Add Animation Record UI

.vscode/settings.json

@@ -3,6 +3,7 @@
     "autoDocstring.startOnNewLine": true,
     "cSpell.language": "en,de-de,lorem",
     "cSpell.words": [
+        "animatable",
         "ansible",
         "autoconnect",
         "basler",
@@ -87,6 +88,7 @@
         "seaborn",
         "segmentations",
         "ssid",
+        "std_srvs",
         "taskset",
         "teamplayer",
         "teleop",

bitbots_behavior/bitbots_blackboard/bitbots_blackboard/capsules/game_status_capsule.py

@@ -101,32 +101,32 @@ def get_team_id(self):
     def get_red_cards(self):
         return self.gamestate.team_mates_with_red_card
 
-    def gamestate_callback(self, gs: GameState):
-        if self.gamestate.penalized and not gs.penalized:
+    def gamestate_callback(self, gamestate_msg: GameState):
+        if self.gamestate.penalized and not gamestate_msg.penalized:
             self.unpenalized_time = self.node.get_clock().now().nanoseconds / 1e9
 
-        if gs.own_score > self.gamestate.own_score:
+        if gamestate_msg.own_score > self.gamestate.own_score:
             self.last_goal_from_us_time = self.node.get_clock().now().nanoseconds / 1e9
             self.last_goal_time = self.node.get_clock().now().nanoseconds / 1e9
 
-        if gs.rival_score > self.gamestate.rival_score:
+        if gamestate_msg.rival_score > self.gamestate.rival_score:
             self.last_goal_time = self.node.get_clock().now().nanoseconds / 1e9
 
         if (
-            gs.secondary_state_mode == 2
+            gamestate_msg.secondary_state_mode == 2
             and self.gamestate.secondary_state_mode != 2
-            and gs.game_state == GameState.GAMESTATE_PLAYING
+            and gamestate_msg.game_state == GameState.GAMESTATE_PLAYING
         ):
             # secondary action is now executed but we will not see this in the new messages.
             # it will look like a normal kick off, but we need to remember that this is some sort of free kick
             # we set the kickoff value accordingly, then we will not be allowed to move if it is a kick for the others
-            self.free_kick_kickoff_team = gs.secondary_state_team
+            self.free_kick_kickoff_team = gamestate_msg.secondary_state_team
 
-        if gs.secondary_state_mode != 2 and gs.secondary_seconds_remaining == 0:
+        if gamestate_msg.secondary_state_mode != 2 and gamestate_msg.secondary_seconds_remaining == 0:
             self.free_kick_kickoff_team = None
 
         if self.free_kick_kickoff_team is not None:
-            gs.has_kick_off = self.free_kick_kickoff_team == self.team_id
+            gamestate_msg.has_kick_off = self.free_kick_kickoff_team == self.team_id
 
         self.last_update = self.node.get_clock().now().nanoseconds / 1e9
-        self.gamestate = gs
+        self.gamestate = gamestate_msg

bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/actions/go_to_corner_kick_position.py

@@ -17,7 +17,7 @@ def __init__(self, blackboard, dsd, parameters):
         self.mode = parameters.get("mode", None)
         if self.mode is None or self.mode not in ("striker", "supporter", "others"):
             self.blackboard.node.get_logger().error("mode for corner kick not specified")
-            exit()
+            raise ValueError("mode for corner kick not specified")
 
     def perform(self, reevaluate=False):
         # The defense position should be a position between the ball and the own goal.

bitbots_behavior/bitbots_body_behavior/launch/behavior.launch

@@ -1,13 +1,22 @@
 <launch>
+    <arg name="dsd_file" default="main.dsd" />
+    <arg name="tf_prefix" default=""/>
     <arg name="sim" default="false" />
-    <arg name="dsd_file" default="main.dsd" description="The behavior dsd file that should be used" />
 
-    <include file="$(find-pkg-share bitbots_body_behavior)/launch/body_behavior.launch">
-        <arg name="dsd_file" value="$(var dsd_file)" />
-        <arg name="sim" value="$(var sim)" />
-    </include>
+    <let if="$(env IS_ROBOT false)" name="taskset" value="taskset -c 2"/>
+    <let unless="$(env IS_ROBOT false)" name="taskset" value=""/>
 
-    <include file="$(find-pkg-share bitbots_head_mover)/launch/head_mover.launch">
-        <arg name="sim" value="$(var sim)" />
-    </include>
+    <node pkg="bitbots_body_behavior" exec="body_behavior" output="screen" launch-prefix="$(var taskset)">
+        <param name="dsd_file" value="$(var dsd_file)"/>
+        <param name="actionlib_client_sub_queue_size" value="-1"/>
+        <param name="actionlib_client_sub_queue_size" value="-1"/>
+        <param name="actionlib_server_sub_queue_size" value="-1"/>
+        <param from="$(find-pkg-share bitbots_body_behavior)/config/body_behavior.yaml"/>
+        <param from="$(find-pkg-share bitbots_body_behavior)/config/animations.yaml"/>
+        <param name="odom_frame" value="$(var tf_prefix)odom"/>
+        <param name="map_frame" value="$(var tf_prefix)map"/>
+        <param name="ball_frame" value="$(var tf_prefix)ball"/>
+        <param name="base_footprint_frame" value="$(var tf_prefix)base_footprint"/>
+        <param name="use_sim_time" value="$(var sim)" />
+    </node>
 </launch>

bitbots_lowlevel/bitbots_buttons/src/button_node.cpp

@@ -51,7 +51,7 @@ class ButtonNode : public rclcpp::Node {
       RCLCPP_INFO(this->get_logger(), "service switch_power not available, waiting again...");
     }
 
-    teaching_mode_client_ = this->create_client<bitbots_msgs::srv::SetTeachingMode>("set_teaching_mode");
+    teaching_mode_client_ = this->create_client<bitbots_msgs::srv::SetTeachingMode>("teaching_mode");
     buttons_sub_ = this->create_subscription<bitbots_msgs::msg::Buttons>(
         "/buttons", 1, std::bind(&bitbots_buttons::ButtonNode::buttonCb, this, _1));
     gamestate_sub_ = this->create_subscription<game_controller_hl_interfaces::msg::GameState>(

bitbots_misc/bitbots_bringup/launch/motion.launch

@@ -31,6 +31,11 @@
         <arg name="sim" value="$(var sim)"/>
     </include>
 
+    <!-- launch the head mover -->
+    <include file="$(find-pkg-share bitbots_head_mover)/launch/head_mover.launch">
+        <arg name="sim" value="$(var sim)" />
+    </include>
+
     <!-- launch the walking -->
     <group if="$(var walking)">
         <include file="$(find-pkg-share bitbots_quintic_walk)/launch/quintic_walk.launch">