Merge pull request #134 from SemRoCo/devel

Devel

.github/workflows/build_dependencies.yml

@@ -87,6 +87,7 @@ jobs:
         name: install pip requirements
         run: |
           sudo apt install libeigen3-dev
+          python3 -m pip install --upgrade pip
           pip3 install -r requirements.txt
       - if: ${{ steps.pip-load.outputs.cache-hit != 'true' }}
         name: cache pip

.github/workflows/main_unit_tests.yml

@@ -30,75 +30,67 @@ jobs:
   build:
     runs-on: ubuntu-20.04
     steps:
-    - uses: actions/checkout@v3
-      with:
-        path: 'ros_ws/src/giskardpy'
-        repository: SemRoCo/giskardpy
-    - name: Checkout giskard msgs
-      uses: actions/checkout@v3
-      with:
-        path: 'ros_ws/src/giskard_msgs'
-        repository: SemRoCo/giskard_msgs
-    - name: Checkout qpoases
-      uses: actions/checkout@v3
-      with:
-        path: 'ros_ws/src/qpOASES'
-        repository: SemRoCo/qpOASES
-        ref: noetic
-    - name: Checkout iai_pr2
-      uses: actions/checkout@v3
-      with:
-        path: 'ros_ws/src/iai_pr2'
-        repository: code-iai/iai_pr2
-        ref: mujoco_sim_setup
-    - name: Checkout iai_maps
-      uses: actions/checkout@v3
-      with:
-        path: 'ros_ws/src/iai_maps'
-        repository: code-iai/iai_maps
-        ref: master
-    - name: Setup Giskard workspace
-      uses: betwo/github-setup-catkin@master
-      env:
-            ACTIONS_ALLOW_UNSECURE_COMMANDS: true
-      with:
-        # Version range or exact version of ROS version to use, using SemVer's version range syntax.
-        ros-version: noetic
-        build-tool: 'catkin_tools'
-        # Root directory of the catkin workspace
-        workspace: $GITHUB_WORKSPACE/ros_ws
-    - name: install pip dependencies
-      run: pip3 install -r ros_ws/src/giskardpy/requirements.txt
-    - name: build Giskard
-      run: |
-        cd ros_ws
-        touch src/iai_pr2/iai_pr2_sim/CATKIN_IGNORE
-        touch src/iai_pr2/iai_pr2_donbot/CATKIN_IGNORE
-        catkin build
-        echo 'export ROS_HOSTNAME=localhost' >> ~/.bashrc
-        echo 'source $GITHUB_WORKSPACE/ros_ws/devel/setup.bash' >> ~/.bashrc
-#    - name: build betterpybullet
-#      run: |
-#        mkdir betterpybullet
-#        source $GITHUB_WORKSPACE/ros_ws/devel/setup.bash
-#        roscd giskardpy
-#        ./scripts/build_better_pybullet.sh /betterpybullet
-    - name: start roscore
-      run: |
-        roscore &
-    - name: casadi wrapper
-      run: |
-        roscd giskardpy
-        python3 -m pytest -s test/test_cas_wrapper.py
-    - name: PR2 TestWorld
-      run: |
-        roscd giskardpy
-        python3 -m pytest -s test/test_integration_pr2.py::TestWorld
-    - name: test godmap
-      run: |
-        roscd giskardpy
-        python3 -m pytest -s test/test_god_map.py
-#    - name: Setup upterm session
-##      if: always()
-#      if: failure()
-#      uses: lhotari/action-upterm@v1
+      - uses: actions/checkout@v3
+        with:
+          path: 'ros_ws/src/giskardpy'
+          repository: SemRoCo/giskardpy
+      - name: Checkout giskard msgs
+        uses: actions/checkout@v3
+        with:
+          path: 'ros_ws/src/giskard_msgs'
+          repository: SemRoCo/giskard_msgs
+      - name: Checkout qpoases
+        uses: actions/checkout@v3
+        with:
+          path: 'ros_ws/src/qpOASES'
+          repository: SemRoCo/qpOASES
+          ref: noetic
+      - name: Checkout iai_pr2
+        uses: actions/checkout@v3
+        with:
+          path: 'ros_ws/src/iai_pr2'
+          repository: code-iai/iai_pr2
+          ref: mujoco_sim_setup
+      - name: Checkout iai_maps
+        uses: actions/checkout@v3
+        with:
+          path: 'ros_ws/src/iai_maps'
+          repository: code-iai/iai_maps
+          ref: master
+      - name: Setup Giskard workspace
+        uses: betwo/github-setup-catkin@master
+        env:
+              ACTIONS_ALLOW_UNSECURE_COMMANDS: true
+        with:
+          # Version range or exact version of ROS version to use, using SemVer's version range syntax.
+          ros-version: noetic
+          build-tool: 'catkin_tools'
+          # Root directory of the catkin workspace
+          workspace: $GITHUB_WORKSPACE/ros_ws
+      - name: install pip dependencies
+        run: |
+          python3 -m pip install --upgrade pip
+          pip3 install -r ros_ws/src/giskardpy/requirements.txt
+      - name: build Giskard
+        run: |
+          cd ros_ws
+          touch src/iai_pr2/iai_pr2_sim/CATKIN_IGNORE
+          touch src/iai_pr2/iai_pr2_donbot/CATKIN_IGNORE
+          catkin build
+          echo 'export ROS_HOSTNAME=localhost' >> ~/.bashrc
+          echo 'source $GITHUB_WORKSPACE/ros_ws/devel/setup.bash' >> ~/.bashrc
+      - name: start roscore
+        run: |
+          roscore &
+      - name: casadi wrapper
+        run: |
+          roscd giskardpy
+          python3 -m pytest -s test/test_cas_wrapper.py
+      - name: test godmap
+        run: |
+          roscd giskardpy
+          python3 -m pytest -s test/test_god_map.py
+  #    - name: Setup upterm session
+  ##      if: always()
+  #      if: failure()
+  #      uses: lhotari/action-upterm@v1

.github/workflows/reusable_robot_ci.yml

@@ -85,7 +85,9 @@ jobs:
           path: 'ros_ws/src/giskardpy'
           repository: SemRoCo/giskardpy
       - name: install pip dependencies
-        run: pip3 install -r ros_ws/src/giskardpy/requirements.txt
+        run: |
+          python3 -m pip install --upgrade pip
+          pip3 install -r ros_ws/src/giskardpy/requirements.txt
       - name: Checkout giskard msgs
         uses: actions/checkout@v3
         with:
@@ -118,7 +120,7 @@ jobs:
         with:
           path: 'ros_ws/src/iai_robots'
           repository: code-iai/iai_robots
-          ref: noetic
+          ref: master
       - if: ${{ inputs.robot == 'pr2' }}
         name: Checkout iai_pr2
         uses: actions/checkout@v3

.gitignore

@@ -20,6 +20,7 @@ msg/_*.py
 *.png
 *.lprof
 tmp_data/
+tmp/
 
 # Generated by dynamic reconfigure
 *.cfgc

CMakeLists.txt

@@ -161,18 +161,28 @@ include_directories(
 # )
 
 catkin_install_python(PROGRAMS 
-	scripts/giskard.py
-	scripts/interactive_marker.py
-	scripts/joystick_e_stop.py
-	scripts/clear_world.py
-	scripts/joint_goal_publisher.py
-	scripts/move_base_simple_goal.py
-	scripts/print_joint_state.py
-	scripts/fake_servers.py
-	scripts/move_base_simple_goal_diff_drive.py
-	scripts/base_joint_state_publisher.py
-	scripts/giskard_pr2_standalone_example.py
-	scripts/python_interface_example.py
+	scripts/tools/clear_world.py
+	scripts/tools/collision_matrix_tool.py
+	scripts/iai_robots/boxy/boxy_standalone.py
+	scripts/iai_robots/donbot/donbot.py
+	scripts/iai_robots/donbot/donbot_standalone.py
+	scripts/iai_robots/hsr/hsr_standalone.py
+	scripts/iai_robots/hsr/iai_hsr.py
+	scripts/iai_robots/hsr/iai_hsr_real_time.py
+	scripts/iai_robots/pr2/iai_pr2.py
+	scripts/iai_robots/pr2/pr2_mujoco.py
+	scripts/iai_robots/pr2/pr2_standalone.py
+	scripts/iai_robots/tiago/tiago_standalone.py
+	scripts/iai_robots/tracy/tracy.py
+	scripts/iai_robots/tracy/tracy_standalone.py
+	scripts/other_robots/armar/armar_standalone.py
+	scripts/examples/giskard_pr2_standalone_example.py
+	scripts/tools/interactive_marker.py
+	scripts/tools/joystick_e_stop.py
+	scripts/tools/move_base_simple_goal.py
+	scripts/tools/move_base_simple_goal_diff_drive.py
+	scripts/tools/print_joint_state.py
+	scripts/examples/python_interface_example.py
   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
 
 ## Mark executables and/or libraries for installation

README.md

@@ -45,18 +45,13 @@ If it doesn't work, make sure that your ```$PYTHONPATH``` includes something lik
 
 #### Alternative QP solvers
 Giskard supports multiple QP solvers and will automatically use the fasted installed solver.
-The default is `qpalm`, as it is the easiest to install.
 
-You may want to install `qpSWIFT` manually. 
-It is faster than `qpalm` up until ~600 constraints after which `qpalm` becomes faster.
-For reference, using the default setup, the PR2 usually requires 300-500 constraints for most goals.
-To install `qpSWIFT`, follow the instructions on their github page: https://github.com/qpSWIFT/qpSWIFT.
-
-Giskard also supports two additional solvers, which are slower than `qpalm`, sorted by how fast they are for Giskard's usecase:
-- `Gurobi`: A commercial solver, slower than `qpalm`, but the difference decreases with rising number of constraints: 
+- `qpalm`: Default solver, because it is the easiest to install and still reasonably fast.
+- `qpSWIFT`: Fastest open source solver in most cases. Install instructions: https://github.com/qpSWIFT/qpSWIFT.
+- `gurobi`: Commercial solver. Slightly slower than `qpSWIFT` on most robots. Outperforms `qpSWFIT` on systems with a lot of dof and/or a large prediction horizon.
   - ```sudo pip3 install gurobipy```
   - You can apply for a free academic license or buy one here: https://www.gurobi.com/academia/academic-program-and-licenses/
-- `qpOASES`: Fine up until ~100 constraints, afterwards it because extremely slow: https://github.com/SemRoCo/qpOASES/tree/noetic
+  - If you have vpn access to or are in the local network of the IAI of the University of Bremen, follow these instructions: https://ai.uni-bremen.de/wiki/intern/adm/gurobi
 
 [//]: # (- `Clarabel.rs`: `sudo pip3 install clarabel` (https://github.com/oxfordcontrol/Clarabel.rs))