Merge branch 'feature/jazzy-ubuntu2404-devcontainer' of github.com:bit-bots/bitbots_main into feature/jazzy-ubuntu2404-devcontainer

Author: Flova

.github/workflows/ci.yml

@@ -4,6 +4,9 @@ on:
     - cron: '0 0 * * *'
   push:
 
+env:
+  PYTHONWARNINGS: "ignore:::setuptools.command.install,ignore:::setuptools.command.easy_install,ignore:::pkg_resources,ignore:easy_install command is deprecated,ignore:setup.py install is deprecated"
+
 jobs:
   build:
     runs-on: ubuntu-latest

.vscode/settings.json

@@ -238,4 +238,8 @@
     "[json]": {
         "editor.defaultFormatter": "vscode.json-language-features"
     },
+    "makefile.configureOnOpen": true,
+    "[jsonc]": {
+        "editor.defaultFormatter": "vscode.json-language-features"
+    },
 }

bitbots_misc/bitbots_basler_camera/src/basler_camera.cpp

@@ -3,6 +3,7 @@
 #include <pylon/_InstantCameraParams.h>
 
 #include <ament_index_cpp/get_package_share_directory.hpp>
+#include <bitbots_basler_camera/pylon_camera_parameters.hpp>
 #include <camera_info_manager/camera_info_manager.hpp>
 #include <cmath>
 #include <cv_bridge/cv_bridge.hpp>
@@ -12,7 +13,6 @@
 #include <iostream>
 #include <memory>
 #include <opencv2/imgproc/imgproc.hpp>
-#include <pylon_camera_parameters.hpp>
 #include <rclcpp/experimental/executors/events_executor/events_executor.hpp>
 #include <rclcpp/logger.hpp>
 #include <rclcpp/rclcpp.hpp>

bitbots_misc/bitbots_docs/docs/manual/tutorials/install_software_ros2.rst

@@ -46,29 +46,14 @@ Alternatively you can use a devcontainer :doc:`vscode-dev-container`, with a pre
     python3-pip \
     python3-rosdep \
     python3-vcstool \
-    ros-iron-plotjuggler-ros \
-    ros-iron-rmw-cyclonedds-cpp \
-    ros-iron-rqt-robot-monitor \
-    ros-iron-rqt-runtime-monitor
+    ros-jazzy-plotjuggler-ros \
+    ros-jazzy-rmw-cyclonedds-cpp \
+    ros-jazzy-rqt-robot-monitor \
+    ros-jazzy-rqt-runtime-monitor
 
 - Run ``sudo rosdep init`` to initialize ``rosdep``, a tool that helps you install system dependencies for ROS packages.
-- Optionally, to get nice colored output from colcon, you can install the following pip packages:
 
-.. code-block:: bash
-
-  python3 -m pip install \
-    git+https://github.com/ruffsl/colcon-clean \
-    git+https://github.com/timonegk/colcon-core.git@colors \
-    git+https://github.com/timonegk/colcon-notification.git@colors \
-    git+https://github.com/timonegk/colcon-output.git@colors
-
-**2. Install Webots**
-
-Webots is a robot simulator, which we use to simulate our robots and test our software.
-It is not strictly necessary to install it, but it is very useful for development and testing.
-If you want to install it, you can do so by running ``make webots`` in the bitbots_main repository.
-
-**3. Download our software**
+**2. Download our software (if not already done)**
 
 - Create a GitHub account, if not already done (see `here <http://doku.bit-bots.de/private/manual/dienste_accounts.html>`_ for further information)
 - Add your SSH key to GitHub to access and sync our repositories
@@ -86,6 +71,12 @@ If you want to install it, you can do so by running ``make webots`` in the bitbo
       This will take a while, as it downloads all the code and other files from our repositories and additionally installs all missing dependencies (using rosdep and pip).
       Finally, it will register pre-commit hooks (automatic code-formatting and warnings), which will be run every time you commit code to our repositories.
 
+**3. Install Webots**
+
+Webots is a robot simulator, which we use to simulate our robots and test our software.
+It is not strictly necessary to install it, but it is very useful for development and testing.
+If you want to install it, you can do so by running ``make webots`` in the bitbots_main repository.
+
 **4. Setup colcon workspace**
 
 `Colcon <https://docs.ros.org/en/jazzy/Tutorials/Beginner-Client-Libraries/Colcon-Tutorial.html>`_ is the tool provided by ROS 2 to build and install our ROS packages, so that they can be launched later.

bitbots_motion/bitbots_dynup/include/bitbots_dynup/dynup_engine.hpp

@@ -1,13 +1,13 @@
 #ifndef BITBOTS_DYNUP_INCLUDE_BITBOTS_DYNUP_DYNUP_ENGINE_H_
 #define BITBOTS_DYNUP_INCLUDE_BITBOTS_DYNUP_DYNUP_ENGINE_H_
 
+#include <bitbots_dynup/dynup_parameters.hpp>
 #include <bitbots_dynup/msg/dynup_engine_debug.hpp>
 #include <bitbots_splines/abstract_engine.hpp>
 #include <bitbots_splines/pose_spline.hpp>
 #include <bitbots_splines/smooth_spline.hpp>
 #include <bitbots_splines/spline_container.hpp>
 #include <cmath>
-#include <dynup_parameters.hpp>
 #include <optional>
 #include <rclcpp/rclcpp.hpp>
 #include <string>

bitbots_motion/bitbots_dynup/include/bitbots_dynup/dynup_ik.hpp

@@ -2,8 +2,8 @@
 #define BITBOTS_DYNUP_INCLUDE_BITBOTS_DYNUP_DYNUP_IK_H_
 
 #include <bio_ik/bio_ik.hpp>
+#include <bitbots_dynup/dynup_parameters.hpp>
 #include <bitbots_splines/abstract_ik.hpp>
-#include <dynup_parameters.hpp>
 #include <moveit/robot_model_loader/robot_model_loader.hpp>
 #include <moveit/robot_state/robot_state.hpp>
 #include <sensor_msgs/msg/joint_state.hpp>

bitbots_motion/bitbots_dynup/include/bitbots_dynup/dynup_node.hpp

@@ -6,14 +6,14 @@
 
 #include <bitbots_dynup/dynup_engine.hpp>
 #include <bitbots_dynup/dynup_ik.hpp>
+#include <bitbots_dynup/dynup_parameters.hpp>
 #include <bitbots_dynup/dynup_stabilizer.hpp>
 #include <bitbots_dynup/msg/dynup_poses.hpp>
 #include <bitbots_dynup/visualizer.hpp>
 #include <bitbots_msgs/action/dynup.hpp>
 #include <bitbots_msgs/msg/joint_command.hpp>
 #include <bitbots_utils/utils.hpp>
 #include <cmath>
-#include <dynup_parameters.hpp>
 #include <geometry_msgs/msg/pose.hpp>
 #include <geometry_msgs/msg/pose_array.hpp>
 #include <geometry_msgs/msg/pose_stamped.hpp>

bitbots_motion/bitbots_dynup/include/bitbots_dynup/dynup_stabilizer.hpp

@@ -4,9 +4,9 @@
 #include <rot_conv/rot_conv.h>
 
 #include <Eigen/Geometry>
+#include <bitbots_dynup/dynup_parameters.hpp>
 #include <bitbots_splines/abstract_stabilizer.hpp>
 #include <control_toolbox/pid_ros.hpp>
-#include <dynup_parameters.hpp>
 #include <optional>
 #include <sensor_msgs/msg/imu.hpp>
 #include <tf2_eigen/tf2_eigen.hpp>

bitbots_motion/bitbots_dynup/include/bitbots_dynup/visualizer.hpp

@@ -1,13 +1,13 @@
 #ifndef BITBOTS_DYNUP_INCLUDE_BITBOTS_DYNUP_VISUALIZER_H_
 #define BITBOTS_DYNUP_INCLUDE_BITBOTS_DYNUP_VISUALIZER_H_
 
+#include <bitbots_dynup/dynup_parameters.hpp>
 #include <bitbots_dynup/dynup_utils.hpp>
 #include <bitbots_dynup/msg/dynup_ik_offset.hpp>
 #include <bitbots_splines/abstract_ik.hpp>
 #include <bitbots_splines/abstract_visualizer.hpp>
 #include <bitbots_splines/smooth_spline.hpp>
 #include <bitbots_splines/spline_container.hpp>
-#include <dynup_parameters.hpp>
 #include <geometry_msgs/msg/pose_stamped.hpp>
 #include <moveit/robot_model/robot_model.hpp>
 #include <moveit/robot_state/robot_state.hpp>

bitbots_motion/bitbots_head_mover/src/move_head.cpp

@@ -3,14 +3,14 @@
 
 #include <bio_ik/bio_ik.hpp>
 #include <bio_ik_msgs/msg/ik_response.hpp>
+#include <bitbots_head_mover/head_parameters.hpp>
 #include <bitbots_msgs/action/look_at.hpp>
 #include <bitbots_msgs/msg/head_mode.hpp>
 #include <bitbots_msgs/msg/joint_command.hpp>
 #include <chrono>
 #include <cmath>
 #include <geometry_msgs/msg/pose_stamped.hpp>
 #include <geometry_msgs/msg/pose_with_covariance_stamped.hpp>
-#include <head_parameters.hpp>
 #include <iostream>
 #include <memory>
 #include <moveit/planning_scene/planning_scene.hpp>

bitbots_motion/bitbots_quintic_walk/include/bitbots_quintic_walk/walk_engine.hpp

@@ -6,8 +6,8 @@ The original files can be found at:
 #ifndef BITBOTS_QUINTIC_WALK_INCLUDE_BITBOTS_QUINTIC_WALK_WALK_ENGINE_H_
 #define BITBOTS_QUINTIC_WALK_INCLUDE_BITBOTS_QUINTIC_WALK_WALK_ENGINE_H_
 
+#include <bitbots_quintic_walk/bitbots_quintic_walk_parameters.hpp>
 #include <bitbots_quintic_walk/walk_utils.hpp>
-#include <bitbots_quintic_walk_parameters.hpp>
 #include <bitbots_splines/abstract_engine.hpp>
 #include <bitbots_splines/pose_spline.hpp>
 #include <bitbots_splines/smooth_spline.hpp>

bitbots_motion/bitbots_quintic_walk/include/bitbots_quintic_walk/walk_ik.hpp

@@ -1,7 +1,7 @@
 #ifndef BITBOTS_QUINTIC_WALK_INCLUDE_BITBOTS_QUINTIC_WALK_WALK_IK_H_
 #define BITBOTS_QUINTIC_WALK_INCLUDE_BITBOTS_QUINTIC_WALK_WALK_IK_H_
+#include <bitbots_quintic_walk/bitbots_quintic_walk_parameters.hpp>
 #include <bitbots_quintic_walk/walk_utils.hpp>
-#include <bitbots_quintic_walk_parameters.hpp>
 #include <bitbots_splines/abstract_ik.hpp>
 #include <moveit/robot_state/robot_state.hpp>
 #include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>

bitbots_motion/bitbots_quintic_walk/include/bitbots_quintic_walk/walk_node.hpp

@@ -14,11 +14,11 @@ The original files can be found at:
 #include <bitbots_msgs/msg/foot_pressure.hpp>
 #include <bitbots_msgs/msg/joint_command.hpp>
 #include <bitbots_msgs/msg/robot_control_state.hpp>
+#include <bitbots_quintic_walk/bitbots_quintic_walk_parameters.hpp>
 #include <bitbots_quintic_walk/walk_engine.hpp>
 #include <bitbots_quintic_walk/walk_ik.hpp>
 #include <bitbots_quintic_walk/walk_stabilizer.hpp>
 #include <bitbots_quintic_walk/walk_visualizer.hpp>
-#include <bitbots_quintic_walk_parameters.hpp>
 #include <bitbots_splines/abstract_ik.hpp>
 #include <chrono>
 #include <control_toolbox/pid_ros.hpp>

bitbots_navigation/bitbots_localization/include/bitbots_localization/ObservationModel.hpp

@@ -8,9 +8,9 @@
 #include <tf2_ros/buffer.h>
 
 #include <bitbots_localization/RobotState.hpp>
+#include <bitbots_localization/localization_parameters.hpp>
 #include <bitbots_localization/map.hpp>
 #include <bitbots_localization/tools.hpp>
-#include <localization_parameters.hpp>
 #include <particle_filter/ParticleFilter.hpp>
 #include <sensor_msgs/msg/point_cloud2.hpp>
 #include <sensor_msgs/point_cloud2_iterator.hpp>

bitbots_navigation/bitbots_localization/include/bitbots_localization/localization.hpp

@@ -17,6 +17,7 @@
 #include <bitbots_localization/Resampling.hpp>
 #include <bitbots_localization/RobotState.hpp>
 #include <bitbots_localization/StateDistribution.hpp>
+#include <bitbots_localization/localization_parameters.hpp>
 #include <bitbots_localization/map.hpp>
 #include <bitbots_localization/srv/reset_filter.hpp>
 #include <bitbots_localization/srv/set_paused.hpp>
@@ -35,7 +36,6 @@
 #include <geometry_msgs/msg/twist.hpp>
 #include <image_transport/image_transport.hpp>
 #include <iterator>
-#include <localization_parameters.hpp>
 #include <memory>
 #include <particle_filter/CRandomNumberGenerator.hpp>
 #include <particle_filter/ParticleFilter.hpp>

bitbots_navigation/bitbots_odometry/include/bitbots_odometry/motion_odometry.hpp

@@ -4,9 +4,9 @@
 #include <unistd.h>
 
 #include <biped_interfaces/msg/phase.hpp>
+#include <bitbots_odometry/odometry_parameters.hpp>
 #include <bitbots_utils/utils.hpp>
 #include <nav_msgs/msg/odometry.hpp>
-#include <odometry_parameters.hpp>
 #include <rclcpp/experimental/executors/events_executor/events_executor.hpp>
 #include <rclcpp/rclcpp.hpp>
 #include <sensor_msgs/msg/joint_state.hpp>

bitbots_vision/bitbots_vision/vision_modules/yoeo/utils.py

@@ -5,7 +5,7 @@
 import cv2
 import numpy as np
 import rclpy
-from jaxtyping import UInt8
+from jaxtyping import Float64, UInt8
 
 logger = rclpy.logging.get_logger("yoeo_handler_utils")
 
@@ -158,10 +158,10 @@ def get_info(self) -> ImagePreProcessorData:
             padding_bottom=self._padding_bottom,
             padding_left=self._padding_left,
             padding_right=self._padding_right,
-            max_dim=np.max(self._image_dimensions_HW),
+            max_dim=int(np.max(self._image_dimensions_HW)),
         )
 
-    def process(self, image: UInt8[np.ndarray, "h w 3"]) -> UInt8[np.ndarray, "3 network_input_h network_input_w"]:
+    def process(self, image: UInt8[np.ndarray, "h w 3"]) -> Float64[np.ndarray, "3 network_input_h network_input_w"]:
         self._image_dimensions_HW = image.shape[:2]  # type: ignore[assignment]
         self._calculate_paddings()
 

requirements/common.txt

@@ -3,6 +3,9 @@ pip
 transforms3d==0.4.1
 git+https://github.com/Flova/pyastar2d
 git+https://github.com/bit-bots/YOEO
+git+https://github.com/timonegk/colcon-core.git@colors
+git+https://github.com/timonegk/colcon-notification.git@colors
+git+https://github.com/timonegk/colcon-output.git@colors
 simpleeval
 beartype
 jaxtyping

sync_includes_wolfgang_nuc.yaml

@@ -15,7 +15,6 @@ include:
         - bitbots_parameter_blackboard
         - bitbots_robot_description
         - bitbots_teleop
-        - bitbots_tf_buffer
         - bitbots_tts
         - bitbots_utils
         - system_monitor
@@ -51,6 +50,7 @@ include:
         - bio_ik
         - bio_ik_msgs
         - biped_interfaces
+        - bitbots_tf_buffer
         - dynamic_stack_decider
         - dynamixel-workbench
         - DynamixelSDK

workspace.repos

@@ -23,10 +23,6 @@ repositories:
     type: git
     url: [email protected]:ros-sports/biped_interfaces.git
     version: rolling
-  lib/control_toolbox:
-    type: git
-    url: [email protected]:ros-controls/control_toolbox.git
-    version: ros2-master
   lib/dynamic_stack_decider:
     type: git
     url: [email protected]:bit-bots/dynamic_stack_decider.git