Merge branch 'develop' of https://github.com/nasa/isaac into develop

nasa · Jun 13, 2024 · a807b20 · a807b20
2 parents 11248b1 + 597a0d0
commit a807b20
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diff --git a/.github/workflows/apk.yaml b/.github/workflows/apk.yaml
@@ -1,5 +1,3 @@
-# Check for lint error and auto correct them
-
 name: Compile APK
 
 on: ['push', 'pull_request', 'workflow_dispatch']

diff --git a/.github/workflows/ci_pr.yml b/.github/workflows/ci_pr.yml
@@ -7,7 +7,7 @@ on:
 
 jobs:
 
-  build-xenial:
+  build-focal:
 
     runs-on: ubuntu-20.04
 
@@ -25,26 +25,43 @@ jobs:
         submodules: recursive
         path: isaac/
 
-    - name: Build code for isaac:astrobee Ubuntu 16
-      run: isaac/scripts/docker/build.sh --remote --xenial --astrobee-source-path astrobee/
+    # This version is more elegant but currently uses too much space for GitHub CI workers
+    #- name: Build code for isaac:astrobee Ubuntu 20
+    #  run: isaac/scripts/docker/build.sh --remote --focal --astrobee-source-path astrobee/
 
-  build-focal:
+    # These steps were copied verbatim from ci_push.yml which seems to use less space.
+    - name: Build code for isaac:astrobee Ubuntu 20
+      run: docker build isaac -f isaac/scripts/docker/isaac_astrobee.Dockerfile
+                          --build-arg UBUNTU_VERSION=20.04
+                          --build-arg ROS_VERSION=noetic
+                          --build-arg PYTHON=3
+                          --build-arg REMOTE=ghcr.io/nasa
+                          -t ghcr.io/${{ github.repository_owner }}/isaac:latest-astrobee-ubuntu20.04
 
-    runs-on: ubuntu-20.04
+    - name: Build code for isaac:latest Ubuntu 20
+      run: docker build isaac -f isaac/scripts/docker/isaac.Dockerfile
+                          --build-arg UBUNTU_VERSION=20.04
+                          --build-arg ROS_VERSION=noetic
+                          --build-arg PYTHON=3
+                          --build-arg REMOTE=ghcr.io/nasa
+                          -t ghcr.io/${{ github.repository_owner }}/isaac:latest-ubuntu20.04
 
-    steps:
+    - name: Build messages dockers for Ubuntu 20 (astrobee)
+      run: docker build astrobee -f isaac/scripts/docker/astrobee_msgs.Dockerfile
+                          --build-arg UBUNTU_VERSION=20.04
+                          --build-arg ROS_VERSION=noetic
+                          --build-arg PYTHON=3
+                          -t ghcr.io/${{ github.repository_owner }}/isaac:astrobee-msgs-ubuntu20.04
 
-    - name: Checkout Astrobee
-      uses: actions/checkout@v3
-      with:
-        repository: nasa/astrobee
-        path: astrobee/
-
-    - name: Checkout ISAAC
-      uses: actions/checkout@v3
-      with:
-        submodules: recursive
-        path: isaac/
+    - name: Build messages dockers for Ubuntu 20 (isaac)
+      run: docker build isaac -f isaac/scripts/docker/isaac_msgs.Dockerfile
+                          --build-arg UBUNTU_VERSION=20.04
+                          --build-arg ROS_VERSION=noetic
+                          --build-arg PYTHON=3
+                          --build-arg REMOTE=ghcr.io/nasa
+                          -t ghcr.io/${{ github.repository_owner }}/isaac:msgs-ubuntu20.04
 
-    - name: Build code for isaac:astrobee Ubuntu 20
-      run: isaac/scripts/docker/build.sh --remote --focal --astrobee-source-path astrobee/
+    - name: Build analyst image isaac/isaac:msgs-ubuntu20.04
+      run: docker build isaac -f isaac/scripts/docker/analyst.Dockerfile
+                         --build-arg REMOTE=ghcr.io/nasa
+                         -t ghcr.io/${{ github.repository_owner }}/isaac_analyst_notebook:latest
diff --git a/.github/workflows/ci_push.yml b/.github/workflows/ci_push.yml
@@ -8,65 +8,6 @@ on:
 
 jobs:
 
-  build-xenial:
-
-    runs-on: ubuntu-20.04
-
-    steps:
-
-    - name: Checkout Astrobee
-      uses: actions/checkout@v3
-      with:
-        repository: nasa/astrobee
-        path: astrobee/
-
-    - name: Checkout ISAAC
-      uses: actions/checkout@v3
-      with:
-        submodules: recursive
-        path: isaac/
-
-    - name: Build code for isaac:astrobee Ubuntu 16
-      run: docker build isaac -f isaac/scripts/docker/isaac_astrobee.Dockerfile
-                          --build-arg UBUNTU_VERSION=16.04
-                          --build-arg ROS_VERSION=kinetic
-                          --build-arg PYTHON=''
-                          --build-arg REMOTE=ghcr.io/nasa
-                          -t ghcr.io/${{ github.repository_owner }}/isaac:latest-astrobee-ubuntu16.04
-
-    - name: Build code for isaac:latest Ubuntu 16
-      run: docker build isaac -f isaac/scripts/docker/isaac.Dockerfile
-                          --build-arg UBUNTU_VERSION=16.04
-                          --build-arg ROS_VERSION=kinetic
-                          --build-arg PYTHON=''
-                          --build-arg REMOTE=ghcr.io/nasa
-                          -t ghcr.io/${{ github.repository_owner }}/isaac:latest-ubuntu16.04
-
-    - name: Build messages dockers for Ubuntu 16 (astrobee)
-      run: docker build astrobee -f isaac/scripts/docker/astrobee_msgs.Dockerfile
-                          --build-arg UBUNTU_VERSION=16.04
-                          --build-arg ROS_VERSION=kinetic
-                          --build-arg PYTHON=''
-                          -t ghcr.io/${{ github.repository_owner }}/isaac:astrobee-msgs-ubuntu16.04
-
-    - name: Build messages dockers for Ubuntu 16 (isaac)
-      run: docker build isaac -f isaac/scripts/docker/isaac_msgs.Dockerfile
-                          --build-arg UBUNTU_VERSION=16.04
-                          --build-arg ROS_VERSION=kinetic
-                          --build-arg PYTHON=''
-                          --build-arg REMOTE=ghcr.io/nasa
-                          -t ghcr.io/${{ github.repository_owner }}/isaac:msgs-ubuntu16.04
-
-    - name: Log in to registry
-      run: echo "${{ secrets.GITHUB_TOKEN }}" | docker login ghcr.io -u ${{ github.repository_owner }} --password-stdin
-
-    - name: Push Docker image
-      run: |
-        if [ "${{ github.repository_owner }}" = "nasa" ]; then docker push ghcr.io/${{ github.repository_owner }}/isaac:latest-astrobee-ubuntu16.04; fi;
-        if [ "${{ github.repository_owner }}" = "nasa" ]; then docker push ghcr.io/${{ github.repository_owner }}/isaac:latest-ubuntu16.04; fi;
-        if [ "${{ github.repository_owner }}" = "nasa" ]; then docker push ghcr.io/${{ github.repository_owner }}/isaac:astrobee-msgs-ubuntu16.04; fi;
-        if [ "${{ github.repository_owner }}" = "nasa" ]; then docker push ghcr.io/${{ github.repository_owner }}/isaac:msgs-ubuntu16.04; fi;
-
   build-focal:
 
     runs-on: ubuntu-20.04
@@ -118,8 +59,8 @@ jobs:
 
     - name: Build analyst image isaac/isaac:msgs-ubuntu20.04
       run: docker build isaac -f isaac/scripts/docker/analyst.Dockerfile
-                          --build-arg REMOTE=ghcr.io/nasa
-                          -t ghcr.io/${{ github.repository_owner }}/isaac_analyst_notebook:latest
+                         --build-arg REMOTE=ghcr.io/nasa
+                         -t ghcr.io/${{ github.repository_owner }}/isaac_analyst_notebook:latest
 
 
     - name: Log in to registry

diff --git a/.github/workflows/ci_release.yml b/.github/workflows/ci_release.yml
@@ -8,68 +8,6 @@ on:
 
 jobs:
 
-  build-xenial:
-
-    runs-on: ubuntu-20.04
-
-    steps:
-    - uses: actions/checkout@v3
-
-    - name: Checkout Astrobee
-      uses: actions/checkout@v3
-      with:
-        repository: nasa/astrobee
-        path: astrobee/
-
-    - name: Checkout ISAAC
-      uses: actions/checkout@v3
-      with:
-        submodules: recursive
-        path: isaac/
-
-    - name: Build code for isaac:astrobee Ubuntu 16
-      run: docker build isaac -f isaac/scripts/docker/isaac_astrobee.Dockerfile
-                          --build-arg UBUNTU_VERSION=16.04
-                          --build-arg ROS_VERSION=kinetic
-                          --build-arg PYTHON=''
-                          --build-arg REMOTE=ghcr.io/nasa
-                          -t isaac/isaac:latest-astrobee-ubuntu16.04
-
-    - name: Build code for isaac:latest Ubuntu 16
-      run: docker build isaac -f isaac/scripts/docker/isaac.Dockerfile
-                          --build-arg UBUNTU_VERSION=16.04
-                          --build-arg ROS_VERSION=kinetic
-                          --build-arg PYTHON=''
-                          --build-arg REMOTE=isaac
-                          -t isaac/isaac:latest-ubuntu16.04
-
-    - name: Build messages dockers for Ubuntu 16 (astrobee)
-      run: docker build astrobee -f isaac/scripts/docker/astrobee_msgs.Dockerfile
-                          --build-arg UBUNTU_VERSION=16.04
-                          --build-arg ROS_VERSION=kinetic
-                          --build-arg PYTHON=''
-                          -t isaac/isaac:astrobee-msgs-ubuntu16.04
-
-    - name: Build messages dockers for Ubuntu 16 (isaac)
-      run: docker build isaac -f isaac/scripts/docker/isaac_msgs.Dockerfile
-                          --build-arg UBUNTU_VERSION=16.04
-                          --build-arg ROS_VERSION=kinetic
-                          --build-arg PYTHON=''
-                          --build-arg REMOTE=isaac
-                          -t isaac/isaac:msgs-ubuntu16.04
-
-    - name: Log in to registry
-      run: echo "${{ secrets.GITHUB_TOKEN }}" | docker login ghcr.io -u ${{ github.repository_owner }} --password-stdin
-
-    - name: Push Docker image
-      run: |
-        cd isaac
-        export VERSION=`grep -w -m 1 "Release" RELEASE.md | awk '{print $3}'`
-        docker tag isaac/isaac:latest-astrobee-ubuntu16.04 ghcr.io/${{ github.repository_owner }}/isaac:v${VERSION}-astrobee-ubuntu16.04
-        if [ "${{ github.repository_owner }}" = "nasa" ]; then docker push ghcr.io/${{ github.repository_owner }}/isaac:v${VERSION}-astrobee-ubuntu16.04; fi;
-        docker tag isaac/isaac:latest-ubuntu16.04 ghcr.io/${{ github.repository_owner }}/isaac:v${VERSION}-ubuntu16.04
-        if [ "${{ github.repository_owner }}" = "nasa" ]; then docker push ghcr.io/${{ github.repository_owner }}/isaac:v${VERSION}-ubuntu16.04; fi;
-
   build-focal:
 
     runs-on: ubuntu-20.04

diff --git a/.github/workflows/lint.yaml b/.github/workflows/lint.yaml
@@ -24,7 +24,7 @@ jobs:
 
     - name: Run black
       run: |
-        black . --diff --extend-exclude cmake --check
+        black . --diff --extend-exclude=cmake --extend-exclude=submodules --extend-exclude=astrobee/survey/survey_dependencies --check
     - name: Run isort
       run: |
-        isort . --diff --extend-skip cmake --profile black --check-only
+        isort . --diff --extend-skip=cmake --extend-skip=submodules --extend-skip=astrobee/survey/survey_dependencies --profile=black --check-only
diff --git a/.gitignore b/.gitignore
@@ -58,9 +58,11 @@ analyst/workspace/.ipython
 analyst/workspace/.jupyter
 analyst/workspace/.local
 analyst/workspace/.ipynb_checkpoints
+analyst/workspace/results
 analyst/workspace/scripts/.ipynb_checkpoints
 analyst/workspace/.cache
+analyst/workspace/craft_mlt_25k.pth
 analyst/workspace/data
 
 # vscode
-isaac.code-workspace
+isaac.code-workspace
diff --git a/.gitmodules b/.gitmodules
@@ -1,3 +1,19 @@
 [submodule "isaac_msgs"]
 	path = communications/isaac_msgs
 	url = https://github.com/nasa/isaac_msgs.git
+[submodule "ros2_planning_system"]
+	path = astrobee/survey/survey_dependencies/ros2_planning_system
+	url = https://github.com/bckempa/ros2_planning_system
+	branch = noetic-devel
+[submodule "ros1_lifecycle"]
+	path = astrobee/survey/survey_dependencies/ros1_lifecycle
+	url = https://github.com/bckempa/ros1_lifecycle.git
+	branch = noetic-devel
+[submodule "popf"]
+	path = astrobee/survey/survey_dependencies/popf
+	url = https://github.com/Bckempa/popf.git
+	branch = noetic-devel
+[submodule "optic_planner"]
+	path = astrobee/survey/survey_dependencies/optic_planner
+	url = https://github.com/Bckempa/optic_planner.git
+	branch = noetic-devel
diff --git a/.isort.cfg b/.isort.cfg
@@ -15,4 +15,4 @@
 # folder, you can auto-update it by running
 # scripts/git/configure_isort_paths.sh.
 
-src_paths = analyst/workspace/scripts,anomaly/image/scripts,astrobee/behaviors/inspection/scripts,astrobee/simulation/acoustics_cam/src,dense_map/geometry_mapper/tools,isaac_msgs/isaac_msgs/test,pano/pano_stitch/scripts,pano/pano_view/scripts,scripts/git
+src_paths = analyst/workspace/scripts,anomaly/gmm-change-detection,anomaly/gmm-change-detection/scripts/gmm,anomaly/image/scripts,astrobee/behaviors/inspection/scripts,astrobee/simulation/acoustics_cam/src,astrobee/survey/survey_manager,astrobee/survey/survey_manager/scripts,astrobee/survey/survey_manager/src/survey_manager,astrobee/survey/survey_manager/tools/bak,communications/isaac_msgs/isaac_msgs/test,dense_map/geometry_mapper/tools,dense_map/volumetric_mapper/scripts,pano/pano_stitch/scripts,pano/pano_view/scripts,scripts/git
diff --git a/README.md b/README.md
@@ -33,6 +33,7 @@ the [Astrobee robot](https://github.com/nasa/astrobee). This repository includes
 - [Dense mapping](https://nasa.github.io/isaac/html/geometric_streaming_mapper.html) to create a textured 3D map
 - [Volumetric mapping](https://nasa.github.io/isaac/html/volumetric_mapper.html) to map volumetric signals, such as WiFi.
 - [Image analysis](https://nasa.github.io/isaac/html/ano.html) module to train a neural network to detect anomalies
+- [Survey Manager](https://nasa.github.io/isaac/html/survey.html) semi-autonomous planning and execution of imaging tasks.
 
 You may also be interested in the separate repository for the [ISAAC User Interface](https://github.com/nasa/isaac_user_interface),
 which enables monitoring of multiple robots through a web browser.

diff --git a/RELEASE.md b/RELEASE.md
@@ -1,5 +1,28 @@
 # Releases
 
+## Release 0.2.10
+
+  * ISAAC 15 prep
+  * Improve action result
+
+## Release 0.2.9
+
+  * Fixes to survey_manager
+  * Fixes to CI
+
+## Release 0.2.8
+
+  * Improvements to survey_manager output
+  * Bug fixes
+
+## Release 0.2.7
+
+  * Survey manager
+  * Multiple fixes to inspection
+  * GMM anomaly detection
+  * Ubuntu 20 only supported now
+  * Others
+
 ## Release 0.2.6
 
   * Upgrades on inspection tool

diff --git a/analyst/readme.md b/analyst/readme.md
@@ -5,11 +5,12 @@
 
 **The jupyter notebooks will be able to access data that is in the `$HOME/data` and `$HOME/data/bags`, therefore, make sure all the relevant bag files are there**
 
+**If you want to run the OCR, make sure there is a `$HOME/data/str` folder with all the data**
 
 For the Analyst notebook to be functional, it needs to start side-by-side with the database and the IUI (ISAAC user interface).
 To do so, the recommended method is to use the remote docker images, as:
 
-	$ISAAC_SRC/scripts/docker/run.sh --analyst --no-sim --remote
+	$ISAAC_SRC/scripts/docker/run.sh --analyst --mount --no-sim --remote
 
 The ISAAC UI is hosted in: http://localhost:8080
 The ArangoDB database is hosted in: http://localhost:8529