Merge branch 'humble-devel' of https://github.com/CoreSenseEU/CoreSense4Home into humble-devel

Author: igonzf

.docker/Dockerfile

@@ -23,7 +23,7 @@ RUN mkdir -p /robocup/src/
 WORKDIR /robocup
 
 ADD https://raw.githubusercontent.com/mgonzs13/llama_ros/refs/heads/main/requirements.txt /robocup/requirements1.txt
-ADD https://raw.githubusercontent.com/jmguerreroh/yolo_ros/refs/heads/main/requirements.txt /robocup/requirements2.txt
+ADD https://raw.githubusercontent.com/juandpenan/yolov8_ros/refs/heads/irenes/requirements.txt /robocup/requirements2.txt
 ADD https://raw.githubusercontent.com/mgonzs13/tts_ros/refs/heads/main/requirements.txt /robocup/requirements3.txt
 
 # Install external dependencies.
@@ -33,8 +33,7 @@ RUN pip install -r requirements3.txt
 
 WORKDIR /robocup/src
 RUN git clone https://github.com/CoreSenseEU/CoreSense4Home.git -b humble-devel
-RUN vcs import --recursive < ./CoreSense4Home/robocup_bringup/thirdparty.repos
-
+RUN vcs import --retry 5 --workers 2 --debug --recursive < ./CoreSense4Home/robocup_bringup/thirdparty.repos
 
 WORKDIR /robocup
 RUN rosdep install --from-paths src --ignore-src -r -y
@@ -63,6 +62,12 @@ RUN cmake ..
 RUN make -j
 RUN make install
 
+# Onnix runtime
+RUN wget https://robotics.upo.es/~famozur/onnx/onnxruntime-gpu_1.16.3_amd64.deb \
+    && apt-get update \
+    && apt-get install -y ./onnxruntime-gpu_1.16.3_amd64.deb \
+    && rm onnxruntime-gpu_1.16.3_amd64.deb
+
 # Colcon the ws
 WORKDIR /robocup
 FROM robocup2024 AS builder

bt_nodes/bt_test/src/store_guest_info_test.cpp

@@ -9,7 +9,8 @@
 int main(int argc, char * argv[])
 {
   rclcpp::init(argc, argv);
-  auto node = std::make_shared<rclcpp_cascade_lifecycle::CascadeLifecycleNode>("store_guest_info_test_node");
+  auto node =
+    std::make_shared<rclcpp_cascade_lifecycle::CascadeLifecycleNode>("store_guest_info_test_node");
   BT::BehaviorTreeFactory factory;
   BT::SharedLibrary loader;
 

bt_nodes/configuration/include/configuration/ActivationControl.hpp

@@ -37,10 +37,11 @@ class ActivationControl : public BT::ActionNodeBase
 
   static BT::PortsList providedPorts()
   {
-    return BT::PortsList({
-      BT::InputPort<bool>("deactivate", "If true, remove activation, otherwise add"),
-      BT::InputPort<std::string>("node_name", "Name of the node to (de)activate")
-    });
+    return BT::PortsList(
+      {
+        BT::InputPort<bool>("deactivate", "If true, remove activation, otherwise add"),
+        BT::InputPort<std::string>("node_name", "Name of the node to (de)activate")
+      });
   }
 
 private:

bt_nodes/configuration/include/configuration/get_model_path.hpp

@@ -21,10 +21,11 @@ class GetModelPath : public BT::SyncActionNode
 
   static BT::PortsList providedPorts()
   {
-    return BT::PortsList({
-      BT::InputPort<std::string>("model"),
-      BT::OutputPort<std::string>("model_path")
-    });
+    return BT::PortsList(
+      {
+        BT::InputPort<std::string>("model"),
+        BT::OutputPort<std::string>("model_path")
+      });
   }
 };
 

bt_nodes/configuration/src/configuration/ActivationControl.cpp

@@ -17,7 +17,9 @@
 namespace configuration
 {
 
-ActivationControl::ActivationControl(const std::string & xml_tag_name, const BT::NodeConfiguration & conf)
+ActivationControl::ActivationControl(
+  const std::string & xml_tag_name,
+  const BT::NodeConfiguration & conf)
 : BT::ActionNodeBase(xml_tag_name, conf)
 {
   config().blackboard->get("node", node_);
@@ -29,7 +31,9 @@ BT::NodeStatus ActivationControl::tick()
 
   // Read inputs
   if (!getInput("deactivate", deactivate_)) {
-    RCLCPP_WARN(node_->get_logger(), "ActivationControl: missing 'deactivate' input, defaulting to false");
+    RCLCPP_WARN(
+      node_->get_logger(),
+      "ActivationControl: missing 'deactivate' input, defaulting to false");
     deactivate_ = false;
   }
   if (!getInput("node_name", node_name_)) {
@@ -38,10 +42,14 @@ BT::NodeStatus ActivationControl::tick()
   }
 
   if (deactivate_) {
-    RCLCPP_INFO(node_->get_logger(), "ActivationControl: removing activation for %s", node_name_.c_str());
+    RCLCPP_INFO(
+      node_->get_logger(), "ActivationControl: removing activation for %s",
+      node_name_.c_str());
     node_->remove_activation(node_name_);
   } else {
-    RCLCPP_INFO(node_->get_logger(), "ActivationControl: adding activation for %s", node_name_.c_str());
+    RCLCPP_INFO(
+      node_->get_logger(), "ActivationControl: adding activation for %s",
+      node_name_.c_str());
     node_->add_activation(node_name_);
   }
 

bt_nodes/configuration/src/configuration/get_model_path.cpp

@@ -47,11 +47,15 @@ BT::NodeStatus GetModelPath::tick()
       RCLCPP_INFO(rclcpp::get_logger("GetModelPath"), "Found model at: %s", model_path.c_str());
       return BT::NodeStatus::SUCCESS;
     } else {
-      RCLCPP_ERROR(rclcpp::get_logger("GetModelPath"), "Model not found at: %s", model_path.c_str());
+      RCLCPP_ERROR(
+        rclcpp::get_logger("GetModelPath"), "Model not found at: %s",
+        model_path.c_str());
       return BT::NodeStatus::FAILURE;
     }
   } catch (const std::exception & e) {
-    RCLCPP_ERROR(rclcpp::get_logger("GetModelPath"), "Failed to get package share directory: %s", e.what());
+    RCLCPP_ERROR(
+      rclcpp::get_logger("GetModelPath"), "Failed to get package share directory: %s",
+      e.what());
     return BT::NodeStatus::FAILURE;
   }
 }

bt_nodes/configuration/src/configuration/get_perception_model.cpp

@@ -61,9 +61,9 @@ void GetPerceptionModel::on_result()
 BT_REGISTER_NODES(factory)
 {
   BT::NodeBuilder builder = [](const std::string & name, const BT::NodeConfiguration & config) {
-      return std::make_unique<configuration::GetPerceptionModel>(
-        name, "/yolo/yolo_node/get_parameters", config);
-    };
+    return std::make_unique<configuration::GetPerceptionModel>(
+      name, "/yolo/yolo_node/get_parameters", config);
+  };
 
   factory.registerBuilder<configuration::GetPerceptionModel>("GetPerceptionModel", builder);
 }

bt_nodes/configuration/src/configuration/init_receptionist.cpp

@@ -52,8 +52,8 @@ BT::NodeStatus InitReceptionist::tick()
 
   if (
     node_->has_parameter("cam_frame") && node_->has_parameter("manipulation_frame") &&
-    node_->has_parameter("host_name") && node_->has_parameter("host_drink")
-    && node_->has_parameter("waypoints_names"))
+    node_->has_parameter("host_name") && node_->has_parameter("host_drink") &&
+    node_->has_parameter("waypoints_names"))
   // node_->has_parameter("party_wp") && node_->has_parameter("entrance_wp"))
   {
     node_->get_parameter("cam_frame", cam_frame_);
@@ -76,13 +76,13 @@ BT::NodeStatus InitReceptionist::tick()
       geometry_msgs::msg::TransformStamped transform_msg;
       tf2::Quaternion q;
 
-      if (wp.find("entrance")!=std::string::npos) {
+      if (wp.find("entrance") != std::string::npos) {
         setOutput("entrance_wp", wp);
         RCLCPP_INFO(
           node_->get_logger(), "Entrance waypoint set to frame: [%s]", wp.c_str());
-      } else if (wp.find("party")!=std::string::npos) {
+      } else if (wp.find("party") != std::string::npos) {
         setOutput("party_wp", wp);
-      } else if (wp.find("follow_ready")!=std::string::npos) {
+      } else if (wp.find("follow_ready") != std::string::npos) {
         setOutput("follow_ready_wp", wp);
         RCLCPP_INFO(
           node_->get_logger(), "Follow ready waypoint set to frame: [%s]", wp.c_str());

bt_nodes/configuration/src/configuration/remove_string_prefix.cpp

@@ -30,7 +30,7 @@ BT::NodeStatus RemoveStringPrefix::tick()
   if (string_to_remove_.empty() || prefix_.empty()) {
     return BT::NodeStatus::FAILURE;
   }
-  
+
   size_t pos = string_to_remove_.find(prefix_);
   if (pos != std::string::npos) {
     result_ = string_to_remove_.substr(pos + prefix_.length());

bt_nodes/configuration/src/configuration/set_perception_model.cpp

@@ -92,9 +92,9 @@ void SetPerceptionModel::on_result()
 BT_REGISTER_NODES(factory)
 {
   BT::NodeBuilder builder = [](const std::string & name, const BT::NodeConfiguration & config) {
-      return std::make_unique<configuration::SetPerceptionModel>(
-        name, "/change_model", config);
-    };
+    return std::make_unique<configuration::SetPerceptionModel>(
+      name, "/change_model", config);
+  };
 
   factory.registerBuilder<configuration::SetPerceptionModel>("SetPerceptionModel", builder);
 }