Merge remote-tracking branch 'origin/main' into buggy-vision

.env.dev

@@ -1,5 +1,8 @@
+# NOTE: this file is not being used in docker compose correctly
+# SET ALL ENVIRONMENT VARIABLES IN THE YAML
 GPS_PORT=/dev/null
 WEBCAM_PORT=/dev/null
 RLSENSE_PORT=/dev/null
 TEENSY_PORT=/dev/null
 FEATHER_PORT=/dev/null
+

.gitignore

@@ -1,12 +1,18 @@
 .DS_Store
-rb_ws/bags
 .docker-compose.yml.un~
 .python-requirements.txt.un~
 docker-compose.yml~
 *TEMP_DO_NOT_EDIT.txt
-rb_ws/src/buggy/bags/*                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                   
+
+# BAGS
+rb_ws/bags
+rb_ws/src/buggy/bags/
 *.bag
-vision/data/*
-.vision/*
-runs/*
-.sc/
+rb_ws/rosbag2*/
+
+# VISION
+.vision/
+vision/data/
+
+#VENV
+.sc/

Dockerfile

@@ -19,20 +19,16 @@ RUN apt-get install -y -qq \
 COPY python-requirements.txt python-requirements.txt
 RUN pip3 install -r python-requirements.txt
 
-
-RUN echo 'source "/opt/ros/humble/setup.bash" --' >> ~/.bashrc && \
-    echo 'cd rb_ws' >> ~/.bashrc && \
-    echo 'colcon build --symlink-install' >> ~/.bashrc && \
-    echo 'source install/local_setup.bash' >> ~/.bashrc
-# RUN 	echo 'source "/opt/ros/humble/setup.bash" --' >> ~/.bashrc && \
-#     echo 'cd rb_ws' >> ~/.bashrc && \
-#     echo 'catkin_make >/dev/null' >> ~/.bashrc && \
-#     echo 'source devel/setup.bash' >> ~/.bashrc
-
-
-
-# RUN echo "exec firefox" > ~/.xinitrc && chmod +x ~/.xinitrc
-# CMD ["x11vnc", "-create", "-forever"]
+# ABSOLUTELY DO NOT use single quotes inside this block
+# end any new lines with "\n\" (no quotes)
+RUN printf '\n# automatically generated by Dockerfile \n\
+source "/opt/ros/humble/setup.bash" --                \n\
+cd rb_ws                                              \n\
+colcon build --symlink-install                        \n\
+source install/local_setup.bash                       \n\
+chmod -R +x src/buggy/scripts/                        \n\
+source environments/docker_env.bash                   \n\
+\n' >> ~/.bashrc
 
 # add mouse to tmux
 RUN echo 'set -g mouse on' >> ~/.tmux.conf

docker-dev.yml

@@ -12,6 +12,7 @@ services:
       - "${FEATHER_PORT:-/dev/null}:/dev/ttyACM1"
     stdin_open: true # docker run -i
     tty: true # docker run -t
+    env_file: .env.dev
     environment:
       - DISPLAY=host.docker.internal:0
     hostname: main

python-requirements.txt

@@ -1,10 +1,12 @@
 matplotlib
 NavPy
 numba
-numpy
+numpy<2
 osqp
 pandas
 pymap3d
+pyproj
+pyserial
 scipy
 setuptools==58.2.0
 trimesh

rb_ws/environments/docker_env.bash

@@ -0,0 +1,4 @@
+#!/bin/sh
+export RBROOT=/rb_ws
+export PYTHONPATH=$PYTHONPATH:$RBROOT/src/buggy/scripts
+export TRAJPATH=$RBROOT/src/buggy/paths/

rb_ws/environments/sc_env.bash

@@ -0,0 +1,4 @@
+#!/bin/sh
+export RBROOT=/home/nuc/robobuggy-software/rb_ws
+export PYTHONPATH=$PYTHONPATH:$RBROOT/src/buggy/scripts
+export TRAJPATH=$RBROOT/src/buggy/paths/

rb_ws/src/buggy/CMakeLists.txt

@@ -0,0 +1,54 @@
+cmake_minimum_required(VERSION 3.8)
+project(buggy)
+
+# Default to C++14
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 14)
+endif()
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# Find dependencies
+find_package(ament_cmake REQUIRED)
+find_package(ament_cmake_python REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(rclpy REQUIRED)
+
+# Install Launch Files
+install(DIRECTORY
+  launch
+  DESTINATION share/${PROJECT_NAME}
+)
+
+# Install Python modules
+# ament_python_install_package(${PROJECT_NAME})
+
+# Install Python executables
+install(PROGRAMS
+  scripts/hello_world.py
+  scripts/controller/controller_node.py
+  scripts/path_planner/path_planner.py
+  scripts/simulator/engine.py
+  scripts/watchdog/watchdog_node.py
+  scripts/buggy_state_converter.py
+  scripts/serial/ros_to_bnyahaj.py
+  scripts/telemetry/telematics.py
+  scripts/debug/debug_steer.py
+  DESTINATION lib/${PROJECT_NAME}
+)
+
+
+find_package(rosidl_default_generators REQUIRED)
+
+rosidl_generate_interfaces(${PROJECT_NAME}
+  "msg/TrajectoryMsg.msg"
+  "msg/SCDebugInfoMsg.msg"
+  "msg/SCSensorMsg.msg"
+  "msg/NANDRawGPSMsg.msg"
+  "msg/NANDDebugInfoMsg.msg"
+)
+ament_export_dependencies(rosidl_default_runtime)
+
+ament_package()