Merge branch 'develop' of github.com:shbang91/rpc into develop

.pre-commit-config.yaml

@@ -15,11 +15,11 @@ repos:
       - id: clang-format
         types_or: [c++]
   - repo: https://github.com/astral-sh/ruff-pre-commit
-    rev: v0.5.5
+    rev: v0.6.3
     hooks:
       - id: ruff
         # ignore import-star and import-star-usage
-        args: [--fix, --ignore, F403, --ignore, F405]
+        args: [--fix, --ignore, F403, --ignore, F405,  --ignore, E402]
       - id: ruff-format
   - repo: https://github.com/pre-commit/pre-commit-hooks
     rev: v4.6.0

README.md

@@ -7,18 +7,23 @@ rpc is a software framework designed for generating task trajectories (planning)
 Software Framework is developed by Seung Hyeon Bang based on the [PnC](https://github.com/junhyeokahn/PnC) Repository.<br/>
 
 ## Dependencies
-The controller has been tested on Ubuntu 18.04, Ubuntu 20.04, and Mac OSX Ventura. It builds on the shoulders of the following software:<br/>
+The controller has been tested on Ubuntu 18.04, Ubuntu 20.04, Ubuntu 23.04, and Mac OSX Ventura. It builds on the shoulders of the following software:<br/>
 - [anaconda](https://docs.anaconda.com/anaconda/install/): For Pybullet simulator<br/>
 - python dependencies:
 ```
 $ conda env create -f rpc.yml
 ```
+- [conan](https://github.com/conan-io/conan): package manager for C/C++
+```
+$ pip install conan
+```
 - [pinocchio](https://github.com/shbang91/pinocchio): rigid body dynamics
 
 ###### optional dependencies
 - [MatLogger2](https://github.com/shbang91/MatLogger2): logging numeric data (cpp to MAT-files)
 - [zmq](https://github.com/shbang91/rpc/blob/main/dependency/scripts/install_zmq.sh): logging numeric data
 - [protobuf](https://github.com/shbang91/rpc/blob/main/dependency/scripts/install_protobuf.sh): logging numeric data
+- [Foxglove](https://github.com/foxglove): websocket & schema protocols for robot visualization and parameter operations
 
 ## Usage
 - Source conda environment:<br/>
@@ -27,7 +32,7 @@ $ conda activate rpc
 ```
 - Compile:<br/>
 ```
-$ mkdir build
+$ conan install conanfile.txt --build=missing
 $ cd build
 $ cmake ..
 $ make -j4
@@ -36,12 +41,20 @@ $ make -j4
 ```
 python simulator/pybullet/draco_main.py
 ```
-###### optional
-- visualization:<br/>
+###### Foxglove (optional)
+- Project should be built with the following flags:
+```
+BUILD_WITH_FOXGLOVE       ON
+BUILD_WITH_ZMQ_PROTOBUF   ON
+```
+- Run Foxglove:<br/>
 ```
 $ conda env create -f visualize.yml
 $ conda activate visualize
-$ python plot/draco/draco_data_manager.py --b_visualize=true
+$ python UI/foxglove/UI_launcher.py --visualizer=foxglove
 ```
+- Access Foxglove server via either:<br/>
+  1) [Foxglove webservice](https://app.foxglove.dev/)
+  2) [Foxglove application](https://foxglove.dev/download)
 ###### Hardware Usage
 - Please refer to this [repository](https://github.com/shbang91/draco3_nodelet) using rpc library

UI/convert_pkl2mcap.py

@@ -3,6 +3,7 @@
 This assumes a specific set of parameters available in the pkl file,
 such as time, base_pos, base_ori, joint_positions, icp_est, icp_des, etc.
 """
+
 import os
 import sys
 import argparse
@@ -44,7 +45,7 @@ def main():
     b_using_kf_estimator = args.b_using_kf_estimator
 
     # variables in pkl file
-    time =[]
+    time = []
     base_pos, base_ori, joint_positions = [], [], []
     vis_2d_object_names = ["icp_est", "icp_des"]
     vis_3d_object_names = ["lf_pos", "rf_pos"]
@@ -97,7 +98,9 @@ def main():
     icp_des_scene = create_sphere_scene("icp_des", [0.0, 1.0, 0.0, 0.5])
 
     # send data to mcap file
-    with open(cwd + "/experiment_data/draco3_foxglove.mcap", "wb") as f, Writer(f) as mcap_writer:
+    with open(cwd + "/experiment_data/draco3_foxglove.mcap", "wb") as f, Writer(
+        f
+    ) as mcap_writer:
         for i in range(len(time)):
             # Update all transforms (to visualize URDF)
             vis_q[0:3] = np.array(base_pos[i])
@@ -109,41 +112,50 @@ def main():
             pin.updateGeometryPlacements(model, data, visual_model, visual_data)
             for visual in visual_model.geometryObjects:
                 update_robot_transform(visual, visual_data, visual_model, transform)
-                mcap_writer.write_message("transforms", transform, int(time[i] * 1e9), int(time[i] * 1e9))
+                mcap_writer.write_message(
+                    "transforms", transform, int(time[i] * 1e9), int(time[i] * 1e9)
+                )
                 transform.rotation.Clear()
                 transform.translation.Clear()
             # -------------------------------------------
             # update transform of ADDITIONAL visual elements
             for vname, vval in vis_2d_dict.items():
                 update_2d_transform(vname, vval[i], transform)
-                mcap_writer.write_message( "transforms", transform,
-                                           int(time[i] * 1e9), int(time[i] * 1e9))
+                mcap_writer.write_message(
+                    "transforms", transform, int(time[i] * 1e9), int(time[i] * 1e9)
+                )
                 transform.rotation.Clear()
                 transform.translation.Clear()
             # ===========================================
             # ICP visuals (est / des)
             icp_est_scene.entities[0].timestamp.FromNanoseconds(int(time[i] * 1e9))
-            mcap_writer.write_message( "icp_est_viz", icp_est_scene,
-                                       int(time[i] * 1e9), int(time[i] * 1e9))
+            mcap_writer.write_message(
+                "icp_est_viz", icp_est_scene, int(time[i] * 1e9), int(time[i] * 1e9)
+            )
             # -------------------------------------------
             icp_des_scene.entities[0].timestamp.FromNanoseconds(int(time[i] * 1e9))
-            mcap_writer.write_message( "icp_des_viz", icp_des_scene,
-                                       int(time[i] * 1e9), int(time[i] * 1e9))
+            mcap_writer.write_message(
+                "icp_des_viz", icp_des_scene, int(time[i] * 1e9), int(time[i] * 1e9)
+            )
             # ===========================================
             # ICP plots (est / des)
             for vname, vval in vis_2d_dict.items():
-                mcap_writer.write_message(vname,
-                                          Point2(x=vval[i][0], y=vval[i][1]),
-                                          int(time[i] * 1e9),
-                                          int(time[i] * 1e9))
+                mcap_writer.write_message(
+                    vname,
+                    Point2(x=vval[i][0], y=vval[i][1]),
+                    int(time[i] * 1e9),
+                    int(time[i] * 1e9),
+                )
             # Feet position plots (left / right)
             for vname, vval in vis_3d_dict.items():
-                mcap_writer.write_message(vname,
-                                          Point3(x=vval[i][0], y=vval[i][1], z=vval[i][2]),
-                                          int(time[i] * 1e9),
-                                          int(time[i] * 1e9))
+                mcap_writer.write_message(
+                    vname,
+                    Point3(x=vval[i][0], y=vval[i][1], z=vval[i][2]),
+                    int(time[i] * 1e9),
+                    int(time[i] * 1e9),
+                )
         mcap_writer.finish()
 
 
 if __name__ == "__main__":
-    main()
+    main()