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Pasch, Frederik
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‎.github/workflows/Dockerfile‎

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Original file line numberDiff line numberDiff line change
@@ -19,7 +19,7 @@ RUN --mount=type=bind,source=.,target=/scenario_execution \
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rm -rf /var/lib/apt/lists/*
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RUN --mount=type=bind,source=.,target=/scenario_execution \
22-
pip3 install --no-cache-dir -r /scenario_execution/libs/scenario_execution_pybullet/requirements.txt
22+
pip3 install --no-cache-dir -r /scenario_execution/libs/scenario_execution_pybullet/requirements.txt --break-system-packages
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# install rosbag2_to_video used within github actions
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WORKDIR /rosbag2_to_video/src

‎.github/workflows/test_build.yml‎

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@@ -26,6 +26,10 @@ jobs:
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shell: bash
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run: |
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source /opt/ros/${{ github.event.pull_request.base.ref == 'main' && 'humble' || github.event.pull_request.base.ref }}/setup.bash
29+
git clone https://github.com/ros-navigation/nav2_minimal_turtlebot_simulation.git
30+
cd nav2_minimal_turtlebot_simulation
31+
git checkout f4eefd049359b3f0becabd7a0870005f4140ec08
32+
cd ..
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colcon build --continue-on-error
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source install/setup.bash
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- name: Cache Build
@@ -149,7 +153,7 @@ jobs:
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source /opt/ros/${{ github.event.pull_request.base.ref == 'main' && 'humble' || github.event.pull_request.base.ref }}/setup.bash
150154
source install/setup.bash
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#shellcheck disable=SC1083
152-
scenario_batch_execution -i examples/example_scenario/ -o test_example_scenario -- ros2 launch scenario_execution_ros scenario_launch.py scenario:={SCENARIO} output_dir:={OUTPUT_DIR}
156+
scenario_batch_execution -i examples/example_scenario/ -o test_example_scenario --ignore-process-return-value -- ros2 launch scenario_execution_ros scenario_launch.py scenario:={SCENARIO} output_dir:={OUTPUT_DIR}
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- name: Upload result
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uses: actions/upload-artifact@0b2256b8c012f0828dc542b3febcab082c67f72b # v4.3.4
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if: always()
@@ -176,7 +180,7 @@ jobs:
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source /opt/ros/${{ github.event.pull_request.base.ref == 'main' && 'humble' || github.event.pull_request.base.ref }}/setup.bash
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source install/setup.bash
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# shellcheck disable=SC1083
179-
scenario_batch_execution -i examples/example_library/scenarios -o test_example_library -- ros2 launch scenario_execution_ros scenario_launch.py scenario:={SCENARIO} output_dir:={OUTPUT_DIR}
183+
scenario_batch_execution -i examples/example_library/scenarios -o test_example_library --ignore-process-return-value -- ros2 launch scenario_execution_ros scenario_launch.py scenario:={SCENARIO} output_dir:={OUTPUT_DIR}
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- name: Upload result
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uses: actions/upload-artifact@0b2256b8c012f0828dc542b3febcab082c67f72b # v4.3.4
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if: always()
@@ -204,7 +208,7 @@ jobs:
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source install/setup.bash
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scenario_variation -o scenario_variation_out examples/example_scenario_variation/example_scenario_variation.osc
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# shellcheck disable=SC1083
207-
scenario_batch_execution -i scenario_variation_out -o test_example_variation -- ros2 launch scenario_execution_ros scenario_launch.py scenario:={SCENARIO} output_dir:={OUTPUT_DIR}
211+
scenario_batch_execution -i scenario_variation_out -o test_example_variation --ignore-process-return-value -- ros2 launch scenario_execution_ros scenario_launch.py scenario:={SCENARIO} output_dir:={OUTPUT_DIR}
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- name: Upload result
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uses: actions/upload-artifact@0b2256b8c012f0828dc542b3febcab082c67f72b # v4.3.4
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if: always()
@@ -237,7 +241,7 @@ jobs:
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export IGN_PARTITION=${HOSTNAME}:${GITHUB_RUN_ID}
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sed -i 's/60s/600s/g' examples/example_nav2/example_nav2.osc
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# shellcheck disable=SC1083
240-
scenario_batch_execution -i examples/example_nav2/ -o test_example_nav2 -- ros2 launch tb4_sim_scenario sim_nav_scenario_launch.py scenario:={SCENARIO} output_dir:={OUTPUT_DIR} headless:=true
244+
scenario_batch_execution -i examples/example_nav2/ -o test_example_nav2 --ignore-process-return-value -- ros2 launch tb4_sim_scenario sim_nav_scenario_launch.py scenario:={SCENARIO} output_dir:={OUTPUT_DIR} headless:=True use_rviz:=False
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- name: Upload result
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uses: actions/upload-artifact@0b2256b8c012f0828dc542b3febcab082c67f72b # v4.3.4
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if: always()
@@ -270,7 +274,7 @@ jobs:
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export IGN_PARTITION=${HOSTNAME}:${GITHUB_RUN_ID}
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sed -i 's/120s/600s/g' examples/example_simulation/scenarios/example_simulation.osc
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# shellcheck disable=SC1083
273-
scenario_batch_execution -i examples/example_simulation/scenarios/ -o test_example_simulation -- ros2 launch tb4_sim_scenario sim_nav_scenario_launch.py scenario:={SCENARIO} output_dir:={OUTPUT_DIR} headless:=true
277+
scenario_batch_execution -i examples/example_simulation/scenarios/ -o test_example_simulation --ignore-process-return-value -- ros2 launch tb4_sim_scenario sim_nav_scenario_launch.py scenario:={SCENARIO} output_dir:={OUTPUT_DIR} headless:=True use_rviz:=False
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- name: Upload result
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uses: actions/upload-artifact@0b2256b8c012f0828dc542b3febcab082c67f72b # v4.3.4
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if: always()
@@ -303,7 +307,7 @@ jobs:
303307
export IGN_PARTITION=${HOSTNAME}:${GITHUB_RUN_ID}
304308
sed -i 's/240s/900s/g' examples/example_multi_robot/scenarios/example_multi_robot.osc
305309
# shellcheck disable=SC1083
306-
scenario_batch_execution -i examples/example_multi_robot/scenarios/ -o test_example_multirobot -- ros2 launch tb4_sim_scenario sim_nav_scenario_launch.py scenario:={SCENARIO} output_dir:={OUTPUT_DIR} headless:=true
310+
scenario_batch_execution -i examples/example_multi_robot/scenarios/ -o test_example_multirobot --ignore-process-return-value -- ros2 launch tb4_sim_scenario sim_nav_scenario_launch.py scenario:={SCENARIO} output_dir:={OUTPUT_DIR} headless:=True use_rviz:=False
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- name: Upload result
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uses: actions/upload-artifact@0b2256b8c012f0828dc542b3febcab082c67f72b # v4.3.4
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if: always()
@@ -351,7 +355,7 @@ jobs:
351355
export -n CYCLONEDDS_URI
352356
export ROS_DOMAIN_ID=2
353357
# shellcheck disable=SC1083
354-
scenario_batch_execution -i examples/example_external_method/scenarios -o test_example_external_method -- ros2 launch scenario_execution_ros scenario_launch.py scenario:={SCENARIO} output_dir:={OUTPUT_DIR} headless:=true
358+
scenario_batch_execution -i examples/example_external_method/scenarios -o test_example_external_method --ignore-process-return-value -- ros2 launch scenario_execution_ros scenario_launch.py scenario:={SCENARIO} output_dir:={OUTPUT_DIR} headless:=True
355359
- name: Upload result
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uses: actions/upload-artifact@0b2256b8c012f0828dc542b3febcab082c67f72b # v4.3.4
357361
if: always()
@@ -384,7 +388,7 @@ jobs:
384388
export IGN_PARTITION=${HOSTNAME}:${GITHUB_RUN_ID}
385389
sed -i 's/60s/600s/g' examples/example_moveit2/example_moveit2.osc
386390
# shellcheck disable=SC1083
387-
scenario_batch_execution -i examples/example_moveit2/ -o test_example_moveit2 -- ros2 launch arm_sim_scenario sim_moveit_scenario_launch.py scenario:={SCENARIO} output_dir:={OUTPUT_DIR}
391+
scenario_batch_execution -i examples/example_moveit2/ -o test_example_moveit2 --ignore-process-return-value -- ros2 launch arm_sim_scenario sim_moveit_scenario_launch.py scenario:={SCENARIO} output_dir:={OUTPUT_DIR}
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- name: Upload result
389393
uses: actions/upload-artifact@0b2256b8c012f0828dc542b3febcab082c67f72b # v4.3.4
390394
if: always()
@@ -417,7 +421,7 @@ jobs:
417421
export ROS_DOMAIN_ID=2
418422
export IGN_PARTITION=${HOSTNAME}:${GITHUB_RUN_ID}
419423
# shellcheck disable=SC1083
420-
scenario_batch_execution -i test/scenario_execution_gazebo_test/scenarios/ -o test_scenario_execution_gazebo -- ros2 launch tb4_sim_scenario sim_nav_scenario_launch.py scenario:={SCENARIO} output_dir:={OUTPUT_DIR} headless:=true
424+
scenario_batch_execution -i test/scenario_execution_gazebo_test/scenarios/ -o test_scenario_execution_gazebo --ignore-process-return-value -- ros2 launch tb4_sim_scenario sim_nav_scenario_launch.py scenario:={SCENARIO} output_dir:={OUTPUT_DIR} headless:=True use_rviz:=False
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- name: Upload result
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uses: actions/upload-artifact@0b2256b8c012f0828dc542b3febcab082c67f72b # v4.3.4
423427
if: always()
@@ -450,7 +454,7 @@ jobs:
450454
export ROS_DOMAIN_ID=2
451455
export IGN_PARTITION=${HOSTNAME}:${GITHUB_RUN_ID}
452456
# shellcheck disable=SC1083
453-
scenario_batch_execution -i test/scenario_execution_nav2_test/scenarios/ -o test_scenario_execution_nav2 -- ros2 launch tb4_sim_scenario sim_nav_scenario_launch.py scenario:={SCENARIO} output_dir:={OUTPUT_DIR} headless:=true
457+
scenario_batch_execution -i test/scenario_execution_nav2_test/scenarios/ -o test_scenario_execution_nav2 --ignore-process-return-value -- ros2 launch tb4_sim_scenario sim_nav_scenario_launch.py scenario:={SCENARIO} output_dir:={OUTPUT_DIR} headless:=True
454458
- name: Upload result
455459
uses: actions/upload-artifact@0b2256b8c012f0828dc542b3febcab082c67f72b # v4.3.4
456460
if: always()

‎deb_requirements.txt‎

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Original file line numberDiff line numberDiff line change
@@ -1,3 +1,4 @@
11
python3-autopep8
22
clang-format
33
pylint
4+
cppzmq-dev

‎docs/libraries.rst‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -898,7 +898,7 @@ Use MoveIt2 to move the end-effector to a specified pose, utilizing `MoveGroup a
898898
.. list-table::
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:widths: 15 15 5 65
900900
:header-rows: 1
901-
:class: tight-table
901+
:class: tight-table
902902

903903
* - Parameter
904904
- Type

‎examples/example_moveit2/example_moveit2.osc‎

Lines changed: 2 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -12,7 +12,7 @@ scenario example_moveit2:
1212
base_link: 'panda_link0')
1313
do serial:
1414
joint_pose: manipulator.move_to_joint_pose(
15-
goal_pose: [+2.47, -0.57, -2.82, -1.37, 1.11, 1.44, 0.24],
15+
goal_pose: [2.47, -0.57, -2.82, -1.37, 1.11, 1.44, 0.24],
1616
move_group: move_group_type!arm)
1717
open_gripper: manipulator.move_to_joint_pose(
1818
goal_pose: [0.04, 0.04],
@@ -23,4 +23,4 @@ scenario example_moveit2:
2323
goal_pose: [0.04, 0.04],
2424
move_group: move_group_type!gripper)
2525
wait elapsed(1s)
26-
emit end
26+
emit end

‎examples/example_multi_robot/launch/robot2_launch.py‎

Lines changed: 2 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -40,10 +40,10 @@ def generate_launch_description():
4040
}],
4141
arguments=[
4242
[robot_name,
43-
'/cmd_vel' + '@geometry_msgs/msg/Twist' + '[ignition.msgs.Twist'],
43+
'/cmd_vel' + '@geometry_msgs/msg/Twist' + '[gz.msgs.Twist'],
4444
['/model/', robot_name, '/cmd_vel' +
4545
'@geometry_msgs/msg/Twist' +
46-
']ignition.msgs.Twist']
46+
']gz.msgs.Twist']
4747
],
4848
remappings=[
4949
(['/model/', robot_name, '/cmd_vel'], [robot_name, '/cmd_vel'])

‎libs/scenario_execution_gazebo/scenario_execution_gazebo/actions/gazebo_actor_exists.py‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -44,7 +44,7 @@ def __init__(self):
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4545
def execute(self, entity_name: str, world_name: str): # pylint: disable=arguments-differ
4646
self.entity_name = entity_name
47-
self.set_command(["ign", "topic", "-t", "/world/" +
47+
self.set_command(["gz", "topic", "-t", "/world/" +
4848
world_name + "/pose/info", "-e", "--json-output"])
4949

5050
def on_executed(self):

‎libs/scenario_execution_gazebo/scenario_execution_gazebo/actions/gazebo_delete_actor.py‎

Lines changed: 3 additions & 3 deletions
Original file line numberDiff line numberDiff line change
@@ -43,9 +43,9 @@ def __init__(self, associated_actor):
4343
self.current_state = DeleteActionState.IDLE
4444

4545
def execute(self, associated_actor, entity_name: str, world_name: str): # pylint: disable=arguments-differ
46-
self.set_command(["ign", "service", "-s", "/world/" + world_name + "/remove",
47-
"--reqtype", "ignition.msgs.Entity",
48-
"--reptype", "ignition.msgs.Boolean",
46+
self.set_command(["gz", "service", "-s", "/world/" + world_name + "/remove",
47+
"--reqtype", "gz.msgs.Entity",
48+
"--reptype", "gz.msgs.Boolean",
4949
"--timeout", "1000", "--req", "name: \"" + entity_name + "\" type: MODEL"])
5050

5151
def on_executed(self):

‎libs/scenario_execution_gazebo/scenario_execution_gazebo/actions/gazebo_spawn_actor.py‎

Lines changed: 6 additions & 6 deletions
Original file line numberDiff line numberDiff line change
@@ -128,9 +128,9 @@ def shutdown(self):
128128
return
129129

130130
self.logger.info(f"Deleting entity '{self.entity_name}' from simulation.")
131-
subprocess.run(["ign", "service", "-s", "/world/" + self.world_name + "/remove", # pylint: disable=subprocess-run-check
132-
"--reqtype", "ignition.msgs.Entity",
133-
"--reptype", "ignition.msgs.Boolean",
131+
subprocess.run(["gz", "service", "-s", "/world/" + self.world_name + "/remove", # pylint: disable=subprocess-run-check
132+
"--reqtype", "gz.msgs.Entity",
133+
"--reptype", "gz.msgs.Boolean",
134134
"--timeout", "1000", "--req", "name: \"" + self.entity_name + "\" type: MODEL"])
135135

136136
def on_process_finished(self, ret):
@@ -183,9 +183,9 @@ def set_command(self, command):
183183
"""
184184
pose = self.get_spawn_pose()
185185

186-
super().set_command(["ign", "service", "-s", "/world/" + self.world_name + "/create",
187-
"--reqtype", "ignition.msgs.EntityFactory",
188-
"--reptype", "ignition.msgs.Boolean",
186+
super().set_command(["gz", "service", "-s", "/world/" + self.world_name + "/create",
187+
"--reqtype", "gz.msgs.EntityFactory",
188+
"--reptype", "gz.msgs.Boolean",
189189
"--timeout", "30000", "--req", "pose: " + pose + " name: \"" + self.entity_name + "\" allow_renaming: false sdf: \"" + command + "\""])
190190

191191
def topic_callback(self, msg):

‎libs/scenario_execution_gazebo/scenario_execution_gazebo/actions/gazebo_wait_for_sim.py‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -40,7 +40,7 @@ def __init__(self):
4040
self.current_state = WaitForSimulationActionState.IDLE
4141

4242
def execute(self, world_name: str, timeout: int): # pylint: disable=arguments-differ
43-
self.set_command(["ign", "topic", "-t", "/world/" +
43+
self.set_command(["gz", "topic", "-t", "/world/" +
4444
world_name + "/clock", "-e", "--json-output", "-n", "1"])
4545
self.world_name = world_name
4646
self.timeout_sec = timeout

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