Merge branch 'main' into feature/goalie-behavior-descend

Author: val-ba

.devcontainer/Dockerfile

@@ -32,7 +32,6 @@ RUN apt-get update -y \
     tree \
     uvcdynctrl \
     vim \
-    vlc \
     wget \
     x11-apps \
     zsh

.github/workflows/pre-commit.yml

@@ -7,7 +7,7 @@ on:
 
 jobs:
   pre-commit:
-    runs-on: ubuntu-latest
+    runs-on: ubuntu-22.04
     steps:
       - uses: actions/checkout@v4
       - uses: actions/setup-python@v4

.gitignore

@@ -227,3 +227,5 @@ doku/*
 
 # Workspace git status file from the deploy tool
 **/workspace_status.json
+
+.pytest_cache/

.vscode/settings.json

@@ -112,6 +112,7 @@
         "throwin",
         "timespec",
         "tldr",
+        "torqueless",
         "tqdm",
         "unpenalize",
         "unpenalized",
@@ -212,7 +213,9 @@
         "variant": "cpp",
         "regex": "cpp",
         "future": "cpp",
-        "*.ipp": "cpp"
+        "*.ipp": "cpp",
+        "span": "cpp",
+        "ranges": "cpp"
     },
     // Tell the ROS extension where to find the setup.bash
     // This also utilizes the COLCON_WS environment variable, which needs to be set

Makefile

@@ -17,7 +17,8 @@ install-no-root: pull-init update-no-root
 
 pip:
 	# Install and upgrade pip dependencies
-	pip install --upgrade -r requirements/dev.txt --user
+	pip install --upgrade pip --user
+	pip install --upgrade -r requirements/dev.txt --user -v
 
 pre-commit:
 	# Install pre-commit hooks for all submodules that have a .pre-commit-config.yaml file
@@ -47,6 +48,8 @@ pull-files:
 	wget \
 		--no-verbose \
 		--show-progress \
+		--timeout=15 \
+		--tries=2 \
 		--recursive \
 		--timestamping \
 		--no-parent \
@@ -57,6 +60,8 @@ pull-files:
 	wget \
 		--no-verbose \
 		--show-progress \
+		--timeout=15 \
+		--tries=2 \
 		--recursive \
 		--timestamping \
 		--no-parent \
@@ -86,7 +91,7 @@ rosdep:
 	# Initialize rosdep if not already done
 	[ -f /etc/ros/rosdep/sources.list.d/20-default.list ] || sudo rosdep init
 	# Update rosdep and install dependencies from meta directory
-	rosdep update
+	rosdep update --include-eol-distros
 	rosdep install --from-paths . --ignore-src --rosdistro iron -y
 
 status:

bitbots_behavior/bitbots_blackboard/CMakeLists.txt

@@ -1,80 +1,16 @@
 cmake_minimum_required(VERSION 3.5)
 project(bitbots_blackboard)
 
-# Add support for C++17
-if(NOT CMAKE_CXX_STANDARD)
-  set(CMAKE_CXX_STANDARD 17)
-endif()
-
-find_package(bio_ik_msgs REQUIRED)
-find_package(ament_cmake REQUIRED)
-find_package(sensor_msgs REQUIRED)
-find_package(rclpy REQUIRED)
-find_package(tf2 REQUIRED)
-find_package(bitbots_msgs REQUIRED)
-find_package(std_msgs REQUIRED)
-find_package(tf2_geometry_msgs REQUIRED)
-find_package(std_srvs REQUIRED)
-find_package(geometry_msgs REQUIRED)
 find_package(bitbots_docs REQUIRED)
+find_package(ament_cmake REQUIRED)
+find_package(ament_cmake_python REQUIRED)
 
-set(INCLUDE_DIRS
-    ${bio_ik_msgs_INCLUDE_DIRS}
-    ${ament_cmake_INCLUDE_DIRS}
-    ${sensor_msgs_INCLUDE_DIRS}
-    ${rclpy_INCLUDE_DIRS}
-    ${tf2_INCLUDE_DIRS}
-    ${bitbots_msgs_INCLUDE_DIRS}
-    ${std_msgs_INCLUDE_DIRS}
-    ${tf2_geometry_msgs_INCLUDE_DIRS}
-    ${std_srvs_INCLUDE_DIRS}
-    ${geometry_msgs_INCLUDE_DIRS}
-    ${bitbots_docs_INCLUDE_DIRS})
-include_directories(${INCLUDE_DIRS})
-
-set(LIBRARY_DIRS
-    ${bio_ik_msgs_LIBRARY_DIRS}
-    ${ament_cmake_LIBRARY_DIRS}
-    ${sensor_msgs_LIBRARY_DIRS}
-    ${rclpy_LIBRARY_DIRS}
-    ${tf2_LIBRARY_DIRS}
-    ${bitbots_msgs_LIBRARY_DIRS}
-    ${std_msgs_LIBRARY_DIRS}
-    ${tf2_geometry_msgs_LIBRARY_DIRS}
-    ${std_srvs_LIBRARY_DIRS}
-    ${geometry_msgs_LIBRARY_DIRS}
-    ${bitbots_docs_LIBRARY_DIRS})
-
-link_directories(${LIBRARY_DIRS})
-
-set(LIBS
-    ${bio_ik_msgs_LIBRARIES}
-    ${ament_cmake_LIBRARIES}
-    ${sensor_msgs_LIBRARIES}
-    ${rclpy_LIBRARIES}
-    ${tf2_LIBRARIES}
-    ${bitbots_msgs_LIBRARIES}
-    ${std_msgs_LIBRARIES}
-    ${tf2_geometry_msgs_LIBRARIES}
-    ${std_srvs_LIBRARIES}
-    ${geometry_msgs_LIBRARIES}
-    ${bitbots_docs_LIBRARIES})
-
-include(${CMAKE_BINARY_DIR}/../bitbots_docs/enable_bitbots_docs.cmake)
 enable_bitbots_docs()
 
-ament_export_dependencies(bio_ik_msgs)
-ament_export_dependencies(ament_cmake)
-ament_export_dependencies(sensor_msgs)
-ament_export_dependencies(rclpy)
-ament_export_dependencies(tf2)
-ament_export_dependencies(bitbots_msgs)
-ament_export_dependencies(std_msgs)
-ament_export_dependencies(tf2_geometry_msgs)
-ament_export_dependencies(std_srvs)
-ament_export_dependencies(geometry_msgs)
-ament_export_dependencies(bitbots_docs)
-ament_export_include_directories(${INCLUDE_DIRS})
+if(BUILD_TESTING)
+  find_package(ament_cmake_mypy REQUIRED)
+  ament_mypy(CONFIG_FILE "${CMAKE_CURRENT_LIST_DIR}/mypy.ini")
+endif()
 
 ament_python_install_package(${PROJECT_NAME})
 

bitbots_behavior/bitbots_blackboard/bitbots_blackboard/__init__.py

@@ -0,0 +1,4 @@
+# Setting up runtime type checking for this package
+from beartype.claw import beartype_this_package
+
+beartype_this_package()

bitbots_behavior/bitbots_blackboard/bitbots_blackboard/body_blackboard.py

@@ -13,7 +13,7 @@
 
 
 class BodyBlackboard:
-    def __init__(self, node: Node, tf_buffer: tf2.Buffer):
+    def __init__(self, node: Node, tf_buffer: tf2.BufferInterface):
         # References
         self.node = node
         self.tf_buffer = tf_buffer

bitbots_behavior/bitbots_blackboard/bitbots_blackboard/capsules/__init__.py

@@ -1,5 +1,6 @@
-from typing import TYPE_CHECKING, Optional
+from typing import TYPE_CHECKING
 
+from bitbots_utils.utils import nobeartype
 from rclpy.node import Node
 
 if TYPE_CHECKING:
@@ -9,6 +10,7 @@
 class AbstractBlackboardCapsule:
     """Abstract class for blackboard capsules."""
 
-    def __init__(self, node: Node, blackboard: Optional["BodyBlackboard"] = None):
+    @nobeartype
+    def __init__(self, node: Node, blackboard: "BodyBlackboard"):
         self._node = node
         self._blackboard = blackboard

bitbots_behavior/bitbots_blackboard/bitbots_blackboard/capsules/animation_capsule.py

@@ -14,6 +14,8 @@ def __init__(self, node, blackboard):
         self.active = False
 
         # Config
+        self.grab_ball_animation: str = self._node.get_parameter("Animations.Throw_in.grabBall").value
+        self.throw_animation: str = self._node.get_parameter("Animations.Throw_in.throw").value
         self.goalie_arms_animation: str = self._node.get_parameter("Animations.Goalie.goalieArms").value
         self.goalie_falling_right_animation: str = self._node.get_parameter("Animations.Goalie.fallRight").value
         self.goalie_falling_left_animation: str = self._node.get_parameter("Animations.Goalie.fallLeft").value