Merge pull request #7 from sonia-auv/develop

Develop

.github/workflows/docker-image-perception-develop.yml

@@ -3,8 +3,6 @@ name: Docker Image CI - Develop Branch
 on:
   push:
     branches: [develop]
-  schedule:
-    - cron: "0 0 * * *"
 
 jobs:
   build-ros-perception-x86-64:

.github/workflows/docker-image-perception-feature.yml

@@ -3,8 +3,6 @@ name: Docker Image CI - Feature Branch
 on:
   push:
     branches: [feature/**]
-  schedule:
-    - cron: "0 0 * * *"
 
 jobs:
   build-ros-perception-x86-64:

.github/workflows/docker-image-perception-fix.yml

@@ -3,8 +3,6 @@ name: Docker Image CI - Fix Branch
 on:
   push:
     branches: [fix/**]
-  schedule:
-    - cron: "0 0 * * *"
 
 jobs:
   build-ros-perception-x86-64:
@@ -15,7 +13,7 @@ jobs:
       ARCH: x86
       TARGET_TYPE: perception
       TARGET_VERSION: fix
-      IMAGE_NAME: template_name
+      IMAGE_NAME: proc_fault
       GITHUB_REMOTE_URL: docker.pkg.github.com/${{ github.repository }}
     steps:
       - uses: actions/checkout@v2
@@ -42,7 +40,7 @@ jobs:
       ARCH: arm64
       TARGET_TYPE: perception
       TARGET_VERSION: fix
-      IMAGE_NAME: template_name
+      IMAGE_NAME: proc_fault
       GITHUB_REMOTE_URL: docker.pkg.github.com/${{ github.repository }}
     steps:
       - uses: actions/checkout@v2

.vscode/settings.json

@@ -3,5 +3,41 @@
         "/home/sonia/base_lib_ws/devel/lib/python2.7/dist-packages",
         "/opt/ros/melodic/lib/python2.7/dist-packages"
     ],
-    "ros.distro": "melodic"
+    "ros.distro": "noetic",
+    "files.associations": {
+        "atomic": "cpp",
+        "chrono": "cpp",
+        "cmath": "cpp",
+        "compare": "cpp",
+        "concepts": "cpp",
+        "cstddef": "cpp",
+        "cstdint": "cpp",
+        "cstdio": "cpp",
+        "cstdlib": "cpp",
+        "cstring": "cpp",
+        "cwchar": "cpp",
+        "exception": "cpp",
+        "initializer_list": "cpp",
+        "iosfwd": "cpp",
+        "limits": "cpp",
+        "memory": "cpp",
+        "mutex": "cpp",
+        "new": "cpp",
+        "ratio": "cpp",
+        "stdexcept": "cpp",
+        "system_error": "cpp",
+        "thread": "cpp",
+        "tuple": "cpp",
+        "type_traits": "cpp",
+        "typeinfo": "cpp",
+        "utility": "cpp",
+        "vector": "cpp",
+        "xmemory": "cpp",
+        "xstddef": "cpp",
+        "xstring": "cpp",
+        "xtr1common": "cpp",
+        "xutility": "cpp",
+        "cctype": "cpp",
+        "string": "cpp"
+    }
 }

Dockerfile

@@ -36,7 +36,7 @@ USER ${SONIA_USER}
 
 RUN mkdir ${SCRIPT_DIR}
 RUN cat $ENTRYPOINT_ABSPATH > ${SCRIPT_DIR}/entrypoint.sh
-RUN echo "roslaunch --wait $LAUNCH_ABSPATH" > ${SCRIPT_DIR}/launch.sh
+RUN echo "roslaunch $LAUNCH_ABSPATH" > ${SCRIPT_DIR}/launch.sh
 
 RUN chmod +x ${SCRIPT_DIR}/entrypoint.sh && chmod +x ${SCRIPT_DIR}/launch.sh
 

ModuleList.md

@@ -0,0 +1,59 @@
+# Module List
+
+## Detection
+
+### navigation
+- [x] provider_depth (message detection)
+- [x] proc_control (message detection)
+- [x] provider_dvl (message detection)
+- [x] provider_imu (message detection)
+### vision
+- [x] provider_vision (message detection)
+- [x] proc_image_processing (service detection)
+- [x] deep_detector (service detection)
+### mapping
+- [ ] proc_mapping (service detection) (Alex le modifie)
+- [x] provider_sonar (message detection)
+### hydro
+- [x] provider_hydrophone (message detection)
+- [x] proc_hydrophone (message detection)
+### io
+- [x] provider_actuators (service detection)
+- [x] proc_actuators (service detection)
+### underwater_com:
+- [x] provider_com (service detection)
+- [ ] proc_com (service detection) (attente de maturité)
+### power
+- [x] provider_power (message detection)
+- [x] provider_thruster (service detection)
+### internal_com
+- [x] interface_rs485 (message detection)
+
+## Correction
+
+### navigation
+- [ ] provider_depth
+- [ ] proc_control
+- [ ] provider_dvl
+- [ ] provider_imu
+### vision
+- [ ] provider_vision
+- [ ] proc_image_processing
+- [ ] deep_detector (problematic)
+### mapping
+- [ ] proc_mapping
+- [ ] provider_sonar
+### hydro
+- [ ] provider_hydrophone
+- [ ] proc_hydrophone
+### io
+- [ ] provider_actuators
+- [ ] proc_actuators
+### underwater_com:
+- [ ] provider_com
+- [ ] proc_com
+### power
+- [ ] provider_power
+- [ ] provider_thruster
+### internal_com
+- [ ] interface_rs485

config/template.yaml

@@ -0,0 +1,59 @@
+/proc_fault/navigation/dvl/timestamp_ms: 1000
+/proc_fault/navigation/dvl/enable: true
+
+/proc_fault/navigation/depth/timestamp_ms: 1000
+/proc_fault/navigation/depth/enable: true
+
+/proc_fault/navigation/imu/timestamp_ms: 1000
+/proc_fault/navigation/imu/enable: true
+
+/proc_fault/navigation/control/timestamp_ms: 1000
+/proc_fault/navigation/control/enable: true
+
+/proc_fault/navigation/boardEsc/timestamp_ms: 5000
+/proc_fault/navigation/boardEsc/enable: true
+
+/proc_fault/vision/camera/timestamp_ms: 1000
+/proc_fault/vision/camera/enable: true
+
+/proc_fault/vision/proc_image_processing/enable: true
+
+/proc_fault/vision/proc_detection/enable: true
+
+/proc_fault/mapping/sonar/timestamp_ms: 1000
+/proc_fault/mapping/sonar/enable: true
+
+/proc_fault/mapping/procMapping/timestamp_ms: 1000
+/proc_fault/mapping/procMapping/enable: true
+
+/proc_fault/hydro/providerHydro/timestamp_ms: 1000
+/proc_fault/hydro/providerHydro/enable: true
+
+/proc_fault/hydro/procHydro/timestamp_ms: 1000
+/proc_fault/hydro/procHydro/enable: true
+
+/proc_fault/power/providerPower/timestamp_ms: 1000
+/proc_fault/power/providerPower/enable: true
+
+/proc_fault/power/boardPowerSupply/timestamp_ms: 5000
+/proc_fault/power/boardPowerSupply/enable: true
+
+/proc_fault/power/providerThruster/enable: true
+
+/proc_fault/internal_com/rs485/timestamp_ms: 1000
+/proc_fault/internal_com/rs485/enable: true
+
+/proc_fault/internal_com/boardKillMission/timestamp_ms: 5000
+/proc_fault/internal_com/boardKillMission/enable: true
+
+/proc_fault/io/providerActuator/enable: true
+
+/proc_fault/io/procActuator/enable: true
+
+/proc_fault/io/boardIo/timestamp_ms: 5000
+/proc_fault/io/boardIo/enable: true
+
+/proc_fault/under_water_com/providerCom/enable: true
+
+/proc_fault/initial_node_sleep_second: 30
+/proc_fault/loop_sleep_time_second: 1

launch/proc_fault.launch

@@ -0,0 +1,4 @@
+<launch>
+	<node name="proc_fault" pkg="proc_fault" type="proc_fault_node" output="screen" />
+	<rosparam command="load" file="$(find proc_fault)/config/$(env AUV).yaml"/>
+</launch>

launch/proc_fault_debug.launch

@@ -0,0 +1,4 @@
+<launch>
+	<node name="proc_fault" pkg="proc_fault" type="proc_fault_node" output="screen" launch-prefix="gdb -ex run --args" />
+	<rosparam command="load" file="$(find proc_fault)/config/$(env AUV).yaml"/>
+</launch>