t top v4 (#76)

* Add the CAD files of the base.

* Add Jetson AGX Orin

* Move torso magnets to the outer diameter.

* Rename support to bracket

* Add stewart bottom

* Fix torso bottom holder

* Add the head onto the stewart platform. Add the stewart platform onto the robots.

* Add magnets on the head

* Add stewart springs.

* Apply comments

* Fix CAD. Add STL.

* Rename CAD_v4 to CAD

* Update buck_boost to kicad 6

* Add first draft of psu_control

* psu_control v4 is completed

* Update psu_control

* Add dynamixel_control PCB

* Add dynamixel control to CAD.

* Fix issues. Add schematic files.

* Fix pdf

* Add the serial MCU communucation protocol.

* Fix SERIAL_MCU.md

* Fix SERIAL_MCU.md

* Update psu_control

* Add acknowledgment payload to SERIAL_MCU.md.

* Add preamble and volume maximum to SERIAL_MCU.md

* Update SERIAL_MCU.md. Add the electrical block diagram.

* PCB revision

* Remove old psu_control gerber files.

* Remove the old part lib file

* Create gerber files for psu_control and dynamixel_control.

* Add SERVICE_ROS.md

* Add the beginning of the serial communication code.

* Update submodules.

* Add message classes.

* building common message library, daemon incomplete

* Opening serial port

* Skeleton for system tray

* Some menu working

* Connecting to daemon, WIP

* Connecting to daemon, WIP

* Add almost all PSU control code.

* Fix PushButton::read()

* Add output resistor for the led strip (data).

* Update gerbers

* Fix T-Connector

* Add Debug UART connector to dynamixel_control.

* Update schematics.

* Change MAX3221E by SN65C3221E.

* Add SerialCommunicationManager

* Fix missing include and common files

* Fix PCBs.

* Update psu control. Add missing CAD files.

* Add a PI filter to buck_boost. Fix ringing for other PI filters.

* Refs #47 first integration with Qt. Not processing messages, why?

* Refs #47 first integration with Qt. Receiving messages.

* Refs #47, wrapped callbacks in Qt events

* Refs #47, fix class name, avoid double inheritance with confusing QSerialPort::write.

* Refs #47, reuse common.cmake and eventually common library

* Add the option to use std::function in SerialCommunicationManager. Fix config.h for psu_control.

* Update PCBs

* Update PCBs

* Refs #47. Cleaner implementation with lambdas.

* Refs #47. Apply coding style.

* Fix dynamixel_control weird traces

* Update the root readme. Update psu_control. Create dynamixel_control and add the draft.

* Add the Icm40627 class.

* Complete dynamixel_control firmware.

* Refs #47 First working version of SystemTray receiving data from daemon on websocket using same serial protocol.

* Refs #47 Display of charge state working.

* Fix LedStrip.cpp

* Update mic config and stewart config.

* Fix light sensors.

* Migrate ROS from OpenCR to the daemon.

* Add led_dance_node.py. Rename deamon to daemon.

* Fix IMU.

* Fix Icm40627::readData

* Wrapping WebSocketProtocol avoiding the use of a SerialManager

* moved common WebSocketProtocolWrapper to common directory, ready to update DaemonWebSocketServer, WIP

* Simplified and reusable websocket version

* Full bi-directional commmunication with websockets should work, untested

* minor cleanup

* Avoid crash on Qt5.12/Linux

* Qt + ROS node, WIP

* Fixed argc param for Linux Qt

* First integration complete, to be tested

* Updated documentation for v4 robot, WIP

* Update CAD. Update doc.

* Updated assembly

* Updated assembly

* Update LED count.

* Remove voltage supervisors

* Fix hole in base audio back right

* Update assembly steps.

* fixed serial port number and debug port to usb

* Fix serial port reconnect / disconnect

* changed default port, cleanup code, fixed system tray messages with adequate values

* add shutdown, brightness functions, empty for now

* Update the protocols documentation

* Update STL files

* Update DaemonSerialManager.cpp

* Update 03_PCB_ASSEMBLY.md.

* Update 03_PCB_ASSEMBLY.md.

* Complete setPowerMode and terminateAllROSProcessesAndShutdown.

* Add screen brightness lines of code (without the right screen).

* Fix torso bottom internal orin.

* Update assembly steps.

* Rename stewart bracket to stewart stand.

* Update 02_PCB_ASSEMBLY.md

* Update 02_PCB_ASSEMBLY.md

* Add missing psu_control tests

* Update PCB images and assembly steps.

* Update BOMs. Fix node names.

* Update hbba_lite and fix led_dance_node.

* Add the led_emotions behavior node.

* Remove a useless header.

* WIP added script to setup on robot, and partial update of computer configuration documentation

* WIP install script

* WIP install script

* WIP install script

* Fix firmwares and update assembly steps.

* Idempotence for script

* WIP install script

* WIP fix in installation script

* WIP milestones for install script

* WIP install script

* Remove parallel dnn exportation as it can take too much vram and crash

* Update HBBA Lite

* Add HBBA Lite documentation.

* Add missing README files.

* Update HBBA Lite doc.

* Update the BOM

* Update computer configuration steps.

* Update cable assembly steps.

* Update base disk assembly steps.

* Remove the opencr udev rule.

* Update audio base assembly steps.

* Update mic base assembly steps.

* Update torso bottom assembly steps.

* Update Stewart platform assembly steps.

* Update head assembly steps.

* Update robot assembly steps.

* Add RTC bat assembly steps.

* Update TFs

* Fix python conflict (numpy and friends)

* Fix cupy version to match with system numpy

* Add the camera_calibration command.

* Revert pytorch update

* Merge main

* Fix the dynamixel_control firmware. Update system projects.

* Add missing images.

* Add requirements file for most python dependencies

* Rtabmap restructuration

* Fix the psu_control PCB.

* Update the psu_control schematic file.

* Fix state of charge, voltage and current formatting in the system tray.

* Better handling of Xavier vs Orin in install script and daemon, add daemon and system tray install to install script and computer configuration, add autolaunch files (systemd .service for daemon and .desktop for system tray)

* Use QFile instead of std::filesystem and go back to C++14 for daemon

* Daemon displays identified jetson model in debug log

* Fix _project_2d_to_3d in video_analyzer_3d_node.py.

* Fix the max input voltage in the psu_control PCB.

* Add the version to libnabo and libpointmatcher.

* Fix the dynamixel_control firmware.

* Fix jetson_configuration.sh. Fix daemon ros client node.

* Fix daemon ros client node.

* Fix daemon ros client node.

* Fix daemon ros client node.

* Fix daemon ros client node.

* Fix daemon ros client node.

* Fix nvpmodel in the daemon.

* Add flush calls to the daemon.

* Cleanup log in the daemon.

* Increase the ack timeout value.

* Fix shutdown and add logs.

* Fix set_torso_orientation from ros.

* Fix stewart forward kinematics.

* Fix gestures.

* Fix daemon segfault. Add system_tray and daemon_client_ros reconnections.

* Send the ack before the handler. Add logs in the daemon.

* Fix the shutdown of the roslaunch processes before the computer shutdown.

* Fix dropped message while dancing.

* Install system-tray autostart for all users

* Remove cupy.

* Fix dnn_utils

* Fix dnn_utils

* Fix dnn_utils

* Fix dnn_utils

* Update audio_utils.

* Increase dynamixel baud rate. Lower the return delay time.

* Remove communication updates in the motor status ticker.

* Update opentera-webrtc-ros

* Add yolov7 module.

* Revert "Add yolov7 module."

This reverts commit b85ba0e.

* Fix robot_status.py

* Fix missing SSD for Orin in assembly doc, and add assembly instructions for screen rotation

* Update images.

* Update mainCommunicationTest.cpp

* Fix comments.

---------

Co-authored-by: Dominic Létourneau <[email protected]>
Co-authored-by: Dominic Letourneau <[email protected]>
Co-authored-by: Dominic Létourneau <[email protected]>
Co-authored-by: philippewarren <[email protected]>
Co-authored-by: introlab <[email protected]>

.gitmodules

@@ -16,3 +16,6 @@
 [submodule "ros/utils/hbba_lite"]
 	path = ros/utils/hbba_lite
 	url = https://github.com/introlab/hbba_lite.git
+[submodule "system/optional"]
+	path = system/optional
+	url = https://github.com/TartanLlama/optional.git