Efc/ros1 #161
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Efc/ros1 #161
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Signed-off-by: Aaron Chong <aaronchong@google.com>
Signed-off-by: Aaron Chong <aaronchong@google.com>
Signed-off-by: Aaron Chong <aaronchongth@gmail.com>
Signed-off-by: Aaron Chong <aaronchongth@gmail.com>
Codecov ReportAttention: Patch coverage is
Additional details and impacted files@@ Coverage Diff @@
## easy-full-control #161 +/- ##
=====================================================
+ Coverage 61.99% 67.37% +5.37%
=====================================================
Files 5 8 +3
Lines 421 757 +336
Branches 54 89 +35
=====================================================
+ Hits 261 510 +249
- Misses 154 232 +78
- Partials 6 15 +9
Flags with carried forward coverage won't be shown. Click here to find out more. ☔ View full report in Codecov by Sentry. |
Signed-off-by: Aaron Chong <aaronchongth@gmail.com>
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…nd zenoh bridges (#145) * Clean up Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Turtlebot3 world map Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Basic example of navigate_to_pose Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * test tf Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Basic tests and README updated, started with fleet adapter template Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Tweaking results and got cancellation Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Using tf_transformations, flesh out more implementation Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Basic launch done Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Basic working with patrol tasks Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Update configs Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Battery state, update readme Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * readme Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Update README, reorganized and renamed configs, testing unique tb3 sim Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Setup tested Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Updated README Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Style workflow on push and PR, lint Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Linter syntax Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Testing and CI (#146) * Pytest setup Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Add workflow Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * On push for testing Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Remove branch override Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Use workflow directory Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Basic testing ci without RMF Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Use containers Signed-off-by: Aaron Chong <aaronchongth@gmail.com> --------- Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * update script with latest zenoh api (#149) * rebase with latest change Signed-off-by: thomasung <thomas.ung@pal-robotics.com> * add missing \ in readme Signed-off-by: thomasung <thomas.ung@pal-robotics.com> * update readme informations about zenoh version Signed-off-by: thomasung <thomas.ung@pal-robotics.com> clean dangling code * fix linting issues and test example test files Signed-off-by: thomasung <thomas.ung@pal-robotics.com> --------- Signed-off-by: thomasung <thomas.ung@pal-robotics.com> * Update README and lint Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Fix enum comparison value, add replanning, update docs Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Fix default args Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * fix Crash node if easy_fleet creation fails (#159) * fix Crash node if easy_fleet creation fails Upon creation of the EasyFullControl object the node may keep running even tho the returned pointer is null Signed-off-by: thomasung <thomas.ung@pal-robotics.com> lint Signed-off-by: thomasung <thomas.ung@pal-robotics.com> * rephrase comments Signed-off-by: thomasung <thomas.ung@pal-robotics.com> follow pycodestyle Signed-off-by: Thomas Ung <tomkimsour@hotmail.fr> --------- Signed-off-by: thomasung <thomas.ung@pal-robotics.com> Signed-off-by: Thomas Ung <tomkimsour@hotmail.fr> * Efc/integration testing (#157) * Adding dockerfiles for building tests Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Initial docker compose nightly workflow Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Using new docker compose command Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Fix zenoh bridge image branch Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Use curl for repo tar Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Use docker compose command for down too Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Setup integration testing with flag, test with workflow Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Install docker-compose in ros container Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Ommit setup-ros step and fix linting Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Revert setup ros step, use cmake -args Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Use 1.0.1 API Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Using client and router method Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Remove command in docker compose Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Working locally, commented out zenohd Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Spinning up minimal-zenoh too Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Moving docker files, trying with client mode Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Use official zenoh docker image and compose example, rename client zenoh config, update README, test build docker images Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Re-usable workflow actions, split integration testing Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Missing docker-compose installation Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Fix broken action, rename test job Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Fix shell selection, use composite Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Set nightly schedule, fix steps in unit-tests Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Remove minimal zenoh router dockerfile, add checkout to unit-tests Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Isolating tf listner components for testing Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Use correct robot name, lint Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Clean up imports and fix namespacing Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Refactor to TfHandler, added testing Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Simplifying API Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Moved integration testing to free fleet adapter, added abstract RobotAdapter Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Abstract out robot adapter, slight refactor Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Robot existense test, with a planned failure to verify that it is running Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * setup rclpy node for testing too Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Add coverage and fix lint Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Use unit test test cases Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Move tests Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Fix launch files Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Rename functions Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Not to check execution, comment out stop command test Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Use helper function for stop Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Using all statuses Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Badges Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Switch to easy-full-control branch before merging Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Update readme Signed-off-by: Aaron Chong <aaronchongth@gmail.com> --------- Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Lint Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Add ignore to codecov Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Coverage (#160) * Add ignore to codecov Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Test ignore Signed-off-by: Aaron Chong <aaronchongth@gmail.com> --------- Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Fix navigate_to_pose script default frame Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Address comments, fix battery_state and navigate_to_pose result parsing, add additional check as temporary fix for race condition Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Update readme Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Clean up configs Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Move member variables directly used by fleet adapter into RobotAdapter, add get_map_name abstract method Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Move config files into config directory per standard package structure Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Removed abstracted RobotAdapter, to be added only after Nav1RobotAdapter is implemented Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Efc/ros1 (#161) * Basic testing on docker image for tf works Signed-off-by: Aaron Chong <aaronchong@google.com> * Renaming types and starting conversions Signed-off-by: Aaron Chong <aaronchong@google.com> * Renaming and verifying regression tests Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * minimal-zenoh-bridge-ros1 to build bridge from source Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Clone bridge recursively for rosrust Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * nav1 tf integration tests Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Fix nav1 robot testing namespace, lint Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Fix imports, lint, new cmake and action argument to split nav1 or nav2 integration tests Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Fix ros master race condition, basic conversion Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * TransformStamped ros1 type Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Build with updated images Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Reduce size of minimal zenoh bridge ros1 image, lint Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Setup for more testing scripts Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * move base handler Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * lint Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * free_fleet testing Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * move_base_handler integration testing Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Basic testing on the level of nav1 robot adapter Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Basic nav1 fleet adapter setup done Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * New image builds and new tests Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Refactor out the part of starting fleet adapters for future testing Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Turn off nightly on-push build Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Update documentation with nav1 simulation example Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * nav1 sim architecture Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Update CI branch, todos on readme Signed-off-by: Aaron Chong <aaronchongth@gmail.com> --------- Signed-off-by: Aaron Chong <aaronchong@google.com> Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Badges Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Efc cleanup (#163) * Bump major versions Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Added nav1 and nav2 to names to make it clearer Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Revert schedule and free fleet branch Signed-off-by: Aaron Chong <aaronchongth@gmail.com> --------- Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Change maintainer emails, fix versions, minor cleanup Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Addresses review comments (#164) * Use nav2 tag for nav1 map image, rebuild images, remove typename, use more encompassing check for namespace Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Remove update handle check, and just check individually Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Use conditional in launch instead of group conditional Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Fixed namespacify logic, reverted to nightly build Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Fixed tests that catch runtime errors, check for replan counts instead Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Opens issue ticket when navigation fails Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Fix launch file, remove spam of nav1 message in log Signed-off-by: Aaron Chong <aaronchongth@gmail.com> --------- Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Replace polling transform and pose tests with a 2 second wait for initialization before checks Signed-off-by: Aaron Chong <aaronchongth@gmail.com> --------- Signed-off-by: Aaron Chong <aaronchongth@gmail.com> Signed-off-by: thomasung <thomas.ung@pal-robotics.com> Signed-off-by: Thomas Ung <tomkimsour@hotmail.fr> Signed-off-by: Aaron Chong <aaronchong@google.com> Co-authored-by: Thomas Ung <tomkimsour@hotmail.fr>
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New feature implementation
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