Merge branch 'main' into feature/jazzy-ubuntu2404-devcontainer

bitbots_behavior/bitbots_blackboard/CMakeLists.txt

@@ -1,81 +1,12 @@
 cmake_minimum_required(VERSION 3.5)
 project(bitbots_blackboard)
 
-# Add support for C++17
-if(NOT CMAKE_CXX_STANDARD)
-  set(CMAKE_CXX_STANDARD 17)
-endif()
-
-find_package(ament_cmake REQUIRED)
-find_package(bio_ik_msgs REQUIRED)
 find_package(bitbots_docs REQUIRED)
-find_package(bitbots_msgs REQUIRED)
-find_package(geometry_msgs REQUIRED)
-find_package(rclpy REQUIRED)
-find_package(sensor_msgs REQUIRED)
-find_package(std_msgs REQUIRED)
-find_package(std_srvs REQUIRED)
-find_package(tf2 REQUIRED)
-find_package(tf2_geometry_msgs REQUIRED)
-
-set(INCLUDE_DIRS
-    ${bio_ik_msgs_INCLUDE_DIRS}
-    ${ament_cmake_INCLUDE_DIRS}
-    ${sensor_msgs_INCLUDE_DIRS}
-    ${rclpy_INCLUDE_DIRS}
-    ${tf2_INCLUDE_DIRS}
-    ${bitbots_msgs_INCLUDE_DIRS}
-    ${std_msgs_INCLUDE_DIRS}
-    ${tf2_geometry_msgs_INCLUDE_DIRS}
-    ${std_srvs_INCLUDE_DIRS}
-    ${geometry_msgs_INCLUDE_DIRS}
-    ${bitbots_docs_INCLUDE_DIRS})
-include_directories(${INCLUDE_DIRS})
-
-set(LIBRARY_DIRS
-    ${bio_ik_msgs_LIBRARY_DIRS}
-    ${ament_cmake_LIBRARY_DIRS}
-    ${sensor_msgs_LIBRARY_DIRS}
-    ${rclpy_LIBRARY_DIRS}
-    ${tf2_LIBRARY_DIRS}
-    ${bitbots_msgs_LIBRARY_DIRS}
-    ${std_msgs_LIBRARY_DIRS}
-    ${tf2_geometry_msgs_LIBRARY_DIRS}
-    ${std_srvs_LIBRARY_DIRS}
-    ${geometry_msgs_LIBRARY_DIRS}
-    ${bitbots_docs_LIBRARY_DIRS})
-
-link_directories(${LIBRARY_DIRS})
-
-set(LIBS
-    ${bio_ik_msgs_LIBRARIES}
-    ${ament_cmake_LIBRARIES}
-    ${sensor_msgs_LIBRARIES}
-    ${rclpy_LIBRARIES}
-    ${tf2_LIBRARIES}
-    ${bitbots_msgs_LIBRARIES}
-    ${std_msgs_LIBRARIES}
-    ${tf2_geometry_msgs_LIBRARIES}
-    ${std_srvs_LIBRARIES}
-    ${geometry_msgs_LIBRARIES}
-    ${bitbots_docs_LIBRARIES})
+find_package(ament_cmake REQUIRED)
+find_package(ament_cmake_python REQUIRED)
 
-include(${CMAKE_BINARY_DIR}/../bitbots_docs/enable_bitbots_docs.cmake)
 enable_bitbots_docs()
 
-ament_export_dependencies(bio_ik_msgs)
-ament_export_dependencies(ament_cmake)
-ament_export_dependencies(sensor_msgs)
-ament_export_dependencies(rclpy)
-ament_export_dependencies(tf2)
-ament_export_dependencies(bitbots_msgs)
-ament_export_dependencies(std_msgs)
-ament_export_dependencies(tf2_geometry_msgs)
-ament_export_dependencies(std_srvs)
-ament_export_dependencies(geometry_msgs)
-ament_export_dependencies(bitbots_docs)
-ament_export_include_directories(${INCLUDE_DIRS})
-
 if(BUILD_TESTING)
   find_package(ament_cmake_mypy REQUIRED)
   ament_mypy(CONFIG_FILE "${CMAKE_CURRENT_LIST_DIR}/mypy.ini")

bitbots_behavior/bitbots_blackboard/bitbots_blackboard/capsules/misc_capsule.py

@@ -8,12 +8,12 @@
 from bitbots_msgs.msg import Audio, HeadMode, RobotControlState
 
 THeadMode: TypeAlias = Literal[  # type: ignore[valid-type]
-    HeadMode.BALL_MODE,
-    HeadMode.FIELD_FEATURES,
+    HeadMode.SEARCH_BALL,
+    HeadMode.SEARCH_FIELD_FEATURES,
     HeadMode.LOOK_FORWARD,
     HeadMode.DONT_MOVE,
-    HeadMode.BALL_MODE_PENALTY,
-    HeadMode.LOOK_FRONT,
+    HeadMode.SEARCH_BALL_PENALTY,
+    HeadMode.SEARCH_FRONT,
 ]
 
 

bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/behavior_dsd/actions/head_modes.py

@@ -45,15 +45,15 @@ class SearchBall(AbstractHeadModeElement):
     """Look for ball"""
 
     def perform(self):
-        self.blackboard.misc.set_head_duty(HeadMode.BALL_MODE)
+        self.blackboard.misc.set_head_duty(HeadMode.SEARCH_BALL)
         return self.pop()
 
 
 class LookAtFieldFeatures(AbstractHeadModeElement):
     """Look generally for all features on the field (ball, goals, corners, center point)"""
 
     def perform(self):
-        self.blackboard.misc.set_head_duty(HeadMode.FIELD_FEATURES)
+        self.blackboard.misc.set_head_duty(HeadMode.SEARCH_FIELD_FEATURES)
         return self.pop()
 
 
@@ -77,13 +77,13 @@ class LookAtBallPenalty(AbstractHeadModeElement):
     """Ball Mode adapted for Penalty Kick"""
 
     def perform(self):
-        self.blackboard.misc.set_head_duty(HeadMode.BALL_MODE_PENALTY)
+        self.blackboard.misc.set_head_duty(HeadMode.SEARCH_BALL_PENALTY)
         return self.pop()
 
 
 class LookAtFront(AbstractHeadModeElement):
     """Search in front of the robot"""
 
     def perform(self):
-        self.blackboard.misc.set_head_duty(HeadMode.LOOK_FRONT)
+        self.blackboard.misc.set_head_duty(HeadMode.SEARCH_FRONT)
         return self.pop()

bitbots_lowlevel/bitbots_buttons/CMakeLists.txt

@@ -6,6 +6,11 @@ if(NOT CMAKE_CXX_STANDARD)
   set(CMAKE_CXX_STANDARD 17)
 endif()
 
+# Build with release optimizations and debug symbols by default
+if(NOT CMAKE_CONFIGURATION_TYPES AND NOT CMAKE_BUILD_TYPE)
+  set(CMAKE_BUILD_TYPE RelWithDebug)
+endif()
+
 find_package(ament_cmake REQUIRED)
 find_package(backward_ros REQUIRED)
 find_package(bitbots_docs REQUIRED)

bitbots_lowlevel/bitbots_ros_control/CMakeLists.txt

@@ -6,6 +6,11 @@ if(NOT CMAKE_CXX_STANDARD)
   set(CMAKE_CXX_STANDARD 17)
 endif()
 
+# Build with release optimizations and debug symbols by default
+if(NOT CMAKE_CONFIGURATION_TYPES AND NOT CMAKE_BUILD_TYPE)
+  set(CMAKE_BUILD_TYPE RelWithDebug)
+endif()
+
 find_package(ament_cmake REQUIRED)
 find_package(backward_ros REQUIRED)
 find_package(bitbots_buttons REQUIRED)

bitbots_misc/bitbots_basler_camera/CMakeLists.txt

@@ -6,6 +6,11 @@ if(NOT CMAKE_CXX_STANDARD)
   set(CMAKE_CXX_STANDARD 17)
 endif()
 
+# Build with release optimizations and debug symbols by default
+if(NOT CMAKE_CONFIGURATION_TYPES AND NOT CMAKE_BUILD_TYPE)
+  set(CMAKE_BUILD_TYPE RelWithDebug)
+endif()
+
 find_package(ament_cmake REQUIRED)
 find_package(ament_index_cpp REQUIRED)
 find_package(backward_ros REQUIRED)

bitbots_misc/bitbots_basler_camera/package.xml

@@ -12,6 +12,7 @@
 
   <author email="[email protected]">Hamburg Bit-Bots</author>
 
+  <depend>backward_ros</depend>
   <depend>bitbots_docs</depend>
   <depend>camera_info_manager</depend>
   <depend>cv_bridge</depend>

bitbots_misc/bitbots_extrinsic_calibration/CMakeLists.txt

@@ -6,16 +6,21 @@ if(NOT CMAKE_CXX_STANDARD)
   set(CMAKE_CXX_STANDARD 17)
 endif()
 
+# Build with release optimizations and debug symbols by default
+if(NOT CMAKE_CONFIGURATION_TYPES AND NOT CMAKE_BUILD_TYPE)
+  set(CMAKE_BUILD_TYPE RelWithDebug)
+endif()
+
+find_package(ament_cmake REQUIRED)
+find_package(backward_ros REQUIRED)
+find_package(bitbots_docs REQUIRED)
 find_package(geometry_msgs REQUIRED)
 find_package(rclcpp REQUIRED)
-find_package(ament_cmake REQUIRED)
-find_package(tf2_ros REQUIRED)
+find_package(rot_conv REQUIRED)
 find_package(std_msgs REQUIRED)
-find_package(tf2_geometry_msgs REQUIRED)
-find_package(bitbots_docs REQUIRED)
 find_package(tf2 REQUIRED)
-find_package(rot_conv REQUIRED)
-find_package(backward_ros REQUIRED)
+find_package(tf2_geometry_msgs REQUIRED)
+find_package(tf2_ros REQUIRED)
 
 add_compile_options(-Wall -Werror -Wno-unused)
 

bitbots_misc/bitbots_extrinsic_calibration/package.xml

@@ -9,17 +9,17 @@
     <maintainer email="[email protected]">Hamburg Bit-Bots</maintainer>
 
     <license>MIT</license>
-    
+
     <author email="[email protected]">Florian Vahl</author>
 
     <buildtool_depend>ament_cmake</buildtool_depend>
 
+    <depend>backward_ros</depend>
     <depend>bitbots_docs</depend>
+    <depend>rot_conv</depend>
     <depend>std_msgs</depend>
-    <depend>tf2</depend>
     <depend>tf2_ros</depend>
-    <depend>rot_conv</depend>
-    <depend>backward_ros</depend>
+    <depend>tf2</depend>
 
     <export>
         <bitbots_documentation>

bitbots_misc/bitbots_robot_description/CMakeLists.txt

@@ -4,12 +4,6 @@ project(bitbots_robot_description)
 find_package(bitbots_docs REQUIRED)
 find_package(ament_cmake REQUIRED)
 
-set(INCLUDE_DIRS include)
-include_directories(${INCLUDE_DIRS})
-
-set(CMAKE_CXX_STANDARD 17)
-add_compile_options(-Wall -Werror -Wno-unused -pedantic -Wextra)
-
 enable_bitbots_docs()
 
 install(DIRECTORY launch DESTINATION share/${PROJECT_NAME})

bitbots_misc/bitbots_teleop/scripts/teleop_keyboard.py

@@ -222,12 +222,12 @@ def loop(self):
                     self.head_pub.publish(self.head_msg)
                 elif key == "0":
                     # Search for Ball and track it if found
-                    self.head_mode_msg.head_mode = HeadMode.BALL_MODE
-                    assert int(key) == HeadMode.BALL_MODE
+                    self.head_mode_msg.head_mode = HeadMode.SEARCH_BALL
+                    assert int(key) == HeadMode.SEARCH_BALL
                 elif key == "1":
                     # Look generally for all features on the field (ball, goals, corners, center point)
-                    self.head_mode_msg.head_mode = HeadMode.FIELD_FEATURES
-                    assert int(key) == HeadMode.FIELD_FEATURES
+                    self.head_mode_msg.head_mode = HeadMode.SEARCH_FIELD_FEATURES
+                    assert int(key) == HeadMode.SEARCH_FIELD_FEATURES
                 elif key == "2":
                     # Simply look directly forward
                     self.head_mode_msg.head_mode = HeadMode.LOOK_FORWARD
@@ -238,12 +238,12 @@ def loop(self):
                     assert int(key) == HeadMode.DONT_MOVE
                 elif key == "4":
                     # Ball Mode adapted for Penalty Kick
-                    self.head_mode_msg.head_mode = HeadMode.BALL_MODE_PENALTY
-                    assert int(key) == HeadMode.BALL_MODE_PENALTY
+                    self.head_mode_msg.head_mode = HeadMode.SEARCH_BALL_PENALTY
+                    assert int(key) == HeadMode.SEARCH_BALL_PENALTY
                 elif key == "5":
                     # Do a pattern which only looks in front of the robot
-                    self.head_mode_msg.head_mode = HeadMode.LOOK_FRONT
-                    assert int(key) == HeadMode.LOOK_FRONT
+                    self.head_mode_msg.head_mode = HeadMode.SEARCH_FRONT
+                    assert int(key) == HeadMode.SEARCH_FRONT
                 elif key == "y":
                     # kick left forward
                     pass

bitbots_misc/bitbots_utils/CMakeLists.txt

@@ -6,7 +6,13 @@ if(NOT CMAKE_CXX_STANDARD)
   set(CMAKE_CXX_STANDARD 17)
 endif()
 
+# Build with release optimizations and debug symbols by default
+if(NOT CMAKE_CONFIGURATION_TYPES AND NOT CMAKE_BUILD_TYPE)
+  set(CMAKE_BUILD_TYPE RelWithDebug)
+endif()
+
 find_package(bitbots_docs REQUIRED)
+find_package(backward_ros REQUIRED)
 find_package(ament_cmake REQUIRED)
 find_package(ament_cmake_python REQUIRED)
 find_package(rclcpp REQUIRED)
@@ -26,7 +32,7 @@ add_compile_options(-Wall -Werror -Wno-unused -pedantic -Wextra -fPIC)
 add_library(${PROJECT_NAME} src/utils.cpp)
 
 # Add dependencies to cpp library
-ament_target_dependencies(${PROJECT_NAME} rclcpp tf2_ros)
+ament_target_dependencies(${PROJECT_NAME} rclcpp tf2_ros backward_ros)
 
 ament_export_dependencies(rclcpp)
 ament_export_include_directories(${INCLUDE_DIRS})

bitbots_misc/bitbots_utils/package.xml

@@ -11,11 +11,12 @@
     <maintainer email="[email protected]">Hamburg Bit-Bots</maintainer>
 
     <license>MIT</license>
-    
+
     <author email="[email protected]">Hamburg Bit-Bots</author>
 
     <buildtool_depend>ament_cmake</buildtool_depend>
 
+    <depend>backward_ros</depend>
     <depend>bitbots_docs</depend>
     <depend>python3-yaml</depend>
     <depend>python3-transforms3d</depend>

bitbots_motion/bitbots_dynamic_kick/CMakeLists.txt

@@ -6,9 +6,15 @@ if(NOT CMAKE_CXX_STANDARD)
   set(CMAKE_CXX_STANDARD 17)
 endif()
 
+# Build with release optimizations and debug symbols by default
+if(NOT CMAKE_CONFIGURATION_TYPES AND NOT CMAKE_BUILD_TYPE)
+  set(CMAKE_BUILD_TYPE RelWithDebug)
+endif()
+
 find_package(ament_cmake REQUIRED)
-find_package(bitbots_docs REQUIRED)
+find_package(backward_ros REQUIRED)
 find_package(biped_interfaces REQUIRED)
+find_package(bitbots_docs REQUIRED)
 find_package(bitbots_msgs REQUIRED)
 find_package(bitbots_splines REQUIRED)
 find_package(control_toolbox REQUIRED)
@@ -24,7 +30,6 @@ find_package(tf2 REQUIRED)
 find_package(tf2_eigen REQUIRED)
 find_package(tf2_geometry_msgs REQUIRED)
 find_package(tf2_ros REQUIRED)
-find_package(backward_ros REQUIRED)
 
 find_package(Python3 COMPONENTS Interpreter Development)
 

bitbots_motion/bitbots_dynup/CMakeLists.txt

@@ -17,6 +17,11 @@ if(ipo_supported)
   set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -flto=4")
 endif()
 
+# Build with release optimizations and debug symbols by default
+if(NOT CMAKE_CONFIGURATION_TYPES AND NOT CMAKE_BUILD_TYPE)
+  set(CMAKE_BUILD_TYPE RelWithDebug)
+endif()
+
 set(PYBIND11_PYTHON_VERSION 3)
 set(PYBIND11_FINDPYTHON ON)
 

bitbots_motion/bitbots_hcm/CMakeLists.txt

@@ -1,6 +1,11 @@
 cmake_minimum_required(VERSION 3.12)
 project(bitbots_hcm)
 
+# Build with release optimizations and debug symbols by default
+if(NOT CMAKE_CONFIGURATION_TYPES AND NOT CMAKE_BUILD_TYPE)
+  set(CMAKE_BUILD_TYPE RelWithDebug)
+endif()
+
 set(PYBIND11_PYTHON_VERSION 3)
 set(PYBIND11_FINDPYTHON ON)
 find_package(ament_cmake REQUIRED)
@@ -18,7 +23,7 @@ find_package(sensor_msgs REQUIRED)
 find_package(std_msgs REQUIRED)
 
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
-  add_compile_options(-fvisibility=hidden)
+  add_compile_options(-fvisibility=hidden -Wall -Wextra -Wpedantic)
 endif()
 
 include_directories(${PYTHON_INCLUDE_DIRS})

bitbots_motion/bitbots_head_mover/CMakeLists.txt

@@ -1,6 +1,11 @@
 cmake_minimum_required(VERSION 3.8)
 project(bitbots_head_mover)
 
+# Build with release optimizations and debug symbols by default
+if(NOT CMAKE_CONFIGURATION_TYPES AND NOT CMAKE_BUILD_TYPE)
+  set(CMAKE_BUILD_TYPE RelWithDebug)
+endif()
+
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   add_compile_options(-Wall -Wextra -Wpedantic)
 endif()
@@ -12,7 +17,6 @@ find_package(bio_ik REQUIRED)
 find_package(bio_ik_msgs REQUIRED)
 find_package(bitbots_msgs REQUIRED)
 find_package(generate_parameter_library REQUIRED)
-find_package(bitbots_msgs REQUIRED)
 find_package(moveit_core REQUIRED)
 find_package(moveit_msgs REQUIRED)
 find_package(moveit_ros_planning REQUIRED)
@@ -23,8 +27,6 @@ find_package(std_msgs REQUIRED)
 find_package(tf2_geometry_msgs REQUIRED)
 find_package(tf2_ros REQUIRED)
 
-set(CMAKE_BUILD_TYPE Debug)
-
 generate_parameter_library(
   head_parameters # cmake target name for the parameter library
   config/head_config.yml)