Merge pull request #2217 from drcbot/mfallon-relabel-director

relabel designer and ddapp to be called director >> I think the .pmd files need ddConsoleApp --> director ... I just fixed this, merging.
openhumanoids · Nov 18, 2015 · d4e1f3a · d4e1f3a
2 parents 51093b0 + 05880d0
commit d4e1f3a
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Showing 31 changed files with 71 additions and 71 deletions.
diff --git a/.gitmodules b/.gitmodules
@@ -5,7 +5,7 @@
 	path = software/pronto
 	url = [email protected]:openhumanoids/pronto.git
 [submodule "software/ddapp"]
-	path = software/ddapp
+	path = software/director
 	url = [email protected]:RobotLocomotion/director.git
 [submodule "software/motion_estimate/signal-scope"]
 	path = software/motion_estimate/signal-scope

diff --git a/catkin_ws/src/drc_translators/src/lcm2ros_ihmc.cpp b/catkin_ws/src/drc_translators/src/lcm2ros_ihmc.cpp
@@ -141,10 +141,10 @@ LCM2ROS::LCM2ROS(boost::shared_ptr<lcm::LCM> &lcm_in, ros::NodeHandle &nh_in, st
                                                                      10);
 
   lcm_->subscribe("VAL_COMMAND_PAUSE", &LCM2ROS::pauseHandler, this);
-  lcm_->subscribe("STOP_WALKING", &LCM2ROS::stopHandler, this);  // from drake-designer
+  lcm_->subscribe("STOP_WALKING", &LCM2ROS::stopHandler, this);  // from Director
   pause_pub_ = nh_.advertise<ihmc_msgs::PauseCommandMessage>("/ihmc_ros/" + robotName_ + "/control/pause_footstep_exec",
                                                              10);
-  lcm_->subscribe("COMMITTED_PLAN_PAUSE", &LCM2ROS::stopManipHandler, this);  // from ddapp to stop manipulation plans
+  lcm_->subscribe("COMMITTED_PLAN_PAUSE", &LCM2ROS::stopManipHandler, this);  // from Director to stop manipulation plans
   stop_manip_pub_ = nh_.advertise<ihmc_msgs::StopMotionPacketMessage>(
       "/ihmc_ros/" + robotName_ + "/control/stop_motion", 10);
 
@@ -342,7 +342,7 @@ void LCM2ROS::pauseHandler(const lcm::ReceiveBuffer* rbuf, const std::string &ch
 
 void LCM2ROS::stopHandler(const lcm::ReceiveBuffer* rbuf, const std::string &channel, const drc::plan_control_t* msg)
 {
-  ROS_ERROR("LCM2ROS got drake-designer - sending pause=true");
+  ROS_ERROR("LCM2ROS got STOP_WALKING - sending pause=true");
   ihmc_msgs::PauseCommandMessage mout;
   mout.pause = true;
   pause_pub_.publish(mout);
@@ -351,7 +351,7 @@ void LCM2ROS::stopHandler(const lcm::ReceiveBuffer* rbuf, const std::string &cha
 void LCM2ROS::stopManipHandler(const lcm::ReceiveBuffer* rbuf, const std::string &channel,
                                const drc::plan_control_t* msg)
 {
-  ROS_ERROR("LCM2ROS got drake-designer - sending manipulate stop");
+  ROS_ERROR("LCM2ROS got COMMITTED_PLAN_PAUSE - sending manipulate stop");
   ihmc_msgs::StopMotionPacketMessage mout;
   mout.unique_id = msg->utime;
   stop_manip_pub_.publish(mout);

diff --git a/catkin_ws/src/drc_translators/src/ros2lcm_ihmc.cpp b/catkin_ws/src/drc_translators/src/ros2lcm_ihmc.cpp
@@ -304,10 +304,10 @@ void App::behaviorCallback(const std_msgs::Int32ConstPtr& msg)
   // IHMC publish: 3 when standing or manipulating, 4 when walking (as atlas_behavior_t)
   // BDI publishs: 3 stand, 4 walk, 5 step, 6 manip (as atlas_behavior_t)
   // MIT publish: 1 stand, 2 walk, 8 mani  (as plan_status_t)
-  // We (i.e. ddapp) need either:
+  // We (i.e. the Direct) need either:
   // - drc.atlas_behavior_t which comes from BDI typically) - and matches with IHMC output
   // - drc.plan_status_t which comes from MIT controller typically) - typically atlas_behavior_t is 'user' than
-  // ddapp requires plan_status_t messages for autonomy. (pronto uses controller_status_t to contact ground points)
+  // Director requires plan_status_t messages for autonomy. (pronto uses controller_status_t to contact ground points)
   bool behaviorMode = 0;
 
   if (behaviorMode == 0)

diff --git a/ipab-distro/bootstrap.sh b/ipab-distro/bootstrap.sh
@@ -11,7 +11,7 @@ cd drc
 git remote add sandbox [email protected]:drcbot/main-distro.git
 git fetch sandbox
 
-cd software/ddapp
+cd software/director
 git remote add sandbox [email protected]:openhumanoids/director.git
 git fetch sandbox
 
@@ -20,4 +20,4 @@ echo "alias init_drc='source ~/ipab-distro/drc/software/config/drc_environment.s
 
 mkdir -p ~/Documents/MATLAB
 touch ~/Documents/MATLAB/startup.m
-echo "run([getenv('DRC_BASE'), '/software/build/config/drc_control_setup.m'])" >> ~/Documents/MATLAB/startup.m # TODO check whether already there
+echo "run([getenv('DRC_BASE'), '/software/build/config/drc_control_setup.m'])" >> ~/Documents/MATLAB/startup.m # TODO check whether already there
diff --git a/ipab-distro/tests/systemtests/src/exoticaLWR/kuka_lwr_exotica.pmd b/ipab-distro/tests/systemtests/src/exoticaLWR/kuka_lwr_exotica.pmd
@@ -22,14 +22,14 @@ group "4.exotica" {
     }
 }
 
-cmd "drake-designer" {
-    exec = "drake-designer -lwr -exo -c $DRC_BASE/software/config/kuka_lwr.cfg --startup $DRC_BASE/../tests/systemtests/src/exoticaLWR/test.py";
+cmd "director" {
+    exec = "director -lwr -exo -c $DRC_BASE/software/config/kuka_lwr.cfg --startup $DRC_BASE/../tests/systemtests/src/exoticaLWR/test.py";
     host = "localhost";
 }
 
 script "start" {
     start group "0.params_and_model_pub";
     start cmd "exotica_json AICO" wait "running";
     wait ms 1000;
-    start cmd "drake-designer" wait "stopped";
+    start cmd "director" wait "stopped";
 }
diff --git a/ipab-distro/tests/systemtests/src/exoticaLWR/test.py b/ipab-distro/tests/systemtests/src/exoticaLWR/test.py
@@ -1,4 +1,4 @@
-from ddapp import transformUtils
+from director import transformUtils
 import numpy
 
 if ikPlanner.pushToMatlab==True:

diff --git a/ipab-distro/tests/systemtests/src/generic_test.bash b/ipab-distro/tests/systemtests/src/generic_test.bash
@@ -14,7 +14,7 @@ sleep 1
 $DRC_BASE/software/ipab/config/runscs.bash &
 # Get the bash pid.
 pidscs=$!
-ddapp=0
+director=0
 sleep 1
 pid="$(ps --ppid $pidscs | grep java | awk '{print $1;}')"
 
@@ -27,7 +27,7 @@ while [ $T -gt 0 ]; do
 	        kill $pidcore > /dev/null 2>&1
 		exit 1
 	fi
-        if [[ $ddapp -eq 1 ]]; then
+        if [[ $director -eq 1 ]]; then
 		# When sheriff stops, check the status value
 		if ! kill -0 $pidsh > /dev/null 2>&1; then
 			if [[ "$(cat $SYSTEMTEST_RESULT_FILE)" -eq 0 ]]; then
@@ -47,12 +47,12 @@ while [ $T -gt 0 ]; do
 	else
 		if [ "$(rostopic info /ihmc_ros/valkyrie/api_command | grep Subscribers)" == "Subscribers: " ] ; then
 			# SCS is running now, send commands.
-			echo "SCS is ready, starting Drake Designer"
+			echo "SCS is ready, starting Director"
 			pid="$(ps --ppid $pidscs | grep java | awk '{print $1;}')"
 			bot-procman-sheriff -l -n $PROCMAN_SCRIPT start &
 			# Get the sheriff's pid.
 			pidsh=$!
-			ddapp=1
+			director=1
 		else
 			echo "Waiting for SCS to start ..."
 		fi

diff --git a/ipab-distro/tests/systemtests/src/valWalk/v2.pmd b/ipab-distro/tests/systemtests/src/valWalk/v2.pmd
@@ -60,8 +60,8 @@ group "4.maps" {
     }
 }
 
-cmd "drake-designer" {
-    exec = "drake-designer -c $DRC_BASE/software/config/simul_robot_ihmc.cfg -val2 --startup $DRC_BASE/../tests/systemtests/src/valWalk/test.py";
+cmd "director" {
+    exec = "director -c $DRC_BASE/software/config/simul_robot_ihmc.cfg -val2 --startup $DRC_BASE/../tests/systemtests/src/valWalk/test.py";
     host = "localhost";
 }
 
@@ -72,6 +72,6 @@ script "start" {
     start group "2.state_without_pronto";
     start group "3.plan_and_control";
     start group "4.maps";
-    start cmd "drake-designer" wait "stopped";
+    start cmd "director" wait "stopped";
 }
 
diff --git a/software/config/atlas/robot.pmd b/software/config/atlas/robot.pmd
@@ -172,22 +172,22 @@ group "09.BDI_walking" {
 
 group "10.Driving" {
     cmd "Streaming Robot Side" {
-        exec = "DISPLAY=:0 ddConsoleApp $DRC_BASE/software/ddapp/src/python/tests/testAtlasCommand.py --robot";
+        exec = "DISPLAY=:0 directorPython $DRC_BASE/software/director/src/python/tests/testAtlasCommand.py --robot";
         host = "atlas2";
     }
 
     cmd "Streaming Robot Side with Driving Gains" {
-        exec = "DISPLAY=:0 ddConsoleApp $DRC_BASE/software/ddapp/src/python/tests/testAtlasCommand.py --robotDrivingGains";
+        exec = "DISPLAY=:0 directorPython $DRC_BASE/software/director/src/python/tests/testAtlasCommand.py --robotDrivingGains";
         host = "atlas2";
     }
 
     cmd "Streaming Base Side" {
-        exec = "ddConsoleApp $DRC_BASE/software/ddapp/src/python/tests/testAtlasCommand.py --base";
+        exec = "directorPython $DRC_BASE/software/director/src/python/tests/testAtlasCommand.py --base";
         host = "base";
     }
 
     cmd "Throttle Driver" {
-        exec = "ddConsoleApp $DRC_BASE/software/ddapp/src/python/ddapp/triggerfinger.py THROTTLE_COMMAND ";
+        exec = "directorPython $DRC_BASE/software/director/src/python/director/triggerfinger.py THROTTLE_COMMAND ";
         host = "base";
     }
 
@@ -205,7 +205,7 @@ group "10.Driving" {
 
 group "11.Video" {
     cmd "Camera Viewer" {
-        exec = "ddConsoleApp $DRC_BASE/software/ddapp/src/python/scripts/cameraViewer.py";
+        exec = "directorPython $DRC_BASE/software/director/src/python/scripts/cameraViewer.py";
         host = "base";
     }
 
@@ -236,7 +236,7 @@ cmd "pose-util" {
 }
 
 cmd "atlas control panel" {
-    exec = "ddConsoleApp $DRC_BASE/software/ddapp/src/python/scripts/atlasControlPanel.py";
+    exec = "directorPython $DRC_BASE/software/director/src/python/scripts/atlasControlPanel.py";
     host = "base";
 }
 

diff --git a/software/config/atlas_sim_mit/robot_v3.pmd b/software/config/atlas_sim_mit/robot_v3.pmd
@@ -73,7 +73,7 @@ cmd "pose-util" {
 }
 
 cmd "director" {
-    exec = "drake-designer -c robot.cfg -v3";
+    exec = "director -c robot.cfg -v3";
     host = "base";
 }
 

diff --git a/software/config/atlas_sim_mit/robot_v4.pmd b/software/config/atlas_sim_mit/robot_v4.pmd
@@ -82,7 +82,7 @@ cmd "pose-util" {
 }
 
 cmd "director" {
-    exec = "drake-designer -c robot.cfg -v4";
+    exec = "director -c robot.cfg -v4";
     host = "base";
 }
 

diff --git a/software/config/atlas_sim_mit/robot_v4_network_split.pmd b/software/config/atlas_sim_mit/robot_v4_network_split.pmd
@@ -143,12 +143,12 @@ cmd "pose-util" {
 }
 
 cmd "director" {
-    exec = "drake-designer -c robot.cfg -v4";
+    exec = "director -c robot.cfg -v4";
     host = "base";
 }
 
 cmd "robot-side-director" {
-    exec = "drake-designer -c robot.cfg -v4";
+    exec = "director -c robot.cfg -v4";
     host = "atlas0";
 }
 

diff --git a/software/config/atlas_sim_mit/robot_v5.pmd b/software/config/atlas_sim_mit/robot_v5.pmd
@@ -99,7 +99,7 @@ cmd "pose-util" {
 }
 
 cmd "director" {
-    exec = "drake-designer -c robot.cfg -v5";
+    exec = "director -c robot.cfg -v5";
     host = "base";
 }
 

diff --git a/software/config/atlas_sim_scs/robot.pmd b/software/config/atlas_sim_scs/robot.pmd
@@ -90,8 +90,8 @@ group "4.maps" {
 }
 
 
-cmd "drake-designer" {
-    exec = "drake-designer -c $DRC_BASE/software/config/atlas_sim_scs/robot.cfg -v5";
+cmd "director" {
+    exec = "director -c $DRC_BASE/software/config/atlas_sim_scs/robot.cfg -v5";
     host = "localhost";
 }
 
@@ -108,7 +108,7 @@ script "start_ui" {
     start group "2.state_without_pronto";
     start group "3.plan_and_control";
     start group "4.maps";
-    start cmd "drake-designer";
+    start cmd "director";
 }
 
 script "start_ui_with_pronto" {
@@ -118,6 +118,6 @@ script "start_ui_with_pronto" {
     start group "2.state_with_pronto";
     start group "3.plan_and_control";
     start group "4.maps";
-    start cmd "drake-designer";
+    start cmd "director";
 }
 
diff --git a/software/config/husky/robot.pmd b/software/config/husky/robot.pmd
@@ -29,8 +29,8 @@ group "2.vis" {
     }
 
 
-    cmd "designer" {
-        exec = "drake-designer -c $DRC_BASE/software/config/husky/robot.cfg";
+    cmd "director" {
+        exec = "director -c $DRC_BASE/software/config/husky/robot.cfg";
         host = "localhost";
     }
 }

diff --git a/software/config/husky/standalone_multisense.pmd b/software/config/husky/standalone_multisense.pmd
@@ -29,8 +29,8 @@ group "2.vis" {
     }
 
 
-    cmd "designer" {
-        exec = "drake-designer -c $DRC_BASE/software/config/husky/robot.cfg";
+    cmd "director" {
+        exec = "director -c $DRC_BASE/software/config/husky/robot.cfg";
         host = "localhost";
     }
 }

diff --git a/software/config/irb140/simul_irb140.pmd b/software/config/irb140/simul_irb140.pmd
@@ -1,5 +1,5 @@
 cmd "director" {
-    exec = "drake-designer --director_config $DRC_BASE/software/models/IRB140/director_config.json";
+    exec = "director --director_config $DRC_BASE/software/models/IRB140/director_config.json";
     host = "base";
 }
 

diff --git a/software/config/kuka_lwr/robot.pmd b/software/config/kuka_lwr/robot.pmd
@@ -64,8 +64,8 @@ group "4.mapping" {
     }
 }
 
-cmd "drake-designer" {
-    exec = "drake-designer -lwr -c $DRC_BASE/software/config/kuka_lwr.cfg";
+cmd "director" {
+    exec = "director -lwr -c $DRC_BASE/software/config/kuka_lwr.cfg";
     host = "localhost";
 }
 
@@ -77,5 +77,5 @@ script "start" {
     wait ms 1000;
     start group "1.state";
     start group "2.sensors";
-    start cmd "drake-designer";
+    start cmd "director";
 }
diff --git a/software/config/kuka_lwr/robot_exotica.pmd b/software/config/kuka_lwr/robot_exotica.pmd
@@ -74,8 +74,8 @@ group "4.exotica" {
     }
 }
 
-cmd "drake-designer" {
-    exec = "drake-designer -lwr -exo -c $DRC_BASE/software/config/kuka_lwr.cfg";
+cmd "director" {
+    exec = "director -lwr -exo -c $DRC_BASE/software/config/kuka_lwr.cfg";
     host = "localhost";
 }
 
@@ -89,5 +89,5 @@ script "start" {
     start group "0.params_and_model_pub";
     start cmd "exotica_json AICO";
     wait ms 1000;
-    start cmd "drake-designer";
+    start cmd "director";
 }
diff --git a/software/config/subsystems/multisense/multisense_standalone.pmd b/software/config/subsystems/multisense/multisense_standalone.pmd
@@ -26,8 +26,8 @@ cmd "microstrain_from_sudo" {
     host = "localhost";
 }
 
-cmd "drake-designer" {
-    exec = "drake-designer";
+cmd "director" {
+    exec = "director";
     host = "localhost";
 }
 

diff --git a/software/config/subsystems/state_estimation/state-estimation-testing.pmd b/software/config/subsystems/state_estimation/state-estimation-testing.pmd
@@ -34,7 +34,7 @@ cmd "viewer" {
 }
 
 
-cmd "designer" {
-    exec = "drake-designer -v4 -c $DRC_BASE/software/config/drc_robot.cfg";
+cmd "director" {
+    exec = "director -v4 -c $DRC_BASE/software/config/drc_robot.cfg";
     host = "localhost";
 }
diff --git a/software/config/val_sim_scs/robot.pmd b/software/config/val_sim_scs/robot.pmd
@@ -90,8 +90,8 @@ group "4.maps" {
 }
 
 
-cmd "drake-designer" {
-    exec = "drake-designer -c $DRC_BASE/software/config/val_sim_scs/robot.cfg -val2";
+cmd "director" {
+    exec = "director -c $DRC_BASE/software/config/val_sim_scs/robot.cfg -val2";
     host = "localhost";
 }
 
@@ -114,7 +114,7 @@ script "start_ui" {
     start group "2.state_without_pronto";
     start group "3.plan_and_control";
     start group "4.maps";
-    start cmd "drake-designer";
+    start cmd "director";
 }
 
 script "start_ui_with_pronto" {
@@ -124,7 +124,7 @@ script "start_ui_with_pronto" {
     start group "2.state_with_pronto";
     start group "3.plan_and_control";
     start group "4.maps";
-    start cmd "drake-designer";
+    start cmd "director";
 }
 
 script "start_ui_with_scs" {

diff --git a/software/config/video_capture.pmd b/software/config/video_capture.pmd
@@ -10,7 +10,7 @@ group "start" {
     }
 
     cmd "server" {
-        exec = "bash -c 'LCM_DEFAULT_URL=udpm://239.255.76.50:7650?ttl=0 python $HOME/drc/software/ddapp/src/python/scripts/videoLogServer.py $HOME/logs/video-logs'";
+        exec = "bash -c 'LCM_DEFAULT_URL=udpm://239.255.76.50:7650?ttl=0 python $HOME/drc/software/director/src/python/scripts/videoLogServer.py $HOME/logs/video-logs'";
         host = "localhost";
     }
 }

diff --git a/software/control/matlab/planners/collision_free_solver/exploringRRT.m b/software/control/matlab/planners/collision_free_solver/exploringRRT.m
@@ -31,7 +31,7 @@
     r = options.robot;
   end
 
-  addpath(fullfile(getDrakePath(), '../../', 'ddapp/src/matlab') )
+  addpath(fullfile(getDrakePath(), '../../', 'director/src/matlab') )
   fixed_point_file = [getDrakePath(), '/../../control/matlab/data/val_description/valkyrie_fp_june2015.mat'];
   left_foot_link = 'LeftFoot';
   right_foot_link = 'RightFoot';

diff --git a/software/ddapp b/software/ddapp
diff --git a/software/director b/software/director