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# PR Summary PR Link: [Link](#76) Issue Link: [Link](#75) ### Description Switches compilation-heavy submodules for pre-compiled debians to assist CI pipeline and embedded devices. ### Reviewers - Required: @MaxxWilson --- ### Changelog - Switches submodules to track VEXU_GHOST forks. - Changes setup_submodules.sh script to pull debians from new ghost_dependencies repository instead of compiling from source locally. - Skips debianized submodules in build and test scripts. - Skips building visualization packages on arm machines (jetson). - Adds reverse-ssh tunnel to CI pipeline for post-failure debugging.
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| Original file line number | Diff line number | Diff line change |
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| [submodule "01_Libraries/ghost_estimation/src/shared"] | ||
| path = 01_Libraries/ghost_estimation/src/shared | ||
| url = [email protected]:MaxxWilson/amrl_shared_lib.git | ||
| url = [email protected]:VEXU-GHOST/amrl_shared_lib.git | ||
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| [submodule "09_External/yaml-cpp"] | ||
| path = 09_External/yaml-cpp | ||
| url = [email protected]:jbeder/yaml-cpp.git | ||
| url = [email protected]:VEXU-GHOST/yaml-cpp.git | ||
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| [submodule "09_External/Casadi-Tutorial-CPP"] | ||
| path = 09_External/Casadi-Tutorial-CPP | ||
| url = [email protected]:zehuilu/Tutorial-on-CasADi-with-CPP.git | ||
| url = [email protected]:VEXU-GHOST/Tutorial-on-CasADi-with-CPP.git | ||
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| [submodule "09_External/casadi"] | ||
| path = 09_External/casadi | ||
| url = https://github.com/casadi/casadi.git | ||
| url = [email protected]:VEXU-GHOST/casadi.git | ||
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| [submodule "09_External/Ipopt"] | ||
| path = 09_External/Ipopt | ||
| url = [email protected]:MaxxWilson/Ipopt.git | ||
| url = [email protected]:VEXU-GHOST/Ipopt.git | ||
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| [submodule "09_External/rplidar_ros"] | ||
| path = 09_External/rplidar_ros | ||
| url = [email protected]:Slamtec/rplidar_ros.git | ||
| url = [email protected]:VEXU-GHOST/rplidar_ros.git | ||
| branch = ros2 | ||
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| [submodule "09_External/matplotlib-cpp"] | ||
| path = 09_External/matplotlib-cpp | ||
| url = [email protected]:MaxxWilson/matplotlib-cpp.git | ||
| url = [email protected]:VEXU-GHOST/matplotlib-cpp.git | ||
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| [submodule "09_External/ThirdParty-Mumps"] | ||
| path = 09_External/ThirdParty-Mumps | ||
| url = [email protected]:MaxxWilson/ThirdParty-Mumps.git | ||
| url = [email protected]:VEXU-GHOST/ThirdParty-Mumps.git | ||
| branch = with-src | ||
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| [submodule "09_External/BehaviorTree.CPP"] | ||
| path = 09_External/BehaviorTree.CPP | ||
| url = [email protected]:BehaviorTree/BehaviorTree.CPP.git | ||
| url = [email protected]:VEXU-GHOST/BehaviorTree.CPP.git | ||
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| [submodule "09_External/BehaviorTree.ROS2"] | ||
| path = 09_External/BehaviorTree.ROS2 | ||
| url = https://github.com/JakeWendling/BehaviorTree.ROS2 | ||
| url = [email protected]:VEXU-GHOST/BehaviorTree.ROS2.git | ||
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| [submodule "09_External/plotjuggler"] | ||
| path = 09_External/plotjuggler | ||
| url = [email protected]:VEXU-GHOST/PlotJuggler.git | ||
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| [submodule "09_External/plotjuggler-ros-plugins"] | ||
| path = 09_External/plotjuggler-ros-plugins | ||
| url = [email protected]:VEXU-GHOST/plotjuggler-ros-plugins.git |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,27 @@ | ||
| cmake_minimum_required(VERSION 3.8) | ||
| project(ghost_viz) | ||
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| # Add Global CMake Config for Ghost Packages | ||
| set(Ghost_DIR "$ENV{VEXU_HOME}/cmake") | ||
| find_package(Ghost CONFIG REQUIRED) | ||
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| # Adds all our package dependencies to one list | ||
| set(DEPENDENCIES | ||
| ament_cmake | ||
| ) | ||
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| # Iterates through the list and finds the packages! | ||
| foreach(pkg ${DEPENDENCIES}) | ||
| find_package(${pkg} REQUIRED) | ||
| endforeach() | ||
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| # Tell any packages that depend on us what dependencies we need. | ||
| ament_export_dependencies(${DEPENDENCIES}) | ||
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| install(DIRECTORY | ||
| config | ||
| launch | ||
| DESTINATION share/${PROJECT_NAME}) | ||
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| # This generates the ROS2 package and should always be the last line. | ||
| ament_package() |
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| <?xml version='1.0' encoding='UTF-8'?> | ||
| <root> | ||
| <tabbed_widget parent="main_window" name="Main Window"> | ||
| <Tab tab_name="tab1" containers="1"> | ||
| <Container> | ||
| <DockSplitter count="1" sizes="1" orientation="-"> | ||
| <DockArea name="..."> | ||
| <plot mode="TimeSeries" flip_y="false" flip_x="false" style="Lines"> | ||
| <range left="0.000000" top="1.000000" bottom="0.000000" right="1.000000"/> | ||
| <limitY/> | ||
| </plot> | ||
| </DockArea> | ||
| </DockSplitter> | ||
| </Container> | ||
| </Tab> | ||
| <currentTabIndex index="0"/> | ||
| </tabbed_widget> | ||
| <use_relative_time_offset enabled="1"/> | ||
| <!-- - - - - - - - - - - - - - - --> | ||
| <!-- - - - - - - - - - - - - - - --> | ||
| <Plugins> | ||
| <plugin ID="DataLoad CSV"> | ||
| <parameters time_axis="" delimiter="0"/> | ||
| </plugin> | ||
| <plugin ID="DataLoad MCAP"/> | ||
| <plugin ID="DataLoad ROS2 bags"> | ||
| <use_header_stamp value="false"/> | ||
| <discard_large_arrays value="true"/> | ||
| <max_array_size value="1000"/> | ||
| <boolean_strings_to_number value="true"/> | ||
| <remove_suffix_from_strings value="true"/> | ||
| <selected_topics value="/sensors/wheel_odom"/> | ||
| </plugin> | ||
| <plugin ID="DataLoad ULog"/> | ||
| <plugin ID="ROS2 Topic Subscriber"> | ||
| <use_header_stamp value="false"/> | ||
| <discard_large_arrays value="true"/> | ||
| <max_array_size value="100"/> | ||
| <boolean_strings_to_number value="true"/> | ||
| <remove_suffix_from_strings value="true"/> | ||
| <selected_topics value="/trajectory/swerve_mpc_trajectory"/> | ||
| </plugin> | ||
| <plugin ID="UDP Server"/> | ||
| <plugin ID="WebSocket Server"/> | ||
| <plugin ID="ZMQ Subscriber"/> | ||
| <plugin ID="Fast Fourier Transform"/> | ||
| <plugin ID="Quaternion to RPY"/> | ||
| <plugin ID="Reactive Script Editor"> | ||
| <library code="--[[ Helper function to create a series from arrays

 new_series: a series previously created with ScatterXY.new(name)
 prefix: prefix of the timeseries, before the index of the array
 suffix_X: suffix to complete the name of the series containing the X value. If [nil], use the index of the array.
 suffix_Y: suffix to complete the name of the series containing the Y value
 timestamp: usually the tracker_time variable
 
 Example:
 
 Assuming we have multiple series in the form:
 
 /trajectory/node.{X}/position/x
 /trajectory/node.{X}/position/y
 
 where {N} is the index of the array (integer). We can create a reactive series from the array with:
 
 new_series = ScatterXY.new("my_trajectory") 
 CreateSeriesFromArray( new_series, "/trajectory/node", "position/x", "position/y", tracker_time );
--]]

function CreateSeriesFromArray( new_series, prefix, suffix_X, suffix_Y, timestamp )
 
 --- clear previous values
 new_series:clear()
 
 --- Append points to new_series
 index = 0
 while(true) do

 x = index;
 -- if not nil, get the X coordinate from a series
 if suffix_X ~= nil then 
 series_x = TimeseriesView.find( string.format( "%s.%d/%s", prefix, index, suffix_X) )
 if series_x == nil then break end
 x = series_x:atTime(timestamp)	 
 end
 
 series_y = TimeseriesView.find( string.format( "%s.%d/%s", prefix, index, suffix_Y) )
 if series_y == nil then break end 
 y = series_y:atTime(timestamp)
 
 new_series:push_back(x,y)
 index = index+1
 end
end

--[[ Similar to the built-in function GetSeriesNames(), but select only the names with a give prefix. --]]

function GetSeriesNamesByPrefix(prefix)
 -- GetSeriesNames(9 is a built-in function
 all_names = GetSeriesNames()
 filtered_names = {}
 for i, name in ipairs(all_names) do
 -- check the prefix
 if name:find(prefix, 1, #prefix) then
 table.insert(filtered_names, name);
 end
 end
 return filtered_names
end

--[[ Modify an existing series, applying offsets to all their X and Y values

 series: an existing timeseries, obtained with TimeseriesView.find(name)
 delta_x: offset to apply to each x value
 delta_y: offset to apply to each y value 
 
--]]

function ApplyOffsetInPlace(series, delta_x, delta_y)
 -- use C++ indeces, not Lua indeces
 for index=0, series:size()-1 do
 x,y = series:at(index)
 series:set(index, x + delta_x, y + delta_y)
 end
end

function TopicSplitter(inputstr)
 local t = {}
 for str in string.gmatch(inputstr, "[^/]+") do
 table.insert(t, str)
 end
 return t
end

function getDataFromSeriesName(name, time_sample)
 local data = {}
 local count = 0
 while(true) do
 local series_name = string.format("%s/%d", name, count)
 local series = TimeseriesView.find(series_name)
 
 if(series == nil) then
 break
 end
 
 table.insert(data, series:atTime(time_sample))
 count = count + 1
 end
 return data
end
"/> | ||
| <scripts> | ||
| <script function="series_names = GetSeriesNamesByPrefix("trajectory")
 
-- Adds new trajectories when received
for i, name in ipairs(series_names) do
 t = TopicSplitter(name)
 local group_name = t[2]
 local trajectory_name = t[3]
 
 -- If we haven't seen this trajectory group before, add table for group
 if(trajectory_groups[group_name] == nil) then
 trajectory_groups[group_name] = {}
 end
 -- If we haven't seen this trajectory within the group before, add series for it
 if(trajectory_groups[group_name][trajectory_name] == nil) then
 if(trajectory_name == "time")then
 trajectory_groups[group_name][trajectory_name] = true
 else 
 new_series_name = string.format("%s/%s", group_name, trajectory_name)
 print("Creating new trajectory category", new_series_name)
 trajectory_groups[group_name][trajectory_name] = ScatterXY.new(new_series_name)
 end
 end
end

-- Update existing trajectories --
for group_name, trajectory_map in pairs(trajectory_groups) do
 -- Abort for groups without a time vector
 if(trajectory_map["time"] == nil)then
 print("No Time series found! Cannot continue for group: ", group_name)
 break
 end
 -- Process time vector first
 time_str = string.format("/trajectory/%s/%s", group_name, "time")
 time_array = getDataFromSeriesName(time_str, tracker_time);
 
 for traj_name, data in pairs(trajectory_map) do
 local series = trajectory_groups[group_name][traj_name]
 if(traj_name ~= "time") then
 series:clear()
 local data_str = string.format("/trajectory/%s/%s", group_name, traj_name)
 local data_array = getDataFromSeriesName(data_str, tracker_time)
 
 for index, val in ipairs(data_array) do
 series:push_back(time_array[index], val)
 end
 end
 end
end
 " name="trajectory_plotter" global="trajectory_groups = {}
printed_already = false"/> | ||
| </scripts> | ||
| </plugin> | ||
| <plugin ID="CSV Exporter"/> | ||
| <plugin ID="ROS2 Topic Re-Publisher"/> | ||
| </Plugins> | ||
| <!-- - - - - - - - - - - - - - - --> | ||
| <previouslyLoaded_Datafiles/> | ||
| <!-- - - - - - - - - - - - - - - --> | ||
| <customMathEquations/> | ||
| <snippets/> | ||
| <!-- - - - - - - - - - - - - - - --> | ||
| </root> | ||
|
|
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,23 @@ | ||
| import os | ||
| from launch import LaunchDescription | ||
| from launch_ros.actions import Node | ||
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| def generate_launch_description(): | ||
| home_dir = os.path.expanduser("~") | ||
| pkg_share_dir = os.path.join( | ||
| home_dir, "VEXU_GHOST", "03_ROS", "ghost_viz" | ||
| ) | ||
|
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| # This contains all the parameters for our ROS nodes | ||
| pt_config_path = os.path.join(pkg_share_dir, "config/plotjuggler_config.xml") | ||
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| plotjuggler_node = Node( | ||
| package="plotjuggler", | ||
| executable="plotjuggler", | ||
| output="screen", | ||
| arguments=["-n", "-l", pt_config_path] | ||
| ) | ||
|
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| return LaunchDescription([plotjuggler_node]) |
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,21 @@ | ||
| <?xml version="1.0"?> | ||
| <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?> | ||
| <package format="3"> | ||
| <name>ghost_viz</name> | ||
| <version>1.0.0</version> | ||
| <description>Provides tools for vizualization and plotting for GHOST projects</description> | ||
| <maintainer email="[email protected]">maxx</maintainer> | ||
| <license>MIT</license> | ||
|
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| <buildtool_depend>ament_cmake</buildtool_depend> | ||
|
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| <test_depend>ament_lint_auto</test_depend> | ||
| <test_depend>ament_lint_common</test_depend> | ||
|
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| <exec_depend>plotjuggler</exec_depend> | ||
| <exec_depend>plotjuggler_ros</exec_depend> | ||
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| <export> | ||
| <build_type>ament_cmake</build_type> | ||
| </export> | ||
| </package> |
Submodule plotjuggler
added at
f3eabf
Submodule plotjuggler-ros-plugins
added at
e8a487
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