Merge branch 'fix/pywalk' into feature/mujoco

Author: Flova

.devcontainer/devcontainer.json

@@ -1,43 +1,43 @@
 {
-    "name": "Bit-Bots Iron Dev",
+  "name": "Bit-Bots Iron Dev",
 
-    "build": { "dockerfile": "Dockerfile" },
+  "build": { "dockerfile": "Dockerfile" },
 
-    "containerEnv": {
-      "DISPLAY": "${localEnv:DISPLAY}",
-      "LIBGL_ALWAYS_SOFTWARE": "1",
-      "QT_X11_NO_MITSHM": "1",
-      "DOCKER": "1"
-    },
+  "containerEnv": {
+    "DISPLAY": "${localEnv:DISPLAY}",
+    "LIBGL_ALWAYS_SOFTWARE": "1",
+    "QT_X11_NO_MITSHM": "1",
+    "DOCKER": "1"
+  },
 
-    "customizations": {
-        "vscode": {
-            "settings": {
-                "terminal.integrated.defaultProfile.linux": "zsh",
-                "terminal.integrated.profiles.linux": { "zsh": { "path": "/bin/zsh" } }
-            },
-            "extensions": [
-              "ms-iot.vscode-ros"
-            ]
-        }
-    },
+  "customizations": {
+    "vscode": {
+      "settings": {
+        "terminal.integrated.defaultProfile.linux": "zsh",
+        "terminal.integrated.profiles.linux": { "zsh": { "path": "/bin/zsh" } }
+      },
+      "extensions": ["ms-iot.vscode-ros"]
+    }
+  },
 
-    "workspaceMount": "type=bind,source=${localWorkspaceFolder},target=/root/colcon_ws/src/bitbots_main",
-    "workspaceFolder": "/root/colcon_ws/src/bitbots_main",
+  "workspaceMount": "type=bind,source=${localWorkspaceFolder},target=/root/colcon_ws/src/bitbots_main",
+  "workspaceFolder": "/root/colcon_ws/src/bitbots_main",
 
-    "mounts": [
-      "type=bind,source=${localEnv:HOME},target=/srv/host_home,consistency=cached",
-    ],
+  "mounts": [
+    "type=bind,source=${localEnv:HOME},target=/srv/host_home,consistency=cached"
+  ],
 
-    "runArgs": [
-      "--tmpfs", "/tmp:exec,mode=01777",
-      "--privileged",
-      "--net=host",
-      "--device=/dev/dri:/dev/dri",
-      "--volume=/tmp/.X11-unix:/tmp/.X11-unix",
-      "--cap-add=SYS_PTRACE",
-      "--security-opt", "seccomp=unconfined"
-    ],
+  "runArgs": [
+    "--tmpfs",
+    "/tmp:exec,mode=01777",
+    "--privileged",
+    "--net=host",
+    "--device=/dev/dri:/dev/dri",
+    "--volume=/tmp/.X11-unix:/tmp/.X11-unix",
+    "--cap-add=SYS_PTRACE",
+    "--security-opt",
+    "seccomp=unconfined"
+  ],
 
-    "postCreateCommand": "git config --global --add safe.directory '*'"
-  }
+  "postCreateCommand": "git config --global --add safe.directory '*'"
+}

.devcontainer/zshrc

@@ -1,6 +1,9 @@
 # If you come from bash you might have to change your $PATH.
 export PATH=$HOME/bin:/usr/local/bin:$HOME/.local/bin:$PATH
 
+# Set the default shell to zsh when running zsh
+export SHELL="$(which zsh)"
+
 # Path to your oh-my-zsh installation.
 export ZSH=$HOME/.oh-my-zsh
 
@@ -49,8 +52,7 @@ bindkey "^[[1;5D" backward-word
 # Settings for the prompt to show that we are in a docker container
 export PROMPT="%K{black} 🐋 %K{blue}%F{black}%/ %f%k%F{blue}%f "  # Prefix the prompt with DOCKER
 
-# Do ros2 specific things
-source /opt/ros/iron/setup.zsh &> /dev/null
+# >>> bit-bots initialize >>>
 
 # Ignore some deprecation warnings
 export PYTHONWARNINGS=ignore:::setuptools.command.install,ignore:::setuptools.command.easy_install,ignore:::pkg_resources
@@ -72,38 +74,12 @@ export RCUTILS_CONSOLE_OUTPUT_FORMAT="[{severity}] [{name}]: {message}"
 # Set the default Middleware
 export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
 
-# Create a function to update the argcomplete so tab completion works
-# This needs to be called every time we source something ROS 2 related
-function update_ros2_argcomplete() {
-  eval "$(register-python-argcomplete3 colcon)"
-  eval "$(register-python-argcomplete3 ros2)"
-}
-
-# Update the tab completion
-update_ros2_argcomplete
-
-alias rr='ros2 run'
-alias rl='ros2 launch'
-
-alias rte='ros2 topic echo'
-alias rtl='ros2 topic list'
-alias rth='ros2 topic hz'
-alias rtp='ros2 topic pub'
-
-alias rpl='ros2 param list'
-alias rpg='ros2 param get'
-
-alias cdc='cd $COLCON_WS'
-
-alias cba='cdc && colcon build --symlink-install --continue-on-error'
-alias cb='cdc && colcon build --symlink-install --continue-on-error --packages-up-to'
-alias cbs='cdc && colcon build --symlink-install --packages-select'
-alias cc='cdc && colcon clean packages --packages-select'
-alias cca='cdc && colcon clean packages'
+# Load our ros plugin script containing useful functions and aliases for ROS 2 development
+if [[ -f $COLCON_WS/src/bitbots_main/scripts/ros.plugin.sh ]]; then
+  source $COLCON_WS/src/bitbots_main/scripts/ros.plugin.sh
+fi
 
-alias sr='source /opt/ros/iron/setup.zsh && update_ros2_argcomplete'
-alias sc='source $COLCON_WS/install/setup.zsh && update_ros2_argcomplete'
-alias sa='sr && sc'
+# <<< bit-bots initialize <<<
 
 # Set default editor
 export VISUAL="vim"

.github/workflows/ci.yml

@@ -19,7 +19,7 @@ jobs:
         uses: ros-tooling/[email protected]
 
       - name: Check out repository
-        uses: actions/checkout@v3
+        uses: actions/checkout@v4
 
       - name: Configure git to trust repository
         run: git config --global --add safe.directory /__w/bitbots_main/bitbots_main

.gitignore

@@ -221,7 +221,9 @@ doku/*
 /lib/
 
 # Path to the protocol buffer definitions, which are a diffrerent repository and managed by vcstool
-/bitbots_team_communication/bitbots_team_communication/RobocupProtocol
+/bitbots_team_communication/bitbots_team_communication/bitbots_team_communication/RobocupProtocol
 # Protobuf generated file
-/bitbots_team_communication/bitbots_team_communication/robocup_extension_pb2.py
+/bitbots_team_communication/bitbots_team_communication/bitbots_team_communication/robocup_extension_pb2.py
 
+# Workspace git status file from the deploy tool
+**/workspace_status.json

.pre-commit-config.yaml

@@ -15,6 +15,7 @@ repos:
           - "-i"
       - id: cppcheck
         args:
+          - "--inline-suppr"
           - "--suppress=missingInclude"
           - "--suppress=unmatchedSuppression"
           - "--suppress=unusedFunction"

.vscode/settings.json

@@ -5,6 +5,7 @@
     "cSpell.words": [
         "animatable",
         "ansible",
+        "antiwindup",
         "autoconnect",
         "basler",
         "bitbot",
@@ -14,8 +15,10 @@
         "chrt",
         "coef",
         "colcon",
+        "conv",
         "cornerkick",
         "costmap",
+        "costmaps",
         "cpus",
         "cuda",
         "cudnn",
@@ -27,6 +30,7 @@
         "dtype",
         "dynamixel",
         "dynup",
+        "euler",
         "externproto",
         "fetchrobotics",
         "fieldboundary",
@@ -35,6 +39,7 @@
         "freekick",
         "gamecontroller",
         "gamestate",
+        "gaussian",
         "goalkick",
         "hexsha",
         "hlvs",
@@ -49,9 +54,11 @@
         "joern",
         "jupyter",
         "kalman",
+        "Leph",
         "linalg",
         "matplotlib",
         "mmse",
+        "moveit",
         "msgify",
         "mutex",
         "nanosec",
@@ -63,16 +70,21 @@
         "odom",
         "odometry",
         "particlefilter",
+        "pathfinding",
         "penaltykick",
         "penaltyshoot",
         "pointcloud",
         "pointclouds",
+        "popen",
         "pretrained",
         "proto",
         "protos",
         "pyplot",
+        "pywrapper",
+        "Quaterniond",
         "rclcpp",
         "rclpy",
+        "reapproach",
         "rhoban",
         "robocup",
         "rory",
@@ -83,14 +95,18 @@
         "rosgraph",
         "rosout",
         "roundrobin",
+        "Rouxel",
         "rtype",
         "rviz",
         "scipy",
+        "sdev",
         "seaborn",
         "segmentations",
+        "srdf",
         "ssid",
         "std_srvs",
         "taskset",
+        "teamcomm",
         "teamplayer",
         "teleop",
         "throwin",
@@ -103,8 +119,10 @@
         "walkready",
         "wandb",
         "webots",
+        "Werror",
         "wifi",
         "wolfgang",
+        "xacro",
         "yoeo",
         "yolo",
         "yolov"
@@ -193,7 +211,8 @@
         "valarray": "cpp",
         "variant": "cpp",
         "regex": "cpp",
-        "future": "cpp"
+        "future": "cpp",
+        "*.ipp": "cpp"
     },
     // Tell the ROS extension where to find the setup.bash
     // This also utilizes the COLCON_WS environment variable, which needs to be set
@@ -208,4 +227,11 @@
     "cmake.configureOnOpen": false,
     "editor.formatOnSave": true,
     "editor.defaultFormatter": "charliermarsh.ruff",
+    "restructuredtext.pythonRecommendation.disabled": true,
+    "[xml]": {
+        "editor.defaultFormatter": "DotJoshJohnson.xml"
+    },
+    "[json]": {
+        "editor.defaultFormatter": "vscode.json-language-features"
+    },
 }

Makefile

@@ -1,4 +1,4 @@
-.PHONY : basler install install-no-root pip pre-commit install-git-filters format pull-all pull-init pull-repos pull-files fresh-libs remove-libs setup-libs rosdep status update update-no-root
+.PHONY : basler webots install install-no-root pip pre-commit install-git-filters format pull-all pull-init pull-repos pull-files fresh-libs remove-libs setup-libs rosdep status update update-no-root
 
 HTTPS := ""
 REPO:=$(dir $(abspath $(firstword $(MAKEFILE_LIST))))
@@ -7,6 +7,10 @@ basler:
 	# Install Basler Pylon SDK
 	scripts/make_basler.sh $(ARGS)
 
+webots:
+	# Install Webots Simulation environment
+	scripts/make_webots.sh $(ARGS)
+
 install: pull-init basler update
 
 install-no-root: pull-init update-no-root
@@ -43,6 +47,8 @@ pull-files:
 	wget \
 		--no-verbose \
 		--show-progress \
+		--timeout=15 \
+		--tries=2 \
 		--recursive \
 		--timestamping \
 		--no-parent \
@@ -53,6 +59,8 @@ pull-files:
 	wget \
 		--no-verbose \
 		--show-progress \
+		--timeout=15 \
+		--tries=2 \
 		--recursive \
 		--timestamping \
 		--no-parent \
@@ -66,6 +74,8 @@ fresh-libs: remove-libs setup-libs
 remove-libs:
 	# Removes the lib directory and all its contents
 	rm -rf lib/*
+	# Also remove the generated protobuf files, as they are not needed anymore
+	rm bitbots_team_communication/bitbots_team_communication/robocup_extension_pb2.py 2> /dev/null || true
 
 setup-libs:
 	# Clone lib repositories in workspace.repos into the lib directory
@@ -77,6 +87,8 @@ else
 endif
 
 rosdep:
+	# Initialize rosdep if not already done
+	[ -f /etc/ros/rosdep/sources.list.d/20-default.list ] || sudo rosdep init
 	# Update rosdep and install dependencies from meta directory
 	rosdep update
 	rosdep install --from-paths . --ignore-src --rosdistro iron -y