Merge branch 'develop' into opencv4

.github/workflows/ci_pr.yml

@@ -12,7 +12,7 @@ jobs:
     runs-on: ubuntu-20.04
 
     steps:
-    - uses: actions/checkout@v2
+    - uses: actions/checkout@v3
       with:
         fetch-depth: 0
 
@@ -28,7 +28,7 @@ jobs:
     runs-on: ubuntu-20.04
 
     steps:
-    - uses: actions/checkout@v2
+    - uses: actions/checkout@v3
       with:
         fetch-depth: 0
 
@@ -44,7 +44,7 @@ jobs:
     runs-on: ubuntu-20.04
 
     steps:
-    - uses: actions/checkout@v2
+    - uses: actions/checkout@v3
       with:
         fetch-depth: 0
 

.github/workflows/ci_push.yml

@@ -11,7 +11,7 @@ jobs:
     runs-on: ubuntu-20.04
 
     steps:
-    - uses: actions/checkout@v2
+    - uses: actions/checkout@v3
 
     - name: Checkout submodule
       run: git submodule update --init --depth 1 description/media
@@ -29,7 +29,7 @@ jobs:
     runs-on: ubuntu-20.04
 
     steps:
-    - uses: actions/checkout@v2
+    - uses: actions/checkout@v3
 
     - name: Checkout submodule
       run: git submodule update --init --depth 1 description/media
@@ -47,7 +47,7 @@ jobs:
     runs-on: ubuntu-20.04
 
     steps:
-    - uses: actions/checkout@v2
+    - uses: actions/checkout@v3
 
     - name: Checkout submodule
       run: git submodule update --init --depth 1 description/media

.github/workflows/ci_release.yml

@@ -11,7 +11,7 @@ jobs:
     runs-on: ubuntu-20.04
 
     steps:
-    - uses: actions/checkout@v2
+    - uses: actions/checkout@v3
 
     - name: Checkout submodule
       run: git submodule update --init --depth 1 description/media
@@ -36,7 +36,7 @@ jobs:
     runs-on: ubuntu-20.04
 
     steps:
-    - uses: actions/checkout@v2
+    - uses: actions/checkout@v3
 
     - name: Checkout submodule
       run: git submodule update --init --depth 1 description/media
@@ -61,7 +61,7 @@ jobs:
     runs-on: ubuntu-20.04
 
     steps:
-    - uses: actions/checkout@v2
+    - uses: actions/checkout@v3
 
     - name: Checkout submodule
       run: git submodule update --init --depth 1 description/media

.github/workflows/docker_push_latest_base.yml

@@ -13,7 +13,7 @@ jobs:
     runs-on: ubuntu-20.04
 
     steps:
-    - uses: actions/checkout@v2
+    - uses: actions/checkout@v3
 
     - name: Checkout submodule
       run: git submodule update --init --depth 1 description/media
@@ -31,7 +31,7 @@ jobs:
     runs-on: ubuntu-20.04
 
     steps:
-    - uses: actions/checkout@v2
+    - uses: actions/checkout@v3
 
     - name: Checkout submodule
       run: git submodule update --init --depth 1 description/media
@@ -49,7 +49,7 @@ jobs:
     runs-on: ubuntu-20.04
 
     steps:
-    - uses: actions/checkout@v2
+    - uses: actions/checkout@v3
 
     - name: Checkout submodule
       run: git submodule update --init --depth 1 description/media

.github/workflows/docs.yaml

@@ -4,7 +4,7 @@ name: Build and Push Documentation to gh-pages Branch
 
 on:
   push:
-    branches: ['develop']
+    branches: ['develop', 'master', 'ros2']
   workflow_dispatch:
 
 jobs:
@@ -13,34 +13,84 @@ jobs:
 
     steps:
     - name: Checkout
-      uses: actions/checkout@v2
+      uses: actions/checkout@v3
       with:
         path: repo/
-    - name: Checkout gh-pages
-      uses: actions/checkout@v2
-      with:
-        path: docs/
-        ref: gh-pages
+
     - name: Build docker image with dependencies + build docs
       run: docker build repo -f repo/scripts/docker/documentation.Dockerfile
                                  -t astrobee:documentation
 
-    - name: Replace old documentation with new
+    - name: Checkout gh-pages
+      uses: actions/checkout@v3
+      with:
+        path: gh-pages/
+        ref: gh-pages
+
+    - name: Create/replace documentation for the current branch
       run: |
-        (cd docs && git rm -r "*")
-        cp repo/doc/documentation.html docs/index.html
-        cp repo/doc/documentation.html docs/documentation.html
-        cp repo/doc/README.md docs/README.md
-        docker cp $(docker create --rm astrobee:documentation):/repo/doc/html docs/html
+        set -x
+        export BRANCH=$(cd repo && git branch --show-current)
+
+        # Make gh-pages checkout an orphan commit so we don't keep useless history.
+        (cd gh-pages && git checkout --orphan fresh)
+
+        # Install generated docs to a version folder based on branch name.
+        (cd gh-pages && git rm -rf --ignore-unmatch "v/$BRANCH")
+        mkdir -p gh-pages/v/
+        docker cp $(docker create --rm astrobee:documentation):/repo/doc/html "gh-pages/v/$BRANCH"
+        (cd gh-pages && git add --all "v/$BRANCH")
+
+        if [ "$BRANCH" == "develop" ]; then
+          # Update the few files at root level (mostly redirects)
+          (cd gh-pages && git rm -f --ignore-unmatch index.html documentation.html README.md 404.html .nojekyll)
+          cp repo/doc/documentation.html gh-pages/index.html
+          cp repo/doc/documentation.html gh-pages/documentation.html
+          cp repo/doc/README.md gh-pages/
+          cp repo/doc/404.html gh-pages/
+          touch gh-pages/.nojekyll
+          cp repo/doc/style/doc_version_select.js gh-pages/
+          (cd gh-pages && git add index.html documentation.html README.md 404.html .nojekyll doc_version_select.js)
+
+          # Set up HTML redirect to generated docs in the legacy path to
+          # avoid broken URL references
+          (cd gh-pages && git rm -rf --ignore-unmatch html)
+          python repo/doc/scripts/copy_html_link.py -v gh-pages/v/develop gh-pages/html
+          (cd gh-pages && git add --all html)
+        fi
+
+        # If the commit is tagged, copy generated docs to a version
+        # folder based on the tag. Copy rather than symlink so the tag
+        # folder will remain valid later when the branch folder is
+        # updated. Note: If you want to manually remove an obsolete docs
+        # version, use git to check out the gh-pages branch, remove the
+        # relevant folder, and push back to origin. Also, this action
+        # only triggers when the branch is pushed, and it detects only
+        # the tags that are present at that time. So you should either
+        # (1) push the branch and its tag in the same push call
+        # (easiest), or (2) manually trigger the CI workflow to run on
+        # the relevant branch again, after it has been tagged.
+        (cd repo && git fetch origin --tags)
+        for tag in $(cd repo && git tag --points-at HEAD | xargs echo); do
+          (cd gh-pages && git rm -rf --ignore-unmatch "v/$tag")
+          cp -r "gh-pages/v/$BRANCH" "gh-pages/v/$tag"
+          (cd gh-pages && git add --all "v/$tag")
+        done
+
+        # Auto-detect which docs versions are available. The script here
+        # has additional logic to ensure that develop, master, and ros2
+        # are at the beginning of the list if they are present.
+        all_versions=$(ls "gh-pages/v/" | sort | perl -e '@dirs = <STDIN>; chomp @dirs; %dirs_hash = map { $_ => 1 } @dirs; @head = grep { exists($dirs_hash{$_}) } ("develop", "master", "ros2"); %head_hash = map { $_ => 1 } @head; @tail = grep { !exists($head_hash{$_}) } @dirs; @versions = (@head, @tail); print "var allVersions = [\"", join("\", \"",@versions), "\"];\n";')
+        # Replace versions line specified in doc_version_select.js.
+        perl -i -ple "\$_ = '$all_versions' if /^var allVersions/;" gh-pages/doc_version_select.js
+        (cd gh-pages && git add doc_version_select.js)
 
     - name: Commit and Push
       run: |
-        cd docs
-        git add index.html documentation.html README.md
-        git add --all html/
-        EMAIL=`git show -s --format='%ae' HEAD`
-        NAME=`git show -s --format='%an' HEAD`
+        cd gh-pages
+        EMAIL=`git show -s --format='%ae' gh-pages`
+        NAME=`git show -s --format='%an' gh-pages`
         git config user.email "$EMAIL"
         git config user.name "$NAME"
         { git commit -m "Automatic update for $GITHUB_SHA." || true; }
-        git push origin gh-pages
+        git push -f origin HEAD:gh-pages

.github/workflows/lint.yaml

@@ -9,15 +9,15 @@ jobs:
     runs-on: ubuntu-latest
 
     steps:
-    - uses: actions/checkout@v2
+    - uses: actions/checkout@v3
     - name: Check repo for lint errors
       run: ./scripts/git/cpplint_repo.py .
 
   lint_check_python:
     runs-on: ubuntu-latest
 
     steps:
-    - uses: actions/checkout@v2
+    - uses: actions/checkout@v3
     - name: Install linters
       run: |
         pip install click==8.0.1 black==22.1.0 isort==5.10.1

.isort.cfg

@@ -0,0 +1,18 @@
+[settings]
+
+# The src_paths setting should be a comma-separated list of all the
+# folders in the astrobee repo that contain *.py files. Python files
+# found in these folders count as "first party" so they should be in a
+# separate group from the "third party" imports. If src_paths is not
+# specified, isort will treat only the files it's asked to check as
+# first party. Therefore, if we specify src_paths broadly in this way,
+# isort behavior should be more repeatable between (1) manually
+# running isort on a single file in your local dev machine, vs. (2)
+# running the git pre-commit hook locally on your dev machine, which
+# historically ran isort only on the files that changed since the last
+# commit, or (3) running the CI workflow, which always runs isort on
+# all files. If src_paths needs to be updated, like if *.py files are
+# added to a new folder, you can auto-update it by running
+# scripts/git/configure_isort_paths.sh.
+
+src_paths = doc/scripts,hardware/eps_driver/tools,hardware/pico_driver/scripts,hardware/pmc_actuator/tools,localization/localization_common,localization/localization_common/scripts/localization_common,localization/marker_tracking/tools/marker_tracking_node,localization/sparse_mapping/scripts,localization/sparse_mapping/tools,scripts/build,scripts/calibrate,scripts/debug,scripts/git,scripts/postprocessing/coverage_analysis,tools/bag_processing/scripts,tools/bag_processing/scripts/utilities,tools/bag_processing/test,tools/calibration/scripts,tools/gds_helper/src,tools/gnc_visualizer/dds,tools/gnc_visualizer/scripts,tools/gnc_visualizer/scripts/communications,tools/localization_analysis/scripts,tools/performance_tester/scripts

RELEASE.md

@@ -1,5 +1,14 @@
 # Releases
 
+# Release 0.17.1
+
+  * Multiple bug fixes
+
+# Release 0.17.0
+
+  * Full compatibility and debians built for Ubuntu 20
+  * Deleted all simulink autocode for ctl and fam
+
 ## Release 0.16.7
 
   * Remove simulink auto-generated code

astrobee.doxyfile

@@ -39,13 +39,13 @@ PROJECT_NAME           = "NASA Astrobee Robot Software"
 # control system is used.
 
 
-PROJECT_NUMBER         = 0.16.7
+PROJECT_NUMBER         = 0.17.1
 
 # Using the PROJECT_BRIEF tag one can provide an optional one line description
 # for a project that appears at the top of each page and should give viewer a
 # quick idea about the purpose of the project. Keep the description short.
 
-PROJECT_BRIEF          = "Flight software for the Astrobee robot operating inside the International Space Station."
+PROJECT_BRIEF          = "Flight software for the Astrobee robots operating inside the International Space Station."
 
 # With the PROJECT_LOGO tag one can specify a logo or an icon that is included
 # in the documentation. The maximum height of the logo should not exceed 55

astrobee/CMakeLists.txt

@@ -18,7 +18,7 @@
 cmake_minimum_required(VERSION 3.0)
 project(astrobee)
 
-set(ASTROBEE_VERSION 0.16.7)
+set(ASTROBEE_VERSION 0.17.1)
 
 ## Compile as C++14, supported in ROS Kinetic and newer
 add_compile_options(-std=c++14)

astrobee/launch/robot/MLP.launch

@@ -89,7 +89,7 @@
   <include file="$(find ff_util)/launch/ff_nodelet.launch">
     <arg name="class" value="depth_odometry/DepthOdometryNodelet" />
     <arg name="name" value="depth_odometry_nodelet" />
-    <arg name="manager" value="mlp_vision" />
+    <arg name="manager" value="mlp_depth_cam" />
     <arg name="spurn" value="$(arg spurn)" />
     <arg name="nodes" value="$(arg nodes)" />
     <arg name="extra" value="$(arg extra)" />

behaviors/arm/src/arm_nodelet.cc

@@ -518,7 +518,7 @@ class ArmNodelet : public ff_util::FreeFlyerNodelet {
     sub_joint_states_ = nh->subscribe(TOPIC_JOINT_STATES, 1,
       &ArmNodelet::JointStateCallback, this);
     pub_joint_goals_ = nh->advertise<sensor_msgs::JointState>(
-      TOPIC_JOINT_GOALS, 1, true);
+      TOPIC_JOINT_GOALS, 1);
 
     // Subscribe to Proximal Joint Servo Enabling service
     client_enable_prox_servo_ = nh->serviceClient<ff_hw_msgs::SetEnabled>(

behaviors/arm/tools/arm_tool.cc

@@ -23,7 +23,7 @@
 // Include RPOS
 #include <ros/ros.h>
 // FSW includes
-#include <ff_util/ff_names.h>
+#include <ff_common/ff_names.h>
 #include <ff_util/ff_action.h>
 #include <ff_util/config_client.h>
 

behaviors/dock/tools/dock_tool.cc

@@ -24,7 +24,7 @@
 #include <ros/ros.h>
 
 // FSW includes
-#include <ff_util/ff_names.h>
+#include <ff_common/ff_names.h>
 #include <ff_util/ff_action.h>
 
 // Action

behaviors/light_flow/include/light_flow.h

@@ -20,7 +20,7 @@
 #define LIGHT_FLOW_H_
 
 #include <ff_hw_msgs/ConfigureLED.h>
-#include <ff_util/ff_names.h>
+#include <ff_common/ff_names.h>
 #include <jsoncpp/json/value.h>
 #include <ros/ros.h>
 #include <stdio.h>

behaviors/light_flow/src/light_flow/light_flow.cc

@@ -20,7 +20,7 @@
 #include <assert.h>
 #include <ff_hw_msgs/ConfigureLED.h>
 #include <ff_hw_msgs/ConfigureLEDGroup.h>
-#include <ff_util/ff_names.h>
+#include <ff_common/ff_names.h>
 #include <jsoncpp/json/allocator.h>
 #include <jsoncpp/json/json.h>
 #include <jsoncpp/json/value.h>

behaviors/light_flow/src/light_flow_nodelet/light_flow_nodelet.cc

@@ -32,7 +32,7 @@
 #include <config_reader/config_reader.h>
 
 // FSW nodelet
-#include <ff_util/ff_names.h>
+#include <ff_common/ff_names.h>
 #include <ff_util/ff_nodelet.h>
 
 // Services

behaviors/light_flow/tools/light_flow_tool.cc

@@ -18,7 +18,7 @@
 
 #include <ff_hw_msgs/ConfigureLED.h>
 #include <ff_hw_msgs/ConfigureLEDGroup.h>
-#include <ff_util/ff_names.h>
+#include <ff_common/ff_names.h>
 #include <jsoncpp/json/allocator.h>
 #include <jsoncpp/json/json.h>
 #include <jsoncpp/json/value.h>

behaviors/perch/tools/perch_tool.cc

@@ -24,7 +24,7 @@
 #include <ros/ros.h>
 
 // FSW includes
-#include <ff_util/ff_names.h>
+#include <ff_common/ff_names.h>
 #include <ff_util/ff_action.h>
 
 // Action

behaviors/states/src/states_nodelet/states_nodelet.cc

@@ -25,7 +25,7 @@
 #include <config_reader/config_reader.h>
 
 // FSW nodelet
-#include <ff_util/ff_names.h>
+#include <ff_common/ff_names.h>
 #include <ff_util/ff_nodelet.h>
 
 // Services

communications/dds_ros_bridge/include/dds_ros_bridge/astrobee_astrobee_bridge.h

@@ -39,7 +39,7 @@
 
 #include "ff_msgs/ResponseOnly.h"
 
-#include "ff_util/ff_names.h"
+#include "ff_common/ff_names.h"
 #include "ff_util/ff_nodelet.h"
 
 // SoraCore Includes