Go2025/config

bitbots_lowlevel/bitbots_ros_control/launch/ros_control.launch

@@ -4,6 +4,7 @@
     <arg name="torqueless_mode" default="false"/>
     <arg name="only_imu" default="false"/>
     <arg name="only_pressure" default="false"/>
+    <arg name="tts" default="true" description="Whether to speak" />
 
     <let if="$(env IS_ROBOT false)" name="taskset" value="taskset -c 0"/>
     <let unless="$(env IS_ROBOT false)" name="taskset" value=""/>
@@ -25,9 +26,11 @@
     <group>
         <include file="$(find-pkg-share system_monitor)/launch/system_monitor.launch"/>
         <include file="$(find-pkg-share bitbots_buttons)/launch/buttons.launch"/>
-        <include file="$(find-pkg-share bitbots_tts)/launch/tts.launch"/>
         <!--include file="$(find-pkg-share bitbots_ros_control)/launch/pressure_converter.launch"/-->
     </group>
 
+    <group if="$(var tts)">
+        <include file="$(find-pkg-share bitbots_tts)/launch/tts.launch"/>
+    </group >
 </launch>
 

bitbots_misc/bitbots_bringup/launch/motion.launch

@@ -4,23 +4,25 @@
     <arg name="viz" default="false"/>
     <arg name="walking" default="true" description="start the walking" />
     <arg name="torqueless_mode" default="false" description="start without torque, for example for testing the falling detection"/>
+    <arg name="tts" default="true" description="Whether to speak" />
 
     <!-- launch the base footprint -->
     <node pkg="humanoid_base_footprint" exec="base_footprint" output="screen">
-      <param name="support_state_topics" value="[walk_support_state, dynamic_kick_support_state]"/>
-      <param name="use_sim_time" value="$(var sim)"/>
+        <param name="support_state_topics" value="[walk_support_state, dynamic_kick_support_state]"/>
+        <param name="use_sim_time" value="$(var sim)"/>
     </node>
 
     <!-- launch the odometry -->
     <include file="$(find-pkg-share bitbots_odometry)/launch/odometry.launch">
-      <arg name="sim" value="$(var sim)"/>
+        <arg name="sim" value="$(var sim)"/>
     </include>
 
     <!-- if not in simulation or visualization, launch ros_control -->
     <group unless="$(var sim)">
         <group unless="$(var viz)">
             <include file="$(find-pkg-share bitbots_ros_control)/launch/ros_control.launch">
                 <arg name="torqueless_mode" value="$(var torqueless_mode)" />
+                <arg name="tts" value="$(var tts)" />
             </include>
             <node name="set_volume" pkg="bitbots_utils" exec="set_volume.sh" args="100%" />
         </group>

bitbots_misc/bitbots_bringup/launch/teamplayer.launch

@@ -14,6 +14,8 @@
     <arg name="world_model" default="true" description="Whether the world model should be started"/>
     <arg name="monitoring" default="true" description="Whether the system monitor and udp bridge should be started" />
     <arg name="record" default="false" description="Whether the ros bag recording should be started" />
+    <arg name="tts" default="true" description="Whether to speak" />
+
 
     <!-- load the global parameters -->
     <include file="$(find-pkg-share bitbots_parameter_blackboard)/launch/parameter_blackboard.launch">
@@ -32,6 +34,7 @@
     <group if="$(var motion)">
         <include file="$(find-pkg-share bitbots_bringup)/launch/motion.launch">
             <arg name="sim" value="$(var sim)"/>
+            <arg name="tts" value="$(var tts)" />
         </include>
     </group>
 

scripts/deploy/tasks/__init__.py

@@ -1,12 +1,16 @@
-from deploy.tasks.abstract_task import AbstractTask, AbstractTaskWhichRequiresSudo
-from deploy.tasks.build import Build
-from deploy.tasks.check_repos import CheckReposTask
-from deploy.tasks.configure import Configure
-from deploy.tasks.install import Install
-from deploy.tasks.launch import Launch
-from deploy.tasks.sync import Sync
+INTERNET_TIMEOUT: float = 2.0
+
+
+from deploy.tasks.abstract_task import AbstractTask, AbstractTaskWhichRequiresSudo  # noqa: E402
+from deploy.tasks.build import Build  # noqa: E402
+from deploy.tasks.check_repos import CheckReposTask  # noqa: E402
+from deploy.tasks.configure import Configure  # noqa: E402
+from deploy.tasks.install import Install  # noqa: E402
+from deploy.tasks.launch import Launch  # noqa: E402
+from deploy.tasks.sync import Sync  # noqa: E402
 
 __all__ = [
+    "INTERNET_TIMEOUT",
     "AbstractTask",
     "AbstractTaskWhichRequiresSudo",
     "Build",

scripts/deploy/tasks/check_repos.py

@@ -4,6 +4,7 @@
 from hashlib import md5
 
 from deploy.misc import be_quiet, hide_output, print_debug, print_info, print_success, print_warning
+from deploy.tasks import INTERNET_TIMEOUT
 from deploy.tasks.abstract_task import AbstractTask
 from fabric import Connection, Group, GroupResult, Result
 from git import Repo
@@ -203,7 +204,7 @@ def _github_available(self, connection: Connection) -> bool:
         github: str = "https://github.com"
         print_debug(f"Checking for internet connection to {github}")
 
-        cmd = f"timeout --foreground 0.5 curl -sSLI {github}"
+        cmd = f"timeout --foreground {INTERNET_TIMEOUT:.2f} curl -sSLI {github}"
         print_debug(f"Calling {cmd}")
         available = False
         result: Result | None = None
@@ -292,7 +293,7 @@ def failure(
                 commit_name: str = self._get_friendly_name(commit_hash)
                 warnings: str = ""
                 for i, warning in enumerate(repo_warnings):
-                    warnings += f"{i+1}. {warning}\n"
+                    warnings += f"{i + 1}. {warning}\n"
                 warning_table.add_row(repo_name, f"{commit_name} ({commit_hash[:8]})", warnings)
             print_warning(
                 RichGroup(
@@ -422,8 +423,7 @@ def _get_friendly_name(self, hash: str) -> str:
             "Zebra",
         ]
 
-        friendly_name: str = f"{friendly_adjectives[int(hash[:len(hash)//2], 16) % len(friendly_adjectives)]} {friendly_animals[int(hash[len(hash)//2:], 16) % len(friendly_animals)]}"
-        print_debug(f"Generated friendly commit name: '{friendly_name}'.")
+        friendly_name: str = f"{friendly_adjectives[int(hash[: len(hash) // 2], 16) % len(friendly_adjectives)]} {friendly_animals[int(hash[len(hash) // 2 :], 16) % len(friendly_animals)]}"
         return friendly_name
 
     def _write_commits(self) -> None:

scripts/deploy/tasks/install.py

@@ -3,6 +3,7 @@
 from typing import Optional
 
 from deploy.misc import Connection, get_connections_from_succeeded, hide_output, print_debug, print_error, print_warning
+from deploy.tasks import INTERNET_TIMEOUT
 from deploy.tasks.abstract_task import AbstractTaskWhichRequiresSudo
 from fabric import Group, GroupResult, Result
 from fabric.exceptions import GroupException
@@ -56,7 +57,7 @@ def _internet_available_on_target(self, connections: Group) -> GroupResult:
         apt_mirror = "de.archive.ubuntu.com"
         print_debug("Checking internet connections")
 
-        cmd = f"timeout --foreground 0.5 curl -sSLI {apt_mirror}"
+        cmd = f"timeout --foreground {INTERNET_TIMEOUT} curl -sSLI {apt_mirror}"
         print_debug(f"Calling {cmd}")
         try:
             results = connections.run(cmd, hide=hide_output())

scripts/deploy/tasks/launch.py

@@ -150,7 +150,7 @@ def _check_tmux_session_already_running(self, connections: Group) -> GroupResult
     def _launch_teamplayer(self, connections: Group) -> GroupResult:
         print_debug("Launching teamplayer")
         # Create tmux session
-        cmd = f"tmux new-session -d -s {self._tmux_session_name} && tmux send-keys -t {self._tmux_session_name} 'ros2 launch bitbots_bringup teamplayer.launch record:=true' Enter"
+        cmd = f"tmux new-session -d -s {self._tmux_session_name} && tmux send-keys -t {self._tmux_session_name} 'ros2 launch bitbots_bringup teamplayer.launch record:=true tts:=false' Enter"
 
         print_debug(f"Calling {cmd}")
         try: