End-of-2020 version #250

alex-mitrevski · 2020-12-31T10:04:25Z

This PR adds all new features developed and bug fixes made during the year:

Actions for human-robot object hand over (Object Hand Over Action #227) and robot-human object hand over (Object reception action + action demo #244)
New scenarios:
- A lab manager scenario (Lab manager (IEEE video challenge) #233); a demonstration can be found at https://youtu.be/WqgsuoSAT8M
- A tidy up scenario (Tidy Up task + cloud (small) object detection #249), including a component for detecting (small) objects from point cloud measurements (Feature/cloud object detection #248); a demonstration is provided at https://youtu.be/Tnhf6nUeuDI
- A demo scenario for receiving an object from a person and delivering it to to a kitchen (Receive and transport drink scenario #246)
- A utility scenario for learning the face of an unknown person (Person registration #235)
Various changes and improvements to the existing components:
- Object placing by detecting impact with the placing surface (Impact-based object placing #239)
- Online DMP trajectory generation (Online DMP Trajectory Generation #231, DMP execution bug fix #240); this is required for WIP: DMP Obstacle Avoidance #232
- Integration of the View messages added in mas_perception_msgs (Object/Person/Face views #234)
- Rewriting of the action launchers so that they accept arguments (Launch file arguments in the action launchers #242)
- Replacement of the ssd_keras detector by a PyTorch-based detector ([find_people] Detector replacement (SSD Keras -> PyTorch Faster R-CNN) #245, [perceive_plane_action] Plane detector using a Torch-based object detector #247)
A new rosinstall file for setting up a development version of the repository and its dependencies (Add a new rosinstall file for devel versions #237)
.pylintrc and .bandit files for suppressing certain Codacy warnings (such as warnings about random.choice being unsafe or about class methods (base or overriden) that can be functions), which don't really fit our context (Fix Codacy errors and add configuration files to skip some pylint and bandit tests #251)
Various documentation updates (Add additional notes for building the packages on the robot #236, Remove redundancies in the demo scenario descriptions #238, [hand_over_action] fix use of arguments in action client test and README #243)

Edit 06.01.2021: Should not be merged before #252

…ise the execution of the DMP is weird); fix readme

…object

…thon package

…ocation This is added just for testing purposes

…erdata if not provided as an arg

… checking implemented by Dharmin yesterday

…ding to Person msg

The build is failing otherwise (even though the package doesn't have a **direct** dependency on it)

* Fixed incorrect object category setting * Removed unreachable outcome

…bandit

Fix Codacy errors and add configuration files to skip some pylint and bandit tests

mdr_perception/mdr_cloud_object_detection/ros/include/mdr_cloud_object_detection/Aliases.h

mdr_perception/mdr_cloud_object_detection/ros/include/mdr_cloud_object_detection/Color.h

...cloud_object_detection/ros/include/mdr_cloud_object_detection/PassThroughVoxelFilterParams.h

...mdr_demos/mdr_demo_lab_manager/ros/src/mdr_demo_lab_manager/scenario_states/get_user_data.py

The existing implementation was unrolling the DMP (i.e. calling the dmp.step function) at every step of the control loop, without checking if the intermediate goal has been reached. For this reason, the robot was very quickly just starting to move directly towards the goal, thus not following the trajectory at all. In the fixed version, a DMP step is only taken if the currently pursued goal has been reached, which means that the trajectory is actually followed.

Both None and empty list have to be covered

sonarcloud · 2021-01-06T17:27:57Z

Kudos, SonarCloud Quality Gate passed!

0 Bugs
0 Vulnerabilities
6 Security Hotspots
20 Code Smells

0.0% Coverage
0.0% Duplication

af-a and others added 30 commits April 1, 2020 16:15

[hand_over_action] Update README with more detailed description

575f8b7

[move_arm_action] Add online DMP trajectory generation

83c8907

[move_arm_action] Fix minor errors (tested on HSR)

bfbbb0b

[move_arm_action] Add missing function docstring

a920590

[move_arm_action] Correct references to np array variables in docstrings

157d1e2

[hand_over_action] move arm to neutral position in init state (otherw…

d0d406f

…ise the execution of the DMP is weird); fix readme

[handle_open_action] Modified the action to include handle detection

e5e95c6

[handle_open_action/action_states] Error fix (undefined variable)

22302ec

[handle_open_action] Error fix in wait_for_result call

7ec2fe5

[handle_open_action] Fixed a pose transform call with a non-existing …

d83f835

…object

[scenarios] Added skeleton for mdr_demo_lab_manager

644d651

[mdr_demo_lab_manager] Added states for lab manager (first draft)

6382045

Add debug flag for calls to say()

363ef49

Add simple say sentence HRI behaviour

2ca1b93

Remove server launch files; add find people client launch file

fb170a8

[demo_lab_manager] Modify monitor door state and add verify person state

50ddb73

[demo_lab_manager] Added stub verify_person implementation

b8b89bd

[demo_lab_manager] Added a setup.py and fixed the structure of the py…

7c0788e

…thon package

[demo_lab_manager] Forgot to set up the Python package in the CMakeLists

4b98789

[hri_behaviours] Fix incorrect scenario name

17de9fe

[demo_lab_manager] Fix incorrect state name

83a9cbe

[hri_behaviours] Added a state for asking for a name

41741c8

[demo_lab_manager] Verify person can now send the robot to a random l…

f11eaff

…ocation This is added just for testing purposes

[navigation_behaviours/move_base] Using destination_locations from us…

a3e32a5

…erdata if not provided as an arg

[demo_lab_manager] Fixed missing userdata key declaration

bbd8967

[hri_behaviours/ask_name] Added missing userdata key declaration

2dfdb2c

[find_people_action/client] Fixed check for undetected people

7714e06

Replace speech state with the google forms based user data query

83d25cf

[demo_lab_manager/scenario_states/verify_person] Adding the occupancy…

7acc2c5

… checking implemented by Dharmin yesterday

[find_people_action] Modify to integrate face image extraction and ad…

336e41f

…ding to Person msg

alex-mitrevski and others added 10 commits December 30, 2020 20:38

[manipulation_msgs] Added actionlib to the list of dependencies

b3b77c2

The build is failing otherwise (even though the package doesn't have a **direct** dependency on it)

[hri_behaviours/receive_object] Bug fixes

f0a55bc

* Fixed incorrect object category setting * Removed unreachable outcome

Resolved various Coday issues (mostly unused imports)

41e0e48

[Codacy-Fix] Remove unused imports

11b656d

[Codacy] Add configuration files to disable some tests in pylint and …

1466b32

…bandit

Resolved further Codacy issues (also older ones)

12a312d

Merge branch 'devel' into devel

ebda831

[Codacy] add comments to the bandit config file

ab9dc65

Merge pull request #251 from Sushant-Chavan/devel

9ae395c

Fix Codacy errors and add configuration files to skip some pylint and bandit tests

[README] Added a link to mas_tutorials

97f3043

b-it-bots deleted a comment from sonarcloud bot Dec 31, 2020

alex-mitrevski force-pushed the devel branch from 19d97a9 to 97f3043 Compare December 31, 2020 12:18

[.bandit] Passed warnings as a list and removed [bandit] tag

3ed96cf

alex-mitrevski force-pushed the devel branch from aa0d6b9 to 3ed96cf Compare December 31, 2020 12:27

[.bandit] Add comments about the skipped tests

405b3b9

alex-mitrevski marked this pull request as ready for review December 31, 2020 13:31

alex-mitrevski requested review from argenos, minhnh and PatrickNa as code owners December 31, 2020 13:31

minhnh reviewed Jan 4, 2021

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Fix review findings

787b31c

minhnh approved these changes Jan 6, 2021

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argenos approved these changes Jan 6, 2021

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alex-mitrevski added 2 commits January 6, 2021 16:31

[pickup/place_action] Fixed test for empty goal orientation

2dc3809

Both None and empty list have to be covered

alex-mitrevski force-pushed the devel branch from 0f26fd3 to 2dc3809 Compare January 6, 2021 15:57

alex-mitrevski merged commit 35d6c2b into kinetic Jan 6, 2021

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End-of-2020 version #250

End-of-2020 version #250

alex-mitrevski commented Dec 31, 2020 •

edited

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sonarcloud bot commented Jan 6, 2021

End-of-2020 version #250

End-of-2020 version #250

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alex-mitrevski commented Dec 31, 2020 • edited Loading

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alex-mitrevski commented Dec 31, 2020 •

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