Merge branch 'humble-devel' into harmonic-follow-line-tests

Author: javizqh

RoboticsInfrastructure

@@ -46,9 +46,7 @@ def pointCloud2LidarData(cloud):
         lidar.intensities = [i[0] for i in intensities]
 
     # Timestamp (ROS 2 Time -> seconds)
-    lidar.timeStamp = (
-        cloud.header.stamp.sec + (cloud.header.stamp.nanosec * 1e-9)
-    )
+    lidar.timeStamp = cloud.header.stamp.sec + (cloud.header.stamp.nanosec * 1e-9)
 
     # Validate point cloud
     lidar.is_dense = all(

common/hal_interfaces/hal_interfaces/general/lidar.py

@@ -148,19 +148,19 @@ COPY public.exercises (id, exercise_id, name, description, tags, status, url) FR
 
 
 COPY public.exercises_universes (id, exercise_id, universe_id, is_default) FROM stdin;
-1	2	1	False
-2	5	1	False
-3	6	2	False
+1	2	1	True
+2	5	1	True
+3	6	2	True
 4	7	31	False
 5	10	4	False
 6	1	5	False
 7	1	6	False
 8	4	7	False
 9	4	8	False
 10	3	9	False
-11	11	1	False
+11	11	1	True
 12	8	10	False
-13	9	12	False
+13	9	12	True
 14	3	13	False
 15	3	14	False
 16	3	15	False
@@ -194,12 +194,17 @@ COPY public.exercises_universes (id, exercise_id, universe_id, is_default) FROM
 44	3	42	True
 45	3	43	True
 46	27	44	True
-47	1	41	False
-48	1	42	False
-49	1	50	False
-50	1	51	False
-51	1	52	False
-52	1	53	False
+47	6	11	False
+48	2	45	False
+49	5	45	False
+50	11	45	False
+51	9	46	False
+52	1	41	False
+53	1	42	False
+54	1	50	False
+55	1	51	False
+56	1	52	False
+57	1	53	False
 \.
 -- 30  16  3
 

database/exercises/db.sql

@@ -4,23 +4,24 @@
 
 | Exercise ID | Python simpleAPI | Python ROS2 | C++ simpleAPI | C++ ROS2 | Simulator | Notes |
 | --- | --- | --- | --- | --- | --- | --- |
-| Basic Vacuum Cleaner | ok | ok | ok | ok | Gazebo11 | FSM | 
+| Basic Vacuum Cleaner | ok | ok | ok | ok | Gazebo Harmonic + Classic | FSM | 
 | Follow Line | ok | ok | ok | ok | Gazebo11 | PID control |
-| Obstacle Avoidance | ok | | | | Gazebo 11 | VFF |
-| Global navigation | ok | | | | Gazebo 11 | GPP |
+| Obstacle Avoidance | ok | | | | Gazebo Harmonic + Classic  | VFF |
+| Global navigation | ok | | | | Gazebo Harmonic + Classic | GPP |
 | Laser Gridmap mapping | ok | | | | Gazebo Harmonic | |
-| MonteCarlo Laser Loc | ok | | | | Gazebo 11 | AMCL |
+| MonteCarlo Laser Loc | ok | | | | Gazebo Harmonic + Classic  | AMCL |
 | MonteCarlo Visual Loc | ok | | | | Gazebo 11 | AMCL |
 | Marker-based visual Loc | ok | | | | Gazebo Harmonic | PnP | 
-| Localized Vacuum Cleaner | ok | | | | Gazebo 11 | BSA | 
-| Autoparking | ok | | | | Gazebo 11 | | 
+| Localized Vacuum Cleaner | ok | | | | Gazebo Harmonic + Classic  | BSA | 
+| Autoparking | ok | | | | Gazebo Harmonic + Classic  | | 
+| Autoparking Lidar | ok | | | | Gazebo Harmonic + Classic  | | 
 | Amazon Warehouse | ok | | | | Gazebo 11 | | 
 | Follow Person | ok | | | | Gazebo 11 | | 
 | Drone Follow Road | ok | | | | Gazebo Harmonic | |
 | Drone Rescue people | ok | | | | Gazebo Harmonic | |
 | Drone Gymkhana | ok | | | | Gazebo Harmonic | |
 | Drone Power tower Inspection | ok | | | | Gazebo Harmonic | |
-| Visual 3D reconstruction | ok | | | | Gazebo 11 | |
+| Visual 3D reconstruction | ok | | | | Gazebo Harmonic + Classic | |
 | DL e2e Visual control | ok | | | | Gazebo 11 | | 
 | DL digit classification | ok | | | | none | |
 | DL human detection | ok | | | | none | |
@@ -36,4 +37,4 @@
 | Drone Package delivery | | | | | | broken |
 | Drone hangar | | | | | | |
 | Drone Visual Lander | | | | | | broken |
-| Drone Cat and Mouse | | | | | | broken | 
+| Drone Cat and Mouse | | | | | | broken | 

docs/exercise-status.md

@@ -4,7 +4,7 @@
 import threading
 import numpy as np
 
-from gui_interfaces.general.measuring_threading_gui import MeasuringThreadingGUI
+from gui_interfaces.general.measuring_threading_gui_harmonic import MeasuringThreadingGUI
 from console_interfaces.general.console import start_console
 
 

exercises/static/exercises/3d_reconstruction/python_template/ros2_humble/WebGUI.py

@@ -1,6 +1,8 @@
 import json
 
-from gui_interfaces.general.measuring_threading_gui_harmonic import MeasuringThreadingGUI
+from gui_interfaces.general.measuring_threading_gui_harmonic import (
+    MeasuringThreadingGUI,
+)
 from console_interfaces.general.console import start_console
 from map import Map
 from HAL import getFrontLaserData, getRightLaserData, getBackLaserData

exercises/static/exercises/autoparking/python_template/ros2_humble/WebGUI.py

@@ -1,7 +1,9 @@
 import json
 import math
 
-from gui_interfaces.general.measuring_threading_gui_harmonic import MeasuringThreadingGUI
+from gui_interfaces.general.measuring_threading_gui_harmonic import (
+    MeasuringThreadingGUI,
+)
 from console_interfaces.general.console import start_console
 from HAL import getLidarData
 
@@ -35,7 +37,9 @@ def update_gui(self):
                         is_valid = False
                 if is_valid:
                     x, y, z = lidar.points[i]
-                    points.append((float(x*10), float((z  + 1.75)*10), float(-y*10)) + color)
+                    points.append(
+                        (float(x * 10), float((z + 1.75) * 10), float(-y * 10)) + color
+                    )
         self.payload["lidar"] = json.dumps(points)
         message = json.dumps(self.payload)
         self.send_to_client(message)

exercises/static/exercises/autoparking_lidar/python_template/ros2_humble/WebGUI.py

@@ -2,7 +2,7 @@
 import math
 import matplotlib.pyplot as plt
 
-from gui_interfaces.general.measuring_threading_gui import MeasuringThreadingGUI
+from gui_interfaces.general.measuring_threading_gui_harmonic import MeasuringThreadingGUI
 from console_interfaces.general.console import start_console
 from map import Map
 from HAL import getPose3d

exercises/static/exercises/montecarlo_laser_loc/python_template/ros2_humble/WebGUI.py

@@ -4,7 +4,7 @@
 from rclpy.node import Node
 from rclpy.executors import SingleThreadedExecutor
 from nav_msgs.msg import Odometry
-from gui_interfaces.general.measuring_threading_gui import MeasuringThreadingGUI
+from gui_interfaces.general.measuring_threading_gui_harmonic import MeasuringThreadingGUI
 from console_interfaces.general.console import start_console
 from map import Map
 

exercises/static/exercises/vacuum_cleaner/python_template/ros2_humble/WebGUI.py

@@ -5,7 +5,7 @@
 import threading
 from PIL import Image
 
-from gui_interfaces.general.measuring_threading_gui import MeasuringThreadingGUI
+from gui_interfaces.general.measuring_threading_gui_harmonic import MeasuringThreadingGUI
 from console_interfaces.general.console import start_console
 from map import Map
 from HAL import getPose3d