Cleanup/remove legacy

.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

.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
 

.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:

.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/

.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",
@@ -226,25 +233,18 @@
     "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",
         "install/bitbots_parameter_blackboard/lib/python3.12/site-packages",
         "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",
@@ -270,25 +269,18 @@
     "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",
         "install/bitbots_parameter_blackboard/lib/python3.12/site-packages",
         "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"
     },