[NEW EXERCISE] New drone tello exercise added

README.md

@@ -17,10 +17,12 @@ Take a look at the [contributing](CONTRIBUTING.md) guide lines.
 - [Client side.][] (Robotics Academy architecture)
 - [Repository Architecture.][]
 - [Generate a mini RADI.][]
+- [Humble mini RADI structure.][]
 - [Develop using volume binding.][]
 
 [Instructions for developers.]: ./docs/InstructionsForDevelopers.md
 [Client side.]: ./docs/clientside.md
 [Repository Architecture.]: ./docs/RepositoryArchitecture.md
 [Generate a mini RADI.]: ./docs/generate_a_mini_radi.md
+[Humble mini RADI structure.]: ./scripts/mini_RADI/README.md
 [Develop using volume binding.]: ./docs/develop_binding_volumes.md

exercises/static/exercises/autoparking_newmanager/entry_point/exercise.py

@@ -0,0 +1,13 @@
+import os.path
+from typing import Callable
+
+from src.manager.libs.applications.compatibility.exercise_wrapper import CompatibilityExerciseWrapper
+
+
+class Exercise(CompatibilityExerciseWrapper):
+    def __init__(self, circuit: str, update_callback: Callable):
+        current_path = os.path.dirname(__file__)
+
+        super(Exercise, self).__init__(exercise_command=f"{current_path}/../python_template/ros1_noetic/exercise.py 0.0.0.0",
+                                       gui_command=f"{current_path}/../python_template/ros1_noetic/gui.py 0.0.0.0 {circuit}",
+                                       update_callback=update_callback)

exercises/static/exercises/autoparking_newmanager/launch/ros1_noetic/autoparking.launch

@@ -0,0 +1,13 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<launch>
+    <!-- We resume the logic in empty_world.launch, changing only the name of the world to be launched -->
+    <include file="$(find gazebo_ros)/launch/empty_world.launch">
+        <arg name="world_name" value="/RoboticsAcademy/exercises/static/exercises/autoparking_newmanager/launch/ros1_noetic/autoparking.world"/>
+        <arg name="paused" value="false"/>
+        <arg name="use_sim_time" value="true"/>
+        <arg name="gui" value="false"/>
+        <arg name="headless" value="true"/>
+        <arg name="debug" value="false"/>
+        <arg name="verbose" default="true"/>
+    </include>
+</launch>

exercises/static/exercises/autoparking_v2/autoparking.world → exercises/static/exercises/autoparking_newmanager/launch/ros1_noetic/autoparking.world

@@ -5,28 +5,26 @@
     <scene>
       <grid>true</grid>
     </scene>
-    <include>
-      <uri>model://ground_plane</uri>
-    </include>
+
     <!-- A global light source -->
     <include>
       <uri>model://sun</uri>
     </include>
 
 
-    <!-- A taxi with lasers
+    <!-- A taxi with lasers-->
     <include>
       <uri>model://taxi_holo_laser_ROS</uri>
       <pose>-7 2.5 0.02 0 0 0</pose> 
-    </include>-->
+    </include>
 
 
     <!-- Cars -->
     <model name="car1">
         <pose>-20 -3 0 0 0 1.57</pose>
-        <static>true</static>
+        <static>false</static>
         <link name="car1">
-            <gravity>true</gravity>
+            <gravity>false</gravity>
             <collision name="collision">
                 <geometry>
                     <mesh>
@@ -46,9 +44,9 @@
 
     <model name="car2">
         <pose>-13.5 -3 0 0 0 1.57</pose>
-        <static>true</static>
+        <static>false</static>
         <link name="car1">
-            <gravity>true</gravity>
+            <gravity>false</gravity>
             <collision name="collision">
                 <geometry>
                     <mesh>
@@ -68,9 +66,9 @@
 
     <model name="car3">
         <pose>-7 -3 0 0 0 1.57</pose>
-        <static>true</static>
+        <static>false</static>
         <link name="car1">
-            <gravity>true</gravity>
+            <gravity>false</gravity>
             <collision name="collision">
                 <geometry>
                     <mesh>
@@ -90,9 +88,9 @@
 
     <model name="car4">
         <pose>0.5 -3 0 0 0 1.57</pose>
-        <static>true</static>
+        <static>false</static>
         <link name="car1">
-            <gravity>true</gravity>
+            <gravity>false</gravity>
             <collision name="collision">
                 <geometry>
                     <mesh>
@@ -112,9 +110,9 @@
 
     <model name="car5">
         <pose>14 -3 0 0 0 1.57</pose>
-        <static>true</static>
+        <static>false</static>
         <link name="car1">
-            <gravity>true</gravity>
+            <gravity>false</gravity>
             <collision name="collision">
                 <geometry>
                     <mesh>
@@ -134,9 +132,9 @@
 
     <model name="car6">
         <pose>21.5 -3 0 0 0 1.57</pose>
-        <static>true</static>
+        <static>false</static>
         <link name="car1">
-            <gravity>true</gravity>
+            <gravity>false</gravity>
             <collision name="collision">
                 <geometry>
                     <mesh>
@@ -156,9 +154,9 @@
 
     <model name="car7">
         <pose>29 -3 0 0 0 1.57</pose>
-        <static>true</static>
+        <static>false</static>
         <link name="car1">
-            <gravity>true</gravity>
+            <gravity>false</gravity>
             <collision name="collision">
                 <geometry>
                     <mesh>
@@ -205,5 +203,6 @@
       </script>
       </material>
     </road>
+
   </world>
-</sdf>
+</sdf>

exercises/static/exercises/autoparking_v2/exercise.py → exercises/static/exercises/autoparking_newmanager/python_template/ros1_noetic/exercise.py

@@ -2,6 +2,8 @@
 
 from __future__ import print_function
 
+import os
+
 from websocket_server import WebsocketServer
 import time
 import threading
@@ -186,7 +188,8 @@ def generate_modules(self):
         # Add HAL functions
         hal_module.HAL.getPose3d = self.hal.pose3d.getPose3d
         hal_module.HAL.getFrontLaserData = self.hal.laser_front.getLaserData
-        hal_module.HAL.getRightLaserData = self.hal.lidar.getLidarData
+        hal_module.HAL.getRightLaserData = self.hal.laser_right.getLaserData
+        hal_module.HAL.getBackLaserData = self.hal.laser_back.getLaserData
         hal_module.HAL.setV = self.hal.motors.sendV
         hal_module.HAL.setW = self.hal.motors.sendW
 
@@ -371,10 +374,12 @@ def run_server(self):
         self.server.set_fn_client_left(self.handle_close)
         self.server.set_fn_message_received(self.handle)
 
+        home_dir = os.path.expanduser('~')
+
         logged = False
         while not logged:
             try:
-                f = open("/ws_code.log", "w")
+                f = open(f"{home_dir}/ws_code.log", "w")
                 f.write("websocket_code=ready")
                 f.close()
                 logged = True

exercises/static/exercises/autoparking_v2/gui.py → exercises/static/exercises/autoparking_newmanager/python_template/ros1_noetic/gui.py

@@ -1,3 +1,4 @@
+import os
 import json
 import cv2
 import base64
@@ -37,9 +38,11 @@ def __init__(self, host, hal):
         t.start()
 
         # Create the map object
-        laser_object_f = ListenerLaser("/F1ROS/front_laser_points")
-        pose3d_object = ListenerPose3d("/catvehicle/odom")
-        self.map = Map(laser_object_f,pose3d_object)
+        laser_object_f = ListenerLaser("/F1ROS/laser_f/scan")
+        laser_object_r = ListenerLaser("/F1ROS/laser_r/scan")
+        laser_object_b = ListenerLaser("/F1ROS/laser_b/scan")
+        pose3d_object = ListenerPose3d("/F1ROS/odom")
+        self.map = Map(laser_object_f, laser_object_r, laser_object_b, pose3d_object)
 
     # Explicit initialization function
     # Class method, so user can call it without instantiation
@@ -89,10 +92,12 @@ def run_server(self):
         self.server.set_fn_new_client(self.get_client)
         self.server.set_fn_message_received(self.get_message)
 
+        home_dir = os.path.expanduser('~')
+
         logged = False
         while not logged:
             try:
-                f = open("/ws_gui.log", "w")
+                f = open(f"{home_dir}/ws_gui.log", "w")
                 f.write("websocket_gui=ready")
                 f.close()
                 logged = True

exercises/static/exercises/autoparking_v2/hal.py → exercises/static/exercises/autoparking_newmanager/python_template/ros1_noetic/hal.py

@@ -7,7 +7,7 @@
 from interfaces.motors import PublisherMotors
 from interfaces.pose3d import ListenerPose3d
 from interfaces.laser import ListenerLaser
-from interfaces.lidar import ListenerLidar
+
 # Hardware Abstraction Layer
 class HAL:
     IMG_WIDTH = 320
@@ -16,11 +16,12 @@ class HAL:
     def __init__(self):
         rospy.init_node("HAL")
 
-        self.motors = PublisherMotors("/catvehicle/cmd_vel", 4, 0.3)
-        self.pose3d = ListenerPose3d("/catvehicle/odom")
-        self.laser_front = ListenerLaser("/catvehicle/front_laser_points")
-        self.lidar = ListenerLidar("/catvehicle/lidar_points")
-
+        self.motors = PublisherMotors("/taxi_holo/cmd_vel", 4, 0.3)
+        self.pose3d = ListenerPose3d("/taxi_holo/odom")
+        self.laser_front = ListenerLaser("/F1ROS/laser_f/scan")
+        self.laser_right = ListenerLaser("/F1ROS/laser_r/scan")
+        self.laser_back = ListenerLaser("/F1ROS/laser_b/scan")
+
     # Explicit initialization functions
     # Class method, so user can call it without instantiation
     @classmethod
@@ -38,6 +39,9 @@ def getPose3d(self):
 
     def getFrontLaserData(self):
         return self.laser_front.getLaserData()
-
-    def getLidarData(self):
-        return self.lidar.getLidarData()
+
+    def getRightLaserData(self):
+        return self.laser_right.getLaserData()
+
+    def getBackLaserData(self):
+        return self.laser_back.getLaserData()

exercises/static/exercises/autoparking_v2/map.py → exercises/static/exercises/autoparking_newmanager/python_template/ros1_noetic/map.py

@@ -5,7 +5,7 @@
 from interfaces.laser import ListenerLaser
 
 class Map:
-	def __init__(self, laser_object_f,pose3d_object):
+	def __init__(self, laser_object_f, laser_object_r, laser_object_b, pose3d_object):
 		# Car direction
 		self.carx = 2.0
 		self.cary = 0.0
@@ -23,6 +23,8 @@ def __init__(self, laser_object_f,pose3d_object):
 		self.payload = {}
 
 		self.laser_topic_f = laser_object_f
+		self.laser_topic_r = laser_object_r
+		self.laser_topic_b = laser_object_b
 		self.pose3d = pose3d_object
 
     # Get the JSON data as string
@@ -79,9 +81,11 @@ def setLaserValues(self):
 		laser_r = []
 		laser_b = []
 		self.laser_f = self.laser_topic_f.getLaserData()
+		self.laser_r = self.laser_topic_r.getLaserData()
+		self.laser_b = self.laser_topic_b.getLaserData()
 
-		lasers = [self.setSingleLaserValue(self.laser_f)]
-		ranges = [20 * self.laser_f.maxRange]
+		lasers = [self.setSingleLaserValue(self.laser_f), self.setSingleLaserValue(self.laser_r), self.setSingleLaserValue(self.laser_b)]
+		ranges = [20 * self.laser_f.maxRange, 20 * self.laser_r.maxRange, 20 * self.laser_b.maxRange]
 		return lasers, ranges
 
 	# Auxiliar function to setLaserValues
@@ -103,4 +107,4 @@ def setSingleLaserValue(self, laser):
 					dist = 20 * laser.maxRange
 				laser_return[i] = (dist, angle)
 
-		return laser_return
+		return laser_return

exercises/static/exercises/autoparking_newmanager/react-components/AutoparkingRR.js

@@ -0,0 +1,14 @@
+import * as React from "react";
+import {Fragment} from "react";
+
+import "./css/AutoparkingRR.css";
+
+const FollowLineRR = (props) => {
+  return (
+    <Fragment>
+    {props.children}
+    </Fragment>
+  );
+};
+
+export default FollowLineRR;

exercises/static/exercises/autoparking_newmanager/react-components/Lasers.js

@@ -0,0 +1,37 @@
+import { paintEvent } from "./map_view";
+import React from "react"
+import "./css/Lasers.css";
+const Lasers = (props) => {
+    const guiCanvasRef = React.useRef();
+    React.useEffect(() => {
+        const callback = (message) => {
+            if(message.data.update.map){
+            const map_data = JSON.parse(message.data.update.map);
+            console.log(JSON.parse(message.data.update.map))
+            paintEvent(guiCanvasRef.current, map_data.car, map_data.obstacle, map_data.average, map_data.lasers, map_data.ranges)
+            }
+        };
+        RoboticsExerciseComponents.commsManager.subscribe(
+          [RoboticsExerciseComponents.commsManager.events.UPDATE],
+          callback
+        );
+
+        return () => {
+          console.log("TestShowScreen unsubscribing from ['state-changed'] events");
+          RoboticsExerciseComponents.commsManager.unsubscribe(
+            [RoboticsExerciseComponents.commsManager.events.UPDATE],
+            callback
+          );
+        };
+      }, []);
+    return (
+       <div      style={{
+        width: "100%",
+        height: "100%"
+      }}>
+		<canvas ref={guiCanvasRef} id="local-map-lasers" width="1280" height="720" ></canvas>
+	</div>
+    )
+}
+
+export default Lasers;

exercises/static/exercises/autoparking_newmanager/react-components/css/AutoparkingRR.css

@@ -0,0 +1,28 @@
+* {
+    box-sizing: border-box;
+}
+
+body, html {
+    width: 100%; height: 100%;
+}
+
+#exercise-container {
+    position: absolute;
+    top: 0; left: 0; bottom: 0; right: 0;
+    overflow: hidden;
+    display: flex;
+    flex-direction: column;
+}
+
+#exercise-container #content {
+    width: 100%;
+    height: 100%;
+    overflow: hidden;
+}
+
+#exercise-container #content #content-exercise {
+    display: flex;
+    flex-direction: column;
+    width: 100%;
+    height: 100%;
+}

exercises/static/exercises/autoparking_newmanager/react-components/css/Lasers.css

@@ -0,0 +1,5 @@
+#local-map-lasers{
+	background: #0D488A;
+    height: 100%;
+    width: 100%;
+}