Break up bitbots wolfgang folder #607
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,17 @@ | ||
| <launch> | ||
| <arg name="gui" default="true"/> | ||
|
|
||
| <group if="$(var gui)"> | ||
| <node pkg="bitbots_pybullet_sim" exec="simulation_with_gui.py" name="pybullet_sim" output="screen"> | ||
| <param from="$(find-pkg-share bitbots_pybullet_sim)/config/config.yaml"/> | ||
| </node> | ||
| </group> | ||
| <group unless="$(var gui)"> | ||
| <node pkg="bitbots_pybullet_sim" exec="simulation_headless.py" name="pybullet_sim" output="screen"> | ||
| <param from="$(find-pkg-share bitbots_pybullet_sim)/config/config.yaml"/> | ||
| </node> | ||
| </group> | ||
| <include file="$(find-pkg-share bitbots_webots_sim)/launch/imu_filter_sim.launch"> | ||
| <arg name="sim" value="true"/> | ||
| </include> | ||
| </launch> |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,9 +1,9 @@ | ||
| <?xml version="1.0"?> | ||
| <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?> | ||
| <package format="3"> | ||
| <name>bitbots_pybullet_sim</name> | ||
| <version>1.3.0</version> | ||
| <description>Simulation environment using PyBullet.</description> | ||
|
|
||
| <maintainer email="[email protected]">Marc Bestmann </maintainer> | ||
| <maintainer email="[email protected]">Hamburg Bit-Bots</maintainer> | ||
|
|
@@ -21,15 +21,15 @@ | |
| <depend>rosgraph_msgs</depend> | ||
| <depend>std_msgs</depend> | ||
| <depend>bitbots_docs</depend> | ||
| <depend>bitbots_webots_sim</depend> | ||
|
There was a problem hiding this comment. 💡 Codebase verification Inconsistent package renaming detected across the codebase The verification reveals that there are still several packages that retain the "wolfgang" prefix and are actively used as dependencies:
This indicates that while some packages like 🔗 Analysis chainDependency update is consistent with package renaming. The dependency has been properly updated from Let's verify that all wolfgang references have been removed from dependencies: Let me check the content of these package.xml files to understand if these are actual inconsistencies or if they are separate packages that intentionally retain the "wolfgang" prefix. 🏁 Scripts executedThe following scripts were executed for the analysis: Script: #!/bin/bash
# Description: Check for any remaining "wolfgang" references in package.xml files
# Expected: No matches should be found
rg -l "wolfgang" --type xml
Length of output: 210 Script: #!/bin/bash
# Check the content of the found package.xml files
for file in bitbots_robot/wolfgang_moveit_config/package.xml bitbots_robot/wolfgang_description/package.xml bitbots_robot/wolfgang_animations/package.xml bitbots_misc/bitbots_bringup/package.xml; do
echo "=== $file ==="
cat "$file"
echo -e "\n"
done
Length of output: 6992 |
||
| <depend>tf_transformations</depend> | ||
| <depend>python3-transforms3d</depend> | ||
| <depend>python3-numpy</depend> | ||
|
|
||
| <export> | ||
| <bitbots_documentation> | ||
| <status>unknown</status> | ||
| <language>python</language> | ||
| </bitbots_documentation> | ||
| </export> | ||
| </package> | ||
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1 +1 @@ | ||
| This package bridges between the [official Humanoid League RoboCup Proto3 API](https://cdn.robocup.org/hl/wp/2021/05/v-hsc_simulator_api_v1.0.pdf) and our ROS topics. |
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| Original file line number | Diff line number | Diff line change | ||||
|---|---|---|---|---|---|---|
| @@ -0,0 +1,62 @@ | ||||||
| { | ||||||
| "name": "Bit-Bots", | ||||||
| "players": { | ||||||
| "1": { | ||||||
| "proto": "Wolfgang", | ||||||
|
There was a problem hiding this comment. Update prototype name to align with PR objectives The - "proto": "Wolfgang",
+ "proto": "BitBots"📝 Committable suggestion
Suggested change
|
||||||
| "dockerTag": "latest", | ||||||
| "dockerCmd": "roslaunch bitbots_robocup_api robocup_walk.launch", | ||||||
| "halfTimeStartingPose": { | ||||||
| "translation": [ | ||||||
| -3.6, | ||||||
| -3.20, | ||||||
| 0.43 | ||||||
| ], | ||||||
| "rotation": [ | ||||||
| 0.13, | ||||||
| -0.13, | ||||||
| -0.98, | ||||||
| -1.57 | ||||||
| ] | ||||||
| }, | ||||||
| "reentryStartingPose": { | ||||||
| "translation": [ | ||||||
| -3.6, | ||||||
| -3.20, | ||||||
| 0.43 | ||||||
| ], | ||||||
| "rotation": [ | ||||||
| 0.0, | ||||||
| -0.0, | ||||||
| -1.0, | ||||||
| -1.57 | ||||||
| ] | ||||||
| }, | ||||||
| "shootoutStartingPose": { | ||||||
| "translation": [ | ||||||
| 2.6, | ||||||
| 0, | ||||||
| 0.43 | ||||||
| ], | ||||||
| "rotation": [ | ||||||
| 0, | ||||||
| 0.98, | ||||||
| 0.13, | ||||||
| 0.26 | ||||||
| ] | ||||||
| }, | ||||||
| "goalKeeperStartingPose": { | ||||||
| "translation": [ | ||||||
| -4.47, | ||||||
| 0, | ||||||
| 0.43 | ||||||
| ], | ||||||
| "rotation": [ | ||||||
| -0.13, | ||||||
| 0, | ||||||
| 0.98, | ||||||
| 3.14 | ||||||
| ] | ||||||
| } | ||||||
| } | ||||||
| } | ||||||
| } | ||||||
|
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There was a problem hiding this comment. 🛠️ Refactor suggestion Consider extracting common values into configuration constants The robot height (0.43) is repeated across all poses. Consider restructuring the JSON to define common values at the root level to improve maintainability. {
"name": "Bit-Bots",
+ "constants": {
+ "robotHeight": 0.43
+ },
"players": {
"1": {
"proto": "Wolfgang",
"dockerTag": "latest",
"dockerCmd": "roslaunch bitbots_robocup_api robocup_walk.launch",
"halfTimeStartingPose": {
"translation": [
-3.6,
-3.20,
- 0.43
+ "${constants.robotHeight}"
],
// ... similar changes for other poses
|
||||||
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,16 +1,16 @@ | ||
| <?xml version="1.0"?> | ||
| <launch> | ||
| <node pkg="hlvs_player" exec="hlvs_player" output="screen"> | ||
| <param name="devices_file" value="$(find-pkg-share bitbots_robocup_api)/config/devices.json"/> | ||
|
There was a problem hiding this comment. 💡 Codebase verification All referenced files exist, but command_proxy needs path update Based on the verification results:
The launch file needs to be updated to reflect the correct path for the command_proxy node, as it's still located under the 🔗 Analysis chainVerify referenced files exist in new package locations. The package references have been consistently updated from Also applies to: 11-11, 15-15 Let me try a different approach to verify the files since the previous paths weren't found. Let's search from the repository root. 🏁 Scripts executedThe following scripts were executed for the analysis: Script: #!/bin/bash
# Description: Verify that all referenced files exist in their new locations
# Test 1: Check if devices.json exists
echo "Checking for devices.json..."
fd -t f "devices.json" -p "bitbots_robocup_api/config"
# Test 2: Check if command_proxy executable exists
echo "Checking for command_proxy..."
fd -t f "command_proxy" -p "bitbots_robocup_api"
# Test 3: Check if imu_filter_sim.launch exists
echo "Checking for imu_filter_sim.launch..."
fd -t f "imu_filter_sim.launch" -p "bitbots_webots_sim/launch"
Length of output: 715 Script: #!/bin/bash
# Search for the files from repository root
echo "Checking for devices.json..."
fd -t f "devices.json"
echo -e "\nChecking for command_proxy..."
fd -t f "command_proxy"
echo -e "\nChecking for imu_filter_sim.launch..."
fd -t f "imu_filter_sim.launch"
# Also let's check the directory structure to understand the package layout
echo -e "\nChecking directory structure..."
ls -R bitbots_simulation/
Length of output: 10080 |
||
| <remap from="camera/image_raw" to="camera/image_proc"/> | ||
| <remap from="imu/data" to="imu/data_raw"/> | ||
| </node> | ||
| <!-- The hlvs_player expects the joint command positions as a 'JointState' message. | ||
| We therfore need to convert the messages from our custom 'JointCommand' message to the | ||
| more common 'JointState' layout. --> | ||
| <node pkg="bitbots_robocup_api" exec="command_proxy" output="screen"> | ||
| <remap from="input" to="DynamixelController/command"/> | ||
| <remap from="output" to="joint_command"/> | ||
| </node> | ||
| <include file="$(find-pkg-share bitbots_webots_sim)/launch/imu_filter_sim.launch" /> | ||
| </launch> | ||
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,4 @@ | ||
| [develop] | ||
| script_dir=$base/lib/bitbots_robocup_api | ||
| [install] | ||
| install_scripts=$base/lib/bitbots_robocup_api |
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💡 Codebase verification
Found inconsistencies in package references that need attention
The verification revealed several issues that need to be addressed:
simulation.pyfile still contains references to the old package structure:"wolfgang"as a robot type identifier"wolfgang_description"package for URDF pathThese references should be updated to maintain consistency with the new package naming scheme:
"wolfgang"to an appropriate new namebitbots_description)🔗 Analysis chain
LGTM: Project name change aligns with PR objectives.
The project name change from
wolfgang_pybullet_simtobitbots_pybullet_simis consistent with the PR's goal of removing the "wolfgang" prefix.Let's verify that all package references have been updated consistently:
The previous script execution seems to have been overwritten with different output. Let me generate a new script to properly verify the package name changes:
This script will help us:
Let's check the launch file to ensure it's using the new package name:
🏁 Scripts executed
The following scripts were executed for the analysis:
Script:
Length of output: 312
Script:
Length of output: 1709
Script:
Length of output: 1545