Merge branch 'develop' into feature/cm4_packet

.github/sync.yml

@@ -1,3 +1,3 @@
-ibis-ssl/crane_documentation:
+ibis-ssl/ibis_documentation:
   - source: docs
-    dest: docs
+    dest: docs/ai

.github/workflows/build_test.yaml

@@ -4,12 +4,13 @@ on:
   workflow_dispatch:
   pull_request:
     paths:
-      - .github/workflows/build-test.yml
+      - .github/workflows/build_test.yaml
       - "**/**.cpp"
       - "**/**.h"
       - "**/**.hpp"
       - "**/CMakeLists.txt"
       - "**/package.xml"
+      - .pre-commit-config.yaml
   merge_group:
 
 jobs:
@@ -23,7 +24,7 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        rosdistro: [humble]
+        rosdistro: [humble, jazzy]
     steps:
       - name: suppress warnings
         run: |
@@ -40,18 +41,27 @@ jobs:
           cp -rf . ~/ibis_ws/src/crane
         shell: bash
 
+      - name: Install orocos libraries
+        run: |
+          apt-get update
+          apt-get install -y wget
+          wget https://launchpad.net/ubuntu/+archive/primary/+files/liborocos-bfl0.8_0.8.0-6_amd64.deb
+          wget https://launchpad.net/ubuntu/+archive/primary/+files/liborocos-bfl-dev_0.8.0-6_amd64.deb
+          apt-get install -y ./liborocos-bfl0.8_0.8.0-6_amd64.deb
+          apt-get install -y ./liborocos-bfl-dev_0.8.0-6_amd64.deb
+
       - name: Install dependencies
         run: |
           cd ~/ibis_ws
-          vcs import src < src/crane/dependency.repos
+          vcs import src < src/crane/dependency_${{ matrix.rosdistro }}.repos
 
       - name: Resolve rosdep
         run: |
           cd ~/ibis_ws
           apt-get update
           apt install -y python3-pip
           rosdep update --include-eol-distros
-          rosdep install -iy --from-paths src --rosdistro ${{ matrix.rosdistro }}
+          rosdep install -iy --from-paths src --rosdistro ${{ matrix.rosdistro }} --dependency-types=build --dependency-types=buildtool --dependency-types=test
         shell: bash
 
       - name: Setup Problem Matchers for GCC
@@ -61,7 +71,7 @@ jobs:
         run: |
           source /opt/ros/${{ matrix.rosdistro }}/setup.bash
           cd ~/ibis_ws
-          colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release
+          colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release -Wno-array-bounds
         shell: bash
 
       - name: Colcon test

.github/workflows/code_amount.yaml

@@ -5,7 +5,7 @@ on:
   pull_request:
 
 jobs:
-  spell-check:
+  code-amount:
     runs-on: ubuntu-latest
     steps:
       - name: install cloc

.github/workflows/custom_dict.json

@@ -99,6 +99,12 @@
     "PETG",
     "Waitables",
     "zdixwfbhdipwhaaxtiqcxwywwkekaxog",
-    "callgrind"
+    "callgrind",
+    "rowwise",
+    "colwise",
+    "MPPI",
+    "Kwargs",
+    "voicevox",
+    "FREEKICK"
   ]
 }

.github/workflows/sync_doc.yaml

@@ -3,7 +3,7 @@ on:
   push:
     branches:
       - develop
-      - master
+      - doc/avoid_foul
     paths:
       - docs/**
 

.pre-commit-config.yaml

@@ -3,7 +3,7 @@ ci:
 
 repos:
   - repo: https://github.com/pre-commit/pre-commit-hooks
-    rev: v4.5.0
+    rev: v4.6.0
     hooks:
       - id: check-json
       - id: check-merge-conflict
@@ -44,7 +44,7 @@ repos:
       - id: sort-package-xml
 
   - repo: https://github.com/shellcheck-py/shellcheck-py
-    rev: v0.9.0.6
+    rev: v0.10.0.1
     hooks:
       - id: shellcheck
 
@@ -60,7 +60,7 @@ repos:
 #      - id: isort
 
   - repo: https://github.com/psf/black
-    rev: 24.2.0
+    rev: 24.4.0
     hooks:
       - id: black
         args: [--line-length=99]

.vscode/extensions.json

@@ -0,0 +1,5 @@
+{
+    "recommendations": [
+        "github.copilot"
+    ]
+}

3rdparty/matplotlib_cpp_vendor/CMakeLists.txt → 3rdparty/matplotlib_cpp_17_vendor/CMakeLists.txt

@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.8)
-project(matplotlib_cpp_vendor)
+project(matplotlib_cpp_17_vendor)
 
 # Default to C99
 if(NOT CMAKE_C_STANDARD)
@@ -18,15 +18,15 @@ endif()
 # find dependencies
 find_package(ament_cmake REQUIRED)
 
-macro(build_matplotlib)
+macro(build_matplotlibcpp17)
   set(cmake_commands)
   set(cmake_configure_args -Wno-dev)
   set(cmake_configure_args -DCMAKE_INSTALL_PREFIX=${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}_install)
 
   include(ExternalProject)
   externalproject_add(matplotlib-cpp-ext
-    GIT_REPOSITORY https://github.com/lava/matplotlib-cpp.git
-    GIT_TAG ef0383f1315d32e0156335e10b82e90b334f6d9f
+    GIT_REPOSITORY https://github.com/soblin/matplotlibcpp17.git
+    GIT_TAG 4d025b5975b701598fce8487cd8feaf82eb5923f
     TIMEOUT 6000
     ${cmake_commands}
     CMAKE_ARGS
@@ -38,14 +38,14 @@ macro(build_matplotlib)
     DIRECTORY
       ${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}_install/include/
     DESTINATION
-      ${CMAKE_INSTALL_PREFIX}/include/matplotlib_cpp/matplotlib_cpp
+      ${CMAKE_INSTALL_PREFIX}/include/matplotlibcpp17
   )
 endmacro()
 
-build_matplotlib()
-ament_export_include_directories(${CMAKE_INSTALL_PREFIX}/include/matplotlib_cpp)
-message(${CMAKE_INSTALL_PREFIX}/include/matplotlib_cpp)
-ament_export_libraries(matplotlib_cpp)
+build_matplotlibcpp17()
+ament_export_include_directories(${CMAKE_INSTALL_PREFIX}/include/matplotlibcpp17)
+message(${CMAKE_INSTALL_PREFIX}/include/matplotlibcpp17)
+ament_export_libraries(matplotlibcpp17)
 
 if(BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)

3rdparty/matplotlib_cpp_vendor/package.xml → 3rdparty/matplotlib_cpp_17_vendor/package.xml

@@ -1,14 +1,16 @@
 <?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>matplotlib_cpp_vendor</name>
+  <name>matplotlib_cpp_17_vendor</name>
   <version>0.0.0</version>
   <description>TODO: Package description</description>
   <maintainer email="[email protected]">groundstation</maintainer>
   <license>TODO: License declaration</license>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 
+  <depend>python3-matplotlib</depend>
+
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>crane_lint_common</test_depend>
 

consai_ros2/consai_vision_tracker/src/robot_tracker.cpp

@@ -223,7 +223,10 @@ TrackedRobot RobotTracker::update()
 
   } else {
     // 観測値があればvisibilityをn倍のレートで上げる
-    prev_tracked_robot.visibility[0] += VISIBILITY_CONTROL_VALUE * 5.0;
+    //    prev_tracked_robot.visibility[0] += VISIBILITY_CONTROL_VALUE * 5.0;
+    // NOTE: JapanOpen2024でビジョンの点滅がロボット制御に影響を与えたと思われるため、
+    // 　　　　ビジョンが見えたら1.0に戻す処理に変更することになった
+    prev_tracked_robot.visibility[0] = 1.0;
     if (prev_tracked_robot.visibility[0] > 1.0) {
       prev_tracked_robot.visibility[0] = 1.0;
     }

consai_ros2/consai_vision_tracker/src/tracker_component.cpp

@@ -41,7 +41,7 @@ Tracker::Tracker(const rclcpp::NodeOptions & options) : Node("tracker", options)
       std::make_shared<RobotTracker>(RobotId::TEAM_COLOR_YELLOW, i, UPDATE_RATE.count()));
   }
 
-  timer = create_wall_timer(UPDATE_RATE, std::bind(&Tracker::on_timer, this));
+  timer = rclcpp::create_timer(this, get_clock(), UPDATE_RATE, std::bind(&Tracker::on_timer, this));
 
   pub_tracked = create_publisher<TrackedFrame>("detection_tracked", 10);
 

consai_ros2/consai_visualizer/CMakeLists.txt

@@ -5,8 +5,7 @@ project(consai_visualizer)
 find_package(ament_cmake REQUIRED)
 find_package(ament_cmake_python REQUIRED)
 
-ament_python_install_package(${PROJECT_NAME}
-    PACKAGE_DIR src/${PROJECT_NAME})
+ament_python_install_package(${PROJECT_NAME} PACKAGE_DIR src/${PROJECT_NAME})
 
 install(FILES plugin.xml
   DESTINATION share/${PROJECT_NAME}
@@ -17,7 +16,7 @@ install(DIRECTORY resource
 )
 
 install(PROGRAMS scripts/consai_visualizer
-  DESTINATION lib/${PROJECT_NAME}
+        DESTINATION lib/${PROJECT_NAME}
 )
 
 if(BUILD_TESTING)

consai_ros2/consai_visualizer/package.xml

@@ -8,17 +8,17 @@
   <license>Apache License 2.0</license>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
-  <buildtool_depend>ament_cmake_python</buildtool_depend>
 
   <exec_depend>ament_index_python</exec_depend>
+  <exec_depend>consai_visualizer_msgs</exec_depend>
   <exec_depend version_gte="0.2.19">python_qt_binding</exec_depend>
   <exec_depend>rclpy</exec_depend>
   <exec_depend>rqt_gui</exec_depend>
   <exec_depend>rqt_gui_py</exec_depend>
   <exec_depend>rqt_py_common</exec_depend>
 
   <test_depend>ament_lint_auto</test_depend>
-  <test_depend>crane_lint_common</test_depend>
+  <test_depend>ament_lint_common</test_depend>
 
   <export>
     <rqt_gui plugin="${prefix}/plugin.xml"/>