merge overnight changes

.gitignore

@@ -119,4 +119,10 @@ dependencies/gitman.log
 
 # Ignore venv
 .venv/
-venv/
+venv/
+
+detections
+rosbags/*
+src/detection/object_detection/models/*
+frames_*.gv
+frames_*.pdf

gitman.yml

@@ -59,7 +59,7 @@ sources:
       - source: .
         target: src/estimation/holistic_fusion
   - name: smb_bringup
-    repo: https://github.com/ETHZ-RobotX/smb_bringup.git
+    repo: https://github.com/acpoll/smb_bringup.git
     rev: main
     type: git
     links:
@@ -72,6 +72,13 @@ sources:
     links:
       - source: .
         target: src/utils/smb_power_status
+  - name: ros2_utils
+    repo: https://github.com/acpoll/ros2_utils.git
+    rev: main
+    type: git
+    links:
+      - source: .
+        target: src/utils/ros2_utils
   - name: smb_low_level_controller_ros2
     repo: https://github.com/ETHZ-RobotX/smb_lowlevel_controller_ros2.git
     rev: main
@@ -89,7 +96,7 @@ sources:
       - source: .
         target: src/planning/far_planner
   - name: tare_planner
-    repo: https://github.com/ETHZ-RobotX/tare_planner.git
+    repo: https://github.com/acpoll/tare_planner.git
     rev: main
     type: git
     links:
@@ -147,9 +154,16 @@ sources:
       - source: .
         target: src/visualization/joy_panel_cpp
   - name: smb_object_detection
-    repo: https://github.com/ETHZ-RobotX/smb_object_detection_ros2.git
+    repo: https://github.com/moskitoo/smb_object_detection_ros2.git
+    rev: docker_working
+    type: git
+    links:
+      - source: .
+        target: src/perception/smb_object_detection
+  - name: smb_autonomous
+    repo: https://github.com/acpoll/smb_autonomous.git
     rev: main
     type: git
     links:
       - source: .
-        target: src/perception/smb_object_detection
+        target: src/smb_autonomous

src/planning/simple_planner/package.xml

@@ -0,0 +1,18 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>simple_planner</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="[email protected]">anton</maintainer>
+  <license>TODO: License declaration</license>
+
+  <test_depend>ament_copyright</test_depend>
+  <test_depend>ament_flake8</test_depend>
+  <test_depend>ament_pep257</test_depend>
+  <test_depend>python3-pytest</test_depend>
+
+  <export>
+    <build_type>ament_python</build_type>
+  </export>
+</package>

src/planning/simple_planner/setup.cfg

@@ -0,0 +1,4 @@
+[develop]
+script_dir=$base/lib/simple_planner
+[install]
+install_scripts=$base/lib/simple_planner

src/planning/simple_planner/setup.py

@@ -0,0 +1,26 @@
+from setuptools import find_packages, setup
+
+package_name = 'simple_planner'
+
+setup(
+    name=package_name,
+    version='0.0.0',
+    packages=find_packages(exclude=['test']),
+    data_files=[
+        ('share/ament_index/resource_index/packages',
+            ['resource/' + package_name]),
+        ('share/' + package_name, ['package.xml']),
+    ],
+    install_requires=['setuptools'],
+    zip_safe=True,
+    maintainer='anton',
+    maintainer_email='[email protected]',
+    description='TODO: Package description',
+    license='TODO: License declaration',
+    tests_require=['pytest'],
+    entry_points={
+        'console_scripts': [
+            'simple_planner = simple_planner.simple_planner:main'
+        ],
+    },
+)

src/planning/simple_planner/simple_planner/simple_planner.py

@@ -0,0 +1,45 @@
+import rclpy
+from rclpy.node import Node
+from geometry_msgs.msg import PointStamped
+
+
+class SimplePlanner(Node):
+    def __init__(self):
+        super().__init__('simple_planner')
+
+        # Create publisher for PointStamped messages
+        self.publisher_ = self.create_publisher(PointStamped, '/way_point', 10)
+
+        # Create timer to publish at 1 Hz
+        # self.timer = self.create_timer(1.0, self.publish_waypoint)
+        self.get_logger().info('Simple planner node started, publishing to /way_point')
+        self.publish_waypoint()
+
+
+    def publish_waypoint(self):
+        msg = PointStamped()
+        msg.header.stamp = self.get_clock().now().to_msg()
+        msg.header.frame_id = 'map'  # or 'base_link' depending on your needs
+
+        # Hardcoded waypoint coordinates
+        msg.point.x = 2.0
+        msg.point.y = 0.0
+        msg.point.z = 0.0
+        msg.point
+        self.publisher_.publish(msg)
+        self.publisher_.publish(msg)
+
+def main(args=None):
+    rclpy.init(args=args)
+    simple_planner = SimplePlanner()
+
+    try:
+        rclpy.spin(simple_planner)
+    except KeyboardInterrupt:
+        pass
+    finally:
+        simple_planner.destroy_node()
+        rclpy.shutdown()
+
+if __name__ == '__main__':
+    SimplePlanner.main()

src/planning/simple_planner/test/test_copyright.py

@@ -0,0 +1,25 @@
+# Copyright 2015 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_copyright.main import main
+import pytest
+
+
+# Remove the `skip` decorator once the source file(s) have a copyright header
+@pytest.mark.skip(reason='No copyright header has been placed in the generated source file.')
+@pytest.mark.copyright
+@pytest.mark.linter
+def test_copyright():
+    rc = main(argv=['.', 'test'])
+    assert rc == 0, 'Found errors'

src/planning/simple_planner/test/test_flake8.py

@@ -0,0 +1,25 @@
+# Copyright 2017 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_flake8.main import main_with_errors
+import pytest
+
+
+@pytest.mark.flake8
+@pytest.mark.linter
+def test_flake8():
+    rc, errors = main_with_errors(argv=[])
+    assert rc == 0, \
+        'Found %d code style errors / warnings:\n' % len(errors) + \
+        '\n'.join(errors)

src/planning/simple_planner/test/test_pep257.py

@@ -0,0 +1,23 @@
+# Copyright 2015 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_pep257.main import main
+import pytest
+
+
+@pytest.mark.linter
+@pytest.mark.pep257
+def test_pep257():
+    rc = main(argv=['.', 'test'])
+    assert rc == 0, 'Found code style errors / warnings'