Merge branch 'main' into 128-bug-traffic-light-training-does-not-work…

…-in-container

# Conflicts:
#	build/docker-compose.yml
#	code/requirements.txt

.flake8

@@ -0,0 +1,3 @@
+[flake8]
+exclude= code/test_planning_top/behavior_agent/src/behavior_agent/behavior_tree.py,
+ code/test_planning_top/behavior_agent/src/behavior_agent/behaviours/__init__.py

.gitignore

@@ -1,5 +1,6 @@
 .DS_Store
 .idea
+.gitconfig
 
 build/config.local.yml
 

build/Taskfile

@@ -32,6 +32,7 @@ task:shell() {
 ##########################################
 task:install() {
  task:install:git_hooks
+ task:gitconfig:copy
  install:gpu-support
  docker:install
 }
@@ -92,3 +93,9 @@ task:install:git_hooks() {
  test -L ../.git/hooks/commit-msg || ln -s ../../build/hooks/commit-msg ../.git/hooks/
  chmod +x ./hooks/*
 }
+
+task:gitconfig:copy() {
+ cp -u ~/.gitconfig ../.gitconfig
+}
+
+source ./tasks/ros.sh

build/docker-compose.yml

@@ -65,6 +65,9 @@ services:
  - /tmp/.X11-unix:/tmp/.X11-unix
  # if you change the volume here also change the copy command
  # in ``build/docker/build/Dockerfile
+ - ../code:/workspace/code
+ # mount git config for dvc
+ - ../.gitconfig:/home/carla/.gitconfig
  - ../:/workspace/
  networks:
  - carla

build/docker/agent/Dockerfile

@@ -52,7 +52,8 @@ RUN apt-get update && apt-get install -y \
  ros-noetic-ackermann-msgs ros-noetic-derived-object-msgs \
  ros-noetic-carla-msgs ros-noetic-pcl-conversions \
  ros-noetic-rviz ros-noetic-rqt ros-noetic-pcl-ros ros-noetic-rosbridge-suite ros-noetic-rosbridge-server \
- ros-noetic-robot-pose-ekf
+ ros-noetic-robot-pose-ekf \
+ ros-noetic-py-trees-ros ros-noetic-rqt-py-trees ros-noetic-rqt-reconfigure
 
 SHELL ["/bin/bash", "-c"]
 

build/tasks/ros.sh

@@ -0,0 +1,114 @@
+#!/usr/bin/env bash
+# b5 Taskfile, see https://git.team23.de/build/b5 for details
+
+# shortcuts for commands documented here
+# http://wiki.ros.org/ROS/CommandLineTools#Common_user_tools
+
+task:roscommand() {
+ # seems necessary to source the setup file on every call
+ docker:container_run agent /bin/bash -c "source /opt/ros/noetic/setup.bash && ${@}"
+}
+
+task:rosbag() {
+ task:roscommand "rosbag ${@}"
+}
+
+task:ros_readbagfile() {
+ task:roscommand "ros_readbagfile ${@}"
+}
+
+task:rosbash() {
+ task:roscommand "rosbash ${@}"
+}
+
+task:roscd() {
+ task:roscommand "roscd ${@}"
+}
+
+task:rosclean() {
+ task:roscommand "rosclean ${@}"
+}
+
+task:roscore() {
+ task:roscommand "roscore ${@}"
+}
+
+task:rosdep() {
+ task:roscommand "rosdep ${@}"
+}
+
+task:rosed() {
+ task:roscommand "rosed ${@}"
+}
+
+task:roscreate-pkg() {
+ task:roscommand "roscreate-pkg ${@}"
+}
+
+task:roscreate-stack() {
+ task:roscommand "roscreate-stack ${@}"
+}
+
+task:rosrun() {
+ task:roscommand "rosrun ${@}"
+}
+
+task:roslaunch() {
+ task:roscommand "roslaunch ${@}"
+}
+
+task:roslocate() {
+ task:roscommand "roslocate ${@}"
+}
+
+task:rosmake() {
+ task:roscommand "rosmake ${@}"
+}
+
+task:rosmsg() {
+ task:roscommand "rosmsg ${@}"
+}
+
+task:rosnode() {
+ additionalArguments="${@:1}"
+ task:roscommand "rosnode ${@}"
+}
+
+task:rospack() {
+ task:roscommand "rospack ${@}"
+}
+
+task:rosparam() {
+ task:roscommand "rosparam ${@}"
+}
+
+task:rossrv() {
+ task:roscommand "rossrv ${@}"
+}
+
+task:rosservice() {
+ task:roscommand "rosservice ${@}"
+}
+
+task:rosstack() {
+ task:roscommand "rosstack ${@}"
+}
+
+task:rostopic() {
+ task:roscommand "rostopic ${@}"
+}
+
+task:rosversion() {
+ task:roscommand "rosversion ${@}"
+}
+task:rqt_graph() {
+ task:roscommand "rqt_graph ${@}"
+}
+
+task:rqt_plot() {
+ task:roscommand "rqt_plot ${@}"
+}
+
+task:rqt_topic() {
+ task:roscommand "rqt_topic ${@}"
+}

code/acting/launch/acting.launch

@@ -23,20 +23,34 @@
  <param name="control_loop_rate" value="0.2" />
  <param name="enabled" value="True" /> <!-- set to True to publish dummy velocities for testing-->
  </node>
+
  <node pkg="acting" type="vehicle_controller.py" name="vehicle_controller" output="screen">
  <param name="control_loop_rate" value="$(arg control_loop_rate)" />
  <param name="role_name" value="$(arg role_name)" />
  </node>
+
  <node pkg="acting" type="DummyTrajectoryPublisher.py" name="DummyTrajectoryPublisher" output="screen">
  <param name="control_loop_rate" value="1" />
  <param name="role_name" value="$(arg role_name)" />
  </node>
+
  <node pkg="acting" type="MainFramePublisher.py" name="MainFramePublisher" output="screen">
  <param name="control_loop_rate" value="0.05" />
  <param name="role_name" value="$(arg role_name)" />
  </node>
+
  <!--node pkg="acting" type="DummyTrajectorySub.py" name="DummyTrajectorySub" output="screen">
  <param name="control_loop_rate" value="1" />
  <param name="role_name" value="$(arg role_name)" />
  </node-->
+
+ <node pkg="acting" type="acc_distance_publisher_dummy.py" name="AccDistancePublisherDummy" output="screen">
+ <param name="role_name" value="$(arg role_name)" />
+ <param name="enabled" value="False" /> <!-- set to True to publish dummy velocities for testing-->
+ </node>
+
+ <node pkg="acting" type="acc.py" name="Acc" output="screen">
+ <param name="control_loop_rate" value="$(arg control_loop_rate)" />
+ <param name="role_name" value="$(arg role_name)" />
+ </node>
 </launch>

code/acting/src/acting/DummyTrajectoryPublisher.py

@@ -36,24 +36,25 @@ def __init__(self):
 
  # Static trajectory for testing purposes
  self.initial_trajectory = [
- (985.0, -5374.2),
- (985.0, -5394.2),
-
- (985.0, -5555.5),
- (985.0, -5563.2),
- (985.3, -5565.5),
- (986.3, -5567.5),
- (987.5, -5569.0),
- (990.5, -5569.8),
- (1000.0, -5570.2),
-
- (1040.0, -5570.2),
- (1050.0, -5570.2),
- (1060.0, -5567.5),
- (1090.0, -5567.5),
- (1130.0, -5570.2),
- (1164.6, -5570.2),
- (1264.6, -5570.0)]
+ (985.5, -5433.2),
+ (983.5, -5443.2),
+
+ (983.5, -5563.5),
+ (985.0, -5573.2),
+ (986.3, -5576.5),
+ (987.3, -5578.5),
+ (988.7, -5579.0),
+ (990.5, -5579.8),
+ (1000.0, -5580.2),
+
+ (1040.0, -5580.2),
+ (1050.0, -5580.2),
+ (1060.0, -5580.5),
+ (1090.0, -5580.5),
+ (1164.6, -5583.0),
+ (1264.6, -5583.0)
+ ]
+
  self.updated_trajectory(self.initial_trajectory)
  # request for a new interpolated dummy trajectory
  # self.dummy_trajectory_request_subscriber = self.new_subscription(