Merge branch 'develop' into feature/impedance-control

ihmcrobotics · Dec 19, 2024 · 544db5c · 544db5c
2 parents 472be88 + 9be4064
commit 544db5c
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Showing 132 changed files with 3,912 additions and 3,947 deletions.
diff --git a/example-simulations/build.gradle.kts b/example-simulations/build.gradle.kts
@@ -11,7 +11,7 @@ ihmc {
 }
 
 mainDependencies {
-   api("us.ihmc:ihmc-robot-data-logger:0.29.9")
+   api("us.ihmc:ihmc-robot-data-logger:0.30.2")
    api("us.ihmc:ihmc-common-walking-control-modules:source")
    api("us.ihmc:ihmc-whole-body-controller:source")
 

diff --git a/ihmc-communication/build.gradle.kts b/ihmc-communication/build.gradle.kts
@@ -11,9 +11,9 @@ ihmc {
 }
 
 mainDependencies {
-   api("us.ihmc:ihmc-realtime:1.6.0")
+   api("us.ihmc:ihmc-realtime:1.7.0")
    api("us.ihmc:ihmc-video-codecs:2.1.6")
-   api("us.ihmc:ros2-library:1.1.3")
+   api("us.ihmc:ros2-library:1.1.5")
    api("commons-net:commons-net:3.6")
    api("org.lz4:lz4-java:1.8.0")
 
@@ -24,5 +24,6 @@ mainDependencies {
 
 testDependencies {
    api("us.ihmc:ihmc-robotics-toolkit-test:source")
-   api("us.ihmc:ros2-library-test:1.1.3")
+   api("us.ihmc:ihmc-graphics-libgdx:source")
+   api("us.ihmc:ros2-library-test:1.1.5")
 }
diff --git a/ihmc-communication/src/main/java/us/ihmc/communication/PerceptionAPI.java b/ihmc-communication/src/main/java/us/ihmc/communication/PerceptionAPI.java
@@ -108,7 +108,8 @@ public final class PerceptionAPI
    public static final ROS2Topic<BigVideoPacket> L515_DEBUG_EXTRACTION = BEST_EFFORT.withModule(L515_NAME)
                                                                                   .withType(BigVideoPacket.class)
                                                                                   .withSuffix("debug_extraction");
-   public static final ROS2Topic<Empty> REQUEST_REALSENSE_POINT_CLOUD = PERCEPTION_MODULE.withSuffix("request_realsense_point_cloud").withType(Empty.class);
+   public static final ROS2Topic<Empty> REQUEST_REALSENSE = PERCEPTION_MODULE.withSuffix("request_realsense").withType(Empty.class);
+   public static final ROS2Topic<Empty> REQUEST_REALSENSE_PUBLICATION = PERCEPTION_MODULE.withSuffix("request_realsense_publication").withType(Empty.class);
    public static final SideDependentList<ROS2Topic<BigVideoPacket>> BLACKFLY_VIDEO = new SideDependentList<>(BEST_EFFORT.withModule(BLACKFLY_NAME + "left")
                                                                                                                         .withType(BigVideoPacket.class)
                                                                                                                         .withSuffix("video"),
@@ -139,9 +140,8 @@ public final class PerceptionAPI
    public static final ROS2Topic<Int64> ZED_SVO_SET_POSITION = PERCEPTION_MODULE.withSuffix("zed_svo_set_position").withType(Int64.class);
    public static final ROS2Topic<Empty> ZED_SVO_PAUSE = PERCEPTION_MODULE.withSuffix("zed_svo_pause").withType(Empty.class);
    public static final ROS2Topic<Empty> ZED_SVO_PLAY = PERCEPTION_MODULE.withSuffix("zed_svo_play").withType(Empty.class);
-   public static final ROS2Topic<Empty> REQUEST_ZED_COLOR = PERCEPTION_MODULE.withSuffix("request_zed_color").withType(Empty.class);
-   public static final ROS2Topic<Empty> REQUEST_ZED_DEPTH = PERCEPTION_MODULE.withSuffix("request_zed_depth").withType(Empty.class);
-   public static final ROS2Topic<Empty> REQUEST_ZED_POINT_CLOUD = PERCEPTION_MODULE.withSuffix("request_zed_point_cloud").withType(Empty.class);
+   public static final ROS2Topic<Empty> REQUEST_ZED = PERCEPTION_MODULE.withSuffix("request_zed").withType(Empty.class);
+   public static final ROS2Topic<Empty> REQUEST_ZED_PUBLICATION = PERCEPTION_MODULE.withSuffix("request_zed_publication").withType(Empty.class);
    public static final ROS2Topic<Empty> REQUEST_CENTERPOSE = PERCEPTION_MODULE.withSuffix("request_centerpose").withType(Empty.class);
    public static final ROS2Topic<DetectedObjectPacket> CENTERPOSE_DETECTED_OBJECT = IHMC_ROOT.withModule("centerpose").withType(DetectedObjectPacket.class);
    public static final ROS2Topic<Empty> REQUEST_YOLO_ZED = PERCEPTION_MODULE.withSuffix("request_yolo_zed").withType(Empty.class);

diff --git a/ihmc-communication/src/main/java/us/ihmc/communication/crdt/CRDTStatusString.java b/ihmc-communication/src/main/java/us/ihmc/communication/crdt/CRDTStatusString.java
@@ -3,7 +3,7 @@
 import us.ihmc.communication.ros2.ROS2ActorDesignation;
 
 /**
- * An unidirectional String field. See {@link CRDTUnidirectionalImmutableField}.
+ * An status String field. See {@link CRDTStatusImmutableField}.
  */
 public class CRDTStatusString extends CRDTStatusImmutableField<String>
 {

diff --git a/ihmc-communication/src/main/java/us/ihmc/communication/crdt/CRDTUnidirectionalBoolean.java b/ihmc-communication/src/main/java/us/ihmc/communication/crdt/CRDTUnidirectionalBoolean.java
diff --git a/ihmc-communication/src/main/java/us/ihmc/communication/crdt/CRDTUnidirectionalDouble.java b/ihmc-communication/src/main/java/us/ihmc/communication/crdt/CRDTUnidirectionalDouble.java
diff --git a/...communication/src/main/java/us/ihmc/communication/crdt/CRDTUnidirectionalDoubleArray.java b/...communication/src/main/java/us/ihmc/communication/crdt/CRDTUnidirectionalDoubleArray.java
diff --git a/ihmc-communication/src/main/java/us/ihmc/communication/crdt/CRDTUnidirectionalEnumField.java b/ihmc-communication/src/main/java/us/ihmc/communication/crdt/CRDTUnidirectionalEnumField.java
diff --git a/ihmc-communication/src/main/java/us/ihmc/communication/crdt/CRDTUnidirectionalField.java b/ihmc-communication/src/main/java/us/ihmc/communication/crdt/CRDTUnidirectionalField.java
diff --git a/...munication/src/main/java/us/ihmc/communication/crdt/CRDTUnidirectionalImmutableField.java b/...munication/src/main/java/us/ihmc/communication/crdt/CRDTUnidirectionalImmutableField.java
diff --git a/ihmc-communication/src/main/java/us/ihmc/communication/crdt/CRDTUnidirectionalInteger.java b/ihmc-communication/src/main/java/us/ihmc/communication/crdt/CRDTUnidirectionalInteger.java