Merge pull request #41 from ethz-asl/feature/jenkins

Feature/jenkins
ethz-asl · May 30, 2018 · 831abaa · 831abaa
2 parents b3b6647 + 401e37e
commit 831abaa
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diff --git a/README.md b/README.md
@@ -40,6 +40,10 @@ License
 -------
 The source code is released under a [BSD 3-Clause license](https://github.com/ethz-asl/ethz_piksi_ros/blob/master/LICENSE).
 
+Build Status
+-------
+[![Build Status](https://ci.leggedrobotics.com/buildStatus/icon?job=github_ethz-asl/ethz_piksi_ros/master)](https://ci.leggedrobotics.com/job/github_ethz-asl/job/ethz_piksi_ros/job/master/)
+
 Credits
 -------
 Marco Tranzatto, Kai Holtmann, Michael Pantic - ETHZ ASL & RSL - 30 November 2017

diff --git a/ethz_piksi_ros/package.xml b/ethz_piksi_ros/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>ethz_piksi_ros</name>
-  <version>1.5.0</version>
+  <version>1.6.0</version>
   <description>Meta-package for the ethz_piksi_ros repository.</description>
 
   <maintainer email="[email protected]">Marco Tranzatto</maintainer>

diff --git a/jenkins-pipeline b/jenkins-pipeline
@@ -0,0 +1,2 @@
+library 'continuous_integration_pipeline'
+ciPipeline("--ignore ethz_piksi_ros piksi_v2_rtk_ros rqt_gps_rtk_plugin utils")
diff --git a/piksi_multi_rtk_ros/CMakeLists.txt b/piksi_multi_rtk_ros/CMakeLists.txt
@@ -4,10 +4,11 @@ project(piksi_multi_rtk_ros)
 ## Find catkin macros and libraries
 find_package(catkin REQUIRED
   COMPONENTS
-    rospy
+    geometry_msgs
     piksi_rtk_msgs
     sensor_msgs
-    geometry_msgs
+    roslib
+    rospy
 )
 
 ###################################
@@ -23,8 +24,26 @@ catkin_package(
 #  INCLUDE_DIRS
 #  LIBRARIES
   CATKIN_DEPENDS
-    piksi_rtk_msgs
-    sensor_msgs
     geometry_msgs
+    sensor_msgs
+    piksi_rtk_msgs
+    roslib
+    rospy
 #  DEPENDS
 )
+
+## Uncomment this if the package has a setup.py. This macro ensures
+## modules and global scripts declared therein get installed
+## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
+catkin_python_setup()
+
+#############
+## Install ##
+#############
+ catkin_install_python(PROGRAMS bin/piksi_multi bin/geodetic_survey
+  DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
+
+install(DIRECTORY cfg launch log_surveys rosbag_record_scripts
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+)
diff --git a/piksi_multi_rtk_ros/bin/geodetic_survey b/piksi_multi_rtk_ros/bin/geodetic_survey
@@ -0,0 +1,6 @@
+#! /usr/bin/env python
+
+from  piksi_multi_rtk_ros import GeodeticSurvey
+
+if __name__ == '__main__':
+    geodetic_survey = GeodeticSurvey()
diff --git a/piksi_multi_rtk_ros/bin/piksi_multi b/piksi_multi_rtk_ros/bin/piksi_multi
@@ -0,0 +1,6 @@
+#! /usr/bin/env python
+
+from  piksi_multi_rtk_ros import PiksiMulti
+
+if __name__ == '__main__':
+    piksi_multi = PiksiMulti()
diff --git a/piksi_multi_rtk_ros/launch/geodetic_survey.launch b/piksi_multi_rtk_ros/launch/geodetic_survey.launch
@@ -14,7 +14,7 @@
   <include file="$(find piksi_multi_rtk_ros)/launch/piksi_multi_base_station.launch"/>
 
   <!-- Geodetic Survey. -->
-  <node pkg="piksi_multi_rtk_ros" type="geodetic_survey.py" name="geodetic_survey" output="screen">
+  <node pkg="piksi_multi_rtk_ros" type="geodetic_survey" name="geodetic_survey" output="screen">
     <param name="number_of_desired_fixes"             value="$(arg number_of_desired_fixes)"/>
     <param name="height_base_station_from_ground"     value="$(arg height_base_station_from_ground)"/>
   </node>

diff --git a/piksi_multi_rtk_ros/launch/piksi_multi_base_station.launch b/piksi_multi_rtk_ros/launch/piksi_multi_base_station.launch
@@ -13,7 +13,7 @@
   <arg name="broadcast_addr"              default="192.168.0.255"/>
 
   <!-- Piksi Multi ROS driver node: base station mode -->
-  <node pkg="piksi_multi_rtk_ros" type="piksi_multi.py" name="piksi_multi_base_station" output="screen" respawn="true">
+  <node pkg="piksi_multi_rtk_ros" type="piksi_multi" name="piksi_multi_base_station" output="screen" respawn="true">
     <!-- Load default settings -->
     <rosparam file="$(find piksi_multi_rtk_ros)/cfg/piksi_multi_driver_settings.yaml"/>
 

diff --git a/piksi_multi_rtk_ros/launch/piksi_multi_rover.launch b/piksi_multi_rtk_ros/launch/piksi_multi_rover.launch
@@ -16,7 +16,7 @@
   <arg name="enu_origin_file"             default="$(find piksi_multi_rtk_ros)/cfg/enu_origin_example.yaml"/>
 
   <!-- Piksi Multi ROS driver node: rover mode -->
-  <node pkg="piksi_multi_rtk_ros" type="piksi_multi.py" name="piksi" output="screen" respawn="true">
+  <node pkg="piksi_multi_rtk_ros" type="piksi_multi" name="piksi" output="screen" respawn="true">
     <!-- Load default settings -->
     <rosparam file="$(find piksi_multi_rtk_ros)/cfg/piksi_multi_driver_settings.yaml"/>
 

diff --git a/piksi_multi_rtk_ros/package.xml b/piksi_multi_rtk_ros/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>piksi_multi_rtk_ros</name>
-  <version>1.5.0</version>
+  <version>1.6.0</version>
   <description>
     ROS driver for Piksi Multi RTK GPS Receiver.
   </description>
@@ -15,9 +15,10 @@
 
   <buildtool_depend>catkin</buildtool_depend>
 
-  <depend>rospy</depend>
+  <depend>geometry_msgs</depend>
   <depend>piksi_rtk_msgs</depend>
   <depend>sensor_msgs</depend>
-  <depend>geometry_msgs</depend>
+  <depend>roslib</depend>
+  <depend>rospy</depend>
 
 </package>
diff --git a/piksi_multi_rtk_ros/setup.py b/piksi_multi_rtk_ros/setup.py
@@ -0,0 +1,12 @@
+## ! DO NOT MANUALLY INVOKE THIS setup.py, USE CATKIN INSTEAD
+
+from distutils.core import setup
+from catkin_pkg.python_setup import generate_distutils_setup
+
+# fetch values from package.xml
+setup_args = generate_distutils_setup(
+    packages=['piksi_multi_rtk_ros'],
+    scripts=['bin/geodetic_survey', 'bin/piksi_multi'],
+    package_dir={'': 'src'})
+
+setup(**setup_args)
diff --git a/piksi_multi_rtk_ros/src/UdpHelpers.py → ...ros/src/piksi_multi_rtk_ros/UdpHelpers.py b/piksi_multi_rtk_ros/src/UdpHelpers.py → ...ros/src/piksi_multi_rtk_ros/UdpHelpers.py
diff --git a/piksi_multi_rtk_ros/src/piksi_multi_rtk_ros/__init__.py b/piksi_multi_rtk_ros/src/piksi_multi_rtk_ros/__init__.py
@@ -0,0 +1,3 @@
+from piksi_multi import PiksiMulti
+from geodetic_survey import GeodeticSurvey
+
diff --git a/piksi_multi_rtk_ros/src/geodetic_survey.py → ...rc/piksi_multi_rtk_ros/geodetic_survey.py b/piksi_multi_rtk_ros/src/geodetic_survey.py → ...rc/piksi_multi_rtk_ros/geodetic_survey.py
@@ -6,6 +6,7 @@
 #
 
 import rospy
+import roslib.packages
 from piksi_rtk_msgs.srv import *
 import std_srvs.srv
 from sensor_msgs.msg import (NavSatFix, NavSatStatus)
@@ -14,11 +15,13 @@
 
 
 class GeodeticSurvey:
+    kRosPackageName = "piksi_multi_rtk_ros"
     kServiceTimeOutSeconds = 10.0
     kWaitBetweenReadReqAndResSeconds = 1.0
     kRelativeTolleranceGeodeticComparison = 1e-10
 
     def __init__(self):
+        rospy.init_node('geodetic_survey')
         rospy.loginfo(rospy.get_name() + " start")
 
         self.latitude_accumulator = 0.0
@@ -74,7 +77,7 @@ def navsatfix_callback(self, msg):
                 rospy.loginfo(
                     "Creating ENU frame on surveyed position and substructing specified height of base station.")
                 self.log_enu_origin_position(lat0, lon0, alt0)
-                rospy.signal_shutdown("Base station position set correctly.")
+                rospy.signal_shutdown("Base station position set correctly. Stop this node and launch base station node.")
             else:
                 rospy.logerr("Base station position not set correctly.")
                 rospy.signal_shutdown("Base station position not set correctly.")
@@ -188,22 +191,22 @@ def read_settings_from_piksi(self, section_setting, setting):
         return False, -1
 
     def log_surveyed_position(self, lat0, lon0, alt0):
-        # current path of geodetic_survey.py file
-        script_path = os.path.dirname(os.path.realpath(sys.argv[0]))
-        now = time.strftime("%Y_%m_%d_%H_%M_%S")
-        desired_path = "%s/../log_surveys/base_station_survey_%s.txt" % (script_path, now)
+        now = time.strftime("%Y-%m-%d-%H-%M-%S")
+        package_path = roslib.packages.get_pkg_dir(self.kRosPackageName)
+        desired_path = "%s/log_surveys/base_station_survey_%s.txt" % (package_path, now)
         file_obj = open(desired_path, 'w')
         file_obj.write("# File automatically generated on %s\n\n" % now)
         file_obj.write("latitude0_deg: %.10f\n" % lat0)
         file_obj.write("longitude0_deg: %.10f\n" % lon0)
         file_obj.write("altitude0: %.2f\n" % alt0)
         file_obj.close()
+        rospy.loginfo("Surveyed position saved in \'" + desired_path + "\'")
 
     def log_enu_origin_position(self, lat0, lon0, alt0):
         # current path of geodetic_survey.py file
-        script_path = os.path.dirname(os.path.realpath(sys.argv[0]))
-        now = time.strftime("%Y_%m_%d_%H_%M_%S")
-        desired_path = "%s/../log_surveys/enu_origin_%s.txt" % (script_path, now)
+        now = time.strftime("%Y-%m-%d-%H-%M-%S")
+        package_path = roslib.packages.get_pkg_dir(self.kRosPackageName)
+        desired_path = "%s/log_surveys/enu_origin_%s.txt" % (package_path, now)
         file_obj = open(desired_path, 'w')
         file_obj.write("# File automatically generated on %s\n" % now)
         file_obj.write(
@@ -212,18 +215,8 @@ def log_enu_origin_position(self, lat0, lon0, alt0):
         file_obj.write("longitude0_deg: %.10f\n" % lon0)
         file_obj.write("altitude0: %.2f\n" % (alt0 - self.height_base_station_from_ground))
         file_obj.close()
+        rospy.loginfo("ENU origin saved in \'" + desired_path + "\'")
 
     # https://www.python.org/dev/peps/pep-0485/#proposed-implementation
     def is_close(self, a, b, rel_tol=1e-09, abs_tol=0.0):
         return abs(a - b) <= max(rel_tol * max(abs(a), abs(b)), abs_tol)
-
-
-# Main function.
-if __name__ == '__main__':
-    rospy.init_node('geodetic_survey')
-
-    # Go to class functions that do all the heavy lifting. Do error checking.
-    try:
-        geodetic_survey = GeodeticSurvey()
-    except rospy.ROSInterruptException:
-        pass
diff --git a/piksi_multi_rtk_ros/src/piksi_multi.py → ...os/src/piksi_multi_rtk_ros/piksi_multi.py b/piksi_multi_rtk_ros/src/piksi_multi.py → ...os/src/piksi_multi_rtk_ros/piksi_multi.py
@@ -63,6 +63,7 @@ class PiksiMulti:
     def __init__(self):
 
         # Print info.
+        rospy.init_node('piksi')
         rospy.sleep(0.5)  # Wait for a while for init to complete before printing.
         rospy.loginfo(rospy.get_name() + " start")
 
@@ -1124,14 +1125,3 @@ def clear_last_setting_read(self):
         self.last_section_setting_read = []
         self.last_setting_read = []
         self.last_value_read = []
-
-
-# Main function.
-if __name__ == '__main__':
-    rospy.init_node('piksi')
-
-    # Go to class functions that do all the heavy lifting. Do error checking.
-    try:
-        piksi_multi = PiksiMulti()
-    except rospy.ROSInterruptException:
-        pass
diff --git a/piksi_rtk_kml/.gitignore b/piksi_rtk_kml/.gitignore
@@ -0,0 +1,2 @@
+# KML files
+kml/*
diff --git a/piksi_rtk_kml/CMakeLists.txt b/piksi_rtk_kml/CMakeLists.txt
@@ -4,9 +4,10 @@ project(piksi_rtk_kml)
 ## Find catkin macros and libraries
 find_package(catkin REQUIRED
   COMPONENTS
-    rospy
-    piksi_rtk_msgs
     geometry_msgs
+    piksi_rtk_msgs
+    roslib
+    rospy
 )
 
 ###################################
@@ -22,7 +23,25 @@ catkin_package(
 #  INCLUDE_DIRS
 #  LIBRARIES
   CATKIN_DEPENDS
-    piksi_rtk_msgs
     geometry_msgs
+    piksi_rtk_msgs
+    roslib
+    rospy
 #  DEPENDS
 )
+
+## Uncomment this if the package has a setup.py. This macro ensures
+## modules and global scripts declared therein get installed
+## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
+catkin_python_setup()
+
+#############
+## Install ##
+#############
+ catkin_install_python(PROGRAMS bin/piksi_rtk_kml
+  DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
+
+install(DIRECTORY cfg launch kml
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+)
diff --git a/piksi_rtk_kml/bin/piksi_rtk_kml b/piksi_rtk_kml/bin/piksi_rtk_kml
@@ -0,0 +1,7 @@
+#! /usr/bin/env python
+
+from  piksi_rtk_kml import PiksiRtkKml
+
+# Main function.
+if __name__ == '__main__':
+    piksi_rtk_kml = PiksiRtkKml()
diff --git a/piksi_rtk_kml/launch/piksi_rtk_kml.launch b/piksi_rtk_kml/launch/piksi_rtk_kml.launch
@@ -2,11 +2,13 @@
 
 <launch>
 
-  <node pkg="piksi_rtk_kml" type="piksi_rtk_kml.py" name="piksi_rtk_kml" output="screen">
+  <!-- Node to convert Piksi ROS driver output to KML format -->
+  <node pkg="piksi_rtk_kml" type="piksi_rtk_kml" name="piksi_rtk_kml" output="screen">
     <!-- Load default settings -->
     <rosparam file="$(find piksi_rtk_kml)/cfg/piksi_rtk_kml_settings.yaml"/>
   </node>
 
-  <node pkg="piksi_multi_rtk_gps" type="piksi_multi.py" name="piksi" output="screen"/>
+  <!-- ROS node to read Piksi Multi output -->
+  <node pkg="piksi_multi_rtk_ros" type="piksi_multi" name="piksi" output="screen"/>
 
 </launch>
diff --git a/piksi_rtk_kml/package.xml b/piksi_rtk_kml/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>piksi_rtk_kml</name>
-  <version>1.5.0</version>
+  <version>1.6.0</version>
   <description>
     ROS node to write KML file from Piksi messages.
   </description>
@@ -13,8 +13,9 @@
 
   <buildtool_depend>catkin</buildtool_depend>
 
-  <depend>rospy</depend>
-  <depend>piksi_rtk_msgs</depend>
   <depend>geometry_msgs</depend>
+  <depend>piksi_rtk_msgs</depend>
+  <depend>roslib</depend>
+  <depend>rospy</depend>
 
 </package>
diff --git a/piksi_rtk_kml/setup.py b/piksi_rtk_kml/setup.py
@@ -0,0 +1,12 @@
+## ! DO NOT MANUALLY INVOKE THIS setup.py, USE CATKIN INSTEAD
+
+from distutils.core import setup
+from catkin_pkg.python_setup import generate_distutils_setup
+
+# fetch values from package.xml
+setup_args = generate_distutils_setup(
+    packages=['piksi_rtk_kml'],
+    scripts=['bin/piksi_rtk_kml'],
+    package_dir={'': 'src'})
+
+setup(**setup_args)
diff --git a/piksi_rtk_kml/src/piksi_rtk_kml/__init__.py b/piksi_rtk_kml/src/piksi_rtk_kml/__init__.py
@@ -0,0 +1 @@
+from piksi_rtk_kml import PiksiRtkKml