Merge branch 'IMRCLab/main'

.github/workflows/ci-docs2.yml

@@ -1,8 +1,10 @@
-name: Docs deploy
+name: Docs
 
 on:
   push:
     branches: [ main ]
+  pull_request:
+    branches: [ main ]
 
 jobs:
   build:
@@ -33,6 +35,7 @@ jobs:
         touch docs2/_build/html/.nojekyll
 
     - name: Deploy
+      if: github.ref == 'refs/heads/main'
       uses: JamesIves/github-pages-deploy-action@v4
       with:
         folder: docs2/_build/html # The folder the action should deploy.

.github/workflows/ci-ros2.yml

@@ -16,6 +16,7 @@ jobs:
         ros_distribution:
           - humble
           - iron
+          - jazzy
 
         # Define the Docker image(s) associated with each ROS distribution.
         include:
@@ -29,6 +30,11 @@ jobs:
             ros_distribution: iron
             ros_version: 2
 
+          # Jazzy Jalisco (May 2024 - May 2029)
+          - docker_image: ubuntu:noble
+            ros_distribution: jazzy
+            ros_version: 2
+
     container:
       image: ${{ matrix.docker_image }}
     steps:
@@ -40,16 +46,27 @@ jobs:
       - name: install dependencies
         run: |
           sudo apt update
-          sudo apt install -y libusb-1.0-0-dev
+          sudo apt install -y libboost-program-options-dev libusb-1.0-0-dev
+
+      - name: install pip dependencies
+          # TODO: would be better to follow https://answers.ros.org/question/370666/how-to-declare-an-external-python-dependency-in-ros2/
+          # but this requires some upstream changes
+
+          # colcon still does not seem to properly support venv, so we use a workaround to install
+          # a python package globally by disabling the externally managed flag that is default on Ubuntu 24.04
+        run: |
+          sudo rm -f /usr/lib/python3.12/EXTERNALLY-MANAGED
+          pip install rowan
 
       - uses: actions/checkout@v2
       - name: build and test ROS 2
         uses: ros-tooling/[email protected]
         with:
-          # TODO: removed crazyflie_interfaces since it causes some test failures
           package-name: |
             crazyflie
             crazyflie_examples
+            crazyflie_interfaces
+            crazyflie_py
             crazyflie_sim
           target-ros2-distro: ${{ matrix.ros_distribution }}
           vcs-repo-file-url: rosinstall

.github/workflows/systemtests.yml

@@ -0,0 +1,69 @@
+name: System Tests
+
+on:
+  push:
+    branches: [ "feature-systemtests-better" ]
+  # manual trigger
+  workflow_dispatch:
+
+jobs:
+  build:
+    runs-on: self-hosted
+    steps:
+      - name: Create workspace
+        id: step1
+        run: |
+          cd ros2_ws/src || mkdir -p ros2_ws/src
+      - name: Checkout motion capture package
+        id: step2
+        run: |
+          cd ros2_ws/src
+          ls motion_capture_tracking || git clone --branch ros2 --recursive https://github.com/IMRCLab/motion_capture_tracking.git
+      - name: Checkout Crazyswarm2
+        id: step3
+        uses: actions/checkout@v4
+        with:
+          path: ros2_ws/src/crazyswarm2
+          submodules: 'recursive'
+      - name: Build workspace
+        id: step4
+        run: |
+          source /opt/ros/humble/setup.bash
+          cd ros2_ws
+          colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release
+
+      - name: Flight test
+        id: step5
+        run: |
+          cd ros2_ws
+          source /opt/ros/humble/setup.bash
+          . install/local_setup.bash
+          export ROS_LOCALHOST_ONLY=1
+          export ROS_DOMAIN_ID=99
+          python3 src/crazyswarm2/systemtests/test_flights.py
+
+      - name: Upload files
+        id: step6
+        if: '!cancelled()'
+        uses: actions/upload-artifact@v3
+        with:
+          name: pdf_rosbags_and_logs
+          path: |
+            ros2_ws/results
+          
+
+
+
+      
+
+      # - name: build and test ROS 2
+      #   uses: ros-tooling/[email protected]
+      #   with:
+      #     package-name: |
+      #       crazyflie
+      #       crazyflie_examples
+      #       crazyflie_interfaces
+      #       crazyflie_py
+      #       crazyflie_sim
+      #     target-ros2-distro: humble
+      #     vcs-repo-file-url: rosinstall

.github/workflows/systemtests_sim.yml

@@ -0,0 +1,77 @@
+name: System Tests Simulation 
+
+on:
+  push:
+    branches: [ main ]
+  pull_request:
+    branches: [ main ]
+  # manual trigger
+  workflow_dispatch:
+
+jobs:
+  build:
+    runs-on: self-hosted
+    steps:
+      - name: Build firmware
+        id: step1
+        run: |
+          ls crazyflie-firmware || git clone --recursive https://github.com/bitcraze/crazyflie-firmware.git
+          cd crazyflie-firmware
+          git pull
+          git submodule sync
+          git submodule update --init --recursive
+          make cf2_defconfig
+          make bindings_python  
+          cd build
+          python3 setup.py install --user   
+      - name: Create workspace
+        id: step2
+        run: |
+          cd ros2_ws/src || mkdir -p ros2_ws/src
+      - name: Checkout motion capture package
+        id: step3
+        run: |
+          cd ros2_ws/src
+          ls motion_capture_tracking || git clone --branch ros2 --recursive https://github.com/IMRCLab/motion_capture_tracking.git
+          cd motion_capture_tracking
+          git pull
+          git submodule sync
+          git submodule update --recursive --init
+      - name: Checkout Crazyswarm2
+        id: step4
+        uses: actions/checkout@v4
+        with:
+          path: ros2_ws/src/crazyswarm2
+          submodules: 'recursive'
+      - name: Build workspace
+        id: step5
+        run: |
+          source /opt/ros/humble/setup.bash
+          cd ros2_ws
+          colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release
+
+      - name: Flight test
+        id: step6
+        run: |
+          cd ros2_ws
+          source /opt/ros/humble/setup.bash
+          . install/local_setup.bash
+          export PYTHONPATH="${PYTHONPATH}:/home/github/actions-runner/_work/crazyswarm2/crazyswarm2/crazyflie-firmware/build/"
+          export ROS_LOCALHOST_ONLY=1
+          export ROS_DOMAIN_ID=99
+          python3 src/crazyswarm2/systemtests/test_flights.py --sim -v    #-v is verbose argument of unittest
+
+      - name: Upload files
+        id: step7
+        if: '!cancelled()'
+        uses: actions/upload-artifact@v3
+        with:
+          name: pdf_rosbags_and_logs
+          path: |
+            ros2_ws/results
+            
+
+
+
+            
+          

crazyflie/CMakeLists.txt

@@ -85,6 +85,7 @@ ament_target_dependencies(crazyflie_server
 # Install C++ executables
 install(TARGETS
   # crazyflie_tools
+  comCheck
   scan
   listParams
   listLogVariables
@@ -95,6 +96,7 @@ install(TARGETS
   console
   log
   setParam
+  downloadUSDLogfile
   #
   teleop
   crazyflie_server
@@ -106,13 +108,18 @@ install(PROGRAMS
   scripts/chooser.py
   scripts/vel_mux.py
   scripts/cfmult.py
+  scripts/simple_mapper_multiranger.py
+  scripts/aideck_streamer.py
+  scripts/gui.py
+  scripts/flash.py
   DESTINATION lib/${PROJECT_NAME}
 )
 
-# Install launch and config files.
+# Install launch, config, and urdf files.
 install(DIRECTORY
   launch
   config
+  urdf
   DESTINATION share/${PROJECT_NAME}/
 )
 

crazyflie/config/aideck_streamer.yaml

@@ -0,0 +1,30 @@
+image_topic: /camera/image
+camera_info_topic: /camera/camera_info
+deck_ip: "192.168.4.1"
+deck_port: 5000
+image_width: 324
+image_height: 324
+camera_name: crazyflie
+camera_matrix:
+  rows: 3
+  cols: 3
+  data: [181.87464,   0.     , 162.52301,
+           0.     , 182.58129, 160.79418,
+           0.     ,   0.     ,   1.     ]
+distortion_model: plumb_bob
+distortion_coefficients:
+  rows: 1
+  cols: 5
+  data: [-0.070366, -0.006434, -0.002691, -0.001983, 0.000000]
+rectification_matrix:
+  rows: 3
+  cols: 3
+  data: [1., 0., 0.,
+         0., 1., 0.,
+         0., 0., 1.]
+projection_matrix:
+  rows: 3
+  cols: 4
+  data: [169.24555,   0.     , 161.54541,   0.     ,
+           0.     , 169.97813, 159.07974,   0.     ,
+           0.     ,   0.     ,   1.     ,   0.     ]

crazyflie/config/config.rviz

@@ -65,7 +65,7 @@ Visualization Manager:
       Name: TF
       Show Arrows: true
       Show Axes: true
-      Show Names: false
+      Show Names: true
       Tree:
         world:
           cf33:
@@ -74,6 +74,37 @@ Visualization Manager:
             {}
       Update Interval: 0
       Value: true
+    - Alpha: 1
+      Class: rviz_default_plugins/RobotModel
+      Collision Enabled: false
+      Description File: ""
+      Description Source: Topic
+      Description Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /cf231/robot_description
+      Enabled: true
+      Links:
+        All Links Enabled: true
+        Expand Joint Details: false
+        Expand Link Details: false
+        Expand Tree: false
+        Link Tree Style: Links in Alphabetic Order
+        cf231:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+      Mass Properties:
+        Inertia: false
+        Mass: false
+      Name: CF231
+      TF Prefix: ""
+      Update Interval: 0
+      Value: true
+      Visual Enabled: true
   Enabled: true
   Global Options:
     Background Color: 48; 48; 48
@@ -127,9 +158,9 @@ Visualization Manager:
         Swap Stereo Eyes: false
         Value: false
       Focal Point:
-        X: 0
-        Y: 0
-        Z: 0
+        X: -0.028163839131593704
+        Y: -0.049007341265678406
+        Z: -0.025782346725463867
       Focal Shape Fixed Size: true
       Focal Shape Size: 0.05000000074505806
       Invert Z Axis: false

crazyflie/config/server.yaml

@@ -4,6 +4,12 @@
       frequency: 1.0 # report/run checks once per second
       motion_capture:
         warning_if_rate_outside: [140.0, 160.0]
+      communication:
+        max_unicast_latency: 10.0 # ms
+        min_unicast_ack_rate: 0.9
+        min_unicast_receive_rate: 0.9 # requires status topic to be enabled
+        min_broadcast_receive_rate: 0.9 # requires status topic to be enabled
+        publish_stats: false
     firmware_params:
       query_all_values_on_connect: False
     # simulation related

crazyflie/config/teleop.yaml

@@ -52,4 +52,7 @@
     land:
       button: 6 # 6 back
     emergency:
-      button: 1 # 1 red
+      button: 1 # 1 red
+    arm:
+      button: 3 # yellow
+