From aec97964cfa464d92698cbfa3a05cc9a3a359ae6 Mon Sep 17 00:00:00 2001 From: Marina Moreira <67443181+marinagmoreira@users.noreply.github.com> Date: Mon, 20 Feb 2023 11:13:57 -0800 Subject: [PATCH 01/13] add missing glog flag that caused problems in some systems (#685) --- tools/calibration/CMakeLists.txt | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/tools/calibration/CMakeLists.txt b/tools/calibration/CMakeLists.txt index e7093e55b1..7655bf8e53 100644 --- a/tools/calibration/CMakeLists.txt +++ b/tools/calibration/CMakeLists.txt @@ -74,7 +74,7 @@ target_link_libraries(create_undistorted_images add_executable(run_camera_target_based_intrinsics_calibrator tools/run_camera_target_based_intrinsics_calibrator.cc) add_dependencies(run_camera_target_based_intrinsics_calibrator ${catkin_EXPORTED_TARGETS}) target_link_libraries(run_camera_target_based_intrinsics_calibrator - ${PROJECT_NAME} ${catkin_LIBRARIES} ${CERES_LIBRARIES}) + glog ${PROJECT_NAME} ${catkin_LIBRARIES} ${CERES_LIBRARIES}) ############# ## Install ## From 8987f5b5d10e1e858271052b3d8c20a3ccccd07e Mon Sep 17 00:00:00 2001 From: Trey Smith Date: Mon, 6 Mar 2023 14:12:06 -0800 Subject: [PATCH 02/13] Make isort repeatable (#694) * make isort repeatable * isort now consistently groups astrobee imports as first party; one-time update to apply to old files --- .isort.cfg | 18 ++++++++++++ .../pico_driver/scripts/debug_pico_utils.py | 3 +- .../scripts/pico_check_split_extended.py | 1 + .../scripts/pico_split_extended.py | 3 +- .../scripts/pico_write_xyz_coeff.py | 1 + scripts/calibrate/extrinsics_calibrate.py | 3 +- scripts/calibrate/intrinsics_calibrate.py | 3 +- scripts/git/configure_isort_paths.sh | 15 ++++++++++ scripts/git/pre-commit.linter_python | 29 ++++++++++++++----- .../coverage_analysis/coverage_analyzer.py | 3 +- .../apply_histogram_equalization_to_images.py | 3 +- .../scripts/check_bag_for_gaps.py | 1 + .../bag_processing/scripts/rosbag_debayer.py | 3 +- tools/bag_processing/scripts/rosbag_sample.py | 3 +- tools/bag_processing/scripts/rosbag_splice.py | 3 +- tools/bag_processing/scripts/rosbag_trim.py | 1 + .../save_images_with_target_detections.py | 3 +- .../scripts/communications/dds_support.py | 3 +- .../scripts/bag_and_parameter_sweep.py | 3 +- .../scripts/depth_odometry_parameter_sweep.py | 3 +- .../scripts/imu_analyzer.py | 3 +- .../scripts/parameter_sweep.py | 3 +- .../scripts/plot_helpers.py | 1 + .../scripts/plot_results.py | 3 +- tools/localization_analysis/scripts/poses.py | 3 +- .../scripts/rmse_utilities.py | 3 +- .../scripts/test_rmse_utilities.py | 1 + .../scripts/utilities.py | 1 + .../scripts/vector3d_plotter.py | 1 + .../scripts/vector3ds.py | 1 + 30 files changed, 100 insertions(+), 25 deletions(-) create mode 100644 .isort.cfg create mode 100755 scripts/git/configure_isort_paths.sh diff --git a/.isort.cfg b/.isort.cfg new file mode 100644 index 0000000000..3ad8d68240 --- /dev/null +++ b/.isort.cfg @@ -0,0 +1,18 @@ +[settings] + +# The src_paths setting should be a comma-separated list of all the +# folders in the astrobee repo that contain *.py files. Python files +# found in these folders count as "first party" so they should be in a +# separate group from the "third party" imports. If src_paths is not +# specified, isort will treat only the files it's asked to check as +# first party. Therefore, if we specify src_paths broadly in this way, +# isort behavior should be more repeatable between (1) manually +# running isort on a single file in your local dev machine, vs. (2) +# running the git pre-commit hook locally on your dev machine, which +# historically ran isort only on the files that changed since the last +# commit, or (3) running the CI workflow, which always runs isort on +# all files. If src_paths needs to be updated, like if *.py files are +# added to a new folder, you can auto-update it by running +# scripts/git/configure_isort_paths.sh. + +src_paths = doc/scripts,hardware/eps_driver/tools,hardware/pico_driver/scripts,hardware/pmc_actuator/tools,localization/localization_common,localization/localization_common/scripts/localization_common,localization/marker_tracking/tools/marker_tracking_node,localization/sparse_mapping/scripts,localization/sparse_mapping/tools,scripts/build,scripts/calibrate,scripts/debug,scripts/git,scripts/postprocessing/coverage_analysis,tools/bag_processing/scripts,tools/bag_processing/scripts/utilities,tools/bag_processing/test,tools/calibration/scripts,tools/gds_helper/src,tools/gnc_visualizer/dds,tools/gnc_visualizer/scripts,tools/gnc_visualizer/scripts/communications,tools/localization_analysis/scripts,tools/performance_tester/scripts diff --git a/hardware/pico_driver/scripts/debug_pico_utils.py b/hardware/pico_driver/scripts/debug_pico_utils.py index ec879a4e50..1848530e78 100755 --- a/hardware/pico_driver/scripts/debug_pico_utils.py +++ b/hardware/pico_driver/scripts/debug_pico_utils.py @@ -31,11 +31,12 @@ import logging import numpy as np -import pico_utils as pico import rosbag from matplotlib import collections as mc from matplotlib import pyplot as plt +import pico_utils as pico + def plot_xy_grid_many(inbag_path, verbose=False, fast=False, cam=pico.DEFAULT_CAM): """ diff --git a/hardware/pico_driver/scripts/pico_check_split_extended.py b/hardware/pico_driver/scripts/pico_check_split_extended.py index cd032a28e2..90253453fb 100755 --- a/hardware/pico_driver/scripts/pico_check_split_extended.py +++ b/hardware/pico_driver/scripts/pico_check_split_extended.py @@ -29,6 +29,7 @@ import logging import numpy as np + import pico_utils as pico diff --git a/hardware/pico_driver/scripts/pico_split_extended.py b/hardware/pico_driver/scripts/pico_split_extended.py index 6b107eae6c..3a095e77a4 100755 --- a/hardware/pico_driver/scripts/pico_split_extended.py +++ b/hardware/pico_driver/scripts/pico_split_extended.py @@ -28,9 +28,10 @@ import shutil import numpy as np -import pico_utils as pico import rosbag +import pico_utils as pico + class PrintEveryK: def __init__(self, k): diff --git a/hardware/pico_driver/scripts/pico_write_xyz_coeff.py b/hardware/pico_driver/scripts/pico_write_xyz_coeff.py index d4b51c8fa4..aad7716301 100755 --- a/hardware/pico_driver/scripts/pico_write_xyz_coeff.py +++ b/hardware/pico_driver/scripts/pico_write_xyz_coeff.py @@ -26,6 +26,7 @@ import logging import numpy as np + import pico_utils as pico diff --git a/scripts/calibrate/extrinsics_calibrate.py b/scripts/calibrate/extrinsics_calibrate.py index b3250fce56..10a3af65b2 100755 --- a/scripts/calibrate/extrinsics_calibrate.py +++ b/scripts/calibrate/extrinsics_calibrate.py @@ -27,9 +27,10 @@ import numpy as np import numpy.linalg import yaml -from calibration_utils import * from tf import transformations +from calibration_utils import * + # returns extrinsics (T_cam_imu) from the yaml file def read_yaml_extrinsics(filename, cameras): diff --git a/scripts/calibrate/intrinsics_calibrate.py b/scripts/calibrate/intrinsics_calibrate.py index a7aae5b8e5..0b64a302db 100755 --- a/scripts/calibrate/intrinsics_calibrate.py +++ b/scripts/calibrate/intrinsics_calibrate.py @@ -27,9 +27,10 @@ import numpy as np import numpy.linalg import yaml -from calibration_utils import * from tf import transformations +from calibration_utils import * + # returns intrinsics, distortion, and transforms between cameras from a yaml file def read_yaml(filename, cameras): diff --git a/scripts/git/configure_isort_paths.sh b/scripts/git/configure_isort_paths.sh new file mode 100755 index 0000000000..7f461c712b --- /dev/null +++ b/scripts/git/configure_isort_paths.sh @@ -0,0 +1,15 @@ +#!/bin/bash + +# Updates the src_paths setting in the .isort.cfg file at the top +# level. See that file for more details. + +thisdir=$(dirname "$0") +srcdir=$(cd $thisdir/../.. && pwd) + +cd $srcdir + +# Generate a comma-separated list of folders containing *.py files +pydirs=$(find . -name "*.py" -print0 | xargs -0 dirname | cut -c3- | sort | uniq | paste -sd "," -) + +# Overwrite the src_paths line in the config file to use the list +perl -i -ple "if (/^src_paths = /) { \$_ = 'src_paths = $pydirs'; }" .isort.cfg diff --git a/scripts/git/pre-commit.linter_python b/scripts/git/pre-commit.linter_python index 238571b14c..db90dac612 100755 --- a/scripts/git/pre-commit.linter_python +++ b/scripts/git/pre-commit.linter_python @@ -17,10 +17,10 @@ # License for the specific language governing permissions and limitations # under the License. -files=$(git diff --diff-filter=d --cached --name-only | grep '\.py$') +py_changed=$(git diff --diff-filter=d --cached --name-only | grep '\.py$') -# If files is empty exit success -if [ -z "${files}" ]; then +# If py_changed is empty exit success +if [ -z "${py_changed}" ]; then echo "==================================================" echo " No Python files changed, no checks needed." exit 0 @@ -46,21 +46,36 @@ fi echo "==================================================" echo " Analysing python code style with 'black'." # This check the files but they will not be commited -if `black . --include ${files} --check --quiet`; then +if `black . --include ${py_changed} --check --quiet`; then echo "Linter checks using 'black' passed." else echo "Errors detected with 'black'. Fixing them. Try to add and commit your files again." - black . --include ${files} + black . --include ${py_changed} failed_lint=true fi echo "==================================================" echo " Analysing python code style with 'isort'." -if $(isort ${files} --extend-skip cmake --profile black --diff --check-only --quiet >/dev/null); then + +# We're running isort recursively on the top-level folder (not +# limiting it to the changed files) in order to match how it is +# invoked in the CI workflow. This is because isort determines what +# imports are treated as first party, and therefore should be grouped +# separately, in part based on what files it is asked to process. We +# definitely don't want to have any disagreement where this pre-commit +# hook wants things grouped one way but the CI workflow says that's +# wrong. Note that our intention is for isort to treat all imports +# found in the astrobee repo as first party, and we specify that using +# the src_paths setting in the .isort.cfg file. But we should still +# run isort consistently in both places to avoid disagreement, which +# could happen for example if the .isort.cfg src_paths list gets out +# of date. + +if $(isort . --extend-skip cmake --profile black --diff --check-only --quiet >/dev/null); then echo "Linter checks using 'isort' passed." else echo "Errors detected with 'isort'. Fixing them. Try to add and commit your files again." - isort ${files} --extend-skip cmake --profile black >/dev/null + isort . --extend-skip cmake --profile black >/dev/null failed_lint=true fi diff --git a/scripts/postprocessing/coverage_analysis/coverage_analyzer.py b/scripts/postprocessing/coverage_analysis/coverage_analyzer.py index 5757113b81..4f45648f52 100644 --- a/scripts/postprocessing/coverage_analysis/coverage_analyzer.py +++ b/scripts/postprocessing/coverage_analysis/coverage_analyzer.py @@ -11,10 +11,11 @@ import sys import timeit -import constants import numpy as np from tf.transformations import * +import constants + class Coverage_Analyzer: def __init__(self): diff --git a/tools/bag_processing/scripts/apply_histogram_equalization_to_images.py b/tools/bag_processing/scripts/apply_histogram_equalization_to_images.py index ba96d811f6..528626b78a 100755 --- a/tools/bag_processing/scripts/apply_histogram_equalization_to_images.py +++ b/tools/bag_processing/scripts/apply_histogram_equalization_to_images.py @@ -27,10 +27,11 @@ import cv2 import rosbag import rospy -import utilities.utilities from cv_bridge import CvBridge, CvBridgeError from sensor_msgs.msg import Image +import utilities.utilities + if __name__ == "__main__": parser = argparse.ArgumentParser( description=__doc__, formatter_class=argparse.ArgumentDefaultsHelpFormatter diff --git a/tools/bag_processing/scripts/check_bag_for_gaps.py b/tools/bag_processing/scripts/check_bag_for_gaps.py index 8649d7046f..2d28b384b8 100755 --- a/tools/bag_processing/scripts/check_bag_for_gaps.py +++ b/tools/bag_processing/scripts/check_bag_for_gaps.py @@ -25,6 +25,7 @@ import sys import rosbag + import utilities.utilities if __name__ == "__main__": diff --git a/tools/bag_processing/scripts/rosbag_debayer.py b/tools/bag_processing/scripts/rosbag_debayer.py index 1157fe9624..5774ce624c 100755 --- a/tools/bag_processing/scripts/rosbag_debayer.py +++ b/tools/bag_processing/scripts/rosbag_debayer.py @@ -27,10 +27,11 @@ import cv2 import rosbag import rospy -import utilities.utilities from cv_bridge import CvBridge, CvBridgeError from sensor_msgs.msg import Image +import utilities.utilities + def convert_bayer( bagfile, diff --git a/tools/bag_processing/scripts/rosbag_sample.py b/tools/bag_processing/scripts/rosbag_sample.py index 1e4ea2533f..4e8fdebfce 100755 --- a/tools/bag_processing/scripts/rosbag_sample.py +++ b/tools/bag_processing/scripts/rosbag_sample.py @@ -33,9 +33,10 @@ import genpy import rosbag -import rosbag_rewrite_types as rrt import roslib +import rosbag_rewrite_types as rrt + def sample_bags(inbag_paths, outbag_path, rules_files, verbose=False): if os.path.exists(outbag_path): diff --git a/tools/bag_processing/scripts/rosbag_splice.py b/tools/bag_processing/scripts/rosbag_splice.py index 2a9ff65d54..2ac047381a 100755 --- a/tools/bag_processing/scripts/rosbag_splice.py +++ b/tools/bag_processing/scripts/rosbag_splice.py @@ -34,10 +34,11 @@ import cv2 import rosbag import rospy -import utilities.utilities from cv_bridge import CvBridge, CvBridgeError from sensor_msgs.msg import Image +import utilities.utilities + def print_info(splice_timestamps, bag_start_time, bag_end_time): print(str(len(splice_timestamps)) + " splice timestamps selected.") diff --git a/tools/bag_processing/scripts/rosbag_trim.py b/tools/bag_processing/scripts/rosbag_trim.py index 45b62304d9..fc11a59c82 100755 --- a/tools/bag_processing/scripts/rosbag_trim.py +++ b/tools/bag_processing/scripts/rosbag_trim.py @@ -24,6 +24,7 @@ import sys import rosbag + import utilities.utilities diff --git a/tools/calibration/scripts/save_images_with_target_detections.py b/tools/calibration/scripts/save_images_with_target_detections.py index ef964b17ca..c8444bab84 100755 --- a/tools/calibration/scripts/save_images_with_target_detections.py +++ b/tools/calibration/scripts/save_images_with_target_detections.py @@ -28,11 +28,12 @@ import aslam_cv_backend as acvb import cv2 -import get_bags_with_topic import kalibr_camera_calibration as kcc import kalibr_common as kc import numpy as np +import get_bags_with_topic + class Corner: def __init__(self, corner_id, target_corner, image_corner): diff --git a/tools/gnc_visualizer/scripts/communications/dds_support.py b/tools/gnc_visualizer/scripts/communications/dds_support.py index e4a06b8beb..26cf09d532 100644 --- a/tools/gnc_visualizer/scripts/communications/dds_support.py +++ b/tools/gnc_visualizer/scripts/communications/dds_support.py @@ -21,6 +21,8 @@ from sys import path as sysPath from time import sleep +from pkg_resources import get_distribution, parse_version + from data_support import ( ControlState, EkfState, @@ -31,7 +33,6 @@ Quaternion, Vector3, ) -from pkg_resources import get_distribution, parse_version try: import rticonnextdds_connector as rti diff --git a/tools/localization_analysis/scripts/bag_and_parameter_sweep.py b/tools/localization_analysis/scripts/bag_and_parameter_sweep.py index 5dc497a9ba..76b4d5d51e 100755 --- a/tools/localization_analysis/scripts/bag_and_parameter_sweep.py +++ b/tools/localization_analysis/scripts/bag_and_parameter_sweep.py @@ -26,9 +26,10 @@ import shutil import sys +import pandas as pd + import bag_sweep import localization_common.utilities as lu -import pandas as pd import parameter_sweep import plot_parameter_sweep_results diff --git a/tools/localization_analysis/scripts/depth_odometry_parameter_sweep.py b/tools/localization_analysis/scripts/depth_odometry_parameter_sweep.py index 18c6cb88dc..ac5da7c1c1 100755 --- a/tools/localization_analysis/scripts/depth_odometry_parameter_sweep.py +++ b/tools/localization_analysis/scripts/depth_odometry_parameter_sweep.py @@ -32,9 +32,10 @@ import multiprocessing import os +import numpy as np + import config_creator import localization_common.utilities as lu -import numpy as np import parameter_sweep_utilities import plot_parameter_sweep_results diff --git a/tools/localization_analysis/scripts/imu_analyzer.py b/tools/localization_analysis/scripts/imu_analyzer.py index fe904f6d65..b204cb7f6a 100755 --- a/tools/localization_analysis/scripts/imu_analyzer.py +++ b/tools/localization_analysis/scripts/imu_analyzer.py @@ -27,8 +27,9 @@ import os import sys -import imu_measurements import matplotlib + +import imu_measurements import plot_helpers matplotlib.use("pdf") diff --git a/tools/localization_analysis/scripts/parameter_sweep.py b/tools/localization_analysis/scripts/parameter_sweep.py index 9b5d399e1f..9aeb469ddc 100755 --- a/tools/localization_analysis/scripts/parameter_sweep.py +++ b/tools/localization_analysis/scripts/parameter_sweep.py @@ -32,10 +32,11 @@ import multiprocessing import os +import numpy as np + import average_results import config_creator import localization_common.utilities as lu -import numpy as np import parameter_sweep_utilities import plot_parameter_sweep_results diff --git a/tools/localization_analysis/scripts/plot_helpers.py b/tools/localization_analysis/scripts/plot_helpers.py index 075432745f..33e9aa7118 100644 --- a/tools/localization_analysis/scripts/plot_helpers.py +++ b/tools/localization_analysis/scripts/plot_helpers.py @@ -18,6 +18,7 @@ # under the License. import matplotlib + import poses import vector3ds diff --git a/tools/localization_analysis/scripts/plot_results.py b/tools/localization_analysis/scripts/plot_results.py index 44f69d5075..d8ff6fd13b 100755 --- a/tools/localization_analysis/scripts/plot_results.py +++ b/tools/localization_analysis/scripts/plot_results.py @@ -26,8 +26,9 @@ import os import sys -import loc_states import matplotlib + +import loc_states import plot_helpers import poses import rmse_utilities diff --git a/tools/localization_analysis/scripts/poses.py b/tools/localization_analysis/scripts/poses.py index e1321086d7..bdcd086151 100644 --- a/tools/localization_analysis/scripts/poses.py +++ b/tools/localization_analysis/scripts/poses.py @@ -18,10 +18,11 @@ # under the License. import numpy as np +import scipy.spatial.transform + import orientations import pose import pose_covariances -import scipy.spatial.transform import vector3ds diff --git a/tools/localization_analysis/scripts/rmse_utilities.py b/tools/localization_analysis/scripts/rmse_utilities.py index a6b9a81e66..19ebc613e4 100644 --- a/tools/localization_analysis/scripts/rmse_utilities.py +++ b/tools/localization_analysis/scripts/rmse_utilities.py @@ -21,9 +21,10 @@ import math import numpy as np -import poses import scipy.spatial.transform +import poses + # Assumes poses_a and poses_b are sorted in time def get_same_timestamp_poses( diff --git a/tools/localization_analysis/scripts/test_rmse_utilities.py b/tools/localization_analysis/scripts/test_rmse_utilities.py index 380164c292..2b788d63fd 100644 --- a/tools/localization_analysis/scripts/test_rmse_utilities.py +++ b/tools/localization_analysis/scripts/test_rmse_utilities.py @@ -21,6 +21,7 @@ import unittest import numpy as np + import poses import rmse_utilities diff --git a/tools/localization_analysis/scripts/utilities.py b/tools/localization_analysis/scripts/utilities.py index 19bc893586..dd391c9441 100644 --- a/tools/localization_analysis/scripts/utilities.py +++ b/tools/localization_analysis/scripts/utilities.py @@ -16,6 +16,7 @@ # under the License. import numpy as np + import pose import poses diff --git a/tools/localization_analysis/scripts/vector3d_plotter.py b/tools/localization_analysis/scripts/vector3d_plotter.py index 9a3453fb48..620959709b 100644 --- a/tools/localization_analysis/scripts/vector3d_plotter.py +++ b/tools/localization_analysis/scripts/vector3d_plotter.py @@ -18,6 +18,7 @@ # under the License. import matplotlib + import poses import vector3ds diff --git a/tools/localization_analysis/scripts/vector3ds.py b/tools/localization_analysis/scripts/vector3ds.py index 308dca741c..387ebdd790 100644 --- a/tools/localization_analysis/scripts/vector3ds.py +++ b/tools/localization_analysis/scripts/vector3ds.py @@ -18,6 +18,7 @@ # under the License. import numpy as np + import vector3d From 4180fbe972626feafa90a5f051724c9dc05cc875 Mon Sep 17 00:00:00 2001 From: Marina Moreira <67443181+marinagmoreira@users.noreply.github.com> Date: Wed, 8 Mar 2023 09:47:05 -0800 Subject: [PATCH 03/13] moving ff_names to ff_common, updating headers (#696) --- behaviors/arm/tools/arm_tool.cc | 2 +- behaviors/dock/tools/dock_tool.cc | 2 +- behaviors/light_flow/include/light_flow.h | 2 +- behaviors/light_flow/src/light_flow/light_flow.cc | 2 +- .../light_flow/src/light_flow_nodelet/light_flow_nodelet.cc | 2 +- behaviors/light_flow/tools/light_flow_tool.cc | 2 +- behaviors/perch/tools/perch_tool.cc | 2 +- behaviors/states/src/states_nodelet/states_nodelet.cc | 2 +- .../include/dds_ros_bridge/astrobee_astrobee_bridge.h | 2 +- .../dds_ros_bridge/include/dds_ros_bridge/dds_ros_bridge.h | 2 +- .../include/ground_dds_ros_bridge/ground_dds_ros_bridge.h | 2 +- gnc/ctl/src/ctl_ros.cc | 2 +- gnc/ctl/test/test_ctl_nominal.cc | 2 +- gnc/fam/include/fam/fam.h | 2 +- gnc/fam/src/fam.cc | 2 +- hardware/eps_driver/tools/eps_simulator/eps_simulator.cc | 2 +- .../flashlight/include/flashlight/ros/flashlight_nodelet.h | 2 +- hardware/is_camera/src/debayer.cc | 2 +- hardware/laser/include/laser/ros/laser_nodelet.h | 2 +- hardware/pico_driver/src/pico_driver.cc | 2 +- hardware/pico_driver/src/pico_proxy.cc | 2 +- hardware/pico_driver/test/test_init_pico_flexx.cc | 2 +- hardware/pmc_actuator/tools/pmc_actuator_cmd_test.cc | 2 +- hardware/pmc_actuator/tools/pmc_actuator_feeder.cc | 2 +- hardware/pmc_actuator/tools/pmc_autotrim_node.cc | 2 +- .../src/signal_lights_node/signal_lights_nodelet.cc | 2 +- hardware/speed_cam/test/test_init_speed_cam.cc | 2 +- localization/depth_odometry/src/depth_odometry_nodelet.cc | 2 +- localization/depth_odometry/src/depth_odometry_wrapper.cc | 2 +- localization/graph_localizer/src/graph_localizer_nodelet.cc | 2 +- .../src/ground_truth_localizer_nodelet.cc | 2 +- localization/handrail_detect/ros/enable_handrail_detect.cc | 2 +- localization/imu_augmentor/src/imu_augmentor_nodelet.cc | 2 +- .../src/marker_tracking_node/marker_tracker.cc | 2 +- .../tools/marker_tracking_node/overhead_tracking_node.cc | 2 +- localization/vive_localization/src/vive.h | 2 +- .../access_control/include/access_control/access_control.h | 2 +- management/access_control/test/test_access_control.cc | 2 +- .../include/cpu_mem_monitor/cpu_mem_monitor.h | 2 +- .../cpu_mem_monitor/test/test_init_llp_cpu_mem_monitor.cc | 2 +- .../cpu_mem_monitor/test/test_init_mlp_cpu_mem_monitor.cc | 2 +- management/data_bagger/include/data_bagger/data_bagger.h | 2 +- management/disk_monitor/include/disk_monitor/disk_monitor.h | 2 +- management/disk_monitor/test/test_init_llp_disk_monitor.cc | 2 +- management/disk_monitor/test/test_init_mlp_disk_monitor.cc | 2 +- management/executive/include/executive/executive.h | 2 +- management/executive/test/test_init_executive.cc | 2 +- management/executive/tools/data_to_disk_pub.cc | 2 +- management/executive/tools/plan_pub.cc | 2 +- management/executive/tools/simple_move.cc | 2 +- management/executive/tools/teleop_tool.cc | 2 +- management/executive/tools/zones_pub.cc | 2 +- management/sys_monitor/include/sys_monitor/sys_monitor.h | 2 +- management/sys_monitor/test/test_init_sys_monitor.cc | 2 +- management/sys_monitor/test/test_sys_monitor.cc | 2 +- mobility/choreographer/include/choreographer/planner.h | 2 +- mobility/choreographer/test/test_init_choreographer.cc | 2 +- mobility/choreographer/test/test_obstacle.cc | 2 +- mobility/choreographer/test/test_zones_keepin.cc | 2 +- mobility/choreographer/test/test_zones_keepout.cc | 2 +- mobility/choreographer/test/test_zones_nominal.cc | 2 +- mobility/mapper/test/test_init_mapper.cc | 2 +- mobility/mobility/tools/plangen.cc | 2 +- mobility/mobility/tools/teleop.cc | 2 +- .../include/planner_trapezoidal/planner_trapezoidal.h | 2 +- mobility/planner_trapezoidal/src/planner_trapezoidal.cc | 2 +- .../planner_trapezoidal/src/planner_trapezoidal_nodelet.cc | 2 +- .../ff_util => ff_common/include/ff_common}/ff_names.h | 6 +++--- shared/ff_util/include/ff_util/config_client.h | 2 +- shared/ff_util/include/ff_util/config_server.h | 2 +- shared/ff_util/include/ff_util/ff_nodelet.h | 2 +- .../gazebo_model_plugin_signal_lights.cc | 2 +- tools/imu_bias_tester/src/imu_bias_tester_nodelet.cc | 2 +- .../include/interactive_marker_teleop.h | 2 +- .../localization_analysis/live_measurement_simulator.h | 2 +- tools/localization_analysis/src/bag_imu_filterer.cc | 2 +- tools/localization_analysis/src/depth_odometry_adder.cc | 2 +- tools/localization_analysis/src/graph_bag.cc | 2 +- tools/localization_analysis/src/imu_bias_tester_adder.cc | 2 +- .../localization_analysis/src/sparse_mapping_pose_adder.cc | 2 +- tools/localization_analysis/src/utilities.cc | 2 +- tools/localization_analysis/tools/convert_depth_msg.cc | 2 +- .../localization_rviz_plugins/src/depth_odometry_display.cc | 2 +- .../src/localization_graph_display.cc | 2 +- .../src/localization_graph_panel.h | 2 +- tools/performance_tester/tools/test_plan.cc | 2 +- 86 files changed, 88 insertions(+), 88 deletions(-) rename shared/{ff_util/include/ff_util => ff_common/include/ff_common}/ff_names.h (99%) diff --git a/behaviors/arm/tools/arm_tool.cc b/behaviors/arm/tools/arm_tool.cc index 1ff952b689..2b7a55426a 100644 --- a/behaviors/arm/tools/arm_tool.cc +++ b/behaviors/arm/tools/arm_tool.cc @@ -23,7 +23,7 @@ // Include RPOS #include // FSW includes -#include +#include #include #include diff --git a/behaviors/dock/tools/dock_tool.cc b/behaviors/dock/tools/dock_tool.cc index b52dbf2674..8f20348bf8 100644 --- a/behaviors/dock/tools/dock_tool.cc +++ b/behaviors/dock/tools/dock_tool.cc @@ -24,7 +24,7 @@ #include // FSW includes -#include +#include #include // Action diff --git a/behaviors/light_flow/include/light_flow.h b/behaviors/light_flow/include/light_flow.h index a6699da161..85af7acacf 100644 --- a/behaviors/light_flow/include/light_flow.h +++ b/behaviors/light_flow/include/light_flow.h @@ -20,7 +20,7 @@ #define LIGHT_FLOW_H_ #include -#include +#include #include #include #include diff --git a/behaviors/light_flow/src/light_flow/light_flow.cc b/behaviors/light_flow/src/light_flow/light_flow.cc index 02afd96a30..d0b1e0b1eb 100644 --- a/behaviors/light_flow/src/light_flow/light_flow.cc +++ b/behaviors/light_flow/src/light_flow/light_flow.cc @@ -20,7 +20,7 @@ #include #include #include -#include +#include #include #include #include diff --git a/behaviors/light_flow/src/light_flow_nodelet/light_flow_nodelet.cc b/behaviors/light_flow/src/light_flow_nodelet/light_flow_nodelet.cc index 471c5397d6..5a39722529 100644 --- a/behaviors/light_flow/src/light_flow_nodelet/light_flow_nodelet.cc +++ b/behaviors/light_flow/src/light_flow_nodelet/light_flow_nodelet.cc @@ -32,7 +32,7 @@ #include // FSW nodelet -#include +#include #include // Services diff --git a/behaviors/light_flow/tools/light_flow_tool.cc b/behaviors/light_flow/tools/light_flow_tool.cc index 6b99f4f8f2..9f7f1903b2 100644 --- a/behaviors/light_flow/tools/light_flow_tool.cc +++ b/behaviors/light_flow/tools/light_flow_tool.cc @@ -18,7 +18,7 @@ #include #include -#include +#include #include #include #include diff --git a/behaviors/perch/tools/perch_tool.cc b/behaviors/perch/tools/perch_tool.cc index 69d0f249da..f6a665ee42 100644 --- a/behaviors/perch/tools/perch_tool.cc +++ b/behaviors/perch/tools/perch_tool.cc @@ -24,7 +24,7 @@ #include // FSW includes -#include +#include #include // Action diff --git a/behaviors/states/src/states_nodelet/states_nodelet.cc b/behaviors/states/src/states_nodelet/states_nodelet.cc index d02d706ff9..d7c1e9594c 100644 --- a/behaviors/states/src/states_nodelet/states_nodelet.cc +++ b/behaviors/states/src/states_nodelet/states_nodelet.cc @@ -25,7 +25,7 @@ #include // FSW nodelet -#include +#include #include // Services diff --git a/communications/dds_ros_bridge/include/dds_ros_bridge/astrobee_astrobee_bridge.h b/communications/dds_ros_bridge/include/dds_ros_bridge/astrobee_astrobee_bridge.h index 3539a6a0e8..f08ef95c02 100644 --- a/communications/dds_ros_bridge/include/dds_ros_bridge/astrobee_astrobee_bridge.h +++ b/communications/dds_ros_bridge/include/dds_ros_bridge/astrobee_astrobee_bridge.h @@ -39,7 +39,7 @@ #include "ff_msgs/ResponseOnly.h" -#include "ff_util/ff_names.h" +#include "ff_common/ff_names.h" #include "ff_util/ff_nodelet.h" // SoraCore Includes diff --git a/communications/dds_ros_bridge/include/dds_ros_bridge/dds_ros_bridge.h b/communications/dds_ros_bridge/include/dds_ros_bridge/dds_ros_bridge.h index 1675d64eaf..a488d1a988 100644 --- a/communications/dds_ros_bridge/include/dds_ros_bridge/dds_ros_bridge.h +++ b/communications/dds_ros_bridge/include/dds_ros_bridge/dds_ros_bridge.h @@ -65,7 +65,7 @@ #include "ff_msgs/SetRate.h" -#include "ff_util/ff_names.h" +#include "ff_common/ff_names.h" #include "ff_util/ff_nodelet.h" // SoraCore Includes diff --git a/communications/ground_dds_ros_bridge/include/ground_dds_ros_bridge/ground_dds_ros_bridge.h b/communications/ground_dds_ros_bridge/include/ground_dds_ros_bridge/ground_dds_ros_bridge.h index 59bd10f6a1..8212082dfe 100644 --- a/communications/ground_dds_ros_bridge/include/ground_dds_ros_bridge/ground_dds_ros_bridge.h +++ b/communications/ground_dds_ros_bridge/include/ground_dds_ros_bridge/ground_dds_ros_bridge.h @@ -36,7 +36,7 @@ #include "ground_dds_ros_bridge/ros_command.h" #include "ground_dds_ros_bridge/ros_sub_rapid_pub.h" -#include "ff_util/ff_names.h" +#include "ff_common/ff_names.h" // SoraCore Includes #include "knDds/DdsSupport.h" diff --git a/gnc/ctl/src/ctl_ros.cc b/gnc/ctl/src/ctl_ros.cc index abd163457f..21529cee27 100644 --- a/gnc/ctl/src/ctl_ros.cc +++ b/gnc/ctl/src/ctl_ros.cc @@ -25,7 +25,7 @@ #include #include -#include +#include #include #include diff --git a/gnc/ctl/test/test_ctl_nominal.cc b/gnc/ctl/test/test_ctl_nominal.cc index 87064422c1..7d867fac39 100644 --- a/gnc/ctl/test/test_ctl_nominal.cc +++ b/gnc/ctl/test/test_ctl_nominal.cc @@ -28,7 +28,7 @@ #include #include -#include +#include #include #include #include diff --git a/gnc/fam/include/fam/fam.h b/gnc/fam/include/fam/fam.h index 28f144e963..e67cfc4b1b 100644 --- a/gnc/fam/include/fam/fam.h +++ b/gnc/fam/include/fam/fam.h @@ -26,7 +26,7 @@ #include #include -#include +#include #include #include diff --git a/gnc/fam/src/fam.cc b/gnc/fam/src/fam.cc index 6c16471167..7ecad16491 100644 --- a/gnc/fam/src/fam.cc +++ b/gnc/fam/src/fam.cc @@ -18,7 +18,7 @@ #include #include -#include +#include #include #include diff --git a/hardware/eps_driver/tools/eps_simulator/eps_simulator.cc b/hardware/eps_driver/tools/eps_simulator/eps_simulator.cc index 9ab30b81c3..48ad0de14c 100644 --- a/hardware/eps_driver/tools/eps_simulator/eps_simulator.cc +++ b/hardware/eps_driver/tools/eps_simulator/eps_simulator.cc @@ -20,7 +20,7 @@ #include // FSW standard naming -#include +#include // Standard messages #include diff --git a/hardware/flashlight/include/flashlight/ros/flashlight_nodelet.h b/hardware/flashlight/include/flashlight/ros/flashlight_nodelet.h index 398aef61c8..98f401cdf8 100644 --- a/hardware/flashlight/include/flashlight/ros/flashlight_nodelet.h +++ b/hardware/flashlight/include/flashlight/ros/flashlight_nodelet.h @@ -28,7 +28,7 @@ #include #include -#include +#include #include #include diff --git a/hardware/is_camera/src/debayer.cc b/hardware/is_camera/src/debayer.cc index 01110b2f3f..b75fbfe018 100644 --- a/hardware/is_camera/src/debayer.cc +++ b/hardware/is_camera/src/debayer.cc @@ -22,7 +22,7 @@ #include // Shared libraries -#include +#include #include #include diff --git a/hardware/laser/include/laser/ros/laser_nodelet.h b/hardware/laser/include/laser/ros/laser_nodelet.h index 1dd6aafc93..cc8ed26869 100644 --- a/hardware/laser/include/laser/ros/laser_nodelet.h +++ b/hardware/laser/include/laser/ros/laser_nodelet.h @@ -29,7 +29,7 @@ #include #include -#include +#include #include #include diff --git a/hardware/pico_driver/src/pico_driver.cc b/hardware/pico_driver/src/pico_driver.cc index b7b7b5b732..7795cbf840 100644 --- a/hardware/pico_driver/src/pico_driver.cc +++ b/hardware/pico_driver/src/pico_driver.cc @@ -22,7 +22,7 @@ #include // Shared libraries -#include +#include #include #include diff --git a/hardware/pico_driver/src/pico_proxy.cc b/hardware/pico_driver/src/pico_proxy.cc index b422bbfbff..a5fa76f64e 100644 --- a/hardware/pico_driver/src/pico_proxy.cc +++ b/hardware/pico_driver/src/pico_proxy.cc @@ -22,7 +22,7 @@ #include // Shared libraries -#include +#include #include #include diff --git a/hardware/pico_driver/test/test_init_pico_flexx.cc b/hardware/pico_driver/test/test_init_pico_flexx.cc index 7833426a4a..9a166987fc 100644 --- a/hardware/pico_driver/test/test_init_pico_flexx.cc +++ b/hardware/pico_driver/test/test_init_pico_flexx.cc @@ -20,7 +20,7 @@ // Required for the test cases #include -#include +#include // Required for the test framework #include diff --git a/hardware/pmc_actuator/tools/pmc_actuator_cmd_test.cc b/hardware/pmc_actuator/tools/pmc_actuator_cmd_test.cc index 666d96cfb8..5227bbc112 100644 --- a/hardware/pmc_actuator/tools/pmc_actuator_cmd_test.cc +++ b/hardware/pmc_actuator/tools/pmc_actuator_cmd_test.cc @@ -18,7 +18,7 @@ #include -#include +#include #include #include diff --git a/hardware/pmc_actuator/tools/pmc_actuator_feeder.cc b/hardware/pmc_actuator/tools/pmc_actuator_feeder.cc index d632be6360..19b8b88438 100644 --- a/hardware/pmc_actuator/tools/pmc_actuator_feeder.cc +++ b/hardware/pmc_actuator/tools/pmc_actuator_feeder.cc @@ -19,7 +19,7 @@ #include #include -#include +#include #include diff --git a/hardware/pmc_actuator/tools/pmc_autotrim_node.cc b/hardware/pmc_actuator/tools/pmc_autotrim_node.cc index 5f59d9496f..f1f3a30bbf 100644 --- a/hardware/pmc_actuator/tools/pmc_autotrim_node.cc +++ b/hardware/pmc_actuator/tools/pmc_autotrim_node.cc @@ -31,7 +31,7 @@ #include // Flight software names -#include +#include // STL includes #include diff --git a/hardware/signal_lights/src/signal_lights_node/signal_lights_nodelet.cc b/hardware/signal_lights/src/signal_lights_node/signal_lights_nodelet.cc index b9de936001..ece78ec1d2 100644 --- a/hardware/signal_lights/src/signal_lights_node/signal_lights_nodelet.cc +++ b/hardware/signal_lights/src/signal_lights_node/signal_lights_nodelet.cc @@ -25,7 +25,7 @@ #include // FSW nodelet -#include +#include #include // Proxy library diff --git a/hardware/speed_cam/test/test_init_speed_cam.cc b/hardware/speed_cam/test/test_init_speed_cam.cc index 3f08bf73e3..76cf77054c 100644 --- a/hardware/speed_cam/test/test_init_speed_cam.cc +++ b/hardware/speed_cam/test/test_init_speed_cam.cc @@ -28,7 +28,7 @@ // Required for the test cases #include -#include +#include // Required for the test framework #include diff --git a/localization/depth_odometry/src/depth_odometry_nodelet.cc b/localization/depth_odometry/src/depth_odometry_nodelet.cc index bfd806b073..c759b5ee99 100644 --- a/localization/depth_odometry/src/depth_odometry_nodelet.cc +++ b/localization/depth_odometry/src/depth_odometry_nodelet.cc @@ -18,7 +18,7 @@ #include #include -#include +#include #include #include diff --git a/localization/depth_odometry/src/depth_odometry_wrapper.cc b/localization/depth_odometry/src/depth_odometry_wrapper.cc index e55211c820..11117402af 100644 --- a/localization/depth_odometry/src/depth_odometry_wrapper.cc +++ b/localization/depth_odometry/src/depth_odometry_wrapper.cc @@ -21,7 +21,7 @@ #include #include #include -#include +#include #include #include #include diff --git a/localization/graph_localizer/src/graph_localizer_nodelet.cc b/localization/graph_localizer/src/graph_localizer_nodelet.cc index 9e35545261..ad04342ad8 100644 --- a/localization/graph_localizer/src/graph_localizer_nodelet.cc +++ b/localization/graph_localizer/src/graph_localizer_nodelet.cc @@ -18,7 +18,7 @@ #include #include -#include +#include #include #include #include diff --git a/localization/ground_truth_localizer/src/ground_truth_localizer_nodelet.cc b/localization/ground_truth_localizer/src/ground_truth_localizer_nodelet.cc index 31a55db0b2..a86ef9b329 100644 --- a/localization/ground_truth_localizer/src/ground_truth_localizer_nodelet.cc +++ b/localization/ground_truth_localizer/src/ground_truth_localizer_nodelet.cc @@ -19,7 +19,7 @@ #include #include #include -#include +#include #include #include diff --git a/localization/handrail_detect/ros/enable_handrail_detect.cc b/localization/handrail_detect/ros/enable_handrail_detect.cc index 0a4aac7f8f..dc8cbc49a9 100644 --- a/localization/handrail_detect/ros/enable_handrail_detect.cc +++ b/localization/handrail_detect/ros/enable_handrail_detect.cc @@ -18,7 +18,7 @@ #include #include -#include +#include // Simple executable wrapper int main(int argc, char** argv) { diff --git a/localization/imu_augmentor/src/imu_augmentor_nodelet.cc b/localization/imu_augmentor/src/imu_augmentor_nodelet.cc index dfba453ef2..15e4ca1504 100644 --- a/localization/imu_augmentor/src/imu_augmentor_nodelet.cc +++ b/localization/imu_augmentor/src/imu_augmentor_nodelet.cc @@ -16,7 +16,7 @@ * under the License. */ -#include +#include #include #include #include diff --git a/localization/marker_tracking/src/marker_tracking_node/marker_tracker.cc b/localization/marker_tracking/src/marker_tracking_node/marker_tracker.cc index 9340dd0ccd..6d64c84839 100644 --- a/localization/marker_tracking/src/marker_tracking_node/marker_tracker.cc +++ b/localization/marker_tracking/src/marker_tracking_node/marker_tracker.cc @@ -19,7 +19,7 @@ #include #include -#include +#include #include #include diff --git a/localization/marker_tracking/tools/marker_tracking_node/overhead_tracking_node.cc b/localization/marker_tracking/tools/marker_tracking_node/overhead_tracking_node.cc index 0a7402706f..cbc314dd60 100644 --- a/localization/marker_tracking/tools/marker_tracking_node/overhead_tracking_node.cc +++ b/localization/marker_tracking/tools/marker_tracking_node/overhead_tracking_node.cc @@ -22,7 +22,7 @@ #include #include -#include +#include // Needed by ALVAR headers #ifndef CV__ENABLE_C_API_CTORS diff --git a/localization/vive_localization/src/vive.h b/localization/vive_localization/src/vive.h index d5e129c1ea..4313f1244a 100644 --- a/localization/vive_localization/src/vive.h +++ b/localization/vive_localization/src/vive.h @@ -22,7 +22,7 @@ // FSW code #include #include -#include +#include // Messages #include diff --git a/management/access_control/include/access_control/access_control.h b/management/access_control/include/access_control/access_control.h index 775d006b7f..153151e90f 100644 --- a/management/access_control/include/access_control/access_control.h +++ b/management/access_control/include/access_control/access_control.h @@ -29,7 +29,7 @@ #include #include #include -#include +#include #include #include diff --git a/management/access_control/test/test_access_control.cc b/management/access_control/test/test_access_control.cc index 854f587416..dc5bfb3023 100644 --- a/management/access_control/test/test_access_control.cc +++ b/management/access_control/test/test_access_control.cc @@ -26,7 +26,7 @@ #include #include #include -#include +#include #include // Test access control diff --git a/management/cpu_mem_monitor/include/cpu_mem_monitor/cpu_mem_monitor.h b/management/cpu_mem_monitor/include/cpu_mem_monitor/cpu_mem_monitor.h index 52631b9630..22acee377e 100644 --- a/management/cpu_mem_monitor/include/cpu_mem_monitor/cpu_mem_monitor.h +++ b/management/cpu_mem_monitor/include/cpu_mem_monitor/cpu_mem_monitor.h @@ -40,7 +40,7 @@ #include #include #include -#include +#include #include #include diff --git a/management/cpu_mem_monitor/test/test_init_llp_cpu_mem_monitor.cc b/management/cpu_mem_monitor/test/test_init_llp_cpu_mem_monitor.cc index ca510aba30..36d5d36af5 100644 --- a/management/cpu_mem_monitor/test/test_init_llp_cpu_mem_monitor.cc +++ b/management/cpu_mem_monitor/test/test_init_llp_cpu_mem_monitor.cc @@ -20,7 +20,7 @@ // Required for the test cases #include -#include +#include // Required for the test framework #include diff --git a/management/cpu_mem_monitor/test/test_init_mlp_cpu_mem_monitor.cc b/management/cpu_mem_monitor/test/test_init_mlp_cpu_mem_monitor.cc index 39bc6bc565..8106ffd0a0 100644 --- a/management/cpu_mem_monitor/test/test_init_mlp_cpu_mem_monitor.cc +++ b/management/cpu_mem_monitor/test/test_init_mlp_cpu_mem_monitor.cc @@ -20,7 +20,7 @@ // Required for the test cases #include -#include +#include // Required for the test framework #include diff --git a/management/data_bagger/include/data_bagger/data_bagger.h b/management/data_bagger/include/data_bagger/data_bagger.h index 7b50c81e0e..2fb8a15602 100644 --- a/management/data_bagger/include/data_bagger/data_bagger.h +++ b/management/data_bagger/include/data_bagger/data_bagger.h @@ -32,7 +32,7 @@ #include #include -#include +#include #include #include diff --git a/management/disk_monitor/include/disk_monitor/disk_monitor.h b/management/disk_monitor/include/disk_monitor/disk_monitor.h index 22e01ae95d..db451d420b 100644 --- a/management/disk_monitor/include/disk_monitor/disk_monitor.h +++ b/management/disk_monitor/include/disk_monitor/disk_monitor.h @@ -34,7 +34,7 @@ #include #include #include -#include +#include #include #include diff --git a/management/disk_monitor/test/test_init_llp_disk_monitor.cc b/management/disk_monitor/test/test_init_llp_disk_monitor.cc index 762f2f56a6..87dafe36a0 100644 --- a/management/disk_monitor/test/test_init_llp_disk_monitor.cc +++ b/management/disk_monitor/test/test_init_llp_disk_monitor.cc @@ -28,7 +28,7 @@ // Required for the test cases #include -#include +#include // Required for the test framework #include diff --git a/management/disk_monitor/test/test_init_mlp_disk_monitor.cc b/management/disk_monitor/test/test_init_mlp_disk_monitor.cc index f533d1086d..0f5b1d8f13 100644 --- a/management/disk_monitor/test/test_init_mlp_disk_monitor.cc +++ b/management/disk_monitor/test/test_init_mlp_disk_monitor.cc @@ -28,7 +28,7 @@ // Required for the test cases #include -#include +#include // Required for the test framework #include diff --git a/management/executive/include/executive/executive.h b/management/executive/include/executive/executive.h index 8ab3700962..9d0ccbe338 100644 --- a/management/executive/include/executive/executive.h +++ b/management/executive/include/executive/executive.h @@ -59,10 +59,10 @@ #include #include #include +#include #include #include #include -#include #include #include diff --git a/management/executive/test/test_init_executive.cc b/management/executive/test/test_init_executive.cc index 52439f8c6a..9895651f99 100644 --- a/management/executive/test/test_init_executive.cc +++ b/management/executive/test/test_init_executive.cc @@ -28,7 +28,7 @@ // Required for the test cases #include -#include +#include // Required for the test framework #include diff --git a/management/executive/tools/data_to_disk_pub.cc b/management/executive/tools/data_to_disk_pub.cc index 3cae1b9cc8..f90c780cbb 100644 --- a/management/executive/tools/data_to_disk_pub.cc +++ b/management/executive/tools/data_to_disk_pub.cc @@ -23,7 +23,7 @@ #include #include #include -#include +#include #include diff --git a/management/executive/tools/plan_pub.cc b/management/executive/tools/plan_pub.cc index c553213c78..a263e73f7d 100644 --- a/management/executive/tools/plan_pub.cc +++ b/management/executive/tools/plan_pub.cc @@ -24,7 +24,7 @@ #include #include #include -#include +#include #include diff --git a/management/executive/tools/simple_move.cc b/management/executive/tools/simple_move.cc index 555e1d6dc6..41b0bc3f20 100644 --- a/management/executive/tools/simple_move.cc +++ b/management/executive/tools/simple_move.cc @@ -24,7 +24,7 @@ #include #include #include -#include +#include #include diff --git a/management/executive/tools/teleop_tool.cc b/management/executive/tools/teleop_tool.cc index f2a9c2ad17..f38bffe202 100644 --- a/management/executive/tools/teleop_tool.cc +++ b/management/executive/tools/teleop_tool.cc @@ -38,7 +38,7 @@ #include #include #include -#include +#include // Gflags DEFINE_bool(dock, false, "Send dock command"); diff --git a/management/executive/tools/zones_pub.cc b/management/executive/tools/zones_pub.cc index 69244619ed..4c33572c99 100644 --- a/management/executive/tools/zones_pub.cc +++ b/management/executive/tools/zones_pub.cc @@ -23,7 +23,7 @@ #include #include #include -#include +#include #include diff --git a/management/sys_monitor/include/sys_monitor/sys_monitor.h b/management/sys_monitor/include/sys_monitor/sys_monitor.h index f6ade332ac..b507655759 100644 --- a/management/sys_monitor/include/sys_monitor/sys_monitor.h +++ b/management/sys_monitor/include/sys_monitor/sys_monitor.h @@ -35,8 +35,8 @@ #include #include #include +#include #include -#include #include #include diff --git a/management/sys_monitor/test/test_init_sys_monitor.cc b/management/sys_monitor/test/test_init_sys_monitor.cc index 2a66eaa76e..008481fd6c 100644 --- a/management/sys_monitor/test/test_init_sys_monitor.cc +++ b/management/sys_monitor/test/test_init_sys_monitor.cc @@ -25,7 +25,7 @@ // Required for the test cases #include -#include +#include // Required for the test framework #include diff --git a/management/sys_monitor/test/test_sys_monitor.cc b/management/sys_monitor/test/test_sys_monitor.cc index 629e6f7eb2..8e77e60134 100644 --- a/management/sys_monitor/test/test_sys_monitor.cc +++ b/management/sys_monitor/test/test_sys_monitor.cc @@ -11,7 +11,7 @@ #include #include #include -#include +#include #include #include diff --git a/mobility/choreographer/include/choreographer/planner.h b/mobility/choreographer/include/choreographer/planner.h index 283013a2fa..0d449bdfa8 100644 --- a/mobility/choreographer/include/choreographer/planner.h +++ b/mobility/choreographer/include/choreographer/planner.h @@ -25,7 +25,7 @@ // FSW libraries #include -#include +#include #include #include #include diff --git a/mobility/choreographer/test/test_init_choreographer.cc b/mobility/choreographer/test/test_init_choreographer.cc index 70f41426b6..2cd0fc83f3 100644 --- a/mobility/choreographer/test/test_init_choreographer.cc +++ b/mobility/choreographer/test/test_init_choreographer.cc @@ -28,7 +28,7 @@ // Required for the test cases #include -#include +#include // Required for the test framework #include diff --git a/mobility/choreographer/test/test_obstacle.cc b/mobility/choreographer/test/test_obstacle.cc index e531e5693b..490b814645 100644 --- a/mobility/choreographer/test/test_obstacle.cc +++ b/mobility/choreographer/test/test_obstacle.cc @@ -29,7 +29,7 @@ #include // FSW includes -#include +#include #include #include diff --git a/mobility/choreographer/test/test_zones_keepin.cc b/mobility/choreographer/test/test_zones_keepin.cc index e21f7138fa..03cf313947 100644 --- a/mobility/choreographer/test/test_zones_keepin.cc +++ b/mobility/choreographer/test/test_zones_keepin.cc @@ -29,7 +29,7 @@ #include // FSW includes -#include +#include #include #include diff --git a/mobility/choreographer/test/test_zones_keepout.cc b/mobility/choreographer/test/test_zones_keepout.cc index 7c620087a0..33408bb048 100644 --- a/mobility/choreographer/test/test_zones_keepout.cc +++ b/mobility/choreographer/test/test_zones_keepout.cc @@ -29,7 +29,7 @@ #include // FSW includes -#include +#include #include #include diff --git a/mobility/choreographer/test/test_zones_nominal.cc b/mobility/choreographer/test/test_zones_nominal.cc index 42dda246c2..f0167f2de1 100644 --- a/mobility/choreographer/test/test_zones_nominal.cc +++ b/mobility/choreographer/test/test_zones_nominal.cc @@ -29,7 +29,7 @@ #include // FSW includes -#include +#include #include #include diff --git a/mobility/mapper/test/test_init_mapper.cc b/mobility/mapper/test/test_init_mapper.cc index be749c458b..342a6f3d79 100644 --- a/mobility/mapper/test/test_init_mapper.cc +++ b/mobility/mapper/test/test_init_mapper.cc @@ -28,7 +28,7 @@ // Required for the test cases #include -#include +#include // Required for the test framework #include diff --git a/mobility/mobility/tools/plangen.cc b/mobility/mobility/tools/plangen.cc index 1e48e51c9a..25f145d44b 100644 --- a/mobility/mobility/tools/plangen.cc +++ b/mobility/mobility/tools/plangen.cc @@ -24,7 +24,7 @@ #include // FSW includes -#include +#include #include #include #include diff --git a/mobility/mobility/tools/teleop.cc b/mobility/mobility/tools/teleop.cc index 96a3153316..494a9843be 100644 --- a/mobility/mobility/tools/teleop.cc +++ b/mobility/mobility/tools/teleop.cc @@ -28,7 +28,7 @@ // FSW includes #include -#include +#include #include #include #include diff --git a/mobility/planner_trapezoidal/include/planner_trapezoidal/planner_trapezoidal.h b/mobility/planner_trapezoidal/include/planner_trapezoidal/planner_trapezoidal.h index 12f51f1003..23fc93a5d5 100644 --- a/mobility/planner_trapezoidal/include/planner_trapezoidal/planner_trapezoidal.h +++ b/mobility/planner_trapezoidal/include/planner_trapezoidal/planner_trapezoidal.h @@ -25,7 +25,7 @@ // FSW includes #include #include -#include +#include #include /** diff --git a/mobility/planner_trapezoidal/src/planner_trapezoidal.cc b/mobility/planner_trapezoidal/src/planner_trapezoidal.cc index 49dbeb07aa..6bf1ad412d 100644 --- a/mobility/planner_trapezoidal/src/planner_trapezoidal.cc +++ b/mobility/planner_trapezoidal/src/planner_trapezoidal.cc @@ -20,7 +20,7 @@ #include // FSW includes -#include +#include // For the trapezoidal planner implementation #include diff --git a/mobility/planner_trapezoidal/src/planner_trapezoidal_nodelet.cc b/mobility/planner_trapezoidal/src/planner_trapezoidal_nodelet.cc index 55eb231872..e546b82017 100644 --- a/mobility/planner_trapezoidal/src/planner_trapezoidal_nodelet.cc +++ b/mobility/planner_trapezoidal/src/planner_trapezoidal_nodelet.cc @@ -24,7 +24,7 @@ // FSW includes #include #include -#include +#include #include #include #include diff --git a/shared/ff_util/include/ff_util/ff_names.h b/shared/ff_common/include/ff_common/ff_names.h similarity index 99% rename from shared/ff_util/include/ff_util/ff_names.h rename to shared/ff_common/include/ff_common/ff_names.h index 9c2cbe86d0..acdcc0d52b 100644 --- a/shared/ff_util/include/ff_util/ff_names.h +++ b/shared/ff_common/include/ff_common/ff_names.h @@ -16,8 +16,8 @@ * under the License. */ -#ifndef FF_UTIL_FF_NAMES_H_ -#define FF_UTIL_FF_NAMES_H_ +#ifndef FF_COMMON_FF_NAMES_H_ +#define FF_COMMON_FF_NAMES_H_ // UNIVERSAL /////////////////////////////////////////////////////////////////// @@ -450,4 +450,4 @@ #define SERVICE_STREAMING_LIGHTS "hw/signal_lights/streaming" -#endif // FF_UTIL_FF_NAMES_H_ +#endif // FF_COMMON_FF_NAMES_H_ diff --git a/shared/ff_util/include/ff_util/config_client.h b/shared/ff_util/include/ff_util/config_client.h index 3f011e63ed..1fec674d39 100644 --- a/shared/ff_util/include/ff_util/config_client.h +++ b/shared/ff_util/include/ff_util/config_client.h @@ -21,7 +21,7 @@ #include -#include +#include #include diff --git a/shared/ff_util/include/ff_util/config_server.h b/shared/ff_util/include/ff_util/config_server.h index 69ff535b4c..3223f487b8 100644 --- a/shared/ff_util/include/ff_util/config_server.h +++ b/shared/ff_util/include/ff_util/config_server.h @@ -21,7 +21,7 @@ #include -#include +#include #include diff --git a/shared/ff_util/include/ff_util/ff_nodelet.h b/shared/ff_util/include/ff_util/ff_nodelet.h index 8e358cb353..1b358ed79a 100644 --- a/shared/ff_util/include/ff_util/ff_nodelet.h +++ b/shared/ff_util/include/ff_util/ff_nodelet.h @@ -33,7 +33,7 @@ #include #include -#include +#include #include #include diff --git a/simulation/src/gazebo_model_plugin_signal_lights/gazebo_model_plugin_signal_lights.cc b/simulation/src/gazebo_model_plugin_signal_lights/gazebo_model_plugin_signal_lights.cc index 7f80ac5102..a3b6ae4d9e 100644 --- a/simulation/src/gazebo_model_plugin_signal_lights/gazebo_model_plugin_signal_lights.cc +++ b/simulation/src/gazebo_model_plugin_signal_lights/gazebo_model_plugin_signal_lights.cc @@ -23,7 +23,7 @@ #include // FSW nodelet -#include +#include #include // Services diff --git a/tools/imu_bias_tester/src/imu_bias_tester_nodelet.cc b/tools/imu_bias_tester/src/imu_bias_tester_nodelet.cc index ffe1df502a..dbf974e672 100644 --- a/tools/imu_bias_tester/src/imu_bias_tester_nodelet.cc +++ b/tools/imu_bias_tester/src/imu_bias_tester_nodelet.cc @@ -16,7 +16,7 @@ * under the License. */ -#include +#include #include #include #include diff --git a/tools/interactive_marker_teleop/include/interactive_marker_teleop.h b/tools/interactive_marker_teleop/include/interactive_marker_teleop.h index a39d63e01a..be1652f241 100644 --- a/tools/interactive_marker_teleop/include/interactive_marker_teleop.h +++ b/tools/interactive_marker_teleop/include/interactive_marker_teleop.h @@ -21,7 +21,7 @@ #include #include -#include +#include #include #include diff --git a/tools/localization_analysis/include/localization_analysis/live_measurement_simulator.h b/tools/localization_analysis/include/localization_analysis/live_measurement_simulator.h index 2397602b2c..6216748e58 100644 --- a/tools/localization_analysis/include/localization_analysis/live_measurement_simulator.h +++ b/tools/localization_analysis/include/localization_analysis/live_measurement_simulator.h @@ -24,7 +24,7 @@ #include #include #include -#include +#include #include #include #include diff --git a/tools/localization_analysis/src/bag_imu_filterer.cc b/tools/localization_analysis/src/bag_imu_filterer.cc index da5d21e9a3..709264b79b 100644 --- a/tools/localization_analysis/src/bag_imu_filterer.cc +++ b/tools/localization_analysis/src/bag_imu_filterer.cc @@ -16,7 +16,7 @@ * under the License. */ -#include +#include #include #include #include diff --git a/tools/localization_analysis/src/depth_odometry_adder.cc b/tools/localization_analysis/src/depth_odometry_adder.cc index efeaaa37cf..71561accc2 100644 --- a/tools/localization_analysis/src/depth_odometry_adder.cc +++ b/tools/localization_analysis/src/depth_odometry_adder.cc @@ -16,7 +16,7 @@ * under the License. */ -#include +#include #include #include #include diff --git a/tools/localization_analysis/src/graph_bag.cc b/tools/localization_analysis/src/graph_bag.cc index 0f21596919..7e5a165055 100644 --- a/tools/localization_analysis/src/graph_bag.cc +++ b/tools/localization_analysis/src/graph_bag.cc @@ -17,7 +17,7 @@ */ #include -#include +#include #include #include #include diff --git a/tools/localization_analysis/src/imu_bias_tester_adder.cc b/tools/localization_analysis/src/imu_bias_tester_adder.cc index f7207aaec0..c141783e5a 100644 --- a/tools/localization_analysis/src/imu_bias_tester_adder.cc +++ b/tools/localization_analysis/src/imu_bias_tester_adder.cc @@ -16,7 +16,7 @@ * under the License. */ -#include +#include #include #include #include diff --git a/tools/localization_analysis/src/sparse_mapping_pose_adder.cc b/tools/localization_analysis/src/sparse_mapping_pose_adder.cc index 5e52f356df..e0a9e12dd2 100644 --- a/tools/localization_analysis/src/sparse_mapping_pose_adder.cc +++ b/tools/localization_analysis/src/sparse_mapping_pose_adder.cc @@ -16,7 +16,7 @@ * under the License. */ -#include +#include #include #include #include diff --git a/tools/localization_analysis/src/utilities.cc b/tools/localization_analysis/src/utilities.cc index 60cda98603..3036d5ce65 100644 --- a/tools/localization_analysis/src/utilities.cc +++ b/tools/localization_analysis/src/utilities.cc @@ -16,7 +16,7 @@ * under the License. */ -#include +#include #include #include diff --git a/tools/localization_analysis/tools/convert_depth_msg.cc b/tools/localization_analysis/tools/convert_depth_msg.cc index b2d8495ce1..2b927a3568 100644 --- a/tools/localization_analysis/tools/convert_depth_msg.cc +++ b/tools/localization_analysis/tools/convert_depth_msg.cc @@ -17,7 +17,7 @@ */ #include -#include +#include #include #include diff --git a/tools/localization_rviz_plugins/src/depth_odometry_display.cc b/tools/localization_rviz_plugins/src/depth_odometry_display.cc index 605c7a9185..d5dbc00522 100644 --- a/tools/localization_rviz_plugins/src/depth_odometry_display.cc +++ b/tools/localization_rviz_plugins/src/depth_odometry_display.cc @@ -16,7 +16,7 @@ * under the License. */ #include -#include +#include #include #include #include diff --git a/tools/localization_rviz_plugins/src/localization_graph_display.cc b/tools/localization_rviz_plugins/src/localization_graph_display.cc index 9853590611..bd06853959 100644 --- a/tools/localization_rviz_plugins/src/localization_graph_display.cc +++ b/tools/localization_rviz_plugins/src/localization_graph_display.cc @@ -16,7 +16,7 @@ * under the License. */ -#include +#include #include #include #include diff --git a/tools/localization_rviz_plugins/src/localization_graph_panel.h b/tools/localization_rviz_plugins/src/localization_graph_panel.h index e80bfc9f84..68766f64db 100644 --- a/tools/localization_rviz_plugins/src/localization_graph_panel.h +++ b/tools/localization_rviz_plugins/src/localization_graph_panel.h @@ -21,7 +21,7 @@ #ifndef Q_MOC_RUN #include -#include +#include #include #include #include diff --git a/tools/performance_tester/tools/test_plan.cc b/tools/performance_tester/tools/test_plan.cc index fc92128d9e..2589538507 100644 --- a/tools/performance_tester/tools/test_plan.cc +++ b/tools/performance_tester/tools/test_plan.cc @@ -24,7 +24,7 @@ #include // FSW includes -#include +#include #include #include From 37691c3a3a3524c0855d804e54d79661c6d6214d Mon Sep 17 00:00:00 2001 From: Trey Smith Date: Mon, 20 Mar 2023 09:21:56 -0700 Subject: [PATCH 04/13] add /signals topic to fix_message_definition_topic_patterns (#698) --- communications/ff_msgs/bmr/rosbag_rewrite_types_rules.json | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/communications/ff_msgs/bmr/rosbag_rewrite_types_rules.json b/communications/ff_msgs/bmr/rosbag_rewrite_types_rules.json index 4d9824d5a3..6e95e40517 100644 --- a/communications/ff_msgs/bmr/rosbag_rewrite_types_rules.json +++ b/communications/ff_msgs/bmr/rosbag_rewrite_types_rules.json @@ -3,10 +3,11 @@ ], "fix_message_definition_topic_patterns": [ "/gs/*", - "/command", + "/command", "/hw/cam_sci/compressed", "/hw/cam_sci_info", "/mgt/disk_monitor/state", - "/mgt/cpu_monitor/state" + "/mgt/cpu_monitor/state", + "/signals" ] } From 9ff9cfa775c3cc0aa53b5a0a7f9222c71dd5dcc8 Mon Sep 17 00:00:00 2001 From: Trey Smith Date: Mon, 20 Mar 2023 14:23:21 -0700 Subject: [PATCH 05/13] rosbag_fix_all and friends: improve error output, add --no-merge flag, skip no-op filtering (#699) --- .../scripts/Makefile.rosbag_fix_all | 34 ++++++++++--- .../bag_processing/scripts/rosbag_debayer.py | 7 +-- .../bag_processing/scripts/rosbag_fix_all.py | 48 ++++++++++++------- 3 files changed, 60 insertions(+), 29 deletions(-) diff --git a/tools/bag_processing/scripts/Makefile.rosbag_fix_all b/tools/bag_processing/scripts/Makefile.rosbag_fix_all index 3f93158994..a6d3330cf0 100644 --- a/tools/bag_processing/scripts/Makefile.rosbag_fix_all +++ b/tools/bag_processing/scripts/Makefile.rosbag_fix_all @@ -30,24 +30,42 @@ ROS_VERSION=$(shell rosversion -d) # Find script executables ifeq (,${REWRITE_TYPES}) - REWRITE_TYPES = $(shell catkin_find --first-only bag_processing scripts/rosbag_rewrite_types.py) + REWRITE_TYPES := $(shell catkin_find --first-only bag_processing scripts/rosbag_rewrite_types.py || echo FAIL) + ifneq (,$(findstring FAIL,$(REWRITE_TYPES))) + $(error could not find path to rosbag_rewrite_types.py) + endif endif ifeq (,${ROSBAG_VERIFY}) - ROSBAG_VERIFY = $(shell catkin_find --first-only bag_processing scripts/rosbag_verify.py) + ROSBAG_VERIFY := $(shell catkin_find --first-only bag_processing scripts/rosbag_verify.py || echo FAIL) + ifneq (,$(findstring FAIL,$(ROSBAG_VERIFY))) + $(error could not find path to rosbag_verify.py) + endif endif ifeq (,${ROSBAG_DEBAYER}) - ROSBAG_DEBAYER = $(shell catkin_find --first-only bag_processing scripts/rosbag_debayer.py) + ROSBAG_DEBAYER := $(shell catkin_find --first-only bag_processing scripts/rosbag_debayer.py || echo FAIL) + ifneq (,$(findstring FAIL,$(ROSBAG_DEBAYER))) + $(error could not find path to rosbag_debayer.py) + endif endif ifeq (,${ROSBAG_SPLIT_DEPTH}) - ROSBAG_SPLIT_DEPTH = $(shell catkin_find --first-only pico_driver scripts/pico_split_extended.py) + ROSBAG_SPLIT_DEPTH := $(shell catkin_find --first-only pico_driver scripts/pico_split_extended.py || echo FAIL) + ifneq (,$(findstring FAIL,$(ROSBAG_SPLIT_DEPTH))) + $(error could not find path to pico_split_extended.py) + endif endif ifeq (,${ROSBAG_FILTER}) - ROSBAG_FILTER = $(shell catkin_find --first-only bag_processing scripts/rosbag_topic_filter.py) + ROSBAG_FILTER := $(shell catkin_find --first-only bag_processing scripts/rosbag_topic_filter.py || echo FAIL) + ifneq (,$(findstring FAIL,$(ROSBAG_FILTER))) + $(error could not find path to rosbag_topic_filter.py) + endif endif # Find rosbag migration definitions ifeq (,${FF_MSGS_BMR}) - FF_MSGS_BMR = $(shell catkin_find --first-only ff_msgs bmr) + FF_MSGS_BMR := $(shell catkin_find --first-only ff_msgs bmr || echo FAIL) + ifneq (,$(findstring FAIL,$(FF_MSGS_BMR))) + $(error could not find path to ff_msgs package bmr folder) + endif endif BMR = $(sort $(wildcard ${FF_MSGS_BMR}/*.bmr) $(wildcard ${FF_MSGS_BMR}/${ROS_VERSION}/*.bmr)) REWRITE_TYPES_ARGS += -r ${FF_MSGS_BMR}/rosbag_rewrite_types_rules.json @@ -89,7 +107,11 @@ migrate_check2-%: %.migrate_old.bag # Filter the rosbag topics %.fix_all.bag: %.depth_split.bag +ifeq (,${ROSBAG_FILTER_ARGS}) + mv $< $@ # skip no-op filtering +else ${ROSBAG_FILTER} ${ROSBAG_FILTER_ARGS} -o $@ $< +endif if [ -f $< ]; then rm $< ; fi # explicitly delete right away to save disk space .PRECIOUS: %.rewrite_types.bag %.migrate_old.bag %.debayer.bag %.depth_split.bag diff --git a/tools/bag_processing/scripts/rosbag_debayer.py b/tools/bag_processing/scripts/rosbag_debayer.py index 5774ce624c..246cbf7afb 100755 --- a/tools/bag_processing/scripts/rosbag_debayer.py +++ b/tools/bag_processing/scripts/rosbag_debayer.py @@ -101,10 +101,7 @@ def convert_bayer( help="List of bags to convert. If none provided, all bags in the current directory are used.", ) parser.add_argument( - "-o", - "--output", - help="path for output bag", - default="debayer_{inbag}", + "-o", "--output", help="path for output bag", default="debayer_{inbag}" ) parser.add_argument( "-l", @@ -170,7 +167,7 @@ def convert_bayer( # Check if input bag exists if not os.path.isfile(inbag_path): print(("Bag file " + inbag_path + " does not exist.")) - sys.exit() + sys.exit(1) output_bag_name = args.output.format(inbag=inbag_path) # Check if output bag already exists diff --git a/tools/bag_processing/scripts/rosbag_fix_all.py b/tools/bag_processing/scripts/rosbag_fix_all.py index 1808071e09..4fb7b554f6 100755 --- a/tools/bag_processing/scripts/rosbag_fix_all.py +++ b/tools/bag_processing/scripts/rosbag_fix_all.py @@ -19,6 +19,9 @@ """ Master script to apply all passes of processing needed to fix our legacy bag files. The actual processing steps are found in Makefile.rosbag_fix_all. + +Fixed bag files will be grouped by folder at the end and each group +will be merged. To suppress this, use --no-merge. """ from __future__ import print_function @@ -38,7 +41,7 @@ def dosys(cmd): def rosbag_fix_all( - inbag_paths_in, jobs, debayer, decode_haz, filter_args, deserialize=False + inbag_paths_in, jobs, debayer, decode_haz, filter_args, no_merge, deserialize=False ): this_folder = os.path.dirname(os.path.realpath(__file__)) makefile = os.path.join(this_folder, "Makefile.rosbag_fix_all") @@ -119,29 +122,31 @@ def rosbag_fix_all( else: logging.warning("Not all bags were fixed successfully (see errors above).") logging.warning( - "You can debug any failed output bags - ending in .fix_all_pre_check.bag" - ) - logging.warning( - "If you want to try again, clean first: rm *.fix_all_pre_check.bag" + "If you want to try again, you may need to clean the intermediate results." ) return ret1 - # Merge resulting bags - inbag_folders_in = list(set([os.path.split(p)[0] for p in inbag_paths_in])) + if no_merge: + return ret1 + + # Group fixed bags by folder and merge each group. + inbag_folders_in = list( + set([os.path.dirname(os.path.realpath(p)) for p in inbag_paths_in]) + ) + rosbag_merge = ( + os.popen("catkin_find --first-only bag_processing scripts/rosbag_merge.py") + .read() + .rstrip() + ) + merge_errors = 0 for inbag_folder_in in inbag_folders_in: - output_stream = os.popen( - "catkin_find --first-only bag_processing scripts/rosbag_merge.py" + ret = dosys( + "%s -d %s --input-bag-suffix .fix_all.bag" % (rosbag_merge, inbag_folder_in) ) - if inbag_folder_in == "": - path = "" - else: - path = " -d " + inbag_folder_in - merge_bags_path = ( - output_stream.read().rstrip() + path + " --input-bag-suffix .fix_all.bag" - ) - ret2 = dosys(merge_bags_path) + if ret != 0: + merge_errors += 1 - return ret2 + return 0 if (merge_errors == 0) else 1 class CustomFormatter(argparse.ArgumentDefaultsHelpFormatter): @@ -184,6 +189,12 @@ class CustomFormatter(argparse.ArgumentDefaultsHelpFormatter): default="", type=str, ) + parser.add_argument( + "--no-merge", + help="skip merging bag files grouped by directory", + default=False, + action="store_true", + ) parser.add_argument("inbag", nargs="+", help="input bag") args = parser.parse_args() @@ -195,6 +206,7 @@ class CustomFormatter(argparse.ArgumentDefaultsHelpFormatter): args.debayer, args.decode_haz, args.filter, + args.no_merge, deserialize=args.deserialize, ) From 5c0f9f9c5a6f6d684fdf0d04abc5fdddd21cec07 Mon Sep 17 00:00:00 2001 From: Trey Smith Date: Tue, 21 Mar 2023 07:11:00 -0700 Subject: [PATCH 06/13] vocab db: report memory usage (#702) --- debian/control | 2 +- scripts/setup/debians/dbow2/changelog | 6 + .../dbow2/patches/report_memory_usage.patch | 170 ++++++++++++++++++ scripts/setup/debians/dbow2/patches/series | 1 + 4 files changed, 178 insertions(+), 1 deletion(-) create mode 100644 scripts/setup/debians/dbow2/patches/report_memory_usage.patch diff --git a/debian/control b/debian/control index 2666c9abea..efa6893761 100644 --- a/debian/control +++ b/debian/control @@ -49,7 +49,7 @@ Depends: ${misc:Depends} ${ros-python}, astrobee-config (>= ${binary:Version}), astrobee-comms (>= ${binary:Version}), - libalvar2 (>=2.0), libdbow21 (>=0.1), libgtsam (>=4.0), libopenmvg1 (>=1.0), libroyale1 (>=1.0), + libalvar2 (>=2.0), libdbow21 (>=0.1-6), libgtsam (>=4.0), libopenmvg1 (>=1.0), libroyale1 (>=1.0), libceres1 (>=1.0), rti (>=1.0), libmiro0 (>=0.1), libsoracore1 (>=1.0), libdecomputil0 (>=0.1), libjps3d0 (>=0.1), libluajit-5.1-2, diff --git a/scripts/setup/debians/dbow2/changelog b/scripts/setup/debians/dbow2/changelog index c7ab23b4c0..26ed9e1344 100644 --- a/scripts/setup/debians/dbow2/changelog +++ b/scripts/setup/debians/dbow2/changelog @@ -1,3 +1,9 @@ +libdbow2 (0.1-6) unstable; urgency=medium + + * Added reportMemoryUsage() methods. + + -- Trey Smith Thu, 16 Mar 2023 13:31:16 -0500 + libdbow2 (0.1-5) unstable; urgency=medium * Ros moved opencv library which broke build, fixed it. diff --git a/scripts/setup/debians/dbow2/patches/report_memory_usage.patch b/scripts/setup/debians/dbow2/patches/report_memory_usage.patch new file mode 100644 index 0000000000..fb84bd5fae --- /dev/null +++ b/scripts/setup/debians/dbow2/patches/report_memory_usage.patch @@ -0,0 +1,170 @@ +diff --git a/include/DBoW2/TemplatedDatabase.h b/include/DBoW2/TemplatedDatabase.h +index 96cbe8e..10fe5b4 100644 +--- a/include/DBoW2/TemplatedDatabase.h ++++ b/include/DBoW2/TemplatedDatabase.h +@@ -16,6 +16,7 @@ + #include + #include + #include ++#include + + #include "TemplatedVocabulary.h" + #include "QueryResults.h" +@@ -223,6 +224,13 @@ public: + virtual void load(const cv::FileStorage &fs, + const std::string &name = "database"); + ++ /** ++ * Estimates memory usage of the database. ++ * @param partsOutput Statistics concerning parts of the data structure will be appended to this vector. ++ * @return Estimated total usage. ++ */ ++ size_t reportMemoryUsage(std::vector >& partsOutput); ++ + protected: + + /// Query with L1 scoring +@@ -1345,6 +1353,64 @@ std::ostream& operator<<(std::ostream &os, + + // -------------------------------------------------------------------------- + ++template ++size_t TemplatedDatabase::reportMemoryUsage(std::vector >& partsOutput) ++{ ++ typedef std::pair PartsEntry; ++ ++#define FF_REPORT(field) \ ++ partsOutput.push_back(PartsEntry(#field, field)); ++#define FF_COMMENT(label) \ ++ partsOutput.push_back(PartsEntry("*" label, 0)); ++ ++ FF_COMMENT(" DBow database:"); ++ ++ size_t num_rows = m_ifile.size(); ++ FF_REPORT(num_rows); ++ ++ size_t num_ifpairs = 0; ++ for (typename InvertedFile::const_iterator it = m_ifile.begin(); it != m_ifile.end(); it++) { ++ num_ifpairs += it->size(); ++ } ++ FF_REPORT(num_ifpairs); ++ ++ FF_COMMENT(""); ++ ++ // typedef std::list IFRow; ++ // typedef std::vector InvertedFile; ++ const size_t list_bytes_per_node = 2 * sizeof(void *); ++ size_t m_ifile_bytes = m_ifile.size() * sizeof(std::list); ++ for (typename InvertedFile::const_iterator it = m_ifile.begin(); it != m_ifile.end(); it++) { ++ m_ifile_bytes += it->size() * (list_bytes_per_node + sizeof(IFPair)); ++ } ++ FF_REPORT(m_ifile_bytes); ++ ++ ++ // class FeatureVector: public std::map > ++ // typedef std::vector DirectFile; ++ // some of this is platform- and data-dependent, just rough approximation ++ const size_t map_node_bytes = sizeof(int) + 3 * sizeof(void *); // red/black tree node ~overhead ++ size_t m_dfile_bytes = m_dfile.size() * sizeof(FeatureVector); ++ for (typename DirectFile::const_iterator it = m_dfile.begin(); it != m_dfile.end(); it++) { ++ m_dfile_bytes += it->size() ++ * (map_node_bytes + sizeof(NodeId) + sizeof(std::vector)); ++ for (typename FeatureVector::const_iterator jt = it->begin(); jt != it->end(); jt++) { ++ m_dfile_bytes += jt->second.size() * sizeof(unsigned int); ++ } ++ } ++ FF_REPORT(m_dfile_bytes); ++ ++ FF_COMMENT(""); ++ size_t m_voc_bytes = m_voc->reportMemoryUsage(partsOutput); ++ ++#undef FF_REPORT ++#undef FF_COMMENT ++ ++ return m_ifile_bytes + m_dfile_bytes + m_voc_bytes; ++} ++ ++// -------------------------------------------------------------------------- ++ + } // namespace DBoW2 + + #endif +diff --git a/include/DBoW2/TemplatedVocabulary.h b/include/DBoW2/TemplatedVocabulary.h +index 53a0e30..55d2dec 100644 +--- a/include/DBoW2/TemplatedVocabulary.h ++++ b/include/DBoW2/TemplatedVocabulary.h +@@ -17,6 +17,7 @@ + #include + #include + #include ++#include + #include + + #include "FeatureVector.h" +@@ -30,6 +31,7 @@ namespace DBoW2 { + /// @param TDescriptor class of descriptor + /// @param F class of descriptor functions + template ++ + /// Generic Vocabulary + class TemplatedVocabulary + { +@@ -266,6 +268,13 @@ public: + */ + virtual int stopWords(double minWeight); + ++ /** ++ * Estimates memory usage of the vocabulary. ++ * @param partsOutput Statistics concerning parts of the data structure will be appended to this vector. ++ * @return Estimated total usage. ++ */ ++ virtual size_t reportMemoryUsage(std::vector >& partsOutput); ++ + protected: + + /// Pointer to descriptor +@@ -1524,6 +1533,44 @@ std::ostream& operator<<(std::ostream &os, + return os; + } + ++// -------------------------------------------------------------------------- ++ ++template ++size_t TemplatedVocabulary::reportMemoryUsage(std::vector >& partsOutput) ++{ ++ typedef std::pair PartsEntry; ++ ++#define FF_REPORT(field) \ ++ partsOutput.push_back(PartsEntry(#field, field)); ++#define FF_COMMENT(label) \ ++ partsOutput.push_back(PartsEntry("*" label, 0)); ++ ++ FF_COMMENT(" DBow vocabulary:"); ++ ++ size_t num_nodes = m_nodes.size(); ++ FF_REPORT(num_nodes); ++ ++ size_t num_words = m_words.size(); ++ FF_REPORT(num_words); ++ ++ FF_COMMENT(""); ++ ++ size_t m_nodes_bytes = m_nodes.size() * sizeof(Node); ++ for (typename std::vector::const_iterator it = m_nodes.begin(); it != m_nodes.end(); it++) { ++ m_nodes_bytes += it->children.size() * sizeof(NodeId); ++ } ++ FF_REPORT(m_nodes_bytes); ++ ++ size_t m_words_bytes = m_words.size() * sizeof(Node*); ++ FF_REPORT(m_words_bytes); ++ ++#undef FF_REPORT ++#undef FF_COMMENT ++ ++ return m_nodes_bytes + m_words_bytes; ++} ++ ++ + } // namespace DBoW2 + + #endif diff --git a/scripts/setup/debians/dbow2/patches/series b/scripts/setup/debians/dbow2/patches/series index 63022dba13..69637b5c3c 100644 --- a/scripts/setup/debians/dbow2/patches/series +++ b/scripts/setup/debians/dbow2/patches/series @@ -1,3 +1,4 @@ fix_opencv.patch bytes_descriptor.patch fix_path.patch +report_memory_usage.patch From d942917f40ff0e5abf673bf8fe5baefa4891cf3c Mon Sep 17 00:00:00 2001 From: Ruben Garcia <84038639+rgarciaruiz@users.noreply.github.com> Date: Tue, 28 Mar 2023 17:14:44 -0700 Subject: [PATCH 07/13] Import certificate for Astrobee server SSL support (#710) --- doc/general_documentation/NASA_INSTALL.md | 6 +++--- scripts/setup/add_local_repository.sh | 3 +++ submodules/platform | 2 +- 3 files changed, 7 insertions(+), 4 deletions(-) diff --git a/doc/general_documentation/NASA_INSTALL.md b/doc/general_documentation/NASA_INSTALL.md index 26b68c6307..32265036b6 100644 --- a/doc/general_documentation/NASA_INSTALL.md +++ b/doc/general_documentation/NASA_INSTALL.md @@ -32,9 +32,9 @@ This is the typical case for all wired computers in ARC TI, and simplifies your life greatly. Verify that you are in this situation with the command below should succeed -(remove the Release.gpg file after being fetched). +(certificate will be added later; remove the Release.gpg file after being fetched). - wget -v http://astrobee.ndc.nasa.gov/software/dists/xenial/Release.gpg + wget -v --no-check-certificate http://astrobee.ndc.nasa.gov/software/dists/xenial/Release.gpg Before running the scripts in `scripts/setup` below, set this variable: @@ -234,7 +234,7 @@ will copy all products into this directory. Once the installation has completed, copy the install directory to the robot. This script assumes that you are connected to the Astrobee network, as it uses rsync to copy the install directory to `~/armhf` on the two processors. It -takes the robot name as an argument. Here we use `p4d'. +takes the robot name as an argument. Here we use `p4d`. pushd $ASTROBEE_WS ./src/scripts/install_to_astrobee.sh $INSTALL_PATH p4d diff --git a/scripts/setup/add_local_repository.sh b/scripts/setup/add_local_repository.sh index f2b469db5f..1e16ef353d 100755 --- a/scripts/setup/add_local_repository.sh +++ b/scripts/setup/add_local_repository.sh @@ -34,3 +34,6 @@ sudo touch $arssrc #sudo /bin/bash -c "echo \"deb-src http://127.0.0.1:8765/software xenial main\" >> $arssrc" || exit 1 sudo apt-key add $scriptdir/../../submodules/platform/rootfs/multistrap/keys/astrobee.key || exit 1 + +# Import ssl certificate for access to astrobee.ndc.nasa.gov +$scriptdir/../../submodules/platform/tools/add_local_certs.sh diff --git a/submodules/platform b/submodules/platform index 72e9d48c4e..333fe52945 160000 --- a/submodules/platform +++ b/submodules/platform @@ -1 +1 @@ -Subproject commit 72e9d48c4ec09897514218d51cad9fa8597a6ecb +Subproject commit 333fe52945397ccee470ccbb681c9838b3604354 From 0715141cebbbb386be7dd3f23463a1717f0c1ef3 Mon Sep 17 00:00:00 2001 From: Marina Moreira <67443181+marinagmoreira@users.noreply.github.com> Date: Thu, 30 Mar 2023 14:07:24 -0700 Subject: [PATCH 08/13] putting ros2 changes back into develop to minimize code differences (#712) --- gnc/pmc/include/pmc/shared.h | 19 ++++++++++++++ gnc/pmc/src/fam.cc | 3 +-- .../src/choreographer_nodelet.cc | 26 ++++++++++++------- submodules/platform | 2 +- 4 files changed, 37 insertions(+), 13 deletions(-) diff --git a/gnc/pmc/include/pmc/shared.h b/gnc/pmc/include/pmc/shared.h index c74a595e0e..e428b54339 100644 --- a/gnc/pmc/include/pmc/shared.h +++ b/gnc/pmc/include/pmc/shared.h @@ -20,6 +20,7 @@ #define PMC_SHARED_H_ #include +#include namespace pmc { @@ -74,6 +75,24 @@ class PMCConstants { float Lookup(int table_size, const float lookup[], const float breakpoints[], float value); +template +Eigen::Matrix pseudoInverse( + const MatT& mat, typename MatT::Scalar tolerance = typename MatT::Scalar{std::numeric_limits::epsilon()}) { + typedef typename MatT::Scalar Scalar; + auto svd = mat.jacobiSvd(Eigen::ComputeFullU | Eigen::ComputeFullV); + const auto& singularValues = svd.singularValues(); + Eigen::Matrix singularValuesInv(mat.cols(), mat.rows()); + singularValuesInv.setZero(); + for (unsigned int i = 0; i < singularValues.size(); ++i) { + if (singularValues(i) > tolerance) { + singularValuesInv(i, i) = Scalar {1} / singularValues(i); + } else { + singularValuesInv(i, i) = Scalar {0}; + } + } + return svd.matrixV() * singularValuesInv * svd.matrixU().adjoint(); +} + } // end namespace pmc #endif // PMC_SHARED_H_ diff --git a/gnc/pmc/src/fam.cc b/gnc/pmc/src/fam.cc index 068e2ca1b1..dc34ee21ac 100644 --- a/gnc/pmc/src/fam.cc +++ b/gnc/pmc/src/fam.cc @@ -120,8 +120,7 @@ void Fam::UpdateCOM(const Eigen::Vector3f & com) { Eigen::Matrix thrust2forcetorque; thrust2forcetorque << thrust2force_, thrust2torque_; forcetorque2thrust_ = Eigen::MatrixXf::Identity(12, 6); - Eigen::JacobiSVD svd(thrust2forcetorque, Eigen::ComputeThinU | Eigen::ComputeThinV); - forcetorque2thrust_ = svd.solve(forcetorque2thrust_); + forcetorque2thrust_ = pseudoInverse(thrust2forcetorque); } void Fam::CalcThrustMatrices(const Eigen::Vector3f & force, const Eigen::Vector3f & torque, diff --git a/mobility/choreographer/src/choreographer_nodelet.cc b/mobility/choreographer/src/choreographer_nodelet.cc index 79d950ff1d..d70d869698 100644 --- a/mobility/choreographer/src/choreographer_nodelet.cc +++ b/mobility/choreographer/src/choreographer_nodelet.cc @@ -1177,6 +1177,12 @@ class ChoreographerNodelet : public ff_util::FreeFlyerNodelet { path.poses.push_back(ps); } pub_segment_.publish(path); + + // Initialize timers + tolerance_pos_timer_ = ros::Time::now(); + tolerance_att_timer_ = ros::Time::now(); + tolerance_vel_timer_ = ros::Time::now(); + tolerance_omega_timer_ = ros::Time::now(); // Success! return true; } @@ -1190,7 +1196,7 @@ class ChoreographerNodelet : public ff_util::FreeFlyerNodelet { if (flight_mode_.tolerance_pos > 0.0 && feedback->error_position > flight_mode_.tolerance_pos) { // If tolerance is present more that the allowable time - if ((ros::Time::now() - tolerance_pos_timer).toSec() > tolerance_max_time_) { + if ((ros::Time::now() - tolerance_pos_timer_).toSec() > tolerance_max_time_) { NODELET_DEBUG_STREAM("Position tolerance violated"); NODELET_DEBUG_STREAM("- Value: " << feedback->error_position << ", Thresh: " @@ -1200,13 +1206,13 @@ class ChoreographerNodelet : public ff_util::FreeFlyerNodelet { } } else { // If there is no tolerance violation, reset time - tolerance_pos_timer = ros::Time::now(); + tolerance_pos_timer_ = ros::Time::now(); } // Check attitude tolerance if (flight_mode_.tolerance_att > 0.0 && feedback->error_attitude > flight_mode_.tolerance_att) { // If tolerance is present more that the allowable time - if ((ros::Time::now() - tolerance_att_timer).toSec() > tolerance_max_time_) { + if ((ros::Time::now() - tolerance_att_timer_).toSec() > tolerance_max_time_) { NODELET_DEBUG_STREAM("Attitude tolerance violated"); NODELET_DEBUG_STREAM("- Value: " << feedback->error_attitude << ", Thresh: " @@ -1216,13 +1222,13 @@ class ChoreographerNodelet : public ff_util::FreeFlyerNodelet { } } else { // If there is no tolerance violation, reset time - tolerance_att_timer = ros::Time::now(); + tolerance_att_timer_ = ros::Time::now(); } // Check velocity tolerance if (flight_mode_.tolerance_vel > 0.0 && feedback->error_velocity > flight_mode_.tolerance_vel) { // If tolerance is present more that the allowable time - if ((ros::Time::now() - tolerance_vel_timer).toSec() > tolerance_max_time_) { + if ((ros::Time::now() - tolerance_vel_timer_).toSec() > tolerance_max_time_) { NODELET_DEBUG_STREAM("Velocity tolerance violated"); NODELET_DEBUG_STREAM("- Value: " << feedback->error_velocity << ", Thresh: " @@ -1232,13 +1238,13 @@ class ChoreographerNodelet : public ff_util::FreeFlyerNodelet { } } else { // If there is no tolerance violation, reset time - tolerance_vel_timer = ros::Time::now(); + tolerance_vel_timer_ = ros::Time::now(); } // Check angular velocity tolerance if (flight_mode_.tolerance_omega > 0.0 && feedback->error_omega > flight_mode_.tolerance_omega) { // If tolerance is present more that the allowable time - if ((ros::Time::now() - tolerance_omega_timer).toSec() > tolerance_max_time_) { + if ((ros::Time::now() - tolerance_omega_timer_).toSec() > tolerance_max_time_) { NODELET_DEBUG_STREAM("Angular velocity tolerance violated"); NODELET_DEBUG_STREAM("- Value: " << feedback->error_omega << ", Thresh: " @@ -1248,7 +1254,7 @@ class ChoreographerNodelet : public ff_util::FreeFlyerNodelet { } } else { // If there is no tolerance violation, reset time - tolerance_omega_timer = ros::Time::now(); + tolerance_omega_timer_ = ros::Time::now(); } // Send progress in stopping/idling/replanning case STATE::STOPPING: @@ -1416,8 +1422,8 @@ class ChoreographerNodelet : public ff_util::FreeFlyerNodelet { double tolerance_max_time_; // Position error double pos_error_; - ros::Time tolerance_pos_timer, tolerance_att_timer, - tolerance_vel_timer, tolerance_omega_timer; + ros::Time tolerance_pos_timer_, tolerance_att_timer_, + tolerance_vel_timer_, tolerance_omega_timer_; // Cached number of replan attempts int replan_attempts_; }; diff --git a/submodules/platform b/submodules/platform index 333fe52945..72e9d48c4e 160000 --- a/submodules/platform +++ b/submodules/platform @@ -1 +1 @@ -Subproject commit 333fe52945397ccee470ccbb681c9838b3604354 +Subproject commit 72e9d48c4ec09897514218d51cad9fa8597a6ecb From 6376bdf9b4c504261d069643f3a70a2e2694ccd4 Mon Sep 17 00:00:00 2001 From: Ryan Soussan Date: Thu, 30 Mar 2023 15:09:29 -0700 Subject: [PATCH 09/13] updated depth odom nodelet manager (#632) --- astrobee/launch/robot/MLP.launch | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/astrobee/launch/robot/MLP.launch b/astrobee/launch/robot/MLP.launch index 44f487752f..096cafee64 100644 --- a/astrobee/launch/robot/MLP.launch +++ b/astrobee/launch/robot/MLP.launch @@ -89,7 +89,7 @@ - + From aba909ec0d3e83f0258a80de4aa4d690175a358d Mon Sep 17 00:00:00 2001 From: Trey Smith Date: Thu, 30 Mar 2023 15:39:55 -0700 Subject: [PATCH 10/13] pico_driver: document missing fields in point cloud metadata (#596) --- hardware/pico_driver/src/pico_driver.cc | 25 ++++++++++++++++++++++++- 1 file changed, 24 insertions(+), 1 deletion(-) diff --git a/hardware/pico_driver/src/pico_driver.cc b/hardware/pico_driver/src/pico_driver.cc index 7795cbf840..a0cc01f505 100644 --- a/hardware/pico_driver/src/pico_driver.cc +++ b/hardware/pico_driver/src/pico_driver.cc @@ -231,23 +231,46 @@ class PicoDriverL1 : public PicoDriver, public royale::IDepthDataListener, publi cloud_.point_step = sizeof(struct royale::DepthPoint); cloud_.row_step = cloud_.width * cloud_.point_step; cloud_.data.resize(cloud_.row_step * cloud_.height); - // X, Y and Z + + // Fill metadata about available fields in point cloud sensor_msgs::PointField field; + field.name = "x"; field.offset = offsetof(struct royale::DepthPoint, x); field.datatype = sensor_msgs::PointField::FLOAT32; field.count = 1; // Number of ELEMENTS, not bytes! cloud_.fields.push_back(field); + field.name = "y"; field.offset = offsetof(struct royale::DepthPoint, y); field.datatype = sensor_msgs::PointField::FLOAT32; field.count = 1; // Number of ELEMENTS, not bytes! cloud_.fields.push_back(field); + field.name = "z"; field.offset = offsetof(struct royale::DepthPoint, z); field.datatype = sensor_msgs::PointField::FLOAT32; field.count = 1; // Number of ELEMENTS, not bytes! cloud_.fields.push_back(field); + + field.name = "noise"; + field.offset = offsetof(struct royale::DepthPoint, noise); + field.datatype = sensor_msgs::PointField::FLOAT32; + field.count = 1; // Number of ELEMENTS, not bytes! + cloud_.fields.push_back(field); + + field.name = "grayValue"; + field.offset = offsetof(struct royale::DepthPoint, grayValue); + field.datatype = sensor_msgs::PointField::UINT16; + field.count = 1; // Number of ELEMENTS, not bytes! + cloud_.fields.push_back(field); + + field.name = "depthConfidence"; + field.offset = offsetof(struct royale::DepthPoint, depthConfidence); + field.datatype = sensor_msgs::PointField::UINT8; + field.count = 1; // Number of ELEMENTS, not bytes! + cloud_.fields.push_back(field); + // Generate a nice readable name for the camera std::string topic_name_c = (std::string) TOPIC_HARDWARE_PICOFLEXX_PREFIX + (std::string) topic From 825a0401cdf1e63be6ccd2cab1506146f1534b60 Mon Sep 17 00:00:00 2001 From: Marina Moreira Date: Mon, 3 Apr 2023 10:55:44 -0700 Subject: [PATCH 11/13] fixing index bug - Trey's PR --- hardware/is_camera/src/camera.cc | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/hardware/is_camera/src/camera.cc b/hardware/is_camera/src/camera.cc index c97879612f..a9e0667749 100644 --- a/hardware/is_camera/src/camera.cc +++ b/hardware/is_camera/src/camera.cc @@ -403,7 +403,7 @@ namespace is_camera { if (!thread_running_ || ((pub_.getNumSubscribers() == 0) && (getNumBayerSubscribers() == 0))) return; // Get last generated image from buffer (index incremented after image completed) - sensor_msgs::ImagePtr& grey_image = img_msg_buffer_[(img_msg_buffer_idx_ - 1) % kImageMsgBuffer]; + sensor_msgs::ImagePtr& grey_image = img_msg_buffer_[(img_msg_buffer_idx_ + kImageMsgBuffer - 1) % kImageMsgBuffer]; cv::Mat input(kImageHeight, kImageWidth, cv::DataType::type, From 815c635be84c80492243e9afaa22b70edfbaa4f4 Mon Sep 17 00:00:00 2001 From: kbrowne15 Date: Mon, 3 Apr 2023 16:15:19 -0700 Subject: [PATCH 12/13] Remove old ekf tool (#716) --- management/executive/CMakeLists.txt | 8 --- management/executive/tools/ekf_switch_mux.cc | 76 -------------------- 2 files changed, 84 deletions(-) delete mode 100644 management/executive/tools/ekf_switch_mux.cc diff --git a/management/executive/CMakeLists.txt b/management/executive/CMakeLists.txt index ac8ef7e8a8..17de870092 100644 --- a/management/executive/CMakeLists.txt +++ b/management/executive/CMakeLists.txt @@ -94,12 +94,6 @@ add_dependencies(data_to_disk_pub ${catkin_EXPORTED_TARGETS}) target_link_libraries(data_to_disk_pub executive gflags ${catkin_LIBRARIES}) -## Declare a C++ executable: ekf_switch_mux -add_executable(ekf_switch_mux tools/ekf_switch_mux.cc) -add_dependencies(ekf_switch_mux ${catkin_EXPORTED_TARGETS}) -target_link_libraries(ekf_switch_mux - executive gflags ${catkin_LIBRARIES}) - ## Declare a C++ executable: plan_pub add_executable(plan_pub tools/plan_pub.cc) add_dependencies(plan_pub ${catkin_EXPORTED_TARGETS}) @@ -160,14 +154,12 @@ install(FILES nodelet_plugins.xml # Install C++ executables install(TARGETS data_to_disk_pub DESTINATION bin) -install(TARGETS ekf_switch_mux DESTINATION bin) install(TARGETS plan_pub DESTINATION bin) install(TARGETS simple_move DESTINATION bin) install(TARGETS teleop_tool DESTINATION bin) install(TARGETS zones_pub DESTINATION bin) install(CODE "execute_process( COMMAND ln -s ../../bin/data_to_disk_pub share/${PROJECT_NAME} - COMMAND ln -s ../../bin/ekf_switch_mux share/${PROJECT_NAME} COMMAND ln -s ../../bin/plan_pub share/${PROJECT_NAME} COMMAND ln -s ../../bin/simple_move share/${PROJECT_NAME} COMMAND ln -s ../../bin/teleop_tool share/${PROJECT_NAME} diff --git a/management/executive/tools/ekf_switch_mux.cc b/management/executive/tools/ekf_switch_mux.cc deleted file mode 100644 index 7c6ceaeec2..0000000000 --- a/management/executive/tools/ekf_switch_mux.cc +++ /dev/null @@ -1,76 +0,0 @@ -/* Copyright (c) 2017, United States Government, as represented by the - * Administrator of the National Aeronautics and Space Administration. - * - * All rights reserved. - * - * The Astrobee platform is 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. - */ - -// A node to switch the EKF input from landmarks to sparse mapping, -// or something else. This is needed because both landmarks and registration -// need to be switched at the same time. - -#include -#include - -#include - -#include - -#include -#include - -const std::string kRegistrationNode = "mux_registration"; -const std::string kLandmarksNode = "mux_landmarks"; - -int main(int argc, char **argv) { - ff_common::InitFreeFlyerApplication(&argc, &argv); - ros::init(argc, argv, "ekf_switch_mux"); - - if (argc < 2) { - std::cerr << "Usage: " << argv[0] << " [sparse_mapping|marker_tracking]" - << std::endl; - return 1; - } - - ros::NodeHandle n("~"); - - - if (!ros::service::waitForService("mux_registration/select", 10000)) { - std::cerr << "Error: no mux services? is mux_registration running?" - << std::endl; - return 1; - } - - topic_tools::MuxSelect reg_sel; - reg_sel.request.topic = std::string(argv[1]) + "/registration"; - - if (!ros::service::call("/mux_registration/select", reg_sel)) { - std::cerr << "Error: error calling mux_registration/select" - << std::endl; - return 1; - } - - topic_tools::MuxSelect land_sel; - land_sel.request.topic = std::string(argv[1]) + "/landmarks"; - - if (!ros::service::call("/mux_landmarks/select", land_sel)) { - std::cerr << "Error: error calling mux_landmarks/select" - << std::endl; - std::cerr << "NOTE: mux_registration and mux_landmarks are inconsistent!" - << std::endl; - return 1; - } - - return 0; -} From 36f5104d878df792a94f311220808924d21da33d Mon Sep 17 00:00:00 2001 From: Marina Moreira <67443181+marinagmoreira@users.noreply.github.com> Date: Tue, 4 Apr 2023 09:56:15 -0700 Subject: [PATCH 13/13] Release 0.17.1 (#715) --- RELEASE.md | 4 ++++ astrobee.doxyfile | 2 +- astrobee/CMakeLists.txt | 2 +- debian/changelog | 8 +++++++- 4 files changed, 13 insertions(+), 3 deletions(-) diff --git a/RELEASE.md b/RELEASE.md index 20ed431032..4fefde59e7 100644 --- a/RELEASE.md +++ b/RELEASE.md @@ -1,5 +1,9 @@ # Releases +# Release 0.17.1 + + * Multiple bug fixes + # Release 0.17.0 * Full compatibility and debians built for Ubuntu 20 diff --git a/astrobee.doxyfile b/astrobee.doxyfile index a70ee3224b..6cc696edf4 100644 --- a/astrobee.doxyfile +++ b/astrobee.doxyfile @@ -39,7 +39,7 @@ PROJECT_NAME = "NASA Astrobee Robot Software" # control system is used. -PROJECT_NUMBER = 0.17.0 +PROJECT_NUMBER = 0.17.1 # Using the PROJECT_BRIEF tag one can provide an optional one line description # for a project that appears at the top of each page and should give viewer a diff --git a/astrobee/CMakeLists.txt b/astrobee/CMakeLists.txt index 804fc21030..7e4c3d7e02 100644 --- a/astrobee/CMakeLists.txt +++ b/astrobee/CMakeLists.txt @@ -18,7 +18,7 @@ cmake_minimum_required(VERSION 3.0) project(astrobee) -set(ASTROBEE_VERSION 0.17.0) +set(ASTROBEE_VERSION 0.17.1) ## Compile as C++14, supported in ROS Kinetic and newer add_compile_options(-std=c++14) diff --git a/debian/changelog b/debian/changelog index 27a8898aac..40598cae8e 100644 --- a/debian/changelog +++ b/debian/changelog @@ -1,9 +1,15 @@ +astrobee (0.17.1) testing; urgency=medium + + * Multiple bug fixes + + -- Astrobee Flight Software Mon, 03 Apr 2023 10:59:33 -0700 + astrobee (0.17.0) testing; urgency=medium * Full compatibility and debians built for Ubuntu 20 * Deleted all simulink autocode for ctl and fam - -- Marina Moreira Thu, 16 Feb 2023 09:43:41 -0800 + -- Astrobee Flight Software Thu, 16 Feb 2023 09:43:41 -0800 astrobee (0.16.7) testing; urgency=medium