Local planner integration #29

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Merged

andrewjong merged 50 commits into main from local-planner-integration

Aug 29, 2024

.gitignore

-Original file line number
+Diff line change
@@ Expand Up / @@ -47,8 +47,11 @@ qtcreator-* @@
     # Emacs
     .#*
-    # Catkin custom files
-    CATKIN_IGNORE
+    # ROS2 custom files
+    COLCON_IGNORE
+    frames_*.gv
+    frames_*.pdf
     nucleus_token.txt
@@ Expand Down @@

.vscode/settings.json

-Original file line number
+Diff line change
@@ Expand Up / @@ -735,8 +735,78 @@ @@
       "files.associations": {
         "*.launch": "xml",
         "*.config": "python",
-        "functional": "cpp"
+        "functional": "cpp",
+        "__atomic": "cpp",
+        "filesystem": "cpp",
+        "unordered_map": "cpp",
+        "__node_handle": "cpp",
+        "iterator": "cpp",
+        "array": "cpp",
+        "deque": "cpp",
+        "list": "cpp",
+        "string": "cpp",
+        "vector": "cpp",
+        "string_view": "cpp",
+        "initializer_list": "cpp",
+        "__bit_reference": "cpp",
+        "__hash_table": "cpp",
+        "__split_buffer": "cpp",
+        "__tree": "cpp",
+        "bitset": "cpp",
+        "map": "cpp",
+        "set": "cpp",
+        "cctype": "cpp",
+        "clocale": "cpp",
+        "cmath": "cpp",
+        "cstdarg": "cpp",
+        "cstddef": "cpp",
+        "cstdio": "cpp",
+        "cstdlib": "cpp",
+        "cstring": "cpp",
+        "ctime": "cpp",
+        "cwchar": "cpp",
+        "cwctype": "cpp",
+        "atomic": "cpp",
+        "*.tcc": "cpp",
+        "chrono": "cpp",
+        "complex": "cpp",
+        "condition_variable": "cpp",
+        "cstdint": "cpp",
+        "exception": "cpp",
+        "algorithm": "cpp",
+        "memory": "cpp",
+        "memory_resource": "cpp",
+        "numeric": "cpp",
+        "optional": "cpp",
+        "random": "cpp",
+        "ratio": "cpp",
+        "system_error": "cpp",
+        "tuple": "cpp",
+        "type_traits": "cpp",
+        "utility": "cpp",
+        "fstream": "cpp",
+        "iomanip": "cpp",
+        "iosfwd": "cpp",
+        "iostream": "cpp",
+        "istream": "cpp",
+        "limits": "cpp",
+        "mutex": "cpp",
+        "new": "cpp",
+        "ostream": "cpp",
+        "sstream": "cpp",
+        "stdexcept": "cpp",
+        "streambuf": "cpp",
+        "thread": "cpp",
+        "cinttypes": "cpp",
+        "typeinfo": "cpp",
+        "variant": "cpp",
+        "bit": "cpp",
+        "__nullptr": "cpp",
+        "__locale": "cpp",
+        "codecvt": "cpp",
+        "any": "cpp",
+        "future": "cpp"
       },
       "C_Cpp.clang_format_fallbackStyle": "{ BasedOnStyle: Google, IndentWidth: 4, ColumnLimit: 100 }",
       "editor.formatOnSave": true
-    }
+    }

docker/Dockerfile

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+Diff line change
@@ Expand Up @@
         kmod lsof libfuse-dev iproute2 tcpdump xterm \
         python3-dev python3-opencv python3-wxgtk4.0 python3-pip python3-matplotlib python3-lxml python3-pygame \
         && rm -rf /var/lib/apt/lists/*
+    # Package dependencies
+    # perform ROS dependency installation for our workspace.
+    COPY ros_ws/src /tmp/ros_ws/src
+    RUN rosdep init && rosdep update && rosdep install --from-paths /tmp/ros_ws/src --ignore-src -r -y && rm -rf /tmp/ros_ws || echo "Some ROS dependencies installation failed"
+    # Install Gazebo Harmonic
+    RUN apt-get update && apt-get install -y lsb-release gnupg
+    RUN curl https://packages.osrfoundation.org/gazebo.gpg --output /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg
+    RUN echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" | tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null
+    RUN apt-get update
+    RUN apt-get install -y gz-harmonic
     # package vdb_mapping
     # Build and install patched version of OpenVDB (see https://github.com/SteveMacenski/spatio_temporal_voxel_layer/issues/232). Hopefully this gets fixed in the future.
@@ Expand All @@
         cd ..; rm -rf /opt/openvdb/build
     RUN /opt/ros/humble/lib/mavros/install_geographiclib_datasets.sh
+    # Install ROS2 packages
+    RUN apt install ros-humble-tf2* ros-humble-perception-pcl libpcl-dev -y
     RUN  wget https://packages.osrfoundation.org/gazebo.gpg -O /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg
     RUN echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null
@@ Expand All @@
     RUN pip3 install PyYAML mavproxy tmuxp
-    #RUN echo 'root:passme24' | chpasswd
-    #RUN useradd -G video -ms /bin/bash uav
-    #RUN usermod -a -G dialout uav
-    #RUN usermod -a -G sudo uav
-    #RUN echo 'uav:passme24' | chpasswd
-    #USER uav
-    #WORKDIR /home/uav
+    WORKDIR /root/AirStack

docker/docker-compose.yaml

-Original file line number
+Diff line change
@@ Expand Up / @@ -8,7 +8,7 @@ services: @@
           dockerfile: docker/Dockerfile
           tags:
             - theairlab.org/airstack-dev:latest
-            - theairlab.org/airstack-dev:0.2.0-pre
+            - theairlab.org/airstack-dev:0.3.0
       # main dev container
       airstack_dev:
@@ Expand Down @@

docker/extras/bash_history

This file was deleted.

ros_ws/src/robot/autonomy/controls/controls_bringup/launch/launch_controls.yaml

-Original file line number
+Diff line change
@@ Expand Up / @@ -4,13 +4,14 @@ launch: @@
               namespace: "controls"
           # include MAVROS ardupilot
-          - include:
-              file: "$(find-pkg-share mavros)/launch/apm.launch"
-              arg:
-                - name: "fcu_url"
-                  value: "udp://:14554@"
-                - name: "respawn_mavros"
-                  value: "true"
+          # assume the interface is MAVROS and that MAVROS is already running
+          # - include:
+          #     file: "$(find-pkg-share mavros)/launch/apm.launch"
+          #     arg:
+          #       - name: "fcu_url"
+          #         value: "udp://:14554@"
+          #       - name: "respawn_mavros"
+          #         value: "true"
           - node:
               pkg: "robot_interface"
@@ Expand Down @@

ros_ws/src/robot/autonomy/controls/trajectory_library/src/fixed_trajectory_generator.py

            
                      Original file line number
                      Diff line number
                      Diff line change
                  
    @@ -9,10 +9,10 @@
  
    #from at_fcs_mavros.msg import Waypoint

    #from ca_nav_msgs.msg import XYZVPsi

    #from ca_nav_msgs.msg import PathXYZVPsi

    from core_trajectory_msgs.msg import WaypointXYZVYaw

    from core_trajectory_msgs.msg import TrajectoryXYZVYaw

    from core_trajectory_controller.msg import Trajectory

    from core_trajectory_msgs.msg import FixedTrajectory

    from airstack_msgs.msg import WaypointXYZVYaw

    from airstack_msgs.msg import TrajectoryXYZVYaw

    from trajectory_controller.msg import Trajectory

    from airstack_msgs.msg import FixedTrajectory

    import time

    import copy

...ols/trajectory_library/src/rqt_fixed_trajectory_selector/rqt_fixed_trajectory_selector.py

            
                      Original file line number
                      Diff line number
                      Diff line change
                  
    @@ -19,7 +19,7 @@
  
    from python_qt_binding.QtGui import QColor

    from python_qt_binding.QtWidgets import QWidget, QVBoxLayout, QSizePolicy

    from core_trajectory_msgs.msg import FixedTrajectory

    from airstack_msgs.msg import FixedTrajectory

    from diagnostic_msgs.msg import KeyValue

    class FixedTrajectorySelectorPlugin(Plugin):

    @@ -102,7 +102,7 @@ def publish_trajectory(self):
  
        def select_config_file(self):

            starting_path = os.path.join(rospkg.RosPack().get_path('core_trajectory_library'), 'config')

            starting_path = os.path.join(rospkg.RosPack().get_path('trajectory_library'), 'config')

            filename = qt.QFileDialog.getOpenFileName(self.widget, 'Open Config File', starting_path, "Config Files (*.yaml)")[0]

            self.set_config(filename)

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