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Naosoccer action #1

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Naosoccer action #1

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foxcub99
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@foxcub99 foxcub99 commented Jan 14, 2025 •
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Inspired by ijnek#20

Aims to:

  • use actions in a standard-ish way
  • wrap the client in a pub/sub node for simple use
  • clearly separate the client for easy re-use in more complicated systems
  • play custom pos folders
  • parse pos folders on startup to catch problems

Drafting as currently untested

ijnek and others added 30 commits January 14, 2025 12:32
@ijnek @foxcub99
impelment as rclpy action
9da4754 
Signed-off-by: Kenji Brameld <[email protected]>
@foxcub99
Updated interface to match
fb3c636
@foxcub99
added nao_pos action client and server
cce25d4
@foxcub99
changed all nao_pos naming back to naosoccer_pos naming
0907a32
@foxcub99
added a spec for myself
5a45a5e
@foxcub99
added ability to pass in custom pos folder filepath so that actions c…
1b425b5 
…an just use the name
@foxcub99
fixed up parameter declaration and added ability to check folder's po…
60d2d2a 
…s file successfully parse at initialisation of node
@foxcub99
moved a function position for clarity - putting pos reading at the to…
dabc7fd 
…p of the file and action server things at the bottom
@foxcub99
added parsing functions to hpp, changed readPosFile input to be consi…
e9eb313 
…stent with snake_case
@foxcub99
more re-structuring to make hpp a bit neater
abe52b5
@foxcub99
renamed PosPlay to PosAction, added using and made consistent for cli…
5ed6638 
…ent/server so that it's easily modifiable in the future and more concise
@foxcub99
copied most of naosoccer_pos_action_node calculateEffectorJoints back…
12b96cb 
… across to server to not worry about playing only certain joints
@foxcub99
changed handle naming to match tutorial conventions
7b9c100
@foxcub99
changed using in client to use name Client for clarity for client and…
75d8972 
… server goal handles
@foxcub99
moved finishing logic etc into execute function and a handle_finished…
08f481b 
… function
@foxcub99
made a callback so that execute can handle server side thingos and le…
d8ae5cd 
…ave calculatejoints alone
@foxcub99
legal stuff, added my name to files that I've changed or am changing
ffca908
@foxcub99
gutted naosoccer_pos_action_node
c253f57
@foxcub99
namespacing
6f3346a
@foxcub99
moved all fucntionality of client into node, but in a separate file t…
30c86fc 
…o make copying and future use much easier
@foxcub99
updated cmake to build and styled server
1bc2d6f
@foxcub99
fixed up cmake
47b3b17
@foxcub99
maybe fix cmake this time
11c0acc
@foxcub99
fixed up interfaces naming
073f60e
@foxcub99
added std_msgs to node and change this in client (which I'll remove e…
3ff35f2 
…ventually)
@foxcub99
debugging, mostly removing things
7eb2ed3
@foxcub99
fixed client creation
394a8d7
@foxcub99
debugging
91bb999
@foxcub99
debugging
4157380
@foxcub99
debugging
886d5ed
foxcub99 and others added 26 commits January 14, 2025 21:19
@foxcub99
debugging
4d8ffa3
@foxcub99
debugging
7eba345
@foxcub99
cleaning up
f296d8e
@foxcub99
cleaning up
db7aec6
@foxcub99
added cancel functionality to client
01da2fb
@foxcub99
added pub for finished in resullt callback, changed pub/subs to match…
ec44596 
… server definition style
@foxcub99
some comments for code use clarity
bd218b5
@foxcub99
added functionality for feedback
1fd0879
@foxcub99
added dependencies.repos
9320f4d
@foxcub99
updated PosAction.action to include a progress feedback
4049961
@foxcub99
removed not yet implemented cancel_possible
4a29757
@foxcub99
removed not yet implemented cancel_possible
f26d6a0
@foxcub99
ran the autoformatter
4f06912
@foxcub99
updated readme to reflect my intentions for the functionality (yet to…
85663fe 
… be tested)
@pzrq @foxcub99
updated some filepath stuff to hopefully work
d0051fb
@foxcub99
Merge branch 'naosoccer-action' of github.com:UNSWComputing/naosoccer…
36f4780 
…_pos_action into naosoccer-action
@foxcub99
added a little to the readme
c18934b
@foxcub99
fixed executable names
89b74de
@foxcub99
Merge branch 'naosoccer-action' of github.com:UNSWComputing/naosoccer…
e395500 
…_pos_action into naosoccer-action
@foxcub99
fixed some mis-naming
c86b5ad
@foxcub99
more cmake fixing and removing excess includes
b3fe375
@foxcub99
removed redundant namespace
0a6e13c
@foxcub99
since parsing moved to server not node, changed test cmake
e270b68
@foxcub99
naming typo
8d956f3
@foxcub99
missed a line to ensure folders have correct format
fffb9b8
@foxcub99
changed feedback to float for dp 0-1, changed execute to return when …
6a9cddc 
…succeeded
@foxcub99
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The pos folder thing works! Currently crashing after one action completed and some errors/warnings because of parsing and invalid pos folder paths

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3 participants
@foxcub99 @ijnek @pzrq