Refactoring

.github/workflows/ci.yml

@@ -23,7 +23,7 @@ jobs:
         uses: ros-tooling/setup-ros@v0.2
         with:
           use-ros2-testing: true
-          required-ros-distributions: galactic
+          required-ros-distributions: humble
       - name: Install Custom Dependencies
         run: |
           # Webots (temporary disabled)
@@ -34,4 +34,4 @@ jobs:
       - name: Build packages and run and tests
         uses: ros-tooling/action-ros-ci@v0.2
         with:
-          target-ros2-distro: galactic
+          target-ros2-distro: humble

.github/workflows/linter_cpp.yml

@@ -10,7 +10,7 @@ jobs:
       fail-fast: false
       matrix:
         linters: [cpplint, xmllint, lint_cmake]
-        packages: [mep3_driver, mep3_behavior_tree, mep3_navigation]
+        packages: [mep3_driver, mep3_behavior, mep3_navigation]
     steps:
       - name: Checkout repository
         uses: actions/checkout@v2
@@ -22,6 +22,6 @@ jobs:
       - name: Run linter ${{ matrix.linters }} for package ${{ matrix.packages }}
         uses: ros-tooling/action-ros-lint@v0.1
         with:
-          distribution: galactic
+          distribution: humble
           linter: ${{ matrix.linters }}
           package-name: ${{ matrix.packages }}

.github/workflows/linter_python.yml

@@ -22,6 +22,6 @@ jobs:
       - name: Run linter ${{ matrix.linters }} for package ${{ matrix.packages }}
         uses: ros-tooling/action-ros-lint@v0.1
         with:
-          distribution: galactic
+          distribution: humble
           linter: ${{ matrix.linters }}
           package-name: ${{ matrix.packages }}

.gitignore

@@ -1,4 +1,4 @@
-.vscode/
+.vscode/settings.json
 .idea/
 build/
 install/

.vscode/c_cpp_properties.json

@@ -0,0 +1,28 @@
+{
+    "configurations": [
+        {
+            "name": "ROS2 Humble",
+            "browse": {
+                "databaseFilename": "",
+                "limitSymbolsToIncludedHeaders": true
+            },
+            "includePath": [
+                "${env:HOME}/webots/include/controller/cpp",
+                "/usr/include/python3.10",
+                "/usr/include",
+                "/opt/ros/humble/include",
+                "/opt/ros/humble/include/rclcpp",
+                "${workspaceFolder}/mep3_behavior/include",
+                "${workspaceFolder}/../../install/mep3_msgs/include/mep3_msgs",
+                "${workspaceFolder}/mep3_driver/include",
+                "${workspaceFolder}/mep3_navigation/include",
+                "${workspaceFolder}/mep3_simulation/include"
+            ],
+            "intelliSenseMode": "gcc-x64",
+            "compilerPath": "/usr/bin/g++",
+            "cStandard": "c99",
+            "cppStandard": "c++17"
+        }
+    ],
+    "version": 4
+}

README.md

@@ -18,15 +18,15 @@ Memristor Eurobot Platform based on ROS 2
 ## Getting started
 
 ```sh
-# Make sure you have ROS 2 Galactic installed.
-# https://docs.ros.org/en/galactic/Installation/Ubuntu-Install-Debians.html
+# Make sure you have ROS 2 Humble installed.
+# https://docs.ros.org/en/humble/Installation/Ubuntu-Install-Debians.html
 
 # Source ROS 2
-source /opt/ros/galactic/local_setup.bash
+source /opt/ros/humble/local_setup.bash
 
 # Create a workspace
-mkdir -p ~/galactic_ws/src
-cd ~/galactic_ws
+mkdir -p ~/humble_ws/src
+cd ~/humble_ws
 git clone git@github.com:memristor/mep3.git src/mep3
 # On embedded device: touch src/mep3/mep3_simulation/COLCON_IGNORE
 
@@ -80,7 +80,7 @@ ros2 launch mep3_bringup simulation_launch.py bt:=false
 ```
 - Control the robot from another terminal window
 ```sh
-source /opt/ros/galactic/local_setup.bash
+source /opt/ros/humble/local_setup.bash
 ros2 run teleop_twist_keyboard teleop_twist_keyboard --ros-args -r cmd_vel:=big/cmd_vel
 ```
 - Run the simulation with the behavior tree:
@@ -105,17 +105,17 @@ ros2 launch mep3_bringup rviz_launch.py
 - Change working directory to `~/ros2_ws`
 - Run the following command:
   ```sh
-  source /opt/ros/galactic/local_setup.bash
+  source /opt/ros/humble/local_setup.bash
   colcon test --event-handlers console_cohesion+ --return-code-on-test-failure
   ```
 
 ### BehaviorTree strategies
 
-Robot strategies are located inside [mep3_behavior_tree/assets](./mep3_behavior_tree/assets)
+Robot strategies are located inside [mep3_behavior/assets](./mep3_behavior/assets)
 directory with the following hierarchy:
 
 ```ini
-mep3_behavior_tree/assets
+mep3_behavior/assets
   - skills/
     - big_retract_hands.xml         # skill for Big robot
     - small_replace_statuette.xml   # skill for Small robot

docker/config/Cyberobotics/Webots-R2022b.conf

@@ -6,5 +6,12 @@ startupMode=Real-time
 telemetry=false
 theme=webots_night.qss
 
+[OpenGL]
+GTAO=0
+disableAntiAliasing=true
+disableShadows=true
+textureFiltering=1
+textureQuality=0
+
 [Internal]
 firstLaunch=false

docker/config/shortcuts.sh

@@ -87,9 +87,6 @@ shortcut_scratchpad_print() {
         $1 == "navigate_to_pose" {
             printf "<Action ID=\"NavigateToAction\" goal=\"%s;%s;%.5f\" />\n", $2, $3, $4;
         }
-        $1 == "precise_navigate_to_pose" {
-            printf "<Action ID=\"PreciseNavigateToAction\" goal=\"%s;%s;%.5f\" />\n", $2, $3, $4;
-        }
         $1 == "dynamixel" {
             printf "<Action ID=\"DynamixelCommandAction\" server_name=\"dynamixel_command/%s\" position=\"%s\" velocity=\"%s\" tolerance=\"%s\" timeout=\"%s\" result=\"0\" />\n", $2, $3, $4, $5, $6;
         }
@@ -387,20 +384,3 @@ shortcut_scoreboard_task() {
     eval "ros2 topic pub --once /scoreboard mep3_msgs/msg/Scoreboard '${message}'"
 }
 alias sc="shortcut_scoreboard_task"
-
-## Launch ResistanceMeterAction action
-# Arguments:
-#   - namespace [optional]
-#   - side [right/left] [optional]
-shortcut_resistance_meter() {
-    if echo "$2" | grep -qv '^[0-9\.-]*$'; then
-        namespace="${1:-big}"
-        shift
-    else
-        namespace='big'
-    fi
-    side="${1:-right}"
-    last_action="resistance_meter ${task} ${points}"
-    eval "ros2 action send_goal /${namespace}/resistance_meter/${side} mep3_msgs/action/ResistanceMeter {}"
-}
-alias re="shortcut_resistance_meter"

mep3_behavior_tree/CMakeLists.txt → mep3_behavior/CMakeLists.txt

@@ -1,16 +1,14 @@
 cmake_minimum_required(VERSION 3.5)
-project(mep3_behavior_tree)
+project(mep3_behavior)
 
-# Default to C17
+# Default to C99
 if(NOT CMAKE_C_STANDARD)
-  set(CMAKE_C_STANDARD 17)
-  set(CMAKE_C_STANDARD_REQUIRED ON)
+  set(CMAKE_C_STANDARD 99)
 endif()
 
-# Default to C++20
+# Default to C++17
 if(NOT CMAKE_CXX_STANDARD)
-  set(CMAKE_CXX_STANDARD 20)
-  set(CMAKE_CXX_STANDARD_REQUIRED ON)
+  set(CMAKE_CXX_STANDARD 17)
 endif()
 
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")

mep3_behavior_tree/assets/strategies/big/purple_strategy.xml → mep3_behavior/assets/strategies/big/purple_strategy.xml

@@ -2,10 +2,12 @@
     <!-- ////////// -->
     <BehaviorTree ID="BehaviorTree">
         <SequenceStar>
+            <WaitMatchStart state="1" />
+
             <AddObstacle label="initial" polygon="0.0;0.0|0.2;0.0|0.0;0.2" />
             <AddObstacle label="initial" polygon="0.0;0.0|-0.2;0.0|0.0;-0.2" />
-            <Navigate goal="-0.8;0.0;0" />
-            <RemoveObstacle label="initial" />
+            <!-- <Navigate goal="0.3;0.3;0" /> -->
+            <!-- <RemoveObstacle label="initial" /> -->
 
             <Wait duration="100000.0" name="Wait one big purple main strategy" />
         </SequenceStar>

mep3_behavior_tree/include/mep3_behavior_tree/add_obstacle_action.hpp → mep3_behavior/include/mep3_behavior/add_obstacle_action.hpp

@@ -18,7 +18,7 @@
 #include <iostream>
 #include <string>
 
-#include "mep3_behavior_tree/pose_2d.hpp"
+#include "mep3_behavior/pose_2d.hpp"
 #include "mep3_msgs/msg/temporal_obstacle.hpp"
 
 #include "behaviortree_cpp_v3/behavior_tree.h"
@@ -27,7 +27,7 @@
 #include "rclcpp/rclcpp.hpp"
 #include "geometry_msgs/msg/point.hpp"
 
-namespace mep3_behavior_tree
+namespace mep3_behavior
 {
   class AddObstacleAction : public BT::AsyncActionNode
   {
@@ -73,6 +73,6 @@ namespace mep3_behavior_tree
     return BT::NodeStatus::SUCCESS;
   }
 
-} // namespace mep3_behavior_tree
+} // namespace mep3_behavior
 
 #endif // MEP3_BEHAVIOR_TREE__ADD_OBSTACLE_ACTION_HPP_

mep3_behavior_tree/include/mep3_behavior_tree/blackboard_control_flow.hpp → mep3_behavior/include/mep3_behavior/blackboard_control_flow.hpp

@@ -23,7 +23,7 @@
 #include "behaviortree_cpp_v3/control_node.h"
 #include "rclcpp/rclcpp.hpp"
 
-namespace mep3_behavior_tree
+namespace mep3_behavior
 {
 
 class CompareBlackboardControl : public BT::ControlNode
@@ -368,6 +368,6 @@ class PassAction : public BT::SyncActionNode
   }
 };
 
-} // namespace mep3_behavior_tree
+} // namespace mep3_behavior
 
 #endif // MEP3_BEHAVIOR_TREE__BLACKBOARD_CONTROL_FLOW_HPP_