diff --git a/package-lock 2.json b/package-lock 2.json
deleted file mode 100644
index 7e15bec8..00000000
--- a/package-lock 2.json
+++ /dev/null
@@ -1,20271 +0,0 @@
-{
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diff --git a/package-lock.json b/package-lock.json
index 329b227c..53ae86da 100644
--- a/package-lock.json
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- "dev": true,
"dependencies": {
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"@jridgewell/sourcemap-codec": "1.4.14"
}
},
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+ "dependencies": {
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+ },
+ "engines": {
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+ }
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+ "node_modules/@babel/helper-builder-binary-assignment-operator-visitor": {
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+ "resolved": "https://registry.npmjs.org/@babel/helper-builder-binary-assignment-operator-visitor/-/helper-builder-binary-assignment-operator-visitor-7.18.9.tgz",
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+ "dependencies": {
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- "dev": true,
+ "bin": {
+ "semver": "bin/semver.js"
+ }
+ },
+ "node_modules/@babel/helper-create-class-features-plugin": {
+ "version": "7.21.0",
+ "resolved": "https://registry.npmjs.org/@babel/helper-create-class-features-plugin/-/helper-create-class-features-plugin-7.21.0.tgz",
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+ "dependencies": {
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+ "@babel/helper-function-name": "^7.21.0",
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+ "dependencies": {
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+ "dependencies": {
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+ },
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+ },
+ "peerDependenciesMeta": {
+ "supports-color": {
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+ }
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+ "node_modules/@babel/helper-define-polyfill-provider/node_modules/ms": {
+ "version": "2.1.2",
+ "resolved": "https://registry.npmjs.org/ms/-/ms-2.1.2.tgz",
+ "integrity": "sha512-sGkPx+VjMtmA6MX27oA4FBFELFCZZ4S4XqeGOXCv68tT+jb3vk/RyaKWP0PTKyWtmLSM0b+adUTEvbs1PEaH2w=="
+ },
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- "dev": true,
+ "engines": {
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+ }
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+ "node_modules/@babel/helper-explode-assignable-expression": {
+ "version": "7.18.6",
+ "resolved": "https://registry.npmjs.org/@babel/helper-explode-assignable-expression/-/helper-explode-assignable-expression-7.18.6.tgz",
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+ "dependencies": {
+ "@babel/types": "^7.18.6"
+ },
"engines": {
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- "dev": true,
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},
@@ -219,11 +319,21 @@
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+ "version": "7.21.0",
+ "resolved": "https://registry.npmjs.org/@babel/helper-member-expression-to-functions/-/helper-member-expression-to-functions-7.21.0.tgz",
+ "integrity": "sha512-Muu8cdZwNN6mRRNG6lAYErJ5X3bRevgYR2O8wN0yn7jJSnGDu6eG59RfT29JHxGUovyfrh6Pj0XzmR7drNVL3Q==",
+ "dependencies": {
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+ },
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"node_modules/@babel/helper-module-imports": {
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@@ -11549,11 +18070,15 @@
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+ }
+ },
+ "semver": {
+ "version": "7.3.8",
+ "resolved": "https://registry.npmjs.org/semver/-/semver-7.3.8.tgz",
+ "integrity": "sha512-NB1ctGL5rlHrPJtFDVIVzTyQylMLu9N9VICA6HSFJo8MCGVTMW6gfpicwKmmK/dAjTOrqu5l63JJOpDSrAis3A==",
+ "requires": {
+ "lru-cache": "^6.0.0"
+ }
+ },
+ "yallist": {
+ "version": "4.0.0",
+ "resolved": "https://registry.npmjs.org/yallist/-/yallist-4.0.0.tgz",
+ "integrity": "sha512-3wdGidZyq5PB084XLES5TpOSRA3wjXAlIWMhum2kRcv/41Sn2emQ0dycQW4uZXLejwKvg6EsvbdlVL+FYEct7A=="
+ }
+ }
+ },
"ts-node": {
"version": "10.9.1",
"resolved": "https://registry.npmjs.org/ts-node/-/ts-node-10.9.1.tgz",
@@ -13274,6 +20165,16 @@
"resolved": "https://registry.npmjs.org/tsscmp/-/tsscmp-1.0.6.tgz",
"integrity": "sha512-LxhtAkPDTkVCMQjt2h6eBVY28KCjikZqZfMcC15YBeNjkgUpdCfBu5HoiOTDu86v6smE8yOjyEktJ8hlbANHQA=="
},
+ "type-detect": {
+ "version": "4.0.8",
+ "resolved": "https://registry.npmjs.org/type-detect/-/type-detect-4.0.8.tgz",
+ "integrity": "sha512-0fr/mIH1dlO+x7TlcMy+bIDqKPsw/70tVyeHW787goQjhmqaZe10uwLujubK9q9Lg6Fiho1KUKDYz0Z7k7g5/g=="
+ },
+ "type-fest": {
+ "version": "0.21.3",
+ "resolved": "https://registry.npmjs.org/type-fest/-/type-fest-0.21.3.tgz",
+ "integrity": "sha512-t0rzBq87m3fVcduHDUFhKmyyX+9eo6WQjZvf51Ea/M0Q7+T374Jp1aUiyUl0GKxp8M/OETVHSDvmkyPgvX+X2w=="
+ },
"type-is": {
"version": "1.6.18",
"resolved": "https://registry.npmjs.org/type-is/-/type-is-1.6.18.tgz",
@@ -13298,6 +20199,11 @@
"resolved": "https://registry.npmjs.org/typescript/-/typescript-4.9.5.tgz",
"integrity": "sha512-1FXk9E2Hm+QzZQ7z+McJiHL4NW1F2EzMu9Nq9i3zAaGqibafqYwCVU6WyWAuyQRRzOlxou8xZSyXLEN8oKj24g=="
},
+ "ultron": {
+ "version": "1.1.1",
+ "resolved": "https://registry.npmjs.org/ultron/-/ultron-1.1.1.tgz",
+ "integrity": "sha512-UIEXBNeYmKptWH6z8ZnqTeS8fV74zG0/eRU9VGkpzz+LIJNs8W/zM/L+7ctCkRrgbNnnR0xxw4bKOr0cW0N0Og=="
+ },
"unbox-primitive": {
"version": "1.0.2",
"resolved": "https://registry.npmjs.org/unbox-primitive/-/unbox-primitive-1.0.2.tgz",
@@ -13314,6 +20220,30 @@
"resolved": "https://registry.npmjs.org/undefsafe/-/undefsafe-2.0.5.tgz",
"integrity": "sha512-WxONCrssBM8TSPRqN5EmsjVrsv4A8X12J4ArBiiayv3DyyG3ZlIg6yysuuSYdZsVz3TKcTg2fd//Ujd4CHV1iA=="
},
+ "unicode-canonical-property-names-ecmascript": {
+ "version": "2.0.0",
+ "resolved": "https://registry.npmjs.org/unicode-canonical-property-names-ecmascript/-/unicode-canonical-property-names-ecmascript-2.0.0.tgz",
+ "integrity": "sha512-yY5PpDlfVIU5+y/BSCxAJRBIS1Zc2dDG3Ujq+sR0U+JjUevW2JhocOF+soROYDSaAezOzOKuyyixhD6mBknSmQ=="
+ },
+ "unicode-match-property-ecmascript": {
+ "version": "2.0.0",
+ "resolved": "https://registry.npmjs.org/unicode-match-property-ecmascript/-/unicode-match-property-ecmascript-2.0.0.tgz",
+ "integrity": "sha512-5kaZCrbp5mmbz5ulBkDkbY0SsPOjKqVS35VpL9ulMPfSl0J0Xsm+9Evphv9CoIZFwre7aJoa94AY6seMKGVN5Q==",
+ "requires": {
+ "unicode-canonical-property-names-ecmascript": "^2.0.0",
+ "unicode-property-aliases-ecmascript": "^2.0.0"
+ }
+ },
+ "unicode-match-property-value-ecmascript": {
+ "version": "2.1.0",
+ "resolved": "https://registry.npmjs.org/unicode-match-property-value-ecmascript/-/unicode-match-property-value-ecmascript-2.1.0.tgz",
+ "integrity": "sha512-qxkjQt6qjg/mYscYMC0XKRn3Rh0wFPlfxB0xkt9CfyTvpX1Ra0+rAmdX2QyAobptSEvuy4RtpPRui6XkV+8wjA=="
+ },
+ "unicode-property-aliases-ecmascript": {
+ "version": "2.1.0",
+ "resolved": "https://registry.npmjs.org/unicode-property-aliases-ecmascript/-/unicode-property-aliases-ecmascript-2.1.0.tgz",
+ "integrity": "sha512-6t3foTQI9qne+OZoVQB/8x8rk2k1eVy1gRXhV3oFQ5T6R1dqQ1xtin3XqSlx3+ATBkliTaR/hHyJBm+LVPNM8w=="
+ },
"unorm": {
"version": "1.6.0",
"resolved": "https://registry.npmjs.org/unorm/-/unorm-1.6.0.tgz",
@@ -13334,7 +20264,6 @@
"version": "1.0.10",
"resolved": "https://registry.npmjs.org/update-browserslist-db/-/update-browserslist-db-1.0.10.tgz",
"integrity": "sha512-OztqDenkfFkbSG+tRxBeAnCVPckDBcvibKd35yDONx6OU8N7sqgwc7rCbkJ/WcYtVRZ4ba68d6byhC21GFh7sQ==",
- "dev": true,
"requires": {
"escalade": "^3.1.1",
"picocolors": "^1.0.0"
@@ -13397,6 +20326,27 @@
"resolved": "https://registry.npmjs.org/v8-compile-cache-lib/-/v8-compile-cache-lib-3.0.1.tgz",
"integrity": "sha512-wa7YjyUGfNZngI/vtK0UHAN+lgDCxBPCylVXGp0zu59Fz5aiGtNXaq3DhIov063MorB+VfufLh3JlF2KdTK3xg=="
},
+ "v8-to-istanbul": {
+ "version": "9.1.0",
+ "resolved": "https://registry.npmjs.org/v8-to-istanbul/-/v8-to-istanbul-9.1.0.tgz",
+ "integrity": "sha512-6z3GW9x8G1gd+JIIgQQQxXuiJtCXeAjp6RaPEPLv62mH3iPHPxV6W3robxtCzNErRo6ZwTmzWhsbNvjyEBKzKA==",
+ "requires": {
+ "@jridgewell/trace-mapping": "^0.3.12",
+ "@types/istanbul-lib-coverage": "^2.0.1",
+ "convert-source-map": "^1.6.0"
+ },
+ "dependencies": {
+ "@jridgewell/trace-mapping": {
+ "version": "0.3.17",
+ "resolved": "https://registry.npmjs.org/@jridgewell/trace-mapping/-/trace-mapping-0.3.17.tgz",
+ "integrity": "sha512-MCNzAp77qzKca9+W/+I0+sEpaUnZoeasnghNeVc41VZCEKaCH73Vq3BZZ/SzWIgrqE4H4ceI+p+b6C0mHf9T4g==",
+ "requires": {
+ "@jridgewell/resolve-uri": "3.1.0",
+ "@jridgewell/sourcemap-codec": "1.4.14"
+ }
+ }
+ }
+ },
"validate-npm-package-license": {
"version": "3.0.4",
"resolved": "https://registry.npmjs.org/validate-npm-package-license/-/validate-npm-package-license-3.0.4.tgz",
@@ -13429,19 +20379,33 @@
"rollup": "^3.10.0"
}
},
+ "walker": {
+ "version": "1.0.8",
+ "resolved": "https://registry.npmjs.org/walker/-/walker-1.0.8.tgz",
+ "integrity": "sha512-ts/8E8l5b7kY0vlWLewOkDXMmPdLcVV4GmOQLyxuSswIJsweeFZtAsMF7k1Nszz+TYBQrlYRmzOnr398y1JemQ==",
+ "requires": {
+ "makeerror": "1.0.12"
+ }
+ },
"web": {
"version": "file:packages/web",
"requires": {
- "@react-three/drei": "^9.56.18",
+ "@react-spring/web": "^9.7.1",
+ "@react-three/drei": "^9.57.2",
"@react-three/fiber": "^8.11.0",
"@types/react": "^18.0.26",
"@types/react-dom": "^18.0.9",
"@types/three": "^0.149.0",
+ "@use-gesture/react": "^10.2.24",
"@vitejs/plugin-react": "^3.0.0",
"autoprefixer": "^10.4.13",
+ "drei": "^2.2.21",
+ "framer-motion": "^10.2.4",
+ "lodash-move": "^1.1.1",
"postcss": "^8.4.21",
"react": "^18.2.0",
"react-dom": "^18.2.0",
+ "react-icons": "^4.8.0",
"react-router-dom": "^6.8.1",
"react-tooltip": "^5.8.1",
"react-use": "^17.4.0",
@@ -13473,9 +20437,9 @@
"integrity": "sha512-2JAn3z8AR6rjK8Sm8orRC0h/bcl/DqL7tRPdGZ4I1CjdF+EaMLmYxBHyXuKL849eucPFhvBoxMsflfOb8kxaeQ=="
},
"webtopics": {
- "version": "1.9.9",
- "resolved": "https://registry.npmjs.org/webtopics/-/webtopics-1.9.9.tgz",
- "integrity": "sha512-ss0S76x37L/R0Wdc+Y826GYLEW2GwrLMcdLU4UQCj1/1qw+SDfQDJ28pVcAvl3mW6HWrL4N6z0aY95fOkIIzMg==",
+ "version": "1.9.10",
+ "resolved": "https://registry.npmjs.org/webtopics/-/webtopics-1.9.10.tgz",
+ "integrity": "sha512-gBaKcE6FDweyPF87M2tLMxbxVExZMeIs8XsjLFZUU/bBLDUmOWfOWShqw79hIuO36Rm51y/i4bsNVWeru0bqrg==",
"requires": {
"@types/lodash": "^4.14.191",
"@types/node": "^18.11.18",
@@ -13501,6 +20465,14 @@
"webidl-conversions": "^3.0.0"
}
},
+ "which": {
+ "version": "2.0.2",
+ "resolved": "https://registry.npmjs.org/which/-/which-2.0.2.tgz",
+ "integrity": "sha512-BLI3Tl1TW3Pvl70l3yq3Y64i+awpwXqsGBYWkkqMtnbXgrMD+yj7rhW0kuEDxzJaYXGjEW5ogapKNMEKNMjibA==",
+ "requires": {
+ "isexe": "^2.0.0"
+ }
+ },
"which-boxed-primitive": {
"version": "1.0.2",
"resolved": "https://registry.npmjs.org/which-boxed-primitive/-/which-boxed-primitive-1.0.2.tgz",
@@ -13577,17 +20549,40 @@
"resolved": "https://registry.npmjs.org/wrappy/-/wrappy-1.0.2.tgz",
"integrity": "sha512-l4Sp/DRseor9wL6EvV2+TuQn63dMkPjZ/sp9XkghTEbV9KlPS1xUsZ3u7/IQO4wxtcFB4bgpQPRcR3QCvezPcQ=="
},
+ "write-file-atomic": {
+ "version": "4.0.2",
+ "resolved": "https://registry.npmjs.org/write-file-atomic/-/write-file-atomic-4.0.2.tgz",
+ "integrity": "sha512-7KxauUdBmSdWnmpaGFg+ppNjKF8uNLry8LyzjauQDOVONfFLNKrKvQOxZ/VuTIcS/gge/YNahf5RIIQWTSarlg==",
+ "requires": {
+ "imurmurhash": "^0.1.4",
+ "signal-exit": "^3.0.7"
+ }
+ },
"ws": {
"version": "8.11.0",
"resolved": "https://registry.npmjs.org/ws/-/ws-8.11.0.tgz",
"integrity": "sha512-HPG3wQd9sNQoT9xHyNCXoDUa+Xw/VevmY9FoHyQ+g+rrMn4j6FB4np7Z0OhdTgjx6MgQLK7jwSy1YecU1+4Asg==",
"requires": {}
},
+ "xmlbuilder": {
+ "version": "8.2.2",
+ "resolved": "https://registry.npmjs.org/xmlbuilder/-/xmlbuilder-8.2.2.tgz",
+ "integrity": "sha512-eKRAFz04jghooy8muekqzo8uCSVNeyRedbuJrp0fovbLIi7wlsYtdUn3vBAAPq2Y3/0xMz2WMEUQ8yhVVO9Stw=="
+ },
"xmlhttprequest-ssl": {
"version": "2.0.0",
"resolved": "https://registry.npmjs.org/xmlhttprequest-ssl/-/xmlhttprequest-ssl-2.0.0.tgz",
"integrity": "sha512-QKxVRxiRACQcVuQEYFsI1hhkrMlrXHPegbbd1yn9UHOmRxY+si12nQYzri3vbzt8VdTTRviqcKxcyllFas5z2A=="
},
+ "xmlrpc-rosnodejs": {
+ "version": "1.4.0",
+ "resolved": "https://registry.npmjs.org/xmlrpc-rosnodejs/-/xmlrpc-rosnodejs-1.4.0.tgz",
+ "integrity": "sha512-Aoseo0rqNLPmgGJfCpLZ2H6ZlpazcDngxQxmt0hrtvhorLWHehEJMjvAPOf315fezFwLXcYsd48l1hh+oT8Kcg==",
+ "requires": {
+ "sax": "1.2.x",
+ "xmlbuilder": "8.2.x"
+ }
+ },
"xtend": {
"version": "4.0.2",
"resolved": "https://registry.npmjs.org/xtend/-/xtend-4.0.2.tgz",
@@ -13602,8 +20597,7 @@
"yallist": {
"version": "3.1.1",
"resolved": "https://registry.npmjs.org/yallist/-/yallist-3.1.1.tgz",
- "integrity": "sha512-a4UGQaWPH59mOXUYnAG2ewncQS4i4F43Tv3JoAM+s2VDAmS9NsK8GpDMLrCHPksFT7h3K6TOoUNn2pb7RoXx4g==",
- "dev": true
+ "integrity": "sha512-a4UGQaWPH59mOXUYnAG2ewncQS4i4F43Tv3JoAM+s2VDAmS9NsK8GpDMLrCHPksFT7h3K6TOoUNn2pb7RoXx4g=="
},
"yaml": {
"version": "1.10.2",
@@ -13635,6 +20629,11 @@
"resolved": "https://registry.npmjs.org/yn/-/yn-3.1.1.tgz",
"integrity": "sha512-Ux4ygGWsu2c7isFWe8Yu1YluJmqVhxqK2cLXNQA5AcC3QfbGNpM7fu0Y8b/z16pXLnFxZYvWhd3fhBY9DLmC6Q=="
},
+ "yocto-queue": {
+ "version": "0.1.0",
+ "resolved": "https://registry.npmjs.org/yocto-queue/-/yocto-queue-0.1.0.tgz",
+ "integrity": "sha512-rVksvsnNCdJ/ohGc6xgPwyN8eheCxsiLM8mxuE/t/mOVqJewPuO1miLpTHQiRgTKCLexL4MeAFVagts7HmNZ2Q=="
+ },
"zod": {
"version": "3.20.6",
"resolved": "https://registry.npmjs.org/zod/-/zod-3.20.6.tgz",
diff --git a/package.json b/package.json
index 45188aa0..3bc5ac47 100644
--- a/package.json
+++ b/package.json
@@ -24,7 +24,8 @@
"dev-web": "cd packages/web && npm run dev",
"dev-web-emu": "npm run build-schema && concurrently \"npm run dev-fake_bridge\" \"npm run dev-web\"",
"ros": "ts-node scripts/launch_ros.ts",
- "bridge-test":"node --experimental-vm-modules node_modules/jest/bin/jest.js"
+ "bridge-test":"node --experimental-vm-modules node_modules/jest/bin/jest.js",
+ "dev-bot": "cd packages/bot && npm run dev"
},
"repository": {
"type": "git",
diff --git a/packages/bot/interface.js b/packages/bot/interface.js
new file mode 100644
index 00000000..fba8dcc4
--- /dev/null
+++ b/packages/bot/interface.js
@@ -0,0 +1,58 @@
+'use strict';
+
+// import rosnodejs from 'rosnodejs';
+// const stagehands_ros_msgs = rosnodejs.require('stagehands_ros').msg;
+import { TopicClient } from "webtopics";
+import io from "socket.io-client";
+import { fleetTopic } from "schema";
+
+const client = new TopicClient(io("http://localhost:3000"));
+console.log("Connecting to server...")
+client.getServerID().then((id) => {
+ console.log("Server ID: ", id);
+});
+
+// function pose_listener() {
+// rosnodejs.initNode('interface').then((nodeHandle) => {
+// let client = new TopicClient(io("http://localhost:3000"));
+// console.log("Connecting to server...")
+// client.getServerID().then((id) => {
+// console.log("Server ID: ", id);
+// });
+// // let sub = nodeHandle.subscribe('robot_current_pose', stagehands_ros_msgs.robotCurrentPose, (data) => {
+// // let x = {
+// // name: "bemp",
+// // pose: {
+// // position: [0, 0, 0],
+// // quaternion: [0, 0, 0, 1]
+// // },
+// // targetPose: {
+// // position: [0, 0, 0],
+// // quaternion: [0, 0, 0, 1]
+// // },
+// // ledState: {
+// // base: {
+// // rgbValue: [0, 0, 0],
+// // ledAnimation: {
+// // animationMode: "constant",
+// // flashingFrequency: 0
+// // }
+// // }
+// // },
+// // status: "idle",
+// // module: {
+// // type: "nullModule",
+// // state: null,
+// // moduleModels:{}
+
+// // },
+// // stopped: false
+// // }
+// // client.pub(fleetTopic, x)
+// // console.log(bridgeServer.getController().getContext().getCurrentBotState())
+// // console.log("im publishing", data)
+// // });
+// });
+// }
+
+// pose_listener()
\ No newline at end of file
diff --git a/packages/bot/package.json b/packages/bot/package.json
new file mode 100644
index 00000000..8c2a585d
--- /dev/null
+++ b/packages/bot/package.json
@@ -0,0 +1,21 @@
+{
+ "name": "bot",
+ "version": "1.0.0",
+ "description": "mijh",
+ "main": "index.js",
+ "scripts": {
+ "test": "echo \"Error: no test specified\" && exit 1",
+ "run": "node --experimental-specifier-resolution=node --loader ts-node/esm interface.js",
+ "dev": "nodemon --exec node --experimental-specifier-resolution=node --loader ts-node/esm interface.js"
+ },
+ "author": "",
+ "license": "ISC",
+ "type": "module",
+ "dependencies": {
+ "nodemon": "^2.0.21",
+ "rosnodejs": "^3.1.0",
+ "socket.io-client": "^4.6.1",
+ "ts-node": "^10.9.1",
+ "webtopics": "^1.9.10"
+ }
+}
diff --git a/packages/bridge/src/server.ts b/packages/bridge/src/server.ts
index fe4fed2f..0095319b 100644
--- a/packages/bridge/src/server.ts
+++ b/packages/bridge/src/server.ts
@@ -48,10 +48,14 @@ export class bridgeServer{
this.controller.runService(overWriteLEDService,overWriteLEDServiceHandler);
//clear all bot's led overwrite service
this.controller.runService(clearLEDOverwriteService,clearLEDOverwriteServiceHandler);
+ this.controller.server.sub(serverMetaChannel,(data)=>{
+ console.log(data);
+
+ })
}
public getController(){
return this.controller;
}
}
-
+const server =new bridgeServer();
diff --git a/packages/bridge/src/topicHandler.ts b/packages/bridge/src/topicHandler.ts
index 63727f76..8f92e5af 100644
--- a/packages/bridge/src/topicHandler.ts
+++ b/packages/bridge/src/topicHandler.ts
@@ -30,6 +30,9 @@ import { botIDRegistrationService,FleetState } from "schema";
export function fleetTopicHandler(fleetState:FleetState,context:Context){
context.setCurrentBotState(fleetState);
+ console.log(fleetState);
+ console.log("receving")
+
//console.log("current state");
//console.log(fleetState);
diff --git a/ros/basebot/Dockerfile b/ros/basebot/Dockerfile
index c13071fa..5344e83f 100644
--- a/ros/basebot/Dockerfile
+++ b/ros/basebot/Dockerfile
@@ -23,9 +23,6 @@ RUN apt-get install -y ros-noetic-rqt
RUN apt-get install -y libgazebo11-dev
RUN apt-get install -y python3-roslaunch
-# Nodejs
-RUN apt-get install -y nodejs npm
-
# Development
RUN apt-get install -y python3-catkin-tools
RUN apt-get install -y nano
@@ -39,6 +36,15 @@ RUN apt-get install -y wget
RUN apt-get install -y dos2unix
RUN apt-get install -y curl
+# Install latest version of NodeJS
+RUN echo "Installing latest version of NodeJS"
+RUN /bin/bash -c "curl -o- https://raw.githubusercontent.com/nvm-sh/nvm/v0.39.3/install.sh | bash"
+
+# Add the "~/.nvm" directory to the PATH
+ENV NVM_DIR=/root/.nvm
+# Install the latest version of NodeJS
+RUN /bin/bash -c "source $NVM_DIR/nvm.sh; nvm install node"
+
# More ROS
RUN apt-get install -y ros-noetic-nav2d
RUN apt-get install -y ros-noetic-stage-ros
@@ -50,6 +56,14 @@ WORKDIR /catkin_ws/src
# Copy .src files into the catkin_ws/src folder:
COPY ./ros/basebot/src/ .
+# Copy stagehands javascript codebase into the catkin_ws/src folder:
+COPY ../packages ./stagehands-js/packages
+COPY ../package.json ./stagehands-js
+COPY ../package-lock.json ./stagehands-js
+
+# Build the npm workspace
+RUN /bin/bash -c "source ${NVM_DIR}/nvm.sh; cd stagehands-js; npm install; npm run build-schema"
+
# Set the working directory to catkin_ws
WORKDIR /catkin_ws
@@ -57,7 +71,7 @@ WORKDIR /catkin_ws
RUN /bin/bash -c "source /opt/ros/noetic/setup.bash; catkin build"
# Set the environment variables
-ARG ROS_MASTER_HOSTNAME=localhost
+ARG ROS_MASTER_HOSTNAME=docker-desktop
ARG ROS_MASTER_PORT=11311
ARG TURTLEBOT3_MODEL=waffle_pi
ENV ROS_MASTER_URI=http://${ROS_MASTER_HOSTNAME}:11311
diff --git a/ros/basebot/Dockerfile 2 b/ros/basebot/Dockerfile 2
deleted file mode 100644
index c13071fa..00000000
--- a/ros/basebot/Dockerfile 2
+++ /dev/null
@@ -1,85 +0,0 @@
-# Pull ROS noetic image from Docker Hub
-FROM osrf/ros:noetic-desktop-full
-
-# Update git
-RUN apt-get update
-
-# READ: https://emanual.robotis.com/docs/en/platform/turtlebot3/quick-start/
-
-# Turtlebot packages
-RUN apt-get install -y ros-noetic-dynamixel-sdk
-RUN apt-get install -y ros-noetic-turtlebot3-msgs
-RUN apt-get install -y ros-noetic-turtlebot3
-RUN apt-get install -y ros-noetic-turtlebot3-simulations
-RUN apt-get install -y ros-noetic-turtlebot3-gazebo
-RUN apt-get install -y ros-noetic-openslam-gmapping
-RUN apt-get install -y ros-noetic-slam-gmapping
-RUN apt-get install -y ros-noetic-navigation
-RUN apt-get install -y ros-noetic-geometry2
-RUN apt-get install -y ros-noetic-hector-slam
-RUN apt-get install -y ros-noetic-rqt
-# RUN apt-get install -y ros-noetic-rqt-common-plugins
-# RUN apt-get install -y ros-noetic-rqt-robot-plugins
-RUN apt-get install -y libgazebo11-dev
-RUN apt-get install -y python3-roslaunch
-
-# Nodejs
-RUN apt-get install -y nodejs npm
-
-# Development
-RUN apt-get install -y python3-catkin-tools
-RUN apt-get install -y nano
-RUN apt-get install -y git
-RUN apt-get install -y x11-apps
-RUN apt-get install -y iputils-ping
-
-# For hostname resolution
-RUN apt-get install -y avahi-daemon avahi-discover avahi-utils libnss-mdns mdns-scan
-RUN apt-get install -y wget
-RUN apt-get install -y dos2unix
-RUN apt-get install -y curl
-
-# More ROS
-RUN apt-get install -y ros-noetic-nav2d
-RUN apt-get install -y ros-noetic-stage-ros
-RUN apt-get install -y ros-noetic-joy
-
-# Set the working directory to catkin_ws
-WORKDIR /catkin_ws/src
-
-# Copy .src files into the catkin_ws/src folder:
-COPY ./ros/basebot/src/ .
-
-# Set the working directory to catkin_ws
-WORKDIR /catkin_ws
-
-# Build the catkin workspace
-RUN /bin/bash -c "source /opt/ros/noetic/setup.bash; catkin build"
-
-# Set the environment variables
-ARG ROS_MASTER_HOSTNAME=localhost
-ARG ROS_MASTER_PORT=11311
-ARG TURTLEBOT3_MODEL=waffle_pi
-ENV ROS_MASTER_URI=http://${ROS_MASTER_HOSTNAME}:11311
-ENV ROS_HOSTNAME=${ROS_MASTER_HOSTNAME}
-ENV TURTLEBOT3_MODEL=${TURTLEBOT3_MODEL}
-
-# Go back to the default working directory
-WORKDIR /
-
-# Copy in the map directory
-COPY ./ros/basebot/map/ ./map/
-
-# Expose the port for the ROS master
-EXPOSE 11311
-
-## BELOW IS FOR DEVELOPMENT PURPOSES ONLY, PLEASE REMOVE FOR PRODUCTION ##
-# Copy the scripts directory into the container
-COPY ./ros/basebot/scripts/ ./scripts/
-RUN dos2unix /scripts/*
-
-# Set the working directory to the scripts directory
-WORKDIR /scripts
-
-# Add the init script to the bashrc
-RUN echo "source /scripts/init.sh" >> ~/.bashrc
\ No newline at end of file
diff --git a/ros/basebot/scripts/init.sh b/ros/basebot/scripts/init.sh
index 7e2d367c..007ab96b 100644
--- a/ros/basebot/scripts/init.sh
+++ b/ros/basebot/scripts/init.sh
@@ -15,13 +15,6 @@ fi
export PS1='\[\e[1;32m\]\u@\h:\[\e[1;34m\]\w\[\e[0m\]\$ '
-export TURTLEBOT_NAME=AGGRON
-export TURTLEBOT3_MODEL=waffle_pi
-# export ROS_MASTER_URI=http://192.168.105.158:11311
-
-export ROS_MASTER_URI=http://localhost:11311
-export ROS_HOSTNAME=$HOSTNAME
-
# Convenience function to build the workspace
function build {
catkin build
diff --git a/ros/basebot/.dockerignore 2 b/ros/basebot/src/stagehands-js/package-lock.json
similarity index 100%
rename from ros/basebot/.dockerignore 2
rename to ros/basebot/src/stagehands-js/package-lock.json
diff --git a/ros/basebot/.dockerignore 3 b/ros/basebot/src/stagehands-js/package.json
similarity index 100%
rename from ros/basebot/.dockerignore 3
rename to ros/basebot/src/stagehands-js/package.json
diff --git a/ros/basebot/src/stagehands-js/script/test.sh b/ros/basebot/src/stagehands-js/script/test.sh
new file mode 100644
index 00000000..e69de29b
diff --git a/ros/basebot/src/stagehands_ros/.vscode/c_cpp_properties.json b/ros/basebot/src/stagehands_ros/.vscode/c_cpp_properties.json
new file mode 100644
index 00000000..fbba14ba
--- /dev/null
+++ b/ros/basebot/src/stagehands_ros/.vscode/c_cpp_properties.json
@@ -0,0 +1,58 @@
+{
+ "configurations": [
+ {
+ "browse": {
+ "databaseFilename": "${default}",
+ "limitSymbolsToIncludedHeaders": false
+ },
+ "includePath": [
+ "/afs/inf.ed.ac.uk/user/s20/s2030247/Documents/stagehands/basebot/catkin_ws/devel/include/**",
+ "/opt/ros/noetic/include/**",
+ "/afs/inf.ed.ac.uk/user/s20/s2030247/Documents/stagehands/basebot/catkin_ws/src/navigation/amcl/include/**",
+ "/afs/inf.ed.ac.uk/user/s20/s2030247/Documents/stagehands/basebot/catkin_ws/src/navigation/base_local_planner/include/**",
+ "/afs/inf.ed.ac.uk/user/s20/s2030247/Documents/stagehands/basebot/catkin_ws/src/navigation/carrot_planner/include/**",
+ "/afs/inf.ed.ac.uk/user/s20/s2030247/Documents/stagehands/basebot/catkin_ws/src/navigation/clear_costmap_recovery/include/**",
+ "/afs/inf.ed.ac.uk/user/s20/s2030247/Documents/stagehands/basebot/catkin_ws/src/navigation/costmap_2d/include/**",
+ "/afs/inf.ed.ac.uk/user/s20/s2030247/Documents/stagehands/basebot/catkin_ws/src/navigation/dwa_local_planner/include/**",
+ "/afs/inf.ed.ac.uk/user/s20/s2030247/Documents/stagehands/basebot/catkin_ws/src/DynamixelSDK/ros/dynamixel_sdk/include/**",
+ "/afs/inf.ed.ac.uk/user/s20/s2030247/Documents/stagehands/basebot/catkin_ws/src/navigation/global_planner/include/**",
+ "/afs/inf.ed.ac.uk/user/s20/s2030247/Documents/stagehands/basebot/catkin_ws/src/hector_slam/hector_geotiff/include/**",
+ "/afs/inf.ed.ac.uk/user/s20/s2030247/Documents/stagehands/basebot/catkin_ws/src/hector_slam/hector_map_tools/include/**",
+ "/afs/inf.ed.ac.uk/user/s20/s2030247/Documents/stagehands/basebot/catkin_ws/src/hector_slam/hector_mapping/include/**",
+ "/afs/inf.ed.ac.uk/user/s20/s2030247/Documents/stagehands/basebot/catkin_ws/src/hector_slam/hector_marker_drawing/include/**",
+ "/afs/inf.ed.ac.uk/user/s20/s2030247/Documents/stagehands/basebot/catkin_ws/src/navigation/map_server/include/**",
+ "/afs/inf.ed.ac.uk/user/s20/s2030247/Documents/stagehands/basebot/catkin_ws/src/navigation/move_base/include/**",
+ "/afs/inf.ed.ac.uk/user/s20/s2030247/Documents/stagehands/basebot/catkin_ws/src/navigation/move_slow_and_clear/include/**",
+ "/afs/inf.ed.ac.uk/user/s20/s2030247/Documents/stagehands/basebot/catkin_ws/src/navigation_2d/nav2d_exploration/include/**",
+ "/afs/inf.ed.ac.uk/user/s20/s2030247/Documents/stagehands/basebot/catkin_ws/src/navigation_2d/nav2d_karto/include/**",
+ "/afs/inf.ed.ac.uk/user/s20/s2030247/Documents/stagehands/basebot/catkin_ws/src/navigation_2d/nav2d_localizer/include/**",
+ "/afs/inf.ed.ac.uk/user/s20/s2030247/Documents/stagehands/basebot/catkin_ws/src/navigation_2d/nav2d_navigator/include/**",
+ "/afs/inf.ed.ac.uk/user/s20/s2030247/Documents/stagehands/basebot/catkin_ws/src/navigation_2d/nav2d_operator/include/**",
+ "/afs/inf.ed.ac.uk/user/s20/s2030247/Documents/stagehands/basebot/catkin_ws/src/navigation/nav_core/include/**",
+ "/afs/inf.ed.ac.uk/user/s20/s2030247/Documents/stagehands/basebot/catkin_ws/src/navigation/navfn/include/**",
+ "/afs/inf.ed.ac.uk/user/s20/s2030247/Documents/stagehands/basebot/catkin_ws/src/openslam_gmapping/include/**",
+ "/afs/inf.ed.ac.uk/user/s20/s2030247/Documents/stagehands/basebot/catkin_ws/src/navigation/rotate_recovery/include/**",
+ "/afs/inf.ed.ac.uk/user/s20/s2030247/Documents/stagehands/basebot/catkin_ws/src/send_goal_position/include/**",
+ "/afs/inf.ed.ac.uk/user/s20/s2030247/Documents/stagehands/basebot/catkin_ws/src/geometry2/tf2/include/**",
+ "/afs/inf.ed.ac.uk/user/s20/s2030247/Documents/stagehands/basebot/catkin_ws/src/geometry2/tf2_bullet/include/**",
+ "/afs/inf.ed.ac.uk/user/s20/s2030247/Documents/stagehands/basebot/catkin_ws/src/geometry2/tf2_eigen/include/**",
+ "/afs/inf.ed.ac.uk/user/s20/s2030247/Documents/stagehands/basebot/catkin_ws/src/geometry2/tf2_geometry_msgs/include/**",
+ "/afs/inf.ed.ac.uk/user/s20/s2030247/Documents/stagehands/basebot/catkin_ws/src/geometry2/tf2_kdl/include/**",
+ "/afs/inf.ed.ac.uk/user/s20/s2030247/Documents/stagehands/basebot/catkin_ws/src/geometry2/tf2_msgs/include/**",
+ "/afs/inf.ed.ac.uk/user/s20/s2030247/Documents/stagehands/basebot/catkin_ws/src/geometry2/tf2_ros/include/**",
+ "/afs/inf.ed.ac.uk/user/s20/s2030247/Documents/stagehands/basebot/catkin_ws/src/geometry2/tf2_sensor_msgs/include/**",
+ "/afs/inf.ed.ac.uk/user/s20/s2030247/Documents/stagehands/basebot/catkin_ws/src/turtlebot3_simulations/turtlebot3_fake/include/**",
+ "/afs/inf.ed.ac.uk/user/s20/s2030247/Documents/stagehands/basebot/catkin_ws/src/turtlebot3_simulations/turtlebot3_gazebo/include/**",
+ "/afs/inf.ed.ac.uk/user/s20/s2030247/Documents/stagehands/basebot/catkin_ws/src/turtlebot3/turtlebot3_slam/include/**",
+ "/afs/inf.ed.ac.uk/user/s20/s2030247/Documents/stagehands/basebot/catkin_ws/src/navigation/voxel_grid/include/**",
+ "/usr/include/**"
+ ],
+ "name": "ROS",
+ "intelliSenseMode": "gcc-x64",
+ "compilerPath": "/usr/bin/gcc",
+ "cStandard": "gnu11",
+ "cppStandard": "c++14"
+ }
+ ],
+ "version": 4
+}
\ No newline at end of file
diff --git a/ros/basebot/src/stagehands_ros/.vscode/settings.json b/ros/basebot/src/stagehands_ros/.vscode/settings.json
new file mode 100644
index 00000000..c39bd326
--- /dev/null
+++ b/ros/basebot/src/stagehands_ros/.vscode/settings.json
@@ -0,0 +1,11 @@
+{
+ "ros.distro": "noetic",
+ "python.autoComplete.extraPaths": [
+ "/afs/inf.ed.ac.uk/user/s20/s2030247/Documents/stagehands/basebot/catkin_ws/devel/lib/python3/dist-packages",
+ "/opt/ros/noetic/lib/python3/dist-packages"
+ ],
+ "python.analysis.extraPaths": [
+ "/afs/inf.ed.ac.uk/user/s20/s2030247/Documents/stagehands/basebot/catkin_ws/devel/lib/python3/dist-packages",
+ "/opt/ros/noetic/lib/python3/dist-packages"
+ ]
+}
\ No newline at end of file
diff --git a/ros/basebot/src/stagehands_ros/CMakeLists.txt b/ros/basebot/src/stagehands_ros/CMakeLists.txt
new file mode 100644
index 00000000..a2d41fe0
--- /dev/null
+++ b/ros/basebot/src/stagehands_ros/CMakeLists.txt
@@ -0,0 +1,214 @@
+cmake_minimum_required(VERSION 3.0.2)
+project(stagehands_ros)
+
+## Compile as C++11, supported in ROS Kinetic and newer
+# add_compile_options(-std=c++11)
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED COMPONENTS
+ roscpp
+ rospy
+ std_msgs
+ message_generation
+)
+
+## System dependencies are found with CMake's conventions
+# find_package(Boost REQUIRED COMPONENTS system)
+
+
+## Uncomment this if the package has a setup.py. This macro ensures
+## modules and global scripts declared therein get installed
+## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
+# catkin_python_setup()
+
+################################################
+## Declare ROS messages, services and actions ##
+################################################
+
+## To declare and build messages, services or actions from within this
+## package, follow these steps:
+## * Let MSG_DEP_SET be the set of packages whose message types you use in
+## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
+## * In the file package.xml:
+## * add a build_depend tag for "message_generation"
+## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
+## * If MSG_DEP_SET isn't empty the following dependency has been pulled in
+## but can be declared for certainty nonetheless:
+## * add a exec_depend tag for "message_runtime"
+## * In this file (CMakeLists.txt):
+## * add "message_generation" and every package in MSG_DEP_SET to
+## find_package(catkin REQUIRED COMPONENTS ...)
+## * add "message_runtime" and every package in MSG_DEP_SET to
+## catkin_package(CATKIN_DEPENDS ...)
+## * uncomment the add_*_files sections below as needed
+## and list every .msg/.srv/.action file to be processed
+## * uncomment the generate_messages entry below
+## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
+
+## Generate messages in the 'msg' folder
+add_message_files(
+ FILES
+ robotCurrentPose.msg
+)
+
+# Generate services in the 'srv' folder
+add_service_files(
+ FILES
+ setTargetPose.srv
+)
+
+## Generate actions in the 'action' folder
+# add_action_files(
+# FILES
+# Action1.action
+# Action2.action
+# )
+
+## Generate added messages and services with any dependencies listed here
+generate_messages(
+ DEPENDENCIES
+ std_msgs
+)
+
+################################################
+## Declare ROS dynamic reconfigure parameters ##
+################################################
+
+## To declare and build dynamic reconfigure parameters within this
+## package, follow these steps:
+## * In the file package.xml:
+## * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
+## * In this file (CMakeLists.txt):
+## * add "dynamic_reconfigure" to
+## find_package(catkin REQUIRED COMPONENTS ...)
+## * uncomment the "generate_dynamic_reconfigure_options" section below
+## and list every .cfg file to be processed
+
+## Generate dynamic reconfigure parameters in the 'cfg' folder
+# generate_dynamic_reconfigure_options(
+# cfg/DynReconf1.cfg
+# cfg/DynReconf2.cfg
+# )
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## INCLUDE_DIRS: uncomment this if your package contains header files
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+catkin_package(
+# INCLUDE_DIRS include
+# LIBRARIES stagehands
+# CATKIN_DEPENDS roscpp rospy std_msgs
+# DEPENDS system_lib
+)
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+include_directories(
+# include
+ ${catkin_INCLUDE_DIRS}
+)
+
+## Declare a C++ library
+# add_library(${PROJECT_NAME}
+# src/${PROJECT_NAME}/stagehands.cpp
+# )
+
+## Add cmake target dependencies of the library
+## as an example, code may need to be generated before libraries
+## either from message generation or dynamic reconfigure
+# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Declare a C++ executable
+## With catkin_make all packages are built within a single CMake context
+## The recommended prefix ensures that target names across packages don't collide
+# add_executable(${PROJECT_NAME}_node src/stagehands_node.cpp)
+
+## Rename C++ executable without prefix
+## The above recommended prefix causes long target names, the following renames the
+## target back to the shorter version for ease of user use
+## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
+# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
+
+## Add cmake target dependencies of the executable
+## same as for the library above
+# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Specify libraries to link a library or executable target against
+# target_link_libraries(${PROJECT_NAME}_node
+# ${catkin_LIBRARIES}
+# )
+
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+## Mark executable scripts (Python etc.) for installation
+## in contrast to setup.py, you can choose the destination
+# catkin_install_python(PROGRAMS
+# scripts/my_python_script
+# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark executables for installation
+## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
+# install(TARGETS ${PROJECT_NAME}_node
+# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark libraries for installation
+## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
+# install(TARGETS ${PROJECT_NAME}
+# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+# RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
+# )
+
+## Mark cpp header files for installation
+# install(DIRECTORY include/${PROJECT_NAME}/
+# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+# FILES_MATCHING PATTERN "*.h"
+# PATTERN ".svn" EXCLUDE
+# )
+
+## Mark other files for installation (e.g. launch and bag files, etc.)
+# install(FILES
+# # myfile1
+# # myfile2
+# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+# )
+
+#############
+## Testing ##
+#############
+
+## Add gtest based cpp test target and link libraries
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_stagehands.cpp)
+# if(TARGET ${PROJECT_NAME}-test)
+# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
+# endif()
+
+## Add folders to be run by python nosetests
+# catkin_add_nosetests(test)
+
+catkin_install_python(PROGRAMS
+ scripts/robot_pose_server.py
+ DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
+
+install(DIRECTORY config/
+ DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/config
+)
\ No newline at end of file
diff --git a/ros/basebot/src/stagehands_ros/launch/gazebo.launch b/ros/basebot/src/stagehands_ros/launch/gazebo.launch
new file mode 100644
index 00000000..93c02bc5
--- /dev/null
+++ b/ros/basebot/src/stagehands_ros/launch/gazebo.launch
@@ -0,0 +1,40 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/ros/basebot/src/stagehands_ros/maps/gazebomap.pgm b/ros/basebot/src/stagehands_ros/maps/gazebomap.pgm
new file mode 100644
index 00000000..b1ee241c
--- /dev/null
+++ b/ros/basebot/src/stagehands_ros/maps/gazebomap.pgm
@@ -0,0 +1,5 @@
+P5
+# CREATOR: map_saver.cpp 0.050 m/pix
+384 384
+255
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\ No newline at end of file
diff --git a/ros/basebot/src/stagehands_ros/maps/gazebomap.yaml b/ros/basebot/src/stagehands_ros/maps/gazebomap.yaml
new file mode 100644
index 00000000..a7ba2263
--- /dev/null
+++ b/ros/basebot/src/stagehands_ros/maps/gazebomap.yaml
@@ -0,0 +1,7 @@
+image: ./gazebomap.pgm # this is potentially a problem for when we move everything to the robbit
+resolution: 0.050000
+origin: [-10.000000, -10.000000, 0.000000]
+negate: 0
+occupied_thresh: 0.65
+free_thresh: 0.196
+
diff --git a/ros/basebot/src/stagehands_ros/msg/robotCurrentPose.msg b/ros/basebot/src/stagehands_ros/msg/robotCurrentPose.msg
new file mode 100644
index 00000000..93a4c79b
--- /dev/null
+++ b/ros/basebot/src/stagehands_ros/msg/robotCurrentPose.msg
@@ -0,0 +1,4 @@
+string robot_id
+float64 xPos
+float64 yPos
+float64[] rotationQuaternion
\ No newline at end of file
diff --git a/ros/basebot/src/stagehands_ros/package.xml b/ros/basebot/src/stagehands_ros/package.xml
new file mode 100644
index 00000000..2640b72c
--- /dev/null
+++ b/ros/basebot/src/stagehands_ros/package.xml
@@ -0,0 +1,71 @@
+
+
+ stagehands_ros
+ 0.0.0
+ The Stagehands bot client package
+
+
+
+
+ root
+
+
+
+
+
+ TODO
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+ catkin
+ roscpp
+ rospy
+ std_msgs
+ roscpp
+ rospy
+ std_msgs
+ roscpp
+ rospy
+ std_msgs
+
+ message_generation
+ message_runtime
+
+
+
+
+
+
+
+
\ No newline at end of file
diff --git a/ros/basebot/src/stagehands_ros/scripts/package-lock.json b/ros/basebot/src/stagehands_ros/scripts/package-lock.json
new file mode 100644
index 00000000..79e336c7
--- /dev/null
+++ b/ros/basebot/src/stagehands_ros/scripts/package-lock.json
@@ -0,0 +1,1066 @@
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+ "version": "3.0.1",
+ "resolved": "https://registry.npmjs.org/v8-compile-cache-lib/-/v8-compile-cache-lib-3.0.1.tgz",
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+ },
+ "validate-npm-package-license": {
+ "version": "3.0.4",
+ "resolved": "https://registry.npmjs.org/validate-npm-package-license/-/validate-npm-package-license-3.0.4.tgz",
+ "integrity": "sha512-DpKm2Ui/xN7/HQKCtpZxoRWBhZ9Z0kqtygG8XCgNQ8ZlDnxuQmWhj566j8fN4Cu3/JmbhsDo7fcAJq4s9h27Ew==",
+ "requires": {
+ "spdx-correct": "^3.0.0",
+ "spdx-expression-parse": "^3.0.0"
+ }
+ },
+ "walker": {
+ "version": "1.0.7",
+ "resolved": "https://registry.npmjs.org/walker/-/walker-1.0.7.tgz",
+ "integrity": "sha512-cF4je9Fgt6sj1PKfuFt9jpQPeHosM+Ryma/hfY9U7uXGKM7pJCsF0v2r55o+Il54+i77SyYWetB4tD1dEygRkw==",
+ "requires": {
+ "makeerror": "1.0.x"
+ }
+ },
+ "webidl-conversions": {
+ "version": "3.0.1",
+ "resolved": "https://registry.npmjs.org/webidl-conversions/-/webidl-conversions-3.0.1.tgz",
+ "integrity": "sha512-2JAn3z8AR6rjK8Sm8orRC0h/bcl/DqL7tRPdGZ4I1CjdF+EaMLmYxBHyXuKL849eucPFhvBoxMsflfOb8kxaeQ=="
+ },
+ "webtopics": {
+ "version": "1.9.10",
+ "resolved": "https://registry.npmjs.org/webtopics/-/webtopics-1.9.10.tgz",
+ "integrity": "sha512-gBaKcE6FDweyPF87M2tLMxbxVExZMeIs8XsjLFZUU/bBLDUmOWfOWShqw79hIuO36Rm51y/i4bsNVWeru0bqrg==",
+ "requires": {
+ "@types/lodash": "^4.14.191",
+ "@types/node": "^18.11.18",
+ "@types/uuid": "^9.0.0",
+ "json-schema": "^0.4.0",
+ "lodash": "^4.17.21",
+ "majestic": "^1.8.1",
+ "nodemon": "^2.0.20",
+ "rimraf": "^4.1.2",
+ "ts-node": "^10.9.1",
+ "typescript": "^4.9.5",
+ "uuid": "^9.0.0",
+ "zod": "3.20.6",
+ "zod-to-json-schema": "^3.20.3"
+ },
+ "dependencies": {
+ "brace-expansion": {
+ "version": "2.0.1",
+ "resolved": "https://registry.npmjs.org/brace-expansion/-/brace-expansion-2.0.1.tgz",
+ "integrity": "sha512-XnAIvQ8eM+kC6aULx6wuQiwVsnzsi9d3WxzV3FpWTGA19F621kwdbsAcFKXgKUHZWsy+mY6iL1sHTxWEFCytDA==",
+ "requires": {
+ "balanced-match": "^1.0.0"
+ }
+ },
+ "glob": {
+ "version": "9.3.1",
+ "resolved": "https://registry.npmjs.org/glob/-/glob-9.3.1.tgz",
+ "integrity": "sha512-qERvJb7IGsnkx6YYmaaGvDpf77c951hICMdWaFXyH3PlVob8sbPJJyJX0kWkiCWyXUzoy9UOTNjGg0RbD8bYIw==",
+ "requires": {
+ "fs.realpath": "^1.0.0",
+ "minimatch": "^7.4.1",
+ "minipass": "^4.2.4",
+ "path-scurry": "^1.6.1"
+ }
+ },
+ "minimatch": {
+ "version": "7.4.2",
+ "resolved": "https://registry.npmjs.org/minimatch/-/minimatch-7.4.2.tgz",
+ "integrity": "sha512-xy4q7wou3vUoC9k1xGTXc+awNdGaGVHtFUaey8tiX4H1QRc04DZ/rmDFwNm2EBsuYEhAZ6SgMmYf3InGY6OauA==",
+ "requires": {
+ "brace-expansion": "^2.0.1"
+ }
+ },
+ "rimraf": {
+ "version": "4.4.0",
+ "resolved": "https://registry.npmjs.org/rimraf/-/rimraf-4.4.0.tgz",
+ "integrity": "sha512-X36S+qpCUR0HjXlkDe4NAOhS//aHH0Z+h8Ckf2auGJk3PTnx5rLmrHkwNdbVQuCSUhOyFrlRvFEllZOYE+yZGQ==",
+ "requires": {
+ "glob": "^9.2.0"
+ }
+ }
+ }
+ },
+ "whatwg-url": {
+ "version": "5.0.0",
+ "resolved": "https://registry.npmjs.org/whatwg-url/-/whatwg-url-5.0.0.tgz",
+ "integrity": "sha512-saE57nupxk6v3HY35+jzBwYa0rKSy0XR8JSxZPwgLr7ys0IBzhGviA1/TUGJLmSVqs8pb9AnvICXEuOHLprYTw==",
+ "requires": {
+ "tr46": "~0.0.3",
+ "webidl-conversions": "^3.0.0"
+ }
+ },
+ "wrappy": {
+ "version": "1.0.2",
+ "resolved": "https://registry.npmjs.org/wrappy/-/wrappy-1.0.2.tgz",
+ "integrity": "sha512-l4Sp/DRseor9wL6EvV2+TuQn63dMkPjZ/sp9XkghTEbV9KlPS1xUsZ3u7/IQO4wxtcFB4bgpQPRcR3QCvezPcQ=="
+ },
+ "ws": {
+ "version": "8.11.0",
+ "resolved": "https://registry.npmjs.org/ws/-/ws-8.11.0.tgz",
+ "integrity": "sha512-HPG3wQd9sNQoT9xHyNCXoDUa+Xw/VevmY9FoHyQ+g+rrMn4j6FB4np7Z0OhdTgjx6MgQLK7jwSy1YecU1+4Asg=="
+ },
+ "xmlbuilder": {
+ "version": "8.2.2",
+ "resolved": "https://registry.npmjs.org/xmlbuilder/-/xmlbuilder-8.2.2.tgz",
+ "integrity": "sha512-eKRAFz04jghooy8muekqzo8uCSVNeyRedbuJrp0fovbLIi7wlsYtdUn3vBAAPq2Y3/0xMz2WMEUQ8yhVVO9Stw=="
+ },
+ "xmlhttprequest-ssl": {
+ "version": "2.0.0",
+ "resolved": "https://registry.npmjs.org/xmlhttprequest-ssl/-/xmlhttprequest-ssl-2.0.0.tgz",
+ "integrity": "sha512-QKxVRxiRACQcVuQEYFsI1hhkrMlrXHPegbbd1yn9UHOmRxY+si12nQYzri3vbzt8VdTTRviqcKxcyllFas5z2A=="
+ },
+ "xmlrpc-rosnodejs": {
+ "version": "1.4.0",
+ "resolved": "https://registry.npmjs.org/xmlrpc-rosnodejs/-/xmlrpc-rosnodejs-1.4.0.tgz",
+ "integrity": "sha512-Aoseo0rqNLPmgGJfCpLZ2H6ZlpazcDngxQxmt0hrtvhorLWHehEJMjvAPOf315fezFwLXcYsd48l1hh+oT8Kcg==",
+ "requires": {
+ "sax": "1.2.x",
+ "xmlbuilder": "8.2.x"
+ }
+ },
+ "yn": {
+ "version": "3.1.1",
+ "resolved": "https://registry.npmjs.org/yn/-/yn-3.1.1.tgz",
+ "integrity": "sha512-Ux4ygGWsu2c7isFWe8Yu1YluJmqVhxqK2cLXNQA5AcC3QfbGNpM7fu0Y8b/z16pXLnFxZYvWhd3fhBY9DLmC6Q=="
+ },
+ "zod": {
+ "version": "3.20.6",
+ "resolved": "https://registry.npmjs.org/zod/-/zod-3.20.6.tgz",
+ "integrity": "sha512-oyu0m54SGCtzh6EClBVqDDlAYRz4jrVtKwQ7ZnsEmMI9HnzuZFj8QFwAY1M5uniIYACdGvv0PBWPF2kO0aNofA=="
+ },
+ "zod-to-json-schema": {
+ "version": "3.20.4",
+ "resolved": "https://registry.npmjs.org/zod-to-json-schema/-/zod-to-json-schema-3.20.4.tgz",
+ "integrity": "sha512-Un9+kInJ2Zt63n6Z7mLqBifzzPcOyX+b+Exuzf7L1+xqck9Q2EPByyTRduV3kmSPaXaRer1JCsucubpgL1fipg=="
+ }
+ }
+}
diff --git a/ros/basebot/src/stagehands_ros/scripts/package.json b/ros/basebot/src/stagehands_ros/scripts/package.json
new file mode 100644
index 00000000..61158235
--- /dev/null
+++ b/ros/basebot/src/stagehands_ros/scripts/package.json
@@ -0,0 +1,18 @@
+{
+ "name": "scripts",
+ "version": "1.0.0",
+ "main": "interface.js",
+ "dependencies": {
+ "rosnodejs": "^3.1.0",
+ "socket.io-client": "^4.6.1",
+ "webtopics": "^1.9.10"
+ },
+ "devDependencies": {},
+ "scripts": {
+ "test": "echo \"Error: no test specified\" && exit 1"
+ },
+ "author": "",
+ "license": "ISC",
+ "description": "",
+ "type": "module"
+}
diff --git a/ros/basebot/src/stagehands_ros/scripts/robot_pose_server.py b/ros/basebot/src/stagehands_ros/scripts/robot_pose_server.py
new file mode 100644
index 00000000..ed08835e
--- /dev/null
+++ b/ros/basebot/src/stagehands_ros/scripts/robot_pose_server.py
@@ -0,0 +1,84 @@
+#!/usr/bin/env python3
+from __future__ import print_function
+
+import rospy
+import math
+import tf
+import actionlib
+
+from stagehands_ros.srv import setTargetPose,setTargetPoseResponse
+from stagehands_ros.msg import robotCurrentPose
+from move_base_msgs.msg import MoveBaseAction, MoveBaseGoal
+
+def set_target_pose(req):
+ # Create an action client called "move_base" with action definition file "MoveBaseAction"
+ client = actionlib.SimpleActionClient('move_base',MoveBaseAction)
+
+ # Waits until the action server has started up and started listening for goals.
+ client.wait_for_server()
+
+ # Creates a new goal with the MoveBaseGoal constructor
+ goal = MoveBaseGoal()
+ goal.target_pose.header.frame_id = "map"
+ goal.target_pose.header.stamp = rospy.Time.now()
+
+ goal.target_pose.pose.position.x = req.xPos
+ goal.target_pose.pose.position.y = req.yPos
+
+ goal.target_pose.pose.orientation.z = math.sin(req.thetaPos/2)
+ goal.target_pose.pose.orientation.w = math.cos(req.thetaPos/2)
+
+ # Sends the goal to the action server.
+ client.send_goal(goal)
+ # Waits for the server to finish performing the action.
+ wait = client.wait_for_result()
+ # If the result doesn't arrive, assume the Server is not available
+ if not wait:
+ rospy.logerr("Action server not available!")
+ rospy.signal_shutdown("Action server not available!")
+ else:
+ # Result of executing the action
+ return setTargetPoseResponse(str(client.get_result()))
+
+def publish_current_pose():
+ # do stuff
+ pub = rospy.Publisher('robot_current_pose', robotCurrentPose, queue_size = 10)
+ listener = tf.TransformListener()
+
+ rate = rospy.Rate(10)
+ print('publishuh publishin')
+
+ while not rospy.is_shutdown():
+ try:
+ (trans, rot) = listener.lookupTransform('/map', '/base_link', rospy.Time(0))
+ print('publishing da pose babey!!!!1!11')
+
+ # investigate whether this is in fact the correct format
+ pose = robotCurrentPose()
+ pose.xPos = trans[0]
+ pose.yPos = trans[1]
+ pose.rotationQuaternion = rot
+
+ pub.publish(pose)
+ except (tf.LookupException, tf.ConnectivityException, tf.ExtrapolationException):
+ print('oopsie whoopsie i did a fucky wucky')
+ continue
+
+ rate.sleep()
+
+def server():
+ s = rospy.Service('set_target_pose', setTargetPose, set_target_pose)
+ print('suhvuh runnign')
+
+if __name__ == '__main__':
+ print('starting')
+ rospy.init_node('robot_position_server')
+ print('runnign')
+ server()
+
+ try:
+ publish_current_pose()
+ except rospy.ROSInterruptException:
+ pass
+
+ rospy.spin()
\ No newline at end of file
diff --git a/ros/basebot/src/stagehands_ros/srv/setTargetPose.srv b/ros/basebot/src/stagehands_ros/srv/setTargetPose.srv
new file mode 100644
index 00000000..cbda81da
--- /dev/null
+++ b/ros/basebot/src/stagehands_ros/srv/setTargetPose.srv
@@ -0,0 +1,5 @@
+float64 xPos
+float64 yPos
+float64 thetaPos
+---
+string response
\ No newline at end of file
diff --git a/ros/docker-compose-linux 2.yaml b/ros/docker-compose-linux 2.yaml
deleted file mode 100644
index 113ed618..00000000
--- a/ros/docker-compose-linux 2.yaml
+++ /dev/null
@@ -1,45 +0,0 @@
-version: "3.8"
-services:
- ros-dev:
- # build: ./basebot
- build:
- context: ../
- dockerfile: ./ros/basebot/Dockerfile
- container_name: basebot-dev-container
- volumes:
- - ./ros/basebot/.vscode:/catkin_ws/.vscode
- - ./ros/basebot/src:/catkin_ws/src
- - ./ros/basebot/map:/map
- - ./ros/basebot/scripts:/scripts
- - /catkin_ws/devel
- - /catkin_ws/build
- - /catkin_ws/logs
- - /catkin_ws/install
- - '/tmp/.X11-unix:/tmp/.X11-unix:rw'
- devices:
- - /dev/dri
- environment:
- - DISPLAY
- - QT_X11_NO_MITSHM=1
- - HOST_OS=linux
- # Keep it open for development
- stdin_open: true
- tty: true
- network_mode: host
- privileged: true
-
-# services:
-# ros-dev:
-# build: ./basebot
-# container_name: basebot-dev-container
-# privileged: true
-# network_mode: host
-# devices:
-# - /dev/dri
-# environment:
-# - DISPLAY
-# - QT_X11_NO_MITSHM=1
-# volumes:
-# - '/tmp/.X11-unix:/tmp/.X11-unix:rw'
-# tty: true
-# stdin_open: true
\ No newline at end of file
diff --git a/ros/docker-compose-linux.yaml b/ros/docker-compose-linux.yaml
index 113ed618..0fbb94d1 100644
--- a/ros/docker-compose-linux.yaml
+++ b/ros/docker-compose-linux.yaml
@@ -7,10 +7,13 @@ services:
dockerfile: ./ros/basebot/Dockerfile
container_name: basebot-dev-container
volumes:
- - ./ros/basebot/.vscode:/catkin_ws/.vscode
- - ./ros/basebot/src:/catkin_ws/src
- - ./ros/basebot/map:/map
- - ./ros/basebot/scripts:/scripts
+ - ./basebot/.vscode:/catkin_ws/.vscode
+ - ./basebot/src:/catkin_ws/src
+ - ./basebot/map:/map
+ - ./basebot/scripts:/scripts
+ - ../packages:/catkin_ws/src/stagehands-js/packages
+ - ../package.json:/catkin_ws/src/stagehands-js/package.json
+ - ../package-lock.json:/catkin_ws/src/stagehands-js/package-lock.json
- /catkin_ws/devel
- /catkin_ws/build
- /catkin_ws/logs
@@ -27,6 +30,9 @@ services:
tty: true
network_mode: host
privileged: true
+ ports:
+ - "3000:3000"
+ - "11311:11311"
# services:
# ros-dev:
diff --git a/ros/docker-compose-macos 2.yaml b/ros/docker-compose-macos 2.yaml
deleted file mode 100644
index 239672db..00000000
--- a/ros/docker-compose-macos 2.yaml
+++ /dev/null
@@ -1,22 +0,0 @@
-version: "3.8"
-services:
- ros-dev:
- build:
- context: ../
- dockerfile: ./ros/basebot/Dockerfile
- container_name: basebot-dev-container
- volumes:
- - ./ros/basebot/.vscode:/catkin_ws/.vscode
- - ./ros/basebot/src:/catkin_ws/src
- - ./ros/basebot/map:/map
- - ./ros/basebot/scripts:/scripts
- - /catkin_ws/devel
- - /catkin_ws/build
- - /catkin_ws/logs
- - /catkin_ws/install
- environment:
- - HOST_OS=macos
- # Keep it open for development
- stdin_open: true
- tty: true
- network_mode: host
\ No newline at end of file
diff --git a/ros/docker-compose-macos 3.yaml b/ros/docker-compose-macos 3.yaml
deleted file mode 100644
index 239672db..00000000
--- a/ros/docker-compose-macos 3.yaml
+++ /dev/null
@@ -1,22 +0,0 @@
-version: "3.8"
-services:
- ros-dev:
- build:
- context: ../
- dockerfile: ./ros/basebot/Dockerfile
- container_name: basebot-dev-container
- volumes:
- - ./ros/basebot/.vscode:/catkin_ws/.vscode
- - ./ros/basebot/src:/catkin_ws/src
- - ./ros/basebot/map:/map
- - ./ros/basebot/scripts:/scripts
- - /catkin_ws/devel
- - /catkin_ws/build
- - /catkin_ws/logs
- - /catkin_ws/install
- environment:
- - HOST_OS=macos
- # Keep it open for development
- stdin_open: true
- tty: true
- network_mode: host
\ No newline at end of file
diff --git a/ros/docker-compose-macos.yaml b/ros/docker-compose-macos.yaml
index 239672db..4fa70f38 100644
--- a/ros/docker-compose-macos.yaml
+++ b/ros/docker-compose-macos.yaml
@@ -6,10 +6,13 @@ services:
dockerfile: ./ros/basebot/Dockerfile
container_name: basebot-dev-container
volumes:
- - ./ros/basebot/.vscode:/catkin_ws/.vscode
- - ./ros/basebot/src:/catkin_ws/src
- - ./ros/basebot/map:/map
- - ./ros/basebot/scripts:/scripts
+ - ./basebot/.vscode:/catkin_ws/.vscode
+ - ./basebot/src:/catkin_ws/src
+ - ./basebot/map:/map
+ - ./basebot/scripts:/scripts
+ - ../packages:/catkin_ws/src/stagehands-js/packages
+ - ../package.json:/catkin_ws/src/stagehands-js/package.json
+ - ../package-lock.json:/catkin_ws/src/stagehands-js/package-lock.json
- /catkin_ws/devel
- /catkin_ws/build
- /catkin_ws/logs
@@ -19,4 +22,7 @@ services:
# Keep it open for development
stdin_open: true
tty: true
- network_mode: host
\ No newline at end of file
+ network_mode: host
+ ports:
+ - "3000:3000"
+ - "11311:11311"
\ No newline at end of file
diff --git a/ros/docker-compose-wsl 2.yaml b/ros/docker-compose-wsl 2.yaml
deleted file mode 100644
index bbc55fa4..00000000
--- a/ros/docker-compose-wsl 2.yaml
+++ /dev/null
@@ -1,22 +0,0 @@
-version: "3.8"
-services:
- ros-dev:
- build:
- context: ../
- dockerfile: ./ros/basebot/Dockerfile
- container_name: basebot-dev-container
- volumes:
- - ./ros/basebot/.vscode:/catkin_ws/.vscode
- - ./ros/basebot/src:/catkin_ws/src
- - ./ros/basebot/map:/map
- - ./ros/basebot/scripts:/scripts
- - /catkin_ws/devel
- - /catkin_ws/build
- - /catkin_ws/logs
- - /catkin_ws/install
- environment:
- - HOST_OS=win_wsl
- # Keep it open for development
- stdin_open: true
- tty: true
- network_mode: host
\ No newline at end of file
diff --git a/ros/docker-compose-wsl 3.yaml b/ros/docker-compose-wsl 3.yaml
deleted file mode 100644
index bbc55fa4..00000000
--- a/ros/docker-compose-wsl 3.yaml
+++ /dev/null
@@ -1,22 +0,0 @@
-version: "3.8"
-services:
- ros-dev:
- build:
- context: ../
- dockerfile: ./ros/basebot/Dockerfile
- container_name: basebot-dev-container
- volumes:
- - ./ros/basebot/.vscode:/catkin_ws/.vscode
- - ./ros/basebot/src:/catkin_ws/src
- - ./ros/basebot/map:/map
- - ./ros/basebot/scripts:/scripts
- - /catkin_ws/devel
- - /catkin_ws/build
- - /catkin_ws/logs
- - /catkin_ws/install
- environment:
- - HOST_OS=win_wsl
- # Keep it open for development
- stdin_open: true
- tty: true
- network_mode: host
\ No newline at end of file
diff --git a/ros/docker-compose-wsl.yaml b/ros/docker-compose-wsl.yaml
index bbc55fa4..c0c318f5 100644
--- a/ros/docker-compose-wsl.yaml
+++ b/ros/docker-compose-wsl.yaml
@@ -6,10 +6,13 @@ services:
dockerfile: ./ros/basebot/Dockerfile
container_name: basebot-dev-container
volumes:
- - ./ros/basebot/.vscode:/catkin_ws/.vscode
- - ./ros/basebot/src:/catkin_ws/src
- - ./ros/basebot/map:/map
- - ./ros/basebot/scripts:/scripts
+ - ./basebot/.vscode:/catkin_ws/.vscode
+ - ./basebot/src:/catkin_ws/src
+ - ./basebot/map:/map
+ - ./basebot/scripts:/scripts
+ - ../packages:/catkin_ws/src/stagehands-js/packages
+ - ../package.json:/catkin_ws/src/stagehands-js/package.json
+ - ../package-lock.json:/catkin_ws/src/stagehands-js/package-lock.json
- /catkin_ws/devel
- /catkin_ws/build
- /catkin_ws/logs
@@ -19,4 +22,7 @@ services:
# Keep it open for development
stdin_open: true
tty: true
- network_mode: host
\ No newline at end of file
+ network_mode: host
+ ports:
+ - "3000:3000"
+ - "11311:11311"
\ No newline at end of file
diff --git a/ros/docker-compose-wslg 2.yaml b/ros/docker-compose-wslg 2.yaml
deleted file mode 100644
index a226d472..00000000
--- a/ros/docker-compose-wslg 2.yaml
+++ /dev/null
@@ -1,24 +0,0 @@
-version: "3.8"
-services:
- ros-dev:
- build:
- context: ../
- dockerfile: ./ros/basebot/Dockerfile
- container_name: basebot-dev-container
- volumes:
- - ./ros/basebot/.vscode:/catkin_ws/.vscode
- - ./ros/basebot/src:/catkin_ws/src
- - ./ros/basebot/map:/map
- - ./ros/basebot/scripts:/scripts
- - /catkin_ws/devel
- - /catkin_ws/build
- - /catkin_ws/logs
- - /catkin_ws/install
- - \\wsl$\Ubuntu\mnt\wslg\:/mnt/wslg/
- - \\wsl$\Ubuntu\tmp\.X11-unix:/tmp/.X11-unix
- environment:
- - HOST_OS=win_wslg
- # Keep it open for development
- stdin_open: true
- tty: true
- network_mode: host
\ No newline at end of file
diff --git a/ros/docker-compose-wslg 3.yaml b/ros/docker-compose-wslg 3.yaml
deleted file mode 100644
index a226d472..00000000
--- a/ros/docker-compose-wslg 3.yaml
+++ /dev/null
@@ -1,24 +0,0 @@
-version: "3.8"
-services:
- ros-dev:
- build:
- context: ../
- dockerfile: ./ros/basebot/Dockerfile
- container_name: basebot-dev-container
- volumes:
- - ./ros/basebot/.vscode:/catkin_ws/.vscode
- - ./ros/basebot/src:/catkin_ws/src
- - ./ros/basebot/map:/map
- - ./ros/basebot/scripts:/scripts
- - /catkin_ws/devel
- - /catkin_ws/build
- - /catkin_ws/logs
- - /catkin_ws/install
- - \\wsl$\Ubuntu\mnt\wslg\:/mnt/wslg/
- - \\wsl$\Ubuntu\tmp\.X11-unix:/tmp/.X11-unix
- environment:
- - HOST_OS=win_wslg
- # Keep it open for development
- stdin_open: true
- tty: true
- network_mode: host
\ No newline at end of file
diff --git a/ros/docker-compose-wslg.yaml b/ros/docker-compose-wslg.yaml
index a226d472..dbb34abd 100644
--- a/ros/docker-compose-wslg.yaml
+++ b/ros/docker-compose-wslg.yaml
@@ -6,10 +6,13 @@ services:
dockerfile: ./ros/basebot/Dockerfile
container_name: basebot-dev-container
volumes:
- - ./ros/basebot/.vscode:/catkin_ws/.vscode
- - ./ros/basebot/src:/catkin_ws/src
- - ./ros/basebot/map:/map
- - ./ros/basebot/scripts:/scripts
+ - ./basebot/.vscode:/catkin_ws/.vscode
+ - ./basebot/src:/catkin_ws/src
+ - ./basebot/map:/map
+ - ./basebot/scripts:/scripts
+ - ../packages:/catkin_ws/src/stagehands-js/packages
+ - ../package.json:/catkin_ws/src/stagehands-js/package.json
+ - ../package-lock.json:/catkin_ws/src/stagehands-js/package-lock.json
- /catkin_ws/devel
- /catkin_ws/build
- /catkin_ws/logs
@@ -21,4 +24,9 @@ services:
# Keep it open for development
stdin_open: true
tty: true
- network_mode: host
\ No newline at end of file
+ network_mode: host
+ # Expose external port 3000 to internal port 3000
+ # Expose internal port 11311 to external port 11311
+ ports:
+ - "3000:3000"
+ - "11311:11311"
\ No newline at end of file
diff --git a/ros/launch_linux 2.sh b/ros/launch_linux 2.sh
deleted file mode 100755
index 95695110..00000000
--- a/ros/launch_linux 2.sh
+++ /dev/null
@@ -1,3 +0,0 @@
-xhost local:root
-sudo docker-compose -f docker-compose-linux.yaml up -d --build
-# If docker container not visible from VSCode / dev container extensions, make sure they are in the same context.
\ No newline at end of file
diff --git a/ros/launch_linux 3.sh b/ros/launch_linux 3.sh
deleted file mode 100755
index 95695110..00000000
--- a/ros/launch_linux 3.sh
+++ /dev/null
@@ -1,3 +0,0 @@
-xhost local:root
-sudo docker-compose -f docker-compose-linux.yaml up -d --build
-# If docker container not visible from VSCode / dev container extensions, make sure they are in the same context.
\ No newline at end of file
diff --git a/ros/launch_macos 2.sh b/ros/launch_macos 2.sh
deleted file mode 100755
index 5b1ff692..00000000
--- a/ros/launch_macos 2.sh
+++ /dev/null
@@ -1 +0,0 @@
-sudo docker-compose -f docker-compose-macos.yaml up -d --build
\ No newline at end of file
diff --git a/ros/launch_wsl 2.bat b/ros/launch_wsl 2.bat
deleted file mode 100644
index ddc29df7..00000000
--- a/ros/launch_wsl 2.bat
+++ /dev/null
@@ -1 +0,0 @@
-docker-compose -f docker-compose-wsl.yaml up -d --build
\ No newline at end of file
diff --git a/ros/launch_wsl 3.bat b/ros/launch_wsl 3.bat
deleted file mode 100644
index ddc29df7..00000000
--- a/ros/launch_wsl 3.bat
+++ /dev/null
@@ -1 +0,0 @@
-docker-compose -f docker-compose-wsl.yaml up -d --build
\ No newline at end of file
diff --git a/ros/launch_wslg 2.bat b/ros/launch_wslg 2.bat
deleted file mode 100644
index a0747ade..00000000
--- a/ros/launch_wslg 2.bat
+++ /dev/null
@@ -1 +0,0 @@
-docker-compose -f docker-compose-wslg.yaml up -d --build
\ No newline at end of file
diff --git a/ros/launch_wslg 3.bat b/ros/launch_wslg 3.bat
deleted file mode 100644
index a0747ade..00000000
--- a/ros/launch_wslg 3.bat
+++ /dev/null
@@ -1 +0,0 @@
-docker-compose -f docker-compose-wslg.yaml up -d --build
\ No newline at end of file
diff --git a/scripts/launch_ros.ts b/scripts/launch_ros.ts
index 65f64e41..e9da77e9 100644
--- a/scripts/launch_ros.ts
+++ b/scripts/launch_ros.ts
@@ -1,10 +1,11 @@
+// @ts-ignore - No types for ascii-art :(
import chalk = require("chalk");
import { ChildProcess, spawn } from "child_process";
import { dockerInstalled, getOS, getWindowsXServer, launchVcxsrv, wslInstalled, wslVersion } from "./lib";
const art = require('ascii-art');
// Print the ascii art
-art.font('StageHands', 'Doom', function(err, rendered){
+art.font('StageHands', 'Doom', function(err: any, rendered: any){
console.log(
chalk.magentaBright.bold(rendered)
);