Merge pull request #2 from fcladera/WP_2_exp

Wp 2 exp
KumarRobotics · Mar 24, 2023 · d51f1e1 · d51f1e1
2 parents a0a1b68 + 0d07ad0
commit d51f1e1
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diff --git a/.github/workflows/build.yaml b/.github/workflows/build.yaml
@@ -0,0 +1,49 @@
+# ROS build pipeline based on kr_mav_control build
+# https://github.com/KumarRobotics/kr_mav_control/blob/master/.github/workflows/build.yml
+name: build
+
+on:
+  push:
+    branches: [main, WP_2_exp]
+  workflow_dispatch:
+  schedule:
+    - cron: '0 0 * * 0'
+
+jobs:
+  build:
+    strategy:
+      matrix:
+        ros_distro: [noetic]
+
+    runs-on: ubuntu-latest
+    container: osrf/ros:${{ matrix.ros_distro }}-desktop
+    steps:
+      - uses: actions/checkout@v3
+
+      - name: Apt dependencies
+        run: |
+          apt-get update
+          apt-get install -qy g++ libeigen3-dev git python3-catkin-tools
+          apt-get install -qy python3-colorama python3-zmq
+          rosdep update
+          rosdep install --from-paths . --ignore-src -y -r --as-root apt:false
+
+      - name: Setup catkin workspace
+        run: |
+          . /opt/ros/${{ matrix.ros_distro }}/setup.sh
+          mkdir -p ${RUNNER_WORKSPACE}/catkin_ws/src
+          cd ${RUNNER_WORKSPACE}/catkin_ws
+          catkin init
+          catkin build -j2 --no-status -DCMAKE_BUILD_TYPE=Release
+
+      - name: Build workspace
+        run: |
+          . /opt/ros/${{ matrix.ros_distro }}/setup.sh
+          cd ${RUNNER_WORKSPACE}/catkin_ws/src
+          ln -s ${GITHUB_WORKSPACE}
+          catkin build -j2 --no-status -DCMAKE_BUILD_TYPE=Release -DCMAKE_CXX_STANDARD=17
+
+      - name: Run Tests
+        run: |
+          cd ${RUNNER_WORKSPACE}/catkin_ws/src/distributed-database/distributed_database/scripts/core/test
+          ./run_tests.sh ${RUNNER_WORKSPACE}
diff --git a/comm_stack_launch/launch/basestation.launch b/comm_stack_launch/launch/basestation.launch
@@ -0,0 +1,16 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<launch>
+  <arg name="robot_name" default="basestation"/>
+  <arg name="robot_configs" default="$(find distributed_database)/config/robot_configs.yaml"/>
+  <arg name="topic_configs" default="$(find distributed_database)/config/topic_configs.yaml"/>
+  <arg name="radio_configs" default="$(find distributed_database)/config/radio_configs.yaml"/>
+  <arg name="output" default="screen"/>
+
+  <!-- Launch database, publishers and translators -->
+  <include file="$(find distributed_database)/launch/database_translators_publishers.launch" pass_all_args="True"/>
+
+  <!-- Launch Rajant interface -->
+  <include file="$(find interface_rajant)/launch/rajant_nodes.launch" pass_all_args="True"/>
+
+</launch>
+
diff --git a/comm_stack_launch/launch/basestation_comms.launch b/comm_stack_launch/launch/basestation_comms.launch
diff --git a/comm_stack_launch/launch/jackal.launch b/comm_stack_launch/launch/jackal.launch
@@ -0,0 +1,16 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<launch>
+  <arg name="robot_name" default="callisto"/>
+  <arg name="robot_configs" default="$(find distributed_database)/config/robot_configs.yaml"/>
+  <arg name="topic_configs" default="$(find distributed_database)/config/topic_configs.yaml"/>
+  <arg name="radio_configs" default="$(find distributed_database)/config/radio_configs.yaml"/>
+  <arg name="output" default="screen"/>
+
+  <!-- Launch database, publishers and translators -->
+  <include file="$(find distributed_database)/launch/database_translators_publishers.launch" pass_all_args="True"/>
+
+  <!-- Launch Rajant interface -->
+  <include file="$(find interface_rajant)/launch/rajant_nodes.launch" pass_all_args="True"/>
+
+</launch>
+
diff --git a/comm_stack_launch/launch/jackal_comms.launch b/comm_stack_launch/launch/jackal_comms.launch
diff --git a/comm_stack_launch/launch/repeater_comms.launch b/comm_stack_launch/launch/repeater_comms.launch
diff --git a/comm_stack_launch/launch/titan.launch b/comm_stack_launch/launch/titan.launch
@@ -0,0 +1,16 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<launch>
+  <arg name="robot_name" default="titan"/>
+  <arg name="robot_configs" default="$(find distributed_database)/config/robot_configs.yaml"/>
+  <arg name="topic_configs" default="$(find distributed_database)/config/topic_configs.yaml"/>
+  <arg name="radio_configs" default="$(find distributed_database)/config/radio_configs.yaml"/>
+  <arg name="output" default="screen"/>
+
+  <!-- Launch database, publishers and translators -->
+  <include file="$(find distributed_database)/launch/database_translators_publishers.launch" pass_all_args="True"/>
+
+  <!-- Launch Rajant interface -->
+  <include file="$(find interface_rajant)/launch/rajant_nodes.launch" pass_all_args="True"/>
+
+</launch>
+
diff --git a/comm_stack_launch/launch/titan_comms.launch b/comm_stack_launch/launch/titan_comms.launch
diff --git a/distributed_database/CMakeLists.txt b/distributed_database/CMakeLists.txt
@@ -54,11 +54,6 @@ find_package(catkin REQUIRED COMPONENTS
 ## Generate messages in the 'msg' folder
 add_message_files(
   FILES
-  ObjectDetection.msg
-  PanoramicImages.msg
-  PseudoFrontiers.msg
-  RobotState.msg
-  TopologicalGraph.msg
   # Legacy, may be removed in the future
   Heartbeat.msg
 )

diff --git a/distributed_database/config/radioConfigs.yml → ...ibuted_database/config/radio_configs.yaml b/distributed_database/config/radioConfigs.yml → ...ibuted_database/config/radio_configs.yaml
diff --git a/distributed_database/config/robotConfigs.yml b/distributed_database/config/robotConfigs.yml
diff --git a/distributed_database/config/robot_configs.yaml b/distributed_database/config/robot_configs.yaml
@@ -0,0 +1,54 @@
+basestation:
+  node-type: "base_station"
+  IP-address: "10.10.10.100"
+  using-radio: "brick-1"
+  base-port: "1234"
+  clients:
+    - "callisto"
+    - "europa"
+    - "io"
+    - "titan"
+
+europa:
+  node-type: "ground_robot"
+  IP-address: "10.10.10.101"
+  using-radio: "blue-2"
+  base-port: "2234"
+  clients:
+    - "basestation"
+    - "callisto"
+    - "io"
+    - "titan"
+
+callisto:
+  node-type: "ground_robot"
+  IP-address: "10.10.10.102"
+  using-radio: "blue-6"
+  base-port: "3234"
+  clients:
+    - "basestation"
+    - "europa"
+    - "io"
+    - "titan"
+
+io:
+  node-type: "ground_robot"
+  IP-address: "10.10.10.103"
+  using-radio: "blue-5"
+  base-port: "4234"
+  clients:
+    - "basestation"
+    - "europa"
+    - "callisto"
+    - "titan"
+
+titan:
+  node-type: "aerial_robot"
+  IP-address: "10.10.10.107"
+  using-radio: "blue-1"
+  base-port: "6234"
+  clients:
+    - "basestation"
+    - "callisto"
+    - "europa"
+    - "io"
diff --git a/distributed_database/config/testConfigs/robotConfigs.yml b/distributed_database/config/testConfigs/robotConfigs.yml
diff --git a/distributed_database/config/testConfigs/robot_configs.yaml b/distributed_database/config/testConfigs/robot_configs.yaml
@@ -0,0 +1,39 @@
+basestation:
+  node-type: "base_station"
+  IP-address: "127.0.0.1"
+  using-radio: "brick-1"
+  base-port: "1234"
+  clients:
+    - "charon"
+    - "styx"
+    - "quad1"
+
+charon:
+  node-type: "ground_robot"
+  IP-address: "127.0.0.1"
+  using-radio: "black-1"
+  base-port: "2234"
+  clients:
+    - "basestation"
+    - "styx"
+    - "quad1"
+
+styx:
+  node-type: "ground_robot"
+  IP-address: "127.0.0.1"
+  using-radio: "black-2"
+  base-port: "3234"
+  clients:
+    - "basestation"
+    - "charon"
+
+
+quad1:
+  node-type: "aerial_robot"
+  IP-address: "127.0.0.1"
+  using-radio: "blue-1"
+  base-port: "4234"
+  clients:
+    - "basestation"
+    - "charon"
+    - "quad1"
diff --git a/distributed_database/config/testConfigs/topic_configs.yaml b/distributed_database/config/testConfigs/topic_configs.yaml
@@ -0,0 +1,27 @@
+ground_robot:
+  - msg_topic: "/odometry"
+    msg_type: "nav_msgs/Odometry"
+    msg_priority: "NO_PRIORITY"
+    msg_history: "LAST_MESSAGE"
+
+  - msg_topic: "/pose"
+    msg_type: "geometry_msgs/PointStamped"
+    msg_priority: "NO_PRIORITY"
+    msg_history: "WHOLE_HISTORY"
+
+aerial_robot:
+  - msg_topic: "/image"
+    msg_type: "sensor_msgs/Image"
+    msg_priority: "HIGH_PRIORITY"
+    msg_history: "LAST_MESSAGE"
+
+  - msg_topic: "/pose"
+    msg_type: "geometry_msgs/PointStamped"
+    msg_priority: "NO_PRIORITY"
+    msg_history: "LAST_MESSAGE"
+
+base_station:
+  - msg_topic: "/target_goals"
+    msg_type: "geometry_msgs/PoseArray"
+    msg_priority: "HIGH_PRIORITY"
+    msg_history: "LAST_MESSAGE"