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FlovaFlova
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Merge branch 'main' into feature/jazzy-ubuntu2404-devcontainer
2 parents 799349f + a851e49 commit be9c81d

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40 files changed

+593
-891
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40 files changed

+593
-891
lines changed

‎bitbots_behavior/bitbots_blackboard/CMakeLists.txt

+2-71
Original file line numberDiff line numberDiff line change
@@ -1,81 +1,12 @@
11
cmake_minimum_required(VERSION 3.5)
22
project(bitbots_blackboard)
33

4-
# Add support for C++17
5-
if(NOT CMAKE_CXX_STANDARD)
6-
set(CMAKE_CXX_STANDARD 17)
7-
endif()
8-
9-
find_package(ament_cmake REQUIRED)
10-
find_package(bio_ik_msgs REQUIRED)
114
find_package(bitbots_docs REQUIRED)
12-
find_package(bitbots_msgs REQUIRED)
13-
find_package(geometry_msgs REQUIRED)
14-
find_package(rclpy REQUIRED)
15-
find_package(sensor_msgs REQUIRED)
16-
find_package(std_msgs REQUIRED)
17-
find_package(std_srvs REQUIRED)
18-
find_package(tf2 REQUIRED)
19-
find_package(tf2_geometry_msgs REQUIRED)
20-
21-
set(INCLUDE_DIRS
22-
${bio_ik_msgs_INCLUDE_DIRS}
23-
${ament_cmake_INCLUDE_DIRS}
24-
${sensor_msgs_INCLUDE_DIRS}
25-
${rclpy_INCLUDE_DIRS}
26-
${tf2_INCLUDE_DIRS}
27-
${bitbots_msgs_INCLUDE_DIRS}
28-
${std_msgs_INCLUDE_DIRS}
29-
${tf2_geometry_msgs_INCLUDE_DIRS}
30-
${std_srvs_INCLUDE_DIRS}
31-
${geometry_msgs_INCLUDE_DIRS}
32-
${bitbots_docs_INCLUDE_DIRS})
33-
include_directories(${INCLUDE_DIRS})
34-
35-
set(LIBRARY_DIRS
36-
${bio_ik_msgs_LIBRARY_DIRS}
37-
${ament_cmake_LIBRARY_DIRS}
38-
${sensor_msgs_LIBRARY_DIRS}
39-
${rclpy_LIBRARY_DIRS}
40-
${tf2_LIBRARY_DIRS}
41-
${bitbots_msgs_LIBRARY_DIRS}
42-
${std_msgs_LIBRARY_DIRS}
43-
${tf2_geometry_msgs_LIBRARY_DIRS}
44-
${std_srvs_LIBRARY_DIRS}
45-
${geometry_msgs_LIBRARY_DIRS}
46-
${bitbots_docs_LIBRARY_DIRS})
47-
48-
link_directories(${LIBRARY_DIRS})
49-
50-
set(LIBS
51-
${bio_ik_msgs_LIBRARIES}
52-
${ament_cmake_LIBRARIES}
53-
${sensor_msgs_LIBRARIES}
54-
${rclpy_LIBRARIES}
55-
${tf2_LIBRARIES}
56-
${bitbots_msgs_LIBRARIES}
57-
${std_msgs_LIBRARIES}
58-
${tf2_geometry_msgs_LIBRARIES}
59-
${std_srvs_LIBRARIES}
60-
${geometry_msgs_LIBRARIES}
61-
${bitbots_docs_LIBRARIES})
5+
find_package(ament_cmake REQUIRED)
6+
find_package(ament_cmake_python REQUIRED)
627

63-
include(${CMAKE_BINARY_DIR}/../bitbots_docs/enable_bitbots_docs.cmake)
648
enable_bitbots_docs()
659

66-
ament_export_dependencies(bio_ik_msgs)
67-
ament_export_dependencies(ament_cmake)
68-
ament_export_dependencies(sensor_msgs)
69-
ament_export_dependencies(rclpy)
70-
ament_export_dependencies(tf2)
71-
ament_export_dependencies(bitbots_msgs)
72-
ament_export_dependencies(std_msgs)
73-
ament_export_dependencies(tf2_geometry_msgs)
74-
ament_export_dependencies(std_srvs)
75-
ament_export_dependencies(geometry_msgs)
76-
ament_export_dependencies(bitbots_docs)
77-
ament_export_include_directories(${INCLUDE_DIRS})
78-
7910
if(BUILD_TESTING)
8011
find_package(ament_cmake_mypy REQUIRED)
8112
ament_mypy(CONFIG_FILE "${CMAKE_CURRENT_LIST_DIR}/mypy.ini")

‎bitbots_behavior/bitbots_blackboard/bitbots_blackboard/capsules/misc_capsule.py

+4-4
Original file line numberDiff line numberDiff line change
@@ -8,12 +8,12 @@
88
from bitbots_msgs.msg import Audio, HeadMode, RobotControlState
99

1010
THeadMode: TypeAlias = Literal[ # type: ignore[valid-type]
11-
HeadMode.BALL_MODE,
12-
HeadMode.FIELD_FEATURES,
11+
HeadMode.SEARCH_BALL,
12+
HeadMode.SEARCH_FIELD_FEATURES,
1313
HeadMode.LOOK_FORWARD,
1414
HeadMode.DONT_MOVE,
15-
HeadMode.BALL_MODE_PENALTY,
16-
HeadMode.LOOK_FRONT,
15+
HeadMode.SEARCH_BALL_PENALTY,
16+
HeadMode.SEARCH_FRONT,
1717
]
1818

1919

‎bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/behavior_dsd/actions/head_modes.py

+4-4
Original file line numberDiff line numberDiff line change
@@ -45,15 +45,15 @@ class SearchBall(AbstractHeadModeElement):
4545
"""Look for ball"""
4646

4747
def perform(self):
48-
self.blackboard.misc.set_head_duty(HeadMode.BALL_MODE)
48+
self.blackboard.misc.set_head_duty(HeadMode.SEARCH_BALL)
4949
return self.pop()
5050

5151

5252
class LookAtFieldFeatures(AbstractHeadModeElement):
5353
"""Look generally for all features on the field (ball, goals, corners, center point)"""
5454

5555
def perform(self):
56-
self.blackboard.misc.set_head_duty(HeadMode.FIELD_FEATURES)
56+
self.blackboard.misc.set_head_duty(HeadMode.SEARCH_FIELD_FEATURES)
5757
return self.pop()
5858

5959

@@ -77,13 +77,13 @@ class LookAtBallPenalty(AbstractHeadModeElement):
7777
"""Ball Mode adapted for Penalty Kick"""
7878

7979
def perform(self):
80-
self.blackboard.misc.set_head_duty(HeadMode.BALL_MODE_PENALTY)
80+
self.blackboard.misc.set_head_duty(HeadMode.SEARCH_BALL_PENALTY)
8181
return self.pop()
8282

8383

8484
class LookAtFront(AbstractHeadModeElement):
8585
"""Search in front of the robot"""
8686

8787
def perform(self):
88-
self.blackboard.misc.set_head_duty(HeadMode.LOOK_FRONT)
88+
self.blackboard.misc.set_head_duty(HeadMode.SEARCH_FRONT)
8989
return self.pop()

‎bitbots_lowlevel/bitbots_buttons/CMakeLists.txt

+5
Original file line numberDiff line numberDiff line change
@@ -6,6 +6,11 @@ if(NOT CMAKE_CXX_STANDARD)
66
set(CMAKE_CXX_STANDARD 17)
77
endif()
88

9+
# Build with release optimizations and debug symbols by default
10+
if(NOT CMAKE_CONFIGURATION_TYPES AND NOT CMAKE_BUILD_TYPE)
11+
set(CMAKE_BUILD_TYPE RelWithDebug)
12+
endif()
13+
914
find_package(ament_cmake REQUIRED)
1015
find_package(backward_ros REQUIRED)
1116
find_package(bitbots_docs REQUIRED)

‎bitbots_lowlevel/bitbots_ros_control/CMakeLists.txt

+5
Original file line numberDiff line numberDiff line change
@@ -6,6 +6,11 @@ if(NOT CMAKE_CXX_STANDARD)
66
set(CMAKE_CXX_STANDARD 17)
77
endif()
88

9+
# Build with release optimizations and debug symbols by default
10+
if(NOT CMAKE_CONFIGURATION_TYPES AND NOT CMAKE_BUILD_TYPE)
11+
set(CMAKE_BUILD_TYPE RelWithDebug)
12+
endif()
13+
914
find_package(ament_cmake REQUIRED)
1015
find_package(backward_ros REQUIRED)
1116
find_package(bitbots_buttons REQUIRED)

‎bitbots_misc/bitbots_basler_camera/CMakeLists.txt

+5
Original file line numberDiff line numberDiff line change
@@ -6,6 +6,11 @@ if(NOT CMAKE_CXX_STANDARD)
66
set(CMAKE_CXX_STANDARD 17)
77
endif()
88

9+
# Build with release optimizations and debug symbols by default
10+
if(NOT CMAKE_CONFIGURATION_TYPES AND NOT CMAKE_BUILD_TYPE)
11+
set(CMAKE_BUILD_TYPE RelWithDebug)
12+
endif()
13+
914
find_package(ament_cmake REQUIRED)
1015
find_package(ament_index_cpp REQUIRED)
1116
find_package(backward_ros REQUIRED)

‎bitbots_misc/bitbots_basler_camera/package.xml

+1
Original file line numberDiff line numberDiff line change
@@ -12,6 +12,7 @@
1212

1313
<author email="[email protected]">Hamburg Bit-Bots</author>
1414

15+
<depend>backward_ros</depend>
1516
<depend>bitbots_docs</depend>
1617
<depend>camera_info_manager</depend>
1718
<depend>cv_bridge</depend>

‎bitbots_misc/bitbots_extrinsic_calibration/CMakeLists.txt

+11-6
Original file line numberDiff line numberDiff line change
@@ -6,16 +6,21 @@ if(NOT CMAKE_CXX_STANDARD)
66
set(CMAKE_CXX_STANDARD 17)
77
endif()
88

9+
# Build with release optimizations and debug symbols by default
10+
if(NOT CMAKE_CONFIGURATION_TYPES AND NOT CMAKE_BUILD_TYPE)
11+
set(CMAKE_BUILD_TYPE RelWithDebug)
12+
endif()
13+
14+
find_package(ament_cmake REQUIRED)
15+
find_package(backward_ros REQUIRED)
16+
find_package(bitbots_docs REQUIRED)
917
find_package(geometry_msgs REQUIRED)
1018
find_package(rclcpp REQUIRED)
11-
find_package(ament_cmake REQUIRED)
12-
find_package(tf2_ros REQUIRED)
19+
find_package(rot_conv REQUIRED)
1320
find_package(std_msgs REQUIRED)
14-
find_package(tf2_geometry_msgs REQUIRED)
15-
find_package(bitbots_docs REQUIRED)
1621
find_package(tf2 REQUIRED)
17-
find_package(rot_conv REQUIRED)
18-
find_package(backward_ros REQUIRED)
22+
find_package(tf2_geometry_msgs REQUIRED)
23+
find_package(tf2_ros REQUIRED)
1924

2025
add_compile_options(-Wall -Werror -Wno-unused)
2126

‎bitbots_misc/bitbots_extrinsic_calibration/package.xml

+4-4
Original file line numberDiff line numberDiff line change
@@ -9,17 +9,17 @@
99
<maintainer email="[email protected]">Hamburg Bit-Bots</maintainer>
1010

1111
<license>MIT</license>
12-
12+
1313
<author email="[email protected]">Florian Vahl</author>
1414

1515
<buildtool_depend>ament_cmake</buildtool_depend>
1616

17+
<depend>backward_ros</depend>
1718
<depend>bitbots_docs</depend>
19+
<depend>rot_conv</depend>
1820
<depend>std_msgs</depend>
19-
<depend>tf2</depend>
2021
<depend>tf2_ros</depend>
21-
<depend>rot_conv</depend>
22-
<depend>backward_ros</depend>
22+
<depend>tf2</depend>
2323

2424
<export>
2525
<bitbots_documentation>

‎bitbots_misc/bitbots_robot_description/CMakeLists.txt

-6
Original file line numberDiff line numberDiff line change
@@ -4,12 +4,6 @@ project(bitbots_robot_description)
44
find_package(bitbots_docs REQUIRED)
55
find_package(ament_cmake REQUIRED)
66

7-
set(INCLUDE_DIRS include)
8-
include_directories(${INCLUDE_DIRS})
9-
10-
set(CMAKE_CXX_STANDARD 17)
11-
add_compile_options(-Wall -Werror -Wno-unused -pedantic -Wextra)
12-
137
enable_bitbots_docs()
148

159
install(DIRECTORY launch DESTINATION share/${PROJECT_NAME})

‎bitbots_misc/bitbots_teleop/scripts/teleop_keyboard.py

+8-8
Original file line numberDiff line numberDiff line change
@@ -222,12 +222,12 @@ def loop(self):
222222
self.head_pub.publish(self.head_msg)
223223
elif key == "0":
224224
# Search for Ball and track it if found
225-
self.head_mode_msg.head_mode = HeadMode.BALL_MODE
226-
assert int(key) == HeadMode.BALL_MODE
225+
self.head_mode_msg.head_mode = HeadMode.SEARCH_BALL
226+
assert int(key) == HeadMode.SEARCH_BALL
227227
elif key == "1":
228228
# Look generally for all features on the field (ball, goals, corners, center point)
229-
self.head_mode_msg.head_mode = HeadMode.FIELD_FEATURES
230-
assert int(key) == HeadMode.FIELD_FEATURES
229+
self.head_mode_msg.head_mode = HeadMode.SEARCH_FIELD_FEATURES
230+
assert int(key) == HeadMode.SEARCH_FIELD_FEATURES
231231
elif key == "2":
232232
# Simply look directly forward
233233
self.head_mode_msg.head_mode = HeadMode.LOOK_FORWARD
@@ -238,12 +238,12 @@ def loop(self):
238238
assert int(key) == HeadMode.DONT_MOVE
239239
elif key == "4":
240240
# Ball Mode adapted for Penalty Kick
241-
self.head_mode_msg.head_mode = HeadMode.BALL_MODE_PENALTY
242-
assert int(key) == HeadMode.BALL_MODE_PENALTY
241+
self.head_mode_msg.head_mode = HeadMode.SEARCH_BALL_PENALTY
242+
assert int(key) == HeadMode.SEARCH_BALL_PENALTY
243243
elif key == "5":
244244
# Do a pattern which only looks in front of the robot
245-
self.head_mode_msg.head_mode = HeadMode.LOOK_FRONT
246-
assert int(key) == HeadMode.LOOK_FRONT
245+
self.head_mode_msg.head_mode = HeadMode.SEARCH_FRONT
246+
assert int(key) == HeadMode.SEARCH_FRONT
247247
elif key == "y":
248248
# kick left forward
249249
pass

‎bitbots_misc/bitbots_utils/CMakeLists.txt

+7-1
Original file line numberDiff line numberDiff line change
@@ -6,7 +6,13 @@ if(NOT CMAKE_CXX_STANDARD)
66
set(CMAKE_CXX_STANDARD 17)
77
endif()
88

9+
# Build with release optimizations and debug symbols by default
10+
if(NOT CMAKE_CONFIGURATION_TYPES AND NOT CMAKE_BUILD_TYPE)
11+
set(CMAKE_BUILD_TYPE RelWithDebug)
12+
endif()
13+
914
find_package(bitbots_docs REQUIRED)
15+
find_package(backward_ros REQUIRED)
1016
find_package(ament_cmake REQUIRED)
1117
find_package(ament_cmake_python REQUIRED)
1218
find_package(rclcpp REQUIRED)
@@ -26,7 +32,7 @@ add_compile_options(-Wall -Werror -Wno-unused -pedantic -Wextra -fPIC)
2632
add_library(${PROJECT_NAME} src/utils.cpp)
2733

2834
# Add dependencies to cpp library
29-
ament_target_dependencies(${PROJECT_NAME} rclcpp tf2_ros)
35+
ament_target_dependencies(${PROJECT_NAME} rclcpp tf2_ros backward_ros)
3036

3137
ament_export_dependencies(rclcpp)
3238
ament_export_include_directories(${INCLUDE_DIRS})

‎bitbots_misc/bitbots_utils/package.xml

+2-1
Original file line numberDiff line numberDiff line change
@@ -11,11 +11,12 @@
1111
<maintainer email="[email protected]">Hamburg Bit-Bots</maintainer>
1212

1313
<license>MIT</license>
14-
14+
1515
<author email="[email protected]">Hamburg Bit-Bots</author>
1616

1717
<buildtool_depend>ament_cmake</buildtool_depend>
1818

19+
<depend>backward_ros</depend>
1920
<depend>bitbots_docs</depend>
2021
<depend>python3-yaml</depend>
2122
<depend>python3-transforms3d</depend>

‎bitbots_motion/bitbots_dynamic_kick/CMakeLists.txt

+7-2
Original file line numberDiff line numberDiff line change
@@ -6,9 +6,15 @@ if(NOT CMAKE_CXX_STANDARD)
66
set(CMAKE_CXX_STANDARD 17)
77
endif()
88

9+
# Build with release optimizations and debug symbols by default
10+
if(NOT CMAKE_CONFIGURATION_TYPES AND NOT CMAKE_BUILD_TYPE)
11+
set(CMAKE_BUILD_TYPE RelWithDebug)
12+
endif()
13+
914
find_package(ament_cmake REQUIRED)
10-
find_package(bitbots_docs REQUIRED)
15+
find_package(backward_ros REQUIRED)
1116
find_package(biped_interfaces REQUIRED)
17+
find_package(bitbots_docs REQUIRED)
1218
find_package(bitbots_msgs REQUIRED)
1319
find_package(bitbots_splines REQUIRED)
1420
find_package(control_toolbox REQUIRED)
@@ -24,7 +30,6 @@ find_package(tf2 REQUIRED)
2430
find_package(tf2_eigen REQUIRED)
2531
find_package(tf2_geometry_msgs REQUIRED)
2632
find_package(tf2_ros REQUIRED)
27-
find_package(backward_ros REQUIRED)
2833

2934
find_package(Python3 COMPONENTS Interpreter Development)
3035

‎bitbots_motion/bitbots_dynup/CMakeLists.txt

+5
Original file line numberDiff line numberDiff line change
@@ -17,6 +17,11 @@ if(ipo_supported)
1717
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -flto=4")
1818
endif()
1919

20+
# Build with release optimizations and debug symbols by default
21+
if(NOT CMAKE_CONFIGURATION_TYPES AND NOT CMAKE_BUILD_TYPE)
22+
set(CMAKE_BUILD_TYPE RelWithDebug)
23+
endif()
24+
2025
set(PYBIND11_PYTHON_VERSION 3)
2126
set(PYBIND11_FINDPYTHON ON)
2227

‎bitbots_motion/bitbots_hcm/CMakeLists.txt

+6-1
Original file line numberDiff line numberDiff line change
@@ -1,6 +1,11 @@
11
cmake_minimum_required(VERSION 3.12)
22
project(bitbots_hcm)
33

4+
# Build with release optimizations and debug symbols by default
5+
if(NOT CMAKE_CONFIGURATION_TYPES AND NOT CMAKE_BUILD_TYPE)
6+
set(CMAKE_BUILD_TYPE RelWithDebug)
7+
endif()
8+
49
set(PYBIND11_PYTHON_VERSION 3)
510
set(PYBIND11_FINDPYTHON ON)
611
find_package(ament_cmake REQUIRED)
@@ -18,7 +23,7 @@ find_package(sensor_msgs REQUIRED)
1823
find_package(std_msgs REQUIRED)
1924

2025
if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
21-
add_compile_options(-fvisibility=hidden)
26+
add_compile_options(-fvisibility=hidden -Wall -Wextra -Wpedantic)
2227
endif()
2328

2429
include_directories(${PYTHON_INCLUDE_DIRS})

‎bitbots_motion/bitbots_head_mover/CMakeLists.txt

+5-3
Original file line numberDiff line numberDiff line change
@@ -1,6 +1,11 @@
11
cmake_minimum_required(VERSION 3.8)
22
project(bitbots_head_mover)
33

4+
# Build with release optimizations and debug symbols by default
5+
if(NOT CMAKE_CONFIGURATION_TYPES AND NOT CMAKE_BUILD_TYPE)
6+
set(CMAKE_BUILD_TYPE RelWithDebug)
7+
endif()
8+
49
if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
510
add_compile_options(-Wall -Wextra -Wpedantic)
611
endif()
@@ -12,7 +17,6 @@ find_package(bio_ik REQUIRED)
1217
find_package(bio_ik_msgs REQUIRED)
1318
find_package(bitbots_msgs REQUIRED)
1419
find_package(generate_parameter_library REQUIRED)
15-
find_package(bitbots_msgs REQUIRED)
1620
find_package(moveit_core REQUIRED)
1721
find_package(moveit_msgs REQUIRED)
1822
find_package(moveit_ros_planning REQUIRED)
@@ -23,8 +27,6 @@ find_package(std_msgs REQUIRED)
2327
find_package(tf2_geometry_msgs REQUIRED)
2428
find_package(tf2_ros REQUIRED)
2529

26-
set(CMAKE_BUILD_TYPE Debug)
27-
2830
generate_parameter_library(
2931
head_parameters # cmake target name for the parameter library
3032
config/head_config.yml)

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