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Move useful code from subt to osgar #965

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merged 7 commits into from
Nov 1, 2023
Merged

Move useful code from subt to osgar #965

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4836974
Move files from subt to osgar
tajgr Oct 25, 2023
e578384
Move files to osgar
tajgr Oct 26, 2023
a191f6e
Move odoimuloc to osgar
tajgr Oct 26, 2023
7e6dac0
Fix local_planner import
tajgr Oct 26, 2023
dfb6164
Fix path to odoimuloc.py
tajgr Oct 26, 2023
8d70f0b
Fix path to drivers.pull
tajgr Oct 26, 2023
203f076
Fix path for drivers/push
tajgr Oct 26, 2023
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4 changes: 2 additions & 2 deletions _deprecated/subt_graveyard/r2.json
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Original file line number Diff line number Diff line change
Expand Up @@ -96,15 +96,15 @@
}
},
"fromrospy": {
"driver": "subt.pull:Pull",
"driver": "osgar.drivers.pull:Pull",
"init": {
"outputs": ["acc", "battery_state", "score", "pose3d", "gas_detected",
"scan_front", "scan_rear", "rgbd_front:null", "rgbd_rear:null",
"robot_name", "points:gz"]
}
},
"torospy": {
"driver": "subt.push:Push"
"driver": "osgar.drivers.push:Push"
},
"logimage": {
"driver": "subt.image_extractor:ImageExtractor",
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4 changes: 2 additions & 2 deletions config/deedee-subt.json
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Expand Up @@ -190,14 +190,14 @@
}
},
"fromros": {
"driver": "subt.pull:Pull",
"driver": "osgar.drivers.pull:Pull",
"out": "scan360",
"init": {
"outputs": ["scan360"]
}
},
"toros": {
"driver": "subt.push:Push"
"driver": "osgar.drivers.push:Push"
},
"sec_timer": {
"driver": "timer",
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8 changes: 4 additions & 4 deletions config/jetson-node-k2-front.json
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Expand Up @@ -4,22 +4,22 @@
"modules":
{
"transmitter": {
"driver": "subt.push:Push",
"driver": "osgar.drivers.push:Push",
"init": {
"bind": true,
"endpoint": "tcp://*:5557"
}
},
"from_apu_receiver":{
"driver": "subt.pull:Pull",
"driver": "osgar.drivers.pull:Pull",
"init": {
"bind": true,
"endpoint": "tcp://*:5558",
"outputs": ["joint_angle_pose", "pose3d"]
}
},
"from_jetson_rear_receiver":{
"driver": "subt.pull:Pull",
"driver": "osgar.drivers.pull:Pull",
"init": {
"bind": true,
"endpoint": "tcp://*:5560",
Expand Down Expand Up @@ -92,7 +92,7 @@
}
},
"toros": {
"driver": "subt.push:Push"
"driver": "osgar.drivers.push:Push"
}
},
"links": [
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6 changes: 3 additions & 3 deletions config/jetson-node-k2-rear.json
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Expand Up @@ -39,14 +39,14 @@
}
},
"transmitter": {
"driver": "subt.push:Push",
"driver": "osgar.drivers.push:Push",
"init": {
"bind": true,
"endpoint": "tcp://*:5557"
}
},
"receiver":{
"driver": "subt.pull:Pull",
"driver": "osgar.drivers.pull:Pull",
"init": {
"bind": true,
"endpoint": "tcp://*:5558",
Expand All @@ -69,7 +69,7 @@
}
},
"to_front_jetson": {
"driver": "subt.push:Push",
"driver": "osgar.drivers.push:Push",
"init": {
"endpoint": "tcp://192.168.0.23:5560"
}
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12 changes: 6 additions & 6 deletions config/kloubak2-subt-estop-lora-jetson.json
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Expand Up @@ -160,33 +160,33 @@
"init": {"port": "/dev/gas_detector", "speed": 115200}
},
"localization": {
"driver": "subt.odoimuloc:Localization",
"driver": "osgar.drivers.odoimuloc:Localization",
"in": ["orientation", "odom"],
"out": ["pose3d"],
"init":{}
},
"from_jetson_front": {
"driver": "subt.pull:Pull",
"driver": "osgar.drivers.pull:Pull",
"init": {
"endpoint": "tcp://192.168.0.23:5557",
"outputs": ["pose3d", "depth", "scan360", "points"]
}
},
"from_jetson_rear": {
"driver": "subt.pull:Pull",
"driver": "osgar.drivers.pull:Pull",
"init": {
"endpoint": "tcp://192.168.0.24:5557",
"outputs": ["pose3d", "depth", "localized_artf", "debug_image", "localized_artf_rear", "debug_image_rear"]
}
},
"to_jetson_rear": {
"driver": "subt.push:Push",
"driver": "osgar.drivers.push:Push",
"init": {
"endpoint": "tcp://192.168.0.24:5558"
}
},
"to_jetson_front": {
"driver": "subt.push:Push",
"driver": "osgar.drivers.push:Push",
"init": {
"endpoint": "tcp://192.168.0.23:5558"
}
Expand Down Expand Up @@ -224,7 +224,7 @@
}
},
"fromros": {
"driver": "subt.pull:Pull",
"driver": "osgar.drivers.pull:Pull",
"out": ["scan360", "points"],
"init": {
"endpoint": "tcp://192.168.0.23:5565",
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4 changes: 2 additions & 2 deletions config/skiddy-subt-serialloop.json
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Expand Up @@ -9,7 +9,7 @@
"init": {"port": "/dev/ttyACM0", "speed": 115200, "timeout": 0.02}
},
"fromapp": {
"driver": "subt.pull:Pull",
"driver": "osgar.drivers.pull:Pull",
"out": ["raw"],
"init": {
"endpoint": "tcp://127.0.0.1:5590",
Expand All @@ -18,7 +18,7 @@
}
},
"toapp": {
"driver": "subt.push:Push",
"driver": "osgar.drivers.push:Push",
"init": {
"endpoint": "tcp://127.0.0.1:5591",
"bind": true
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10 changes: 5 additions & 5 deletions config/skiddy-subt.json
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Expand Up @@ -31,20 +31,20 @@
"init": {}
},
"toserial": {
"driver": "subt.push:Push",
"driver": "osgar.drivers.push:Push",
"init": {
"endpoint": "tcp://127.0.0.1:5590"
}
},
"fromserial": {
"driver": "subt.pull:Pull",
"driver": "osgar.drivers.pull:Pull",
"init": {
"endpoint": "tcp://127.0.0.1:5591",
"outputs": ["raw"]
}
},
"localization": {
"driver": "subt.odoimuloc:Localization",
"driver": "osgar.drivers.odoimuloc:Localization",
"in": ["orientation", "odom"],
"out": ["pose3d"],
"init":{}
Expand Down Expand Up @@ -245,7 +245,7 @@
}
},
"fromros": {
"driver": "subt.pull:Pull",
"driver": "osgar.drivers.pull:Pull",
"out": ["scan360", "points"],
"init": {
"outputs": ["scan360", "points"]
Expand All @@ -260,7 +260,7 @@
}
},
"toros": {
"driver": "subt.push:Push"
"driver": "osgar.drivers.push:Push"
},
"sec_timer": {
"driver": "timer",
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2 changes: 1 addition & 1 deletion config/test-pull_zmq.json
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Expand Up @@ -3,7 +3,7 @@
"robot": {
"modules": {
"pull": {
"driver": "subt.pull:Pull",
"driver": "osgar.drivers.pull:Pull",
"init": {
"endpoint": "tcp://192.168.0.23:5557",
"outputs": ["localized_artf", "debug_image"]
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0 subt/odoimuloc.py → osgar/drivers/odoimuloc.py
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File renamed without changes.
0 subt/pull.py → osgar/drivers/pull.py
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File renamed without changes.
0 subt/push.py → osgar/drivers/push.py
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File renamed without changes.
2 changes: 1 addition & 1 deletion subt/test_odoimuloc.py → osgar/drivers/test_odoimuloc.py
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Expand Up @@ -11,7 +11,7 @@
from osgar.lib import quaternion
from osgar.lib.unittest import TestCase

from subt.odoimuloc import Localization
from osgar.drivers.odoimuloc import Localization


class LocalizationTest(TestCase):
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0 subt/local_planner.py → osgar/lib/local_planner.py
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2 changes: 1 addition & 1 deletion subt/test_local_planner.py → osgar/lib/test_local_planner.py
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@@ -1,7 +1,7 @@
import unittest
import math

from subt.local_planner import LocalPlanner, LocalPlannerRef, LocalPlannerOpt, LocalPlannerNumpy
from osgar.lib.local_planner import LocalPlanner, LocalPlannerRef, LocalPlannerOpt, LocalPlannerNumpy


class SubTChallengeTest(unittest.TestCase):
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4 changes: 2 additions & 2 deletions subt/config/coro_pam.json
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Expand Up @@ -118,15 +118,15 @@
}
},
"fromrospy": {
"driver": "subt.pull:Pull",
"driver": "osgar.drivers.pull:Pull",
"init": {
"outputs": ["acc", "top_scan", "bottom_scan", "pose3d", "battery_state", "score", "gas_detected",
"rgbd_front:null", "rgbd_left:null", "rgbd_right:null",
"air_pressure", "scan360", "slopes", "octomap:gz", "robot_name"]
}
},
"torospy": {
"driver": "subt.push:Push"
"driver": "osgar.drivers.push:Push"
},
"logimage": {
"driver": "subt.image_extractor:ImageExtractor",
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2 changes: 1 addition & 1 deletion subt/main.py
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Expand Up @@ -20,7 +20,7 @@
from osgar.lib.lidar_pts import equal_scans
from osgar.lib.loop import LoopDetector

from subt.local_planner import LocalPlanner
from osgar.lib.local_planner import LocalPlanner
from subt.trace import Trace, distance3D
from subt.name_decoder import parse_robot_name

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2 changes: 1 addition & 1 deletion subt/octomap.json
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Expand Up @@ -3,7 +3,7 @@
"robot": {
"modules": {
"fromrospy": {
"driver": "subt.pull:Pull",
"driver": "osgar.drivers.pull:Pull",
"init": {
"outputs": ["rot", "acc", "orientation", "battery_state", "score", "pose3d",
"image_front", "image_rear", "scan_front", "scan_rear", "depth_front:null", "depth_rear:null",
Expand Down
4 changes: 2 additions & 2 deletions subt/zmq-subt-x2.json
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Expand Up @@ -81,15 +81,15 @@
}
},
"fromrospy": {
"driver": "subt.pull:Pull",
"driver": "osgar.drivers.pull:Pull",
"init": {
"outputs": ["acc", "battery_state", "score", "pose3d", "gas_detected", "joint_angle",
"scan_front", "scan_rear", "scan360", "rgbd_front:null", "rgbd_rear:null",
"robot_name", "octomap:gz", "camera_left:null", "camera_right:null"]
}
},
"torospy": {
"driver": "subt.push:Push"
"driver": "osgar.drivers.push:Push"
},
"twister": {
"driver": "subt.twistwrap:TwistWrap"
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4 changes: 2 additions & 2 deletions subt/zmq-subt-x4.json
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Expand Up @@ -117,14 +117,14 @@
}
},
"fromrospy": {
"driver": "subt.pull:Pull",
"driver": "osgar.drivers.pull:Pull",
"init": {
"outputs": ["acc", "top_scan", "bottom_scan", "pose3d", "battery_state", "score", "gas_detected",
"rgbd_front:null", "air_pressure", "scan360", "octomap:gz", "robot_name", "slopes"]
}
},
"torospy": {
"driver": "subt.push:Push"
"driver": "osgar.drivers.push:Push"
},
"logimage": {
"driver": "subt.image_extractor:ImageExtractor",
Expand Down
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