Merge pull request #10 from sonia-auv/develop

Develop
sonia-auv · Jul 30, 2020 · 56c9caa · 56c9caa
2 parents 1216062 + 2fc99be
commit 56c9caa
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Showing 15 changed files with 62 additions and 76 deletions.
diff --git a/.dockerignore b/.dockerignore
@@ -0,0 +1,2 @@
+build
+devel
diff --git a/.../workflows/docker-image-robot-develop.yml → ...flows/docker-image-perception-develop.yml b/.../workflows/docker-image-robot-develop.yml → ...flows/docker-image-perception-develop.yml
@@ -3,13 +3,13 @@ on:
   push:
     branches: [develop]
 jobs:
-  build-ros-robot-x86-64:
-    name: "Build ROS robot X86/64"
+  build-ros-perception-x86-64:
+    name: "Build ROS perception X86/64"
     runs-on: ubuntu-latest
     env:
-      BASE_IMAGE: "docker.pkg.github.com/sonia-auv/sonia_messages/sonia_messages:x86-robot-latest"
+      BASE_IMAGE: "docker.pkg.github.com/sonia-auv/sonia_common/sonia_common:x86-perception-latest"
       ARCH: x86
-      TARGET_TYPE: robot
+      TARGET_TYPE: perception
       TARGET_VERSION: develop
       IMAGE_NAME: provider_dvl
       GITHUB_REMOTE_URL: docker.pkg.github.com/${{ github.repository }}
@@ -18,10 +18,10 @@ jobs:
       - name: Login to Github Package Registry
         run: |
           echo "${{ secrets.GITHUB_TOKEN }}" | docker login docker.pkg.github.com -u ${{ github.actor }} --password-stdin
-      - name: Build the docker image (robot based)
+      - name: Build the docker image (perception based)
         run: |
           docker build . --tag build-${TARGET_VERSION}-${GITHUB_REF##*/}-${GITHUB_RUN_NUMBER} --build-arg BUILD_DATE=$(date '+%Y-%m-%d_%H:%M:%S') --build-arg VERSION=${GITHUB_REF##*/}-$(date '  +%Y-%m-%d_%H:%M:%S') --build-arg BASE_IMAGE=${BASE_IMAGE}
-    
+
       - name: Run Module Unit Test
         run: |
           docker run build-${TARGET_VERSION}-${GITHUB_REF##*/}-${GITHUB_RUN_NUMBER} catkin_make run_tests
@@ -32,13 +32,13 @@ jobs:
       - name: Push Image to Github Packages Registry
         run: |
           docker push ${GITHUB_REMOTE_URL}/${IMAGE_NAME}
-  build-ros-robot-arm64:
-    name: "Build ROS robot ARM64"
+  build-ros-perception-arm64:
+    name: "Build ROS perception ARM64"
     runs-on: ubuntu-latest
     env:
-      BASE_IMAGE: "docker.pkg.github.com/sonia-auv/sonia_messages/sonia_messages:arm64-robot-latest"
+      BASE_IMAGE: "docker.pkg.github.com/sonia-auv/sonia_common/sonia_common:arm64-perception-latest"
       ARCH: arm64
-      TARGET_TYPE: robot
+      TARGET_TYPE: perception
       TARGET_VERSION: develop
       IMAGE_NAME: provider_dvl
       GITHUB_REMOTE_URL: docker.pkg.github.com/${{ github.repository }}
@@ -58,7 +58,7 @@ jobs:
           sudo apt-get update
           sudo apt-get install qemu binfmt-support qemu-user-static
           docker run --rm --privileged multiarch/qemu-user-static --reset -p yes
-      - name: Build the docker image (robot based)
+      - name: Build the docker image (perception based)
         run: |
           docker build . --tag build-${TARGET_VERSION}-${GITHUB_REF##*/}-${GITHUB_RUN_NUMBER} --build-arg BUILD_DATE=$(date '+%Y-%m-%d_%H:%M:%S') --build-arg VERSION=${GITHUB_REF##*/}-$(date '  +%Y-%m-%d_%H:%M:%S') --build-arg BASE_IMAGE=${BASE_IMAGE}
       - name: Run Module Unit Test
@@ -75,8 +75,8 @@ jobs:
     name: "Notify Slack - Success"
     runs-on: ubuntu-latest
     needs: [
-        build-ros-robot-x86-64,
-        build-ros-robot-arm64,
+        build-ros-perception-x86-64,
+        build-ros-perception-arm64,
       ]
     if: success()
     steps:
@@ -92,8 +92,8 @@ jobs:
     name: "Notify Slack - Failure"
     runs-on: ubuntu-latest
     needs: [
-        build-ros-robot-x86-64,
-        build-ros-robot-arm64,
+        build-ros-perception-x86-64,
+        build-ros-perception-arm64,
       ]
     if: failure()
     steps:

diff --git a/.../workflows/docker-image-robot-feature.yml → ...flows/docker-image-perception-feature.yml b/.../workflows/docker-image-robot-feature.yml → ...flows/docker-image-perception-feature.yml
@@ -3,13 +3,13 @@ on:
   push:
     branches: [feature/**]
 jobs:
-  build-ros-robot-x86-64:
-    name: "Build ROS robot X86/64"
+  build-ros-perception-x86-64:
+    name: "Build ROS perception X86/64"
     runs-on: ubuntu-latest
     env:
-      BASE_IMAGE: "docker.pkg.github.com/sonia-auv/sonia_messages/sonia_messages:x86-robot-latest"
+      BASE_IMAGE: "docker.pkg.github.com/sonia-auv/sonia_common/sonia_common:x86-perception-latest"
       ARCH: x86
-      TARGET_TYPE: robot
+      TARGET_TYPE: perception
       TARGET_VERSION: feature
       IMAGE_NAME: provider_dvl
       GITHUB_REMOTE_URL: docker.pkg.github.com/${{ github.repository }}
@@ -18,7 +18,7 @@ jobs:
       - name: Login to Github Package Registry
         run: |
           echo "${{ secrets.GITHUB_TOKEN }}" | docker login docker.pkg.github.com -u ${{ github.actor }} --password-stdin
-      - name: Build the docker image (robot based)
+      - name: Build the docker image (perception based)
         run: |
           docker build . --tag build-feature-${GITHUB_REF##*/}-${GITHUB_RUN_NUMBER} --build-arg BUILD_DATE=$(date '+%Y-%m-%d_%H:%M:%S') --build-arg VERSION=${GITHUB_REF##*/}-$(date '  +%Y-%m-%d_%H:%M:%S') --build-arg BASE_IMAGE=${BASE_IMAGE}
       - name: Create Docker Image Tag
@@ -27,13 +27,13 @@ jobs:
       - name: Push Image to Github Packages Registry
         run: |
           docker push ${GITHUB_REMOTE_URL}/${IMAGE_NAME}:${ARCH}-${TARGET_TYPE}-${TARGET_VERSION}-${GITHUB_REF##*/}
-  build-ros-robot-arm64:
-    name: "Build ROS robot ARM64"
+  build-ros-perception-arm64:
+    name: "Build ROS perception ARM64"
     runs-on: ubuntu-latest
     env:
-      BASE_IMAGE: "docker.pkg.github.com/sonia-auv/sonia_messages/sonia_messages:arm64-robot-latest"
+      BASE_IMAGE: "docker.pkg.github.com/sonia-auv/sonia_common/sonia_common:arm64-perception-latest"
       ARCH: arm64
-      TARGET_TYPE: robot
+      TARGET_TYPE: perception
       TARGET_VERSION: feature
       IMAGE_NAME: provider_dvl
       GITHUB_REMOTE_URL: docker.pkg.github.com/${{ github.repository }}
@@ -53,7 +53,7 @@ jobs:
           sudo apt-get update
           sudo apt-get install qemu binfmt-support qemu-user-static
           docker run --rm --privileged multiarch/qemu-user-static --reset -p yes
-      - name: Build the docker image (robot based)
+      - name: Build the docker image (perception based)
         run: |
           docker build . --tag build-feature-${GITHUB_REF##*/}-${GITHUB_RUN_NUMBER} --build-arg BUILD_DATE=$(date '+%Y-%m-%d_%H:%M:%S') --build-arg VERSION=${GITHUB_REF##*/}-$(date '  +%Y-%m-%d_%H:%M:%S') --build-arg BASE_IMAGE=${BASE_IMAGE}
       - name: Create Docker Image Tag
@@ -65,11 +65,7 @@ jobs:
   notify-success:
     name: "Notify Slack - Success"
     runs-on: ubuntu-latest
-    needs:
-      [
-        build-ros-robot-x86-64,
-        build-ros-robot-arm64,
-      ]
+    needs: [build-ros-perception-x86-64, build-ros-perception-arm64]
     if: success()
     steps:
       - name: Notify Slack Success
@@ -83,11 +79,7 @@ jobs:
   notify-fail:
     name: "Notify Slack - Failure"
     runs-on: ubuntu-latest
-    needs:
-      [
-        build-ros-robot-x86-64,
-        build-ros-robot-arm64,
-      ]
+    needs: [build-ros-perception-x86-64, build-ros-perception-arm64]
     if: failure()
     steps:
       - name: Notify Slack Fail

diff --git a/...b/workflows/docker-image-robot-master.yml → ...kflows/docker-image-perception-master.yml b/...b/workflows/docker-image-robot-master.yml → ...kflows/docker-image-perception-master.yml
@@ -3,13 +3,13 @@ on:
   push:
     branches: [master]
 jobs:
-  build-ros-robot-x86-64:
-    name: "Build ROS robot X86/64"
+  build-ros-perception-x86-64:
+    name: "Build ROS perception X86/64"
     runs-on: ubuntu-latest
     env:
-      BASE_IMAGE: "docker.pkg.github.com/sonia-auv/sonia_messages/sonia_messages:x86-robot-latest"
+      BASE_IMAGE: "docker.pkg.github.com/sonia-auv/sonia_common/sonia_common:x86-perception-latest"
       ARCH: x86
-      TARGET_TYPE: robot
+      TARGET_TYPE: perception
       IMAGE_NAME: provider_dvl
       GITHUB_REMOTE_URL: docker.pkg.github.com/${{ github.repository }}
     steps:
@@ -19,7 +19,7 @@ jobs:
           echo "${{ secrets.GITHUB_TOKEN }}" | docker login docker.pkg.github.com -u ${{ github.actor }} --password-stdin
       - name: Set Target version
         run: echo '::set-env name=TARGET_VERSION::release-'$(sed -n -e 's/.*<version>\(.*\)<\/version>.*/\1/p' package.xml)
-      - name: Build the docker image (robot based)
+      - name: Build the docker image (perception based)
         run: |
           docker build . --tag build-${TARGET_VERSION}-${GITHUB_REF##*/}-${GITHUB_RUN_NUMBER} --build-arg BUILD_DATE=$(date '+%Y-%m-%d_%H:%M:%S') --build-arg VERSION=${GITHUB_REF##*/}-$(date '+%Y-%m-%d_%H:%M:%S') --build-arg BASE_IMAGE=${BASE_IMAGE}
       - name: Run Module Unit Test
@@ -34,13 +34,13 @@ jobs:
       - name: Push Image to Github Packages Registry
         run: |
           docker push ${GITHUB_REMOTE_URL}/${IMAGE_NAME}
-  build-ros-robot-arm64:
-    name: "Build ROS robot ARM64"
+  build-ros-perception-arm64:
+    name: "Build ROS perception ARM64"
     runs-on: ubuntu-latest
     env:
-      BASE_IMAGE: "docker.pkg.github.com/sonia-auv/sonia_messages/sonia_messages:arm64-robot-latest"
+      BASE_IMAGE: "docker.pkg.github.com/sonia-auv/sonia_common/sonia_common:arm64-perception-latest"
       ARCH: arm64
-      TARGET_TYPE: robot
+      TARGET_TYPE: perception
       IMAGE_NAME: provider_dvl
       GITHUB_REMOTE_URL: docker.pkg.github.com/${{ github.repository }}
     steps:
@@ -58,9 +58,10 @@ jobs:
           docker version
       - name: Install QEMU to be able to compile on X86 into ARM64
         run: |
+          sudo apt-get update
           sudo apt-get install qemu binfmt-support qemu-user-static
           docker run --rm --privileged multiarch/qemu-user-static --reset -p yes
-      - name: Build the docker image (robot based)
+      - name: Build the docker image (perception based)
         run: |
           docker build . --tag build-${TARGET_VERSION}-${GITHUB_REF##*/}-${GITHUB_RUN_NUMBER} --build-arg BUILD_DATE=$(date '+%Y-%m-%d_%H:%M:%S') --build-arg VERSION=${GITHUB_REF##*/}-$(date '  +%Y-%m-%d_%H:%M:%S') --build-arg BASE_IMAGE=${BASE_IMAGE}
       - name: Run Module Unit Test
@@ -77,11 +78,7 @@ jobs:
   create-release:
     name: "Create Github Release"
     runs-on: ubuntu-latest
-    needs:
-      [
-        build-ros-robot-x86-64,
-        build-ros-robot-arm64,
-      ]
+    needs: [build-ros-perception-x86-64, build-ros-perception-arm64]
     steps:
       - uses: actions/checkout@v2
       - name: Set Target version
@@ -105,11 +102,7 @@ jobs:
     name: "Notify Slack - Success"
     runs-on: ubuntu-latest
     needs:
-      [
-        build-ros-robot-x86-64,
-        build-ros-robot-arm64,
-        create-release,
-      ]
+      [build-ros-perception-x86-64, build-ros-perception-arm64, create-release]
     if: success()
     steps:
       - name: Notify Slack Success
@@ -124,11 +117,7 @@ jobs:
     name: "Notify Slack - Failure"
     runs-on: ubuntu-latest
     needs:
-      [
-        build-ros-robot-x86-64,
-        build-ros-robot-arm64,
-        create-release,
-      ]
+      [build-ros-perception-x86-64, build-ros-perception-arm64, create-release]
     if: failure()
     steps:
       - name: Notify Slack Fail

diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -32,7 +32,7 @@ find_package(
         roscpp
         cmake_modules
         std_msgs
-        sonia_msgs
+        sonia_common
 
 )
 
@@ -43,7 +43,7 @@ catkin_package(
         CATKIN_DEPENDS
         roscpp
         std_msgs
-        sonia_msgs
+        sonia_common
 )
 
 

diff --git a/Dockerfile b/Dockerfile
@@ -1,4 +1,4 @@
-ARG BASE_IMAGE="docker.pkg.github.com/sonia-auv/sonia_messages/sonia_messages:x86-robot-latest"
+ARG BASE_IMAGE="docker.pkg.github.com/sonia-auv/sonia_common/sonia_common:x86-perception-latest"
 
 FROM ${BASE_IMAGE}
 
@@ -38,7 +38,7 @@ RUN mkdir ${SCRIPT_DIR}
 RUN cat $ENTRYPOINT_ABSPATH > ${SCRIPT_DIR}/entrypoint.sh
 RUN echo "roslaunch --wait $LAUNCH_ABSPATH" > ${SCRIPT_DIR}/launch.sh
 
-RUN chmod +x ${SCRIPT_DIR}/entrypoint.sh && chmod +x ${SCRIPT_DIR}/launch.sh 
+RUN chmod +x ${SCRIPT_DIR}/entrypoint.sh && chmod +x ${SCRIPT_DIR}/launch.sh
 
 RUN echo "source $SONIA_WS_SETUP" >> ~/.bashrc
 

diff --git a/bags/2016-01-23-22-29-09.bag b/bags/2016-01-23-22-29-09.bag
diff --git a/bags/2016-01-23-22-31-07.bag b/bags/2016-01-23-22-31-07.bag
diff --git a/bags/2017-06-04-22-52-57.bag b/bags/2017-06-04-22-52-57.bag
diff --git a/bags/2017-06-04-23-40-54.bag b/bags/2017-06-04-23-40-54.bag
diff --git a/bags/2017-06-04-23-42-11.bag b/bags/2017-06-04-23-42-11.bag
diff --git a/package.xml b/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package>
   <name>provider_dvl</name>
-  <version>1.0.1</version>
+  <version>1.1.0</version>
   <description>The provider_dvl package</description>
 
   <author>Francis Masse</author>
@@ -15,12 +15,12 @@
   <build_depend>std_msgs</build_depend>
   <build_depend>geometry_msgs</build_depend>
   <build_depend>sensors_msgs</build_depend>
-  <build_depend>sonia_msgs</build_depend>
+  <build_depend>sonia_common</build_depend>
 
   <run_depend>roscpp</run_depend>
   <run_depend>std_msgs</run_depend>
   <run_depend>geometry_msgs</run_depend>
   <run_depend>sensors_msgs</run_depend>
-  <run_depend>sonia_msgs</run_depend>
+  <run_depend>sonia_common</run_depend>
 
 </package>
diff --git a/scripts/VelocityPrettyPrint.py b/scripts/VelocityPrettyPrint.py
@@ -1,28 +1,31 @@
 #!/usr/bin/env python
-__author__ = 'jeremie'
+__author__ = "jeremie"
 
-from sonia_msgs.msg import BottomTracking
+from sonia_common.msg import BottomTracking
 import rospy
 
+
 def callback(data):
     velocities = list(data.velocity)
     vx = "{:10.4f}".format(float(velocities[0]))
     vy = "{:10.4f}".format(float(data.velocity[1]))
     vz = "{:10.4f}".format(float(data.velocity[2]))
-    print "Velocity:\tNorth : " + vx + "\tEast : "  + vy + "\tDown : " + vz + "\r",
-
+    print "Velocity:\tNorth : " + vx + "\tEast : " + vy + "\tDown : " + vz + "\r",
+
+
 def listener():
     # In ROS, nodes are uniquely named. If two nodes with the same
     # node are launched, the previous one is kicked off. The
     # anonymous=True flag means that rospy will choose a unique
     # name for our 'listener' node so that multiple listeners can
     # run simultaneously.
-    rospy.init_node('velocity_pretty_print', anonymous=True)
+    rospy.init_node("velocity_pretty_print", anonymous=True)
 
     rospy.Subscriber("/provider_dvl/bottom_tracking", BottomTracking, callback)
 
     # spin() simply keeps python from exiting until this node is stopped
     rospy.spin()
 
-if __name__ == '__main__':
+
+if __name__ == "__main__":
     listener()
diff --git a/src/provider_dvl/provider_dvl_node.cc b/src/provider_dvl/provider_dvl_node.cc
@@ -42,7 +42,7 @@ namespace provider_dvl {
 
         dvl_twist_publisher_ = nh_->advertise<geometry_msgs::TwistStamped>("/provider_dvl/dvl_twist", 1000);
         dvl_fluid_pressure_publisher_ = nh_->advertise<sensor_msgs::FluidPressure>("/provider_dvl/dvl_pressure", 1000);
-        dvl_bottom_tracking_publisher_ = nh_->advertise<sonia_msgs::BottomTracking>("/provider_dvl/dvl_data", 1000);
+        dvl_bottom_tracking_publisher_ = nh_->advertise<sonia_common::BottomTracking>("/provider_dvl/dvl_data", 1000);
     }
 
     //------------------------------------------------------------------------------
@@ -133,7 +133,7 @@ namespace provider_dvl {
 
     void ProviderDvlNode::FillBottomTracking(ros::Time timestamp)
     {
-        sonia_msgs::BottomTracking message;
+        sonia_common::BottomTracking message;
 
         message.header.stamp = timestamp;
         message.header.frame_id = "/ENU";

diff --git a/src/provider_dvl/provider_dvl_node.h b/src/provider_dvl/provider_dvl_node.h
@@ -31,7 +31,7 @@
 #include <ros/node_handle.h>
 #include <geometry_msgs/TwistStamped.h>
 #include <sensor_msgs/FluidPressure.h>
-#include <sonia_msgs/BottomTracking.h>
+#include <sonia_common/BottomTracking.h>
 
 #include "../driver/ethernet_socket.h"
 #include "dvl_data.h"