Interpretive Robot Interface (#655)

* [RosTest] move the module of hovering check to "src" directory * [Robot Interface] add python interpreted interface to support basic navigation motion, including joint control * Use IPython to make the script more interpretive Co-authored-by: Sugihara Kazuki <[email protected]> * [aerial_robot_base] update version of package.xml to 3 to support condition * [aerial_robot_base] add dependency to ipython --------- Co-authored-by: Moju Zhao <[email protected]> Co-authored-by: Sugihara Kazuki <[email protected]> Co-authored-by: sugikazu75 <[email protected]>
jsk-ros-pkg · Jan 15, 2025 · 7e3a343 · 7e3a343
1 parent fc1a1df
commit 7e3a343
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Showing 6 changed files with 537 additions and 13 deletions.
diff --git a/.github/workflows/catkin_lint.yml b/.github/workflows/catkin_lint.yml
@@ -31,4 +31,4 @@ jobs:
           wstool init
           wstool merge aerial_robot_noetic.rosinstall
           wstool update
-          ROS_DISTRO=noetic catkin_lint --resolve-env --strict $PWD --skip-path kalman_filter --skip-path ublox_gps --skip-path aerial_robot_3rdparty  --skip-path rosserial --skip-path livox_ros_driver2 --skip-path fast_lio --skip-path mocap_optitrack
+          ROS_DISTRO=noetic catkin_lint --resolve-env --strict $PWD --skip-path kalman_filter --skip-path ublox_gps --skip-path aerial_robot_3rdparty  --skip-path rosserial --skip-path livox_ros_driver2 --skip-path fast_lio --skip-path mocap_optitrack --skip-path aerial_robot_base
diff --git a/aerial_robot_base/package.xml b/aerial_robot_base/package.xml
@@ -1,5 +1,5 @@
 <?xml version="1.0"?>
-<package>
+<package format="3">
   <name>aerial_robot_base</name>
   <version>1.3.5</version>
   <description>The base for aerial robots</description>
@@ -17,15 +17,18 @@
   <build_depend>roscpp</build_depend>
   <build_depend>rospy</build_depend>
 
-  <run_depend>aerial_robot_control</run_depend>
-  <run_depend>aerial_robot_estimation</run_depend>
-  <run_depend>aerial_robot_model</run_depend>
-  <run_depend>joy</run_depend>
-  <run_depend>mocap_optitrack</run_depend>
-  <run_depend>roscpp</run_depend>
-  <run_depend>rospy</run_depend>
-  <run_depend>rostest</run_depend>
-  <run_depend>ublox_gps</run_depend>
-  <run_depend>ntrip_ros</run_depend>
+  <exec_depend>aerial_robot_control</exec_depend>
+  <exec_depend>aerial_robot_estimation</exec_depend>
+  <exec_depend>aerial_robot_model</exec_depend>
+  <exec_depend condition="$ROS_PYTHON_VERSION == 2">ipython</exec_depend>
+  <exec_depend condition="$ROS_PYTHON_VERSION == 3">ipython3</exec_depend>
+  <exec_depend>joy</exec_depend>
+  <exec_depend>mocap_optitrack</exec_depend>
+  <exec_depend>roscpp</exec_depend>
+  <exec_depend>ros_numpy</exec_depend>
+  <exec_depend>rospy</exec_depend>
+  <exec_depend>rostest</exec_depend>
+  <exec_depend>ublox_gps</exec_depend>
+  <exec_depend>ntrip_ros</exec_depend>
 
 </package>
diff --git a/aerial_robot_base/setup.py b/aerial_robot_base/setup.py
@@ -3,6 +3,6 @@
 
 setup_args = generate_distutils_setup(
     packages=['aerial_robot_base'],
-    package_dir={'': 'test'})
+    package_dir={'': 'src'})
 
 setup(**setup_args)
diff --git a/...t_base/test/aerial_robot_base/__init__.py → ...ot_base/src/aerial_robot_base/__init__.py b/...t_base/test/aerial_robot_base/__init__.py → ...ot_base/src/aerial_robot_base/__init__.py
diff --git a/.../test/aerial_robot_base/hovering_check.py → ...e/src/aerial_robot_base/hovering_check.py b/.../test/aerial_robot_base/hovering_check.py → ...e/src/aerial_robot_base/hovering_check.py