Merge branch 'main' into fix/deploy

.github/workflows/build.yml

@@ -18,15 +18,15 @@ jobs:
         uses: actions/checkout@v3
 
       - name: Configure git to trust repository
-        run: git config --global --add safe.directory /__w/bitbots_meta/bitbots_meta
+        run: git config --global --add safe.directory /__w/bitbots_main/bitbots_main
 
       - name: Pull source code for libraries and install dependencies
         run: make install HTTPS=true ARGS="-ci"
 
       - name: Set up colcon workspace
         run: |
           mkdir -p /colcon_ws/src
-          ln -s $(realpath .) /colcon_ws/src/bitbots_meta
+          ln -s $(realpath .) /colcon_ws/src/bitbots_main
 
       - name: Build packages
         run: |

README.md

@@ -2,7 +2,7 @@
 
 # Bit-Bots Software Stack
 
-[![Test if all packages build](https://github.com/bit-bots/bitbots_meta/actions/workflows/build.yml/badge.svg)](https://github.com/bit-bots/bitbots_meta/actions/workflows/build.yml)
+[![Test if all packages build](https://github.com/bit-bots/bitbots_main/actions/workflows/build.yml/badge.svg)](https://github.com/bit-bots/bitbots_main/actions/workflows/build.yml)
 
 This git repository contains all RoboCup-related code and documentation from the Hamburg Bit-Bots team.
 All code is written as individual ROS 2 packages targeting Ubuntu.

bitbots_behavior/bitbots_blackboard/bitbots_blackboard/capsules/costmap_capsule.py

@@ -185,7 +185,7 @@ def cost_at_relative_xy(self, x: float, y: float) -> float:
             # Transform point of interest to the map
             point = self._blackboard.tf_buffer.transform(point, self.map_frame, timeout=Duration(seconds=0.3))
         except (tf2.ConnectivityException, tf2.LookupException, tf2.ExtrapolationException) as e:
-            self._blackboard.node.get_logger().warn(e)
+            self._blackboard.node.get_logger().warn(str(e))
             return 0.0
 
         return self.get_cost_at_field_position(point.point.x, point.point.y)
@@ -338,7 +338,7 @@ def get_cost_of_kick_relative(self, x: float, y: float, direction: float, kick_l
             pose = self._blackboard.tf_buffer.transform(pose, self.map_frame, timeout=Duration(seconds=0.3))
 
         except (tf2.ConnectivityException, tf2.LookupException, tf2.ExtrapolationException) as e:
-            self._blackboard.node.get_logger().warn(e)
+            self._blackboard.node.get_logger().warn(str(e))
             return 0.0
         d = euler_from_quaternion(numpify(pose.pose.orientation))[2]
         return self.get_cost_of_kick(pose.pose.position.x, pose.pose.position.y, d, kick_length, angular_range)

bitbots_behavior/bitbots_blackboard/bitbots_blackboard/capsules/game_status_capsule.py

@@ -5,10 +5,9 @@
 Provides information about the current game state.
 """
 from bitbots_utils.utils import get_parameters_from_other_node
+from game_controller_hl_interfaces.msg import GameState
 from rclpy.node import Node
 
-from bitbots_msgs.msg import GameState
-
 
 class GameStatusCapsule:
     def __init__(self, node: Node):

bitbots_behavior/bitbots_blackboard/bitbots_blackboard/capsules/world_model_capsule.py

@@ -175,7 +175,7 @@ def get_ball_position_uv(self) -> Tuple[float, float]:
                 ball, self.base_footprint_frame, timeout=Duration(seconds=0.2)
             ).point
         except tf2.ExtrapolationException as e:
-            self._blackboard.node.get_logger().warn(e)
+            self._blackboard.node.get_logger().warn(str(e))
             self._blackboard.node.get_logger().error("Severe transformation problem concerning the ball!")
             return None
         return ball_bfp.x, ball_bfp.y

bitbots_behavior/bitbots_blackboard/package.xml

@@ -22,8 +22,10 @@
     <build_depend>bitbots_docs</build_depend>
     <depend>bitbots_tf_listener</depend>
     <depend>bitbots_utils</depend>
+    <depend>game_controller_hl_interfaces</depend>
     <depend>python3-numpy</depend>
     <depend>rclpy</depend>
+    <depend>ros2_numpy</depend>
     <depend>tf_transformations</depend>
     <exec_depend>bio_ik_msgs</exec_depend>
     <exec_depend>bitbots_msgs</exec_depend>

bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/body_behavior.py

@@ -16,14 +16,15 @@
 from bitbots_blackboard.blackboard import BodyBlackboard
 from bitbots_tf_listener import TransformListener
 from dynamic_stack_decider.dsd import DSD
+from game_controller_hl_interfaces.msg import GameState
 from geometry_msgs.msg import PoseWithCovarianceStamped, Twist, TwistWithCovarianceStamped
 from rclpy.callback_groups import MutuallyExclusiveCallbackGroup
 from rclpy.duration import Duration
 from rclpy.executors import MultiThreadedExecutor
 from rclpy.node import Node
 from soccer_vision_3d_msgs.msg import RobotArray
 
-from bitbots_msgs.msg import GameState, RobotControlState, TeamData
+from bitbots_msgs.msg import RobotControlState, TeamData
 
 
 class BodyDSD:

bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/decisions/game_state_decider.py

@@ -1,7 +1,6 @@
 from bitbots_blackboard.blackboard import BodyBlackboard
 from dynamic_stack_decider.abstract_decision_element import AbstractDecisionElement
-
-from bitbots_msgs.msg import GameState
+from game_controller_hl_interfaces.msg import GameState
 
 
 class GameStateDecider(AbstractDecisionElement):

bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/decisions/last_player.py

@@ -9,15 +9,15 @@ def __init__(self, blackboard, dsd, parameters=None):
         super().__init__(blackboard, dsd, parameters)
 
     def perform(self, reevaluate=False):
+        # Get nessesary data
         red_cards = self.blackboard.gamestate.get_red_cards()
         own_id = self.blackboard.misc.bot_id
 
-        # iterate through all red card states except the own one
-        for i in range(len(red_cards)):
-            if i != own_id:
-                if not red_cards[i]:
-                    return "NO"
-        return "YES"
+        # Use generator comprehension to check if all red cards are true except our own
+        if all(x for i, x in enumerate(red_cards) if i != own_id):
+            return "YES"
+        else:
+            return "NO"
 
     def get_reevaluate(self):
         return True

bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/decisions/secondary_state_decider.py

@@ -1,7 +1,6 @@
 from bitbots_blackboard.blackboard import BodyBlackboard
 from dynamic_stack_decider.abstract_decision_element import AbstractDecisionElement
-
-from bitbots_msgs.msg import GameState
+from game_controller_hl_interfaces.msg import GameState
 
 
 class SecondaryStateDecider(AbstractDecisionElement):

bitbots_behavior/bitbots_body_behavior/package.xml

@@ -19,6 +19,7 @@
   <depend>bitbots_msgs</depend>
   <depend>bitbots_utils</depend>
   <depend>dynamic_stack_decider</depend>
+  <depend>game_controller_hl_interfaces</depend>
   <depend>geometry_msgs</depend>
   <depend>python3-numpy</depend>
   <depend>rclpy</depend>

bitbots_misc/bitbots_bringup/launch/highlevel.launch

@@ -15,8 +15,12 @@
 
     <!-- launch game controller -->
     <group if="$(var game_controller)">
-        <include file="$(find-pkg-share humanoid_league_game_controller)/launch/game_controller.launch">
+        <include file="$(find-pkg-share game_controller_hl)/launch/game_controller.launch">
             <arg name="sim" value="$(var sim)" />
+            <arg name="use_parameter_blackboard" value="true" />
+            <arg name="parameter_blackboard_name" value="parameter_blackboard" />
+            <arg name="team_id_param_name" value="team_id" />
+            <arg name="bot_id_param_name" value="bot_id" />
         </include>
     </group>
 

bitbots_misc/bitbots_bringup/package.xml

@@ -29,6 +29,7 @@
     <exec_depend>bitbots_ros_control</exec_depend>
     <exec_depend>bitbots_utils</exec_depend>
     <exec_depend>bitbots_vision</exec_depend>
+    <exec_depend>game_controller_hl</exec_depend>
     <exec_depend>humanoid_base_footprint</exec_depend>
     <exec_depend>soccer_ipm</exec_depend>
     <exec_depend>system_monitor</exec_depend>

bitbots_misc/bitbots_containers/hlvs/Dockerfile

@@ -45,20 +45,20 @@ RUN sudo rosdep init
 #    pip3 install -U PyYAML construct defusedxml filterpy matplotlib numpy opencv-python \
 #    protobuf psutil pytorchyolo setuptools sklearn transforms3d
 
-ADD --chown=robot:robot https://raw.githubusercontent.com/bit-bots/bitbots_meta/master/requirements/common.txt src/requirements_common.txt
+ADD --chown=robot:robot https://raw.githubusercontent.com/bit-bots/bitbots_main/master/requirements/common.txt src/requirements_common.txt
 
 RUN pip3 install -U -r src/requirements_common.txt --no-cache-dir && \
     pip3 uninstall -y numpy
 
 RUN cd src && \
-    git clone https://github.com/bit-bots/bitbots_meta.git && \
-    cd bitbots_meta && \
+    git clone https://github.com/bit-bots/bitbots_main.git && \
+    cd bitbots_main && \
     make pull-init
 
 # From here on, we don't want to cache anything. That's achieved by adding the current time.
 ADD https://www.timeapi.io/api/Time/current/zone?timeZone=UTC /tmp/build-time
 
-RUN cd src/bitbots_meta && \
+RUN cd src/bitbots_main && \
     make pull-all && \
     rm -rf lib/udp_bridge bitbots_misc/bitbots_containers \
     humanoid_league_visualization dynamic_stack_decider/dynamic_stack_decider_visualization bitbots_lowlevel \
@@ -69,13 +69,13 @@ RUN cd src/bitbots_meta && \
 
 # Install ros dependencies with rosdep
 RUN sudo apt update && rosdep update
-RUN cd src/bitbots_meta && rosdep install --rosdistro=iron --from-paths . --ignore-src -r -y
+RUN cd src/bitbots_main && rosdep install --rosdistro=iron --from-paths . --ignore-src -r -y
 
 RUN . /opt/ros/iron/setup.sh && colcon build --cmake-args -DBUILD_TESTING=OFF
 
 # TODO execute tests
 
-RUN cp src/bitbots_meta/bitbots_wolfgang/wolfgang_robocup_api/scripts/start.sh .local/bin/start
+RUN cp src/bitbots_main/bitbots_wolfgang/wolfgang_robocup_api/scripts/start.sh .local/bin/start
 
 # Volume for logs
 VOLUME /robocup-logs

bitbots_misc/bitbots_docs/docs/index.rst

@@ -6,7 +6,7 @@ and see if you can find something.
 
 If you want to take a look at the code, our Github Organisation is also named `Bit-Bots
 <https://github.com/bit-bots>`_.
-The main repository is `bitbots_meta <https://github.com/bit-bots/bitbots_meta>`_ and everything is linked from there.
+The main repository is `bitbots_main <https://github.com/bit-bots/bitbots_main>`_.
 
 .. toctree::
     :maxdepth: 1

bitbots_misc/bitbots_docs/docs/manual/testing/sim_test.rst

@@ -37,4 +37,4 @@ Test the complete software stack in simulation
     .. code-block:: bash
 
         ros2 launch bitbots_bringup simulator_teamplayer.launch
-        ros2 run humanoid_league_game_controller sim_gamestate.py
+        ros2 run game_controller_hl sim_gamestate.py

bitbots_misc/bitbots_docs/docs/manual/tutorials/Docs-How-To.rst

@@ -2,7 +2,7 @@
 How to document
 ===============
 
-Our documentation is published under `doku.bit-bots.de <https://doku.bit-bots.de>`_ and `docs.bit-bots.de <https://docs.bit-bots.de>`_ and will automatically be regenerated from the package `bitbots_meta/bitbots_misc/bitbots_docs <https://github.com/bit-bots/bitbots_meta/tree/master/bitbots_misc/bitbots_docs>`_.
+Our documentation is published under `doku.bit-bots.de <https://doku.bit-bots.de>`_ and `docs.bit-bots.de <https://docs.bit-bots.de>`_ and will automatically be regenerated from the package `bitbots_main/bitbots_misc/bitbots_docs <https://github.com/bit-bots/bitbots_main/tree/master/bitbots_misc/bitbots_docs>`_.
 
 Installation of dependencies
 ============================
@@ -23,7 +23,7 @@ How to build the documentation
 
   .. code-block:: bash
 
-        cd bitbots_meta/bitbots_misc/bitbots_docs
+        cd bitbots_main/bitbots_misc/bitbots_docs
 
 2. Build the sphinx docs for the given package.
 

bitbots_misc/bitbots_docs/docs/manual/tutorials/cl_simulation_testing_setup.rst

@@ -10,25 +10,25 @@ As such you can lookup some of the needed requirements there.
 
 - have an LDAP mafiasi account for access to the CLs
 - have ros2 aliases setup (see linked docs)
-- have github ssh access setup for bitbots_meta (see linked docs)
+- have GitHub ssh access setup for bitbots_main (see linked docs)
 
 **1. Setup and download our software**
 
 - SSH into the ``cl0*`` with your mafiasi user
-- setup bitbots_meta in your home directory
+- setup bitbots_main in your home directory
 
 .. code-block:: bash
 
   mkdir -p "~/colcon_ws/src"
   cd "~/colcon_ws/src"
-  git clone [email protected]:bit-bots/bitbots_meta.git && cd bitbots_meta
+  git clone [email protected]:bit-bots/bitbots_main.git && cd bitbots_main
   make install-no-root
 
 - set PATH and COLCON_WS (see `section 5 <https://docs.bit-bots.de/meta/manual/tutorials/install_software_ros2.html>`_)
 
 **2. Compile the packages**
 
-If while testing you are changing code or updating ``bitbots_meta`` via ``make pull-all``,
+If while testing you are changing code or updating ``bitbots_main`` via ``make pull-all``,
 this step needs to be done again.
 For compilation of the whole meta repository run ``cba``, which is an alias for:
 ``cd $COLCON_WS; colcon build --symlink-install --continue-on-error``
@@ -47,7 +47,7 @@ In the simulator we should see a field with a single robot.
 
 With ``game_controller:=false`` we ensure, that the game_controller_listener is not started as well, but instead
 we will simulate the current gamestate by our own script (in another terminal):
-``rr humanoid_league_game_controller sim_gamestate.py``
+``rr game_controller_hl sim_gamestate.py``
 
 Which allows us to simulate the current gamestate and different phases of the game.
 Now everything is ready for some simulation testing.

bitbots_misc/bitbots_docs/docs/manual/tutorials/configure_and_flash_robot.rst

@@ -39,27 +39,27 @@ At a competition, follow these steps:
    This needs to be done before the competition at the team area (see :doc:`competition_wifi`)!
 
 #. **Checkout the latest code:**
-   In your local `bitbots_meta <https://github.com/bit-bots/bitbots_meta>`_ repo run:
+   In your local `bitbots_main <https://github.com/bit-bots/bitbots_main>`_ repo run:
 
    #. Check that you are on the ``master`` branch
    #. ``git pull`` to get the latest changes
    #. ``make fresh-libs`` to clean and update all third party libraries
 
 #. **Sync, configure, compile and launch software:**
-   In the ``bitbots_meta`` directory call the ``deploy_robots.py`` tool:
+   In the ``bitbots_main`` directory call the ``deploy_robots.py`` tool:
 
    .. code-block:: bash
 
       ./scripts/deploy_robots.py <nuc* | robot_name | ALL>
 
    This does the 5 following tasks:
-   - Synchronize/Copy the current state of your local bitbots_meta directory to the robot(s)
+   - Synchronize/Copy the current state of your local bitbots_main directory to the robot(s)
    - Install ROS 2 dependencies using `rosdep` on the robot(s), if internet is available
    - Configure game specific settings and the Wi-Fi connection on the robot(s)
    - Build/Compile the source code you just synchronized to the robot(s)
    - Launch the teamplayer software on the robot(s)
 
-   If you need help with this tool, or want other options, look at `this README <https://github.com/bit-bots/bitbots_meta/blob/master/scripts/README.md#deploy_robotspy>`_ for example usages or call:
+   If you need help with this tool, or want other options, look at `this README <https://github.com/bit-bots/bitbots_main/blob/master/scripts/README.md#deploy_robotspy>`_ for example usages or call:
 
    .. code-block:: bash
 
@@ -116,9 +116,9 @@ Ansible will execute the playbook with the ``bitbots`` user on the robots and wi
 LEGACY: Sync/Build the software using the ``robot_compile`` tool:
 -----------------------------------------------------------------
 
-We utilize a python script located in ``bitbots_meta/scripts/robot_compile.py`` to allow doing the following:
+We utilize a python script located in ``bitbots_main/scripts/robot_compile.py`` to allow doing the following:
 
-- sync the local code of the whole ``bitbots_meta`` or a single package onto a robot
+- sync the local code of the whole ``bitbots_main`` or a single package onto a robot
 - build the synced code on the robot afterwards
 - automatically install required dependencies with ``rosdep install`` if the robot has an active internet connection
 - clean the whole ``~/colcon_ws`` on a robot
@@ -131,7 +131,7 @@ A full overview all the options are viewable with the ``-h`` flag.
 
 .. code-block:: bash
 
-   # full sync/build of bitbots_meta
+   # full sync/build of bitbots_main
    ./scripts/robot_compile.py nuc1
 
    # rm everything before full sync/compile

bitbots_misc/bitbots_docs/docs/manual/tutorials/install_software_ros2.rst

@@ -42,14 +42,14 @@ If you are not already using Ubuntu 22.04, consider installing it on your system
 - Add your SSH key to GitHub to access and sync our repositories
     - If you don't know what I am talking about or you don't yet have a SSH key, follow this guide: https://docs.github.com/en/authentication/connecting-to-github-with-ssh/checking-for-existing-ssh-keys
     - Go to your account settings and add your SSH key (the ``.pub`` file) for `GitHub <https://github.com/settings/keys>`_ AND `Gitea <https://git.mafiasi.de/user/settings/keys>`_
-- Now, you can clone (download) our main code repository (repo) called `bitbots_meta <https://github.com/bit-bots/bitbots_meta>`_:
+- Now, you can clone (download) our main code repository (repo) called `bitbots_main <https://github.com/bit-bots/bitbots_main>`_:
     - Open a terminal and go to the directory where you want to download our code (typically ``~/git/bitbots/``)
         - Create the directory with: ``mkdir -p ~/git/bitbots``
           This is were your source code will live and grow.
         - Move to this directory with: ``cd ~/git/bitbots``
-    - Clone the code repository with: ``git clone [email protected]:bit-bots/bitbots_meta.git``
+    - Clone the code repository with: ``git clone [email protected]:bit-bots/bitbots_main.git``
       Confirm the host key by typing ``yes``, if asked.
-    - Move into the newly created directory with: ``cd bitbots_meta``
+    - Move into the newly created directory with: ``cd bitbots_main``
     - Clone all code and other files by running: ``make install``
       This will take a while, as it downloads all the code and other files from our repositories and additionally installs all missing dependencies (using rosdep and pip).
       Finally, it will register pre-commit hooks (automatic code-formatting and warnings), which will be run every time you commit code to our repositories.
@@ -61,7 +61,7 @@ The colcon workspace is where your source code gets build and where we use colco
 
 - Create colcon workspace directory (typically ``~/colcon_ws/``)
     - Create directory with: ``mkdir -p ~/colcon_ws/src``
-    - Link our software contained in the bitbots_meta repo to the newly created ``src`` directory with: ``ln -s ~/git/bitbots/bitbots_meta/ ~/colcon_ws/src/bitbots_meta``
+    - Link our software contained in the bitbots_main repo to the newly created ``src`` directory with: ``ln -s ~/git/bitbots/bitbots_main/ ~/colcon_ws/src/bitbots_main``
 
 **5. Final touches**
 

bitbots_msgs/CMakeLists.txt

@@ -27,7 +27,6 @@ rosidl_generate_interfaces(
   "msg/Cpu.msg"
   "msg/Filesystem.msg"
   "msg/FootPressure.msg"
-  "msg/GameState.msg"
   "msg/HeadMode.msg"
   "msg/JointCommand.msg"
   "msg/JointTorque.msg"