Merge pull request #31 from ETHZ-RobotX/preRSS2023

Update for RSS2023

.github/workflows/build.yml

@@ -16,7 +16,9 @@ jobs:
       HW_FILE: ${{ github.workspace }}/smb_hw.repos
       ROS_PARALLEL_JOBS: '-j8 -l6'
       ROS_DISTRO: noetic
-      CATKIN_WS: ~/catkin_ws_test/
+      CATKIN_WS: /root/catkin_ws_test/
+      LIBSPINNAKER_FILEID: 1r4LNuU9IhfRWavegSaLTFLIenTrmMpN1
+      LIBSPINNAKER_FILENAME: spinnaker-2.7.0.128-Ubuntu20.04-amd64-pkg.tar.gz
     container:
           image: ethzrobotx/smb_docker:latest
     steps:
@@ -29,8 +31,7 @@ jobs:
         run: |
             mkdir -p $CATKIN_WS/src
             cd $CATKIN_WS
-            catkin init
-            catkin config --extend /opt/ros/noetic -DCMAKE_BUILD_TYPE=Release
+            catkin config --init --extend /opt/ros/noetic -DCMAKE_BUILD_TYPE=Release
       - name: Install ROS packages with rosdep
         run: |
           rosdep update
@@ -54,26 +55,40 @@ jobs:
         run: |
           cd $CATKIN_WS
           catkin build smb_path_planner --no-status
-
-      - name: Install dependencies for hardware
+      - name: catkin build gbplanner 
+        run: |
+          cd $CATKIN_WS
+          catkin build gbplanner* pci_general --no-status
+      - name: catkin build frontier_exploration 
+        run: |
+          cd $CATKIN_WS
+          catkin build explore_lite slam_gmapping --no-status
+      - name: Install librealsense and dependencies
         run: |
             # Realsense
             sudo apt-key adv --keyserver keys.gnupg.net --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE || sudo apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE
             sudo add-apt-repository "deb https://librealsense.intel.com/Debian/apt-repo $(lsb_release -cs) main"
             sudo apt update
             sudo apt install librealsense2-dev librealsense2-dkms librealsense2-utils -y
             sudo apt install ros-noetic-ddynamic-reconfigure -y
+      - name: Install Robosense dependencies
+        run: |
             # Robosense
             sudo apt-get install -y libyaml-cpp-dev libpcap-dev libprotobuf-dev protobuf-compiler git
-            # Spinnaker
-            sudo apt update
-            sudo apt install debconf-utils libusb-1.0-0 -y 
-            wget --load-cookies /tmp/cookies.txt "https://drive.google.com/uc?export=download&confirm=$(wget --quiet --save-cookies /tmp/cookies.txt --keep-session-cookies --no-check-certificate 'https://drive.google.com/uc?export=download&id=1wVK0dAH4mre1Prsr-Wsaowz0_OAmWe2f' -O- | sed -rn 's/.*confirm=([0-9A-Za-z_]+).*/\1\n/p')&id=1wVK0dAH4mre1Prsr-Wsaowz0_OAmWe2f" -O 'spinnaker-2.4.0.143-Ubuntu20.04-amd64-pkg.tar.gz' && rm -rf /tmp/cookies.txt
-            tar -xvf spinnaker-2.4.0.143-Ubuntu20.04-amd64-pkg.tar.gz 
-            rm spinnaker-2.4.0.143-Ubuntu20.04-amd64-pkg.tar.gz 
-            cd spinnaker-2.4.0.143-amd64/
-            echo libspinnaker libspinnaker/accepted-flir-eula boolean true | sudo debconf-set-selections
-            sudo dpkg -i libgentl_2.4.0.143_amd64.deb libspinnaker_2.4.0.143_amd64.deb libspinnaker-dev_2.4.0.143_amd64.deb libspinnaker-c_2.4.0.143_amd64.deb libspinnaker-c-dev_2.4.0.143_amd64.deb
+      # - name: Install FLIR camera driver (libspinnaker)
+      #   run: |
+      #       # Spinnaker
+      #       sudo apt update
+      #       sudo apt install debconf-utils libusb-1.0-0 -y 
+      #       wget --quiet --load-cookies /tmp/cookies.txt "https://drive.google.com/uc?export=download&confirm=$(wget --quiet --save-cookies /tmp/cookies.txt --keep-session-cookies --no-check-certificate 'https://drive.google.com/uc?export=download&id='"$LIBSPINNAKER_FILEID" -O- | sed -rn 's/.*confirm=([0-9A-Za-z_]+).*/\1\n/p')&id=$LIBSPINNAKER_FILEID" -O $LIBSPINNAKER_FILENAME && rm -rf /tmp/cookies.txt
+      #       tar -xf $LIBSPINNAKER_FILENAME
+      #       SPINNAKER_DIR=$(tar -xvf $LIBSPINNAKER_FILENAME | head -1)
+      #       SPINNAKER_VERSION=${SPINNAKER_DIR#spinnaker-}
+      #       SPINNAKER_VERSION="${SPINNAKER_VERSION%-amd64/}"_amd64
+      #       rm $LIBSPINNAKER_FILENAME 
+      #       cd $SPINNAKER_DIR
+      #       echo libspinnaker libspinnaker/accepted-flir-eula boolean true | sudo debconf-set-selections
+      #       sudo dpkg -i libgentl_${SPINNAKER_VERSION}.deb libspinnaker_${SPINNAKER_VERSION}.deb libspinnaker-dev_${SPINNAKER_VERSION}.deb libspinnaker-c_${SPINNAKER_VERSION}.deb libspinnaker-c-dev_${SPINNAKER_VERSION}.deb
       - name: catkin build smb 
         run: |
           cd $CATKIN_WS

docs/core-software/HowToRunSoftware.md

@@ -129,8 +129,6 @@ roslaunch smb_opc opc.launch
 # You should see the robot model in Rviz
 ```
 
-When launching the `smb.launch` file with default arguments, the onboard computer assumes control over the motor controller. This means that the motors can now only be controlled via software (not directly via RC anymore).
-
 You might need to restart the _SMB base_ if the robot does not respond to sofware commands.
 {: .smb-info }
 

docs/core-software/docker_installation.md

@@ -2,7 +2,7 @@
 layout: default
 title: Docker installation
 parent: SMB Core Software
-nav_order: 2
+nav_order: 1
 ---
 
 # Using Docker for Simulation
@@ -29,28 +29,28 @@ To use the SMB Docker, basic knowledge of Docker is needed. Please check [the of
 cd <path/to/repo>
 
 # Activate Container
-create_container.bash
+./create_container.bash
 ```
 
-4. To exit the container type `exit` in the terminal
+This will automatically setup your system to later run the docker and download the pre-compiled image from dockerhub. Once downloaded, the script starts a container called `smb_container` that can be used to run the SMB software (see [reconnecting to the docker container](#reconnecting-to-the-docker-container)).
 
 
 ### Windows
 
 1. Install Docker Desktop by using [the official website](https://docs.docker.com/desktop/windows/install/)
 2. Install VcXsrv [here](https://sourceforge.net/projects/vcxsrv/)
 3. Launch VcXsrv and put the settings as in the pictures
-   ![setup 1](../images/docker_setup_1.png)
-   ![setup 2](../images/docker_setup_2.png)
-   ![setup 3](../images/docker_setup_3.png)
+   ![setup 1](../images/docker_setup_1.png){: width="600px"}
+
+   ![setup 2](../images/docker_setup_2.png){: width="600px"}
+
+   ![setup 3](../images/docker_setup_3.png){: width="600px"}
+
 4. Open the powershell and run
 
 ```bash
-# Get your ip address
-ipconfig
-
 # Run docker
-docker run -it --env="DISPLAY=<YOUR_IP_ADDR>:0.0" --volume=smb_volume:/home/catkin_ws/src --net=host --name smb_container ethzrobotx/smb_docker bash
+docker run -it --env="DISPLAY=host.docker.internal:0.0" --volume=smb_volume:/home/catkin_ws/src --net=host --name smb_container ethzrobotx/smb_docker bash
 ```
 
 5. To exit the container type `exit` in the terminal
@@ -61,30 +61,44 @@ Visual Studio Code is a powerful integrated development environment that even al
 Usage of Visual Studio is not necessary.
 {: .smb-info}
 
-1. Open Visual Studio Code and install the **Remote - Containers** extension.
-2. Click on the extension on the sidebar and connect to the previously created container.
+1. Open Visual Studio Code and install the **dev - containers** extension.
+2. Click on the extension on the bottom left corner and attach to the previously created container.
 3. When the new window opens install the **C/C++** and **Python** extension from Microsoft inside the container. This is needed in order to get autocompletion.
+4. The catkin workspace is located in /home/catkin_ws
 
-## Reconnecting to the Docker container
+## (Re-)connecting to the Docker container
+
+Once you have setup the smb_container, you can create a terminal (bash shell) by running
 
 ```bash
-# Start the Docker Container
-sudo docker container start smb_container
+docker exec -it smb_container bash
+```
+
+There is no need to run the script create_container.sh anymore. 
 
-# Attach the Docker Container
-sudo docker container attach smb_container
+If you closed all running instances of bash in the `smb_container`, you might need to start it again by running
+
+```bash
+# start docker container
+docker start smb_container
+
+# create a terminal (bash) in the container:
+docker exec -it smb_container bash
 ```
 
-## How to use simulation the Docker
+The latter command can be repeated multiple times to create several terminals in the same container.
 
-If you want to launch several sessions connected to the same container from multiple terminals: 
+## How to use the simulation in the Docker container
+
+If you want to run the simulation you can follow the [how to run SMB software](HowToRunSoftware.md) and run the commands given there in a terminal in the smb_container. I.e.
 
 ```bash
-# Launch new session to the same container
+# create a terminal (bash) in the container:
 docker exec -it smb_container bash
 ```
 
-If you want to run the simulation you can follow the [how to run SMB software](https://ethz-robotx.github.io/SuperMegaBot/core-software/HowToRunSoftware.html).
+In the then so created terminal, run:
 
-You can run launch_gazebo_gui:=false if you do not need to see the simulation environment. Yet, you can recognize the obstacles in the Rviz visualization tool thanks to the modeled sensor behavior.
-{: .smb-info}
+```bash
+roslaunch smb_gazebo sim.launch
+```

docs/core-software/index.md

@@ -10,13 +10,14 @@ has_children: true
 {:.no_toc}
 The SMB core software allows simulation of the robot in a gazebo environment but is also required on the real robots.
 
-## Local Installation
+## Using Docker
 
-To install the simulation/SMB core software, follow the steps described in the [installation documentation](installation_core.md).
+To run the SMB software only in simulation, you can use a Docker image with pre-compiled software. Details are given in the [SMB docker documentation](docker_installation.md). With this, no further installation is needed.
 
-## Using Docker
+## Local Installation
+
+Instead of running the docker image, you can install the simulation/SMB core software on a native Ubuntu 20.04 running ROS Noetic: Follow the steps described in the [installation documentation](installation_core.md).
 
-Instead of downloading and building the SMB core software directly on your machine, you can use a Docker image with a pre-compiled software. Details are given in the [SMB docker documentation](docker_installation.md)
 
 ## Starting the Simulation
 

docs/core-software/installation_core.md

@@ -2,7 +2,7 @@
 layout: default
 title: Core Software Setup
 parent: SMB Core Software
-nav_order: 1
+nav_order: 2
 ---
 
 # Setting up the SMB Core Software
@@ -17,13 +17,15 @@ Please [create an issue](https://github.com/ETHZ-RobotX/SuperMegaBot/issues/new)
 * Table of contents
 {:toc}
 
-## Remark
+## Remarks
 
 {:.no_toc}
 
-The SMB software consists of two parts: core and hardware related.
+1. In case you would like to only run the simulation environment, it is enough to [download and run the SMB docker image](docker_installation.md). <br />
+Alternatively, you can follow the steps below to set the simulation up in an Ubuntu 20.04 environment.
 
-If you want to use the system on a real SMB robot with real sensors and actuators, the [hardware related part](../robot-operation/installation_hw_packages.md) should be installed **on top of the core part**. This document contains the instructions about SMB core software, which also contains the simulation environment.
+2. The SMB software is split up in two parts: non-hardware and hardware related. <br />
+If you want to use the system on a real SMB robot with real sensors and actuators, the [hardware related part](../robot-operation/installation_hw_packages.md) should be installed **on top of the non-hardware part**. This document contains the instructions about SMB non-hardware related software, which also contains the simulation environment.
 
 
 ## Prerequisites

docs/index.md

@@ -13,27 +13,32 @@ Documentation of the SuperMegaBot (SMB) for the ETHZ Robotics Summer School.
 
 ## Introduction
 This documentation aims at introducing basic usage of the SMB software.
-To get a basic understanding and perform basic testing, a simulation environment based on Gazebo can be used.
+
+A [simulation environment](#the-simulation) based on Gazebo can be used to get a basic understanding of the SMB software and perform basic testing.
 This simulation is part of the core software setup.
 
-Furthermore, the fundamentals in how to use the real robot is described as well.
-
-## Issue tracking
-Please use the [issues page](https://github.com/ETHZ-RobotX/SuperMegaBot/issues) to report any issues concerning the robots (hardware and software related issues).
+Furthermore, the fundamentals of how to use the real robot are described as well.
 
 ## The Simulation
-For simulation of the SuperMegaBot, the Gazebo environment is used.
+For simulation of the SuperMegaBot the Gazebo environment is used.
 It incorporates a simulation of the 4-wheeled robot including most of its sensors (16 beam Lidar, RGB camera, tracking camera, IMU)
 
-### Installation
-To install the simulation/SMB core software, follow the steps described in the [installation documentation](core-software/installation_core.md).
+### Setup
+To setup the simulation, you have two options:
+
+  1. Use a [docker environment](core-software/docker_installation.md) or
+  2. follow the steps described in the [core software documentation](core-software/installation_core.md) to install the software stack in a native Ubuntu 20.04 environment. 
+
 
 ### Running the simulation environment
-Once the SMB core software is installed, you can start the simulation by following the steps in [How To Run the SMB Software](core-software/HowToRunSoftware.md)
+Once the SMB software is setup, you can start the simulation by following the steps in [How To Run the SMB Software](core-software/HowToRunSoftware.md)
 
 ## Operating the real robot
 Please follow the steps described in [How to use the SMB](robot-operation) to operate a SuperMegaBot.
 
+## Issue tracking
+Please use the [issues page](https://github.com/ETHZ-RobotX/SuperMegaBot/issues) to report any issues concerning the robots (hardware and software related issues).
+
 ## History
 The SuperMegaBot was originally developped by the ETH Construction Robotics group. It is now maintained by the [ETHZ RobotX Center](https://center-for-robotics.ethz.ch/).
 

smb.repos

@@ -11,22 +11,10 @@ repositories:
     type: git
     url: https://github.com/ETHZ-RobotX/smb_powerstatus.git
     version: main
-  lib/libnabo:
-    type: git
-    url: https://github.com/ANYbotics/libnabo.git
-    version: master
-  lib/libpointmatcher:
-    type: git
-    url: https://github.com/leggedrobotics/libpointmatcher.git
-    version: master
   lib/ocs2:
     type: git
     url: https://github.com/leggedrobotics/ocs2.git
     version: summerschool_2022
-  lib/pointmatcher_ros:
-    type: git
-    url: https://github.com/leggedrobotics/pointmatcher-ros.git
-    version: master
   misc/catkin_simple:
     type: git
     url: https://github.com/catkin/catkin_simple.git
@@ -55,18 +43,10 @@ repositories:
     type: git
     url: https://github.com/leggedrobotics/ethzasl_msf.git
     version: master
-  slam/icp_localization:
-    type: git
-    url: https://github.com/leggedrobotics/icp_localization.git
-    version: master
   slam/open3d_slam:
     type: git
     url: https://github.com/leggedrobotics/open3d_slam.git
-    version: master
-  ui/multimaster_fkie:
-    type: git
-    url: https://github.com/ETHZ-RobotX/multimaster_fkie
-    version: master
+    version: robotics_summer_school_2023
   ui/smb_rviz_plugins:
     type: git
     url: https://github.com/ETHZ-RobotX/smb_rviz_plugins.git
@@ -75,3 +55,58 @@ repositories:
     type: git
     url: https://github.com/ETHZ-RobotX/smb_object_detection.git
     version: main
+# EXPLORATION MISC
+  misc/eigen_catkin:
+    type: git
+    url: https://github.com/ethz-asl/eigen_catkin.git
+    version: 00b5eb254bad8de9cd68d238aa994e443062cf30
+  misc/eigen_checks:
+    type: git
+    url: https://github.com/ethz-asl/eigen_checks.git
+    version: 22a6247a3df11bc285d43d1a030f4e874a413997
+  misc/gflags_catkin:
+    type: git
+    url: https://github.com/ethz-asl/gflags_catkin.git
+    version: 5324e74119996a6e2da12d20e5388c17480ebd79
+  misc/minkindr:
+    type: git
+    url: https://github.com/ethz-asl/minkindr.git
+    version: bc4503c34970a13b7ef06f62505e3333395ce02c
+  misc/minkindr_ros:
+    type: git
+    url: https://github.com/ethz-asl/minkindr_ros.git
+    version: 88e0bd476f82027453f04fdf7c40c7c9a358aa1b
+  misc/mav_comm:
+    type: git
+    url: https://github.com/ethz-asl/mav_comm.git
+    version: master
+  misc/yaml_cpp_catkin:
+    type: git
+    url: https://github.com/ethz-asl/yaml_cpp_catkin.git
+    version: master
+# EXPLORATION MAPPING
+  mapping/voxblox:
+    type: git
+    url: https://github.com/ntnu-arl/voxblox.git
+    version: dev/noetic
+  mapping/slam_gmapping:
+    type: git
+    url: https://github.com/ETHZ-RobotX/slam_gmapping
+    version: melodic-devel
+# EXPLORATION
+  exploration/gbplanner_ros:
+    type: git
+    url: https://github.com/ETHZ-RobotX/gbplanner_ros.git
+    version: gbplanner2
+  exploration/pci_general:
+    type: git
+    url: https://github.com/ntnu-arl/pci_general.git
+    version: main
+  exploration/adaptive_obb_ros:
+    type: git
+    url: https://github.com/ntnu-arl/adaptive_obb_ros.git
+    version: master
+  exploration/m-explore:
+    type: git
+    url: https://github.com/hrnr/m-explore.git
+    version: noetic-devel

smb_hw.repos

@@ -3,14 +3,10 @@ repositories:
     type: git
     url: https://github.com/ETHZ-RobotX/rslidar_sdk.git
     version: supermegabot
-  hardware/versavis:
+  hardware/smb_imu_interface:
     type: git
-    url: https://github.com/ethz-asl/versavis.git
-    version: feature/noetic_support
-  hardware/flir_camera_driver:
-    type: git
-    url: https://github.com/ethz-asl/flir_camera_driver.git
-    version: master
+    url: https://github.com/ETHZ-RobotX/smb_imu_interface.git
+    version: main
   hardware/realsense:
     type: git
     url: https://github.com/IntelRealSense/realsense-ros.git