Jkeller/rename zed #285

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Merged

jfkeller merged 30 commits into main from jkeller/rename_zed

Sep 22, 2025

.env

            
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    @@ -10,7 +10,7 @@ PROJECT_NAME="airstack"
  
    # If you've run ./airstack.sh setup, then this will auto-generate from the git commit hash every time a change is made 

    # to a Dockerfile or docker-compose.yaml file. Otherwise this can also be set explicitly to make a release version.

    # auto-generated from git commit hash

    DOCKER_IMAGE_TAG="0.14.4-alpha.1"

    DOCKER_IMAGE_TAG="c9e4b87d"

    # Can replace with your docker hub username

    PROJECT_DOCKER_REGISTRY="airlab-storage.andrew.cmu.edu:442/airstack"

    # ============================================

    @@ -20,7 +20,7 @@ AUTOLAUNCH="true"  # If false, the docker-compose will automatically just spawn
  
    NUM_ROBOTS="1"

    # ================ SIMULATION =================

    ISAAC_SIM_SCENE="omniverse://airlab-storage.andrew.cmu.edu:8443/Projects/AirStack/AFCA/fire_academy_faro_with_sky.scene.usd"

    ISAAC_SIM_SCENE="omniverse://airlab-storage.andrew.cmu.edu:8443/Projects/AirStack/AFCA/afca_v0.14.3.usd"

    PLAY_SIM_ON_START="true"

    # =============================================

common/ros_packages/airstack_common/CMakeLists.txt

-Original file line number
+Diff line change
@@ Expand Up / @@ -92,6 +92,31 @@ install( @@
       )
     ament_export_libraries(vislib)
+    # templib
+    add_library(templib src/templib.cpp)
+    target_include_directories(templib PUBLIC
+      $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+      $<INSTALL_INTERFACE:include>)
+    target_compile_features(templib PUBLIC c_std_99 cxx_std_17)
+    ament_target_dependencies(
+      templib
+      rclcpp
+      tf2
+    )
+    install(TARGETS templib
+      DESTINATION lib/${PROJECT_NAME}
+      )
+    install(
+      TARGETS templib
+      EXPORT templib
+      LIBRARY DESTINATION lib
+      ARCHIVE DESTINATION lib
+      RUNTIME DESTINATION bin
+      INCLUDES DESTINATION include
+      )
+    ament_export_libraries(templib)
+    install(DIRECTORY launch DESTINATION share/${PROJECT_NAME})
     # install
     ament_export_include_directories(include)
@@ Expand Down @@

common/ros_packages/airstack_common/include/airstack_common/templib.hpp

-Original file line number
+Diff line change
@@ -0,0 +1,99 @@
+    #ifndef _TEMPLIB_H_
+    #define _TEMPLIB_H_
+    #include <rclcpp/rclcpp.hpp>
+    #include <functional>
+    #include <utility>
+    #include <list>
+    #include <tf2/LinearMath/Vector3.h>
+    namespace airstack {
+      double vector3_distance(const tf2::Vector3& x, const tf2::Vector3& y);
+      //========================================================================================================
+      // --------------------------------------- TemporalThresholdMonitor --------------------------------------
+      //========================================================================================================
+      template <typename InputType, typename ThresholdType>
+      class TemporalThresholdMonitor {
+      private:
+        ThresholdType threshold;
+        float history_duration;
+        float min_dt;
+        std::function<ThresholdType(const InputType& x, const InputType& y)> function;
+        std::list<std::pair<InputType, rclcpp::Time> > measurements;
+        void remove_old_measurements(rclcpp::Time time){
+          bool updated = false;
+          std::pair<InputType, rclcpp::Time> front;
+          while(measurements.size() > 0 && (time - measurements.front().second).seconds() > history_duration){
+    	updated = true;
+    	front = measurements.front();
+    	measurements.pop_front();
+          }
+          if(updated)
+    	measurements.push_front(front); // make sure to keep the oldest measurement around so the duration check doesn't fail
+        }
+      public:
+        TemporalThresholdMonitor(ThresholdType threshold, float history_duration, float min_dt,
+    			     std::function<ThresholdType(const InputType& x, const InputType& y)> function)
+          : threshold(threshold)
+          , history_duration(history_duration)
+          , min_dt(min_dt)
+          , function(function){}
+        void add_measurement(InputType measurement, rclcpp::Time time){
+          if(measurements.empty() || (time - measurements.back().second).seconds() >= min_dt){
+    	remove_old_measurements(time);
+    	measurements.push_back(std::pair<InputType, rclcpp::Time>(measurement, time));
+          }
+        }
+        void clear_history(){
+          measurements.clear();
+        }
+        bool threshold_exceeded(){
+          if(measurements.size() == 0 || !has_full_history())
+    	return false;
+          const InputType& front = measurements.front().first;
+          const InputType& back = measurements.back().first;
+          for(auto it = measurements.begin(); it != measurements.end(); it++)
+    	if(function(front, it->first) >= threshold || function(back, it->first) >= threshold)
+    	  return true;
+          return false;
+        }
+        bool has_full_history(){
+          return measurements.size() > 0 && (measurements.back().second - measurements.front().second).seconds() >= history_duration;
+        }
+      };
+      //========================================================================================================
+      // --------------------------------------------- TimeOutMonitor ------------------------------------------
+      //========================================================================================================
+      class TimeOutMonitor {
+      private:
+        float time_out_duration;
+        rclcpp::Time most_recent_time;
+        bool initialized;
+      public:
+        TimeOutMonitor(float time_out_duration);
+        void add_time(rclcpp::Time time);
+        bool is_timed_out(rclcpp::Time time);
+        void clear_history();
+        float time_until_timed_out(rclcpp::Time time);
+      };
+    }
+    #endif

common/ros_packages/airstack_common/include/airstack_common/vislib.hpp

-Original file line number
+Diff line change
@@ Expand Up / @@ -26,6 +26,7 @@ namespace vis { @@
         Marker& add_point(float x, float y, float z);
         Marker& add_color(float r, float g, float b, float a);
         Marker& set_pose(geometry_msgs::msg::Pose pose);
+        Marker& set_namespace(std::string ns);
         Marker& set_action(uint8_t action);
@@ Expand Down @@

common/ros_packages/airstack_common/launch/playback.launch.xml

-Original file line number
+Diff line change
@@ -0,0 +1,38 @@
+    <launch>
+      <arg name="rviz_config" default="" />
+      <arg name="robot_name" default="robot_1" />
+      <push_ros_namespace namespace="$(var robot_name)" />
+      <!-- <set_parameter name="use_sim_time" value="true" if="$(var sim)" /> -->
+      <node
+          pkg="rviz2"
+          exec="rviz2"
+          name="rviz"
+          args="-d $(var rviz_config)"
+          output="screen" />
+      <node pkg="depth_image_proc" exec="point_cloud_xyzrgb_node" name="depth_cloud_node" output="screen">
+        <remap from="depth_registered/image_rect" to="/$(var robot_name)/sensors/front_stereo/depth/depth_registered"/>
+        <remap from="rgb/image_rect_color" to="/$(var robot_name)/sensors/front_stereo/left/image_rect"/>
+        <remap from="rgb/camera_info" to="/$(var robot_name)/sensors/front_stereo/left/camera_info"/>
+        <remap from="points" to="/$(var robot_name)/sensors/front_stereo/pointcloud" />
+      </node>
+      <!--
+      <node
+          pkg="stereo_image_proc"
+          exec="point_cloud_node"
+          name="stereo_pointcloud"
+          output="screen">
+        <remap from="left/image_rect_color" to="/$(var robot_name)/sensors/front_stereo/left/image_rect"/>
+        <remap from="left/camera_info"     to="/$(var robot_name)/sensors/front_stereo/left/camera_info"/>
+        <remap from="right/camera_info"     to="/$(var robot_name)/sensors/front_stereo/right/camera_info"/>
+        <remap from="disparity"            to="/$(var robot_name)/sensors/front_stereo/disparity"/>
+        <remap from="points2"              to="/$(var robot_name)/sensors/front_stereo/pointcloud"/>
+      </node>
+      -->
+    </launch>

common/ros_packages/airstack_common/src/templib.cpp

-Original file line number
+Diff line change
@@ -0,0 +1,46 @@
+    #include <airstack_common/templib.hpp>
+    namespace airstack {
+      double vector3_distance(const tf2::Vector3& x, const tf2::Vector3& y){
+        return x.distance(y);
+      }
+      //========================================================================================================
+      // --------------------------------------- TemporalThresholdMonitor --------------------------------------
+      //========================================================================================================
+      //========================================================================================================
+      // --------------------------------------------- TimeOutMonitor ------------------------------------------
+      //========================================================================================================
+      TimeOutMonitor::TimeOutMonitor(float time_out_duration)
+        : time_out_duration(time_out_duration)
+        , initialized(false){
+      }
+      void TimeOutMonitor::add_time(rclcpp::Time time){
+        initialized = true;
+        most_recent_time = time;
+      }
+      bool TimeOutMonitor::is_timed_out(rclcpp::Time time){
+        return !initialized || (time - most_recent_time).seconds() > time_out_duration;
+      }
+      void TimeOutMonitor::clear_history(){
+        initialized = false;
+      }
+      float TimeOutMonitor::time_until_timed_out(rclcpp::Time time){
+        if(!initialized)
+          return -1.f;
+        return (time - most_recent_time).seconds();
+      }
+    };

common/ros_packages/airstack_common/src/vislib.cpp

-Original file line number
+Diff line change
@@ Expand Up / @@ -84,6 +84,11 @@ namespace vis{ @@
         return *this;
       }
+      Marker& Marker::set_namespace(std::string ns){
+        marker.ns = ns;
+        return *this;
+      }
       Marker& Marker::set_action(uint8_t action){
         marker.action = action;
@@ Expand Down @@

0 ...ntrols/pid_controller_msgs/CMakeLists.txt → ...ckages/pid_controller_msgs/CMakeLists.txt

File renamed without changes.

0 ...trols/pid_controller_msgs/msg/PIDInfo.msg → ...kages/pid_controller_msgs/msg/PIDInfo.msg

File renamed without changes.

0 ..._controls/pid_controller_msgs/package.xml → ..._packages/pid_controller_msgs/package.xml

File renamed without changes.

docker-compose.yaml

-Original file line number
+Diff line change
@@ Expand Up / @@ -5,6 +5,7 @@ @@
     # This allows for modular development and deployment
     include:
       - simulation/isaac-sim/docker/docker-compose.yaml
+      - simulation/simple-sim/docker/docker-compose.yaml
       - robot/docker/docker-compose.yaml
       - gcs/docker/docker-compose.yaml
       - docs/docker/docker-compose.yaml
@@ Expand Down @@

gcs/docker/Dockerfile.gcs

-Original file line number
+Diff line change
@@ Expand Up / @@ -3,7 +3,8 @@ FROM osrf/ros:humble-desktop-full @@
     SHELL ["/bin/bash", "-c"]
     # Install system dependencies
-    RUN apt-get update && apt-get install -y \
+    RUN apt-get -o Acquire::AllowInsecureRepositories=true -o Acquire::AllowDowngradeToInsecureRepositories=true update && \
+        apt-get -o APT::Get::AllowUnauthenticated=true install -y \
         vim nano emacs wget curl tree sshpass \
         iperf3 iftop iputils-ping net-tools htop \
         cmake build-essential less htop jq python3-pip tmux gdb \
@@ Expand Down @@

gcs/docker/docker-compose.yaml

-Original file line number
+Diff line change
@@ Expand Up / @@ -3,6 +3,7 @@ services: @@
         profiles:
           - ""
           - sitl
+          - simple
         extends:
           file: ./gcs-base-docker-compose.yaml
           service: gcs-base
@@ Expand Down @@

gcs/ros_ws/src/gcs_bringup/config/gcs.perspective

            
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                      Diff line change
                  
    @@ -4,9 +4,9 @@
  
        "mainwindow": {

          "keys": {

            "geometry": {

              "repr(QByteArray.hex)": "QtCore.QByteArray(b'01d9d0cb00030000000001df00000063000009ad000004a2000001df00000088000009ad000004a200000000000000000a00000001df00000088000009ad000004a2')",

              "repr(QByteArray.hex)": "QtCore.QByteArray(b'01d9d0cb00030000000001ee0000007f000009bc000004be000001ee000000a4000009bc000004be00000000000000000a00000001ee000000a4000009bc000004be')",

              "type": "repr(QByteArray.hex)",

              "pretty-print": "       c                         "

              "pretty-print": "                                 "

            },

            "state": {

              "repr(QByteArray.hex)": "QtCore.QByteArray(b'000000ff00000000fd0000000100000003000007cf000003f1fc0100000002fb0000006a007200710074005f00670072006f0075006e0064005f0063006f006e00740072006f006c005f00730074006100740069006f006e005f005f00470072006f0075006e00640043006f006e00740072006f006c00530074006100740069006f006e005f005f0031005f005f0100000000000003e9000002cd00fffffffc000003ef000003e0000000d000fffffffa000000010200000002fb00000042007200710074005f006200650068006100760069006f0072005f0074007200650065005f005f005000790043006f006e0073006f006c0065005f005f0031005f005f0100000000ffffffff0000004a00fffffffb0000006a007200710074005f0061006900720073007400610063006b005f0063006f006e00740072006f006c005f00700061006e0065006c005f005f0041006900720073007400610063006b0043006f006e00740072006f006c00500061006e0065006c005f005f0031005f005f0100000000ffffffff0000036300ffffff000007cf0000000000000004000000040000000800000008fc00000001000000030000000100000036004d0069006e0069006d0069007a006500640044006f0063006b00570069006400670065007400730054006f006f006c0062006100720000000000ffffffff0000000000000000')",

gcs/ros_ws/src/gcs_bringup/launch/gcs.launch.xml

-Original file line number
+Diff line change
@@ Expand Up / @@ -20,7 +20,7 @@ @@
     -->
         <!-- Include the TAK launch file -->
-      <include file="$(find-pkg-share gcs_bringup)/launch/tak.launch.xml">
-      </include>
+      <!-- <include file="$(find-pkg-share gcs_bringup)/launch/tak.launch.xml">
+      </include> -->
     </launch>

gcs/ros_ws/src/rqt_airstack_control_panel/src/rqt_airstack_control_panel/template.py

-Original file line number
+Diff line change
@@ Expand Up / @@ -391,6 +391,7 @@ def docker_command(self, command): @@
         def docker_exec(self, service, command):
             proc = f'''
+            set -x
             mapfile -t names <<< $(sshpass -p "{self.settings['password']}" \
                                    ssh -t -o StrictHostKeyChecking=no {self.settings['username']}@{self.settings['hostname']} \
                                      "cd {self.settings['path']}; docker ps -f name={service} --format '{{{{.Names}}}}'");
@@ Expand All / @@ -400,12 +401,19 @@ def docker_exec(self, service, command): @@
                                                     ssh -t -o StrictHostKeyChecking=no \
                                                       {self.settings['username']}@{self.settings['hostname']} \
                                                         \\"cd {self.settings['path']};  docker exec -it $item {command};\\"';"
-                eval "$command"
+                output=$(eval "$command" 2>&1)
+                while grep -q "Error creating terminal" <<< "$output"; do
+                    output=$(eval "$command" 2>&1)
+                done
             done
             '''
             logger.info(proc)
-            subprocess.Popen(proc, shell=True, executable='/usr/bin/bash')
+            p = subprocess.Popen(proc, shell=True, executable='/usr/bin/bash')
+            out, err = p.communicate(timeout=2)
+            logger.info('out ' + str(out))
+            logger.info('err ' + str(err))
         def ssh(self):
             proc = f'''dbus-launch gnome-terminal -- bash -c 'sshpass -p "{self.settings['password']}" \
@@ Expand Down @@

gcs/ros_ws/src/rqt_gcs/config/fixed_trajectories.yaml

-Original file line number
+Diff line change
@@ Expand Up / @@ -11,6 +11,7 @@ trajectories: @@
           attributes:
             - frame_id
             - velocity
+            - turn_velocity
             - max_acceleration
             - length
             - width
@@ Expand Down @@

gcs/ros_ws/src/rqt_gcs/config/gui_config.yaml

-Original file line number
+Diff line change
@@ Expand Up / @@ -14,6 +14,8 @@ groups: @@
             condition_name: Disarm Commanded
         - Land:
             condition_name: Land Commanded
+        - Autonomously Explore:
+            condition_name: Autonomously Explore Commanded
     robots: # these should match a robot's namespace
      - robot_1
      - robot_2
@@ Expand Down @@

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