Come back to deadline code

Dockerfile

@@ -119,7 +119,7 @@ RUN git clone https://github.com/eProsima/Micro-XRCE-DDS-Agent.git --branch v2.4
 RUN git clone https://github.com/PX4/px4_msgs.git src/px4/px4_msgs -b release/1.14
 
 RUN git clone https://github.com/aerostack2/aerostack2.git -b 1.0.9 src/aerostack2
-RUN git clone https://github.com/pariaspe/2023-tfg-adrian-madinabeitia.git src/2023-tfg-adrian-madinabeitia
+RUN git clone https://github.com/RoboticsLabURJC/2023-tfg-adrian-madinabeitia src/2023-tfg-adrian-madinabeitia
 RUN apt update && rosdep update && rosdep install --from-paths src --ignore-src -r -y
 
 RUN /bin/bash -c "source /opt/ros/$ROS_DISTRO/setup.bash && colcon build"
@@ -154,5 +154,6 @@ RUN apt update && apt install -y alsa-utils pulseaudio
 RUN chown root:root /root/ws/install/as2_gazebo_classic_assets/share/as2_gazebo_classic_assets/scripts/default_run.sh
 RUN chmod +x /root/ws/install/as2_gazebo_classic_assets/share/as2_gazebo_classic_assets/scripts/default_run.sh
 
+WORKDIR /root/ws/src/2023-tfg-adrian-madinabeitia/drone_platforms/src
 
 CMD [ "/bin/bash" ]

drone_behaviors/CMakeLists.txt → drone_sim_driver/CMakeLists.txt

@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.8)
-project(drone_behaviors)
+project(drone_sim_driver)
 
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   add_compile_options(-Wall -Wextra -Wpedantic)
@@ -32,6 +32,10 @@ include_directories(
 ## Install Python scripts
 
 
+install(
+  PROGRAMS src/parseWorld.py
+  DESTINATION lib/${PROJECT_NAME}
+)
 
 install(
   PROGRAMS src/dataset/droneExpertPilot.py
@@ -70,7 +74,7 @@ install(
 
 ## Install world and launch files
 install(
-  DIRECTORY launch utils src
+  DIRECTORY launch worlds config sim_assets utils src
   DESTINATION share/${PROJECT_NAME}
 )
 

drone_platforms/launch/as2_sim_circuit.launch.py → drone_sim_driver/launch/as2_sim_circuit.launch.py

@@ -6,21 +6,19 @@
 from launch.substitutions import LaunchConfiguration
 from launch_ros.actions import Node
 
-namespace = "drone0"
+namespace= "drone0"
 sim_time = "true"
 
 env_vars = {
     'AEROSTACK2_SIMULATION_DRONE_ID': namespace
 }
 
-
 def exit_process_function(_launch_context, route, ns):
     subprocess.run(["bash", route, ns], check=True)
 
-
 def generate_launch_description():
-    sim_config = os.path.join(get_package_share_directory('drone_platforms'), 'config')
-    utils_path = os.path.join(get_package_share_directory('drone_platforms'), 'utils')
+    sim_config = os.path.join(get_package_share_directory('drone_sim_driver'), 'config')
+    utils_path = os.path.join(get_package_share_directory('drone_sim_driver'), 'utils')
 
     world = DeclareLaunchArgument(
         'world',
@@ -47,13 +45,13 @@ def generate_launch_description():
                 args=[utils_path + '/end_tmux.sh', namespace]
             ),
             LogInfo(msg='Tmux session closed')
-        ]
+            ]
     )
 
     # Prepares the tmux session
     tmuxLauncher = ExecuteProcess(
-        cmd=['tmuxinator', 'start', '-n', namespace, '-p', sim_config + '/tmuxLaunch.yml',
-             "drone_namespace=" + namespace,
+        cmd=['tmuxinator', 'start', '-n', namespace, '-p', sim_config + '/tmuxLaunch.yml', 
+             "drone_namespace=" + namespace, 
              "simulation_time=" + sim_time,
              "config_path=" + sim_config],
 
@@ -66,26 +64,27 @@ def generate_launch_description():
         cmd=['gnome-terminal', '--', 'tmux', 'attach-session', '-t', namespace],
 
         # No additional window
-        # cmd=['tmux', 'attach-session', '-t', namespace],
+        #cmd=['tmux', 'attach-session', '-t', namespace],
         name="attach",
     )
 
+
     parseYaml = Node(
-        package='drone_platforms',
+        package='drone_sim_driver',
         executable='parseWorld.py',
         output='screen',
         arguments=[
             sim_config + '/world.json',
             LaunchConfiguration('world'),
-            '0.0', '0.0', '0.0', LaunchConfiguration('yaw')  # 3.14 # 3.54
+            '0.0', '0.0', '0.0', LaunchConfiguration('yaw') #3.14 # 3.54
         ],
-    )
+    )  
 
     return LaunchDescription([
         world,
         yaw,
         parseYaml,
         gazeboPx4,
         tmuxLauncher,
-        # tmuxAttach,
-    ])
+        tmuxAttach,
+    ])

drone_platforms/launch/as2_sim_gates.launch.py → drone_sim_driver/launch/as2_sim_gates.launch.py

@@ -17,8 +17,8 @@ def exit_process_function(_launch_context, route, ns):
     subprocess.run(["bash", route, ns], check=True)
 
 def generate_launch_description():
-    sim_config = os.path.join(get_package_share_directory('drone_platforms'), 'config')
-    utils_path = os.path.join(get_package_share_directory('drone_platforms'), 'utils')
+    sim_config = os.path.join(get_package_share_directory('drone_sim_driver'), 'config')
+    utils_path = os.path.join(get_package_share_directory('drone_sim_driver'), 'utils')
 
     world = DeclareLaunchArgument(
         'world',
@@ -70,7 +70,7 @@ def generate_launch_description():
 
 
     parseYaml = Node(
-        package='drone_platforms',
+        package='drone_sim_driver',
         executable='parseWorld.py',
         output='screen',
         arguments=[

drone_platforms/launch/as2_sim_ocean.launch.py → drone_sim_driver/launch/as2_sim_ocean.launch.py

@@ -9,9 +9,9 @@
 world = "/ocean.world"
 
 def generate_launch_description():
-    sim_config = os.path.join(get_package_share_directory('drone_platforms'), 'config')
-    worlds_dir = os.path.join(get_package_share_directory('drone_platforms'), 'worlds')
-    tmux_yml = os.path.join(get_package_share_directory('drone_platforms'), 'config/tmuxLaunch.yml')
+    sim_config = os.path.join(get_package_share_directory('drone_sim_driver'), 'config')
+    worlds_dir = os.path.join(get_package_share_directory('drone_sim_driver'), 'worlds')
+    tmux_yml = os.path.join(get_package_share_directory('drone_sim_driver'), 'config/tmuxLaunch.yml')
 
     # Px4 autopilot gazebo launch
     gazeboPx4 = ExecuteProcess(
@@ -40,7 +40,7 @@ def generate_launch_description():
 
 
     parseYaml = Node(
-        package='drone_platforms',
+        package='drone_sim_driver',
         executable='parseWorld.py',
         output='screen',
         arguments=[

drone_behaviors/launch/expertPilot.launch.py → drone_sim_driver/launch/expertPilot.launch.py

@@ -13,7 +13,7 @@
 def generate_launch_description():
 
     filterImage = Node(
-        package='drone_behaviors',
+        package='drone_sim_driver',
         executable='image_filter_node.py',
         arguments=[
             '--output_directory', LaunchConfiguration('out_dir'),
@@ -33,7 +33,7 @@ def generate_launch_description():
     )
 
     control = Node(
-        package='drone_behaviors',
+        package='drone_sim_driver',
         executable='droneExpertPilot.py',
         output='screen',
         arguments=[

drone_behaviors/launch/neuralPilot.launch.py → drone_sim_driver/launch/neuralPilot.launch.py

@@ -29,7 +29,7 @@ def generate_launch_description():
     )
 
     filterImage = Node(
-        package='drone_behaviors',
+        package='drone_sim_driver',
         executable='image_filter_node.py',
         arguments=[
             '--output_directory', LaunchConfiguration('out_dir'),
@@ -38,7 +38,7 @@ def generate_launch_description():
     )
 
     control = Node(
-        package='drone_behaviors',
+        package='drone_sim_driver',
         executable='droneNeuralPilot.py',
         output='screen',
         arguments=[

drone_behaviors/launch/remoteContol.launch.py → drone_sim_driver/launch/remoteContol.launch.py

@@ -24,16 +24,16 @@ def generate_launch_description():
 
     net_dir = DeclareLaunchArgument(
         'net_dir',
-        default_value="/home/adrian/workspace/src/tfg/drone_behaviors/models/gateV2Normal/net-1.tar"
+        default_value="/home/adrian/workspace/src/tfg/drone_sim_driver/models/gateV2Normal/net-1.tar"
     )
 
     deepDir = DeclareLaunchArgument(
         'deepDir',
-        default_value="/home/adrian/workspace/src/tfg/drone_behaviors/models/deepPilot/z/net-7.tar" # 7-9
+        default_value="/home/adrian/workspace/src/tfg/drone_sim_driver/models/deepPilot/z/net-7.tar" # 7-9
     )
 
     control = Node(
-        package='drone_behaviors',
+        package='drone_sim_driver',
         executable='remoteControl.py',
         output='screen',
         arguments=[

drone_behaviors/package.xml → drone_sim_driver/package.xml

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
-  <name>drone_behaviors</name>
+  <name>drone_sim_driver</name>
   <version>1.0.0</version>
   <description>TODO: Driver package for drone Tello </description>
   <maintainer email="[email protected]">adrian</maintainer>

drone_behaviors/src/dataset/data.py → drone_sim_driver/src/dataset/data.py

@@ -6,7 +6,7 @@
 import albumentations as A
 import numpy as np
 import random
-from torch.utils.data import Datasetf
+from torch.utils.data import Dataset
 import torchvision.transforms.functional as F
 import os
 from PIL import Image

drone_behaviors/src/dataset/droneExpertPilot.py → drone_sim_driver/src/dataset/droneExpertPilot.py

@@ -16,7 +16,7 @@
 import argparse
 
 import ament_index_python
-package_path = ament_index_python.get_package_share_directory("drone_behaviors")
+package_path = ament_index_python.get_package_share_directory("drone_sim_driver")
 sys.path.append(package_path)
 
 from src.control_functions import PID, band_midpoint, search_top_line, search_bottom_line, save_timestamps, save_profiling, search_farthest_column

drone_behaviors/src/dataset/image_filter_node.py → drone_sim_driver/src/dataset/image_filter_node.py

@@ -16,7 +16,7 @@
 import os
 
 # Package includes
-package_path = ament_index_python.get_package_share_directory("drone_behaviors")
+package_path = ament_index_python.get_package_share_directory("drone_sim_driver")
 sys.path.append(package_path)
 
 from src.control_functions import band_midpoint, search_top_line, search_bottom_line, save_profiling, search_farthest_column

drone_behaviors/src/dataset/remoteControl.py → drone_sim_driver/src/dataset/remoteControl.py

@@ -25,7 +25,7 @@
 
 
 import ament_index_python
-package_path = ament_index_python.get_package_share_directory("drone_behaviors")
+package_path = ament_index_python.get_package_share_directory("drone_sim_driver")
 sys.path.append(package_path)
 
 from src.control_functions import save_timestamps, save_profiling, PID

drone_behaviors/src/models/droneNeuralPilot.py → drone_sim_driver/src/models/droneNeuralPilot.py

@@ -18,7 +18,7 @@
 from geometry_msgs.msg import Point
 
 # Package includes
-package_path = ament_index_python.get_package_share_directory("drone_behaviors")
+package_path = ament_index_python.get_package_share_directory("drone_sim_driver")
 sys.path.append(package_path)
 
 from src.control_functions import PID, save_timestamps, save_profiling

drone_behaviors/src/models/oldTrain.py → drone_sim_driver/src/models/oldTrain.py

@@ -11,7 +11,7 @@
 import ament_index_python
 
 # Package includes
-package_path = ament_index_python.get_package_share_directory("drone_behaviors")
+package_path = ament_index_python.get_package_share_directory("drone_sim_driver")
 sys.path.append(package_path)
 
 from src.dataset.oldData import rosbagDataset

drone_behaviors/src/models/train.py → drone_sim_driver/src/models/train.py

@@ -11,7 +11,7 @@
 import ament_index_python
 
 # Package includes
-package_path = ament_index_python.get_package_share_directory("drone_behaviors")
+package_path = ament_index_python.get_package_share_directory("drone_sim_driver")
 sys.path.append(package_path)
 
 from src.dataset.data import rosbagDataset

drone_behaviors/src/visualization/datasetGraphic.py → drone_sim_driver/src/visualization/datasetGraphic.py

@@ -5,7 +5,7 @@
 from ament_index_python.packages import get_package_share_directory
 import argparse
 
-package_path = get_package_share_directory("drone_behaviors")
+package_path = get_package_share_directory("drone_sim_driver")
 sys.path.append(package_path)
 
 from src.dataset.oldData import rosbagDataset, ANGULAR_UMBRALS, LINEAR_UMBRALS

drone_behaviors/src/visualization/datasetGraphicDeepPilot.py → drone_sim_driver/src/visualization/datasetGraphicDeepPilot.py

@@ -6,7 +6,7 @@
 from ament_index_python.packages import get_package_share_directory
 import argparse
 
-package_path = get_package_share_directory("drone_behaviors")
+package_path = get_package_share_directory("drone_sim_driver")
 sys.path.append(package_path)
 
 from src.dataset.data import rosbagDataset, ALL_UMBRALS, velsDict

drone_behaviors/utils/checkNeuralFolder.sh → drone_sim_driver/utils/checkNeuralFolder.sh

@@ -34,10 +34,10 @@ for name in "${tar_files_no_extension[@]}"; do
     for world in "${test_worlds[@]}"; do
 
         # Executes the simulator
-        tmux send-keys -t 0 "ros2 launch drone_ as2_sim_circuit.launch.py world:=../worlds/$world.world yaw:=0.0" C-m
+        tmux send-keys -t 0 "ros2 launch drone_sim_driver as2_sim_circuit.launch.py world:=../worlds/$world.world yaw:=0.0" C-m
         sleep 5
 
-        tmux send-keys -t 1 "ros2 launch drone_behaviors neuralPilot.launch.py trace:=False out_dir:=$output_directory/profiling/$world$iteration network_path:=$model_folder/${name}.tar | tee temp_output.txt" C-m
+        tmux send-keys -t 1 "ros2 launch drone_sim_driver neuralPilot.launch.py trace:=False out_dir:=$output_directory/profiling/$world$iteration network_path:=$model_folder/${name}.tar | tee temp_output.txt" C-m
 
         # Waits until the drone is flying
         while ! grep -q "Following" temp_output.txt; do

drone_behaviors/utils/generateDataset.sh → drone_sim_driver/utils/generateDataset.sh

@@ -24,11 +24,11 @@ for world in "${worlds[@]}"; do
     for yaw in "${orientations[@]}"; do
 
         # Executes the simulator
-        tmux send-keys -t 0 "ros2 launch drone_platforms as2_sim_circuit.launch.py world:=../worlds/$world.world yaw:=$yaw" C-m
+        tmux send-keys -t 0 "ros2 launch drone_sim_driver as2_sim_circuit.launch.py world:=../worlds/$world.world yaw:=$yaw" C-m
         sleep 5
 
         touch temp_output.txt
-        tmux send-keys -t 1 "ros2 launch drone_behaviors expertPilot.launch.py trace:=False out_dir:=$output_directory/profiling/$world$iteration | tee ./temp_output.txt" C-m
+        tmux send-keys -t 1 "ros2 launch drone_sim_driver expertPilot.launch.py trace:=False out_dir:=$output_directory/profiling/$world$iteration | tee ./temp_output.txt" C-m
 
         sleep 5
 

drone_behaviors/utils/trainAndCheck.sh → drone_sim_driver/utils/trainAndCheck.sh

@@ -33,13 +33,13 @@ worldIter=0
 
 for world in "${test_worlds[@]}"; do
     pilots=(
-    "ros2 launch drone_behaviors neuralPilot.launch.py trace:=False out_dir:=${output_directory}$world/profiling/neural_$world network_path:=$model_name"
-    "ros2 launch drone_behaviors expertPilot.launch.py trace:=False out_dir:=${output_directory}$world/profiling/expert_$world"
+    "ros2 launch drone_sim_driver neuralPilot.launch.py trace:=False out_dir:=${output_directory}$world/profiling/neural_$world network_path:=$model_name"
+    "ros2 launch drone_sim_driver expertPilot.launch.py trace:=False out_dir:=${output_directory}$world/profiling/expert_$world"
     )
     for pilot in "${pilots[@]}"; do
 
         # Executes the simulator
-        tmux send-keys -t 0 "ros2 launch drone_platforms as2_sim_circuit.launch.py world:=../worlds/$world.world yaw:=3.14" C-m
+        tmux send-keys -t 0 "ros2 launch drone_sim_driver as2_sim_circuit.launch.py world:=../worlds/$world.world yaw:=3.14" C-m
         sleep 5
 
         tmux send-keys -t 1 "$pilot | tee temp_output.txt" C-m