Merge branch 'main' into cflib-full-state-cmd

.github/workflows/ci-docs2.yml

@@ -1,8 +1,10 @@
-name: Docs deploy
+name: Docs
 
 on:
  push:
  branches: [ main ]
+ pull_request:
+ branches: [ main ]
 
 jobs:
  build:
@@ -33,6 +35,7 @@ jobs:
  touch docs2/_build/html/.nojekyll
 
  - name: Deploy
+ if: github.ref == 'refs/heads/main'
  uses: JamesIves/github-pages-deploy-action@v4
  with:
  folder: docs2/_build/html # The folder the action should deploy.

.github/workflows/systemtests.yml

@@ -0,0 +1,68 @@
+name: System Tests
+
+on:
+ push:
+ branches: [ "feature-systemtests-better" ]
+ # manual trigger
+ workflow_dispatch:
+
+jobs:
+ build:
+ runs-on: self-hosted
+ steps:
+ - name: Create workspace
+ id: step1
+ run: |
+ cd ros2_ws/src || mkdir -p ros2_ws/src
+ - name: Checkout motion capture package
+ id: step2
+ run: |
+ cd ros2_ws/src
+ ls motion_capture_tracking || git clone --branch ros2 --recursive https://github.com/IMRCLab/motion_capture_tracking.git
+ - name: Checkout Crazyswarm2
+ id: step3
+ uses: actions/checkout@v4
+ with:
+ path: ros2_ws/src/crazyswarm2
+ submodules: 'recursive'
+ - name: Build workspace
+ id: step4
+ run: |
+ source /opt/ros/humble/setup.bash
+ cd ros2_ws
+ colcon build --symlink-install
+
+ - name: Flight test
+ id: step5
+ run: |
+ cd ros2_ws
+ source /opt/ros/humble/setup.bash
+ . install/local_setup.bash
+ export ROS_LOCALHOST_ONLY=1
+ python3 src/crazyswarm2/systemtests/run_test.py
+
+ - name: Upload files
+ id: step6
+ uses: actions/upload-artifact@v3
+ with:
+ name: pdf_bagfiles_and_logs
+ path: |
+ ros2_ws/bagfiles
+ ros2_ws/results
+ ~/.ros/log
+
+
+
+ 
+
+ # - name: build and test ROS 2
+ # uses: ros-tooling/action-ros-ci@v0.3
+ # with:
+ # package-name: |
+ # crazyflie
+ # crazyflie_examples
+ # crazyflie_interfaces
+ # crazyflie_py
+ # crazyflie_sim
+ # target-ros2-distro: humble
+ # vcs-repo-file-url: rosinstall

crazyflie/CMakeLists.txt

@@ -85,6 +85,7 @@ ament_target_dependencies(crazyflie_server
 # Install C++ executables
 install(TARGETS
  # crazyflie_tools
+ comCheck
  scan
  listParams
  listLogVariables
@@ -95,6 +96,7 @@ install(TARGETS
  console
  log
  setParam
+ downloadUSDLogfile
  #
  teleop
  crazyflie_server
@@ -106,6 +108,7 @@ install(PROGRAMS
  scripts/chooser.py
  scripts/vel_mux.py
  scripts/cfmult.py
+ scripts/simple_mapper_multiranger.py
  DESTINATION lib/${PROJECT_NAME}
 )
 

crazyflie/config/server.yaml

@@ -4,6 +4,8 @@
  frequency: 1.0 # report/run checks once per second
  motion_capture:
  warning_if_rate_outside: [80.0, 120.0]
+ communication:
+ max_unicast_latency: 10.0 # ms
  firmware_params:
  query_all_values_on_connect: False
  # simulation related