Merge branch 'main' into feature/jazzy-ubuntu2404-devcontainer

bit-bots · Nov 23, 2024 · 00d6efa · 00d6efa
2 parents 3c6dc0c + 89c7035
commit 00d6efa
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diff --git a/.devcontainer/Dockerfile b/.devcontainer/Dockerfile
@@ -36,7 +36,6 @@ RUN apt-get update -y \
     tree \
     uvcdynctrl \
     vim \
-    vlc \
     wget \
     x11-apps \
     zsh

diff --git a/.vscode/settings.json b/.vscode/settings.json
@@ -112,6 +112,7 @@
         "throwin",
         "timespec",
         "tldr",
+        "torqueless",
         "tqdm",
         "unpenalize",
         "unpenalized",
@@ -212,7 +213,8 @@
         "variant": "cpp",
         "regex": "cpp",
         "future": "cpp",
-        "*.ipp": "cpp"
+        "*.ipp": "cpp",
+        "span": "cpp"
     },
     // Tell the ROS extension where to find the setup.bash
     // This also utilizes the COLCON_WS environment variable, which needs to be set

diff --git a/bitbots_misc/bitbots_bringup/launch/simulator_teamplayer.launch b/bitbots_misc/bitbots_bringup/launch/simulator_teamplayer.launch
@@ -12,7 +12,7 @@
     <arg name="world_model" default="true" description="Whether the world model should be started"/>
 
     <!-- load the general simulator -->
-    <include file="$(find-pkg-share wolfgang_webots_sim)/launch/simulation.launch" />
+    <include file="$(find-pkg-share bitbots_webots_sim)/launch/simulation.launch" />
 
     <!-- load teamplayer software stack -->
     <include file="$(find-pkg-share bitbots_bringup)/launch/teamplayer.launch">

diff --git a/bitbots_misc/bitbots_bringup/package.xml b/bitbots_misc/bitbots_bringup/package.xml
@@ -16,7 +16,7 @@
 
     <depend>bitbots_docs</depend>
 
-    <exec_depend condition="$IS_ROBOT != True">wolfgang_webots_sim</exec_depend>
+    <exec_depend condition="$IS_ROBOT != True">bitbots_webots_sim</exec_depend>
     <exec_depend>audio_common</exec_depend>
     <exec_depend>bitbots_basler_camera</exec_depend>
     <exec_depend>bitbots_body_behavior</exec_depend>

diff --git a/bitbots_misc/bitbots_containers/hlvs/Dockerfile b/bitbots_misc/bitbots_containers/hlvs/Dockerfile
@@ -62,10 +62,10 @@ RUN cd src/bitbots_main && \
     make pull-all && \
     rm -rf lib/udp_bridge bitbots_misc/bitbots_containers \
     lib/dynamic_stack_decider/dynamic_stack_decider_visualization bitbots_lowlevel \
-    bitbots_wolfgang/wolfgang_pybullet_sim lib/DynamixelSDK lib/dynamixel-workbench \
+    bitbots_robot/bitbots_pybullet_sim lib/DynamixelSDK lib/dynamixel-workbench \
     bitbots_misc/bitbots_basler_camera && \
     sed -i '/plotjuggler/d' bitbots_motion/bitbots_quintic_walk/package.xml && \
-    sed -i '/run_depend/d' bitbots_wolfgang/wolfgang_moveit_config/package.xml
+    sed -i '/run_depend/d' bitbots_robot/wolfgang_moveit_config/package.xml
 
 # Install ros dependencies with rosdep
 RUN sudo apt update && rosdep update
@@ -75,7 +75,7 @@ RUN . /opt/ros/iron/setup.sh && colcon build --cmake-args -DBUILD_TESTING=OFF
 
 # TODO execute tests
 
-RUN cp src/bitbots_main/bitbots_wolfgang/wolfgang_robocup_api/scripts/start.sh .local/bin/start
+RUN cp src/bitbots_main/bitbots_robot/bitbots_robocup_api/scripts/start.sh .local/bin/start
 
 # Volume for logs
 VOLUME /robocup-logs

diff --git a/bitbots_misc/bitbots_docs/docs/manual/testing/sim_test.rst b/bitbots_misc/bitbots_docs/docs/manual/testing/sim_test.rst
@@ -6,7 +6,7 @@ Test Motion
 
 .. code-block:: bash
 
-    ros2 launch wolfgang_webots_sim simulation.launch
+    ros2 launch bitbots_webots_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/bitbots_misc/bitbots_docs/docs/manual/tutorials/cl_simulation_testing_setup.rst b/bitbots_misc/bitbots_docs/docs/manual/tutorials/cl_simulation_testing_setup.rst
@@ -9,18 +9,19 @@ As such you can lookup some of the needed requirements there.
 **0. Requirements**
 
 - have an LDAP mafiasi account for access to the CLs
-- have ros2 aliases setup (see linked docs)
-- have GitHub ssh access setup for bitbots_main (see linked docs)
 
 **1. Setup and download our software**
 
 - SSH into the ``cl0*`` with your mafiasi user
+- Add your SSH key to GitHub to access and sync our repositories
+   - If you don't know what I am talking about or you don't yet have a SSH key, follow this guide: https://docs.github.com/en/authentication/connecting-to-github-with-ssh/checking-for-existing-ssh-keys
+   - Go to your account settings and add your SSH key (the ``.pub`` file) to `GitHub <https://github.com/settings/keys>`_
 - setup bitbots_main in your home directory
 
 .. code-block:: bash
 
-  mkdir -p "~/colcon_ws/src"
-  cd "~/colcon_ws/src"
+  mkdir -p "$HOME/colcon_ws/src"
+  cd "$HOME/colcon_ws/src"
   git clone git@github.com:bit-bots/bitbots_main.git && cd bitbots_main
   make install-no-root
 

diff --git a/bitbots_misc/bitbots_docs/docs/manual/tutorials/install_software_ros2.rst b/bitbots_misc/bitbots_docs/docs/manual/tutorials/install_software_ros2.rst
@@ -70,7 +70,7 @@ If you want to install it, you can do so by running ``make webots`` in the bitbo
 
 **3. Download our software**
 
-- Create a GitHub account, if not already done (see `here <http://doku.bit-bots.de/private/manual/dienste_accounts.html>` for further information)
+- Create a GitHub account, if not already done (see `here <http://doku.bit-bots.de/private/manual/dienste_accounts.html>`_ for further information)
 - Add your SSH key to GitHub to access and sync our repositories
     - If you don't know what I am talking about or you don't yet have a SSH key, follow this guide: https://docs.github.com/en/authentication/connecting-to-github-with-ssh/checking-for-existing-ssh-keys
     - Go to your account settings and add your SSH key (the ``.pub`` file) to `GitHub <https://github.com/settings/keys>`_
@@ -137,6 +137,8 @@ In case you are not using the bash shell, replace ``~/.bashrc`` and ``bash`` wit
 
   EOF
 
+  source ~/.bashrc
+
 - Configure the robot hostnames, see :doc:`configure_hostnames`.
 
 Notes

diff --git a/bitbots_misc/system_monitor/config/config.yaml b/bitbots_misc/system_monitor/config/config.yaml
@@ -5,11 +5,13 @@ system_monitor:
 
     # These settings are quick_switches to completely disable certain parts of statistic collection
     do_cpu: true
+    do_gpu: true
     do_memory: true
     do_network: false
 
     # these are the threshold values at which we start going into a warn state
     cpu_load_percentage: 80.0
+    gpu_load_percentage: 95.0
     memory_load_percentage: 80.0
     network_rate_received_errors: 10.0
     network_rate_send_errors: 10.0
diff --git a/bitbots_misc/system_monitor/config/plotjuggler_layout.xml b/bitbots_misc/system_monitor/config/plotjuggler_layout.xml
@@ -1,139 +1,120 @@
 <?xml version='1.0' encoding='UTF-8'?>
-<root version="2.3.8">
- <tabbed_widget name="Main Window" parent="main_window">
-  <plotmatrix rows="2" columns="1" tab_name="CPU">
-   <plot row="0" col="0">
-    <range top="100.000000" bottom="0.000000" left="0.000000" right="8.029071"/>
-    <limitY max="100" min="0"/>
-    <curve custom_transform="noTransform" name="/system_workload/cpus.0/cpu_usage" B="180" G="119" R="31"/>
-    <curve custom_transform="noTransform" name="/system_workload/cpus.1/cpu_usage" B="40" G="39" R="214"/>
-    <curve custom_transform="noTransform" name="/system_workload/cpus.2/cpu_usage" B="56" G="201" R="26"/>
-    <curve custom_transform="noTransform" name="/system_workload/cpus.3/cpu_usage" B="14" G="127" R="255"/>
-    <curve custom_transform="noTransform" name="/system_workload/cpus.4/cpu_usage" B="193" G="76" R="241"/>
-    <curve custom_transform="noTransform" name="/system_workload/cpus.5/cpu_usage" B="189" G="103" R="148"/>
-    <curve custom_transform="noTransform" name="/system_workload/cpus.6/cpu_usage" B="207" G="190" R="23"/>
-    <curve custom_transform="noTransform" name="/system_workload/cpus.7/cpu_usage" B="34" G="189" R="188"/>
-    <transform value="noTransform"/>
-   </plot>
-   <plot row="1" col="0">
-    <range top="279.000000" bottom="1.000000" left="0.000000" right="8.029071"/>
-    <limitY min="1"/>
-    <curve custom_transform="noTransform" name="/system_workload/running_processes" B="180" G="119" R="31"/>
-    <transform value="noTransform"/>
-   </plot>
-  </plotmatrix>
-  <plotmatrix rows="1" columns="1" tab_name="Memory">
-   <plot row="0" col="0">
-    <range top="16662851584.000000" bottom="0.000000" left="0.000000" right="0.518927"/>
-    <limitY min="0"/>
-    <curve custom_transform="noTransform" name="/system_workload/memory_total" B="40" G="39" R="214"/>
-    <curve custom_transform="noTransform" name="/system_workload/memory_used" B="180" G="119" R="31"/>
-    <transform value="noTransform"/>
-   </plot>
-  </plotmatrix>
-  <plotmatrix rows="1" columns="1" tab_name="Network">
-   <plot row="0" col="0">
-    <range top="24198.000000" bottom="0.000000" left="0.000000" right="4.023767"/>
-    <limitY min="0"/>
-    <curve custom_transform="noTransform" name="/system_workload/network_interfaces.0/rate_received_bytes" B="180" G="119" R="31"/>
-    <curve custom_transform="noTransform" name="/system_workload/network_interfaces.0/rate_sent_bytes" B="40" G="39" R="214"/>
-    <curve custom_transform="noTransform" name="/system_workload/network_interfaces.1/rate_received_bytes" B="56" G="201" R="26"/>
-    <curve custom_transform="noTransform" name="/system_workload/network_interfaces.1/rate_sent_bytes" B="14" G="127" R="255"/>
-    <transform value="noTransform"/>
-   </plot>
-  </plotmatrix>
-  <currentPlotMatrix index="0"/>
+<root>
+ <tabbed_widget parent="main_window" name="Main Window">
+  <Tab tab_name="tab2" containers="1">
+   <Container>
+    <DockSplitter count="3" sizes="0.332999;0.334002;0.332999" orientation="-">
+     <DockArea name="...">
+      <plot flip_x="false" style="Lines" flip_y="false" mode="TimeSeries">
+       <range right="1730744413.650088" bottom="-0.211458" left="1730744393.723256" top="8.669791"/>
+       <limitY/>
+       <curve color="#bcbd22" name="/system_workload/cpu_usage_overall"/>
+      </plot>
+     </DockArea>
+     <DockArea name="...">
+      <plot flip_x="false" style="Lines" flip_y="false" mode="TimeSeries">
+       <range right="1730744413.650088" bottom="3674476441.600006" left="1730744393.723256" top="138214342758.399994"/>
+       <limitY/>
+       <curve color="#1f77b4" name="/system_workload/memory_used"/>
+       <curve color="#d62728" name="/system_workload/memory_total"/>
+      </plot>
+     </DockArea>
+     <DockArea name="...">
+      <plot flip_x="false" style="Lines" flip_y="false" mode="TimeSeries">
+       <range right="1730744413.650088" bottom="576.850000" left="1730744393.723256" top="583.150000"/>
+       <limitY/>
+       <curve color="#1ac938" name="/system_workload/running_processes"/>
+      </plot>
+     </DockArea>
+    </DockSplitter>
+   </Container>
+  </Tab>
+  <currentTabIndex index="0"/>
  </tabbed_widget>
- <use_relative_time_offset enabled="1"/>
+ <use_relative_time_offset enabled="0"/>
  <!-- - - - - - - - - - - - - - - -->
  <!-- - - - - - - - - - - - - - - -->
  <Plugins>
   <plugin ID="DataLoad CSV">
-   <default time_axis=""/>
+   <parameters delimiter="0" time_axis=""/>
   </plugin>
-  <plugin ID="DataLoad ROS bags">
+  <plugin ID="DataLoad MCAP"/>
+  <plugin ID="DataLoad ROS2 bags">
    <use_header_stamp value="false"/>
-   <use_renaming_rules value="true"/>
    <discard_large_arrays value="true"/>
    <max_array_size value="100"/>
+   <boolean_strings_to_number value="true"/>
+   <remove_suffix_from_strings value="true"/>
+   <selected_topics value=""/>
   </plugin>
   <plugin ID="DataLoad ULog"/>
-  <plugin ID="ROS Topic Subscriber">
-   <use_header_stamp value="false"/>
-   <use_renaming_rules value="true"/>
+  <plugin ID="ROS2 Topic Subscriber">
+   <use_header_stamp value="true"/>
    <discard_large_arrays value="true"/>
    <max_array_size value="100"/>
+   <boolean_strings_to_number value="true"/>
+   <remove_suffix_from_strings value="true"/>
+   <selected_topics value="/system_workload"/>
+  </plugin>
+  <plugin ID="UDP Server"/>
+  <plugin ID="WebSocket Server"/>
+  <plugin ID="ZMQ Subscriber"/>
+  <plugin ID="Fast Fourier Transform"/>
+  <plugin ID="Quaternion to RPY"/>
+  <plugin ID="Reactive Script Editor">
+   <library code="--[[ Helper function to create a series from arrays&#xa;&#xa; new_series: a series previously created with ScatterXY.new(name)&#xa; prefix:     prefix of the timeseries, before the index of the array&#xa; suffix_X:   suffix to complete the name of the series containing the X value. If [nil], use the index of the array.&#xa; suffix_Y:   suffix to complete the name of the series containing the Y value&#xa; timestamp:   usually the tracker_time variable&#xa;              &#xa; Example:&#xa; &#xa; Assuming we have multiple series in the form:&#xa; &#xa;   /trajectory/node.{X}/position/x&#xa;   /trajectory/node.{X}/position/y&#xa;   &#xa; where {N} is the index of the array (integer). We can create a reactive series from the array with:&#xa; &#xa;   new_series = ScatterXY.new(&quot;my_trajectory&quot;) &#xa;   CreateSeriesFromArray( new_series, &quot;/trajectory/node&quot;, &quot;position/x&quot;, &quot;position/y&quot;, tracker_time );&#xa;--]]&#xa;&#xa;function CreateSeriesFromArray( new_series, prefix, suffix_X, suffix_Y, timestamp )&#xa;  &#xa;  --- clear previous values&#xa;  new_series:clear()&#xa;  &#xa;  --- Append points to new_series&#xa;  index = 0&#xa;  while(true) do&#xa;&#xa;    x = index;&#xa;    -- if not nil, get the X coordinate from a series&#xa;    if suffix_X ~= nil then &#xa;      series_x = TimeseriesView.find( string.format( &quot;%s.%d/%s&quot;, prefix, index, suffix_X) )&#xa;      if series_x == nil then break end&#xa;      x = series_x:atTime(timestamp)&#x9; &#xa;    end&#xa;    &#xa;    series_y = TimeseriesView.find( string.format( &quot;%s.%d/%s&quot;, prefix, index, suffix_Y) )&#xa;    if series_y == nil then break end &#xa;    y = series_y:atTime(timestamp)&#xa;    &#xa;    new_series:push_back(x,y)&#xa;    index = index+1&#xa;  end&#xa;end&#xa;&#xa;--[[ Similar to the built-in function GetSeriesNames(), but select only the names with a give prefix. --]]&#xa;&#xa;function GetSeriesNamesByPrefix(prefix)&#xa;  -- GetSeriesNames(9 is a built-in function&#xa;  all_names = GetSeriesNames()&#xa;  filtered_names = {}&#xa;  for i, name in ipairs(all_names)  do&#xa;    -- check the prefix&#xa;    if name:find(prefix, 1, #prefix) then&#xa;      table.insert(filtered_names, name);&#xa;    end&#xa;  end&#xa;  return filtered_names&#xa;end&#xa;&#xa;--[[ Modify an existing series, applying offsets to all their X and Y values&#xa;&#xa; series: an existing timeseries, obtained with TimeseriesView.find(name)&#xa; delta_x: offset to apply to each x value&#xa; delta_y: offset to apply to each y value &#xa;  &#xa;--]]&#xa;&#xa;function ApplyOffsetInPlace(series, delta_x, delta_y)&#xa;  -- use C++ indeces, not Lua indeces&#xa;  for index=0, series:size()-1 do&#xa;    x,y = series:at(index)&#xa;    series:set(index, x + delta_x, y + delta_y)&#xa;  end&#xa;end&#xa;"/>
+   <scripts/>
   </plugin>
-  <plugin ID="ROS /rosout Visualization" status="idle"/>
-  <plugin ID="ROS Topic Re-Publisher" status="idle"/>
+  <plugin ID="CSV Exporter"/>
+  <plugin ID="ROS2 Topic Re-Publisher"/>
  </Plugins>
  <!-- - - - - - - - - - - - - - - -->
  <previouslyLoaded_Datafiles/>
- <previouslyLoaded_Streamer name="ROS Topic Subscriber"/>
+ <previouslyLoaded_Streamer name="ROS2 Topic Subscriber"/>
  <!-- - - - - - - - - - - - - - - -->
  <customMathEquations/>
  <snippets>
-  <snippet name="1st_derivative" language="JS">
+  <snippet name="1st_derivative">
    <global>var prevX = 0
 var prevY = 0</global>
-   <equation>dx = time - prevX
-dy = value - prevY
-prevX = time
-prevY = value
-
-return dy/dx</equation>
+   <function></function>
+   <linked_source></linked_source>
   </snippet>
-  <snippet name="1st_order_lowpass" language="JS">
+  <snippet name="1st_order_lowpass">
    <global>var prevY = 0
 var alpha = 0.1</global>
-   <equation>prevY = alpha * value + (1.-alpha) * prevY
-
-return prevY</equation>
+   <function></function>
+   <linked_source></linked_source>
   </snippet>
-  <snippet name="2D_velocity" language="JS">
+  <snippet name="2D_velocity">
    <global>var prev_x = 0
 var prev_y = 0
 var prev_t = 0</global>
-   <equation>X = $$your_odometry/position/x$$
-Y = $$your_odometry/position/y$$
-
-var dist = sqrt( (X-prev_x)*(X-prev_x) + (Y-prev_y)*(Y-prev_y) )
-var dT = time - prev_t
-
-prev_x = X
-prev_y = Y
-prev_t = time
-
-return dist / dT</equation>
+   <function></function>
+   <linked_source></linked_source>
   </snippet>
-  <snippet name="average_two_curves" language="JS">
+  <snippet name="average_two_curves">
    <global></global>
-   <equation>a = $$PLOT_A$$
-b = $$PLOT_B$$
-
-return (a+b)/2</equation>
+   <function></function>
+   <linked_source></linked_source>
   </snippet>
-  <snippet name="integral" language="JS">
+  <snippet name="integral">
    <global>var integral = 0</global>
-   <equation>integral += value
-return integral</equation>
+   <function></function>
+   <linked_source></linked_source>
   </snippet>
-  <snippet name="rad_to_deg" language="JS">
+  <snippet name="rad_to_deg">
    <global></global>
-   <equation>return value*180/3.1417</equation>
+   <function></function>
+   <linked_source></linked_source>
   </snippet>
-  <snippet name="remove_offset" language="JS">
+  <snippet name="remove_offset">
    <global>var is_first = true
 var first_value = 0</global>
-   <equation>if (is_first)
-{
-  is_first = false
-  first_value = value
-}
-
-return value - first_value</equation>
+   <function></function>
+   <linked_source></linked_source>
   </snippet>
-  <snippet name="yaw_from_quaternion" language="JS">
+  <snippet name="yaw_from_quaternion">
    <global>// source: https://en.wikipedia.org/wiki/Conversion_between_quaternions_and_Euler_angles
 
 function quaternionToYaw(x, y, z, w)
@@ -145,7 +126,8 @@ function quaternionToYaw(x, y, z, w)
 
   return yaw
 }</global>
-   <equation>return quaternionToYaw(x, y, z, w);</equation>
+   <function></function>
+   <linked_source></linked_source>
   </snippet>
  </snippets>
  <!-- - - - - - - - - - - - - - - -->

diff --git a/bitbots_misc/system_monitor/launch/viz.launch b/bitbots_misc/system_monitor/launch/viz.launch
@@ -1,4 +1,4 @@
 <launch>
-    <node pkg="plotjuggler" exec="plotjuggler" name="$(anon plotjuggler)" output="screen" required="true"
+    <node pkg="plotjuggler" exec="plotjuggler" name="$(anon plotjuggler)" output="screen"
           args="--layout $(find-pkg-share system_monitor)/config/plotjuggler_layout.xml"/>
 </launch>
diff --git a/bitbots_misc/system_monitor/package.xml b/bitbots_misc/system_monitor/package.xml
@@ -19,7 +19,7 @@
   <depend>python3-psutil</depend>
   <depend>bitbots_docs</depend>
   <depend>rclpy</depend>
-    <depend>bitbots_msgs</depend>
+  <depend>bitbots_msgs</depend>
 
   <export><build_type>ament_python</build_type>
   </export>

diff --git a/bitbots_misc/system_monitor/setup.py b/bitbots_misc/system_monitor/setup.py
@@ -11,6 +11,8 @@
         ("share/" + package_name, ["package.xml"]),
         ("share/ament_index/resource_index/packages", ["resource/" + package_name]),
         ("share/" + package_name + "/config", glob.glob("config/*.yaml")),
+        ("share/" + package_name + "/config", glob.glob("config/*.rviz")),
+        ("share/" + package_name + "/config", glob.glob("config/*.xml")),
         ("share/" + package_name + "/launch", glob.glob("launch/*.launch")),
     ],
     install_requires=[

diff --git a/bitbots_misc/system_monitor/system_monitor/cpus.py b/bitbots_misc/system_monitor/system_monitor/cpus.py
@@ -36,7 +36,8 @@ def collect_all():
 def _get_cpu_stats():
     """
     read and parse /proc/stat
-    :returns timings which contains accumulative busy and total cpu time
+
+    :returns: timings which contains accumulative busy and total cpu time
     """
     timings = {}
     with open("/proc/stat") as file_obj: