changing package name from survey_planner to survey_manager (#155)

* changing package name from survey_planner to survey_manager

* fix typo

.github/workflows/ci_pr.yml

@@ -2,7 +2,7 @@ name: Build and Test CI for Pull Requests
 
 on:
   pull_request:
-    branches: [ 'master', 'develop', 'survey_manager' ]
+    branches: [ 'master', 'develop' ]
   workflow_dispatch:
 
 jobs:

.github/workflows/lint.yaml

@@ -24,7 +24,7 @@ jobs:
 
     - name: Run black
       run: |
-        black . --diff --extend-exclude=cmake --extend-exclude=submodules --extend-exclude=astrobee/survey_manager/survey_dependencies --check
+        black . --diff --extend-exclude=cmake --extend-exclude=submodules --extend-exclude=astrobee/survey/survey_dependencies --check
     - name: Run isort
       run: |
-        isort . --diff --extend-skip=cmake --extend-skip=submodules --extend-skip=astrobee/survey_manager/survey_dependencies --profile=black --check-only
+        isort . --diff --extend-skip=cmake --extend-skip=submodules --extend-skip=astrobee/survey/survey_dependencies --profile=black --check-only

.gitmodules

@@ -2,18 +2,18 @@
 	path = communications/isaac_msgs
 	url = https://github.com/nasa/isaac_msgs.git
 [submodule "ros2_planning_system"]
-	path = astrobee/survey_manager/survey_dependencies/ros2_planning_system
+	path = astrobee/survey/survey_dependencies/ros2_planning_system
 	url = https://github.com/bckempa/ros2_planning_system
 	branch = noetic-devel
 [submodule "ros1_lifecycle"]
-	path = astrobee/survey_manager/survey_dependencies/ros1_lifecycle
+	path = astrobee/survey/survey_dependencies/ros1_lifecycle
 	url = https://github.com/bckempa/ros1_lifecycle.git
 	branch = noetic-devel
 [submodule "popf"]
-	path = astrobee/survey_manager/survey_dependencies/popf
+	path = astrobee/survey/survey_dependencies/popf
 	url = https://github.com/Bckempa/popf.git
 	branch = noetic-devel
 [submodule "optic_planner"]
-	path = astrobee/survey_manager/survey_dependencies/optic_planner
+	path = astrobee/survey/survey_dependencies/optic_planner
 	url = https://github.com/Bckempa/optic_planner.git
 	branch = noetic-devel

.isort.cfg

@@ -15,4 +15,4 @@
 # folder, you can auto-update it by running
 # scripts/git/configure_isort_paths.sh.
 
-src_paths = analyst/workspace/scripts,anomaly/gmm-change-detection,anomaly/gmm-change-detection/scripts/gmm,anomaly/image/scripts,astrobee/behaviors/inspection/scripts,astrobee/simulation/acoustics_cam/src,astrobee/survey_manager/survey_planner,astrobee/survey_manager/survey_planner/scripts,astrobee/survey_manager/survey_planner/src/survey_planner,astrobee/survey_manager/survey_planner/tools/bak,communications/isaac_msgs/isaac_msgs/test,dense_map/geometry_mapper/tools,dense_map/volumetric_mapper/scripts,pano/pano_stitch/scripts,pano/pano_view/scripts,scripts/git
+src_paths = analyst/workspace/scripts,anomaly/gmm-change-detection,anomaly/gmm-change-detection/scripts/gmm,anomaly/image/scripts,astrobee/behaviors/inspection/scripts,astrobee/simulation/acoustics_cam/src,astrobee/survey/survey_manager,astrobee/survey/survey_manager/scripts,astrobee/survey/survey_manager/src/survey_manager,astrobee/survey/survey_manager/tools/bak,communications/isaac_msgs/isaac_msgs/test,dense_map/geometry_mapper/tools,dense_map/volumetric_mapper/scripts,pano/pano_stitch/scripts,pano/pano_view/scripts,scripts/git

astrobee/survey/readme.md

@@ -0,0 +1,5 @@
+\page survey Survey 
+
+The ISAAC Survey  provides semi-autonomous planning and execution of panorama and stereophotography tasks to reduce operator loading and improve activity utilization.
+
+\subpage survey_manager : Planning and scheduling of queued survey actions.

astrobee/survey_manager/survey_planner/CMakeLists.txt → astrobee/survey/survey_manager/CMakeLists.txt

@@ -17,7 +17,7 @@
 # under the License.
 
 cmake_minimum_required(VERSION 3.5)
-project(survey_planner)
+project(survey_manager)
 
 set(CMAKE_CXX_STANDARD 17)
 

astrobee/survey_manager/survey_planner/data/test_cases/generate.bash → astrobee/survey/survey_manager/data/test_cases/generate.bash

@@ -26,9 +26,9 @@ set -eu -o pipefail
 THIS_FILE=$(readlink -f "$0")
 THIS_DIR=$(dirname "${THIS_FILE}")
 
-SURVEY_PLANNER_DIR=$(readlink -f "${THIS_DIR}/../..")
-PDDL_DIR="${SURVEY_PLANNER_DIR}/pddl"
-DATA_DIR="${SURVEY_PLANNER_DIR}/data"
+SURVEY_MANAGER_DIR=$(readlink -f "${THIS_DIR}/../..")
+PDDL_DIR="${SURVEY_MANAGER_DIR}/pddl"
+DATA_DIR="${SURVEY_MANAGER_DIR}/data"
 CASES_DIR="${DATA_DIR}/test_cases"
 DOMAIN="${PDDL_DIR}/domain_survey.pddl"
 cd "${THIS_DIR}"
@@ -40,11 +40,11 @@ for i in "${TEST_CASES[@]}"; do
     { echo -e "\n=== $i ==="; } 2> /dev/null
     PROBLEM="${CASES_DIR}/${i}_problem.pddl"
     PLAN="${CASES_DIR}/${i}_plan.pddl"
-    rosrun survey_planner problem_generator.py "--config=${DATA_DIR}/survey_static.yaml,${CASES_DIR}/${i}_config.yaml" "--output=${PROBLEM}"
+    rosrun survey_manager problem_generator.py "--config=${DATA_DIR}/survey_static.yaml,${CASES_DIR}/${i}_config.yaml" "--output=${PROBLEM}"
     # Try to eliminate variation in problem.pddl due to embedding different local install paths in the output.
-    perl -i -ple "s:${SURVEY_PLANNER_DIR}/::g;" "${PROBLEM}"
-    rosrun survey_planner plan_survey.py "${DOMAIN}" "${PROBLEM}" > "${PLAN}"
+    perl -i -ple "s:${SURVEY_MANAGER_DIR}/::g;" "${PROBLEM}"
+    rosrun survey_manager plan_survey.py "${DOMAIN}" "${PROBLEM}" > "${PLAN}"
     { echo "[plan_survey.py stdout redirected to ${PLAN}]"; } 2> /dev/null
     rosrun popf validate -t 0.0001 -e "${DOMAIN}" "${PROBLEM}" "${PLAN}"
-    rosrun survey_planner plan_interpreter.py "--plan=${PLAN}" "--plot=${CASES_DIR}/${i}_plot.png" "--output=${CASES_DIR}/${i}_plan.yaml"
+    rosrun survey_manager plan_interpreter.py "--plan=${PLAN}" "--plot=${CASES_DIR}/${i}_plot.png" "--output=${CASES_DIR}/${i}_plan.yaml"
 done

astrobee/survey_manager/survey_planner/include/survey_planner/isaac_action_node.h → astrobee/survey/survey_manager/include/survey_manager/isaac_action_node.h

@@ -17,8 +17,8 @@
  * under the License.
  */
 
-#ifndef SURVEY_PLANNER_ISAAC_ACTION_NODE_H_
-#define SURVEY_PLANNER_ISAAC_ACTION_NODE_H_
+#ifndef SURVEY_MANAGER_ISAAC_ACTION_NODE_H_
+#define SURVEY_MANAGER_ISAAC_ACTION_NODE_H_
 
 #include <plansys2_executor/ActionExecutorClient.hpp>
 
@@ -48,4 +48,4 @@ class IsaacAction : public plansys2::ActionExecutorClient {
 // Main entry point for application
 int isaac_action_main(int argc, char *argv[], const char* action_name);
 
-#endif  // SURVEY_PLANNER_ISAAC_ACTION_NODE_H_
+#endif  // SURVEY_MANAGER_ISAAC_ACTION_NODE_H_

astrobee/survey_manager/survey_planner/launch/survey.launch → astrobee/survey/survey_manager/launch/survey.launch

@@ -9,9 +9,9 @@
   <arg name="quick" default="false" /> <!-- abbreviate longer actions for faster testing -->
 
 
-  <arg name="model_file" default="$(find survey_planner)/pddl/domain_survey.pddl"/>
+  <arg name="model_file" default="$(find survey_manager)/pddl/domain_survey.pddl"/>
   <arg name="namespace" default="" />
-  <arg name="params_file" default="$(find survey_planner)/params/plansys2_$(arg planner)_params.yaml" />
+  <arg name="params_file" default="$(find survey_manager)/params/plansys2_$(arg planner)_params.yaml" />
 
   <!-- true: There is a lifecycle management node for the Lifecycles nodes. If false, the nodes start on their own -->
   <param name="lifecycle_enabled" value="$(arg lifecycle)"/>
@@ -49,29 +49,29 @@
   </group>
 
   <!-- Actions -->
-  <node name="move_action_node1" pkg="survey_planner" type="move_action_node" output="screen" args="$(eval '--quick' if arg('quick') else '')">
+  <node name="move_action_node1" pkg="survey_manager" type="move_action_node" output="screen" args="$(eval '--quick' if arg('quick') else '')">
   </node>
-  <node name="move_action_node2" pkg="survey_planner" type="move_action_node" output="screen" args="$(eval '--quick' if arg('quick') else '')">
+  <node name="move_action_node2" pkg="survey_manager" type="move_action_node" output="screen" args="$(eval '--quick' if arg('quick') else '')">
   </node>
 
-  <node name="dock_action_node1" pkg="survey_planner" type="dock_action_node" output="screen" args="$(eval '--quick' if arg('quick') else '')">
+  <node name="dock_action_node1" pkg="survey_manager" type="dock_action_node" output="screen" args="$(eval '--quick' if arg('quick') else '')">
   </node>
-  <node name="dock_action_node2" pkg="survey_planner" type="dock_action_node" output="screen" args="$(eval '--quick' if arg('quick') else '')">
+  <node name="dock_action_node2" pkg="survey_manager" type="dock_action_node" output="screen" args="$(eval '--quick' if arg('quick') else '')">
   </node>
 
-  <node name="undock_action_node1" pkg="survey_planner" type="undock_action_node" output="screen" args="$(eval '--quick' if arg('quick') else '')">
+  <node name="undock_action_node1" pkg="survey_manager" type="undock_action_node" output="screen" args="$(eval '--quick' if arg('quick') else '')">
   </node>
-  <node name="undock_action_node2" pkg="survey_planner" type="undock_action_node" output="screen" args="$(eval '--quick' if arg('quick') else '')">
+  <node name="undock_action_node2" pkg="survey_manager" type="undock_action_node" output="screen" args="$(eval '--quick' if arg('quick') else '')">
   </node>
 
-  <node name="panorama_action_node1" pkg="survey_planner" type="panorama_action_node" output="screen" args="$(eval '--quick' if arg('quick') else '')">
+  <node name="panorama_action_node1" pkg="survey_manager" type="panorama_action_node" output="screen" args="$(eval '--quick' if arg('quick') else '')">
   </node>
-  <node name="panorama_action_node2" pkg="survey_planner" type="panorama_action_node" output="screen" args="$(eval '--quick' if arg('quick') else '')">
+  <node name="panorama_action_node2" pkg="survey_manager" type="panorama_action_node" output="screen" args="$(eval '--quick' if arg('quick') else '')">
   </node>
 
-  <node name="stereo_action_node1" pkg="survey_planner" type="stereo_action_node" output="screen" args="$(eval '--quick' if arg('quick') else '')">
+  <node name="stereo_action_node1" pkg="survey_manager" type="stereo_action_node" output="screen" args="$(eval '--quick' if arg('quick') else '')">
   </node>
-  <node name="stereo_action_node2" pkg="survey_planner" type="stereo_action_node" output="screen" args="$(eval '--quick' if arg('quick') else '')">
+  <node name="stereo_action_node2" pkg="survey_manager" type="stereo_action_node" output="screen" args="$(eval '--quick' if arg('quick') else '')">
   </node>
 </launch>
 

astrobee/survey_manager/survey_planner/package.xml → astrobee/survey/survey_manager/package.xml

@@ -1,6 +1,6 @@
 <?xml version="1.0"?>
 <package format="2">
-  <name>survey_planner</name>
+  <name>survey_manager</name>
   <version>0.1.0</version>
   <description>PDDL Planning via Plansys2 on ROS1 Noetic for Astrobee</description>
   <license>

astrobee/survey_manager/survey_planner/params/plansys2_optic_params.yaml → astrobee/survey/survey_manager/params/plansys2_optic_params.yaml

@@ -6,7 +6,7 @@ planner:
       arguments: "-N"
     TREY:
       plugin: "plansys2/OPTICPlanSolver"
-      command: "rosrun survey_planner plan_survey"
+      command: "rosrun survey_manager plan_survey"
     POPF:
       plugin: "plansys2/POPFPlanSolver"
     TFD:

astrobee/survey_manager/survey_planner/params/plansys2_trey_params.yaml → astrobee/survey/survey_manager/params/plansys2_trey_params.yaml

@@ -6,7 +6,7 @@ planner:
       arguments: "-N"
     TREY:
       plugin: "plansys2/OPTICPlanSolver"
-      command: "rosrun survey_planner plan_survey"
+      command: "rosrun survey_manager plan_survey"
     POPF:
       plugin: "plansys2/POPFPlanSolver"
     TFD:

astrobee/survey_manager/survey_planner/readme.md → astrobee/survey/survey_manager/readme.md

@@ -1,30 +1,30 @@
-\page survey_planner Survey Planner
+\page survey_manager Survey Planner
 
 Planning and scheduling of queued survey actions using Playsys2 for PDDL solutions and behavior trees for execution.
 
 Based on [preliminary work](https://github.com/traclabs/astrobee_task_planning_ws) by [Ana](https://github.com/ana-GT) at [Traclabs](https://traclabs.com).
 
 ## Starting survey planner
 
-The survey_planner as of now starts separately from the isaac fsw. This is necessary because the planner crashes very easily, so having the ability to easily restart this component is necessary.
+The survey_manager as of now starts separately from the isaac fsw. This is necessary because the planner crashes very easily, so having the ability to easily restart this component is necessary.
 
 To start the planner and the terminal interface (in the robot, add the prefix `/opt/isaac/env_wrapper.sh`):
 
-    roslaunch survey_planner survey_domain.launch
+    roslaunch survey_manager survey_domain.launch
     rosrun plansys2_terminal plansys2_terminal
 
 To monitor an execution and to input commands to the execution:
 
-    rosrun survey_planner monitor_astrobee $ROBOTNAME
+    rosrun survey_manager monitor_astrobee $ROBOTNAME
 
 ## Running actions manually
 
 There are 5 different actions at the moment 'move', 'dock', 'undock', 'panorama', 'stereo'.
-To run each action individually through the survey_planner you must add the correct predicates before sending the action command or else the plansys2 executor will crash. Also, if you want to re-send the action you'll want to re-send the predicates too.
+To run each action individually through the survey_manager you must add the correct predicates before sending the action command or else the plansys2 executor will crash. Also, if you want to re-send the action you'll want to re-send the predicates too.
 
 Don't forget to change the commands to use the target robot's name (bumble is what is used in simulation)
 
-If the survey_planner crashes sometimes the simulation has to be restarted for it to restart in a good state.
+If the survey_manager crashes sometimes the simulation has to be restarted for it to restart in a good state.
 
 \subpage action_testing
 
@@ -115,7 +115,7 @@ source "${ISAAC_WS}/devel/setup.bash"
 4. Start the survey manager:
    ```bash
    # === In terminal 2 ===
-   roslaunch survey_planner survey.launch quick:=true
+   roslaunch survey_manager survey.launch quick:=true
    # roslaunch will run indefinitely. Press Ctrl-C to shut down the system.
    # The quick:=true flag speeds up longer actions (for sim use only).
 
@@ -137,8 +137,8 @@ source "${ISAAC_WS}/devel/setup.bash"
    EOF
 
    cat <<EOF >/tmp/plan_and_run.bash
-   data="${ISAAC_WS}/src/astrobee/survey_manager/survey_planner/data"
-   rosrun survey_planner problem_generator --terminal "--config=\${data}/jem_survey_static.yaml,\${data}/jem_survey_dynamic.yaml" --output=/tmp/problem.ps2.pddl
+   data="${ISAAC_WS}/src/astrobee/survey_manager/survey_manager/data"
+   rosrun survey_manager problem_generator --terminal "--config=\${data}/jem_survey_static.yaml,\${data}/jem_survey_dynamic.yaml" --output=/tmp/problem.ps2.pddl
    cat /tmp/term_commands.txt | rosrun plansys2_terminal plansys2_terminal
    EOF
 
@@ -170,5 +170,5 @@ source "${ISAAC_WS}/devel/setup.bash"
      frames. To connect to the action running on a robot, choose the
      robot and run like this:
      ```bash
-     rosrun survey_planner monitor_astrobee bumble  # or honey
+     rosrun survey_manager monitor_astrobee bumble  # or honey
      ```

astrobee/survey_manager/survey_planner/setup.py → astrobee/survey/survey_manager/setup.py

@@ -2,6 +2,6 @@
 
 from catkin_pkg.python_setup import generate_distutils_setup
 
-d = generate_distutils_setup(packages=["survey_planner"], package_dir={"": "src"})
+d = generate_distutils_setup(packages=["survey_manager"], package_dir={"": "src"})
 
 setup(**d)

astrobee/survey_manager/survey_planner/src/dock_action_node.cpp → astrobee/survey/survey_manager/src/dock_action_node.cpp

@@ -17,7 +17,7 @@
  * under the License.
  */
 
-#include <survey_planner/isaac_action_node.h>
+#include <survey_manager/isaac_action_node.h>
 
 int main(int argc, char *argv[]) {
   return isaac_action_main(argc, argv, "dock");

astrobee/survey_manager/survey_planner/src/isaac_action_node.cpp → astrobee/survey/survey_manager/src/isaac_action_node.cpp

@@ -34,7 +34,7 @@
 #include <string>
 #include <vector>
 
-#include "survey_planner/isaac_action_node.h"
+#include "survey_manager/isaac_action_node.h"
 
 namespace plansys2_actions {
 
@@ -122,7 +122,7 @@ class PopenReader {
 // Return the estimated duration (seconds) of action `action_name`. Queried from PDDL model. On
 // query error, return a default value of one minute.
 double get_action_duration(const std::string& action_name) {
-  std::string cmd = std::string("rosrun survey_planner pddl_query action_duration ") + action_name;
+  std::string cmd = std::string("rosrun survey_manager pddl_query action_duration ") + action_name;
   printf("get_action_duration %s: running query: %s\n", action_name.c_str(), cmd.c_str());
 
   const double default_duration = 60.0;  // one minute
@@ -176,7 +176,7 @@ void IsaacAction::do_work() {
     }
     command_ = std::string("(") + args_str + ")";
     std::string quick_str = quick_ ? "--quick " : "";
-    std::string command_astrobee_call = std::string("rosrun survey_planner command_astrobee ") + quick_str + args_str;
+    std::string command_astrobee_call = std::string("rosrun survey_manager command_astrobee ") + quick_str + args_str;
 
     start_time_ = ros::Time::now();
     pid_ = fork();

astrobee/survey_manager/survey_planner/src/move_action_node.cpp → astrobee/survey/survey_manager/src/move_action_node.cpp

@@ -17,7 +17,7 @@
  * under the License.
  */
 
-#include <survey_planner/isaac_action_node.h>
+#include <survey_manager/isaac_action_node.h>
 
 int main(int argc, char *argv[]) {
   return isaac_action_main(argc, argv, "move");

astrobee/survey_manager/survey_planner/src/panorama_action_node.cpp → astrobee/survey/survey_manager/src/panorama_action_node.cpp

@@ -17,7 +17,7 @@
  * under the License.
  */
 
-#include <survey_planner/isaac_action_node.h>
+#include <survey_manager/isaac_action_node.h>
 
 int main(int argc, char *argv[]) {
   return isaac_action_main(argc, argv, "panorama");

astrobee/survey_manager/survey_planner/src/stereo_action_node.cpp → astrobee/survey/survey_manager/src/stereo_action_node.cpp

@@ -17,7 +17,7 @@
  * under the License.
  */
 
-#include <survey_planner/isaac_action_node.h>
+#include <survey_manager/isaac_action_node.h>
 
 int main(int argc, char *argv[]) {
   return isaac_action_main(argc, argv, "stereo");

astrobee/survey_manager/survey_planner/src/survey_planner/command_astrobee.py → astrobee/survey/survey_manager/src/survey_manager/command_astrobee.py

@@ -42,8 +42,8 @@
 )
 from std_msgs.msg import Header, String
 
-# Imports from survey_planner package
-from survey_planner.problem_generator import (
+# Imports from survey_manager package
+from survey_manager.problem_generator import (
     YamlMapping,
     load_yaml,
     yaml_action_from_pddl,
@@ -855,10 +855,10 @@ class CustomFormatter(argparse.ArgumentDefaultsHelpFormatter):
 def main():
     default_config_paths = [
         os.path.join(
-            rospkg.RosPack().get_path("survey_planner"), "data/jem_survey_static.yaml"
+            rospkg.RosPack().get_path("survey_manager"), "data/jem_survey_static.yaml"
         ),
         os.path.join(
-            rospkg.RosPack().get_path("survey_planner"),
+            rospkg.RosPack().get_path("survey_manager"),
             "data/granite_survey_static.yaml",
         ),
     ]

astrobee/survey_manager/survey_planner/src/survey_planner/pddl_query.py → astrobee/survey/survey_manager/src/survey_manager/pddl_query.py

@@ -33,8 +33,8 @@
 import pathlib
 from typing import List
 
-from survey_planner.plan_survey import get_action_durations, parse_pddl
-from survey_planner.problem_generator import PDDL_DIR
+from survey_manager.plan_survey import get_action_durations, parse_pddl
+from survey_manager.problem_generator import PDDL_DIR
 
 
 @enum.unique

astrobee/survey_manager/survey_planner/src/survey_planner/plan_interpreter.py → astrobee/survey/survey_manager/src/survey_manager/plan_interpreter.py

@@ -43,7 +43,7 @@
 from matplotlib import patches as mp
 from matplotlib import pyplot as plt
 
-from survey_planner.problem_generator import (
+from survey_manager.problem_generator import (
     DATA_DIR,
     get_stereo_traj,
     load_yaml,

astrobee/survey_manager/survey_planner/src/survey_planner/plan_survey.py → astrobee/survey/survey_manager/src/survey_manager/plan_survey.py

@@ -32,7 +32,7 @@
 import pyparsing as pp
 import yaml
 
-from survey_planner.problem_generator import PDDL_DIR
+from survey_manager.problem_generator import PDDL_DIR
 
 LocationName = str  # Names PDDL object of type location
 LocationIndex = int  # Index of location in CONFIG.locations

astrobee/survey_manager/survey_planner/src/survey_planner/problem_generator.py → astrobee/survey/survey_manager/src/survey_manager/problem_generator.py

@@ -74,10 +74,10 @@
 CWD = pathlib.Path.cwd()
 rospack = rospkg.RosPack()
 DATA_DIR = pathlib.Path(
-    os.path.relpath(pathlib.Path(rospack.get_path("survey_planner")) / "data", CWD)
+    os.path.relpath(pathlib.Path(rospack.get_path("survey_manager")) / "data", CWD)
 )
 PDDL_DIR = pathlib.Path(
-    os.path.relpath(pathlib.Path(rospack.get_path("survey_planner")) / "pddl", CWD)
+    os.path.relpath(pathlib.Path(rospack.get_path("survey_manager")) / "pddl", CWD)
 )
 DEFAULT_CONFIGS = [
     DATA_DIR / "jem_survey_static.yaml",

astrobee/survey_manager/survey_planner/src/undock_action_node.cpp → astrobee/survey/survey_manager/src/undock_action_node.cpp

@@ -17,7 +17,7 @@
  * under the License.
  */
 
-#include <survey_planner/isaac_action_node.h>
+#include <survey_manager/isaac_action_node.h>
 
 int main(int argc, char *argv[]) {
   return isaac_action_main(argc, argv, "undock");