From 1d3e9e988b557e76e0f51e93409accb79afa7049 Mon Sep 17 00:00:00 2001 From: Christian Henkel Date: Wed, 10 Jul 2024 21:44:30 +0200 Subject: [PATCH 1/8] package for first problem Signed-off-by: Christian Henkel --- delib_ws_p1/LICENSE | 202 ++++++++++++++++++++++++++++ delib_ws_p1/data/location_data.yaml | 32 +++++ delib_ws_p1/data/object_data.yaml | 33 +++++ delib_ws_p1/delib_ws_p1/__init__.py | 0 delib_ws_p1/delib_ws_p1/run.py | 123 +++++++++++++++++ delib_ws_p1/package.xml | 20 +++ delib_ws_p1/resource/delib_ws_p1 | 0 delib_ws_p1/setup.cfg | 4 + delib_ws_p1/setup.py | 29 ++++ delib_ws_p1/test/test_copyright.py | 25 ++++ delib_ws_p1/test/test_flake8.py | 25 ++++ delib_ws_p1/test/test_pep257.py | 23 ++++ 12 files changed, 516 insertions(+) create mode 100644 delib_ws_p1/LICENSE create mode 100644 delib_ws_p1/data/location_data.yaml create mode 100644 delib_ws_p1/data/object_data.yaml create mode 100644 delib_ws_p1/delib_ws_p1/__init__.py create mode 100644 delib_ws_p1/delib_ws_p1/run.py create mode 100644 delib_ws_p1/package.xml create mode 100644 delib_ws_p1/resource/delib_ws_p1 create mode 100644 delib_ws_p1/setup.cfg create mode 100644 delib_ws_p1/setup.py create mode 100644 delib_ws_p1/test/test_copyright.py create mode 100644 delib_ws_p1/test/test_flake8.py create mode 100644 delib_ws_p1/test/test_pep257.py diff --git a/delib_ws_p1/LICENSE b/delib_ws_p1/LICENSE new file mode 100644 index 0000000..d645695 --- /dev/null +++ b/delib_ws_p1/LICENSE @@ -0,0 +1,202 @@ + + Apache License + Version 2.0, January 2004 + http://www.apache.org/licenses/ + + TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION + + 1. 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We also recommend that a + file or class name and description of purpose be included on the + same "printed page" as the copyright notice for easier + identification within third-party archives. + + Copyright [yyyy] [name of copyright owner] + + 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. diff --git a/delib_ws_p1/data/location_data.yaml b/delib_ws_p1/data/location_data.yaml new file mode 100644 index 0000000..c148aee --- /dev/null +++ b/delib_ws_p1/data/location_data.yaml @@ -0,0 +1,32 @@ +############################# +# Example location metadata # +############################# + +table_source: + footprint: + type: box + dims: [0.6, 0.6] + height: 0.5 + nav_poses: + - [0, -0.4, 1.57] + locations: + - name: "tabletop" + footprint: + type: parent + padding: 0.1 + color: [0.2, 0, 0] + +table_sink: + footprint: + type: box + dims: [0.6, 0.6] + height: 0.5 + nav_poses: + - [0, -0.4, 1.57] + locations: + - name: "tabletop" + footprint: + type: parent + padding: 0.1 + color: [0, 0.2, 0] + diff --git a/delib_ws_p1/data/object_data.yaml b/delib_ws_p1/data/object_data.yaml new file mode 100644 index 0000000..2261203 --- /dev/null +++ b/delib_ws_p1/data/object_data.yaml @@ -0,0 +1,33 @@ +########################### +# Example object metadata # +########################### + +apple: + footprint: + type: circle + radius: 0.06 + color: [1, 0, 0] + +banana: + footprint: + type: box + dims: [0.05, 0.2] + color: [0.7, 0.7, 0] + +water: + footprint: + type: polygon + coords: + - [0.035, -0.075] + - [0.035, 0.075] + - [0.0, 0.1] + - [-0.035, 0.075] + - [-0.035, -0.075] + color: [0.0, 0.1, 0.7] + +coke: + footprint: + type: mesh + model_path: $DATA/sample_models/coke_can + mesh_path: meshes/coke_can.dae + color: [0.8, 0, 0] diff --git a/delib_ws_p1/delib_ws_p1/__init__.py b/delib_ws_p1/delib_ws_p1/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/delib_ws_p1/delib_ws_p1/run.py b/delib_ws_p1/delib_ws_p1/run.py new file mode 100644 index 0000000..c0085d2 --- /dev/null +++ b/delib_ws_p1/delib_ws_p1/run.py @@ -0,0 +1,123 @@ +#!/usr/bin/env python3 + +""" +Example showing how to build a world and use it with pyrobosim, +additionally starting up a ROS interface. +""" +import os +import rclpy +import threading +import numpy as np + +from pyrobosim.core import Robot, World, WorldYamlLoader +from pyrobosim.gui import start_gui +from pyrobosim.navigation import ConstantVelocityExecutor, PathPlanner +from pyrobosim.utils.general import get_data_folder +from pyrobosim.utils.pose import Pose +from pyrobosim_ros.ros_interface import WorldROSWrapper +from ament_index_python.packages import get_package_share_directory + + +data_folder = os.path.join(get_package_share_directory("delib_ws_p1"), "data") + + +def create_world(): + """Create a test world""" + world = World() + + # Set the location and object metadata + world.set_metadata( + locations=os.path.join(data_folder, "location_data.yaml"), + objects=os.path.join(data_folder, "object_data.yaml"), + ) + + # Add rooms + farm_coords = [(-2, 1), (-1, 1), (-1, -1), (-2, -1)] + world.add_room(name="banana_farm", footprint=farm_coords, color=[1, 0, 0]) + dining_coords = [(2, 1), (1, 1), (1, -1), (2, -1)] + world.add_room(name="dining_room", footprint=dining_coords, color=[0, 1, 0]) + + # Add hallways between the rooms + world.add_hallway(room_start="banana_farm", room_end="dining_room", width=0.3) + + # Add locations + table_source = world.add_location( + category="table_source", + parent="banana_farm", + name="table_source", + pose=Pose(x=-1.5, y=0.5) + ) + + table = world.add_location( + category="table_sink", + parent="dining_room", + name="table_sink", + pose=Pose(x=1.5, y=0.5) + ) + + # Add objects + world.add_object( + category="banana", parent=table_source, pose=Pose(x=-1.5, y=0.5, yaw=np.pi / 4.0) + ) + + # Add a robot + # Create path planner + planner_config = { + "world": world, + "bidirectional": True, + "rrt_connect": False, + "rrt_star": True, + "collision_check_step_dist": 0.025, + "max_connection_dist": 0.5, + "rewire_radius": 1.5, + "compress_path": False, + } + path_planner = PathPlanner("rrt", **planner_config) + robot = Robot( + name="robot", + radius=0.1, + path_executor=ConstantVelocityExecutor(), + path_planner=path_planner, + ) + world.add_robot(robot, loc="dining_room") + + return world + + +def create_world_from_yaml(world_file): + return WorldYamlLoader().from_yaml(os.path.join(data_folder, world_file)) + + +def create_ros_node(): + """Initializes ROS node""" + rclpy.init() + node = WorldROSWrapper(state_pub_rate=0.1, dynamics_rate=0.01) + node.declare_parameter("world_file", value="") + + # Set the world + world_file = node.get_parameter("world_file").get_parameter_value().string_value + if world_file == "": + node.get_logger().info("Creating demo world programmatically.") + world = create_world() + else: + node.get_logger().info(f"Using world file {world_file}.") + world = create_world_from_yaml(world_file) + + node.set_world(world) + + return node + + +def main(): + node = create_ros_node() + + # Start ROS node in separate thread + ros_thread = threading.Thread(target=lambda: node.start(wait_for_gui=True)) + ros_thread.start() + + # Start GUI in main thread + start_gui(node.world) + + +if __name__ == '__main__': + main() diff --git a/delib_ws_p1/package.xml b/delib_ws_p1/package.xml new file mode 100644 index 0000000..5320ca6 --- /dev/null +++ b/delib_ws_p1/package.xml @@ -0,0 +1,20 @@ + + + + delib_ws_p1 + 0.0.0 + TODO: Package description + hec2le + Apache-2.0 + + pyrobosim_ros + + ament_copyright + ament_flake8 + ament_pep257 + python3-pytest + + + ament_python + + diff --git a/delib_ws_p1/resource/delib_ws_p1 b/delib_ws_p1/resource/delib_ws_p1 new file mode 100644 index 0000000..e69de29 diff --git a/delib_ws_p1/setup.cfg b/delib_ws_p1/setup.cfg new file mode 100644 index 0000000..a989c43 --- /dev/null +++ b/delib_ws_p1/setup.cfg @@ -0,0 +1,4 @@ +[develop] +script_dir=$base/lib/delib_ws_p1 +[install] +install_scripts=$base/lib/delib_ws_p1 diff --git a/delib_ws_p1/setup.py b/delib_ws_p1/setup.py new file mode 100644 index 0000000..63e8b37 --- /dev/null +++ b/delib_ws_p1/setup.py @@ -0,0 +1,29 @@ +from glob import glob + +from setuptools import find_packages, setup + +package_name = 'delib_ws_p1' + +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']), + ('share/' + package_name + "/data", glob('data/*.*')), + ], + install_requires=['setuptools'], + zip_safe=True, + maintainer='Christian Henkel', + maintainer_email='christian.henkel2@de.bosch.com', + description='TODO: Package description', + license='Apache-2.0', + tests_require=['pytest'], + entry_points={ + 'console_scripts': [ + 'run = delib_ws_p1.run:main' + ], + }, +) diff --git a/delib_ws_p1/test/test_copyright.py b/delib_ws_p1/test/test_copyright.py new file mode 100644 index 0000000..97a3919 --- /dev/null +++ b/delib_ws_p1/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' diff --git a/delib_ws_p1/test/test_flake8.py b/delib_ws_p1/test/test_flake8.py new file mode 100644 index 0000000..27ee107 --- /dev/null +++ b/delib_ws_p1/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) diff --git a/delib_ws_p1/test/test_pep257.py b/delib_ws_p1/test/test_pep257.py new file mode 100644 index 0000000..b234a38 --- /dev/null +++ b/delib_ws_p1/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' From 875ec1062afda64c299a201e63aa7c21aa4c9f2b Mon Sep 17 00:00:00 2001 From: Christian Henkel Date: Wed, 10 Jul 2024 21:49:08 +0200 Subject: [PATCH 2/8] ignoring pycache Signed-off-by: Christian Henkel --- .gitignore | 1 + 1 file changed, 1 insertion(+) create mode 100644 .gitignore diff --git a/.gitignore b/.gitignore new file mode 100644 index 0000000..c18dd8d --- /dev/null +++ b/.gitignore @@ -0,0 +1 @@ +__pycache__/ From b1bb1e583e9e3cc436438c20938aeba11cc48f12 Mon Sep 17 00:00:00 2001 From: Christian Henkel Date: Wed, 10 Jul 2024 21:49:13 +0200 Subject: [PATCH 3/8] Trying CI Signed-off-by: Christian Henkel --- .github/ros_test.yml | 62 ++++++++++++++++++++++++++++++++++++++++++++ 1 file changed, 62 insertions(+) create mode 100644 .github/ros_test.yml diff --git a/.github/ros_test.yml b/.github/ros_test.yml new file mode 100644 index 0000000..2fdbf8b --- /dev/null +++ b/.github/ros_test.yml @@ -0,0 +1,62 @@ +name: Test +on: + pull_request: + push: + branches: + - main + schedule: + # Run every week at 20:00 on Sunday + - cron: "0 20 * * 0" + +jobs: + build_and_test: + name: ${{ matrix.package }} on ${{ matrix.distro }} + strategy: + fail-fast: false + matrix: + package: + [ + delib_ws_p1, + pyrobosim_ros, + ] + include: + - distro: jazzy + os: ubuntu-24.04 + runs-on: ${{ matrix.distro }} + steps: + - uses: ros-tooling/setup-ros@master + # - run: | + # sudo pip install pydocstyle==6.1.1 # downgrade to fix https://github.com/ament/ament_lint/pull/428 + # sudo pip install pip --upgrade + # sudo pip install pyopenssl --upgrade # fix for AttributeError: module 'lib' has no attribute 'X509_V_FLAG_CB_ISSUER_CHECK' + - uses: ros-tooling/action-ros-ci@0.3.5 + with: + target-ros2-distro: ${{ matrix.distro }} + package-name: ${{ matrix.package }} + # vcs-repo-file-url: | + # https://raw.githubusercontent.com/ros2/ros2/master/ros2.repos + # - run: | + # rosdep update + # - run: | + # rm -rf * # clean up the workspace + # - uses: actions/checkout@v2 + # with: + # path: src/bt_playground + # - run: | + # git clone https://github.com/boschresearch/bt_tools src/bt_tools + # - run: | + # git clone https://github.com/ros-planning/navigation2 src/navigation2 + # # remove everything except nav2_msgs + # - run: | + # find src/navigation2 -mindepth 1 -maxdepth 1 -type d -not -name 'nav2_msgs' -exec rm -rf {} + + # # verify that ... + # - run: | + # colcon list + # - run: | + # rosdep install --from-paths src --ignore-src --rosdistro ${{ matrix.distro }} -y + # - run: | + # colcon build --packages-up-to ${{ matrix.package }} + # - run: | + # colcon test --packages-select ${{ matrix.package }} + # - run: | + # colcon test-result --all From 100cdd2501b0e1cf9a1d6b40dac926508a4c7a6e Mon Sep 17 00:00:00 2001 From: Christian Henkel Date: Wed, 10 Jul 2024 21:51:41 +0200 Subject: [PATCH 4/8] right folder Signed-off-by: Christian Henkel --- .github/{ => workflows}/ros_test.yml | 0 1 file changed, 0 insertions(+), 0 deletions(-) rename .github/{ => workflows}/ros_test.yml (100%) diff --git a/.github/ros_test.yml b/.github/workflows/ros_test.yml similarity index 100% rename from .github/ros_test.yml rename to .github/workflows/ros_test.yml From 71ea73960d5a2236edbceb6741c10dd113c4f594 Mon Sep 17 00:00:00 2001 From: Christian Henkel Date: Sun, 14 Jul 2024 11:35:17 +0200 Subject: [PATCH 5/8] simplifying model data Signed-off-by: Christian Henkel --- delib_ws_p1/data/location_data.yaml | 18 ++---------------- delib_ws_p1/data/object_data.yaml | 24 ------------------------ delib_ws_p1/delib_ws_p1/run.py | 4 ++-- 3 files changed, 4 insertions(+), 42 deletions(-) diff --git a/delib_ws_p1/data/location_data.yaml b/delib_ws_p1/data/location_data.yaml index c148aee..573c106 100644 --- a/delib_ws_p1/data/location_data.yaml +++ b/delib_ws_p1/data/location_data.yaml @@ -2,7 +2,7 @@ # Example location metadata # ############################# -table_source: +table: footprint: type: box dims: [0.6, 0.6] @@ -14,19 +14,5 @@ table_source: footprint: type: parent padding: 0.1 - color: [0.2, 0, 0] - -table_sink: - footprint: - type: box - dims: [0.6, 0.6] - height: 0.5 - nav_poses: - - [0, -0.4, 1.57] - locations: - - name: "tabletop" - footprint: - type: parent - padding: 0.1 - color: [0, 0.2, 0] + color: [0.2, 0.2, 0.2] diff --git a/delib_ws_p1/data/object_data.yaml b/delib_ws_p1/data/object_data.yaml index 2261203..2396f0f 100644 --- a/delib_ws_p1/data/object_data.yaml +++ b/delib_ws_p1/data/object_data.yaml @@ -2,32 +2,8 @@ # Example object metadata # ########################### -apple: - footprint: - type: circle - radius: 0.06 - color: [1, 0, 0] - banana: footprint: type: box dims: [0.05, 0.2] color: [0.7, 0.7, 0] - -water: - footprint: - type: polygon - coords: - - [0.035, -0.075] - - [0.035, 0.075] - - [0.0, 0.1] - - [-0.035, 0.075] - - [-0.035, -0.075] - color: [0.0, 0.1, 0.7] - -coke: - footprint: - type: mesh - model_path: $DATA/sample_models/coke_can - mesh_path: meshes/coke_can.dae - color: [0.8, 0, 0] diff --git a/delib_ws_p1/delib_ws_p1/run.py b/delib_ws_p1/delib_ws_p1/run.py index c0085d2..83e2fc3 100644 --- a/delib_ws_p1/delib_ws_p1/run.py +++ b/delib_ws_p1/delib_ws_p1/run.py @@ -42,14 +42,14 @@ def create_world(): # Add locations table_source = world.add_location( - category="table_source", + category="table", parent="banana_farm", name="table_source", pose=Pose(x=-1.5, y=0.5) ) table = world.add_location( - category="table_sink", + category="table", parent="dining_room", name="table_sink", pose=Pose(x=1.5, y=0.5) From 754408bd206a5be37d59b31fa5c693007cd1b937 Mon Sep 17 00:00:00 2001 From: Christian Henkel Date: Sun, 14 Jul 2024 11:39:34 +0200 Subject: [PATCH 6/8] remove unused import Signed-off-by: Christian Henkel --- delib_ws_p1/delib_ws_p1/run.py | 1 - 1 file changed, 1 deletion(-) diff --git a/delib_ws_p1/delib_ws_p1/run.py b/delib_ws_p1/delib_ws_p1/run.py index 83e2fc3..e8c504d 100644 --- a/delib_ws_p1/delib_ws_p1/run.py +++ b/delib_ws_p1/delib_ws_p1/run.py @@ -12,7 +12,6 @@ from pyrobosim.core import Robot, World, WorldYamlLoader from pyrobosim.gui import start_gui from pyrobosim.navigation import ConstantVelocityExecutor, PathPlanner -from pyrobosim.utils.general import get_data_folder from pyrobosim.utils.pose import Pose from pyrobosim_ros.ros_interface import WorldROSWrapper from ament_index_python.packages import get_package_share_directory From f82ed8efcd5e96c29d5123c26e702bba6c05d2ac Mon Sep 17 00:00:00 2001 From: Christian Henkel Date: Sun, 14 Jul 2024 11:41:27 +0200 Subject: [PATCH 7/8] docstring Signed-off-by: Christian Henkel --- delib_ws_p1/delib_ws_p1/run.py | 23 +++++++++++++++++++++-- 1 file changed, 21 insertions(+), 2 deletions(-) diff --git a/delib_ws_p1/delib_ws_p1/run.py b/delib_ws_p1/delib_ws_p1/run.py index e8c504d..68d11db 100644 --- a/delib_ws_p1/delib_ws_p1/run.py +++ b/delib_ws_p1/delib_ws_p1/run.py @@ -1,8 +1,27 @@ #!/usr/bin/env python3 """ -Example showing how to build a world and use it with pyrobosim, -additionally starting up a ROS interface. +__Goal__: +Banana on table_sink. + +__Initial State__: +Banana on table_source. + +__Available Actions__: + +- Pick object +- Place object +- Move robot + +__Available Conditions__: + +- Robot location + dining_room, banana_farm +- Object location + table_sink, table_source +- Object in hand + true, false + """ import os import rclpy From e88c7741b4b23b7f62b87e16f5eece2cbd0b5f0b Mon Sep 17 00:00:00 2001 From: Christian Henkel Date: Sun, 14 Jul 2024 11:42:05 +0200 Subject: [PATCH 8/8] license file on repo level Signed-off-by: Christian Henkel --- delib_ws_p1/LICENSE => LICENSE | 0 1 file changed, 0 insertions(+), 0 deletions(-) rename delib_ws_p1/LICENSE => LICENSE (100%) diff --git a/delib_ws_p1/LICENSE b/LICENSE similarity index 100% rename from delib_ws_p1/LICENSE rename to LICENSE