diff --git a/.github/workflows/main.yaml b/.github/workflows/main.yaml
index 4720e77..9590f9f 100644
--- a/.github/workflows/main.yaml
+++ b/.github/workflows/main.yaml
@@ -8,31 +8,24 @@ on:
branches:
- main
workflow_dispatch:
+
jobs:
build-and-test:
- runs-on: ${{ matrix.os }}
- env:
- # Tests cannot create ~/.ros/log in the runner
- ROS_LOG_DIR: /tmp/ros_log
- strategy:
- matrix:
- os: [ubuntu-22.04]
- fail-fast: false
+ runs-on: ubuntu-22.04
+ # Run in the ROS 2 Humble image of ros-tooling
+ container:
+ image: rostooling/setup-ros-docker:ubuntu-jammy-ros-humble-ros-base-latest
steps:
- - name: Setup ROS 2
- uses: ros-tooling/setup-ros@0.7.19
- with:
- required-ros-distributions: humble
- - name: Install nlohmann
- run: sudo apt -y install nlohmann-json3-dev
- - name: Install ceres dependencies
- run: sudo apt -y install libunwind-dev libgoogle-glog-dev libatlas-base-dev libsuitesparse-dev libgflags-dev
- - name: Install ceres
- run: sudo apt -y install libceres-dev
+ - uses: actions/checkout@v4
+ - name: Install system dependencies
+ run: |
+ sudo apt-get update
+ sudo apt-get install -y nlohmann-json3-dev libunwind-dev libgoogle-glog-dev \
+ libatlas-base-dev libsuitesparse-dev libgflags-dev libceres-dev
- name: build and test
uses: ros-tooling/action-ros-ci@0.4.8
with:
- package-name: arm bt_test hri motion perception robocup_bringup cs4home_core
+ package-name: arm bt_test hri motion perception robocup_bringup
target-ros2-distro: humble
colcon-defaults: |
{
@@ -40,4 +33,4 @@ jobs:
"parallel-workers" : 1
}
}
- vcs-repo-file-url: https://raw.githubusercontent.com/CoreSenseEU/CoreSense4Home/main/robocup_bringup/thirdparty.repos
+ vcs-repo-file-url: ${{ github.workspace }}/robocup_bringup/thirdparty.repos
diff --git a/bt_nodes/arm/package.xml b/bt_nodes/arm/package.xml
index c5e653b..6428758 100644
--- a/bt_nodes/arm/package.xml
+++ b/bt_nodes/arm/package.xml
@@ -13,6 +13,9 @@
rclcpp_action
rclcpp_cascade_lifecycle
manipulation_interfaces
+ geometry_msgs
+ sensor_msgs
+ tf2_ros
ament_lint_auto
ament_lint_common
diff --git a/bt_nodes/bt_test/CMakeLists.txt b/bt_nodes/bt_test/CMakeLists.txt
index 28aec6f..f00ae1d 100644
--- a/bt_nodes/bt_test/CMakeLists.txt
+++ b/bt_nodes/bt_test/CMakeLists.txt
@@ -175,7 +175,7 @@ target_link_libraries(set_perception_model_test
# music tests
add_executable(music_test src/music_test.cpp)
ament_target_dependencies(music_test ${dependencies})
-target_link_libraries(music_test
+target_link_libraries(music_test
hri::start_music_bt_node
hri::stop_music_bt_node
configuration::sleep_bt_node
@@ -202,7 +202,10 @@ target_link_libraries(filter_object_test perception::filter_object_bt_node)
# extract the description of the person test
add_executable(extract_person_description_test src/extract_person_description_test.cpp)
ament_target_dependencies(extract_person_description_test ${dependecies})
-target_link_libraries(extract_person_description_test perception::extract_person_description_bt_node perception::is_detected_bt_node hri::speak_bt_node)
+target_link_libraries(extract_person_description_test
+ perception::extract_person_description_bt_node
+ perception::is_detected_bt_node
+ hri::speak_bt_node)
# gpsr test
add_executable(gpsr_test src/gpsr_test.cpp)
@@ -400,7 +403,7 @@ install(TARGETS
extract_person_description_test
music_test
set_blackboard_test
-
+
gpsr_test
gpsr_answerquiz_test
gpsr_countobject_test
diff --git a/bt_nodes/bt_test/package.xml b/bt_nodes/bt_test/package.xml
index e22299d..a797908 100644
--- a/bt_nodes/bt_test/package.xml
+++ b/bt_nodes/bt_test/package.xml
@@ -25,6 +25,8 @@
tf2_ros
hri
perception_system_interfaces
+ backward_ros
+ gpsr_msgs
ament_lint_auto
ament_lint_common
diff --git a/bt_nodes/configuration/package.xml b/bt_nodes/configuration/package.xml
index f96b1a3..3b025b0 100644
--- a/bt_nodes/configuration/package.xml
+++ b/bt_nodes/configuration/package.xml
@@ -16,6 +16,9 @@
behaviortree_cpp_v3
geometry_msgs
tf2_geometry_msgs
+ tf2
+ tf2_ros
+ yolov8_msgs
ament_lint_auto
ament_lint_common
diff --git a/bt_nodes/hri/package.xml b/bt_nodes/hri/package.xml
index 0a0a2c0..4689066 100644
--- a/bt_nodes/hri/package.xml
+++ b/bt_nodes/hri/package.xml
@@ -19,6 +19,8 @@
shape_msgs
std_msgs
gpsr_msgs
+ sensor_msgs
+ std_srvs
ament_lint_auto
ament_lint_common
diff --git a/bt_nodes/motion/package.xml b/bt_nodes/motion/package.xml
index 0c21133..9b5bf57 100644
--- a/bt_nodes/motion/package.xml
+++ b/bt_nodes/motion/package.xml
@@ -19,11 +19,20 @@
nav2_behavior_tree
nav2_costmap_2d
navigation_system_interfaces
- manipultaion_interfaces
+ manipulation_interfaces
slam_toolbox
attention_system
attention_system_msgs
+ action_msgs
+ ament_index_cpp
+ lifecycle_msgs
+ pluginlib
+ sensor_msgs
+ tf2
+ tf2_geometry_msgs
+ tf2_ros
+ trajectory_msgs
ament_lint_auto
ament_lint_common
diff --git a/bt_nodes/perception/package.xml b/bt_nodes/perception/package.xml
index 49d279d..1da32e5 100644
--- a/bt_nodes/perception/package.xml
+++ b/bt_nodes/perception/package.xml
@@ -28,6 +28,9 @@
perception_system
perception_system_interfaces
sensor_msgs
+ backward_ros
+ libopencv-dev
+ std_srvs
ament_lint_auto
ament_lint_common
diff --git a/robocup_bringup/launch/dialog.launch.py b/robocup_bringup/launch/dialog.launch.py
index dae5514..d1061b5 100644
--- a/robocup_bringup/launch/dialog.launch.py
+++ b/robocup_bringup/launch/dialog.launch.py
@@ -59,7 +59,7 @@ def generate_launch_description():
prefix='\n\n### Instruction:\n',
suffix='\n\n### Response:\n',
- stopping_words=["\n\n\n\n"],
+ stopping_words=['\n\n\n\n'],
)
whisper_cmd = IncludeLaunchDescription(
diff --git a/robocup_bringup/launch/storing_dependencies.launch.py b/robocup_bringup/launch/storing_dependencies.launch.py
index e5a072f..01a5bb1 100644
--- a/robocup_bringup/launch/storing_dependencies.launch.py
+++ b/robocup_bringup/launch/storing_dependencies.launch.py
@@ -97,17 +97,17 @@ def generate_launch_description():
prefix='\n\n### Instruction:\n',
suffix='\n\n### Response:\n',
- stopping_words=["\n\n\n\n"],
+ stopping_words=['\n\n\n\n'],
)
- yolo_model = package_dir + "/config/storing_groceries/yolo_groceries.pt"
+ yolo_model = package_dir + '/config/storing_groceries/yolo_groceries.pt' # noqa: F841
yolo3d = IncludeLaunchDescription(
PythonLaunchDescriptionSource(
os.path.join(yolo3d_dir, 'launch', 'yolov8_3d.launch.py')
),
launch_arguments={
# 'namespace': 'perception_system',
- 'model': "yolov8x-seg.pt", # change to pretrained
+ 'model': 'yolov8x-seg.pt', # change to pretrained
'input_image_topic': '/head_front_camera/rgb/image_raw',
'input_depth_topic': '/head_front_camera/depth/image_raw',
'input_depth_info_topic': '/head_front_camera/depth/camera_info',
diff --git a/robocup_bringup/package.xml b/robocup_bringup/package.xml
index 2f5120a..6e43ee9 100644
--- a/robocup_bringup/package.xml
+++ b/robocup_bringup/package.xml
@@ -18,6 +18,9 @@
hri
motion
perception
+ attention_system
+ nav2_behavior_tree
+ perception_system
ament_lint_auto
ament_lint_common
diff --git a/robocup_bringup/thirdparty.repos b/robocup_bringup/thirdparty.repos
index acd8196..d98009c 100644
--- a/robocup_bringup/thirdparty.repos
+++ b/robocup_bringup/thirdparty.repos
@@ -2,75 +2,75 @@ repositories:
ThirdParty/pointcloud_to_laserscan:
type: git
url: https://github.com/Juancams/pointcloud_to_laserscan.git
- version: humble
+ version: fe51151f1b4cccbd136abd64b819ae95e8214be8
ThirdParty/small_objects_detector:
type: git
url: https://github.com/gentlebots/small_objects_detector.git
- version: robocup
+ version: 9332a60cc388541c1281d4bf0fe602d262e76b5d
ThirdParty/audio_common:
type: git
url: https://github.com/mgonzs13/audio_common.git
- version: main
+ version: b3c67da12cdb52aba3ae6f7187ca5ca5f252be3b
ThirdParty/whisper_ros:
type: git
url: https://github.com/mgonzs13/whisper_ros.git
- version: main
+ version: d581098a772fdfcf77602fb955263ba3eb993eee
ThirdParty/llama_ros:
type: git
url: https://github.com/mgonzs13/llama_ros.git
- version: main
+ version: 4facfa54229b65e2938c335ccad7cc2235295c10
ThirdParty/moveit_task_constructor:
type: git
url: https://github.com/juandpenan/moveit_task_constructor.git
- version: humble
+ version: d0a990071e00740e2b516406898cea076a073da1
ThirdParty/tiago_mtc_examples:
type: git
url: https://github.com/juandpenan/tiago_mtc_examples.git
- version: main
+ version: 2e817246e6f70c6fe31cd157c3c1ea955c3f4fec
ThirdParty/yolov8_ros:
type: git
url: https://github.com/jmguerreroh/yolov8_ros.git
- version: main
+ version: 40f538bdcfe7435336193fa47ef23bdbddf769e8
ThirdParty/rclcpp_cascade_lifecycle:
type: git
url: https://github.com/fmrico/cascade_lifecycle.git
- version: rolling
+ version: 29b2d9c8c6cff72f0f21f1e5552ff2c7b6c8a260
ThirdParty/tts_ros:
type: git
url: https://github.com/mgonzs13/tts_ros
- version: main
+ version: fb372c092e5736d2077f5dc8b516085f339fb6f2
ThirdParty/slam_toolbox:
type: git
url: https://github.com/SteveMacenski/slam_toolbox.git
- version: ros2
+ version: 19a66904c648a174220be1a1b98e81a9ef0e6758
ThirdParty/tiago_robot:
type: git
url: https://github.com/juandpenan/tiago_robot.git
- version: steamdeck
+ version: ae93c1b421506a5f1ed213b911e6558a99a0724d
ThirdParty/gpd:
type: git
url: https://github.com/atenpas/gpd.git
- version: master
+ version: 6327f20eabfcba41a05fdd2e2ba408153dc2e958
systems/manipulation_server:
type: git
url: https://github.com/rodperex/manipulation_server.git
- version: main
+ version: 10304bff17e012ae9a37ea689b1e65f608eb18e3
systems/perception_system:
type: git
url: https://github.com/jmguerreroh/perception_system.git
- version: main
+ version: dfbf2cfdb5d1c647290412b50789616ab92c3351
systems/attention_system:
type: git
url: https://github.com/aaggj/attention_system
- version: humble
+ version: 4dd113b3d54f355f34e28ef340d7b8de81e44b99
systems/navigation_system:
type: git
url: https://github.com/Juancams/navigation_system.git
- version: main
+ version: f10f0feeb8809b731ce5813a899e051b332250a2
ThirdParty/gpsr_planning:
type: git
url: https://github.com/igonzf/GPSR_planning
- version: main
+ version: 1e482f31bedd569e244eeb1c2c6700d26b753a59