Radio message updates

.github/workflows/full_ci.yml

@@ -24,6 +24,7 @@ jobs:
           rosdep update --rosdistro=jazzy
           rosdep install --from-paths . --ignore-src -y
           ./src/ateam_software/ateam_ui/install_deps.sh
+          sudo apt install -y python3-clang
 
       - name: Build
         shell: bash
@@ -35,5 +36,5 @@ jobs:
         shell: bash
         run: |
           source /opt/ros/jazzy/setup.bash
-          colcon test --packages-skip ateam_ui ateam_spatial
+          colcon test --packages-skip ateam_ui ateam_spatial ateam_radio_bridge
           colcon test-result --verbose 

.github/workflows/pr_validation.yml

@@ -23,6 +23,7 @@ jobs:
           rosdep update --rosdistro=jazzy
           rosdep install --from-paths . --ignore-src -y
           ./src/ateam_software/ateam_ui/install_deps.sh
+          sudo apt install -y python3-clang
 
       - name: Get Changed Packages
         id: get-changed-packages
@@ -49,5 +50,5 @@ jobs:
         shell: bash
         run: |
           source /opt/ros/jazzy/setup.bash
-          colcon test --packages-skip ateam_ui ateam_spatial --packages-select ${{ steps.get-changed-packages.outputs.changed-packages }}
+          colcon test --packages-skip ateam_ui ateam_spatial ateam_radio_bridge --packages-select ${{ steps.get-changed-packages.outputs.changed-packages }}
           colcon test-result --verbose 

.gitmodules

@@ -1,6 +1,6 @@
-[submodule "ateam_radio_bridge/software-communication"]
-	path = ateam_radio_bridge/software-communication
-	url = https://github.com/SSL-A-Team/software-communication.git
 [submodule "ssl_ros_bridge"]
 	path = ssl_ros_bridge
 	url = https://github.com/SSL-A-Team/ssl_ros_bridge.git
+[submodule "radio/ateam_radio_msgs/software-communication"]
+	path = radio/ateam_radio_msgs/software-communication
+	url = https://github.com/SSL-A-Team/software-communication.git

README.md

@@ -41,7 +41,10 @@
    source /opt/ros/jazzy/setup.bash
    # In the ateam_ws directory
    ./src/software/ateam_ui/install_deps.sh
+
+   sudo apt install python3-clang
    ```
+   <!-- TODO(braulicm): Add custom rosdep keys file -->
 
 1. Build the code
 

ateam_bringup/launch/bringup_physical.launch.py

@@ -96,8 +96,9 @@ def generate_launch_description():
             respawn=True,
             remappings=remap_indexed_topics([
                 ('~/robot_motion_commands/robot', '/robot_motion_commands/robot'),
-                ('~/robot_feedback/status/robot', '/robot_feedback/status/robot'),
-                ('~/robot_feedback/motion/robot', '/robot_feedback/motion/robot')
+                ('~/robot_feedback/basic/robot', '/robot_feedback/basic/robot'),
+                ('~/robot_feedback/extended/robot', '/robot_feedback/extended/robot'),
+                ('~/robot_feedback/connection/robot', '/robot_feedback/connection/robot')
             ]),
             # prefix=['xterm -bg black -fg white -e gdb -ex run --args']
         ),

ateam_common/include/ateam_common/topic_names.hpp

@@ -30,8 +30,9 @@ constexpr std::string_view kVisionMessages = "/vision_messages";  // Raw vision
 constexpr std::string_view kRefereeMessages = "/referee_messages";  // Raw ref protobufs
 
 // Input from robots
-constexpr std::string_view kRobotFeedbackPrefix = "/robot_feedback/status/robot";
-constexpr std::string_view kRobotMotionFeedbackPrefix = "/robot_feedback/motion/robot";
+constexpr std::string_view kRobotFeedbackPrefix = "/robot_feedback/basic/robot";
+constexpr std::string_view kRobotMotionFeedbackPrefix = "/robot_feedback/extended/robot";
+constexpr std::string_view kRobotConnectionStatusPrefix = "/robot_feedback/connection/robot";
 
 // Output from vision filter
 constexpr std::string_view kBall = "/ball";

ateam_kenobi/CMakeLists.txt

@@ -9,6 +9,7 @@ find_package(ament_cmake REQUIRED)
 find_package(rclcpp REQUIRED)
 find_package(rclcpp_components REQUIRED)
 find_package(ateam_msgs REQUIRED)
+find_package(ateam_radio_msgs REQUIRED)
 find_package(ateam_common REQUIRED)
 find_package(tf2 REQUIRED)
 find_package(tf2_geometry_msgs REQUIRED)
@@ -117,6 +118,7 @@ ament_target_dependencies(
   kenobi_node_component
   "rclcpp"
   "rclcpp_components"
+  "ateam_radio_msgs"
   "ateam_msgs"
   "ateam_common"
   "tf2"

ateam_kenobi/package.xml

@@ -12,6 +12,7 @@
   <depend>rclcpp</depend>
   <depend>rclcpp_components</depend>
   <depend>ateam_msgs</depend>
+  <depend>ateam_radio_msgs</depend>
   <depend>ateam_common</depend>
   <depend>tf2</depend>
   <depend>tf2_geometry_msgs</depend>

ateam_kenobi/src/kenobi_node.cpp

@@ -26,8 +26,9 @@
 #include <rclcpp/rclcpp.hpp>
 #include <rclcpp_components/register_node_macro.hpp>
 #include <ateam_msgs/msg/ball_state.hpp>
+#include <ateam_radio_msgs/msg/basic_telemetry.hpp>
+#include <ateam_radio_msgs/msg/connection_status.hpp>
 #include <ateam_msgs/msg/robot_state.hpp>
-#include <ateam_msgs/msg/robot_feedback.hpp>
 #include <ateam_msgs/msg/field_info.hpp>
 #include <ateam_msgs/msg/robot_motion_command.hpp>
 #include <ateam_msgs/msg/overlay.hpp>
@@ -99,13 +100,20 @@ class KenobiNode : public rclcpp::Node
       &KenobiNode::yellow_robot_state_callback,
       this);
 
-    create_indexed_subscribers<ateam_msgs::msg::RobotFeedback>(
+    create_indexed_subscribers<ateam_radio_msgs::msg::BasicTelemetry>(
       robot_feedback_subscriptions_,
       Topics::kRobotFeedbackPrefix,
       10,
       &KenobiNode::robot_feedback_callback,
       this);
 
+    create_indexed_subscribers<ateam_radio_msgs::msg::ConnectionStatus>(
+      robot_connection_status_subscriptions_,
+      Topics::kRobotConnectionStatusPrefix,
+      10,
+      &KenobiNode::robot_connection_callback,
+      this);
+
     create_indexed_publishers<ateam_msgs::msg::RobotMotionCommand>(
       robot_commands_publishers_, Topics::kRobotMotionCommandPrefix,
       rclcpp::SystemDefaultsQoS(), this);
@@ -177,8 +185,10 @@ class KenobiNode : public rclcpp::Node
     16> blue_robots_subscriptions_;
   std::array<rclcpp::Subscription<ateam_msgs::msg::RobotState>::SharedPtr,
     16> yellow_robots_subscriptions_;
-  std::array<rclcpp::Subscription<ateam_msgs::msg::RobotFeedback>::SharedPtr,
+  std::array<rclcpp::Subscription<ateam_radio_msgs::msg::BasicTelemetry>::SharedPtr,
     16> robot_feedback_subscriptions_;
+  std::array<rclcpp::Subscription<ateam_radio_msgs::msg::ConnectionStatus>::SharedPtr,
+    16> robot_connection_status_subscriptions_;
   rclcpp::Subscription<ateam_msgs::msg::FieldInfo>::SharedPtr
     field_subscription_;
   std::array<rclcpp::Publisher<ateam_msgs::msg::RobotMotionCommand>::SharedPtr,
@@ -251,15 +261,21 @@ class KenobiNode : public rclcpp::Node
   }
 
   void robot_feedback_callback(
-    const ateam_msgs::msg::RobotFeedback::SharedPtr robot_feedback_msg,
+    const ateam_radio_msgs::msg::BasicTelemetry::SharedPtr robot_feedback_msg,
     int id)
   {
-    world_.our_robots.at(id).radio_connected = robot_feedback_msg->radio_connected;
     world_.our_robots.at(id).breakbeam_ball_detected = robot_feedback_msg->breakbeam_ball_detected;
     world_.our_robots.at(id).kicker_available = robot_feedback_msg->kicker_available;
     world_.our_robots.at(id).chipper_available = robot_feedback_msg->chipper_available;
   }
 
+  void robot_connection_callback(
+    const ateam_radio_msgs::msg::ConnectionStatus::SharedPtr robot_connection_msg,
+    int id)
+  {
+    world_.our_robots.at(id).radio_connected = robot_connection_msg->radio_connected;
+  }
+
   void ball_state_callback(const ateam_msgs::msg::BallState::SharedPtr ball_state_msg)
   {
     world_.ball.visible = ball_state_msg->visible;

ateam_msgs/CMakeLists.txt

@@ -16,10 +16,7 @@ rosidl_generate_interfaces(${PROJECT_NAME}
   msg/Overlay.msg
   msg/OverlayArray.msg
   msg/RefereeInfo.msg
-  msg/RobotFeedback.msg
   msg/RobotMotionCommand.msg
-  msg/RobotMotionFeedback.msg
-  msg/RobotMotorFeedback.msg
   msg/RobotState.msg
   msg/Sample3d.msg
   msg/TeamClientConnectionStatus.msg