Basic Survey Planning (#114)

* Add `survey_manager` subdirectory without layout for survey nodes Includes placeholder directories with hyperlinked `readme.md` files in the documentation hierarchy for the manger, planner, and bridge. Per discussion with @marinagmoreira `survey_manager` lives under `astrobee` to signify the code is intended for cross-compilation. * Improve linking to survey manager docs * Add files via upload Adding planning domain, problem, and xml of the atomic actions of the robotic agents * added files to the correct directory * adding soft constraints problem files * Attempt at a complete MVP domain model * Oops, remove redundant effect * Simplified collision checking predicate * In a working state * Add sample_output_plan.txt * Oops, remove obsolete commented-out code * Fixed stereo survey part of the model based on analysis of old stereo surveys by Marina - unfortunately causes additional planner flakiness * Update sample_output_plan.txt to reflect latest domain/problem * Now generate PDDL problem from higher-level problem specification * Tune panorama estimated duration * Add plan_interpreter.py. Minor cleanup in problem_generator.py * Simplify dynamic config just a bit * Add `survey_manager` subdirectory without layout for survey nodes Includes placeholder directories with hyperlinked `readme.md` files in the documentation hierarchy for the manger, planner, and bridge. Per discussion with @marinagmoreira `survey_manager` lives under `astrobee` to signify the code is intended for cross-compilation. * Improve linking to survey manager docs * Remove `survey_bridge` capability will be added to `astrobee` * Add traclabs plansys2 backport via submodule, thanks @ana-GT * Move sub-modules to `survey_manager` path * Upgrade behaviortree to V4 NOTE: If already installed, remove V3 before installing V4 * Cleanup unused, misplaced sub-modules, again. * Remove `survey_manager` package and organize `survey_planner` * Deprecate Ubuntu-16.04 (xenial) builds of Isaac to support Plansys2 - Remove Ubuntu-16.04 (xenial) CI builds - Update dockerfile ubuntu version defaults to Ubuntu-20.04 (focal) - Update apk build environment to Ubuntu-20.04 (focal) * Fix python formatting * Update to forks of traclabs backports * Add readline development files to setup for plansys2 terminal interface If you have already built your VM, run `sudo apt install libreadline-dev` * Removed outdated PDDL files per @trey0 #107 (comment) * Revert CI upgrades for APK builds * Plansys2 on Astrobee Noetic (#107) * Add `survey_manager` subdirectory without layout for survey nodes Includes placeholder directories with hyperlinked `readme.md` files in the documentation hierarchy for the manger, planner, and bridge. Per discussion with @marinagmoreira `survey_manager` lives under `astrobee` to signify the code is intended for cross-compilation. * Improve linking to survey manager docs * Add files via upload Adding planning domain, problem, and xml of the atomic actions of the robotic agents * added files to the correct directory * adding soft constraints problem files * Attempt at a complete MVP domain model * Oops, remove redundant effect * Simplified collision checking predicate * In a working state * Add sample_output_plan.txt * Oops, remove obsolete commented-out code * Fixed stereo survey part of the model based on analysis of old stereo surveys by Marina - unfortunately causes additional planner flakiness * Update sample_output_plan.txt to reflect latest domain/problem * Now generate PDDL problem from higher-level problem specification * Tune panorama estimated duration * Add plan_interpreter.py. Minor cleanup in problem_generator.py * Simplify dynamic config just a bit * Add `survey_manager` subdirectory without layout for survey nodes Includes placeholder directories with hyperlinked `readme.md` files in the documentation hierarchy for the manger, planner, and bridge. Per discussion with @marinagmoreira `survey_manager` lives under `astrobee` to signify the code is intended for cross-compilation. * Improve linking to survey manager docs * Remove `survey_bridge` capability will be added to `astrobee` * Add traclabs plansys2 backport via submodule, thanks @ana-GT * Move sub-modules to `survey_manager` path * Upgrade behaviortree to V4 NOTE: If already installed, remove V3 before installing V4 * Cleanup unused, misplaced sub-modules, again. * Remove `survey_manager` package and organize `survey_planner` * Deprecate Ubuntu-16.04 (xenial) builds of Isaac to support Plansys2 - Remove Ubuntu-16.04 (xenial) CI builds - Update dockerfile ubuntu version defaults to Ubuntu-20.04 (focal) - Update apk build environment to Ubuntu-20.04 (focal) * Fix python formatting * Update to forks of traclabs backports * Add readline development files to setup for plansys2 terminal interface If you have already built your VM, run `sudo apt install libreadline-dev` * Removed outdated PDDL files per @trey0 #107 (comment) * Revert CI upgrades for APK builds --------- Co-authored-by: Abiola Akanni <[email protected]> Co-authored-by: Trey Smith <[email protected]> * Update ci_pr.yml make survey manager PR's run CI * problem_generator.py: Simplified config, and runs with default args again * Removed run number argument from planner actions * Add support for PlanSys2 terminal output; remove num-orders from config * Refactor problem_generator.py to more cleanly support two output formats * plan_interpreter.py works with default arguments again * Update .isort.cfg using scripts/git/configure_isort_paths.sh * jem_survey_dynamic.yaml: Remove unused run parameter. * Fix legacy isort styling error in unrelated file so lint passes * Remove newlines in PDDL domain predicates to work around [1] [1] PlanSys2/ros2_planning_system#286 * Setup planner stack for action tests * Move submodules to avoid nested catkin packages * Added let-other-robot-reach constraint so we can solve the full problem with POPF/OPTIC * Fix pylint and mypy complaints * Add `popf` package and remove vendored solver in favor of built binary * Update plansys2 backport to fix domain validation and parameters * Make predicates on one line. * Update vendored libraries for cross compilation * making submodules their own folder for organization * updating submodule + fix bug in cmake * only check isort files that were modified * src dir doesn't exist anymore and usually not in include * fix gitmodules link * fixing PR CI --------- Co-authored-by: Abiola Akanni <[email protected]> Co-authored-by: Trey Smith <[email protected]> Co-authored-by: Marina Moreira <[email protected]> Co-authored-by: Brian Coltin <[email protected]> Co-authored-by: Marina Moreira <[email protected]>
nasa · Jan 5, 2024 · c5a1c22 · c5a1c22
1 parent 7c0ea09
commit c5a1c22
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Showing 14 changed files with 176 additions and 33 deletions.
diff --git a/.gitmodules b/.gitmodules
@@ -1,11 +1,16 @@
 [submodule "isaac_msgs"]
 	path = communications/isaac_msgs
 	url = https://github.com/nasa/isaac_msgs.git
-[submodule "astrobee/survey_manager/survey_planner/src/ros2_planning_system"]
-	path = astrobee/survey_manager/survey_planner/src/ros2_planning_system
+[submodule "ros2_planning_system"]
+	path = astrobee/survey_manager/survey_dependencies/ros2_planning_system
 	url = https://github.com/bckempa/ros2_planning_system
 	branch = noetic-devel
-[submodule "astrobee/survey_manager/survey_planner/src/ros1_lifecycle"]
-	path = astrobee/survey_manager/survey_planner/src/ros1_lifecycle
-	url = https://github.com/bckempa/ros1_lifecycle
+[submodule "ros1_lifecycle"]
+	path = astrobee/survey_manager/survey_dependencies/ros1_lifecycle
+	url = https://github.com/bckempa/ros1_lifecycle.git
 	branch = noetic-devel
+[submodule "popf"]
+	path = astrobee/survey_manager/survey_dependencies/popf
+	url = https://github.com/Bckempa/popf.git
+	branch = noetic-devel
+
diff --git a/astrobee/survey_manager/survey_dependencies/popf b/astrobee/survey_manager/survey_dependencies/popf
diff --git a/...manager/survey_planner/src/ros1_lifecycle → ...anager/survey_dependencies/ros1_lifecycle b/...manager/survey_planner/src/ros1_lifecycle → ...anager/survey_dependencies/ros1_lifecycle
diff --git a/...r/survey_planner/src/ros2_planning_system → .../survey_dependencies/ros2_planning_system b/...r/survey_planner/src/ros2_planning_system → .../survey_dependencies/ros2_planning_system
diff --git a/astrobee/survey_manager/survey_planner/CMakeLists.txt b/astrobee/survey_manager/survey_planner/CMakeLists.txt
@@ -0,0 +1,38 @@
+# Copyright (c) 2023, United States Government, as represented by the
+# Administrator of the National Aeronautics and Space Administration.
+#
+# All rights reserved.
+#
+# The "ISAAC - Integrated System for Autonomous and Adaptive Caretaking
+# platform" software is licensed under the Apache License, Version 2.0
+# (the "License"); you may not use this file except in compliance with the
+# License. You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+# WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
+# License for the specific language governing permissions and limitations
+# under the License.
+
+cmake_minimum_required(VERSION 2.8.3)
+project(survey_planner)
+
+add_compile_options(-std=c++17)
+
+find_package(catkin REQUIRED)
+SET(catkin2_DIR "${CMAKE_SOURCE_DIR}/../../../cmake")
+find_package(catkin2 REQUIRED COMPONENTS
+  roscpp
+  ff_msgs
+)
+
+catkin_package(
+  CATKIN_DEPENDS
+)
+
+foreach( dir pddl launch)
+   install( DIRECTORY ${dir}/
+         DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/${dir} )
+endforeach(dir)
diff --git a/astrobee/survey_manager/survey_planner/launch/survey_domain.launch b/astrobee/survey_manager/survey_planner/launch/survey_domain.launch
@@ -0,0 +1,43 @@
+<?xml version="1.0"?>
+<launch>
+
+  <!-- arguments -->
+  <arg name="model_file" default="$(find survey_planner)/pddl/domain_survey.pddl"/>
+  <arg name="namespace" default="" />
+  <arg name="params_file" default="$(find plansys2_bringup)/params/plansys2_params.yaml" />
+
+  <!-- true: There is a lifecycle management node for the Lifecycles nodes. If false, the nodes start on their own -->
+  <param name="lifecycle_enabled" value="true"/>
+
+  <!-- Domain Expert -->
+  <include file="$(find plansys2_domain_expert)/launch/domain_expert.launch">
+    <arg name="model_file"   value="$(arg model_file)"/>
+    <arg name="namespace"  value="$(arg namespace)"/>
+    <arg name="params_file" value="$(arg params_file)"/>
+  </include>
+
+  <!-- Problem Expert -->
+  <include file="$(find plansys2_problem_expert)/launch/problem_expert.launch">
+    <arg name="model_file"   value="$(arg model_file)"/>
+    <arg name="namespace"  value="$(arg namespace)"/>
+    <arg name="params_file" value="$(arg params_file)"/>
+  </include>
+
+  <!-- Planner -->
+  <include file="$(find plansys2_planner)/launch/planner.launch">
+    <arg name="namespace"  value="$(arg namespace)"/>
+    <arg name="params_file" value="$(arg params_file)"/>
+  </include>
+
+  <!-- Executor -->
+  <include file="$(find plansys2_executor)/launch/executor.launch">
+    <arg name="namespace"  value="$(arg namespace)"/>
+    <arg name="params_file" value="$(arg params_file)"/>
+  </include>
+
+  <!-- Manager -->
+  <node name="lifecycle_manager_node" pkg="plansys2_lifecycle_manager" type="lifecycle_manager_node" output="screen">
+  </node>
+
+</launch>
+
diff --git a/astrobee/survey_manager/survey_planner/package.xml b/astrobee/survey_manager/survey_planner/package.xml
@@ -0,0 +1,34 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>survey_planner</name>
+  <version>0.1.0</version>
+  <description>PDDL Planning via Plansys2 on ROS1 Noetic for Astrobee</description>
+  <license>
+    Apache License, Version 2.0
+  </license>
+  <author email="[email protected]">
+    ISAAC Flight Software
+  </author>
+  <maintainer email="[email protected]">
+    ISAAC Flight Software
+  </maintainer>
+
+  <buildtool_depend>catkin</buildtool_depend>
+
+  <depend>roscpp</depend>
+  <depend>std_srvs</depend>
+  <depend>lifecycle_msgs</depend>
+
+  <depend>plansys2_domain_expert</depend>
+  <depend>plansys2_problem_expert</depend>
+  <depend>plansys2_executor</depend>
+  <depend>plansys2_planner</depend>
+  <depend>plansys2_msgs</depend>
+  <depend>tf</depend>
+
+  <depend>ff_msgs</depend>
+
+  <export>
+    <nodelet plugin="${prefix}/nodelet_plugins.xml" />
+  </export>
+</package>
diff --git a/scripts/docker/build.sh b/scripts/docker/build.sh
@@ -127,10 +127,11 @@ export MAST_PATH=${mast_source}
 ######################################################################
 
 files=" -f ${thisdir}/docker_compose/ros.docker-compose.yml"
+files+=" -f ${thisdir}/docker_compose/isaac.docker-compose.build.yml"
+files+=" -f ${thisdir}/docker_compose/isaac.docker-compose.yml"
 
 if [ $REMOTE == "" ]; then
   files+=" -f ${thisdir}/docker_compose/astrobee.docker-compose.build.yml"
-  files+=" -f ${thisdir}/docker_compose/astrobee.docker-compose.yml"
 fi
 
 if [ "$os" == "focal" ]; then
@@ -144,4 +145,4 @@ if [ $mast == 1 ]; then
 	files+=" -f ${script_dir}/docker_compose/mast.docker-compose.yml"
 fi
 
-docker compose ${files} build
+docker compose ${files} -p isaac build
diff --git a/scripts/docker/docker_compose/astrobee.docker-compose.build.yml b/scripts/docker/docker_compose/astrobee.docker-compose.build.yml
@@ -24,18 +24,8 @@ services:
       - astrobee-base
 
   isaac-astrobee:
-    image: ${REMOTE:-isaac}/isaac:latest-astrobee-ubuntu${UBUNTU_VERSION}
-    build:
-      context: ${ISAAC_PATH}
-      dockerfile: ${ISAAC_PATH}/scripts/docker/isaac_astrobee.Dockerfile
-      args:
-        UBUNTU_VERSION: ${UBUNTU_VERSION:-20.04}
-        REMOTE: ${REMOTE:-astrobee}
-        ROS_VERSION: ${ROS_VERSION:-noetic}
-        PYTHON: ${PYTHON:-3}
     links:
       - astrobee
-
   isaac:
     links:
       - isaac-astrobee

diff --git a/scripts/docker/docker_compose/isaac.docker-compose.build.yml b/scripts/docker/docker_compose/isaac.docker-compose.build.yml
@@ -0,0 +1,28 @@
+version: "3.9"
+services:
+  isaac-astrobee:
+    image: ${REMOTE:-isaac}/isaac:latest-astrobee-ubuntu${UBUNTU_VERSION}
+    build:
+      context: ${ISAAC_PATH}
+      dockerfile: ${ISAAC_PATH}/scripts/docker/isaac_astrobee.Dockerfile
+      args:
+        UBUNTU_VERSION: ${UBUNTU_VERSION:-20.04}
+        REMOTE: ${REMOTE:-astrobee}
+        ROS_VERSION: ${ROS_VERSION:-noetic}
+        PYTHON: ${PYTHON:-3}
+
+  isaac:
+    image: ${REMOTE:-isaac}/isaac:latest-ubuntu${UBUNTU_VERSION}
+    build:
+      context: ${ISAAC_PATH}
+      dockerfile: ${ISAAC_PATH}/scripts/docker/isaac.Dockerfile
+      args:
+        UBUNTU_VERSION: ${UBUNTU_VERSION:-20.04}
+        REMOTE: ${REMOTE:-isaac}
+        ROS_VERSION: ${ROS_VERSION:-noetic}
+        PYTHON: ${PYTHON:-3}
+    links:
+      - isaac-astrobee
+
+
+
diff --git a/...ocker_compose/astrobee.docker-compose.yml → ...r/docker_compose/isaac.docker-compose.yml b/...ocker_compose/astrobee.docker-compose.yml → ...r/docker_compose/isaac.docker-compose.yml
@@ -2,14 +2,6 @@ version: "3.9"
 services:
   isaac:
     image: ${REMOTE:-isaac}/isaac:latest-ubuntu${UBUNTU_VERSION}
-    build:
-      context: ${ISAAC_PATH}
-      dockerfile: ${ISAAC_PATH}/scripts/docker/isaac.Dockerfile
-      args:
-        UBUNTU_VERSION: ${UBUNTU_VERSION:-20.04}
-        REMOTE: ${REMOTE:-isaac}
-        ROS_VERSION: ${ROS_VERSION:-noetic}
-        PYTHON: ${PYTHON:-3}
     entrypoint: "/ros_entrypoint.sh"
     command: ${cmd}
     hostname: isaac

diff --git a/scripts/docker/isaac_astrobee.Dockerfile b/scripts/docker/isaac_astrobee.Dockerfile
@@ -27,10 +27,16 @@ FROM ${REMOTE}/astrobee:latest-ubuntu${UBUNTU_VERSION}
 ARG ROS_VERSION=noetic
 ARG PYTHON=3
 
-RUN apt-get update && apt-get install -y \
-  libmnl-dev \
-  ros-${ROS_VERSION}-eigen-conversions \
-  ros-${ROS_VERSION}-pcl-ros \
+# Install isaac souce dependecies
+COPY ./scripts/setup/*.sh /setup/isaac/
+COPY ./scripts/setup/dependencies /setup/isaac/dependencies
+RUN apt-get update \
+  && /setup/isaac/build_install_dependencies.sh \
+  && rm -rf /var/lib/apt/lists/*
+
+# Install isaac package dependencies 
+COPY ./scripts/setup/packages*.lst /setup/isaac/
+RUN /setup/isaac/install_desktop_packages.sh \
   && rm -rf /var/lib/apt/lists/*
 
 # Minimal isaac robot folders

diff --git a/scripts/git/pre-commit.linter_python b/scripts/git/pre-commit.linter_python
@@ -72,11 +72,11 @@ echo "  Analysing python code style with 'isort'."
 # could happen for example if the .isort.cfg src_paths list gets out
 # of date.
 
-if $(isort . --extend-skip cmake --profile black --diff --check-only --quiet >/dev/null); then
+if $(isort ${py_changed} --profile black --diff --check-only --quiet >/dev/null); then
     echo "Linter checks using 'isort' passed."
 else
     echo "Errors detected with 'isort'. Fixing them. Try to add and commit your files again."
-  isort . --extend-skip cmake --profile black >/dev/null
+  isort ${py_changed} --profile black >/dev/null
   failed_lint=true
 fi
 

diff --git a/scripts/setup/packages_focal.lst b/scripts/setup/packages_focal.lst
@@ -2,9 +2,14 @@ doxygen
 python3-catkin-tools
 python3-osrf-pycommon
 python3-rosdep
-libreadline-dev
 ros-noetic-eigen-conversions
 ros-noetic-pcl-ros
-ros-noetic-behaviortree-cpp
 libmnl-dev
 libproj-dev
+libreadline-dev
+ros-noetic-behaviortree-cpp
+coinor-libcbc-dev
+coinor-libclp-dev
+coinor-libcoinutils-dev
+bison
+flex