diff --git a/.devcontainer/Dockerfile b/.devcontainer/Dockerfile index a2609b38e..851c412cd 100644 --- a/.devcontainer/Dockerfile +++ b/.devcontainer/Dockerfile @@ -20,6 +20,7 @@ RUN apt-get update -y \ iputils-ping \ ipython3 \ jq \ + just \ less \ libncurses5-dev \ locales \ @@ -91,9 +92,6 @@ RUN python3 -m pip install --user --break-system-packages \ git+https://github.com/timonegk/colcon-notification.git@colors \ git+https://github.com/timonegk/colcon-output.git@colors -# Create colcon workspace -RUN mkdir -p /home/$user/colcon_ws/src - # Install oh-my-zsh for pretty terminal RUN sh -c "$(wget -O- https://raw.githubusercontent.com/ohmyzsh/ohmyzsh/master/tools/install.sh)" && \ git clone https://github.com/zsh-users/zsh-autosuggestions "${ZSH_CUSTOM:-$HOME/.oh-my-zsh/custom}/plugins/zsh-autosuggestions" @@ -105,4 +103,4 @@ COPY --chown=$user:$user zshrc /home/$user/.zshrc ENV QT_X11_NO_MITSHM=1 # Switch to the workspace directory -WORKDIR /home/$user/colcon_ws +WORKDIR /home/$user/bitbots_main diff --git a/.devcontainer/devcontainer.json b/.devcontainer/devcontainer.json index 2b735fca2..6f67f3e8f 100644 --- a/.devcontainer/devcontainer.json +++ b/.devcontainer/devcontainer.json @@ -18,12 +18,30 @@ "dev.containers.copyGitConfig": false, "dev.containers.gitCredentialHelperConfigLocation": "none" }, - "extensions": ["ms-iot.vscode-ros"] + "extensions": [ + "charliermarsh.ruff", // Ruff linting and formatting support + "DavidAnson.vscode-markdownlint", // Lints markdown files + "DotJoshJohnson.xml", // XML support + "lextudio.restructuredtext", // Rendering rst files in preview + "Mastermori.dsd", // DSD support + "mohsen1.prettify-json", // JSON formatting + "MS-CEINTL.vscode-language-pack-de", // German language pack + "Ranch-Hand-Robotics.rde-pack", // ROS2 development environment + "ms-python.python", // Python support + "ms-python.vscode-pylance", // Python support + "ms-vscode.cpptools-extension-pack", // C++ support + "ms-vscode.cpptools-themes", // C++ support + "ms-vscode.cpptools", // C++ support + "streetsidesoftware.code-spell-checker-german", // Spell checker + "streetsidesoftware.code-spell-checker", // Spell checker + "tamasfe.even-better-toml", // TOML support + "trond-snekvik.simple-rst" // Syntax highlighting for rst files + ] } }, - "workspaceMount": "type=bind,source=${localWorkspaceFolder},target=/home/bitbots/colcon_ws/src/bitbots_main", - "workspaceFolder": "/home/bitbots/colcon_ws/src/bitbots_main", + "workspaceMount": "type=bind,source=${localWorkspaceFolder},target=/home/bitbots/bitbots_main", + "workspaceFolder": "/home/bitbots/bitbots_main", "mounts": [ "type=bind,source=${localEnv:HOME},target=/srv/host_home,consistency=cached" diff --git a/.devcontainer/zshrc b/.devcontainer/zshrc index 70e5cf296..145740517 100644 --- a/.devcontainer/zshrc +++ b/.devcontainer/zshrc @@ -62,7 +62,7 @@ export ROS_DOMAIN_ID=24 export ROS_AUTOMATIC_DISCOVERY_RANGE=LOCALHOST # Set the default colcon workspace -export COLCON_WS="$HOME/colcon_ws" +export COLCON_WS="$HOME/bitbots_main" # Set the default log level for colcon export COLCON_LOG_LEVEL=30 @@ -75,8 +75,8 @@ export RCUTILS_CONSOLE_OUTPUT_FORMAT="[{severity}] [{name}]: {message}" export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp # Load our ros plugin script containing useful functions and aliases for ROS 2 development -if [[ -f $COLCON_WS/src/bitbots_main/scripts/ros.plugin.sh ]]; then - source $COLCON_WS/src/bitbots_main/scripts/ros.plugin.sh +if [[ -f $COLCON_WS/scripts/ros.plugin.sh ]]; then + source $COLCON_WS/scripts/ros.plugin.sh fi # <<< bit-bots initialize <<< @@ -89,7 +89,7 @@ echo "Hello there! Welcome to the Bit-Bots ROS 2 development environment!" echo "If you just (re)build this container a few manual steps are nessessary:" echo "Create a ssh key with 'ssh-keygen -q -f $HOME/.ssh/id_rsa -N \"\" && cat $HOME/.ssh/id_rsa.pub'." echo "Copy the commands output and add it to your GitHub account ('https://github.com/settings/keys') (ctrl+click to open in browser)." -echo "Now you can install the rest of the workspace and compile everything with 'make install && cba'." -echo "To update an existing workspace you can use 'make update && cba'." -echo "To compile all packages in the workspace use 'cba'. If you want to compile only a specific package use 'cbs '." +echo "Now you can install the rest of the workspace and compile everything with 'just install && just build'." +echo "To update an existing workspace you can use 'just update'." +echo "To compile all packages in the workspace use 'just build'. If you want to compile only a specific package use 'just build '." echo "Run 'xhost local:root' in a terminal on the host machine to enable GUI applications (e.g. rviz2) in the container. This needs to be done after every restart of the host machine." diff --git a/.git-blame-ignore-revs b/.git-blame-ignore-revs index 7baa3225b..40504d382 100644 --- a/.git-blame-ignore-revs +++ b/.git-blame-ignore-revs @@ -12,3 +12,4 @@ f29fb619aef9f416cbbdc74ec77c23423dcefe07 ae9fbef74c50ba1e462d1b76da16779c76aa0d5b 476e75e3f3d17c35ac89b17f513d93078687d613 cd3280273363807e1b5df2ade0138d48178cb06b +5c6c1edc69b5d4e26bb7bdc3fef3399e2a61567b diff --git a/.github/pull_request_template.md b/.github/pull_request_template.md index d377bf3a9..0626af4cf 100644 --- a/.github/pull_request_template.md +++ b/.github/pull_request_template.md @@ -11,7 +11,7 @@ ## Checklist -- [ ] Run `colcon build` +- [ ] Run `just build` - [ ] Write documentation - [ ] Test on your machine - [ ] Test on the robot diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml index e73122e8e..bf6a6ea74 100644 --- a/.github/workflows/ci.yml +++ b/.github/workflows/ci.yml @@ -18,13 +18,13 @@ jobs: uses: fkirc/skip-duplicate-actions@v5 with: cancel_others: 'true' - - # Remove comments to spawn an interactive debigging ssh shell in the ci + + # Remove comments to spawn an interactive debigging ssh shell in the ci #- name: Setup tmate session # uses: mxschmitt/action-tmate@v3 - # with: + # with: # detached: true - + - name: Set up ROS ecosystem uses: ros-tooling/setup-ros@v0.7 @@ -39,21 +39,20 @@ jobs: mkdir -p $HOME/.local/bin echo "PATH=$PATH:/github/home/.local/bin" >> "$GITHUB_ENV" - - name: Pull source code for libraries and install dependencies + - name: Install just run: | - sudo apt-get remove -y python3-pytest-repeat #TODO remove once the upstream apt package reports the correct version on the newest pip version - make install HTTPS=true ARGS="--ci" + sudo apt-get update + sudo apt-get install -y just - - name: Set up colcon workspace + - name: Pull source code for libraries and install dependencies run: | - mkdir -p /colcon_ws/src - ln -s $(realpath .) /colcon_ws/src/bitbots_main + sudo apt-get remove -y python3-pytest-repeat #TODO remove once the upstream apt package reports the correct version on the newest pip version + just HTTPS=true CI=true install - name: Build packages run: | . /opt/ros/jazzy/setup.sh - colcon build --symlink-install - working-directory: /colcon_ws + just build - name: Test packages run: | @@ -62,4 +61,3 @@ jobs: . install/setup.sh # Run tests for all packages colcon test --event-handlers console_direct+ --return-code-on-test-failure --parallel-workers 1 - working-directory: /colcon_ws diff --git a/.gitignore b/.gitignore index 8c79b505c..233b119d4 100644 --- a/.gitignore +++ b/.gitignore @@ -203,11 +203,10 @@ bitbots_docs_internal # VS Code ROS extension .vscode/browse.vc.* -log/ # Neural Network Model Path -/bitbots_vision/models/ -/bitbots_motion/bitbots_rl_motion/rl_walk_models/ +/src/bitbots_vision/models/ +/src/bitbots_motion/bitbots_rl_motion/rl_walk_models/ **/.*. .idea/* @@ -220,15 +219,24 @@ doc_internal/* doku/* # library subdirectories -/lib/ +/src/lib/ # Path to the protocol buffer definitions, which are a different repository and managed by vcstool -/bitbots_team_communication/bitbots_team_communication/bitbots_team_communication/RobocupProtocol +/src/bitbots_team_communication/bitbots_team_communication/bitbots_team_communication/RobocupProtocol # Protobuf generated file -/bitbots_team_communication/bitbots_team_communication/bitbots_team_communication/robocup_extension_pb2.py -/bitbots_team_communication/bitbots_team_communication/bitbots_team_communication/robocup_extension_pb2.pyi +/src/bitbots_team_communication/bitbots_team_communication/bitbots_team_communication/robocup_extension_pb2.py +/src/bitbots_team_communication/bitbots_team_communication/bitbots_team_communication/robocup_extension_pb2.pyi # Workspace git status file from the deploy tool **/workspace_status.json +# Do not include colcon build files +/install/ +/build/ +/log/ + +# Ignore mypy cache +.mypy_cache/ + +# Pytest cache .pytest_cache/ diff --git a/.vscode/c_cpp_properties.json b/.vscode/c_cpp_properties.json index 2460329d7..c2e26c80b 100644 --- a/.vscode/c_cpp_properties.json +++ b/.vscode/c_cpp_properties.json @@ -14,6 +14,9 @@ "/root/colcon_ws/install/*/include/**", "/root/colcon_ws/build/**/include/**", "/root/colcon_ws/build/**/rosidl_generator_cpp/**", + "${workspaceFolder}/install/*/include/**", + "${workspaceFolder}/build/**/include/**", + "${workspaceFolder}/build/**/rosidl_generator_cpp/**", "${workspaceFolder}/**/include/**", "/opt/ros/${env:ROS_DISTRO}/include/**", "/usr/include/**", diff --git a/.vscode/settings.json b/.vscode/settings.json index b93da3962..970e8c9c0 100644 --- a/.vscode/settings.json +++ b/.vscode/settings.json @@ -240,4 +240,9 @@ "[jsonc]": { "editor.defaultFormatter": "vscode.json-language-features" }, + "search.exclude": { + "build": true, + "install": true, + "log": true, + }, } diff --git a/Justfile b/Justfile new file mode 100644 index 000000000..3ff8857a2 --- /dev/null +++ b/Justfile @@ -0,0 +1,108 @@ +# Justfile + +# Set shell +set shell := ["bash", "-uc"] + +# Variables +HTTPS := "" +REPO := `pwd` +CI := "" + +# Setup / Update related targets + +# Install the proprietary Basler Camera SDK +install-basler: + scripts/make_basler.sh {{ if CI != "" {"--ci"} else {""} }} + +# Install Webots Simulation environment +install-webots: + scripts/make_webots.sh {{ if CI != "" {"--ci"} else {""} }} + +# Install all dependencies, pull all repositories, ... +install: pull-init install-basler install-webots update + +# Same as install but without sudo commands (apt/ros dependencies must be already installed on the system) +install-no-root: pull-init update-no-root + +# Install python dependencies +pip: + # Install and upgrade pip dependencies + pip install --upgrade pip --user --break-system-packages -v + pip install --upgrade -r requirements/dev.txt --user --break-system-packages -v + + +# Sets up pre-commit hooks that check code formatting etc. before each commit +install-pre-commit: + pre-commit install + +# This is needed as the ROS vscode extension adds absolute paths to some files and we do not want to commit those. +# Install git filters to remove absolute paths from files before committing them. +install-git-filters: + # Install git filters + git config filter.removeFullHomePath.clean "sed '/\/\(home\|root\).*\(install\|build\)/d'" + +# Formats the code according to our style guidelines +format: + pre-commit run --all-files + +# Clones/Overrides all library repositories and pulls all auxiliary files (like neural network weights) +pull-init: fresh-libs pull-files + +# Pull all auxiliary files (like neural network weights) from the http server +pull-files: + wget --no-verbose --show-progress --timeout=15 --tries=2 --recursive --timestamping --no-parent --no-host-directories --directory-prefix={{REPO}}/src/bitbots_vision --reject "index.html*" "https://data.bit-bots.de/models/" + wget --no-verbose --show-progress --timeout=15 --tries=2 --recursive --timestamping --no-parent --no-host-directories --directory-prefix={{REPO}}/src/bitbots_motion/bitbots_rl_motion --reject "index.html*" "https://data.bit-bots.de/rl_walk_models/" + +# Remove all library repositories and re-clone them +fresh-libs: remove-libs clone-libs + +# Remove all library repositories +remove-libs: + rm -rf src/lib/* + rm -rf src/bitbots_team_communication/bitbots_team_communication/bitbots_team_communication/RobocupProtocol + rm src/bitbots_team_communication/bitbots_team_communication/robocup_extension_pb2.py || true + +# Clone all library repositories +clone-libs: + if [ "{{HTTPS}}" = "true" ]; then \ + awk '{sub("git@github.com:", "https://github.com/"); print " " $$0}' workspace.repos | vcs import .; \ + else \ + vcs import . < workspace.repos; \ + fi + +# Install all ROS managed dependencies +rosdep: + [ -f /etc/ros/rosdep/sources.list.d/20-default.list ] || sudo rosdep init + rosdep update + rosdep install --from-paths src --ignore-src --rosdistro jazzy -y + +# Update everything (download all lib repositories, update dependencies, ...) +update: pull-init rosdep pip install-git-filters + +# Same as update but without sudo commands (all apt/ros dependencies must be already installed on the system) +update-no-root: pull-init pip install-git-filters + + +# Build related targets + +# Build a specific package or all packages +build *packages: + colcon build --symlink-install --continue-on-error {{ if packages != "" {"--packages-select " + packages} else {""} }} + +# Clean all build artifacts or only those of specific packages +clean *packages: + if [ "{{packages}}" != "" ]; then \ + colcon clean packages --packages-select {{packages}}; \ + else \ + rm -rf install build log; \ + fi + +# Run tests of all packages or a specific package +test *packages: + colcon test --event-handlers console_direct+ --return-code-on-test-failure {{ if packages != "" {"--packages-select " + packages} else {""} }} + +# Development related targets + +# Deploy the code to a robot +deploy *args: + scripts/deploy_robots.py {{args}} diff --git a/Makefile b/Makefile deleted file mode 100644 index 86500334c..000000000 --- a/Makefile +++ /dev/null @@ -1,103 +0,0 @@ -.PHONY : basler webots install install-no-root pip pre-commit install-git-filters format pull-all pull-init pull-repos pull-files fresh-libs remove-libs setup-libs rosdep status update update-no-root - -HTTPS := "" -REPO:=$(dir $(abspath $(firstword $(MAKEFILE_LIST)))) - -basler: - # Install Basler Pylon SDK - scripts/make_basler.sh $(ARGS) - -webots: - # Install Webots Simulation environment - scripts/make_webots.sh $(ARGS) - -install: pull-init basler update - -install-no-root: pull-init update-no-root - -pip: - # Install and upgrade pip dependencies - pip install --upgrade pip --user --break-system-packages -v - pip install --upgrade -r requirements/dev.txt --user --break-system-packages -v - -pre-commit: - # Install pre-commit hooks for all submodules that have a .pre-commit-config.yaml file - pre-commit install - -install-git-filters: - # Install git filters - # The vscode settings file gets updated by the ros extension and contains the full path to the current user's home directory. - # We don't want to commit this path, so we use a git filter to remove it when git adds the file to the staging area. - # This does not affect the file on disk, so vscode will still work as expected. - git config filter.removeFullHomePath.clean "sed '/\/\(home\|root\).*\(install\|build\)/d'" - -format: - # Format all files in the repository - pre-commit run --all-files - -pull-all: pull-repos pull-files - -pull-init: fresh-libs pull-files - -pull-repos: - # Pull all repositories - vcs pull . --nested - -pull-files: - # Pull all large files (mainly neural network weights) from the http server - wget \ - --no-verbose \ - --show-progress \ - --timeout=15 \ - --tries=2 \ - --recursive \ - --timestamping \ - --no-parent \ - --no-host-directories \ - --directory-prefix=$(REPO)/bitbots_vision \ - --reject "index.html*" \ - "https://data.bit-bots.de/models/" - wget \ - --no-verbose \ - --show-progress \ - --timeout=15 \ - --tries=2 \ - --recursive \ - --timestamping \ - --no-parent \ - --no-host-directories \ - --directory-prefix=$(REPO)/bitbots_motion/bitbots_rl_motion \ - --reject "index.html*" \ - "https://data.bit-bots.de/rl_walk_models/" - -fresh-libs: remove-libs setup-libs - -remove-libs: - # Removes the lib directory and all its contents - rm -rf lib/* - # Also remove the generated protobuf files, as they are not needed anymore - rm bitbots_team_communication/bitbots_team_communication/robocup_extension_pb2.py 2> /dev/null || true - -setup-libs: - # Clone lib repositories in workspace.repos into the lib directory -ifeq ($(HTTPS), true) - # Replace git@ with https:// to allow cloning without ssh keys - awk '{sub("git@github.com:", "https://github.com/"); print " " $$0}' workspace.repos | vcs import . -else - vcs import . < workspace.repos -endif - -rosdep: - # Initialize rosdep if not already done - [ -f /etc/ros/rosdep/sources.list.d/20-default.list ] || sudo rosdep init - # Update rosdep and install dependencies from meta directory - rosdep update - rosdep install --from-paths . --ignore-src --rosdistro jazzy -y - -status: - # Show status of all repositories - vcs status . --nested - -update: pull-all rosdep pip install-git-filters pre-commit - -update-no-root: pull-all pip install-git-filters pre-commit diff --git a/README.md b/README.md index 067943c5b..684b06eb2 100644 --- a/README.md +++ b/README.md @@ -8,7 +8,7 @@ This git repository contains all RoboCup-related code and documentation from the All code is written as individual ROS 2 packages targeting Ubuntu.

- marimba playing robot + Bit-Bots Logo

## Installation @@ -16,20 +16,30 @@ All code is written as individual ROS 2 packages targeting Ubuntu. Full step-by-step instructions for installing the Bit-Bots software stack and ROS 2 can be found in our documentation [here](https://doku.bit-bots.de/meta/manual/tutorials/install_software_ros2.html). -## Update the codebase +Run the following command to install all dependencies and clone all necessary repositories. Make sure you have [just](https://just.systems/) and correct ROS 2 version installed. -If you want to update this repo, all third party source files as well as the supplementing files, run +``` shell +just install +``` + +## Building + +To build the code, run ``` shell -make pull-all +just build ``` -If you encounter any problems consider cleaning the third party source files (the `lib` folder) first: +and source the setup file with + +``` shell +. install/setup.sh +``` -**THIS DELETES ALL CHANGES YOU MADE TO THE THIRD PARTY SOURCE FILES!** +To see all available recipes, run ``` shell -make fresh-libs +just -l ``` ## Run auto formatting @@ -37,7 +47,7 @@ make fresh-libs To format all code in the repository, run ``` shell -make format +just format ``` ## More documentation diff --git a/requirements/common.txt b/requirements/common.txt index 81ad75960..ad19f9b66 100644 --- a/requirements/common.txt +++ b/requirements/common.txt @@ -10,7 +10,3 @@ simpleeval beartype jaxtyping mypy - -# The following dependencies are only needed for rl walking and we don't actively use them currently -#git+https://github.com/bit-bots/deep_quintic.git -#git+https://github.com/SammyRamone/stable-baselines3.git diff --git a/scripts/README.md b/scripts/README.md index 11f3eca30..f60b29e61 100644 --- a/scripts/README.md +++ b/scripts/README.md @@ -48,4 +48,4 @@ Five different tasks can be performed: ## `make_basler.sh` -Downloads and installs the Basler Pylon SDK for Linux. This is needed to communicate with our camera. Normally called by the `make basler` or other `make` targets. +Downloads and installs the Basler Pylon SDK for Linux. This is needed to communicate with our camera. Normally called by the `just install-basler` or other `just` recipes. diff --git a/scripts/deploy/deploy_robots.py b/scripts/deploy/deploy_robots.py index 049768e3a..fc656b0ac 100644 --- a/scripts/deploy/deploy_robots.py +++ b/scripts/deploy/deploy_robots.py @@ -124,8 +124,8 @@ def _parse_arguments(self) -> argparse.Namespace: parser.add_argument( "-w", "--workspace", - default="~/colcon_ws", - help="Path to the workspace directory to deploy to. Defaults to '~/colcon_ws'", + default=".", + help="Path to the workspace directory to deploy to. Defaults to the current directory.", ) parser.add_argument("--skip-local-repo-check", action="store_true", help="Skip the local repository check.") diff --git a/scripts/deploy/tasks/check_repos.py b/scripts/deploy/tasks/check_repos.py index c4a180d93..3b37193e5 100644 --- a/scripts/deploy/tasks/check_repos.py +++ b/scripts/deploy/tasks/check_repos.py @@ -169,7 +169,7 @@ def __init__(self, only_workspace_status: bool = False) -> None: ) # bitbots_main/scripts/deploy/tasks self.results_file: str = os.path.join( - self.main_repo_path, "bitbots_misc/bitbots_utils/config/", "workspace_status.json" + self.main_repo_path, "src/bitbots_misc/bitbots_utils/config/", "workspace_status.json" ) self.only_workspace_status: bool = only_workspace_status diff --git a/scripts/make_webots.sh b/scripts/make_webots.sh index a115c8831..635054bd9 100755 --- a/scripts/make_webots.sh +++ b/scripts/make_webots.sh @@ -1,11 +1,12 @@ -#!/usr/bin/env bash +#!/bin/bash set -eEo pipefail WEBOTS_VERSION="2022b" WEBOTS_DOWNLOAD_URL="https://github.com/cyberbotics/webots/releases/download/R${WEBOTS_VERSION}/webots_${WEBOTS_VERSION}_amd64.deb" check_internet_connection () { - if ! ping -q -c 1 -W 1 google.com > /dev/null; then + # Check if we have an internet connection, except in the ci as azure does not support ping by design + if [[ $1 != "--ci" ]] && ! ping -q -c 1 -W 1 google.com > /dev/null; then echo "No internet connection. Please check your internet connection to install the webots simulator." exit 1 fi @@ -17,7 +18,7 @@ if apt list webots --installed | grep -q "$WEBOTS_VERSION"; then else echo "Webots simulator release $WEBOTS_VERSION is not installed. Installing..." # Check if we have an internet connection - check_internet_connection + check_internet_connection "$1" # Check if the url exist if ! curl --output /dev/null --silent --head --fail "$WEBOTS_DOWNLOAD_URL"; then echo "Webots download url does not exist. Please check the url and update the 'WEBOTS_DOWNLOAD_URL' variable in the 'make_webots.sh' script." diff --git a/scripts/ros.plugin.sh b/scripts/ros.plugin.sh index 3fe2f1096..8fc577f51 100644 --- a/scripts/ros.plugin.sh +++ b/scripts/ros.plugin.sh @@ -61,7 +61,7 @@ alias sc="source \$COLCON_WS/install/setup.$shell && update_ros2_argcomplete" alias sa='sr && sc' # deploy_robots tool aliases -DEPLOY_ROBOTS="$COLCON_WS/src/bitbots_main/scripts/deploy_robots.py" +DEPLOY_ROBOTS="$COLCON_WS/scripts/deploy_robots.py" alias dp='$DEPLOY_ROBOTS --sync --build --print-bit-bot' alias dpfull='dp --install --configure' alias dpclean='dp --clean' diff --git a/scripts/setup.sh b/scripts/setup.sh index e3a3ecea3..209d8a2b1 100755 --- a/scripts/setup.sh +++ b/scripts/setup.sh @@ -5,7 +5,7 @@ set -eEuo pipefail DIR="$(dirname "$(readlink -f "$0")")" BRANCH="${1:-main}" ROS_DISTRO=${ROS_DISTRO:-"jazzy"} -COLCON_WS="${COLCON_WS:-"$HOME/colcon_ws"}" +COLCON_WS="${COLCON_WS:-"$HOME/bitbots_main"}" REPO_URL="git@github.com:bit-bots/bitbots_main.git" SHELL_CONFIG="$(cat <> /etc/sudoers.d/robot -WORKDIR /colcon_ws +WORKDIR /ws USER robot:robot -ENV PATH=$PATH:/colcon_ws/.local/bin +ENV PATH=$PATH:/ws/.local/bin RUN . /opt/ros/${ROS_DISTRO}/setup.sh \ && sudo rosdep init @@ -205,15 +205,18 @@ RUN . /opt/ros/${ROS_DISTRO}/setup.sh \ RUN mkdir -p -m 700 $HOME/.ssh \ && ssh-keyscan github.com >> $HOME/.ssh/known_hosts -RUN --mount=type=ssh,uid=$UID git clone --branch "$BITBOTS_MAIN_BRANCH" git@github.com:bit-bots/bitbots_main.git src/bitbots_main \ - && cd src/bitbots_main \ - && make pull-init rosdep pip +RUN --mount=type=ssh,uid=$UID git clone --branch "$BITBOTS_MAIN_BRANCH" git@github.com:bit-bots/bitbots_main.git \ + && cd bitbots_main \ + && just pull-init rosdep pip + +WORKDIR /ws/bitbots_main # From here on, we don't want to cache anything. That's achieved by adding the current time. ADD https://www.timeapi.io/api/Time/current/zone?timeZone=UTC /tmp/build-time -RUN --mount=type=ssh,uid=$UID cd src/bitbots_main \ - && make pull-all \ +RUN --mount=type=ssh,uid=$UID \ + && just pull-init \ + && cd src \ && rm -rf bitbots_lowlevel \ bitbots_misc/bitbots_basler_camera \ bitbots_misc/bitbots_ceiling_cam \ @@ -232,11 +235,11 @@ RUN --mount=type=ssh,uid=$UID cd src/bitbots_main \ # Install missing ros dependencies with rosdep RUN sudo apt update \ && rosdep update \ - && rosdep install --rosdistro=${ROS_DISTRO} --from-paths src/bitbots_main --ignore-src -r -y \ + && rosdep install --rosdistro=${ROS_DISTRO} --from-paths src --ignore-src -r -y \ && . /opt/ros/${ROS_DISTRO}/setup.sh \ && colcon build --cmake-args -DBUILD_TESTING=OFF -RUN cp src/bitbots_main/bitbots_simulation/bitbots_robocup_api/scripts/start.sh .local/bin/start +RUN cp src/bitbots_simulation/bitbots_robocup_api/scripts/start.sh $HOME/.local/bin/start # Volume for logs VOLUME /robocup-logs diff --git a/bitbots_misc/bitbots_containers/hlvs/README.md b/src/bitbots_misc/bitbots_containers/hlvs/README.md similarity index 100% rename from bitbots_misc/bitbots_containers/hlvs/README.md rename to src/bitbots_misc/bitbots_containers/hlvs/README.md diff --git a/bitbots_misc/bitbots_containers/hlvs/entrypoint.sh b/src/bitbots_misc/bitbots_containers/hlvs/entrypoint.sh similarity index 60% rename from bitbots_misc/bitbots_containers/hlvs/entrypoint.sh rename to src/bitbots_misc/bitbots_containers/hlvs/entrypoint.sh index 855bbf598..6ad14e46b 100755 --- a/bitbots_misc/bitbots_containers/hlvs/entrypoint.sh +++ b/src/bitbots_misc/bitbots_containers/hlvs/entrypoint.sh @@ -1,6 +1,6 @@ #!/bin/bash source /opt/ros/jazzy/setup.bash -source /colcon_ws/install/setup.bash +source /ws/install/setup.bash exec "$@" diff --git a/bitbots_misc/bitbots_diagnostic/CMakeLists.txt b/src/bitbots_misc/bitbots_diagnostic/CMakeLists.txt similarity index 100% rename from bitbots_misc/bitbots_diagnostic/CMakeLists.txt rename to src/bitbots_misc/bitbots_diagnostic/CMakeLists.txt diff --git a/bitbots_misc/bitbots_diagnostic/config/analyzers.yaml b/src/bitbots_misc/bitbots_diagnostic/config/analyzers.yaml similarity index 100% rename from bitbots_misc/bitbots_diagnostic/config/analyzers.yaml rename to src/bitbots_misc/bitbots_diagnostic/config/analyzers.yaml diff --git a/bitbots_misc/bitbots_diagnostic/launch/aggregator.launch b/src/bitbots_misc/bitbots_diagnostic/launch/aggregator.launch similarity index 100% rename from bitbots_misc/bitbots_diagnostic/launch/aggregator.launch rename to src/bitbots_misc/bitbots_diagnostic/launch/aggregator.launch diff --git a/bitbots_misc/bitbots_diagnostic/package.xml b/src/bitbots_misc/bitbots_diagnostic/package.xml similarity index 100% rename from bitbots_misc/bitbots_diagnostic/package.xml rename to src/bitbots_misc/bitbots_diagnostic/package.xml diff --git a/bitbots_misc/bitbots_diagnostic/setup.py b/src/bitbots_misc/bitbots_diagnostic/setup.py similarity index 100% rename from bitbots_misc/bitbots_diagnostic/setup.py rename to src/bitbots_misc/bitbots_diagnostic/setup.py diff --git a/bitbots_misc/bitbots_docs/CMakeLists.txt b/src/bitbots_misc/bitbots_docs/CMakeLists.txt similarity index 100% rename from bitbots_misc/bitbots_docs/CMakeLists.txt rename to src/bitbots_misc/bitbots_docs/CMakeLists.txt diff --git a/bitbots_misc/bitbots_docs/cmake/enable_bitbots_docs.cmake.in b/src/bitbots_misc/bitbots_docs/cmake/enable_bitbots_docs.cmake.in similarity index 100% rename from bitbots_misc/bitbots_docs/cmake/enable_bitbots_docs.cmake.in rename to src/bitbots_misc/bitbots_docs/cmake/enable_bitbots_docs.cmake.in diff --git a/bitbots_misc/bitbots_docs/docs/_static/bitbots_cpp_style.xml b/src/bitbots_misc/bitbots_docs/docs/_static/bitbots_cpp_style.xml similarity index 100% rename from bitbots_misc/bitbots_docs/docs/_static/bitbots_cpp_style.xml rename to src/bitbots_misc/bitbots_docs/docs/_static/bitbots_cpp_style.xml diff --git 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src/bitbots_misc/bitbots_docs/docs/manual/tutorials/cl_simulation_testing_setup.rst index 2942f71a2..f14d00184 100644 --- a/bitbots_misc/bitbots_docs/docs/manual/tutorials/cl_simulation_testing_setup.rst +++ b/src/bitbots_misc/bitbots_docs/docs/manual/tutorials/cl_simulation_testing_setup.rst @@ -19,19 +19,16 @@ As such you can lookup some of the needed requirements there. - setup bitbots_main in your home directory .. code-block:: bash - - mkdir -p "$HOME/colcon_ws/src" - cd "$HOME/colcon_ws/src" git clone git@github.com:bit-bots/bitbots_main.git && cd bitbots_main - make install-no-root + just install-no-root - set PATH and COLCON_WS (see `section 5 `_) **2. Compile the packages** -If while testing you are changing code or updating ``bitbots_main`` via ``make pull-all``, +If while testing you are changing code or updating ``bitbots_main`` via ``just update-no-root``, this step needs to be done again. -For compilation of the whole meta repository run ``cba``, which is an alias for: +For compilation of the whole meta repository run ``just build``, which is an alias for: ``cd $COLCON_WS; colcon build --symlink-install --continue-on-error`` After a successful run, before we are able to use any ros commands we now need to source colcon built sources with ``sa``, which is an alias for: diff --git a/bitbots_misc/bitbots_docs/docs/manual/tutorials/competition_wifi.rst b/src/bitbots_misc/bitbots_docs/docs/manual/tutorials/competition_wifi.rst similarity index 100% rename from bitbots_misc/bitbots_docs/docs/manual/tutorials/competition_wifi.rst rename to src/bitbots_misc/bitbots_docs/docs/manual/tutorials/competition_wifi.rst diff --git a/bitbots_misc/bitbots_docs/docs/manual/tutorials/configure_and_flash_robot.rst b/src/bitbots_misc/bitbots_docs/docs/manual/tutorials/configure_and_flash_robot.rst similarity index 73% rename from bitbots_misc/bitbots_docs/docs/manual/tutorials/configure_and_flash_robot.rst rename to src/bitbots_misc/bitbots_docs/docs/manual/tutorials/configure_and_flash_robot.rst index 17534550d..ec9f13026 100644 --- a/bitbots_misc/bitbots_docs/docs/manual/tutorials/configure_and_flash_robot.rst +++ b/src/bitbots_misc/bitbots_docs/docs/manual/tutorials/configure_and_flash_robot.rst @@ -50,7 +50,7 @@ At a competition, follow these steps: .. code-block:: bash - ./scripts/deploy_robots.py + just deploy This does the 5 following tasks: - Synchronize/Copy the current state of your local bitbots_main directory to the robot(s) @@ -63,7 +63,7 @@ At a competition, follow these steps: .. code-block:: bash - ./scripts/deploy_robots.py -h + just deploy -h #. **Optional: Connect to the robot:** Simply copy-paste the command provided by the deploy-tool when its finished. @@ -97,7 +97,6 @@ Our Ansible setup is able to configure the following aspects of the robot: - Configuration of competition Wi-Fi networks (see :doc:`competition_wifi`) - Configuration of USB-Ethernet adapter as slave of a bridge interface, to allow for removal without losing the interface utilized by ros/dds - Configuration of custom MTU of 9000 (jumbo frames) for Ethernet connection to the basler camera -- Setup of custom apt repositories/packages (e.g. `packages.bit-bots.de `_ if applicable) - Installation and configuration of ROS and DDS - Configuration of Vulkan packages/drivers @@ -114,39 +113,3 @@ Ansible will execute the playbook with the ``bitbots`` user on the robots and wi .. note:: Does DNS not resolve ``nuc*``? See :doc:`configure_hostnames` to fix this. - -LEGACY: Sync/Build the software using the ``robot_compile`` tool: ------------------------------------------------------------------ - -We utilize a python script located in ``bitbots_main/scripts/robot_compile.py`` to allow doing the following: - -- sync the local code of the whole ``bitbots_main`` or a single package onto a robot -- build the synced code on the robot afterwards -- automatically install required dependencies with ``rosdep install`` if the robot has an active internet connection -- clean the whole ``~/colcon_ws`` on a robot -- interactively configure the ``game_settings.yaml`` on a robot to prepare it for a game -- activate the fields Wi-Fi connection and disable all others - -A full overview all the options are viewable with the ``-h`` flag. - -**Exemplary commands:** - -.. code-block:: bash - - # full sync/build of bitbots_main - ./scripts/robot_compile.py nuc1 - - # rm everything before full sync/compile - ./scripts/robot_compile.py --clean-src --clean-build nuc1 - - # sync/build and configure robot for game after - ./scripts/robot_compile.py -k nuc1 - - # only configure robot for game - ./scripts/robot_compile.py -K nuc1 - - # only sync/build a single package (bitbots_vision) - ./scripts/robot_compile.py -p bitbots_vision nuc1 - - # sync/clean build a single package (bitbots_vision) - ./scripts/robot_compile.py -p bitbots_vision nuc1 diff --git a/bitbots_misc/bitbots_docs/docs/manual/tutorials/configure_hostnames.rst b/src/bitbots_misc/bitbots_docs/docs/manual/tutorials/configure_hostnames.rst similarity index 100% rename from bitbots_misc/bitbots_docs/docs/manual/tutorials/configure_hostnames.rst rename to src/bitbots_misc/bitbots_docs/docs/manual/tutorials/configure_hostnames.rst diff --git a/bitbots_misc/bitbots_docs/docs/manual/tutorials/extrinsic_calibration.rst b/src/bitbots_misc/bitbots_docs/docs/manual/tutorials/extrinsic_calibration.rst similarity index 100% rename from bitbots_misc/bitbots_docs/docs/manual/tutorials/extrinsic_calibration.rst rename to src/bitbots_misc/bitbots_docs/docs/manual/tutorials/extrinsic_calibration.rst diff --git a/bitbots_misc/bitbots_docs/docs/manual/tutorials/extrinsic_calibration/camera_coordinate_system.png b/src/bitbots_misc/bitbots_docs/docs/manual/tutorials/extrinsic_calibration/camera_coordinate_system.png similarity index 100% rename from bitbots_misc/bitbots_docs/docs/manual/tutorials/extrinsic_calibration/camera_coordinate_system.png rename to src/bitbots_misc/bitbots_docs/docs/manual/tutorials/extrinsic_calibration/camera_coordinate_system.png diff --git a/bitbots_misc/bitbots_docs/docs/manual/tutorials/extrinsic_calibration/right_handed_coordinate_system.png b/src/bitbots_misc/bitbots_docs/docs/manual/tutorials/extrinsic_calibration/right_handed_coordinate_system.png similarity index 100% rename from bitbots_misc/bitbots_docs/docs/manual/tutorials/extrinsic_calibration/right_handed_coordinate_system.png rename to src/bitbots_misc/bitbots_docs/docs/manual/tutorials/extrinsic_calibration/right_handed_coordinate_system.png diff --git a/bitbots_misc/bitbots_docs/docs/manual/tutorials/install_software_ros2.rst b/src/bitbots_misc/bitbots_docs/docs/manual/tutorials/install_software_ros2.rst similarity index 81% rename from bitbots_misc/bitbots_docs/docs/manual/tutorials/install_software_ros2.rst rename to src/bitbots_misc/bitbots_docs/docs/manual/tutorials/install_software_ros2.rst index 176854de0..8d29bbaac 100644 --- a/bitbots_misc/bitbots_docs/docs/manual/tutorials/install_software_ros2.rst +++ b/src/bitbots_misc/bitbots_docs/docs/manual/tutorials/install_software_ros2.rst @@ -3,6 +3,8 @@ Software installation with ROS2 In this tutorial, we will learn how to install ROS2 Jazzy Jalisco on Ubuntu 24.04 and build our software stack. +You might want to look at the :doc:`vscode-dev-container` tutorial, if you want to use a preconfigured development environment with Visual Studio Code and devcontainers. + **TLDR**: single command setup ------------------------------ @@ -51,8 +53,6 @@ Alternatively you can use a devcontainer :doc:`vscode-dev-container`, with a pre ros-jazzy-rqt-robot-monitor \ ros-jazzy-rqt-runtime-monitor -- Run ``sudo rosdep init`` to initialize ``rosdep``, a tool that helps you install system dependencies for ROS packages. - **2. Download our software (if not already done)** - Create a GitHub account, if not already done (see `here `_ for further information) @@ -67,29 +67,19 @@ Alternatively you can use a devcontainer :doc:`vscode-dev-container`, with a pre - Clone the code repository with: ``git clone git@github.com:bit-bots/bitbots_main.git`` Confirm the host key by typing ``yes``, if asked. - Move into the newly created directory with: ``cd bitbots_main`` - - Clone all code and other files by running: ``make install`` + - Clone all code and other files by running: ``just install`` This will take a while, as it downloads all the code and other files from our repositories and additionally installs all missing dependencies (using rosdep and pip). - Finally, it will register pre-commit hooks (automatic code-formatting and warnings), which will be run every time you commit code to our repositories. - -**3. Install Webots** + - Finally, you can register pre-commit hooks with ``just install-pre-commit`` (automatic code-formatting and warnings), which will be run every time you commit code to our repositories. -Webots is a robot simulator, which we use to simulate our robots and test our software. -It is not strictly necessary to install it, but it is very useful for development and testing. -If you want to install it, you can do so by running ``make webots`` in the bitbots_main repository. - -**4. Setup colcon workspace** +**3. Setup colcon workspace** `Colcon `_ is the tool provided by ROS 2 to build and install our ROS packages, so that they can be launched later. -The colcon workspace is where your source code gets build and where we use colcon. - -- Create colcon workspace directory (typically ``~/colcon_ws/``) - - Create directory with: ``mkdir -p ~/colcon_ws/src`` - - Link our software contained in the bitbots_main repo to the newly created ``src`` directory with: ``ln -s ~/git/bitbots/bitbots_main/ ~/colcon_ws/src/bitbots_main`` +The colcon workspace is where your source code gets build and where we use colcon. Nowerdays, we just use the ``bitbots_main`` repository as our colcon workspace, so no further setup is needed. -**5. Final touches** +**4. Final touches** To let your system know where it should find all the ROS 2 dependencies and packages and to add colored output etc., we add a little bit of config to your ``~/.bashrc`` file, which will be run every time you open a new terminal. -In case you are not using the bash shell, replace ``~/.bashrc`` and ``bash`` with your shell's configuration file. +In case you are not using the bash shell, replace ``~/.bashrc`` and ``bash`` with your shell's configuration file. Adapt the colcon workspace path, if you have chosen a different location than ``~/git/bitbots/bitbots_main``. - Run the following command: @@ -110,7 +100,7 @@ In case you are not using the bash shell, replace ``~/.bashrc`` and ``bash`` wit export ROS_AUTOMATIC_DISCOVERY_RANGE=LOCALHOST # Set the default colcon workspace - export COLCON_WS="\$HOME/colcon_ws" + export COLCON_WS="\$HOME/git/bitbots/bitbots_main" # Set the default log level for colcon export COLCON_LOG_LEVEL=30 @@ -123,8 +113,8 @@ In case you are not using the bash shell, replace ``~/.bashrc`` and ``bash`` wit export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp # Load our ros plugin script containing useful functions and aliases for ROS 2 development - if [[ -f \$COLCON_WS/src/bitbots_main/scripts/ros.plugin.sh ]]; then - source \$COLCON_WS/src/bitbots_main/scripts/ros.plugin.sh + if [[ -f \$COLCON_WS/scripts/ros.plugin.sh ]]; then + source \$COLCON_WS/scripts/ros.plugin.sh fi # <<< bit-bots initialize <<< diff --git a/bitbots_misc/bitbots_docs/docs/manual/tutorials/launch_files.rst b/src/bitbots_misc/bitbots_docs/docs/manual/tutorials/launch_files.rst similarity index 100% rename from bitbots_misc/bitbots_docs/docs/manual/tutorials/launch_files.rst rename to src/bitbots_misc/bitbots_docs/docs/manual/tutorials/launch_files.rst diff --git a/bitbots_misc/bitbots_docs/docs/manual/tutorials/lowlevel.rst b/src/bitbots_misc/bitbots_docs/docs/manual/tutorials/lowlevel.rst similarity index 100% rename from bitbots_misc/bitbots_docs/docs/manual/tutorials/lowlevel.rst rename to src/bitbots_misc/bitbots_docs/docs/manual/tutorials/lowlevel.rst diff --git a/bitbots_misc/bitbots_docs/docs/manual/tutorials/lowlevel/pinouts.jpg b/src/bitbots_misc/bitbots_docs/docs/manual/tutorials/lowlevel/pinouts.jpg similarity index 100% rename from bitbots_misc/bitbots_docs/docs/manual/tutorials/lowlevel/pinouts.jpg rename to src/bitbots_misc/bitbots_docs/docs/manual/tutorials/lowlevel/pinouts.jpg diff --git a/bitbots_misc/bitbots_docs/docs/manual/tutorials/optimization_with_optuna.rst b/src/bitbots_misc/bitbots_docs/docs/manual/tutorials/optimization_with_optuna.rst similarity index 100% rename from bitbots_misc/bitbots_docs/docs/manual/tutorials/optimization_with_optuna.rst rename to src/bitbots_misc/bitbots_docs/docs/manual/tutorials/optimization_with_optuna.rst diff --git a/bitbots_misc/bitbots_docs/docs/manual/tutorials/vscode-dev-container.rst b/src/bitbots_misc/bitbots_docs/docs/manual/tutorials/vscode-dev-container.rst similarity index 94% rename from bitbots_misc/bitbots_docs/docs/manual/tutorials/vscode-dev-container.rst rename to src/bitbots_misc/bitbots_docs/docs/manual/tutorials/vscode-dev-container.rst index ced14e11f..d699d5ed8 100644 --- a/bitbots_misc/bitbots_docs/docs/manual/tutorials/vscode-dev-container.rst +++ b/src/bitbots_misc/bitbots_docs/docs/manual/tutorials/vscode-dev-container.rst @@ -35,7 +35,7 @@ Known issues ------------ - Rebuilding the container results in all modifications to the container being lost. This does not include the repository, which itself is persisted in the container. -- Sometimes `make install` results in an `mktemp: failed to create file via template ‘/tmp/tmp.XXXXXXXXXX’: Permission denied`. I spend some time trying to fix this but couldn't find a solution. The workaround is to run `make install` again. This time it should work. +- Sometimes `just install` results in an `mktemp: failed to create file via template ‘/tmp/tmp.XXXXXXXXXX’: Permission denied`. I spend some time trying to fix this but couldn't find a solution. The workaround is to run `just install` again. This time it should work. - I did everything as stated, but my python IntelliSense does not pick up bit-bots related packages. To solve this open the command palette (Ctrl+Shift+P) and run `ROS: Update Python Path`. This should fix the issue. - GUI applications do not start. Run `xhost local:root` on the **host** machine to fix this. - I can not find my files in the home directory. The home directory is mounted at `/srv/host_home` in the container. You can find your files there. diff --git a/bitbots_misc/bitbots_docs/docs/manual/tutorials/vscode-ros2.rst b/src/bitbots_misc/bitbots_docs/docs/manual/tutorials/vscode-ros2.rst similarity index 94% rename from bitbots_misc/bitbots_docs/docs/manual/tutorials/vscode-ros2.rst rename to src/bitbots_misc/bitbots_docs/docs/manual/tutorials/vscode-ros2.rst index 23030b7cf..5eb4261ae 100644 --- a/bitbots_misc/bitbots_docs/docs/manual/tutorials/vscode-ros2.rst +++ b/src/bitbots_misc/bitbots_docs/docs/manual/tutorials/vscode-ros2.rst @@ -5,8 +5,6 @@ Setup VSCode with ROS2 Open a terminal. Navigate to your colcon workspace. -`cd colcon_ws` - Source ros `source /opt/ros/jazzy/setup.zsh` @@ -40,7 +38,7 @@ An example vscode launch configuration and the corresponding python launch file { "name": "head behavior", "request": "launch", - "target": "$HOME/colcon_ws/install/bitbots_head_behavior/share/bitbots_head_behavior/launch/test.py", + "target": "$COLCON_WS/src/bitbots_head_behavior/share/bitbots_head_behavior/launch/test.py", "launch": "[rviz, gz, gzclient, gzserver]", "type": "ros" } diff --git a/bitbots_misc/bitbots_docs/files/_static/logo.png b/src/bitbots_misc/bitbots_docs/files/_static/logo.png similarity index 100% rename from bitbots_misc/bitbots_docs/files/_static/logo.png rename to src/bitbots_misc/bitbots_docs/files/_static/logo.png diff --git a/bitbots_misc/bitbots_docs/files/_templates/.gitkeep b/src/bitbots_misc/bitbots_docs/files/_templates/.gitkeep similarity index 100% rename from bitbots_misc/bitbots_docs/files/_templates/.gitkeep rename to 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diff --git a/bitbots_msgs/msg/RobotRelativeArray.msg b/src/bitbots_msgs/msg/RobotRelativeArray.msg similarity index 100% rename from bitbots_msgs/msg/RobotRelativeArray.msg rename to src/bitbots_msgs/msg/RobotRelativeArray.msg diff --git a/bitbots_msgs/msg/Strategy.msg b/src/bitbots_msgs/msg/Strategy.msg similarity index 100% rename from bitbots_msgs/msg/Strategy.msg rename to src/bitbots_msgs/msg/Strategy.msg diff --git a/bitbots_msgs/msg/TeamData.msg b/src/bitbots_msgs/msg/TeamData.msg similarity index 100% rename from bitbots_msgs/msg/TeamData.msg rename to src/bitbots_msgs/msg/TeamData.msg diff --git a/bitbots_msgs/msg/Workload.msg b/src/bitbots_msgs/msg/Workload.msg similarity index 100% rename from bitbots_msgs/msg/Workload.msg rename to src/bitbots_msgs/msg/Workload.msg diff --git a/bitbots_msgs/package.xml b/src/bitbots_msgs/package.xml similarity index 100% rename from bitbots_msgs/package.xml rename to src/bitbots_msgs/package.xml diff --git a/bitbots_msgs/pyproject.toml 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similarity index 100% rename from bitbots_msgs/srv/SetObjectPose.srv rename to src/bitbots_msgs/srv/SetObjectPose.srv diff --git a/bitbots_msgs/srv/SetObjectPosition.srv b/src/bitbots_msgs/srv/SetObjectPosition.srv similarity index 100% rename from bitbots_msgs/srv/SetObjectPosition.srv rename to src/bitbots_msgs/srv/SetObjectPosition.srv diff --git a/bitbots_msgs/srv/SetTeachingMode.srv b/src/bitbots_msgs/srv/SetTeachingMode.srv similarity index 100% rename from bitbots_msgs/srv/SetTeachingMode.srv rename to src/bitbots_msgs/srv/SetTeachingMode.srv diff --git a/bitbots_msgs/srv/SimulatorPush.srv b/src/bitbots_msgs/srv/SimulatorPush.srv similarity index 100% rename from bitbots_msgs/srv/SimulatorPush.srv rename to src/bitbots_msgs/srv/SimulatorPush.srv diff --git a/bitbots_navigation/bitbots_localization/CMakeLists.txt b/src/bitbots_navigation/bitbots_localization/CMakeLists.txt similarity index 100% rename from bitbots_navigation/bitbots_localization/CMakeLists.txt rename to 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a/bitbots_robot/wolfgang_description/urdf/camera_lower_basler_wolfgang_imu_v2.2.stl b/src/bitbots_robot/wolfgang_description/urdf/camera_lower_basler_wolfgang_imu_v2.2.stl similarity index 100% rename from bitbots_robot/wolfgang_description/urdf/camera_lower_basler_wolfgang_imu_v2.2.stl rename to src/bitbots_robot/wolfgang_description/urdf/camera_lower_basler_wolfgang_imu_v2.2.stl diff --git a/bitbots_robot/wolfgang_description/urdf/camera_side_basler_wolfgang_v2.2_left.scad b/src/bitbots_robot/wolfgang_description/urdf/camera_side_basler_wolfgang_v2.2_left.scad similarity index 100% rename from bitbots_robot/wolfgang_description/urdf/camera_side_basler_wolfgang_v2.2_left.scad rename to src/bitbots_robot/wolfgang_description/urdf/camera_side_basler_wolfgang_v2.2_left.scad diff --git a/bitbots_robot/wolfgang_description/urdf/camera_side_basler_wolfgang_v2.2_left.stl b/src/bitbots_robot/wolfgang_description/urdf/camera_side_basler_wolfgang_v2.2_left.stl similarity index 100% rename from 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a/bitbots_robot/wolfgang_description/urdf/config.json b/src/bitbots_robot/wolfgang_description/urdf/config.json similarity index 100% rename from bitbots_robot/wolfgang_description/urdf/config.json rename to src/bitbots_robot/wolfgang_description/urdf/config.json diff --git a/bitbots_robot/wolfgang_description/urdf/connector_shoulder.scad b/src/bitbots_robot/wolfgang_description/urdf/connector_shoulder.scad similarity index 100% rename from bitbots_robot/wolfgang_description/urdf/connector_shoulder.scad rename to src/bitbots_robot/wolfgang_description/urdf/connector_shoulder.scad diff --git a/bitbots_robot/wolfgang_description/urdf/connector_shoulder.stl b/src/bitbots_robot/wolfgang_description/urdf/connector_shoulder.stl similarity index 100% rename from bitbots_robot/wolfgang_description/urdf/connector_shoulder.stl rename to src/bitbots_robot/wolfgang_description/urdf/connector_shoulder.stl diff --git a/bitbots_robot/wolfgang_description/urdf/core.scad 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a/bitbots_robot/wolfgang_description/urdf/foot_cover.stl b/src/bitbots_robot/wolfgang_description/urdf/foot_cover.stl similarity index 100% rename from bitbots_robot/wolfgang_description/urdf/foot_cover.stl rename to src/bitbots_robot/wolfgang_description/urdf/foot_cover.stl diff --git a/bitbots_robot/wolfgang_description/urdf/foot_printed_left.scad b/src/bitbots_robot/wolfgang_description/urdf/foot_printed_left.scad similarity index 100% rename from bitbots_robot/wolfgang_description/urdf/foot_printed_left.scad rename to src/bitbots_robot/wolfgang_description/urdf/foot_printed_left.scad diff --git a/bitbots_robot/wolfgang_description/urdf/foot_printed_left.stl b/src/bitbots_robot/wolfgang_description/urdf/foot_printed_left.stl similarity index 100% rename from bitbots_robot/wolfgang_description/urdf/foot_printed_left.stl rename to src/bitbots_robot/wolfgang_description/urdf/foot_printed_left.stl diff --git a/bitbots_robot/wolfgang_description/urdf/foot_printed_right.scad 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a/bitbots_robot/wolfgang_description/urdf/knee_spacer.scad b/src/bitbots_robot/wolfgang_description/urdf/knee_spacer.scad similarity index 100% rename from bitbots_robot/wolfgang_description/urdf/knee_spacer.scad rename to src/bitbots_robot/wolfgang_description/urdf/knee_spacer.scad diff --git a/bitbots_robot/wolfgang_description/urdf/knee_spacer.stl b/src/bitbots_robot/wolfgang_description/urdf/knee_spacer.stl similarity index 100% rename from bitbots_robot/wolfgang_description/urdf/knee_spacer.stl rename to src/bitbots_robot/wolfgang_description/urdf/knee_spacer.stl diff --git a/bitbots_robot/wolfgang_description/urdf/lense.scad b/src/bitbots_robot/wolfgang_description/urdf/lense.scad similarity index 100% rename from bitbots_robot/wolfgang_description/urdf/lense.scad rename to src/bitbots_robot/wolfgang_description/urdf/lense.scad diff --git a/bitbots_robot/wolfgang_description/urdf/lense.stl b/src/bitbots_robot/wolfgang_description/urdf/lense.stl similarity index 100% rename from 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a/bitbots_robot/wolfgang_description/urdf/lower_arm.stl b/src/bitbots_robot/wolfgang_description/urdf/lower_arm.stl similarity index 100% rename from bitbots_robot/wolfgang_description/urdf/lower_arm.stl rename to src/bitbots_robot/wolfgang_description/urdf/lower_arm.stl diff --git a/bitbots_robot/wolfgang_description/urdf/lower_leg.scad b/src/bitbots_robot/wolfgang_description/urdf/lower_leg.scad similarity index 100% rename from bitbots_robot/wolfgang_description/urdf/lower_leg.scad rename to src/bitbots_robot/wolfgang_description/urdf/lower_leg.scad diff --git a/bitbots_robot/wolfgang_description/urdf/lower_leg.stl b/src/bitbots_robot/wolfgang_description/urdf/lower_leg.stl similarity index 100% rename from bitbots_robot/wolfgang_description/urdf/lower_leg.stl rename to src/bitbots_robot/wolfgang_description/urdf/lower_leg.stl diff --git a/bitbots_robot/wolfgang_description/urdf/lower_leg_spacer.scad b/src/bitbots_robot/wolfgang_description/urdf/lower_leg_spacer.scad similarity 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rename to src/bitbots_robot/wolfgang_description/urdf/nuc_holder_right_front.stl diff --git a/bitbots_robot/wolfgang_description/urdf/nuc_main.scad b/src/bitbots_robot/wolfgang_description/urdf/nuc_main.scad similarity index 100% rename from bitbots_robot/wolfgang_description/urdf/nuc_main.scad rename to src/bitbots_robot/wolfgang_description/urdf/nuc_main.scad diff --git a/bitbots_robot/wolfgang_description/urdf/nuc_main.stl b/src/bitbots_robot/wolfgang_description/urdf/nuc_main.stl similarity index 100% rename from bitbots_robot/wolfgang_description/urdf/nuc_main.stl rename to src/bitbots_robot/wolfgang_description/urdf/nuc_main.stl diff --git a/bitbots_robot/wolfgang_description/urdf/robot.urdf b/src/bitbots_robot/wolfgang_description/urdf/robot.urdf similarity index 100% rename from bitbots_robot/wolfgang_description/urdf/robot.urdf rename to src/bitbots_robot/wolfgang_description/urdf/robot.urdf diff --git a/bitbots_robot/wolfgang_description/urdf/sea_connector.scad 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b/src/bitbots_simulation/bitbots_webots_sim/protos/lighting/RoboCupMainLight.proto similarity index 100% rename from bitbots_simulation/bitbots_webots_sim/protos/lighting/RoboCupMainLight.proto rename to src/bitbots_simulation/bitbots_webots_sim/protos/lighting/RoboCupMainLight.proto diff --git a/bitbots_simulation/bitbots_webots_sim/protos/lighting/RoboCupOffLight.proto b/src/bitbots_simulation/bitbots_webots_sim/protos/lighting/RoboCupOffLight.proto similarity index 100% rename from bitbots_simulation/bitbots_webots_sim/protos/lighting/RoboCupOffLight.proto rename to src/bitbots_simulation/bitbots_webots_sim/protos/lighting/RoboCupOffLight.proto diff --git a/bitbots_simulation/bitbots_webots_sim/protos/lighting/RoboCupTopLight.proto b/src/bitbots_simulation/bitbots_webots_sim/protos/lighting/RoboCupTopLight.proto similarity index 100% rename from bitbots_simulation/bitbots_webots_sim/protos/lighting/RoboCupTopLight.proto rename to 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b/src/bitbots_simulation/bitbots_webots_sim/protos/lighting/icons/RoboCupTopLight.png similarity index 100% rename from bitbots_simulation/bitbots_webots_sim/protos/lighting/icons/RoboCupTopLight.png rename to src/bitbots_simulation/bitbots_webots_sim/protos/lighting/icons/RoboCupTopLight.png diff --git a/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang.proto b/src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang.proto similarity index 100% rename from bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang.proto rename to src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang.proto diff --git a/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/WolfgangOptimization.proto b/src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/WolfgangOptimization.proto similarity index 100% rename from bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/WolfgangOptimization.proto rename to src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/WolfgangOptimization.proto diff --git a/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/WolfgangRobocup.proto b/src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/WolfgangRobocup.proto similarity index 100% rename from bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/WolfgangRobocup.proto rename to src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/WolfgangRobocup.proto diff --git a/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_ankleMesh.proto b/src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_ankleMesh.proto similarity index 100% rename from bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_ankleMesh.proto rename to src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_ankleMesh.proto diff --git a/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_basler_ace_gige_c-mount_v01Mesh.proto b/src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_basler_ace_gige_c-mount_v01Mesh.proto similarity index 100% rename from bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_basler_ace_gige_c-mount_v01Mesh.proto rename to src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_basler_ace_gige_c-mount_v01Mesh.proto diff --git a/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_batteryMesh.proto b/src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_batteryMesh.proto similarity index 100% rename from bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_batteryMesh.proto rename to src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_batteryMesh.proto diff --git a/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_battery_cageMesh.proto b/src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_battery_cageMesh.proto similarity index 100% rename from bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_battery_cageMesh.proto rename to src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_battery_cageMesh.proto diff --git a/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_battery_clipMesh.proto b/src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_battery_clipMesh.proto similarity index 100% rename from bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_battery_clipMesh.proto rename to src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_battery_clipMesh.proto diff --git a/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_camera_lower_basler_wolfgang_imu_v2_2Mesh.proto b/src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_camera_lower_basler_wolfgang_imu_v2_2Mesh.proto similarity index 100% rename from bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_camera_lower_basler_wolfgang_imu_v2_2Mesh.proto rename to src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_camera_lower_basler_wolfgang_imu_v2_2Mesh.proto diff --git a/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_camera_side_basler_wolfgang_v2_2_leftMesh.proto b/src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_camera_side_basler_wolfgang_v2_2_leftMesh.proto similarity index 100% rename from bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_camera_side_basler_wolfgang_v2_2_leftMesh.proto rename to src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_camera_side_basler_wolfgang_v2_2_leftMesh.proto diff --git a/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_camera_side_basler_wolfgang_v2_2_rightMesh.proto b/src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_camera_side_basler_wolfgang_v2_2_rightMesh.proto similarity index 100% rename from bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_camera_side_basler_wolfgang_v2_2_rightMesh.proto rename to src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_camera_side_basler_wolfgang_v2_2_rightMesh.proto diff --git a/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_connector_shoulderMesh.proto b/src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_connector_shoulderMesh.proto similarity index 100% rename from bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_connector_shoulderMesh.proto rename to src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_connector_shoulderMesh.proto diff --git a/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_coreMesh.proto b/src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_coreMesh.proto similarity index 100% rename from bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_coreMesh.proto rename to src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_coreMesh.proto diff --git a/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_dummy_speakerMesh.proto b/src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_dummy_speakerMesh.proto similarity index 100% rename from bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_dummy_speakerMesh.proto rename to src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_dummy_speakerMesh.proto diff --git a/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_flex_stollenMesh.proto b/src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_flex_stollenMesh.proto similarity index 100% rename from bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_flex_stollenMesh.proto rename to src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_flex_stollenMesh.proto diff --git a/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_foot_coverMesh.proto b/src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_foot_coverMesh.proto similarity index 100% rename from bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_foot_coverMesh.proto rename to src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_foot_coverMesh.proto diff --git a/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_foot_printed_leftMesh.proto b/src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_foot_printed_leftMesh.proto similarity index 100% rename from bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_foot_printed_leftMesh.proto rename to src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_foot_printed_leftMesh.proto diff --git a/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_foot_printed_rightMesh.proto b/src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_foot_printed_rightMesh.proto similarity index 100% rename from bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_foot_printed_rightMesh.proto rename to src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_foot_printed_rightMesh.proto diff --git a/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_handMesh.proto b/src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_handMesh.proto similarity index 100% rename from bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_handMesh.proto rename to src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_handMesh.proto diff --git a/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_hip_u_connectorMesh.proto b/src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_hip_u_connectorMesh.proto similarity index 100% rename from bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_hip_u_connectorMesh.proto rename to src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_hip_u_connectorMesh.proto diff --git a/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_imu_holderMesh.proto b/src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_imu_holderMesh.proto similarity index 100% rename from bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_imu_holderMesh.proto rename to src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_imu_holderMesh.proto diff --git a/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_knee_connectorMesh.proto b/src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_knee_connectorMesh.proto similarity index 100% rename from bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_knee_connectorMesh.proto rename to src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_knee_connectorMesh.proto diff --git a/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_knee_spacerMesh.proto b/src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_knee_spacerMesh.proto similarity index 100% rename from bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_knee_spacerMesh.proto rename to src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_knee_spacerMesh.proto diff --git a/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_lenseMesh.proto b/src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_lenseMesh.proto similarity index 100% rename from bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_lenseMesh.proto rename to src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_lenseMesh.proto diff --git a/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_load_cellMesh.proto b/src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_load_cellMesh.proto similarity index 100% rename from bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_load_cellMesh.proto rename to src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_load_cellMesh.proto diff --git a/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_lower_armMesh.proto b/src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_lower_armMesh.proto similarity index 100% rename from bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_lower_armMesh.proto rename to src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_lower_armMesh.proto diff --git a/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_lower_legMesh.proto b/src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_lower_legMesh.proto similarity index 100% rename from bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_lower_legMesh.proto rename to src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_lower_legMesh.proto diff --git a/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_lower_leg_spacerMesh.proto b/src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_lower_leg_spacerMesh.proto similarity index 100% rename from bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_lower_leg_spacerMesh.proto rename to src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_lower_leg_spacerMesh.proto diff --git a/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_motor_connectorMesh.proto b/src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_motor_connectorMesh.proto similarity index 100% rename from bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_motor_connectorMesh.proto rename to src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_motor_connectorMesh.proto diff --git a/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_mx-106_bodyMesh.proto b/src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_mx-106_bodyMesh.proto similarity index 100% rename from bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_mx-106_bodyMesh.proto rename to src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_mx-106_bodyMesh.proto diff --git a/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_mx-64-bodyMesh.proto b/src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_mx-64-bodyMesh.proto similarity index 100% rename from bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_mx-64-bodyMesh.proto rename to src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_mx-64-bodyMesh.proto diff --git a/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_nuc_holder_left_backMesh.proto b/src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_nuc_holder_left_backMesh.proto similarity index 100% rename from bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_nuc_holder_left_backMesh.proto rename to src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_nuc_holder_left_backMesh.proto diff --git a/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_nuc_holder_left_frontMesh.proto b/src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_nuc_holder_left_frontMesh.proto similarity index 100% rename from bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_nuc_holder_left_frontMesh.proto rename to src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_nuc_holder_left_frontMesh.proto diff --git a/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_nuc_holder_right_backMesh.proto b/src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_nuc_holder_right_backMesh.proto similarity index 100% rename from bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_nuc_holder_right_backMesh.proto rename to src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_nuc_holder_right_backMesh.proto diff --git a/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_nuc_holder_right_frontMesh.proto b/src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_nuc_holder_right_frontMesh.proto similarity index 100% rename from bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_nuc_holder_right_frontMesh.proto rename to src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_nuc_holder_right_frontMesh.proto diff --git a/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_nuc_mainMesh.proto b/src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_nuc_mainMesh.proto similarity index 100% rename from bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_nuc_mainMesh.proto rename to src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_nuc_mainMesh.proto diff --git a/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_sea_connectorMesh.proto b/src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_sea_connectorMesh.proto similarity index 100% rename from bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_sea_connectorMesh.proto rename to src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_sea_connectorMesh.proto diff --git a/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_sea_ninjaflexMesh.proto b/src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_sea_ninjaflexMesh.proto similarity index 100% rename from bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_sea_ninjaflexMesh.proto rename to src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_sea_ninjaflexMesh.proto diff --git a/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_shoulder_connectorMesh.proto b/src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_shoulder_connectorMesh.proto similarity index 100% rename from bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_shoulder_connectorMesh.proto rename to src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_shoulder_connectorMesh.proto diff --git a/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_speaker_holderMesh.proto b/src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_speaker_holderMesh.proto similarity index 100% rename from bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_speaker_holderMesh.proto rename to src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_speaker_holderMesh.proto diff --git a/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_spring_holder_lowerMesh.proto b/src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_spring_holder_lowerMesh.proto similarity index 100% rename from bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_spring_holder_lowerMesh.proto rename to src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_spring_holder_lowerMesh.proto diff --git a/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_spring_holder_upperMesh.proto b/src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_spring_holder_upperMesh.proto similarity index 100% rename from bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_spring_holder_upperMesh.proto rename to src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_spring_holder_upperMesh.proto diff --git a/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_springholder_bottomMesh.proto b/src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_springholder_bottomMesh.proto similarity index 100% rename from bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_springholder_bottomMesh.proto rename to src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_springholder_bottomMesh.proto diff --git a/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_springholder_newMesh.proto b/src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_springholder_newMesh.proto similarity index 100% rename from bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_springholder_newMesh.proto rename to src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_springholder_newMesh.proto diff --git a/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_thrustbearingholderMesh.proto b/src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_thrustbearingholderMesh.proto similarity index 100% rename from bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_thrustbearingholderMesh.proto rename to src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_thrustbearingholderMesh.proto diff --git a/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_torso_bottomMesh.proto b/src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_torso_bottomMesh.proto similarity index 100% rename from bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_torso_bottomMesh.proto rename to src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_torso_bottomMesh.proto diff --git a/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_torso_bumper_leftMesh.proto b/src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_torso_bumper_leftMesh.proto similarity index 100% rename from bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_torso_bumper_leftMesh.proto rename to src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_torso_bumper_leftMesh.proto diff --git a/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_torso_bumper_rightMesh.proto b/src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_torso_bumper_rightMesh.proto similarity index 100% rename from bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_torso_bumper_rightMesh.proto rename to src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_torso_bumper_rightMesh.proto diff --git a/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_torso_topMesh.proto b/src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_torso_topMesh.proto similarity index 100% rename from bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_torso_topMesh.proto rename to src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_torso_topMesh.proto diff --git a/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_upper_armMesh.proto b/src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_upper_armMesh.proto similarity index 100% rename from bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_upper_armMesh.proto rename to src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_upper_armMesh.proto diff --git a/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_upper_arm_spacerMesh.proto b/src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_upper_arm_spacerMesh.proto similarity index 100% rename from bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_upper_arm_spacerMesh.proto rename to src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_upper_arm_spacerMesh.proto diff --git a/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_upper_legMesh.proto b/src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_upper_legMesh.proto similarity index 100% rename from bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_upper_legMesh.proto rename to src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_upper_legMesh.proto diff --git a/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_upper_leg_spacerMesh.proto b/src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_upper_leg_spacerMesh.proto similarity index 100% rename from bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_upper_leg_spacerMesh.proto rename to src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_upper_leg_spacerMesh.proto diff --git a/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_xh-540Mesh.proto b/src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_xh-540Mesh.proto similarity index 100% rename from bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_xh-540Mesh.proto rename to src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_xh-540Mesh.proto diff --git a/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/ankle.stl b/src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/ankle.stl similarity index 100% rename from bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/ankle.stl rename to src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/ankle.stl diff --git a/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/baseplate_odroid_xu4_core.stl b/src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/baseplate_odroid_xu4_core.stl similarity index 100% rename from bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/baseplate_odroid_xu4_core.stl rename to src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/baseplate_odroid_xu4_core.stl diff --git a/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/basler_ace_gige_c-mount_v01.stl b/src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/basler_ace_gige_c-mount_v01.stl similarity index 100% rename from bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/basler_ace_gige_c-mount_v01.stl rename to src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/basler_ace_gige_c-mount_v01.stl diff --git a/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/battery.stl b/src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/battery.stl similarity index 100% rename from bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/battery.stl rename to src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/battery.stl diff --git a/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/battery_cage.stl b/src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/battery_cage.stl similarity index 100% rename from bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/battery_cage.stl rename to src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/battery_cage.stl diff --git a/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/battery_clip.stl b/src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/battery_clip.stl similarity index 100% rename from bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/battery_clip.stl rename to src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/battery_clip.stl diff --git a/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/camera_lower_basler_wolfgang_imu_v2.2.stl b/src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/camera_lower_basler_wolfgang_imu_v2.2.stl similarity index 100% rename from bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/camera_lower_basler_wolfgang_imu_v2.2.stl rename to src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/camera_lower_basler_wolfgang_imu_v2.2.stl diff --git a/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/camera_side_basler_wolfgang_v2.2_left.stl b/src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/camera_side_basler_wolfgang_v2.2_left.stl similarity index 100% rename from bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/camera_side_basler_wolfgang_v2.2_left.stl rename to src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/camera_side_basler_wolfgang_v2.2_left.stl diff --git a/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/camera_side_basler_wolfgang_v2.2_right.stl b/src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/camera_side_basler_wolfgang_v2.2_right.stl similarity index 100% rename from bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/camera_side_basler_wolfgang_v2.2_right.stl rename to src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/camera_side_basler_wolfgang_v2.2_right.stl diff --git a/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/connector_shoulder.stl b/src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/connector_shoulder.stl similarity index 100% rename from bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/connector_shoulder.stl rename to src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/connector_shoulder.stl diff --git a/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/core.stl b/src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/core.stl similarity index 100% rename from bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/core.stl rename to src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/core.stl diff --git a/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/dummy_speaker.stl b/src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/dummy_speaker.stl similarity index 100% rename from bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/dummy_speaker.stl rename to src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/dummy_speaker.stl diff --git a/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/flex_stollen.stl b/src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/flex_stollen.stl similarity index 100% rename from bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/flex_stollen.stl rename to src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/flex_stollen.stl diff --git a/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/foot_cover.stl b/src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/foot_cover.stl similarity index 100% rename from bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/foot_cover.stl rename to 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b/src/bitbots_world_model/bitbots_robot_filter/test/mypy.ini similarity index 100% rename from bitbots_world_model/bitbots_robot_filter/test/mypy.ini rename to src/bitbots_world_model/bitbots_robot_filter/test/mypy.ini diff --git a/bitbots_world_model/bitbots_robot_filter/test/test_copyright.py b/src/bitbots_world_model/bitbots_robot_filter/test/test_copyright.py similarity index 100% rename from bitbots_world_model/bitbots_robot_filter/test/test_copyright.py rename to src/bitbots_world_model/bitbots_robot_filter/test/test_copyright.py diff --git a/bitbots_world_model/bitbots_robot_filter/test/test_mypy.py b/src/bitbots_world_model/bitbots_robot_filter/test/test_mypy.py similarity index 100% rename from bitbots_world_model/bitbots_robot_filter/test/test_mypy.py rename to src/bitbots_world_model/bitbots_robot_filter/test/test_mypy.py diff --git a/sync_includes_wolfgang_nuc.yaml b/sync_includes_wolfgang_nuc.yaml index d4ec2808f..556556fab 100644 --- a/sync_includes_wolfgang_nuc.yaml +++ b/sync_includes_wolfgang_nuc.yaml @@ -1,68 +1,69 @@ include: - - bitbots_behavior: - - bitbots_blackboard - - bitbots_body_behavior - - bitbots_lowlevel: - - bitbots_buttons - - bitbots_ros_control - - bitbots_misc: - - bitbots_basler_camera - - bitbots_bringup - - bitbots_diagnostic - - bitbots_docs - - bitbots_extrinsic_calibration - - bitbots_ipm - - bitbots_parameter_blackboard - - bitbots_robot_description - - bitbots_teleop - - bitbots_tts - - bitbots_utils - - system_monitor - - bitbots_motion: - - bitbots_animation_rqt - - bitbots_animation_server - - bitbots_dynamic_kick - - bitbots_dynup - - bitbots_hcm - - bitbots_head_mover - - bitbots_moveit_bindings - - bitbots_quintic_walk - - bitbots_splines - - bitbots_msgs - - bitbots_navigation: - - bitbots_localization - - bitbots_localization_handler - - bitbots_odometry - - bitbots_path_planning - - bitbots_team_communication: - - bitbots_team_communication - - bitbots_team_data_sim_rqt - - bitbots_vision - - bitbots_robot: - - wolfgang_animations - - wolfgang_description - - wolfgang_moveit_config - - bitbots_world_model: - - bitbots_ball_filter - - bitbots_robot_filter - - lib: - - audio_common - - bio_ik - - bio_ik_msgs - - biped_interfaces - - bitbots_tf_buffer - - dynamic_stack_decider - - dynamixel-workbench - - DynamixelSDK - - game_controller_hl - - game_controller_hl_interfaces - - humanoid_base_footprint - - ipm - - particle_filter - - ros2_numpy - - ros2_python_extension - - soccer_ipm - - udp_bridge + - src: + - bitbots_behavior: + - bitbots_blackboard + - bitbots_body_behavior + - bitbots_lowlevel: + - bitbots_buttons + - bitbots_ros_control + - bitbots_misc: + - bitbots_basler_camera + - bitbots_bringup + - bitbots_diagnostic + - bitbots_docs + - bitbots_extrinsic_calibration + - bitbots_ipm + - bitbots_parameter_blackboard + - bitbots_robot_description + - bitbots_teleop + - bitbots_tts + - bitbots_utils + - system_monitor + - bitbots_motion: + - bitbots_animation_rqt + - bitbots_animation_server + - bitbots_dynamic_kick + - bitbots_dynup + - bitbots_hcm + - bitbots_head_mover + - bitbots_moveit_bindings + - bitbots_quintic_walk + - bitbots_splines + - bitbots_msgs + - bitbots_navigation: + - bitbots_localization + - bitbots_localization_handler + - bitbots_odometry + - bitbots_path_planning + - bitbots_team_communication: + - bitbots_team_communication + - bitbots_team_data_sim_rqt + - bitbots_vision + - bitbots_robot: + - wolfgang_animations + - wolfgang_description + - wolfgang_moveit_config + - bitbots_world_model: + - bitbots_ball_filter + - bitbots_robot_filter + - lib: + - audio_common + - bio_ik + - bio_ik_msgs + - biped_interfaces + - bitbots_tf_buffer + - dynamic_stack_decider + - dynamixel-workbench + - DynamixelSDK + - game_controller_hl + - game_controller_hl_interfaces + - humanoid_base_footprint + - ipm + - particle_filter + - ros2_numpy + - ros2_python_extension + - soccer_ipm + - udp_bridge - requirements - scripts exclude: diff --git a/workspace.repos b/workspace.repos index 672de0f73..a372039c7 100644 --- a/workspace.repos +++ b/workspace.repos @@ -1,77 +1,77 @@ repositories: - bitbots_team_communication/bitbots_team_communication/bitbots_team_communication/RobocupProtocol: + src/bitbots_team_communication/bitbots_team_communication/bitbots_team_communication/RobocupProtocol: type: git url: git@github.com:bit-bots/RobocupProtocol.git version: master - lib/audio_common: + src/lib/audio_common: type: git url: git@github.com:bit-bots/audio_common.git version: ros2 - lib/bio_ik: + src/lib/bio_ik: type: git url: git@github.com:bit-bots/bio_ik.git version: ros2 - lib/bio_ik_msgs: + src/lib/bio_ik_msgs: type: git url: git@github.com:bit-bots/bio_ik_msgs.git version: master - lib/bitbots_tf_buffer: + src/lib/bitbots_tf_buffer: type: git url: git@github.com:bit-bots/bitbots_tf_buffer.git version: main - lib/biped_interfaces: + src/lib/biped_interfaces: type: git url: git@github.com:ros-sports/biped_interfaces.git version: rolling - lib/dynamic_stack_decider: + src/lib/dynamic_stack_decider: type: git url: git@github.com:bit-bots/dynamic_stack_decider.git version: master - lib/DynamixelSDK: + src/lib/DynamixelSDK: type: git url: git@github.com:bit-bots/DynamixelSDK.git version: master - lib/dynamixel-workbench: + src/lib/dynamixel-workbench: type: git url: git@github.com:bit-bots/dynamixel-workbench.git version: master - lib/game_controller_hl: + src/lib/game_controller_hl: type: git url: git@github.com:ros-sports/game_controller_hl.git version: rolling - lib/hlvs_player: + src/lib/hlvs_player: type: git url: git@github.com:ros-sports/hlvs_player.git version: main - lib/humanoid_base_footprint: + src/lib/humanoid_base_footprint: type: git url: git@github.com:ros-sports/humanoid_base_footprint.git version: master - lib/ipm: + src/lib/ipm: type: git url: git@github.com:ros-sports/ipm.git version: rolling - lib/particle_filter: + src/lib/particle_filter: type: git url: git@github.com:bit-bots/particle_filter.git version: master - lib/ros2_numpy: + src/lib/ros2_numpy: type: git url: git@github.com:bit-bots/ros2_numpy.git version: rolling - lib/ros2_python_extension: + src/lib/ros2_python_extension: type: git url: git@github.com:bit-bots/ros2_python_extension.git version: main - lib/soccer_field_map_generator: + src/lib/soccer_field_map_generator: type: git url: git@github.com:ros-sports/soccer_field_map_generator.git version: rolling - lib/soccer_ipm: + src/lib/soccer_ipm: type: git url: git@github.com:ros-sports/soccer_ipm.git version: rolling - lib/udp_bridge: + src/lib/udp_bridge: type: git url: git@github.com:bit-bots/udp_bridge.git version: master