Merge branch 'develop' of github.com:nasa/isaac into survey_manager_e…

…xecute_goals
nasa · Nov 16, 2023 · ad57def · ad57def
2 parents 8456b90 + 5010fc9
commit ad57def
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diff --git a/.github/workflows/ci_pr.yml b/.github/workflows/ci_pr.yml
@@ -28,27 +28,6 @@ jobs:
     - name: Build code for isaac:astrobee Ubuntu 16
       run: isaac/scripts/docker/build.sh --remote --xenial --astrobee-source-path astrobee/
 
-
-  build-bionic:
-
-    runs-on: ubuntu-20.04
-
-    steps:
-
-    - name: Checkout Astrobee
-      uses: actions/checkout@v3
-      with:
-        repository: nasa/astrobee
-        path: astrobee/
-
-    - name: Checkout ISAAC
-      uses: actions/checkout@v3
-      with:
-        submodules: recursive
-        path: isaac/
-
-    - name: Build code for isaac:astrobee Ubuntu 18
-      run: isaac/scripts/docker/build.sh --remote --bionic --astrobee-source-path astrobee/
   build-focal:
 
     runs-on: ubuntu-20.04

diff --git a/.github/workflows/ci_push.yml b/.github/workflows/ci_push.yml
@@ -67,65 +67,6 @@ jobs:
         if [ "${{ github.repository_owner }}" = "nasa" ]; then docker push ghcr.io/${{ github.repository_owner }}/isaac:astrobee-msgs-ubuntu16.04; fi;
         if [ "${{ github.repository_owner }}" = "nasa" ]; then docker push ghcr.io/${{ github.repository_owner }}/isaac:msgs-ubuntu16.04; fi;
 
-  build-bionic:
-
-    runs-on: ubuntu-20.04
-
-    steps:
-
-    - name: Checkout Astrobee
-      uses: actions/checkout@v3
-      with:
-        repository: nasa/astrobee
-        path: astrobee/
-
-    - name: Checkout ISAAC
-      uses: actions/checkout@v3
-      with:
-        submodules: recursive
-        path: isaac/
-
-    - name: Build code for isaac:astrobee Ubuntu 18
-      run: docker build isaac -f isaac/scripts/docker/isaac_astrobee.Dockerfile
-                          --build-arg UBUNTU_VERSION=18.04
-                          --build-arg ROS_VERSION=melodic
-                          --build-arg PYTHON=3
-                          --build-arg REMOTE=ghcr.io/nasa
-                          -t ghcr.io/${{ github.repository_owner }}/isaac:latest-astrobee-ubuntu18.04
-
-    - name: Build code for isaac:latest Ubuntu 18
-      run: docker build isaac -f isaac/scripts/docker/isaac.Dockerfile
-                          --build-arg UBUNTU_VERSION=18.04
-                          --build-arg ROS_VERSION=melodic
-                          --build-arg PYTHON=3
-                          --build-arg REMOTE=ghcr.io/nasa
-                          -t ghcr.io/${{ github.repository_owner }}/isaac:latest-ubuntu18.04
-
-    - name: Build messages dockers for Ubuntu 18 (astrobee)
-      run: docker build astrobee -f isaac/scripts/docker/astrobee_msgs.Dockerfile
-                          --build-arg UBUNTU_VERSION=18.04
-                          --build-arg ROS_VERSION=melodic
-                          --build-arg PYTHON=''
-                          -t ghcr.io/${{ github.repository_owner }}/isaac:astrobee-msgs-ubuntu18.04
-
-    - name: Build messages dockers for Ubuntu 18 (isaac)
-      run: docker build isaac -f isaac/scripts/docker/isaac_msgs.Dockerfile
-                          --build-arg UBUNTU_VERSION=18.04
-                          --build-arg ROS_VERSION=melodic
-                          --build-arg PYTHON=''
-                          --build-arg REMOTE=ghcr.io/nasa
-                          -t ghcr.io/${{ github.repository_owner }}/isaac:msgs-ubuntu18.04
-
-    - name: Log in to registry
-      run: echo "${{ secrets.GITHUB_TOKEN }}" | docker login ghcr.io -u ${{ github.repository_owner }} --password-stdin
-
-    - name: Push Docker image
-      run: |
-        if [ "${{ github.repository_owner }}" = "nasa" ]; then docker push ghcr.io/${{ github.repository_owner }}/isaac:latest-astrobee-ubuntu18.04; fi;
-        if [ "${{ github.repository_owner }}" = "nasa" ]; then docker push ghcr.io/${{ github.repository_owner }}/isaac:latest-ubuntu18.04; fi;
-        if [ "${{ github.repository_owner }}" = "nasa" ]; then docker push ghcr.io/${{ github.repository_owner }}/isaac:astrobee-msgs-ubuntu18.04; fi;
-        if [ "${{ github.repository_owner }}" = "nasa" ]; then docker push ghcr.io/${{ github.repository_owner }}/isaac:msgs-ubuntu18.04; fi;
-
   build-focal:
 
     runs-on: ubuntu-20.04

diff --git a/.github/workflows/ci_release.yml b/.github/workflows/ci_release.yml
@@ -70,66 +70,6 @@ jobs:
         docker tag isaac/isaac:latest-ubuntu16.04 ghcr.io/${{ github.repository_owner }}/isaac:v${VERSION}-ubuntu16.04
         if [ "${{ github.repository_owner }}" = "nasa" ]; then docker push ghcr.io/${{ github.repository_owner }}/isaac:v${VERSION}-ubuntu16.04; fi;
 
-  build-bionic:
-
-    runs-on: ubuntu-20.04
-
-    steps:
-    - name: Checkout Astrobee
-      uses: actions/checkout@v3
-      with:
-        repository: nasa/astrobee
-        path: astrobee/
-
-    - name: Checkout ISAAC
-      uses: actions/checkout@v3
-      with:
-        submodules: recursive
-        path: isaac/
-
-    - name: Build code for isaac:astrobee Ubuntu 18
-      run: docker build isaac -f isaac/scripts/docker/isaac_astrobee.Dockerfile
-                          --build-arg UBUNTU_VERSION=18.04
-                          --build-arg ROS_VERSION=melodic
-                          --build-arg PYTHON=3
-                          --build-arg REMOTE=ghcr.io/nasa
-                          -t isaac/isaac:latest-astrobee-ubuntu18.04
-
-    - name: Build code for isaac:latest Ubuntu 18
-      run: docker build isaac -f isaac/scripts/docker/isaac.Dockerfile
-                          --build-arg UBUNTU_VERSION=18.04
-                          --build-arg ROS_VERSION=melodic
-                          --build-arg PYTHON=3
-                          --build-arg REMOTE=isaac
-                          -t isaac/isaac:latest-ubuntu18.04
-
-    - name: Build messages dockers for Ubuntu 18 (astrobee)
-      run: docker build astrobee -f isaac/scripts/docker/astrobee_msgs.Dockerfile
-                          --build-arg UBUNTU_VERSION=18.04
-                          --build-arg ROS_VERSION=melodic
-                          --build-arg PYTHON=''
-                          -t isaac/isaac:astrobee-msgs-ubuntu18.04
-
-    - name: Build messages dockers for Ubuntu 18 (isaac)
-      run: docker build isaac -f isaac/scripts/docker/isaac_msgs.Dockerfile
-                          --build-arg UBUNTU_VERSION=18.04
-                          --build-arg ROS_VERSION=melodic
-                          --build-arg PYTHON=''
-                          --build-arg REMOTE=isaac
-                          -t isaac/isaac:msgs-ubuntu18.04
-
-    - name: Log in to registry
-      run: echo "${{ secrets.GITHUB_TOKEN }}" | docker login ghcr.io -u ${{ github.repository_owner }} --password-stdin
-
-    - name: Push Docker image
-      run: |
-        cd isaac
-        export VERSION=`grep -w -m 1 "Release" RELEASE.md | awk '{print $3}'`
-        docker tag isaac/isaac:latest-astrobee-ubuntu18.04 ghcr.io/${{ github.repository_owner }}/isaac:v${VERSION}-astrobee-ubuntu18.04
-        if [ "${{ github.repository_owner }}" = "nasa" ]; then docker push ghcr.io/${{ github.repository_owner }}/isaac:v${VERSION}-astrobee-ubuntu18.04; fi;
-        docker tag isaac/isaac:latest-ubuntu18.04 ghcr.io/${{ github.repository_owner }}/isaac:v${VERSION}-ubuntu18.04
-        if [ "${{ github.repository_owner }}" = "nasa" ]; then docker push ghcr.io/${{ github.repository_owner }}/isaac:v${VERSION}-ubuntu18.04; fi;
-
   build-focal:
 
     runs-on: ubuntu-20.04

diff --git a/INSTALL.md b/INSTALL.md
@@ -4,15 +4,15 @@ Native Install
 Machine setup
 ---------
 
-Install the 64-bit version of [Ubuntu 16.04, 18.04 or 20.04](http://releases.ubuntu.com/)
+Install the 64-bit version of [Ubuntu 16.04 or 20.04](http://releases.ubuntu.com/)
 on a host machine, and make sure that you can checkout and build code.
 
     sudo apt-get install build-essential git
 
 *Note: You will need 4 GBs of RAM to compile the software. If you don't have
 that much RAM available, please use swap space.*
 
-*Note: Please ensure you install Ubuntu 16.04, 18.04 or 20.04. At this time we do not support
+*Note: Please ensure you install Ubuntu 16.04 or 20.04. At this time we do not support
 any other operating system or Ubuntu versions.*
 
 *Note: Please ensure you install the 64-bit version of Ubuntu. We do not

diff --git a/analyst/tools/query_view_points.cc b/analyst/tools/query_view_points.cc
@@ -114,7 +114,7 @@ int main(int argc, char** argv) {
     new geometry_msgs::Transform(msg_conversions::eigen_transform_to_ros_transform(transform_body_to_cam)));
 
   camera::CameraParameters cam_params(&config, FLAGS_camera.c_str());
-  inspection::CameraView camera(cam_params, 2.0, 0.19, msg_pointer);
+  inspection::CameraView camera(FLAGS_camera, cam_params, 2.0, 0.19, msg_pointer);
 
 
   // Extract the input list from the command-line argument

diff --git a/astrobee/behaviors/inspection/include/inspection/camera_projection.h b/astrobee/behaviors/inspection/include/inspection/camera_projection.h
@@ -69,9 +69,8 @@ class CameraView : public camera::CameraModel  {
   // f: far clip, maximum camera distance (m)
   // n: near clip, minimum camera distance (m)
   // cam_transform: transform from body->camera, useful for offline applications where tf is not available
-  CameraView(const camera::CameraParameters & params, const float f = 2.0, const float n = 0.19,
-                      const geometry_msgs::Transform::ConstPtr cam_transform = NULL);
-
+  CameraView(const std::string& cam_name, const camera::CameraParameters& params, const float f = 2.0,
+             const float n = 0.19, const geometry_msgs::Transform::ConstPtr cam_transform = NULL);
 
   // Gets the points x y where the point is in the image. If outside the image, then it will return false
   // If the robot pose is not specified, it's considered to be the current one

diff --git a/astrobee/behaviors/inspection/src/camera_projection.cc b/astrobee/behaviors/inspection/src/camera_projection.cc
@@ -34,10 +34,11 @@ namespace inspection {
   the camera frame and the other way around. It automatically reads the camera parameters
   from the config files based on the camera name, such that no setup is necessary.
 */
-CameraView::CameraView(const camera::CameraParameters & params, const float f, const float n,
-                       const geometry_msgs::Transform::ConstPtr cam_transform)
-    : camera::CameraModel(params), f_(f), n_(n) {
-
+CameraView::CameraView(const std::string& cam_name, const camera::CameraParameters& params, const float f,
+                       const float n, const geometry_msgs::Transform::ConstPtr cam_transform)
+    : cam_name_(cam_name), camera::CameraModel(params), f_(f), n_(n) {
+  cfg_cam_.AddFile("cameras.config");
+  if (!cfg_cam_.ReadFiles()) ROS_FATAL("Failed to read config files.");
   // Get relative camera position
   if (cam_transform == NULL) {
     // Create a transform buffer to listen for transforms
@@ -147,7 +148,7 @@ bool CameraView::InsideTarget(std::vector<int> vert_x, std::vector<int> vert_y,
                                            double size_y) {
     // Create depth cam camera model
     static camera::CameraParameters depth_cam_params(&cfg_cam_, (depth_cam_name + "_cam").c_str());
-    CameraView depth_cam(depth_cam_params, f_, n_);
+    CameraView depth_cam(depth_cam_name + "_cam", depth_cam_params, f_, n_);
 
     // Get most recent depth message
     std::string cam_prefix = TOPIC_HARDWARE_PICOFLEXX_PREFIX;

diff --git a/astrobee/behaviors/inspection/src/inspection.cc b/astrobee/behaviors/inspection/src/inspection.cc
@@ -436,8 +436,9 @@ bool Inspection::GenerateAnomalySurvey(geometry_msgs::PoseArray &points_anomaly)
     curr_camera_ = cam_name.c_str();
     if (cameras_.find(cam_name) == cameras_.end()) {
     static camera::CameraParameters cam_params(&cfg_cam_, cam_name.c_str());
-    cameras_.emplace(std::piecewise_construct, std::make_tuple(cam_name),
-                     std::make_tuple(cam_params, cfg_->Get<double>("max_distance"), cfg_->Get<double>("min_distance")));
+    cameras_.emplace(
+      std::piecewise_construct, std::make_tuple(cam_name),
+      std::make_tuple(cam_name, cam_params, cfg_->Get<double>("max_distance"), cfg_->Get<double>("min_distance")));
     }
 
 
@@ -523,8 +524,9 @@ bool Inspection::GeneratePanoramaSurvey(geometry_msgs::PoseArray &points_panoram
   curr_camera_ = cam_name.c_str();
   if (cameras_.find(cam_name) == cameras_.end()) {
     static camera::CameraParameters cam_params(&cfg_cam_, cam_name.c_str());
-    cameras_.emplace(std::piecewise_construct, std::make_tuple(cam_name),
-                     std::make_tuple(cam_params, cfg_->Get<double>("max_distance"), cfg_->Get<double>("min_distance")));
+    cameras_.emplace(
+      std::piecewise_construct, std::make_tuple(cam_name),
+      std::make_tuple(cam_name, cam_params, cfg_->Get<double>("max_distance"), cfg_->Get<double>("min_distance")));
   }
 
   geometry_msgs::PoseArray panorama_relative;

diff --git a/astrobee/behaviors/inspection/tools/inspection_tool.cc b/astrobee/behaviors/inspection/tools/inspection_tool.cc
@@ -100,7 +100,7 @@ DEFINE_string(att, "", "Desired attitude in RPY format 'roll pitch yaw' (degrees
 
 // Plan files
 DEFINE_string(anomaly_poses, "/resources/inspection_iss.txt", "Vent pose list to inspect");
-DEFINE_string(geometry_poses, "/resources/survey_bay_6.txt", "Geometry poses list to map");
+DEFINE_string(geometry_poses, "/resources/geometry_iss.txt", "Geometry poses list to map");
 DEFINE_string(panorama_poses, "/resources/panorama_iss.txt", "Panorama poses list to map");
 DEFINE_string(volumetric_poses, "/resources/volumetric_iss.txt", "Wifi poses list to map");
 

diff --git a/pano/pano_view/tools/find_point_coordinate.cc b/pano/pano_view/tools/find_point_coordinate.cc
@@ -215,7 +215,7 @@ int main(int argc, char** argv) {
     new geometry_msgs::Transform(msg_conversions::eigen_transform_to_ros_transform(transform_body_to_cam)));
 
   camera::CameraParameters cam_params(&config, camera_name.c_str());
-  inspection::CameraView camera(cam_params, 2.0, 0.19, msg_pointer);
+  inspection::CameraView camera(camera_name, cam_params, 2.0, 0.19, msg_pointer);
   camera.SetTransform((msg_conversions::ros_pose_to_eigen_transform(ground_truth) * transform_body_to_cam).inverse());
 
 

diff --git a/scripts/configure.sh b/scripts/configure.sh
@@ -228,8 +228,6 @@ ff_path=`canonicalize ${rootpath}`
 DIST=`cat /etc/os-release | grep -oP "(?<=VERSION_CODENAME=).*"`
 if [ "$DIST" = "xenial" ]; then
     ros_version=kinetic
-elif [ "$DIST" = "bionic" ]; then
-    ros_version=melodic
 elif [ "$DIST" = "focal" ]; then
     ros_version=noetic
 fi
@@ -317,7 +315,7 @@ if [ $armhf_build == 1 ] ; then
         --install \
         --cmake-args -DARMHF_CHROOT_DIR=$ARMHF_CHROOT_DIR ${armhf_opts} ${use_ctc} ${extra_opts} \
             -DCMAKE_BUILD_TYPE=Release
-    if [ "$DIST" = "xenial" ] || [ "$DIST" = "bionic" ]; then
+    if [ "$DIST" = "xenial" ]; then
         catkin config \
         --whitelist isaac_astrobee_description isaac_util isaac_msgs inspection cargo isaac_hw_msgs wifi isaac gs_action_helper
     elif [ "$DIST" = "focal" ]; then

diff --git a/scripts/docker/build.sh b/scripts/docker/build.sh
@@ -29,7 +29,6 @@ print_help()
   echo -e "define the docker files variables UBUNTU_VERSION, ROS_VERSION, and PYTHON accordingly."
   echo -e "Options:"
   echo -e "\t-x | --xenial\t\t\tBuild images for Ubuntu 16.04"
-  echo -e "\t-b | --bionic\t\t\tBuild images for Ubuntu 18.04"
   echo -e "\t-f | --focal\t\t\tBuild images for Ubuntu 20.04"
   echo -e "\t-a | --astrobee-source-path\tSpecify the astrobee source directory to use"
   echo -e "\t\t\t\tdefault=isaac_source/../../astrobee"
@@ -59,8 +58,6 @@ while [ "$1" != "" ]; do
     case $1 in
         -x | --xenial )               os="xenial"
                                       ;;
-        -b | --bionic )               os="bionic"
-                                      ;;
         -f | --focal )                os="focal"
                                       ;;
         -a | --astrobee-source-path ) shift
@@ -110,10 +107,6 @@ if [ "$os" == "xenial" ]; then
   export UBUNTU_VERSION=16.04
   export ROS_VERSION=kinetic
   export PYTHON=''
-elif [ "$os" == "bionic" ]; then
-  export UBUNTU_VERSION=18.04
-  export ROS_VERSION=melodic
-  export PYTHON=''
 elif [ "$os" == "focal" ]; then
   export UBUNTU_VERSION=20.04
   export ROS_VERSION=noetic
@@ -151,4 +144,4 @@ if [ $mast == 1 ]; then
 	files+=" -f ${script_dir}/docker_compose/mast.docker-compose.yml"
 fi
 
-docker compose ${files} build
+docker compose ${files} build
diff --git a/scripts/docker/readme.md b/scripts/docker/readme.md
@@ -21,8 +21,8 @@ If you want to build the docker images locally instead of pulling from the remot
 	./build --help
 
 The build script will automatically detect the current Ubuntu OS version and define the docker files variables
-`UBUNTU_VERSION`, `ROS_VERSION`, and `PYTHON` accordingly. If a specific version is desired, the option --xenial, --bionic,
-and --focal is used for ubuntu 16.04, 18.04, and 20.04 docker images, respectively.
+`UBUNTU_VERSION`, `ROS_VERSION`, and `PYTHON` accordingly. If a specific version is desired, the options --xenial
+and --focal are used for Ubuntu 16.04 and 20.04 docker images, respectively.
 
 If you don't want to run mast or don't have access to it (not a public repository), the use the option --no-mast.
 
@@ -41,8 +41,8 @@ To run the docker containers:
 Make sure the default paths are correct, if not configure those options. Read through the
 different optional modules to understand if it fits your purpose.
 
-It will automatically detect the current Ubuntu OS version. If a specific version is desired, the option
---xenial, --bionic, and --focal is used for ubuntu 16.04, 18.04, and 20.04 docker images, respectively.
+It will automatically detect the current Ubuntu OS version. If a specific version is desired, the options
+--xenial and --focal are used for Ubuntu 16.04 and 20.04 docker images, respectively.
 
 Once the command is executed the host location of the modules launched will be printed. Open those paths
 on your favorite browser.

diff --git a/scripts/docker/run.sh b/scripts/docker/run.sh
@@ -28,7 +28,6 @@ print_help()
   echo -e "define the docker files variables UBUNTU_VERSION, ROS_VERSION, and PYTHON accordingly."
   echo -e "Options:"
   echo -e "\t-x | --xenial\t\t\tRun images for Ubuntu 16.04"
-  echo -e "\t-b | --bionic\t\t\tRun images for Ubuntu 18.04"
   echo -e "\t-f | --focal\t\t\tRun images for Ubuntu 20.04"
   echo -e "\t-i | --iui-source-dir\t\tSpecify the idi source directory to use"
   echo -e "\t\t\t\tdefault=isaac_source/../../isaac_data_interface"
@@ -78,8 +77,6 @@ while [ "$1" != "" ]; do
                                       ;;
         -x | --xenial )               os="xenial"
                                       ;;
-        -b | --bionic )               os="bionic"
-                                      ;;
         -f | --focal )                os="focal"
                                       ;;
         -r | --remote )               export REMOTE="ghcr.io/nasa"
@@ -136,10 +133,6 @@ if [ "$os" == "xenial" ]; then
   export UBUNTU_VERSION=16.04
   export ROS_VERSION=kinetic
   export PYTHON=''
-elif [ "$os" == "bionic" ]; then
-  export UBUNTU_VERSION=18.04
-  export ROS_VERSION=melodic
-  export PYTHON=''
 elif [ "$os" == "focal" ]; then
   export UBUNTU_VERSION=20.04
   export ROS_VERSION=noetic
@@ -278,4 +271,4 @@ echo "Press 'q' to exit"
 fi
 done
 
-docker compose ${files} down
+docker compose ${files} down
diff --git a/scripts/setup/build_install_dependencies.sh b/scripts/setup/build_install_dependencies.sh
@@ -25,14 +25,6 @@ DEP_LOC=$(dirname "$(readlink -f "$0")")/dependencies
 
 sudo apt-get install -y unzip libgtest-dev
 
-# Comes pre-built in Ubuntu 20.04
-if [ "$(lsb_release -sr)" = "18.04" ]; then
-    cd /usr/src/gtest
-    sudo cmake CMakeLists.txt
-    sudo make
-    sudo cp *.a /usr/lib
-fi
-
 cd ${DEP_LOC}
 ./build_install_gp.sh || exit 1
 

diff --git a/scripts/setup/packages_bionic.lst b/scripts/setup/packages_bionic.lst