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Feature/py scenario module #649

Merged
merged 53 commits into from
Aug 22, 2024
Merged

Feature/py scenario module #649

merged 53 commits into from
Aug 22, 2024

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Robert108
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@Robert108 Robert108 commented Aug 12, 2024 •
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This PR introduces a new module ScenarioModule (SM) for translating openscenario events and parameters to the ATOS world.
Many responsibilities previously handled by the EsminiAdapter now lives in the new module.

Changes done in this PR include:

  • Cmake changes for handling ATOS modules written in Python
  • ATOSBase deleted (object ids/names now handled in scenariomodule)
  • Remove util.h dependency from EsminiAdapter.
  • SM is parameterized with file path for the scenario and which object should be active.
  • SM fetches IP config from the vehicle catalog
  • SM creates ID mapping from scenario object to ATOS (int) ID. (Esmini also holds an internal object to id mapping, to be solved)
  • Delayed start/Triggered start removed from ObjectControl/EsminiAdapter (not needed anyway?)
  • Installation scripts can now reinstall all deps (needed when updating esmini version)

@Robert108
Add scenario module skeleton code
4b1fad7
@Robert108
Add function for getting ScenarioObject names
4dd4480
@Robert108
Write test for GetObjectIdArray service
ee642d9
@Robert108
Remove ATOSBase
99ca30f
@Robert108
Change scenario module to use object names instead of int id
4cebd78
@Robert108
Refactor ScenarioModule to improve object identification and paramete…
9156b5f 
…r handling
@Robert108
Create get ip service
3d02879
@Robert108
Add axels to all vehicles in VehicleCatalog.xosc
36f72aa
@Robert108
Refactoring
e3f3afb
@Robert108
Modify test and refactoring
746681f
@Robert108
set/get IP for object
4e0c4db
@Robert108
Remove get/set object IP from esmini
d2ae334
@Robert108
Add debug prints which avoid NaN value raise condition in esminiadaper??
6bfe735
@Robert108
Improve handling of scenario paths
3cc2eda
@Robert108
Request scenario path from scenario module in esmini adapter
5034590
@Robert108
Remove util.h dependency from esmini adapter
548e748
@Robert108
Clean up scenario module
c1bfacb
@Robert108
Refactoring
40b6dc6
@Robert108
Add storyboard handler class
609fac8
@Robert108
Add StoryBoardElementStateChange publisher
365d9a9
@Robert108
Let the scenario module start objects instead of esmini
62ad52e
@Robert108
Remove trigger start since the esmini handles this now
f7bbaf9
@Robert108
Quick fix for nan values in proj transform
1c20b88
@Robert108
Refactoring
4ec1e1f
@Robert108
bug fix for object id
b2689cd
victorjarlow
victorjarlow reviewed Aug 13, 2024
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atos/CMakeLists.txt Outdated Show resolved Hide resolved
atos/common/CRSTransformation.cpp Outdated Show resolved Hide resolved
atos/common/CRSTransformation.cpp Outdated Show resolved Hide resolved
atos/common/CRSTransformation.cpp Outdated Show resolved Hide resolved
atos/modules/EsminiAdapter/inc/esminiadapter.hpp
static std::shared_ptr<rclcpp::Service<atos_interfaces::srv::GetTestOrigin>> testOriginService;
static std::shared_ptr<rclcpp::Service<atos_interfaces::srv::SetObjectIp>> setObjectIpService;
rclcpp::Client<atos_interfaces::srv::GetOpenScenarioFilePath>::SharedPtr oscFilePathClient_; //!< Client to request the current open scenario file path
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Why a comment here but not on the services?

atos/modules/EsminiAdapter/src/esminiadapter.cpp Outdated Show resolved Hide resolved
atos/modules/EsminiAdapter/src/esminiadapter.cpp Outdated Show resolved Hide resolved
conf/conf/atos-param-schema.json Outdated Show resolved Hide resolved
setup_atos.sh Outdated Show resolved Hide resolved
atos/modules/ScenarioModule/scenariomodule.py Outdated Show resolved Hide resolved
Robert108 and others added 11 commits August 14, 2024 09:29
@Robert108
Add AtosId service call to esminiadapter
2dcfb7b
@Robert108 @victorjarlow
Update atos/CMakeLists.txt
7887346 
Co-authored-by: victorjarlow <[email protected]>
@Robert108 @victorjarlow
Update atos/common/CRSTransformation.cpp
38d24d9 
Co-authored-by: victorjarlow <[email protected]>
@Robert108 @victorjarlow
Update atos/common/CRSTransformation.cpp
06d69be 
Co-authored-by: victorjarlow <[email protected]>
@Robert108 @victorjarlow
Update atos/common/CRSTransformation.cpp
6e77eb0 
Co-authored-by: victorjarlow <[email protected]>
@Robert108 @victorjarlow
Update atos/modules/EsminiAdapter/src/esminiadapter.cpp
6bbda3b 
Co-authored-by: victorjarlow <[email protected]>
@Robert108 @victorjarlow
Update conf/conf/atos-param-schema.json
327f4a8 
Co-authored-by: victorjarlow <[email protected]>
@Robert108 @victorjarlow
Update setup_atos.sh
7c74a64 
Co-authored-by: victorjarlow <[email protected]>
@Robert108 @victorjarlow
Update atos/modules/ScenarioModule/scenariomodule.py
b8eed6e 
Co-authored-by: victorjarlow <[email protected]>
@Robert108
Remove start trigger service from esmini
d2f4ac9
@Robert108
Rename scenariomodule to openscenariogateway
99d2e89
@Robert108 Robert108 marked this pull request as ready for review August 14, 2024 11:18
@Robert108 Robert108 merged commit 80d2904 into dev Aug 22, 2024
7 checks passed
@Robert108 Robert108 deleted the feature/py_scenario_module branch August 22, 2024 12:02
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@victorjarlow victorjarlow victorjarlow approved these changes

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