diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
index 44918bd934..6318af683a 100644
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@@ -29,13 +29,16 @@ jobs:
run: git config --global --add safe.directory /__w/bitbots_main/bitbots_main
- name: Set up workspace
- uses: prefix-dev/setup-pixi@v0.9.5
+ uses: prefix-dev/setup-pixi@v0.9.6
with:
- pixi-version: v0.63.1
+ pixi-version: v0.69.0
cache: true
- name: Build
run: pixi run -e default build
+ - name: Start ZenohD
+ run: ros2 run rmw_zenoh_cpp rmw_zenohd &
+
- name: Test
- run: pixi run -e default test --parallel-workers 1
+ run: pixi run -e default test
diff --git a/.github/workflows/pre-commit.yml b/.github/workflows/pre-commit.yml
index 9fb0b808f8..62a8bc6796 100644
--- a/.github/workflows/pre-commit.yml
+++ b/.github/workflows/pre-commit.yml
@@ -11,9 +11,9 @@ jobs:
uses: actions/checkout@v6
- name: Set up workspace
- uses: prefix-dev/setup-pixi@v0.9.5
+ uses: prefix-dev/setup-pixi@v0.9.6
with:
- pixi-version: v0.59.0
+ pixi-version: v0.69.0
cache: true
environments: format
diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
index 46108b0cc7..2185ba4512 100644
--- a/.pre-commit-config.yaml
+++ b/.pre-commit-config.yaml
@@ -12,7 +12,10 @@ repos:
args:
- "--fix"
- "--exit-non-zero-on-fix"
+ - "--show-fixes"
- id: ruff-format
+ args:
+ - "--diff"
- repo: https://github.com/pocc/pre-commit-hooks
rev: v1.3.5
hooks:
diff --git a/.rsyncignore b/.rsyncignore
index 57845cd46d..76edf725ea 100644
--- a/.rsyncignore
+++ b/.rsyncignore
@@ -22,5 +22,4 @@ src/bitbots_misc/bitbots_parameter_blackboard/config/game_settings.yaml
__pycache__
# Don't sync the simulation environments
-src/bitbots_simulation/bitbots_webots_sim/
src/bitbots_simulation/bitbots_mujoco_sim/
diff --git a/.vscode/settings.json b/.vscode/settings.json
index 63e3f776a5..8ceee9d016 100644
--- a/.vscode/settings.json
+++ b/.vscode/settings.json
@@ -7,10 +7,10 @@
"ansible",
"antiwindup",
"autoconnect",
- "basler",
"bitbot",
"bitbots",
"bringup",
+ "buildtool",
"cartesian",
"coef",
"colcon",
@@ -28,7 +28,6 @@
"dsize",
"dtype",
"dynamixel",
- "dynup",
"euler",
"externproto",
"fetchrobotics",
@@ -41,6 +40,7 @@
"gaussian",
"goalkick",
"hexsha",
+ "highlevel",
"hlvs",
"holonomic",
"hostnames",
@@ -52,6 +52,7 @@
"isort",
"joern",
"jupyter",
+ "kalliope",
"kalman",
"Leph",
"linalg",
@@ -60,19 +61,23 @@
"mmse",
"moveit",
"msgify",
+ "mujoco",
"mutex",
+ "mypy",
"nanosec",
"ndarray",
"neff",
"nmcli",
"numpify",
"numpy",
+ "nvidia",
"odom",
"odometry",
"particlefilter",
"pathfinding",
"penaltykick",
"penaltyshoot",
+ "piplus",
"playsound",
"pointcloud",
"pointclouds",
@@ -108,6 +113,8 @@
"srdf",
"ssid",
"std_srvs",
+ "subrepo",
+ "teamcom",
"teamcomm",
"teamplayer",
"teleop",
@@ -129,13 +136,13 @@
"xacro",
"yoeo",
"yolo",
- "yolov"
+ "yolov",
+ "zenoh"
],
"files.autoSave": "afterDelay",
"files.autoSaveDelay": 500,
"files.insertFinalNewline": true,
"python.analysis.typeCheckingMode": "off",
- "esbonio.sphinx.confDir": "",
"files.associations": {
"cctype": "cpp",
"clocale": "cpp",
@@ -226,16 +233,11 @@
"python.autoComplete.extraPaths": [
"build/system_monitor",
"install/system_monitor/lib/python3.12/site-packages",
- "build/bitbots_robocup_api",
- "install/bitbots_robocup_api/lib/python3.12/site-packages",
- "install/bitbots_pybullet_sim/lib/python3.12/site-packages",
- "install/bitbots_webots_sim/lib/python3.12/site-packages",
"build/bitbots_vision",
"install/bitbots_vision/lib/python3.12/site-packages",
"build/bitbots_team_data_sim_rqt",
"install/bitbots_team_data_sim_rqt/lib/python3.12/site-packages",
"install/bitbots_team_communication/lib/python3.12/site-packages",
- "install/bitbots_quintic_walk/lib/python3.12/site-packages",
"build/bitbots_localization_handler",
"install/bitbots_localization_handler/lib/python3.12/site-packages",
"install/bitbots_localization/lib/python3.12/site-packages",
@@ -243,8 +245,6 @@
"build/bitbots_animation_rqt",
"install/bitbots_animation_rqt/lib/python3.12/site-packages",
"install/bitbots_hcm/lib/python3.12/site-packages",
- "install/bitbots_dynup/lib/python3.12/site-packages",
- "install/bitbots_dynamic_kick/lib/python3.12/site-packages",
"build/bitbots_body_behavior",
"install/bitbots_body_behavior/lib/python3.12/site-packages",
"install/bitbots_blackboard/lib/python3.12/site-packages",
@@ -261,7 +261,6 @@
"build/bitbots_path_planning",
"install/bitbots_path_planning/lib/python3.12/site-packages",
"install/bitbots_msgs/lib/python3.12/site-packages",
- "install/bitbots_moveit_bindings/lib/python3.12/site-packages",
"build/bitbots_ball_filter",
"install/bitbots_ball_filter/lib/python3.12/site-packages",
".pixi/envs/default/lib/python/site-packages",
@@ -270,16 +269,11 @@
"python.analysis.extraPaths": [
"build/system_monitor",
"install/system_monitor/lib/python3.12/site-packages",
- "build/bitbots_robocup_api",
- "install/bitbots_robocup_api/lib/python3.12/site-packages",
- "install/bitbots_pybullet_sim/lib/python3.12/site-packages",
- "install/bitbots_webots_sim/lib/python3.12/site-packages",
"build/bitbots_vision",
"install/bitbots_vision/lib/python3.12/site-packages",
"build/bitbots_team_data_sim_rqt",
"install/bitbots_team_data_sim_rqt/lib/python3.12/site-packages",
"install/bitbots_team_communication/lib/python3.12/site-packages",
- "install/bitbots_quintic_walk/lib/python3.12/site-packages",
"build/bitbots_localization_handler",
"install/bitbots_localization_handler/lib/python3.12/site-packages",
"install/bitbots_localization/lib/python3.12/site-packages",
@@ -287,8 +281,6 @@
"build/bitbots_animation_rqt",
"install/bitbots_animation_rqt/lib/python3.12/site-packages",
"install/bitbots_hcm/lib/python3.12/site-packages",
- "install/bitbots_dynup/lib/python3.12/site-packages",
- "install/bitbots_dynamic_kick/lib/python3.12/site-packages",
"build/bitbots_body_behavior",
"install/bitbots_body_behavior/lib/python3.12/site-packages",
"install/bitbots_blackboard/lib/python3.12/site-packages",
@@ -305,7 +297,6 @@
"build/bitbots_path_planning",
"install/bitbots_path_planning/lib/python3.12/site-packages",
"install/bitbots_msgs/lib/python3.12/site-packages",
- "install/bitbots_moveit_bindings/lib/python3.12/site-packages",
"build/bitbots_ball_filter",
"install/bitbots_ball_filter/lib/python3.12/site-packages",
".pixi/envs/default/lib/python/site-packages",
@@ -314,7 +305,6 @@
"cmake.configureOnOpen": false,
"editor.formatOnSave": true,
"editor.defaultFormatter": "charliermarsh.ruff",
- "restructuredtext.pythonRecommendation.disabled": true,
"[xml]": {
"editor.defaultFormatter": "DotJoshJohnson.xml"
},
diff --git a/pixi.lock b/pixi.lock
index 43399dc8b0..a636e78166 100644
--- a/pixi.lock
+++ b/pixi.lock
@@ -1,4 +1,7 @@
-version: 6
+version: 7
+platforms:
+- name: linux-64
+- name: linux-aarch64
environments:
default:
channels:
@@ -7,41 +10,26 @@ environments:
- url: https://conda.anaconda.org/conda-forge/
indexes:
- https://pypi.org/simple
- options:
- pypi-prerelease-mode: if-necessary-or-explicit
packages:
linux-64:
- conda: https://conda.anaconda.org/conda-forge/linux-64/_openmp_mutex-4.5-20_gnu.conda
- - conda: https://conda.anaconda.org/conda-forge/noarch/absl-py-2.4.0-pyhd8ed1ab_0.conda
- conda: https://conda.anaconda.org/conda-forge/linux-64/adwaita-icon-theme-3.38.0-hbf89446_1.tar.bz2
- - conda: https://conda.anaconda.org/conda-forge/noarch/aiohappyeyeballs-2.6.2-pyhd8ed1ab_0.conda
- conda: https://conda.anaconda.org/conda-forge/linux-64/aiohttp-3.13.5-py312h5d8c7f2_0.conda
- - conda: https://conda.anaconda.org/conda-forge/noarch/aiosignal-1.4.0-pyhd8ed1ab_0.conda
- - conda: https://conda.anaconda.org/conda-forge/noarch/alabaster-1.0.0-pyhd8ed1ab_1.conda
- conda: https://conda.anaconda.org/conda-forge/linux-64/alsa-lib-1.2.15.3-hb03c661_0.conda
- conda: https://conda.anaconda.org/conda-forge/linux-64/alsa-plugins-1.2.12-h989ed37_2.conda
- conda: https://conda.anaconda.org/conda-forge/linux-64/aom-3.9.1-hac33072_0.conda
- - conda: https://conda.anaconda.org/conda-forge/noarch/argcomplete-3.6.3-pyhd8ed1ab_0.conda
- conda: https://conda.anaconda.org/conda-forge/linux-64/assimp-5.4.3-hecf2907_1.conda
- - conda: https://conda.anaconda.org/conda-forge/noarch/asttokens-3.0.1-pyhd8ed1ab_0.conda
- conda: https://conda.anaconda.org/conda-forge/linux-64/at-spi2-atk-2.38.0-h0630a04_3.tar.bz2
- conda: https://conda.anaconda.org/conda-forge/linux-64/at-spi2-core-2.40.3-h0630a04_0.tar.bz2
- conda: https://conda.anaconda.org/conda-forge/linux-64/atk-1.0-2.38.0-h04ea711_2.conda
- conda: https://conda.anaconda.org/conda-forge/linux-64/attr-2.5.2-hb03c661_1.conda
- - conda: https://conda.anaconda.org/conda-forge/noarch/attrs-26.1.0-pyhcf101f3_0.conda
- - conda: https://conda.anaconda.org/conda-forge/noarch/babel-2.18.0-pyhcf101f3_1.conda
- conda: https://conda.anaconda.org/conda-forge/linux-64/backports.zstd-1.5.0-py312h90b7ffd_0.conda
- conda: https://conda.anaconda.org/conda-forge/linux-64/bcrypt-5.0.0-py312h868fb18_1.conda
- - conda: https://conda.anaconda.org/conda-forge/noarch/beartype-0.22.9-pyhd8ed1ab_0.conda
- conda: https://conda.anaconda.org/conda-forge/linux-64/benchmark-1.9.5-hecca717_0.conda
- conda: https://conda.anaconda.org/conda-forge/linux-64/binutils-2.45.1-default_h4852527_102.conda
- conda: https://conda.anaconda.org/conda-forge/linux-64/binutils_impl_linux-64-2.45.1-default_hfdba357_102.conda
- conda: https://conda.anaconda.org/conda-forge/linux-64/binutils_linux-64-2.45.1-default_h4852527_102.conda
- - conda: https://data.bit-bots.de/conda-misc/output/noarch/bitbots_model_2022_10_07_flo_torso21_yoeox-1.0.1-h4616a5c_3.conda
- - conda: https://data.bit-bots.de/conda-misc/output/noarch/bitbots_model_2023_04_04_philipp_yoeox_with_team_colors-1.0.1-h4616a5c_3.conda
- - conda: https://conda.anaconda.org/conda-forge/noarch/blinker-1.9.0-pyhff2d567_0.conda
- conda: https://conda.anaconda.org/conda-forge/linux-64/blosc-1.21.6-he440d0b_1.conda
- - conda: https://conda.anaconda.org/conda-forge/noarch/breathe-4.36.0-pyhd8ed1ab_0.conda
- conda: https://conda.anaconda.org/conda-forge/linux-64/brotli-1.2.0-hed03a55_1.conda
- conda: https://conda.anaconda.org/conda-forge/linux-64/brotli-bin-1.2.0-hb03c661_1.conda
- conda: https://conda.anaconda.org/conda-forge/linux-64/brotli-python-1.2.0-py312hdb49522_1.conda
@@ -50,47 +38,18 @@ environments:
- conda: https://conda.anaconda.org/conda-forge/linux-64/bzip2-1.0.8-hda65f42_9.conda
- conda: https://conda.anaconda.org/conda-forge/linux-64/c-ares-1.34.6-hb03c661_0.conda
- conda: https://conda.anaconda.org/conda-forge/linux-64/c-compiler-1.11.0-h4d9bdce_0.conda
- - conda: https://conda.anaconda.org/conda-forge/noarch/ca-certificates-2026.5.20-hbd8a1cb_0.conda
- conda: https://conda.anaconda.org/conda-forge/linux-64/cairo-1.18.4-he90730b_1.conda
- - conda: https://conda.anaconda.org/conda-forge/noarch/catkin_pkg-1.1.0-pyhd8ed1ab_0.conda
- conda: https://conda.anaconda.org/conda-forge/linux-64/cbor2-5.9.0-py312h5253ce2_0.conda
- - conda: https://conda.anaconda.org/conda-forge/noarch/certifi-2026.5.20-pyhd8ed1ab_0.conda
- conda: https://conda.anaconda.org/conda-forge/linux-64/cffi-2.0.0-py312h460c074_1.conda
- - conda: https://conda.anaconda.org/conda-forge/noarch/cfgv-3.5.0-pyhd8ed1ab_0.conda
- - conda: https://conda.anaconda.org/conda-forge/noarch/charset-normalizer-3.4.7-pyhd8ed1ab_0.conda
- conda: https://conda.anaconda.org/conda-forge/linux-64/clang-format-21-21.1.8-default_h99862b1_4.conda
- conda: https://conda.anaconda.org/conda-forge/linux-64/clang-format-21.1.8-default_h99862b1_4.conda
- conda: https://conda.anaconda.org/conda-forge/linux-64/cli11-2.6.2-h54a6638_0.conda
- - conda: https://conda.anaconda.org/conda-forge/noarch/click-8.4.0-pyhc90fa1f_0.conda
- conda: https://conda.anaconda.org/conda-forge/linux-64/cmake-3.29.6-hcafd917_0.conda
- - conda: https://conda.anaconda.org/conda-forge/noarch/colcon-argcomplete-0.3.3-pyhd8ed1ab_1.conda
- - conda: https://conda.anaconda.org/conda-forge/noarch/colcon-bash-0.5.0-pyhd8ed1ab_1.conda
- - conda: https://conda.anaconda.org/conda-forge/noarch/colcon-cd-0.1.1-pyhd8ed1ab_1.conda
- - conda: https://conda.anaconda.org/conda-forge/noarch/colcon-cmake-0.2.29-pyhd8ed1ab_1.conda
- conda: https://conda.anaconda.org/conda-forge/linux-64/colcon-common-extensions-0.3.0-py312h7900ff3_4.conda
- - conda: https://conda.anaconda.org/conda-forge/noarch/colcon-core-0.20.1-pyhcf101f3_1.conda
- - conda: https://conda.anaconda.org/conda-forge/noarch/colcon-defaults-0.2.9-pyhd8ed1ab_1.conda
- - conda: https://conda.anaconda.org/conda-forge/noarch/colcon-devtools-0.3.0-pyhd8ed1ab_1.conda
- - conda: https://conda.anaconda.org/conda-forge/noarch/colcon-library-path-0.2.1-pyhd8ed1ab_1.conda
- - conda: https://conda.anaconda.org/conda-forge/noarch/colcon-metadata-0.2.5-pyhd8ed1ab_1.conda
- conda: https://conda.anaconda.org/conda-forge/linux-64/colcon-notification-0.3.1-py312he626ec8_0.conda
- - conda: https://conda.anaconda.org/conda-forge/noarch/colcon-output-0.2.13-pyhd8ed1ab_0.conda
- - conda: https://conda.anaconda.org/conda-forge/noarch/colcon-package-information-0.4.1-pyhd8ed1ab_0.conda
- - conda: https://conda.anaconda.org/conda-forge/noarch/colcon-package-selection-0.2.10-pyhd8ed1ab_1.conda
- - conda: https://conda.anaconda.org/conda-forge/noarch/colcon-parallel-executor-0.4.0-pyhe01879c_0.conda
- - conda: https://conda.anaconda.org/conda-forge/noarch/colcon-pkg-config-0.1.0-pyhd8ed1ab_1.conda
- - conda: https://conda.anaconda.org/conda-forge/noarch/colcon-powershell-0.5.0-pyhd8ed1ab_0.conda
- - conda: https://conda.anaconda.org/conda-forge/noarch/colcon-python-setup-py-0.2.9-pyhff2d567_1.conda
- - conda: https://conda.anaconda.org/conda-forge/noarch/colcon-recursive-crawl-0.2.3-pyhd8ed1ab_0.conda
- - conda: https://conda.anaconda.org/conda-forge/noarch/colcon-ros-0.5.0-pyhd8ed1ab_0.conda
- - conda: https://conda.anaconda.org/conda-forge/noarch/colcon-test-result-0.3.8-pyhd8ed1ab_1.conda
- - conda: https://conda.anaconda.org/conda-forge/noarch/colcon-zsh-0.5.0-pyhd8ed1ab_1.conda
- - conda: https://conda.anaconda.org/conda-forge/noarch/colorama-0.4.6-pyhd8ed1ab_1.conda
- - conda: https://conda.anaconda.org/conda-forge/noarch/coloredlogs-15.0.1-pyhd8ed1ab_4.conda
- conda: https://conda.anaconda.org/conda-forge/linux-64/compilers-1.11.0-ha770c72_0.conda
- conda: https://conda.anaconda.org/conda-forge/linux-64/conda-gcc-specs-14.3.0-he8ccf15_19.conda
- conda: https://conda.anaconda.org/conda-forge/linux-64/console_bridge-1.0.2-h924138e_1.tar.bz2
- - conda: https://conda.anaconda.org/conda-forge/noarch/construct-2.10.70-pyhd8ed1ab_0.conda
- conda: https://conda.anaconda.org/conda-forge/linux-64/contourpy-1.3.3-py312h0a2e395_4.conda
- conda: https://conda.anaconda.org/conda-forge/linux-64/coverage-7.14.0-py312h8a5da7c_0.conda
- conda: https://conda.anaconda.org/conda-forge/linux-64/cppcheck-2.18.3-py312h014360a_1.conda
@@ -98,48 +57,22 @@ environments:
- conda: https://conda.anaconda.org/conda-forge/linux-64/cryptography-48.0.0-py312ha4b625e_0.conda
- conda: https://conda.anaconda.org/conda-forge/linux-64/curl-8.20.0-hcf29cc6_0.conda
- conda: https://conda.anaconda.org/conda-forge/linux-64/cxx-compiler-1.11.0-hfcd1e18_0.conda
- - conda: https://conda.anaconda.org/conda-forge/noarch/cycler-0.12.1-pyhcf101f3_2.conda
- conda: https://conda.anaconda.org/conda-forge/linux-64/cyrus-sasl-2.1.28-hac629b4_1.conda
- conda: https://conda.anaconda.org/conda-forge/linux-64/dav1d-1.2.1-hd590300_0.conda
- conda: https://conda.anaconda.org/conda-forge/linux-64/dbus-1.16.2-h24cb091_1.conda
- conda: https://conda.anaconda.org/conda-forge/linux-64/dbus-python-1.3.2-py312h7347394_6.conda
- - conda: https://conda.anaconda.org/conda-forge/noarch/decorator-5.3.1-pyhd8ed1ab_0.conda
- - conda: https://conda.anaconda.org/conda-forge/noarch/deprecated-1.3.1-pyhd8ed1ab_1.conda
- - conda: https://conda.anaconda.org/conda-forge/noarch/distlib-0.4.0-pyhd8ed1ab_0.conda
- - conda: https://conda.anaconda.org/conda-forge/noarch/distro-1.9.0-pyhd8ed1ab_1.conda
- - conda: https://conda.anaconda.org/conda-forge/noarch/dnspython-2.8.0-pyhcf101f3_0.conda
- - conda: https://conda.anaconda.org/conda-forge/noarch/docutils-0.21.2-pyhd8ed1ab_1.conda
- conda: https://conda.anaconda.org/conda-forge/linux-64/double-conversion-3.4.0-hecca717_0.conda
- conda: https://conda.anaconda.org/conda-forge/linux-64/eigen-3.4.0-h54a6638_2.conda
- conda: https://conda.anaconda.org/conda-forge/linux-64/eigen-abi-3.4.0.100-h3bcb7cf_2.conda
- conda: https://conda.anaconda.org/conda-forge/linux-64/elfutils-0.194-h849f50c_0.conda
- - conda: https://conda.anaconda.org/conda-forge/noarch/empy-3.3.4-pyh9f0ad1d_1.tar.bz2
- conda: https://conda.anaconda.org/conda-forge/linux-64/epoxy-1.5.10-hb03c661_2.conda
- - conda: https://conda.anaconda.org/conda-forge/noarch/etils-1.12.2-pyhd8ed1ab_0.conda
- - conda: https://conda.anaconda.org/conda-forge/noarch/exceptiongroup-1.3.1-pyhd8ed1ab_0.conda
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+ - ros-jazzy-rosidl-typesupport-fastrtps-c
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- - ros-jazzy-rclcpp-components
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- - ros-jazzy-sensor-msgs
- - ros-jazzy-std-msgs
- - ros-jazzy-tf2-msgs
- - ros-jazzy-tf2-py
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+ - conda: https://conda.anaconda.org/conda-forge/noarch/libstdcxx-devel_linux-aarch64-15.2.0-ha7b1723_119.conda
+ - conda: https://conda.anaconda.org/conda-forge/noarch/rust-std-aarch64-unknown-linux-gnu-1.91.1-hbe8e118_0.conda
+ - conda: https://conda.anaconda.org/conda-forge/noarch/sysroot_linux-aarch64-2.28-h585391f_9.conda
+ - conda: https://conda.anaconda.org/conda-forge/noarch/tomli-2.4.1-pyhcf101f3_0.conda
+ - conda: https://conda.anaconda.org/conda-forge/noarch/tzdata-2025c-hc9c84f9_1.conda
+ - conda: https://data.bit-bots.de/conda-misc/output/noarch/readline-8.3-h4616a5c_1.conda
+- conda_source: bitbots_rust_nav[5fc18e15] @ src/bitbots_navigation/bitbots_rust_nav
+ variants:
+ target_platform: linux-64
depends:
- - libgcc-ng >=12
- - libzlib >=1.3.1,<2.0a0
- license: LGPL-2.0-or-later OR MPL-1.1
- purls: []
- size: 115725
- timestamp: 1719242037690
+ - python >=3.12
+ - python_abi 3.12.* *_cp312
+ constrains:
+ - __glibc >=2.17
+ - __glibc >=2.17
+ build_packages:
+ - conda: https://conda.anaconda.org/conda-forge/linux-64/_openmp_mutex-4.5-20_gnu.conda
+ - conda: https://conda.anaconda.org/conda-forge/linux-64/binutils_impl_linux-64-2.45.1-default_hfdba357_102.conda
+ - conda: https://conda.anaconda.org/conda-forge/linux-64/binutils_linux-64-2.45.1-default_h4852527_102.conda
+ - conda: https://conda.anaconda.org/conda-forge/linux-64/gcc_impl_linux-64-15.2.0-ha6850e4_19.conda
+ - conda: https://conda.anaconda.org/conda-forge/linux-64/gcc_linux-64-15.2.0-h7be306e_25.conda
+ - conda: https://conda.anaconda.org/conda-forge/linux-64/ld_impl_linux-64-2.45.1-default_hbd61a6d_102.conda
+ - conda: https://conda.anaconda.org/conda-forge/linux-64/libgcc-15.2.0-he0feb66_19.conda
+ - conda: https://conda.anaconda.org/conda-forge/linux-64/libgomp-15.2.0-he0feb66_19.conda
+ - conda: https://conda.anaconda.org/conda-forge/linux-64/libsanitizer-15.2.0-h90f66d4_19.conda
+ - conda: https://conda.anaconda.org/conda-forge/linux-64/libstdcxx-15.2.0-h934c35e_19.conda
+ - conda: https://conda.anaconda.org/conda-forge/linux-64/libzlib-1.3.2-h25fd6f3_2.conda
+ - conda: https://conda.anaconda.org/conda-forge/linux-64/rust-1.95.0-h53717f1_1.conda
+ - conda: https://conda.anaconda.org/conda-forge/linux-64/rust_linux-64-1.95.0-hb4ea61c_1.conda
+ - conda: https://conda.anaconda.org/conda-forge/linux-64/zstd-1.5.7-hb78ec9c_6.conda
+ - conda: https://conda.anaconda.org/conda-forge/noarch/kernel-headers_linux-64-4.18.0-he073ed8_9.conda
+ - conda: https://conda.anaconda.org/conda-forge/noarch/libgcc-devel_linux-64-15.2.0-hcc6f6b0_119.conda
+ - conda: https://conda.anaconda.org/conda-forge/noarch/libstdcxx-devel_linux-64-15.2.0-hd446a21_119.conda
+ - conda: https://conda.anaconda.org/conda-forge/noarch/rust-std-x86_64-unknown-linux-gnu-1.95.0-h2c6d0dc_1.conda
+ - conda: https://conda.anaconda.org/conda-forge/noarch/sysroot_linux-64-2.28-h4ee821c_9.conda
+ - conda: https://conda.anaconda.org/conda-forge/noarch/tzdata-2025c-hc9c84f9_1.conda
+ host_packages:
+ - conda: https://conda.anaconda.org/conda-forge/linux-64/_openmp_mutex-4.5-20_gnu.conda
+ - conda: https://conda.anaconda.org/conda-forge/linux-64/binutils_impl_linux-64-2.45.1-default_hfdba357_102.conda
+ - conda: https://conda.anaconda.org/conda-forge/linux-64/bzip2-1.0.8-hda65f42_9.conda
+ - conda: https://conda.anaconda.org/conda-forge/linux-64/gcc_impl_linux-64-15.2.0-ha6850e4_19.conda
+ - conda: https://conda.anaconda.org/conda-forge/linux-64/ld_impl_linux-64-2.45.1-default_hbd61a6d_102.conda
+ - conda: https://conda.anaconda.org/conda-forge/linux-64/libexpat-2.8.1-hecca717_0.conda
+ - conda: https://conda.anaconda.org/conda-forge/linux-64/libffi-3.5.2-h3435931_0.conda
+ - conda: https://conda.anaconda.org/conda-forge/linux-64/libgcc-15.2.0-he0feb66_19.conda
+ - conda: https://conda.anaconda.org/conda-forge/linux-64/libgcc-ng-15.2.0-h69a702a_19.conda
+ - conda: https://conda.anaconda.org/conda-forge/linux-64/libgomp-15.2.0-he0feb66_19.conda
+ - conda: https://conda.anaconda.org/conda-forge/linux-64/liblzma-5.8.3-hb03c661_0.conda
+ - conda: https://conda.anaconda.org/conda-forge/linux-64/liblzma-devel-5.8.3-hb03c661_0.conda
+ - conda: https://conda.anaconda.org/conda-forge/linux-64/libnsl-2.0.1-hb9d3cd8_1.conda
+ - conda: https://conda.anaconda.org/conda-forge/linux-64/libsanitizer-15.2.0-h90f66d4_19.conda
+ - conda: https://conda.anaconda.org/conda-forge/linux-64/libsqlite-3.53.1-h0c1763c_0.conda
+ - conda: https://conda.anaconda.org/conda-forge/linux-64/libstdcxx-15.2.0-h934c35e_19.conda
+ - conda: https://conda.anaconda.org/conda-forge/linux-64/libuuid-2.42.1-h5347b49_0.conda
+ - conda: https://conda.anaconda.org/conda-forge/linux-64/libzlib-1.3.2-h25fd6f3_2.conda
+ - conda: https://conda.anaconda.org/conda-forge/linux-64/maturin-1.13.3-py310h2b5ca13_0.conda
+ - conda: https://conda.anaconda.org/conda-forge/linux-64/ncurses-6.6-hdb14827_0.conda
+ - conda: https://conda.anaconda.org/conda-forge/linux-64/openssl-3.6.2-h35e630c_0.conda
+ - conda: https://conda.anaconda.org/conda-forge/linux-64/python-3.12.0-hab00c5b_0_cpython.conda
+ - conda: https://conda.anaconda.org/conda-forge/linux-64/rust-1.91.1-h53717f1_0.conda
+ - conda: https://conda.anaconda.org/conda-forge/linux-64/tk-8.6.13-noxft_h366c992_103.conda
+ - conda: https://conda.anaconda.org/conda-forge/linux-64/uv-0.11.16-h29f5ae7_0.conda
+ - conda: https://conda.anaconda.org/conda-forge/linux-64/xz-5.8.3-ha02ee65_0.conda
+ - conda: https://conda.anaconda.org/conda-forge/linux-64/xz-gpl-tools-5.8.3-ha02ee65_0.conda
+ - conda: https://conda.anaconda.org/conda-forge/linux-64/xz-tools-5.8.3-hb03c661_0.conda
+ - conda: https://conda.anaconda.org/conda-forge/linux-64/zstd-1.5.7-hb78ec9c_6.conda
+ - conda: https://conda.anaconda.org/conda-forge/noarch/ca-certificates-2026.5.20-hbd8a1cb_0.conda
+ - conda: https://conda.anaconda.org/conda-forge/noarch/kernel-headers_linux-64-4.18.0-he073ed8_9.conda
+ - conda: https://conda.anaconda.org/conda-forge/noarch/libgcc-devel_linux-64-15.2.0-hcc6f6b0_119.conda
+ - conda: https://conda.anaconda.org/conda-forge/noarch/libstdcxx-devel_linux-64-15.2.0-hd446a21_119.conda
+ - conda: https://conda.anaconda.org/conda-forge/noarch/rust-std-x86_64-unknown-linux-gnu-1.91.1-h2c6d0dc_0.conda
+ - conda: https://conda.anaconda.org/conda-forge/noarch/sysroot_linux-64-2.28-h4ee821c_9.conda
+ - conda: https://conda.anaconda.org/conda-forge/noarch/tomli-2.4.1-pyhcf101f3_0.conda
+ - conda: https://conda.anaconda.org/conda-forge/noarch/tzdata-2025c-hc9c84f9_1.conda
+ - conda: https://data.bit-bots.de/conda-misc/output/noarch/readline-8.3-h4616a5c_1.conda
+- pypi: https://files.pythonhosted.org/packages/1a/39/47f9197bdd44df24d67ac8893641e16f386c984a0619ef2ee4c51fbbc019/beautifulsoup4-4.14.3-py3-none-any.whl
+ name: beautifulsoup4
+ version: 4.14.3
+ sha256: 0918bfe44902e6ad8d57732ba310582e98da931428d231a5ecb9e7c703a735bb
+ requires_dist:
+ - soupsieve>=1.6.1
+ - typing-extensions>=4.0.0
+ - cchardet ; extra == 'cchardet'
+ - chardet ; extra == 'chardet'
+ - charset-normalizer ; extra == 'charset-normalizer'
+ - html5lib ; extra == 'html5lib'
+ - lxml ; extra == 'lxml'
+ requires_python: '>=3.7.0'
+- pypi: https://files.pythonhosted.org/packages/46/2c/1462b1d0a634697ae9e55b3cecdcb64788e8b7d63f54d923fcd0bb140aed/soupsieve-2.8.3-py3-none-any.whl
+ name: soupsieve
+ version: 2.8.3
+ sha256: ed64f2ba4eebeab06cc4962affce381647455978ffc1e36bb79a545b91f45a95
+ requires_python: '>=3.9'
+- pypi: https://files.pythonhosted.org/packages/4e/18/dc99a152bea18a898a8ac387bfeb9ec0829e0f5bed11cfec2e2ca189c5a2/syrupy-5.2.0-py3-none-any.whl
+ name: syrupy
+ version: 5.2.0
+ sha256: 798cb493a6e20f4839e58ea8f10eb1b0d85684c676442f79786e219bf32618e6
+ requires_dist:
+ - pytest>=8.0.0
+ requires_python: '>=3.10'
+- pypi: https://files.pythonhosted.org/packages/ea/78/9a8a174011682d71cb4922f4014ebbeb9d3067922678e7059351fd9207cf/exhale-0.3.7-py3-none-any.whl
+ name: exhale
+ version: 0.3.7
+ sha256: 698fe5612bdfb4955ce780ea2441d085fe30c6174b12ef29839dd232c7363504
+ requires_dist:
+ - breathe>=4.33.1
+ - sphinx>=4.3.2
+ - beautifulsoup4
+ - lxml
+ - six
+ requires_python: '>=3.8'
diff --git a/pixi.toml b/pixi.toml
index 1cfc08a0a5..24faec9bf6 100644
--- a/pixi.toml
+++ b/pixi.toml
@@ -30,8 +30,9 @@ args = [{ arg = "package", default = "" }]
description = "Cleans build and install files for all ROS 2 packages or a specific one if given."
[tasks.test]
-cmd = "colcon test --packages-ignore=audio_common --event-handlers console_direct+ --return-code-on-test-failure "
-description = "Runs tests for all ROS 2 packages. Add --packages-select to test specific packages."
+description = "Runs tests for all ROS 2 packages. Pass additional colcon args (e.g. --packages-select)"
+# Skipping packages in the src/lib directory as they are not "our" responsibility. They should be tested separately in their own repositories.
+cmd = "colcon test --parallel-workers 1 --event-handlers console_direct+ --return-code-on-test-failure --packages-skip audio_common domain_bridge ipm_image_node soccer_ipm zed_wrapper zed_components zed_msgs zed_ros2 "
[dependencies]
# Base dependencies
@@ -54,6 +55,7 @@ eigen = ">=3.4.0,<4"
fabric = ">=3.2.2,<4"
flask = ">=3.1.2,<4"
gitpython = ">=3.1.45,<4"
+git-subrepo = ">=0.4.9,<0.5"
invoke = ">=2.2.1,<3"
ipython = ">=9.7.0,<10"
jaxtyping = ">=0.3.2,<0.4"
@@ -154,7 +156,6 @@ ros-jazzy-tf2-ros = ">=0.36.14,<0.37"
ros-jazzy-topic-tools = ">=1.3.3,<2"
ros-jazzy-trajectory-msgs = ">=5.3.6,<6"
ros-jazzy-transmission-interface = ">=4.37.0,<5"
-ros-jazzy-turtlesim = ">=1.8.3,<2"
ros-jazzy-urdf = ">=2.10.0,<3"
ros-jazzy-urdfdom-py = ">=1.2.1,<2"
ros-jazzy-vision-msgs = ">=4.1.1,<5"
@@ -182,10 +183,6 @@ make = ">=4.4.1,<5" # To avoid issues in the CI
adwaita-icon-theme = "<40" # To avoid issues with missing icons, as non-symbolic icons have been removed in newer versions
[feature.format.dependencies]
-# Add git-subrepo to format dependencies as currently there are
-# sqlite conflicts in the default/ros environment preventing execution
-# of pre-commit hooks running after commits from the git-subrepo cli
-git-subrepo = ">=0.4.9,<0.5"
clang-format = ">=21.1.0,<22"
cppcheck = ">=2.18.3,<2.20"
pre-commit = ">=4.4.0,<5"
@@ -211,8 +208,7 @@ RCUTILS_COLORIZED_OUTPUT = "1"
RCUTILS_CONSOLE_OUTPUT_FORMAT="[{severity}] [{name}]: {message} ({function_name}() at {file_name}:{line_number})"
RMW_IMPLEMENTATION = "rmw_zenoh_cpp"
COLCON_LOG_LEVEL = "30"
-PYTHONWARNINGS="ignore:::setuptools.command.install,ignore:::setuptools.command.easy_install,ignore:::pkg_resources,ignore:easy_install command is deprecated,ignore:setup.py install is deprecated"
-WEBOTS_HOME = "$CONDA_PREFIX/share/webots"
+PYTHONWARNINGS="ignore:::setuptools.command.install,ignore:::setuptools.command.easy_install,ignore:::pkg_resources,ignore:easy_install command is deprecated,ignore:setup.py install is deprecated,ignore:pkg_resources:DeprecationWarning"
ALSA_PLUGIN_DIR = "/usr/lib/x86_64-linux-gnu/alsa-lib"
diff --git a/scripts/README.md b/scripts/README.md
index 30dc4c414f..a4a8bf2ecc 100644
--- a/scripts/README.md
+++ b/scripts/README.md
@@ -46,7 +46,3 @@ These different tasks can be performed:
```shell
./deploy_robots.py --package bitbots_utils nuc1
```
-
-## `make_basler.sh`
-
-Downloads and installs the Basler Pylon SDK for Linux. This is needed to communicate with our camera.
diff --git a/src/bitbots_behavior/bitbots_blackboard/bitbots_blackboard/capsules/kick_capsule.py b/src/bitbots_behavior/bitbots_blackboard/bitbots_blackboard/capsules/kick_capsule.py
index 3b1c1ea581..7a2524a033 100644
--- a/src/bitbots_behavior/bitbots_blackboard/bitbots_blackboard/capsules/kick_capsule.py
+++ b/src/bitbots_behavior/bitbots_blackboard/bitbots_blackboard/capsules/kick_capsule.py
@@ -1,30 +1,16 @@
from enum import Flag
-from typing import Optional
-from rclpy.action import ActionClient
-from rclpy.callback_groups import ReentrantCallbackGroup
-from rclpy.duration import Duration
from rclpy.publisher import Publisher
-from rclpy.time import Time
from std_msgs.msg import Bool
from bitbots_blackboard.capsules import AbstractBlackboardCapsule
-from bitbots_msgs.action import Kick
class KickCapsule(AbstractBlackboardCapsule):
- """Communicates with the dynamic_kick action server to kick the ball."""
-
- last_feedback: Optional[Kick.Feedback] = None
- last_feedback_received: Optional[Time] = None
- last_goal: Optional[Kick.Goal] = None
- last_goal_sent: Optional[Time] = None
+ """Communicates with the action server to kick the ball."""
is_currently_kicking: bool = False
- __connected: bool = False
- __action_client: Optional[ActionClient] = None
-
class WalkKickTargets(Flag):
"""
Define the target for the walk kick (e.g. left or right foot)
@@ -42,7 +28,6 @@ def __init__(self, node, blackboard):
:param blackboard: Global blackboard instance
"""
self.walk_kick_pub = self._node.create_publisher(Bool, "/kick", 1)
- # self.connect_dynamic_kick() Do not connect if dynamic_kick is disabled
self.rl_kick_active_pub = self._node.create_publisher(Bool, "rl_kick_active", 1)
def walk_kick(self, target: WalkKickTargets) -> None:
@@ -52,46 +37,8 @@ def walk_kick(self, target: WalkKickTargets) -> None:
"""
self.walk_kick_pub.publish(Bool(data=target.value))
- def connect_dynamic_kick(self) -> None:
- topic = self._blackboard.config["dynamic_kick"]["topic"]
- self.__action_client = ActionClient(self._node, Kick, topic, callback_group=ReentrantCallbackGroup())
- self.__connected = self.__action_client.wait_for_server(self._blackboard.config["dynamic_kick"]["wait_time"])
-
- if not self.__connected:
- self._node.get_logger().error(f"No dynamic_kick server running on {topic}")
-
- def dynamic_kick(self, goal: Kick.Goal) -> None:
- """
- :param goal: Goal to kick to
- :type goal: KickGoal
- :raises RuntimeError: when not connected to dynamic_kick server
- """
- raise NotImplementedError("The dynamic_kick is disabled currently")
- if not self.__connected:
- # try to connect again
- self.__connected = self.__action_client.wait_for_server(
- Duration(seconds=self._blackboard.config["dynamic_kick"]["wait_time"])
- )
- if not self.__connected:
- raise RuntimeError("Not connected to any dynamic_kick server")
-
- self.is_currently_kicking = True
- self.__action_client.send_goal_async(goal, self.__feedback_cb).add_done_callback(
- lambda future: future.result().get_result_async().add_done_callback(lambda _: self.__done_cb())
- )
-
- self.last_goal = goal
- self.last_goal_sent = self._node.get_clock().now()
-
def start_rl_kick(self):
self.rl_kick_active_pub.publish(Bool(data=True))
def stop_rl_kick(self):
self.rl_kick_active_pub.publish(Bool(data=False))
-
- def __feedback_cb(self, feedback):
- self.last_feedback: Kick.Feedback = feedback.feedback
- self.last_feedback_received = self._node.get_clock().now()
-
- def __done_cb(self):
- self.is_currently_kicking = False
diff --git a/src/bitbots_behavior/bitbots_blackboard/bitbots_blackboard/capsules/misc_capsule.py b/src/bitbots_behavior/bitbots_blackboard/bitbots_blackboard/capsules/misc_capsule.py
index d933197264..7aa51388bd 100644
--- a/src/bitbots_behavior/bitbots_blackboard/bitbots_blackboard/capsules/misc_capsule.py
+++ b/src/bitbots_behavior/bitbots_blackboard/bitbots_blackboard/capsules/misc_capsule.py
@@ -5,7 +5,7 @@
from std_msgs.msg import Bool
from bitbots_blackboard.capsules import AbstractBlackboardCapsule
-from bitbots_msgs.msg import Audio, HeadMode, RobotControlState
+from bitbots_msgs.msg import TTS, HeadMode, RobotControlState
THeadMode: TypeAlias = Literal[ # type: ignore[valid-type]
HeadMode.TRACK_BALL,
@@ -23,7 +23,7 @@ class MiscCapsule(AbstractBlackboardCapsule):
def __init__(self, node, blackboard):
super().__init__(node, blackboard)
self.head_pub = self._node.create_publisher(HeadMode, "head_mode", 10)
- self.speak_pub = self._node.create_publisher(Audio, "speak", 10)
+ self.speak_pub = self._node.create_publisher(TTS, "speak", 10)
# Config
gamestate_settings = get_parameters_from_other_node(
diff --git a/src/bitbots_behavior/bitbots_blackboard/package.xml b/src/bitbots_behavior/bitbots_blackboard/package.xml
index b0258395f3..1e026e630d 100644
--- a/src/bitbots_behavior/bitbots_blackboard/package.xml
+++ b/src/bitbots_behavior/bitbots_blackboard/package.xml
@@ -28,7 +28,6 @@
rclpy
ros2_numpy
tf_transformations
- bio_ik_msgs
bitbots_msgs
geometry_msgs
sensor_msgs
diff --git a/src/bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/behavior_dsd/actions/kick_ball.py b/src/bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/behavior_dsd/actions/kick_ball.py
index 74277061af..56427f43c3 100644
--- a/src/bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/behavior_dsd/actions/kick_ball.py
+++ b/src/bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/behavior_dsd/actions/kick_ball.py
@@ -1,11 +1,8 @@
from bitbots_blackboard.body_blackboard import BodyBlackboard
from bitbots_blackboard.capsules.kick_capsule import KickCapsule
-from bitbots_utils.transforms import quat_from_yaw
from dynamic_stack_decider.abstract_action_element import AbstractActionElement
from rclpy.duration import Duration
-from bitbots_msgs.action import Kick
-
class AbstractKickAction(AbstractActionElement):
blackboard: BodyBlackboard
@@ -34,98 +31,6 @@ def perform(self, reevaluate=False):
self.pop()
-class KickBallStatic(AbstractKickAction):
- def __init__(self, blackboard, dsd, parameters):
- super().__init__(blackboard, dsd, parameters)
- if "foot" not in parameters.keys():
- # usually, we kick with the right foot
- self.kick = "kick_right" # TODO get actual name of parameter from some config
- elif "right" == parameters["foot"]:
- self.kick = "kick_right" # TODO get actual name of parameter from some config
- elif "left" == parameters["foot"]:
- self.kick = "kick_left" # TODO get actual name of parameter from some config
- else:
- self.blackboard.node.get_logger().error(
- "The parameter '{}' could not be used to decide which foot should kick".format(parameters["foot"])
- )
- self.requested = False
-
- def perform(self, reevaluate=False):
- if not self.requested:
- # Request play animation
- self.blackboard.animation.play_animation(self.kick, False)
- self.requested = True
-
- if not self.blackboard.animation.is_busy() and self.requested:
- self.pop()
-
-
-class KickBallDynamic(AbstractKickAction):
- """
- Kick the ball using bitbots_dynamic_kick
- """
-
- def __init__(self, blackboard, dsd, parameters):
- super().__init__(blackboard, dsd, parameters)
- if parameters.get("type", None) == "penalty":
- self.penalty_kick = True
- else:
- self.penalty_kick = False
-
- self._goal_sent = False
- self.kick_length = self.blackboard.config["kick_cost_kick_length"]
- self.angular_range = self.blackboard.config["kick_cost_angular_range"]
- self.max_kick_angle = self.blackboard.config["max_kick_angle"]
- self.num_kick_angles = self.blackboard.config["num_kick_angles"]
- self.penalty_kick_angle = self.blackboard.config["penalty_kick_angle"]
-
- def perform(self, reevaluate=False):
- self.publish_debug_data("Currently Kicking", self.blackboard.kick.is_currently_kicking)
- if not self.blackboard.kick.is_currently_kicking:
- if not self._goal_sent:
- goal = Kick.Goal()
- goal.header.stamp = self.blackboard.node.get_clock().now().to_msg()
-
- # currently we use a tested left or right kick
- goal.header.frame_id = (
- self.blackboard.world_model.base_footprint_frame
- ) # the ball position is stated in this frame
-
- if self.penalty_kick:
- goal.kick_speed = 6.7
- goal.ball_position.x = 0.22
- goal.ball_position.y = 0.0
- goal.ball_position.z = 0.0
- goal.unstable = True
-
- # only check 2 directions, left and right
- kick_direction = self.blackboard.costmap.get_best_kick_direction(
- -self.penalty_kick_angle, self.penalty_kick_angle, 2, self.kick_length, self.angular_range
- )
- else:
- ball_u, ball_v = self.blackboard.world_model.get_ball_position_uv()
- goal.kick_speed = 1.0
- goal.ball_position.x = ball_u
- goal.ball_position.y = ball_v
- goal.ball_position.z = 0.0
- goal.unstable = False
-
- kick_direction = self.blackboard.costmap.get_best_kick_direction(
- -self.max_kick_angle,
- self.max_kick_angle,
- self.num_kick_angles,
- self.kick_length,
- self.angular_range,
- )
-
- goal.kick_direction = quat_from_yaw(kick_direction)
-
- self.blackboard.kick.dynamic_kick(goal)
- self._goal_sent = True
- else:
- self.pop()
-
-
# Currently kicking in no specific direction
class RLKick(AbstractKickAction):
def __init__(self, blackboard, dsd, parameters):
diff --git a/src/bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/behavior_dsd/main.dsd b/src/bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/behavior_dsd/main.dsd
index 65d7c15423..b44d630353 100644
--- a/src/bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/behavior_dsd/main.dsd
+++ b/src/bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/behavior_dsd/main.dsd
@@ -84,7 +84,7 @@ $PassStarted
#PenaltyShootoutBehavior
$SecondaryStateTeamDecider
- OUR --> @StandAndWaitRandom + min:10 + max:30, @KickBallDynamic + r:true + type:penalty, @Stand
+ OUR --> @StandAndWaitRandom + min:10 + max:25, @ChangeAction + action:kicking, @LookAtFieldFeatures, @WalkInPlace + duration:2, @RLKick + duration:3 + r:false, @WalkInPlace + duration:1 + r:false, @Stand
ELSE --> $BallDangerous + radius:1.3
LEFT --> @PlayAnimationGoalieFallLeft, @Stand
RIGHT --> @PlayAnimationGoalieFallRight, @Stand
diff --git a/src/bitbots_behavior/bitbots_body_behavior/config/body_behavior.yaml b/src/bitbots_behavior/bitbots_body_behavior/config/body_behavior.yaml
index d19474dbca..649cb77c7e 100644
--- a/src/bitbots_behavior/bitbots_body_behavior/config/body_behavior.yaml
+++ b/src/bitbots_behavior/bitbots_body_behavior/config/body_behavior.yaml
@@ -89,13 +89,6 @@ body_behavior:
# This is the radius in meters of a circle around the goalie in which he is able to block the ball.
block_radius_robot: 0.25
- # configurations for the use of bitbots_dynamic_kick package
- dynamic_kick:
- # time to wait for a dynamic_kick server
- wait_time: 10.0
- # base topic under which an actionserver listens for KickAction messages
- topic: "dynamic_kick"
-
# minimal difference between the current and the last path planning goal to actually send a new goal.
pathfinding_position_threshold: 0.3
pathfinding_orientation_threshold: 10.0
diff --git a/src/bitbots_behavior/bitbots_body_behavior/launch/behavior.launch b/src/bitbots_behavior/bitbots_body_behavior/launch/behavior.launch
index 10bdd4baf0..b1c0d5ce42 100644
--- a/src/bitbots_behavior/bitbots_body_behavior/launch/behavior.launch
+++ b/src/bitbots_behavior/bitbots_body_behavior/launch/behavior.launch
@@ -6,8 +6,6 @@
-
-
diff --git a/src/bitbots_behavior/bitbots_body_behavior/launch/behavior_standalone.launch b/src/bitbots_behavior/bitbots_body_behavior/launch/behavior_standalone.launch
index f8691935d1..66dd3e3f43 100644
--- a/src/bitbots_behavior/bitbots_body_behavior/launch/behavior_standalone.launch
+++ b/src/bitbots_behavior/bitbots_body_behavior/launch/behavior_standalone.launch
@@ -2,8 +2,8 @@
-
-
+
+
diff --git a/src/bitbots_behavior/bitbots_body_behavior/package.xml b/src/bitbots_behavior/bitbots_body_behavior/package.xml
index 25aea8a01c..64a9268153 100644
--- a/src/bitbots_behavior/bitbots_body_behavior/package.xml
+++ b/src/bitbots_behavior/bitbots_body_behavior/package.xml
@@ -37,10 +37,6 @@
-
- starts
- python3
-
ament_python
diff --git a/src/bitbots_misc/bitbots_bringup/launch/motion.launch b/src/bitbots_misc/bitbots_bringup/launch/motion.launch
index 755c87efc3..eccf0e5df1 100644
--- a/src/bitbots_misc/bitbots_bringup/launch/motion.launch
+++ b/src/bitbots_misc/bitbots_bringup/launch/motion.launch
@@ -13,7 +13,7 @@
-
+
diff --git a/src/bitbots_misc/bitbots_bringup/launch/motion_standalone.launch b/src/bitbots_misc/bitbots_bringup/launch/motion_standalone.launch
index be075ad9a1..57ed57ae54 100644
--- a/src/bitbots_misc/bitbots_bringup/launch/motion_standalone.launch
+++ b/src/bitbots_misc/bitbots_bringup/launch/motion_standalone.launch
@@ -19,7 +19,7 @@
-
+
diff --git a/src/bitbots_misc/bitbots_bringup/launch/teamplayer.launch b/src/bitbots_misc/bitbots_bringup/launch/teamplayer.launch
index 1e82e87fcb..d3933f1740 100644
--- a/src/bitbots_misc/bitbots_bringup/launch/teamplayer.launch
+++ b/src/bitbots_misc/bitbots_bringup/launch/teamplayer.launch
@@ -16,8 +16,8 @@
-
-
+
+
diff --git a/src/bitbots_misc/bitbots_bringup/launch/vision_standalone.launch b/src/bitbots_misc/bitbots_bringup/launch/vision_standalone.launch
index cf15154173..2cdc0ecb78 100644
--- a/src/bitbots_misc/bitbots_bringup/launch/vision_standalone.launch
+++ b/src/bitbots_misc/bitbots_bringup/launch/vision_standalone.launch
@@ -4,8 +4,8 @@
-
-
+
+
diff --git a/src/bitbots_misc/bitbots_bringup/launch/visualization.launch b/src/bitbots_misc/bitbots_bringup/launch/visualization.launch
index 901b24f92c..8b4bf73d59 100644
--- a/src/bitbots_misc/bitbots_bringup/launch/visualization.launch
+++ b/src/bitbots_misc/bitbots_bringup/launch/visualization.launch
@@ -5,7 +5,7 @@
-
+
diff --git a/src/bitbots_misc/bitbots_bringup/package.xml b/src/bitbots_misc/bitbots_bringup/package.xml
index 57d2aa6ef2..2ef2d73161 100644
--- a/src/bitbots_misc/bitbots_bringup/package.xml
+++ b/src/bitbots_misc/bitbots_bringup/package.xml
@@ -15,16 +15,14 @@
bitbots_docs
- bitbots_webots_sim
+ bitbots_mujoco_sim
audio_common
bitbots_body_behavior
bitbots_diagnostic
- bitbots_dynup
bitbots_hcm
bitbots_head_mover
bitbots_localization
bitbots_odometry
- bitbots_quintic_walk
bitbots_rl_motion
bitbots_rl_walk
bitbots_robot_description
diff --git a/src/bitbots_misc/bitbots_containers/README.md b/src/bitbots_misc/bitbots_containers/README.md
deleted file mode 100644
index e02bae97e6..0000000000
--- a/src/bitbots_misc/bitbots_containers/README.md
+++ /dev/null
@@ -1,8 +0,0 @@
-# Bit-Bots containers
-
-This repository contains the necessary files to build the containers used by the bit-bots.
-
-## HLVS
-
-This folder contains the necessary files to build the humanoid league virtual season container.
-It contains all robot software and interfaces with the simulation using the [hlvs_player](https://github.com/ros-sports/hlvs_player) interface.
diff --git a/src/bitbots_misc/bitbots_containers/hlvs/Dockerfile b/src/bitbots_misc/bitbots_containers/hlvs/Dockerfile
deleted file mode 100644
index 7846878675..0000000000
--- a/src/bitbots_misc/bitbots_containers/hlvs/Dockerfile
+++ /dev/null
@@ -1,257 +0,0 @@
-# Use upstream ubuntu images as base
-FROM nvidia/cuda:12.8.0-devel-ubuntu24.04
-
-ARG UID=150
-ARG ROS_DISTRO=jazzy
-ARG BITBOTS_MAIN_BRANCH=feature/jazzy-ubuntu2404-devcontainer
-
-ENV DEBIAN_FRONTEND=noninteractive
-
-RUN apt update \
- && apt install -y wget auto-apt-proxy apt-utils \
- && mkdir -p /usr/local/share/keyrings \
- && wget https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -O /usr/local/share/keyrings/ros-archive-keyring.gpg \
- && echo "deb [arch=amd64 signed-by=/usr/local/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu noble main" | tee /etc/apt/sources.list.d/ros2.list \
- && apt update
-
-# Install a lot of apt packages.
-# They could also be installed with rosdep, but we want them to be cached.
-RUN apt install -y \
- build-essential \
- espeak \
- ffmpeg \
- git \
- ipython3 \
- locales \
- protobuf-compiler \
- sudo \
- vcstool \
- gir1.2-gst-plugins-base-1.0 \
- gir1.2-gstreamer-1.0 \
- gstreamer1.0-alsa \
- gstreamer1.0-plugins-base \
- gstreamer1.0-plugins-good \
- gstreamer1.0-plugins-ugly \
- gstreamer1.0-tools \
- libboost-all-dev \
- libeigen3-dev \
- libfmt-dev \
- libfreeimage-dev\
- libgstreamer-plugins-base1.0-0 \
- libgstreamer-plugins-base1.0-dev \
- libgstreamer1.0-0 \
- libgstreamer1.0-dev \
- libjsoncpp-dev \
- libopencv-dev \
- libprotobuf-dev \
- libprotoc-dev \
- librange-v3-dev \
- liburdfdom-dev \
- libyaml-cpp-dev \
- protobuf-compiler \
- pybind11-dev \
- pyqt5-dev \
- python3-breathe \
- python3-colcon-clean \
- python3-colcon-common-extensions \
- python3-construct \
- python3-coverage \
- python3-cryptography \
- python3-hypothesis \
- python3-matplotlib \
- python3-nose \
- python3-numpy \
- python3-opencv \
- python3-pil \
- python3-pip \
- python3-protobuf \
- python3-psutil \
- python3-pydot \
- python3-pyqt5 \
- python3-pyqt5.qtsvg \
- python3-pytest \
- python3-rosdep \
- python3-rospkg \
- python3-scipy \
- python3-sip-dev \
- python3-sphinx-rtd-theme \
- python3-tk \
- python3-transforms3d \
- python3-yaml \
- xvfb \
- ros-${ROS_DISTRO}-action-msgs \
- ros-${ROS_DISTRO}-ament-cmake \
- ros-${ROS_DISTRO}-ament-cmake-gtest \
- ros-${ROS_DISTRO}-ament-cmake-mypy \
- ros-${ROS_DISTRO}-ament-cmake-python \
- ros-${ROS_DISTRO}-ament-cmake-ros \
- ros-${ROS_DISTRO}-ament-copyright \
- ros-${ROS_DISTRO}-ament-flake8 \
- ros-${ROS_DISTRO}-ament-lint-auto \
- ros-${ROS_DISTRO}-ament-lint-common \
- ros-${ROS_DISTRO}-ament-mypy \
- ros-${ROS_DISTRO}-ament-pep257 \
- ros-${ROS_DISTRO}-apriltag-ros \
- ros-${ROS_DISTRO}-backward-ros \
- ros-${ROS_DISTRO}-builtin-interfaces \
- ros-${ROS_DISTRO}-camera-info-manager \
- ros-${ROS_DISTRO}-control-toolbox \
- ros-${ROS_DISTRO}-controller-interface \
- ros-${ROS_DISTRO}-controller-manager \
- ros-${ROS_DISTRO}-cv-bridge \
- ros-${ROS_DISTRO}-demo-nodes-cpp \
- ros-${ROS_DISTRO}-diagnostic-aggregator \
- ros-${ROS_DISTRO}-diagnostic-msgs \
- ros-${ROS_DISTRO}-foxglove-bridge \
- ros-${ROS_DISTRO}-gazebo-msgs \
- ros-${ROS_DISTRO}-generate-parameter-library \
- ros-${ROS_DISTRO}-geometry-msgs \
- ros-${ROS_DISTRO}-hardware-interface \
- ros-${ROS_DISTRO}-image-proc \
- ros-${ROS_DISTRO}-image-transport \
- ros-${ROS_DISTRO}-imu-complementary-filter \
- ros-${ROS_DISTRO}-joint-state-publisher \
- ros-${ROS_DISTRO}-joint-state-publisher-gui \
- ros-${ROS_DISTRO}-launch-xml \
- ros-${ROS_DISTRO}-message-filters \
- ros-${ROS_DISTRO}-moveit-core \
- ros-${ROS_DISTRO}-moveit-kinematics \
- ros-${ROS_DISTRO}-moveit-msgs \
- ros-${ROS_DISTRO}-moveit-planners-ompl \
- ros-${ROS_DISTRO}-moveit-ros \
- ros-${ROS_DISTRO}-moveit-ros-move-group \
- ros-${ROS_DISTRO}-moveit-ros-planning \
- ros-${ROS_DISTRO}-moveit-ros-planning-interface \
- ros-${ROS_DISTRO}-moveit-ros-robot-interaction \
- ros-${ROS_DISTRO}-moveit-ros-visualization \
- ros-${ROS_DISTRO}-moveit-setup-assistant \
- ros-${ROS_DISTRO}-moveit-simple-controller-manager \
- ros-${ROS_DISTRO}-nav-msgs \
- ros-${ROS_DISTRO}-plotjuggler \
- ros-${ROS_DISTRO}-plotjuggler \
- ros-${ROS_DISTRO}-pluginlib \
- ros-${ROS_DISTRO}-pybind11-vendor \
- ros-${ROS_DISTRO}-qt-dotgraph \
- ros-${ROS_DISTRO}-rcl \
- ros-${ROS_DISTRO}-rclcpp \
- ros-${ROS_DISTRO}-rclcpp-components \
- ros-${ROS_DISTRO}-rclpy \
- ros-${ROS_DISTRO}-rmw-cyclonedds-cpp \
- ros-${ROS_DISTRO}-robot-state-publisher \
- ros-${ROS_DISTRO}-ros2launch \
- ros-${ROS_DISTRO}-ros2trace \
- ros-${ROS_DISTRO}-rosbag2 \
- ros-${ROS_DISTRO}-rosgraph-msgs \
- ros-${ROS_DISTRO}-rosidl-default-generators \
- ros-${ROS_DISTRO}-rosidl-default-runtime \
- ros-${ROS_DISTRO}-rot-conv \
- ros-${ROS_DISTRO}-rqt-gui \
- ros-${ROS_DISTRO}-rqt-gui-py \
- ros-${ROS_DISTRO}-rviz-imu-plugin \
- ros-${ROS_DISTRO}-sensor-msgs \
- ros-${ROS_DISTRO}-sensor-msgs-py \
- ros-${ROS_DISTRO}-shape-msgs \
- ros-${ROS_DISTRO}-soccer-vision-2d-msgs \
- ros-${ROS_DISTRO}-soccer-vision-3d-msgs \
- ros-${ROS_DISTRO}-soccer-vision-3d-rviz-markers \
- ros-${ROS_DISTRO}-soccer-vision-attribute-msgs \
- ros-${ROS_DISTRO}-std-msgs \
- ros-${ROS_DISTRO}-std-srvs \
- ros-${ROS_DISTRO}-test-msgs \
- ros-${ROS_DISTRO}-tf-transformations \
- ros-${ROS_DISTRO}-tf2 \
- ros-${ROS_DISTRO}-tf2-eigen \
- ros-${ROS_DISTRO}-tf2-geometry-msgs \
- ros-${ROS_DISTRO}-tf2-kdl \
- ros-${ROS_DISTRO}-tf2-ros \
- ros-${ROS_DISTRO}-tf2-sensor-msgs \
- ros-${ROS_DISTRO}-topic-tools \
- ros-${ROS_DISTRO}-tracetools-acceleration \
- ros-${ROS_DISTRO}-tracetools-analysis \
- ros-${ROS_DISTRO}-tracetools-image-pipeline \
- ros-${ROS_DISTRO}-tracetools-test \
- ros-${ROS_DISTRO}-trajectory-msgs \
- ros-${ROS_DISTRO}-transmission-interface \
- ros-${ROS_DISTRO}-urdf \
- ros-${ROS_DISTRO}-urdfdom-py \
- ros-${ROS_DISTRO}-vision-msgs \
- ros-${ROS_DISTRO}-vision-opencv \
- ros-${ROS_DISTRO}-visualization-msgs \
- ros-${ROS_DISTRO}-xacro \
- && apt clean \
- && rm -rf /var/lib/apt/lists/*
-
-# Set up locale
-RUN echo 'en_US.UTF-8 UTF-8' > /etc/locale.gen \
- && locale-gen \
- && update-locale LANG=en_US.UTF-8
-
-ENV LANG=en_US.UTF-8
-ENV LANGUAGE=en_US:en
-ENV LC_ALL=en_US.UTF-8
-
-RUN mkdir -p /ws \
- && useradd -M -d /ws -s /bin/bash -u $UID robot \
- && chown -R robot:robot /ws \
- && echo "robot ALL=(ALL) NOPASSWD: ALL" >> /etc/sudoers.d/robot
-
-WORKDIR /ws
-USER robot:robot
-ENV PATH=$PATH:/ws/.local/bin
-
-RUN . /opt/ros/${ROS_DISTRO}/setup.sh \
- && sudo rosdep init
-
-RUN mkdir -p -m 700 $HOME/.ssh \
- && ssh-keyscan github.com >> $HOME/.ssh/known_hosts
-
-RUN --mount=type=ssh,uid=$UID git clone --branch "$BITBOTS_MAIN_BRANCH" git@github.com:bit-bots/bitbots_main.git \
- && cd bitbots_main \
- && just pull-init rosdep pip
-
-WORKDIR /ws/bitbots_main
-
-# From here on, we don't want to cache anything. That's achieved by adding the current time.
-ADD https://www.timeapi.io/api/Time/current/zone?timeZone=UTC /tmp/build-time
-
-RUN --mount=type=ssh,uid=$UID \
- && just pull-init \
- && cd src \
- && rm -rf bitbots_lowlevel \
- bitbots_misc/bitbots_basler_camera \
- bitbots_misc/bitbots_ceiling_cam \
- bitbots_misc/bitbots_containers \
- bitbots_motion/bitbots_animation_rqt \
- bitbots_simulation/bitbots_pybullet_sim \
- bitbots_team_communication/bitbots_team_data_sim_rqt \
- bitbots_wolfgang \
- lib/dynamic_stack_decider/dynamic_stack_decider_visualization \
- lib/dynamixel-workbench \
- lib/pylon-ros-camera \
- lib/soccer_field_map_generator \
- lib/udp_bridge \
- && sed -i '/plotjuggler/d' bitbots_motion/bitbots_quintic_walk/package.xml
-
-# Install missing ros dependencies with rosdep
-RUN sudo apt update \
- && rosdep update \
- && rosdep install --rosdistro=${ROS_DISTRO} --from-paths src --ignore-src -r -y \
- && . /opt/ros/${ROS_DISTRO}/setup.sh \
- && colcon build --cmake-args -DBUILD_TESTING=OFF
-
-RUN cp src/bitbots_simulation/bitbots_robocup_api/scripts/start.sh $HOME/.local/bin/start
-
-# Volume for logs
-VOLUME /robocup-logs
-
-# ROS bags get created in $HOME/rosbags
-# Thats why we create a symlink to /robocup-logs
-RUN ln -s /robocup-logs $HOME/rosbags
-
-# Setup runtime
-ENV DEBIAN_FRONTEND=readline
-ENV ROS_AUTOMATIC_DISCOVERY_RANGE=LOCALHOST
-ENV RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
-COPY entrypoint.sh /usr/local/bin/entrypoint
-ENTRYPOINT ["/usr/local/bin/entrypoint"]
-CMD ["bash"]
diff --git a/src/bitbots_misc/bitbots_containers/hlvs/README.md b/src/bitbots_misc/bitbots_containers/hlvs/README.md
deleted file mode 100644
index e5abd0b7ab..0000000000
--- a/src/bitbots_misc/bitbots_containers/hlvs/README.md
+++ /dev/null
@@ -1,33 +0,0 @@
-# Login
-
-First, you have to get the docker password for AWS. Installation instructions for the CLI can be
-found [here](https://docs.aws.amazon.com/cli/latest/userguide/getting-started-install.html).
-Then, you have to configure your account data using `aws configure`. The credentials are provided
-by the TC.
-
-After that, you can use a command similar to the following to log into the registry:
-```
-aws ecr get-login-password --region us-east-1 | docker login --username AWS --password-stdin
-```
-The `` is provided by the TC and looks like `123456789.dkr.ecr.us-east-1.amazonaws.com/cbr2021-bit-bots`.
-
-# Build
-`` is the image url provided by the TC.
-
-```
-docker build -t .
-```
-
-If you are in the lab network, you can speed up the download of apt packages by adding `--add-host apt-proxy:172.20.0.1`.
-
-# Push
-```
-docker push
-```
-
-# Run
-Example:
-```
-docker run --gpus all --name bot_red_1 -d -e ROS_DOMAIN_ID 21 -e ROBOCUP_TEAM_COLOR=red -e ROBOCUP_ROBOT_ID=1 -e ROBOCUP_SIMULATOR_ADDR=127.0.0.1:10001 -e ROBOCUP_MIRROR_SERVER_IP=127.0.0.1 --net=host -v /tmp/logs:/robocup-logs start offense 1 --team 12
-```
-The logs will be saved to `/tmp/logs`.
diff --git a/src/bitbots_misc/bitbots_containers/hlvs/entrypoint.sh b/src/bitbots_misc/bitbots_containers/hlvs/entrypoint.sh
deleted file mode 100755
index 6ad14e46b5..0000000000
--- a/src/bitbots_misc/bitbots_containers/hlvs/entrypoint.sh
+++ /dev/null
@@ -1,6 +0,0 @@
-#!/bin/bash
-
-source /opt/ros/jazzy/setup.bash
-source /ws/install/setup.bash
-
-exec "$@"
diff --git a/src/bitbots_misc/bitbots_diagnostic/config/analyzers.yaml b/src/bitbots_misc/bitbots_diagnostic/config/analyzers.yaml
index b4b1fc08db..6aab9cfc9f 100644
--- a/src/bitbots_misc/bitbots_diagnostic/config/analyzers.yaml
+++ b/src/bitbots_misc/bitbots_diagnostic/config/analyzers.yaml
@@ -14,24 +14,12 @@ analyzers:
startswith: [ 'DS']
timeout: 0.2
find_and_remove_prefix: ['DS']
- Core:
- type: diagnostic_aggregator/GenericAnalyzer
- path: Core
- startswith: ['CORE']
- timeout: 0.5
- find_and_remove_prefix: ['CORE']
IMU:
type: diagnostic_aggregator/GenericAnalyzer
path: Imu
startswith: ['IMU']
timeout: 0.5
find_and_remove_prefix: ['IMU']
- Buttons:
- type: diagnostic_aggregator/GenericAnalyzer
- path: Buttons
- startswith: ['BUTTON']
- timeout: 0.5
- find_and_remove_prefix: ['BUTTON']
Bus:
type: diagnostic_aggregator/GenericAnalyzer
path: Bus
diff --git a/src/bitbots_misc/bitbots_docs/docs/manual/testing/sim_test.rst b/src/bitbots_misc/bitbots_docs/docs/manual/testing/sim_test.rst
index 38410e360a..0d09cdd35d 100644
--- a/src/bitbots_misc/bitbots_docs/docs/manual/testing/sim_test.rst
+++ b/src/bitbots_misc/bitbots_docs/docs/manual/testing/sim_test.rst
@@ -6,7 +6,7 @@ Test Motion
.. code-block:: bash
- ros2 launch bitbots_webots_sim simulation.launch
+ ros2 launch bitbots_mujoco_sim simulation.launch
ros2 launch bitbots_bringup motion_standalone.launch sim:=true
To control walking of the robot, teleop needs to be startet as well:
diff --git a/src/bitbots_misc/bitbots_docs/docs/manual/testing/test_motion.rst b/src/bitbots_misc/bitbots_docs/docs/manual/testing/test_motion.rst
index f6bf91baf5..4b67922ae0 100644
--- a/src/bitbots_misc/bitbots_docs/docs/manual/testing/test_motion.rst
+++ b/src/bitbots_misc/bitbots_docs/docs/manual/testing/test_motion.rst
@@ -6,88 +6,35 @@ Make sure to test in order, since there are dependencies between some things.
Test Motion in Visualization
----------------------------
-#. Test Kick:
- .. code-block:: bash
-
- ros2 launch bitbots_dynamic_kick viz.launch
- ros2 run bitbots_dynamic_kick dummy_client.py
-
- The visualization should do a kick.
- It is normal, that the robot starts in init and not walkready.
-
#. Test Animation:
.. code-block:: bash
ros2 launch bitbots_animation_server viz.launch
ros2 run bitbots_animation_server run_animation.py cheering
-#. Test Dynup:
- .. code-block:: bash
-
- ros2 launch bitbots_dynup viz.launch
- ros2 run bitbots_dynup dummy_client.py front # (or back)
-
- The visualization should show the robot doing the standup animation and the dynup.
-
#. Test Walk:
.. code-block:: bash
- ros2 launch bitbots_quintic_walk viz.launch
- ros2 launch bitbots_quintic_walk viz_walk.launch
+ ros2 launch bitbots_bringup motion_standalone.launch
+ # TODO Start RL motions
ros2 run bitbots_teleop teleop_keyboard.py
- You should be able to make the robot walk in RViz using the keyboard.
-
+ Let the robot move around in all directions and also combinations.
Test Motion on Robot
--------------------
-Make sure, that you tested the hardware and lowlevel software first.
-Easiest way to do both, is to use the following script:
-.. code-block:: bash
-
- ros2 run bitbots_bringup check_robot.py
-
-Alternatively, you can do it manually by following these steps.
-
-#. Test Kick on Robot:
- .. code-block:: bash
-
- ros2 launch bitbots_dynamic_kick test.launch
- ros2 run bitbots_dynamic_kick dummy_client.py
-
#. Test Animation on Robot:
.. code-block:: bash
ros2 launch bitbots_animation_server test.launch
ros2 run bitbots_animation_server run_animation.py cheering
-#. Test Record UI:
- .. code-block:: bash
-
- ros2 launch bitbots_bringup motion_standalone.launch
-
- #. Start RQT ``record ui``.
- #. Load and play some animations.
- #. Test other functions.
-
-#. Test Dynup on Robot:
- .. code-block:: bash
-
- ros2 launch bitbots_dynup test.launch
- ros2 run bitbots_dynup dummy_client.py
-
#. Test Walk on Robot:
.. code-block:: bash
- ros2 launch bitbots_quintic_walk test.launch
+ ros2 launch bitbots_bringup motion_standalone.launch
+ # TODO Start RL motions
ros2 run bitbots_teleop teleop_keyboard.py
Let the robot move around in all directions and also combinations.
-
-#. Test Falling:
- .. code-block:: bash
-
- ros2 launch bitbots_bringup motion_standalone.launch
-
- Move the robot, as if it is falling, it should do a falling animation.
diff --git a/src/bitbots_misc/bitbots_docs/docs/manual/testing/testing.rst b/src/bitbots_misc/bitbots_docs/docs/manual/testing/testing.rst
index 1fc78ae269..2da1cb1d80 100644
--- a/src/bitbots_misc/bitbots_docs/docs/manual/testing/testing.rst
+++ b/src/bitbots_misc/bitbots_docs/docs/manual/testing/testing.rst
@@ -63,7 +63,7 @@ Testing in Simulation
---------------------
We can test with values closer to real data if we do not use random data from humans, but with simulated data.
-We mainly use Webots for simulation.
+We use Mujoco for simulation.
It offers us two possibilities.
diff --git a/src/bitbots_misc/bitbots_docs/docs/manual/tutorials/configure_and_flash_robot.rst b/src/bitbots_misc/bitbots_docs/docs/manual/tutorials/configure_and_flash_robot.rst
index 33305fba91..2f8799d631 100644
--- a/src/bitbots_misc/bitbots_docs/docs/manual/tutorials/configure_and_flash_robot.rst
+++ b/src/bitbots_misc/bitbots_docs/docs/manual/tutorials/configure_and_flash_robot.rst
@@ -7,25 +7,34 @@ Robots
------
We have multiple robots in our team, each with their own hostname and IP address.
+Pi Plus Cameras do not use IP addresses, but are connected via USB.
.. note::
- Current status as of September 2023:
-
-+--------+----------+-------------+-------------+
-| Name | Hostname | IP | Camera IP |
-+========+==========+=============+=============+
-| Amy | nuc1 | 172.20.1.11 | 172.20.4.11 |
-+--------+----------+-------------+-------------+
-| Rory | nuc2 | 172.20.1.12 | 172.20.4.12 |
-+--------+----------+-------------+-------------+
-| Jack | nuc3 | 172.20.1.13 | 172.20.4.13 |
-+--------+----------+-------------+-------------+
-| Donna | nuc4 | 172.20.1.14 | 172.20.4.14 |
-+--------+----------+-------------+-------------+
-| Melody | nuc5 | 172.20.1.15 | 172.20.4.15 |
-+--------+----------+-------------+-------------+
-| Rose | nuc6 | 172.20.1.16 | 172.20.4.16 |
-+--------+----------+-------------+-------------+
+ Current status as of May 2026:
+
++----------+----------+------- --+-------------+-------------+
+| Name | Hostname | Username | IP | Camera IP |
++==========+==========+==========+=============+=============+
+| Kalliope | nvidia | nvidia | not defined | N/A |
++----------+----------+----------+-------------+-------------+
+| Mickey | nvidia | nvidia | not defined | N/A |
++----------+----------+----------+-------------+-------------+
+| Pink | nvidia | nvidia | not defined | N/A |
++----------+----------+----------+-------------+-------------+
+| Romeo | nvidia | nvidia | not defined | N/A |
++----------+----------+----------+-------------+-------------+
+| Amy | nuc1 | bitbots | 172.20.1.11 | 172.20.4.11 |
++----------+----------+----------+-------------+-------------+
+| Rory | nuc2 | bitbots | 172.20.1.12 | 172.20.4.12 |
++----------+----------+----------+-------------+-------------+
+| Jack | nuc3 | bitbots | 172.20.1.13 | 172.20.4.13 |
++----------+----------+----------+-------------+-------------+
+| Donna | nuc4 | bitbots | 172.20.1.14 | 172.20.4.14 |
++----------+----------+----------+-------------+-------------+
+| Melody | nuc5 | bitbots | 172.20.1.15 | 172.20.4.15 |
++----------+----------+----------+-------------+-------------+
+| Rose | nuc6 | bitbots | 172.20.1.16 | 172.20.4.16 |
++----------+----------+----------+-------------+-------------+
Configuration with Ansible
--------------------------
@@ -47,7 +56,6 @@ Our Ansible setup is able to configure the following aspects of the robot:
- Network/IP configuration including:
- Configuration of competition Wi-Fi networks (see :doc:`competition_wifi`)
- Configuration of USB-Ethernet adapter as slave of a bridge interface, to allow for removal without losing the interface utilized by ros/dds
- - Configuration of custom MTU of 9000 (jumbo frames) for Ethernet connection to the basler camera
- Installation and configuration of ROS and DDS
- Configuration of Vulkan packages/drivers
@@ -55,14 +63,14 @@ To run the whole setup on a specific robot execute the following in the ansible
.. code-block:: bash
- ansible-playbook ./playbooks/setup_robots.yml --ask-become-pass --limit
+ ansible-playbook ./playbooks/setup_robots.yml --ask-become-pass --limit
If you don't have access to the secret git-crypt data you can add ``--skip-tags git_crypt`` to the command.
Ansible will execute the playbook with the ``bitbots`` user on the robots and will ask for its password to be able to utilize ``sudo``.
.. note::
- Does DNS not resolve ``nuc*``? See :doc:`configure_hostnames` to fix this.
+ Does DNS not resolve ``hostname``? See :doc:`configure_hostnames` to fix this.
Deployment
----------
diff --git a/src/bitbots_misc/bitbots_docs/docs/manual/tutorials/vscode-ros2.rst b/src/bitbots_misc/bitbots_docs/docs/manual/tutorials/vscode-ros2.rst
deleted file mode 100644
index a4ae8d1240..0000000000
--- a/src/bitbots_misc/bitbots_docs/docs/manual/tutorials/vscode-ros2.rst
+++ /dev/null
@@ -1,76 +0,0 @@
-======================
-Setup VSCode with ROS2
-======================
-
-Open a terminal.
-Navigate to your bitbots_main workspace.
-
-Activate the pixi environment:
-
-`pixi shell`
-
-Open VSCode
-
-`code .`
-
-Install the `Robotics Developer Extension `_.
-You should see a `ROS2.jazzy` in the lower left corner.
-
-Now you should be able to build the code with `Ctrl+Shift+B`
-
-You can use multiple commands with `Ctrl+Shift+P` and then type `ROS`.
-
-Debugging
-~~~~~~~~~
-You can debug launch files but only ones that are written in Python.
-These cannot include further xml launch files.
-It makes sense to create a small test launch with only the node that you want to debug and start the rest independently.
-An example vscode launch configuration and the corresponding python launch file can be seen below:
-
-.. code-block:: json
-
- {
- // Use IntelliSense to learn about possible attributes.
- // Hover to view descriptions of existing attributes.
- // For more information, visit: https://go.microsoft.com/fwlink/?linkid=830387
- "version": "0.2.0",
- "configurations": [
- {
- "name": "head behavior",
- "request": "launch",
- "target": "$COLCON_WS/src/bitbots_head_behavior/share/bitbots_head_behavior/launch/test.py",
- "launch": "[rviz, gz, gzclient, gzserver]",
- "type": "ros"
- }
- ]
- }
-
-.. code-block:: python
-
- import os
- from ament_index_python import get_package_share_directory
- from launch import LaunchDescription
- from launch_ros.actions import Node
-
- def generate_launch_description():
- body_config = os.path.join(get_package_share_directory('bitbots_body_behavior'), 'config', 'body_behavior.yaml')
- head_config = os.path.join(get_package_share_directory('bitbots_head_behavior'), 'config', 'head_config.yaml')
-
- node = Node(
- package='bitbots_head_behavior',
- namespace='',
- executable='head_node',
- parameters=[
- body_config,
- head_config,
- {
- "camera_frame": "camera",
- "base_link_frame": "base_link",
- "odom_frame": "odom",
- "map_frame": "map",
- "base_footprint_frame": "base_footprint"
- }],
- remappings=[("/head_motor_goals", "/DynamixelController/command")]
- )
-
- return LaunchDescription([node])
diff --git a/src/bitbots_misc/bitbots_docs/docs/manual/tutorials/webots_simulation_testing.rst b/src/bitbots_misc/bitbots_docs/docs/manual/tutorials/webots_simulation_testing.rst
deleted file mode 100644
index b0aae38b40..0000000000
--- a/src/bitbots_misc/bitbots_docs/docs/manual/tutorials/webots_simulation_testing.rst
+++ /dev/null
@@ -1,37 +0,0 @@
-Webots Simulation Testing Setup
-================================
-
-**1. Software installation**
-
-Follow our `software installation guide `_ to install the software on the CL.
-
-TODO: Install webots (see discussion in ansible issue)
-
-**2. Run Webots Simulation**
-
-We can start the Webots simulator with the following command:
-``pixi run ros2 launch bitbots_bringup simulator_teamplayer.launch game_controller:=false``
-This should start the simulation environment in the Webots simulator, while also starting all necessary
-nodes of the robot software (walking, vision, etc.).
-In the simulator we should see a field with a single robot.
-
-Instead of doing `pixi run ...` you can also activate the pixi environment for the current terminal with
-``pixi shell`` and then run the command without the prefix ``pixi run``.
-
-With ``game_controller:=false`` we ensure, that the game_controller_listener is not started as well, but instead
-we will simulate the current gamestate by our own script (in another terminal):
-``pixi run ros2 run game_controller_hsl sim_gamestate.py``
-
-Which allows us to simulate the current gamestate and different phases of the game.
-Now everything is ready for some simulation testing.
-
-**3. Testing and Debugging**
-
-By changing the simulated gamestate and seeing how the robot reacts, we can test our behavior.
-If there are issues with the robots behavior, they most likely have to do with DSD configuration or different
-parallelism handling in ROS 2.
-To be able to visualize the current DSD execution, we can start ``pixi run rqt`` and in the ``Plugins`` menu select
-``RoboCup -> DSD-Visualization``. This will show us the current DSD execution and can help in finding deadlocks
-or behavior execution logic issues.
-
-TODO: extend this section
diff --git a/src/bitbots_misc/bitbots_education/launch/education_simulation.launch b/src/bitbots_misc/bitbots_education/launch/education_simulation.launch
index 851adcf2f2..875174880e 100644
--- a/src/bitbots_misc/bitbots_education/launch/education_simulation.launch
+++ b/src/bitbots_misc/bitbots_education/launch/education_simulation.launch
@@ -2,7 +2,7 @@
-
+
diff --git a/src/bitbots_misc/bitbots_education/templates/base.html b/src/bitbots_misc/bitbots_education/templates/base.html
index a74b7b3010..d47a355529 100644
--- a/src/bitbots_misc/bitbots_education/templates/base.html
+++ b/src/bitbots_misc/bitbots_education/templates/base.html
@@ -57,13 +57,11 @@
"GoToPassPreparePosition": "Gehe zur Passvorbereitungsposition",
"GoToRelativePosition": "Gehe zur relativen Position",
"GoToRolePosition": "Zur Rollenposition gehen",
- "KickBallDynamic": "Dynamisch schießen",
"LookAtBall": "Schau auf den Ball",
"LookAtFieldFeatures": "Schau auf Spielfeldmerkmale",
"LookAtFront": "Schau nach vorne",
"LookForward": "Nach vorne schauen",
"PlayAnimationCheering": "Jubel-Animation",
- "PlayAnimationDynup": "Dynup-Animation",
"PlayAnimationGoalieArms": "Torwart-Arme Animation",
"PlayAnimationGoalieFallCenter": "Torwart-Animation Mitte",
"PlayAnimationGoalieFallLeft": "Torwart-Animation links",
diff --git a/src/bitbots_misc/bitbots_parameter_blackboard/launch/parameter_blackboard.launch b/src/bitbots_misc/bitbots_parameter_blackboard/launch/parameter_blackboard.launch
index ec2e250975..9a644292a8 100644
--- a/src/bitbots_misc/bitbots_parameter_blackboard/launch/parameter_blackboard.launch
+++ b/src/bitbots_misc/bitbots_parameter_blackboard/launch/parameter_blackboard.launch
@@ -1,8 +1,8 @@
-
-
+
+
diff --git a/src/bitbots_misc/bitbots_teleop/bitbots_teleop/joy_node.py b/src/bitbots_misc/bitbots_teleop/bitbots_teleop/joy_node.py
index 01533f3e0a..6018ae8283 100755
--- a/src/bitbots_misc/bitbots_teleop/bitbots_teleop/joy_node.py
+++ b/src/bitbots_misc/bitbots_teleop/bitbots_teleop/joy_node.py
@@ -9,11 +9,11 @@
from rclpy.node import Node
from sensor_msgs.msg import Joy
-from bitbots_msgs.msg import Audio, HeadMode, JointCommand
+from bitbots_msgs.msg import TTS, HeadMode, JointCommand
class JoyNode(Node):
- """This node controls the roboter via Gamepad."""
+ """This node controls the robot via a gamepad."""
# TODO read max values from config
@@ -111,8 +111,8 @@ def __init__(self):
# --- Initialize Topics ---
self.create_subscription(Joy, "joy", self.joy_cb, 1)
- self.speak_pub = self.create_publisher(Audio, "speak", 1)
- self.speak_msg = Audio()
+ self.speak_pub = self.create_publisher(TTS, "speak", 1)
+ self.speak_msg = TTS()
self.speak_msg.priority = 1
diff --git a/src/bitbots_misc/bitbots_teleop/scripts/teleop_keyboard.py b/src/bitbots_misc/bitbots_teleop/scripts/teleop_keyboard.py
index 76dc36f7f4..34cb3cc9a3 100755
--- a/src/bitbots_misc/bitbots_teleop/scripts/teleop_keyboard.py
+++ b/src/bitbots_misc/bitbots_teleop/scripts/teleop_keyboard.py
@@ -10,26 +10,29 @@
import tty
import rclpy
-from bitbots_utils.transforms import quat_from_yaw
-from geometry_msgs.msg import Point, Twist, Vector3
+from geometry_msgs.msg import Twist, Vector3
from livelybot_msg.msg import PowerSwitch
from rclpy.action import ActionClient
from rclpy.node import Node
from sensor_msgs.msg import JointState
-from std_msgs.msg import Bool
from std_srvs.srv import Empty
-from bitbots_msgs.action import Kick, PlayAnimation
+from bitbots_msgs.action import PlayAnimation
from bitbots_msgs.msg import HeadMode, JointCommand
from bitbots_msgs.srv import SimulatorPush
msg = """
Bit-Bots Teleop
---------------
+
+SPACE: EMERGENCY STOP (servo power off)
+f: full stop F: play walkready animation
+g: walk on the spot, clear speeds
+
Walk around: Move head:
- q w e u i o
- a s d j k l
- m , .
+q w e u i o
+a s d j k l
+ m , .
q/e: turn left/right k: zero head position
a/d: left/right i/,: up/down
@@ -39,30 +42,17 @@
Controls increase / decrease with multiple presses.
SHIFT increases with factor 10
-y: kick left forward Y: walk kick left forward
-c: kick right forward C: walk kick right forward
-<: side kick left 1 >: side kick left 2
-v: side kick right 1 V: side kick right 2
-x: kick center forward X: kick center backward
-b: kick left backward n: kick right backward
-B: kick left outward N: kick right outward
-
-SPACE: EMERGENCY STOP!!!
-f: full stop F: play walkready animation
-r: reset robot in simulation
-R: reset ball in simulation
-
-g: walk on the spot, clear speeds
-
Head Modes:
-0: Track the last known ball position
+(Currently not implemented: 0: Track the last known ball position)
1: Look generally for all features on the field (ball, goals, corners, center point)
2: Simply look directly forward
3: Don't move the head
4: Ball Mode adapted for Penalty Kick
5: Do a pattern which only looks in front of the robot
-Pushing:
+Simulation only:
+r: reset robot in simulation
+R: reset ball in simulation
p: execute Push
P: reset Power to 0
ü/ä: increase/decrease power forward (x axis)
@@ -74,6 +64,9 @@
+
+
+
"""
move_bindings = {
@@ -156,7 +149,6 @@ def __init__(self):
self.head_yaw_step = 0.05
self.head_pitch_step = 0.05
- self.walk_kick_pub = self.create_publisher(Bool, "kick", 1)
self.power_switch_pub = self.create_publisher(PowerSwitch, "/power_switch_control", 10)
self.reset_robot = self.create_client(Empty, "/reset_pose")
@@ -186,14 +178,14 @@ def get_key(self):
def get_walkready(self):
self.animation_client.send_goal_async(PlayAnimation.Goal(animation="walkready"))
- def generate_kick_goal(self, x, y, direction):
- kick_goal = Kick.Goal()
- kick_goal.header.stamp = self.get_clock().now().to_msg()
- kick_goal.header.frame_id = self.frame_prefix + "base_footprint"
- kick_goal.ball_position = Point(x=float(x), y=float(y), z=0.0)
- kick_goal.kick_direction = quat_from_yaw(direction)
- kick_goal.kick_speed = 1.0
- return kick_goal
+ # def generate_kick_goal(self, x, y, direction):
+ # kick_goal = Kick.Goal()
+ # kick_goal.header.stamp = self.get_clock().now().to_msg()
+ # kick_goal.header.frame_id = self.frame_prefix + "base_footprint"
+ # kick_goal.ball_position = Point(x=float(x), y=float(y), z=0.0)
+ # kick_goal.kick_direction = quat_from_yaw(direction)
+ # kick_goal.kick_speed = 1.0
+ # return kick_goal
def joint_state_cb(self, msg):
if "head_yaw_joint" in msg.name and "head_pitch_joint" in msg.name:
@@ -203,6 +195,7 @@ def joint_state_cb(self, msg):
def loop(self):
try:
while True:
+ info: str = ""
key = self.get_key()
if key in move_bindings.keys():
self.x += move_bindings[key][0] * self.x_speed_step
@@ -224,8 +217,9 @@ def loop(self):
self.head_pub.publish(self.head_msg)
elif key == "0":
# Track the last known ball position
- self.head_mode_msg.head_mode = HeadMode.TRACK_BALL
- assert int(key) == HeadMode.TRACK_BALL
+ # self.head_mode_msg.head_mode = HeadMode.TRACK_BALL
+ # assert int(key) == HeadMode.TRACK_BALL
+ info = "ERROR: CURRENTLY NOT IMPLEMENTED"
elif key == "1":
# Look generally for all features on the field (ball, goals, corners, center point)
self.head_mode_msg.head_mode = HeadMode.SEARCH_FIELD_FEATURES
@@ -246,60 +240,6 @@ def loop(self):
# Do a pattern which only looks in front of the robot
self.head_mode_msg.head_mode = HeadMode.SEARCH_FRONT
assert int(key) == HeadMode.SEARCH_FRONT
- elif key == "y":
- # kick left forward
- pass
- # self.kick_client.send_goal_async(self.generate_kick_goal(0.2, 0.1, 0))
- elif key == "<":
- # kick left side ball left
- pass
- # self.kick_client.send_goal_async(self.generate_kick_goal(0.2, 0.1, -1.57))
- elif key == ">":
- # kick left side ball center
- pass
- # self.kick_client.send_goal_async(self.generate_kick_goal(0.2, 0, -1.57))
- elif key == "c":
- # kick right forward
- pass
- # self.kick_client.send_goal_async(self.generate_kick_goal(0.2, -0.1, 0))
- elif key == "v":
- # kick right side ball right
- pass
- # self.kick_client.send_goal_async(self.generate_kick_goal(0.2, -0.1, 1.57))
- elif key == "V":
- # kick right side ball center
- pass
- # self.kick_client.send_goal_async(self.generate_kick_goal(0.2, 0, 1.57))
- elif key == "x":
- # kick center forward
- pass
- # self.kick_client.send_goal_async(self.generate_kick_goal(0.2, 0, 0))
- elif key == "X":
- # kick center backwards
- pass
- # self.kick_client.send_goal_async(self.generate_kick_goal(-0.2, 0, 0))
- elif key == "b":
- # kick left backwards
- pass
- # self.kick_client.send_goal_async(self.generate_kick_goal(-0.2, 0.1, 0))
- elif key == "n":
- # kick right backwards
- pass
- # self.kick_client.send_goal_async(self.generate_kick_goal(-0.2, -0.1, 0))
- elif key == "B":
- # kick left backwards
- pass
- # self.kick_client.send_goal_async(self.generate_kick_goal(0, 0.14, -1.57))
- elif key == "N":
- # kick right backwards
- pass
- # self.kick_client.send_goal_async(self.generate_kick_goal(0, -0.14, 1.57))
- elif key == "Y":
- # kick left walk
- self.walk_kick_pub.publish(Bool(data=False))
- elif key == "C":
- # kick right walk
- self.walk_kick_pub.publish(Bool(data=True))
elif key == "F":
# play walkready animation
self.get_walkready()
@@ -322,6 +262,15 @@ def loop(self):
self.z = 0
self.a_x = -1
self.th = 0
+ elif key == " ":
+ self.x = 0
+ self.y = 0
+ self.z = 0
+ self.a_x = 0
+ self.th = 0
+ self.push_force_x = 0.0
+ self.push_force_y = 0.0
+ self.power_switch_pub.publish(PowerSwitch(control_switch=0, power_switch=0))
elif key == "p":
# push robot in simulation
push_request = SimulatorPush.Request()
@@ -332,13 +281,6 @@ def loop(self):
elif key == "P":
self.push_force_x = 0.0
self.push_force_y = 0.0
- elif key == " ":
- self.x = 0
- self.y = 0
- self.z = 0
- self.a_x = 0
- self.th = 0
- self.power_switch_pub.publish(PowerSwitch(control_switch=1, power_switch=0))
elif key == "ü":
self.push_force_x += 1
elif key == "Ü":
@@ -365,7 +307,7 @@ def loop(self):
self.a_x = -1
break
else:
- print("unknown key: " + str(key))
+ info = f"unknown key: '{key}'"
self.head_mode_pub.publish(self.head_mode_msg)
@@ -379,9 +321,11 @@ def loop(self):
f"turn: {self.th} \n"
f"head mode: {self.head_mode_msg.head_mode} \n"
f"push force x (+forward/-back): {self.push_force_x} \n"
- f"push force y (+left/-right): {self.push_force_y} "
+ f"push force y (+left/-right): {self.push_force_y} \n"
+ f"last key: '{key}' {info + ' ' * 40 if info else ' ' * 40}"
)
+ # move cursor up to overwrite previous state output
for _ in range(state_str.count("\n") + 1):
sys.stdout.write("\x1b[A")
print(state_str)
diff --git a/src/bitbots_misc/bitbots_tts/bitbots_tts/tts.py b/src/bitbots_misc/bitbots_tts/bitbots_tts/tts.py
index 15090e3f12..01fceb8625 100755
--- a/src/bitbots_misc/bitbots_tts/bitbots_tts/tts.py
+++ b/src/bitbots_misc/bitbots_tts/bitbots_tts/tts.py
@@ -13,14 +13,14 @@
from rclpy.node import Node
from rclpy.publisher import Publisher
-from bitbots_msgs.msg import Audio
+from bitbots_msgs.msg import TTS
from bitbots_tts.supertonic.helper import load_text_to_speech, load_voice_style, timer
def speak(text: str, publisher: Publisher, priority: int = 20, speaking_active: bool = True) -> None:
"""Utility method which can be used by other classes to easily publish a message."""
if speaking_active:
- msg = Audio()
+ msg = TTS()
msg.priority = priority
msg.text = text
publisher.publish(msg)
@@ -53,7 +53,7 @@ def __init__(self) -> None:
self.add_on_set_parameters_callback(self.on_set_parameters)
# Subscribe to the speak topic
- self.create_subscription(Audio, "speak", self.speak_cb, 10, callback_group=MutuallyExclusiveCallbackGroup())
+ self.create_subscription(TTS, "speak", self.speak_cb, 10, callback_group=MutuallyExclusiveCallbackGroup())
# Load the tts model
conda_prefix = os.environ.get("CONDA_PREFIX", "")
@@ -114,7 +114,7 @@ def run_speaker(self) -> None:
except OSError:
self.get_logger().error(str(traceback.format_exc()))
- def speak_cb(self, msg: Audio) -> None:
+ def speak_cb(self, msg: TTS) -> None:
"""Handles incoming msg on speak topic."""
# First decide if it's a file or a text
text = msg.text
diff --git a/src/bitbots_misc/bitbots_tts/scripts/send_text.py b/src/bitbots_misc/bitbots_tts/scripts/send_text.py
index cfef884da7..d014cb44d0 100755
--- a/src/bitbots_misc/bitbots_tts/scripts/send_text.py
+++ b/src/bitbots_misc/bitbots_tts/scripts/send_text.py
@@ -3,18 +3,18 @@
import rclpy
-from bitbots_msgs.msg import Audio
+from bitbots_msgs.msg import TTS
if __name__ == "__main__":
rclpy.init(args=None)
node = rclpy.create_node("send_text")
- pub = node.create_publisher(Audio, "speak", 10)
+ pub = node.create_publisher(TTS, "speak", 10)
args = argparse.ArgumentParser()
args.add_argument("text", type=str)
args.add_argument("--priority", type=int, default=None)
args = args.parse_args()
- msg = Audio()
+ msg = TTS()
msg.text = args.text
if args.priority:
msg.priority = args.priority
diff --git a/src/bitbots_misc/bitbots_utils/scripts/check_robot.py b/src/bitbots_misc/bitbots_utils/scripts/check_robot.py
deleted file mode 100755
index 77fa547175..0000000000
--- a/src/bitbots_misc/bitbots_utils/scripts/check_robot.py
+++ /dev/null
@@ -1,393 +0,0 @@
-#!/usr/bin/python3
-import os
-import sys
-
-import actionlib
-import dynamic_reconfigure.client
-import rclpy
-import roslaunch
-import rosnode
-import rospkg
-import rostopic
-from action_msgs.msg import GoalStatus
-from diagnostic_msgs.msg import DiagnosticStatus
-from geometry_msgs.msg import Quaternion, Twist
-from sensor_msgs.msg import Imu, JointState
-from std_srvs.srv import Empty
-from tf.transformations import quaternion_from_euler
-
-from bitbots_msgs.msg import FootPressure, KickAction, KickGoal
-
-
-class BCOLORS:
- HEADER = "\033[95m"
- OKBLUE = "\033[94m"
- OKGREEN = "\033[92m"
- WARNING = "\033[93m"
- FAIL = "\033[91m"
- ENDC = "\033[0m"
- BOLD = "\033[1m"
- UNDERLINE = "\033[4m"
-
-
-def print_warn(str):
- print(BCOLORS.WARNING + str + BCOLORS.ENDC)
-
-
-def print_info(str):
- print(BCOLORS.OKGREEN + str + BCOLORS.ENDC)
-
-
-def input_info(str):
- return input(BCOLORS.OKBLUE + str + BCOLORS.ENDC)
-
-
-diag_status = None
-had_diag_error = False
-had_diag_stale = False
-had_diag_warn = False
-
-
-def diagnostic_cb(msg: DiagnosticStatus):
- global diag_status, had_diag_warn, had_diag_error, had_diag_stale
- diag_status = msg.level
- if msg.level == DiagnosticStatus.WARN:
- had_diag_warn = True
- elif msg.level == DiagnosticStatus.ERROR:
- had_diag_error = True
- elif msg.level == DiagnosticStatus.STALE:
- had_diag_stale = True
-
-
-left_pressure = None
-right_pressure = None
-
-
-def pressure_cb(msg, is_left=True):
- global left_pressure
- global right_pressure
-
- if is_left:
- left_pressure = msg
- else:
- right_pressure = msg
-
-
-def is_motion_started():
- node_names = rosnode.get_node_names("/")
- started = True
- nodes_in_motion = {
- "/ros_control",
- "/hcm",
- "/walking",
- "/animation",
- "/dynamic_kick",
- "/motion_odometry",
- }
- for node in nodes_in_motion:
- if node not in node_names:
- print_info(f"{node} not running")
- started = False
- return started
-
-
-def check_pressure(msg, min, max, foot_name):
- okay = True
- if msg.left_front < min or msg.left_front > max:
- print_warn(f" {foot_name} left_front out of limits. Min {min} Max {max} Value {round(msg.left_front, 2)}\n")
- okay = False
- if msg.left_back < min or msg.left_back > max:
- print_warn(f" {foot_name} left_back out of limits. Min {min} Max {max} Value {round(msg.left_back, 2)}\n")
- okay = False
- if msg.right_back < min or msg.right_back > max:
- print_warn(f" {foot_name} right_back out of limits. Min {min} Max {max} Value {round(msg.right_back, 2)}\n")
- okay = False
- if msg.right_front < min or msg.right_front > max:
- print_warn(f" {foot_name} right_front out of limits. Min {min} Max {max} Value {round(msg.right_front, 2)}\n")
- okay = False
- return okay
-
-
-got_pwm = False
-
-
-def pwm_callback(msg: JointState):
- global got_pwm
- got_pwm = True
- for effort in msg.effort:
- if effort == 100:
- print_warn("Servo reported max PWM value. It is working at its limit!\n")
-
-
-ACCEL_LIMIT = 35
-ANGULAR_VEL_LIMIT = 10
-
-
-def imu_callback(msg: Imu):
- for accel in [msg.linear_acceleration.x, msg.linear_acceleration.y, msg.linear_acceleration.z]:
- if abs(accel) > ACCEL_LIMIT:
- print_warn("IMU over accel limit! Orientation estimation will suffer.\n")
- for angular_vel in [msg.angular_velocity.x, msg.angular_velocity.y, msg.angular_velocity.z]:
- if abs(angular_vel) > ANGULAR_VEL_LIMIT:
- print_warn("IMU over angular vel limit! Orientation estimation will suffer.\n")
-
-
-if __name__ == "__main__":
- print_info("### This script will check the robot hardware and motions. Please follow the instructions\n")
-
- rclpy.init(args=None)
-
- # start subscribers
- imu_sub = rclpy.Subscriber("imu/data", Imu, imu_callback, tcp_nodelay=True)
- pwm_sub = rclpy.Subscriber("servo_PWM", JointState, pwm_callback, tcp_nodelay=True)
-
- # start necessary software
- print_info(
- "First the motion software will be started. Please hold the robot, turn on servo power and press enter.\n"
- )
- input_info("Press Enter to continue...")
- uuid = roslaunch.rlutil.get_or_generate_uuid(None, False)
- roslaunch.configure_logging(uuid)
- rospack = rospkg.RosPack()
- launch = roslaunch.parent.ROSLaunchParent(
- uuid, [rospack.get_path("bitbots_bringup") + "/launch/motion_standalone.launch"]
- )
- launch.start()
- rclpy.sleep(5)
- while True:
- if is_motion_started():
- rclpy.sleep(5)
- break
- else:
- print_info("Waiting for software to be started \n")
- rclpy.sleep(1)
- print_info("\n\n")
-
- # check diagnostic status
- print_info("Will check diagnostic status of robot.\n")
- diag_sub = rclpy.Subscriber("diagnostics_toplevel_state", DiagnosticStatus, diagnostic_cb, tcp_nodelay=True)
- rclpy.sleep(3)
-
- if not (had_diag_stale or had_diag_warn or had_diag_error):
- print_info(" Diagnostic status okay.")
- else:
- print_warn(" Diagnostics report problem. Please use rqt_monitor to investigate.")
- if had_diag_error:
- print_warn(" There were errors.")
- if had_diag_warn:
- print_warn(" There were warnings.")
- if had_diag_stale:
- print_warn(" There were stales.")
- input_info("press enter when the issue is resolved")
- had_diag_stale = False
- had_diag_warn = False
- had_diag_error = False
- print_info("\n\n")
-
- # check publishing frequency of imu, servos, pwm, goals, pressure, robot_state
- # the topics which will be checked with minimal publishing rate
- topics_to_check = {
- "imu/data": 900,
- "joint_states": 900,
- "robot_state": 900,
- "foot_pressure_left/raw": 900,
- "foot_pressure_left/filtered": 900,
- "foot_pressure_right/raw": 900,
- "foot_pressure_right/filtered": 900,
- "core/vdxl": 9,
- "diagnostics_toplevel_state": 9,
- }
- rts = []
- for topic in topics_to_check.keys():
- msg_class, real_topic, _ = rostopic.get_topic_class(topic)
- if real_topic is None or msg_class is None:
- print_warn(f"Problem with topic {topic}")
- else:
- rt = rostopic.ROSTopicHz(-1)
- rt_sub = rclpy.Subscriber(topic, msg_class, rt.callback_hz, callback_args=topic, tcp_nodelay=True)
- rts.append((rt, rt_sub))
- print_info("Please wait a few seconds for publishing rates of topics to be evaluated\n")
- rclpy.sleep(5)
- print_info("Topics have been evaluated:\n")
- i = 0
- for topic in topics_to_check.keys():
- rate = rts[i][0].get_hz(topic)[0]
- if rate is None or rate < topics_to_check[topic]:
- print_warn(f" Low rate on Topic {topic}: {round(rate, 2)} \n")
- else:
- print_info(f" Okay rate Topic {topic}: {round(rate, 2)} \n")
- i += 1
-
- # check pressure values when robot in air
- print_info("\n\n")
- print_info("We will check the foot pressure sensors next\n")
- input_info("Please hold the robot in the air so that the feet don't touch the ground and press enter.")
- left_pressure_sub = rclpy.Subscriber(
- "foot_pressure_left/filtered", FootPressure, pressure_cb, callback_args=True, tcp_nodelay=True
- )
- right_pressure_sub = rclpy.Subscriber(
- "foot_pressure_right/filtered", FootPressure, pressure_cb, callback_args=False, tcp_nodelay=True
- )
- rclpy.sleep(0.5)
- while (not left_pressure) and (not right_pressure) and (rclpy.ok()):
- rclpy.loginfo_throttle(1, "Waiting to receive pressure msgs\n")
- print_info("Pressure messages received\n")
- both_okay = True
- both_okay = both_okay and check_pressure(left_pressure, -1, 1, "left")
- both_okay = both_okay and check_pressure(right_pressure, -1, 1, "right")
- if not both_okay:
- print_warn("Pressure not correctly zero. Will try to call zero service.\n")
- # call zero service
- zero_l = rclpy.ServiceProxy("foot_pressure_left/set_foot_zero", Empty)
- zero_r = rclpy.ServiceProxy("foot_pressure_right/set_foot_zero", Empty)
- zero_l()
- zero_r()
- # wait and check again
- rclpy.sleep(1)
- both_okay = True
- both_okay = both_okay and check_pressure(left_pressure, -1, 1, "left")
- both_okay = both_okay and check_pressure(right_pressure, -1, 1, "right")
- if both_okay:
- print_info("Pressures correct after calling zero service. You can continue normally.\n")
- else:
- print_warn("Pressures still wrong. Please investigate the problem.\n")
-
- # check pressure values when robot in walkready
- input_info("Please put the robot standing on the ground and press enter")
- both_okay = True
- both_okay = both_okay and check_pressure(left_pressure, 20, 40, "left")
- both_okay = both_okay and check_pressure(right_pressure, 20, 40, "right")
- if both_okay:
- print_info("Pressure seems to be okay\n")
- else:
- print_warn(
- "Problem with pressure. "
- "Please recalibrate the sensors using rosrun bitbots_ros_control pressure_calibaration\n"
- )
-
- # check servo PWM status
- print_info(
- "We will check the servo PWM status now. This gives information if any servo is going on maximum torque.\n"
- )
- print_info("Will now try to activate PWM reading and wait till they are recieved.\n")
- dyn_reconf_client = dynamic_reconfigure.client.Client("/ros_control/servos", timeout=10.0)
- dyn_reconf_client.update_configuration({"read_pwm": True})
- while not got_pwm:
- rclpy.sleep(0.1)
- print_info("Got PWM values, will continue.\n")
-
- # check fall front
- input_info(
- "\nNext we will check front falling detection.\n "
- "Please let the robot fall on its belly, but hold it to prevent damage. "
- "The robot should perform a safety motion. Afterwards it should stand up by itself. "
- "Press enter when you're done.\n"
- )
-
- input_info(
- "\nNext we will check back falling detection.\n "
- "Please let the robot fall on its back, but hold it to prevent damage. "
- "The robot should perform a safety motion. Afterwards it should stand up by itself. "
- "Press enter when you're done.\n"
- )
-
- # check walk motion
- walk_pub = rclpy.create_publisher(Twist, "/cmd_vel", 1)
- text = input_info(
- "\nWe will check walking of the robot. After pressing enter, robot will start walking in different directions. "
- "It will stop when it is finished. Please make sure there is space and catch it if it falls. Press y if you want to check walking."
- )
- if text == "y":
- cmd_msg = Twist()
- cmd_msg.linear.x = 0.1
- walk_pub.publish(cmd_msg)
- rclpy.sleep(5)
- cmd_msg.linear.x = -0.1
- walk_pub.publish(cmd_msg)
- rclpy.sleep(5)
- cmd_msg.linear.x = 0.0
- cmd_msg.linear.y = 0.1
- walk_pub.publish(cmd_msg)
- rclpy.sleep(5)
- cmd_msg.linear.y = -0.1
- walk_pub.publish(cmd_msg)
- rclpy.sleep(5)
- cmd_msg.linear.y = 0
- walk_pub.publish(cmd_msg)
- rclpy.sleep(1)
-
- # check kick motion
- text = input_info(
- "\nWe will check the kick motion. Please hold make sure the robot is safe. "
- "Press y if you want to perform this test."
- )
- if text == "y":
-
- def done_cb(state, result):
- print_info("Action completed: ", end="")
- if state == GoalStatus.PENDING:
- print_info("Pending")
- elif state == GoalStatus.ACTIVE:
- print_info("Active")
- elif state == GoalStatus.PREEMPTED:
- print_info("Preempted")
- elif state == GoalStatus.SUCCEEDED:
- print_info("Succeeded")
- elif state == GoalStatus.ABORTED:
- print_info("Aborted")
- elif state == GoalStatus.REJECTED:
- print_info("Rejected")
- elif state == GoalStatus.PREEMPTING:
- print_info("Preempting")
- elif state == GoalStatus.RECALLING:
- print_info("Recalling")
- elif state == GoalStatus.RECALLED:
- print_info("Recalled")
- elif state == GoalStatus.LOST:
- print_info("Lost")
- else:
- print_info("Unknown state", state)
- print_info(str(result))
-
- def active_cb():
- print_info("Server accepted action")
-
- def feedback_cb(feedback):
- if len(sys.argv) > 1 and sys.argv[1] == "--feedback":
- print_info("Feedback")
- print_info(feedback)
- print_info()
-
- goal = KickGoal()
- goal.header.stamp = rclpy.get_clock().now()
- goal.header.frame_id = "base_footprint"
- goal.ball_position.x = 0.2
- goal.ball_position.y = -0.09
- goal.ball_position.z = 0
- goal.kick_direction = Quaternion(*quaternion_from_euler(0, 0, 0))
- goal.kick_speed = 1
-
- client = actionlib.SimpleActionClient("dynamic_kick", KickAction)
- client.done_cb = done_cb
- client.feedback_cb = feedback_cb
- client.active_cb = active_cb
- client.send_goal(goal)
- client.wait_for_result()
-
- if not (had_diag_stale or had_diag_warn or had_diag_error):
- print_info("Diagnostic status were okay during motions.")
- else:
- print_warn("Diagnostics report problem. Please use rqt_monitor to investigate.")
- if had_diag_error:
- print_warn(" There were errors.")
- if had_diag_warn:
- print_warn(" There were warnings.")
- if had_diag_stale:
- print_warn(" There were stales.")
-
- print_info("Will now call roswtf to investigate if there are any issues")
- os.system("roswtf")
-
- input_info("All tests finished, script will exit and turn off robot. Please hold robot and press enter")
- # shutdown the launch
- launch.shutdown()
diff --git a/src/bitbots_misc/bitbots_utils/scripts/motor_goals_viz_helper.py b/src/bitbots_misc/bitbots_utils/scripts/motor_goals_viz_helper.py
index febbf3b86d..767d14810b 100755
--- a/src/bitbots_misc/bitbots_utils/scripts/motor_goals_viz_helper.py
+++ b/src/bitbots_misc/bitbots_utils/scripts/motor_goals_viz_helper.py
@@ -23,9 +23,7 @@ def __init__(self):
parser.add_argument("--animation", "-a", help="Directly get animation motor goals", action="store_true")
parser.add_argument("--head", help="Directly get head motor goals", action="store_true")
parser.add_argument("--kick", help="Directly get kick motor goals", action="store_true")
- parser.add_argument("--dynup", help="Directly get Dynup motor goals", action="store_true")
parser.add_argument("--all", help="Directly get all motor goals", action="store_true")
- parser.add_argument("--gazebo", help="Publish for Gazebo instead of rviz", action="store_true")
parser.add_argument("--ros-args", help="just to filter ros args", action="store_true")
parser.add_argument("-r", help="just to filter ros args", action="store_true")
parser.add_argument("__node", help="just to filter ros args", action="store_true")
@@ -77,30 +75,6 @@ def __init__(self):
0.4,
float(0),
]
- elif self.args.robot_type == "itandroids":
- self.joint_names = [
- "rightShoulderPitch[shoulder]",
- "leftShoulderPitch[shoulder]",
- "rightShoulderYaw",
- "leftShoulderYaw",
- "rightElbowYaw",
- "leftElbowYaw",
- "rightHipYaw",
- "leftHipYaw",
- "rightHipRoll[hip]",
- "leftHipRoll[hip]",
- "rightHipPitch",
- "leftHipPitch",
- "rightKneePitch",
- "leftKneePitch",
- "rightAnklePitch",
- "leftAnklePitch",
- "rightAnkleRoll",
- "leftAnkleRoll",
- "neckYaw",
- "neckPitch",
- ]
- self.joint_goals = [0.0] * 20
elif self.args.robot_type == "piplus":
self.joint_names = [
"head_yaw_joint",
@@ -129,10 +103,7 @@ def __init__(self):
print(f"Unknown robot type {self.args.robot_type}")
exit()
- if self.args.gazebo:
- self.joint_publisher = self.create_publisher(Float64MultiArray, "JointGroupController/command", 10)
- else:
- self.joint_publisher = self.create_publisher(JointState, "joint_states", 10)
+ self.joint_publisher = self.create_publisher(JointState, "joint_states", 10)
if self.args.walking or self.args.all:
self.create_subscription(JointCommand, "walking_motor_goals", self.joint_command_cb, 10)
@@ -142,18 +113,13 @@ def __init__(self):
self.create_subscription(JointCommand, "head_motor_goals", self.joint_command_cb, 10)
if self.args.kick or self.args.all:
self.create_subscription(JointCommand, "kick_motor_goals", self.joint_command_cb, 10)
- if self.args.dynup or self.args.all:
- self.create_subscription(JointCommand, "dynup_motor_goals", self.joint_command_cb, 10)
self.create_subscription(JointCommand, "/joint_command", self.joint_command_cb, 10)
self.joint_state_msg = JointState()
self.joint_state_msg.header.stamp = self.get_clock().now().to_msg()
self.joint_state_msg.name = self.joint_names
self.joint_state_msg.position = self.joint_goals
- if self.args.gazebo:
- self.joint_publisher.publish(self.get_float_array())
- else:
- self.joint_publisher.publish(self.joint_state_msg)
+ self.joint_publisher.publish(self.joint_state_msg)
self.joint_command_msg = JointCommand()
self.joint_command_msg.joint_names = self.joint_names
@@ -164,10 +130,7 @@ def __init__(self):
def loop(self):
self.update_joint_states(self.joint_command_msg)
self.joint_state_msg.header.stamp = self.get_clock().now().to_msg()
- if self.args.gazebo:
- self.joint_publisher.publish(self.get_float_array())
- else:
- self.joint_publisher.publish(self.joint_state_msg)
+ self.joint_publisher.publish(self.joint_state_msg)
def joint_command_cb(self, msg: JointCommand):
self.joint_command_msg.header.stamp = self.get_clock().now().to_msg()
diff --git a/src/bitbots_misc/bitbots_utils/scripts/publish_workspace_status.py b/src/bitbots_misc/bitbots_utils/scripts/publish_workspace_status.py
index e4c1eb9fb6..cae9eccbfc 100755
--- a/src/bitbots_misc/bitbots_utils/scripts/publish_workspace_status.py
+++ b/src/bitbots_misc/bitbots_utils/scripts/publish_workspace_status.py
@@ -8,7 +8,7 @@
from rclpy.qos import DurabilityPolicy, QoSProfile
from std_msgs.msg import String
-from bitbots_msgs.msg import Audio
+from bitbots_msgs.msg import TTS
class WorkspaceStatusPublisher(Node):
@@ -41,7 +41,7 @@ def __init__(self):
String, self.publish_topic, qos_profile=QoSProfile(depth=1, durability=DurabilityPolicy.TRANSIENT_LOCAL)
)
self.get_logger().info("Creating speak publisher...")
- self.speak_pub = self.create_publisher(Audio, "/speak", 1)
+ self.speak_pub = self.create_publisher(TTS, "/speak", 1)
# Publish workspace status
self.get_logger().debug("Publishing workspace status...")
@@ -54,7 +54,7 @@ def __init__(self):
speak(f"Using software version: ~ {parsed_workspace_status['__WORKSPACE__']['name']}!", self.speak_pub, 30)
self.get_logger().info("Spoke workspace status.")
- # NOTE: We cannot destroy the node here, because we want to keep the publisher alive.
+ # NOTE: We cannot destroy the node here, because we want to keep the publisher alive for later rosbag recording.
def main(args=None):
diff --git a/src/bitbots_motion/bitbots_animation_server/bitbots_animation_server/animation_node.py b/src/bitbots_motion/bitbots_animation_server/bitbots_animation_server/animation_node.py
index bb1321fdc8..ae37380438 100755
--- a/src/bitbots_motion/bitbots_animation_server/bitbots_animation_server/animation_node.py
+++ b/src/bitbots_motion/bitbots_animation_server/bitbots_animation_server/animation_node.py
@@ -163,7 +163,7 @@ def finish(successful: bool) -> PlayAnimation.Result:
# Send request to make the HCM to go into animation play mode
num_tries = 0
- while rclpy.ok() and (not (await self.hcm_animation_mode.call_async(SetBool.Request(data=True))).success): # type: ignore[attr-defined]
+ while rclpy.ok() and (not (await self.hcm_animation_mode.call_async(SetBool.Request(data=True))).success): # type: ignore[union-attr]
if num_tries >= 10:
self.get_logger().error("Failed to request HCM to go into animation play mode")
return finish(successful=False)
diff --git a/src/bitbots_motion/bitbots_hcm/CMakeLists.txt b/src/bitbots_motion/bitbots_hcm/CMakeLists.txt
index c23b259af0..9a55e6b15a 100644
--- a/src/bitbots_motion/bitbots_hcm/CMakeLists.txt
+++ b/src/bitbots_motion/bitbots_hcm/CMakeLists.txt
@@ -53,9 +53,6 @@ install(DIRECTORY launch DESTINATION share/${PROJECT_NAME})
install(DIRECTORY config DESTINATION share/${PROJECT_NAME})
-install(DIRECTORY scripts/ USE_SOURCE_PERMISSIONS
- DESTINATION lib/${PROJECT_NAME})
-
if(BUILD_TESTING)
find_package(ament_cmake_pytest REQUIRED)
diff --git a/src/bitbots_motion/bitbots_hcm/bitbots_hcm/hcm_dsd/actions/cancel_goals.py b/src/bitbots_motion/bitbots_hcm/bitbots_hcm/hcm_dsd/actions/cancel_goals.py
index a9a4d81066..6338020319 100644
--- a/src/bitbots_motion/bitbots_hcm/bitbots_hcm/hcm_dsd/actions/cancel_goals.py
+++ b/src/bitbots_motion/bitbots_hcm/bitbots_hcm/hcm_dsd/actions/cancel_goals.py
@@ -3,7 +3,7 @@
class CancelGoals(AbstractHCMActionElement):
"""
- Cancels all animation and move_base goals
+ Cancels all animation goals
"""
def __init__(self, blackboard, dsd, parameters):
diff --git a/src/bitbots_motion/bitbots_hcm/bitbots_hcm/hcm_dsd/decisions/pickup.py b/src/bitbots_motion/bitbots_hcm/bitbots_hcm/hcm_dsd/decisions/pickup.py
deleted file mode 100644
index d4c514d419..0000000000
--- a/src/bitbots_motion/bitbots_hcm/bitbots_hcm/hcm_dsd/decisions/pickup.py
+++ /dev/null
@@ -1,31 +0,0 @@
-from bitbots_tts.tts import speak
-
-from bitbots_hcm.hcm_dsd.decisions import AbstractHCMDecisionElement
-
-
-class PickedUp(AbstractHCMDecisionElement):
- """
- Decides if the robot is currently picked up
- """
-
- def perform(self, reevaluate=False):
- if self.blackboard.visualization_active:
- return "ON_GROUND"
- # check if the robot is currently being picked up. foot have no connection to the ground,
- # but robot is more or less upright (to differentiate from falling)
- if (
- self.blackboard.pressure_sensors_installed
- and not self.blackboard.simulation_active
- and sum(self.blackboard.pressures) < 10
- and abs(self.blackboard.smooth_accel[0]) < self.blackboard.pickup_accel_threshold
- and abs(self.blackboard.smooth_accel[1]) < self.blackboard.pickup_accel_threshold
- ):
- if not reevaluate:
- speak("Picked up!", self.blackboard.speak_publisher, priority=50)
- # we do an action sequence to go to walkready and stay in picked up state
- return "PICKED_UP"
- # robot is not picked up
- return "ON_GROUND"
-
- def get_reevaluate(self):
- return True
diff --git a/src/bitbots_motion/bitbots_hcm/bitbots_hcm/hcm_dsd/hcm_blackboard.py b/src/bitbots_motion/bitbots_hcm/bitbots_hcm/hcm_dsd/hcm_blackboard.py
index 9db786db4c..d75d82146b 100644
--- a/src/bitbots_motion/bitbots_hcm/bitbots_hcm/hcm_dsd/hcm_blackboard.py
+++ b/src/bitbots_motion/bitbots_hcm/bitbots_hcm/hcm_dsd/hcm_blackboard.py
@@ -13,7 +13,7 @@
from bitbots_hcm.type_utils import T_RobotControlState
from bitbots_msgs.action import PlayAnimation
-from bitbots_msgs.msg import Audio, JointTorque, RobotControlState
+from bitbots_msgs.msg import TTS, JointTorque, RobotControlState
from bitbots_msgs.srv import SetTeachingMode
@@ -32,8 +32,6 @@ def __init__(self, node: Node):
# Get parameters
self.simulation_active: bool = self.node.get_parameter("simulation_active").value
self.visualization_active: bool = self.node.get_parameter("visualization_active").value
- self.pickup_accel_threshold: float = self.node.get_parameter("pick_up_accel_threshold").value
- self.pressure_sensors_installed: bool = self.node.get_parameter("pressure_sensors_installed").value
# Create service clients
self.motor_switch_pub = self.node.create_publisher(PowerSwitch, "/power_switch_control", 10)
@@ -45,7 +43,7 @@ def __init__(self, node: Node):
# Create publishers
self.walk_pub = self.node.create_publisher(Twist, "cmd_vel", 1)
self.cancel_path_planning_pub = self.node.create_publisher(EmptyMsg, "pathfinding/cancel", 1)
- self.speak_publisher = self.node.create_publisher(Audio, "speak", 1)
+ self.speak_publisher = self.node.create_publisher(TTS, "speak", 1)
self.torque_publisher = self.node.create_publisher(JointTorque, "set_torque_individual", 10)
self.is_fallen_publisher = self.node.create_publisher(Bool, "hsl_gamecontroller/is_fallen", 1)
@@ -84,7 +82,7 @@ def __init__(self, node: Node):
self.current_joint_state: Optional[JointState] = None
self.previous_joint_state: Optional[JointState] = None
self.last_different_joint_state_time: Optional[Time] = None
- self.is_power_on: bool = True # TODO: This never gets updated, but read in check_hardware.py.
+ self.is_power_on: bool = True # TODO: This never gets updated, but read in check_hardware decision
# Motor Parameters
self.motor_timeout_duration: float = self.node.get_parameter("motor_timeout_duration").value
diff --git a/src/bitbots_motion/bitbots_hcm/bitbots_hcm/humanoid_control_module.py b/src/bitbots_motion/bitbots_hcm/bitbots_hcm/humanoid_control_module.py
index d63899830f..f5f85b6c30 100755
--- a/src/bitbots_motion/bitbots_hcm/bitbots_hcm/humanoid_control_module.py
+++ b/src/bitbots_motion/bitbots_hcm/bitbots_hcm/humanoid_control_module.py
@@ -25,7 +25,7 @@
from bitbots_hcm import hcm_dsd
from bitbots_hcm.hcm_dsd.hcm_blackboard import HcmBlackboard
from bitbots_hcm.type_utils import T_RobotControlState
-from bitbots_msgs.msg import FootPressure, RobotControlState
+from bitbots_msgs.msg import RobotControlState
from bitbots_msgs.srv import ManualPenalize, SetTeachingMode
@@ -245,22 +245,6 @@ def set_current_joint_state(self, joint_state_msg_serialized: bytes):
self.blackboard.previous_joint_state = self.blackboard.current_joint_state
self.blackboard.current_joint_state = deserialize_message(joint_state_msg_serialized, JointState)
- def set_pressure_left(self, pressure_msg_serialized: bytes):
- msg: FootPressure = deserialize_message(pressure_msg_serialized, FootPressure)
- self.blackboard.previous_pressures = self.blackboard.pressures
- self.blackboard.pressures[0] = msg.left_front
- self.blackboard.pressures[1] = msg.left_back
- self.blackboard.pressures[2] = msg.right_front
- self.blackboard.pressures[3] = msg.right_back
-
- def set_pressure_right(self, pressure_msg_serialized: bytes):
- msg: FootPressure = deserialize_message(pressure_msg_serialized, FootPressure)
- self.blackboard.previous_pressures = self.blackboard.pressures
- self.blackboard.pressures[4] = msg.left_front
- self.blackboard.pressures[5] = msg.left_back
- self.blackboard.pressures[6] = msg.right_front
- self.blackboard.pressures[7] = msg.right_back
-
def set_imu(self, imu_msg_serialized: bytes):
self.blackboard.previous_imu_msg = self.blackboard.imu_msg
diff --git a/src/bitbots_motion/bitbots_hcm/config/hcm_piplus.yaml b/src/bitbots_motion/bitbots_hcm/config/hcm_piplus.yaml
index 0bae723c40..839327c3e6 100644
--- a/src/bitbots_motion/bitbots_hcm/config/hcm_piplus.yaml
+++ b/src/bitbots_motion/bitbots_hcm/config/hcm_piplus.yaml
@@ -41,9 +41,6 @@
fallen_orientation_thresh: 60.0 # Lean (degrees) after which we consider the robot fallen on this side
fallen_angular_velocity_thresh: 0.2 # Angular velocity (rad/s) under which we consider the robot as not moving (the fall is over and we are lying on the ground)
- # Pick up
- pick_up_accel_threshold: 7.0
-
# Battery
battery:
voltage_threshold: 18.0 # Voltage under which the battery is considered low
diff --git a/src/bitbots_motion/bitbots_hcm/launch/test.launch b/src/bitbots_motion/bitbots_hcm/launch/test.launch
index 2c46526ad9..17009e1d5b 100644
--- a/src/bitbots_motion/bitbots_hcm/launch/test.launch
+++ b/src/bitbots_motion/bitbots_hcm/launch/test.launch
@@ -20,5 +20,4 @@
-
diff --git a/src/bitbots_motion/bitbots_hcm/scripts/led.py b/src/bitbots_motion/bitbots_hcm/scripts/led.py
deleted file mode 100755
index 1c92e28ffe..0000000000
--- a/src/bitbots_motion/bitbots_hcm/scripts/led.py
+++ /dev/null
@@ -1,123 +0,0 @@
-#!/usr/bin/env python3
-
-from typing import Optional
-
-import matplotlib.colors as colors
-import rclpy
-from rclpy.node import Node
-from std_msgs.msg import ColorRGBA
-
-from bitbots_msgs.msg import RobotControlState, Strategy
-
-
-def color_to_msg(color: str) -> ColorRGBA:
- """
- Converts a color string to a ColorRGBA message.
- For availlable colors see: https://matplotlib.org/stable/gallery/color/named_colors.html#css-colors
- """
- r, g, b = colors.to_rgb(color)
- return ColorRGBA(r=r, g=g, b=b, a=1.0)
-
-
-class LedNode(Node):
- def __init__(self):
- super().__init__("led_node")
-
- # Publishers for the core leds
- self.pub_core_0 = self.create_publisher(ColorRGBA, "/led0", 1)
- self.pub_core_1 = self.create_publisher(ColorRGBA, "/led1", 1)
- self.pub_core_2 = self.create_publisher(ColorRGBA, "/led2", 1)
-
- # Publishers for the imu leds
- self.pub_imu_3 = self.create_publisher(ColorRGBA, "/led3", 1)
- self.pub_imu_4 = self.create_publisher(ColorRGBA, "/led4", 1)
- self.pub_imu_5 = self.create_publisher(ColorRGBA, "/led5", 1)
-
- self.stratedy_msg: Strategy = Strategy()
- self.robot_control_state_msg: Optional[RobotControlState] = None
-
- # Maps the robot control state to a color
- self.color_mapping_robot_control_state = {
- RobotControlState.HARDWARE_PROBLEM: color_to_msg("red"),
- RobotControlState.PENALTY: color_to_msg("yellow"),
- }
-
- # Maps the strategy role to a color. Ideally the colors of the role and action should match
- # for default behavoior. For example, the striker role should have the same color as the going to ball action.
- # As the stiker is the most likely to go to the ball.
- self.color_mapping_strategy_role = {
- Strategy.ROLE_STRIKER: color_to_msg("green"),
- Strategy.ROLE_SUPPORTER: color_to_msg("dimgrey"),
- Strategy.ROLE_DEFENDER: color_to_msg("blue"),
- Strategy.ROLE_GOALIE: color_to_msg("magenta"),
- }
-
- # Maps the strategy action to a color
- self.color_mapping_strategy_action = {
- Strategy.ACTION_POSITIONING: color_to_msg("blue"),
- Strategy.ACTION_GOING_TO_BALL: color_to_msg("green"),
- Strategy.ACTION_WAITING: color_to_msg("blue"),
- Strategy.ACTION_SEARCHING: color_to_msg("dimgrey"),
- }
-
- # Subscribes to the robot control state and strategy
- self.sub_hcm = self.create_subscription(RobotControlState, "robot_state", self.hcm_state_cb, 1)
- self.sub_strategies = self.create_subscription(Strategy, "strategy", self.strategy_state_cb, 1)
-
- def strategy_state_cb(self, msg: Strategy):
- # If the message is the same as the last one, ignore it
- if self.stratedy_msg == msg:
- return
- self.stratedy_msg = msg
- # Change the led color accordingly
- self.update_leds()
-
- def hcm_state_cb(self, msg: RobotControlState):
- # If the message is the same as the last one, ignore it
- if self.robot_control_state_msg == msg:
- return
- self.robot_control_state_msg = msg
- # Change the led color accordingly
- self.update_leds()
-
- def update_leds(self):
- """
- Updates the leds based on the current state. The priority is as follows: robot control state > strategy role and action.
- The robot control state changes all leds to the same color. The strategy role and action changes the led on the left
- of the imu and coreboard and the stategy action changes the mittle and right led on the imu and coreboard.
- """
- if (
- self.robot_control_state_msg is not None
- and self.robot_control_state_msg.state in self.color_mapping_robot_control_state
- ):
- # If the robot control state is in the mapping, change all leds to the color of the state
- color = self.color_mapping_robot_control_state[self.robot_control_state_msg.state]
- self.pub_core_0.publish(color)
- self.pub_core_1.publish(color)
- self.pub_core_2.publish(color)
- self.pub_imu_3.publish(color)
- self.pub_imu_4.publish(color)
- self.pub_imu_5.publish(color)
- return
-
- # If the strategy role is in the mapping, change the left led on the imu and coreboard to the color of the role
- color = self.color_mapping_strategy_role.get(self.stratedy_msg.role, color_to_msg("black"))
- self.pub_core_0.publish(color)
- self.pub_imu_3.publish(color)
-
- # If the strategy action is in the mapping, change the middle and right led on the imu and coreboard to the color of the action
- color = self.color_mapping_strategy_action.get(self.stratedy_msg.action, color_to_msg("black"))
- self.pub_core_1.publish(color)
- self.pub_core_2.publish(color)
- self.pub_imu_4.publish(color)
- self.pub_imu_5.publish(color)
-
-
-if __name__ == "__main__":
- rclpy.init(args=None)
- node = LedNode()
- try:
- rclpy.spin(node)
- except KeyboardInterrupt:
- pass
- node.destroy_node()
diff --git a/src/bitbots_motion/bitbots_hcm/src/hcm.cpp b/src/bitbots_motion/bitbots_hcm/src/hcm.cpp
index acd99db9e3..f0a980e2aa 100644
--- a/src/bitbots_motion/bitbots_hcm/src/hcm.cpp
+++ b/src/bitbots_motion/bitbots_hcm/src/hcm.cpp
@@ -1,7 +1,6 @@
#include
#include
-#include
#include
#include
#include
@@ -26,7 +25,7 @@ class HCM_CPP : public rclcpp::Node {
: Node("hcm_cpp",
rclcpp::NodeOptions().allow_undeclared_parameters(true).automatically_declare_parameters_from_overrides(
true)) {
- // These are provided by the launch and not in the yaml file therefore we need to handle them seperatly
+ // These are provided by the launch and not in the yaml file therefore we need to handle them separately
bool use_sim_time, simulation_active, visualization_active;
this->get_parameter("use_sim_time", use_sim_time);
this->get_parameter("simulation_active", simulation_active);
@@ -48,12 +47,8 @@ class HCM_CPP : public rclcpp::Node {
// Create subscribers for goals
anim_sub_ = this->create_subscription(
"animation", 1, std::bind(&HCM_CPP::animation_callback, this, _1));
- dynup_sub_ = this->create_subscription(
- "dynup_motor_goals", 1, std::bind(&HCM_CPP::dynup_callback, this, _1));
head_sub_ = this->create_subscription(
"head_motor_goals", 1, std::bind(&HCM_CPP::head_goal_callback, this, _1));
- kick_sub_ = this->create_subscription(
- "kick_motor_goals", 1, std::bind(&HCM_CPP::kick_goal_callback, this, _1));
record_sub_ = this->create_subscription(
"record_motor_goals", 1, std::bind(&HCM_CPP::record_goal_callback, this, _1));
walk_sub_ = this->create_subscription(
@@ -62,10 +57,6 @@ class HCM_CPP : public rclcpp::Node {
// Create subscriber for high frequency sensor data
joint_state_sub_ = this->create_subscription(
"joint_states", 1, std::bind(&HCM_CPP::joint_state_callback, this, _1), high_hz_sub_options());
- pressure_l_sub_ = this->create_subscription(
- "foot_pressure_left/filtered", 1, std::bind(&HCM_CPP::pressure_l_callback, this, _1), high_hz_sub_options());
- pressure_r_sub_ = this->create_subscription(
- "foot_pressure_right/filtered", 1, std::bind(&HCM_CPP::pressure_r_callback, this, _1), high_hz_sub_options());
imu_sub_ = this->create_subscription(
"imu/data", 1, std::bind(&HCM_CPP::imu_callback, this, _1), high_hz_sub_options());
}
@@ -93,21 +84,6 @@ class HCM_CPP : public rclcpp::Node {
}
}
- void dynup_callback(const bitbots_msgs::msg::JointCommand msg) {
- if (msg.from_hcm and (current_state_ == bitbots_msgs::msg::RobotControlState::STARTUP ||
- current_state_ == bitbots_msgs::msg::RobotControlState::GETTING_UP ||
- current_state_ == bitbots_msgs::msg::RobotControlState::MOTOR_OFF ||
- current_state_ == bitbots_msgs::msg::RobotControlState::PICKED_UP ||
- current_state_ == bitbots_msgs::msg::RobotControlState::PENALTY ||
- current_state_ == bitbots_msgs::msg::RobotControlState::CONTROLLABLE)) {
- pub_controller_command_->publish(msg);
- }
- if (current_state_ == bitbots_msgs::msg::RobotControlState::RECORD ||
- current_state_ == bitbots_msgs::msg::RobotControlState::CONTROLLABLE) {
- pub_controller_command_->publish(msg);
- }
- }
-
void head_goal_callback(const bitbots_msgs::msg::JointCommand msg) {
if (current_state_ == bitbots_msgs::msg::RobotControlState::CONTROLLABLE ||
current_state_ == bitbots_msgs::msg::RobotControlState::WALKING) {
@@ -115,15 +91,6 @@ class HCM_CPP : public rclcpp::Node {
}
}
- void kick_goal_callback(const bitbots_msgs::msg::JointCommand msg) {
- last_kick_time_ = msg.header.stamp;
- if (current_state_ == bitbots_msgs::msg::RobotControlState::KICKING ||
- current_state_ == bitbots_msgs::msg::RobotControlState::CONTROLLABLE) {
- // we can perform a kick
- pub_controller_command_->publish(msg);
- }
- }
-
void record_goal_callback(const bitbots_msgs::msg::JointCommand msg) {
if (msg.joint_names.size() == 0 && current_state_ == bitbots_msgs::msg::RobotControlState::RECORD) {
pub_controller_command_->publish(msg);
@@ -140,10 +107,6 @@ class HCM_CPP : public rclcpp::Node {
void joint_state_callback(sensor_msgs::msg::JointState msg) { current_joint_state_ = msg; }
- void pressure_l_callback(bitbots_msgs::msg::FootPressure msg) { current_pressure_left_ = msg; }
-
- void pressure_r_callback(bitbots_msgs::msg::FootPressure msg) { current_pressure_right_ = msg; }
-
void imu_callback(sensor_msgs::msg::Imu msg) { current_imu_ = msg; }
void tick() {
@@ -153,14 +116,6 @@ class HCM_CPP : public rclcpp::Node {
if (current_imu_) {
hcm_py_.attr("set_imu")(ros2_python_extension::toPython(current_imu_.value()));
}
- if (current_pressure_left_) {
- hcm_py_.attr("set_pressure_left")(
- ros2_python_extension::toPython(current_pressure_left_.value()));
- }
- if (current_pressure_right_) {
- hcm_py_.attr("set_pressure_right")(
- ros2_python_extension::toPython(current_pressure_right_.value()));
- }
if (current_joint_state_)
hcm_py_.attr("set_current_joint_state")(
ros2_python_extension::toPython(current_joint_state_.value()));
@@ -168,10 +123,6 @@ class HCM_CPP : public rclcpp::Node {
hcm_py_.attr("set_last_walking_goal_time")(
ros2_python_extension::toPython(last_walking_time_.value()));
}
- if (last_kick_time_) {
- hcm_py_.attr("set_last_kick_goal_time")(
- ros2_python_extension::toPython(last_kick_time_.value()));
- }
if (last_animation_goal_time_) {
hcm_py_.attr("set_last_animation_goal_time")(
ros2_python_extension::toPython(last_animation_goal_time_.value()));
@@ -201,16 +152,11 @@ class HCM_CPP : public rclcpp::Node {
// Sensor states
std::optional current_imu_;
- std::optional current_pressure_left_;
- std::optional current_pressure_right_;
std::optional current_joint_state_;
// Walking state
std::optional last_walking_time_;
- // Kick state
- std::optional last_kick_time_;
-
// Animation states
std::optional last_animation_goal_time_;
@@ -220,16 +166,10 @@ class HCM_CPP : public rclcpp::Node {
// Subscribers
rclcpp::Subscription::SharedPtr anim_sub_;
- rclcpp::Subscription::SharedPtr dynup_sub_;
rclcpp::Subscription::SharedPtr head_sub_;
- rclcpp::Subscription::SharedPtr kick_sub_;
rclcpp::Subscription::SharedPtr record_sub_;
rclcpp::Subscription::SharedPtr walk_sub_;
rclcpp::Subscription::SharedPtr joint_state_sub_;
- rclcpp::Subscription::SharedPtr cop_l_sub_;
- rclcpp::Subscription::SharedPtr cop_r_sub_;
- rclcpp::Subscription::SharedPtr pressure_l_sub_;
- rclcpp::Subscription::SharedPtr pressure_r_sub_;
rclcpp::Subscription::SharedPtr imu_sub_;
};
} // namespace bitbots_hcm
diff --git a/src/bitbots_motion/bitbots_head_mover/launch/test.launch b/src/bitbots_motion/bitbots_head_mover/launch/test.launch
index 54f2a7b39d..1ad7874ed1 100644
--- a/src/bitbots_motion/bitbots_head_mover/launch/test.launch
+++ b/src/bitbots_motion/bitbots_head_mover/launch/test.launch
@@ -19,7 +19,7 @@
-
+
diff --git a/src/bitbots_motion/bitbots_rl_motion/test/test_config.py b/src/bitbots_motion/bitbots_rl_motion/test/test_config.py
index e4c02d45ac..13ab56a4b2 100644
--- a/src/bitbots_motion/bitbots_rl_motion/test/test_config.py
+++ b/src/bitbots_motion/bitbots_rl_motion/test/test_config.py
@@ -1,27 +1,29 @@
-from pathlib import Path
+# from pathlib import Path
-import yaml # type: ignore[import-untyped]
+# import yaml # type: ignore[import-untyped]
-def test_walking_config():
- config_path = Path(__file__).parent.parent / "configs" / "wolfgang_walking_model_config.yaml"
- with open(config_path) as f:
- config = yaml.safe_load(f)
+# TODO: Reactivate once we have new configs.
- params = config["walk_node"]["ros__parameters"]
+# def test_walking_config():
+# config_path = Path(__file__).parent.parent / "configs" / "wolfgang_walking_model_config.yaml"
+# with open(config_path) as f:
+# config = yaml.safe_load(f)
- assert isinstance(params["model"], str)
- assert isinstance(params["phase"]["control_dt"], float)
- assert isinstance(params["joints"]["ordered_relevant_joint_names"], list)
+# params = config["walk_node"]["ros__parameters"]
+# assert isinstance(params["model"], str)
+# assert isinstance(params["phase"]["control_dt"], float)
+# assert isinstance(params["joints"]["ordered_relevant_joint_names"], list)
-def test_dribbling_config():
- config_path = Path(__file__).parent.parent / "configs" / "wolfgang_dribbling_model_config.yaml"
- with open(config_path) as f:
- config = yaml.safe_load(f)
- params = config["kick_node"]["ros__parameters"]
+# def test_dribbling_config():
+# config_path = Path(__file__).parent.parent / "configs" / "wolfgang_dribbling_model_config.yaml"
+# with open(config_path) as f:
+# config = yaml.safe_load(f)
- assert isinstance(params["model"], str)
- assert isinstance(params["phase"]["control_dt"], float)
- assert isinstance(params["joints"]["ordered_relevant_joint_names"], list)
+# params = config["kick_node"]["ros__parameters"]
+
+# assert isinstance(params["model"], str)
+# assert isinstance(params["phase"]["control_dt"], float)
+# assert isinstance(params["joints"]["ordered_relevant_joint_names"], list)
diff --git a/src/bitbots_motion/bitbots_splines/include/bitbots_splines/abstract_stabilizer.hpp b/src/bitbots_motion/bitbots_splines/include/bitbots_splines/abstract_stabilizer.hpp
index e5bcd0cf49..ab0efedc46 100644
--- a/src/bitbots_motion/bitbots_splines/include/bitbots_splines/abstract_stabilizer.hpp
+++ b/src/bitbots_motion/bitbots_splines/include/bitbots_splines/abstract_stabilizer.hpp
@@ -16,7 +16,7 @@ class AbstractStabilizer {
* Get a set inverse kinematics goals from cartesian positions. The inverse kinematics goals may contain
* additional goals, especially for stabilizing.
* @param positions An instance of Positions that contains the results of the engine's calculations.
- * @return A pointer to BioIK Goals that can be passed to the AbstractIK.
+ * @return A pointer to IK Goals that can be passed to the AbstractIK.
*/
virtual Positions stabilize(const Positions& positions, const rclcpp::Duration& dt) = 0;
};
diff --git a/src/bitbots_msgs/CMakeLists.txt b/src/bitbots_msgs/CMakeLists.txt
index 06c1421bd3..0f5ed631be 100644
--- a/src/bitbots_msgs/CMakeLists.txt
+++ b/src/bitbots_msgs/CMakeLists.txt
@@ -26,11 +26,9 @@ rosidl_generate_interfaces(
"action/LookAt.action"
"action/PlayAnimation.action"
"msg/Animation.msg"
- "msg/Audio.msg"
"msg/Buttons.msg"
"msg/Cpu.msg"
"msg/Filesystem.msg"
- "msg/FootPressure.msg"
"msg/HeadMode.msg"
"msg/JointCommand.msg"
"msg/JointTorque.msg"
@@ -43,15 +41,9 @@ rosidl_generate_interfaces(
"msg/RobotRelativeArray.msg"
"msg/Strategy.msg"
"msg/TeamData.msg"
- "msg/Workload.msg"
- "srv/AccelerometerCalibration.srv"
+ "msg/TTS.msg"
"srv/AddAnimation.srv"
- "srv/ComplementaryFilterParams.srv"
- "srv/FootScale.srv"
- "srv/IMURanges.srv"
- "srv/Leds.srv"
"srv/ManualPenalize.srv"
- "srv/SetAccelerometerCalibrationThreshold.srv"
"srv/SetObjectPose.srv"
"srv/SetObjectPosition.srv"
"srv/SetTeachingMode.srv"
diff --git a/src/bitbots_msgs/msg/Buttons.msg b/src/bitbots_msgs/msg/Buttons.msg
index c93557b943..0dc4a5f842 100644
--- a/src/bitbots_msgs/msg/Buttons.msg
+++ b/src/bitbots_msgs/msg/Buttons.msg
@@ -1,6 +1,3 @@
-# This message tells with buttons are pressed on the IMU and Button module (https://github.com/bit-bots/bitbots_imu_dxl)
+# This message tells with buttons are pressed
bool button1
-bool button2
-bool button3
-
diff --git a/src/bitbots_msgs/msg/FootPressure.msg b/src/bitbots_msgs/msg/FootPressure.msg
deleted file mode 100644
index 5571f21373..0000000000
--- a/src/bitbots_msgs/msg/FootPressure.msg
+++ /dev/null
@@ -1,8 +0,0 @@
-std_msgs/Header header
-# 8 values for the 8 sensors
-# names are made of which foot, which side on the foot and front/back
-float64 left_back
-float64 left_front
-float64 right_front
-float64 right_back
-
diff --git a/src/bitbots_msgs/msg/ModelStates.msg b/src/bitbots_msgs/msg/ModelStates.msg
index 24a2b86f2b..3f01f4ef15 100644
--- a/src/bitbots_msgs/msg/ModelStates.msg
+++ b/src/bitbots_msgs/msg/ModelStates.msg
@@ -1,4 +1,4 @@
-# Originally from the now deprecated gazebo msgs (we used it for webots and do not really care about gazebo).
+# Originally from the now deprecated gazebo msgs (we used it for our simulation and do not really care about gazebo).
# Can be used for ground truth data from simulation.
string[] name # model names
diff --git a/src/bitbots_msgs/msg/Audio.msg b/src/bitbots_msgs/msg/TTS.msg
similarity index 70%
rename from src/bitbots_msgs/msg/Audio.msg
rename to src/bitbots_msgs/msg/TTS.msg
index b84d88937e..f3a14a9001 100644
--- a/src/bitbots_msgs/msg/Audio.msg
+++ b/src/bitbots_msgs/msg/TTS.msg
@@ -6,6 +6,3 @@ string text
# The higher the value, the higher the priority
uint8 priority
-
-# If a file should be read, the path has to be specified here. Otherwise this string should be null
-string filename
diff --git a/src/bitbots_msgs/srv/AccelerometerCalibration.srv b/src/bitbots_msgs/srv/AccelerometerCalibration.srv
deleted file mode 100644
index e231fbfa7f..0000000000
--- a/src/bitbots_msgs/srv/AccelerometerCalibration.srv
+++ /dev/null
@@ -1,6 +0,0 @@
-
----
-
-float32[] biases
-float32[] scales
-float32 threshold
\ No newline at end of file
diff --git a/src/bitbots_msgs/srv/ComplementaryFilterParams.srv b/src/bitbots_msgs/srv/ComplementaryFilterParams.srv
deleted file mode 100644
index 7a4163c5fd..0000000000
--- a/src/bitbots_msgs/srv/ComplementaryFilterParams.srv
+++ /dev/null
@@ -1,6 +0,0 @@
-bool do_adaptive_gain
-bool do_bias_estimation
-float32 bias_alpha
-float32 accel_gain
-
----
\ No newline at end of file
diff --git a/src/bitbots_msgs/srv/FootScale.srv b/src/bitbots_msgs/srv/FootScale.srv
deleted file mode 100644
index 19f1511f90..0000000000
--- a/src/bitbots_msgs/srv/FootScale.srv
+++ /dev/null
@@ -1,8 +0,0 @@
-int8 L_F = 0
-int8 L_B = 1
-int8 R_F = 2
-int8 R_B = 3
-
-int8 sensor
-float32 weight
----
diff --git a/src/bitbots_msgs/srv/IMURanges.srv b/src/bitbots_msgs/srv/IMURanges.srv
deleted file mode 100644
index e715a8e6e0..0000000000
--- a/src/bitbots_msgs/srv/IMURanges.srv
+++ /dev/null
@@ -1,14 +0,0 @@
-int8 ACCEL_RANGE_2G = 0
-int8 ACCEL_RANGE_4G = 1
-int8 ACCEL_RANGE_8G = 2
-int8 ACCEL_RANGE_16G = 3
-
-int8 GYRO_RANGE_250DPS = 0
-int8 GYRO_RANGE_500DPS = 1
-int8 GYRO_RANGE_1000DPS = 2
-int8 GYRO_RANGE_2000DPS = 3
-
-int8 gyro_range
-int8 accel_range
-
----
diff --git a/src/bitbots_msgs/srv/Leds.srv b/src/bitbots_msgs/srv/Leds.srv
deleted file mode 100644
index 9c15ebc8a9..0000000000
--- a/src/bitbots_msgs/srv/Leds.srv
+++ /dev/null
@@ -1,4 +0,0 @@
-std_msgs/ColorRGBA[] leds
----
-# return previous color of leds in case the caller wants to reset them to this color
-std_msgs/ColorRGBA[] previous_leds
diff --git a/src/bitbots_msgs/srv/ManualPenalize.srv b/src/bitbots_msgs/srv/ManualPenalize.srv
index 77b3711cd2..95b793f0d2 100644
--- a/src/bitbots_msgs/srv/ManualPenalize.srv
+++ b/src/bitbots_msgs/srv/ManualPenalize.srv
@@ -10,4 +10,4 @@ uint8 penalize
#response
# returns false if was already in this state
-bool success
\ No newline at end of file
+bool success
diff --git a/src/bitbots_msgs/srv/SetAccelerometerCalibrationThreshold.srv b/src/bitbots_msgs/srv/SetAccelerometerCalibrationThreshold.srv
deleted file mode 100644
index 2d9c11ed17..0000000000
--- a/src/bitbots_msgs/srv/SetAccelerometerCalibrationThreshold.srv
+++ /dev/null
@@ -1,2 +0,0 @@
-float32 threshold
----
\ No newline at end of file
diff --git a/src/bitbots_navigation/bitbots_localization/include/bitbots_localization/map.hpp b/src/bitbots_navigation/bitbots_localization/include/bitbots_localization/map.hpp
index bee35e3652..e32edb5722 100644
--- a/src/bitbots_navigation/bitbots_localization/include/bitbots_localization/map.hpp
+++ b/src/bitbots_navigation/bitbots_localization/include/bitbots_localization/map.hpp
@@ -27,12 +27,12 @@ struct FieldDimensions {
/**
* @class Map
- * @brief Stores a map for a messurement class (e.g. a map of the lines)
+ * @brief Stores a map for a measurement class (e.g. a map of the lines)
*/
class Map {
public:
/**
- * @param name of the environment. (E.g. webots)
+ * @param name of the environment.
* @param type of the map. (E.g. lines)
* @param out_of_map_value value used for padding the out of field area.
*/
diff --git a/src/bitbots_navigation/bitbots_localization/test/rostests/test_inital_localization_side.launch b/src/bitbots_navigation/bitbots_localization/test/rostests/test_inital_localization_side.launch
deleted file mode 100644
index a52bfd8768..0000000000
--- a/src/bitbots_navigation/bitbots_localization/test/rostests/test_inital_localization_side.launch
+++ /dev/null
@@ -1,23 +0,0 @@
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
diff --git a/src/bitbots_navigation/bitbots_localization/test/rostests/test_initial_localization_side.py b/src/bitbots_navigation/bitbots_localization/test/rostests/test_initial_localization_side.py
deleted file mode 100755
index a8f5815798..0000000000
--- a/src/bitbots_navigation/bitbots_localization/test/rostests/test_initial_localization_side.py
+++ /dev/null
@@ -1,24 +0,0 @@
-#!/usr/bin/env python3
-from bitbots_test.mocks import MockSubscriber
-from bitbots_test.test_case import WebotsTestCase
-from geometry_msgs.msg import PoseWithCovarianceStamped
-
-
-class TestInitialLocalizationSide(WebotsTestCase):
- def test_initial_localization_side(self):
- # Check if we heard from the localization
- sub = MockSubscriber(
- "/pose_with_covariance",
- PoseWithCovarianceStamped,
- callback=lambda msg: setattr(self, "localization_estimation", msg),
- )
- self.with_assertion_grace_period(lambda: sub.assertMessageReceived(), t=5000)
- self.with_assertion_grace_period(
- lambda: self.assertRobotPosition(self.localization_estimation.pose.pose.position), t=15000
- )
-
-
-if __name__ == "__main__":
- from bitbots_test import run_rostests
-
- run_rostests(TestInitialLocalizationSide)
diff --git a/src/bitbots_navigation/bitbots_odometry/src/motion_odometry.cpp b/src/bitbots_navigation/bitbots_odometry/src/motion_odometry.cpp
index 92ffff83e4..8a8ca23ad6 100644
--- a/src/bitbots_navigation/bitbots_odometry/src/motion_odometry.cpp
+++ b/src/bitbots_navigation/bitbots_odometry/src/motion_odometry.cpp
@@ -45,12 +45,13 @@ class MotionOdometry : public rclcpp::Node {
motion_odometry::ParamListener param_listener_;
motion_odometry::Params config_;
- // Returns {lowest_corner_l, lowest_corner_r, support_state}, where support_state indicates the foot that is lower right now
+ // Returns {lowest_corner_l, lowest_corner_r, support_state}, where support_state indicates the foot that is lower
+ // right now
std::tuple detectSupportFoot(const tf2::Quaternion& imu_rotation);
// Returns the corrected pose of sole_frame in the IMU frame, as if the foot were flat on the ground
// pivoted around contact_corner_frame (which is assumed to be the fixed ground contact point).
- tf2::Transform getFootContactModelResult(const tf2::Quaternion& imu_orientation,
- const std::string& sole_frame, const std::string& contact_corner_frame);
+ tf2::Transform getFootContactModelResult(const tf2::Quaternion& imu_orientation, const std::string& sole_frame,
+ const std::string& contact_corner_frame);
void imuCallback(const sensor_msgs::msg::Imu::SharedPtr msg);
tf2::Quaternion dropYaw(tf2::Quaternion input);
@@ -162,8 +163,7 @@ void MotionOdometry::loop() {
// Correct for situations where e.g. only the tip of a foot is in contact
previous_to_current_support =
- getFootContactModelResult(imu_rotation, previous_support_link, previous_contact_corner_frame)
- .inverse() *
+ getFootContactModelResult(imu_rotation, previous_support_link, previous_contact_corner_frame).inverse() *
previous_to_current_support *
getFootContactModelResult(imu_rotation, current_support_link, current_contact_corner_frame);
@@ -204,8 +204,7 @@ void MotionOdometry::loop() {
// Correct with the foot contact model, as the foot might not be flat on the ground
current_support_to_base =
- getFootContactModelResult(imu_rotation, current_support_link, current_contact_corner_frame)
- .inverse() *
+ getFootContactModelResult(imu_rotation, current_support_link, current_contact_corner_frame).inverse() *
current_support_to_base;
tf2::Transform odom_to_base_link_internal = odometry_to_support_foot_ * current_support_to_base;
diff --git a/src/bitbots_navigation/bitbots_path_planning/test/__snapshots__/test_controller.ambr b/src/bitbots_navigation/bitbots_path_planning/test/__snapshots__/test_controller.ambr
index 27a8553818..6068438392 100644
--- a/src/bitbots_navigation/bitbots_path_planning/test/__snapshots__/test_controller.ambr
+++ b/src/bitbots_navigation/bitbots_path_planning/test/__snapshots__/test_controller.ambr
@@ -2,17 +2,17 @@
# name: test_default_setup
dict({
'carrot_distance': 1,
- 'max_rotation_vel': 0.4,
- 'max_vel_x': 0.12,
- 'max_vel_y': 0.07,
- 'min_vel_x': -0.06,
+ 'max_rotation_vel': 0.99,
+ 'max_vel_x': 0.99,
+ 'max_vel_y': 0.5,
+ 'min_vel_x': -0.6,
'orient_to_goal_distance': 0.5,
'rotation_i_factor': 0.0,
- 'rotation_slow_down_factor': 0.6,
+ 'rotation_slow_down_factor': 1.5,
'smoothing_tau': 0.1,
- 'translation_slow_down_factor': 0.6,
+ 'translation_slow_down_factor': 1.5,
})
# ---
# name: test_step_cmd_vel_smoothing
- 'geometry_msgs.msg.Twist(linear=geometry_msgs.msg.Vector3(x=0.06466145812714323, y=0.04175428591906269, z=0.0), angular=geometry_msgs.msg.Vector3(x=0.0, y=0.0, z=0.3591891760862001))'
+ 'geometry_msgs.msg.Twist(linear=geometry_msgs.msg.Vector3(x=0.5029552362644851, y=0.313649845525132, z=0.0), angular=geometry_msgs.msg.Vector3(x=0.0, y=0.0, z=0.8966195873831343))'
# ---
diff --git a/src/bitbots_simulation/bitbots_pybullet_sim/CMakeLists.txt b/src/bitbots_simulation/bitbots_pybullet_sim/CMakeLists.txt
deleted file mode 100644
index fa96b424b1..0000000000
--- a/src/bitbots_simulation/bitbots_pybullet_sim/CMakeLists.txt
+++ /dev/null
@@ -1,18 +0,0 @@
-cmake_minimum_required(VERSION 3.5)
-project(bitbots_pybullet_sim)
-
-find_package(ament_cmake REQUIRED)
-find_package(bitbots_docs REQUIRED)
-
-enable_bitbots_docs()
-
-install(DIRECTORY config DESTINATION share/${PROJECT_NAME})
-install(DIRECTORY launch DESTINATION share/${PROJECT_NAME})
-install(DIRECTORY models DESTINATION share/${PROJECT_NAME})
-
-ament_python_install_package(${PROJECT_NAME})
-
-install(PROGRAMS scripts/simulation_headless.py scripts/simulation_with_gui.py
- DESTINATION lib/${PROJECT_NAME})
-
-ament_package()
diff --git a/src/bitbots_simulation/bitbots_pybullet_sim/README.md b/src/bitbots_simulation/bitbots_pybullet_sim/README.md
deleted file mode 100644
index c6390a6f7f..0000000000
--- a/src/bitbots_simulation/bitbots_pybullet_sim/README.md
+++ /dev/null
@@ -1,18 +0,0 @@
-This package provides a PyBullet simulation environment with ROS topic support.
-
-There are different options to use this:
-1. Start the simulation with interface `rosrun bitbots_pybullet_sim simulation_with_gui.py`
-2. Start the simulation without interface `rosrun bitbots_pybullet_sim simulation_headless.py`
-3. Use the python class `Simulation` in `simulation.py` to directly run a simulation without using ROS
-
-Shortcuts in gui:
-
-`r` reset simulation
-
-`g` debug interface
-
-`space` pausing
-
-`s` hold to step while pausing
-
-`n` gravity on/off
diff --git a/src/bitbots_simulation/bitbots_pybullet_sim/bitbots_pybullet_sim/__init__.py b/src/bitbots_simulation/bitbots_pybullet_sim/bitbots_pybullet_sim/__init__.py
deleted file mode 100644
index e69de29bb2..0000000000
diff --git a/src/bitbots_simulation/bitbots_pybullet_sim/bitbots_pybullet_sim/ros_interface.py b/src/bitbots_simulation/bitbots_pybullet_sim/bitbots_pybullet_sim/ros_interface.py
deleted file mode 100644
index a084ad02a1..0000000000
--- a/src/bitbots_simulation/bitbots_pybullet_sim/bitbots_pybullet_sim/ros_interface.py
+++ /dev/null
@@ -1,316 +0,0 @@
-import time
-
-import rclpy
-from bitbots_utils.transforms import xyzw2wxyz
-from geometry_msgs.msg import PointStamped
-from nav_msgs.msg import Odometry
-from rclpy.node import Node
-from rclpy.time import Time
-from rosgraph_msgs.msg import Clock
-from sensor_msgs.msg import Imu, JointState
-from std_msgs.msg import Bool, Float32
-from transforms3d.quaternions import qinverse, rotate_vector
-
-from bitbots_msgs.msg import FootPressure, JointCommand
-
-
-class ROSInterface:
- def __init__(self, node: Node, simulation, namespace="", declare_parameters=True):
- self.node = node
- self.namespace = namespace
- self.simulation = simulation
- self.namespace = namespace
- self.last_time = time.time()
- self.last_linear_vel = (0, 0, 0)
-
- # messages
- self.real_time_msg = Float32()
- self.joint_state_msg = JointState()
- self.joint_state_msg.header.frame_id = "base_link"
- self.joint_state_msg.name = self.simulation.get_joint_names()
- self.imu_msg = Imu()
- self.imu_msg.header.frame_id = "imu_frame"
- self.clock_msg = Clock()
- self.foot_msg_left = FootPressure()
- self.foot_msg_left.header.frame_id = "l_sole"
- self.foot_msg_right = FootPressure()
- self.foot_msg_right.header.frame_id = "r_sole"
- self.odom_msg = Odometry()
- self.odom_msg.header.frame_id = "odom"
- self.odom_msg.child_frame_id = "base_link"
- # we just use the first robot
- self.robot_index = self.simulation.robot_indexes[0]
-
- # necessary to use this as part of a different node
- if declare_parameters:
- self.node.declare_parameter("contact_stiffness", 0.0)
- self.node.declare_parameter("spinning_friction", 0.0)
- self.node.declare_parameter("contact_damping", 0.0)
- self.node.declare_parameter("lateral_friction", 0.0)
- self.node.declare_parameter("rolling_friction", 0.0)
- self.node.declare_parameter("restitution", 0.0)
- self.node.declare_parameter("cutoff", 0)
- self.node.declare_parameter("order", 0)
-
- self.node.add_on_set_parameters_callback(self.parameters_callback)
-
- self.simulation.set_dynamics(
- contact_damping=self.node.get_parameter("contact_damping").get_parameter_value().double_value,
- contact_stiffness=self.node.get_parameter("contact_stiffness").get_parameter_value().double_value,
- lateral_friction=self.node.get_parameter("lateral_friction").get_parameter_value().double_value,
- spinning_friction=self.node.get_parameter("spinning_friction").get_parameter_value().double_value,
- rolling_friction=self.node.get_parameter("rolling_friction").get_parameter_value().double_value,
- restitution=self.node.get_parameter("restitution").get_parameter_value().double_value,
- )
- self.simulation.set_filter_params(
- self.node.get_parameter("cutoff").get_parameter_value().integer_value,
- self.node.get_parameter("order").get_parameter_value().integer_value,
- )
-
- # publisher
- self.left_foot_pressure_publisher = self.node.create_publisher(
- FootPressure, self.namespace + "foot_pressure_left/raw", 1
- )
- self.right_foot_pressure_publisher = self.node.create_publisher(
- FootPressure, self.namespace + "foot_pressure_right/raw", 1
- )
- self.left_foot_pressure_publisher_filtered = self.node.create_publisher(
- FootPressure, self.namespace + "foot_pressure_left/filtered", 1
- )
- self.right_foot_pressure_publisher_filtered = self.node.create_publisher(
- FootPressure, self.namespace + "foot_pressure_right/filtered", 1
- )
- self.joint_publisher = self.node.create_publisher(JointState, self.namespace + "joint_states", 1)
- self.imu_publisher = self.node.create_publisher(Imu, self.namespace + "imu/data_raw", 1)
- self.clock_publisher = self.node.create_publisher(Clock, self.namespace + "clock", 1)
- self.real_time_factor_publisher = self.node.create_publisher(Float32, self.namespace + "real_time_factor", 1)
- self.true_odom_publisher = self.node.create_publisher(Odometry, self.namespace + "true_odom", 1)
- self.cop_l_pub_ = self.node.create_publisher(PointStamped, self.namespace + "cop_l", 1)
- self.cop_r_pub_ = self.node.create_publisher(PointStamped, self.namespace + "cop_r", 1)
-
- # subscriber
- self.joint_goal_subscriber = self.node.create_subscription(
- JointCommand, self.namespace + "joint_command", self.joint_goal_cb, 1
- )
-
- self.reset_subscriber = self.node.create_subscription(Bool, self.namespace + "reset", self.reset_cb, 1)
-
- def step(self):
- self.simulation.step()
- self.publish_joints()
- self.publish_imu()
- self.publish_foot_pressure()
- self.publish_true_odom()
- self.clock_msg.clock = Time(
- seconds=int(self.simulation.time), nanoseconds=self.simulation.time % 1 * 1e9
- ).to_msg()
- self.clock_publisher.publish(self.clock_msg)
- self.compute_real_time_factor()
-
- def run_simulation(self, duration=None, sleep=0):
- start_time = self.node.get_clock().now().nanoseconds / 1e9
- while rclpy.ok() and (
- duration is None or (self.node.get_clock().now().nanoseconds / 1e9) - start_time < duration
- ):
- self.step()
- time.sleep(sleep)
-
- def compute_real_time_factor(self):
- time_now = time.time()
- self.real_time_msg.data = self.simulation.timestep / (time_now - self.last_time)
- self.last_time = time_now
- self.real_time_factor_publisher.publish(self.real_time_msg)
-
- def get_joint_state_msg(self):
- positions = []
- velocities = []
- efforts = []
- for name in self.joint_state_msg.name:
- joint = self.simulation.joints[self.robot_index][name]
- position, velocity, forces, applied_torque = joint.get_state()
- positions.append(position)
- velocities.append(velocity)
- efforts.append(applied_torque)
- self.joint_state_msg.position = positions
- self.joint_state_msg.velocity = velocities
- self.joint_state_msg.effort = efforts
- self.joint_state_msg.header.stamp = Time(
- seconds=int(self.simulation.time), nanoseconds=self.simulation.time % 1 * 1e9
- ).to_msg()
- return self.joint_state_msg
-
- def publish_joints(self):
- self.joint_publisher.publish(self.get_joint_state_msg())
-
- def get_imu_msg(self):
- position, orientation = self.simulation.get_robot_pose()
- self.imu_msg.orientation.x = orientation[0]
- self.imu_msg.orientation.y = orientation[1]
- self.imu_msg.orientation.z = orientation[2]
- self.imu_msg.orientation.w = orientation[3]
- linear_vel, angular_vel = self.simulation.get_robot_velocity()
- self.imu_msg.angular_velocity.x = angular_vel[0]
- self.imu_msg.angular_velocity.y = angular_vel[1]
- self.imu_msg.angular_velocity.z = angular_vel[2]
- # simple acceleration computation by using diff of velocities
- linear_acc = tuple(map(lambda i, j: i - j, self.last_linear_vel, linear_vel))
- self.last_linear_vel = linear_vel
- # adding gravity to the acceleration
- gravity_vector = (0, 0, 9.81)
- gravity_rotated = rotate_vector(gravity_vector, qinverse(xyzw2wxyz(orientation)))
- linear_acc = tuple(
- [linear_acc[0] + gravity_rotated[0], linear_acc[1] + gravity_rotated[1], linear_acc[2] + gravity_rotated[2]]
- )
- self.imu_msg.linear_acceleration.x = linear_acc[0]
- self.imu_msg.linear_acceleration.y = linear_acc[1]
- self.imu_msg.linear_acceleration.z = linear_acc[2]
- self.imu_msg.header.stamp = Time(
- seconds=int(self.simulation.time), nanoseconds=self.simulation.time % 1 * 1e9
- ).to_msg()
- return self.imu_msg
-
- def publish_imu(self):
- self.imu_publisher.publish(self.get_imu_msg())
-
- def get_pressure_filtered_left(self):
- if len(self.simulation.pressure_sensors) == 0:
- self.node.get_logger().warn_once("No pressure sensors found in simulation model")
- return self.foot_msg_left
- f_llb = self.simulation.pressure_sensors[self.robot_index]["LLB"].get_force()
- f_llf = self.simulation.pressure_sensors[self.robot_index]["LLF"].get_force()
- f_lrf = self.simulation.pressure_sensors[self.robot_index]["LRF"].get_force()
- f_lrb = self.simulation.pressure_sensors[self.robot_index]["LRB"].get_force()
- self.foot_msg_left.left_back = float(f_llb[1])
- self.foot_msg_left.left_front = float(f_llf[1])
- self.foot_msg_left.right_front = float(f_lrf[1])
- self.foot_msg_left.right_back = float(f_lrb[1])
- return self.foot_msg_left
-
- def get_pressure_filtered_right(self):
- if len(self.simulation.pressure_sensors) == 0:
- self.node.get_logger().warn_once("No pressure sensors found in simulation model")
- return self.foot_msg_right
- f_rlb = self.simulation.pressure_sensors[self.robot_index]["RLB"].get_force()
- f_rlf = self.simulation.pressure_sensors[self.robot_index]["RLF"].get_force()
- f_rrf = self.simulation.pressure_sensors[self.robot_index]["RRF"].get_force()
- f_rrb = self.simulation.pressure_sensors[self.robot_index]["RRB"].get_force()
- self.foot_msg_right.left_back = float(f_rlb[1])
- self.foot_msg_right.left_front = float(f_rlf[1])
- self.foot_msg_right.right_front = float(f_rrf[1])
- self.foot_msg_right.right_back = float(f_rrb[1])
- return self.foot_msg_right
-
- def publish_foot_pressure(self):
- # some models dont have sensors
- if len(self.simulation.pressure_sensors) == 0:
- self.node.get_logger().warn_once("No pressure sensors found in simulation model")
- return
-
- f_llb = self.simulation.pressure_sensors[self.robot_index]["LLB"].get_force()
- f_llf = self.simulation.pressure_sensors[self.robot_index]["LLF"].get_force()
- f_lrf = self.simulation.pressure_sensors[self.robot_index]["LRF"].get_force()
- f_lrb = self.simulation.pressure_sensors[self.robot_index]["LRB"].get_force()
-
- f_rlb = self.simulation.pressure_sensors[self.robot_index]["RLB"].get_force()
- f_rlf = self.simulation.pressure_sensors[self.robot_index]["RLF"].get_force()
- f_rrf = self.simulation.pressure_sensors[self.robot_index]["RRF"].get_force()
- f_rrb = self.simulation.pressure_sensors[self.robot_index]["RRB"].get_force()
-
- self.foot_msg_left.left_back = float(f_llb[0])
- self.foot_msg_left.left_front = float(f_llf[0])
- self.foot_msg_left.right_front = float(f_lrf[0])
- self.foot_msg_left.right_back = float(f_lrb[0])
- self.left_foot_pressure_publisher.publish(self.foot_msg_left)
-
- self.foot_msg_right.left_back = float(f_rlb[0])
- self.foot_msg_right.left_front = float(f_rlf[0])
- self.foot_msg_right.right_front = float(f_rrf[0])
- self.foot_msg_right.right_back = float(f_rrb[0])
- self.right_foot_pressure_publisher.publish(self.foot_msg_right)
-
- self.foot_msg_left.left_back = float(f_llb[1])
- self.foot_msg_left.left_front = float(f_llf[1])
- self.foot_msg_left.right_front = float(f_lrf[1])
- self.foot_msg_left.right_back = float(f_lrb[1])
- self.left_foot_pressure_publisher_filtered.publish(self.foot_msg_left)
-
- self.foot_msg_right.left_back = float(f_rlb[1])
- self.foot_msg_right.left_front = float(f_rlf[1])
- self.foot_msg_right.right_front = float(f_rrf[1])
- self.foot_msg_right.right_back = float(f_rrb[1])
- self.right_foot_pressure_publisher_filtered.publish(self.foot_msg_right)
-
- # center position on foot
- pos_x = 0.085
- pos_y = 0.045
- threshold = 0.0
-
- cop_l = PointStamped()
- cop_l.header.frame_id = "l_sole"
- cop_l.header.stamp = Time(
- seconds=int(self.simulation.time), nanoseconds=self.simulation.time % 1 * 1e9
- ).to_msg()
- sum_of_forces = f_llb[1] + f_llf[1] + f_lrf[1] + f_lrb[1]
- if sum_of_forces > threshold:
- cop_l.point.x = (f_llf[1] + f_lrf[1] - f_llb[1] - f_lrb[1]) * pos_x / sum_of_forces
- cop_l.point.x = max(min(cop_l.point.x, pos_x), -pos_x)
- cop_l.point.y = (f_llf[1] + f_llb[1] - f_lrf[1] - f_lrb[1]) * pos_y / sum_of_forces
- cop_l.point.y = max(min(cop_l.point.y, pos_y), -pos_y)
- else:
- cop_l.point.x = 0.0
- cop_l.point.y = 0.0
- self.cop_l_pub_.publish(cop_l)
-
- cop_r = PointStamped()
- cop_r.header.frame_id = "r_sole"
- cop_r.header.stamp = Time(
- seconds=int(self.simulation.time), nanoseconds=self.simulation.time % 1 * 1e9
- ).to_msg()
- sum_of_forces = f_rlb[1] + f_rlf[1] + f_rrf[1] + f_rrb[1]
- if sum_of_forces > threshold:
- cop_r.point.x = (f_rlf[1] + f_rrf[1] - f_rlb[1] - f_rrb[1]) * pos_x / sum_of_forces
- cop_r.point.x = max(min(cop_r.point.x, pos_x), -pos_x)
- cop_r.point.y = (f_rlf[1] + f_rlb[1] - f_rrf[1] - f_rrb[1]) * pos_y / sum_of_forces
- cop_r.point.y = max(min(cop_r.point.y, pos_y), -pos_y)
- else:
- cop_r.point.x = 0.0
- cop_r.point.y = 0.0
- self.cop_r_pub_.publish(cop_r)
-
- def publish_true_odom(self):
- position, orientation = self.simulation.get_robot_pose()
- self.odom_msg.pose.pose.position.x = position[0]
- self.odom_msg.pose.pose.position.y = position[1]
- self.odom_msg.pose.pose.position.z = position[2]
- self.odom_msg.pose.pose.orientation.x = orientation[0]
- self.odom_msg.pose.pose.orientation.y = orientation[1]
- self.odom_msg.pose.pose.orientation.z = orientation[2]
- self.odom_msg.pose.pose.orientation.w = orientation[3]
- self.true_odom_publisher.publish(self.odom_msg)
-
- def joint_goal_cb(self, msg: JointCommand):
- # only put new goals into the goal vector
- i = 0
- for name in msg.joint_names:
- self.simulation.joints[self.robot_index][name].set_position(msg.positions[i])
- i += 1
-
- def reset_cb(self, msg):
- self.simulation.reset()
-
- def parameters_callback(self, params):
- # we just get all parameters again, since it is easier
- # todo I think this does not really work like this?? needs testing
- self.node.get_logger().warn("Not sure if this parameter callback works.")
- self.simulation.set_dynamics(
- contact_damping=self.node.get_parameter("contact_damping").get_parameter_value().double_value,
- contact_stiffness=self.node.get_parameter("contact_stiffness").get_parameter_value().double_value,
- lateral_friction=self.node.get_parameter("lateral_friction").get_parameter_value().double_value,
- spinning_friction=self.node.get_parameter("spinning_friction").get_parameter_value().double_value,
- rolling_friction=self.node.get_parameter("rolling_friction").get_parameter_value().double_value,
- restitution=self.node.get_parameter("restitution").get_parameter_value().double_value,
- )
- self.simulation.set_filter_params(
- self.node.get_parameter("cutoff").get_parameter_value().integer_value,
- self.node.get_parameter("order").get_parameter_value().integer_value,
- )
diff --git a/src/bitbots_simulation/bitbots_pybullet_sim/bitbots_pybullet_sim/simulation.py b/src/bitbots_simulation/bitbots_pybullet_sim/bitbots_pybullet_sim/simulation.py
deleted file mode 100644
index 50bbf3f4a7..0000000000
--- a/src/bitbots_simulation/bitbots_pybullet_sim/bitbots_pybullet_sim/simulation.py
+++ /dev/null
@@ -1,842 +0,0 @@
-#!/usr/bin/env python3
-import math
-import os
-import random
-from time import sleep, time
-
-import numpy as np
-import pybullet as p
-import pybullet_data
-import rospkg
-import tf_transformations
-from ament_index_python import get_package_share_directory
-from scipy import signal
-from transforms3d.euler import euler2quat, quat2euler
-from transforms3d.quaternions import qinverse, quat2mat, rotate_vector
-
-from bitbots_pybullet_sim.terrain import Terrain
-
-
-class Simulation:
- def __init__(
- self,
- gui,
- urdf_path=None,
- foot_link_names=None,
- terrain_height=0,
- field=False,
- joints_ft=False,
- robot="wolfgang",
- load_robot=True,
- ):
- self.gui = gui
- self.paused = False
- self.gravity = True
- self.terrain_height = terrain_height
- self.field_on = field
- self.urdf_path = urdf_path
- self.foot_link_names = foot_link_names or []
- self.joints_ft = joints_ft
- self.robot_type = robot
- self.load_robot = load_robot
- self.robot_indexes = []
- self.joints = {}
- self.joint_stall_torques = {}
- self.joint_max_vels = {}
- self.link_masses = {}
- self.link_inertias = {}
- self.pressure_sensors = {}
- self.links = {}
- self.torso_ids = {}
- self.last_step_time = 0
- self.realtime = False
- self.time_multiplier = 0
-
- # config values
- self.start_position = [0, 0, 0.43]
- self.start_orientation = p.getQuaternionFromEuler((0, 0.25, 0))
- if self.robot_type is None:
- # no robot to initialize
- pass
- elif self.robot_type == "wolfgang":
- self.initial_joint_positions = {
- "LAnklePitch": -30,
- "LAnkleRoll": 0,
- "LHipPitch": 30,
- "LHipRoll": 0,
- "LHipYaw": 0,
- "LKnee": 60,
- "RAnklePitch": 30,
- "RAnkleRoll": 0,
- "RHipPitch": -30,
- "RHipRoll": 0,
- "RHipYaw": 0,
- "RKnee": -60,
- "LShoulderPitch": 75,
- "LShoulderRoll": 0,
- "LElbow": 36,
- "RShoulderPitch": -75,
- "RShoulderRoll": 0,
- "RElbow": -36,
- "HeadPan": 0,
- "HeadTilt": 0,
- }
- elif self.robot_type in ["op2", "robotis_op2"]:
- self.initial_joint_positions = {
- "l_ankle_pitch": 0,
- "l_ankle_roll": 0,
- "l_hip_pitch": 0,
- "l_hip_roll": 0,
- "l_hip_yaw": 0,
- "l_knee": 0,
- "r_ankle_pitch": 0,
- "r_ankle_roll": 0,
- "r_hip_pitch": 0,
- "r_hip_roll": 0,
- "r_hip_yaw": 0,
- "r_knee": 0,
- "l_sho_pitch": 0,
- "l_sho_roll": 0,
- "LElbow": 0,
- "r_sho_pitch": 0,
- "r_sho_roll": 0,
- "RElbow": 0,
- "head_pan": 0,
- "head_tilt": 0,
- }
- self.foot_link_names = ["l_foot", "r_foot"]
- elif self.robot_type == "sigmaban":
- self.start_orientation = p.getQuaternionFromEuler((0, 0.0, 0))
- self.initial_joint_positions = {
- "left_ankle_pitch": 0,
- "left_ankle_roll": 0,
- "left_hip_pitch": 0,
- "left_hip_roll": 0,
- "left_hip_yaw": 0,
- "left_knee": 0,
- "right_ankle_pitch": 0,
- "right_ankle_roll": 0,
- "right_hip_pitch": 0,
- "right_hip_roll": 0,
- "right_hip_yaw": 0,
- "right_knee": 0,
- "left_shoulder_pitch": 0,
- "left_shoulder_roll": 0,
- "LElbow": 0,
- "right_shoulder_pitch": 0,
- "right_shoulder_roll": 0,
- "RElbow": 0,
- "head_yaw": 0,
- "head_pitch": 0,
- }
- else:
- print(f"robot {self.robot_type} not known")
- quit(0)
- # Instantiating Bullet
- if self.gui:
- self.client_id = p.connect(p.GUI)
- else:
- self.client_id = p.connect(p.DIRECT)
- if self.gravity:
- p.setGravity(0, 0, -9.81)
- self.time = 0
- # disable debug interface, only show robot
- p.configureDebugVisualizer(p.COV_ENABLE_GUI, False)
-
- # Engine parameters
- # time step should be at 240Hz (due to pyBullet documentation)
- self.timestep = 1 / 240
- # standard parameters seem to be best. leave them like they are
- # p.setPhysicsEngineParameter(fixedTimeStep=self.timestep, numSubSteps=1)
- # no real time, as we will publish own clock, but we have option to switch to real_time by waiting
- p.setRealTimeSimulation(0)
- self.last_wall_time = time()
-
- self.load_models()
-
- def load_models(self):
- # Load floor
- self.terrain_index = None
- self.plane_index = None
- if self.terrain_height > 0:
- self.terrain = Terrain(self.terrain_height, clear_center=False)
- self.terrain_index = self.terrain.id
- p.changeDynamics(
- self.terrain_index, -1, lateralFriction=1, spinningFriction=0.1, rollingFriction=0.1, restitution=0.9
- )
- else:
- # Loading floor
- p.setAdditionalSearchPath(pybullet_data.getDataPath()) # optionally
- self.plane_index = p.loadURDF("plane.urdf")
- p.changeDynamics(
- self.plane_index, -1, lateralFriction=1, spinningFriction=0.1, rollingFriction=0.1, restitution=0.9
- )
-
- self.field_index = None
- if self.field_on:
- # Load field
-
- rospack = rospkg.RosPack()
- path = os.path.join(rospack.get_path("bitbots_pybullet_sim"), "models")
- p.setAdditionalSearchPath(path) # needed to find field model
- self.field_index = p.loadURDF("field/field.urdf")
-
- if self.load_robot:
- self.add_robot()
-
- def add_robot(self, physics_active=True):
- if not physics_active:
- flags = p.URDF_USE_INERTIA_FROM_FILE
- elif self.robot_type in ["wolfgang", "sigmaban"]:
- # we have a better inertia estimation from onshape in our model
- flags = (
- p.URDF_USE_SELF_COLLISION + p.URDF_USE_INERTIA_FROM_FILE + p.URDF_USE_SELF_COLLISION_EXCLUDE_ALL_PARENTS
- )
- else:
- # most other URDFs from the internet have issues with their inertia values
- flags = p.URDF_USE_SELF_COLLISION + p.URDF_USE_SELF_COLLISION_EXCLUDE_ALL_PARENTS
-
- if self.urdf_path is None:
- # use standards
- if self.robot_type == "op2":
- self.urdf_path = get_package_share_directory("robotis_op2_description") + "/urdf/robot.urdf"
- elif self.robot_type == "sigmaban":
- self.urdf_path = get_package_share_directory("sigmaban_description") + "/urdf/robot.urdf"
- else:
- self.urdf_path = get_package_share_directory("piplus_description") + "/urdf/robot.urdf"
- robot_index = p.loadURDF(
- self.urdf_path, self.start_position, self.start_orientation, flags=flags, useFixedBase=not physics_active
- )
- self.robot_indexes.append(robot_index)
-
- # disable physics for robots that dont need it (mostly used to display reference trajectories)
- if not physics_active:
- p.changeDynamics(robot_index, -1, linearDamping=0, angularDamping=0)
- p.setCollisionFilterGroupMask(robot_index, -1, collisionFilterGroup=0, collisionFilterMask=0)
- p.changeDynamics(
- robot_index,
- -1,
- activationState=p.ACTIVATION_STATE_SLEEP
- + p.ACTIVATION_STATE_ENABLE_SLEEPING
- + p.ACTIVATION_STATE_DISABLE_WAKEUP,
- )
- num_joints = p.getNumJoints(robot_index)
- for j in range(num_joints):
- p.setCollisionFilterGroupMask(robot_index, j, collisionFilterGroup=0, collisionFilterMask=0)
- p.changeDynamics(
- robot_index,
- j,
- activationState=p.ACTIVATION_STATE_SLEEP
- + p.ACTIVATION_STATE_ENABLE_SLEEPING
- + p.ACTIVATION_STATE_DISABLE_WAKEUP,
- )
-
- # Retrieving joints and foot pressure sensors
- joints = {}
- joint_stall_torques = []
- joint_max_vels = []
- link_masses = []
- link_inertias = []
- pressure_sensors = {}
- links = {}
-
- # Collecting the available joints
- for i in range(p.getNumJoints(robot_index)):
- joint_info = p.getJointInfo(robot_index, i)
- name = joint_info[1].decode("utf-8")
- # we can get the links by seeing where the joint is attached. we only get parent link so do +1
- links[joint_info[12].decode("utf-8")] = joint_info[16] + 1
- if name in self.initial_joint_positions.keys():
- # remember joint
- joints[name] = Joint(i, robot_index)
- joint_stall_torques.append(joint_info[10])
- joint_max_vels.append(joint_info[11])
- elif name in ["LLB", "LLF", "LRF", "LRB", "RLB", "RLF", "RRF", "RRB"]:
- p.enableJointForceTorqueSensor(robot_index, i)
- pressure_sensors[name] = PressureSensor(name, i, robot_index, 10, 5)
-
- for link_id in links.values():
- dynamics_info = p.getDynamicsInfo(robot_index, link_id)
- link_masses.append(dynamics_info[0])
- link_inertias.append(dynamics_info[2])
-
- # set dynamics for feet, maybe overwritten later by domain randomization
- for link_name in links.keys():
- if link_name in ["llb", "llf", "lrf", "lrb", "rlb", "rlf", "rrf", "rrb"]:
- p.changeDynamics(
- robot_index,
- links[link_name],
- lateralFriction=1,
- spinningFriction=0.1,
- rollingFriction=0.1,
- restitution=0.9,
- )
-
- self.joints[robot_index] = joints
- self.joint_stall_torques[robot_index] = joint_stall_torques
- self.joint_max_vels[robot_index] = joint_max_vels
- self.link_masses[robot_index] = link_masses
- self.link_inertias[robot_index] = link_inertias
- self.pressure_sensors[robot_index] = pressure_sensors
- self.links[robot_index] = links
-
- self.torso_ids[robot_index] = self.links[robot_index]["torso"]
-
- # reset robot to initial position
- self.reset(robot_index)
-
- return robot_index
-
- def apply_force(self, link_id, force, position, robot_index=1):
- """
- Applies an external force to a position on a link.
- :param link_id: link index or -1 for base link (int)
- :param force: direction and amount of applied force (vec3)
- :param position: where on the link the force should be applied (vec3)
- """
- p.applyExternalForce(robot_index, link_id, force, position, flags=p.WORLD_FRAME)
-
- def set_dynamics(
- self,
- contact_damping=-1.0,
- contact_stiffness=-1.0,
- lateral_friction=1,
- spinning_friction=1,
- rolling_friction=1,
- restitution=0,
- robot_index=1,
- ):
- # set dynamic values for all links and ground
- for link_name in self.links[robot_index].keys():
- if (
- link_name in ["llb", "llf", "lrf", "lrb", "rlb", "rlf", "rrf", "rrb"]
- or link_name in self.foot_link_names
- ):
- # print(p.getLinkState(self.robot_type_index, self.links[link_name]))
- p.changeDynamics(
- robot_index,
- self.links[robot_index][link_name],
- lateralFriction=lateral_friction,
- spinningFriction=spinning_friction,
- rollingFriction=rolling_friction,
- restitution=restitution,
- contactDamping=contact_damping,
- contactStiffness=contact_stiffness,
- )
- if self.plane_index:
- p.changeDynamics(
- self.plane_index,
- -1,
- lateralFriction=lateral_friction,
- spinningFriction=spinning_friction,
- rollingFriction=rolling_friction,
- restitution=restitution,
- contactDamping=contact_damping,
- contactStiffness=contact_stiffness,
- )
- if self.field_index:
- p.changeDynamics(
- self.field_index,
- -1,
- lateralFriction=lateral_friction,
- spinningFriction=spinning_friction,
- rollingFriction=rolling_friction,
- restitution=restitution,
- contactDamping=contact_damping,
- contactStiffness=contact_stiffness,
- )
- if self.terrain_index:
- p.changeDynamics(
- self.terrain_index,
- -1,
- lateralFriction=lateral_friction,
- spinningFriction=spinning_friction,
- rollingFriction=rolling_friction,
- restitution=restitution,
- contactDamping=contact_damping,
- contactStiffness=contact_stiffness,
- )
-
- def randomize_links(self, mass_bounds, inertia_bounds, robot_index=1):
- i = 0
- for link_id in self.links[robot_index].values():
- randomized_mass = random.uniform(mass_bounds[0], mass_bounds[1]) * self.link_masses[robot_index][i]
- randomized_inertia = random.uniform(inertia_bounds[0], inertia_bounds[1]) * np.array(
- self.link_inertias[robot_index][i]
- )
- p.changeDynamics(robot_index, link_id, mass=randomized_mass, localInertiaDiagonal=randomized_inertia)
- i += 1
-
- def randomize_joints(self, torque_bounds, vel_bounds, robot_index=1):
- i = 0
- for joint_name in self.joints[robot_index].keys():
- randomized_stall_torque = (
- random.uniform(torque_bounds[0], torque_bounds[1]) * self.joint_stall_torques[robot_index][i]
- )
- self.joints[robot_index][joint_name].max_torque = randomized_stall_torque
- randomized_max_vel = random.uniform(vel_bounds[0], vel_bounds[1]) * self.joint_max_vels[robot_index][i]
- self.joints[robot_index][joint_name].max_vel = randomized_max_vel
-
- def randomize_foot_friction(
- self,
- restitution_bounds,
- lateral_friction_bounds,
- spinning_friction_bounds,
- rolling_friction_bounds,
- robot_index=1,
- ):
- # set dynamic values for all foot links
- rand_restitution = random.uniform(restitution_bounds[0], restitution_bounds[1])
- rand_lateral_friction = random.uniform(lateral_friction_bounds[0], lateral_friction_bounds[1])
- rand_spinning_friction = random.uniform(spinning_friction_bounds[0], spinning_friction_bounds[1])
- rand_rolling_friction = random.uniform(rolling_friction_bounds[0], rolling_friction_bounds[1])
-
- for link_name in self.links[robot_index].keys():
- if link_name in ["llb", "llf", "lrf", "lrb", "rlb", "rlf", "rrf", "rrb"]:
- p.changeDynamics(
- robot_index,
- self.links[robot_index][link_name],
- lateralFriction=rand_lateral_friction,
- spinningFriction=rand_spinning_friction,
- rollingFriction=rand_rolling_friction,
- restitution=rand_restitution,
- )
-
- def randomize_floor(
- self, restitution_bounds, lateral_friction_bounds, spinning_friction_bounds, rolling_friction_bounds
- ):
- # set dynamic values for the ground
- rand_restitution = random.uniform(restitution_bounds[0], restitution_bounds[1])
- rand_lateral_friction = random.uniform(lateral_friction_bounds[0], lateral_friction_bounds[1])
- rand_spinning_friction = random.uniform(spinning_friction_bounds[0], spinning_friction_bounds[1])
- rand_rolling_friction = random.uniform(rolling_friction_bounds[0], rolling_friction_bounds[1])
-
- if self.terrain_height > 0:
- p.changeDynamics(
- self.terrain_index,
- -1,
- lateralFriction=rand_lateral_friction,
- spinningFriction=rand_spinning_friction,
- rollingFriction=rand_rolling_friction,
- restitution=rand_restitution,
- )
- else:
- p.changeDynamics(
- self.plane_index,
- -1,
- lateralFriction=rand_lateral_friction,
- spinningFriction=rand_spinning_friction,
- rollingFriction=rand_rolling_friction,
- restitution=rand_restitution,
- )
-
- def randomize_terrain(self, terrain_height):
- self.terrain.randomize(terrain_height)
-
- def set_filter_params(self, cutoff, order, robot_index=1):
- for i in range(p.getNumJoints(robot_index)):
- joint_info = p.getJointInfo(robot_index, i)
- name = joint_info[1].decode("utf-8")
- if name in ["LLB", "LLF", "LRF", "LRB", "RLB", "RLF", "RRF", "RRB"]:
- self.pressure_sensors[robot_index][name] = PressureSensor(name, i, robot_index, cutoff, order)
-
- def reset(self, robot_index=1):
- # set joints to initial position
- for name in self.joints[robot_index].keys():
- joint = self.joints[robot_index][name]
- try:
- pos_in_rad = math.radians(self.initial_joint_positions[name])
- except KeyError:
- pos_in_rad = 0
- joint.reset_position(pos_in_rad, 0)
- joint.set_position(pos_in_rad)
-
- # reset body pose and velocity
- p.resetBasePositionAndOrientation(robot_index, self.start_position, self.start_orientation)
- p.resetBaseVelocity(robot_index, [0, 0, 0], [0, 0, 0])
-
- def handle_gui(self):
- # get keyboard events if gui is active
- if self.gui:
- # check if simulation should continue currently
- while True:
- # reset if R-key was pressed
- r_key = ord("r")
- # gravity
- n_key = ord("n")
- # real time
- t_key = ord("t")
- # real time factor
- z_key = ord("z")
- # randomize terrain
- f_key = ord("f")
- # pause
- space_key = p.B3G_SPACE
- # rotate robot for testing
- j_key = ord("j")
- k_key = ord("k")
- l_key = ord("l")
- # move robot for testing
- q_key = ord("q")
- a_key = ord("a")
- s_key = ord("s")
- d_key = ord("d")
- keys = p.get_keyboardEvents()
- if r_key in keys and keys[r_key] & p.KEY_WAS_TRIGGERED:
- self.reset()
- if space_key in keys and keys[space_key] & p.KEY_WAS_TRIGGERED:
- self.paused = not self.paused
- if n_key in keys and keys[n_key] & p.KEY_WAS_TRIGGERED:
- self.gravity = not self.gravity
- self.set_gravity(self.gravity)
- print(f"gravity {self.gravity}")
- if t_key in keys and keys[t_key] & p.KEY_WAS_TRIGGERED:
- self.realtime = not self.realtime
- print("Realtime is " + str(self.realtime))
- if z_key in keys and keys[z_key] & p.KEY_WAS_TRIGGERED:
- self.time_multiplier = (self.time_multiplier + 1) % 10
- print(self.time_multiplier + 1)
- if f_key in keys and keys[f_key] & p.KEY_WAS_TRIGGERED:
- # generate new terrain
- self.terrain.randomize(self.terrain_height)
- if j_key in keys and keys[j_key] & p.KEY_WAS_TRIGGERED:
- pos, rpy = self.get_robot_pose_rpy()
- self.reset_robot_pose_rpy(pos, (rpy[0] + math.radians(30), rpy[1], rpy[2]))
- if k_key in keys and keys[k_key] & p.KEY_WAS_TRIGGERED:
- pos, rpy = self.get_robot_pose_rpy()
- self.reset_robot_pose_rpy(pos, (rpy[0], rpy[1] + math.radians(30), rpy[2]))
- if l_key in keys and keys[l_key] & p.KEY_WAS_TRIGGERED:
- pos, rpy = self.get_robot_pose_rpy()
- self.reset_robot_pose_rpy(pos, (rpy[0], rpy[1], rpy[2] + math.radians(30)))
- if q_key in keys and keys[q_key] & p.KEY_WAS_TRIGGERED:
- pos, quat = self.get_robot_pose()
- self.reset_robot_pose((pos[0] + 0.1, pos[1], pos[2]), quat)
- if a_key in keys and keys[a_key] & p.KEY_WAS_TRIGGERED:
- pos, quat = self.get_robot_pose()
- self.reset_robot_pose((pos[0], pos[1] + 0.1, pos[2]), quat)
- if s_key in keys and keys[s_key] & p.KEY_WAS_TRIGGERED:
- pos, quat = self.get_robot_pose()
- self.reset_robot_pose((pos[0] - 0.1, pos[1], pos[2]), quat)
- if d_key in keys and keys[d_key] & p.KEY_WAS_TRIGGERED:
- pos, quat = self.get_robot_pose()
- self.reset_robot_pose((pos[0], pos[1] - 0.1, pos[2]), quat)
- if not self.paused:
- break
-
- # sleep long enough to run the simulation in real time and not in accelerated speed
- if self.realtime:
- # wait till one timestep has actually passed in real time
- time_to_sleep = max(0, self.timestep - (time() - self.last_wall_time)) * (self.time_multiplier + 1)
- sleep(time_to_sleep)
-
- self.last_wall_time = time()
- self.time += self.timestep
-
- def step_pressure_filters(self, robot_index=1):
- for _, ps in self.pressure_sensors[robot_index].items():
- ps.filter_step()
-
- def step(self):
- self.handle_gui()
- p.stepSimulation()
- for index in self.robot_indexes:
- self.step_pressure_filters(index)
-
- def set_gravity(self, active):
- if active:
- p.setGravity(0, 0, -9.81)
- else:
- p.setGravity(0, 0, 0)
-
- def set_robot_pose(self, position, orientation, robot_index=1):
- p.resetBasePositionAndOrientation(robot_index, position, orientation)
-
- def reset_simulation(self):
- p.resetSimulation()
- self.load_models()
-
- def reset_robot_pose(self, position, orientation, reset_joints=False, robot_index=1):
- # reset body pose and velocity
- p.resetBasePositionAndOrientation(robot_index, position, orientation)
- p.resetBaseVelocity(robot_index, [0, 0, 0], [0, 0, 0])
- if reset_joints:
- # we need to reset all joints to, otherwise they still have velocity
- for name in self.joints[robot_index]:
- joint = self.joints[robot_index][name]
- try:
- pos_in_rad = math.radians(self.initial_joint_positions[name])
- except KeyError:
- pos_in_rad = 0
- joint.reset_position(pos_in_rad, 0)
- joint.set_position(pos_in_rad)
-
- def reset_robot_pose_rpy(self, position, rpy, robot_index=1):
- quat = tf_transformations.quaternion_from_euler(*rpy)
- self.reset_robot_pose(position, quat, robot_index=robot_index)
-
- def get_robot_pose(self, robot_index=1):
- (x, y, z), (qx, qy, qz, qw) = p.getBasePositionAndOrientation(robot_index)
- return (x, y, z), (qx, qy, qz, qw)
-
- def get_imu_quaternion(self):
- # imu orientation has roll and pitch relative to gravity vector. yaw in world frame
- _, robot_quat_in_world = self.get_robot_pose()
- # change order to transform3d standard
- robot_quat_in_world = (
- robot_quat_in_world[3],
- robot_quat_in_world[0],
- robot_quat_in_world[1],
- robot_quat_in_world[2],
- )
- # get global yaw
- yrp_world_frame = quat2euler(robot_quat_in_world, axes="szxy")
- # remove global yaw rotation from roll and pitch
- yaw_quat = euler2quat(yrp_world_frame[0], 0, 0, axes="szxy")
- rp = rotate_vector((yrp_world_frame[1], yrp_world_frame[2], 0), qinverse(yaw_quat))
- # save in correct order
- rpy = [rp[0], rp[1], 0]
- # convert to quaternion
- quat_wxyz = euler2quat(*rpy)
- # change order to ros standard
- return quat_wxyz[1], quat_wxyz[2], quat_wxyz[3], quat_wxyz[0]
-
- def get_robot_pose_rpy(self, robot_index=1):
- (x, y, z), (qx, qy, qz, qw) = p.getBasePositionAndOrientation(robot_index)
- (roll, pitch, yaw) = p.getEulerFromQuaternion((qx, qy, qz, qw))
- return (x, y, z), (roll, pitch, yaw)
-
- def get_link_pose(self, link_name, robot_index=1):
- return p.getLinkState(robot_index, self.links[robot_index][link_name])[0]
-
- def get_robot_velocity(self, robot_index=1):
- # these are in world coordinate frame
- (vx, vy, vz), (vr, vp, vy) = p.getBaseVelocity(robot_index)
- # rotate to robot frame
- _, (x, y, z, w) = self.get_robot_pose()
- # rotation matrix
- m = quat2mat((w, x, y, z))
- # velocities as vector
- v = np.array([vr, vp, vy]).T
- angular_vel_robot_frame = np.matmul(m.T, v)
- return (vx, vy, vz), angular_vel_robot_frame
-
- def get_joint_names(self, robot_index=1):
- names = []
- for name in self.joints[robot_index]:
- joint = self.joints[robot_index][name]
- names.append(joint.name)
- return names
-
- def get_joint_position(self, name, robot_index=1):
- return self.joints[robot_index][name].get_position()
-
- def get_joint_values(self, joint_names, scaled=False, robot_index=1):
- joint_positions = []
- joint_velocities = []
- joint_torques = []
- for joint_name in joint_names:
- joint = self.joints[robot_index][joint_name]
- pos, vel, tor = joint.update()
- if scaled:
- joint_positions.append(joint.get_scaled_position())
- joint_velocities.append(joint.get_scaled_velocity())
- else:
- joint_positions.append(pos)
- joint_velocities.append(vel)
- joint_torques.append(tor)
- return joint_positions, joint_velocities, joint_torques
-
- def get_link_values(self, link_name, robot_index=1):
- _, _, _, _, pos_in_world, quat_in_world, lin_vel_in_world, ang_vel_in_world = p.getLinkState(
- robot_index, self.links[robot_index][link_name], 1, 0
- )
- return pos_in_world, quat_in_world, lin_vel_in_world, ang_vel_in_world
-
- def get_base_position_and_orientation(self, robot_index=1):
- return p.getBasePositionAndOrientation(robot_index)
-
- def get_sensor_force(self, sensor_name, filtered, robot_index=1):
- force = self.pressure_sensors[robot_index][sensor_name].get_force()
- if filtered:
- if force[1] is None:
- return 0
- else:
- return force[1]
- else:
- if force[0] is None:
- return 0
- else:
- return force[0]
-
- def set_joint_position(self, joint_name, position, scaled=False, relative=False, robot_index=1):
- joint = self.joints[robot_index][joint_name]
- if scaled:
- joint.set_scaled_position(position, relative)
- else:
- joint.set_position(position, relative)
-
- def set_alpha(self, alpha, robot_index=1):
- ref_col = [1, 1, 1, alpha]
- p.changeVisualShape(robot_index, -1, rgbaColor=ref_col)
- for joint_idx in range(p.getNumJoints(robot_index)):
- p.changeVisualShape(robot_index, joint_idx, rgbaColor=ref_col)
-
- def reset_joint_to_position(self, joint_name, pos_in_rad, velocity=0, robot_index=1):
- joint = self.joints[robot_index][joint_name]
- joint.reset_position(pos_in_rad, velocity)
- joint.set_position(pos_in_rad)
-
- def reset_base_position_and_orientation(self, pos, quat, robot_index=1):
- p.resetBasePositionAndOrientation(robot_index, pos, quat)
-
- def reset_base_velocity(self, lin_vel, ang_vel, robot_index=1):
- p.resetBaseVelocity(robot_index, lin_vel, ang_vel)
-
- def reset_joints_to_init_pos(self, robot_index=1):
- for name in self.initial_joint_positions.keys():
- self.reset_joint_to_position(
- name, math.radians(self.initial_joint_positions[name]), velocity=0, robot_index=robot_index
- )
-
- def reset_pressure_filters(self, robot_index=1):
- for sensor in self.pressure_sensors[robot_index].values():
- sensor.reset()
-
- def apply_external_force_to_base(self, force, robot_index=1):
- p.applyExternalForce(robot_index, self.torso_ids[robot_index], force, [0, 0, 0], flags=p.WORLD_FRAME)
-
- def apply_external_torque_to_base(self, torque, robot_index=1):
- p.applyExternalTorque(robot_index, self.torso_ids[robot_index], torque, flags=p.WORLD_FRAME)
-
- def convert_radiant_to_scaled(self, joint_name, radiant, robot_index=1):
- return self.joints[robot_index][joint_name].convert_radiant_to_scaled(radiant)
-
- def convert_scaled_to_radiant(self, joint_name, scaled, robot_index=1):
- return self.joints[robot_index][joint_name].convert_scaled_to_radiant(scaled)
-
-
-class Joint:
- def __init__(self, joint_index, body_index):
- self.joint_index = joint_index
- self.body_index = body_index
- joint_info = p.getJointInfo(self.body_index, self.joint_index)
- self.name = joint_info[1].decode("utf-8")
- self.type = joint_info[2]
- self.max_force = joint_info[10]
- self.max_velocity = joint_info[11]
- self.lowerLimit = joint_info[8]
- self.upperLimit = joint_info[9]
- self.mid_position = 0.5 * (self.lowerLimit + self.upperLimit)
- position, velocity, forces, applied_torque = p.getJointState(self.body_index, self.joint_index)
- self.state = position, velocity, forces, applied_torque
-
- def update(self):
- """
- Called just once per step to update state from simulation. Improves performance.
- """
- position, velocity, forces, applied_torque = p.getJointState(self.body_index, self.joint_index)
- self.state = position, velocity, forces, applied_torque
- return position, velocity, applied_torque
-
- def reset_position(self, position, velocity):
- p.resetJointState(self.body_index, self.joint_index, targetValue=position, targetVelocity=velocity)
-
- def disable_motor(self):
- p.setJointMotorControl2(
- self.body_index,
- self.joint_index,
- controlMode=p.POSITION_CONTROL,
- targetPosition=0,
- targetVelocity=0,
- positionGain=0.1,
- velocityGain=0.1,
- force=0,
- )
-
- def set_position(self, position, relative=False):
- # enforce limits
- if relative:
- position = position + self.state[0]
- position = min(self.upperLimit, max(self.lowerLimit, position))
- p.setJointMotorControl2(
- self.body_index,
- self.joint_index,
- p.POSITION_CONTROL,
- targetPosition=position,
- force=self.max_force,
- maxVelocity=self.max_velocity,
- )
-
- def set_scaled_position(self, position, relative):
- self.set_position(self.convert_scaled_to_radiant(position), relative=relative)
-
- def reset_scaled_position(self, position):
- # sets position inside limits with a given position values in [-1, 1]
- self.reset_position(self.convert_scaled_to_radiant(position), 0)
-
- def get_state(self):
- return self.state
-
- def get_position(self):
- return self.state[0]
-
- def get_scaled_position(self):
- return self.convert_radiant_to_scaled(self.state[0])
-
- def get_velocity(self):
- return self.state[1]
-
- def get_scaled_velocity(self):
- return self.get_velocity() * 0.01
-
- def get_torque(self):
- position, velocity, forces, applied_torque = self.state
- return applied_torque
-
- def convert_radiant_to_scaled(self, pos):
- # helper method to convert to scaled position between [-1,1] for this joint using min max scaling
- return 2 * (pos - self.mid_position) / (self.upperLimit - self.lowerLimit)
-
- def convert_scaled_to_radiant(self, position):
- # helper method to convert to scaled position for this joint using min max scaling
- return position * (self.upperLimit - self.lowerLimit) / 2 + self.mid_position
-
-
-class PressureSensor:
- def __init__(self, name, joint_index, body_index, cutoff, order):
- self.joint_index = joint_index
- self.name = name
- self.body_index = body_index
- nyq = 240 * 0.5 # nyquist frequency from simulation frequency
- normalized_cutoff = cutoff / nyq # cutoff freq in hz
- self.filter_b, self.filter_a = signal.butter(order, normalized_cutoff, btype="low")
- self.filter_state = None
- self.reset()
- self.unfiltered = 0
- self.filtered = [0]
-
- def reset(self):
- self.filter_state = signal.lfilter_zi(self.filter_b, self.filter_a)
-
- def filter_step(self, unfiltered=None):
- if unfiltered is None:
- self.unfiltered = p.getJointState(self.body_index, self.joint_index)[2][2] * -1
- self.filtered, self.filter_state = signal.lfilter(
- self.filter_b, self.filter_a, [self.unfiltered], zi=self.filter_state
- )
-
- def get_force(self):
- return max(self.unfiltered, 0), max(self.filtered[0], 0)
-
- def get_value(self, type):
- if type == "filtered":
- return max(self.filtered[0], 0)
- elif type == "raw":
- return max(self.unfiltered, 0)
- elif type == "binary":
- if self.unfiltered > 10:
- return 1
- else:
- return 0
- else:
- print(f"type '{type}' not know")
diff --git a/src/bitbots_simulation/bitbots_pybullet_sim/bitbots_pybullet_sim/terrain.py b/src/bitbots_simulation/bitbots_pybullet_sim/bitbots_pybullet_sim/terrain.py
deleted file mode 100644
index f1eed30f8b..0000000000
--- a/src/bitbots_simulation/bitbots_pybullet_sim/bitbots_pybullet_sim/terrain.py
+++ /dev/null
@@ -1,71 +0,0 @@
-import random
-
-import pybullet as p
-
-
-class Terrain:
- def __init__(self, max_height=0.01, size=(25, 25), scale=(0.1, 0.1), clear_center=False):
- self.id = -1
- self.collision_shape = -1
-
- self.scale = scale
- self.rows = int(size[0] / scale[0])
- self.cols = int(size[1] / scale[1])
- self.heightfield_data = [0] * self.rows * self.cols
- self.clear_center_size = 2
- self.clear_center = clear_center
-
- self.randomize(max_height)
-
- def randomize(self, max_height):
- if max_height > 1:
- # hacky way to make different types of terrain just based on the max_height parameter
- max_height = max_height - 1
- for j in range(int(self.cols / 2)):
- for i in range(int(self.rows / 2)):
- # create a quadratic shape with random height
- height = random.uniform(0, max_height)
- self.heightfield_data[2 * i + 2 * j * self.rows] = height
- self.heightfield_data[2 * i + 1 + 2 * j * self.rows] = height
- self.heightfield_data[2 * i + (2 * j + 1) * self.rows] = height
- self.heightfield_data[2 * i + 1 + (2 * j + 1) * self.rows] = height
- else:
- for j in range(int(self.cols)):
- for i in range(int(self.rows)):
- self.heightfield_data[i + j * self.rows] = random.uniform(0, max_height)
-
- if self.clear_center:
- # make sure the center is flat so the robot does not get stuck there on resetting
- for j in range(int(self.cols / 4) - self.clear_center_size, int(self.cols / 4) + self.clear_center_size):
- for i in range(
- int(self.rows / 4) - self.clear_center_size, int(self.rows / 4) + self.clear_center_size
- ):
- self.heightfield_data[2 * i + 2 * j * self.rows] = 0
- self.heightfield_data[2 * i + 1 + 2 * j * self.rows] = 0
- self.heightfield_data[2 * i + (2 * j + 1) * self.rows] = 0
- self.heightfield_data[2 * i + 1 + (2 * j + 1) * self.rows] = 0
-
- # first time we can't replace, also add some visuals
- if self.collision_shape == -1:
- self.collision_shape = p.createCollisionShape(
- shapeType=p.GEOM_HEIGHTFIELD,
- meshScale=[self.scale[0], self.scale[1], 1.0],
- heightfieldTextureScaling=(self.rows - 1) / 2,
- heightfieldData=self.heightfield_data,
- numHeightfieldRows=self.rows,
- numHeightfieldColumns=self.cols,
- )
- self.id = p.createMultiBody(0, self.collision_shape)
- p.resetBasePositionAndOrientation(self.id, [0, 0, 0.0], [0, 0, 0, 1])
- p.changeVisualShape(self.id, -1, rgbaColor=[1, 1, 1, 1])
- else:
- p.createCollisionShape(
- shapeType=p.GEOM_HEIGHTFIELD,
- flags=p.GEOM_FORCE_CONCAVE_TRIMESH,
- meshScale=[self.scale[0], self.scale[1], 1.0],
- heightfieldTextureScaling=(self.rows - 1) / 2,
- heightfieldData=self.heightfield_data,
- numHeightfieldRows=self.rows,
- numHeightfieldColumns=self.cols,
- replaceHeightfieldIndex=self.collision_shape,
- )
diff --git a/src/bitbots_simulation/bitbots_pybullet_sim/config/config.yaml b/src/bitbots_simulation/bitbots_pybullet_sim/config/config.yaml
deleted file mode 100644
index 4b9d27bcf0..0000000000
--- a/src/bitbots_simulation/bitbots_pybullet_sim/config/config.yaml
+++ /dev/null
@@ -1,12 +0,0 @@
-/**:
- ros__parameters:
- simulation_active: true
- use_sim_time: true
- contact_stiffness: -1.0
- contact_damping: -1.0
- lateral_friction: 1.0
- spinning_friction: 0.1
- rolling_friction: 0.1
- restitution: 0.9
- order: 5
- cutoff: 10
\ No newline at end of file
diff --git a/src/bitbots_simulation/bitbots_pybullet_sim/docs/_static/logo.png b/src/bitbots_simulation/bitbots_pybullet_sim/docs/_static/logo.png
deleted file mode 100644
index f8afdd5d06..0000000000
Binary files a/src/bitbots_simulation/bitbots_pybullet_sim/docs/_static/logo.png and /dev/null differ
diff --git a/src/bitbots_simulation/bitbots_pybullet_sim/docs/conf.py b/src/bitbots_simulation/bitbots_pybullet_sim/docs/conf.py
deleted file mode 100644
index 0b6342a9ce..0000000000
--- a/src/bitbots_simulation/bitbots_pybullet_sim/docs/conf.py
+++ /dev/null
@@ -1,187 +0,0 @@
-#
-# Full list of options at http://www.sphinx-doc.org/en/master/config
-
-# -- Path setup --------------------------------------------------------------
-
-# If extensions (or modules to document with autodoc) are in another directory,
-# add these directories to sys.path here. If the directory is relative to the
-# documentation root, use os.path.abspath to make it absolute, like shown here.
-#
-import os
-import sys
-
-import catkin_pkg.package
-from exhale import utils
-
-package_dir = os.path.dirname(os.path.dirname(os.path.abspath(__file__)))
-catkin_package = catkin_pkg.package.parse_package(
- os.path.join(package_dir, catkin_pkg.package.PACKAGE_MANIFEST_FILENAME)
-)
-sys.path.insert(0, os.path.abspath(os.path.join(package_dir, "src")))
-
-
-# -- Helper functions --------------------------------------------------------
-
-
-def count_files():
- """:returns tuple of (num_py, num_cpp)"""
- num_py = 0
- num_cpp = 0
-
- for _, _, files in os.walk(os.path.join(package_dir, "src")):
- for f in files:
- if f.endswith(".py"):
- num_py += 1
- for _, _, files in os.walk(os.path.join(package_dir, "include")):
- for f in files:
- if f.endswith(".h") or f.endswith(".hpp"):
- num_cpp += 1
-
- return num_py, num_cpp
-
-
-# -- Project information -----------------------------------------------------
-
-project = catkin_package.name
-copyright = "2019, Bit-Bots"
-author = ", ".join([a.name for a in catkin_package.authors])
-
-# The short X.Y version
-version = str(catkin_package.version)
-# The full version, including alpha/beta/rc tags
-release = str(catkin_package.version)
-
-# -- General configuration ---------------------------------------------------
-
-# If your documentation needs a minimal Sphinx version, state it here.
-#
-# needs_sphinx = '1.0'
-
-# Add any Sphinx extension module names here, as strings. They can be
-# extensions coming with Sphinx (named 'sphinx.ext.*') or your custom
-# ones.
-extensions = [
- "sphinx.ext.autodoc",
- "sphinx.ext.doctest",
- "sphinx.ext.intersphinx",
- "sphinx.ext.todo",
- "sphinx.ext.coverage",
- "sphinx.ext.imgmath",
- "sphinx.ext.viewcode",
- "sphinx_rtd_theme",
-]
-
-# Add any paths that contain templates here, relative to this directory.
-templates_path = ["_templates"]
-
-# The suffix(es) of source filenames.
-# You can specify multiple suffix as a list of string:
-#
-# source_suffix = ['.rst', '.md']
-source_suffix = ".rst"
-
-# The master toctree document.
-master_doc = "index"
-
-# The language for content autogenerated by Sphinx. Refer to documentation
-# for a list of supported languages.
-#
-# This is also used if you do content translation via gettext catalogs.
-# Usually you set "language" from the command line for these cases.
-language = None
-
-# List of patterns, relative to source directory, that match files and
-# directories to ignore when looking for source files.
-# This pattern also affects html_static_path and html_extra_path.
-exclude_patterns = ["_build", "Thumbs.db", ".DS_Store"]
-
-# The name of the Pygments (syntax highlighting) style to use.
-pygments_style = None
-
-# -- Exhale and Breath setup -------------------------------------------------
-
-# Tell sphinx what the primary language being documented is.
-num_files_py, num_files_cpp = count_files()
-primary_domain = "py" if num_files_py >= num_files_cpp else "cpp"
-
-# Tell sphinx what the pygments highlight language should be.
-highlight_language = primary_domain
-
-if num_files_cpp > 0:
- extensions += [
- "breathe",
- "exhale",
- ]
-
- breathe_projects = {project: os.path.join("_build", "doxyoutput", "xml")}
- breathe_default_project = project
-
- def specifications_for_kind(kind):
- # Show all members for classes and structs
- if kind == "class" or kind == "struct":
- return [":members:", ":protected-members:", ":private-members:", ":undoc-members:"]
- # An empty list signals to Exhale to use the defaults
- else:
- return []
-
- exhale_args = {
- # These arguments are required
- "containmentFolder": "cppapi",
- "rootFileName": "library_root.rst",
- "rootFileTitle": "C++ Library API",
- "doxygenStripFromPath": "..",
- "customSpecificationsMapping": utils.makeCustomSpecificationsMapping(specifications_for_kind),
- # Suggested optional arguments
- "createTreeView": True,
- "exhaleExecutesDoxygen": True,
- "exhaleDoxygenStdin": "INPUT = {}".format(os.path.join(package_dir, "include")),
- }
-
-# -- Options for HTML output -------------------------------------------------
-
-# The theme to use for HTML and HTML Help pages. See the documentation for
-# a list of builtin themes.
-#
-html_theme = "sphinx_rtd_theme"
-
-# Theme options are theme-specific and customize the look and feel of a theme
-# further. For a list of options available for each theme, see the
-# documentation.
-#
-# html_theme_options = {}
-
-# Add any paths that contain custom static files (such as style sheets) here,
-# relative to this directory. They are copied after the builtin static files,
-# so a file named "default.css" will overwrite the builtin "default.css".
-html_static_path = ["_static"]
-
-# Custom sidebar templates, must be a dictionary that maps document names
-# to template names.
-#
-# The default sidebars (for documents that don't match any pattern) are
-# defined by theme itself. Builtin themes are using these templates by
-# default: ``['localtoc.html', 'relations.html', 'sourcelink.html',
-# 'searchbox.html']``.
-#
-# html_sidebars = {}
-
-html_logo = os.path.join("_static", "logo.png")
-html_favicon = os.path.join("_static", "logo.png")
-
-
-# -- Options for intersphinx extension ---------------------------------------
-
-# Example configuration for intersphinx: refer to the Python standard library.
-intersphinx_mapping = {"https://docs.python.org/": None}
-
-# -- Options for todo extension ----------------------------------------------
-
-# If true, `todo` and `todoList` produce output, else they produce nothing.
-todo_include_todos = True
-
-# -- RST Standard variables ---------------------------------------------------
-rst_prolog = f".. |project| replace:: {project}\n"
-rst_prolog += ".. |description| replace:: {}\n".format(catkin_package.description.replace("\n\n", "\n"))
-rst_prolog += ".. |modindex| replace:: {}\n".format(
- ":ref:`modindex`" if num_files_py > 0 else "Python module index is not available"
-)
diff --git a/src/bitbots_simulation/bitbots_pybullet_sim/docs/index.rst b/src/bitbots_simulation/bitbots_pybullet_sim/docs/index.rst
deleted file mode 100644
index e76aa433a2..0000000000
--- a/src/bitbots_simulation/bitbots_pybullet_sim/docs/index.rst
+++ /dev/null
@@ -1,21 +0,0 @@
-Welcome to |project|'s documentation!
-================================================
-
-Description
------------
-
-|description|
-
-.. toctree::
- :maxdepth: 2
-
- cppapi/library_root
- pyapi/modules
-
-
-Indices and tables
-==================
-
-* :ref:`genindex`
-* |modindex|
-* :ref:`search`
diff --git a/src/bitbots_simulation/bitbots_pybullet_sim/launch/simulation.launch b/src/bitbots_simulation/bitbots_pybullet_sim/launch/simulation.launch
deleted file mode 100644
index 1421e403f5..0000000000
--- a/src/bitbots_simulation/bitbots_pybullet_sim/launch/simulation.launch
+++ /dev/null
@@ -1,17 +0,0 @@
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
diff --git a/src/bitbots_simulation/bitbots_pybullet_sim/models/field/config.json b/src/bitbots_simulation/bitbots_pybullet_sim/models/field/config.json
deleted file mode 100644
index e54e72d6d4..0000000000
--- a/src/bitbots_simulation/bitbots_pybullet_sim/models/field/config.json
+++ /dev/null
@@ -1,6 +0,0 @@
-{
- "documentId": "7c9b2b33f4117af700005b74",
- "outputFormat": "urdf",
- "noDynamics": true,
- "useFixedLinks": true
-}
diff --git a/src/bitbots_simulation/bitbots_pybullet_sim/models/field/field.stl b/src/bitbots_simulation/bitbots_pybullet_sim/models/field/field.stl
deleted file mode 100644
index 8ab5518c49..0000000000
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diff --git a/src/bitbots_simulation/bitbots_pybullet_sim/models/field/field.urdf b/src/bitbots_simulation/bitbots_pybullet_sim/models/field/field.urdf
deleted file mode 100644
index 4184e64073..0000000000
--- a/src/bitbots_simulation/bitbots_pybullet_sim/models/field/field.urdf
+++ /dev/null
@@ -1,420 +0,0 @@
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diff --git a/src/bitbots_simulation/bitbots_pybullet_sim/models/field/goalsally.stl b/src/bitbots_simulation/bitbots_pybullet_sim/models/field/goalsally.stl
deleted file mode 100644
index 2a04a4881f..0000000000
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deleted file mode 100644
index e2219e0ef6..0000000000
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diff --git a/src/bitbots_simulation/bitbots_pybullet_sim/models/field/goalsopponent.stl b/src/bitbots_simulation/bitbots_pybullet_sim/models/field/goalsopponent.stl
deleted file mode 100644
index a3dd11b84b..0000000000
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deleted file mode 100644
index 4795c1e765..0000000000
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diff --git a/src/bitbots_simulation/bitbots_pybullet_sim/models/field/lines.stl b/src/bitbots_simulation/bitbots_pybullet_sim/models/field/lines.stl
deleted file mode 100644
index 70e76614d9..0000000000
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diff --git a/src/bitbots_simulation/bitbots_pybullet_sim/models/field/penaltyally.stl b/src/bitbots_simulation/bitbots_pybullet_sim/models/field/penaltyally.stl
deleted file mode 100644
index 966b945d94..0000000000
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diff --git a/src/bitbots_simulation/bitbots_pybullet_sim/models/field/penaltyopponent.stl b/src/bitbots_simulation/bitbots_pybullet_sim/models/field/penaltyopponent.stl
deleted file mode 100644
index 8d4a39d170..0000000000
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diff --git a/src/bitbots_simulation/bitbots_pybullet_sim/models/field/table.stl b/src/bitbots_simulation/bitbots_pybullet_sim/models/field/table.stl
deleted file mode 100644
index 248526ea06..0000000000
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diff --git a/src/bitbots_simulation/bitbots_pybullet_sim/models/field/table2.stl b/src/bitbots_simulation/bitbots_pybullet_sim/models/field/table2.stl
deleted file mode 100644
index a9fb729d4e..0000000000
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diff --git a/src/bitbots_simulation/bitbots_pybullet_sim/models/field/table3.stl b/src/bitbots_simulation/bitbots_pybullet_sim/models/field/table3.stl
deleted file mode 100644
index 07ef1e6d52..0000000000
Binary files a/src/bitbots_simulation/bitbots_pybullet_sim/models/field/table3.stl and /dev/null differ
diff --git a/src/bitbots_simulation/bitbots_pybullet_sim/models/field/table4.stl b/src/bitbots_simulation/bitbots_pybullet_sim/models/field/table4.stl
deleted file mode 100644
index b62c6a4804..0000000000
Binary files a/src/bitbots_simulation/bitbots_pybullet_sim/models/field/table4.stl and /dev/null differ
diff --git a/src/bitbots_simulation/bitbots_pybullet_sim/package.xml b/src/bitbots_simulation/bitbots_pybullet_sim/package.xml
deleted file mode 100644
index cbe9abf835..0000000000
--- a/src/bitbots_simulation/bitbots_pybullet_sim/package.xml
+++ /dev/null
@@ -1,36 +0,0 @@
-
-
-
- bitbots_pybullet_sim
- 1.3.0
- Simulation environment using PyBullet.
-
- Marc Bestmann
- Hamburg Bit-Bots
-
- MIT
-
- Marc Bestmann
- Hamburg Bit-Bots
-
- ament_cmake
- sensor_msgs
- urdf
- bitbots_msgs
- nav_msgs
- rosgraph_msgs
- std_msgs
- bitbots_docs
- bitbots_webots_sim
- tf_transformations
- python3-transforms3d
- python3-numpy
-
-
- ament_cmake
-
- unknown
- python
-
-
-
diff --git a/src/bitbots_simulation/bitbots_pybullet_sim/scripts/simulation_headless.py b/src/bitbots_simulation/bitbots_pybullet_sim/scripts/simulation_headless.py
deleted file mode 100755
index ee9e5c9f04..0000000000
--- a/src/bitbots_simulation/bitbots_pybullet_sim/scripts/simulation_headless.py
+++ /dev/null
@@ -1,19 +0,0 @@
-#!/usr/bin/env python3
-import threading
-
-import rclpy
-from bitbots_pybullet_sim.ros_interface import ROSInterface
-from bitbots_pybullet_sim.simulation import Simulation
-from rclpy.node import Node
-
-if __name__ == "__main__":
- rclpy.init(args=None)
- simulation = Simulation(False)
- node = Node("pybullet_sim")
- interface = ROSInterface(node, simulation)
- thread = threading.Thread(target=rclpy.spin, args=(node,), daemon=True)
- thread.start()
- interface.run_simulation()
-
- node.destroy_node()
- rclpy.shutdown()
diff --git a/src/bitbots_simulation/bitbots_pybullet_sim/scripts/simulation_with_gui.py b/src/bitbots_simulation/bitbots_pybullet_sim/scripts/simulation_with_gui.py
deleted file mode 100755
index 5e7f2c89f3..0000000000
--- a/src/bitbots_simulation/bitbots_pybullet_sim/scripts/simulation_with_gui.py
+++ /dev/null
@@ -1,19 +0,0 @@
-#!/usr/bin/env python3
-import threading
-
-import rclpy
-from bitbots_pybullet_sim.ros_interface import ROSInterface
-from bitbots_pybullet_sim.simulation import Simulation
-from rclpy.node import Node
-
-if __name__ == "__main__":
- rclpy.init(args=None)
- simulation = Simulation(True)
- node = Node("pybullet_sim")
- interface = ROSInterface(node, simulation)
- thread = threading.Thread(target=rclpy.spin, args=(node,), daemon=True)
- thread.start()
- interface.run_simulation()
-
- node.destroy_node()
- rclpy.shutdown()
diff --git a/src/bitbots_simulation/bitbots_pybullet_sim/setup.py b/src/bitbots_simulation/bitbots_pybullet_sim/setup.py
deleted file mode 100644
index f4df7a765c..0000000000
--- a/src/bitbots_simulation/bitbots_pybullet_sim/setup.py
+++ /dev/null
@@ -1,11 +0,0 @@
-from distutils.core import setup
-
-from catkin_pkg.python_setup import generate_distutils_setup
-
-d = generate_distutils_setup(
- packages=["bitbots_pybullet_sim"],
- # scripts=['bin/myscript'],
- package_dir={"": "src"},
-)
-
-setup(**d)
diff --git a/src/bitbots_simulation/bitbots_robocup_api/.gitignore b/src/bitbots_simulation/bitbots_robocup_api/.gitignore
deleted file mode 100644
index 959b9a2472..0000000000
--- a/src/bitbots_simulation/bitbots_robocup_api/.gitignore
+++ /dev/null
@@ -1 +0,0 @@
-*pb2.py
diff --git a/src/bitbots_simulation/bitbots_robocup_api/README.md b/src/bitbots_simulation/bitbots_robocup_api/README.md
deleted file mode 100644
index 1021d8b1f1..0000000000
--- a/src/bitbots_simulation/bitbots_robocup_api/README.md
+++ /dev/null
@@ -1 +0,0 @@
-This package bridges between the [official Humanoid League RoboCup Proto3 API](https://cdn.robocup.org/hl/wp/2021/05/v-hsc_simulator_api_v1.0.pdf) and our ROS topics.
diff --git a/src/bitbots_simulation/bitbots_robocup_api/bitbots_robocup_api/__init__.py b/src/bitbots_simulation/bitbots_robocup_api/bitbots_robocup_api/__init__.py
deleted file mode 100644
index e69de29bb2..0000000000
diff --git a/src/bitbots_simulation/bitbots_robocup_api/bitbots_robocup_api/command_proxy.py b/src/bitbots_simulation/bitbots_robocup_api/bitbots_robocup_api/command_proxy.py
deleted file mode 100755
index db66080c63..0000000000
--- a/src/bitbots_simulation/bitbots_robocup_api/bitbots_robocup_api/command_proxy.py
+++ /dev/null
@@ -1,52 +0,0 @@
-import os
-
-import rclpy
-from ament_index_python.packages import get_package_share_directory
-from rclpy.experimental.events_executor import EventsExecutor
-from rclpy.node import Node
-from sensor_msgs.msg import JointState
-from urdf_parser_py.urdf import URDF
-
-from bitbots_msgs.msg import JointCommand
-
-
-class CommandProxy(Node):
- def __init__(self):
- super().__init__("joint_command_proxy")
-
- # Get joints max velocities from URDF
- urdf_path = os.path.join(get_package_share_directory("piplus_description"), "urdf", "robot.urdf")
- urdf = URDF.from_xml_file(urdf_path)
- self.joints_max_velocities = {
- joint.name: joint.limit.velocity for joint in urdf.joints if joint.type == "revolute"
- }
-
- self.publisher = self.create_publisher(JointState, "output", 10)
- self.create_subscription(JointCommand, "input", self.listener_callback, 10)
-
- def listener_callback(self, msg: JointCommand):
- joint_states = JointState()
- joint_states.header.stamp = msg.header.stamp
- joint_states.name = msg.joint_names
- joint_states.position = msg.positions
-
- # Add custom velocities if available, otherwise use max velocity from URDF
- for i, name in enumerate(msg.joint_names):
- if len(msg.velocities) == 0 or msg.velocities[i] == -1:
- joint_states.velocity.append(self.joints_max_velocities[name])
- else:
- joint_states.velocity.append(msg.velocities[i])
-
- self.publisher.publish(joint_states)
-
-
-def main(args=None):
- rclpy.init(args=args)
- command_proxy = CommandProxy()
- executor = EventsExecutor()
- executor.add_node(command_proxy)
- try:
- executor.spin()
- except KeyboardInterrupt:
- pass
- command_proxy.destroy_node()
diff --git a/src/bitbots_simulation/bitbots_robocup_api/config/bitbots_walk.json b/src/bitbots_simulation/bitbots_robocup_api/config/bitbots_walk.json
deleted file mode 100644
index ce9a440887..0000000000
--- a/src/bitbots_simulation/bitbots_robocup_api/config/bitbots_walk.json
+++ /dev/null
@@ -1,62 +0,0 @@
-{
- "name": "Bit-Bots",
- "players": {
- "1": {
- "proto": "Wolfgang",
- "dockerTag": "latest",
- "dockerCmd": "roslaunch bitbots_robocup_api robocup_walk.launch",
- "halfTimeStartingPose": {
- "translation": [
- -3.6,
- -3.20,
- 0.43
- ],
- "rotation": [
- 0.13,
- -0.13,
- -0.98,
- -1.57
- ]
- },
- "reentryStartingPose": {
- "translation": [
- -3.6,
- -3.20,
- 0.43
- ],
- "rotation": [
- 0.0,
- -0.0,
- -1.0,
- -1.57
- ]
- },
- "shootoutStartingPose": {
- "translation": [
- 2.6,
- 0,
- 0.43
- ],
- "rotation": [
- 0,
- 0.98,
- 0.13,
- 0.26
- ]
- },
- "goalKeeperStartingPose": {
- "translation": [
- -4.47,
- 0,
- 0.43
- ],
- "rotation": [
- -0.13,
- 0,
- 0.98,
- 3.14
- ]
- }
- }
- }
-}
diff --git a/src/bitbots_simulation/bitbots_robocup_api/config/devices.json b/src/bitbots_simulation/bitbots_robocup_api/config/devices.json
deleted file mode 100644
index 7ba78a53f5..0000000000
--- a/src/bitbots_simulation/bitbots_robocup_api/config/devices.json
+++ /dev/null
@@ -1,141 +0,0 @@
-{
- "cameras": [
- {
- "proto_camera_name": "camera",
- "time_step": 16,
- "optical_frame": "camera_optical_frame",
- "horizontal_field_of_view": 1.04
- }
- ],
- "IMUs": [
- {
- "proto_gyro_name": "imu gyro",
- "proto_accel_name": "imu accelerometer",
- "ros_name": "imu",
- "time_step": 8,
- "frame_name": "imu_frame"
- }
- ],
- "joints": [
- {
- "proto_motor_name" : "RShoulderPitch [shoulder]",
- "proto_sensor_name" : "RShoulderPitch [shoulder]_sensor",
- "ros_name" : "RShoulderPitch",
- "time_step" : 8
- },
- {
- "proto_motor_name" : "RShoulderRoll",
- "proto_sensor_name" : "RShoulderRoll_sensor",
- "ros_name" : "RShoulderRoll",
- "time_step" : 8
- },
- {
- "proto_motor_name" : "RElbow",
- "proto_sensor_name" : "RElbow_sensor",
- "ros_name" : "RElbow",
- "time_step" : 8
- },
- {
- "proto_motor_name" : "LShoulderPitch [shoulder]",
- "proto_sensor_name" : "LShoulderPitch [shoulder]_sensor",
- "ros_name" : "LShoulderPitch",
- "time_step" : 8
- },
- {
- "proto_motor_name" : "LShoulderRoll",
- "proto_sensor_name" : "LShoulderRoll_sensor",
- "ros_name" : "LShoulderRoll",
- "time_step" : 8
- },
- {
- "proto_motor_name" : "LElbow",
- "proto_sensor_name" : "LElbow_sensor",
- "ros_name" : "LElbow",
- "time_step" : 8
- },
- {
- "proto_motor_name" : "RHipYaw",
- "proto_sensor_name" : "RHipYaw_sensor",
- "ros_name" : "RHipYaw",
- "time_step" : 8
- },
- {
- "proto_motor_name" : "RHipRoll [hip]",
- "proto_sensor_name" : "RHipRoll [hip]_sensor",
- "ros_name" : "RHipRoll",
- "time_step" : 8
- },
- {
- "proto_motor_name" : "RHipPitch",
- "proto_sensor_name" : "RHipPitch_sensor",
- "ros_name" : "RHipPitch",
- "time_step" : 8
- },
- {
- "proto_motor_name" : "RKnee",
- "proto_sensor_name" : "RKnee_sensor",
- "ros_name" : "RKnee",
- "time_step" : 8
- },
- {
- "proto_motor_name" : "RAnklePitch",
- "proto_sensor_name" : "RAnklePitch_sensor",
- "ros_name" : "RAnklePitch",
- "time_step" : 8
- },
- {
- "proto_motor_name" : "RAnkleRoll",
- "proto_sensor_name" : "RAnkleRoll_sensor",
- "ros_name" : "RAnkleRoll",
- "time_step" : 8
- },
- {
- "proto_motor_name" : "LHipYaw",
- "proto_sensor_name" : "LHipYaw_sensor",
- "ros_name" : "LHipYaw",
- "time_step" : 8
- },
- {
- "proto_motor_name" : "LHipRoll [hip]",
- "proto_sensor_name" : "LHipRoll [hip]_sensor",
- "ros_name" : "LHipRoll",
- "time_step" : 8
- },
- {
- "proto_motor_name" : "LHipPitch",
- "proto_sensor_name" : "LHipPitch_sensor",
- "ros_name" : "LHipPitch",
- "time_step" : 8
- },
- {
- "proto_motor_name" : "LKnee",
- "proto_sensor_name" : "LKnee_sensor",
- "ros_name" : "LKnee",
- "time_step" : 8
- },
- {
- "proto_motor_name" : "LAnklePitch",
- "proto_sensor_name" : "LAnklePitch_sensor",
- "ros_name" : "LAnklePitch",
- "time_step" : 8
- },
- {
- "proto_motor_name" : "LAnkleRoll",
- "proto_sensor_name" : "LAnkleRoll_sensor",
- "ros_name" : "LAnkleRoll",
- "time_step" : 8
- },
- {
- "proto_motor_name" : "HeadPan",
- "proto_sensor_name" : "HeadPan_sensor",
- "ros_name" : "HeadPan",
- "time_step" : 8
- },
- {
- "proto_motor_name" : "HeadTilt",
- "proto_sensor_name" : "HeadTilt_sensor",
- "ros_name" : "HeadTilt",
- "time_step" : 8
- }
- ]
-}
\ No newline at end of file
diff --git a/src/bitbots_simulation/bitbots_robocup_api/config/team.json b/src/bitbots_simulation/bitbots_robocup_api/config/team.json
deleted file mode 100644
index a1be45608a..0000000000
--- a/src/bitbots_simulation/bitbots_robocup_api/config/team.json
+++ /dev/null
@@ -1,89 +0,0 @@
-{
- "name": "Bit-Bots",
- "players": {
- "1": {
- "proto": "WolfgangRobocup",
- "dockerTag": "latest",
- "dockerCmd": "start goalie 0",
- "halfTimeStartingPose": {
- "translation": [-3.6, -3.20, 0.43],
- "rotation": [0.0, -0.0, -1.0, -1.57]
- },
- "reentryStartingPose": {
- "translation": [-3.6, -3.20, 0.43],
- "rotation": [0.0, -0.0, -1.0, -1.57]
- },
- "shootoutStartingPose": {
- "translation": [2.75, -0.0, 0.43],
- "rotation": [0.0, -0.0, -1.0, 0.0]
- },
- "goalKeeperStartingPose": {
- "translation": [-4.475, -0.0, 0.43],
- "rotation": [0.0, -0.0, -1.0, 0.0]
- }
- },
- "2": {
- "proto": "WolfgangRobocup",
- "dockerTag": "latest",
- "dockerCmd": "start offense 0",
- "halfTimeStartingPose": {
- "translation": [-1.6, 3.20, 0.43],
- "rotation": [0.0, -0.0, 1.0, -1.57]
- },
- "reentryStartingPose": {
- "translation": [-1.6, 3.20, 0.43],
- "rotation": [0.0, -0.0, 1.0, -1.57]
- },
- "shootoutStartingPose": {
- "translation": [2.75, -0.0, 0.43],
- "rotation": [0.0, -0.0, -1.0, 0.0]
- },
- "goalKeeperStartingPose": {
- "translation": [-1.6, 3.20, 0.43],
- "rotation": [0.0, -0.0, -1.0, 0.0]
- }
- },
- "3": {
- "proto": "WolfgangRobocup",
- "dockerTag": "latest",
- "dockerCmd": "start offense 1",
- "halfTimeStartingPose": {
- "translation": [-1.6, -3.20, 0.43],
- "rotation": [0.0, -0.0, -1.0, -1.57]
- },
- "reentryStartingPose": {
- "translation": [-1.6, -3.20, 0.43],
- "rotation": [0.0, -0.0, -1.0, -1.57]
- },
- "shootoutStartingPose": {
- "translation": [2.75, -0.0, 0.43],
- "rotation": [0.0, -0.0, -1.0, 0.0]
- },
- "goalKeeperStartingPose": {
- "translation": [-1.6, -3.20, 0.43],
- "rotation": [0.0, -0.0, -1.0, 0.0]
- }
- },
- "4": {
- "proto": "WolfgangRobocup",
- "dockerTag": "latest",
- "dockerCmd": "start defense 0",
- "halfTimeStartingPose": {
- "translation": [-3.6, 3.20, 0.43],
- "rotation": [0.0, -0.0, 1.0, -1.57]
- },
- "reentryStartingPose": {
- "translation": [-3.6, 3.20, 0.43],
- "rotation": [0.0, -0.0, 1.0, -1.57]
- },
- "shootoutStartingPose": {
- "translation": [2.75, -0.0, 0.43],
- "rotation": [0.0, -0.0, -1.0, 0.0]
- },
- "goalKeeperStartingPose": {
- "translation": [-1.6, 3.20, 0.43],
- "rotation": [0.0, -0.0, -1.0, 0.0]
- }
- }
- }
-}
diff --git a/src/bitbots_simulation/bitbots_robocup_api/launch/bitbots_robocup_api_bridge.launch b/src/bitbots_simulation/bitbots_robocup_api/launch/bitbots_robocup_api_bridge.launch
deleted file mode 100644
index 903bd8543d..0000000000
--- a/src/bitbots_simulation/bitbots_robocup_api/launch/bitbots_robocup_api_bridge.launch
+++ /dev/null
@@ -1,16 +0,0 @@
-
-
-
-
-
-
-
-
-
-
-
-
-
-
diff --git a/src/bitbots_simulation/bitbots_robocup_api/launch/robocup_teamplayer.launch b/src/bitbots_simulation/bitbots_robocup_api/launch/robocup_teamplayer.launch
deleted file mode 100644
index 90d0d21e2a..0000000000
--- a/src/bitbots_simulation/bitbots_robocup_api/launch/robocup_teamplayer.launch
+++ /dev/null
@@ -1,20 +0,0 @@
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
diff --git a/src/bitbots_simulation/bitbots_robocup_api/launch/robocup_walk.launch b/src/bitbots_simulation/bitbots_robocup_api/launch/robocup_walk.launch
deleted file mode 100644
index ec8b05e691..0000000000
--- a/src/bitbots_simulation/bitbots_robocup_api/launch/robocup_walk.launch
+++ /dev/null
@@ -1,12 +0,0 @@
-
-
-
-
-
-
-
-
-
-
-
diff --git a/src/bitbots_simulation/bitbots_robocup_api/package.xml b/src/bitbots_simulation/bitbots_robocup_api/package.xml
deleted file mode 100644
index 3d390044ed..0000000000
--- a/src/bitbots_simulation/bitbots_robocup_api/package.xml
+++ /dev/null
@@ -1,41 +0,0 @@
-
-
-
- bitbots_robocup_api
- 0.0.0
- Bridge between the official Humanoid League RoboCup Proto3 API
- and our ROS topics for the Wolfgang Robot
- https://cdn.robocup.org/hl/wp/2021/05/v-hsc_simulator_api_v1.0.pdf)
-
-
- Hamburg Bit-Bots
-
- MIT
-
- Jan Gutsche
- Timon Engelke
- Hamburg Bit-Bots
-
-
- ament_cmake
-
- bitbots_msgs
- hlvs_player
- rclpy
- sensor_msgs
- bitbots_webots_sim
- protobuf-dev
- urdfdom_py
- topic_tools
- rosbag2
-
- python3-pytest
-
-
- ament_python
-
- unknown
- python
-
-
-
diff --git a/src/bitbots_simulation/bitbots_robocup_api/resource/bitbots_robocup_api b/src/bitbots_simulation/bitbots_robocup_api/resource/bitbots_robocup_api
deleted file mode 100644
index e69de29bb2..0000000000
diff --git a/src/bitbots_simulation/bitbots_robocup_api/scripts/start.sh b/src/bitbots_simulation/bitbots_robocup_api/scripts/start.sh
deleted file mode 100755
index ec5cbe0a30..0000000000
--- a/src/bitbots_simulation/bitbots_robocup_api/scripts/start.sh
+++ /dev/null
@@ -1,141 +0,0 @@
-#!/bin/bash
-
-############################################################################
-# This script should be used to start the robocup stack for the simulator. #
-# In the docker container, it is copied to /usr/local/bin/start. Therefore #
-# it can be started using, for example, "start goalie 0" as the dockerCmd. #
-############################################################################
-
-#########
-# Usage #
-#########
-
-function print_usage() {
- echo "Usage: $0 role position_number [--no-bag] [--team ID]"
- echo " role: [offense | defense | goalie]"
- echo " position_number: [0 | 1 | 2]"
-}
-
-
-if [[ -z $1 || -z $2 ]]; then
- print_usage
- exit 1
-fi
-
-#################
-# Configuration #
-#################
-
-TEAM_ID=7
-
-##########
-# Checks #
-##########
-
-if [[ -z "$ROBOCUP_ROBOT_ID" ]]; then
- echo "ROBOCUP_ROBOT_ID is not set! Exiting."
- exit 2
-fi
-
-if [[ -z "$ROBOCUP_TEAM_COLOR" ]]; then
- echo "ROBOCUP_TEAM_COLOR is not set! Exiting."
- exit 2
-fi
-
-if [[ -z "$ROBOCUP_SIMULATOR_ADDR" ]]; then
- echo "ROBOCUP_SIMULATOR_ADDR is not set! Exiting."
- exit 2
-fi
-
-if [[ -z "$ROBOCUP_MIRROR_SERVER_IP" ]]; then
- echo "ROBOCUP_MIRROR_SERVER_IP is not set! Exiting."
- exit 2
-fi
-
-PARAM_DIR=$COLCON_PREFIX_PATH/bitbots_parameter_blackboard/share/bitbots_parameter_blackboard
-
-if [[ ! -d "$PARAM_DIR" ]]; then
- echo "Could not find bitbots_parameter_blackboard! Did you source ROS?"
- exit 2
-fi
-
-TEAM_COMM_DIR=$COLCON_PREFIX_PATH/bitbots_team_communication/share/bitbots_team_communication
-
-if [[ ! -d "$TEAM_COMM_DIR" ]]; then
- echo "Could not find bitbots_team_communication!"
- exit 2
-fi
-
-if [[ "$ROBOCUP_TEAM_COLOR" == "blue" ]]; then
- TEAM_COLOR_ID=0
-elif [[ "$ROBOCUP_TEAM_COLOR" == "red" ]]; then
- TEAM_COLOR_ID=1
-else
- echo "Invalid team color: \"$ROBOCUP_TEAM_COLOR\". Use \"red\" or \"blue\". Exiting."
- exit 2
-fi
-
-###########################
-# Read command line flags #
-###########################
-
-ROLE=$1
-shift
-
-POSITION=$1
-shift
-
-RECORD=true
-
-while test $# -gt 0; do
- case "$1" in
- -h|--help)
- print_usage
- exit 0
- ;;
- --no-bag)
- shift
- RECORD=false
- ;;
- --team)
- shift
- if test $# -gt 0; then
- if [[ "$1" =~ ^[0-9]+$ ]]; then
- TEAM_ID=$1
- else
- echo "Invalid team id: $1"
- exit 1
- fi
- else
- echo "No team id for --team specified"
- exit 1
- fi
- shift
- ;;
- *)
- break
- ;;
- esac
-done
-
-#############################
-# Write configuration files #
-#############################
-
-cat > $PARAM_DIR/config/game_settings.yaml << EOF
-parameter_blackboard:
- ros__parameters:
- bot_id: $ROBOCUP_ROBOT_ID
- position_number: $POSITION
- role: $ROLE
- team_color: $TEAM_COLOR_ID
- team_id: $TEAM_ID
-EOF
-
-sed -i "/^ target_ip:/s/^.*$/ target_ip: $ROBOCUP_MIRROR_SERVER_IP/" $TEAM_COMM_DIR/config/team_communication_config.yaml
-
-#############
-# Start ROS #
-#############
-
-exec ros2 launch bitbots_robocup_api robocup_teamplayer.launch record:=$RECORD
diff --git a/src/bitbots_simulation/bitbots_robocup_api/setup.cfg b/src/bitbots_simulation/bitbots_robocup_api/setup.cfg
deleted file mode 100644
index dddd43c450..0000000000
--- a/src/bitbots_simulation/bitbots_robocup_api/setup.cfg
+++ /dev/null
@@ -1,4 +0,0 @@
-[develop]
-script_dir=$base/lib/bitbots_robocup_api
-[install]
-install_scripts=$base/lib/bitbots_robocup_api
diff --git a/src/bitbots_simulation/bitbots_robocup_api/setup.py b/src/bitbots_simulation/bitbots_robocup_api/setup.py
deleted file mode 100644
index 2ab578e4e0..0000000000
--- a/src/bitbots_simulation/bitbots_robocup_api/setup.py
+++ /dev/null
@@ -1,30 +0,0 @@
-import glob
-import os.path
-
-from setuptools import find_packages, setup
-
-package_name = "bitbots_robocup_api"
-
-setup(
- name=package_name,
- packages=find_packages(exclude=["test"]),
- data_files=[
- ("share/ament_index/resource_index/packages", ["resource/" + package_name]),
- (os.path.join("share", package_name), ["package.xml"]),
- (os.path.join("share", package_name, "config"), ["config/devices.json"]),
- (os.path.join("share", package_name, "launch"), glob.glob("launch/*.launch")),
- ],
- install_requires=[
- "launch",
- "setuptools",
- ],
- tests_require=["pytest"],
- zip_safe=True,
- keywords=["ROS"],
- license="MIT",
- entry_points={
- "console_scripts": [
- f"command_proxy = {package_name}.command_proxy:main",
- ],
- },
-)
diff --git a/src/bitbots_simulation/bitbots_webots_sim/.gitignore b/src/bitbots_simulation/bitbots_webots_sim/.gitignore
deleted file mode 100644
index 1c8665498f..0000000000
--- a/src/bitbots_simulation/bitbots_webots_sim/.gitignore
+++ /dev/null
@@ -1,2 +0,0 @@
-protos/**/*.cache
-worlds/.*.wbproj
diff --git a/src/bitbots_simulation/bitbots_webots_sim/CMakeLists.txt b/src/bitbots_simulation/bitbots_webots_sim/CMakeLists.txt
deleted file mode 100644
index 25acc517d3..0000000000
--- a/src/bitbots_simulation/bitbots_webots_sim/CMakeLists.txt
+++ /dev/null
@@ -1,31 +0,0 @@
-cmake_minimum_required(VERSION 3.5)
-project(bitbots_webots_sim)
-
-# Add support for C++17
-if(NOT CMAKE_CXX_STANDARD)
- set(CMAKE_CXX_STANDARD 17)
-endif()
-
-find_package(ament_cmake REQUIRED)
-find_package(bitbots_docs REQUIRED)
-
-enable_bitbots_docs()
-
-install(DIRECTORY protos DESTINATION share/${PROJECT_NAME})
-install(DIRECTORY worlds DESTINATION share/${PROJECT_NAME})
-install(DIRECTORY launch DESTINATION share/${PROJECT_NAME})
-
-install(
- PROGRAMS scripts/fix_urdf_for_webots.py scripts/imu_lut_gen.py
- scripts/localization_faker.py scripts/start_simulator.py
- scripts/start_single.py scripts/start_webots_ros_supervisor.py
- DESTINATION lib/${PROJECT_NAME})
-
-if(BUILD_TESTING)
- find_package(ament_cmake_mypy REQUIRED)
- ament_mypy(CONFIG_FILE "${CMAKE_CURRENT_LIST_DIR}/mypy.ini")
-endif()
-
-ament_python_install_package(${PROJECT_NAME})
-
-ament_package()
diff --git a/src/bitbots_simulation/bitbots_webots_sim/README.md b/src/bitbots_simulation/bitbots_webots_sim/README.md
deleted file mode 100644
index 8f6158aa40..0000000000
--- a/src/bitbots_simulation/bitbots_webots_sim/README.md
+++ /dev/null
@@ -1,3 +0,0 @@
-This package provides a Webots simulation environment with ROS topic support for the Wolfgang Robot.
-
-The model is generated from the URDF by using the urdf2webots package.
\ No newline at end of file
diff --git a/src/bitbots_simulation/bitbots_webots_sim/bitbots_webots_sim/__init__.py b/src/bitbots_simulation/bitbots_webots_sim/bitbots_webots_sim/__init__.py
deleted file mode 100644
index 4d2e150079..0000000000
--- a/src/bitbots_simulation/bitbots_webots_sim/bitbots_webots_sim/__init__.py
+++ /dev/null
@@ -1,4 +0,0 @@
-# Setting up runtime type checking for this package
-from beartype.claw import beartype_this_package
-
-beartype_this_package()
diff --git a/src/bitbots_simulation/bitbots_webots_sim/bitbots_webots_sim/webots_robot_controller.py b/src/bitbots_simulation/bitbots_webots_sim/bitbots_webots_sim/webots_robot_controller.py
deleted file mode 100644
index 23f10720f4..0000000000
--- a/src/bitbots_simulation/bitbots_webots_sim/bitbots_webots_sim/webots_robot_controller.py
+++ /dev/null
@@ -1,1026 +0,0 @@
-import math
-import os
-import time
-from typing import Optional
-
-from controller import Robot
-from geometry_msgs.msg import PointStamped
-from rclpy.node import Node as RclpyNode
-from rclpy.time import Time
-from sensor_msgs.msg import CameraInfo, Image, Imu, JointState
-
-from bitbots_msgs.msg import FootPressure, JointCommand
-
-CAMERA_DIVIDER = 8 # every nth timestep an image is published, this is n
-
-
-class RobotController:
- def __init__(
- self,
- ros_node: Optional[RclpyNode] = None,
- ros_active=False,
- robot="wolfgang",
- robot_node=None,
- base_ns="",
- recognize=False,
- camera_active=True,
- foot_sensors_active=True,
- ):
- """
- The RobotController, a Webots controller that controls a single robot.
- The environment variable WEBOTS_ROBOT_NAME should be set to "amy", "rory", "jack" or "donna" if used with
- 4_bots.wbt or to "amy" if used with 1_bot.wbt.
-
- :param ros_active: Whether ROS messages should be published
- :param robot: The name of the robot to use, currently one of wolfgang, darwin, nao, op3
- :param robot_node: The Webots node (!= ROS node) of the robot, can normally be left empty
- :param base_ns: The namespace of this node, can normally be left empty
- :param recognize: Whether we want to store images and automatically generated ground truth labels
- :param camera_active: Whether the camera should be active
- :param foot_sensors_active: Whether the foot sensors should be active
- """
- if ros_node is None:
- ros_node = RclpyNode("robot_controller")
- self.ros_node = ros_node
- self.ros_active = ros_active
- self.recognize = recognize
- self.camera_active = camera_active
- self.foot_sensors_active = foot_sensors_active
- if robot_node is None:
- self.robot_node = Robot()
- else:
- self.robot_node = robot_node
- self.walkready = [0] * 20
- self.time = 0.0
-
- self.motors = []
- self.sensors = []
- # for direct access
- self.motors_dict = {}
- self.sensors_dict = {}
- self.timestep = int(self.robot_node.getBasicTimeStep())
-
- self.is_wolfgang = False
- self.pressure_sensors: Optional[list[tuple]] = None
- self.pressure_sensor_names = []
- if robot == "wolfgang":
- self.is_wolfgang = True
- # how the names of the joint devices are in the proto file
- self.proto_motor_names = [
- "RShoulderPitch [shoulder]",
- "LShoulderPitch [shoulder]",
- "RShoulderRoll",
- "LShoulderRoll",
- "RElbow",
- "LElbow",
- "RHipYaw",
- "LHipYaw",
- "RHipRoll [hip]",
- "LHipRoll [hip]",
- "RHipPitch",
- "LHipPitch",
- "RKnee",
- "LKnee",
- "RAnklePitch",
- "LAnklePitch",
- "RAnkleRoll",
- "LAnkleRoll",
- "HeadPan",
- "HeadTilt",
- ]
- # how the corresponding names of the joints are in the URDF and moveit config
- self.external_motor_names = [
- "RShoulderPitch",
- "LShoulderPitch",
- "RShoulderRoll",
- "LShoulderRoll",
- "RElbow",
- "LElbow",
- "RHipYaw",
- "LHipYaw",
- "RHipRoll",
- "LHipRoll",
- "RHipPitch",
- "LHipPitch",
- "RKnee",
- "LKnee",
- "RAnklePitch",
- "LAnklePitch",
- "RAnkleRoll",
- "LAnkleRoll",
- "HeadPan",
- "HeadTilt",
- ]
- self.initial_joint_positions = {
- "LAnklePitch": -30,
- "LAnkleRoll": 0,
- "LHipPitch": 30,
- "LHipRoll": 0,
- "LHipYaw": 0,
- "LKnee": 60,
- "RAnklePitch": 30,
- "RAnkleRoll": 0,
- "RHipPitch": -30,
- "RHipRoll": 0,
- "RHipYaw": 0,
- "RKnee": -60,
- "LShoulderPitch": 75,
- "LShoulderRoll": 0,
- "LElbow": 36,
- "RShoulderPitch": -75,
- "RShoulderRoll": 0,
- "RElbow": -36,
- "HeadPan": 0,
- "HeadTilt": 0,
- }
- self.sensor_suffix = "_sensor"
- accel_name = "imu accelerometer"
- gyro_name = "imu gyro"
- camera_name = "camera"
- if self.foot_sensors_active:
- self.pressure_sensor_names = ["llb", "llf", "lrf", "lrb", "rlb", "rlf", "rrf", "rrb"]
- self.pressure_sensors = []
- for name in self.pressure_sensor_names:
- sensor = self.robot_node.getDevice(name)
- sensor.enable(self.timestep)
- self.pressure_sensors.append(sensor)
-
- elif robot in ["darwin", "robotis_op2"]:
- self.proto_motor_names = [
- "ShoulderR",
- "ShoulderL",
- "ArmUpperR",
- "ArmUpperL",
- "ArmLowerR",
- "ArmLowerL",
- "PelvYR",
- "PelvYL",
- "PelvR",
- "PelvL",
- "LegUpperR",
- "LegUpperL",
- "LegLowerR",
- "LegLowerL",
- "AnkleR",
- "AnkleL",
- "FootR",
- "FootL",
- "Neck",
- "Head",
- ]
- self.external_motor_names = [
- "RShoulderPitch",
- "LShoulderPitch",
- "RShoulderRoll",
- "LShoulderRoll",
- "RElbow",
- "LElbow",
- "RHipYaw",
- "LHipYaw",
- "RHipRoll",
- "LHipRoll",
- "RHipPitch",
- "LHipPitch",
- "RKnee",
- "LKnee",
- "RAnklePitch",
- "LAnklePitch",
- "RAnkleRoll",
- "LAnkleRoll",
- "HeadPan",
- "HeadTilt",
- ]
- self.pressure_sensors = None
- self.sensor_suffix = "S"
- accel_name = "Accelerometer"
- gyro_name = "Gyro"
- camera_name = "Camera"
- elif robot == "nao":
- self.proto_motor_names = [
- "RShoulderPitch",
- "LShoulderPitch",
- "RShoulderRoll",
- "LShoulderRoll",
- "RElbowYaw",
- "LElbowYaw",
- "RHipYawPitch",
- "LHipYawPitch",
- "RHipRoll",
- "LHipRoll",
- "RHipPitch",
- "LHipPitch",
- "RKneePitch",
- "LKneePitch",
- "RAnklePitch",
- "LAnklePitch",
- "RAnkleRoll",
- "LAnkleRoll",
- "HeadYaw",
- "HeadPitch",
- ]
- self.pressure_sensors = None
- self.external_motor_names = self.proto_motor_names
- self.sensor_suffix = "S"
- accel_name = "accelerometer"
- gyro_name = "gyro"
- camera_name = "CameraTop"
- elif robot == "op3": # robotis
- self.proto_motor_names = [
- "ShoulderR",
- "ShoulderL",
- "ArmUpperR",
- "ArmUpperL",
- "ArmLowerR",
- "ArmLowerL",
- "PelvYR",
- "PelvYL",
- "PelvR",
- "PelvL",
- "LegUpperR",
- "LegUpperL",
- "LegLowerR",
- "LegLowerL",
- "AnkleR",
- "AnkleL",
- "FootR",
- "FootL",
- "Neck",
- "Head",
- ]
- self.external_motor_names = [
- "r_sho_pitch",
- "l_sho_pitch",
- "r_sho_roll",
- "l_sho_roll",
- "r_el",
- "l_el",
- "r_hip_yaw",
- "l_hip_yaw",
- "r_hip_roll",
- "l_hip_roll",
- "r_hip_pitch",
- "l_hip_pitch",
- "r_knee",
- "l_knee",
- "r_ank_pitch",
- "l_ank_pitch",
- "r_ank_roll",
- "l_ank_roll",
- "head_pan",
- "head_tilt",
- ]
- self.pressure_sensors = None
- self.sensor_suffix = "S"
- accel_name = "Accelerometer"
- gyro_name = "Gyro"
- camera_name = "Camera"
- elif robot == "rfc":
- self.proto_motor_names = [
- "RightShoulderPitch [shoulder]",
- "LeftShoulderPitch [shoulder]",
- "RightShoulderRoll",
- "LeftShoulderRoll",
- "RightElbow",
- "LeftElbow",
- "RightHipYaw",
- "LeftHipYaw",
- "RightHipRoll [hip]",
- "LeftHipRoll [hip]",
- "RightHipPitch",
- "LeftHipPitch",
- "RightKnee",
- "LeftKnee",
- "RightFootPitch",
- "LeftFootPitch",
- "RightFootRoll",
- "LeftFootRoll",
- "HeadYaw",
- "HeadPitch",
- ]
- self.external_motor_names = [
- "RightShoulderPitch",
- "LeftShoulderPitch",
- "RightShoulderRoll",
- "LeftShoulderRoll",
- "RightElbow",
- "LeftElbow",
- "RightHipYaw",
- "LeftHipYaw",
- "RightHipRoll",
- "LeftHipRoll",
- "RightHipPitch",
- "LeftHipPitch",
- "RightKnee",
- "LeftKnee",
- "RightFootPitch",
- "LeftFootPitch",
- "RightFootRoll",
- "LeftFootRoll",
- "HeadYaw",
- "HeadPitch",
- ]
- self.pressure_sensors = None
- self.sensor_suffix = "_sensor"
- accel_name = "Accelerometer"
- gyro_name = "Gyroscope"
- camera_name = "Camera"
- elif robot == "gankenkun": # CITBrains
- self.proto_motor_names = [
- "right_shoulder_pitch_joint [shoulder]",
- "left_shoulder_pitch_joint [shoulder]",
- "right_shoulder_roll_joint",
- "left_shoulder_roll_joint",
- "right_elbow_pitch_joint",
- "left_elbow_pitch_joint",
- "right_waist_yaw_joint",
- "left_waist_yaw_joint",
- "right_waist_roll_joint [hip]",
- "left_waist_roll_joint [hip]",
- "right_waist_pitch_joint",
- "left_waist_pitch_joint",
- "right_knee_pitch_joint",
- "left_knee_pitch_joint",
- "right_ankle_pitch_joint",
- "left_ankle_pitch_joint",
- "right_ankle_roll_joint",
- "left_ankle_roll_joint",
- "head_yaw_joint",
- ]
- self.external_motor_names = self.proto_motor_names
- self.pressure_sensors = None
- self.sensor_suffix = "_sensor"
- accel_name = "accelerometer"
- gyro_name = "gyro"
- camera_name = "camera_sensor"
- elif robot == "chape": # itandroids
- self.proto_motor_names = [
- "rightShoulderPitch[shoulder]",
- "leftShoulderPitch[shoulder]",
- "rightShoulderYaw",
- "leftShoulderYaw",
- "rightElbowYaw",
- "leftElbowYaw",
- "rightHipYaw",
- "leftHipYaw",
- "rightHipRoll[hip]",
- "leftHipRoll[hip]",
- "rightHipPitch",
- "leftHipPitch",
- "rightKneePitch",
- "leftKneePitch",
- "rightAnklePitch",
- "leftAnklePitch",
- "rightAnkleRoll",
- "leftAnkleRoll",
- "neckYaw",
- "neckPitch",
- ]
- self.external_motor_names = [
- "rightShoulderPitch",
- "leftShoulderPitch",
- "rightShoulderYaw",
- "leftShoulderYaw",
- "rightElbowYaw",
- "leftElbowYaw",
- "rightHipYaw",
- "leftHipYaw",
- "rightHipRoll",
- "leftHipRoll",
- "rightHipPitch",
- "leftHipPitch",
- "rightKneePitch",
- "leftKneePitch",
- "rightAnklePitch",
- "leftAnklePitch",
- "rightAnkleRoll",
- "leftAnkleRoll",
- "neckYaw",
- "neckPitch",
- ]
- self.pressure_sensors = None
- self.sensor_suffix = "_sensor"
- accel_name = "Accelerometer"
- gyro_name = "Gyro"
- camera_name = "Camera"
- elif robot == "mrl_hsl":
- self.proto_motor_names = [
- "Shoulder-R [shoulder]",
- "UpperArm-R",
- "LowerArm-R",
- "Shoulder-L [shoulder]",
- "UpperArm-L",
- "LowerArm-L",
- "HipYaw-R",
- "HipRoll-R [hip]",
- "HipPitch-R",
- "KneePitch-R",
- "AnklePitch-R",
- "AnkleRoll-R",
- "HipYaw-L",
- "HipRoll-L [hip]",
- "HipPitch-L",
- "KneePitch-L",
- "AnklePitch-L",
- "AnkleRoll-L",
- "NeckYaw",
- "HeadPitch",
- ]
- self.external_motor_names = [
- "Shoulder-R",
- "UpperArm-R",
- "LowerArm-R",
- "Shoulder-L",
- "UpperArm-L",
- "LowerArm-L",
- "HipYaw-R",
- "HipRoll-R",
- "HipPitch-R",
- "KneePitch-R",
- "AnklePitch-R",
- "AnkleRoll-R",
- "HipYaw-L",
- "HipRoll-L",
- "HipPitch-L",
- "KneePitch-L",
- "AnklePitch-L",
- "AnkleRoll-L",
- "NeckYaw",
- "HeadPitch",
- ]
- self.pressure_sensors = None
- self.sensor_suffix = "S"
- accel_name = "Accelerometer"
- gyro_name = "Gyro"
- camera_name = "Camera"
- elif robot == "nugus": # NUbots
- self.proto_motor_names = [
- "neck_yaw",
- "head_pitch",
- "left_hip_yaw",
- "left_hip_roll [hip]",
- "left_hip_pitch",
- "left_knee_pitch",
- "left_ankle_pitch",
- "left_ankle_roll",
- "right_hip_yaw",
- "right_hip_roll [hip]",
- "right_hip_pitch",
- "right_knee_pitch",
- "right_ankle_pitch",
- "right_ankle_roll",
- "left_shoulder_pitch [shoulder]",
- "left_shoulder_roll",
- "left_elbow_pitch",
- "right_shoulder_pitch [shoulder]",
- "right_shoulder_roll",
- "right_elbow_pitch",
- ]
- self.external_motor_names = [
- "neck_yaw",
- "head_pitch",
- "left_hip_yaw",
- "left_hip_roll",
- "left_hip_pitch",
- "left_knee_pitch",
- "left_ankle_pitch",
- "left_ankle_roll",
- "right_hip_yaw",
- "right_hip_roll",
- "right_hip_pitch",
- "right_knee_pitch",
- "right_ankle_pitch",
- "right_ankle_roll",
- "left_shoulder_pitch",
- "left_shoulder_roll",
- "left_elbow_pitch",
- "right_shoulder_pitch",
- "right_shoulder_roll",
- "right_elbow_pitch",
- ]
- self.pressure_sensors = None
- self.sensor_suffix = "_sensor"
- accel_name = "accelerometer"
- gyro_name = "gyroscope"
- camera_name = "left_camera"
- elif robot == "sahrv74": # Starkit
- self.proto_motor_names = [
- "right_shoulder_pitch [shoulder]",
- "right_shoulder_roll",
- "right_elbow",
- "left_shoulder_pitch [shoulder]",
- "left_shoulder_roll",
- "left_elbow",
- "right_hip_yaw",
- "right_hip_roll",
- "right_hip_pitch [hip]",
- "right_knee",
- "right_ankle_pitch",
- "right_ankle_roll",
- "left_hip_yaw",
- "left_hip_roll",
- "left_hip_pitch [hip]",
- "left_knee",
- "left_ankle_pitch",
- "left_ankle_roll",
- "head_yaw",
- "head_pitch",
- ]
- self.external_motor_names = self.proto_motor_names
- self.pressure_sensors = None
- self.sensor_suffix = "_sensor"
- accel_name = "accelerometer"
- gyro_name = "gyro"
- camera_name = "left_camera"
- elif robot == "bez": # UTRA
- self.proto_motor_names = [
- "head_motor_0",
- "head_motor_1",
- "right_leg_motor_0",
- "right_leg_motor_1 [hip]",
- "right_leg_motor_2",
- "right_leg_motor_3",
- "right_leg_motor_4",
- "right_leg_motor_5",
- "left_leg_motor_0",
- "left_leg_motor_1 [hip]",
- "left_leg_motor_2",
- "left_leg_motor_3",
- "left_leg_motor_4",
- "left_leg_motor_5",
- "right_arm_motor_0 [shoulder]",
- "right_arm_motor_1",
- "left_arm_motor_0 [shoulder]",
- "left_arm_motor_1",
- ]
- self.external_motor_names = [
- "head_motor_0",
- "head_motor_1",
- "right_leg_motor_0",
- "right_leg_motor_1",
- "right_leg_motor_2",
- "right_leg_motor_3",
- "right_leg_motor_4",
- "right_leg_motor_5",
- "left_leg_motor_0",
- "left_leg_motor_1",
- "left_leg_motor_2",
- "left_leg_motor_3",
- "left_leg_motor_4",
- "left_leg_motor_5",
- "right_arm_motor_0",
- "right_arm_motor_1",
- "left_arm_motor_0",
- "left_arm_motor_1",
- ]
- self.pressure_sensors = None
- self.sensor_suffix = "_sensor"
- accel_name = "imu accelerometer"
- gyro_name = "imu gyro"
- camera_name = "camera"
- else:
- raise ValueError(f"Robot type not supported: {robot}")
-
- self.motor_names_to_external_names = {}
- self.external_motor_names_to_motor_names = {}
- for i in range(len(self.proto_motor_names)):
- self.motor_names_to_external_names[self.proto_motor_names[i]] = self.external_motor_names[i]
- self.external_motor_names_to_motor_names[self.external_motor_names[i]] = self.proto_motor_names[i]
-
- self.current_positions = {}
- self.joint_limits = {}
- for motor_name in self.proto_motor_names:
- motor = self.robot_node.getDevice(motor_name)
- motor.enableTorqueFeedback(self.timestep)
- self.motors.append(motor)
- self.motors_dict[self.motor_names_to_external_names[motor_name]] = motor
- sensor = self.robot_node.getDevice(motor_name + self.sensor_suffix)
- sensor.enable(self.timestep)
- self.sensors.append(sensor)
- self.sensors_dict[self.motor_names_to_external_names[motor_name]] = sensor
- self.current_positions[self.motor_names_to_external_names[motor_name]] = sensor.getValue()
- # min, max and middle position (precomputed since it will be used at each step)
- self.joint_limits[self.motor_names_to_external_names[motor_name]] = (
- motor.getMinPosition(),
- motor.getMaxPosition(),
- 0.5 * (motor.getMinPosition() + motor.getMaxPosition()),
- )
-
- self.accel = self.robot_node.getDevice(accel_name)
- self.accel.enable(self.timestep)
- self.gyro = self.robot_node.getDevice(gyro_name)
- self.gyro.enable(self.timestep)
- if self.is_wolfgang:
- self.accel_head = self.robot_node.getDevice("imu_head accelerometer")
- self.accel_head.enable(self.timestep)
- self.gyro_head = self.robot_node.getDevice("imu_head gyro")
- self.gyro_head.enable(self.timestep)
- self.camera = self.robot_node.getDevice(camera_name)
- self.camera_counter = 0
- if self.camera_active:
- self.camera.enable(self.timestep * CAMERA_DIVIDER)
- if self.recognize:
- self.camera.recognitionEnable(self.timestep)
- self.last_img_saved = 0.0
- self.img_save_dir = (
- "/tmp/webots/images" + time.strftime("%Y-%m-%d-%H-%M-%S") + os.getenv("WEBOTS_ROBOT_NAME", "")
- )
- if not os.path.exists(self.img_save_dir):
- os.makedirs(self.img_save_dir)
-
- self.ros_node.declare_parameter("imu_frame", "imu_frame")
- self.imu_frame = self.ros_node.get_parameter("imu_frame").get_parameter_value().string_value
- if self.ros_active:
- self.ros_node.declare_parameter("l_sole_frame", "l_sole")
- self.ros_node.declare_parameter("r_sole_frame", "r_sole")
- self.ros_node.declare_parameter("camera_optical_frame", "camera_optical_frame")
- self.ros_node.declare_parameter("head_imu_frame", "head_imu_frame")
- self.l_sole_frame = self.ros_node.get_parameter("l_sole_frame").get_parameter_value().string_value
- self.r_sole_frame = self.ros_node.get_parameter("r_sole_frame").get_parameter_value().string_value
- self.camera_optical_frame = (
- self.ros_node.get_parameter("camera_optical_frame").get_parameter_value().string_value
- )
- self.head_imu_frame = self.ros_node.get_parameter("head_imu_frame").get_parameter_value().string_value
- self.pub_js = self.ros_node.create_publisher(JointState, base_ns + "joint_states", 1)
- self.pub_imu = self.ros_node.create_publisher(Imu, base_ns + "imu/data_raw", 1)
-
- self.pub_imu_head = self.ros_node.create_publisher(Imu, base_ns + "imu_head/data", 1)
- self.pub_cam = self.ros_node.create_publisher(Image, base_ns + "zed/zed_node/left/image_rect_color", 1)
- self.pub_cam_info = self.ros_node.create_publisher(CameraInfo, base_ns + "zed/zed_node/left/camera_info", 1)
-
- self.pub_pres_left = self.ros_node.create_publisher(FootPressure, base_ns + "foot_pressure_left/raw", 1)
- self.pub_pres_right = self.ros_node.create_publisher(FootPressure, base_ns + "foot_pressure_right/raw", 1)
- self.pub_pres_left_filtered = self.ros_node.create_publisher(
- FootPressure, base_ns + "foot_pressure_left/filtered", 1
- )
- self.pub_pres_right_filtered = self.ros_node.create_publisher(
- FootPressure, base_ns + "foot_pressure_right/filtered", 1
- )
- self.cop_l_pub_ = self.ros_node.create_publisher(PointStamped, base_ns + "cop_l", 1)
- self.cop_r_pub_ = self.ros_node.create_publisher(PointStamped, base_ns + "cop_r", 1)
- self.ros_node.create_subscription(JointCommand, base_ns + "joint_command", self.command_cb, 1)
- else:
- self.l_sole_frame = "l_sole"
- self.r_sole_frame = "r_sole"
- self.camera_optical_frame = "camera_optical_frame"
- self.head_imu_frame = "head_imu_frame"
-
- if robot == "op3":
- # start pose
- command = JointCommand()
- command.joint_names = ["r_sho_roll", "l_sho_roll"]
- command.positions = [-math.tau / 8, math.tau / 8]
- self.command_cb(command)
-
- # needed to run this one time to initialize current position, otherwise velocity will be nan
- self.get_joint_values(self.external_motor_names)
-
- def mat_from_fov_and_resolution(self, fov, res):
- return 0.5 * res * (math.cos(fov / 2) / math.sin(fov / 2))
-
- def h_fov_to_v_fov(self, h_fov, height, width):
- return 2 * math.atan(math.tan(h_fov * 0.5) * (height / width))
-
- def step_sim(self):
- self.time += self.timestep / 1000
- self.robot_node.step(self.timestep)
-
- def step(self):
- self.step_sim()
- if self.ros_active:
- self.publish_ros()
-
- def publish_ros(self):
- self.publish_imu()
- self.publish_joint_states()
- if self.camera_active and self.camera_counter == 0:
- self.publish_camera()
- self.publish_pressure()
- if self.recognize:
- self.save_recognition()
- self.camera_counter = (self.camera_counter + 1) % CAMERA_DIVIDER
-
- def convert_joint_radiant_to_scaled(self, joint_name, pos):
- # helper method to convert to scaled position between [-1,1] for this joint using min max scaling
- lower_limit, upper_limit, mid_position = self.joint_limits[joint_name]
- return 2.0 * (pos - mid_position) / (upper_limit - lower_limit)
-
- def convert_joint_scaled_to_radiant(self, joint_name, position):
- # helper method to convert to scaled position for this joint using min max scaling
- lower_limit, upper_limit, mid_position = self.joint_limits[joint_name]
- return position * (upper_limit - lower_limit) / 2 + mid_position
-
- def set_joint_goal_position(self, joint_name, goal_position, goal_velocity=-1, scaled=False, relative=False):
- motor = self.motors_dict[joint_name]
- if motor is None:
- print(f"Joint {motor} not found. Can not set goal position.")
- return
- if scaled:
- goal_position = self.convert_joint_scaled_to_radiant(joint_name, goal_position)
- if relative:
- goal_position = goal_position + self.get_joint_values([joint_name])[0]
- motor.setPosition(goal_position)
- if goal_velocity == -1:
- motor.setVelocity(motor.getMaxVelocity())
- else:
- motor.setVelocity(goal_velocity)
-
- def set_joint_goals_position(self, joint_names, goal_positions, goal_velocities):
- for i in range(len(joint_names)):
- try:
- if len(goal_velocities) != 0:
- self.set_joint_goal_position(joint_names[i], goal_positions[i], goal_velocities[i])
- else:
- self.set_joint_goal_position(joint_names[i], goal_positions[i])
- except ValueError:
- print(f"invalid motor specified ({joint_names[i]})")
-
- def command_cb(self, command: JointCommand):
- if len(command.positions) != 0:
- # position control
- # todo maybe needs to match external motor names to interal ones fist?
- self.set_joint_goals_position(command.joint_names, command.positions, command.velocities)
- else:
- # torque control
- for i, name in enumerate(command.joint_names):
- try:
- self.motors_dict[name].setTorque(command.accelerations[i])
- except ValueError:
- print(f"invalid motor specified ({name})")
-
- def set_head_tilt(self, pos):
- self.motors[-1].setPosition(pos)
-
- def set_arms_zero(self):
- positions = [
- -0.8399999308200574,
- 0.7200000596634105,
- -0.3299999109923385,
- 0.35999992683575216,
- 0.5099999812500172,
- -0.5199999789619728,
- ]
- for i in range(0, 6):
- self.motors[i].setPosition(positions[i])
-
- def get_joint_values(self, used_joint_names, scaled=False):
- joint_positions = []
- joint_velocities = []
- joint_torques = []
- for joint_name in used_joint_names:
- value = self.sensors_dict[joint_name].getValue()
- if scaled:
- value = self.convert_joint_radiant_to_scaled(joint_name, value)
- joint_positions.append(value)
- joint_velocities.append(self.current_positions[joint_name] - value)
- joint_torques.append(self.motors_dict[joint_name].getTorqueFeedback())
- self.current_positions[joint_name] = value
- return joint_positions, joint_velocities, joint_torques
-
- def get_joint_state_msg(self):
- js = JointState()
- js.name = []
- js.header.stamp = Time(seconds=int(self.time), nanoseconds=int(self.time % 1 * 1e9)).to_msg()
- js.position = []
- js.effort = []
- for joint_name in self.external_motor_names:
- js.name.append(joint_name)
- value = self.sensors_dict[joint_name].getValue()
- js.position.append(value)
- js.velocity.append(self.current_positions[joint_name] - value)
- js.effort.append(self.motors_dict[joint_name].getTorqueFeedback())
- self.current_positions[joint_name] = value
- return js
-
- def publish_joint_states(self):
- self.pub_js.publish(self.get_joint_state_msg())
-
- def get_imu_msg(self, head=False):
- msg = Imu()
- msg.header.stamp = Time(seconds=int(self.time), nanoseconds=int(self.time % 1 * 1e9)).to_msg()
- if head:
- msg.header.frame_id = self.head_imu_frame
- else:
- msg.header.frame_id = self.imu_frame
-
- # change order because webots has different axis
- if head:
- accel_vels = self.accel_head.getValues()
- msg.linear_acceleration.x = accel_vels[2]
- msg.linear_acceleration.y = -accel_vels[0]
- msg.linear_acceleration.z = -accel_vels[1]
- else:
- accel_vels = self.accel.getValues()
- msg.linear_acceleration.x = accel_vels[0]
- msg.linear_acceleration.y = accel_vels[1]
- msg.linear_acceleration.z = accel_vels[2]
-
- # make sure that acceleration is not completely zero or we will get error in filter.
- # Happens if robot is moved manually in the simulation
- if msg.linear_acceleration.x == 0 and msg.linear_acceleration.y == 0 and msg.linear_acceleration.z == 0:
- msg.linear_acceleration.z = 0.001
-
- if head:
- gyro_vels = self.gyro_head.getValues()
- msg.angular_velocity.x = gyro_vels[2]
- msg.angular_velocity.y = -gyro_vels[0]
- msg.angular_velocity.z = -gyro_vels[1]
- else:
- gyro_vels = self.gyro.getValues()
- msg.angular_velocity.x = gyro_vels[0]
- msg.angular_velocity.y = gyro_vels[1]
- if not math.isnan(gyro_vels[2]): # nao robot reports nan for yaw
- msg.angular_velocity.z = gyro_vels[2]
- else:
- msg.angular_velocity.z = 0.0
- return msg
-
- def publish_imu(self):
- self.pub_imu.publish(self.get_imu_msg(head=False))
- if self.is_wolfgang:
- self.pub_imu_head.publish(self.get_imu_msg(head=True))
-
- def publish_camera(self):
- img_msg = Image()
- img_msg.header.stamp = Time(seconds=int(self.time), nanoseconds=int(self.time % 1 * 1e9)).to_msg()
- img_msg.header.frame_id = self.camera_optical_frame
- img_msg.height = self.camera.getHeight()
- img_msg.width = self.camera.getWidth()
- img_msg.encoding = "bgra8"
- img_msg.step = 4 * self.camera.getWidth()
- img = self.camera.getImage()
- img_msg.data = img
- self.pub_cam.publish(img_msg)
-
- self.cam_info = CameraInfo()
- self.cam_info.header = img_msg.header
- self.cam_info.height = self.camera.getHeight()
- self.cam_info.width = self.camera.getWidth()
- f_y = self.mat_from_fov_and_resolution(
- self.h_fov_to_v_fov(self.camera.getFov(), self.cam_info.height, self.cam_info.width), self.cam_info.height
- )
- f_x = self.mat_from_fov_and_resolution(self.camera.getFov(), self.cam_info.width)
- self.cam_info.k = [f_x, 0.0, self.cam_info.width / 2, 0.0, f_y, self.cam_info.height / 2, 0.0, 0.0, 1.0]
- self.cam_info.p = [
- f_x,
- 0.0,
- self.cam_info.width / 2,
- 0.0,
- 0.0,
- f_y,
- self.cam_info.height / 2,
- 0.0,
- 0.0,
- 0.0,
- 1.0,
- 0.0,
- ]
- self.pub_cam_info.publish(self.cam_info)
-
- def save_recognition(self):
- if self.time - self.last_img_saved < 1.0:
- return
- self.last_img_saved = self.time
- annotation = ""
- img_stamp = f"{self.time:.2f}".replace(".", "_")
- img_name = f"img_{os.getenv('WEBOTS_ROBOT_NAME')}_{img_stamp}.PNG"
- recognized_objects = self.camera.getRecognitionObjects()
- # variables for saving not in image later
- found_ball = False
- found_wolfgang = False
- for e in range(self.camera.getRecognitionNumberOfObjects()):
- model = recognized_objects[e].get_model()
- position = recognized_objects[e].get_position_on_image()
- size = recognized_objects[e].get_size_on_image()
- if model == b"soccer ball":
- found_ball = True
- vector = f"""{{"x1": {position[0] - 0.5 * size[0]}, "y1": {position[1] - 0.5 * size[1]}, "x2": {position[0] + 0.5 * size[0]}, "y2": {position[1] + 0.5 * size[1]}}}"""
- annotation += f"{img_name}|"
- annotation += "ball|"
- annotation += vector
- annotation += "\n"
- if model == b"wolfgang":
- found_wolfgang = True
- vector = f"""{{"x1": {position[0] - 0.5 * size[0]}, "y1": {position[1] - 0.5 * size[1]}, "x2": {position[0] + 0.5 * size[0]}, "y2": {position[1] + 0.5 * size[1]}}}"""
- annotation += f"{img_name}|"
- annotation += "robot|"
- annotation += vector
- annotation += "\n"
- if not found_ball:
- annotation += f"{img_name}|ball|not in image\n"
- if not found_wolfgang:
- annotation += f"{img_name}|robot|not in image\n"
- with open(os.path.join(self.img_save_dir, "annotations.txt"), "a") as f:
- f.write(annotation)
- self.camera.saveImage(filename=os.path.join(self.img_save_dir, img_name), quality=100)
-
- def get_image(self):
- return self.camera.getImage()
-
- def get_pressure_message(self):
- current_time = Time(seconds=int(self.time), nanoseconds=int(self.time % 1 * 1e9)).to_msg()
- if not self.foot_sensors_active or self.pressure_sensors is None:
- cop_r = PointStamped()
- cop_r.header.frame_id = self.r_sole_frame
- cop_r.header.stamp = current_time
- cop_l = PointStamped()
- cop_l.header.frame_id = self.l_sole_frame
- cop_l.header.stamp = current_time
- return FootPressure(), FootPressure(), cop_l, cop_r
-
- left_pressure = FootPressure()
- left_pressure.header.stamp = current_time
- left_pressure.left_back = self.pressure_sensors[0].getValue() # type: ignore
- left_pressure.left_front = self.pressure_sensors[1].getValue() # type: ignore
- left_pressure.right_front = self.pressure_sensors[2].getValue() # type: ignore
- left_pressure.right_back = self.pressure_sensors[3].getValue() # type: ignore
-
- right_pressure = FootPressure()
- right_pressure.header.stamp = current_time
- right_pressure.left_back = self.pressure_sensors[4].getValue() # type: ignore
- right_pressure.left_front = self.pressure_sensors[5].getValue() # type: ignore
- right_pressure.right_front = self.pressure_sensors[6].getValue() # type: ignore
- right_pressure.right_back = self.pressure_sensors[7].getValue() # type: ignore
-
- # compute center of pressures of the feet
- pos_x = 0.085
- pos_y = 0.045
- # we can take a very small threshold, since simulation gives more accurate values than reality
- threshold = 1
-
- cop_l = PointStamped()
- cop_l.header.frame_id = self.l_sole_frame
- cop_l.header.stamp = current_time
- sum = left_pressure.left_back + left_pressure.left_front + left_pressure.right_front + left_pressure.right_back
- if sum > threshold:
- cop_l.point.x = (
- (
- left_pressure.left_front
- + left_pressure.right_front
- - left_pressure.left_back
- - left_pressure.right_back
- )
- * pos_x
- / sum
- )
- cop_l.point.x = max(min(cop_l.point.x, pos_x), -pos_x)
- cop_l.point.y = (
- (
- left_pressure.left_front
- + left_pressure.left_back
- - left_pressure.right_front
- - left_pressure.right_back
- )
- * pos_y
- / sum
- )
- cop_l.point.y = max(min(cop_l.point.x, pos_y), -pos_y)
- else:
- cop_l.point.x = 0.0
- cop_l.point.y = 0.0
-
- cop_r = PointStamped()
- cop_r.header.frame_id = self.r_sole_frame
- cop_r.header.stamp = current_time
- sum = (
- right_pressure.right_back
- + right_pressure.right_front
- + right_pressure.right_front
- + right_pressure.right_back
- )
- if sum > threshold:
- cop_r.point.x = (
- (
- right_pressure.left_front
- + right_pressure.right_front
- - right_pressure.left_back
- - right_pressure.right_back
- )
- * pos_x
- / sum
- )
- cop_r.point.x = max(min(cop_r.point.x, pos_x), -pos_x)
- cop_r.point.y = (
- (
- right_pressure.left_front
- + right_pressure.left_back
- - right_pressure.right_front
- - right_pressure.right_back
- )
- * pos_y
- / sum
- )
- cop_r.point.y = max(min(cop_r.point.x, pos_y), -pos_y)
- else:
- cop_r.point.x = 0.0
- cop_r.point.y = 0.0
-
- return left_pressure, right_pressure, cop_l, cop_r
-
- def publish_pressure(self):
- left, right, cop_l, cop_r = self.get_pressure_message()
- self.pub_pres_left.publish(left)
- self.pub_pres_left_filtered.publish(left)
- self.pub_pres_right.publish(right)
- self.pub_pres_right_filtered.publish(right)
- self.cop_l_pub_.publish(cop_l)
- self.cop_r_pub_.publish(cop_r)
diff --git a/src/bitbots_simulation/bitbots_webots_sim/bitbots_webots_sim/webots_robot_supervisor_controller.py b/src/bitbots_simulation/bitbots_webots_sim/bitbots_webots_sim/webots_robot_supervisor_controller.py
deleted file mode 100644
index e9c80b80ac..0000000000
--- a/src/bitbots_simulation/bitbots_webots_sim/bitbots_webots_sim/webots_robot_supervisor_controller.py
+++ /dev/null
@@ -1,51 +0,0 @@
-from bitbots_webots_sim.webots_robot_controller import RobotController
-from bitbots_webots_sim.webots_supervisor_controller import SupervisorController
-
-
-class RobotSupervisorController(SupervisorController, RobotController):
- """Unified controller that has supervisor privileges and controls a robot"""
-
- def __init__(
- self,
- ros_node=None,
- ros_active=False,
- mode="normal",
- robot="wolfgang",
- base_ns="",
- model_states_active=True,
- camera_active=True,
- foot_sensors_active=True,
- ):
- """
- A unified controller that has supervisor privileges and controls a robot.
- It inherits from SupervisorController and RobotController. Since SupervisorController is the first
- parent class, calls to super() use the SupervisorController. The methods of the controllers are mostly
- disjoint, only methods that differ in the controllers have to be reimplemented here.
-
- For the parameter documentation, see the parent class constructors.
- """
- super().__init__(
- ros_node=ros_node,
- ros_active=ros_active,
- robot=robot,
- mode=mode,
- base_ns=base_ns,
- model_states_active=model_states_active,
- )
- # This is used so that SupervisorController and RobotController can use the same underlying controller
- self.robot_node = self.supervisor
- RobotController.__init__(
- self,
- ros_node=ros_node,
- ros_active=ros_active,
- robot=robot,
- robot_node=self.robot_node,
- base_ns=base_ns,
- camera_active=camera_active,
- foot_sensors_active=foot_sensors_active,
- )
-
- def step(self):
- super().step()
- if self.ros_active:
- RobotController.publish_ros(self)
diff --git a/src/bitbots_simulation/bitbots_webots_sim/bitbots_webots_sim/webots_supervisor_controller.py b/src/bitbots_simulation/bitbots_webots_sim/bitbots_webots_sim/webots_supervisor_controller.py
deleted file mode 100644
index 744a184937..0000000000
--- a/src/bitbots_simulation/bitbots_webots_sim/bitbots_webots_sim/webots_supervisor_controller.py
+++ /dev/null
@@ -1,392 +0,0 @@
-from typing import Optional
-
-import numpy as np
-import transforms3d
-from controller import Keyboard, Node, Supervisor
-from geometry_msgs.msg import Point, Pose, Quaternion, Twist
-from rclpy.node import Node as RclpyNode
-from rclpy.time import Time
-from rosgraph_msgs.msg import Clock
-from std_srvs.srv import Empty
-
-from bitbots_msgs.msg import ModelStates
-from bitbots_msgs.srv import SetObjectPose, SetObjectPosition, SimulatorPush
-
-G = 9.81
-
-
-class SupervisorController:
- def __init__(
- self,
- ros_node: Optional[RclpyNode] = None,
- ros_active=False,
- mode="normal",
- base_ns="/",
- model_states_active=True,
- robot="wolfgang",
- ):
- """
- The SupervisorController, a Webots controller that can control the world.
- Set the environment variable WEBOTS_ROBOT_NAME to "supervisor_robot" if used with 1_bot.wbt or 4_bots.wbt.
-
- :param ros_active: Whether to publish ROS messages
- :param mode: Webots mode, one of 'normal', 'paused', or 'fast'
- :param base_ns: The namespace of this node, can normally be left empty
- """
- if ros_node is None:
- ros_node = RclpyNode("supervisor_controller")
- self.ros_node = ros_node
- # requires WEBOTS_ROBOT_NAME to be set to "supervisor_robot"
- self.ros_active = ros_active
- self.model_states_active = model_states_active
- self.time = 0.0
- self.clock_msg = Clock()
- self.supervisor = Supervisor()
- self.keyboard_activated = False
-
- if mode == "normal":
- self.supervisor.simulationSetMode(Supervisor.SIMULATION_MODE_REAL_TIME)
- elif mode == "paused":
- self.supervisor.simulationSetMode(Supervisor.SIMULATION_MODE_PAUSE)
- elif mode == "fast":
- self.supervisor.simulationSetMode(Supervisor.SIMULATION_MODE_FAST)
- else:
- self.supervisor.simulationSetMode(Supervisor.SIMULATION_MODE_REAL_TIME)
-
- self.motors: list = []
- self.sensors: list = []
- self.timestep = int(self.supervisor.getBasicTimeStep())
-
- self.robot_nodes = {}
- self.translation_fields = {}
- self.rotation_fields = {}
- self.joint_nodes = {}
- self.link_nodes = {}
-
- # set reset height based on the robot, so that we can reset different robots easily
- self.robot_type = robot
- reset_heights = {
- "wolfgang": 0.42,
- "robotis_op2": 0.35,
- "op3": 0.35,
- "rfc": 0.40,
- "chape": 0.30,
- "mrl_hsl": 0.40,
- "nugus": 0.5,
- "bez": 0.30,
- }
- if self.robot_type not in reset_heights.keys():
- self.ros_node.get_logger().warn(f"Robot type {self.robot_type} has no reset height defined. Will use 1m")
- self.reset_height = 1.0
- else:
- self.reset_height = reset_heights[self.robot_type]
-
- root = self.supervisor.getRoot()
- children_field = root.getField("children")
- children_count = children_field.getCount()
- for i in range(children_count):
- node = children_field.getMFNode(i)
- name_field = node.getField("name")
- if name_field is not None and node.getType() == Node.ROBOT:
- # this is a robot
- name = name_field.getSFString()
- if name == "supervisor_robot":
- continue
- self.robot_nodes[name] = node
- self.translation_fields[name] = node.getField("translation")
- self.rotation_fields[name] = node.getField("rotation")
- self.joint_nodes[name], self.link_nodes[name] = self.collect_joint_and_link_node_references(
- node, {}, {}
- )
- if self.ros_active:
- # need to handle these topics differently or we will end up having a double //
- if base_ns == "":
- clock_topic = "/clock"
- model_topic = "/model_states"
- else:
- clock_topic = base_ns + "clock"
- model_topic = base_ns + "model_states"
- self.clock_publisher = self.ros_node.create_publisher(Clock, clock_topic, 1)
- self.model_state_publisher = self.ros_node.create_publisher(ModelStates, model_topic, 1)
- self.reset_service = self.ros_node.create_service(Empty, base_ns + "reset", self.reset)
- self.reset_pose_service = self.ros_node.create_service(
- Empty, base_ns + "reset_pose", self.set_initial_poses
- )
- self.set_robot_pose_service = self.ros_node.create_service(
- SetObjectPose, base_ns + "set_robot_pose", self.robot_pose_callback
- )
- self.reset_ball_service = self.ros_node.create_service(Empty, base_ns + "reset_ball", self.reset_ball)
- self.set_ball_position_service = self.ros_node.create_service(
- SetObjectPosition, base_ns + "set_ball_position", self.ball_pos_callback
- )
- self.simulator_push_service = self.ros_node.create_service(
- SimulatorPush, base_ns + "simulator_push", self.simulator_push
- )
-
- self.world_info = self.supervisor.getFromDef("world_info")
- self.ball = self.supervisor.getFromDef("ball")
-
- def collect_joint_and_link_node_references(self, node, joint_dict, link_dict):
- # this is a recursive function that iterates through the whole robot as this seems to be the only way to
- # get all joints
- # add node if it is a joint
- if node.getType() == Node.SOLID:
- name = node.getDef()
- if name == "":
- self.ros_node.get_logger().warn("Proto has link without name", once=True)
- link_dict[name] = node
- if node.getType() in [Node.HINGE_JOINT, Node.HINGE_2_JOINT]:
- name = node.getDef()
- if name == "":
- self.ros_node.get_logger().warn("Proto has joint without name", once=True)
- # substract the "Joint" keyword due to naming convention
- if name[-5:] != "Joint":
- self.ros_node.get_logger().warn(
- f'Joint names are expected to end with "Joint". "{name}" does not.', once=True
- )
- name = name[:-5]
- joint_dict[name] = node
- # the joints dont have children but an "endpoint" that we need to search through
- if node.isProto():
- endpoint_field = node.getProtoField("endPoint")
- else:
- endpoint_field = node.getField("endPoint")
- endpoint_node = endpoint_field.getSFNode()
- self.collect_joint_and_link_node_references(endpoint_node, joint_dict, link_dict)
- # needs to be done because Webots has two different getField functions for proto nodes and normal nodes
- if node.isProto():
- children_field = node.getProtoField("children")
- else:
- children_field = node.getField("children")
- if children_field is not None:
- for i in range(children_field.getCount()):
- child = children_field.getMFNode(i)
- self.collect_joint_and_link_node_references(child, joint_dict, link_dict)
- return joint_dict, link_dict
-
- def step_sim(self):
- self.time += self.timestep / 1000.0
- self.supervisor.step(self.timestep)
-
- def step(self):
- self.step_sim()
- if self.ros_active:
- self.publish_clock()
- if self.model_states_active:
- self.publish_model_states()
-
- def handle_gui(self):
- if not self.keyboard_activated:
- self.keyboard = Keyboard()
- self.keyboard.enable(100)
- self.keyboard_activated = True
- key = self.keyboard.getKey()
- if key == ord("R"):
- self.reset()
- elif key == ord("P"):
- self.set_initial_poses()
- elif key == Keyboard.SHIFT + ord("R"):
- try:
- self.reset_ball()
- except AttributeError:
- print("No ball in simulation that can be reset")
- return key
-
- def publish_clock(self):
- self.clock_msg.clock = Time(seconds=int(self.time), nanoseconds=int(self.time % 1 * 1e9)).to_msg()
- self.clock_publisher.publish(self.clock_msg)
-
- def set_gravity(self, active):
- if active:
- self.world_info.getField("gravity").setSFFloat(9.81)
- else:
- self.world_info.getField("gravity").setSFFloat(0)
-
- def set_self_collision(self, active, name="amy"):
- self.robot_nodes[name].getField("selfCollision").setSFBool(active)
-
- def reset_robot_pose(self, pos, quat, name="amy"):
- self.set_robot_pose_quat(pos, quat, name)
- if name in self.robot_nodes:
- self.robot_nodes[name].resetPhysics()
-
- def reset_robot_pose_rpy(self, pos, rpy, name="amy"):
- self.set_robot_pose_rpy(pos, rpy, name)
- if name in self.robot_nodes:
- self.robot_nodes[name].resetPhysics()
-
- def reset(self, request=None, response=None):
- self.supervisor.simulationReset()
- self.supervisor.simulationResetPhysics()
- return response or Empty.Response()
-
- def reset_robot_init(self, name="amy"):
- self.robot_nodes[name].loadState("__init__")
- self.robot_nodes[name].resetPhysics()
-
- def set_initial_poses(self, request=None, response=None):
- self.reset_robot_pose_rpy([-1, 3, self.reset_height], [0, 0.24, -1.57], name="amy")
- self.reset_robot_pose_rpy([-1, -3, self.reset_height], [0, 0.24, 1.57], name="rory")
- self.reset_robot_pose_rpy([-3, 3, self.reset_height], [0, 0.24, -1.57], name="jack")
- self.reset_robot_pose_rpy([-3, -3, self.reset_height], [0, 0.24, 1.57], name="donna")
- self.reset_robot_pose_rpy([0, 6, self.reset_height], [0, 0.24, -1.57], name="melody")
- return response or Empty.Response()
-
- def robot_pose_callback(self, request=None, response=None):
- self.reset_robot_pose(
- [request.pose.position.x, request.pose.position.y, request.pose.position.z],
- [
- request.pose.orientation.x,
- request.pose.orientation.y,
- request.pose.orientation.z,
- request.pose.orientation.w,
- ],
- request.object_name,
- )
- return response or SetObjectPose.Response()
-
- def simulator_push(self, request=None, response=None):
- self.robot_nodes[request.robot].addForce([request.force.x, request.force.y, request.force.z], request.relative)
- return response or Empty.Response()
-
- def reset_ball(self, request=None, response=None):
- self.ball.getField("translation").setSFVec3f([0, 0, 0.0772])
- self.ball.getField("rotation").setSFRotation([0, 0, 1, 0])
- self.ball.resetPhysics()
- return response or Empty.Response()
-
- def ball_pos_callback(self, request=None, response=None):
- self.set_ball_pose([request.position.x, request.position.y, request.position.z])
- return response or SetObjectPosition.Response()
-
- def set_ball_pose(self, pos):
- self.ball.getField("translation").setSFVec3f(list(pos))
- self.ball.resetPhysics()
-
- def get_ball_pose(self):
- return self.ball.getField("translation").getSFVec3f()
-
- def get_ball_velocity(self):
- if self.ball:
- return self.ball.getVelocity()
-
- def node(self):
- s = self.supervisor.getSelected()
- if s is not None:
- print(f"id: {s.getId()}, type: {s.getType()}, def: {s.getDef()}")
-
- def set_robot_axis_angle(self, axis, angle, name="amy"):
- if name in self.rotation_fields:
- self.rotation_fields[name].setSFRotation(list(np.append(axis, angle)))
-
- def set_robot_rpy(self, rpy, name="amy"):
- axis, angle = transforms3d.euler.euler2axangle(rpy[0], rpy[1], rpy[2], axes="sxyz")
- self.set_robot_axis_angle(axis, angle, name)
-
- def set_robot_quat(self, quat, name="amy"):
- axis, angle = transforms3d.quaternions.quat2axangle([quat[3], quat[0], quat[1], quat[2]])
- self.set_robot_axis_angle(axis, angle, name)
-
- def set_robot_position(self, pos, name="amy"):
- if name in self.translation_fields:
- self.translation_fields[name].setSFVec3f(list(pos))
-
- def set_robot_pose_rpy(self, pos, rpy, name="amy"):
- self.set_robot_position(pos, name)
- self.set_robot_rpy(rpy, name)
-
- def set_robot_pose_quat(self, pos, quat, name="amy"):
- self.set_robot_position(pos, name)
- self.set_robot_quat(quat, name)
-
- def get_robot_position(self, name="amy"):
- if name in self.translation_fields:
- return self.translation_fields[name].getSFVec3f()
-
- def get_robot_orientation_axangles(self, name="amy"):
- if name in self.rotation_fields:
- return self.rotation_fields[name].getSFRotation()
-
- def get_robot_orientation_rpy(self, name="amy"):
- ax_angle = self.get_robot_orientation_axangles(name)
- return list(transforms3d.euler.axangle2euler(ax_angle[:3], ax_angle[3], axes="sxyz"))
-
- def get_robot_orientation_quat(self, name="amy"):
- ax_angle = self.get_robot_orientation_axangles(name)
- # transforms 3d uses scalar (i.e. the w part in the quaternion) first notation of quaternions, ros uses scalar last
- quat_scalar_first = transforms3d.quaternions.axangle2quat(ax_angle[:3], ax_angle[3])
- quat_scalar_last = np.append(quat_scalar_first[1:], quat_scalar_first[0])
- return list(quat_scalar_last)
-
- def get_robot_pose_rpy(self, name="amy"):
- return self.get_robot_position(name), self.get_robot_orientation_rpy(name)
-
- def get_robot_pose_quat(self, name="amy"):
- return self.get_robot_position(name), self.get_robot_orientation_quat(name)
-
- def get_robot_velocity(self, name="amy"):
- velocity = self.robot_nodes[name].getVelocity()
- return velocity[:3], velocity[3:]
-
- def get_link_pose(self, link, name="amy"):
- link_node = self.robot_nodes[name].getFromProtoDef(link)
- if not link_node:
- self.ros_node.get_logger().warn(f'Could not find link "{link}"')
- return None
- link_position = link_node.getPosition()
- mat = link_node.getOrientation()
- link_orientation = transforms3d.quaternions.mat2quat(np.array(mat))
- return link_position, np.append(link_orientation[1:], link_orientation[0])
-
- def get_link_velocities(self, link, name="amy"):
- """Returns linear and angular velocities"""
- link_node = self.robot_nodes[name].getFromProtoDef(link)
- velocity = link_node.getVelocity()
- return velocity[:3], velocity[3:]
-
- def publish_model_states(self):
- if self.model_state_publisher.get_subscription_count() != 0:
- msg = ModelStates()
- for robot_name, robot_node in self.robot_nodes.items():
- position, orientation = self.get_robot_pose_quat(name=robot_name)
- robot_pose = Pose()
- robot_pose.position = Point(x=position[0], y=position[1], z=position[2])
- robot_pose.orientation = Quaternion(
- x=orientation[0], y=orientation[1], z=orientation[2], w=orientation[3]
- )
- msg.name.append(robot_name)
- msg.pose.append(robot_pose)
- lin_vel, ang_vel = self.get_robot_velocity(robot_name)
- twist = Twist()
- twist.linear.x = lin_vel[0]
- twist.linear.y = lin_vel[1]
- twist.linear.z = lin_vel[2]
- twist.angular.x = ang_vel[0]
- twist.angular.y = ang_vel[1]
- twist.angular.z = ang_vel[2]
- msg.twist.append(twist)
-
- head_node = robot_node.getFromProtoDef("head")
- head_position = head_node.getPosition()
- head_orientation = head_node.getOrientation()
- head_orientation_quat = transforms3d.quaternions.mat2quat(np.reshape(head_orientation, (3, 3)))
- head_pose = Pose()
- head_pose.position = Point(x=head_position[0], y=head_position[1], z=head_position[2])
- head_pose.orientation = Quaternion(
- x=head_orientation_quat[1],
- y=head_orientation_quat[2],
- z=head_orientation_quat[3],
- w=head_orientation_quat[0],
- )
- msg.name.append(robot_name + "_head")
- msg.pose.append(head_pose)
-
- if self.ball is not None:
- ball_position = self.ball.getField("translation").getSFVec3f()
- ball_pose = Pose()
- ball_pose.position = Point(x=ball_position[0], y=ball_position[1], z=ball_position[2])
- ball_pose.orientation = Quaternion()
- msg.name.append("ball")
- msg.pose.append(ball_pose)
-
- self.model_state_publisher.publish(msg)
diff --git a/src/bitbots_simulation/bitbots_webots_sim/docs/_static/logo.png b/src/bitbots_simulation/bitbots_webots_sim/docs/_static/logo.png
deleted file mode 100644
index f8afdd5d06..0000000000
Binary files a/src/bitbots_simulation/bitbots_webots_sim/docs/_static/logo.png and /dev/null differ
diff --git a/src/bitbots_simulation/bitbots_webots_sim/docs/conf.py b/src/bitbots_simulation/bitbots_webots_sim/docs/conf.py
deleted file mode 100644
index 0b6342a9ce..0000000000
--- a/src/bitbots_simulation/bitbots_webots_sim/docs/conf.py
+++ /dev/null
@@ -1,187 +0,0 @@
-#
-# Full list of options at http://www.sphinx-doc.org/en/master/config
-
-# -- Path setup --------------------------------------------------------------
-
-# If extensions (or modules to document with autodoc) are in another directory,
-# add these directories to sys.path here. If the directory is relative to the
-# documentation root, use os.path.abspath to make it absolute, like shown here.
-#
-import os
-import sys
-
-import catkin_pkg.package
-from exhale import utils
-
-package_dir = os.path.dirname(os.path.dirname(os.path.abspath(__file__)))
-catkin_package = catkin_pkg.package.parse_package(
- os.path.join(package_dir, catkin_pkg.package.PACKAGE_MANIFEST_FILENAME)
-)
-sys.path.insert(0, os.path.abspath(os.path.join(package_dir, "src")))
-
-
-# -- Helper functions --------------------------------------------------------
-
-
-def count_files():
- """:returns tuple of (num_py, num_cpp)"""
- num_py = 0
- num_cpp = 0
-
- for _, _, files in os.walk(os.path.join(package_dir, "src")):
- for f in files:
- if f.endswith(".py"):
- num_py += 1
- for _, _, files in os.walk(os.path.join(package_dir, "include")):
- for f in files:
- if f.endswith(".h") or f.endswith(".hpp"):
- num_cpp += 1
-
- return num_py, num_cpp
-
-
-# -- Project information -----------------------------------------------------
-
-project = catkin_package.name
-copyright = "2019, Bit-Bots"
-author = ", ".join([a.name for a in catkin_package.authors])
-
-# The short X.Y version
-version = str(catkin_package.version)
-# The full version, including alpha/beta/rc tags
-release = str(catkin_package.version)
-
-# -- General configuration ---------------------------------------------------
-
-# If your documentation needs a minimal Sphinx version, state it here.
-#
-# needs_sphinx = '1.0'
-
-# Add any Sphinx extension module names here, as strings. They can be
-# extensions coming with Sphinx (named 'sphinx.ext.*') or your custom
-# ones.
-extensions = [
- "sphinx.ext.autodoc",
- "sphinx.ext.doctest",
- "sphinx.ext.intersphinx",
- "sphinx.ext.todo",
- "sphinx.ext.coverage",
- "sphinx.ext.imgmath",
- "sphinx.ext.viewcode",
- "sphinx_rtd_theme",
-]
-
-# Add any paths that contain templates here, relative to this directory.
-templates_path = ["_templates"]
-
-# The suffix(es) of source filenames.
-# You can specify multiple suffix as a list of string:
-#
-# source_suffix = ['.rst', '.md']
-source_suffix = ".rst"
-
-# The master toctree document.
-master_doc = "index"
-
-# The language for content autogenerated by Sphinx. Refer to documentation
-# for a list of supported languages.
-#
-# This is also used if you do content translation via gettext catalogs.
-# Usually you set "language" from the command line for these cases.
-language = None
-
-# List of patterns, relative to source directory, that match files and
-# directories to ignore when looking for source files.
-# This pattern also affects html_static_path and html_extra_path.
-exclude_patterns = ["_build", "Thumbs.db", ".DS_Store"]
-
-# The name of the Pygments (syntax highlighting) style to use.
-pygments_style = None
-
-# -- Exhale and Breath setup -------------------------------------------------
-
-# Tell sphinx what the primary language being documented is.
-num_files_py, num_files_cpp = count_files()
-primary_domain = "py" if num_files_py >= num_files_cpp else "cpp"
-
-# Tell sphinx what the pygments highlight language should be.
-highlight_language = primary_domain
-
-if num_files_cpp > 0:
- extensions += [
- "breathe",
- "exhale",
- ]
-
- breathe_projects = {project: os.path.join("_build", "doxyoutput", "xml")}
- breathe_default_project = project
-
- def specifications_for_kind(kind):
- # Show all members for classes and structs
- if kind == "class" or kind == "struct":
- return [":members:", ":protected-members:", ":private-members:", ":undoc-members:"]
- # An empty list signals to Exhale to use the defaults
- else:
- return []
-
- exhale_args = {
- # These arguments are required
- "containmentFolder": "cppapi",
- "rootFileName": "library_root.rst",
- "rootFileTitle": "C++ Library API",
- "doxygenStripFromPath": "..",
- "customSpecificationsMapping": utils.makeCustomSpecificationsMapping(specifications_for_kind),
- # Suggested optional arguments
- "createTreeView": True,
- "exhaleExecutesDoxygen": True,
- "exhaleDoxygenStdin": "INPUT = {}".format(os.path.join(package_dir, "include")),
- }
-
-# -- Options for HTML output -------------------------------------------------
-
-# The theme to use for HTML and HTML Help pages. See the documentation for
-# a list of builtin themes.
-#
-html_theme = "sphinx_rtd_theme"
-
-# Theme options are theme-specific and customize the look and feel of a theme
-# further. For a list of options available for each theme, see the
-# documentation.
-#
-# html_theme_options = {}
-
-# Add any paths that contain custom static files (such as style sheets) here,
-# relative to this directory. They are copied after the builtin static files,
-# so a file named "default.css" will overwrite the builtin "default.css".
-html_static_path = ["_static"]
-
-# Custom sidebar templates, must be a dictionary that maps document names
-# to template names.
-#
-# The default sidebars (for documents that don't match any pattern) are
-# defined by theme itself. Builtin themes are using these templates by
-# default: ``['localtoc.html', 'relations.html', 'sourcelink.html',
-# 'searchbox.html']``.
-#
-# html_sidebars = {}
-
-html_logo = os.path.join("_static", "logo.png")
-html_favicon = os.path.join("_static", "logo.png")
-
-
-# -- Options for intersphinx extension ---------------------------------------
-
-# Example configuration for intersphinx: refer to the Python standard library.
-intersphinx_mapping = {"https://docs.python.org/": None}
-
-# -- Options for todo extension ----------------------------------------------
-
-# If true, `todo` and `todoList` produce output, else they produce nothing.
-todo_include_todos = True
-
-# -- RST Standard variables ---------------------------------------------------
-rst_prolog = f".. |project| replace:: {project}\n"
-rst_prolog += ".. |description| replace:: {}\n".format(catkin_package.description.replace("\n\n", "\n"))
-rst_prolog += ".. |modindex| replace:: {}\n".format(
- ":ref:`modindex`" if num_files_py > 0 else "Python module index is not available"
-)
diff --git a/src/bitbots_simulation/bitbots_webots_sim/docs/index.rst b/src/bitbots_simulation/bitbots_webots_sim/docs/index.rst
deleted file mode 100644
index 1b2b0be1a5..0000000000
--- a/src/bitbots_simulation/bitbots_webots_sim/docs/index.rst
+++ /dev/null
@@ -1,82 +0,0 @@
-Welcome to |project|'s documentation!
-================================================
-
-Description
------------
-
-To generate the webots proto file from a URDF, we use urdf2webots_.
-
-Unfortunately, this script does not handle links which contain an inertial element but no collision or visual element correctly.
-Pybullet on the other hand requires an inertial component for each link.
-To remove these inertial components for webots2urdf there is a script which is later explained.
-
-.. _urdf2webots: https://github.com/cyberbotics/urdf2webots
-
-Instructions
-------------
-
-First we need to have the current simplified URDF model. To get this look at the documentation of the wolfang_description package :doc:`../piplus_description/index`.
-
-To use the URDF in webots we need to create a .proto file from the URDF. To do this clone the urdf2robot repository
-
-.. code-block:: bash
-
- git clone git@github.com:cyberbotics/urdf2webots.git
- cd urdf2webots
-
-Run the script to adapt the urdf to be usable by webots2urdf
-
-.. code-block:: bash
-
- roscd bitbots_webots_sim
- python scripts/fix_urdf_for_webots.py ../piplus_description/urdf/robot.urdf webots_robot.urdf
-
-Run the conversion script from urdf to proto file
-
-.. code-block:: bash
-
- python urdf2webots/demo.py --input webots_robot.urdf --output protos --multi-file --box-collision --link-to-def
-
-Unfortunately, there are four things that need to be done manually.
-Firstly, add the line
-
-`field SFFloat cameraFOV 1.04`
-
-to the header of the proto.
-
-Secondly, replace the number behind `fieldOfView` in the `camera_optical_frame` with `IS cameraFOV`.
-
-Thirdly, delete the compass from both IMUs.
-
-Fourthly, add the following fields into both imu `Solid` nodes. Afterwards the Solids should have the following fields: translation, rotation, physics, boundingObject, children(Accelerometer, Gyo), name
-
-.. code-block:: json
-
- physics Physics {
- }
- boundingObject Box {
- size 0.01 0.01 0.01
- }
-
-After verifying that the proto file is loaded correctly, you can enable the mesh optimization.
-
-In the future the box collision will be replaced by simplified models of the links.
-
-Currently the camera and IMUs are not placed in the correct frame. This will be fixed with a PR that is currently open.
-
-
-|description|
-
-.. toctree::
- :maxdepth: 2
-
- cppapi/library_root
- pyapi/modules
-
-
-Indices and tables
-==================
-
-* :ref:`genindex`
-* |modindex|
-* :ref:`search`
diff --git a/src/bitbots_simulation/bitbots_webots_sim/launch/fake_localization.launch b/src/bitbots_simulation/bitbots_webots_sim/launch/fake_localization.launch
deleted file mode 100644
index 61964745c3..0000000000
--- a/src/bitbots_simulation/bitbots_webots_sim/launch/fake_localization.launch
+++ /dev/null
@@ -1,10 +0,0 @@
-
-
-
-
-
-
-
-
-
-
diff --git a/src/bitbots_simulation/bitbots_webots_sim/launch/imu_filter_sim.launch b/src/bitbots_simulation/bitbots_webots_sim/launch/imu_filter_sim.launch
deleted file mode 100644
index 01a2639e31..0000000000
--- a/src/bitbots_simulation/bitbots_webots_sim/launch/imu_filter_sim.launch
+++ /dev/null
@@ -1,16 +0,0 @@
-
-
-
-
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-
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diff --git a/src/bitbots_simulation/bitbots_webots_sim/launch/simulation.launch b/src/bitbots_simulation/bitbots_webots_sim/launch/simulation.launch
deleted file mode 100644
index 65d452475a..0000000000
--- a/src/bitbots_simulation/bitbots_webots_sim/launch/simulation.launch
+++ /dev/null
@@ -1,88 +0,0 @@
-
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-
-
diff --git a/src/bitbots_simulation/bitbots_webots_sim/launch/single_robot_controller.launch b/src/bitbots_simulation/bitbots_webots_sim/launch/single_robot_controller.launch
deleted file mode 100644
index d51ff1a325..0000000000
--- a/src/bitbots_simulation/bitbots_webots_sim/launch/single_robot_controller.launch
+++ /dev/null
@@ -1,23 +0,0 @@
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
diff --git a/src/bitbots_simulation/bitbots_webots_sim/mypy.ini b/src/bitbots_simulation/bitbots_webots_sim/mypy.ini
deleted file mode 100644
index 6b19e8374f..0000000000
--- a/src/bitbots_simulation/bitbots_webots_sim/mypy.ini
+++ /dev/null
@@ -1,5 +0,0 @@
-# Global options:
-
-[mypy]
-check_untyped_defs = True
-ignore_missing_imports = True
diff --git a/src/bitbots_simulation/bitbots_webots_sim/package.xml b/src/bitbots_simulation/bitbots_webots_sim/package.xml
deleted file mode 100644
index 5d6bac6167..0000000000
--- a/src/bitbots_simulation/bitbots_webots_sim/package.xml
+++ /dev/null
@@ -1,42 +0,0 @@
-
-
-
- bitbots_webots_sim
- 1.4.0
- Simulation environment using Webots for Wolfgang robot.
-
- Marc Bestmann
- Hamburg Bit-Bots
-
- MIT
-
- Marc Bestmann
- Hamburg Bit-Bots
-
- ament_cmake
- sensor_msgs
- urdf
- bitbots_msgs
- nav_msgs
- rosgraph_msgs
- std_msgs
- bitbots_docs
- geometry_msgs
- python3-transforms3d
- python3-numpy
- python3-psutil
- std_srvs
- ament_cmake_mypy
-
- imu_complementary_filter
- xvfb
-
-
-
-
- unknown
- python
-
- ament_cmake
-
-
diff --git a/src/bitbots_simulation/bitbots_webots_sim/protos/FreeCamera.proto b/src/bitbots_simulation/bitbots_webots_sim/protos/FreeCamera.proto
deleted file mode 100644
index d71d484999..0000000000
--- a/src/bitbots_simulation/bitbots_webots_sim/protos/FreeCamera.proto
+++ /dev/null
@@ -1,38 +0,0 @@
-#VRML_SIM R2021b utf8
-# Just a camera that can be used to render images from the simulation
-
-PROTO FreeCamera [
- field SFVec3f translation 0 0.1 0
- field SFRotation rotation 0 1 0 0
- field SFString name "free_camera"
- field SFFloat cameraFOV 1.04
- field SFInt32 cameraWidth 800
- field SFInt32 cameraHeight 600
- field SFString controller ""
- field MFString controllerArgs []
-
-]
-{
- Robot {
- translation IS translation
- rotation IS rotation
- controller IS controller
- controllerArgs IS controllerArgs
- children [
- Solid {
- translation IS translation
- rotation IS rotation
- children [
- Camera {
- rotation 1.0 0.0 0.0 3.141591
- name "camera"
- fieldOfView IS cameraFOV
- width IS cameraWidth
- height IS cameraHeight
- }
- ]
- name IS name
- }
- ]
- }
-}
diff --git a/src/bitbots_simulation/bitbots_webots_sim/protos/RoboCupBackground.proto b/src/bitbots_simulation/bitbots_webots_sim/protos/RoboCupBackground.proto
deleted file mode 100644
index 81f2d1e18c..0000000000
--- a/src/bitbots_simulation/bitbots_webots_sim/protos/RoboCupBackground.proto
+++ /dev/null
@@ -1,45 +0,0 @@
-#VRML_SIM R2022b utf8
-# template language: javascript
-PROTO RoboCupBackground [
- field SFString{"stadium_dry", "shanghai_riverside", "ulmer_muenster", "sunset_jhbcentral", "sepulchral_chapel_rotunda","paul_lobe_haus", "kiara_1_dawn"}
- texture "stadium_dry" # Defines the texture of the background.
- field SFFloat luminosity 1 # Is `Background.luminosity`.
- field SFBool skybox TRUE # Specifies if the `texture` field is used to define the skybox shown in the scene background.
- field MFColor skyColor [0 0 0] # Defines the background color in case the `skybox` field is `FALSE`.
-]
-{
- %<
-
- const path = 'backgrounds';
- const texture = fields.texture.value
- const extension = 'png'
- let topTexture;
- if (texture === 'stadium_dry')
- topTexture = 'stadium';
- else
- topTexture = texture;
- >%
-
- Background {
- skyColor IS skyColor
- backUrl [
- %<= '"' + path + '/' + texture + '_back.' + extension + '"' >%
- ]
- bottomUrl [
- %<= '"' + path + '/' + texture + '_bottom.' + extension + '"' >%
- ]
- frontUrl [
- %<= '"' + path + '/' + texture + '_front.' + extension + '"' >%
- ]
- leftUrl [
- %<= '"' + path + '/' + texture + '_left.' + extension + '"' >%
- ]
- rightUrl [
- %<= '"' + path + '/' + texture + '_right.' + extension + '"' >%
- ]
- topUrl [
- %<= '"' + path + '/' + topTexture + '_top.' + extension + '"' >%
- ]
- luminosity IS luminosity
- }
-}
diff --git a/src/bitbots_simulation/bitbots_webots_sim/protos/RobocupGoal.proto b/src/bitbots_simulation/bitbots_webots_sim/protos/RobocupGoal.proto
deleted file mode 100644
index 35c279823b..0000000000
--- a/src/bitbots_simulation/bitbots_webots_sim/protos/RobocupGoal.proto
+++ /dev/null
@@ -1,267 +0,0 @@
-#VRML_SIM R2022b utf8
-# license: Apache License 2.0
-# license url: http://www.apache.org/licenses/LICENSE-2.0
-# Robocup Humanoid League 2021 soccer goal.
-# The color and size of the goal can be modified.
-# template language: javascript
-PROTO RobocupGoal [
- field SFVec3f translation 0 0 0
- field SFRotation rotation 0 1 0 0
- field SFString name "robotstadium goal"
- field SFColor netColor 0.3 0.3 0.3 # Defines the color of the net.
- field SFString{"adult", "kid"} size "kid" # Defines the size of the field.
-]
-{
- %<
- // Official soccer field dimensions from RoboCup 2021 (in meters)
- let C, D, goal_height;
- if (fields.size.value === 'kid') {
- // KidSize dimensions
- C = 0.6;
- D = 2.6;
- goal_height = 1.2;
- } else {
- // AdultSize dimensions
- C = 0.6;
- D = 2.6;
- goal_height = 1.8;
- }
-
- const post_radius = 0.05; // Diameter/width/depth must be between 0.08-0.12
- const post_spacing = D + 2 * post_radius;
- const post_height = goal_height + post_radius;
- const backpost_radius = 0.02; // Not defined in rules
- const bounding_object_thickness_sides = 2 * backpost_radius; // Not defined in rules
- const bounding_object_thickness_back = 0.3; // Not defined in rules
- >%
- Solid {
- translation IS translation
- rotation IS rotation
- locked TRUE
- children [
- DEF HORIZONTAL_POST_TRANS Transform {
- translation 0 0 %<= post_height >%
- rotation 0 1 0 1.5708
- children [
- Shape {
- appearance DEF POST_APP PBRAppearance {
- baseColor 1 1 1
- metalness 0
- roughness 0.2
- }
- geometry Capsule {
- height %<= post_spacing >%
- radius %<= post_radius >%
- }
- }
- ]
- }
- DEF RIGHT_POST_TRANS Transform {
- translation %<= -post_spacing / 2 >% 0 %<= post_height / 2 >%
- rotation 1 0 0 0
- children [
- Shape {
- appearance USE POST_APP
- geometry Cylinder {
- bottom FALSE
- top FALSE
- height %<= post_height >%
- radius %<= post_radius >%
- }
- }
- ]
- }
- DEF LEFT_POST_TRANS Transform {
- translation %<= post_spacing / 2 >% 0 %<= post_height / 2 >%
- rotation 1 0 0 0
- children [
- Shape {
- appearance USE POST_APP
- geometry Cylinder {
- bottom FALSE
- top FALSE
- height %<= post_height >%
- radius %<= post_radius >%
- }
- }
- ]
- }
- Shape {
- appearance DEF NET_APP PBRAppearance {
- baseColor IS netColor
- baseColorMap ImageTexture {
- url "textures/net.png"
- filtering 0
- }
- metalness 0
- roughness 1
- }
- geometry IndexedFaceSet {
- coord Coordinate {
- point [
- %<= -post_spacing / 2 >% %<= -C >% 0
- %<= post_spacing / 2 >% %<= -C >% 0
- %<= post_spacing / 2 >% %<= -C >% %<= post_height >%
- %<= -post_spacing / 2 >% %<= -C >% %<= post_height >%
- %<= post_spacing / 2 >% %<= -post_radius >% 0
- %<= -post_spacing / 2 >% %<= -post_radius >% 0
- %<= post_spacing / 2 >% %<= -post_radius >% %<= post_height >%
- %<= -post_spacing / 2 >% %<= -post_radius >% %<= post_height >%
- ]
- }
- texCoord TextureCoordinate {
- point [
- 0 0
- 28 0
- 28 16
- 0 16
- 7 0
- 7 16
- 0 16
- 28 0
- 28 6
- 0 6
- ]
- }
- coordIndex [
- 0, 1, 2, 3, -1,
- 3, 2, 1, 0, -1,
- 1, 4, 6, 2, -1,
- 2, 6, 4, 1, -1,
- 0, 5, 7, 3, -1,
- 3, 7, 5, 0, -1,
- 2, 3, 7, 6, -1,
- 6, 7, 3, 2, -1
- ]
- texCoordIndex [
- 0, 1, 2, 3, -1,
- 0, 1, 2, 3, -1,
- 0, 4, 5, 6, -1,
- 0, 4, 5, 6, -1,
- 0, 4, 5, 6, -1,
- 0, 4, 5, 6, -1,
- 0, 7, 8, 9, -1,
- 0, 7, 8, 9, -1
- ]
- }
- }
- Transform {
- translation 0 %<= -C >% %<= post_height >%
- rotation 0 1 0 1.5708
- children [
- DEF SMALL_HORIZONTAL_POST_SHAPE Shape {
- appearance USE POST_APP
- geometry Capsule {
- height %<= post_spacing >%
- radius %<= backpost_radius >%
- }
- }
- ]
- }
- Transform {
- translation 0 %<= -C >% %<= backpost_radius / 2 >%
- rotation 0 1 0 1.5708
- children [
- USE SMALL_HORIZONTAL_POST_SHAPE
- ]
- }
- Transform {
- translation %<= post_spacing / 2 >% %<= -C >% %<= post_height / 2 >%
- rotation 1 0 0 0
- children [
- DEF SMALL_POST_SHAPE Shape {
- appearance USE POST_APP
- geometry Cylinder {
- bottom FALSE
- top FALSE
- height %<= post_height >%
- radius %<= backpost_radius >%
- }
- }
- ]
- }
- Transform {
- translation %<= -post_spacing / 2 >% %<= -C >% %<= post_height / 2 >%
- rotation 1 0 0 0.0
- children [
- USE SMALL_POST_SHAPE
- ]
- }
- Transform {
- translation %<= post_spacing / 2 >% %<= -C / 2 >% %<= post_height >%
- rotation 1 0 0 1.5708
- children [
- DEF OTHER_SMALL_POST_SHAPE Shape {
- appearance USE POST_APP
- geometry Cylinder {
- bottom FALSE
- top FALSE
- height %<= C >%
- radius %<= backpost_radius >%
- }
- }
- ]
- }
- Transform {
- translation %<= -post_spacing / 2 >% %<= -C / 2 >% %<= post_height >%
- rotation 1 0 0 1.5708
- children [
- USE OTHER_SMALL_POST_SHAPE
- ]
- }
- Transform {
- translation %<= post_spacing / 2 >% %<= -C / 2 >% %<= backpost_radius / 2 >%
- rotation 1 0 0 1.5708
- children [
- USE OTHER_SMALL_POST_SHAPE
- ]
- }
- Transform {
- translation %<= -post_spacing / 2 >% %<= -C / 2 >% %<= backpost_radius / 2 >%
- rotation 1 0 0 1.5708
- children [
- USE OTHER_SMALL_POST_SHAPE
- ]
- }
- ]
- name IS name
- model "robotstadium goal"
- boundingObject Group {
- children [
- USE HORIZONTAL_POST_TRANS
- USE RIGHT_POST_TRANS
- USE LEFT_POST_TRANS
- Transform { # Left
- translation %<= -post_spacing / 2 >% %<= -post_radius - (C - post_radius) / 2 >% %<= (post_height - backpost_radius) / 2 >%
- children [
- DEF GOAL_SIDE_BOX Box {
- size %<= bounding_object_thickness_sides >% %<= C - post_radius >% %<= post_height - backpost_radius >%
- }
- ]
- }
- Transform { # Right
- translation %<= post_spacing / 2 >% %<= -post_radius - (C - post_radius) / 2 >% %<= (post_height - backpost_radius) / 2 >%
- children [
- USE GOAL_SIDE_BOX
- ]
- }
- Transform { # Back
- translation 0 %<= -C - bounding_object_thickness_back / 2 >% %<= (post_height+backpost_radius) / 2 >%
- children [
- Box {
- size %<= post_spacing + 2 * backpost_radius >% %<= bounding_object_thickness_back >% %<= post_height + backpost_radius >%
- }
- ]
- }
- Transform { # Top
- translation 0 %<= -post_radius - (C - post_radius) / 2 >% %<= post_height >%
- children [
- Box {
- size %<= post_spacing + 2 * backpost_radius >% %<= C - post_radius >% %<= bounding_object_thickness_sides >%
- }
- ]
- }
- ]
- }
- }
-}
diff --git a/src/bitbots_simulation/bitbots_webots_sim/protos/RobocupSoccerField.proto b/src/bitbots_simulation/bitbots_webots_sim/protos/RobocupSoccerField.proto
deleted file mode 100644
index fea0f26063..0000000000
--- a/src/bitbots_simulation/bitbots_webots_sim/protos/RobocupSoccerField.proto
+++ /dev/null
@@ -1,331 +0,0 @@
-#VRML_SIM R2022b utf8
-# license: Apache License 2.0
-# license url: http://www.apache.org/licenses/LICENSE-2.0
-# Official soccer field for the Robocup Humanoid League 2021.
-# template language: javascript
-
-EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2022b/projects/appearances/protos/Grass.proto"
-EXTERNPROTO "RobocupGoal.proto"
-
-PROTO RobocupSoccerField [
- field SFVec3f translation 0 0 0
- field SFRotation rotation 0 1 0 0
- field SFString name "soccer_field"
- field SFString{"adult", "kid"} size "adult"
- field SFBool turfPhysics TRUE
-]
-{
- %<
- // Official soccer field dimensions from RoboCup 2021 (in meters)
-
- const LINE_WIDTH = 0.05; // Line width
- const BRANCH_LENGTH = 0.1; // Length of one branch of the penalty/center mark (not specified in rules)
- const N_VERTICES_CIRCLE = 36; // Number of vertices for the regular polygon approximating the central circle (not specified in rules)
-
- let A, B, C, D, E, F, G, H, I, J, K;
- if (fields.size.value === 'kid') {
- // Kid-size dimensions
- A = 9;
- B = 6;
- C = 0.6;
- D = 2.6;
- E = 1;
- F = 3;
- G = 1.5;
- H = 1.5;
- I = 1;
- J = 2;
- K = 5;
- } else {
- // Adult-size dimensions
- A = 14;
- B = 9;
- C = 0.6;
- D = 2.6;
- E = 1;
- F = 4;
- G = 2.1;
- H = 3;
- I = 1;
- J = 3;
- K = 6;
- }
-
- const DEPTH = fields.turfPhysics.value ? 0.01 : 0;
-
- // Points for a quarter field (except central circle)
- let pts = [];
- pts[0] = {x: 0, y: 0, z: DEPTH}
- pts[1] = {x: 0, y: I, z: DEPTH}
- pts[2] = {x: 0, y: I + (B / 2), z: DEPTH}
- pts[3] = {x: I, y: I, z: DEPTH}
- pts[4] = {x: I, y: I + (B / 2), z: DEPTH}
- pts[5] = {x: I + LINE_WIDTH, y: I, z: DEPTH}
- pts[6] = {x: I + LINE_WIDTH, y: I + LINE_WIDTH, z: DEPTH}
- pts[7] = {x: I + LINE_WIDTH, y: I + ((B - K) / 2), z: DEPTH}
- pts[8] = {x: I + LINE_WIDTH, y: I + ((B - K) / 2) + LINE_WIDTH, z: DEPTH}
- pts[9] = {x: I + LINE_WIDTH, y: I + ((B - F) / 2), z: DEPTH}
- pts[10] = {x: I + LINE_WIDTH, y: I + ((B - F) / 2) + LINE_WIDTH, z: DEPTH}
- pts[11] = {x: I + LINE_WIDTH, y: I + (B / 2), z: DEPTH}
- pts[12] = {x: I + E - LINE_WIDTH, y: I + ((B - F) / 2) + LINE_WIDTH, z: DEPTH}
- pts[13] = {x: I + E - LINE_WIDTH, y: I + (B / 2), z: DEPTH}
- pts[14] = {x: I + E, y: I + ((B - F) / 2), z: DEPTH}
- pts[15] = {x: I + E, y: I + ((B - F) / 2) + LINE_WIDTH, z: DEPTH}
- pts[16] = {x: I + E, y: I + (B / 2) - BRANCH_LENGTH, z: DEPTH}
- pts[17] = {x: I + E, y: I + (B / 2), z: DEPTH}
- pts[18] = {x: I + G - BRANCH_LENGTH, y: I + ((B - LINE_WIDTH) / 2), z: DEPTH}
- pts[19] = {x: I + G - BRANCH_LENGTH, y: I + (B / 2), z: DEPTH}
- pts[20] = {x: I + G - (LINE_WIDTH / 2), y: I + (B / 2) - BRANCH_LENGTH, z: DEPTH}
- pts[21] = {x: I + G - (LINE_WIDTH / 2), y: I + ((B - LINE_WIDTH) / 2), z: DEPTH}
- pts[22] = {x: I + G - (LINE_WIDTH / 2), y: I + (B / 2), z: DEPTH}
- pts[23] = {x: I + G + (LINE_WIDTH / 2), y: I + (B / 2) - BRANCH_LENGTH, z: DEPTH}
- pts[24] = {x: I + G + (LINE_WIDTH / 2), y: I + ((B - LINE_WIDTH) / 2), z: DEPTH}
- pts[25] = {x: I + G + (LINE_WIDTH / 2), y: I + (B / 2), z: DEPTH}
- pts[26] = {x: I + G + BRANCH_LENGTH, y: I + ((B - LINE_WIDTH) / 2), z: DEPTH}
- pts[27] = {x: I + G + BRANCH_LENGTH, y: I + (B / 2), z: DEPTH}
- pts[28] = {x: I + J - LINE_WIDTH, y: I + ((B - K) / 2) + LINE_WIDTH, z: DEPTH}
- pts[29] = {x: I + J - LINE_WIDTH, y: I + ((B - F) / 2), z: DEPTH}
- pts[30] = {x: I + J - LINE_WIDTH, y: I + (B / 2) - BRANCH_LENGTH, z: DEPTH}
- pts[31] = {x: I + J - LINE_WIDTH, y: I + (B / 2), z: DEPTH}
- pts[32] = {x: I + J, y: I + ((B - K) / 2), z: DEPTH}
- pts[33] = {x: I + J, y: I + ((B - K) / 2) + LINE_WIDTH, z: DEPTH}
- pts[34] = {x: I + J, y: I + (B / 2), z: DEPTH}
- pts[35] = {x: I + (A / 2) - BRANCH_LENGTH, y: I + ((B - LINE_WIDTH) / 2), z: DEPTH}
- pts[36] = {x: I + (A / 2) - BRANCH_LENGTH, y: I + (B / 2), z: DEPTH}
- pts[37] = {x: I + ((A - LINE_WIDTH) / 2), y: I, z: DEPTH}
- pts[38] = {x: I + ((A - LINE_WIDTH) / 2), y: I + LINE_WIDTH, z: DEPTH}
- pts[39] = {x: I + ((A - LINE_WIDTH) / 2), y: I + ((B - K) / 2), z: DEPTH}
- pts[40] = {x: I + ((A - LINE_WIDTH) / 2), y: I + ((B - LINE_WIDTH) / 2), z: DEPTH}
- pts[41] = {x: I + ((A - LINE_WIDTH) / 2), y: I + (B / 2), z: DEPTH}
- pts[42] = {x: I + (A / 2), y: 0, z: DEPTH}
- pts[43] = {x: I + (A / 2), y: I, z: DEPTH}
- pts[44] = {x: I + (A / 2), y: I + (B / 2), z: DEPTH}
-
- // Triangles for a quarter field (except central circle)
- // Triangles for grass
- let tg = [];
-
- tg[0] = {a: 1, b: 44, c: 43};
- tg[1] = {a: 1, b: 2, c: 44};
- tg[2] = {a: 2, b: 5, c: 4};
- tg[3] = {a: 2, b: 3, c: 5};
- tg[4] = {a: 7, b: 40, c: 39};
- tg[5] = {a: 7, b: 8, c: 40};
- tg[6] = {a: 9, b: 30, c: 29};
- tg[7] = {a: 9, b: 10, c: 30};
- tg[8] = {a: 15, b: 31, c: 30};
- tg[9] = {a: 15, b: 17, c: 31};
- tg[10] = {a: 11, b: 14, c: 13};
- tg[11] = {a: 11, b: 12, c: 14};
- tg[12] = {a: 17, b: 22, c: 21};
- tg[13] = {a: 17, b: 19, c: 22};
- tg[14] = {a: 17, b: 20, c: 19};
- tg[15] = {a: 17, b: 18, c: 20};
- tg[16] = {a: 24, b: 25, c: 31};
- tg[17] = {a: 25, b: 27, c: 31};
- tg[18] = {a: 27, b: 28, c: 31};
- tg[19] = {a: 28, b: 32, c: 31};
-
- // Triangles for lines
- let tl = [];
-
- tl[0] = {a: 6, b: 39, c: 38};
- tl[1] = {a: 6, b: 7, c: 39};
- tl[2] = {a: 4, b: 12, c: 6};
- tl[3] = {a: 4, b: 5, c: 12};
- tl[4] = {a: 38, b: 45, c: 44};
- tl[5] = {a: 38, b: 42, c: 45};
- tl[6] = {a: 8, b: 34, c: 33};
- tl[7] = {a: 8, b: 9, c: 34};
- tl[8] = {a: 29, b: 35, c: 34};
- tl[9] = {a: 29, b: 32, c: 35};
- tl[10] = {a: 10, b: 16, c: 15};
- tl[11] = {a: 10, b: 11, c: 16};
- tl[12] = {a: 13, b: 18, c: 16};
- tl[13] = {a: 13, b: 14, c: 18};
- tl[14] = {a: 19, b: 23, c: 22};
- tl[15] = {a: 19, b: 20, c: 23};
- tl[16] = {a: 21, b: 26, c: 24};
- tl[17] = {a: 21, b: 23, c: 26};
- tl[18] = {a: 25, b: 28, c: 27};
- tl[19] = {a: 25, b: 26, c: 28};
- tl[20] = {a: 36, b: 42, c: 41};
- tl[21] = {a: 36, b: 37, c: 42};
-
- // Creation of a quarter of the central circle
- const n_vertices_quarter = Math.ceil(N_VERTICES_CIRCLE / 4) + 1; // +1 because we want to have a point both at ~0 and pi/2
-
- // Add points for the circles to the existing ones
- function circle_add_pts (radius, pts, n_vertices_quarter, line_width) {
- const center = pts[44];
- let alpha = Math.atan((line_width / 2) / radius); // First point must be on the inside side of the half line
- const alpha_increment = (Math.PI / 2 - alpha) / (n_vertices_quarter - 1); // Number of parts is nb of vertices minus 1
- const Npts = pts.length;
- for (let i = 1; i <= n_vertices_quarter; ++i) {
- pts.push({x: center.x - radius * Math.sin(alpha), y: center.y - radius * Math.cos(alpha), z: center.z + 0});
- alpha = alpha + alpha_increment;
- }
- }
-
- circle_add_pts(H / 2, pts, n_vertices_quarter, LINE_WIDTH); // Inner radius of central circle
- circle_add_pts(H / 2 + LINE_WIDTH, pts, n_vertices_quarter, LINE_WIDTH); // Outer radius of central circle
-
- // Add the triangles for the line of the central circle
- let Npts = pts.length;
- let cin_start = Npts - 2 * n_vertices_quarter; // Id of the first point of the inner circle
- let cout_start = Npts - n_vertices_quarter; // Id of the first point of the outer circle
- for (let i = 1; i <= n_vertices_quarter - 1; ++i) {
- tl.push({a: cout_start + (i + 1), b: cin_start + i, c: cout_start + i}); // First part of one line rectangle
- tl.push({a: cout_start + (i + 1), b: cin_start + (i + 1), c: cin_start + i}); // Second part of one line rectangle
- }
-
- // Add the triangles for the grass boundaries of the central circle
- cin_start = Npts - 2 * n_vertices_quarter;
- cout_start = Npts - n_vertices_quarter;
-
- // External triangles
- tg.push({a: 33, b: cout_start + 1, c: 40}) // adds first triangle (boundary with half line)
- for (let i = 1; i <= n_vertices_quarter - 1; ++i)
- tg.push({a: 33, b: cout_start + (i + 1), c: cout_start + i});
-
- tg.push({a: 33, b: 35, c: cout_start + n_vertices_quarter}); // Adds last triangle (boundary with penalty area and touch line)
-
- // Internal triangles
- // There is a vertex junction_index of the inner circle (cin) that makes the junction between triangles
- // going through pt.40 (top vertex of central dash) and pt.35 (bottom vertex of central dash).
- // It is located at approximately two thirds of the quarter
- const junction_index = Math.ceil((2 / 3) * n_vertices_quarter); // Index of the junction triangle within the inner circle
- for (let i = 1; i <= junction_index - 1; ++i)
- tg.push({a: cin_start + (i + 1), b: 41, c: cin_start + i});
-
- tg.push({a: cin_start + junction_index, b: 36, c: 41}); // Adds junction triangle
- for (let i = junction_index; i <= n_vertices_quarter - 1; ++i)
- tg.push({a:cin_start + (i + 1), b: 36, c: cin_start + i});
- tg.push({a: cin_start + n_vertices_quarter, b: 37, c: 36}); // Adds touch line triangle (boundary with touch line)
-
- // Replication of the other 3 quarters
- for (let i = 0; i < Npts; ++i) {
- const pt_ref = pts[i]; // Reference point
- // 2nd Quarter (which completes one team's half)
- pts[Npts + i] = {x: pt_ref.x, y: 2 * I + B - pt_ref.y, z: pt_ref.z};
- // 3rd Quarter (replication on the y-axis)
- pts[2 * Npts + i] = {x: 2 * I + A - pt_ref.x, y: pt_ref.y, z: pt_ref.z};
- // 4th Quarter (which completes opponent's half)
- pts[3 * Npts + i] = {x: 2 * I + A - pt_ref.x, y: 2 * I + B - pt_ref.y, z: pt_ref.z};
- }
-
- const Ntg = tg.length;
- for (let i = 0; i < Ntg; ++i) { // Grass triangles
- const tg_ref = tg[i];
- // Due to axis reversions, we have to update the order of coords for the new corresp. triangles
- tg[Ntg + i] = {a: tg_ref.b + Npts, b: tg_ref.a + Npts, c: tg_ref.c + Npts} // 2nd Quarter (bac)
- tg[2 * Ntg + i] = {a: tg_ref.c + 2 * Npts, b: tg_ref.b + 2 * Npts, c: tg_ref.a + 2 * Npts}; // 3rd Quarter (cba)
- tg[3 * Ntg + i] = {a: tg_ref.c + 3 * Npts, b: tg_ref.a + 3 * Npts, c: tg_ref.b + 3 * Npts}; // 3rd Quarter (cab)
- }
-
- const Ntl = tl.length;
- for (let i = 0; i < Ntl; ++i) { // Same for the line triangles
- const tl_ref = tl[i];
- tl[Ntl + i] = {a: tl_ref.b + Npts, b: tl_ref.a + Npts, c: tl_ref.c + Npts};
- tl[2 * Ntl + i] = {a: tl_ref.c + 2 * Npts, b: tl_ref.b + 2 * Npts, c: tl_ref.a + 2 * Npts};
- tl[3 * Ntl + i] = {a: tl_ref.c + 3 * Npts, b: tl_ref.a + 3 * Npts, c: tl_ref.b + 3 * Npts};
- }
-
- // Offset to have origin on the center of the field
- const OFFSET_X = (2 * I + A) / 2;
- const OFFSET_Y = (2 * I + B) / 2;
- Npts = pts.length;
- for (let i = 0; i < Npts; ++i) {
- pts[i].x = pts[i].x - OFFSET_X;
- pts[i].y = pts[i].y - OFFSET_Y;
- }
- >%
- Solid {
- translation IS translation
- rotation IS rotation
- locked TRUE
- children [
- %< if (fields.turfPhysics.value) { >%
- DEF BLADES Solid {
- contactMaterial "grass"
- translation 0 0 0.01
- rotation 1 0 0 0
- boundingObject Plane {
- size %<= 2 * I + A >% %<= 2 * I + B >%
- }
- }
- %< } >%
- DEF GRASS Shape {
- appearance Grass {
- colorOverride 0.6 1 0.3
- type "artificial"
- textureTransform TextureTransform {
- scale %<= 2 * A >% %<= 2 * A >%
- }
- }
- geometry IndexedFaceSet {
- coord Coordinate {
- point [
- %< for (let i = 0; i < pts.length; ++i) { >%
- %<= pts[i].x >% %<= pts[i].y >% %<= pts[i].z >%
- %< } >%
- ]
- }
- ccw FALSE
- coordIndex [ # v.X - 1 because coordIndex starts at 0, while the points (defined in Lua) start at 1
- %< for (let i = 0; i < tg.length; ++i) { >%
- %<= tg[i].a - 1 >% %<= tg[i].b - 1 >% %<= tg[i].c - 1 >% -1,
- %< } >%
- ]
- }
- }
- DEF LINES Shape {
- appearance Grass {
- colorOverride 1 1 1
- type "artificial_white"
- IBLStrength 1.5
- textureTransform TextureTransform {
- scale %<= 2 * A >% %<= 2 * A >%
- }
- }
- geometry IndexedFaceSet {
- coord Coordinate {
- point [
- %< for (let i = 0; i < pts.length; ++i) { >%
- %<= pts[i].x >% %<= pts[i].y >% %<= pts[i].z >%
- %< } >%
- ]
- }
- ccw FALSE
- coordIndex [ # v.X - 1 because coordIndex starts at 0, while the points (defined in Lua) start at 1
- %< for (let i = 0; i < tl.length; ++i) { >%
- %<= tl[i].a - 1 >% %<= tl[i].b - 1 >% %<= tl[i].c - 1 >% -1
- %< } >%
- ]
- }
- }
- RobocupGoal {
- translation %<= I - OFFSET_X >% %<= I + (B / 2) - OFFSET_Y >% 0
- rotation 0 0 1 -1.5707996938995747
- size IS size
- name "goal_home"
- }
- RobocupGoal {
- translation %<= I + A - OFFSET_X >% %<= I + (B / 2) - OFFSET_Y >% 0
- rotation 0 0 1 1.5707996938995747
- size IS size
- name "goal_away"
- }
- ]
- boundingObject Transform {
- rotation 1 0 0 0
- children [
- Shape {
- geometry Plane {
- size %<= 2 * I + A >% %<= 2 * I + B >%
- }
- }
- ]
- }
- }
-}
diff --git a/src/bitbots_simulation/bitbots_webots_sim/protos/RobocupTexturedSoccerBall.proto b/src/bitbots_simulation/bitbots_webots_sim/protos/RobocupTexturedSoccerBall.proto
deleted file mode 100644
index b917dd3f76..0000000000
--- a/src/bitbots_simulation/bitbots_webots_sim/protos/RobocupTexturedSoccerBall.proto
+++ /dev/null
@@ -1,60 +0,0 @@
-#VRML_SIM R2022b utf8
-# license: Copyright Cyberbotics Ltd. Licensed for use only with Webots.
-# license url: https://cyberbotics.com/webots_assets_license
-# A textured soccer ball with customizable radius and mass.
-# This object is physics-enabled so it will roll or bounce when hit.
-# template language: javascript
-PROTO RobocupTexturedSoccerBall [
- field SFVec3f translation 0 0 0
- field SFRotation rotation 0 0 1 0
- field SFString name "robocup soccer ball"
- field SFInt32{1,2,3,4,5} size 1 # Defines the ball size and mass according to FIFA standards.
- field SFString{"telstar","teamgeist","europass", "jabulani", "tango"} texture "telstar"
-]
-{
- %<
- const size = fields.size.value;
- const radius_array = {1: 0.07, 2: 0.085, 3: 0.095, 4: 0.1025, 5: 0.1125};
- const mass_array = {1: 0.205, 2: 0.250, 3: 0.310, 4: 0.370, 5: 0.430};
- const radius = radius_array[size];
- const mass = mass_array[size];
- const scale = radius * 10.4;
- >%
- Solid {
- translation IS translation
- rotation IS rotation
- scale %<= scale >% %<= scale >% %<= scale >%
- children [
- DEF BALL_SHAPE Shape {
- appearance PBRAppearance {
- baseColor 0.8 0.8 0.8
- roughness 0.5
- metalness 0.1
- baseColorMap ImageTexture{
- url [ %<= '"ball_textures/' + fields.texture.value + '.jpg"'>% ]
- }
- }
- geometry Sphere {
- radius %<= radius / scale >%
- subdivision 3
- }
- }
- ]
- name IS name
- model "soccer ball"
- contactMaterial "robocup soccer ball"
- boundingObject Sphere {
- radius %<= radius / scale >%
- subdivision 3
- }
- physics Physics {
- mass %<= mass >%
- density -1
- centerOfMass [ 0 0 0.0001 ] # to introduce some randomness in motion
- damping Damping {
- linear 0.77
- angular 0.77
- }
- }
- }
-}
diff --git a/src/bitbots_simulation/bitbots_webots_sim/protos/Wolfgang_meshes/ankle.stl b/src/bitbots_simulation/bitbots_webots_sim/protos/Wolfgang_meshes/ankle.stl
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-#?RADIANCE
-SOFTWARE=gegl 0.4.14
-FORMAT=32-bit_rle_rgbe
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