🛠️ Contributing to LIMO Cobot

We welcome contributions from developers, researchers, and robotics enthusiasts who want to improve the LIMO Pro + MyCobot + YOLO system.
This section explains how to add new features, submit code, and collaborate effectively.

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🚀 How to Contribute New Features

1. Fork the Repository
   Click Fork on GitHub to create your copy.

2. Clone Your Fork

   git clone https://github.com/krish-rRay23/LIMO_COBOT_PROJECT
   cd LIMO_COBOT_PROJECT

3. Create a Feature Branch

   git checkout -b feature/my-new-feature

4. Develop in an External Workspace
   Never modify the robot's source workspace directly — always use an external colcon workspace.

5. Follow Project Structure

   • Nodes in dedicated packages (object_detector, nav_handler, mycobot_arm, etc.)
   • Launch files in launch/ with proper TimerAction sequencing.
   • Configs in config/ (maps, nav2_params.yaml, YOLO settings).
   • Avoid hardcoded paths — use ROS2 parameters instead.

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📤 Code Submission Process

GitHub Workflow

1. Push your feature branch:

   git push origin feature/my-new-feature

2. Open a Pull Request (PR) on GitHub:

   • Describe what you changed and why.
   • Reference any related issues.
   • Include test logs or screenshots.

ROS Package Testing

Before submitting, make sure your changes:

1. Build without errors:

   colcon build --symlink-install

2. Pass basic runtime checks:

   ros2 launch full_system full_system.launch.py

3. Don't break Mission Manager logic — especially interrupt handling between exploration, detection, and arm control.

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🔍 Review Procedures

All contributions are reviewed for:

• Code Quality: Follows PEP8 for Python, uses meaningful variable names.
• Safety: No unsafe robot motions, respects e-stop behavior.
• Modularity: No "god nodes" — separate logic into focused packages.
• Logging & Feedback: Use self.get_logger() for debug info, and say() for user feedback where relevant.
• Performance: No unnecessary CPU/GPU load (e.g., avoid overly high YOLO input resolution).

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📜 Community Guidelines

We value:

• Clean, well-documented code.
• Respect for other contributors' time.
• Testing before submission.
• Clear commit messages (feat: add drop node sequence improvements).
• Avoiding direct commits to main branch.

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💬 Need Help While Contributing?

• Ask in our GitHub Discussions
• Join the Discord Server
• Use ROS Discourse: ROS Community Forum

📖 Read Next: Code Style Guidelines

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Next: Code Style Guidelines