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Integration old old #11

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c450d5e
bug fixes
shiukaheng Mar 21, 2023
f2fb660
delete stupid files
shiukaheng Mar 21, 2023
97ff71a
added new volume for js packages
shiukaheng Mar 21, 2023
0eab07e
it works now! yippee!!!
shiukaheng Mar 21, 2023
dc1de50
attempt to make js work on docker
shiukaheng Mar 22, 2023
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20,271 changes: 0 additions & 20,271 deletions package-lock 2.json
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18,885 changes: 12,942 additions & 5,943 deletions package-lock.json
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3 changes: 2 additions & 1 deletion package.json
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Expand Up @@ -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",
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58 changes: 58 additions & 0 deletions packages/bot/interface.js
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@@ -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()
21 changes: 21 additions & 0 deletions packages/bot/package.json
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{
"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"
}
}
6 changes: 5 additions & 1 deletion packages/bridge/src/server.ts
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Expand Up @@ -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();
3 changes: 3 additions & 0 deletions packages/bridge/src/topicHandler.ts
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Expand Up @@ -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);
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22 changes: 18 additions & 4 deletions ros/basebot/Dockerfile
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Expand Up @@ -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
Expand All @@ -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
Expand All @@ -50,14 +56,22 @@ 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

# 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_HOSTNAME=docker-desktop
ARG ROS_MASTER_PORT=11311
ARG TURTLEBOT3_MODEL=waffle_pi
ENV ROS_MASTER_URI=http://${ROS_MASTER_HOSTNAME}:11311
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85 changes: 0 additions & 85 deletions ros/basebot/Dockerfile 2
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7 changes: 0 additions & 7 deletions ros/basebot/scripts/init.sh
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Expand Up @@ -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
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0 ros/basebot/.dockerignore 2 → ...sebot/src/stagehands-js/package-lock.json
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0 ros/basebot/.dockerignore 3 → ros/basebot/src/stagehands-js/package.json
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Empty file added ros/basebot/src/stagehands-js/script/test.sh
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58 changes: 58 additions & 0 deletions ros/basebot/src/stagehands_ros/.vscode/c_cpp_properties.json
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@@ -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/**",
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"/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/**",
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"/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
}
11 changes: 11 additions & 0 deletions ros/basebot/src/stagehands_ros/.vscode/settings.json
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{
"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"
]
}
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