0.1.4 Merge branch 'dev'

sarthou · May 24, 2023 · 1550f31 · 1550f31
2 parents 6ee6b42 + 9567468
commit 1550f31
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diff --git a/.github/workflows/overworld.yml b/.github/workflows/overworld.yml
@@ -8,10 +8,9 @@ jobs:
     runs-on: ${{ matrix.operating-system }}
     strategy:
       matrix:
-        operating-system: [ubuntu-18.04]
         include:
-          - operating-system: ubuntu-18.04
-            distro: melodic
+          #- operating-system: ubuntu-18.04
+          #  distro: melodic
           - operating-system: ubuntu-20.04
             distro: noetic
     env:

diff --git a/.github/workflows/overworld_modules.yml b/.github/workflows/overworld_modules.yml
@@ -8,10 +8,9 @@ jobs:
     runs-on: ${{ matrix.operating-system }}
     strategy:
       matrix:
-        operating-system: [ubuntu-18.04]
         include:
-          - operating-system: ubuntu-18.04
-            distro: melodic
+          #- operating-system: ubuntu-18.04
+          #  distro: melodic
           - operating-system: ubuntu-20.04
             distro: noetic
     env:

diff --git a/.gitlab-ci.yml b/.gitlab-ci.yml
@@ -10,52 +10,46 @@
   - apt-get update -qq && apt-get install -y libcppunit-1.15-0 libcppunit-dev libtinyxml-dev git-all python3-rosdep python3-pip
   - pip3 install requests --user
 
-.install_bullet_template : &install_bullet
-  before_script:
-    - mkdir -p ~/dependencies && cd ~/dependencies
-    - git clone https://github.com/bulletphysics/bullet3.git
-    - cd bullet3
-    - mkdir build && mkdir install
-    - export BULLET_PATH=$(pwd)
-    - cd build
-    - cmake .. -DCMAKE_INSTALL_PREFIX=$BULLET_PATH/install -DBUILD_SHARED_LIBS=ON
-    - make install
-    - export BULLET_INSTALL_PATH=~/dependencies/bullet3/install
-    - export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:$BULLET_INSTALL_PATH/lib
+.install_bullet_template : &install_bullet |
+  mkdir -p ~/dependencies && cd ~/dependencies
+  git clone https://github.com/bulletphysics/bullet3.git
+  cd bullet3
+  mkdir build && mkdir install
+  export BULLET_PATH=$(pwd)
+  cd build
+  cmake .. -DCMAKE_INSTALL_PREFIX=$BULLET_PATH/install -DBUILD_SHARED_LIBS=ON
+  make install
+  export BULLET_INSTALL_PATH=~/dependencies/bullet3/install
+  export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:$BULLET_INSTALL_PATH/lib
 
-.create_ws_template : &create_ws
-  before_script:
-    - mkdir -p ~/ros_ws/src
-    - cd ~/ros_ws
-    - catkin_make -DCMAKE_BUILD_TYPE=Release
+.create_ws_template : &create_ws |
+  mkdir -p ~/ros_ws/src
+  cd ~/ros_ws
+  catkin_make -DCMAKE_BUILD_TYPE=Release
 
-.clone_modules_template : &clone_modules
-  before_script:
-    - cd ~/ros_ws/src
-    - mkdir overworld_modules && cd overworld_modules
-    - git clone https://github.com/sarthou/artrack_perception_module.git
-    - git clone https://github.com/sarthou/optitrack_perception_module.git
-    - git clone https://github.com/sarthou/pr2_gripper_perception_module.git
+.clone_modules_template : &clone_modules |
+  cd ~/ros_ws/src
+  mkdir overworld_modules && cd overworld_modules
+  git clone https://github.com/sarthou/artrack_perception_module.git
+  git clone https://github.com/sarthou/optitrack_perception_module.git
+  git clone https://github.com/sarthou/pr2_gripper_perception_module.git
 
-.clone_deps_melodic_template : &clone_deps_melodic
-  before_script:
-    - cd ~/ros_ws/src
-    - git clone https://github.com/RIS-WITH/optitrack_msgs.git
-    - git clone https://github.com/sarthou/ar_track_alvar.git
+.clone_deps_melodic_template : &clone_deps_melodic |
+  cd ~/ros_ws/src
+  git clone https://github.com/RIS-WITH/optitrack_msgs.git
+  git clone https://github.com/sarthou/ar_track_alvar.git
 
-.clone_deps_noetic_template : &clone_deps_noetic
-  before_script:
-    - cd ~/ros_ws/src
-    - git clone https://github.com/RIS-WITH/optitrack_msgs.git
-    - git clone -b noetic-devel https://github.com/sarthou/ar_track_alvar.git
+.clone_deps_noetic_template : &clone_deps_noetic |
+  cd ~/ros_ws/src
+  git clone https://github.com/RIS-WITH/optitrack_msgs.git
+  git clone -b noetic-devel https://github.com/sarthou/ar_track_alvar.git
 
-.build_script_template : &build_script_definition
-  script:
-    - cd ~/ros_ws/src
-    - cp -r /builds/$GITLAB_USER_LOGIN/overworld .
-    - git clone -b dev https://github.com/sarthou/ontologenius.git
-    - cd ..
-    - catkin_make -DCMAKE_BUILD_TYPE=Release
+.build_script_template : &build_script_definition |
+  cd ~/ros_ws/src
+  cp -r /builds/$GITLAB_USER_LOGIN/overworld .
+  git clone -b dev https://github.com/sarthou/ontologenius.git
+  cd ..
+  catkin_make -DCMAKE_BUILD_TYPE=Release
 
 stages:
   - build
@@ -65,34 +59,46 @@ run-build-melodic:
   image: ros:melodic-perception-bionic
   stage: build
   <<: *melodic_before_definition
-  <<: *install_bullet
-  <<: *create_ws
-  <<: *build_script_definition
+  script:
+    - *install_bullet
+    - *create_ws
+    - *build_script_definition
 
 run-build-noetic:
   image: ros:noetic-perception-focal
   stage: build
   <<: *noetic_before_definition
-  <<: *install_bullet
-  <<: *create_ws
-  <<: *build_script_definition
+  script:
+    - *install_bullet
+    - *create_ws
+    - *build_script_definition
 
 run-build-modules-melodic:
   image: ros:melodic-perception-bionic
-  stage: build
+  stage: build_modules
+  rules:
+    - if: '$CI_COMMIT_BRANCH == "dev"'
+      when: always
+    - when: never
   <<: *melodic_before_definition
-  <<: *install_bullet
-  <<: *create_ws
-  <<: *clone_modules
-  <<: *clone_deps_melodic
-  <<: *build_script_definition
+  script:
+    - *install_bullet
+    - *create_ws
+    - *clone_modules
+    - *clone_deps_melodic
+    - *build_script_definition
 
 run-build-modules-noetic:
   image: ros:noetic-perception-focal
-  stage: build
+  stage: build_modules
+  rules:
+    - if: '$CI_COMMIT_BRANCH == "dev"'
+      when: always
+    - when: never
   <<: *noetic_before_definition
-  <<: *install_bullet
-  <<: *create_ws
-  <<: *clone_modules
-  <<: *clone_deps_noetic
-  <<: *build_script_definition
+  script:
+    - *install_bullet
+    - *create_ws
+    - *clone_modules
+    - *clone_deps_noetic
+    - *build_script_definition
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -10,11 +10,11 @@ if(DEFINED ENV{BULLET_INSTALL_PATH})
 endif()
 
 find_package(catkin REQUIRED COMPONENTS
-  ontologenius
   roscpp
   std_msgs
   genmsg
   message_generation
+  tf
   tf2
   tf2_ros
   tf2_eigen
@@ -27,7 +27,8 @@ find_package(catkin REQUIRED COMPONENTS
   cv_bridge
   pluginlib
 )
-find_package (Eigen3 REQUIRED NO_MODULE)
+find_package(ontologenius 0.2.12 REQUIRED)
+find_package(Eigen3 REQUIRED NO_MODULE)
 find_package(Threads REQUIRED)
 find_package(CURL REQUIRED)
 find_package(pluginlib REQUIRED)
@@ -67,6 +68,7 @@ add_message_files(
   EntityPose.msg
   EntitiesPoses.msg
   AgentPose.msg
+  Pose.msg
 )
 
 add_service_files(
@@ -105,6 +107,7 @@ catkin_package(
 
 include_directories(
   include
+  ${ontologenius_INCLUDE_DIRS}
   ${EIGEN3_INCLUDE_DIRS}
   ${catkin_INCLUDE_DIRS}
   ${CURL_INCLUDE_DIRS}
@@ -123,15 +126,30 @@ target_link_libraries(Bullet3 INTERFACE
                       ${catkin_LIBRARIES}
                       Threads::Threads)
 
+add_library(${PROJECT_NAME}_utility_lib STATIC
+  src/Utility/YamlReader.cpp
+  src/Utility/Ontology.cpp
+  src/Utility/RosFiles.cpp
+  src/Utility/Wavefront.cpp
+)
+target_link_libraries(${PROJECT_NAME}_utility_lib PUBLIC
+                      ${catkin_LIBRARIES}
+                      ${ontologenius_LIBRARIES})
+set_target_properties(${PROJECT_NAME}_utility_lib PROPERTIES POSITION_INDEPENDENT_CODE ON)
+
 add_library(${PROJECT_NAME}_bullet_lib STATIC
   src/Bullet/PhysicsServers.cpp
   src/Bullet/BulletClient.cpp
 )
-target_link_libraries(${PROJECT_NAME}_bullet_lib PUBLIC Bullet3)
+target_link_libraries(${PROJECT_NAME}_bullet_lib PUBLIC 
+                      Bullet3
+                      ${PROJECT_NAME}_utility_lib)
 set_target_properties(${PROJECT_NAME}_bullet_lib PROPERTIES POSITION_INDEPENDENT_CODE ON)
 
 add_library(${PROJECT_NAME}_types_lib STATIC
   src/Geometry/Pose.cpp
+  src/Geometry/Polygon.cpp
+  src/BasicTypes/Area.cpp
   src/BasicTypes/Entity.cpp
   src/BasicTypes/BodyPart.cpp
   src/BasicTypes/Object.cpp
@@ -142,20 +160,16 @@ target_link_libraries(${PROJECT_NAME}_types_lib PUBLIC
                       ${PROJECT_NAME}_bullet_lib)
 set_target_properties(${PROJECT_NAME}_types_lib PROPERTIES POSITION_INDEPENDENT_CODE ON)
 
-add_library(${PROJECT_NAME}_utility_lib STATIC
-  src/Utility/YamlReader.cpp
-)
-target_link_libraries(${PROJECT_NAME}_utility_lib PUBLIC
-                      ${catkin_LIBRARIES})
-set_target_properties(${PROJECT_NAME}_utility_lib PROPERTIES POSITION_INDEPENDENT_CODE ON)
-
 add_library(${PROJECT_NAME}_perception_lib STATIC
+  src/Perception/Managers/AgentPerceptionManager.cpp
+  src/Perception/Managers/AreasPerceptionManager.cpp
   src/Perception/Managers/ObjectsPerceptionManager.cpp
   src/Perception/Managers/RobotsPerceptionManager.cpp
   src/Perception/Managers/HumansPerceptionManager.cpp
   src/Perception/Modules/ObjectsModules/ObjectsEmulatedPerceptionModule.cpp
   src/Perception/Modules/HumansModules/HumansEmulatedPerceptionModule.cpp
-  src/Perception/PerceptionManager.cpp
+  src/Perception/Modules/AreasModules/AreasEmulatedPerceptionModule.cpp
+  src/Perception/PerceptionManagers.cpp
 )
 target_link_libraries(${PROJECT_NAME}_perception_lib PUBLIC
                       ${catkin_LIBRARIES}
@@ -193,9 +207,9 @@ add_library(overworld_modules_plugin MODULE
   src/Perception/Modules/ObjectsModules/StaticObjectsPerceptionModule.cpp
   src/Perception/Modules/ObjectsModules/FakeObjectPerceptionModule.cpp
   src/Perception/Modules/RobotsModules/JointStatePerceptionModule.cpp
-  src/Perception/Modules/RobotsModules/FakeRobotPerceptionModule.cpp
   src/Perception/Modules/HumansModules/StampedPosePerceptionModule.cpp
   src/Perception/Modules/HumansModules/FakeHumanPerceptionModule.cpp
+  src/Perception/Modules/AreasModules/ObjAreasPerceptionModule.cpp
 )
 target_link_libraries(overworld_modules_plugin PUBLIC
                       ${catkin_LIBRARIES}
@@ -220,13 +234,18 @@ target_link_libraries(${PROJECT_NAME}_node PRIVATE
                       ${PROJECT_NAME}_perception_lib
                       ${PROJECT_NAME}_sender_lib
                       ${PROJECT_NAME}_facts_lib
-                      ${catkin_LIBRARIES})
+                      ${catkin_LIBRARIES}
+                      ${ontologenius_LIBRARIES})
 add_dependencies(${PROJECT_NAME}_node overworld_gencpp)
 
 add_executable(plugins src/Nodes/plugins.cpp)
 target_link_libraries(plugins ${catkin_LIBRARIES}
                       ${PROJECT_NAME}_bullet_lib)
 
+add_executable(teleop src/Nodes/teleop.cpp)
+target_link_libraries(teleop ${catkin_LIBRARIES})
+add_dependencies(teleop overworld_gencpp)
+
 #################
 #  Test files   #
 #################
@@ -236,6 +255,7 @@ target_link_libraries(${PROJECT_NAME}_bullet_test PRIVATE
                       ${PROJECT_NAME}_bullet_lib
                       ${PROJECT_NAME}_types_lib
                       ${PROJECT_NAME}_perception_lib
+                      ${PROJECT_NAME}_utility_lib
                       ${catkin_LIBRARIES})
 
 add_executable(${PROJECT_NAME}_multi_server_test src/TestFiles/multi_server_test.cpp )
@@ -255,4 +275,8 @@ target_link_libraries(${PROJECT_NAME}_gravity_test PRIVATE
                       ${PROJECT_NAME}_types_lib
                       ${PROJECT_NAME}_bullet_lib
                       ${catkin_LIBRARIES})
-add_dependencies(${PROJECT_NAME}_gravity_test overworld_gencpp)
+add_dependencies(${PROJECT_NAME}_gravity_test overworld_gencpp)
+
+add_executable(${PROJECT_NAME}_area_test src/TestFiles/area.cpp )
+target_link_libraries(${PROJECT_NAME}_area_test PRIVATE
+                      ${PROJECT_NAME}_types_lib)
diff --git a/Readme.md b/Readme.md
@@ -71,8 +71,8 @@ The knowledge base Ontologenius can be used as a source of information for Overw
 
 More information about this link and tutorials to show its use will come soon.
 
-[Release-Url]: https://github.com/sarthou/overworld/releases/tag/v0.1.3
-[Release-Image]: http://img.shields.io/badge/release-v0.1.3-blue
+[Release-Url]: https://github.com/sarthou/overworld/releases/tag/v0.1.4
+[Release-Image]: http://img.shields.io/badge/release-v0.1.4-blue
 
 [Ontologenius-Dependency-Image]: https://img.shields.io/badge/dependencies-ontologenius-yellow
 [Ontologenius-Dependency-Url]: https://github.com/sarthou/ontologenius

diff --git a/config/adream_areas.yaml b/config/adream_areas.yaml
@@ -0,0 +1,28 @@
+adream_kitchen:
+  pose:
+    z: 1.75
+  polygon_path: package://overworld/models/areas/adream_kitchen.obj
+  half_height: 1.75
+  hysteresis: 0.2
+
+adream_bedroom:
+  pose:
+    z: 1.75
+  polygon_path: package://overworld/models/areas/adream_bedroom.obj
+  half_height: 1.75
+  hysteresis: 0.2
+
+adream_saloon:
+  pose:
+    z: 1.75
+  polygon_path: package://overworld/models/areas/adream_saloon.obj
+  half_height: 1.75
+  hysteresis: 0.2
+
+#eve_area:
+#  pose:
+#    z: 0.5
+#  half_height: 0.5
+#  radius: 0.5
+#  hysteresis: 0.05
+#  owner: base_link
diff --git a/config/config_example.yaml b/config/config_example.yaml
@@ -11,10 +11,8 @@ modules:
     StaticObjectsPerceptionModule: static
 
 robot_joints:
-  name : pr2
-  right_hand : r_gripper_tool_frame
-  left_hand : l_gripper_tool_frame
-  head : head_mount_kinect2_rgb_optical_frame
+  min_period : 0.09
+  robot_name: pr2
 
 pr2_left_gripper:
   side: 0 # = left

diff --git a/config/config_test.yaml b/config/config_test.yaml
@@ -0,0 +1,18 @@
+modules:
+  robot:
+    JointStatePerceptionModule: robot_joints
+  objects:
+    ArTrackPerceptionModule: ar_track
+    StaticObjectsPerceptionModule: static
+  areas:
+    ObjAreasPerceptionModule: obj_area
+
+robot_joints:
+  min_period : 0.09
+  robot_name: eve
+
+static:
+  file: package://overworld/config/adream.yaml
+
+obj_area:
+  file: package://overworld/config/adream_areas.yaml