diff --git a/docs/source/development.md b/docs/source/development.md index 616b9f10..cd435815 100644 --- a/docs/source/development.md +++ b/docs/source/development.md @@ -68,6 +68,11 @@ In a seperate terminal, we can run a ROS stack with: obk-launch config_file_path= device_name= ``` +Specifically, for the dummy examples this may look like: +``` +obk-launch config_file_path=dummy_cpp.yaml device_name=onboard +``` + All the documentation for the Obelisk terminal aliases can be found [here](obelisk_terminal_aliases.md). ## Building and Running C++ Code diff --git a/docs/source/index.rst b/docs/source/index.rst index 74cf80bf..c881000f 100644 --- a/docs/source/index.rst +++ b/docs/source/index.rst @@ -18,6 +18,7 @@ Documentation for ``obelisk`` using_obelisk.rst visualization.md logging.md + joystick.rst obelisk_terminal_aliases.md faq.md diff --git a/docs/source/joystick.rst b/docs/source/joystick.rst new file mode 100644 index 00000000..9b3f8135 --- /dev/null +++ b/docs/source/joystick.rst @@ -0,0 +1,58 @@ +================== +Joystick Interface +================== + +Many robots need some form of human interface to either move around or change states. We provide a lightweight interface to the `joy ROS package `_. +Specifically, we allow users to launch the joy node from the obelisk launch file. + +Example Launch Configuration +^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +.. code-block:: yaml + + joystick: + on: True + pub_topic: /obelisk/dummy/joy + sub_topic: /obelisk/dummy/joy_feedback + device_id: 0 + device_name: "my_device_name" + deadzone: 0.05 + autorepeat_rate: 20.0 + sticky_buttons: False + coalesce_interval_ms: 1 + + +``device_id`` through ``coalesce_interval_ms`` are passed directly to the arguments in the ROS package, and so you should refer to the joy package documentation for their meaning. +If these keys are not provided then default values will be used. + +The settings are only parsed if ``on`` is set to ``True``. The ``pub_topic`` is the name of the topic where the joystick state is published to. +The ``sub_topic`` is the name of the topic where the joystick feedback, like rumble, is published. + +Connecting the Joystick +^^^^^^^^^^^^^^^^^^^^^^^ +To use the joystick, joy must be able to see and access the joystick. You can connect through one of two ways: (a) USB, (b) bluetooth. + +Connecting via bluetooth is decidedly more complicated than through USB. We are still working on a guide for reliable bluetooth communication, +and therefore we will focus on the USB connection here. + +USB ++++ +You can verify if the controller is connected to your computer by using `https://hardwaretester.com/gamepad `_. +This will only verify that nominally the computer can see the joystick, not that its can be seen within a docker container or that joy can see it. This is a good first step. + +We can also verify the controller connection by using ``evtest``:: + + sudo apt-get update + sudo apt-get install evtest + sudo evtest /dev/input/event + +where event is the the correct event. You can check the connected inputs by using ``ls /dev/input``. + +If you use evtest on the correct event then whenever the joystick is used something will be printed to the screen. + +You can run ``ros2 run joy joy_enumerate_devices`` to see what devices are found. If no devices are found and you verified with evtest that the joystick is connected then +you may need to change the permissions on the joystick:: + + sudo chmod 666 /dev/input/event + +where once again you change the with the correct number. Now the joystick should connect without issue. diff --git a/obelisk/cpp/obelisk_cpp/include/obelisk_node.h b/obelisk/cpp/obelisk_cpp/include/obelisk_node.h index 13072cd2..8fd9b2f0 100644 --- a/obelisk/cpp/obelisk_cpp/include/obelisk_node.h +++ b/obelisk/cpp/obelisk_cpp/include/obelisk_node.h @@ -1,6 +1,8 @@ #pragma once #include #include +#include +#include #include #include "rcl_interfaces/msg/parameter_event.hpp" @@ -68,7 +70,6 @@ namespace obelisk { */ struct ObeliskPublisherInfo { std::string ros_param; - std::string msg_type; std::function(const std::string& config_str)> creator; }; @@ -111,7 +112,6 @@ namespace obelisk { */ struct ObeliskSubscriptionInfo { std::string ros_param; - std::string msg_type; std::function(const std::string& config_str)> creator; }; @@ -126,36 +126,6 @@ namespace obelisk { std::function creator; }; - // clang-format off - // Other internal definitions - // Allowed Obelisk message types - using ObeliskMsgs = - std::tuple; - - // Allowed non-obelisk message types - using ROSAllowedMsgs = std::tuple; - - inline const std::array sensor_message_names = { - obelisk_sensor_msgs::msg::ObkJointEncoders::MESSAGE_NAME, - obelisk_sensor_msgs::msg::TrueSimState::MESSAGE_NAME, - obelisk_sensor_msgs::msg::ObkImage::MESSAGE_NAME, - obelisk_sensor_msgs::msg::ObkImu::MESSAGE_NAME, - obelisk_sensor_msgs::msg::ObkFramePose::MESSAGE_NAME}; - - inline const std::array estimator_message_names = { - obelisk_estimator_msgs::msg::EstimatedState::MESSAGE_NAME}; - - // clang-format on - } // namespace internal /** @@ -241,7 +211,6 @@ namespace obelisk { internal::ObeliskPublisherInfo info; info.ros_param = ros_param; - info.msg_type = MessageT::MESSAGE_NAME; info.creator = [this](const std::string& config_str) { auto publisher = this->CreatePublisherFromConfigStr(config_str); return std::make_shared>(publisher); @@ -288,7 +257,6 @@ namespace obelisk { internal::ObeliskSubscriptionInfo info; info.ros_param = ros_param; - info.msg_type = MessageT::MESSAGE_NAME; info.creator = [this, callback](const std::string& config_str) { auto subscription = this->CreateSubscriptionFromConfigStr(config_str, std::move(callback)); return std::make_shared>(subscription); @@ -512,78 +480,11 @@ namespace obelisk { } timers_.clear(); registered_timers_.clear(); - RCLCPP_INFO_STREAM(this->get_logger(), this->get_name() << " shutdown."); return rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn::SUCCESS; } protected: - /** - * @brief Creates a publisher, but first verifies if it is a Obelisk - * allowed message type. - * - * @param topic_name the topic - * @param qos - * @param non_obelisk determines if we are allowed to publish non-obelisk - * messages - * @param options - * @return the publisher - */ - template > - std::shared_ptr> - create_publisher(const std::string& topic_name, const rclcpp::QoS& qos, bool non_obelisk = false, - const rclcpp::PublisherOptionsWithAllocator& options = - (rclcpp_lifecycle::create_default_publisher_options())) { - // Check if the message type is valid - if (!non_obelisk) { - if (!(ValidMessage::value || - ValidMessage::value)) { - throw std::runtime_error("Provided message type is not a valid Obelisk message!"); - } - } else { - RCLCPP_WARN_STREAM(this->get_logger(), "Creating a publisher that can publish non-Obelisk messages. " - "This may cause certain API incompatibilities."); - } - - return rclcpp_lifecycle::LifecycleNode::create_publisher(topic_name, qos, options); - } - - /** - * @brief Creates a subscriber, but first verifies if it is a Obelisk - * allowed message type. - * - * @param topic_name the topic - * @param qos - * @param callback the callback function - * @param non_obelisk determines if we are allowed to subscribe to - * non-obelisk messages. Logs warning if true. - * @param options - * @return the subscription - */ - template , - typename SubscriptionT = rclcpp::Subscription, - typename MessageMemoryStrategyT = typename SubscriptionT::MessageMemoryStrategyType> - std::shared_ptr create_subscription( - const std::string& topic_name, const rclcpp::QoS& qos, CallbackT&& callback, bool non_obelisk = false, - const rclcpp::SubscriptionOptionsWithAllocator& options = - rclcpp_lifecycle::create_default_subscription_options(), - typename MessageMemoryStrategyT::SharedPtr msg_mem_strat = (MessageMemoryStrategyT::create_default())) { - // Check if the message type is valid - if (!non_obelisk) { - if (!(ValidMessage::value || - ValidMessage::value)) { - throw std::runtime_error("Provided message type is not a valid Obelisk message!"); - } - } else { - RCLCPP_WARN_STREAM(this->get_logger(), "Creating a subscriber that can publish non-Obelisk messages. " - "This may cause certain API incompatibilities."); - } - - return rclcpp_lifecycle::LifecycleNode::create_subscription( - topic_name, qos, std::move(callback), options, msg_mem_strat); - } - /** * @brief Creates all the registered publishers. */ @@ -592,7 +493,8 @@ namespace obelisk { const std::string param = this->get_parameter(info.ros_param).as_string(); if (param == "") { RCLCPP_WARN_STREAM(this->get_logger(), - "Registered publisher was not provided a config string! Skipping creation."); + "The registered publisher <" + << key << "> was not provided a config string! Skipping creation."); } else { publishers_[key] = info.creator(param); } @@ -607,7 +509,8 @@ namespace obelisk { const std::string param = this->get_parameter(info.ros_param).as_string(); if (param == "") { RCLCPP_WARN_STREAM(this->get_logger(), - "Registered subscription was not provided a config string! Skipping creation."); + "The registered subscription <" + << key << "> was not provided a config string! Skipping creation."); } else { subscriptions_[key] = info.creator(param); } @@ -646,7 +549,6 @@ namespace obelisk { const auto config_map = ParseConfigStr(config); const std::string topic = GetTopic(config_map); const int depth = GetHistoryDepth(config_map); - const bool non_obelisk = !GetIsObeliskMsg(config_map); rclcpp::CallbackGroup::SharedPtr cbg = nullptr; // default group try { @@ -659,7 +561,7 @@ namespace obelisk { options.callback_group = cbg; // Create the subscriber - return create_subscription(topic, depth, std::move(callback), non_obelisk, options); + return create_subscription(topic, depth, std::move(callback), options); } /** @@ -675,9 +577,8 @@ namespace obelisk { const auto config_map = ParseConfigStr(config); const std::string topic = GetTopic(config_map); const int depth = GetHistoryDepth(config_map); - const bool non_obelisk = !GetIsObeliskMsg(config_map); - return create_publisher(topic, depth, non_obelisk); + return create_publisher(topic, depth); } /** @@ -780,25 +681,6 @@ namespace obelisk { } } - /** - * @brief Parses the configuration string map to see if this is restricted - * to only obelisk messages. - * - * @param config_map the map created by ParseConfigStr. - * @return use obelisk messages or not. - */ - bool GetIsObeliskMsg(const std::map& config_map) { - try { - if (config_map.at("non_obelisk") == "True") { - return false; - } else { - return true; - } - } catch (const std::exception& e) { - return DEFAULT_IS_OBK_MSG; - } - } - /** * @brief Parse the configuration string map to get the period of the timer. * Throws an error if there is no period. diff --git a/obelisk/cpp/obelisk_cpp/include/obelisk_sensor.h b/obelisk/cpp/obelisk_cpp/include/obelisk_sensor.h index dbe19e23..6db295b7 100644 --- a/obelisk/cpp/obelisk_cpp/include/obelisk_sensor.h +++ b/obelisk/cpp/obelisk_cpp/include/obelisk_sensor.h @@ -27,20 +27,6 @@ namespace obelisk { has_sensor_pub_ = false; - // TODO (@zolkin): find a better way to do this - using internal::sensor_message_names; - for (const auto& [key, reg_pub] : registered_publishers_) { - const std::string* name_ptr = - std::find(sensor_message_names.begin(), sensor_message_names.end(), reg_pub.msg_type); - if (name_ptr != sensor_message_names.end()) { - has_sensor_pub_ = true; - } - } - - if (!has_sensor_pub_) { - throw std::runtime_error("Need a sensor publisher in an Obelisk Sensor Node!"); - } - return rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn::SUCCESS; } diff --git a/obelisk/cpp/viz/include/obelisk_viz_robot.h b/obelisk/cpp/viz/include/obelisk_viz_robot.h index 82d0a7e9..f84eb8f7 100644 --- a/obelisk/cpp/viz/include/obelisk_viz_robot.h +++ b/obelisk/cpp/viz/include/obelisk_viz_robot.h @@ -69,20 +69,6 @@ namespace obelisk::viz { RCLCPP_INFO_STREAM(this->get_logger(), "Successfully parsed URDF file."); RCLCPP_INFO_STREAM(this->get_logger(), "Robot name: " << model_.getName()); - // Verify that a subscriber has a estimator message type - // TODO (@zolkin): find a better way to do this - bool has_estimator_sub = false; - using internal::estimator_message_names; - const std::string* name_ptr = std::find(estimator_message_names.begin(), estimator_message_names.end(), - this->registered_subscriptions_[est_key_].msg_type); - if (name_ptr != estimator_message_names.end()) { - has_estimator_sub = true; - } - - if (!has_estimator_sub) { - throw std::runtime_error("Subscription message must be of type ObeliskEstimatorMsg!"); - } - // Use the original lifecycle create function to avoid the warning, as we know we need non-obelisk here. // The user can only configure the topic name and history depth. // *** Note: The launch file must re-map the corresponding `robot_state_publisher` diff --git a/obelisk/cpp/zoo/CMakeLists.txt b/obelisk/cpp/zoo/CMakeLists.txt index a3627d8f..72a07c52 100644 --- a/obelisk/cpp/zoo/CMakeLists.txt +++ b/obelisk/cpp/zoo/CMakeLists.txt @@ -9,6 +9,7 @@ find_package(ament_cmake REQUIRED) find_package(rclcpp REQUIRED) find_package(rclcpp_lifecycle REQUIRED) find_package(rcl REQUIRED) +find_package(sensor_msgs REQUIRED) set(ZOO_INC "${obelisk_cpp_SOURCE_DIR}/obelisk_cpp/include") @@ -81,4 +82,5 @@ target_link_libraries(Zoo INTERFACE Obelisk::Core) ament_target_dependencies(Zoo INTERFACE rclcpp - rclcpp_lifecycle) + rclcpp_lifecycle + sensor_msgs) diff --git a/obelisk/cpp/zoo/include/position_setpoint_controller.h b/obelisk/cpp/zoo/include/position_setpoint_controller.h index 51b84b74..20395a28 100644 --- a/obelisk/cpp/zoo/include/position_setpoint_controller.h +++ b/obelisk/cpp/zoo/include/position_setpoint_controller.h @@ -4,6 +4,9 @@ #include "rclcpp/rclcpp.hpp" +#include "sensor_msgs/msg/joy.hpp" +#include "sensor_msgs/msg/joy_feedback.hpp" + #include "obelisk_controller.h" #include "obelisk_ros_utils.h" @@ -13,7 +16,7 @@ class PositionSetpointController : public obelisk::ObeliskController(name) { - // example of params_path + // Example of params_path std::string file_string = this->get_parameter("params_path").as_string(); std::string obk_root = std::getenv("OBELISK_ROOT"); std::filesystem::path file_path(obk_root); @@ -35,6 +38,15 @@ class PositionSetpointController : public obelisk::ObeliskControllerget_parameter("test_param", test_param_value); RCLCPP_INFO_STREAM(this->get_logger(), "test_param: " << test_param_value); + + // Joystick example + // ----- Joystick Subscriber ----- // + this->RegisterObkSubscription( + "joystick_sub_setting", "joystick_sub", + std::bind(&PositionSetpointController::JoystickCallback, this, std::placeholders::_1)); + + // ----- Joystick Publisher ----- // + this->RegisterObkPublisher("joystick_feedback_setting", "joystick_pub"); } protected: @@ -56,5 +68,34 @@ class PositionSetpointController : public obelisk::ObeliskControllerget_logger(), "Joystick message received!"); + if (msg.axes.size() != 8) { + RCLCPP_ERROR_STREAM_ONCE(this->get_logger(), + "The only supported joy stick for this demo is a xbox remote with 8 axis!"); + } else { + if (msg.axes[7] == 1) { + amplitude_ += 0.1; + } else if (msg.axes[7] == -1) { + amplitude_ -= 0.1; + } + + if (msg.buttons[0] == 1) { + RCLCPP_INFO_STREAM(this->get_logger(), "Press (A) to print this help message. Press the up and down on " + "the d-pad to adjust the amplitude. Current amplitude: " + << amplitude_); + } + } + + // Rumble the joystick if the amplitude is too large + if (amplitude_ > 1.1) { + sensor_msgs::msg::JoyFeedback joy_feedback; + joy_feedback.type = sensor_msgs::msg::JoyFeedback::TYPE_RUMBLE; + joy_feedback.id = 0; + joy_feedback.intensity = 0.75; + this->GetPublisher("joystick_pub")->publish(joy_feedback); + } + } + float amplitude_; }; diff --git a/obelisk/python/obelisk_py/core/utils/launch_utils.py b/obelisk/python/obelisk_py/core/utils/launch_utils.py index 686319f0..0647848d 100644 --- a/obelisk/python/obelisk_py/core/utils/launch_utils.py +++ b/obelisk/python/obelisk_py/core/utils/launch_utils.py @@ -340,6 +340,60 @@ def _single_viz_node_launch_actions(settings: Dict, suffix: Optional[int] = None return launch_actions +def get_launch_actions_from_joystick_settings(settings: Dict, global_state_node: LifecycleNode) -> List[LifecycleNode]: + """Gets and configures all the launch actions related to joystick given the settings from the yaml.""" + launch_actions = [] + if settings["on"]: + # TODO: I think there is a better way to handle these defaults, i.e., not even passing the parameter if nothing + # is supplied. + device_id = settings["device_id"] if "device_id" in settings else 0 + + device_name = settings["device_name"] if "device_name" in settings else "" + + deadzone = settings["deadzone"] if "deadzone" in settings else 0.05 + + autorepeat_rate = settings["autorepeat_rate"] if "autorepeat_rate" in settings else 20.0 + + sticky_buttons = settings["sticky_buttons"] if "sticky_buttons" in settings else False + + coalesce_interval_ms = settings["coalesce_interval_ms"] if "coalesce_interval_ms" in settings else 1 + + pub_topic = settings["pub_topic"] if "pub_topic" in settings else "/joy" + + sub_topic = settings["sub_topic"] if "sub_topic" in settings else "/joy/set_feedback" + + launch_actions += [ + Node( + package="joy", + executable="joy_node", + name="joy", + output="screen", + parameters=[ + { + "device_id": device_id, + "device_name": device_name, + "deadzone": deadzone, + "autorepeat_rate": autorepeat_rate, + "sticky_buttons": sticky_buttons, + "coalesce_interval_ms": coalesce_interval_ms, + } + ], + remappings=[ + ( + "/joy", + pub_topic, + ), # remap the topic that the joystick publishes to + ( + "/joy/set_feedback", + sub_topic, + ), # remap the topic where the joystick listens + ], + ) + ] + + return launch_actions + + def get_handlers(component_node: LifecycleNode, global_state_node: LifecycleNode) -> List: """Gets all the handlers for the Lifecycle node.""" # transition events to match the global state node diff --git a/obelisk_ws/src/obelisk_ros/config/dummy_cpp.yaml b/obelisk_ws/src/obelisk_ros/config/dummy_cpp.yaml index f6acb320..819ba0a2 100644 --- a/obelisk_ws/src/obelisk_ros/config/dummy_cpp.yaml +++ b/obelisk_ws/src/obelisk_ros/config/dummy_cpp.yaml @@ -10,27 +10,24 @@ onboard: test_param: value_configured_in_yaml publishers: - ros_parameter: pub_ctrl_setting - # key: pub1 topic: /obelisk/dummy/ctrl - msg_type: PositionSetpoint history_depth: 10 callback_group: None - non_obelisk: False + # ----- Joystick publisher ----- # + - ros_parameter: joystick_feedback_setting + topic: /obelisk/dummy/joy_feedback subscribers: - ros_parameter: sub_est_setting - # key: sub1 topic: /obelisk/dummy/est - msg_type: EstimatedState history_depth: 10 - # callback_key: sub_callback1 callback_group: None - non_obelisk: False + # ----- Joystick subscriber ----- # + - ros_parameter: joystick_sub_setting + topic: /obelisk/dummy/joy timers: - ros_parameter: timer_ctrl_setting - # key: timer1 timer_period_sec: 0.001 callback_group: test_cbg - # callback_key: timer_callback1 estimation: - pkg: obelisk_estimation_cpp executable: jointencoders_passthrough_estimator @@ -42,7 +39,6 @@ onboard: msg_type: EstimatedState history_depth: 10 callback_group: None - non_obelisk: False subscribers: - ros_parameter: sub_sensor_setting # key: sub1 @@ -51,7 +47,6 @@ onboard: history_depth: 10 # callback_key: sub_callback1 callback_group: None - non_obelisk: False timers: - ros_parameter: timer_est_setting # key: timer1 @@ -111,3 +106,7 @@ onboard: sensor_names: tip_pos_sensor: framepos tip_orientation_sensor: framequat + joystick: + on: True + pub_topic: /obelisk/dummy/joy + sub_topic: /obelisk/dummy/joy_feedback diff --git a/obelisk_ws/src/obelisk_ros/launch/obelisk_bringup.launch.py b/obelisk_ws/src/obelisk_ros/launch/obelisk_bringup.launch.py index 84349bcf..853e4954 100644 --- a/obelisk_ws/src/obelisk_ros/launch/obelisk_bringup.launch.py +++ b/obelisk_ws/src/obelisk_ros/launch/obelisk_bringup.launch.py @@ -11,6 +11,7 @@ from rclpy.impl import rcutils_logger from obelisk_py.core.utils.launch_utils import ( + get_launch_actions_from_joystick_settings, get_launch_actions_from_node_settings, get_launch_actions_from_viz_settings, load_config_file, @@ -157,6 +158,12 @@ def obelisk_setup(context: launch.LaunchContext, launch_args: Dict) -> List: logger.info("Viz present in config file.") obelisk_launch_actions += get_launch_actions_from_viz_settings(obelisk_config["viz"], global_state_node) + if "joystick" in obelisk_config: + logger.info("joystick present in config file.") + obelisk_launch_actions += get_launch_actions_from_joystick_settings( + obelisk_config["joystick"], global_state_node + ) + return obelisk_launch_actions diff --git a/pixi.lock b/pixi.lock index 4857aafe..531f84d9 100644 --- a/pixi.lock +++ b/pixi.lock @@ -338,7 +338,6 @@ environments: - conda: https://conda.anaconda.org/conda-forge/linux-64/_openmp_mutex-4.5-2_gnu.tar.bz2 - conda: https://conda.anaconda.org/conda-forge/noarch/_sysroot_linux-64_curr_repodata_hack-3-h69a702a_16.conda - conda: https://conda.anaconda.org/conda-forge/linux-64/alsa-lib-1.2.12-h4ab18f5_0.conda - - conda: https://conda.anaconda.org/conda-forge/linux-64/aom-3.9.1-hac33072_0.conda - conda: https://conda.anaconda.org/conda-forge/noarch/argcomplete-3.4.0-pyhd8ed1ab_0.conda - conda: https://conda.anaconda.org/conda-forge/linux-64/assimp-5.3.1-h8343317_3.conda - conda: https://conda.anaconda.org/conda-forge/linux-64/atk-1.0-2.38.0-h04ea711_2.conda @@ -429,19 +428,15 @@ environments: - conda: https://conda.anaconda.org/conda-forge/noarch/cuda-version-12.1-h1d6eff3_3.conda - conda: https://conda.anaconda.org/conda-forge/linux-64/cuda-visual-tools-12.1.1-ha770c72_0.conda - conda: https://conda.anaconda.org/conda-forge/linux-64/cxx-compiler-1.7.0-h00ab1b0_1.conda - - conda: https://conda.anaconda.org/conda-forge/linux-64/cython-3.0.10-py311hb755f60_0.conda - 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typing-extensions ; python_full_version < '3.10' and extra == 'typing' - defusedxml ; extra == 'xmp' requires_python: '>=3.8' - kind: pypi @@ -9423,7 +10159,7 @@ packages: - pytest ; extra == 'tests' - pytest-cov ; extra == 'tests' - pytest-timeout ; extra == 'tests' - - typing-extensions ; python_version < '3.10' and extra == 'typing' + - typing-extensions ; python_full_version < '3.10' and extra == 'typing' - defusedxml ; extra == 'xmp' requires_python: '>=3.8' - kind: conda @@ -9828,7 +10564,7 @@ packages: sha256: b805413227f2c209f27b14b55da27fe5e9fb84129c9f1eb27708a5d12f6f000e requires_dist: - nodeenv>=1.6.0 - - typing-extensions>=3.7 ; python_version < '3.8' + - typing-extensions>=3.7 ; python_full_version < '3.8' - twine>=3.4.1 ; extra == 'all' - twine>=3.4.1 ; extra == 'dev' requires_python: '>=3.7' @@ -10216,7 +10952,7 @@ packages: - libpq >=16.3,<17.0a0 - libsqlite >=3.45.3,<4.0a0 - libstdcxx-ng >=12 - - libtiff >=4.6.0,<4.7.0a0 + - libtiff >=4.6.0,<4.8.0a0 - libwebp-base >=1.4.0,<2.0a0 - 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__glibc >=2.17,<3.0.a0 + - libgcc-ng >=12 + - libstdcxx-ng >=12 + - pulseaudio-client >=17.0,<17.1.0a0 + - xorg-libx11 >=1.8.9,<2.0a0 + - xorg-libxext >=1.3.4,<2.0a0 + license: Zlib + purls: [] + size: 1376026 + timestamp: 1720071746874 - kind: conda name: setuptools version: 70.3.0 @@ -17037,8 +17847,8 @@ packages: - imagesize>=1.3 - requests>=2.30.0 - packaging>=23.0 - - importlib-metadata>=6.0 ; python_version < '3.10' - - tomli>=2 ; python_version < '3.11' + - importlib-metadata>=6.0 ; python_full_version < '3.10' + - tomli>=2 ; python_full_version < '3.11' - colorama>=0.4.6 ; sys_platform == 'win32' - sphinxcontrib-websupport ; extra == 'docs' - flake8>=6.0 ; extra == 'lint' @@ -17223,23 +18033,22 @@ packages: timestamp: 1720621429816 - kind: conda name: tbb - version: 2021.12.0 - build: h434a139_3 - build_number: 3 + version: 2022.0.0 + build: hceb3a55_0 subdir: linux-64 - url: https://conda.anaconda.org/conda-forge/linux-64/tbb-2021.12.0-h434a139_3.conda - sha256: e901e1887205a3f90d6a77e1302ccc5ffe48fd30de16907dfdbdbf1dbef0a177 - md5: c667c11d1e488a38220ede8a34441bff + url: https://conda.anaconda.org/conda-forge/linux-64/tbb-2022.0.0-hceb3a55_0.conda + sha256: 2f7931cad1682d8b6bdc90dbb51edf01f6f5c33fc00392c396d63e24437df1e8 + md5: 79f0161f3ca73804315ca980f65d9c60 depends: - __glibc >=2.17,<3.0.a0 - - libgcc-ng >=12 - - libhwloc >=2.11.1,<2.11.2.0a0 - - libstdcxx-ng >=12 + - libgcc >=13 + - libhwloc >=2.11.2,<2.11.3.0a0 + - libstdcxx >=13 license: Apache-2.0 license_family: APACHE purls: [] - size: 193384 - timestamp: 1720768395379 + size: 178584 + timestamp: 1730477634943 - kind: conda name: tinyxml version: 2.6.2 @@ -17329,7 +18138,7 @@ packages: sha256: 4d24c5b39a117f8a895b9da7a9b3114f04eb63bade45a4492de49b175b6f7dfa requires_dist: - typing-extensions>=4.10.0 - - importlib-metadata>=3.6 ; python_version < '3.10' + - importlib-metadata>=3.6 ; python_full_version < '3.10' - packaging ; extra == 'doc' - sphinx>=7 ; extra == 'doc' - sphinx-autodoc-typehints>=1.2.0 ; extra == 'doc' @@ -17379,8 +18188,16 @@ packages: url: https://files.pythonhosted.org/packages/a3/8b/9dd44781a4e87746a426c56c3368c3da64fd90a130f582340cbf74397f8e/urdf_parser_py-0.0.4.tar.gz sha256: e983f637145fded67bcff6a542302069bb975b2edf1b18318c093abba1b794cc requires_dist: + - lxml - pyyaml +- kind: pypi + name: urdf-parser-py + version: 0.0.4 + url: https://files.pythonhosted.org/packages/a3/8b/9dd44781a4e87746a426c56c3368c3da64fd90a130f582340cbf74397f8e/urdf_parser_py-0.0.4.tar.gz + sha256: e983f637145fded67bcff6a542302069bb975b2edf1b18318c093abba1b794cc + requires_dist: - lxml + - pyyaml - kind: pypi name: urllib3 version: 2.2.2 @@ -17426,7 +18243,7 @@ packages: requires_dist: - distlib<1,>=0.3.7 - filelock<4,>=3.12.2 - - importlib-metadata>=6.6 ; python_version < '3.8' + - importlib-metadata>=6.6 ; python_full_version < '3.8' - platformdirs<5,>=3.9.1 - furo>=2023.7.26 ; extra == 'docs' - proselint>=0.13 ; extra == 'docs' @@ -17440,7 +18257,7 @@ packages: - flaky>=3.7 ; extra == 'test' - packaging>=23.1 ; extra == 'test' - pytest-env>=0.8.2 ; extra == 'test' - - pytest-freezer>=0.4.8 ; (platform_python_implementation == 'PyPy' or (platform_python_implementation == 'CPython' and sys_platform == 'win32' and python_version >= '3.13')) and extra == 'test' + - pytest-freezer>=0.4.8 ; (python_full_version >= '3.13' and platform_python_implementation == 'CPython' and sys_platform == 'win32' and extra == 'test') or (platform_python_implementation == 'PyPy' and extra == 'test') - pytest-mock>=3.11.1 ; extra == 'test' - pytest-randomly>=3.12 ; extra == 'test' - pytest-timeout>=2.1 ; extra == 'test' @@ -18262,7 +19079,7 @@ packages: - big-o ; extra == 'test' - pytest-ignore-flaky ; extra == 'test' - jaraco-test ; extra == 'test' - - importlib-resources ; python_version < '3.9' and extra == 'test' + - importlib-resources ; python_full_version < '3.9' and extra == 'test' requires_python: '>=3.8' - kind: conda name: zipp diff --git a/pixi.toml b/pixi.toml index 67dc3820..89c6cbee 100644 --- a/pixi.toml +++ b/pixi.toml @@ -53,6 +53,7 @@ ros-humble-ros-base = "*" colcon-common-extensions = "*" ros-humble-rviz-visual-tools = "*" ros-humble-foxglove-bridge = "*" +ros-humble-joy = "3.3.0" # TODO(ahl): this was just a test to see if we could install many # prune these away to a true minimal set later @@ -173,7 +174,11 @@ ros2-install = { features=["ros2base"] } # dev dev-no-gpu = { features=["obelisk", "ros2base", "test", "dev", "build", "leap"] } -dev = { features=["cuda121", "obelisk", "ros2base", "test", "dev", "build", "leap", "zed"], solve-group="dev" } + +dev = { features=["cuda121", "obelisk", "ros2base", "test", "dev", "build", "leap"], solve-group="dev" } + +dev-zed = { features=["cuda121", "obelisk", "ros2base", "test", "dev", "build", "leap", "zed"], solve-group="dev" } + docs = { features=["docs"] } build = { features = ["cuda121", "build"] } diff --git a/scripts/install_sys_deps.sh b/scripts/install_sys_deps.sh index e17cb88d..e1494a05 100644 --- a/scripts/install_sys_deps.sh +++ b/scripts/install_sys_deps.sh @@ -86,7 +86,8 @@ if [ "$basic" = true ]; then ros-humble-rosidl-default-generators \ ros-humble-rmw-cyclonedds-cpp \ ros-humble-rviz-visual-tools \ - ros-humble-foxglove-bridge + ros-humble-foxglove-bridge \ + ros-humble-joy # Need to make sure this is version 3.3.0 source /opt/ros/humble/setup.bash # python deps diff --git a/tests/tests_cpp/claude_obelisk_node_test.cpp b/tests/tests_cpp/claude_obelisk_node_test.cpp index 48ce666e..d29ef590 100644 --- a/tests/tests_cpp/claude_obelisk_node_test.cpp +++ b/tests/tests_cpp/claude_obelisk_node_test.cpp @@ -10,7 +10,6 @@ class TestObeliskNode : public obelisk::ObeliskNode { // Expose protected methods for testing using ObeliskNode::GetCallbackGroupName; using ObeliskNode::GetHistoryDepth; - using ObeliskNode::GetIsObeliskMsg; using ObeliskNode::GetMessageName; using ObeliskNode::GetPeriod; using ObeliskNode::GetTopic; @@ -64,23 +63,6 @@ TEST_CASE("GetHistoryDepth", "[ObeliskNode]") { rclcpp::shutdown(); } -TEST_CASE("GetIsObeliskMsg", "[ObeliskNode]") { - rclcpp::init(0, nullptr); - - TestObeliskNode node; - std::map config_map{{"non_obelisk", "True"}}; - - CHECK(node.GetIsObeliskMsg(config_map) == false); - - config_map["non_obelisk"] = "false"; - CHECK(node.GetIsObeliskMsg(config_map) == true); - - config_map.clear(); - CHECK(node.GetIsObeliskMsg(config_map) == true); // Default value - - rclcpp::shutdown(); -} - TEST_CASE("GetPeriod", "[ObeliskNode]") { rclcpp::init(0, nullptr); diff --git a/tests/tests_cpp/test_node.cpp b/tests/tests_cpp/test_node.cpp index 01aadf29..937d77cf 100644 --- a/tests/tests_cpp/test_node.cpp +++ b/tests/tests_cpp/test_node.cpp @@ -48,11 +48,7 @@ TEST_CASE("Obelisk Node Pub and Sub", "[obelisk_node]") { obelisk::ObeliskNodeTester node; SECTION("Publishers") { - // Verify that a dissalowed message throws an error - REQUIRE_THROWS(node.create_publisher("topic", 10)); - - // Try with the override flag - REQUIRE_NOTHROW(node.create_publisher("topic", 10, true)); + REQUIRE_NOTHROW(node.create_publisher("topic", 10)); // Verify that allowed messages are fine REQUIRE_NOTHROW(node.create_publisher("topic", 10)); @@ -83,14 +79,9 @@ TEST_CASE("Obelisk Node Pub and Sub", "[obelisk_node]") { "topic", 10, std::bind(&obelisk::ObeliskNodeTester::GenericCallback, &node, _1))); - // Verify that a dissalowed message throws an error - REQUIRE_THROWS(node.create_subscription( - "topic", 10, std::bind(&obelisk::ObeliskNodeTester::GenericCallback, &node, _1))); - // Try with the override flag REQUIRE_NOTHROW(node.create_subscription( - "topic", 10, std::bind(&obelisk::ObeliskNodeTester::GenericCallback, &node, _1), - true)); + "topic", 10, std::bind(&obelisk::ObeliskNodeTester::GenericCallback, &node, _1))); } rclcpp::shutdown();