Js nav (#893)

* found foot steps to vis and a source of odometry but really not accurate

* Added fake localization to the rosversion for webots, will not work in reallife, i could hard code it to 0. renamed walk engine to navagator. some clean up in footstep planner. reworked walk_engine/ navigator to use both time or position as a goal for walking. tuned pid for pybullet and webots for accurate navigation to goal and changing the vel cmd for walking. Tested and verified in webots and pybullet need some cleaning for modularity

* added head tracking, a bit buggy needs to be close enough and within a cone. Added a relative ball pose. Added tracking a point in the relative frame for navigation. Figured out that going faster sometimes fixes the problem. Added yaw control. Nearly there just need to put it together

* added more dependcy

* fixed rotatating goal problem:

* minor bug fix

* tried an experiment when i give placo the joint states and the Imu to see if it was better and got mixed results. fixed req.txt

* moved the requirments into its own folder with files for gpu and a list of ros packages needed. got rid of the protobuf generation because it was breaking the build. added new services and made the cuda more modular. reorganized the dockerfile so that it doesnt take that long to rebuild by putting putting the update code base much later in the process. Made it multi stage and segmented the long downloads into its own stage. Also added a symlink so that we can use the docker compose as an interpreter

* optimized the dockerfile by having different copy depending on which file in tools/setup is changed so we dont have to run all of it again. Also converted the list of packages into  the rosdep.txt. Fixed the cmake protobuf problem by giving the USER ownership of the code. Removed yolov5 in external it is not used. Started integrating better docker project structure for the misc tools like docker and generic setup. made the compose more of a global folder that extends the docker in the tools folder. Moved dockerfile to the docker folder.

.dockerignore

@@ -15,10 +15,10 @@ docker-compose.*
 bez1_description/meshes/*.stl
 bez2_description/meshes/*.stl
 soccer_fieldline_detection/media
-soccerbot/bags/*
+#soccerbot/bags/*
 !soccerbot/bags/*.sh
 LICENSE
 venv/
-*.webm
-soccer_perception/data/images/*
-soccer_perception/data/videos/*
+#*.webm
+#soccer_perception/data/images/*
+#soccer_perception/data/videos/*

.github/workflows/docker_image.yml

@@ -72,7 +72,7 @@ jobs:
         with:
           context: .
           push: true
-          file: Dockerfile
+          file: tools/docker/Dockerfile
           build-args: |
             INSTALL_CUDA=true
           tags: utrarobosoccer/soccerbot

.github/workflows/docker_image_arm.yml

@@ -53,7 +53,7 @@ jobs:
         with:
           context: .
           push: true
-          file: Dockerfile
+          file: tools/docker/Dockerfile
           platforms: linux/arm64
           tags: utrarobosoccer/soccerbot:arm64
           cache-from: type=registry,ref=utrarobosoccer/soccerbot:arm64

.github/workflows/docker_image_no_cuda.yml

@@ -44,9 +44,9 @@ jobs:
         with:
           context: .
           push: true
-          file: Dockerfile
+          file: tools/docker/Dockerfile
           build-args: |
             INSTALL_CUDA=false
           tags: utrarobosoccer/soccerbot:no_cuda
-          cache-from: type=registry,ref=utrarobosoccer/soccerbot
+          cache-from: type=registry,ref=utrarobosoccer/soccerbot:no_cuda
           cache-to: type=inline

.gitignore

@@ -7,7 +7,7 @@
 # Python compiled files
 __pycache__/
 *.pyc
-
+.idea/
 # webots cache files
 soccer_webots/protos/*.cache
 soccer_webots/protos/Soccerbot_meshes/*.cache
@@ -34,5 +34,3 @@ venv/
 .mypy_cache/
 cuda-ubuntu2004.pin.1
 *.webm
-
-.idea/

.gitmodules

@@ -8,9 +8,6 @@
 [submodule "soccer_strategy/src/game_controller/RobocupProtocol"]
 	path = soccer_strategy/src/game_controller/RobocupProtocol
 	url = [email protected]:utra-robosoccer/RobocupProtocol.git
-[submodule "external/yolov5"]
-	path = external/yolov5
-	url = [email protected]:utra-robosoccer/yolov5.git
 [submodule "external/hlvs_webots"]
 	path = external/hlvs_webots
 	url = [email protected]:utra-robosoccer/hlvs_webots.git