Remove humanoid_league_misc and add caching to tts (#335)

.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
 

bitbots_lowlevel/bitbots_ros_control/launch/ros_control.launch

@@ -27,7 +27,7 @@
     <group>
         <include file="$(find-pkg-share system_monitor)/launch/system_monitor.launch"/>
         <include file="$(find-pkg-share bitbots_buttons)/launch/buttons.launch"/>
-        <include file="$(find-pkg-share humanoid_league_speaker)/launch/speaker.launch"/>
+        <include file="$(find-pkg-share bitbots_tts)/launch/tts.launch"/>
         <!--include file="$(find-pkg-share bitbots_ros_control)/launch/pressure_converter.launch"/-->
     </group>
 

bitbots_lowlevel/bitbots_ros_control/package.xml

@@ -27,7 +27,7 @@
   <depend>controller_manager</depend>
   <depend>dynamixel_workbench_toolbox</depend>
   <depend>hardware_interface</depend>
-  <depend>humanoid_league_speaker</depend>
+  <depend>bitbots_tts</depend>
   <depend>pluginlib</depend>
   <depend>rclcpp</depend>
   <depend>realtime_tools</depend>

bitbots_misc/bitbots_bringup/launch/highlevel.launch

@@ -40,7 +40,7 @@
 
     <!-- launch teamcom -->
     <group if="$(var teamcom)">
-        <include file="$(find-pkg-share humanoid_league_team_communication)/launch/team_comm.launch">
+        <include file="$(find-pkg-share bitbots_team_communication)/launch/team_comm.launch">
             <arg name="sim" value="$(var sim)"/>
         </include>
     </group>

bitbots_misc/bitbots_bringup/launch/visualization.launch

@@ -34,10 +34,7 @@
     <node name="motor_goals_viz_helper" pkg="bitbots_utils" exec="motor_goals_viz_helper.py"/>
 
     <!-- add some visualization tools -->
-    <include file="$(find-pkg-share humanoid_league_interactive_marker)/launch/interactive_marker.launch">
-        <arg name="rviz" value="false" />
-    </include>
-    <include file="$(find-pkg-share humanoid_league_team_communication)/launch/team_comm_test_marker.launch">
+    <include file="$(find-pkg-share bitbots_team_communication)/launch/team_comm_test_marker.launch">
         <arg name="rviz" value="false" />
     </include>
 </launch>

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 && \

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)

bitbots_misc/bitbots_tts/launch/tts.launch

@@ -0,0 +1,6 @@
+<launch>
+    <executable cmd="mimic3-server --preload-voice en_US/vctk_low --cache-dir $(env HOME)/.cache/mimic3/" name="mimic3-server" output="screen"/>
+    <node name="bitbots_tts" pkg="bitbots_tts" exec="tts">
+        <param from="$(find-pkg-share bitbots_tts)/config/tts_config.yaml"/>
+    </node>
+</launch>

humanoid_league_misc/humanoid_league_speaker/package.xml → bitbots_misc/bitbots_tts/package.xml

@@ -1,9 +1,9 @@
 <?xml version="1.0"?>
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
-  <name>humanoid_league_speaker</name>
+  <name>bitbots_tts</name>
   <version>2.0.0</version>
-  <description>The humanoid_league_speaker package provides an easy way to do audio speech output via espeak.
+  <description>The bitbots_tts package provides an easy way to do audio speech output via a text to speach engine.
   Messages send to the /speak topic are queued and spoken in another thread depending on their priority.
   This can be used for debug but also for inter robot communication with natural language.</description>
 

bitbots_misc/bitbots_tts/setup.cfg

@@ -0,0 +1,4 @@
+[develop]
+script_dir=$base/lib/bitbots_tts
+[install]
+install_scripts=$base/lib/bitbots_tts

humanoid_league_misc/humanoid_league_speaker/setup.py → bitbots_misc/bitbots_tts/setup.py

@@ -2,7 +2,7 @@
 
 from setuptools import find_packages, setup
 
-package_name = "humanoid_league_speaker"
+package_name = "bitbots_tts"
 
 setup(
     name=package_name,
@@ -19,7 +19,7 @@
     scripts=["scripts/send_text.py"],
     entry_points={
         "console_scripts": [
-            "speaker = humanoid_league_speaker.speaker:main",
+            "tts = bitbots_tts.tts:main",
         ],
     },
 )

bitbots_motion/bitbots_hcm/bitbots_hcm/hcm_dsd/decisions/pickup.py

@@ -1,4 +1,4 @@
-from humanoid_league_speaker.speaker import speak
+from bitbots_tts.tts import speak
 
 from bitbots_hcm.hcm_dsd.decisions import AbstractHCMDecisionElement
 

bitbots_motion/bitbots_hcm/bitbots_hcm/humanoid_control_module.py

@@ -5,11 +5,11 @@
 
 import rclpy
 from ament_index_python import get_package_share_directory
+from bitbots_tts.tts import speak
 from bitbots_utils.utils import get_parameters_from_ros_yaml
 from builtin_interfaces.msg import Time as TimeMsg
 from diagnostic_msgs.msg import DiagnosticArray, DiagnosticStatus
 from dynamic_stack_decider.dsd import DSD
-from humanoid_league_speaker.speaker import speak
 from rcl_interfaces.msg import Parameter as ParameterMsg
 from rclpy.duration import Duration
 from rclpy.executors import MultiThreadedExecutor

bitbots_motion/bitbots_hcm/package.xml

@@ -24,7 +24,7 @@
   <depend>bitbots_utils</depend>
   <depend>dynamic_stack_decider</depend>
   <depend>geometry_msgs</depend>
-  <depend>humanoid_league_speaker</depend>
+  <depend>bitbots_tts</depend>
   <depend>pybind11-dev</depend>
   <depend>python3-numpy</depend>
   <depend>python3-transforms3d</depend>

bitbots_motion/bitbots_hcm/scripts/pause.py

@@ -1,6 +1,6 @@
 #!/usr/bin/env python3
 import rclpy
-from humanoid_league_speaker.speaker import speak
+from bitbots_tts.tts import speak
 from rclpy.node import Node
 from std_msgs.msg import Bool
 

humanoid_league_misc/humanoid_league_team_communication/CMakeLists.txt → 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()

humanoid_league_misc/humanoid_league_team_communication/humanoid_league_team_communication/humanoid_league_team_communication.py → bitbots_team_communication/bitbots_team_communication/bitbots_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:
+class TeamCommunication:
     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"]
         )
@@ -240,7 +240,7 @@ def get_current_time(self) -> Time:
 
 def main():
     rclpy.init(args=None)
-    HumanoidLeagueTeamCommunication()
+    TeamCommunication()
 
 
 if __name__ == "__main__":

humanoid_league_misc/humanoid_league_team_communication/humanoid_league_team_communication/converter/message_to_team_data_converter.py → 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
 

humanoid_league_misc/humanoid_league_team_communication/humanoid_league_team_communication/converter/robocup_protocol_converter.py → 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):

humanoid_league_misc/humanoid_league_team_communication/humanoid_league_team_communication/converter/state_to_message_converter.py → 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
 
 

humanoid_league_misc/humanoid_league_team_communication/launch/team_comm.launch → bitbots_team_communication/launch/team_comm.launch

@@ -3,8 +3,8 @@
     <!-- Get launch params-->
     <arg name="sim" default="false" description="true: activates simulation time" />
 
-    <node pkg="humanoid_league_team_communication" exec="team_comm.py" output="screen">
-        <param from="$(find-pkg-share humanoid_league_team_communication)/config/team_communication_config.yaml"/>
+    <node pkg="bitbots_team_communication" exec="team_comm.py" output="screen">
+        <param from="$(find-pkg-share bitbots_team_communication)/config/team_communication_config.yaml"/>
         <param name="use_sim_time" value="$(var sim)" />
     </node>
 </launch>

humanoid_league_misc/humanoid_league_team_communication/launch/team_comm_standalone.launch → bitbots_team_communication/launch/team_comm_standalone.launch

@@ -6,8 +6,8 @@
     <!-- load the global parameters -->
     <include file="$(find-pkg-share bitbots_utils)/launch/parameter_blackboard.launch" />
 
-    <node pkg="humanoid_league_team_communication" exec="team_comm.py" output="screen">
-        <param from="$(find-pkg-share humanoid_league_team_communication)/config/team_communication_config.yaml"/>
+    <node pkg="bitbots_team_communication" exec="team_comm.py" output="screen">
+        <param from="$(find-pkg-share bitbots_team_communication)/config/team_communication_config.yaml"/>
         <param name="use_sim_time" value="$(var sim)" />
     </node>
 </launch>

bitbots_team_communication/launch/team_comm_test_marker.launch

@@ -0,0 +1,11 @@
+<launch>
+    <arg name="rviz" default="true"/>
+
+    <group if="$(var rviz)">
+        <node pkg="rviz2" exec="rviz2" output="screen" args="-d $(find-pkg-share bitbots_team_communication)/config/team_comm_marker.rviz">
+        </node>
+    </group>
+    <node name="team_comm_test_marker" pkg="bitbots_team_communication" exec="team_comm_test_marker.py" output="screen">
+        <param from="$(find-pkg-share bitbots_team_communication)/config/team_communication_config.yaml" />
+    </node>
+</launch>

humanoid_league_misc/humanoid_league_team_communication/package.xml → bitbots_team_communication/package.xml

@@ -1,9 +1,9 @@
 <?xml version="1.0"?>
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
-  <name>humanoid_league_team_communication</name>
+  <name>bitbots_team_communication</name>
   <version>3.0.0</version>
-  <description>The humanoid_league_team_communication package provides a ROS wrapper for the Protobuf RoboCup protocol.
+  <description>The bitbots_team_communication package provides a ROS wrapper for the Protobuf RoboCup protocol.
     This is the standard communication protocol developed by the NUbots. </description>
 
   <maintainer email="[email protected]">Joern Griepenburg</maintainer>

humanoid_league_misc/humanoid_league_team_communication/scripts/show_team_comm.py → bitbots_team_communication/scripts/show_team_comm.py

@@ -105,7 +105,7 @@ def generate_string(self, data: TeamData):
         lines.append(f"  y: {round(data.ball_absolute.pose.position.y, 3):<4}")
         lines.append(f"  x_cov: {round(data.ball_absolute.covariance[0], 3):<4}")
         lines.append(f"  y_cov: {round(data.ball_absolute.covariance[7], 3):<4}")
-        lines.append(f"Obstacles found: {len(data.obstacles.obstacles)}")
+        lines.append(f"Robots found: {len(data.robots.robots)}")
         lines.append("Strategy")
         lines.append(f"  Role: {self.roles[data.strategy.role]:<9}")
         lines.append(f"  Action: {self.actions[data.strategy.action]:<15}")

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())

humanoid_league_misc/humanoid_league_team_communication/scripts/test_team_comm.py → bitbots_team_communication/scripts/test_team_comm.py

@@ -7,6 +7,7 @@
 import rclpy
 from game_controller_hl_interfaces.msg import GameState
 from geometry_msgs.msg import Point, Pose, PoseWithCovariance, PoseWithCovarianceStamped, Quaternion, TransformStamped
+from rclpy.qos import QoSDurabilityPolicy, QoSProfile
 from soccer_vision_3d_msgs.msg import Robot, RobotArray
 from soccer_vision_attribute_msgs.msg import Robot as RobotAttributes
 from tf2_ros import StaticTransformBroadcaster
@@ -51,7 +52,9 @@ def base_footprint_transform():
     node = rclpy.create_node("test_team_comm")
     tf_static_broadcaster = StaticTransformBroadcaster(node)
 
-    gamestate_pub = node.create_publisher(GameState, "gamestate", 1)
+    gamestate_pub = node.create_publisher(
+        GameState, "gamestate", qos_profile=QoSProfile(depth=1, durability=QoSDurabilityPolicy.TRANSIENT_LOCAL)
+    )
     strategy_pub = node.create_publisher(Strategy, "strategy", 1)
     ball_pub = node.create_publisher(PoseWithCovarianceStamped, "ball_position_relative_filtered", 1)
     position_pub = node.create_publisher(PoseWithCovarianceStamped, "pose_with_covariance", 1)