video/
    └── high-five-demo.mp4       # Or link to cloud video

Part 3: Technical Reflection¶

3.1 Reflection Questions¶

Write 300-500 words addressing:

Design Decisions
Why did you structure the class the way you did?
What trade-offs did you make?
What would you do differently?
Challenges Faced
What was the hardest part of the project?
How did you solve unexpected problems?
What debugging techniques were most useful?
Learning Outcomes
What new skills did you develop?
How did this project connect theory to practice?
What would you like to explore further?
Professional Growth
How did you apply software engineering practices?
What documentation habits will you continue?
How has your approach to testing changed?

3.2 Reflection Template¶

# Technical Reflection: GO2 High Five Project

## Design Decisions

When designing the GO2Controller and HighFiveServer, I chose to...

Using an Action instead of a Service made sense because...

The main trade-off I made was...

If I were to redo this project, I would...

## Challenges and Solutions

The most challenging aspect was...

I solved this by...

The debugging technique that helped most was...

## Learning Outcomes

Through this project, I learned to...

This connected to earlier course concepts by...

I would like to explore further...

## Professional Growth

I applied professional practices including...

I will continue the habit of...

My approach to testing has changed because...

Part 4: Final Submission¶

4.1 Submission Checklist¶

Before submitting, verify:

Item	Location	Complete
Source code	`go2_wave/` package
`HighFive.action`	`action/HighFive.action`
README.md	Package root
Unit tests	`test/test_controller.py`
Integration tests	`scripts/integration_test.py`
Config file	`config/go2_params.yaml`
Launch file	`launch/high_five.launch.py`
Portfolio evidence	`portfolio/` folder
Technical reflection	In portfolio
Demo video	Linked in portfolio

4.2 Code Quality Check¶

Run final checks:

cd ~/go_sim

# Build without warnings
colcon build --packages-select go2_wave 2>&1 | grep -i warning

# All tests pass
colcon test --packages-select go2_wave
colcon test-result --verbose

# Code style
flake8 src/go2_wave/go2_wave/ --count --show-source

# Documentation check
python3 -c "from go2_wave.controller import GO2Controller; help(GO2Controller)"
python3 -c "from go2_wave.high_five_server import HighFiveServer; help(HighFiveServer)"

4.3 Submission Format¶

Package your submission:

cd ~/go_sim/src

# Create submission archive
tar -czvf go2_wave_submission.tar.gz go2_wave/ portfolio/

# Verify contents
tar -tzf go2_wave_submission.tar.gz | head -20

4.4 Submit¶

Submit via your institution's submission system: 1. Upload go2_wave_submission.tar.gz 2. Include any required cover sheets 3. Verify submission receipt

Part 5: Demonstration (Optional)¶

5.1 Live Demo Preparation¶

If presenting to class:

Test full sequence before presentation
Have backup video in case of technical issues
Prepare talking points:
What problem does this solve?
How does the class design work?
What's interesting about the high five behavior?
What would you add if you had more time?

5.2 Demo Script¶

"This is the go2_wave package — a ROS2 Python package for 
controlling the Unitree GO2 quadruped robot.

There are two main components:
- GO2Controller: wraps ROS2 services in a clean Python API
- HighFiveServer: a ROS2 action server for a high five behavior

Let me show you the high five action..."

[Start action server and send goal]

"The action server uses Goal/Feedback/Result — unlike a service,
it sends back progress updates as the robot executes each phase:
raising, ready, then lowering.

It also handles cancellation — if I cancel mid-execution,
the robot safely returns to standing.

And the same action server works on the real GO2 dog — 
we just remap the topic names at launch time.

Questions?"

Summary¶

You have completed the GO2 Capstone Project! You've demonstrated:

ICTPRG430: Object-oriented programming through class design, encapsulation, ROS2 action server implementation, documentation, and testing
ICTPRG439: Component integration through evaluating, integrating, and testing the go2_ros2_sim_py component

What's Next?¶

Possible extensions for future work: - Add more behaviors (spin, bow, dance) - Implement real robot deployment - Create a behavior sequencer - Add voice control with speech recognition - Integrate computer vision for reactive behaviors

← Week 16 - Integration | Learning Plan