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utexas-bwi / bwi

ROS packages for building wide intelligence project, University of Texas at Austin
http://wiki.ros.org/bwi
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Melodic Codebase Upgrade #59

Closed maxsvetlik closed 4 years ago

maxsvetlik commented 4 years ago

Since this is the BWI highlevel repository, I'm going to organize the status of updating the entire codebase to Melodic and Ubuntu 18.04

A large portion of the update has already taken place. Some packages with broader community interest have already been released into Melodic and are available as binaries (see eband_local_planner) while other packages have changes that are presently on melodic-devel branches that allow our codebase to compile.

Some packages that we depend on are not available on Melodic (yet) and will require compiling from source until they are released. This includes:

maxsvetlik commented 4 years ago

The codebase has been compiled tested on a V4 and a V2: both respond to base /cmd_vel commands and autonomous way point commands through move_base. The bwi_kr_execution node segfaults on both. This segfault has been resolved as of 4bc7a56 on the bwi_common repository. I can now successfully run the visit_door_list demo in simulation.

Notes on bwi_common: this is using the current devel branch which is the standard bwi_execution code we use. We will likely merge the architecture_update branch into master after extensive testing, but this branch did not allow visit_door_list to execute, using either postgresql or mysql as the backends (as described in the branch's README). More investigation will be needed to use the architecture_update branch with melodic.

maxsvetlik commented 4 years ago

freenect_stack binaries have been released and the rosdep updated. See: rosdistro PR, freenect_stack PR.

maxsvetlik commented 4 years ago

TESTING

Simulation - note that melodic uses Gazebo 9

maxsvetlik commented 4 years ago

Lots of issues popping up when bringing up simulation_v2.arm.launch across Gazebo, MoveIt! and depreciation of tags in URDF/Xacro

maxsvetlik commented 4 years ago

Severe issues resolved through 2940f11 in bwi_common, ee5bff9 and 67bd3a1 in segbot, 1b27504 in bwi_launch, and 1d14fc8 in kinova-ros all on their melodic-devel branches. Unfortunately all commits depend on one another. This allows the V2 with arm to successfully run in Gazebo with MoveIt! trajectory planning as well, though 2 non-fatal errors still pop up.

Note: changes were made to bwi_moveit_utils to get the nodes to run in simulation. Testing on actual hardware should be done here:

maxsvetlik commented 4 years ago

simulation_v3 can be brought up successfully but the Twist movement is inverted, preventing the local planner from correctly directing it towards goals. Investigating. Resolved with f804240 in segbot. Indeed an issue that relates only to the simulated controller of the base.

maxsvetlik commented 4 years ago

multi_level_map_server and associated packages are now working as expected for both single and multi agent simulations as of 1c5aae1 in segbot.

maxsvetlik commented 4 years ago

The following repositories have melodic related PRs open:

  1. segbot
  2. segway_rmp
  3. bwi_common

Other repositories that we use also have melodic changes but are forks and don't utilize the same methodology for keeping master current. So for these, I will maintain their local structure and just maintain the melodic-devel branch as the main target.

These repositories are:

maxsvetlik commented 4 years ago

The segbot, segway_rmp and bwi_common repositories now target ROS Melodic in the master branch.

maxsvetlik commented 4 years ago

Last step: correcting this repository. See #63.

maxsvetlik commented 4 years ago

63 merged- kinetic and melodic versions of the bwi codebase should each be able to be installed and compiled according to this repository's README.

Primary upgrade complete! Any residual issues should be opened in their respective repository.