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Copy file name to clipboardExpand all lines: README.md
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@@ -15,15 +15,20 @@ All code is written as individual ROS 2 packages.
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The workspace is managed using the [pixi](https://pixi.sh) package manager. This allows us to have reproducible builds and easy user space dependency management similar to tools like `uv` or `cargo`. This also means that no system wide ROS installation or superuser privileges are required to install or run the code.
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Full step-by-step instructions for installing the Bit-Bots software stack and ROS 2 can be found in our documentation [here](https://doku.bit-bots.de/meta/manual/tutorials/install_software_ros2.html).
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Full step-by-step instructions for installing the Bit-Bots software stack and ROS 2 can be found in our [documentation](https://docs.bit-bots.de/meta/manual/tutorials/install_software_ros2.html).
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Run the following command inside this repository to build the workspace. All dependencies will be installed automatically. Make sure you have [pixi](https://pixi.sh) installed. A few optional proprietary dependencies will be needed for full functionality, see the documentation for details.
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Run the following command inside this repository to build the workspace.
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All dependencies will be installed automatically.
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Make sure you have [pixi](https://pixi.sh) installed.
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A few optional proprietary dependencies will be needed for full functionality, see the documentation for details.
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```shell
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pixi run build
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```
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The first build might fail due to missing dependencies.
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Run `pixi run basler` to install the Basler pylon camera driver.
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## Using the workspace
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To activate the workspace run the following command in the terminal you want to use:
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pixi run <command>
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```
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To see some predefined / commands, run
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To build the workspace, run the following command in the terminal:
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```shell
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pixi run build
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```
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To see some predefined tasks / commands, run
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```shell
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pixi task list
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To deploy the software to a robot, run
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```shell
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pixi run deploy<robot_ip|robot_name>
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pixi run deploy
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```
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For more information on the deployment tooling, see [this documentation](scripts/README.md).
echo" --ci Run non-interactively for CI (skips confirmation and progress)"
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echo" --skip-os-check Skip the Ubuntu version/OS check"
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echo" -h, --help Show this help message and exit"
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}
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# Parse arguments position-independently
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forargin"$@";do
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case"$arg"in
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--ci)
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CI=true
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SHOW_PROGRESS=""
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;;
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--skip-os-check)
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SKIP_OS_CHECK=true
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;;
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-h|--help)
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print_help
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exit 0
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;;
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*)
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UNKNOWN_ARGS+=("$arg")
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;;
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esac
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done
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# If unknown arguments were passed, warn and show help
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if [[ ${#UNKNOWN_ARGS[@]}-gt 0 ]];then
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echo"Unknown argument(s): ${UNKNOWN_ARGS[*]}"
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echo
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print_help
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exit 1
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fi
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# Check let the user confirm that they read the license agreement on the basler website and agree with it.
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echo"You need to confirm that you read the license agreements for pylon $PYLON_VERSION on the basler download page (https://www.baslerweb.com/en/downloads/software-downloads/) and agree with it."
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# Check --ci flag for automatic confirmation in the ci
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if [[ $1=="--ci" ]];then
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echo"Running in a CI environment, continuing..."
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SHOW_PROGRESS=""
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else
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# Ask the user if they want to continue and break if they don't
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# If not running in CI, ask the user to confirm license agreement
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if [[ "$CI"!=true ]];then
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read -p "Do you want to continue? [y/N] " -n 1 -r
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echo
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if [[ !$REPLY=~ ^[Yy]$ ]];then
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echo"Aborting..."
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exit 1
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fi
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SHOW_PROGRESS="--show-progress"
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fi
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check_os_is_required_ubuntu_version () {
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# Check if the OS is ubuntu
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echo"Checking for compatible OS..."
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if [[ "$(lsb_release -is)"!="Ubuntu" ]];then
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echo"This driver package only supports Ubuntu (and some Debian derivatives)."
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echo"Please install Ubuntu >= 18.04 and try again OR try it on a compatible Debian derivative with --skip-os-check."
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exit 1
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fi
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}
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check_internet_connection () {
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# Check if we have an internet connection, except in the ci as azure does not support ping by design
echo"Pylon download url does not exist. Please check the url and update the 'PYLON_DOWNLOAD_URL' variable in the 'make_basler.sh' script. The website might have changed."
echo"Pylon download url does not exist. Please check the url and update the 'PYLON_DOWNLOAD_URL' variable in the 'make_basler.sh' script. The website might have changed."
if ask_question "Do you want to continue with an HTTPS clone instead of fixing SSH keys now?";then
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echo"Cloning via HTTPS..."
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git clone "$REPO_URL_HTTPS"
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else
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echo"Please set up your SSH keys and re-run this script. Exiting."
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exit 1
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fi
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fi
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git checkout "$BRANCH"
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fi
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meta_dir="$(realpath "$PWD/bitbots_main")"
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cd"$meta_dir"||exit
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main_dir="$(realpath "$PWD/bitbots_main")"
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cd"$main_dir"||exit
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fi
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echo"Installing dependencies..."
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$HOME/.pixi/bin/pixi install
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install
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}
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setup_host() {
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echo"Setting up system dependencies not covered by pixi. This may require sudo rights. For non-Ubuntu systems, please install the required packages manually."
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if(( has_sudo ));then
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$meta_dir/scripts/make_basler.sh
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$main_dir/scripts/make_basler.sh
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basler_installed=1
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fi
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}
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build_repository() {
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echo"Running full colcon build..."
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echo"Running full build..."
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set +u
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$HOME/.pixi/bin/pixi run build
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# Append "--packages-skip bitbots_basler_camera" to the build command if setup_host was skipped or failed
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if(( basler_installed ));then
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pixi run build
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else
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pixi run build --packages-skip bitbots_basler_camera
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fi
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}
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has_sudo=0
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echo"Because, you don't have sudo rights, no host dependencies will be installed."
Copy file name to clipboardExpand all lines: src/bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/behavior_dsd/decisions/secondary_state_decider.py
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