Closed mergify[bot] closed 2 months ago
Cherry-pick of 370943220eac81d6f9dc4de94761d7eda57d2cfd has failed:
On branch mergify/bp/iron/pr-162
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Changes to be committed:
deleted: .clang-format
deleted: .clang-tidy
new file: .codespellrc
new file: .devcontainer/documentation/Dockerfile
new file: .devcontainer/documentation/devcontainer.json
modified: .devcontainer/nouveau/Dockerfile
modified: .devcontainer/nvidia/Dockerfile
modified: .docker/Dockerfile
modified: .dockerignore
modified: .github/PULL_REQUEST_TEMPLATE.md
new file: .github/workflows/ci-docs.yaml
modified: .github/workflows/ci.yaml
modified: .github/workflows/docker.yaml
new file: .github/workflows/docs.yaml
modified: .gitignore
deleted: .markdownlint.json
modified: .pre-commit-config.yaml
new file: .ruff.toml
new file: .vscode/c_cpp_properties.json
new file: .vscode/settings.json
new file: .vscode/tasks.json
modified: README.md
modified: blue_bringup/CMakeLists.txt
deleted: blue_bringup/launch/base.launch.py
deleted: blue_bringup/launch/bluerov2/bluerov2.launch.py
new file: blue_bringup/launch/bluerov2/bluerov2.launch.yaml
deleted: blue_bringup/launch/bluerov2/tf.launch.py
new file: blue_bringup/launch/bluerov2/thrusters.launch.yaml
deleted: blue_bringup/launch/bluerov2_heavy/bluerov2_heavy.launch.py
new file: blue_bringup/launch/bluerov2_heavy/bluerov2_heavy.launch.yaml
deleted: blue_bringup/launch/bluerov2_heavy/tf.launch.py
new file: blue_bringup/launch/bluerov2_heavy/thrusters.launch.yaml
deleted: blue_bringup/launch/bluerov2_heavy_reach/bluerov2_heavy_reach.launch.py
new file: blue_bringup/launch/bluerov2_heavy_reach/bluerov2_heavy_reach.launch.yaml
deleted: blue_bringup/launch/bluerov2_heavy_reach/tf.launch.py
new file: blue_bringup/launch/bluerov2_heavy_reach/thrusters.launch.yaml
deleted: blue_bringup/launch/sitl.launch.py
modified: blue_bringup/package.xml
deleted: blue_control/CMakeLists.txt
deleted: blue_control/include/blue_control/controller.hpp
deleted: blue_control/include/blue_control/ismc.hpp
deleted: blue_control/launch/control.launch.py
deleted: blue_control/package.xml
deleted: blue_control/src/controller.cpp
deleted: blue_control/src/ismc.cpp
new file: blue_demos/CMakeLists.txt
renamed: blue_control/LICENSE -> blue_demos/LICENSE
new file: blue_demos/README.md
new file: blue_demos/control_integration/config/bluerov2_controllers.yaml
new file: blue_demos/control_integration/config/bluerov2_heavy_controllers.yaml
new file: blue_demos/control_integration/description/ros2_control/bluerov2.ros2_control.xacro
new file: blue_demos/control_integration/description/ros2_control/bluerov2_heavy.ros2_control.xacro
new file: blue_demos/control_integration/description/urdf/bluerov2.config.xacro
new file: blue_demos/control_integration/description/urdf/bluerov2_heavy.config.xacro
new file: blue_demos/control_integration/launch/bluerov2_controllers.launch.py
new file: blue_demos/control_integration/launch/bluerov2_demo.launch.yaml
new file: blue_demos/control_integration/launch/bluerov2_heavy_controllers.launch.py
new file: blue_demos/control_integration/launch/bluerov2_heavy_demo.launch.yaml
renamed: blue_joy/package.xml -> blue_demos/package.xml
new file: blue_demos/teleoperation/config/joy_teleop.yaml
new file: blue_demos/teleoperation/launch/joy_teleop.launch.yaml
modified: blue_description/CMakeLists.txt
new file: blue_description/config/ardusub/ardusub_manager.yaml
renamed: blue_description/config/mavros.yaml -> blue_description/config/ardusub/mavros.yaml
deleted: blue_description/config/bluerov2/controllers.yaml
deleted: blue_description/config/bluerov2/manager.yaml
deleted: blue_description/config/bluerov2_heavy/controllers.yaml
deleted: blue_description/config/bluerov2_heavy/manager.yaml
deleted: blue_description/config/bluerov2_heavy_reach/controllers.yaml
deleted: blue_description/config/bluerov2_heavy_reach/manager.yaml
deleted: blue_description/config/joy_teleop.yaml
renamed: blue_description/xacro/bluerov2/config.xacro -> blue_description/description/bluerov2/config.xacro
renamed: blue_description/xacro/bluerov2/gazebo.xacro -> blue_description/description/bluerov2/gazebo.xacro
renamed: blue_description/xacro/bluerov2/urdf.xacro -> blue_description/description/bluerov2/urdf.xacro
renamed: blue_description/xacro/bluerov2_heavy/config.xacro -> blue_description/description/bluerov2_heavy/config.xacro
renamed: blue_description/xacro/bluerov2_heavy/gazebo.xacro -> blue_description/description/bluerov2_heavy/gazebo.xacro
renamed: blue_description/xacro/bluerov2_heavy/urdf.xacro -> blue_description/description/bluerov2_heavy/urdf.xacro
renamed: blue_description/xacro/bluerov2_heavy_reach/config.xacro -> blue_description/description/bluerov2_heavy_reach/config.xacro
renamed: blue_description/xacro/bluerov2_heavy_reach/gazebo.xacro -> blue_description/description/bluerov2_heavy_reach/gazebo.xacro
renamed: blue_description/xacro/bluerov2_heavy_reach/urdf.xacro -> blue_description/description/bluerov2_heavy_reach/urdf.xacro
renamed: blue_description/xacro/camera/gazebo.xacro -> blue_description/description/camera/gazebo.xacro
renamed: blue_description/xacro/camera/urdf.xacro -> blue_description/description/camera/urdf.xacro
renamed: blue_description/xacro/t200/gazebo.xacro -> blue_description/description/t200/gazebo.xacro
renamed: blue_description/xacro/t200/urdf.xacro -> blue_description/description/t200/urdf.xacro
modified: blue_description/package.xml
deleted: blue_dynamics/CMakeLists.txt
deleted: blue_dynamics/LICENSE
deleted: blue_dynamics/include/blue_dynamics/hydrodynamics.hpp
deleted: blue_dynamics/include/blue_dynamics/thruster_dynamics.hpp
deleted: blue_dynamics/package.xml
deleted: blue_dynamics/src/hydrodynamics.cpp
deleted: blue_dynamics/src/thruster_dynamics.cpp
deleted: blue_dynamics/test/test_hydrodynamics.cpp
deleted: blue_dynamics/test/test_thruster_dynamics.cpp
deleted: blue_joy/LICENSE
deleted: blue_joy/blue_joy/joy.py
deleted: blue_joy/launch/joy.launch.py
deleted: blue_joy/resource/blue_joy
deleted: blue_joy/setup.cfg
deleted: blue_joy/setup.py
deleted: blue_joy/test/test_copyright.py
deleted: blue_manager/LICENSE
deleted: blue_manager/blue_manager/__init__.py
deleted: blue_manager/blue_manager/manager.py
deleted: blue_manager/launch/manager.launch.py
deleted: blue_manager/package.xml
deleted: blue_manager/resource/blue_manager
deleted: blue_manager/setup.cfg
deleted: blue_manager/setup.py
deleted: blue_manager/test/test_copyright.py
deleted: blue_utils/CMakeLists.txt
deleted: blue_utils/LICENSE
deleted: blue_utils/include/blue_utils/eigen.hpp
deleted: blue_utils/include/blue_utils/tf2.hpp
deleted: blue_utils/package.xml
deleted: blue_utils/scripts/arm.sh
deleted: blue_utils/scripts/disarm.sh
deleted: blue_utils/scripts/send_cmd.sh
deleted: blue_utils/scripts/send_pwm.sh
deleted: blue_utils/scripts/start_keyboard_teleop.sh
new file: docs/.gitignore
new file: docs/babel.config.js
new file: docs/docs/contributing.mdx
new file: docs/docs/installation.mdx
new file: docs/docs/overview.mdx
new file: docs/docs/tutorials/_category_.json
new file: docs/docs/tutorials/control.mdx
new file: docs/docs/tutorials/simulation.mdx
new file: docs/docs/tutorials/teleop.mdx
new file: docs/docs/welcome.mdx
new file: docs/docusaurus.config.js
new file: docs/package-lock.json
new file: docs/package.json
new file: docs/sidebars.js
new file: docs/src/components/Vehicle.jsx
new file: docs/src/css/cards.scss
new file: docs/src/css/custom.scss
new file: docs/src/css/fonts-and-colors.scss
new file: docs/src/css/header.scss
new file: docs/src/css/typography.scss
renamed: blue_joy/blue_joy/__init__.py -> docs/static/.nojekyll
new file: docs/static/img/favicon.ico
new file: docs/static/img/vehicles/bluerov2.png
new file: docs/static/img/vehicles/bluerov2_heavy.png
new file: docs/static/img/vehicles/bluerov2_heavy_reach.png
deleted: requirements-dev.txt
deleted: setup.cfg
Unmerged paths:
(use "git add <file>..." to mark resolution)
both modified: .devcontainer/nouveau/devcontainer.json
both modified: .devcontainer/nvidia/devcontainer.json
both modified: blue.repos
To fix up this pull request, you can check it out locally. See documentation: https://docs.github.com/en/pull-requests/collaborating-with-pull-requests/reviewing-changes-in-pull-requests/checking-out-pull-requests-locally
Changes Made
This is a pretty significant PR that makes several API-breaking changes. In particular, the following breaking changes were made:
blue_dynamics
has been ported to hydrodynamics. The new project cleans up the original dynamics implementation and will also make it easier to add new features that are unrelated to Blue (e.g., parsing hydrodynamic parameters from a URDF/SDF file).blue_control
has been re-written using ros2_control and ported to auv_controllers. Controllers will now be easier to implement and are vehicle-agnostic.sitl.launch.py
,blue_joy
,blue_manager
, and the PWM passthrough handling have all been ported to ardusub_driver.ardusub_bringup
.thruster_hardware
package and is implemented as a ros2_control hardware interfaceblue_manager
now lives inardusub_manager
and has been cleaned up.blue_joy
package has becomeardusub_teleop
and now has a joystick configuration file tailored specifically to ArduSub.blue_utils
has been removed.Outside of these breaking changes, user documentation has been added with pipelines that deploy the documentation on push to main. The documentation is written using Docusaurus.
Associated Issues
Testing
Testing was done in simulation using SITL.
This is an automatic backport of pull request #162 done by Mergify.