Merge pull request #70 from tiiuae/rel_4_0

Rel 4 0

.gitignore

@@ -16,3 +16,4 @@ ros2_ws/src/ros-foxy-*
 
 # avoid adding binary to repo
 packaging/agent_protocol_splitter/protocol_splitter
+.tmuxinator.yml

.gitmodules

@@ -52,9 +52,6 @@
 [submodule "ros2_ws/src/fog_msgs"]
 	path = ros2_ws/src/fog_msgs
 	url = https://github.com/tiiuae/fog_msgs.git
-[submodule "ros2_ws/src/fog_core"]
-	path = ros2_ws/src/fog_core
-	url = https://github.com/tiiuae/fog_core.git
 [submodule "ros2_ws/src/octomap_server2"]
 	path = ros2_ws/src/octomap_server2
 	url = https://github.com/tiiuae/octomap_server2.git
@@ -64,9 +61,27 @@
 [submodule "ros2_ws/src/rplidar_ros2"]
 	path = ros2_ws/src/rplidar_ros2
 	url = https://github.com/tiiuae/rplidar_ros2.git
+[submodule "tools/tmux"]
+	path = tools/tmux
+	url = https://github.com/tmux/tmux.git
+[submodule "tools/tmuxinator"]
+	path = tools/tmuxinator
+	url = https://github.com/tmuxinator/tmuxinator.git
+[submodule "ros2_ws/src/fog_msgs"]
+	path = ros2_ws/src/fog_msgs
+	url = https://github.com/tiiuae/fog_msgs.git
 [submodule "ros2_ws/src/control_interface"]
 	path = ros2_ws/src/control_interface
 	url = https://github.com/tiiuae/control_interface.git
 [submodule "rtl8812au"]
 	path = rtl8812au
 	url = https://github.com/tiiuae/rtl8812au.git
+[submodule "ros2_ws/src/fog_gazebo_resources"]
+	path = ros2_ws/src/fog_gazebo_resources
+	url = https://github.com/tiiuae/fog_gazebo_resources.git
+[submodule "mission-data-recorder"]
+	path = mission-data-recorder
+	url = [email protected]:tiiuae/mission-data-recorder.git
+[submodule "ros2_ws/src/mocap_pose"]
+	path = ros2_ws/src/mocap_pose
+	url = [email protected]:tiiuae/mocap_pose.git

installation/dependencies/ros_related.sh

@@ -0,0 +1,14 @@
+#!/bin/bash
+
+set -e
+
+trap 'last_command=$current_command; current_command=$BASH_COMMAND' DEBUG
+trap 'echo "$0: \"${last_command}\" command failed with exit code $?"' ERR
+
+echo "$0: installing ROS2-related dependencies"
+
+sudo apt-get -y install \
+  ros-foxy-octomap \
+  ros-foxy-octomap-msgs \
+  ros-foxy-dynamic-edt-3d \
+

installation/dependencies/tmux/dottmux.conf

@@ -0,0 +1,194 @@
+set-option -g assume-paste-time 1
+set-option -g default-command ""
+set-option -g destroy-unattached off
+set-option -g detach-on-destroy on
+set-option -g display-panes-active-colour red
+set-option -g display-panes-colour blue
+set-option -g display-panes-time 1000
+set-option -g display-time 750
+set-option -g history-limit 5000
+set-option -g key-table "root"
+set-option -g lock-after-time 0
+set-option -g lock-command "lock -np"
+set-option -g message-command-style fg=yellow,bg=black
+set-option -g message-style fg=black,bg=yellow
+set-option -g mouse off
+set-option -g prefix C-b
+set-option -g prefix2 None
+set-option -g renumber-windows on
+set-option -g repeat-time 500
+set-option -g set-titles off
+set-option -g set-titles-string "#S:#I:#W - "#T" #{session_alerts}"
+set-option -g status on
+set-option -g status-interval 15
+set-option -g status-justify left
+set-option -g status-keys vi
+set-option -g status-left "[#S] "
+set-option -g status-left-length 10
+set-option -g status-left-style default
+set-option -g status-position bottom
+set-option -g status-right " "#{=21:pane_title}" %H:%M"
+set-option -g status-right-length 40
+set-option -g status-right-style default
+set-option -g status-style fg=black,bg=green
+set-option -g update-environment "DISPLAY SSH_ASKPASS SSH_AUTH_SOCK SSH_AGENT_PID SSH_CONNECTION WINDOWID XAUTHORITY"
+set-option -g visual-activity off
+set-option -g visual-bell off
+set-option -g visual-silence off
+set-option -g word-separators " -_@"
+set-option -g aggressive-resize on
+set-window-option -g allow-rename off
+set-window-option -g automatic-rename off
+
+## Status bar design
+# status line
+set -g status-justify left
+set -g status-bg default
+set -g status-fg colour12
+set -g status-interval 2
+
+# window status
+setw -g window-status-format " #F#I:#W#F "
+setw -g window-status-current-format " #F#I:#W#F "
+setw -g window-status-format "#[fg=magenta]#[bg=black] #I #[bg=cyan]#[fg=colour8] #W "
+setw -g window-status-current-format "#[bg=brightmagenta]#[fg=colour8] #I #[fg=colour8]#[bg=colour14] #W "
+
+# Info on left (I don't have a session display for now)
+set -g status-left ''
+
+# loud or quiet?
+set-option -g visual-activity off
+set-option -g visual-bell off
+set-option -g visual-silence off
+set-window-option -g monitor-activity off
+set-option -g bell-action none
+
+set -g default-terminal "screen-256color"
+
+# The modes {
+setw -g clock-mode-colour colour135
+# }
+
+# The statusbar {
+set -g status-position bottom
+set -g status-bg colour234
+set -g status-fg colour15
+
+# EPIGEN_DEL_BLOCK_COLORSCHEME_LIGHT {
+set -g status-left "#[fg=colour15,bg=colour26] #S #[fg=colour103,bg=colour236,nobold,nounderscore,noitalics]"
+set -g status-right "#[fg=colour239] #(echo $ROS_MASTER_URI) #[fg=colour239,bg=colour236,nobold,nounderscore,noitalics]#[fg=colour248,bg=colour239] %H:%M #[fg=colour15,bg=colour26] #H"
+# EPIGEN_DEL_BLOCK_COLORSCHEME_LIGHT }
+
+# EPIGEN_ADD_BLOCK_COLORSCHEME_LIGHT {
+# set -g status-left ''
+# set -g status-right '#[fg=colour15,bg=colour241,bold] %d/%m #[fg=colour15,bg=colour245,bold] %H:%M:%S #[fg=colour15,bg=colour241,bold] #H '
+# EPIGEN_ADD_BLOCK_COLORSCHEME_LIGHT }
+
+set -g status-right-length 50
+set -g status-left-length 20
+
+setw -g window-status-current-format "#[fg=colour236,bg=colour239,nobold,nounderscore,noitalics]#[fg=colour253,bg=colour239] #I |#[fg=colour253,bg=colour239] #W #[fg=colour239,bg=colour236,nobold,nounderscore,noitalics]" # EPIGEN_DEL_LINE_COLORSCHEME_LIGHT
+# setw -g window-status-current-format ' #I#[fg=colour250]:#[fg=colour255]#W#[fg=colour50]#F ' # EPIGEN_ADD_LINE_COLORSCHEME_LIGHT
+
+setw -g window-status-format "#[fg=colour244,bg=colour236] #I |#[fg=colour244,bg=colour236] #W " # EPIGEN_DEL_LINE_COLORSCHEME_LIGHT
+# setw -g window-status-format ' #I#[fg=colour237]:#[fg=colour250]#W#[fg=colour244]#F ' # EPIGEN_ADD_LINE_COLORSCHEME_LIGHT
+
+# }
+
+# set vim control
+setw -g mode-keys vi
+bind -n F2 copy-mode
+bind-key -Tcopy-mode-vi 'v' send -X begin-selection
+bind-key -Tcopy-mode-vi 'y' send -X copy-pipe-and-cancel "xclip -selection clipboard -i"
+bind-key -Tcopy-mode-vi 'C-V' send -X rectangle-toggle
+unbind p
+bind p run-shell "tmux set-buffer \"$(xclip -o)\"; tmux paste-buffer"
+
+# key bindings for moving over pannels
+# binded to arrows for normal people
+bind-key -n M-Left select-pane -L
+bind-key -n M-Right select-pane -R
+bind-key -n M-Up select-pane -U
+bind-key -n M-Down select-pane -D
+# binded to yuio for me
+bind-key -n M-y select-pane -L
+bind-key -n M-o select-pane -R
+bind-key -n M-i select-pane -U
+bind-key -n M-u select-pane -D
+
+# colors
+set-option -g default-terminal "screen-256color"
+
+# remap kill button
+bind-key k \
+  split-window \; \
+  setw synchronize-panes on \; \
+  send-keys "sleep 1; killp() { if [ \$# -eq 0 ]; then echo \"The command killp() needs an argument, but none was provided\"; return; else pes=\$1; fi; for child in \$(ps -o pid,ppid -ax | awk '{ if ( \$2 == \$pes ) { print \$1 }}'); do killp \$child; done; kill -9 \"$1\" > /dev/null 2> /dev/null; }; pwd >> /tmp/tmux_restore_path.txt; tmux list-panes -s -F \"#{pane_pid} #{pane_current_command}\" | grep -v tmux | awk '{print $1}' | while read in; do killp \$in; done" C-m exit C-m 
+
+# you still want the original bindings for splitting? CTRL+0 for horizontal, CTRL+9 for vertical?
+
+# EPIGEN_ADD_BLOCK_TMUX_OLD_BINDINGS {
+# bind -n C-s split-window -v -c "#{pane_current_path}"
+# bind -n C-d split-window -h -c "#{pane_current_path}"
+# EPIGEN_ADD_BLOCK_TMUX_OLD_BINDINGS }
+
+# the new key bindings for splitting, CTRL-9 ( like CTRL-( ) for vertical, CTRL-0 ( like CTRL-) ) for horizontal
+bind -n C-9 split-window -v -c "#{pane_current_path}"
+bind -n C-0 split-window -h -c "#{pane_current_path}"
+
+# bind c new-window -c "#{pane_current_path}"
+
+# remap Ctrl-b
+set-option -g prefix C-a
+
+# Smart pane switching with awareness of Vim splits.
+# See: https://github.com/christoomey/vim-tmux-navigator
+is_vim="ps -o state= -o comm= -t '#{pane_tty}' \
+    | grep -iqE '^[^TXZ ]+ +(\\S+\\/)?g?(view|n?vim?x?)(diff)?$'"
+bind-key -n C-h if-shell "$is_vim" "send-keys C-h"  "select-pane -L"
+bind-key -n C-j if-shell "$is_vim" "send-keys C-j"  "select-pane -D"
+bind-key -n C-k if-shell "$is_vim" "send-keys C-k"  "select-pane -U"
+bind-key -n C-l if-shell "$is_vim" "send-keys C-l"  "select-pane -R"
+# bind-key -n C-\ if-shell "$is_vim" "send-keys C-\\" "select-pane -l"
+
+# allow to use vim's ctrlp from terminal
+bind-key -n C-p if-shell "$is_vim" "send-keys C-p" "send-keys 'vim -c :Startify:CtrlP'"
+bind-key -n C-F12 if-shell "$is_vim" "send-keys C-F12" "send-keys 'vim -c :Startify:CtrlP ~/'"
+
+bind -r C-h resize-pane -L 5
+bind -r C-j resize-pane -D 5
+bind -r C-k resize-pane -U 5
+bind -r C-l resize-pane -R 5
+
+bind -n C-t new-window -a -c "#{pane_current_path}"
+bind -n M-u next
+bind -n M-i prev
+
+# EPIGEN_DEL_BLOCK_TOMAS {
+bind -n S-Right next
+bind -n S-Left prev
+# EPIGEN_DEL_BLOCK_TOMAS }
+
+bind -n C-S-Left  swap-window -t -1
+bind -n C-S-Right swap-window -t +1
+
+# reload config file (change file location to your the tmux.conf you want to use)
+bind r source-file ~/.tmux.conf
+
+# make delay shorter
+set -sg escape-time 0
+
+# Toggle synchronize-panes with ^S m
+bind s \
+    set synchronize-panes \;\
+    display "Sync #{?synchronize-panes,ON,OFF}"
+
+# make window/pane index start with 1
+# set -g base-index 1
+# setw -g pane-base-index 1
+
+# example of interactive tmux commands... maybe it could be used in some way..
+# bind C-e command-prompt -p "session?,message?" "run-shell \"tmux list-windows -t %1 \| cut -d: -f1\|xargs -I\{\} tmux send-keys -t %1:\{\} %2\""
+
+bind-key m run-shell "~/git/linux-setup/scripts/tmux_mount.sh"
+bind-key u run-shell "~/git/linux-setup/scripts/tmux_unmount.sh"

installation/dependencies/tmux/install.sh

@@ -0,0 +1,31 @@
+#!/bin/bash
+
+set -e
+
+trap 'last_command=$current_command; current_command=$BASH_COMMAND' DEBUG
+trap 'echo "$0: \"${last_command}\" command failed with exit code $?"' ERR
+
+# get the path to this script
+MY_PATH=`dirname "$0"`
+MY_PATH=`( cd "$MY_PATH" && pwd )`
+
+echo "$0: uninstalling pre-installed tmux"
+sudo apt-get -y remove tmux
+
+echo "$0: installing tmux build dependencies"
+sudo apt-get -y install libevent-dev bison
+
+echo "$0: building tmux"
+
+# compile and install custom tmux
+cd $MY_PATH/../../../tools/tmux
+( ./autogen.sh > /dev/null && ./configure > /dev/null && make > /dev/null && sudo make install-binPROGRAMS > /dev/null ) || ( echo "Tmux compilation failed, installing normal tmux" && sudo apt-get -y install tmux)
+git clean -fd
+
+FILE=$HOME/.tmux.conf
+if [ -e "$FILE" ]; then
+  echo "$0: .tmux.conf exists, not copying"
+else
+  echo "$0: copying .tmux.conf"
+  ln -sf $MY_PATH/dottmux.conf $FILE
+fi

installation/dependencies/tmuxinator.sh

@@ -0,0 +1,19 @@
+#!/bin/bash
+
+set -e
+
+trap 'last_command=$current_command; current_command=$BASH_COMMAND' DEBUG
+trap 'echo "$0: \"${last_command}\" command failed with exit code $?"' ERR
+
+# get the path to this script
+MY_PATH=`dirname "$0"`
+MY_PATH=`( cd "$MY_PATH" && pwd )`
+
+cd $MY_PATH/../../tools/tmuxinator
+
+echo "$0: installing tmuxinator"
+
+sudo apt-get -y install ruby gem
+
+gem build tmuxinator.gemspec
+sudo gem install tmuxinator -v 1.1.5

installation/install.sh

@@ -0,0 +1,26 @@
+#!/bin/bash
+
+set -e
+
+trap 'last_command=$current_command; current_command=$BASH_COMMAND' DEBUG
+trap 'echo "$0: \"${last_command}\" command failed with exit code $?"' ERR
+
+# get the path to this script
+MY_PATH=`dirname "$0"`
+MY_PATH=`( cd "$MY_PATH" && pwd )`
+
+## | --------- change to the directory of this script --------- |
+
+cd "$MY_PATH"
+
+## | ---------- install ROS 2 related dependencies ------------ |
+
+bash $MY_PATH/dependencies/ros_related.sh
+
+## | ---------------------- install tmux ---------------------- |
+
+bash $MY_PATH/dependencies/tmux/install.sh
+
+## | ------------------- install tmuxinator ------------------- |
+
+bash $MY_PATH/dependencies/tmuxinator.sh

packaging/deb_files/.gitignore

@@ -0,0 +1,2 @@
+*.deb
+*.ddeb

packaging/debian/control

@@ -4,17 +4,25 @@ Maintainer: manuel.segarra-abad <[email protected]>
 Architecture: amd64
 Description: FOG SW meta package.
 Depends: agent-protocol-splitter (= 1.0.0-13~git20210419.ed16b42),
-  communication-link (= 2.0.0-29~git20210526.843fd45),
-  fast-dds-gen (= 1.0.0-3~git20210421.694704f),
-  fogsw-configs (= 1.0.0-4~git20210526.5b156bf),
-  fog-sw-systemd-services (= 1.0.0-21~git20210601.675cb6f),
+  communication-link (= 2.0.0-33~git20210701.545ea2f),
+  fog-sw-systemd-services (= 1.0.0-36~git20210709.bd3efff),
   libsurvive (= 1.0.0-3~git20210421.b966a6c),
   mavlink-router (= 1.0.0-6~git20210419.14c1368),
   mavsdk (= 0.34.0),
-  mission-engine (= 2.0.0-10~git20210526.b4285bc),
-  ros-foxy-depthai-ctrl (= 0.5.3-28~git20210601.80de68d),
+  mission-data-recorder (= 1.0.0-28~git20210707.ff24897),
+  mission-engine (= 2.0.0-16~git20210701.545ea2f),
+  ros-foxy-depthai-ctrl (= 0.5.6-34~git20210624.1f5590e),
   ros-foxy-indoor-pos (= 1.0.0-12~git20210426.81d1987),
-  ros-foxy-mesh-com (= 0.3.3-29~git20210601.8ecb707),
-  ros-foxy-px4-mavlink-ctrl (= 0.1.0-11~git20210426.5836a83),
+  ros-foxy-mesh-com (= 0.3.3-34~git20210611.0d866b2),
+  ros-foxy-mocap-pose (= 0.0.4-3~git20210617.713e012),
   ros-foxy-px4-msgs (= 2.0.1-5~git20210419.b4c4a12),
-  ros-foxy-px4-ros-com (= 0.1.0-15~git20210602.4acff59)
+  ros-foxy-px4-ros-com (= 0.1.0-20~git20210708.a1147fa),
+  rtl8812au-kmod (= 1.0.0-2~git20210614.dc56cff),
+  ros-foxy-control-interface (= 0.0.3-17~git20210709.22ce14e),
+  ros-foxy-fog-msgs (= 0.0.3-6~git20210621.90040f9),
+  ros-foxy-navigation (= 0.0.3-16~git20210709.f083eee),
+  ros-foxy-octomap-server2 (= 0.0.1-6~git20210617.22fd119),
+  ros-foxy-rplidar-ros2 (= 1.10.0-10~git20210615.cbb80ba)
+Conflicts: ros-foxy-px4-mavlink-ctrl
+Recomends: fogsw-configs (= 1.0.0-14~git20210621.dab9587),
+  px4-firmware-updater (= 1.11.0-1.0.7-7-g913cf7bbd9)