From 225ff7a17f38e1b4c4703b07d4675c94be127516 Mon Sep 17 00:00:00 2001 From: Florian Vahl <7vahl@informatik.uni-hamburg.de> Date: Wed, 31 Jan 2024 10:49:50 +0100 Subject: [PATCH 1/6] Rename humanoid_league_speaker to bitbots_tts --- .../bitbots_tts}/README.md | 0 .../bitbots_tts/bitbots_tts}/__init__.py | 0 .../bitbots_tts/bitbots_tts/tts.py | 0 .../bitbots_tts}/config/speaker_config.yaml | 0 .../bitbots_tts}/docs/_static/logo.png | Bin .../bitbots_tts}/docs/conf.py | 0 .../bitbots_tts}/docs/index.rst | 0 .../bitbots_tts/launch/tts.launch | 0 .../bitbots_tts}/package.xml | 0 .../bitbots_tts/resource/bitbots_tts | 0 .../bitbots_tts}/scripts/send_text.py | 0 .../bitbots_tts}/setup.cfg | 0 .../bitbots_tts}/setup.py | 0 13 files changed, 0 insertions(+), 0 deletions(-) rename {humanoid_league_misc/humanoid_league_speaker => bitbots_misc/bitbots_tts}/README.md (100%) rename {humanoid_league_misc/humanoid_league_speaker/humanoid_league_speaker => bitbots_misc/bitbots_tts/bitbots_tts}/__init__.py (100%) rename humanoid_league_misc/humanoid_league_speaker/humanoid_league_speaker/speaker.py => bitbots_misc/bitbots_tts/bitbots_tts/tts.py (100%) rename {humanoid_league_misc/humanoid_league_speaker => bitbots_misc/bitbots_tts}/config/speaker_config.yaml (100%) rename {humanoid_league_misc/humanoid_league_speaker => bitbots_misc/bitbots_tts}/docs/_static/logo.png (100%) rename {humanoid_league_misc/humanoid_league_speaker => bitbots_misc/bitbots_tts}/docs/conf.py (100%) rename {humanoid_league_misc/humanoid_league_speaker => bitbots_misc/bitbots_tts}/docs/index.rst (100%) rename humanoid_league_misc/humanoid_league_speaker/launch/speaker.launch => bitbots_misc/bitbots_tts/launch/tts.launch (100%) rename {humanoid_league_misc/humanoid_league_speaker => bitbots_misc/bitbots_tts}/package.xml (100%) rename humanoid_league_misc/humanoid_league_speaker/resource/humanoid_league_speaker => bitbots_misc/bitbots_tts/resource/bitbots_tts (100%) rename {humanoid_league_misc/humanoid_league_speaker => bitbots_misc/bitbots_tts}/scripts/send_text.py (100%) rename {humanoid_league_misc/humanoid_league_speaker => bitbots_misc/bitbots_tts}/setup.cfg (100%) rename {humanoid_league_misc/humanoid_league_speaker => bitbots_misc/bitbots_tts}/setup.py (100%) diff --git a/humanoid_league_misc/humanoid_league_speaker/README.md b/bitbots_misc/bitbots_tts/README.md similarity index 100% rename from humanoid_league_misc/humanoid_league_speaker/README.md rename to bitbots_misc/bitbots_tts/README.md diff --git a/humanoid_league_misc/humanoid_league_speaker/humanoid_league_speaker/__init__.py b/bitbots_misc/bitbots_tts/bitbots_tts/__init__.py similarity index 100% rename from humanoid_league_misc/humanoid_league_speaker/humanoid_league_speaker/__init__.py rename to bitbots_misc/bitbots_tts/bitbots_tts/__init__.py diff --git a/humanoid_league_misc/humanoid_league_speaker/humanoid_league_speaker/speaker.py b/bitbots_misc/bitbots_tts/bitbots_tts/tts.py similarity index 100% rename from humanoid_league_misc/humanoid_league_speaker/humanoid_league_speaker/speaker.py rename to bitbots_misc/bitbots_tts/bitbots_tts/tts.py diff --git a/humanoid_league_misc/humanoid_league_speaker/config/speaker_config.yaml b/bitbots_misc/bitbots_tts/config/speaker_config.yaml similarity index 100% rename from humanoid_league_misc/humanoid_league_speaker/config/speaker_config.yaml rename to bitbots_misc/bitbots_tts/config/speaker_config.yaml diff --git a/humanoid_league_misc/humanoid_league_speaker/docs/_static/logo.png b/bitbots_misc/bitbots_tts/docs/_static/logo.png similarity index 100% rename from humanoid_league_misc/humanoid_league_speaker/docs/_static/logo.png rename to bitbots_misc/bitbots_tts/docs/_static/logo.png diff --git a/humanoid_league_misc/humanoid_league_speaker/docs/conf.py b/bitbots_misc/bitbots_tts/docs/conf.py similarity index 100% rename from humanoid_league_misc/humanoid_league_speaker/docs/conf.py rename to bitbots_misc/bitbots_tts/docs/conf.py diff --git a/humanoid_league_misc/humanoid_league_speaker/docs/index.rst b/bitbots_misc/bitbots_tts/docs/index.rst similarity index 100% rename from humanoid_league_misc/humanoid_league_speaker/docs/index.rst rename to bitbots_misc/bitbots_tts/docs/index.rst diff --git a/humanoid_league_misc/humanoid_league_speaker/launch/speaker.launch b/bitbots_misc/bitbots_tts/launch/tts.launch similarity index 100% rename from humanoid_league_misc/humanoid_league_speaker/launch/speaker.launch rename to bitbots_misc/bitbots_tts/launch/tts.launch diff --git a/humanoid_league_misc/humanoid_league_speaker/package.xml b/bitbots_misc/bitbots_tts/package.xml similarity index 100% rename from humanoid_league_misc/humanoid_league_speaker/package.xml rename to bitbots_misc/bitbots_tts/package.xml diff --git a/humanoid_league_misc/humanoid_league_speaker/resource/humanoid_league_speaker b/bitbots_misc/bitbots_tts/resource/bitbots_tts similarity index 100% rename from humanoid_league_misc/humanoid_league_speaker/resource/humanoid_league_speaker rename to bitbots_misc/bitbots_tts/resource/bitbots_tts diff --git a/humanoid_league_misc/humanoid_league_speaker/scripts/send_text.py b/bitbots_misc/bitbots_tts/scripts/send_text.py similarity index 100% rename from humanoid_league_misc/humanoid_league_speaker/scripts/send_text.py rename to bitbots_misc/bitbots_tts/scripts/send_text.py diff --git a/humanoid_league_misc/humanoid_league_speaker/setup.cfg b/bitbots_misc/bitbots_tts/setup.cfg similarity index 100% rename from humanoid_league_misc/humanoid_league_speaker/setup.cfg rename to bitbots_misc/bitbots_tts/setup.cfg diff --git a/humanoid_league_misc/humanoid_league_speaker/setup.py b/bitbots_misc/bitbots_tts/setup.py similarity index 100% rename from humanoid_league_misc/humanoid_league_speaker/setup.py rename to bitbots_misc/bitbots_tts/setup.py From 82821f647bcb577cee4db2fb6a04365de5081a0a Mon Sep 17 00:00:00 2001 From: Florian Vahl <7vahl@informatik.uni-hamburg.de> Date: Wed, 31 Jan 2024 11:26:03 +0100 Subject: [PATCH 2/6] Fix naming and add caching --- .../bitbots_ros_control/launch/ros_control.launch | 2 +- bitbots_lowlevel/bitbots_ros_control/package.xml | 2 +- bitbots_misc/bitbots_tts/README.md | 7 ------- .../config/{speaker_config.yaml => tts_config.yaml} | 0 bitbots_misc/bitbots_tts/launch/tts.launch | 8 ++++---- bitbots_misc/bitbots_tts/package.xml | 4 ++-- bitbots_misc/bitbots_tts/setup.cfg | 4 ++-- bitbots_misc/bitbots_tts/setup.py | 4 ++-- .../bitbots_hcm/bitbots_hcm/hcm_dsd/decisions/pickup.py | 2 +- .../bitbots_hcm/bitbots_hcm/humanoid_control_module.py | 2 +- bitbots_motion/bitbots_hcm/package.xml | 2 +- bitbots_motion/bitbots_hcm/scripts/pause.py | 2 +- sync_includes_wolfgang_nuc.yaml | 2 +- 13 files changed, 17 insertions(+), 24 deletions(-) delete mode 100644 bitbots_misc/bitbots_tts/README.md rename bitbots_misc/bitbots_tts/config/{speaker_config.yaml => tts_config.yaml} (100%) diff --git a/bitbots_lowlevel/bitbots_ros_control/launch/ros_control.launch b/bitbots_lowlevel/bitbots_ros_control/launch/ros_control.launch index 0391567a2..072944150 100644 --- a/bitbots_lowlevel/bitbots_ros_control/launch/ros_control.launch +++ b/bitbots_lowlevel/bitbots_ros_control/launch/ros_control.launch @@ -27,7 +27,7 @@ - + diff --git a/bitbots_lowlevel/bitbots_ros_control/package.xml b/bitbots_lowlevel/bitbots_ros_control/package.xml index d1eaee3fe..e7362bfed 100644 --- a/bitbots_lowlevel/bitbots_ros_control/package.xml +++ b/bitbots_lowlevel/bitbots_ros_control/package.xml @@ -27,7 +27,7 @@ controller_manager dynamixel_workbench_toolbox hardware_interface - humanoid_league_speaker + bitbots_tts pluginlib rclcpp realtime_tools diff --git a/bitbots_misc/bitbots_tts/README.md b/bitbots_misc/bitbots_tts/README.md deleted file mode 100644 index 757a78a97..000000000 --- a/bitbots_misc/bitbots_tts/README.md +++ /dev/null @@ -1,7 +0,0 @@ -If you get an import error from the following line: - from humanoid_league_speaker.cfg import speaker_paramsConfig -Do from catkin directory: - cp src/humanoid_league_misc/humanoid_league_speaker/cfg/speaker_paramsConfig.cfg devel/lib/python2.7/dist-packages/humanoid_league_speaker/cfg -And rebuild. - -I don't know why this problem exists. diff --git a/bitbots_misc/bitbots_tts/config/speaker_config.yaml b/bitbots_misc/bitbots_tts/config/tts_config.yaml similarity index 100% rename from bitbots_misc/bitbots_tts/config/speaker_config.yaml rename to bitbots_misc/bitbots_tts/config/tts_config.yaml diff --git a/bitbots_misc/bitbots_tts/launch/tts.launch b/bitbots_misc/bitbots_tts/launch/tts.launch index e5c792088..5f3f78bb5 100644 --- a/bitbots_misc/bitbots_tts/launch/tts.launch +++ b/bitbots_misc/bitbots_tts/launch/tts.launch @@ -1,6 +1,6 @@ - - - + + + - \ No newline at end of file + diff --git a/bitbots_misc/bitbots_tts/package.xml b/bitbots_misc/bitbots_tts/package.xml index be4db8c03..1b91e5396 100644 --- a/bitbots_misc/bitbots_tts/package.xml +++ b/bitbots_misc/bitbots_tts/package.xml @@ -1,9 +1,9 @@ - humanoid_league_speaker + bitbots_tts 2.0.0 - The humanoid_league_speaker package provides an easy way to do audio speech output via espeak. + The bitbots_tts package provides an easy way to do audio speech output via a text to speach engine. Messages send to the /speak topic are queued and spoken in another thread depending on their priority. This can be used for debug but also for inter robot communication with natural language. diff --git a/bitbots_misc/bitbots_tts/setup.cfg b/bitbots_misc/bitbots_tts/setup.cfg index 5ff8ed032..902ac0ff9 100644 --- a/bitbots_misc/bitbots_tts/setup.cfg +++ b/bitbots_misc/bitbots_tts/setup.cfg @@ -1,4 +1,4 @@ [develop] -script_dir=$base/lib/humanoid_league_speaker +script_dir=$base/lib/bitbots_tts [install] -install_scripts=$base/lib/humanoid_league_speaker +install_scripts=$base/lib/bitbots_tts diff --git a/bitbots_misc/bitbots_tts/setup.py b/bitbots_misc/bitbots_tts/setup.py index 7d6cecef5..301de3cc5 100644 --- a/bitbots_misc/bitbots_tts/setup.py +++ b/bitbots_misc/bitbots_tts/setup.py @@ -2,7 +2,7 @@ from setuptools import find_packages, setup -package_name = "humanoid_league_speaker" +package_name = "bitbots_tts" setup( name=package_name, @@ -19,7 +19,7 @@ scripts=["scripts/send_text.py"], entry_points={ "console_scripts": [ - "speaker = humanoid_league_speaker.speaker:main", + "tts = bitbots_tts.tts:main", ], }, ) diff --git a/bitbots_motion/bitbots_hcm/bitbots_hcm/hcm_dsd/decisions/pickup.py b/bitbots_motion/bitbots_hcm/bitbots_hcm/hcm_dsd/decisions/pickup.py index f6569d999..0e33bb10e 100644 --- a/bitbots_motion/bitbots_hcm/bitbots_hcm/hcm_dsd/decisions/pickup.py +++ b/bitbots_motion/bitbots_hcm/bitbots_hcm/hcm_dsd/decisions/pickup.py @@ -1,4 +1,4 @@ -from humanoid_league_speaker.speaker import speak +from bitbots_tts.tts import speak from bitbots_hcm.hcm_dsd.decisions import AbstractHCMDecisionElement diff --git a/bitbots_motion/bitbots_hcm/bitbots_hcm/humanoid_control_module.py b/bitbots_motion/bitbots_hcm/bitbots_hcm/humanoid_control_module.py index dcfba872e..c3cda8855 100755 --- a/bitbots_motion/bitbots_hcm/bitbots_hcm/humanoid_control_module.py +++ b/bitbots_motion/bitbots_hcm/bitbots_hcm/humanoid_control_module.py @@ -5,11 +5,11 @@ import rclpy from ament_index_python import get_package_share_directory +from bitbots_tts.tts import speak from bitbots_utils.utils import get_parameters_from_ros_yaml from builtin_interfaces.msg import Time as TimeMsg from diagnostic_msgs.msg import DiagnosticArray, DiagnosticStatus from dynamic_stack_decider.dsd import DSD -from humanoid_league_speaker.speaker import speak from rcl_interfaces.msg import Parameter as ParameterMsg from rclpy.duration import Duration from rclpy.executors import MultiThreadedExecutor diff --git a/bitbots_motion/bitbots_hcm/package.xml b/bitbots_motion/bitbots_hcm/package.xml index 40e25f4d0..f447d5b28 100644 --- a/bitbots_motion/bitbots_hcm/package.xml +++ b/bitbots_motion/bitbots_hcm/package.xml @@ -24,7 +24,7 @@ bitbots_utils dynamic_stack_decider geometry_msgs - humanoid_league_speaker + bitbots_tts pybind11-dev python3-numpy python3-transforms3d diff --git a/bitbots_motion/bitbots_hcm/scripts/pause.py b/bitbots_motion/bitbots_hcm/scripts/pause.py index 74302bb85..1651060fb 100755 --- a/bitbots_motion/bitbots_hcm/scripts/pause.py +++ b/bitbots_motion/bitbots_hcm/scripts/pause.py @@ -1,6 +1,6 @@ #!/usr/bin/env python3 import rclpy -from humanoid_league_speaker.speaker import speak +from bitbots_tts.tts import speak from rclpy.node import Node from std_msgs.msg import Bool diff --git a/sync_includes_wolfgang_nuc.yaml b/sync_includes_wolfgang_nuc.yaml index 82b1fcc85..dbf330cbc 100644 --- a/sync_includes_wolfgang_nuc.yaml +++ b/sync_includes_wolfgang_nuc.yaml @@ -14,6 +14,7 @@ include: - bitbots_robot_description - bitbots_teleop - bitbots_tf_listener + - bitbots_tts - bitbots_utils - system_monitor - bitbots_motion: @@ -40,7 +41,6 @@ include: - bitbots_ball_filter - bitbots_robot_filter - humanoid_league_misc: - - humanoid_league_speaker - humanoid_league_team_communication - lib: - audio_common From 008d5f1d89ac9c27f424028cae1154ce93a5f51d Mon Sep 17 00:00:00 2001 From: Florian Vahl <7vahl@informatik.uni-hamburg.de> Date: Wed, 31 Jan 2024 11:48:54 +0100 Subject: [PATCH 3/6] Rename team comm --- .gitignore | 4 +- .../bitbots_bringup/launch/highlevel.launch | 2 +- .../launch/visualization.launch | 5 +- .../bitbots_containers/hlvs/Dockerfile | 2 +- .../docs/manual/testing/testing.rst | 46 +----------------- .../CMakeLists.txt | 11 ++--- .../bitbots_team_communication}/__init__.py | 0 .../communication.py | 0 .../converter/__init__.py | 0 .../message_to_team_data_converter.py | 4 +- .../converter/robocup_protocol_converter.py | 6 +-- .../converter/state_to_message_converter.py | 2 +- .../humanoid_league_team_communication.py | 10 ++-- .../config/team_comm_marker.rviz | 0 .../config/team_communication_config.yaml | 0 .../docs/_static/logo.png | Bin .../docs/conf.py | 0 .../docs/index.rst | 0 .../launch/team_comm.launch | 4 +- .../launch/team_comm_standalone.launch | 4 +- .../launch/team_comm_test_marker.launch | 11 +++++ .../package.xml | 4 +- .../scripts/show_team_comm.py | 0 .../scripts/team_comm.py | 7 +++ .../scripts/team_comm_test_marker.py | 0 .../scripts/test_team_comm.py | 0 .../scripts/tmux_testing_setup.zsh | 8 +-- bitbots_team_communication/setup.cfg | 4 ++ .../setup.py | 2 +- .../test/__init__.py | 0 .../test_message_to_team_data_converter.ambr | 0 .../test_robocup_protocol_converter.ambr | 0 .../test_state_to_message_converter.ambr | 0 .../test_message_to_team_data_converter.py | 4 +- .../test_robocup_protocol_converter.py | 13 ++--- .../test_state_to_message_converter.py | 6 +-- .../wolfgang_robocup_api/scripts/start.sh | 4 +- .../.gitignore | 1 - .../launch/team_comm_test_marker.launch | 11 ----- .../scripts/team_comm.py | 7 --- .../setup.cfg | 4 -- sync_includes_wolfgang_nuc.yaml | 3 +- workspace.repos | 2 +- 43 files changed, 70 insertions(+), 121 deletions(-) rename {humanoid_league_misc/humanoid_league_team_communication => bitbots_team_communication}/CMakeLists.txt (84%) rename {humanoid_league_misc/humanoid_league_team_communication/humanoid_league_team_communication => bitbots_team_communication/bitbots_team_communication}/__init__.py (100%) rename {humanoid_league_misc/humanoid_league_team_communication/humanoid_league_team_communication => bitbots_team_communication/bitbots_team_communication}/communication.py (100%) rename {humanoid_league_misc/humanoid_league_team_communication/humanoid_league_team_communication => bitbots_team_communication/bitbots_team_communication}/converter/__init__.py (100%) rename {humanoid_league_misc/humanoid_league_team_communication/humanoid_league_team_communication => bitbots_team_communication/bitbots_team_communication}/converter/message_to_team_data_converter.py (95%) rename {humanoid_league_misc/humanoid_league_team_communication/humanoid_league_team_communication => bitbots_team_communication/bitbots_team_communication}/converter/robocup_protocol_converter.py (91%) rename {humanoid_league_misc/humanoid_league_team_communication/humanoid_league_team_communication => bitbots_team_communication/bitbots_team_communication}/converter/state_to_message_converter.py (99%) rename {humanoid_league_misc/humanoid_league_team_communication/humanoid_league_team_communication => bitbots_team_communication/bitbots_team_communication}/humanoid_league_team_communication.py (95%) rename {humanoid_league_misc/humanoid_league_team_communication => bitbots_team_communication}/config/team_comm_marker.rviz (100%) rename {humanoid_league_misc/humanoid_league_team_communication => bitbots_team_communication}/config/team_communication_config.yaml (100%) rename {humanoid_league_misc/humanoid_league_team_communication => bitbots_team_communication}/docs/_static/logo.png (100%) rename {humanoid_league_misc/humanoid_league_team_communication => bitbots_team_communication}/docs/conf.py (100%) rename {humanoid_league_misc/humanoid_league_team_communication => bitbots_team_communication}/docs/index.rst (100%) rename {humanoid_league_misc/humanoid_league_team_communication => bitbots_team_communication}/launch/team_comm.launch (54%) rename {humanoid_league_misc/humanoid_league_team_communication => bitbots_team_communication}/launch/team_comm_standalone.launch (64%) create mode 100644 bitbots_team_communication/launch/team_comm_test_marker.launch rename {humanoid_league_misc/humanoid_league_team_communication => bitbots_team_communication}/package.xml (89%) rename {humanoid_league_misc/humanoid_league_team_communication => bitbots_team_communication}/scripts/show_team_comm.py (100%) create mode 100755 bitbots_team_communication/scripts/team_comm.py rename {humanoid_league_misc/humanoid_league_team_communication => bitbots_team_communication}/scripts/team_comm_test_marker.py (100%) rename {humanoid_league_misc/humanoid_league_team_communication => bitbots_team_communication}/scripts/test_team_comm.py (100%) rename {humanoid_league_misc/humanoid_league_team_communication => bitbots_team_communication}/scripts/tmux_testing_setup.zsh (67%) create mode 100644 bitbots_team_communication/setup.cfg rename {humanoid_league_misc/humanoid_league_team_communication => bitbots_team_communication}/setup.py (82%) rename {humanoid_league_misc/humanoid_league_team_communication => bitbots_team_communication}/test/__init__.py (100%) rename {humanoid_league_misc/humanoid_league_team_communication => bitbots_team_communication}/test/converter/__snapshots__/test_message_to_team_data_converter.ambr (100%) rename {humanoid_league_misc/humanoid_league_team_communication => bitbots_team_communication}/test/converter/__snapshots__/test_robocup_protocol_converter.ambr (100%) rename {humanoid_league_misc/humanoid_league_team_communication => bitbots_team_communication}/test/converter/__snapshots__/test_state_to_message_converter.ambr (100%) rename {humanoid_league_misc/humanoid_league_team_communication => bitbots_team_communication}/test/converter/test_message_to_team_data_converter.py (94%) rename {humanoid_league_misc/humanoid_league_team_communication => bitbots_team_communication}/test/converter/test_robocup_protocol_converter.py (79%) rename {humanoid_league_misc/humanoid_league_team_communication => bitbots_team_communication}/test/converter/test_state_to_message_converter.py (97%) delete mode 100644 humanoid_league_misc/humanoid_league_team_communication/.gitignore delete mode 100644 humanoid_league_misc/humanoid_league_team_communication/launch/team_comm_test_marker.launch delete mode 100755 humanoid_league_misc/humanoid_league_team_communication/scripts/team_comm.py delete mode 100644 humanoid_league_misc/humanoid_league_team_communication/setup.cfg diff --git a/.gitignore b/.gitignore index 314ea06dc..be8ecd54c 100644 --- a/.gitignore +++ b/.gitignore @@ -221,5 +221,7 @@ doku/* /lib/ # Path to the protocol buffer definitions, which are a diffrerent repository and managed by vcstool -/humanoid_league_misc/humanoid_league_team_communication/humanoid_league_team_communication/RobocupProtocol +/bitbots_team_communication/bitbots_team_communication/RobocupProtocol +# Protobuf generated file +/bitbots_team_communication/bitbots_team_communication/robocup_extension_pb2.py diff --git a/bitbots_misc/bitbots_bringup/launch/highlevel.launch b/bitbots_misc/bitbots_bringup/launch/highlevel.launch index bf87c6d92..78b0b0624 100644 --- a/bitbots_misc/bitbots_bringup/launch/highlevel.launch +++ b/bitbots_misc/bitbots_bringup/launch/highlevel.launch @@ -40,7 +40,7 @@ - + diff --git a/bitbots_misc/bitbots_bringup/launch/visualization.launch b/bitbots_misc/bitbots_bringup/launch/visualization.launch index fc9f3bead..ef1afa501 100644 --- a/bitbots_misc/bitbots_bringup/launch/visualization.launch +++ b/bitbots_misc/bitbots_bringup/launch/visualization.launch @@ -34,10 +34,7 @@ - - - - + diff --git a/bitbots_misc/bitbots_containers/hlvs/Dockerfile b/bitbots_misc/bitbots_containers/hlvs/Dockerfile index 73015f7f7..2affe1c26 100644 --- a/bitbots_misc/bitbots_containers/hlvs/Dockerfile +++ b/bitbots_misc/bitbots_containers/hlvs/Dockerfile @@ -61,7 +61,7 @@ ADD https://www.timeapi.io/api/Time/current/zone?timeZone=UTC /tmp/build-time RUN cd src/bitbots_main && \ make pull-all && \ rm -rf lib/udp_bridge bitbots_misc/bitbots_containers \ - humanoid_league_visualization dynamic_stack_decider/dynamic_stack_decider_visualization bitbots_lowlevel \ + lib/dynamic_stack_decider/dynamic_stack_decider_visualization bitbots_lowlevel \ bitbots_wolfgang/wolfgang_pybullet_sim lib/DynamixelSDK lib/dynamixel-workbench \ bitbots_misc/bitbots_basler_camera lib/pylon-ros-camera && \ sed -i '/plotjuggler/d' bitbots_motion/bitbots_quintic_walk/package.xml && \ diff --git a/bitbots_misc/bitbots_docs/docs/manual/testing/testing.rst b/bitbots_misc/bitbots_docs/docs/manual/testing/testing.rst index 0353a6b01..e3990f5f3 100644 --- a/bitbots_misc/bitbots_docs/docs/manual/testing/testing.rst +++ b/bitbots_misc/bitbots_docs/docs/manual/testing/testing.rst @@ -59,47 +59,6 @@ Starting (starts) The next step is to check if the package actually starts without crashing instantly with an obvious error. A part of this is that a launch file exists. -Testing in Visualization (tested_viz) ----------------------------------------- - -The easiest real test if the software works is in visualization with fake data/commands and then to look at the output. -For this you can also use real data that was recorded in a rosbag. - -For this, it is important to be aware of your own testing bias. -Humans tend to test their own software for exactly the use cases they had in mind during programming. -However it is important to explicitly check all possibilities. -This means especially to test for edge cases and on robustness, e.g., testing with wrong data and against other parts of the software stack that crash. -A good method for this is to let someone else test your software, someone who was not involved in the programming of it. - -This method is essentially used to prevent errors from happening and less to see how well something works. -The tests in this stage can be done via multiple methods: - -Input -^^^^^^^^^^^ - -1. ros2 topic pub -2. RViz interactive marker - 1. Path planning: inbuilt Navigation goal in RViz - 2. behavior: humanoid_league_interactive_marker -3. special test scripts: - 1. walking: bitbots_teleop - 2. behavior: sim_gamestate (in gamecontroller package) -4. rosbags - -Output -^^^^^^^^^^^^ - -1. ros2 topic echo -2. RViz marker - 1. Object detection: humanoid_league_rviz_marker - 2. Walking: published its own markers -3. RViz robot model - 1. you might need to make the joint commands into joint_state (bitbots_bringup motor_goals_viz_helper.py) -4. special visualization tools for rqt - 1. DSD: dynamic_stack_decider_visualization - 2. Object Detection: humanoid_league_relative_rqt - 3. Vision: bitbots_vision_tools - Testing in Simulation ------------------------------------------------ @@ -139,8 +98,7 @@ Conclusion 1. Each package has to be tested on its own 1. compiles 2. starts - 3. using visualization - 4. using simulation - 5. on the real robot + 3. using simulation + 4. on the real robot 2. test packages pairwise 3. test the complete stack (integration) diff --git a/humanoid_league_misc/humanoid_league_team_communication/CMakeLists.txt b/bitbots_team_communication/CMakeLists.txt similarity index 84% rename from humanoid_league_misc/humanoid_league_team_communication/CMakeLists.txt rename to bitbots_team_communication/CMakeLists.txt index d4b7de9e7..d6965a5bd 100644 --- a/humanoid_league_misc/humanoid_league_team_communication/CMakeLists.txt +++ b/bitbots_team_communication/CMakeLists.txt @@ -1,5 +1,5 @@ cmake_minimum_required(VERSION 3.5) -project(humanoid_league_team_communication) +project(bitbots_team_communication) find_package(ament_cmake REQUIRED) find_package(ament_cmake_python REQUIRED) @@ -16,18 +16,17 @@ find_package(bitbots_docs REQUIRED) find_package(Protobuf REQUIRED) protobuf_generate_python( - PROTO_PY - humanoid_league_team_communication/RobocupProtocol/robocup_extension.proto) + PROTO_PY bitbots_team_communication/RobocupProtocol/robocup_extension.proto) add_custom_target( - humanoid_league_team_communication ALL + bitbots_team_communication ALL DEPENDS ${PROTO_PY} COMMENT "Generating protobuf") add_custom_command( - TARGET humanoid_league_team_communication + TARGET bitbots_team_communication POST_BUILD COMMAND ${CMAKE_COMMAND} -E copy ${PROTO_PY} - ${CMAKE_SOURCE_DIR}/humanoid_league_team_communication + ${CMAKE_SOURCE_DIR}/bitbots_team_communication COMMENT "Copying protobuf to source dir") enable_bitbots_docs() diff --git a/humanoid_league_misc/humanoid_league_team_communication/humanoid_league_team_communication/__init__.py b/bitbots_team_communication/bitbots_team_communication/__init__.py similarity index 100% rename from humanoid_league_misc/humanoid_league_team_communication/humanoid_league_team_communication/__init__.py rename to bitbots_team_communication/bitbots_team_communication/__init__.py diff --git a/humanoid_league_misc/humanoid_league_team_communication/humanoid_league_team_communication/communication.py b/bitbots_team_communication/bitbots_team_communication/communication.py similarity index 100% rename from humanoid_league_misc/humanoid_league_team_communication/humanoid_league_team_communication/communication.py rename to bitbots_team_communication/bitbots_team_communication/communication.py diff --git a/humanoid_league_misc/humanoid_league_team_communication/humanoid_league_team_communication/converter/__init__.py b/bitbots_team_communication/bitbots_team_communication/converter/__init__.py similarity index 100% rename from humanoid_league_misc/humanoid_league_team_communication/humanoid_league_team_communication/converter/__init__.py rename to bitbots_team_communication/bitbots_team_communication/converter/__init__.py diff --git a/humanoid_league_misc/humanoid_league_team_communication/humanoid_league_team_communication/converter/message_to_team_data_converter.py b/bitbots_team_communication/bitbots_team_communication/converter/message_to_team_data_converter.py similarity index 95% rename from humanoid_league_misc/humanoid_league_team_communication/humanoid_league_team_communication/converter/message_to_team_data_converter.py rename to bitbots_team_communication/bitbots_team_communication/converter/message_to_team_data_converter.py index 8da775b91..1dd4b0fe2 100644 --- a/humanoid_league_misc/humanoid_league_team_communication/humanoid_league_team_communication/converter/message_to_team_data_converter.py +++ b/bitbots_team_communication/bitbots_team_communication/converter/message_to_team_data_converter.py @@ -4,7 +4,7 @@ from geometry_msgs.msg import PoseWithCovariance from numpy import double -import humanoid_league_team_communication.robocup_extension_pb2 as Proto # noqa: N812 +import bitbots_team_communication.robocup_extension_pb2 as Proto # noqa: N812 from bitbots_msgs.msg import RobotRelative, RobotRelativeArray, TeamData @@ -22,8 +22,6 @@ def convert(self, message: Proto.Message, team_data: TeamData) -> TeamData: team_data.robot_position = self.convert_robot_pose(message.current_pose) team_data.ball_absolute = self.convert_ball_pose(message.ball) - # @TODO: change TeamData field/type to robots - # see: https://github.com/bit-bots/humanoid_league_misc/issues/125 team_data.robots = self.convert_robots(message.others, message.other_robot_confidence) team_data.robots.header = team_data.header diff --git a/humanoid_league_misc/humanoid_league_team_communication/humanoid_league_team_communication/converter/robocup_protocol_converter.py b/bitbots_team_communication/bitbots_team_communication/converter/robocup_protocol_converter.py similarity index 91% rename from humanoid_league_misc/humanoid_league_team_communication/humanoid_league_team_communication/converter/robocup_protocol_converter.py rename to bitbots_team_communication/bitbots_team_communication/converter/robocup_protocol_converter.py index 52b6e8c16..68cb2eb3d 100644 --- a/humanoid_league_misc/humanoid_league_team_communication/humanoid_league_team_communication/converter/robocup_protocol_converter.py +++ b/bitbots_team_communication/bitbots_team_communication/converter/robocup_protocol_converter.py @@ -2,10 +2,10 @@ from soccer_vision_attribute_msgs.msg import Robot as RobotAttributes -import humanoid_league_team_communication.robocup_extension_pb2 as Proto # noqa: N812 +import bitbots_team_communication.robocup_extension_pb2 as Proto # noqa: N812 from bitbots_msgs.msg import RobotRelative, Strategy -from humanoid_league_team_communication.converter.message_to_team_data_converter import MessageToTeamDataConverter -from humanoid_league_team_communication.converter.state_to_message_converter import StateToMessageConverter +from bitbots_team_communication.converter.message_to_team_data_converter import MessageToTeamDataConverter +from bitbots_team_communication.converter.state_to_message_converter import StateToMessageConverter class TeamColor(IntEnum): diff --git a/humanoid_league_misc/humanoid_league_team_communication/humanoid_league_team_communication/converter/state_to_message_converter.py b/bitbots_team_communication/bitbots_team_communication/converter/state_to_message_converter.py similarity index 99% rename from humanoid_league_misc/humanoid_league_team_communication/humanoid_league_team_communication/converter/state_to_message_converter.py rename to bitbots_team_communication/bitbots_team_communication/converter/state_to_message_converter.py index 5c6e2f75b..056c73dd7 100644 --- a/humanoid_league_misc/humanoid_league_team_communication/humanoid_league_team_communication/converter/state_to_message_converter.py +++ b/bitbots_team_communication/bitbots_team_communication/converter/state_to_message_converter.py @@ -8,7 +8,7 @@ from rclpy.time import Time from soccer_vision_3d_msgs.msg import Robot, RobotArray -import humanoid_league_team_communication.robocup_extension_pb2 as Proto # noqa: N812 +import bitbots_team_communication.robocup_extension_pb2 as Proto # noqa: N812 from bitbots_msgs.msg import Strategy diff --git a/humanoid_league_misc/humanoid_league_team_communication/humanoid_league_team_communication/humanoid_league_team_communication.py b/bitbots_team_communication/bitbots_team_communication/humanoid_league_team_communication.py similarity index 95% rename from humanoid_league_misc/humanoid_league_team_communication/humanoid_league_team_communication/humanoid_league_team_communication.py rename to bitbots_team_communication/bitbots_team_communication/humanoid_league_team_communication.py index 16b776f74..d11bc16ab 100755 --- a/humanoid_league_misc/humanoid_league_team_communication/humanoid_league_team_communication/humanoid_league_team_communication.py +++ b/bitbots_team_communication/bitbots_team_communication/humanoid_league_team_communication.py @@ -21,19 +21,19 @@ from tf2_geometry_msgs import PointStamped, PoseStamped from tf2_ros import Buffer, TransformException -import humanoid_league_team_communication.robocup_extension_pb2 as Proto # noqa: N812 +import bitbots_team_communication.robocup_extension_pb2 as Proto # noqa: N812 from bitbots_msgs.msg import Strategy, TeamData -from humanoid_league_team_communication.communication import SocketCommunication -from humanoid_league_team_communication.converter.robocup_protocol_converter import RobocupProtocolConverter, TeamColor +from bitbots_team_communication.communication import SocketCommunication +from bitbots_team_communication.converter.robocup_protocol_converter import RobocupProtocolConverter, TeamColor class HumanoidLeagueTeamCommunication: def __init__(self): - self._package_path = get_package_share_directory("humanoid_league_team_communication") + self._package_path = get_package_share_directory("bitbots_team_communication") self.node = Node("team_comm", automatically_declare_parameters_from_overrides=True) self.logger = self.node.get_logger() - self.logger.info("Initializing humanoid_league_team_communication...") + self.logger.info("Initializing bitbots_team_communication...") params_blackboard = get_parameters_from_other_node( self.node, "parameter_blackboard", ["bot_id", "team_id", "team_color"] ) diff --git a/humanoid_league_misc/humanoid_league_team_communication/config/team_comm_marker.rviz b/bitbots_team_communication/config/team_comm_marker.rviz similarity index 100% rename from humanoid_league_misc/humanoid_league_team_communication/config/team_comm_marker.rviz rename to bitbots_team_communication/config/team_comm_marker.rviz diff --git a/humanoid_league_misc/humanoid_league_team_communication/config/team_communication_config.yaml b/bitbots_team_communication/config/team_communication_config.yaml similarity index 100% rename from humanoid_league_misc/humanoid_league_team_communication/config/team_communication_config.yaml rename to bitbots_team_communication/config/team_communication_config.yaml diff --git a/humanoid_league_misc/humanoid_league_team_communication/docs/_static/logo.png b/bitbots_team_communication/docs/_static/logo.png similarity index 100% rename from humanoid_league_misc/humanoid_league_team_communication/docs/_static/logo.png rename to bitbots_team_communication/docs/_static/logo.png diff --git a/humanoid_league_misc/humanoid_league_team_communication/docs/conf.py b/bitbots_team_communication/docs/conf.py similarity index 100% rename from humanoid_league_misc/humanoid_league_team_communication/docs/conf.py rename to bitbots_team_communication/docs/conf.py diff --git a/humanoid_league_misc/humanoid_league_team_communication/docs/index.rst b/bitbots_team_communication/docs/index.rst similarity index 100% rename from humanoid_league_misc/humanoid_league_team_communication/docs/index.rst rename to bitbots_team_communication/docs/index.rst diff --git a/humanoid_league_misc/humanoid_league_team_communication/launch/team_comm.launch b/bitbots_team_communication/launch/team_comm.launch similarity index 54% rename from humanoid_league_misc/humanoid_league_team_communication/launch/team_comm.launch rename to bitbots_team_communication/launch/team_comm.launch index c6ff979c4..2bb22f9c4 100644 --- a/humanoid_league_misc/humanoid_league_team_communication/launch/team_comm.launch +++ b/bitbots_team_communication/launch/team_comm.launch @@ -3,8 +3,8 @@ - - + + diff --git a/humanoid_league_misc/humanoid_league_team_communication/launch/team_comm_standalone.launch b/bitbots_team_communication/launch/team_comm_standalone.launch similarity index 64% rename from humanoid_league_misc/humanoid_league_team_communication/launch/team_comm_standalone.launch rename to bitbots_team_communication/launch/team_comm_standalone.launch index 1f30efbf7..b3a092a71 100644 --- a/humanoid_league_misc/humanoid_league_team_communication/launch/team_comm_standalone.launch +++ b/bitbots_team_communication/launch/team_comm_standalone.launch @@ -6,8 +6,8 @@ - - + + diff --git a/bitbots_team_communication/launch/team_comm_test_marker.launch b/bitbots_team_communication/launch/team_comm_test_marker.launch new file mode 100644 index 000000000..d688e7034 --- /dev/null +++ b/bitbots_team_communication/launch/team_comm_test_marker.launch @@ -0,0 +1,11 @@ + + + + + + + + + + + diff --git a/humanoid_league_misc/humanoid_league_team_communication/package.xml b/bitbots_team_communication/package.xml similarity index 89% rename from humanoid_league_misc/humanoid_league_team_communication/package.xml rename to bitbots_team_communication/package.xml index 40388bf6d..038c2c1f0 100644 --- a/humanoid_league_misc/humanoid_league_team_communication/package.xml +++ b/bitbots_team_communication/package.xml @@ -1,9 +1,9 @@ - humanoid_league_team_communication + bitbots_team_communication 3.0.0 - The humanoid_league_team_communication package provides a ROS wrapper for the Protobuf RoboCup protocol. + The bitbots_team_communication package provides a ROS wrapper for the Protobuf RoboCup protocol. This is the standard communication protocol developed by the NUbots. Joern Griepenburg diff --git a/humanoid_league_misc/humanoid_league_team_communication/scripts/show_team_comm.py b/bitbots_team_communication/scripts/show_team_comm.py similarity index 100% rename from humanoid_league_misc/humanoid_league_team_communication/scripts/show_team_comm.py rename to bitbots_team_communication/scripts/show_team_comm.py diff --git a/bitbots_team_communication/scripts/team_comm.py b/bitbots_team_communication/scripts/team_comm.py new file mode 100755 index 000000000..f1376f6cd --- /dev/null +++ b/bitbots_team_communication/scripts/team_comm.py @@ -0,0 +1,7 @@ +#!/usr/bin/env python3 + +import sys + +from bitbots_team_communication.bitbots_team_communication import main + +sys.exit(main()) diff --git a/humanoid_league_misc/humanoid_league_team_communication/scripts/team_comm_test_marker.py b/bitbots_team_communication/scripts/team_comm_test_marker.py similarity index 100% rename from humanoid_league_misc/humanoid_league_team_communication/scripts/team_comm_test_marker.py rename to bitbots_team_communication/scripts/team_comm_test_marker.py diff --git a/humanoid_league_misc/humanoid_league_team_communication/scripts/test_team_comm.py b/bitbots_team_communication/scripts/test_team_comm.py similarity index 100% rename from humanoid_league_misc/humanoid_league_team_communication/scripts/test_team_comm.py rename to bitbots_team_communication/scripts/test_team_comm.py diff --git a/humanoid_league_misc/humanoid_league_team_communication/scripts/tmux_testing_setup.zsh b/bitbots_team_communication/scripts/tmux_testing_setup.zsh similarity index 67% rename from humanoid_league_misc/humanoid_league_team_communication/scripts/tmux_testing_setup.zsh rename to bitbots_team_communication/scripts/tmux_testing_setup.zsh index a1725c0dc..dd6cf059e 100755 --- a/humanoid_league_misc/humanoid_league_team_communication/scripts/tmux_testing_setup.zsh +++ b/bitbots_team_communication/scripts/tmux_testing_setup.zsh @@ -1,7 +1,7 @@ #!/usr/bin/env zsh session="TeamComm" -pkg="humanoid_league_team_communication" +pkg="bitbots_team_communication" run_tmux_session() { session_running="$(tmux list-sessions | grep $session)" @@ -17,11 +17,11 @@ run_tmux_session() { # run required launch files in order tmux send-keys -t "$session:Base" "rl bitbots_utils base.launch" Enter - tmux send-keys -t "$session:Launch" "rl humanoid_league_team_communication team_comm.launch" Enter + tmux send-keys -t "$session:Launch" "rl bitbots_team_communication team_comm.launch" Enter # start test publisher/subscriber - tmux send-keys -t "$session:Test.top" "rr humanoid_league_team_communication test_team_comm.py" Enter - tmux send-keys -t "$session:Test.bottom" "rr humanoid_league_team_communication show_team_comm.py" Enter + tmux send-keys -t "$session:Test.top" "rr bitbots_team_communication test_team_comm.py" Enter + tmux send-keys -t "$session:Test.bottom" "rr bitbots_team_communication show_team_comm.py" Enter fi tmux attach-session -t "$session:Test" diff --git a/bitbots_team_communication/setup.cfg b/bitbots_team_communication/setup.cfg new file mode 100644 index 000000000..bf74a5f51 --- /dev/null +++ b/bitbots_team_communication/setup.cfg @@ -0,0 +1,4 @@ +[develop] +script_dir=$base/lib/bitbots_team_communication +[install] +install_scripts=$base/lib/bitbots_team_communication diff --git a/humanoid_league_misc/humanoid_league_team_communication/setup.py b/bitbots_team_communication/setup.py similarity index 82% rename from humanoid_league_misc/humanoid_league_team_communication/setup.py rename to bitbots_team_communication/setup.py index c32cdd8ae..c7defe03d 100644 --- a/humanoid_league_misc/humanoid_league_team_communication/setup.py +++ b/bitbots_team_communication/setup.py @@ -1,6 +1,6 @@ from setuptools import find_packages, setup -package_name = "humanoid_league_team_communication" +package_name = "bitbots_team_communication" setup( name=package_name, diff --git a/humanoid_league_misc/humanoid_league_team_communication/test/__init__.py b/bitbots_team_communication/test/__init__.py similarity index 100% rename from humanoid_league_misc/humanoid_league_team_communication/test/__init__.py rename to bitbots_team_communication/test/__init__.py diff --git a/humanoid_league_misc/humanoid_league_team_communication/test/converter/__snapshots__/test_message_to_team_data_converter.ambr b/bitbots_team_communication/test/converter/__snapshots__/test_message_to_team_data_converter.ambr similarity index 100% rename from humanoid_league_misc/humanoid_league_team_communication/test/converter/__snapshots__/test_message_to_team_data_converter.ambr rename to bitbots_team_communication/test/converter/__snapshots__/test_message_to_team_data_converter.ambr diff --git a/humanoid_league_misc/humanoid_league_team_communication/test/converter/__snapshots__/test_robocup_protocol_converter.ambr b/bitbots_team_communication/test/converter/__snapshots__/test_robocup_protocol_converter.ambr similarity index 100% rename from humanoid_league_misc/humanoid_league_team_communication/test/converter/__snapshots__/test_robocup_protocol_converter.ambr rename to bitbots_team_communication/test/converter/__snapshots__/test_robocup_protocol_converter.ambr diff --git a/humanoid_league_misc/humanoid_league_team_communication/test/converter/__snapshots__/test_state_to_message_converter.ambr b/bitbots_team_communication/test/converter/__snapshots__/test_state_to_message_converter.ambr similarity index 100% rename from humanoid_league_misc/humanoid_league_team_communication/test/converter/__snapshots__/test_state_to_message_converter.ambr rename to bitbots_team_communication/test/converter/__snapshots__/test_state_to_message_converter.ambr diff --git a/humanoid_league_misc/humanoid_league_team_communication/test/converter/test_message_to_team_data_converter.py b/bitbots_team_communication/test/converter/test_message_to_team_data_converter.py similarity index 94% rename from humanoid_league_misc/humanoid_league_team_communication/test/converter/test_message_to_team_data_converter.py rename to bitbots_team_communication/test/converter/test_message_to_team_data_converter.py index 83ef9a82e..e98bedd7c 100644 --- a/humanoid_league_misc/humanoid_league_team_communication/test/converter/test_message_to_team_data_converter.py +++ b/bitbots_team_communication/test/converter/test_message_to_team_data_converter.py @@ -1,9 +1,9 @@ -import humanoid_league_team_communication.robocup_extension_pb2 as Proto # noqa: N812 import pytest -from humanoid_league_team_communication.converter.robocup_protocol_converter import RobocupProtocolConverter, TeamColor from std_msgs.msg import Header +import bitbots_team_communication.robocup_extension_pb2 as Proto # noqa: N812 from bitbots_msgs.msg import RobotRelative, Strategy, TeamData +from bitbots_team_communication.converter.robocup_protocol_converter import RobocupProtocolConverter, TeamColor own_team_id = 1 own_team_color = TeamColor(own_team_id) diff --git a/humanoid_league_misc/humanoid_league_team_communication/test/converter/test_robocup_protocol_converter.py b/bitbots_team_communication/test/converter/test_robocup_protocol_converter.py similarity index 79% rename from humanoid_league_misc/humanoid_league_team_communication/test/converter/test_robocup_protocol_converter.py rename to bitbots_team_communication/test/converter/test_robocup_protocol_converter.py index 0734ddec6..b71aa41d6 100644 --- a/humanoid_league_misc/humanoid_league_team_communication/test/converter/test_robocup_protocol_converter.py +++ b/bitbots_team_communication/test/converter/test_robocup_protocol_converter.py @@ -1,10 +1,11 @@ from unittest.mock import MagicMock -import humanoid_league_team_communication.robocup_extension_pb2 as Proto # noqa: N812 import pytest -from humanoid_league_team_communication.converter.robocup_protocol_converter import RobocupProtocolConverter, TeamColor from soccer_vision_attribute_msgs.msg import Robot as RobotAttributes +import bitbots_team_communication.robocup_extension_pb2 as Proto # noqa: N812 +from bitbots_team_communication.converter.robocup_protocol_converter import RobocupProtocolConverter, TeamColor + own_team_color = TeamColor.BLUE @@ -55,13 +56,9 @@ def protocol_converter() -> RobocupProtocolConverter: @pytest.fixture def to_message_mock(mocker) -> MagicMock: - return mocker.patch( - "humanoid_league_team_communication.converter.robocup_protocol_converter.StateToMessageConverter" - ) + return mocker.patch("bitbots_team_communication.converter.robocup_protocol_converter.StateToMessageConverter") @pytest.fixture def from_message_mock(mocker) -> MagicMock: - return mocker.patch( - "humanoid_league_team_communication.converter.robocup_protocol_converter.MessageToTeamDataConverter" - ) + return mocker.patch("bitbots_team_communication.converter.robocup_protocol_converter.MessageToTeamDataConverter") diff --git a/humanoid_league_misc/humanoid_league_team_communication/test/converter/test_state_to_message_converter.py b/bitbots_team_communication/test/converter/test_state_to_message_converter.py similarity index 97% rename from humanoid_league_misc/humanoid_league_team_communication/test/converter/test_state_to_message_converter.py rename to bitbots_team_communication/test/converter/test_state_to_message_converter.py index a768fa176..44d3b7ebd 100644 --- a/humanoid_league_misc/humanoid_league_team_communication/test/converter/test_state_to_message_converter.py +++ b/bitbots_team_communication/test/converter/test_state_to_message_converter.py @@ -1,6 +1,5 @@ from unittest.mock import Mock -import humanoid_league_team_communication.robocup_extension_pb2 as Proto # noqa: N812 import numpy import pytest from game_controller_hl_interfaces.msg import GameState @@ -15,15 +14,16 @@ Twist, Vector3, ) -from humanoid_league_team_communication.converter.robocup_protocol_converter import RobocupProtocolConverter, TeamColor -from humanoid_league_team_communication.humanoid_league_team_communication import HumanoidLeagueTeamCommunication from rclpy.time import Time from soccer_vision_3d_msgs.msg import Robot, RobotArray from soccer_vision_attribute_msgs.msg import Confidence from soccer_vision_attribute_msgs.msg import Robot as RobotAttributes from std_msgs.msg import Header +import bitbots_team_communication.robocup_extension_pb2 as Proto # noqa: N812 from bitbots_msgs.msg import Strategy +from bitbots_team_communication.bitbots_team_communication import HumanoidLeagueTeamCommunication +from bitbots_team_communication.converter.robocup_protocol_converter import RobocupProtocolConverter, TeamColor own_team_id = 1 own_team_color = TeamColor(own_team_id) diff --git a/bitbots_wolfgang/wolfgang_robocup_api/scripts/start.sh b/bitbots_wolfgang/wolfgang_robocup_api/scripts/start.sh index d98029caa..4a2d9ba05 100755 --- a/bitbots_wolfgang/wolfgang_robocup_api/scripts/start.sh +++ b/bitbots_wolfgang/wolfgang_robocup_api/scripts/start.sh @@ -59,10 +59,10 @@ if [[ ! -d "$UTILS_DIR" ]]; then exit 2 fi -TEAM_COMM_DIR=$COLCON_PREFIX_PATH/humanoid_league_team_communication/share/humanoid_league_team_communication +TEAM_COMM_DIR=$COLCON_PREFIX_PATH/bitbots_team_communication/share/bitbots_team_communication if [[ ! -d "$TEAM_COMM_DIR" ]]; then - echo "Could not find humanoid_league_team_communication!" + echo "Could not find bitbots_team_communication!" exit 2 fi diff --git a/humanoid_league_misc/humanoid_league_team_communication/.gitignore b/humanoid_league_misc/humanoid_league_team_communication/.gitignore deleted file mode 100644 index c1da6f902..000000000 --- a/humanoid_league_misc/humanoid_league_team_communication/.gitignore +++ /dev/null @@ -1 +0,0 @@ -humanoid_league_team_communication/robocup_extension_pb2.py diff --git a/humanoid_league_misc/humanoid_league_team_communication/launch/team_comm_test_marker.launch b/humanoid_league_misc/humanoid_league_team_communication/launch/team_comm_test_marker.launch deleted file mode 100644 index 34c76143b..000000000 --- a/humanoid_league_misc/humanoid_league_team_communication/launch/team_comm_test_marker.launch +++ /dev/null @@ -1,11 +0,0 @@ - - - - - - - - - - - diff --git a/humanoid_league_misc/humanoid_league_team_communication/scripts/team_comm.py b/humanoid_league_misc/humanoid_league_team_communication/scripts/team_comm.py deleted file mode 100755 index e926827a6..000000000 --- a/humanoid_league_misc/humanoid_league_team_communication/scripts/team_comm.py +++ /dev/null @@ -1,7 +0,0 @@ -#!/usr/bin/env python3 - -import sys - -from humanoid_league_team_communication.humanoid_league_team_communication import main - -sys.exit(main()) diff --git a/humanoid_league_misc/humanoid_league_team_communication/setup.cfg b/humanoid_league_misc/humanoid_league_team_communication/setup.cfg deleted file mode 100644 index aed8a1a75..000000000 --- a/humanoid_league_misc/humanoid_league_team_communication/setup.cfg +++ /dev/null @@ -1,4 +0,0 @@ -[develop] -script_dir=$base/lib/humanoid_league_team_communication -[install] -install_scripts=$base/lib/humanoid_league_team_communication diff --git a/sync_includes_wolfgang_nuc.yaml b/sync_includes_wolfgang_nuc.yaml index dbf330cbc..599fba0e4 100644 --- a/sync_includes_wolfgang_nuc.yaml +++ b/sync_includes_wolfgang_nuc.yaml @@ -32,6 +32,7 @@ include: - bitbots_localization - bitbots_localization_handler - bitbots_path_planning + - bitbots_team_communication - bitbots_vision - bitbots_wolfgang: - wolfgang_animations @@ -40,8 +41,6 @@ include: - bitbots_world_model: - bitbots_ball_filter - bitbots_robot_filter - - humanoid_league_misc: - - humanoid_league_team_communication - lib: - audio_common - bio_ik diff --git a/workspace.repos b/workspace.repos index 3eaa3fb13..4f1002572 100644 --- a/workspace.repos +++ b/workspace.repos @@ -1,5 +1,5 @@ repositories: - humanoid_league_misc/humanoid_league_team_communication/humanoid_league_team_communication/RobocupProtocol: + bitbots_team_communication/bitbots_team_communication/RobocupProtocol: type: git url: git@github.com:bit-bots/RobocupProtocol.git lib/dynamic_stack_decider: From 357d53c1b865e6c03a5fa4e3bc6b0c54b9c5f22c Mon Sep 17 00:00:00 2001 From: Florian Vahl <7vahl@informatik.uni-hamburg.de> Date: Wed, 31 Jan 2024 12:18:08 +0100 Subject: [PATCH 4/6] Rename main team comm file --- ...league_team_communication.py => bitbots_team_communication.py} | 0 1 file changed, 0 insertions(+), 0 deletions(-) rename bitbots_team_communication/bitbots_team_communication/{humanoid_league_team_communication.py => bitbots_team_communication.py} (100%) diff --git a/bitbots_team_communication/bitbots_team_communication/humanoid_league_team_communication.py b/bitbots_team_communication/bitbots_team_communication/bitbots_team_communication.py similarity index 100% rename from bitbots_team_communication/bitbots_team_communication/humanoid_league_team_communication.py rename to bitbots_team_communication/bitbots_team_communication/bitbots_team_communication.py From 1d18b878ee3b8693b913be8f2f81c13fc6173edf Mon Sep 17 00:00:00 2001 From: Florian Vahl <7vahl@informatik.uni-hamburg.de> Date: Wed, 31 Jan 2024 12:18:35 +0100 Subject: [PATCH 5/6] testing script fixes --- .../scripts/show_team_comm.py | 2 +- .../scripts/test_team_comm.py | 5 ++++- .../scripts/tmux_testing_setup.zsh | 13 ++++++------- 3 files changed, 11 insertions(+), 9 deletions(-) diff --git a/bitbots_team_communication/scripts/show_team_comm.py b/bitbots_team_communication/scripts/show_team_comm.py index 80c96c7d4..14e137f6b 100755 --- a/bitbots_team_communication/scripts/show_team_comm.py +++ b/bitbots_team_communication/scripts/show_team_comm.py @@ -105,7 +105,7 @@ def generate_string(self, data: TeamData): lines.append(f" y: {round(data.ball_absolute.pose.position.y, 3):<4}") lines.append(f" x_cov: {round(data.ball_absolute.covariance[0], 3):<4}") lines.append(f" y_cov: {round(data.ball_absolute.covariance[7], 3):<4}") - lines.append(f"Obstacles found: {len(data.obstacles.obstacles)}") + lines.append(f"Robots found: {len(data.robots.robots)}") lines.append("Strategy") lines.append(f" Role: {self.roles[data.strategy.role]:<9}") lines.append(f" Action: {self.actions[data.strategy.action]:<15}") diff --git a/bitbots_team_communication/scripts/test_team_comm.py b/bitbots_team_communication/scripts/test_team_comm.py index 53d37c014..d392b3309 100755 --- a/bitbots_team_communication/scripts/test_team_comm.py +++ b/bitbots_team_communication/scripts/test_team_comm.py @@ -7,6 +7,7 @@ import rclpy from game_controller_hl_interfaces.msg import GameState from geometry_msgs.msg import Point, Pose, PoseWithCovariance, PoseWithCovarianceStamped, Quaternion, TransformStamped +from rclpy.qos import QoSDurabilityPolicy, QoSProfile from soccer_vision_3d_msgs.msg import Robot, RobotArray from soccer_vision_attribute_msgs.msg import Robot as RobotAttributes from tf2_ros import StaticTransformBroadcaster @@ -51,7 +52,9 @@ def base_footprint_transform(): node = rclpy.create_node("test_team_comm") tf_static_broadcaster = StaticTransformBroadcaster(node) - gamestate_pub = node.create_publisher(GameState, "gamestate", 1) + gamestate_pub = node.create_publisher( + GameState, "gamestate", qos_profile=QoSProfile(depth=1, durability=QoSDurabilityPolicy.TRANSIENT_LOCAL) + ) strategy_pub = node.create_publisher(Strategy, "strategy", 1) ball_pub = node.create_publisher(PoseWithCovarianceStamped, "ball_position_relative_filtered", 1) position_pub = node.create_publisher(PoseWithCovarianceStamped, "pose_with_covariance", 1) diff --git a/bitbots_team_communication/scripts/tmux_testing_setup.zsh b/bitbots_team_communication/scripts/tmux_testing_setup.zsh index dd6cf059e..877e939c8 100755 --- a/bitbots_team_communication/scripts/tmux_testing_setup.zsh +++ b/bitbots_team_communication/scripts/tmux_testing_setup.zsh @@ -10,18 +10,16 @@ run_tmux_session() { tmux new-session -d -s "$session" # window/pane setup - tmux rename-window -t "$session:1" "Launch" - tmux new-window -t "$session:2" -n "Test" + tmux rename-window -t "$session:0" "Launch" + tmux new-window -t "$session:1" -n "Test" tmux split-window -h - tmux new-window -t "$session:3" -n "Base" # run required launch files in order - tmux send-keys -t "$session:Base" "rl bitbots_utils base.launch" Enter - tmux send-keys -t "$session:Launch" "rl bitbots_team_communication team_comm.launch" Enter + tmux send-keys -t "$session:Launch" "rl bitbots_team_communication team_comm_standalone.launch" Enter # start test publisher/subscriber - tmux send-keys -t "$session:Test.top" "rr bitbots_team_communication test_team_comm.py" Enter - tmux send-keys -t "$session:Test.bottom" "rr bitbots_team_communication show_team_comm.py" Enter + tmux send-keys -t "$session:Test.left" "rr bitbots_team_communication test_team_comm.py" Enter + tmux send-keys -t "$session:Test.right" "rr bitbots_team_communication show_team_comm.py" Enter fi tmux attach-session -t "$session:Test" @@ -35,4 +33,5 @@ trap kill_session INT cd "$COLCON_WS" colcon build --symlink-install --packages-up-to "$pkg" +source install/setup.zsh run_tmux_session From 2b4847084441292d9e40fdcfd88be924d40e4e57 Mon Sep 17 00:00:00 2001 From: Florian Vahl <7vahl@informatik.uni-hamburg.de> Date: Wed, 31 Jan 2024 12:20:03 +0100 Subject: [PATCH 6/6] Rename main class --- .../bitbots_team_communication/bitbots_team_communication.py | 4 ++-- .../test/converter/test_state_to_message_converter.py | 4 ++-- 2 files changed, 4 insertions(+), 4 deletions(-) diff --git a/bitbots_team_communication/bitbots_team_communication/bitbots_team_communication.py b/bitbots_team_communication/bitbots_team_communication/bitbots_team_communication.py index d11bc16ab..8a185f89e 100755 --- a/bitbots_team_communication/bitbots_team_communication/bitbots_team_communication.py +++ b/bitbots_team_communication/bitbots_team_communication/bitbots_team_communication.py @@ -27,7 +27,7 @@ from bitbots_team_communication.converter.robocup_protocol_converter import RobocupProtocolConverter, TeamColor -class HumanoidLeagueTeamCommunication: +class TeamCommunication: def __init__(self): self._package_path = get_package_share_directory("bitbots_team_communication") self.node = Node("team_comm", automatically_declare_parameters_from_overrides=True) @@ -240,7 +240,7 @@ def get_current_time(self) -> Time: def main(): rclpy.init(args=None) - HumanoidLeagueTeamCommunication() + TeamCommunication() if __name__ == "__main__": diff --git a/bitbots_team_communication/test/converter/test_state_to_message_converter.py b/bitbots_team_communication/test/converter/test_state_to_message_converter.py index 44d3b7ebd..5fd888a4d 100644 --- a/bitbots_team_communication/test/converter/test_state_to_message_converter.py +++ b/bitbots_team_communication/test/converter/test_state_to_message_converter.py @@ -22,7 +22,7 @@ import bitbots_team_communication.robocup_extension_pb2 as Proto # noqa: N812 from bitbots_msgs.msg import Strategy -from bitbots_team_communication.bitbots_team_communication import HumanoidLeagueTeamCommunication +from bitbots_team_communication.bitbots_team_communication import TeamCommunication from bitbots_team_communication.converter.robocup_protocol_converter import RobocupProtocolConverter, TeamColor own_team_id = 1 @@ -305,7 +305,7 @@ def state_with_gamestate(state): @pytest.fixture def state(): - state = Mock(HumanoidLeagueTeamCommunication) + state = Mock(TeamCommunication) state.player_id = 2 state.team_id = own_team_id state.gamestate = None