Cleanup/remove legacy

.rsyncignore

@@ -22,5 +22,4 @@ src/bitbots_misc/bitbots_parameter_blackboard/config/game_settings.yaml
 __pycache__
 
 # Don't sync the simulation environments
-src/bitbots_simulation/bitbots_webots_sim/
 src/bitbots_simulation/bitbots_mujoco_sim/

.vscode/settings.json

@@ -7,10 +7,10 @@
         "ansible",
         "antiwindup",
         "autoconnect",
-        "basler",
         "bitbot",
         "bitbots",
         "bringup",
+        "buildtool",
         "cartesian",
         "coef",
         "colcon",
@@ -28,7 +28,6 @@
         "dsize",
         "dtype",
         "dynamixel",
-        "dynup",
         "euler",
         "externproto",
         "fetchrobotics",
@@ -41,6 +40,7 @@
         "gaussian",
         "goalkick",
         "hexsha",
+        "highlevel",
         "hlvs",
         "holonomic",
         "hostnames",
@@ -52,6 +52,7 @@
         "isort",
         "joern",
         "jupyter",
+        "kalliope",
         "kalman",
         "Leph",
         "linalg",
@@ -60,19 +61,23 @@
         "mmse",
         "moveit",
         "msgify",
+        "mujoco",
         "mutex",
+        "mypy",
         "nanosec",
         "ndarray",
         "neff",
         "nmcli",
         "numpify",
         "numpy",
+        "nvidia",
         "odom",
         "odometry",
         "particlefilter",
         "pathfinding",
         "penaltykick",
         "penaltyshoot",
+        "piplus",
         "playsound",
         "pointcloud",
         "pointclouds",
@@ -108,6 +113,7 @@
         "srdf",
         "ssid",
         "std_srvs",
+        "teamcom",
         "teamcomm",
         "teamplayer",
         "teleop",
@@ -135,7 +141,6 @@
     "files.autoSaveDelay": 500,
     "files.insertFinalNewline": true,
     "python.analysis.typeCheckingMode": "off",
-    "esbonio.sphinx.confDir": "",
     "files.associations": {
         "cctype": "cpp",
         "clocale": "cpp",
@@ -226,25 +231,18 @@
     "python.autoComplete.extraPaths": [
         "build/system_monitor",
         "install/system_monitor/lib/python3.12/site-packages",
-        "build/bitbots_robocup_api",
-        "install/bitbots_robocup_api/lib/python3.12/site-packages",
-        "install/bitbots_pybullet_sim/lib/python3.12/site-packages",
-        "install/bitbots_webots_sim/lib/python3.12/site-packages",
         "build/bitbots_vision",
         "install/bitbots_vision/lib/python3.12/site-packages",
         "build/bitbots_team_data_sim_rqt",
         "install/bitbots_team_data_sim_rqt/lib/python3.12/site-packages",
         "install/bitbots_team_communication/lib/python3.12/site-packages",
-        "install/bitbots_quintic_walk/lib/python3.12/site-packages",
         "build/bitbots_localization_handler",
         "install/bitbots_localization_handler/lib/python3.12/site-packages",
         "install/bitbots_localization/lib/python3.12/site-packages",
         "install/bitbots_parameter_blackboard/lib/python3.12/site-packages",
         "build/bitbots_animation_rqt",
         "install/bitbots_animation_rqt/lib/python3.12/site-packages",
         "install/bitbots_hcm/lib/python3.12/site-packages",
-        "install/bitbots_dynup/lib/python3.12/site-packages",
-        "install/bitbots_dynamic_kick/lib/python3.12/site-packages",
         "build/bitbots_body_behavior",
         "install/bitbots_body_behavior/lib/python3.12/site-packages",
         "install/bitbots_blackboard/lib/python3.12/site-packages",
@@ -261,7 +259,6 @@
         "build/bitbots_path_planning",
         "install/bitbots_path_planning/lib/python3.12/site-packages",
         "install/bitbots_msgs/lib/python3.12/site-packages",
-        "install/bitbots_moveit_bindings/lib/python3.12/site-packages",
         "build/bitbots_ball_filter",
         "install/bitbots_ball_filter/lib/python3.12/site-packages",
         ".pixi/envs/default/lib/python/site-packages",
@@ -270,25 +267,18 @@
     "python.analysis.extraPaths": [
         "build/system_monitor",
         "install/system_monitor/lib/python3.12/site-packages",
-        "build/bitbots_robocup_api",
-        "install/bitbots_robocup_api/lib/python3.12/site-packages",
-        "install/bitbots_pybullet_sim/lib/python3.12/site-packages",
-        "install/bitbots_webots_sim/lib/python3.12/site-packages",
         "build/bitbots_vision",
         "install/bitbots_vision/lib/python3.12/site-packages",
         "build/bitbots_team_data_sim_rqt",
         "install/bitbots_team_data_sim_rqt/lib/python3.12/site-packages",
         "install/bitbots_team_communication/lib/python3.12/site-packages",
-        "install/bitbots_quintic_walk/lib/python3.12/site-packages",
         "build/bitbots_localization_handler",
         "install/bitbots_localization_handler/lib/python3.12/site-packages",
         "install/bitbots_localization/lib/python3.12/site-packages",
         "install/bitbots_parameter_blackboard/lib/python3.12/site-packages",
         "build/bitbots_animation_rqt",
         "install/bitbots_animation_rqt/lib/python3.12/site-packages",
         "install/bitbots_hcm/lib/python3.12/site-packages",
-        "install/bitbots_dynup/lib/python3.12/site-packages",
-        "install/bitbots_dynamic_kick/lib/python3.12/site-packages",
         "build/bitbots_body_behavior",
         "install/bitbots_body_behavior/lib/python3.12/site-packages",
         "install/bitbots_blackboard/lib/python3.12/site-packages",
@@ -305,7 +295,6 @@
         "build/bitbots_path_planning",
         "install/bitbots_path_planning/lib/python3.12/site-packages",
         "install/bitbots_msgs/lib/python3.12/site-packages",
-        "install/bitbots_moveit_bindings/lib/python3.12/site-packages",
         "build/bitbots_ball_filter",
         "install/bitbots_ball_filter/lib/python3.12/site-packages",
         ".pixi/envs/default/lib/python/site-packages",
@@ -314,7 +303,6 @@
     "cmake.configureOnOpen": false,
     "editor.formatOnSave": true,
     "editor.defaultFormatter": "charliermarsh.ruff",
-    "restructuredtext.pythonRecommendation.disabled": true,
     "[xml]": {
         "editor.defaultFormatter": "DotJoshJohnson.xml"
     },

pixi.toml

@@ -154,7 +154,6 @@ ros-jazzy-tf2-ros = ">=0.36.14,<0.37"
 ros-jazzy-topic-tools = ">=1.3.3,<2"
 ros-jazzy-trajectory-msgs = ">=5.3.6,<6"
 ros-jazzy-transmission-interface = ">=4.37.0,<5"
-ros-jazzy-turtlesim = ">=1.8.3,<2"
 ros-jazzy-urdf = ">=2.10.0,<3"
 ros-jazzy-urdfdom-py = ">=1.2.1,<2"
 ros-jazzy-vision-msgs = ">=4.1.1,<5"
@@ -212,7 +211,6 @@ RCUTILS_CONSOLE_OUTPUT_FORMAT="[{severity}] [{name}]: {message} ({function_name}
 RMW_IMPLEMENTATION = "rmw_zenoh_cpp"
 COLCON_LOG_LEVEL = "30"
 PYTHONWARNINGS="ignore:::setuptools.command.install,ignore:::setuptools.command.easy_install,ignore:::pkg_resources,ignore:easy_install command is deprecated,ignore:setup.py install is deprecated"
-WEBOTS_HOME = "$CONDA_PREFIX/share/webots"
 ALSA_PLUGIN_DIR = "/usr/lib/x86_64-linux-gnu/alsa-lib"
 
 

scripts/README.md

@@ -46,7 +46,3 @@ These different tasks can be performed:
     ```shell
     ./deploy_robots.py --package bitbots_utils nuc1
     ```
-
-## `make_basler.sh`
-
-Downloads and installs the Basler Pylon SDK for Linux. This is needed to communicate with our camera.

src/bitbots_behavior/bitbots_blackboard/bitbots_blackboard/capsules/kick_capsule.py

@@ -1,30 +1,16 @@
 from enum import Flag
-from typing import Optional
 
-from rclpy.action import ActionClient
-from rclpy.callback_groups import ReentrantCallbackGroup
-from rclpy.duration import Duration
 from rclpy.publisher import Publisher
-from rclpy.time import Time
 from std_msgs.msg import Bool
 
 from bitbots_blackboard.capsules import AbstractBlackboardCapsule
-from bitbots_msgs.action import Kick
 
 
 class KickCapsule(AbstractBlackboardCapsule):
-    """Communicates with the dynamic_kick action server to kick the ball."""
-
-    last_feedback: Optional[Kick.Feedback] = None
-    last_feedback_received: Optional[Time] = None
-    last_goal: Optional[Kick.Goal] = None
-    last_goal_sent: Optional[Time] = None
+    """Communicates with the  action server to kick the ball."""
 
     is_currently_kicking: bool = False
 
-    __connected: bool = False
-    __action_client: Optional[ActionClient] = None
-
     class WalkKickTargets(Flag):
         """
         Define the target for the walk kick (e.g. left or right foot)
@@ -42,7 +28,6 @@ def __init__(self, node, blackboard):
         :param blackboard: Global blackboard instance
         """
         self.walk_kick_pub = self._node.create_publisher(Bool, "/kick", 1)
-        # self.connect_dynamic_kick()  Do not connect if dynamic_kick is disabled
         self.rl_kick_active_pub = self._node.create_publisher(Bool, "rl_kick_active", 1)
 
     def walk_kick(self, target: WalkKickTargets) -> None:
@@ -52,46 +37,8 @@ def walk_kick(self, target: WalkKickTargets) -> None:
         """
         self.walk_kick_pub.publish(Bool(data=target.value))
 
-    def connect_dynamic_kick(self) -> None:
-        topic = self._blackboard.config["dynamic_kick"]["topic"]
-        self.__action_client = ActionClient(self._node, Kick, topic, callback_group=ReentrantCallbackGroup())
-        self.__connected = self.__action_client.wait_for_server(self._blackboard.config["dynamic_kick"]["wait_time"])
-
-        if not self.__connected:
-            self._node.get_logger().error(f"No dynamic_kick server running on {topic}")
-
-    def dynamic_kick(self, goal: Kick.Goal) -> None:
-        """
-        :param goal: Goal to kick to
-        :type goal: KickGoal
-        :raises RuntimeError: when not connected to dynamic_kick server
-        """
-        raise NotImplementedError("The dynamic_kick is disabled currently")
-        if not self.__connected:
-            # try to connect again
-            self.__connected = self.__action_client.wait_for_server(
-                Duration(seconds=self._blackboard.config["dynamic_kick"]["wait_time"])
-            )
-            if not self.__connected:
-                raise RuntimeError("Not connected to any dynamic_kick server")
-
-        self.is_currently_kicking = True
-        self.__action_client.send_goal_async(goal, self.__feedback_cb).add_done_callback(
-            lambda future: future.result().get_result_async().add_done_callback(lambda _: self.__done_cb())
-        )
-
-        self.last_goal = goal
-        self.last_goal_sent = self._node.get_clock().now()
-
     def start_rl_kick(self):
         self.rl_kick_active_pub.publish(Bool(data=True))
 
     def stop_rl_kick(self):
         self.rl_kick_active_pub.publish(Bool(data=False))
-
-    def __feedback_cb(self, feedback):
-        self.last_feedback: Kick.Feedback = feedback.feedback
-        self.last_feedback_received = self._node.get_clock().now()
-
-    def __done_cb(self):
-        self.is_currently_kicking = False

src/bitbots_behavior/bitbots_blackboard/bitbots_blackboard/capsules/misc_capsule.py

@@ -5,7 +5,7 @@
 from std_msgs.msg import Bool
 
 from bitbots_blackboard.capsules import AbstractBlackboardCapsule
-from bitbots_msgs.msg import Audio, HeadMode, RobotControlState
+from bitbots_msgs.msg import TTS, HeadMode, RobotControlState
 
 THeadMode: TypeAlias = Literal[  # type: ignore[valid-type]
     HeadMode.TRACK_BALL,
@@ -23,7 +23,7 @@ class MiscCapsule(AbstractBlackboardCapsule):
     def __init__(self, node, blackboard):
         super().__init__(node, blackboard)
         self.head_pub = self._node.create_publisher(HeadMode, "head_mode", 10)
-        self.speak_pub = self._node.create_publisher(Audio, "speak", 10)
+        self.speak_pub = self._node.create_publisher(TTS, "speak", 10)
 
         # Config
         gamestate_settings = get_parameters_from_other_node(

src/bitbots_behavior/bitbots_blackboard/package.xml

@@ -28,7 +28,6 @@
     <depend>rclpy</depend>
     <depend>ros2_numpy</depend>
     <depend>tf_transformations</depend>
-    <exec_depend>bio_ik_msgs</exec_depend>
     <exec_depend>bitbots_msgs</exec_depend>
     <exec_depend>geometry_msgs</exec_depend>
     <exec_depend>sensor_msgs</exec_depend>