Init commit

install.sh

@@ -0,0 +1,85 @@
+#! /bin/bash
+
+echo -e "Robotic Park install\n"
+echo -e "Checking and installing dependencies to build ..."
+
+cd ../..
+source install/setup.bash
+
+cd src
+
+echo -e "\nCrazyflie package:"
+
+var0="$(ros2 pkg prefix uned_crazyflie_config)"
+
+if [ -z "$var0" ]; then
+    echo -e "\tInstalling ..."
+    git clone -b humble-dev https://github.com/Robotic-Park-Lab/uned_crazyflie_ros_pkg.git
+else
+    echo -e "\tInstalled."
+fi
+
+echo -e "\nVicon package:"
+
+var0="$(ros2 pkg prefix vicon_receiver)"
+
+if [ -z "$var0" ]; then
+    echo -e "\tInstalling ..."
+    git clone -b main https://github.com/Robotic-Park-Lab/ros2-vicon-receiver.git
+else
+    echo -e "\tInstalled."
+fi
+
+echo -e "\nSwarm package:"
+
+var0="$(ros2 pkg prefix uned_swarm_config)"
+
+if [ -z "$var0" ]; then
+    echo -e "\tInstalling ..."
+    git clone -b humble-dev https://github.com/Robotic-Park-Lab/uned_swarm_ros_pkg.git
+else
+    echo -e "\tInstalled."
+fi
+
+echo -e "\nKhepera IV package:"
+
+var0="$(ros2 pkg prefix uned_kheperaiv_config)"
+
+if [ -z "$var0" ]; then
+    echo -e "\tInstalling ..."
+    git clone -b humble-dev https://github.com/Robotic-Park-Lab/uned_kheperaIV_ros_pkg.git
+else
+    echo -e "\tInstalled."
+fi
+
+cd 
+echo -e "\nCrazyflie-lib-python:"
+dirname='Code'
+
+if [ -d "$dirname" ]; then
+    cd Code
+    dirname='crazyflie-lib-python'
+    if [ -d "$dirname" ]; then
+        echo -e "\tInstalled."
+    else
+        git clone https://github.com/Robotic-Park-Lab/crazyflie-lib-python.git
+        cd crazyflie-lib-python
+        pip install -e .
+        cd
+    fi
+else
+    mkdir Code
+    cd Code
+    git clone https://github.com/Robotic-Park-Lab/crazyflie-lib-python.git
+    cd crazyflie-lib-python
+    pip install -e .
+    cd
+fi
+
+cd ~/roboticpark_ws/
+rosdep update
+rosdep install --from-paths src -y --ignore-src
+# colcon build --symlink-install
+source install/setup.bash
+cd ~/roboticpark_ws/src/RoboticPark
+

mars_supervisor_pkg/mars_supervisor_pkg/supervisor_node.py

@@ -0,0 +1,6 @@
+def main():
+    print('Hi from mars_supervisor_pkg.')
+
+
+if __name__ == '__main__':
+    main()

mars_supervisor_pkg/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>mars_supervisor_pkg</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="[email protected]">kiko</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>

mars_supervisor_pkg/setup.cfg

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

mars_supervisor_pkg/setup.py

@@ -0,0 +1,26 @@
+from setuptools import find_packages, setup
+
+package_name = 'mars_supervisor_pkg'
+
+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='kiko',
+    maintainer_email='[email protected]',
+    description='TODO: Package description',
+    license='TODO: License declaration',
+    tests_require=['pytest'],
+    entry_points={
+        'console_scripts': [
+            'supervisor_node = mars_supervisor_pkg.supervisor_node:main'
+        ],
+    },
+)

mars_supervisor_pkg/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'

mars_supervisor_pkg/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)

mars_supervisor_pkg/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'

measure_process_ros2_pkg/measure_process_ros2_pkg/measure_process.py

@@ -0,0 +1,100 @@
+import rclpy
+from rclpy.node import Node
+from std_msgs.msg import String, Float64, Float64MultiArray
+import psutil
+import numpy as np
+
+class Process():
+    def __init__(self, parent, id, topic):
+        self.id = id
+        self.value = 0.0
+        self.node = parent
+        self.node.get_logger().warn('Init %s' % (self.id))
+        self.pub_process_measure_ = self.node.create_publisher(Float64, topic.replace("-","_"), 10)
+
+class MeasureProcess(Node):
+    def __init__(self):
+        super().__init__('measure_process')
+        # Params
+        self.declare_parameter('process_name', 'gzserver')
+        self.declare_parameter('process_period', 0.5)
+
+        # Subscription
+        self.status_ = self.create_subscription(String, 'status', self.status_callback, 10)
+
+        # Publisher
+        self.pub_cpu_measure_ = self.create_publisher(Float64MultiArray, 'cpu_stats', 10)
+
+        # Variables
+        self.value = 0.0
+
+        #
+        self.initialize()
+
+    def initialize(self):
+        self.get_logger().info('Measure Process::inicialize() ok.')
+        # Read Params
+        self.process_name = self.get_parameter('process_name').get_parameter_value().string_value
+        self.proc_list = self.process_name.split(', ')
+        print(self.proc_list)
+        self.process_list = list()
+        for process in self.proc_list:
+            proc = Process(self, process, process+'_cpu')
+            self.process_list.append(proc)
+        process_period = self.get_parameter('process_period').get_parameter_value().double_value
+
+        self.timer = self.create_timer(process_period, self.iterate)
+
+    def status_callback(self, msg):
+        self.get_logger().info('Status: "%s"' % msg.data)
+
+    def do_measure(self):
+        data_list = list()
+        cpu_count = psutil.cpu_count()
+        data_list.append(float(cpu_count))
+        data_list.append(psutil.cpu_percent(interval=None))
+        mem = psutil.virtual_memory()
+        data_list.append(mem.percent)
+        load_tuple = psutil.getloadavg()
+        for load in load_tuple:
+            percent = (load / cpu_count) * 100
+            data_list.append(percent)
+
+        msg = Float64MultiArray()
+        msg.data = data_list
+        self.pub_cpu_measure_.publish(msg)
+        pi = psutil.process_iter()
+
+        # print(psutil.cpu_percent(percpu=True))
+
+        for proc in pi:
+            if not proc.name() in self.proc_list:
+                continue
+
+            value =  proc.cpu_percent()
+            for process in self.process_list:
+                if proc.name() == process.id:
+                    process.value += value
+
+        msg = Float64()
+        for process in self.process_list: 
+            msg.data = process.value
+            process.pub_process_measure_.publish(msg)
+            self.get_logger().debug('Process %s = %f' % (process.id, msg.data))
+            process.value = 0.0
+
+
+    def iterate(self):
+        self.do_measure()
+
+def main(args=None):
+    rclpy.init(args=args)
+    measure_process_node = MeasureProcess()
+    rclpy.spin(measure_process_node)
+
+    measure_process_node.destroy_node()
+    rclpy.shutdown()
+
+
+if __name__ == '__main__':
+    main()

measure_process_ros2_pkg/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>measure_process_ros2_pkg</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="[email protected]">kiko</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>

measure_process_ros2_pkg/setup.cfg

@@ -0,0 +1,4 @@
+[develop]
+script_dir=$base/lib/measure_process_ros2_pkg
+[install]
+install_scripts=$base/lib/measure_process_ros2_pkg

measure_process_ros2_pkg/setup.py

@@ -0,0 +1,26 @@
+from setuptools import setup
+
+package_name = 'measure_process_ros2_pkg'
+
+setup(
+    name=package_name,
+    version='0.0.0',
+    packages=[package_name],
+    data_files=[
+        ('share/ament_index/resource_index/packages',
+            ['resource/' + package_name]),
+        ('share/' + package_name, ['package.xml']),
+    ],
+    install_requires=['setuptools'],
+    zip_safe=True,
+    maintainer='kiko',
+    maintainer_email='[email protected]',
+    description='TODO: Package description',
+    license='TODO: License declaration',
+    tests_require=['pytest'],
+    entry_points={
+        'console_scripts': [
+            'measure_process = measure_process_ros2_pkg.measure_process:main'
+        ],
+    },
+)

measure_process_ros2_pkg/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'