Merge develop into ROS2 (#697)

* Documentation update (#668) * docker docs update * make build instructions ROS1 * updating install instructions, hopefully making them easier to follow * updated from github PR reviews * fix typo * replace list with append (#671) * ci: bump to checkout@v3 (#673) * Unlatching topics (#674) * Changed heartbeat topic to be unlatched. * Changed echoed command to not latching. * no subscribers and info is obtained by service, so no latched topic needed * removing latched on frequently published topics * Made command topic to not atching. * no need for these to be latched * sub and pub in same node, no need to latch * no need to be latched no subs and not recorded, rviz should be opened when published * Made ground bridge topics not latched. * Fixed heartbeat topic latched comment. --------- Co-authored-by: Katie Browne <[email protected]> * support multiple versions for docs (#675) * Make coverage_analyzer.py support Python 3 (#680) Refactor to simplify and make output identical between Python 2 and 3 * Release 0.17.0 (#683) * add missing glog flag that caused problems in some systems (#685) * Make isort repeatable (#694) * make isort repeatable * isort now consistently groups astrobee imports as first party; one-time update to apply to old files * moving ff_names to ff_common, updating headers (#696) --------- Co-authored-by: Trey Smith <[email protected]> Co-authored-by: Katie Browne <[email protected]>
nasa · Mar 9, 2023 · d10e14f · d10e14f
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diff --git a/.github/workflows/ci_pr.yml b/.github/workflows/ci_pr.yml
@@ -12,7 +12,7 @@ jobs:
     runs-on: ubuntu-20.04
 
     steps:
-    - uses: actions/checkout@v2
+    - uses: actions/checkout@v3
       with:
         fetch-depth: 0
 
@@ -28,7 +28,7 @@ jobs:
     runs-on: ubuntu-20.04
 
     steps:
-    - uses: actions/checkout@v2
+    - uses: actions/checkout@v3
       with:
         fetch-depth: 0
 
@@ -44,7 +44,7 @@ jobs:
     runs-on: ubuntu-20.04
 
     steps:
-    - uses: actions/checkout@v2
+    - uses: actions/checkout@v3
       with:
         fetch-depth: 0
 

diff --git a/.github/workflows/ci_push.yml b/.github/workflows/ci_push.yml
@@ -11,7 +11,7 @@ jobs:
     runs-on: ubuntu-20.04
 
     steps:
-    - uses: actions/checkout@v2
+    - uses: actions/checkout@v3
 
     - name: Checkout submodule
       run: git submodule update --init --depth 1 description/media
@@ -29,7 +29,7 @@ jobs:
     runs-on: ubuntu-20.04
 
     steps:
-    - uses: actions/checkout@v2
+    - uses: actions/checkout@v3
 
     - name: Checkout submodule
       run: git submodule update --init --depth 1 description/media
@@ -47,7 +47,7 @@ jobs:
     runs-on: ubuntu-20.04
 
     steps:
-    - uses: actions/checkout@v2
+    - uses: actions/checkout@v3
 
     - name: Checkout submodule
       run: git submodule update --init --depth 1 description/media

diff --git a/.github/workflows/ci_release.yml b/.github/workflows/ci_release.yml
@@ -11,7 +11,7 @@ jobs:
     runs-on: ubuntu-20.04
 
     steps:
-    - uses: actions/checkout@v2
+    - uses: actions/checkout@v3
 
     - name: Checkout submodule
       run: git submodule update --init --depth 1 description/media
@@ -36,7 +36,7 @@ jobs:
     runs-on: ubuntu-20.04
 
     steps:
-    - uses: actions/checkout@v2
+    - uses: actions/checkout@v3
 
     - name: Checkout submodule
       run: git submodule update --init --depth 1 description/media
@@ -61,7 +61,7 @@ jobs:
     runs-on: ubuntu-20.04
 
     steps:
-    - uses: actions/checkout@v2
+    - uses: actions/checkout@v3
 
     - name: Checkout submodule
       run: git submodule update --init --depth 1 description/media

diff --git a/.github/workflows/docker_push_latest_base.yml b/.github/workflows/docker_push_latest_base.yml
@@ -13,7 +13,7 @@ jobs:
     runs-on: ubuntu-20.04
 
     steps:
-    - uses: actions/checkout@v2
+    - uses: actions/checkout@v3
 
     - name: Checkout submodule
       run: git submodule update --init --depth 1 description/media
@@ -31,7 +31,7 @@ jobs:
     runs-on: ubuntu-20.04
 
     steps:
-    - uses: actions/checkout@v2
+    - uses: actions/checkout@v3
 
     - name: Checkout submodule
       run: git submodule update --init --depth 1 description/media
@@ -49,7 +49,7 @@ jobs:
     runs-on: ubuntu-20.04
 
     steps:
-    - uses: actions/checkout@v2
+    - uses: actions/checkout@v3
 
     - name: Checkout submodule
       run: git submodule update --init --depth 1 description/media

diff --git a/.github/workflows/docs.yaml b/.github/workflows/docs.yaml
@@ -4,7 +4,7 @@ name: Build and Push Documentation to gh-pages Branch
 
 on:
   push:
-    branches: ['develop']
+    branches: ['develop', 'master', 'ros2']
   workflow_dispatch:
 
 jobs:
@@ -13,34 +13,84 @@ jobs:
 
     steps:
     - name: Checkout
-      uses: actions/checkout@v2
+      uses: actions/checkout@v3
       with:
         path: repo/
-    - name: Checkout gh-pages
-      uses: actions/checkout@v2
-      with:
-        path: docs/
-        ref: gh-pages
+
     - name: Build docker image with dependencies + build docs
       run: docker build repo -f repo/scripts/docker/documentation.Dockerfile
                                  -t astrobee:documentation
 
-    - name: Replace old documentation with new
+    - name: Checkout gh-pages
+      uses: actions/checkout@v3
+      with:
+        path: gh-pages/
+        ref: gh-pages
+
+    - name: Create/replace documentation for the current branch
       run: |
-        (cd docs && git rm -r "*")
-        cp repo/doc/documentation.html docs/index.html
-        cp repo/doc/documentation.html docs/documentation.html
-        cp repo/doc/README.md docs/README.md
-        docker cp $(docker create --rm astrobee:documentation):/repo/doc/html docs/html
+        set -x
+        export BRANCH=$(cd repo && git branch --show-current)
+
+        # Make gh-pages checkout an orphan commit so we don't keep useless history.
+        (cd gh-pages && git checkout --orphan fresh)
+
+        # Install generated docs to a version folder based on branch name.
+        (cd gh-pages && git rm -rf --ignore-unmatch "v/$BRANCH")
+        mkdir -p gh-pages/v/
+        docker cp $(docker create --rm astrobee:documentation):/repo/doc/html "gh-pages/v/$BRANCH"
+        (cd gh-pages && git add --all "v/$BRANCH")
+
+        if [ "$BRANCH" == "develop" ]; then
+          # Update the few files at root level (mostly redirects)
+          (cd gh-pages && git rm -f --ignore-unmatch index.html documentation.html README.md 404.html .nojekyll)
+          cp repo/doc/documentation.html gh-pages/index.html
+          cp repo/doc/documentation.html gh-pages/documentation.html
+          cp repo/doc/README.md gh-pages/
+          cp repo/doc/404.html gh-pages/
+          touch gh-pages/.nojekyll
+          cp repo/doc/style/doc_version_select.js gh-pages/
+          (cd gh-pages && git add index.html documentation.html README.md 404.html .nojekyll doc_version_select.js)
+
+          # Set up HTML redirect to generated docs in the legacy path to
+          # avoid broken URL references
+          (cd gh-pages && git rm -rf --ignore-unmatch html)
+          python repo/doc/scripts/copy_html_link.py -v gh-pages/v/develop gh-pages/html
+          (cd gh-pages && git add --all html)
+        fi
+
+        # If the commit is tagged, copy generated docs to a version
+        # folder based on the tag. Copy rather than symlink so the tag
+        # folder will remain valid later when the branch folder is
+        # updated. Note: If you want to manually remove an obsolete docs
+        # version, use git to check out the gh-pages branch, remove the
+        # relevant folder, and push back to origin. Also, this action
+        # only triggers when the branch is pushed, and it detects only
+        # the tags that are present at that time. So you should either
+        # (1) push the branch and its tag in the same push call
+        # (easiest), or (2) manually trigger the CI workflow to run on
+        # the relevant branch again, after it has been tagged.
+        (cd repo && git fetch origin --tags)
+        for tag in $(cd repo && git tag --points-at HEAD | xargs echo); do
+          (cd gh-pages && git rm -rf --ignore-unmatch "v/$tag")
+          cp -r "gh-pages/v/$BRANCH" "gh-pages/v/$tag"
+          (cd gh-pages && git add --all "v/$tag")
+        done
+
+        # Auto-detect which docs versions are available. The script here
+        # has additional logic to ensure that develop, master, and ros2
+        # are at the beginning of the list if they are present.
+        all_versions=$(ls "gh-pages/v/" | sort | perl -e '@dirs = <STDIN>; chomp @dirs; %dirs_hash = map { $_ => 1 } @dirs; @head = grep { exists($dirs_hash{$_}) } ("develop", "master", "ros2"); %head_hash = map { $_ => 1 } @head; @tail = grep { !exists($head_hash{$_}) } @dirs; @versions = (@head, @tail); print "var allVersions = [\"", join("\", \"",@versions), "\"];\n";')
+        # Replace versions line specified in doc_version_select.js.
+        perl -i -ple "\$_ = '$all_versions' if /^var allVersions/;" gh-pages/doc_version_select.js
+        (cd gh-pages && git add doc_version_select.js)
 
     - name: Commit and Push
       run: |
-        cd docs
-        git add index.html documentation.html README.md
-        git add --all html/
-        EMAIL=`git show -s --format='%ae' HEAD`
-        NAME=`git show -s --format='%an' HEAD`
+        cd gh-pages
+        EMAIL=`git show -s --format='%ae' gh-pages`
+        NAME=`git show -s --format='%an' gh-pages`
         git config user.email "$EMAIL"
         git config user.name "$NAME"
         { git commit -m "Automatic update for $GITHUB_SHA." || true; }
-        git push origin gh-pages
+        git push -f origin HEAD:gh-pages
diff --git a/.github/workflows/lint.yaml b/.github/workflows/lint.yaml
@@ -9,15 +9,15 @@ jobs:
     runs-on: ubuntu-latest
 
     steps:
-    - uses: actions/checkout@v2
+    - uses: actions/checkout@v3
     - name: Check repo for lint errors
       run: ./scripts/git/cpplint_repo.py .
 
   lint_check_python:
     runs-on: ubuntu-latest
 
     steps:
-    - uses: actions/checkout@v2
+    - uses: actions/checkout@v3
     - name: Install linters
       run: |
         pip install click==8.0.1 black==22.1.0 isort==5.10.1

diff --git a/.isort.cfg b/.isort.cfg
@@ -0,0 +1,18 @@
+[settings]
+
+# The src_paths setting should be a comma-separated list of all the
+# folders in the astrobee repo that contain *.py files. Python files
+# found in these folders count as "first party" so they should be in a
+# separate group from the "third party" imports. If src_paths is not
+# specified, isort will treat only the files it's asked to check as
+# first party. Therefore, if we specify src_paths broadly in this way,
+# isort behavior should be more repeatable between (1) manually
+# running isort on a single file in your local dev machine, vs. (2)
+# running the git pre-commit hook locally on your dev machine, which
+# historically ran isort only on the files that changed since the last
+# commit, or (3) running the CI workflow, which always runs isort on
+# all files. If src_paths needs to be updated, like if *.py files are
+# added to a new folder, you can auto-update it by running
+# scripts/git/configure_isort_paths.sh.
+
+src_paths = doc/scripts,hardware/eps_driver/tools,hardware/pico_driver/scripts,hardware/pmc_actuator/tools,localization/localization_common,localization/localization_common/scripts/localization_common,localization/marker_tracking/tools/marker_tracking_node,localization/sparse_mapping/scripts,localization/sparse_mapping/tools,scripts/build,scripts/calibrate,scripts/debug,scripts/git,scripts/postprocessing/coverage_analysis,tools/bag_processing/scripts,tools/bag_processing/scripts/utilities,tools/bag_processing/test,tools/calibration/scripts,tools/gds_helper/src,tools/gnc_visualizer/dds,tools/gnc_visualizer/scripts,tools/gnc_visualizer/scripts/communications,tools/localization_analysis/scripts,tools/performance_tester/scripts
diff --git a/INSTALL.md b/INSTALL.md
@@ -4,17 +4,31 @@
 
 Ubuntu 20.04 is the preferred host OS for most Astrobee developers to use.
 
-Here are the available host OS options with development roadmap details:
-- Ubuntu 20.04: This is the preferred host OS for most Astrobee developers to use. The Astrobee Facility team is currently preparing to upgrade the robots on ISS from Ubuntu 16.04 to Ubuntu 20.04, but we aren't yet ready to announce a deployment date for that upgrade.
-- Ubuntu 18.04: We are not aware of any current robot users that still need Ubuntu 18.04 support, and expect to discontinue support in the near future. New users should not select this host OS.
-- Ubuntu 16.04: The Astrobee robot hardware on ISS currently runs Ubuntu 16.04. Only developers with NASA internal access can cross-compile software to run on the robot, and must use 16.04 for that. Most developers shouldn't need to work with 16.04, especially when just getting started. Support will eventually be discontinued after the robot hardware on ISS is upgraded to Ubuntu 20.04.
+Here are the available host OS options with development roadmap details (use 64-bit PC (AMD64) desktop image):
+- [Ubuntu 20.04](http://releases.ubuntu.com/20.04): This is the preferred host OS for most Astrobee developers to use. The Astrobee Facility team is currently preparing to upgrade the robots on ISS from Ubuntu 16.04 to Ubuntu 20.04, but we aren't yet ready to announce a deployment date for that upgrade.
+- [Ubuntu 18.04](http://releases.ubuntu.com/18.04): We are not aware of any current robot users that still need Ubuntu 18.04 support, and expect to discontinue support in the near future. New users should not select this host OS.
+- [Ubuntu 16.04](http://releases.ubuntu.com/16.04): The Astrobee robot hardware on ISS currently runs Ubuntu 16.04. Only developers with NASA internal access can cross-compile software to run on the robot, and must use 16.04 for that. Most developers shouldn't need to work with 16.04, especially when just getting started. Support will eventually be discontinued after the robot hardware on ISS is upgraded to Ubuntu 20.04.
+(Ubuntu 22.04 not supported)
 
 Graphical interfaces will perform best if your host OS is running natively (not in a virtual machine).
 
 Your host OS must have an X11 server installed if you want to use graphical applications, even if you are developing inside a Docker container (the X11 application running inside the container will forward its interface to the host's X11 server). X11 comes with Ubuntu Desktop by default.
 
 If you plan to develop inside Docker, see [this page on using ROS with Docker](http://wiki.ros.org/docker/Tutorials#Tooling_with_Docker) for more details.
 
+For users installing Astrobee on a Virtual Machine with the intent on running simulations:
+VMWare and VirtualBox have been both tested to work well; Allocate an appropriate amount of RAM, number
+of processors and video memory given your total computer capabilities; If graphics acceleration is
+available on the settings, turn it on.
+For reference (not required), an example of a setup capable of running the
+simulation smoothly has 8GB RAM, 4 Processors and 128MB Video memory.
+
+*Note: You will need 4 GBs of RAM to compile the software. If you don't have
+that much RAM available, please use swap space.*
+
+*Note: Please ensure you install the 64-bit PC (AMD64) version of Ubuntu (desktop for simulation and
+development). We do not support running Astrobee Robot Software on 32-bit systems.*
+
 ## Option 1: Install inside a Docker container
 
 1. Make sure you have Docker installed in your system by following:
@@ -39,7 +53,7 @@ There is also experimental support for using the Visual Studio Code Dev Containe
 
 For much more discussion, see: \subpage install-docker.
 
-## Option 2: Install in your native OS
+## Option 2: Install in your native OS / Virtual Machine
 
 The native installation instructions below walk you through manually running the same steps that are fully automated in a Docker installation.
 

diff --git a/RELEASE.md b/RELEASE.md
@@ -1,5 +1,10 @@
 # Releases
 
+# Release 0.17.0
+
+  * Full compatibility and debians built for Ubuntu 20
+  * Deleted all simulink autocode for ctl and fam
+
 ## Release 0.16.7
 
   * Remove simulink auto-generated code

diff --git a/astrobee.doxyfile b/astrobee.doxyfile
@@ -39,13 +39,13 @@ PROJECT_NAME           = "NASA Astrobee Robot Software"
 # control system is used.
 
 
-PROJECT_NUMBER         = 0.16.7
+PROJECT_NUMBER         = 0.17.0
 
 # Using the PROJECT_BRIEF tag one can provide an optional one line description
 # for a project that appears at the top of each page and should give viewer a
 # quick idea about the purpose of the project. Keep the description short.
 
-PROJECT_BRIEF          = "Flight software for the Astrobee robot operating inside the International Space Station."
+PROJECT_BRIEF          = "Flight software for the Astrobee robots operating inside the International Space Station."
 
 # With the PROJECT_LOGO tag one can specify a logo or an icon that is included
 # in the documentation. The maximum height of the logo should not exceed 55

diff --git a/astrobee/CMakeLists.txt b/astrobee/CMakeLists.txt
@@ -18,7 +18,7 @@
 cmake_minimum_required(VERSION 3.5)
 project(astrobee)
 
-set(ASTROBEE_VERSION 0.16.7)
+set(ASTROBEE_VERSION 0.17.0)
 
 ## Compile as C++14, supported in ROS Kinetic and newer
 add_compile_options(-std=c++14)

diff --git a/behaviors/arm/src/arm_nodelet.cc b/behaviors/arm/src/arm_nodelet.cc
@@ -518,7 +518,7 @@ class ArmNodelet : public ff_util::FreeFlyerNodelet {
     sub_joint_states_ = nh->subscribe(TOPIC_JOINT_STATES, 1,
       &ArmNodelet::JointStateCallback, this);
     pub_joint_goals_ = nh->advertise<sensor_msgs::JointState>(
-      TOPIC_JOINT_GOALS, 1, true);
+      TOPIC_JOINT_GOALS, 1);
 
     // Subscribe to Proximal Joint Servo Enabling service
     client_enable_prox_servo_ = nh->serviceClient<ff_hw_msgs::SetEnabled>(

diff --git a/behaviors/arm/tools/arm_tool.cc b/behaviors/arm/tools/arm_tool.cc
@@ -23,7 +23,7 @@
 // Include RPOS
 #include <ros/ros.h>
 // FSW includes
-#include <ff_util/ff_names.h>
+#include <ff_common/ff_names.h>
 #include <ff_util/ff_action.h>
 #include <ff_util/config_client.h>
 

diff --git a/behaviors/dock/tools/dock_tool.cc b/behaviors/dock/tools/dock_tool.cc
@@ -24,7 +24,7 @@
 #include <ros/ros.h>
 
 // FSW includes
-#include <ff_util/ff_names.h>
+#include <ff_common/ff_names.h>
 #include <ff_util/ff_action.h>
 
 // Action

diff --git a/behaviors/light_flow/include/light_flow.h b/behaviors/light_flow/include/light_flow.h
@@ -25,7 +25,6 @@ namespace ff_hw_msgs {
 typedef ff_hw_msgs::msg::ConfigureLED ConfigureLED;
 typedef ff_hw_msgs::msg::ConfigureLEDGroup ConfigureLEDGroup;
 }  // namespace ff_hw_msgs
-
 #include <ff_common/ff_names.h>
 #include <jsoncpp/json/value.h>
 #include <rclcpp/rclcpp.hpp>

diff --git a/behaviors/light_flow/src/light_flow/light_flow.cc b/behaviors/light_flow/src/light_flow/light_flow.cc
@@ -18,7 +18,6 @@
 
 #include "../../include/light_flow.h"
 #include <assert.h>
-
 #include <ff_common/ff_names.h>
 #include <jsoncpp/json/allocator.h>
 #include <jsoncpp/json/json.h>

diff --git a/behaviors/perch/tools/perch_tool.cc b/behaviors/perch/tools/perch_tool.cc
@@ -24,7 +24,7 @@
 #include <ros/ros.h>
 
 // FSW includes
-#include <ff_util/ff_names.h>
+#include <ff_common/ff_names.h>
 #include <ff_util/ff_action.h>
 
 // Action

diff --git a/communications/dds_ros_bridge/include/dds_ros_bridge/astrobee_astrobee_bridge.h b/communications/dds_ros_bridge/include/dds_ros_bridge/astrobee_astrobee_bridge.h
@@ -39,7 +39,7 @@
 
 #include "ff_msgs/ResponseOnly.h"
 
-#include "ff_util/ff_names.h"
+#include "ff_common/ff_names.h"
 #include "ff_util/ff_nodelet.h"
 
 // SoraCore Includes