osrf · arjo129 · Sep 27, 2022 · Sep 14, 2022 · Sep 16, 2022 · Sep 16, 2022
diff --git a/.github/workflows/ci.yaml b/.github/workflows/ci.yaml
@@ -55,7 +55,7 @@ jobs:
       uses: tj-actions/[email protected]
       with:
         files: docker/base/*
-        since_last_remote_commit: true
+        use_fork_point: true
       if: github.event_name != 'workflow_dispatch'
     - name: Compute base image name
       id: compute-base-image
@@ -65,7 +65,7 @@ jobs:
           if [[ "${{ github.event_name }}" == "workflow_dispatch" ]]; then
             suffix="$GITHUB_REF_SLUG"
           fi
-          if ${{ steps.base-image-files-full-diff.outputs.any_changed }}; then
+          if [[ "${{ steps.base-image-files-full-diff.outputs.any_changed }}" == "true" ]]; then
             suffix="$GITHUB_REF_SLUG"
           fi
         fi

diff --git a/docker/base/Dockerfile b/docker/base/Dockerfile
@@ -19,9 +19,7 @@
 # Research Institute (MBARI) and the David and Lucile Packard Foundation
 #
 
-FROM mbari/lrauv-ignition-sim:unstable
-
-USER root
+FROM nvidia/opengl:1.0-glvnd-devel-ubuntu20.04
 
 # This avoids keyboard interaction when asked for geographic area
 ARG DEBIAN_FRONTEND=noninteractive
@@ -32,27 +30,62 @@ RUN echo 'Etc/UTC' > /etc/timezone && \
 
 RUN apt-get update \
  && apt-get install -y \
-        build-essential \
+        cmake \
+        cppcheck \
         curl \
+        gdb \
+        git \
         gnupg2 \
+        libbluetooth-dev \
+        libcwiid-dev \
+        libgoogle-glog-dev \
+        libpcl-dev \
+        libspnav-dev \
+        libusb-dev \
         lsb-release \
-        tzdata \
-        wget \
+        mercurial \
+        python3-dbg \
         python3-empy \
-        python3-numpy
+        python3-numpy \
+        python3-pip \
+        python3-venv \
+        software-properties-common \
+        sudo \
+        tzdata \
+        vim \
+ && apt-get clean
 
-RUN sudo /bin/sh -c 'echo "deb [arch=amd64,arm64] http://repo.ros2.org/ubuntu/main `lsb_release -cs` main" > /etc/apt/sources.list.d/ros2-latest.list' \
- && curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add - \
- && sudo apt-get update \
- && sudo apt-get install -y python3-vcstool python3-colcon-common-extensions
+# Install Ignition build tools
+# https://colcon.readthedocs.io/en/released/user/installation.html
+RUN /bin/sh -c 'echo "deb [arch=amd64,arm64] http://repo.ros2.org/ubuntu/main `lsb_release -cs` main" > /etc/apt/sources.list.d/ros2-latest.list' \
+ && curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | apt-key add -
+RUN apt-get -qq update && apt-get -q -y install \
+  build-essential \
+  wget \
+  python3-vcstool \
+  python3-colcon-common-extensions \
+  && apt-get dist-upgrade -y \
+  && rm -rf /var/lib/apt/lists/* \
+  && apt-get -qq clean
 
+# Add a user with the same user_id as the user outside the container
+ENV USERNAME developer
+RUN useradd -U -ms /bin/bash $USERNAME \
+ && echo "$USERNAME:$USERNAME" | chpasswd \
+ && adduser $USERNAME sudo \
+ && echo "$USERNAME ALL=NOPASSWD: ALL" >> /etc/sudoers.d/$USERNAME
+
+# Commands below run as the developer user
 USER $USERNAME
 
-# Check out Ignition source
-ENV IGN_WS /home/$USERNAME/ign_ws
-COPY docker/base/gz-garden.yaml ${IGN_WS}/gz-garden.yaml
-RUN mkdir -p ${IGN_WS}/src && cd ${IGN_WS} \ 
- && vcs import src < gz-garden.yaml
+# When running a container start in the developer's home folder
+WORKDIR /home/$USERNAME
+
+# Check out Gazebo source
+ENV GZ_WS /home/$USERNAME/gz_ws
+COPY --chown=$USERNAME docker/base/gz-garden.yaml ${GZ_WS}/gz-garden.yaml
+RUN mkdir -p ${GZ_WS}/src && cd ${GZ_WS} && \
+ vcs import src < gz-garden.yaml && vcs pull src
 
 USER root
 
@@ -76,5 +109,6 @@ RUN rm -rf /var/lib/apt/lists/* \
 
 USER $USERNAME
 
-RUN cd ${IGN_WS} \
+RUN cd ${GZ_WS} \
  && colcon build --merge-install --cmake-args -DBUILD_TESTING=OFF
+ENV PYTHONPATH ${GZ_WS}/install/lib/python
diff --git a/docker/debug_integration/Dockerfile b/docker/debug_integration/Dockerfile
@@ -19,7 +19,7 @@
 # Research Institute (MBARI) and the David and Lucile Packard Foundation
 #
 
-FROM mbari/lrauv-ignition-sim:unstable
+FROM mbari/lrauv-ignition-sim:latest
 
 USER root
 

diff --git a/docker/tests/Dockerfile b/docker/tests/Dockerfile
@@ -19,7 +19,7 @@
 # Research Institute (MBARI) and the David and Lucile Packard Foundation
 #
 
-ARG BASE_IMAGE=mbari/lrauv-ignition-sim:unstable
+ARG BASE_IMAGE
 FROM ${BASE_IMAGE}
 
 ENV LRAUV_WS /home/$USERNAME/lrauv_ws
@@ -32,7 +32,7 @@ RUN rm -rf build log install src/lrauv
 COPY . src/lrauv
 
 # Build image
-RUN [ "/bin/bash" , "-c" , ". ~/ign_ws/install/setup.sh; colcon build --cmake-args='-DBUILD_TESTING=true'" ]
+RUN [ "/bin/bash" , "-c" , ". ~/gz_ws/install/setup.sh; colcon build --cmake-args='-DBUILD_TESTING=true'" ]
 
 # Drop entrypoint
 ENTRYPOINT []

diff --git a/lrauv_gazebo_plugins/CMakeLists.txt b/lrauv_gazebo_plugins/CMakeLists.txt
@@ -152,27 +152,18 @@ endfunction()
 add_subdirectory(src/comms/)
 
 add_lrauv_plugin(ControlPanelPlugin GUI
-  PROTO
-    lrauv_command
-    lrauv_state)
+  PROTO lrauv_gazebo_messages)
 add_lrauv_plugin(DopplerVelocityLog
   RENDERING
-  PROTO
-    dvl_beam_state
-    dvl_kinematic_estimate
-    dvl_range_estimate
-    dvl_tracking_target
-    dvl_velocity_tracking)
+  PROTO lrauv_gazebo_messages)
 target_link_libraries(DopplerVelocityLog PUBLIC ${GZ_SENSORS}-rendering)
 add_lrauv_plugin(DopplerVelocityLogSystem RENDERING)
 target_link_libraries(DopplerVelocityLogSystem PUBLIC
   DopplerVelocityLog ${GZ_SENSORS}-rendering)
 add_lrauv_plugin(HydrodynamicsPlugin)
 add_lrauv_plugin(RangeBearingPlugin
   PROTO
-    lrauv_range_bearing_request
-    lrauv_range_bearing_response
-    lrauv_acoustic_message
+    lrauv_gazebo_messages
   PRIVATE_LINK_LIBS
     acoustic_comms_support)
 add_lrauv_plugin(ReferenceAxis GUI RENDERING)
@@ -182,16 +173,12 @@ add_lrauv_plugin(ScienceSensorsSystem
     ${GZ_SENSORS}
     ${PCL_LIBRARIES})
 add_lrauv_plugin(SpawnPanelPlugin GUI
-  PROTO
-    lrauv_init)
+  PROTO lrauv_gazebo_messages)
 add_lrauv_plugin(TethysCommPlugin
-  PROTO
-    lrauv_command
-    lrauv_state)
+  PROTO lrauv_gazebo_messages)
 add_lrauv_plugin(TimeAnalysisPlugin)
 add_lrauv_plugin(WorldCommPlugin
-  PROTO
-    lrauv_init)
+  PROTO lrauv_gazebo_messages)
 add_lrauv_plugin(WorldConfigPlugin GUI)
 
 #============================================================================
@@ -225,9 +212,8 @@ foreach(EXAMPLE
   target_include_directories(${EXAMPLE_EXEC} PUBLIC include)
   target_link_libraries(${EXAMPLE_EXEC} PRIVATE
     gz-sim${GZ_SIM_VER}::gz-sim${GZ_SIM_VER}
-    dvl_velocity_tracking lrauv_acoustic_message lrauv_command lrauv_init
-    lrauv_internal_comms lrauv_range_bearing_request lrauv_range_bearing_response
-    lrauv_state)
+    acoustic_comms_support
+    lrauv_gazebo_messages)
 
   install(
     TARGETS ${EXAMPLE_EXEC}

diff --git a/lrauv_gazebo_plugins/proto/CMakeLists.txt b/lrauv_gazebo_plugins/proto/CMakeLists.txt
@@ -5,59 +5,31 @@
 
 find_package(Protobuf REQUIRED)
 
-function(add_lrauv_message MESSAGE)
-  add_library(${MESSAGE} SHARED ${PROJECT_NAME}/${MESSAGE}.proto)
-  target_link_libraries(${MESSAGE}
-    protobuf::libprotobuf
-    gz-msgs${GZ_MSGS_VER}::gz-msgs${GZ_MSGS_VER})
+file(GLOB PROTO_SRCS ${PROJECT_NAME}/*.proto)
+add_library(lrauv_gazebo_messages SHARED ${PROTO_SRCS})
+target_link_libraries(lrauv_gazebo_messages
+  protobuf::libprotobuf
+  gz-msgs${GZ_MSGS_VER}::gz-msgs${GZ_MSGS_VER})
   file(MAKE_DIRECTORY ${CMAKE_BINARY_DIR}/proto)
-  protobuf_generate(
-    TARGET ${MESSAGE}
-    LANGUAGE cpp
-    IMPORT_DIRS
-      ${gz-msgs${GZ_MSGS_VER}_INCLUDE_DIRS}
-      ${CMAKE_BINARY_DIR}/proto
-    PROTOC_OUT_DIR ${CMAKE_BINARY_DIR}/proto
-  )
-  target_include_directories(${MESSAGE} PUBLIC
-    $<BUILD_INTERFACE:${CMAKE_BINARY_DIR}/proto>
-    $<INSTALL_INTERFACE:include>
-  )
-  install(
-    TARGETS ${MESSAGE}
-    EXPORT ${PROJECT_NAME}
-    DESTINATION lib)
-endfunction()
-
-add_lrauv_message(lrauv_acoustic_message)
-add_lrauv_message(lrauv_command)
-add_lrauv_message(lrauv_init)
-add_lrauv_message(lrauv_internal_comms)
-add_lrauv_message(lrauv_range_bearing_request)
-add_lrauv_message(lrauv_range_bearing_response)
-add_lrauv_message(lrauv_state)
-
-add_lrauv_message(dvl_range_estimate)
-add_lrauv_message(dvl_kinematic_estimate)
-add_lrauv_message(dvl_beam_state)
-target_link_libraries(dvl_beam_state
-  dvl_kinematic_estimate
-  dvl_range_estimate
+protobuf_generate(
+  TARGET lrauv_gazebo_messages
+  LANGUAGE cpp
+  IMPORT_DIRS
+    ${gz-msgs${GZ_MSGS_VER}_INCLUDE_DIRS}
+    ${CMAKE_BINARY_DIR}/proto
+  PROTOC_OUT_DIR ${CMAKE_BINARY_DIR}/proto
 )
-add_lrauv_message(dvl_tracking_target)
-target_link_libraries(dvl_tracking_target
-  dvl_kinematic_estimate
-  dvl_range_estimate
+target_include_directories(lrauv_gazebo_messages PUBLIC
+  $<BUILD_INTERFACE:${CMAKE_BINARY_DIR}/proto>
+  $<INSTALL_INTERFACE:include>
 )
-add_lrauv_message(dvl_velocity_tracking)
-target_link_libraries(dvl_velocity_tracking
-  dvl_beam_state
-  dvl_tracking_target
-  dvl_kinematic_estimate
-  dvl_range_estimate
+install(
+  TARGETS lrauv_gazebo_messages
+  EXPORT ${PROJECT_NAME}
+  DESTINATION lib
 )
-
 install(
   DIRECTORY ${CMAKE_BINARY_DIR}/proto/${PROJECT_NAME}/
   DESTINATION include/${PROJECT_NAME}/
-  FILES_MATCHING PATTERN "*.h")
+  FILES_MATCHING PATTERN "*.h"
+)
diff --git a/lrauv_gazebo_plugins/src/DopplerVelocityLog.cc b/lrauv_gazebo_plugins/src/DopplerVelocityLog.cc
@@ -513,6 +513,9 @@ class DopplerVelocityLog::Implementation
   /// are to be defined in.
   public: EnvironmentalData::ReferenceT waterVelocityReference;
 
+  /// \brief Whether water velocity was updated since last use.
+  public: bool waterVelocityUpdated{true};
+
   /// \brief Depth sensor (i.e. a GPU raytracing sensor).
   public: gz::rendering::GpuRaysPtr depthSensor;
 
@@ -1351,6 +1354,7 @@ void DopplerVelocityLog::SetEnvironmentalData(const EnvironmentalData &_data)
 
     this->dataPtr->waterVelocity = VectorFieldT(xData, yData, zData);
     this->dataPtr->waterVelocityReference = _data.reference;
+    this->dataPtr->waterVelocityUpdated = true;
 
     gzmsg << "Water velocity data updated for "
           << "[" << this->Name() << "] sensor."
@@ -1857,12 +1861,13 @@ void DopplerVelocityLog::PostUpdate(
       waterMassModeMessage =
           this->dataPtr->TrackWaterMass(_now, &waterMassModeInfo);
     }
-    else
+    else if (this->dataPtr->waterVelocityUpdated)
     {
       gzwarn << "No water velocity available, "
              << "skipping water-mass tracking."
              << std::endl;
     }
+    this->dataPtr->waterVelocityUpdated = false;
   }
 
   double bottomModeScore, waterMassModeScore;

diff --git a/lrauv_gazebo_plugins/src/comms/CMakeLists.txt b/lrauv_gazebo_plugins/src/comms/CMakeLists.txt
@@ -8,8 +8,7 @@ add_library(acoustic_comms_support SHARED CommsPacket.cc)
 target_link_libraries(acoustic_comms_support PUBLIC
   gz-plugin${GZ_PLUGIN_VER}::gz-plugin${GZ_PLUGIN_VER}
   gz-sim${GZ_SIM_VER}::gz-sim${GZ_SIM_VER}
-  lrauv_acoustic_message
-  lrauv_internal_comms
+  lrauv_gazebo_messages
 )
 target_include_directories(acoustic_comms_support PUBLIC
   $<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/include>

diff --git a/lrauv_gazebo_plugins/worlds/dvl_at_portuguese_ledge.sdf.em b/lrauv_gazebo_plugins/worlds/dvl_at_portuguese_ledge.sdf.em
@@ -15,7 +15,7 @@
 
 import math
 from dataclasses import dataclass
-from gz.math import SphericalCoordinates, Vector3d, Angle
+from gz.math7 import SphericalCoordinates, Vector3d, Angle
 
 fuel_model_url = "https://fuel.gazebosim.org/1.0/OpenRobotics/models/Portuguese Ledge"
 

diff --git a/lrauv_gazebo_plugins/worlds/empty_environment_with_tiles.sdf.em b/lrauv_gazebo_plugins/worlds/empty_environment_with_tiles.sdf.em
@@ -15,7 +15,7 @@
 
 import math
 from dataclasses import dataclass
-from gz.math import SphericalCoordinates, Vector3d, Angle
+from gz.math7 import SphericalCoordinates, Vector3d, Angle
 
 fuel_model_url = "https://fuel.gazebosim.org/1.0/OpenRobotics/models/Portuguese Ledge"
 

diff --git a/lrauv_gazebo_plugins/worlds/portuguese_ledge.sdf.em b/lrauv_gazebo_plugins/worlds/portuguese_ledge.sdf.em
@@ -22,7 +22,7 @@
 
 import math
 from dataclasses import dataclass
-from gz.math import SphericalCoordinates, Vector3d, Angle
+from gz.math7 import SphericalCoordinates, Vector3d, Angle
 
 fuel_model_url = "https://fuel.gazebosim.org/1.0/OpenRobotics/models/Portuguese Ledge"
 

diff --git a/lrauv_system_tests/CMakeLists.txt b/lrauv_system_tests/CMakeLists.txt
@@ -12,11 +12,6 @@ find_package(gz-math7 REQUIRED)
 find_package(gz-transport12 REQUIRED)
 find_package(lrauv_gazebo_plugins REQUIRED)
 
-# Add option to build without LRAUV integration
-option(ENABLE_MISSION_TESTS
-  "Enable mission tests. (Requires integration with MBARI's controllers)"
-  ON)
-
 # Build-time constants
 set(PROJECT_BINARY_PATH ${CMAKE_CURRENT_BINARY_DIR})
 set(PROJECT_SOURCE_PATH ${CMAKE_CURRENT_SOURCE_DIR})
@@ -34,7 +29,6 @@ include(GoogleTest)
 
 # Build test support library
 add_library(${PROJECT_NAME}_support
-  src/LRAUVController.cc
   src/ModelManipulator.cc
   src/ModelObserver.cc
   src/Publisher.cc
@@ -45,8 +39,7 @@ target_link_libraries(${PROJECT_NAME}_support PUBLIC
   gz-sim7::gz-sim7
   gz-math7::gz-math7
   gz-transport12::gz-transport12
-  lrauv_gazebo_plugins::lrauv_command
-  lrauv_gazebo_plugins::lrauv_state
+  lrauv_gazebo_plugins::lrauv_gazebo_messages
   gtest)
 target_compile_features(${PROJECT_NAME}_support PUBLIC cxx_std_17)
 #============================================================================

diff --git a/lrauv_system_tests/include/TestConstants.hh.in b/lrauv_system_tests/include/TestConstants.hh.in
@@ -2,7 +2,4 @@
 #define __TEST_CONSTANTS_HH__
 #define PROJECT_BINARY_PATH "@PROJECT_BINARY_PATH@"
 #define PROJECT_SOURCE_PATH "@PROJECT_SOURCE_PATH@"
-
-// Hardcode path, assume lrauv-application is a sibling of lrauv
-#define LRAUV_APP_PATH "@PROJECT_SOURCE_PATH@/../../lrauv-application"
 #endif