bit-bots / bitbots_misc Goto Github PK

Evaluate, if the fake_vision_data script is needed anymore. Eventually move this to the vision package and update it...

add a script to adjust volume based on dynreconf

Can be added to the convenience frames package

Siehe wolfgang webots sim fake localization launch script

Expected behavior

The approach frame should be broadcasted.

Current behavior

In line 48 and 49 of convenience_frames.cpp a transform to r_toe/ l_toe fails. Therefore the try block fails and the approach frame is not published.

Steps to Reproduce

1. roslaunch bitbots_body_behavior rviz_behavior_test.launch
2. start rqt tf tree (no approach frame is visible)

Context (Environment)

• RViz
• Simulator
• Robot
• Local

Possible Solution

The transform to r_toe and l_toe should be replaced with new transformations to the actual urdf links representing the front of each foot.

Similar to the work done in the HCM we could implement a transform listener C++ node that still features the Python transform listener interface.

Currently, TF takes up many resources in Python nodes.

Expected behavior

Current behavior

stderr: bitbots_dynamic_kick                                                                                                                          
CMake Deprecation Warning at /opt/ros/rolling/share/actionlib_msgs/cmake/actionlib_msgsConfig.cmake:31 (message):
  Package 'actionlib_msgs' is deprecated (This package will be removed in a
  future ROS distro, once the ROS 1 bridge supports actions.)
Call Stack (most recent call first):
  /home/par/colcon_ws/install/bitbots_msgs/share/bitbots_msgs/cmake/ament_cmake_export_dependencies-extras.cmake:21 (find_package)
  /home/par/colcon_ws/install/bitbots_msgs/share/bitbots_msgs/cmake/bitbots_msgsConfig.cmake:41 (include)
  CMakeLists.txt:13 (find_package)

Steps to Reproduce

build *

Context (Environment)

• RViz
• Simulator
• Robot
• Local

Possible Solution

Add deps to bringup again if all packages are stable.

prüfen, ob die z komponente des transformierten objekts positiv ist

Is your feature request related to a problem? Please describe.

Currently the system monitor is only started on the nuc together with ros control

Describe the solution you'd like

It should also be started on the odroid. With a different namespace for the diagnostic messages, so that they can be differentiated.

Is your feature request related to a problem? Please describe.

Since bit-bots/bitbots_behavior#90, players have multiple positions per role. We need to set an individual position number for players at the beginning of a game.

Describe the solution you'd like

An option to set the position number at the beginning of the game.

The separate launch file should also be included in the teamplayer launch file

System monitor is currently running way too often, it should use the new rate implementation from bitbots_ros_patches.

currently tf is only publisher with 50Hz. we should try to increase this

https://ternaris.com/marv-robotics/ seems to be a good candidate

https://github.com/swri-robotics/bag-database/tree/develop would be an alternative

brach rqt_live_tooL_rework already exists but needs to be tested and reworked a bit

We should start using the official env to check if vision and motion works with it

Could also be moved to its own git repository, since this is a very general package and by far not bitbots specific

Expected behavior

The output of the vision should be just like the output of any other node.

Current behavior

The terminal formatting gets destroyed.

Steps to Reproduce

roslaunch bitbots_bringup teamplayer.launch

The teleop keyboard script takes a complete core when running. Propably due to blocking when waiting for key presses

There already exists the branch system_monitor_gui

currently imu is not published in simulation and also not used by HCM and other motion parts. this should change to enable better testing

Currently, we debayer the image and then resize it to an acceptable size.
This is quite a computational effort.

The currently used library image_proc has also a nodelet called crop_decimate. It applies the binning in a clever way in the debayer process. Therefore it should save some computational resources. It is also built with the intention to be the first processing step after the raw camera input.

When starting the motion_standalone.launch, it does not work.
That is because it starts load_robot_description.launch.
This launch file starts move_group.py.
In https://github.com/bit-bots/bitbots_misc/blame/master/bitbots_robot_description/launch/move_group.py#L73 we try to read from an empty yaml.
If this line and line 135 are removed, motion_standalone.launch works.

Possible Solution

Remove line 73 and 135? Or will we put something into the sensors_3d.yaml in the future?

We added some setting of software parts to specific cores. This should be reviewed when running the full software stack.

The current simulation.launch file should be adapted to a) use webots and b) work properly.

• fix launch files
• make simulation work
• make motion work
• make vision work