From f301cd312d688c2f0a2c3adae03b928f01b0e22d Mon Sep 17 00:00:00 2001 From: Javier Izquierdo Hernandez Date: Tue, 12 Nov 2024 16:28:21 +0100 Subject: [PATCH 1/7] Removing newmanager and new exercise --- .../parameters_camera.py | 2 +- .../python_template/ros2_humble/GUI.py | 38 ++++++ .../python_template/ros2_humble/HAL.py | 72 ++++++++++++ .../python_template/ros2_humble/map.py | 68 +++++++++++ .../react-components/AutoparkingRR.js | 14 +++ .../react-components/Lasers.js | 107 +++++++++++++++++ .../react-components/css/AutoparkingRR.css | 28 +++++ .../react-components/css/GUICanvas.css | 24 ++++ .../react-components/map_view.js | 111 ++++++++++++++++++ .../resources/images/car-top-view.svg | 65 ++++++++++ .../exercises/3d_reconstruction/exercise.html | 22 ++-- .../exercises/amazon_warehouse/exercise.html | 8 +- .../exercises/autoparking/exercise.html | 8 +- .../exercises/autoparking_lidar/exercise.html | 59 ++++++++++ .../exercises/follow_line/exercise.html | 6 +- .../exercises/follow_person/exercise.html | 8 +- .../exercises/global_navigation/exercise.html | 8 +- .../obstacle_avoidance/exercise.html | 8 +- .../exercises/rescue_people/exercise.html | 8 +- .../exercises/vacuum_cleaner/exercise.html | 10 +- .../vacuum_cleaner_loc/exercise.html | 10 +- 21 files changed, 635 insertions(+), 49 deletions(-) create mode 100755 exercises/static/exercises/autoparking_lidar/python_template/ros2_humble/GUI.py create mode 100755 exercises/static/exercises/autoparking_lidar/python_template/ros2_humble/HAL.py create mode 100644 exercises/static/exercises/autoparking_lidar/python_template/ros2_humble/map.py create mode 100644 exercises/static/exercises/autoparking_lidar/react-components/AutoparkingRR.js create mode 100644 exercises/static/exercises/autoparking_lidar/react-components/Lasers.js create mode 100644 exercises/static/exercises/autoparking_lidar/react-components/css/AutoparkingRR.css create mode 100644 exercises/static/exercises/autoparking_lidar/react-components/css/GUICanvas.css create mode 100644 exercises/static/exercises/autoparking_lidar/react-components/map_view.js create mode 100644 exercises/static/exercises/autoparking_lidar/resources/images/car-top-view.svg create mode 100644 exercises/templates/exercises/autoparking_lidar/exercise.html diff --git a/common/hal_interfaces/hal_interfaces/specific/threed_reconstruction/parameters_camera.py b/common/hal_interfaces/hal_interfaces/specific/threed_reconstruction/parameters_camera.py index 01b830618..b42cea801 100644 --- a/common/hal_interfaces/hal_interfaces/specific/threed_reconstruction/parameters_camera.py +++ b/common/hal_interfaces/hal_interfaces/specific/threed_reconstruction/parameters_camera.py @@ -7,7 +7,7 @@ def __init__(self, configFile, cam): if os.getcwd() == "/": f = open( - "/RoboticsAcademy/exercises/static/exercises/3d_reconstruction_newmanager/python_template/ros2_humble/" + configFile, "r") + "/RoboticsAcademy/exercises/static/exercises/3d_reconstruction/python_template/ros2_humble/" + configFile, "r") else: f = open(configFile, "r") diff --git a/exercises/static/exercises/autoparking_lidar/python_template/ros2_humble/GUI.py b/exercises/static/exercises/autoparking_lidar/python_template/ros2_humble/GUI.py new file mode 100755 index 000000000..334df6fbc --- /dev/null +++ b/exercises/static/exercises/autoparking_lidar/python_template/ros2_humble/GUI.py @@ -0,0 +1,38 @@ +import json + +from gui_interfaces.general.measuring_threading_gui import MeasuringThreadingGUI +from console_interfaces.general.console import start_console +from map import Map +from HAL import getFrontLaserData, getRightLaserData, getBackLaserData + +# Graphical User Interface Class + +class GUI(MeasuringThreadingGUI): + + def __init__(self, host="ws://127.0.0.1:2303"): + super().__init__(host) + + # Payload vars + self.payload = {'map': ''} + self.map = Map(getFrontLaserData, getRightLaserData, getBackLaserData) + + self.start() + + # Prepares and sends a map to the websocket server + def update_gui(self): + + map_message = self.map.get_json_data() + self.payload["map"] = map_message + message = json.dumps(self.payload) + self.send_to_client(message) + + + def reset_gui(self): + """Resets the GUI to its initial state.""" + self.map.reset() + +host = "ws://127.0.0.1:2303" +gui = GUI(host) + +# Redirect the console +start_console() diff --git a/exercises/static/exercises/autoparking_lidar/python_template/ros2_humble/HAL.py b/exercises/static/exercises/autoparking_lidar/python_template/ros2_humble/HAL.py new file mode 100755 index 000000000..3c9f92389 --- /dev/null +++ b/exercises/static/exercises/autoparking_lidar/python_template/ros2_humble/HAL.py @@ -0,0 +1,72 @@ +import rclpy +import threading +import time + +from hal_interfaces.general.motors import MotorsNode +from hal_interfaces.general.odometry import OdometryNode +from hal_interfaces.general.laser import LaserNode + +# Hardware Abstraction Layer +IMG_WIDTH = 320 +IMG_HEIGHT = 240 +freq = 30.0 + +# ROS2 init + +print("HAL initializing", flush=True) +if not rclpy.ok(): + rclpy.init(args=None) + + ### HAL INIT ### + motor_node = MotorsNode("/prius_autoparking/cmd_vel", 4, 0.3) + odometry_node = OdometryNode("/prius_autoparking/odom") + laser_front_node = LaserNode("/prius_autoparking/scan_front") + laser_right_node = LaserNode("/prius_autoparking/scan_side") + laser_back_node = LaserNode("/prius_autoparking/scan_back") + + # Spin nodes so that subscription callbacks load topic data + executor = rclpy.executors.MultiThreadedExecutor() + executor.add_node(odometry_node) + executor.add_node(laser_front_node) + executor.add_node(laser_right_node) + executor.add_node(laser_back_node) + def __auto_spin() -> None: + while rclpy.ok(): + executor.spin_once(timeout_sec=0) + time.sleep(1/freq) + executor_thread = threading.Thread(target=__auto_spin, daemon=True) + executor_thread.start() + + +def getPose3d(): + return odometry_node.getPose3d() + +def getFrontLaserData(): + laser = laser_front_node.getLaserData() + timestamp = laser.timeStamp + while timestamp == 0.0: + laser = laser_front_node.getLaserData() + timestamp = laser.timeStamp + return laser + +def getRightLaserData(): + laser = laser_right_node.getLaserData() + timestamp = laser.timeStamp + while timestamp == 0.0: + laser = laser_right_node.getLaserData() + timestamp = laser.timeStamp + return laser + +def getBackLaserData(): + laser = laser_back_node.getLaserData() + timestamp = laser.timeStamp + while timestamp == 0.0: + laser = laser_back_node.getLaserData() + timestamp = laser.timeStamp + return laser + +def setV(velocity): + motor_node.sendV(float(velocity)) + +def setW(velocity): + motor_node.sendW(float(velocity)) \ No newline at end of file diff --git a/exercises/static/exercises/autoparking_lidar/python_template/ros2_humble/map.py b/exercises/static/exercises/autoparking_lidar/python_template/ros2_humble/map.py new file mode 100644 index 000000000..9fbf4f181 --- /dev/null +++ b/exercises/static/exercises/autoparking_lidar/python_template/ros2_humble/map.py @@ -0,0 +1,68 @@ +import json +import math +import numpy as np + +class Map: + def __init__(self, laser_object_f, laser_object_r, laser_object_b): + # Define the object used for + # websocket communication + self.payload = {} + + self.laser_topic_f = laser_object_f + self.laser_topic_r = laser_object_r + self.laser_topic_b = laser_object_b + + # Get the JSON data as string + def get_json_data(self): + self.payload["lasers"], self.payload["ranges"] = self.setLaserValues() + + message = json.dumps(self.payload) + return message + + def RTx(self, angle, tx, ty, tz): + RT = np.matrix([[1, 0, 0, tx], [0, math.cos(angle), -math.sin(angle), ty], [0, math.sin(angle), math.cos(angle), tz], [0,0,0,1]]) + return RT + + def RTy(self, angle, tx, ty, tz): + RT = np.matrix([[math.cos(angle), 0, math.sin(angle), tx], [0, 1, 0, ty], [-math.sin(angle), 0, math.cos(angle), tz], [0,0,0,1]]) + return RT + + def RTz(self, angle, tx, ty, tz): + RT = np.matrix([[math.cos(angle), -math.sin(angle), 0, tx], [math.sin(angle), math.cos(angle),0, ty], [0, 0, 1, tz], [0,0,0,1]]) + return RT + + # Interpret the Laser values + def setLaserValues(self): + # Init laser array + lasers = [] + laser_f = [] + laser_r = [] + laser_b = [] + self.laser_f = self.laser_topic_f() + self.laser_r = self.laser_topic_r() + self.laser_b = self.laser_topic_b() + + lasers = [self.setSingleLaserValue(self.laser_f), self.setSingleLaserValue(self.laser_r), self.setSingleLaserValue(self.laser_b)] + ranges = [20 * self.laser_f.maxRange, 20 * self.laser_r.maxRange, 20 * self.laser_b.maxRange] + return lasers, ranges + + # Auxiliar function to setLaserValues + def setSingleLaserValue(self, laser): + laser_return = [] + if(laser): + angle = int(round(math.degrees(laser.maxAngle))) + else: + angle = 180 + + for i in range(angle): + laser_return.append((0, 0)) + + if(laser): + for i in range(angle): + dist = 20 * laser.values[i] + angle = math.radians(i) + if(dist == float("inf")): + dist = 20 * laser.maxRange + laser_return[i] = (dist, angle) + + return laser_return \ No newline at end of file diff --git a/exercises/static/exercises/autoparking_lidar/react-components/AutoparkingRR.js b/exercises/static/exercises/autoparking_lidar/react-components/AutoparkingRR.js new file mode 100644 index 000000000..d5777aa40 --- /dev/null +++ b/exercises/static/exercises/autoparking_lidar/react-components/AutoparkingRR.js @@ -0,0 +1,14 @@ +import * as React from "react"; +import {Fragment} from "react"; + +import "./css/AutoparkingRR.css"; + +const AutoparkingRR = (props) => { + return ( + + {props.children} + + ); +}; + +export default AutoparkingRR; \ No newline at end of file diff --git a/exercises/static/exercises/autoparking_lidar/react-components/Lasers.js b/exercises/static/exercises/autoparking_lidar/react-components/Lasers.js new file mode 100644 index 000000000..4e1dad7f9 --- /dev/null +++ b/exercises/static/exercises/autoparking_lidar/react-components/Lasers.js @@ -0,0 +1,107 @@ +import React from "react" +import "./css/GUICanvas.css"; +import Car from "../resources/images/car-top-view.svg"; + +const Lasers = (props) => { + const meter = 73; // 1m = 73px + + const [laser, setLaser] = React.useState([]) + const [maxRange, setMaxRange] = React.useState([]) + const [laser1, setLaser1] = React.useState([]) + const [maxRange1, setMaxRange1] = React.useState([]) + const [laser2, setLaser2] = React.useState([]) + const [maxRange2, setMaxRange2] = React.useState([]) + + React.useEffect(() => { + const callback = (message) => { + if(message.data.update.map){ + const map_data = JSON.parse(message.data.update.map); + console.log(map_data) + setLaser (map_data.lasers[0]) + setLaser1(map_data.lasers[1]) + setLaser2(map_data.lasers[2]) + setMaxRange (map_data.ranges[0]) + setMaxRange1(map_data.ranges[1]) + setMaxRange2(map_data.ranges[2]) + console.log(map_data.ranges) + } + // Send the ACK of the msg + window.RoboticsExerciseComponents.commsManager.send("gui", "ack"); + }; + RoboticsExerciseComponents.commsManager.subscribe( + [RoboticsExerciseComponents.commsManager.events.UPDATE], + callback + ); + + return () => { + console.log("TestShowScreen unsubscribing from ['state-changed'] events"); + RoboticsExerciseComponents.commsManager.unsubscribe( + [RoboticsExerciseComponents.commsManager.events.UPDATE], + callback + ); + }; + }, []); + + return ( +
+ + {laser.map(element => { + var ang = -element[1] + var length = (element[0] / 75) * meter; + return ( +
+ )}) + } + {laser1.map(element => { + var ang = -element[1] + Math.PI/2 + var length = (element[0] / 75) * meter; + return ( +
+ )}) + } + {laser2.map(element => { + var ang = -element[1] + Math.PI + var length = (element[0] / 75) * meter; + return ( +
+ )}) + } +
+)}; + +export default Lasers; \ No newline at end of file diff --git a/exercises/static/exercises/autoparking_lidar/react-components/css/AutoparkingRR.css b/exercises/static/exercises/autoparking_lidar/react-components/css/AutoparkingRR.css new file mode 100644 index 000000000..3bdee7925 --- /dev/null +++ b/exercises/static/exercises/autoparking_lidar/react-components/css/AutoparkingRR.css @@ -0,0 +1,28 @@ +* { + box-sizing: border-box; +} + +body, html { + width: 100%; height: 100%; +} + +#exercise-container { + position: absolute; + top: 0; left: 0; bottom: 0; right: 0; + overflow: hidden; + display: flex; + flex-direction: column; +} + +#exercise-container #content { + width: 100%; + height: 100%; + overflow: hidden; +} + +#exercise-container #content #content-exercise { + display: flex; + flex-direction: column; + width: 100%; + height: 100%; +} \ No newline at end of file diff --git a/exercises/static/exercises/autoparking_lidar/react-components/css/GUICanvas.css b/exercises/static/exercises/autoparking_lidar/react-components/css/GUICanvas.css new file mode 100644 index 000000000..b8f9412c6 --- /dev/null +++ b/exercises/static/exercises/autoparking_lidar/react-components/css/GUICanvas.css @@ -0,0 +1,24 @@ +#car { + position: absolute; + width: 91px; + height: 100px; + top: calc(50% - 68px); + left: calc(50% - 45.5px); + z-index: 2 +} + +/* .laser-beam { + position: absolute; + background: repeating-linear-gradient( + to right, + rgb(112, 138, 255), + rgb(112, 138, 255) 73px, + rgb(100, 198, 255) 73px, + rgb(100, 198, 255) 146px + ); + background-size: 100% 1px; + bottom: 50%; + left: 50%; + transform-origin: 0% 0%; + z-index: 3; +} */ diff --git a/exercises/static/exercises/autoparking_lidar/react-components/map_view.js b/exercises/static/exercises/autoparking_lidar/react-components/map_view.js new file mode 100644 index 000000000..6bd0f8dda --- /dev/null +++ b/exercises/static/exercises/autoparking_lidar/react-components/map_view.js @@ -0,0 +1,111 @@ +// Retreive the canvas elements and context +let carWidth = 28; +let carHeight = 77; +let ctx= null +let mapCanvas = null + +export function paintEvent(canvas, lasers, ranges) { + mapCanvas = canvas + ctx = mapCanvas.getContext("2d"); + + + ctx.clearRect(0, 0, mapCanvas.width, mapCanvas.height); + + // Draw Car + drawCar(); + // Draw Laser + if (lasers.length){ + drawLaser(lasers[0], ranges[0], "f", "#FF0000"); + drawLaser(lasers[1], ranges[1], "r", "#F7FF00"); + drawLaser(lasers[2], ranges[2], "b", "#0FFF00"); + } +} + +function drawCar() { + + ctx.beginPath(); + + // Chassis + ctx.fillStyle = "black"; + ctx.fillRect( + mapCanvas.width / 2 - carWidth / 2, + mapCanvas.height / 2 - carHeight / 2, + carWidth, + carHeight + ); + + ctx.stroke(); + + ctx.closePath(); +} + +function drawLaser(laser, max_range, pos, color) { + let originx = 0; + let originy = 0; + let resizeFactor = 0.53; + ctx.strokeStyle = color; + switch (pos) { + case "f": + originx = mapCanvas.width / 2; + originy = mapCanvas.height / 2 - carHeight / 2 + 16; + break; + case "r": + originx = mapCanvas.width / 2 + carWidth / 2; + originy = mapCanvas.height / 2; + break; + case "b": + originx = mapCanvas.width / 2; + originy = mapCanvas.height / 2 + carHeight / 2; + break; + } + + // Resizes the lasers + max_range *= resizeFactor; + + for (let d of laser) { + d[0] *= resizeFactor; + let py = null; + let px = null; + + if (d[0] > max_range) { + py = originy - max_range * Math.sin(d[1]); + px = originx + max_range * Math.cos(d[1]); + } else { + py = originy - d[0] * Math.sin(d[1]); + px = originx + d[0] * Math.cos(d[1]); + } + // Rotates for right and back lasers + let rotatedPoints; + switch (pos) { + case "f": + break; + case "r": + rotatedPoints = rotate(originx, originy, px, py, -90); + px = rotatedPoints[0]; + py = rotatedPoints[1]; + break; + case "b": + rotatedPoints = rotate(originx, originy, px, py, 180); + px = rotatedPoints[0]; + py = rotatedPoints[1]; + break; + } + + ctx.beginPath(); + ctx.moveTo(originx, originy); + ctx.lineTo(px, py); + ctx.stroke(); + + ctx.closePath(); + } +} + +// Rotates the point +function rotate(cx, cy, x, y, angle) { + let radians = (Math.PI / 180) * angle; + let cos = Math.cos(radians); + let sin = Math.sin(radians); + let nx = cos * (x - cx) + sin * (y - cy) + cx; + let ny = cos * (y - cy) - sin * (x - cx) + cy; + return [nx, ny]; +} \ No newline at end of file diff --git a/exercises/static/exercises/autoparking_lidar/resources/images/car-top-view.svg b/exercises/static/exercises/autoparking_lidar/resources/images/car-top-view.svg new file mode 100644 index 000000000..db10abd1f --- /dev/null +++ b/exercises/static/exercises/autoparking_lidar/resources/images/car-top-view.svg @@ -0,0 +1,65 @@ + + + + + + diff --git a/exercises/templates/exercises/3d_reconstruction/exercise.html b/exercises/templates/exercises/3d_reconstruction/exercise.html index 0a6e615f2..24ce4b27d 100644 --- a/exercises/templates/exercises/3d_reconstruction/exercise.html +++ b/exercises/templates/exercises/3d_reconstruction/exercise.html @@ -3,20 +3,20 @@ {% load static %} {% block exercise_header %} - - - - - - - + + + + + + + {% endblock %} {% block react-content %} {% if deployment %} - {% react_component exercise/3d_reconstruction_newmanager/Reconstruction3DRR %} + {% react_component exercise/3d_reconstruction/Reconstruction3DRR %} {% react_component components/containers/MaterialBox id="exercise-container" %} {% react_component components/common/MainAppBar exerciseName="3D Recontruction" url="https://jderobot.github.io/RoboticsAcademy/exercises/ComputerVision/3d_reconstruction"%} {% react_component RA_links/WorldSelectorRA %} {% end_react_component %} @@ -30,7 +30,7 @@ {% react_component components/visualizers/VncConsoleViewer%}{% end_react_component %} {% end_react_component%} {% react_component components/containers/FlexContainer%} - {% react_component exercise/3d_reconstruction_newmanager/SpecificReconstruction3D%}{% end_react_component %} + {% react_component exercise/3d_reconstruction/SpecificReconstruction3D%}{% end_react_component %} {% react_component components/visualizers/GazeboViewer%}{% end_react_component %} {% end_react_component %} {% end_react_component %} @@ -41,7 +41,7 @@ {% end_react_component %} {% end_react_component %} {% else %} - {% react_component exercise/3d_reconstruction_newmanager/Reconstruction3DRR %} + {% react_component exercise/3d_reconstruction/Reconstruction3DRR %} {% react_component components/wrappers/MaterialBox id="exercise-container" %} {% react_component components/layout_components/MainAppBar exerciseName="3D Recontruction" url="https://jderobot.github.io/RoboticsAcademy/exercises/ComputerVision/3d_reconstruction"%} {% react_component components/visualizers/WorldSelector %} {% end_react_component %} @@ -55,7 +55,7 @@ {% react_component components/visualizers/ConsoleViewer%}{% end_react_component %} {% end_react_component%} {% react_component components/wrappers/FlexContainer%} - {% react_component exercise/3d_reconstruction_newmanager/SpecificReconstruction3D%}{% end_react_component %} + {% react_component exercise/3d_reconstruction/SpecificReconstruction3D%}{% end_react_component %} {% react_component components/visualizers/GazeboViewer%}{% end_react_component %} {% end_react_component %} {% end_react_component %} diff --git a/exercises/templates/exercises/amazon_warehouse/exercise.html b/exercises/templates/exercises/amazon_warehouse/exercise.html index 1deee0e79..aa31861e8 100644 --- a/exercises/templates/exercises/amazon_warehouse/exercise.html +++ b/exercises/templates/exercises/amazon_warehouse/exercise.html @@ -6,7 +6,7 @@ {% block react-content %} {% if deployment %} - {% react_component exercise/amazon_warehouse_newmanager/AmazonWarehouseRR %} + {% react_component exercise/amazon_warehouse/AmazonWarehouseRR %} {% react_component components/containers/MaterialBox id="exercise-container" %} {% react_component components/common/MainAppBar exerciseName="Amazon Warehouse" url="https://jderobot.github.io/RoboticsAcademy/exercises/MobileRobots/amazon_warehouse/"%} {% react_component RA_links/WorldSelectorRA %} {% end_react_component %} @@ -20,7 +20,7 @@ {% react_component components/visualizers/VncConsoleViewer%}{% end_react_component %} {% end_react_component%} {% react_component components/containers/FlexContainer%} - {% react_component exercise/amazon_warehouse_newmanager/SpecificAmazonWarehouse %}{% end_react_component %} + {% react_component exercise/amazon_warehouse/SpecificAmazonWarehouse %}{% end_react_component %} {% react_component components/visualizers/GazeboViewer%}{% end_react_component %} {% end_react_component %} {% end_react_component %} @@ -31,7 +31,7 @@ {% end_react_component %} {% end_react_component %} {% else %} - {% react_component exercise/amazon_warehouse_newmanager/AmazonWarehouseRR %} + {% react_component exercise/amazon_warehouse/AmazonWarehouseRR %} {% react_component components/wrappers/MaterialBox id="exercise-container" %} {% react_component components/layout_components/MainAppBar exerciseName="Amazon Warehouse" url="https://jderobot.github.io/RoboticsAcademy/exercises/MobileRobots/amazon_warehouse/"%} {% react_component components/visualizers/WorldSelector %} {% end_react_component %} @@ -45,7 +45,7 @@ {% react_component components/visualizers/ConsoleViewer%}{% end_react_component %} {% end_react_component%} {% react_component components/wrappers/FlexContainer%} - {% react_component exercise/amazon_warehouse_newmanager/SpecificAmazonWarehouse %}{% end_react_component %} + {% react_component exercise/amazon_warehouse/SpecificAmazonWarehouse %}{% end_react_component %} {% react_component components/visualizers/GazeboViewer%}{% end_react_component %} {% end_react_component %} {% end_react_component %} diff --git a/exercises/templates/exercises/autoparking/exercise.html b/exercises/templates/exercises/autoparking/exercise.html index dab05058d..d269b3b23 100644 --- a/exercises/templates/exercises/autoparking/exercise.html +++ b/exercises/templates/exercises/autoparking/exercise.html @@ -6,7 +6,7 @@ {% block react-content %} {% if deployment %} - {% react_component exercise/autoparking_newmanager/AutoparkingRR %} + {% react_component exercise/autoparking/AutoparkingRR %} {% react_component components/containers/MaterialBox id="exercise-container" %} {% react_component components/common/MainAppBar exerciseName="Autoparking" url="https://jderobot.github.io/RoboticsAcademy/exercises/AutonomousCars/autoparking/"%} {% react_component RA_links/WorldSelectorRA %} {% end_react_component %} @@ -20,7 +20,7 @@ {% react_component components/visualizers/VncConsoleViewer%}{% end_react_component %} {% end_react_component%} {% react_component components/containers/FlexContainer%} - {% react_component exercise/autoparking_newmanager/Lasers%}{% end_react_component %} + {% react_component exercise/autoparking/Lasers%}{% end_react_component %} {% react_component components/visualizers/GazeboViewer%}{% end_react_component %} {% end_react_component %} {% end_react_component %} @@ -31,7 +31,7 @@ {% end_react_component %} {% end_react_component %} {% else %} - {% react_component exercise/autoparking_newmanager/AutoparkingRR %} + {% react_component exercise/autoparking/AutoparkingRR %} {% react_component components/wrappers/MaterialBox id="exercise-container" %} {% react_component components/layout_components/MainAppBar exerciseName="Autoparking" url="https://jderobot.github.io/RoboticsAcademy/exercises/AutonomousCars/autoparking/"%} {% react_component components/visualizers/WorldSelector %} {% end_react_component %} @@ -45,7 +45,7 @@ {% react_component components/visualizers/ConsoleViewer%}{% end_react_component %} {% end_react_component%} {% react_component components/wrappers/FlexContainer%} - {% react_component exercise/autoparking_newmanager/Lasers%}{% end_react_component %} + {% react_component exercise/autoparking/Lasers%}{% end_react_component %} {% react_component components/visualizers/GazeboViewer%}{% end_react_component %} {% end_react_component %} {% end_react_component %} diff --git a/exercises/templates/exercises/autoparking_lidar/exercise.html b/exercises/templates/exercises/autoparking_lidar/exercise.html new file mode 100644 index 000000000..b08d140de --- /dev/null +++ b/exercises/templates/exercises/autoparking_lidar/exercise.html @@ -0,0 +1,59 @@ +{% extends "react_frontend/exercise_base.html" %} +{% load react_component %} + +{% block exercise_header %} +{% endblock %} + +{% block react-content %} + {% if deployment %} + {% react_component exercise/autoparking/AutoparkingRR %} + {% react_component components/containers/MaterialBox id="exercise-container" %} + {% react_component components/common/MainAppBar exerciseName="Autoparking Lidar" url="https://jderobot.github.io/RoboticsAcademy/exercises/AutonomousCars/autoparking/"%} + {% react_component RA_links/WorldSelectorRA %} {% end_react_component %} + {% end_react_component %} + {% react_component components/containers/MaterialBox id="content" %} + {% react_component components/containers/MaterialBox id="content-exercise" %} + {% react_component components/containers/ExerciseControl %}{% end_react_component %} + {% react_component components/containers/FlexContainer row %} + {% react_component components/containers/FlexContainer console %} + {% react_component components/editors/EditorRobot %}{% end_react_component %} + {% react_component components/visualizers/VncConsoleViewer%}{% end_react_component %} + {% end_react_component%} + {% react_component components/containers/FlexContainer%} + {% react_component exercise/autoparking/Lasers%}{% end_react_component %} + {% react_component components/visualizers/GazeboViewer%}{% end_react_component %} + {% end_react_component %} + {% end_react_component %} + {% end_react_component %} + {% react_component components/message-system/Loading %}{% end_react_component %} + {% react_component components/message-system/Alert %}{% end_react_component %} +{% end_react_component %} +{% end_react_component %} + {% end_react_component %} + {% else %} + {% react_component exercise/autoparkingAutoparkingRR %} + {% react_component components/wrappers/MaterialBox id="exercise-container" %} + {% react_component components/layout_components/MainAppBar exerciseName="Autoparking Lidar" url="https://jderobot.github.io/RoboticsAcademy/exercises/AutonomousCars/autoparking/"%} + {% react_component components/visualizers/WorldSelector %} {% end_react_component %} + {% end_react_component %} + {% react_component components/wrappers/MaterialBox id="content" %} + {% react_component components/wrappers/MaterialBox id="content-exercise" %} + {% react_component components/layout_components/ExerciseControl %}{% end_react_component %} + {% react_component components/wrappers/FlexContainer row %} + {% react_component components/wrappers/FlexContainer console %} + {% react_component components/editors/EditorRobot %}{% end_react_component %} + {% react_component components/visualizers/ConsoleViewer%}{% end_react_component %} + {% end_react_component%} + {% react_component components/wrappers/FlexContainer%} + {% react_component exercise/autoparking_lidar/Lasers%}{% end_react_component %} + {% react_component components/visualizers/GazeboViewer%}{% end_react_component %} + {% end_react_component %} + {% end_react_component %} + {% end_react_component %} + {% react_component components/message_system/Loading %}{% end_react_component %} + {% react_component components/message_system/Alert %}{% end_react_component %} + {% end_react_component %} + {% end_react_component %} + {% end_react_component %} + {% endif %} +{% endblock %} \ No newline at end of file diff --git a/exercises/templates/exercises/follow_line/exercise.html b/exercises/templates/exercises/follow_line/exercise.html index 8100f67c7..1b277dc39 100644 --- a/exercises/templates/exercises/follow_line/exercise.html +++ b/exercises/templates/exercises/follow_line/exercise.html @@ -6,7 +6,7 @@ {% block react-content %} {% if deployment %} - {% react_component exercise/follow_line_newmanager/FollowLineRR %} + {% react_component exercise/follow_line/FollowLineRR %} {% react_component components/containers/MaterialBox id="exercise-container" %} {% react_component components/common/MainAppBar exerciseName="Follow Line" url="https://jderobot.github.io/RoboticsAcademy/exercises/AutonomousCars/follow_line/"%} {% react_component RA_links/WorldSelectorRA %} {% end_react_component %} @@ -31,7 +31,7 @@ {% end_react_component %} {% end_react_component %} {% else %} - {% react_component exercise/follow_line_newmanager/FollowLineRR %} + {% react_component exercise/follow_line/FollowLineRR %} {% react_component components/wrappers/MaterialBox id="exercise-container" %} {% react_component components/layout_components/MainAppBar exerciseName="Follow Line" url="https://jderobot.github.io/RoboticsAcademy/exercises/AutonomousCars/follow_line/"%} {% react_component components/visualizers/WorldSelector %} {% end_react_component %} @@ -45,7 +45,7 @@ {% react_component components/visualizers/ConsoleViewer%}{% end_react_component %} {% end_react_component%} {% react_component components/wrappers/FlexContainer%} - {% react_component exercise/follow_line_newmanager/SpecificFollowLine %}{% end_react_component %} + {% react_component exercise/follow_line/SpecificFollowLine %}{% end_react_component %} {% react_component components/visualizers/GazeboViewer%}{% end_react_component %} {% end_react_component %} {% end_react_component %} diff --git a/exercises/templates/exercises/follow_person/exercise.html b/exercises/templates/exercises/follow_person/exercise.html index 4d50c30a9..f29d7a65f 100644 --- a/exercises/templates/exercises/follow_person/exercise.html +++ b/exercises/templates/exercises/follow_person/exercise.html @@ -6,7 +6,7 @@ {% block react-content %} {% if deployment %} - {% react_component exercise/follow_person_newmanager/FollowPersonRR %} + {% react_component exercise/follow_person/FollowPersonRR %} {% react_component components/containers/MaterialBox id="exercise-container" %} {% react_component components/common/MainAppBar exerciseName="Follow Person" url="https://jderobot.github.io/RoboticsAcademy/exercises/MobileRobots/follow_person"%} {% react_component RA_links/WorldSelectorRA %} {% end_react_component %} @@ -20,7 +20,7 @@ {% react_component components/visualizers/VncConsoleViewer%}{% end_react_component %} {% end_react_component%} {% react_component components/containers/FlexContainer%} - {% react_component exercise/follow_person_newmanager/ImgCanvas %}{% end_react_component %} + {% react_component exercise/follow_person/ImgCanvas %}{% end_react_component %} {% react_component components/visualizers/GazeboViewer%}{% end_react_component %} {% end_react_component %} {% end_react_component %} @@ -31,7 +31,7 @@ {% end_react_component %} {% end_react_component %} {% else %} - {% react_component exercise/follow_person_newmanager/FollowPersonRR %} + {% react_component exercise/follow_person/FollowPersonRR %} {% react_component components/wrappers/MaterialBox id="exercise-container" %} {% react_component components/layout_components/MainAppBar exerciseName="Follow Person" url="https://jderobot.github.io/RoboticsAcademy/exercises/MobileRobots/follow_person"%} {% react_component components/visualizers/WorldSelector %} {% end_react_component %} @@ -45,7 +45,7 @@ {% react_component components/visualizers/ConsoleViewer%}{% end_react_component %} {% end_react_component%} {% react_component components/wrappers/FlexContainer%} - {% react_component exercise/follow_person_newmanager/ImgCanvas %}{% end_react_component %} + {% react_component exercise/follow_person/ImgCanvas %}{% end_react_component %} {% react_component components/visualizers/GazeboViewer%}{% end_react_component %} {% end_react_component %} {% end_react_component %} diff --git a/exercises/templates/exercises/global_navigation/exercise.html b/exercises/templates/exercises/global_navigation/exercise.html index fba07e68f..66ed011a0 100644 --- a/exercises/templates/exercises/global_navigation/exercise.html +++ b/exercises/templates/exercises/global_navigation/exercise.html @@ -6,7 +6,7 @@ {% block react-content %} {% if deployment %} - {% react_component exercise/global_navigation_newmanager/globalNavigationRR %} + {% react_component exercise/global_navigation/globalNavigationRR %} {% react_component components/containers/MaterialBox id="exercise-container" %} {% react_component components/common/MainAppBar exerciseName="Global Navigation" url="https://jderobot.github.io/RoboticsAcademy/exercises/AutonomousCars/global_navigation/"%} {% react_component RA_links/WorldSelectorRA %} {% end_react_component %} @@ -20,7 +20,7 @@ {% react_component components/visualizers/VncConsoleViewer%}{% end_react_component %} {% end_react_component%} {% react_component components/containers/FlexContainer%} - {% react_component exercise/global_navigation_newmanager/GlobalNavigationSpecific %}{% end_react_component %} + {% react_component exercise/global_navigation/GlobalNavigationSpecific %}{% end_react_component %} {% react_component components/visualizers/GazeboViewer%}{% end_react_component %} {% end_react_component %} {% end_react_component %} @@ -31,7 +31,7 @@ {% end_react_component %} {% end_react_component %} {% else %} - {% react_component exercise/global_navigation_newmanager/globalNavigationRR %} + {% react_component exercise/global_navigation/globalNavigationRR %} {% react_component components/wrappers/MaterialBox id="exercise-container" %} {% react_component components/layout_components/MainAppBar exerciseName="Global Navigation" url="https://jderobot.github.io/RoboticsAcademy/exercises/AutonomousCars/global_navigation/"%} {% react_component components/visualizers/WorldSelector %} {% end_react_component %} @@ -45,7 +45,7 @@ {% react_component components/visualizers/ConsoleViewer%}{% end_react_component %} {% end_react_component%} {% react_component components/wrappers/FlexContainer%} - {% react_component exercise/global_navigation_newmanager/GlobalNavigationSpecific %}{% end_react_component %} + {% react_component exercise/global_navigation/GlobalNavigationSpecific %}{% end_react_component %} {% react_component components/visualizers/GazeboViewer%}{% end_react_component %} {% end_react_component %} {% end_react_component %} diff --git a/exercises/templates/exercises/obstacle_avoidance/exercise.html b/exercises/templates/exercises/obstacle_avoidance/exercise.html index 0699487e7..7d53834fc 100644 --- a/exercises/templates/exercises/obstacle_avoidance/exercise.html +++ b/exercises/templates/exercises/obstacle_avoidance/exercise.html @@ -6,7 +6,7 @@ {% block react-content %} {% if deployment %} - {% react_component exercise/obstacle_avoidance_newmanager/ObstacleAvoidanceRR %} + {% react_component exercise/obstacle_avoidance/ObstacleAvoidanceRR %} {% react_component components/containers/MaterialBox id="exercise-container" %} {% react_component components/common/MainAppBar exerciseName="Obstacle Avoidance" url="https://jderobot.github.io/RoboticsAcademy/exercises/AutonomousCars/obstacle_avoidance"%} {% react_component RA_links/WorldSelectorRA %} {% end_react_component %} @@ -20,7 +20,7 @@ {% react_component components/visualizers/VncConsoleViewer%}{% end_react_component %} {% end_react_component%} {% react_component components/containers/FlexContainer%} - {% react_component uniboticsExtra/assets/exercises/obstacle_avoidance_newmanager/SpecificObstacleAvoidance %}{% end_react_component %} + {% react_component uniboticsExtra/assets/exercises/obstacle_avoidance/SpecificObstacleAvoidance %}{% end_react_component %} {% react_component components/visualizers/GazeboViewer%}{% end_react_component %} {% end_react_component %} {% end_react_component %} @@ -31,7 +31,7 @@ {% end_react_component %} {% end_react_component %} {% else %} - {% react_component exercise/obstacle_avoidance_newmanager/ObstacleAvoidanceRR %} + {% react_component exercise/obstacle_avoidance/ObstacleAvoidanceRR %} {% react_component components/wrappers/MaterialBox id="exercise-container" %} {% react_component components/layout_components/MainAppBar exerciseName="Obstacle Avoidance" url="https://jderobot.github.io/RoboticsAcademy/exercises/AutonomousCars/obstacle_avoidance"%} {% react_component components/visualizers/WorldSelector %} {% end_react_component %} @@ -45,7 +45,7 @@ {% react_component components/visualizers/ConsoleViewer%}{% end_react_component %} {% end_react_component%} {% react_component components/wrappers/FlexContainer%} - {% react_component exercise/obstacle_avoidance_newmanager/SpecificObstacleAvoidance %}{% end_react_component %} + {% react_component exercise/obstacle_avoidance/SpecificObstacleAvoidance %}{% end_react_component %} {% react_component components/visualizers/GazeboViewer%}{% end_react_component %} {% end_react_component %} {% end_react_component %} diff --git a/exercises/templates/exercises/rescue_people/exercise.html b/exercises/templates/exercises/rescue_people/exercise.html index ecc899677..cda7ee72f 100644 --- a/exercises/templates/exercises/rescue_people/exercise.html +++ b/exercises/templates/exercises/rescue_people/exercise.html @@ -6,7 +6,7 @@ {% block react-content %} {% if deployment %} - {% react_component exercise/rescue_people_newmanager/rescuePeopleRR %} + {% react_component exercise/rescue_people/rescuePeopleRR %} {% react_component components/containers/MaterialBox id="exercise-container" %} {% react_component components/common/MainAppBar exerciseName="Rescue People" url="https://jderobot.github.io/RoboticsAcademy/exercises/Drones/rescue_people"%} {% react_component RA_links/WorldSelectorRA %} {% end_react_component %} @@ -20,7 +20,7 @@ {% react_component components/visualizers/VncConsoleViewer%}{% end_react_component %} {% end_react_component%} {% react_component components/containers/FlexContainer%} - {% react_component exercise/rescue_people_newmanager/SpecificRescuePeople %} {% end_react_component %} + {% react_component exercise/rescue_people/SpecificRescuePeople %} {% end_react_component %} {% react_component components/visualizers/GazeboViewer%}{% end_react_component %} {% end_react_component %} {% end_react_component %} @@ -31,7 +31,7 @@ {% end_react_component %} {% end_react_component %} {% else %} - {% react_component exercise/rescue_people_newmanager/rescuePeopleRR %} + {% react_component exercise/rescue_people/rescuePeopleRR %} {% react_component components/wrappers/MaterialBox id="exercise-container" %} {% react_component components/layout_components/MainAppBar exerciseName="Rescue People" url="https://jderobot.github.io/RoboticsAcademy/exercises/Drones/rescue_people"%} {% react_component components/visualizers/WorldSelector %} {% end_react_component %} @@ -45,7 +45,7 @@ {% react_component components/visualizers/ConsoleViewer%}{% end_react_component %} {% end_react_component%} {% react_component components/wrappers/FlexContainer%} - {% react_component exercise/rescue_people_newmanager/SpecificRescuePeople %} {% end_react_component %} + {% react_component exercise/rescue_people/SpecificRescuePeople %} {% end_react_component %} {% react_component components/visualizers/GazeboViewer%}{% end_react_component %} {% end_react_component %} {% end_react_component %} diff --git a/exercises/templates/exercises/vacuum_cleaner/exercise.html b/exercises/templates/exercises/vacuum_cleaner/exercise.html index c336474e2..ab3ec7f92 100644 --- a/exercises/templates/exercises/vacuum_cleaner/exercise.html +++ b/exercises/templates/exercises/vacuum_cleaner/exercise.html @@ -6,7 +6,7 @@ {% block react-content %} {% if deployment %} - {% react_component exercise/vacuum_cleaner_newmanager/BasicVacuumCleaner %} + {% react_component exercise/vacuum_cleaner/BasicVacuumCleaner %} {% react_component components/containers/MaterialBox id="exercise-container" %} {% react_component components/common/MainAppBar exerciseName="Basic Vacuum Cleaner" url="https://jderobot.github.io/RoboticsAcademy/exercises/MobileRobots/vacuum_cleaner"%} {% react_component RA_links/WorldSelectorRA %} {% end_react_component %} @@ -14,14 +14,14 @@ {% react_component components/containers/MaterialBox id="content" %} {% react_component components/containers/MaterialBox id="content-exercise" %} {% react_component components/containers/ExerciseControl efficacy %}{% end_react_component %} - {% react_component uniboticsExtra/assets/exercises/vacuum_cleaner_newmanager/GridBasicVacuumCleaner %}{% end_react_component %} + {% react_component uniboticsExtra/assets/exercises/vacuum_cleaner/GridBasicVacuumCleaner %}{% end_react_component %} {% react_component components/containers/FlexContainer row %} {% react_component components/containers/FlexContainer console %} {% react_component components/editors/EditorRobot %}{% end_react_component %} {% react_component components/visualizers/VncConsoleViewer%}{% end_react_component %} {% end_react_component%} {% react_component components/containers/FlexContainer%} - {% react_component uniboticsExtra/assets/exercises/vacuum_cleaner_newmanager/SpecificVacuumCleaner %}{% end_react_component %} + {% react_component uniboticsExtra/assets/exercises/vacuum_cleaner/SpecificVacuumCleaner %}{% end_react_component %} {% react_component components/visualizers/GazeboViewer%}{% end_react_component %} {% end_react_component %} {% end_react_component %} @@ -32,7 +32,7 @@ {% end_react_component %} {% end_react_component %} {% else %} - {% react_component exercise/vacuum_cleaner_newmanager/BasicVacuumCleaner %} + {% react_component exercise/vacuum_cleaner/BasicVacuumCleaner %} {% react_component components/wrappers/MaterialBox id="exercise-container" %} {% react_component components/layout_components/MainAppBar exerciseName="Basic Vacuum Cleaner" url="https://jderobot.github.io/RoboticsAcademy/exercises/MobileRobots/vacuum_cleaner"%} {% react_component components/visualizers/WorldSelector %} {% end_react_component %} @@ -46,7 +46,7 @@ {% react_component components/visualizers/ConsoleViewer%}{% end_react_component %} {% end_react_component%} {% react_component components/wrappers/FlexContainer%} - {% react_component exercise/vacuum_cleaner_newmanager/SpecificVacuumCleaner %}{% end_react_component %} + {% react_component exercise/vacuum_cleaner/SpecificVacuumCleaner %}{% end_react_component %} {% react_component components/visualizers/GazeboViewer%}{% end_react_component %} {% end_react_component %} {% end_react_component %} diff --git a/exercises/templates/exercises/vacuum_cleaner_loc/exercise.html b/exercises/templates/exercises/vacuum_cleaner_loc/exercise.html index b339ea1aa..abe1f3596 100644 --- a/exercises/templates/exercises/vacuum_cleaner_loc/exercise.html +++ b/exercises/templates/exercises/vacuum_cleaner_loc/exercise.html @@ -6,7 +6,7 @@ {% block react-content %} {% if deployment %} - {% react_component exercise/vacuum_cleaner_loc_newmanager/LocVacuumCleaner %} + {% react_component exercise/vacuum_cleaner_loc/LocVacuumCleaner %} {% react_component components/containers/MaterialBox id="exercise-container" %} {% react_component components/common/MainAppBar exerciseName="Localized Vacuum Cleaner" url="https://jderobot.github.io/RoboticsAcademy/exercises/MobileRobots/vacuum_cleaner_loc"%} {% react_component RA_links/WorldSelectorRA %} {% end_react_component %} @@ -14,14 +14,14 @@ {% react_component components/containers/MaterialBox id="content" %} {% react_component components/containers/MaterialBox id="content-exercise" %} {% react_component components/containers/ExerciseControl efficacy %}{% end_react_component %} - {% react_component uniboticsExtra/assets/exercises/vacuum_cleaner_loc_newmanager/GridLocVacuumCleaner %}{% end_react_component %} + {% react_component uniboticsExtra/assets/exercises/vacuum_cleaner_loc/GridLocVacuumCleaner %}{% end_react_component %} {% react_component components/containers/FlexContainer row %} {% react_component components/containers/FlexContainer console %} {% react_component components/editors/EditorRobot %}{% end_react_component %} {% react_component components/visualizers/VncConsoleViewer%}{% end_react_component %} {% end_react_component%} {% react_component components/containers/FlexContainer%} - {% react_component uniboticsExtra/assets/exercises/vacuum_cleaner_loc_newmanager/SpecificLocVacuumCleaner %}{% end_react_component %} + {% react_component uniboticsExtra/assets/exercises/vacuum_cleaner_loc/SpecificLocVacuumCleaner %}{% end_react_component %} {% react_component components/visualizers/GazeboViewer%}{% end_react_component %} {% end_react_component %} {% end_react_component %} @@ -32,7 +32,7 @@ {% end_react_component %} {% end_react_component %} {% else %} - {% react_component exercise/vacuum_cleaner_loc_newmanager/LocVacuumCleaner %} + {% react_component exercise/vacuum_cleaner_loc/LocVacuumCleaner %} {% react_component components/wrappers/MaterialBox id="exercise-container" %} {% react_component components/layout_components/MainAppBar exerciseName="Localized Vacuum Cleaner" url="https://jderobot.github.io/RoboticsAcademy/exercises/MobileRobots/vacuum_cleaner_loc"%} {% react_component components/visualizers/WorldSelector %} {% end_react_component %} @@ -46,7 +46,7 @@ {% react_component components/visualizers/ConsoleViewer%}{% end_react_component %} {% end_react_component%} {% react_component components/wrappers/FlexContainer%} - {% react_component exercise/vacuum_cleaner_loc_newmanager/SpecificLocVacuumCleaner %}{% end_react_component %} + {% react_component exercise/vacuum_cleaner_loc/SpecificLocVacuumCleaner %}{% end_react_component %} {% react_component components/visualizers/GazeboViewer%}{% end_react_component %} {% end_react_component %} {% end_react_component %} From c4c5d128383757683e2be39c4f86acffa3182b80 Mon Sep 17 00:00:00 2001 From: Javier Izquierdo Hernandez Date: Tue, 12 Nov 2024 16:28:32 +0100 Subject: [PATCH 2/7] Update DB --- database/exercises/db.sql | 2 ++ 1 file changed, 2 insertions(+) diff --git a/database/exercises/db.sql b/database/exercises/db.sql index e78f10bd9..93e2d4c2f 100644 --- a/database/exercises/db.sql +++ b/database/exercises/db.sql @@ -95,6 +95,7 @@ COPY public.exercises (id, exercise_id, name, description, tags, status, templat 9 3d_reconstruction 3D Reconstruction 3D Reconstruction exercise using React and RAM {"tags": ["ROS2","COMPUTER VISION"]} ACTIVE RoboticsAcademy/exercises/static/exercises/3d_reconstruction/python_template/ 10 amazon_warehouse Amazon Warehouse Control an amazon-like robot to organize a warehouse {"tags": "ROS2"} ACTIVE RoboticsAcademy/exercises/static/exercises/amazon_warehouse/python_template/ 11 montecarlo_laser_loc Montecarlo Laser Loc Calculate the position of the robot based on the {"tags": "ROS2"} ACTIVE RoboticsAcademy/exercises/static/exercises/montecarlo_laser_loc/python_template/ +12 autoparking_lidar Autoparking with Lidar Autoparking with Lidar exercise {"tags": ["AUTONOMOUS DRIVING","SERVICE ROBOTS","ROS2"] } ACTIVE RoboticsAcademy/exercises/static/exercises/autoparking_lidar/python_template/ \. @@ -129,6 +130,7 @@ COPY public.exercises_universes (id, exercise_id, universe_id) FROM stdin; 24 1 25 25 1 26 26 1 27 +27 12 28 \. From 8d7c62d9f4637b84ee0da33c30bfd56038506d6d Mon Sep 17 00:00:00 2001 From: Javier Izquierdo Hernandez Date: Tue, 12 Nov 2024 16:37:35 +0100 Subject: [PATCH 3/7] Adding template for new exercise --- .../templates/exercises/autoparking_lidar/exercise.html | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/exercises/templates/exercises/autoparking_lidar/exercise.html b/exercises/templates/exercises/autoparking_lidar/exercise.html index b08d140de..488e9d4da 100644 --- a/exercises/templates/exercises/autoparking_lidar/exercise.html +++ b/exercises/templates/exercises/autoparking_lidar/exercise.html @@ -6,7 +6,7 @@ {% block react-content %} {% if deployment %} - {% react_component exercise/autoparking/AutoparkingRR %} + {% react_component exercise/autoparking_lidar/AutoparkingRR %} {% react_component components/containers/MaterialBox id="exercise-container" %} {% react_component components/common/MainAppBar exerciseName="Autoparking Lidar" url="https://jderobot.github.io/RoboticsAcademy/exercises/AutonomousCars/autoparking/"%} {% react_component RA_links/WorldSelectorRA %} {% end_react_component %} @@ -20,7 +20,7 @@ {% react_component components/visualizers/VncConsoleViewer%}{% end_react_component %} {% end_react_component%} {% react_component components/containers/FlexContainer%} - {% react_component exercise/autoparking/Lasers%}{% end_react_component %} + {% react_component exercise/autoparking_lidar/Lasers%}{% end_react_component %} {% react_component components/visualizers/GazeboViewer%}{% end_react_component %} {% end_react_component %} {% end_react_component %} @@ -31,7 +31,7 @@ {% end_react_component %} {% end_react_component %} {% else %} - {% react_component exercise/autoparkingAutoparkingRR %} + {% react_component exercise/autoparking_lidar/AutoparkingRR %} {% react_component components/wrappers/MaterialBox id="exercise-container" %} {% react_component components/layout_components/MainAppBar exerciseName="Autoparking Lidar" url="https://jderobot.github.io/RoboticsAcademy/exercises/AutonomousCars/autoparking/"%} {% react_component components/visualizers/WorldSelector %} {% end_react_component %} From c03d8a5b08bbedb4c7b7bd64f554ed04d416a37e Mon Sep 17 00:00:00 2001 From: Javier Izquierdo Hernandez Date: Tue, 12 Nov 2024 16:45:57 +0100 Subject: [PATCH 4/7] Adding teaser --- RoboticsInfrastructure | 2 +- .../assets/img/autoparking_lidar_teaser.png | Bin 0 -> 345181 bytes 2 files changed, 1 insertion(+), 1 deletion(-) create mode 100644 exercises/static/exercises/assets/img/autoparking_lidar_teaser.png diff --git a/RoboticsInfrastructure b/RoboticsInfrastructure index ee04a20ab..86a19bda9 160000 --- a/RoboticsInfrastructure +++ b/RoboticsInfrastructure @@ -1 +1 @@ -Subproject commit ee04a20ab4c66f801e9a5b7939eaa085ea4664ba +Subproject commit 86a19bda93335e1b6250ca589b2cf077c4363427 diff --git a/exercises/static/exercises/assets/img/autoparking_lidar_teaser.png 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zt_Bgsw*#*~`O{y<&h9~iR}^f$ec1puyKzM>J;Cd Date: Tue, 12 Nov 2024 16:48:44 +0100 Subject: [PATCH 5/7] Bump RI --- RoboticsInfrastructure | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/RoboticsInfrastructure b/RoboticsInfrastructure index 86a19bda9..c34b0f55b 160000 --- a/RoboticsInfrastructure +++ b/RoboticsInfrastructure @@ -1 +1 @@ -Subproject commit 86a19bda93335e1b6250ca589b2cf077c4363427 +Subproject commit c34b0f55b4e5edc8186b3d0987cc32b34e56e10b From 2008c335da97ec338d14f8b9c1f28ab28dcea004 Mon Sep 17 00:00:00 2001 From: Javier Izquierdo Hernandez Date: Thu, 14 Nov 2024 20:23:20 +0100 Subject: [PATCH 6/7] More advances --- RoboticsInfrastructure | 2 +- .../hal_interfaces/general/lidar.py | 89 ++++++++++++++ .../python_template/ros2_humble/GUI.py | 4 +- .../python_template/ros2_humble/HAL.py | 38 ++---- .../python_template/ros2_humble/map.py | 40 +------ .../react-components/Lasers.js | 44 ------- .../react-components/map_view.js | 111 ------------------ 7 files changed, 105 insertions(+), 223 deletions(-) create mode 100644 common/hal_interfaces/hal_interfaces/general/lidar.py delete mode 100644 exercises/static/exercises/autoparking_lidar/react-components/map_view.js diff --git a/RoboticsInfrastructure b/RoboticsInfrastructure index c34b0f55b..efc643b91 160000 --- a/RoboticsInfrastructure +++ b/RoboticsInfrastructure @@ -1 +1 @@ -Subproject commit c34b0f55b4e5edc8186b3d0987cc32b34e56e10b +Subproject commit efc643b91fe5dad634db69594eb17ad39153e327 diff --git a/common/hal_interfaces/hal_interfaces/general/lidar.py b/common/hal_interfaces/hal_interfaces/general/lidar.py new file mode 100644 index 000000000..c921dd518 --- /dev/null +++ b/common/hal_interfaces/hal_interfaces/general/lidar.py @@ -0,0 +1,89 @@ +from rclpy.node import Node +import sensor_msgs.msg +from math import pi as PI + + +### AUXILIARY FUNCTIONS +class LidarData: + + def __init__(self): + + self.values = [] # Actual point data, size is (row_step*height) + + # 2D structure of the point cloud. If the cloud is unordered, height is + # 1 and width is the length of the point cloud. + self.height = 0 + self.width = 0 + + self.point_step = 0 # Length of a point in bytes + self.row_step = 0 # Length of a row in bytes + self.fields = [] # Describes the channels and their layout in the binary data blob. + self.is_dense = False # True if there are no invalid points + self.timeStamp = 0 # seconds + + def __str__(self): + s = ( + "LidarData: {\n height: " + + str(self.height) + + "\n width: " + + str(self.width) + ) + s = ( + s + + "\n point_step: " + + str(self.point_step) + + "\n row_step: " + + str(self.row_step) + ) + s = ( + s + + "\n fields: " + + str(self.fields) + + "\n is_dense: " + + str(self.is_dense) + ) + s = ( + s + + "\n timeStamp: " + + str(self.timeStamp) + + "\n values: " + + str(self.values) + + "\n}" + ) + return s + + +def lidarScan2LidarData(scan): + """ + Translates from ROS LidarScan to JderobotTypes LidarData. + @param scan: ROS LidarScan to translate + @type scan: LidarScan + @return a LidarData translated from scan + """ + lidar = LidarData() + lidar.values = scan.data + lidar.height = scan.height + lidar.width = scan.width + lidar.point_step = scan.point_step + lidar.row_step = scan.row_step + lidar.fields = scan.fields + lidar.is_dense = scan.is_dense + lidar.timeStamp = scan.header.stamp.sec + (scan.header.stamp.nanosec * 1e-9) + return lidar + + +### HAL INTERFACE ### +class LidarNode(Node): + + def __init__(self, topic): + super().__init__("lidar_node") + self.sub = self.create_subscription( + sensor_msgs.msg.LidarScan, topic, self.listener_callback, 10 + ) + self.last_scan_ = sensor_msgs.msg.LidarScan() + + def listener_callback(self, scan): + self.last_scan_ = scan + + def getLidarData(self): + return lidarScan2LidarData(self.last_scan_) diff --git a/exercises/static/exercises/autoparking_lidar/python_template/ros2_humble/GUI.py b/exercises/static/exercises/autoparking_lidar/python_template/ros2_humble/GUI.py index 334df6fbc..0f49db390 100755 --- a/exercises/static/exercises/autoparking_lidar/python_template/ros2_humble/GUI.py +++ b/exercises/static/exercises/autoparking_lidar/python_template/ros2_humble/GUI.py @@ -3,7 +3,7 @@ from gui_interfaces.general.measuring_threading_gui import MeasuringThreadingGUI from console_interfaces.general.console import start_console from map import Map -from HAL import getFrontLaserData, getRightLaserData, getBackLaserData +from HAL import getLidarData # Graphical User Interface Class @@ -14,7 +14,7 @@ def __init__(self, host="ws://127.0.0.1:2303"): # Payload vars self.payload = {'map': ''} - self.map = Map(getFrontLaserData, getRightLaserData, getBackLaserData) + self.map = Map(getLidarData) self.start() diff --git a/exercises/static/exercises/autoparking_lidar/python_template/ros2_humble/HAL.py b/exercises/static/exercises/autoparking_lidar/python_template/ros2_humble/HAL.py index 3c9f92389..74687eda8 100755 --- a/exercises/static/exercises/autoparking_lidar/python_template/ros2_humble/HAL.py +++ b/exercises/static/exercises/autoparking_lidar/python_template/ros2_humble/HAL.py @@ -4,7 +4,7 @@ from hal_interfaces.general.motors import MotorsNode from hal_interfaces.general.odometry import OdometryNode -from hal_interfaces.general.laser import LaserNode +from hal_interfaces.general.lidar import LidarNode # Hardware Abstraction Layer IMG_WIDTH = 320 @@ -20,16 +20,12 @@ ### HAL INIT ### motor_node = MotorsNode("/prius_autoparking/cmd_vel", 4, 0.3) odometry_node = OdometryNode("/prius_autoparking/odom") - laser_front_node = LaserNode("/prius_autoparking/scan_front") - laser_right_node = LaserNode("/prius_autoparking/scan_side") - laser_back_node = LaserNode("/prius_autoparking/scan_back") + lidar_node = LidarNode("/prius_autoparking/cloud") # Spin nodes so that subscription callbacks load topic data executor = rclpy.executors.MultiThreadedExecutor() executor.add_node(odometry_node) - executor.add_node(laser_front_node) - executor.add_node(laser_right_node) - executor.add_node(laser_back_node) + executor.add_node(lidar_node) def __auto_spin() -> None: while rclpy.ok(): executor.spin_once(timeout_sec=0) @@ -41,29 +37,13 @@ def __auto_spin() -> None: def getPose3d(): return odometry_node.getPose3d() -def getFrontLaserData(): - laser = laser_front_node.getLaserData() - timestamp = laser.timeStamp +def getLidarData(): + lidar = lidar_node.getLaserData() + timestamp = lidar.timeStamp while timestamp == 0.0: - laser = laser_front_node.getLaserData() - timestamp = laser.timeStamp - return laser - -def getRightLaserData(): - laser = laser_right_node.getLaserData() - timestamp = laser.timeStamp - while timestamp == 0.0: - laser = laser_right_node.getLaserData() - timestamp = laser.timeStamp - return laser - -def getBackLaserData(): - laser = laser_back_node.getLaserData() - timestamp = laser.timeStamp - while timestamp == 0.0: - laser = laser_back_node.getLaserData() - timestamp = laser.timeStamp - return laser + lidar = lidar_node.getLaserData() + timestamp = lidar.timeStamp + return lidar def setV(velocity): motor_node.sendV(float(velocity)) diff --git a/exercises/static/exercises/autoparking_lidar/python_template/ros2_humble/map.py b/exercises/static/exercises/autoparking_lidar/python_template/ros2_humble/map.py index 9fbf4f181..97d37e173 100644 --- a/exercises/static/exercises/autoparking_lidar/python_template/ros2_humble/map.py +++ b/exercises/static/exercises/autoparking_lidar/python_template/ros2_humble/map.py @@ -3,14 +3,12 @@ import numpy as np class Map: - def __init__(self, laser_object_f, laser_object_r, laser_object_b): + def __init__(self, lidar_object): # Define the object used for # websocket communication self.payload = {} - self.laser_topic_f = laser_object_f - self.laser_topic_r = laser_object_r - self.laser_topic_b = laser_object_b + self.lidar_topic = lidar_object # Get the JSON data as string def get_json_data(self): @@ -34,35 +32,5 @@ def RTz(self, angle, tx, ty, tz): # Interpret the Laser values def setLaserValues(self): # Init laser array - lasers = [] - laser_f = [] - laser_r = [] - laser_b = [] - self.laser_f = self.laser_topic_f() - self.laser_r = self.laser_topic_r() - self.laser_b = self.laser_topic_b() - - lasers = [self.setSingleLaserValue(self.laser_f), self.setSingleLaserValue(self.laser_r), self.setSingleLaserValue(self.laser_b)] - ranges = [20 * self.laser_f.maxRange, 20 * self.laser_r.maxRange, 20 * self.laser_b.maxRange] - return lasers, ranges - - # Auxiliar function to setLaserValues - def setSingleLaserValue(self, laser): - laser_return = [] - if(laser): - angle = int(round(math.degrees(laser.maxAngle))) - else: - angle = 180 - - for i in range(angle): - laser_return.append((0, 0)) - - if(laser): - for i in range(angle): - dist = 20 * laser.values[i] - angle = math.radians(i) - if(dist == float("inf")): - dist = 20 * laser.maxRange - laser_return[i] = (dist, angle) - - return laser_return \ No newline at end of file + self.lidar = self.lidar_topic() + return self.lidar \ No newline at end of file diff --git a/exercises/static/exercises/autoparking_lidar/react-components/Lasers.js b/exercises/static/exercises/autoparking_lidar/react-components/Lasers.js index 4e1dad7f9..19d161bd9 100644 --- a/exercises/static/exercises/autoparking_lidar/react-components/Lasers.js +++ b/exercises/static/exercises/autoparking_lidar/react-components/Lasers.js @@ -7,10 +7,6 @@ const Lasers = (props) => { const [laser, setLaser] = React.useState([]) const [maxRange, setMaxRange] = React.useState([]) - const [laser1, setLaser1] = React.useState([]) - const [maxRange1, setMaxRange1] = React.useState([]) - const [laser2, setLaser2] = React.useState([]) - const [maxRange2, setMaxRange2] = React.useState([]) React.useEffect(() => { const callback = (message) => { @@ -18,11 +14,7 @@ const Lasers = (props) => { const map_data = JSON.parse(message.data.update.map); console.log(map_data) setLaser (map_data.lasers[0]) - setLaser1(map_data.lasers[1]) - setLaser2(map_data.lasers[2]) setMaxRange (map_data.ranges[0]) - setMaxRange1(map_data.ranges[1]) - setMaxRange2(map_data.ranges[2]) console.log(map_data.ranges) } // Send the ACK of the msg @@ -64,42 +56,6 @@ const Lasers = (props) => { zIndex: "3"}} /> )}) - } - {laser1.map(element => { - var ang = -element[1] + Math.PI/2 - var length = (element[0] / 75) * meter; - return ( -
- )}) - } - {laser2.map(element => { - var ang = -element[1] + Math.PI - var length = (element[0] / 75) * meter; - return ( -
- )}) } )}; diff --git a/exercises/static/exercises/autoparking_lidar/react-components/map_view.js b/exercises/static/exercises/autoparking_lidar/react-components/map_view.js deleted file mode 100644 index 6bd0f8dda..000000000 --- a/exercises/static/exercises/autoparking_lidar/react-components/map_view.js +++ /dev/null @@ -1,111 +0,0 @@ -// Retreive the canvas elements and context -let carWidth = 28; -let carHeight = 77; -let ctx= null -let mapCanvas = null - -export function paintEvent(canvas, lasers, ranges) { - mapCanvas = canvas - ctx = mapCanvas.getContext("2d"); - - - ctx.clearRect(0, 0, mapCanvas.width, mapCanvas.height); - - // Draw Car - drawCar(); - // Draw Laser - if (lasers.length){ - drawLaser(lasers[0], ranges[0], "f", "#FF0000"); - drawLaser(lasers[1], ranges[1], "r", "#F7FF00"); - drawLaser(lasers[2], ranges[2], "b", "#0FFF00"); - } -} - -function drawCar() { - - ctx.beginPath(); - - // Chassis - ctx.fillStyle = "black"; - ctx.fillRect( - mapCanvas.width / 2 - carWidth / 2, - mapCanvas.height / 2 - carHeight / 2, - carWidth, - carHeight - ); - - ctx.stroke(); - - ctx.closePath(); -} - -function drawLaser(laser, max_range, pos, color) { - let originx = 0; - let originy = 0; - let resizeFactor = 0.53; - ctx.strokeStyle = color; - switch (pos) { - case "f": - originx = mapCanvas.width / 2; - originy = mapCanvas.height / 2 - carHeight / 2 + 16; - break; - case "r": - originx = mapCanvas.width / 2 + carWidth / 2; - originy = mapCanvas.height / 2; - break; - case "b": - originx = mapCanvas.width / 2; - originy = mapCanvas.height / 2 + carHeight / 2; - break; - } - - // Resizes the lasers - max_range *= resizeFactor; - - for (let d of laser) { - d[0] *= resizeFactor; - let py = null; - let px = null; - - if (d[0] > max_range) { - py = originy - max_range * Math.sin(d[1]); - px = originx + max_range * Math.cos(d[1]); - } else { - py = originy - d[0] * Math.sin(d[1]); - px = originx + d[0] * Math.cos(d[1]); - } - // Rotates for right and back lasers - let rotatedPoints; - switch (pos) { - case "f": - break; - case "r": - rotatedPoints = rotate(originx, originy, px, py, -90); - px = rotatedPoints[0]; - py = rotatedPoints[1]; - break; - case "b": - rotatedPoints = rotate(originx, originy, px, py, 180); - px = rotatedPoints[0]; - py = rotatedPoints[1]; - break; - } - - ctx.beginPath(); - ctx.moveTo(originx, originy); - ctx.lineTo(px, py); - ctx.stroke(); - - ctx.closePath(); - } -} - -// Rotates the point -function rotate(cx, cy, x, y, angle) { - let radians = (Math.PI / 180) * angle; - let cos = Math.cos(radians); - let sin = Math.sin(radians); - let nx = cos * (x - cx) + sin * (y - cy) + cx; - let ny = cos * (y - cy) - sin * (x - cx) + cy; - return [nx, ny]; -} \ No newline at end of file From 354bed39c2606e552b1ca03f9fbebcd5a20aca92 Mon Sep 17 00:00:00 2001 From: Javier Izquierdo Hernandez Date: Thu, 14 Nov 2024 21:06:32 +0100 Subject: [PATCH 7/7] Working version --- common/hal_interfaces/hal_interfaces/general/lidar.py | 4 ++-- database/exercises/db.sql | 1 + .../autoparking_lidar/python_template/ros2_humble/HAL.py | 4 ++-- 3 files changed, 5 insertions(+), 4 deletions(-) diff --git a/common/hal_interfaces/hal_interfaces/general/lidar.py b/common/hal_interfaces/hal_interfaces/general/lidar.py index c921dd518..315c3c45b 100644 --- a/common/hal_interfaces/hal_interfaces/general/lidar.py +++ b/common/hal_interfaces/hal_interfaces/general/lidar.py @@ -78,9 +78,9 @@ class LidarNode(Node): def __init__(self, topic): super().__init__("lidar_node") self.sub = self.create_subscription( - sensor_msgs.msg.LidarScan, topic, self.listener_callback, 10 + sensor_msgs.msg.PointCloud2, topic, self.listener_callback, 10 ) - self.last_scan_ = sensor_msgs.msg.LidarScan() + self.last_scan_ = sensor_msgs.msg.PointCloud2() def listener_callback(self, scan): self.last_scan_ = scan diff --git a/database/exercises/db.sql b/database/exercises/db.sql index c8bfa5b7d..cc2c1a587 100644 --- a/database/exercises/db.sql +++ b/database/exercises/db.sql @@ -130,6 +130,7 @@ COPY public.exercises_universes (id, exercise_id, universe_id) FROM stdin; 24 1 23 25 1 24 26 1 25 +27 12 26 \. diff --git a/exercises/static/exercises/autoparking_lidar/python_template/ros2_humble/HAL.py b/exercises/static/exercises/autoparking_lidar/python_template/ros2_humble/HAL.py index 74687eda8..bf0964ea0 100755 --- a/exercises/static/exercises/autoparking_lidar/python_template/ros2_humble/HAL.py +++ b/exercises/static/exercises/autoparking_lidar/python_template/ros2_humble/HAL.py @@ -38,10 +38,10 @@ def getPose3d(): return odometry_node.getPose3d() def getLidarData(): - lidar = lidar_node.getLaserData() + lidar = lidar_node.getLidarData() timestamp = lidar.timeStamp while timestamp == 0.0: - lidar = lidar_node.getLaserData() + lidar = lidar_node.getLidarData() timestamp = lidar.timeStamp return lidar