Merge pull request #1 from gtri/master

update

.gitignore

@@ -35,3 +35,5 @@ devel
 tags*
 **.swp
 **.DS_Store
+**.ccls*
+.vscode

CMakeLists.txt

@@ -196,7 +196,7 @@ if (${VTK_FOUND})
         set(OPENGL_MODULE vtkRenderingOpenGL2)
     endif()
 
-    set(VTK_MODULES 
+    set(VTK_MODULES
         vtkFiltersSources
         vtkFiltersTexture
         vtkInteractionStyle
@@ -208,17 +208,15 @@ if (${VTK_FOUND})
         ${OPENGL_MODULE})
 
     find_package(VTK QUIET NO_MODULE COMPONENTS ${VTK_MODULES})
-endif() 
+endif()
 
-if (NOT EXTERNAL AND ${VTK_FOUND})
+if (${VTK_FOUND})
   message(STATUS "Found VTK Version: ${VTK_MAJOR_VERSION}.${VTK_MINOR_VERSION}.${VTK_BUILD_VERSION}")
   include_directories(SYSTEM ${VTK_INCLUDE_DIRS})
   include(${VTK_USE_FILE})
-  add_definitions(-DENABLE_VIEWER=1)
-  add_definitions(-DENABLE_TERRAIN=1)
+  add_definitions(-DENABLE_VTK=1)
 else()
-  add_definitions(-DENABLE_VIEWER=0)
-  add_definitions(-DENABLE_TERRAIN=0)
+  add_definitions(-DENABLE_VTK=0)
 endif()
 
 ########################################################
@@ -262,6 +260,7 @@ if (OpenCV_FOUND)
   add_library(scrimmage-opencv INTERFACE)
   target_include_directories(scrimmage-opencv INTERFACE ${OpenCV_INCLUDE_DIRS})
   target_compile_definitions(scrimmage-opencv INTERFACE -DENABLE_OPENCV=1)
+  target_link_libraries(scrimmage-opencv INTERFACE ${OpenCV_LIBRARIES})
   install(TARGETS scrimmage-opencv EXPORT ${PROJECT_NAME}-targets)
 else()
   add_definitions(-DENABLE_OPENCV=0)

README.md

@@ -62,10 +62,19 @@ dependencies).
 ### Install Custom Built Binary Dependencies
 
 Some of SCRIMMAGE's dependencies have to be custom built from source. We
-provide deb package binaries via the SCRIMMAGE PPA on Launchpad for these
-custom built packages. First, add the PPA to your apt-get sources:
+provide debian package binaries for both Ubuntu 16.04 (xenial) and 18.04
+(bionic) via the SCRIMMAGE PPA on Launchpad for these custom built
+packages. For Ubuntu 16.04 (xenial), add the following PPA to your apt-get
+sources:
 
     $ sudo add-apt-repository ppa:kevin-demarco/scrimmage
+
+For Ubuntu 18.04 (bionic), add the following PPA:
+
+    $ sudo add-apt-repository ppa:kevin-demarco/scrimmage-bionic
+
+For both distributions, update your sources list:
+
     $ sudo apt-get update
 
 Now, install the SCRIMMAGE custom built binary dependencies:
@@ -135,8 +144,8 @@ your mouse.
 
 ## Building on macOS
 
-Refer [here](https://github.com/crichardson332/homebrew-crich_brews) for instructions on installing dependencies and running
-SCRIMMAGE on macOS.
+Refer [here](https://github.com/crichardson332/homebrew-crich_brews) for
+instructions on installing dependencies and running SCRIMMAGE on macOS.
 
 ## Python Bindings
 
@@ -427,4 +436,3 @@ interface with internet access from the commands:
 Restart docker:
 
     $ sudo service docker restart
-

ci/dockerfiles/ubuntu-16.04

@@ -9,15 +9,15 @@ SHELL ["/bin/bash", "-c"]
 
 # Install initial dependencies and setup .bashrc
 RUN echo "deb http://packages.ros.org/ros/ubuntu xenial main" > /etc/apt/sources.list.d/ros-latest.list \
- && apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116 \
+ && apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654 \
  && apt-get update \
  && apt-get install -y \
     ros-kinetic-desktop-full \
     software-properties-common \
-    python-software-properties \
+    python3-software-properties \
     cppcheck \
-    python-pytest \
-    python-pip \
+    python3-pytest \
+    python3-pip \
     git \
     ninja-build \
     clang \
@@ -31,11 +31,12 @@ RUN echo "deb http://packages.ros.org/ros/ubuntu xenial main" > /etc/apt/sources
  && rosdep init && rosdep update \
  && echo "source /opt/ros/kinetic/setup.bash" >> ~/.bashrc \
  && /opt/scrimmage/*/setup.sh \
- && pip install cpplint \
+ && pip3 install cpplint \
     protobuf==3.3.0 \
     grpcio==1.2.1 \
     gym==0.10.11 \
-    sphinx-git
+    sphinx-git \
+    sphinx_rtd_theme
 
 # Install jekyll
 RUN echo 'export GEM_HOME="$HOME/gems"' >> ~/.bashrc \
@@ -46,7 +47,7 @@ RUN echo 'export GEM_HOME="$HOME/gems"' >> ~/.bashrc \
 
 # Copy install binaries script into image and run
 COPY ./setup/install-binaries.sh /root/install-binaries.sh
-RUN /root/install-binaries.sh -e 0 -p 3 \
+RUN /root/install-binaries.sh -e 0 --python 3 \
  && rm -rf /var/lib/apt/lists/*
 
 FROM dependencies as builder
@@ -58,8 +59,7 @@ COPY ./ /root/scrimmage/scrimmage
 # Run static analysis tests
 WORKDIR /root/scrimmage/scrimmage
 RUN find -name __pycache__ -o -name "*.pyc" | xargs rm -rfv \
- && py.test test/test_cppcheck.py \
- && python test/test_cpplint.py
+ && py.test-3 test/test_cppcheck.py
 
 # Test Plugin Generation
 WORKDIR /root/scrimmage/scrimmage/scripts
@@ -78,20 +78,20 @@ RUN mkdir -p build \
  && cd build \
  && source ~/.bashrc \
  && source ~/.scrimmage/setup.bash \
- && cmake .. -G Ninja -DBUILD_TESTS=ON -DBUILD_DOCS=ON -DCMAKE_CXX_FLAGS="-Werror" \
+ && cmake .. -DPYTHON_MIN_VERSION=3 -G Ninja -DBUILD_TESTS=ON -DBUILD_DOCS=ON -DCMAKE_CXX_FLAGS="-Werror" \
  && ninja \
  && ninja docs website-docs
 
 # install python package and run tests
 WORKDIR /root/scrimmage/scrimmage/python
-RUN pip install -e .
+RUN pip3 install -e .
 
 # run tests
 WORKDIR /root/scrimmage/scrimmage/build
 RUN source ~/.scrimmage/setup.bash && \
     export SCRIMMAGE_MISSION_PATH=$SCRIMMAGE_MISSION_PATH:$PWD && \
     export PYTHONPATH=$PYTHONPATH:$PWD/../test && \
-    py.test ../test/test_openai.py && \
+    py.test-3 ../test/test_openai.py && \
     export CTEST_OUTPUT_ON_FAILURE=1 && \
     ninja test && \
     scrimmage ../missions/straight-no-gui.xml && \
@@ -113,7 +113,7 @@ RUN mkdir -p /root/catkin_ws/src \
  && make test
 
 WORKDIR /root/scrimmage/scrimmage
-RUN /bin/bash -c "source ~/.scrimmage/setup.bash && py.test python/tests"
+RUN /bin/bash -c "source ~/.scrimmage/setup.bash && py.test-3 python/tests"
 
 # Setup the scrimmage docker image to run as an executable
 ENTRYPOINT ["/root/scrimmage/scrimmage/ci/scripts/scrimmage-wrapper.sh"]

ci/dockerfiles/ubuntu-18.04

@@ -12,7 +12,7 @@ RUN apt-get update \
  && apt-get install -y \
     gnupg \
  && echo "deb http://packages.ros.org/ros/ubuntu bionic main" > /etc/apt/sources.list.d/ros-latest.list \
- && apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116 \
+ && apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654 \
  && apt-get update \
  && apt-get install -y \
     ros-melodic-desktop-full \

data/gui/obj/zephyr/zephyr-green.xml

@@ -0,0 +1,9 @@
+<?xml version="1.0"?>
+<?xml-stylesheet type="text/xsl" href="http://gtri.gatech.edu"?>
+<params>
+  <model>wing.obj</model>
+  <texture>wing-green.png</texture>
+  <!--<visual_scale>0.004598789</visual_scale> -->
+  <visual_scale>0.000658892</visual_scale> <!-- 1 m width -->
+  <visual_rpy>0 0 90</visual_rpy>
+</params>

docs/jekyll/_config.yml

@@ -46,4 +46,4 @@ plugins:
 #  - about.md
 #  - other.md
 
-baseurl: "/scrimmage"
+#baseurl: "/scrimmage"

docs/source/overview/design-principles.rst

@@ -0,0 +1,69 @@
+Design Principles
+======================
+
+Entity state() vs state_truth()
+-------------------------------
+
+The purpose of the separate ``state()`` and ``state_truth()`` shared pointers
+is to allow the researcher to simulate the effects of introducing noise into
+the entity's own position, velocity, orientation, etc. When the researcher is
+not concerned with introducing state noise, the ``state()`` and
+``state_truth()`` pointers point to the same memory location. However, if the
+researcher wants to introduce state noise, a sensor plugin can be used to
+create a new state pointer instance and assign the pointers appropriately. For
+example, in the ``init()`` function of the ``SimpleINS`` plugin, the following
+code creates a new State pointer to hold noisy state information:
+
+.. code-block:: c++
+   :linenos:
+
+   // Create a new State instance
+   parent_->state() = std::make_shared<State>();
+
+   // Initialize the new state's values with the ground truth values
+   *(parent_->state()) = *(parent_->state_truth());
+
+In the ``step()`` function, the plugin copies the ``state_truth()`` pointer,
+
+.. code-block:: c++
+   :linenos:
+
+   StateWithCovariance ns(*(parent_->state_truth()));
+
+adds noise to the copied state values, and then assigns the ``state()`` pointer
+with the noisy values:
+
+.. code-block:: c++
+   :linenos:
+
+   *(parent_->state()) = static_cast<sc::State>(msg->data);
+
+This allows the autonomy and controller plugins to only have to consider the
+``state_`` pointer without having to consider whether ground truth or noisy
+state information is being used in the simulation. However, the developer has
+to determine whether they need to access the possibly noisy ``state()`` or the
+``state_truth()`` pointers when writing sensor, interaction, metric, and
+network plugins. Motion model plugins only need to consider the ``state_``
+pointer since they are always initialized with the ``ground_truth_`` pointer in
+``Entity.cpp``.
+
+Testing a Real INS System
+~~~~~~~~~~~~~~~~~~~~~~~~~
+
+A real inertial navigation system (INS) will take inputs from GPS, LIDAR,
+accelerometers, and gyroscopes. If the researcher wants to develop and simulate
+an INS implementation, GPS, LIDAR, accelerometer, and gyroscope sensor plugins
+should be configured to publish their respective data to an INS sensor
+plugin. The INS sensor plugin should be the only the sensor plugin that makes
+and reassigns the ``state()`` pointer in its ``init()`` function. After each
+step of the INS sensor plugin, it should assign the ``state()`` pointer with
+its best estimate of the entity's state. This will allow the entity's autonomy
+and controller plugins to use this best estimated state for later calculations.
+
+
+Noisy Contacts
+--------------
+
+For now, the developer can use the NoisyContacts sensor plugin. However, we
+will soon be developing a noisy / ground truth interface to contacts that is
+similar to the entity's interface.