diff --git a/.gitignore b/.gitignore index 314ea06dc..be8ecd54c 100644 --- a/.gitignore +++ b/.gitignore @@ -221,5 +221,7 @@ doku/* /lib/ # Path to the protocol buffer definitions, which are a diffrerent repository and managed by vcstool -/humanoid_league_misc/humanoid_league_team_communication/humanoid_league_team_communication/RobocupProtocol +/bitbots_team_communication/bitbots_team_communication/RobocupProtocol +# Protobuf generated file +/bitbots_team_communication/bitbots_team_communication/robocup_extension_pb2.py diff --git a/bitbots_misc/bitbots_bringup/launch/highlevel.launch b/bitbots_misc/bitbots_bringup/launch/highlevel.launch index bf87c6d92..78b0b0624 100644 --- a/bitbots_misc/bitbots_bringup/launch/highlevel.launch +++ b/bitbots_misc/bitbots_bringup/launch/highlevel.launch @@ -40,7 +40,7 @@ - + diff --git a/bitbots_misc/bitbots_bringup/launch/visualization.launch b/bitbots_misc/bitbots_bringup/launch/visualization.launch index fc9f3bead..ef1afa501 100644 --- a/bitbots_misc/bitbots_bringup/launch/visualization.launch +++ b/bitbots_misc/bitbots_bringup/launch/visualization.launch @@ -34,10 +34,7 @@ - - - - + diff --git a/bitbots_misc/bitbots_containers/hlvs/Dockerfile b/bitbots_misc/bitbots_containers/hlvs/Dockerfile index 73015f7f7..2affe1c26 100644 --- a/bitbots_misc/bitbots_containers/hlvs/Dockerfile +++ b/bitbots_misc/bitbots_containers/hlvs/Dockerfile @@ -61,7 +61,7 @@ ADD https://www.timeapi.io/api/Time/current/zone?timeZone=UTC /tmp/build-time 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 \ + lib/dynamic_stack_decider/dynamic_stack_decider_visualization bitbots_lowlevel \ bitbots_wolfgang/wolfgang_pybullet_sim lib/DynamixelSDK lib/dynamixel-workbench \ bitbots_misc/bitbots_basler_camera lib/pylon-ros-camera && \ sed -i '/plotjuggler/d' bitbots_motion/bitbots_quintic_walk/package.xml && \ diff --git a/bitbots_misc/bitbots_docs/docs/manual/testing/testing.rst b/bitbots_misc/bitbots_docs/docs/manual/testing/testing.rst index 0353a6b01..e3990f5f3 100644 --- a/bitbots_misc/bitbots_docs/docs/manual/testing/testing.rst +++ b/bitbots_misc/bitbots_docs/docs/manual/testing/testing.rst @@ -59,47 +59,6 @@ Starting (starts) The next step is to check if the package actually starts without crashing instantly with an obvious error. A part of this is that a launch file exists. -Testing in Visualization (tested_viz) ----------------------------------------- - -The easiest real test if the software works is in visualization with fake data/commands and then to look at the output. -For this you can also use real data that was recorded in a rosbag. - -For this, it is important to be aware of your own testing bias. -Humans tend to test their own software for exactly the use cases they had in mind during programming. -However it is important to explicitly check all possibilities. -This means especially to test for edge cases and on robustness, e.g., testing with wrong data and against other parts of the software stack that crash. -A good method for this is to let someone else test your software, someone who was not involved in the programming of it. - -This method is essentially used to prevent errors from happening and less to see how well something works. -The tests in this stage can be done via multiple methods: - -Input -^^^^^^^^^^^ - -1. ros2 topic pub -2. RViz interactive marker - 1. Path planning: inbuilt Navigation goal in RViz - 2. behavior: humanoid_league_interactive_marker -3. special test scripts: - 1. walking: bitbots_teleop - 2. behavior: sim_gamestate (in gamecontroller package) -4. rosbags - -Output -^^^^^^^^^^^^ - -1. ros2 topic echo -2. RViz marker - 1. Object detection: humanoid_league_rviz_marker - 2. Walking: published its own markers -3. RViz robot model - 1. you might need to make the joint commands into joint_state (bitbots_bringup motor_goals_viz_helper.py) -4. special visualization tools for rqt - 1. DSD: dynamic_stack_decider_visualization - 2. Object Detection: humanoid_league_relative_rqt - 3. Vision: bitbots_vision_tools - Testing in Simulation ------------------------------------------------ @@ -139,8 +98,7 @@ Conclusion 1. Each package has to be tested on its own 1. compiles 2. starts - 3. using visualization - 4. using simulation - 5. on the real robot + 3. using simulation + 4. on the real robot 2. test packages pairwise 3. test the complete stack (integration) diff --git a/humanoid_league_misc/humanoid_league_team_communication/CMakeLists.txt b/bitbots_team_communication/CMakeLists.txt similarity index 84% rename from humanoid_league_misc/humanoid_league_team_communication/CMakeLists.txt rename to bitbots_team_communication/CMakeLists.txt index d4b7de9e7..d6965a5bd 100644 --- a/humanoid_league_misc/humanoid_league_team_communication/CMakeLists.txt +++ b/bitbots_team_communication/CMakeLists.txt @@ -1,5 +1,5 @@ cmake_minimum_required(VERSION 3.5) -project(humanoid_league_team_communication) +project(bitbots_team_communication) find_package(ament_cmake REQUIRED) find_package(ament_cmake_python REQUIRED) @@ -16,18 +16,17 @@ find_package(bitbots_docs REQUIRED) find_package(Protobuf REQUIRED) protobuf_generate_python( - PROTO_PY - humanoid_league_team_communication/RobocupProtocol/robocup_extension.proto) + PROTO_PY bitbots_team_communication/RobocupProtocol/robocup_extension.proto) add_custom_target( - humanoid_league_team_communication ALL + bitbots_team_communication ALL DEPENDS ${PROTO_PY} COMMENT "Generating protobuf") add_custom_command( - TARGET humanoid_league_team_communication + TARGET bitbots_team_communication POST_BUILD COMMAND ${CMAKE_COMMAND} -E copy ${PROTO_PY} - ${CMAKE_SOURCE_DIR}/humanoid_league_team_communication + ${CMAKE_SOURCE_DIR}/bitbots_team_communication COMMENT "Copying protobuf to source dir") enable_bitbots_docs() diff --git a/humanoid_league_misc/humanoid_league_team_communication/humanoid_league_team_communication/__init__.py b/bitbots_team_communication/bitbots_team_communication/__init__.py similarity index 100% rename from humanoid_league_misc/humanoid_league_team_communication/humanoid_league_team_communication/__init__.py rename to bitbots_team_communication/bitbots_team_communication/__init__.py diff --git a/humanoid_league_misc/humanoid_league_team_communication/humanoid_league_team_communication/communication.py b/bitbots_team_communication/bitbots_team_communication/communication.py similarity index 100% rename from humanoid_league_misc/humanoid_league_team_communication/humanoid_league_team_communication/communication.py rename to bitbots_team_communication/bitbots_team_communication/communication.py diff --git a/humanoid_league_misc/humanoid_league_team_communication/humanoid_league_team_communication/converter/__init__.py b/bitbots_team_communication/bitbots_team_communication/converter/__init__.py similarity index 100% rename from humanoid_league_misc/humanoid_league_team_communication/humanoid_league_team_communication/converter/__init__.py rename to bitbots_team_communication/bitbots_team_communication/converter/__init__.py diff --git a/humanoid_league_misc/humanoid_league_team_communication/humanoid_league_team_communication/converter/message_to_team_data_converter.py b/bitbots_team_communication/bitbots_team_communication/converter/message_to_team_data_converter.py similarity index 95% rename from humanoid_league_misc/humanoid_league_team_communication/humanoid_league_team_communication/converter/message_to_team_data_converter.py rename to bitbots_team_communication/bitbots_team_communication/converter/message_to_team_data_converter.py index 8da775b91..1dd4b0fe2 100644 --- a/humanoid_league_misc/humanoid_league_team_communication/humanoid_league_team_communication/converter/message_to_team_data_converter.py +++ b/bitbots_team_communication/bitbots_team_communication/converter/message_to_team_data_converter.py @@ -4,7 +4,7 @@ from geometry_msgs.msg import PoseWithCovariance from numpy import double -import humanoid_league_team_communication.robocup_extension_pb2 as Proto # noqa: N812 +import bitbots_team_communication.robocup_extension_pb2 as Proto # noqa: N812 from bitbots_msgs.msg import RobotRelative, RobotRelativeArray, TeamData @@ -22,8 +22,6 @@ def convert(self, message: Proto.Message, team_data: TeamData) -> TeamData: team_data.robot_position = self.convert_robot_pose(message.current_pose) team_data.ball_absolute = self.convert_ball_pose(message.ball) - # @TODO: change TeamData field/type to robots - # see: https://github.com/bit-bots/humanoid_league_misc/issues/125 team_data.robots = self.convert_robots(message.others, message.other_robot_confidence) team_data.robots.header = team_data.header diff --git a/humanoid_league_misc/humanoid_league_team_communication/humanoid_league_team_communication/converter/robocup_protocol_converter.py b/bitbots_team_communication/bitbots_team_communication/converter/robocup_protocol_converter.py similarity index 91% rename from humanoid_league_misc/humanoid_league_team_communication/humanoid_league_team_communication/converter/robocup_protocol_converter.py rename to bitbots_team_communication/bitbots_team_communication/converter/robocup_protocol_converter.py index 52b6e8c16..68cb2eb3d 100644 --- a/humanoid_league_misc/humanoid_league_team_communication/humanoid_league_team_communication/converter/robocup_protocol_converter.py +++ b/bitbots_team_communication/bitbots_team_communication/converter/robocup_protocol_converter.py @@ -2,10 +2,10 @@ from soccer_vision_attribute_msgs.msg import Robot as RobotAttributes -import humanoid_league_team_communication.robocup_extension_pb2 as Proto # noqa: N812 +import bitbots_team_communication.robocup_extension_pb2 as Proto # noqa: N812 from bitbots_msgs.msg import RobotRelative, Strategy -from humanoid_league_team_communication.converter.message_to_team_data_converter import MessageToTeamDataConverter -from humanoid_league_team_communication.converter.state_to_message_converter import StateToMessageConverter +from bitbots_team_communication.converter.message_to_team_data_converter import MessageToTeamDataConverter +from bitbots_team_communication.converter.state_to_message_converter import StateToMessageConverter class TeamColor(IntEnum): diff --git a/humanoid_league_misc/humanoid_league_team_communication/humanoid_league_team_communication/converter/state_to_message_converter.py b/bitbots_team_communication/bitbots_team_communication/converter/state_to_message_converter.py similarity index 99% rename from humanoid_league_misc/humanoid_league_team_communication/humanoid_league_team_communication/converter/state_to_message_converter.py rename to bitbots_team_communication/bitbots_team_communication/converter/state_to_message_converter.py index 5c6e2f75b..056c73dd7 100644 --- a/humanoid_league_misc/humanoid_league_team_communication/humanoid_league_team_communication/converter/state_to_message_converter.py +++ b/bitbots_team_communication/bitbots_team_communication/converter/state_to_message_converter.py @@ -8,7 +8,7 @@ from rclpy.time import Time from soccer_vision_3d_msgs.msg import Robot, RobotArray -import humanoid_league_team_communication.robocup_extension_pb2 as Proto # noqa: N812 +import bitbots_team_communication.robocup_extension_pb2 as Proto # noqa: N812 from bitbots_msgs.msg import Strategy diff --git a/humanoid_league_misc/humanoid_league_team_communication/humanoid_league_team_communication/humanoid_league_team_communication.py b/bitbots_team_communication/bitbots_team_communication/humanoid_league_team_communication.py similarity index 95% rename from humanoid_league_misc/humanoid_league_team_communication/humanoid_league_team_communication/humanoid_league_team_communication.py rename to bitbots_team_communication/bitbots_team_communication/humanoid_league_team_communication.py index 16b776f74..d11bc16ab 100755 --- a/humanoid_league_misc/humanoid_league_team_communication/humanoid_league_team_communication/humanoid_league_team_communication.py +++ b/bitbots_team_communication/bitbots_team_communication/humanoid_league_team_communication.py @@ -21,19 +21,19 @@ from tf2_geometry_msgs import PointStamped, PoseStamped from tf2_ros import Buffer, TransformException -import humanoid_league_team_communication.robocup_extension_pb2 as Proto # noqa: N812 +import bitbots_team_communication.robocup_extension_pb2 as Proto # noqa: N812 from bitbots_msgs.msg import Strategy, TeamData -from humanoid_league_team_communication.communication import SocketCommunication -from humanoid_league_team_communication.converter.robocup_protocol_converter import RobocupProtocolConverter, TeamColor +from bitbots_team_communication.communication import SocketCommunication +from bitbots_team_communication.converter.robocup_protocol_converter import RobocupProtocolConverter, TeamColor class HumanoidLeagueTeamCommunication: def __init__(self): - self._package_path = get_package_share_directory("humanoid_league_team_communication") + self._package_path = get_package_share_directory("bitbots_team_communication") self.node = Node("team_comm", automatically_declare_parameters_from_overrides=True) self.logger = self.node.get_logger() - self.logger.info("Initializing humanoid_league_team_communication...") + self.logger.info("Initializing bitbots_team_communication...") params_blackboard = get_parameters_from_other_node( self.node, "parameter_blackboard", ["bot_id", "team_id", "team_color"] ) diff --git a/humanoid_league_misc/humanoid_league_team_communication/config/team_comm_marker.rviz b/bitbots_team_communication/config/team_comm_marker.rviz similarity index 100% rename from humanoid_league_misc/humanoid_league_team_communication/config/team_comm_marker.rviz rename to bitbots_team_communication/config/team_comm_marker.rviz diff --git a/humanoid_league_misc/humanoid_league_team_communication/config/team_communication_config.yaml b/bitbots_team_communication/config/team_communication_config.yaml similarity index 100% rename from humanoid_league_misc/humanoid_league_team_communication/config/team_communication_config.yaml rename to bitbots_team_communication/config/team_communication_config.yaml diff --git a/humanoid_league_misc/humanoid_league_team_communication/docs/_static/logo.png b/bitbots_team_communication/docs/_static/logo.png similarity index 100% rename from humanoid_league_misc/humanoid_league_team_communication/docs/_static/logo.png rename to bitbots_team_communication/docs/_static/logo.png diff --git a/humanoid_league_misc/humanoid_league_team_communication/docs/conf.py b/bitbots_team_communication/docs/conf.py similarity index 100% rename from humanoid_league_misc/humanoid_league_team_communication/docs/conf.py rename to bitbots_team_communication/docs/conf.py diff --git a/humanoid_league_misc/humanoid_league_team_communication/docs/index.rst b/bitbots_team_communication/docs/index.rst similarity index 100% rename from humanoid_league_misc/humanoid_league_team_communication/docs/index.rst rename to bitbots_team_communication/docs/index.rst diff --git a/humanoid_league_misc/humanoid_league_team_communication/launch/team_comm.launch b/bitbots_team_communication/launch/team_comm.launch similarity index 54% rename from humanoid_league_misc/humanoid_league_team_communication/launch/team_comm.launch rename to bitbots_team_communication/launch/team_comm.launch index c6ff979c4..2bb22f9c4 100644 --- a/humanoid_league_misc/humanoid_league_team_communication/launch/team_comm.launch +++ b/bitbots_team_communication/launch/team_comm.launch @@ -3,8 +3,8 @@ - - + + diff --git a/humanoid_league_misc/humanoid_league_team_communication/launch/team_comm_standalone.launch b/bitbots_team_communication/launch/team_comm_standalone.launch similarity index 64% rename from humanoid_league_misc/humanoid_league_team_communication/launch/team_comm_standalone.launch rename to bitbots_team_communication/launch/team_comm_standalone.launch index 1f30efbf7..b3a092a71 100644 --- a/humanoid_league_misc/humanoid_league_team_communication/launch/team_comm_standalone.launch +++ b/bitbots_team_communication/launch/team_comm_standalone.launch @@ -6,8 +6,8 @@ - - + + diff --git a/bitbots_team_communication/launch/team_comm_test_marker.launch b/bitbots_team_communication/launch/team_comm_test_marker.launch new file mode 100644 index 000000000..d688e7034 --- /dev/null +++ b/bitbots_team_communication/launch/team_comm_test_marker.launch @@ -0,0 +1,11 @@ + + + + + + + + + + + diff --git a/humanoid_league_misc/humanoid_league_team_communication/package.xml b/bitbots_team_communication/package.xml similarity index 89% rename from humanoid_league_misc/humanoid_league_team_communication/package.xml rename to bitbots_team_communication/package.xml index 40388bf6d..038c2c1f0 100644 --- a/humanoid_league_misc/humanoid_league_team_communication/package.xml +++ b/bitbots_team_communication/package.xml @@ -1,9 +1,9 @@ - humanoid_league_team_communication + bitbots_team_communication 3.0.0 - The humanoid_league_team_communication package provides a ROS wrapper for the Protobuf RoboCup protocol. + The bitbots_team_communication package provides a ROS wrapper for the Protobuf RoboCup protocol. This is the standard communication protocol developed by the NUbots. Joern Griepenburg diff --git a/humanoid_league_misc/humanoid_league_team_communication/scripts/show_team_comm.py b/bitbots_team_communication/scripts/show_team_comm.py similarity index 100% rename from humanoid_league_misc/humanoid_league_team_communication/scripts/show_team_comm.py rename to bitbots_team_communication/scripts/show_team_comm.py diff --git a/bitbots_team_communication/scripts/team_comm.py b/bitbots_team_communication/scripts/team_comm.py new file mode 100755 index 000000000..f1376f6cd --- /dev/null +++ b/bitbots_team_communication/scripts/team_comm.py @@ -0,0 +1,7 @@ +#!/usr/bin/env python3 + +import sys + +from bitbots_team_communication.bitbots_team_communication import main + +sys.exit(main()) diff --git a/humanoid_league_misc/humanoid_league_team_communication/scripts/team_comm_test_marker.py b/bitbots_team_communication/scripts/team_comm_test_marker.py similarity index 100% rename from humanoid_league_misc/humanoid_league_team_communication/scripts/team_comm_test_marker.py rename to bitbots_team_communication/scripts/team_comm_test_marker.py diff --git a/humanoid_league_misc/humanoid_league_team_communication/scripts/test_team_comm.py b/bitbots_team_communication/scripts/test_team_comm.py similarity index 100% rename from humanoid_league_misc/humanoid_league_team_communication/scripts/test_team_comm.py rename to bitbots_team_communication/scripts/test_team_comm.py diff --git a/humanoid_league_misc/humanoid_league_team_communication/scripts/tmux_testing_setup.zsh b/bitbots_team_communication/scripts/tmux_testing_setup.zsh similarity index 67% rename from humanoid_league_misc/humanoid_league_team_communication/scripts/tmux_testing_setup.zsh rename to bitbots_team_communication/scripts/tmux_testing_setup.zsh index a1725c0dc..dd6cf059e 100755 --- a/humanoid_league_misc/humanoid_league_team_communication/scripts/tmux_testing_setup.zsh +++ b/bitbots_team_communication/scripts/tmux_testing_setup.zsh @@ -1,7 +1,7 @@ #!/usr/bin/env zsh session="TeamComm" -pkg="humanoid_league_team_communication" +pkg="bitbots_team_communication" run_tmux_session() { session_running="$(tmux list-sessions | grep $session)" @@ -17,11 +17,11 @@ run_tmux_session() { # run required launch files in order tmux send-keys -t "$session:Base" "rl bitbots_utils base.launch" Enter - tmux send-keys -t "$session:Launch" "rl humanoid_league_team_communication team_comm.launch" Enter + tmux send-keys -t "$session:Launch" "rl bitbots_team_communication team_comm.launch" Enter # start test publisher/subscriber - tmux send-keys -t "$session:Test.top" "rr humanoid_league_team_communication test_team_comm.py" Enter - tmux send-keys -t "$session:Test.bottom" "rr humanoid_league_team_communication show_team_comm.py" Enter + tmux send-keys -t "$session:Test.top" "rr bitbots_team_communication test_team_comm.py" Enter + tmux send-keys -t "$session:Test.bottom" "rr bitbots_team_communication show_team_comm.py" Enter fi tmux attach-session -t "$session:Test" diff --git a/bitbots_team_communication/setup.cfg b/bitbots_team_communication/setup.cfg new file mode 100644 index 000000000..bf74a5f51 --- /dev/null +++ b/bitbots_team_communication/setup.cfg @@ -0,0 +1,4 @@ +[develop] +script_dir=$base/lib/bitbots_team_communication +[install] +install_scripts=$base/lib/bitbots_team_communication diff --git a/humanoid_league_misc/humanoid_league_team_communication/setup.py b/bitbots_team_communication/setup.py similarity index 82% rename from humanoid_league_misc/humanoid_league_team_communication/setup.py rename to bitbots_team_communication/setup.py index c32cdd8ae..c7defe03d 100644 --- a/humanoid_league_misc/humanoid_league_team_communication/setup.py +++ b/bitbots_team_communication/setup.py @@ -1,6 +1,6 @@ from setuptools import find_packages, setup -package_name = "humanoid_league_team_communication" +package_name = "bitbots_team_communication" setup( name=package_name, diff --git a/humanoid_league_misc/humanoid_league_team_communication/test/__init__.py b/bitbots_team_communication/test/__init__.py similarity index 100% rename from humanoid_league_misc/humanoid_league_team_communication/test/__init__.py rename to bitbots_team_communication/test/__init__.py diff --git a/humanoid_league_misc/humanoid_league_team_communication/test/converter/__snapshots__/test_message_to_team_data_converter.ambr b/bitbots_team_communication/test/converter/__snapshots__/test_message_to_team_data_converter.ambr similarity index 100% rename from humanoid_league_misc/humanoid_league_team_communication/test/converter/__snapshots__/test_message_to_team_data_converter.ambr rename to bitbots_team_communication/test/converter/__snapshots__/test_message_to_team_data_converter.ambr diff --git a/humanoid_league_misc/humanoid_league_team_communication/test/converter/__snapshots__/test_robocup_protocol_converter.ambr b/bitbots_team_communication/test/converter/__snapshots__/test_robocup_protocol_converter.ambr similarity index 100% rename from humanoid_league_misc/humanoid_league_team_communication/test/converter/__snapshots__/test_robocup_protocol_converter.ambr rename to bitbots_team_communication/test/converter/__snapshots__/test_robocup_protocol_converter.ambr diff --git a/humanoid_league_misc/humanoid_league_team_communication/test/converter/__snapshots__/test_state_to_message_converter.ambr b/bitbots_team_communication/test/converter/__snapshots__/test_state_to_message_converter.ambr similarity index 100% rename from humanoid_league_misc/humanoid_league_team_communication/test/converter/__snapshots__/test_state_to_message_converter.ambr rename to bitbots_team_communication/test/converter/__snapshots__/test_state_to_message_converter.ambr diff --git a/humanoid_league_misc/humanoid_league_team_communication/test/converter/test_message_to_team_data_converter.py b/bitbots_team_communication/test/converter/test_message_to_team_data_converter.py similarity index 94% rename from humanoid_league_misc/humanoid_league_team_communication/test/converter/test_message_to_team_data_converter.py rename to bitbots_team_communication/test/converter/test_message_to_team_data_converter.py index 83ef9a82e..e98bedd7c 100644 --- a/humanoid_league_misc/humanoid_league_team_communication/test/converter/test_message_to_team_data_converter.py +++ b/bitbots_team_communication/test/converter/test_message_to_team_data_converter.py @@ -1,9 +1,9 @@ -import humanoid_league_team_communication.robocup_extension_pb2 as Proto # noqa: N812 import pytest -from humanoid_league_team_communication.converter.robocup_protocol_converter import RobocupProtocolConverter, TeamColor from std_msgs.msg import Header +import bitbots_team_communication.robocup_extension_pb2 as Proto # noqa: N812 from bitbots_msgs.msg import RobotRelative, Strategy, TeamData +from bitbots_team_communication.converter.robocup_protocol_converter import RobocupProtocolConverter, TeamColor own_team_id = 1 own_team_color = TeamColor(own_team_id) diff --git a/humanoid_league_misc/humanoid_league_team_communication/test/converter/test_robocup_protocol_converter.py b/bitbots_team_communication/test/converter/test_robocup_protocol_converter.py similarity index 79% rename from humanoid_league_misc/humanoid_league_team_communication/test/converter/test_robocup_protocol_converter.py rename to bitbots_team_communication/test/converter/test_robocup_protocol_converter.py index 0734ddec6..b71aa41d6 100644 --- a/humanoid_league_misc/humanoid_league_team_communication/test/converter/test_robocup_protocol_converter.py +++ b/bitbots_team_communication/test/converter/test_robocup_protocol_converter.py @@ -1,10 +1,11 @@ from unittest.mock import MagicMock -import humanoid_league_team_communication.robocup_extension_pb2 as Proto # noqa: N812 import pytest -from humanoid_league_team_communication.converter.robocup_protocol_converter import RobocupProtocolConverter, TeamColor from soccer_vision_attribute_msgs.msg import Robot as RobotAttributes +import bitbots_team_communication.robocup_extension_pb2 as Proto # noqa: N812 +from bitbots_team_communication.converter.robocup_protocol_converter import RobocupProtocolConverter, TeamColor + own_team_color = TeamColor.BLUE @@ -55,13 +56,9 @@ def protocol_converter() -> RobocupProtocolConverter: @pytest.fixture def to_message_mock(mocker) -> MagicMock: - return mocker.patch( - "humanoid_league_team_communication.converter.robocup_protocol_converter.StateToMessageConverter" - ) + return mocker.patch("bitbots_team_communication.converter.robocup_protocol_converter.StateToMessageConverter") @pytest.fixture def from_message_mock(mocker) -> MagicMock: - return mocker.patch( - "humanoid_league_team_communication.converter.robocup_protocol_converter.MessageToTeamDataConverter" - ) + return mocker.patch("bitbots_team_communication.converter.robocup_protocol_converter.MessageToTeamDataConverter") diff --git a/humanoid_league_misc/humanoid_league_team_communication/test/converter/test_state_to_message_converter.py b/bitbots_team_communication/test/converter/test_state_to_message_converter.py similarity index 97% rename from humanoid_league_misc/humanoid_league_team_communication/test/converter/test_state_to_message_converter.py rename to bitbots_team_communication/test/converter/test_state_to_message_converter.py index a768fa176..44d3b7ebd 100644 --- a/humanoid_league_misc/humanoid_league_team_communication/test/converter/test_state_to_message_converter.py +++ b/bitbots_team_communication/test/converter/test_state_to_message_converter.py @@ -1,6 +1,5 @@ from unittest.mock import Mock -import humanoid_league_team_communication.robocup_extension_pb2 as Proto # noqa: N812 import numpy import pytest from game_controller_hl_interfaces.msg import GameState @@ -15,15 +14,16 @@ Twist, Vector3, ) -from humanoid_league_team_communication.converter.robocup_protocol_converter import RobocupProtocolConverter, TeamColor -from humanoid_league_team_communication.humanoid_league_team_communication import HumanoidLeagueTeamCommunication from rclpy.time import Time from soccer_vision_3d_msgs.msg import Robot, RobotArray from soccer_vision_attribute_msgs.msg import Confidence from soccer_vision_attribute_msgs.msg import Robot as RobotAttributes from std_msgs.msg import Header +import bitbots_team_communication.robocup_extension_pb2 as Proto # noqa: N812 from bitbots_msgs.msg import Strategy +from bitbots_team_communication.bitbots_team_communication import HumanoidLeagueTeamCommunication +from bitbots_team_communication.converter.robocup_protocol_converter import RobocupProtocolConverter, TeamColor own_team_id = 1 own_team_color = TeamColor(own_team_id) diff --git a/bitbots_wolfgang/wolfgang_robocup_api/scripts/start.sh b/bitbots_wolfgang/wolfgang_robocup_api/scripts/start.sh index d98029caa..4a2d9ba05 100755 --- a/bitbots_wolfgang/wolfgang_robocup_api/scripts/start.sh +++ b/bitbots_wolfgang/wolfgang_robocup_api/scripts/start.sh @@ -59,10 +59,10 @@ if [[ ! -d "$UTILS_DIR" ]]; then exit 2 fi -TEAM_COMM_DIR=$COLCON_PREFIX_PATH/humanoid_league_team_communication/share/humanoid_league_team_communication +TEAM_COMM_DIR=$COLCON_PREFIX_PATH/bitbots_team_communication/share/bitbots_team_communication if [[ ! -d "$TEAM_COMM_DIR" ]]; then - echo "Could not find humanoid_league_team_communication!" + echo "Could not find bitbots_team_communication!" exit 2 fi diff --git a/humanoid_league_misc/humanoid_league_team_communication/.gitignore b/humanoid_league_misc/humanoid_league_team_communication/.gitignore deleted file mode 100644 index c1da6f902..000000000 --- a/humanoid_league_misc/humanoid_league_team_communication/.gitignore +++ /dev/null @@ -1 +0,0 @@ -humanoid_league_team_communication/robocup_extension_pb2.py diff --git a/humanoid_league_misc/humanoid_league_team_communication/launch/team_comm_test_marker.launch b/humanoid_league_misc/humanoid_league_team_communication/launch/team_comm_test_marker.launch deleted file mode 100644 index 34c76143b..000000000 --- a/humanoid_league_misc/humanoid_league_team_communication/launch/team_comm_test_marker.launch +++ /dev/null @@ -1,11 +0,0 @@ - - - - - - - - - - - diff --git a/humanoid_league_misc/humanoid_league_team_communication/scripts/team_comm.py b/humanoid_league_misc/humanoid_league_team_communication/scripts/team_comm.py deleted file mode 100755 index e926827a6..000000000 --- a/humanoid_league_misc/humanoid_league_team_communication/scripts/team_comm.py +++ /dev/null @@ -1,7 +0,0 @@ -#!/usr/bin/env python3 - -import sys - -from humanoid_league_team_communication.humanoid_league_team_communication import main - -sys.exit(main()) diff --git a/humanoid_league_misc/humanoid_league_team_communication/setup.cfg b/humanoid_league_misc/humanoid_league_team_communication/setup.cfg deleted file mode 100644 index aed8a1a75..000000000 --- a/humanoid_league_misc/humanoid_league_team_communication/setup.cfg +++ /dev/null @@ -1,4 +0,0 @@ -[develop] -script_dir=$base/lib/humanoid_league_team_communication -[install] -install_scripts=$base/lib/humanoid_league_team_communication diff --git a/sync_includes_wolfgang_nuc.yaml b/sync_includes_wolfgang_nuc.yaml index dbf330cbc..599fba0e4 100644 --- a/sync_includes_wolfgang_nuc.yaml +++ b/sync_includes_wolfgang_nuc.yaml @@ -32,6 +32,7 @@ include: - bitbots_localization - bitbots_localization_handler - bitbots_path_planning + - bitbots_team_communication - bitbots_vision - bitbots_wolfgang: - wolfgang_animations @@ -40,8 +41,6 @@ include: - bitbots_world_model: - bitbots_ball_filter - bitbots_robot_filter - - humanoid_league_misc: - - humanoid_league_team_communication - lib: - audio_common - bio_ik diff --git a/workspace.repos b/workspace.repos index 3eaa3fb13..4f1002572 100644 --- a/workspace.repos +++ b/workspace.repos @@ -1,5 +1,5 @@ repositories: - humanoid_league_misc/humanoid_league_team_communication/humanoid_league_team_communication/RobocupProtocol: + bitbots_team_communication/bitbots_team_communication/RobocupProtocol: type: git url: git@github.com:bit-bots/RobocupProtocol.git lib/dynamic_stack_decider: