latest pushes
This commit is contained in:
parent
d16047166d
commit
71e197d353
90
.github/workflows/clone.yml
vendored
Normal file
90
.github/workflows/clone.yml
vendored
Normal file
@ -0,0 +1,90 @@
|
||||
name: GitHub Clone Count Update Everyday
|
||||
|
||||
on:
|
||||
schedule:
|
||||
- cron: "0 */24 * * *"
|
||||
workflow_dispatch:
|
||||
|
||||
jobs:
|
||||
build:
|
||||
runs-on: ubuntu-latest
|
||||
|
||||
steps:
|
||||
- uses: actions/checkout@v2
|
||||
|
||||
- name: gh login
|
||||
run: echo "${{ secrets.SECRET_TOKEN }}" | gh auth login --with-token
|
||||
|
||||
- name: parse latest clone count
|
||||
run: |
|
||||
curl --user "${{ github.actor }}:${{ secrets.SECRET_TOKEN }}" \
|
||||
-H "Accept: application/vnd.github.v3+json" \
|
||||
https://api.github.com/repos/${{ github.repository }}/traffic/clones \
|
||||
> clone.json
|
||||
|
||||
- name: create gist and download previous count
|
||||
id: set_id
|
||||
run: |
|
||||
if gh secret list | grep -q "GIST_ID"
|
||||
then
|
||||
echo "GIST_ID found"
|
||||
echo "GIST=${{ secrets.GIST_ID }}" >> $GITHUB_OUTPUT
|
||||
curl https://gist.githubusercontent.com/${{ github.actor }}/${{ secrets.GIST_ID }}/raw/clone.json > clone_before.json
|
||||
if cat clone_before.json | grep '404: Not Found'; then
|
||||
echo "GIST_ID not valid anymore. Creating another gist..."
|
||||
gist_id=$(gh gist create clone.json | awk -F / '{print $NF}')
|
||||
echo $gist_id | gh secret set GIST_ID
|
||||
echo "GIST=$gist_id" >> $GITHUB_OUTPUT
|
||||
cp clone.json clone_before.json
|
||||
git rm --ignore-unmatch CLONE.md
|
||||
fi
|
||||
else
|
||||
echo "GIST_ID not found. Creating a gist..."
|
||||
gist_id=$(gh gist create clone.json | awk -F / '{print $NF}')
|
||||
echo $gist_id | gh secret set GIST_ID
|
||||
echo "GIST=$gist_id" >> $GITHUB_OUTPUT
|
||||
cp clone.json clone_before.json
|
||||
fi
|
||||
|
||||
- name: update clone.json
|
||||
run: |
|
||||
curl https://raw.githubusercontent.com/MShawon/github-clone-count-badge/master/main.py > main.py
|
||||
python3 main.py
|
||||
|
||||
- name: Update gist with latest count
|
||||
run: |
|
||||
content=$(sed -e 's/\\/\\\\/g' -e 's/\t/\\t/g' -e 's/\"/\\"/g' -e 's/\r//g' "clone.json" | sed -E ':a;N;$!ba;s/\r{0,1}\n/\\n/g')
|
||||
echo '{"description": "${{ github.repository }} clone statistics", "files": {"clone.json": {"content": "'"$content"'"}}}' > post_clone.json
|
||||
curl -s -X PATCH \
|
||||
--user "${{ github.actor }}:${{ secrets.SECRET_TOKEN }}" \
|
||||
-H "Content-Type: application/json" \
|
||||
-d @post_clone.json https://api.github.com/gists/${{ steps.set_id.outputs.GIST }} > /dev/null 2>&1
|
||||
|
||||
if [ ! -f CLONE.md ]; then
|
||||
shields="https://img.shields.io/badge/dynamic/json?color=success&label=Clone&query=count&url="
|
||||
url="https://gist.githubusercontent.com/${{ github.actor }}/${{ steps.set_id.outputs.GIST }}/raw/clone.json"
|
||||
repo="https://github.com/MShawon/github-clone-count-badge"
|
||||
echo ''> CLONE.md
|
||||
echo '
|
||||
**Markdown**
|
||||
|
||||
```markdown' >> CLONE.md
|
||||
echo "[]($repo)" >> CLONE.md
|
||||
echo '
|
||||
```
|
||||
|
||||
**HTML**
|
||||
```html' >> CLONE.md
|
||||
echo "<a href='$repo'><img alt='GitHub Clones' src='$shields$url&logo=github'></a>" >> CLONE.md
|
||||
echo '```' >> CLONE.md
|
||||
|
||||
git add CLONE.md
|
||||
git config --global user.name "GitHub Action"
|
||||
git config --global user.email "action@github.com"
|
||||
git commit -m "create clone count badge"
|
||||
fi
|
||||
|
||||
- name: Push
|
||||
uses: ad-m/github-push-action@master
|
||||
with:
|
||||
github_token: ${{ secrets.GITHUB_TOKEN }}
|
||||
3
git_scripts/.gitignore
vendored
Normal file
3
git_scripts/.gitignore
vendored
Normal file
@ -0,0 +1,3 @@
|
||||
fix_errors.sh
|
||||
push.sh
|
||||
repository_recal.sh
|
||||
@ -0,0 +1,76 @@
|
||||
# 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/>.
|
||||
|
||||
import os
|
||||
import sys
|
||||
import subprocess
|
||||
from launch import LaunchDescription
|
||||
from launch_ros.actions import Node
|
||||
from launch.actions import IncludeLaunchDescription
|
||||
from launch.launch_description_sources import PythonLaunchDescriptionSource
|
||||
|
||||
|
||||
def ros1_launch_description():
|
||||
# Get command-line arguments
|
||||
args = sys.argv[1:]
|
||||
|
||||
# Construct the ROS 1 launch commandi
|
||||
roslaunch_command = ["roslaunch", "humanoid_robot_intelligence_control_system_bringup", "humanoid_robot_intelligence_control_system_bringup.launch"] + args
|
||||
|
||||
# Execute the launch command
|
||||
subprocess.call(roslaunch_command)
|
||||
|
||||
|
||||
def ros2_launch_description():
|
||||
# Create a list to hold all nodes to be launched
|
||||
nodes_to_launch = []
|
||||
|
||||
# Add the HUMANOID_ROBOT Manager launch file
|
||||
nodes_to_launch.append(IncludeLaunchDescription(
|
||||
PythonLaunchDescriptionSource([
|
||||
'$(find humanoid_robot_intelligence_control_system_manager)/launch/',
|
||||
'humanoid_robot_intelligence_control_system_manager.launch.py'
|
||||
])
|
||||
))
|
||||
|
||||
# Add the UVC camera node
|
||||
nodes_to_launch.append(Node(
|
||||
package='usb_cam',
|
||||
executable='usb_cam_node',
|
||||
name='usb_cam_node',
|
||||
output='screen',
|
||||
parameters=[{
|
||||
'video_device': '/dev/video0',
|
||||
'image_width': 1280,
|
||||
'image_height': 720,
|
||||
'framerate': 30,
|
||||
'camera_frame_id': 'cam_link',
|
||||
'camera_name': 'camera'
|
||||
}]
|
||||
))
|
||||
|
||||
# Return the LaunchDescription containing all nodes
|
||||
return LaunchDescription(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 +1,85 @@
|
||||
# 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/>.
|
||||
|
||||
import os
|
||||
import sys
|
||||
import subprocess
|
||||
from launch import LaunchDescription
|
||||
from launch_ros.actions import Node
|
||||
from launch.actions import IncludeLaunchDescription, ExecuteProcess
|
||||
from launch.launch_description_sources import PythonLaunchDescriptionSource
|
||||
from launch.substitutions import FindExecutable, Command
|
||||
|
||||
|
||||
|
||||
def ros1_launch_description():
|
||||
# Get command-line arguments
|
||||
args = sys.argv[1:]
|
||||
|
||||
# Construct the ROS 1 launch command
|
||||
roslaunch_command = ["roslaunch", "humanoid_robot_intelligence_control_system_bringup", "humanoid_robot_intelligence_control_system_bringup_visualization.launch"] + args
|
||||
|
||||
# Execute the launch command
|
||||
subprocess.call(roslaunch_command)
|
||||
|
||||
|
||||
def ros2_launch_description():
|
||||
# Create a list to hold all nodes to be launched
|
||||
nodes_to_launch = []
|
||||
|
||||
# Add robot description
|
||||
nodes_to_launch.append(ExecuteProcess(
|
||||
cmd=[FindExecutable(name='xacro'), '$(find humanoid_robot_intelligence_control_system_description)/urdf/humanoid_robot_intelligence_control_system.urdf.xacro'],
|
||||
output='screen'
|
||||
))
|
||||
|
||||
# Add joint state publisher
|
||||
nodes_to_launch.append(Node(
|
||||
package='joint_state_publisher',
|
||||
executable='joint_state_publisher',
|
||||
name='joint_state_publisher',
|
||||
parameters=[{'use_gui': True}],
|
||||
remappings=[('/robot/joint_states', '/humanoid_robot_intelligence_control_system/present_joint_states')]
|
||||
))
|
||||
|
||||
# Add robot state publisher
|
||||
nodes_to_launch.append(Node(
|
||||
package='robot_state_publisher',
|
||||
executable='robot_state_publisher',
|
||||
name='robot_state_publisher',
|
||||
remappings=[('/joint_states', '/humanoid_robot_intelligence_control_system/present_joint_states')]
|
||||
))
|
||||
|
||||
# Add rviz
|
||||
nodes_to_launch.append(Node(
|
||||
package='rviz2',
|
||||
executable='rviz2',
|
||||
name='rviz2',
|
||||
arguments=['-d', '$(find humanoid_robot_intelligence_control_system_bringup)/rviz/humanoid_robot_intelligence_control_system_bringup.rviz']
|
||||
))
|
||||
|
||||
# Return the LaunchDescription containing all nodes
|
||||
return LaunchDescription(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 +1,15 @@
|
||||
<?xml version="1.0"?>
|
||||
<launch>
|
||||
<!-- HUMANOID_ROBOT Manager -->
|
||||
<include file="$(find humanoid_robot_intelligence_control_system_manager)/launch/humanoid_robot_intelligence_control_system_manager.launch" />
|
||||
|
||||
<!-- UVC camera -->
|
||||
<node pkg="usb_cam" type="usb_cam_node" name="usb_cam_node" output="screen">
|
||||
<param name="video_device" type="string" value="/dev/video0" />
|
||||
<param name="image_width" type="int" value="1280" />
|
||||
<param name="image_height" type="int" value="720" />
|
||||
<param name="framerate " type="int" value="30" />
|
||||
<param name="camera_frame_id" type="string" value="cam_link" />
|
||||
<param name="camera_name" type="string" value="camera" />
|
||||
</node>
|
||||
</launch>
|
||||
@ -0,0 +1,22 @@
|
||||
<?xml version="1.0"?>
|
||||
<launch>
|
||||
<param name="robot_description"
|
||||
command="$(find xacro)/xacro.py '$(find humanoid_robot_intelligence_control_system_description)/urdf/humanoid_robot_intelligence_control_system.urdf.xacro'" />
|
||||
|
||||
<!-- Send fake joint values and monitoring present joint angle -->
|
||||
<node pkg="joint_state_publisher" type="joint_state_publisher" name="joint_state_publisher">
|
||||
<param name="use_gui" value="TRUE" />
|
||||
<rosparam param="/source_list">
|
||||
[/humanoid_robot_intelligence_control_system/present_joint_states]</rosparam>
|
||||
</node>
|
||||
|
||||
<!-- Combine joint values -->
|
||||
<node pkg="robot_state_publisher" type="state_publisher" name="robot_state_publisher">
|
||||
<remap from="/joint_states"
|
||||
to="/humanoid_robot_intelligence_control_system/present_joint_states" />
|
||||
</node>
|
||||
|
||||
<!-- Show in Rviz -->
|
||||
<node pkg="rviz" type="rviz" name="rviz"
|
||||
args="-d $(find humanoid_robot_intelligence_control_system_bringup)/rviz/humanoid_robot_intelligence_control_system_bringup.rviz" />
|
||||
</launch>
|
||||
@ -0,0 +1,121 @@
|
||||
# Copyright (C) 2024 Bellande Robotics Sensors Research Innovation Center, Ronaldson Bellande
|
||||
#
|
||||
# This program is free software: you can redistribute it and/or modify
|
||||
# it under the terms of the GNU General Public License as published by
|
||||
# the Free Software Foundation, either version 3 of the License, or
|
||||
# (at your option) any later version.
|
||||
#
|
||||
# This program is distributed in the hope that it will be useful,
|
||||
# but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
# GNU General Public License for more details.
|
||||
#
|
||||
# You should have received a copy of the GNU General Public License
|
||||
# along with this program. If not, see <https://www.gnu.org/licenses/>.
|
||||
|
||||
import os
|
||||
import sys
|
||||
import subprocess
|
||||
from launch import LaunchDescription
|
||||
from launch_ros.actions import Node
|
||||
from launch.actions import DeclareLaunchArgument
|
||||
from launch.substitutions import LaunchConfiguration
|
||||
|
||||
|
||||
def ros1_launch_description():
|
||||
# Get command-line arguments
|
||||
args = sys.argv[1:]
|
||||
|
||||
# Construct the ROS 1 launch command
|
||||
roslaunch_command = ["roslaunch", "humanoid_robot_intelligence_control_system_read_write_demo", "humanoid_robot_intelligence_control_system_read_write.launch"] + args
|
||||
|
||||
# Add parameters
|
||||
roslaunch_command.extend([
|
||||
"gazebo:=false",
|
||||
"gazebo_robot_name:=humanoid_robot_intelligence_control_system",
|
||||
"offset_file_path:=$(find humanoid_robot_intelligence_control_system_manager)/config/offset.yaml",
|
||||
"robot_file_path:=$(find humanoid_robot_intelligence_control_system_manager)/config/HUMANOID_ROBOT.robot",
|
||||
"init_file_path:=$(find humanoid_robot_intelligence_control_system_manager)/config/dxl_init_HUMANOID_ROBOT.yaml",
|
||||
"device_name:=/dev/ttyUSB0",
|
||||
"/humanoid_robot_intelligence_control_system/direct_control/default_moving_time:=0.04",
|
||||
"/humanoid_robot_intelligence_control_system/direct_control/default_moving_angle:=90"
|
||||
])
|
||||
|
||||
# Add nodes
|
||||
roslaunch_command.extend([
|
||||
"humanoid_robot_intelligence_control_system_manager", "humanoid_robot_intelligence_control_system_manager", "angle_unit:=30",
|
||||
"humanoid_robot_intelligence_control_system_localization", "humanoid_robot_intelligence_control_system_localization",
|
||||
"humanoid_robot_intelligence_control_system_read_write_demo", "read_write"
|
||||
])
|
||||
|
||||
# Execute the launch command
|
||||
subprocess.call(roslaunch_command)
|
||||
|
||||
|
||||
def ros2_launch_description():
|
||||
# Declare launch arguments
|
||||
gazebo_arg = DeclareLaunchArgument('gazebo', default_value='false')
|
||||
gazebo_robot_name_arg = DeclareLaunchArgument('gazebo_robot_name', default_value='humanoid_robot_intelligence_control_system')
|
||||
offset_file_path_arg = DeclareLaunchArgument('offset_file_path', default_value='$(find humanoid_robot_intelligence_control_system_manager)/config/offset.yaml')
|
||||
robot_file_path_arg = DeclareLaunchArgument('robot_file_path', default_value='$(find humanoid_robot_intelligence_control_system_manager)/config/HUMANOID_ROBOT.robot')
|
||||
init_file_path_arg = DeclareLaunchArgument('init_file_path', default_value='$(find humanoid_robot_intelligence_control_system_manager)/config/dxl_init_HUMANOID_ROBOT.yaml')
|
||||
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')},
|
||||
{'robot_file_path': LaunchConfiguration('robot_file_path')},
|
||||
{'init_file_path': LaunchConfiguration('init_file_path')},
|
||||
{'device_name': LaunchConfiguration('device_name')},
|
||||
{'/humanoid_robot_intelligence_control_system/direct_control/default_moving_time': 0.04},
|
||||
{'/humanoid_robot_intelligence_control_system/direct_control/default_moving_angle': 90}
|
||||
]
|
||||
))
|
||||
|
||||
# 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(
|
||||
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