Ronaldson Bellande
GitHub
commit
1e09addc8b
90
.github/workflows/clone.yml
vendored
Normal file
90
.github/workflows/clone.yml
vendored
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@ -0,0 +1,90 @@
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name: GitHub Clone Count Update Everyday
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on:
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schedule:
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- cron: "0 */24 * * *"
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workflow_dispatch:
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jobs:
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build:
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runs-on: ubuntu-latest
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steps:
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- uses: actions/checkout@v2
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- name: gh login
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run: echo "${{ secrets.SECRET_TOKEN }}" | gh auth login --with-token
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- name: parse latest clone count
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run: |
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curl --user "${{ github.actor }}:${{ secrets.SECRET_TOKEN }}" \
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-H "Accept: application/vnd.github.v3+json" \
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https://api.github.com/repos/${{ github.repository }}/traffic/clones \
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> clone.json
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- name: create gist and download previous count
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id: set_id
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run: |
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if gh secret list | grep -q "GIST_ID"
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then
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echo "GIST_ID found"
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echo "GIST=${{ secrets.GIST_ID }}" >> $GITHUB_OUTPUT
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curl https://gist.githubusercontent.com/${{ github.actor }}/${{ secrets.GIST_ID }}/raw/clone.json > clone_before.json
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if cat clone_before.json | grep '404: Not Found'; then
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echo "GIST_ID not valid anymore. Creating another gist..."
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gist_id=$(gh gist create clone.json | awk -F / '{print $NF}')
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echo $gist_id | gh secret set GIST_ID
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echo "GIST=$gist_id" >> $GITHUB_OUTPUT
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cp clone.json clone_before.json
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git rm --ignore-unmatch CLONE.md
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fi
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else
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echo "GIST_ID not found. Creating a gist..."
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gist_id=$(gh gist create clone.json | awk -F / '{print $NF}')
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echo $gist_id | gh secret set GIST_ID
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echo "GIST=$gist_id" >> $GITHUB_OUTPUT
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cp clone.json clone_before.json
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fi
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- name: update clone.json
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run: |
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curl https://raw.githubusercontent.com/MShawon/github-clone-count-badge/master/main.py > main.py
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python3 main.py
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- name: Update gist with latest count
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run: |
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content=$(sed -e 's/\\/\\\\/g' -e 's/\t/\\t/g' -e 's/\"/\\"/g' -e 's/\r//g' "clone.json" | sed -E ':a;N;$!ba;s/\r{0,1}\n/\\n/g')
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echo '{"description": "${{ github.repository }} clone statistics", "files": {"clone.json": {"content": "'"$content"'"}}}' > post_clone.json
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curl -s -X PATCH \
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--user "${{ github.actor }}:${{ secrets.SECRET_TOKEN }}" \
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-H "Content-Type: application/json" \
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-d @post_clone.json https://api.github.com/gists/${{ steps.set_id.outputs.GIST }} > /dev/null 2>&1
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if [ ! -f CLONE.md ]; then
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shields="https://img.shields.io/badge/dynamic/json?color=success&label=Clone&query=count&url="
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url="https://gist.githubusercontent.com/${{ github.actor }}/${{ steps.set_id.outputs.GIST }}/raw/clone.json"
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repo="https://github.com/MShawon/github-clone-count-badge"
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echo ''> CLONE.md
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echo '
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**Markdown**
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```markdown' >> CLONE.md
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echo "[]($repo)" >> CLONE.md
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echo '
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```
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**HTML**
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```html' >> CLONE.md
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echo "<a href='$repo'><img alt='GitHub Clones' src='$shields$url&logo=github'></a>" >> CLONE.md
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echo '```' >> CLONE.md
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git add CLONE.md
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git config --global user.name "GitHub Action"
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git config --global user.email "action@github.com"
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git commit -m "create clone count badge"
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fi
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- name: Push
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uses: ad-m/github-push-action@master
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with:
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github_token: ${{ secrets.GITHUB_TOKEN }}
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3
git_scripts/.gitignore
vendored
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3
git_scripts/.gitignore
vendored
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@ -0,0 +1,3 @@
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fix_errors.sh
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push.sh
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repository_recal.sh
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@ -0,0 +1,76 @@
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# Copyright (C) 2024 Bellande Robotics Sensors Research Innovation Center, Ronaldson Bellande
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#
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# This program is free software: you can redistribute it and/or modify
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# it under the terms of the GNU General Public License as published by
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# the Free Software Foundation, either version 3 of the License, or
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# (at your option) any later version.
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#
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# This program is distributed in the hope that it will be useful,
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# but WITHOUT ANY WARRANTY; without even the implied warranty of
|
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# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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# GNU General Public License for more details.
|
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#
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# You should have received a copy of the GNU General Public License
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# along with this program. If not, see <https://www.gnu.org/licenses/>.
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import os
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import sys
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import subprocess
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from launch import LaunchDescription
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from launch_ros.actions import Node
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from launch.actions import IncludeLaunchDescription
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from launch.launch_description_sources import PythonLaunchDescriptionSource
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def ros1_launch_description():
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# Get command-line arguments
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args = sys.argv[1:]
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# Construct the ROS 1 launch commandi
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roslaunch_command = ["roslaunch", "humanoid_robot_intelligence_control_system_bringup", "humanoid_robot_intelligence_control_system_bringup.launch"] + args
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# Execute the launch command
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subprocess.call(roslaunch_command)
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def ros2_launch_description():
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# Create a list to hold all nodes to be launched
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nodes_to_launch = []
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# Add the HUMANOID_ROBOT Manager launch file
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nodes_to_launch.append(IncludeLaunchDescription(
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PythonLaunchDescriptionSource([
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'$(find humanoid_robot_intelligence_control_system_manager)/launch/',
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'humanoid_robot_intelligence_control_system_manager.launch.py'
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])
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))
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# Add the UVC camera node
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nodes_to_launch.append(Node(
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package='usb_cam',
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executable='usb_cam_node',
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name='usb_cam_node',
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output='screen',
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parameters=[{
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'video_device': '/dev/video0',
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'image_width': 1280,
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'image_height': 720,
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'framerate': 30,
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'camera_frame_id': 'cam_link',
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'camera_name': 'camera'
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}]
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))
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# Return the LaunchDescription containing all nodes
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return LaunchDescription(nodes_to_launch)
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if __name__ == "__main__":
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ros_version = os.getenv("ROS_VERSION")
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if ros_version == "1":
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ros1_launch_description()
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elif ros_version == "2":
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ros2_launch_description()
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else:
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print("Unsupported ROS version. Please set the ROS_VERSION environment variable to '1' for ROS 1 or '2' for ROS 2.")
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sys.exit(1)
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@ -0,0 +1,85 @@
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# Copyright (C) 2024 Bellande Robotics Sensors Research Innovation Center, Ronaldson Bellande
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#
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# This program is free software: you can redistribute it and/or modify
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||||
# it under the terms of the GNU General Public License as published by
|
||||
# the Free Software Foundation, either version 3 of the License, or
|
||||
# (at your option) any later version.
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||||
#
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||||
# This program is distributed in the hope that it will be useful,
|
||||
# but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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||||
# GNU General Public License for more details.
|
||||
#
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||||
# You should have received a copy of the GNU General Public License
|
||||
# along with this program. If not, see <https://www.gnu.org/licenses/>.
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import os
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import sys
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import subprocess
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from launch import LaunchDescription
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from launch_ros.actions import Node
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from launch.actions import IncludeLaunchDescription, ExecuteProcess
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from launch.launch_description_sources import PythonLaunchDescriptionSource
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from launch.substitutions import FindExecutable, Command
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def ros1_launch_description():
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# Get command-line arguments
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args = sys.argv[1:]
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# Construct the ROS 1 launch command
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roslaunch_command = ["roslaunch", "humanoid_robot_intelligence_control_system_bringup", "humanoid_robot_intelligence_control_system_bringup_visualization.launch"] + args
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# Execute the launch command
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subprocess.call(roslaunch_command)
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def ros2_launch_description():
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# Create a list to hold all nodes to be launched
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nodes_to_launch = []
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# Add robot description
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nodes_to_launch.append(ExecuteProcess(
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cmd=[FindExecutable(name='xacro'), '$(find humanoid_robot_intelligence_control_system_description)/urdf/humanoid_robot_intelligence_control_system.urdf.xacro'],
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output='screen'
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))
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# Add joint state publisher
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nodes_to_launch.append(Node(
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package='joint_state_publisher',
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executable='joint_state_publisher',
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name='joint_state_publisher',
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parameters=[{'use_gui': True}],
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remappings=[('/robot/joint_states', '/humanoid_robot_intelligence_control_system/present_joint_states')]
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))
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# Add robot state publisher
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nodes_to_launch.append(Node(
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package='robot_state_publisher',
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executable='robot_state_publisher',
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name='robot_state_publisher',
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remappings=[('/joint_states', '/humanoid_robot_intelligence_control_system/present_joint_states')]
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))
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# Add rviz
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nodes_to_launch.append(Node(
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package='rviz2',
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executable='rviz2',
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name='rviz2',
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arguments=['-d', '$(find humanoid_robot_intelligence_control_system_bringup)/rviz/humanoid_robot_intelligence_control_system_bringup.rviz']
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))
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# Return the LaunchDescription containing all nodes
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return LaunchDescription(nodes_to_launch)
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if __name__ == "__main__":
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ros_version = os.getenv("ROS_VERSION")
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if ros_version == "1":
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ros1_launch_description()
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elif ros_version == "2":
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ros2_launch_description()
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else:
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print("Unsupported ROS version. Please set the ROS_VERSION environment variable to '1' for ROS 1 or '2' for ROS 2.")
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sys.exit(1)
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@ -0,0 +1,15 @@
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<?xml version="1.0"?>
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<launch>
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<!-- HUMANOID_ROBOT Manager -->
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<include file="$(find humanoid_robot_intelligence_control_system_manager)/launch/humanoid_robot_intelligence_control_system_manager.launch" />
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<!-- UVC camera -->
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<node pkg="usb_cam" type="usb_cam_node" name="usb_cam_node" output="screen">
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<param name="video_device" type="string" value="/dev/video0" />
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<param name="image_width" type="int" value="1280" />
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<param name="image_height" type="int" value="720" />
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<param name="framerate " type="int" value="30" />
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<param name="camera_frame_id" type="string" value="cam_link" />
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<param name="camera_name" type="string" value="camera" />
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</node>
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</launch>
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@ -0,0 +1,22 @@
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<?xml version="1.0"?>
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<launch>
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<param name="robot_description"
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command="$(find xacro)/xacro.py '$(find humanoid_robot_intelligence_control_system_description)/urdf/humanoid_robot_intelligence_control_system.urdf.xacro'" />
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<!-- Send fake joint values and monitoring present joint angle -->
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<node pkg="joint_state_publisher" type="joint_state_publisher" name="joint_state_publisher">
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<param name="use_gui" value="TRUE" />
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<rosparam param="/source_list">
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[/humanoid_robot_intelligence_control_system/present_joint_states]</rosparam>
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</node>
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<!-- Combine joint values -->
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<node pkg="robot_state_publisher" type="state_publisher" name="robot_state_publisher">
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<remap from="/joint_states"
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to="/humanoid_robot_intelligence_control_system/present_joint_states" />
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</node>
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<!-- Show in Rviz -->
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<node pkg="rviz" type="rviz" name="rviz"
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args="-d $(find humanoid_robot_intelligence_control_system_bringup)/rviz/humanoid_robot_intelligence_control_system_bringup.rviz" />
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</launch>
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@ -0,0 +1,121 @@
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# Copyright (C) 2024 Bellande Robotics Sensors Research Innovation Center, Ronaldson Bellande
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||||
#
|
||||
# This program is free software: you can redistribute it and/or modify
|
||||
# it under the terms of the GNU General Public License as published by
|
||||
# the Free Software Foundation, either version 3 of the License, or
|
||||
# (at your option) any later version.
|
||||
#
|
||||
# This program is distributed in the hope that it will be useful,
|
||||
# but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
# GNU General Public License for more details.
|
||||
#
|
||||
# You should have received a copy of the GNU General Public License
|
||||
# along with this program. If not, see <https://www.gnu.org/licenses/>.
|
||||
|
||||
import os
|
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import sys
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import subprocess
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||||
from launch import LaunchDescription
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from launch_ros.actions import Node
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from launch.actions import DeclareLaunchArgument
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from launch.substitutions import LaunchConfiguration
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def ros1_launch_description():
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# Get command-line arguments
|
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args = sys.argv[1:]
|
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# Construct the ROS 1 launch command
|
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roslaunch_command = ["roslaunch", "humanoid_robot_intelligence_control_system_read_write_demo", "humanoid_robot_intelligence_control_system_read_write.launch"] + args
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# Add parameters
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roslaunch_command.extend([
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"gazebo:=false",
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"gazebo_robot_name:=humanoid_robot_intelligence_control_system",
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"offset_file_path:=$(find humanoid_robot_intelligence_control_system_manager)/config/offset.yaml",
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"robot_file_path:=$(find humanoid_robot_intelligence_control_system_manager)/config/HUMANOID_ROBOT.robot",
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"init_file_path:=$(find humanoid_robot_intelligence_control_system_manager)/config/dxl_init_HUMANOID_ROBOT.yaml",
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"device_name:=/dev/ttyUSB0",
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"/humanoid_robot_intelligence_control_system/direct_control/default_moving_time:=0.04",
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"/humanoid_robot_intelligence_control_system/direct_control/default_moving_angle:=90"
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])
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# Add nodes
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roslaunch_command.extend([
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"humanoid_robot_intelligence_control_system_manager", "humanoid_robot_intelligence_control_system_manager", "angle_unit:=30",
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"humanoid_robot_intelligence_control_system_localization", "humanoid_robot_intelligence_control_system_localization",
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"humanoid_robot_intelligence_control_system_read_write_demo", "read_write"
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])
|
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# Execute the launch command
|
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subprocess.call(roslaunch_command)
|
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|
||||
|
||||
def ros2_launch_description():
|
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# Declare launch arguments
|
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gazebo_arg = DeclareLaunchArgument('gazebo', default_value='false')
|
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gazebo_robot_name_arg = DeclareLaunchArgument('gazebo_robot_name', default_value='humanoid_robot_intelligence_control_system')
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offset_file_path_arg = DeclareLaunchArgument('offset_file_path', default_value='$(find humanoid_robot_intelligence_control_system_manager)/config/offset.yaml')
|
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robot_file_path_arg = DeclareLaunchArgument('robot_file_path', default_value='$(find humanoid_robot_intelligence_control_system_manager)/config/HUMANOID_ROBOT.robot')
|
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init_file_path_arg = DeclareLaunchArgument('init_file_path', default_value='$(find humanoid_robot_intelligence_control_system_manager)/config/dxl_init_HUMANOID_ROBOT.yaml')
|
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device_name_arg = DeclareLaunchArgument('device_name', default_value='/dev/ttyUSB0')
|
||||
|
||||
# Create a list to hold all nodes to be launched
|
||||
nodes_to_launch = []
|
||||
|
||||
# Add HUMANOID_ROBOT Manager node
|
||||
nodes_to_launch.append(Node(
|
||||
package='humanoid_robot_intelligence_control_system_manager',
|
||||
executable='humanoid_robot_intelligence_control_system_manager',
|
||||
name='humanoid_robot_intelligence_control_system_manager',
|
||||
output='screen',
|
||||
parameters=[
|
||||
{'angle_unit': 30},
|
||||
{'gazebo': LaunchConfiguration('gazebo')},
|
||||
{'gazebo_robot_name': LaunchConfiguration('gazebo_robot_name')},
|
||||
{'offset_file_path': LaunchConfiguration('offset_file_path')},
|
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{'robot_file_path': LaunchConfiguration('robot_file_path')},
|
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{'init_file_path': LaunchConfiguration('init_file_path')},
|
||||
{'device_name': LaunchConfiguration('device_name')},
|
||||
{'/humanoid_robot_intelligence_control_system/direct_control/default_moving_time': 0.04},
|
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{'/humanoid_robot_intelligence_control_system/direct_control/default_moving_angle': 90}
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||||
]
|
||||
))
|
||||
|
||||
# Add HUMANOID_ROBOT Localization node
|
||||
nodes_to_launch.append(Node(
|
||||
package='humanoid_robot_intelligence_control_system_localization',
|
||||
executable='humanoid_robot_intelligence_control_system_localization',
|
||||
name='humanoid_robot_intelligence_control_system_localization',
|
||||
output='screen'
|
||||
))
|
||||
|
||||
# Add HUMANOID_ROBOT Read-Write demo node
|
||||
nodes_to_launch.append(Node(
|
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package='humanoid_robot_intelligence_control_system_read_write_demo',
|
||||
executable='read_write',
|
||||
name='humanoid_robot_intelligence_control_system_read_write',
|
||||
output='screen'
|
||||
))
|
||||
|
||||
# Return the LaunchDescription containing all nodes and arguments
|
||||
return LaunchDescription([
|
||||
gazebo_arg,
|
||||
gazebo_robot_name_arg,
|
||||
offset_file_path_arg,
|
||||
robot_file_path_arg,
|
||||
init_file_path_arg,
|
||||
device_name_arg
|
||||
] + nodes_to_launch)
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
ros_version = os.getenv("ROS_VERSION")
|
||||
if ros_version == "1":
|
||||
ros1_launch_description()
|
||||
elif ros_version == "2":
|
||||
ros2_launch_description()
|
||||
else:
|
||||
print("Unsupported ROS version. Please set the ROS_VERSION environment variable to '1' for ROS 1 or '2' for ROS 2.")
|
||||
sys.exit(1)
|
||||
@ -0,0 +1,34 @@
|
||||
<?xml version="1.0"?>
|
||||
<launch>
|
||||
<param name="gazebo" value="false" type="bool" />
|
||||
<param name="gazebo_robot_name" value="humanoid_robot_intelligence_control_system" />
|
||||
|
||||
<param name="offset_file_path"
|
||||
value="$(find humanoid_robot_intelligence_control_system_manager)/config/offset.yaml" />
|
||||
<param name="robot_file_path"
|
||||
value="$(find humanoid_robot_intelligence_control_system_manager)/config/HUMANOID_ROBOT.robot" />
|
||||
<param name="init_file_path"
|
||||
value="$(find humanoid_robot_intelligence_control_system_manager)/config/dxl_init_HUMANOID_ROBOT.yaml" />
|
||||
<param name="device_name" value="/dev/ttyUSB0" />
|
||||
|
||||
<param name="/humanoid_robot_intelligence_control_system/direct_control/default_moving_time"
|
||||
value="0.04" />
|
||||
<param name="/humanoid_robot_intelligence_control_system/direct_control/default_moving_angle"
|
||||
value="90" />
|
||||
|
||||
<!-- HUMANOID_ROBOT Manager -->
|
||||
<node pkg="humanoid_robot_intelligence_control_system_manager"
|
||||
type="humanoid_robot_intelligence_control_system_manager"
|
||||
name="humanoid_robot_intelligence_control_system_manager" output="screen">
|
||||
<param name="angle_unit" value="30" />
|
||||
</node>
|
||||
|
||||
<!-- HUMANOID_ROBOT Localization -->
|
||||
<node pkg="humanoid_robot_intelligence_control_system_localization"
|
||||
type="humanoid_robot_intelligence_control_system_localization"
|
||||
name="humanoid_robot_intelligence_control_system_localization" output="screen" />
|
||||
|
||||
<!-- HUMANOID_ROBOT Read-Write demo -->
|
||||
<node pkg="humanoid_robot_intelligence_control_system_read_write_demo" type="read_write"
|
||||
name="humanoid_robot_intelligence_control_system_read_write" output="screen" />
|
||||
</launch>
|
||||
@ -1,3 +1,18 @@
|
||||
# Copyright (C) 2024 Bellande Robotics Sensors Research Innovation Center, Ronaldson Bellande
|
||||
#
|
||||
# This program is free software: you can redistribute it and/or modify
|
||||
# it under the terms of the GNU General Public License as published by
|
||||
# the Free Software Foundation, either version 3 of the License, or
|
||||
# (at your option) any later version.
|
||||
#
|
||||
# This program is distributed in the hope that it will be useful,
|
||||
# but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
# GNU General Public License for more details.
|
||||
#
|
||||
# You should have received a copy of the GNU General Public License
|
||||
# along with this program. If not, see <https://www.gnu.org/licenses/>.
|
||||
|
||||
from distutils.core import setup
|
||||
from catkin_pkg.python_setup import generate_distutils_setup
|
||||
|
||||
|
||||
Loading…
Reference in New Issue
Block a user