diff --git a/.nojekyll b/.nojekyll new file mode 100644 index 0000000..e69de29 diff --git a/404.html b/404.html new file mode 100644 index 0000000..af09d0c --- /dev/null +++ b/404.html @@ -0,0 +1,1017 @@ + + + + + + + + + + + + + + + + + + + + + + + JKK Research Center + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
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x,n=ye("search-query"),i=M(h(n,"keydown"),h(n,"focus")).pipe(_e(ae),l(()=>n.value),G());return o.pipe(Ge(i),l(([{suggest:a},c])=>{let p=c.split(/([\s-]+)/);if(a!=null&&a.length&&p[p.length-1]){let m=a[a.length-1];m.startsWith(p[p.length-1])&&(p[p.length-1]=m)}else p.length=0;return p})).subscribe(a=>e.innerHTML=a.join("").replace(/\s/g," ")),r.pipe(L(({mode:a})=>a==="search")).subscribe(a=>{switch(a.type){case"ArrowRight":e.innerText.length&&n.selectionStart===n.value.length&&(n.value=e.innerText);break}}),t.pipe(L(mr),l(({data:a})=>a)).pipe(w(a=>o.next(a)),k(()=>o.complete()),l(()=>({ref:e})))}function Kn(e,{index$:t,keyboard$:r}){let o=ue();try{let n=Un(o.search,t),i=ye("search-query",e),s=ye("search-result",e);h(e,"click").pipe(L(({target:c})=>c instanceof Element&&!!c.closest("a"))).subscribe(()=>Ke("search",!1)),r.pipe(L(({mode:c})=>c==="search")).subscribe(c=>{let p=Re();switch(c.type){case"Enter":if(p===i){let m=new Map;for(let f of z(":first-child [href]",s)){let 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e=="object"?(this.scrollLeft=e.left,this.scrollTop=e.top):(this.scrollLeft=e,this.scrollTop=t)}),Element.prototype.replaceWith||(Element.prototype.replaceWith=function(...e){let t=this.parentNode;if(t){e.length===0&&t.removeChild(this);for(let r=e.length-1;r>=0;r--){let o=e[r];typeof o=="string"?o=document.createTextNode(o):o.parentNode&&o.parentNode.removeChild(o),r?t.insertBefore(this.previousSibling,o):t.replaceChild(o,this)}}}));function Ua(){return location.protocol==="file:"?ht(`${new URL("search/search_index.js",Qr.base)}`).pipe(l(()=>__index),B(1)):Ue(new URL("search/search_index.json",Qr.base))}document.documentElement.classList.remove("no-js");document.documentElement.classList.add("js");var nt=Wo(),At=Qo(),gt=Bo(At),Yr=Ko(),Se=rn(),lr=Fr("(min-width: 960px)"),ii=Fr("(min-width: 1220px)"),ai=Go(),Qr=ue(),si=document.forms.namedItem("search")?Ua():Ve,Br=new x;Rn({alert$:Br});te("navigation.instant")&&In({location$:At,viewport$:Se}).subscribe(nt);var 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Xe=An(ye("header"),{viewport$:Se}),_t=nt.pipe(l(()=>ye("main")),v(e=>Hn(e,{viewport$:Se,header$:Xe})),B(1)),Na=M(...ne("consent").map(e=>an(e,{target$:gt})),...ne("dialog").map(e=>_n(e,{alert$:Br})),...ne("header").map(e=>Cn(e,{viewport$:Se,header$:Xe,main$:_t})),...ne("palette").map(e=>$n(e)),...ne("search").map(e=>Kn(e,{index$:si,keyboard$:Yr})),...ne("source").map(e=>Jn(e))),Da=$(()=>M(...ne("announce").map(e=>nn(e)),...ne("content").map(e=>Ln(e,{viewport$:Se,target$:gt,print$:ai})),...ne("content").map(e=>te("search.highlight")?Qn(e,{index$:si,location$:At}):T),...ne("header-title").map(e=>kn(e,{viewport$:Se,header$:Xe})),...ne("sidebar").map(e=>e.getAttribute("data-md-type")==="navigation"?jr(ii,()=>Kr(e,{viewport$:Se,header$:Xe,main$:_t})):jr(lr,()=>Kr(e,{viewport$:Se,header$:Xe,main$:_t}))),...ne("tabs").map(e=>Xn(e,{viewport$:Se,header$:Xe})),...ne("toc").map(e=>Zn(e,{viewport$:Se,header$:Xe,main$:_t,target$:gt})),...ne("top").map(e=>ei(e,{viewport$:Se,header$:Xe,main$:_t,target$:gt})))),ci=nt.pipe(v(()=>Da),qe(Na),B(1));ci.subscribe();window.document$=nt;window.location$=At;window.target$=gt;window.keyboard$=Yr;window.viewport$=Se;window.tablet$=lr;window.screen$=ii;window.print$=ai;window.alert$=Br;window.component$=ci;})(); 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var hadKeyboardEvent = true;\n var hadFocusVisibleRecently = false;\n var hadFocusVisibleRecentlyTimeout = null;\n\n var inputTypesAllowlist = {\n text: true,\n search: true,\n url: true,\n tel: true,\n email: true,\n password: true,\n number: true,\n date: true,\n month: true,\n week: true,\n time: true,\n datetime: true,\n 'datetime-local': true\n };\n\n /**\n * Helper function for legacy browsers and iframes which sometimes focus\n * elements like document, body, and non-interactive SVG.\n * @param {Element} el\n */\n function isValidFocusTarget(el) {\n if (\n el &&\n el !== document &&\n el.nodeName !== 'HTML' &&\n el.nodeName !== 'BODY' &&\n 'classList' in el &&\n 'contains' in el.classList\n ) {\n return true;\n }\n return false;\n }\n\n /**\n * Computes whether the given element should automatically trigger the\n * `focus-visible` class being added, i.e. whether it should always match\n * `:focus-visible` when focused.\n * @param {Element} el\n * @return {boolean}\n */\n function focusTriggersKeyboardModality(el) {\n var type = el.type;\n var tagName = el.tagName;\n\n if (tagName === 'INPUT' && inputTypesAllowlist[type] && !el.readOnly) {\n return true;\n }\n\n if (tagName === 'TEXTAREA' && !el.readOnly) {\n return true;\n }\n\n if (el.isContentEditable) {\n return true;\n }\n\n return false;\n }\n\n /**\n * Add the `focus-visible` class to the given element if it was not added by\n * the author.\n * @param {Element} el\n */\n function addFocusVisibleClass(el) {\n if (el.classList.contains('focus-visible')) {\n return;\n }\n el.classList.add('focus-visible');\n el.setAttribute('data-focus-visible-added', '');\n }\n\n /**\n * Remove the `focus-visible` class from the given element if it was not\n * originally added by the author.\n * @param {Element} el\n */\n function removeFocusVisibleClass(el) {\n if (!el.hasAttribute('data-focus-visible-added')) {\n return;\n }\n el.classList.remove('focus-visible');\n el.removeAttribute('data-focus-visible-added');\n }\n\n /**\n * If the most recent user interaction was via the keyboard;\n * and the key press did not include a meta, alt/option, or control key;\n * then the modality is keyboard. Otherwise, the modality is not keyboard.\n * Apply `focus-visible` to any current active element and keep track\n * of our keyboard modality state with `hadKeyboardEvent`.\n * @param {KeyboardEvent} e\n */\n function onKeyDown(e) {\n if (e.metaKey || e.altKey || e.ctrlKey) {\n return;\n }\n\n if (isValidFocusTarget(scope.activeElement)) {\n addFocusVisibleClass(scope.activeElement);\n }\n\n hadKeyboardEvent = true;\n }\n\n /**\n * If at any point a user clicks with a pointing device, ensure that we change\n * the modality away from keyboard.\n * This avoids the situation where a user presses a key on an already focused\n * element, and then clicks on a different element, focusing it with a\n * pointing device, while we still think we're in keyboard modality.\n * @param {Event} e\n */\n function onPointerDown(e) {\n hadKeyboardEvent = false;\n }\n\n /**\n * On `focus`, add the `focus-visible` class to the target if:\n * - the target received focus as a result of keyboard navigation, or\n * - the event target is an element that will likely require interaction\n * via the keyboard (e.g. a text box)\n * @param {Event} e\n */\n function onFocus(e) {\n // Prevent IE from focusing the document or HTML element.\n if (!isValidFocusTarget(e.target)) {\n return;\n }\n\n if (hadKeyboardEvent || focusTriggersKeyboardModality(e.target)) {\n addFocusVisibleClass(e.target);\n }\n }\n\n /**\n * On `blur`, remove the `focus-visible` class from the target.\n * @param {Event} e\n */\n function onBlur(e) {\n if (!isValidFocusTarget(e.target)) {\n return;\n }\n\n if (\n e.target.classList.contains('focus-visible') ||\n e.target.hasAttribute('data-focus-visible-added')\n ) {\n // To detect a tab/window switch, we look for a blur event followed\n // rapidly by a visibility change.\n // If we don't see a visibility change within 100ms, it's probably a\n // regular focus change.\n hadFocusVisibleRecently = true;\n window.clearTimeout(hadFocusVisibleRecentlyTimeout);\n hadFocusVisibleRecentlyTimeout = window.setTimeout(function() {\n hadFocusVisibleRecently = false;\n }, 100);\n removeFocusVisibleClass(e.target);\n }\n }\n\n /**\n * If the user changes tabs, keep track of whether or not the previously\n * focused element had .focus-visible.\n * @param {Event} e\n */\n function onVisibilityChange(e) {\n if (document.visibilityState === 'hidden') {\n // If the tab becomes active again, the browser will handle calling focus\n // on the element (Safari actually calls it twice).\n // If this tab change caused a blur on an element with focus-visible,\n // re-apply the class when the user switches back to the tab.\n if (hadFocusVisibleRecently) {\n hadKeyboardEvent = true;\n }\n addInitialPointerMoveListeners();\n }\n }\n\n /**\n * Add a group of listeners to detect usage of any pointing devices.\n * These listeners will be added when the polyfill first loads, and anytime\n * the window is blurred, so that they are active when the window regains\n * focus.\n */\n function addInitialPointerMoveListeners() {\n document.addEventListener('mousemove', onInitialPointerMove);\n document.addEventListener('mousedown', onInitialPointerMove);\n document.addEventListener('mouseup', onInitialPointerMove);\n document.addEventListener('pointermove', onInitialPointerMove);\n document.addEventListener('pointerdown', onInitialPointerMove);\n document.addEventListener('pointerup', onInitialPointerMove);\n document.addEventListener('touchmove', onInitialPointerMove);\n document.addEventListener('touchstart', onInitialPointerMove);\n document.addEventListener('touchend', onInitialPointerMove);\n }\n\n function removeInitialPointerMoveListeners() {\n document.removeEventListener('mousemove', onInitialPointerMove);\n document.removeEventListener('mousedown', onInitialPointerMove);\n document.removeEventListener('mouseup', onInitialPointerMove);\n document.removeEventListener('pointermove', onInitialPointerMove);\n document.removeEventListener('pointerdown', onInitialPointerMove);\n document.removeEventListener('pointerup', onInitialPointerMove);\n document.removeEventListener('touchmove', onInitialPointerMove);\n document.removeEventListener('touchstart', onInitialPointerMove);\n document.removeEventListener('touchend', onInitialPointerMove);\n }\n\n /**\n * When the polfyill first loads, assume the user is in keyboard modality.\n * If any event is received from a pointing device (e.g. mouse, pointer,\n * touch), turn off keyboard modality.\n * This accounts for situations where focus enters the page from the URL bar.\n * @param {Event} e\n */\n function onInitialPointerMove(e) {\n // Work around a Safari quirk that fires a mousemove on whenever the\n // window blurs, even if you're tabbing out of the page. \u00AF\\_(\u30C4)_/\u00AF\n if (e.target.nodeName && e.target.nodeName.toLowerCase() === 'html') {\n return;\n }\n\n hadKeyboardEvent = false;\n removeInitialPointerMoveListeners();\n }\n\n // For some kinds of state, we are interested in changes at the global scope\n // only. For example, global pointer input, global key presses and global\n // visibility change should affect the state at every scope:\n document.addEventListener('keydown', onKeyDown, true);\n document.addEventListener('mousedown', onPointerDown, true);\n document.addEventListener('pointerdown', onPointerDown, true);\n document.addEventListener('touchstart', onPointerDown, true);\n document.addEventListener('visibilitychange', onVisibilityChange, true);\n\n addInitialPointerMoveListeners();\n\n // For focus and blur, we specifically care about state changes in the local\n // scope. This is because focus / blur events that originate from within a\n // shadow root are not re-dispatched from the host element if it was already\n // the active element in its own scope:\n scope.addEventListener('focus', onFocus, true);\n scope.addEventListener('blur', onBlur, true);\n\n // We detect that a node is a ShadowRoot by ensuring that it is a\n // DocumentFragment and also has a host property. This check covers native\n // implementation and polyfill implementation transparently. If we only cared\n // about the native implementation, we could just check if the scope was\n // an instance of a ShadowRoot.\n if (scope.nodeType === Node.DOCUMENT_FRAGMENT_NODE && scope.host) {\n // Since a ShadowRoot is a special kind of DocumentFragment, it does not\n // have a root element to add a class to. So, we add this attribute to the\n // host element instead:\n scope.host.setAttribute('data-js-focus-visible', '');\n } else if (scope.nodeType === Node.DOCUMENT_NODE) {\n document.documentElement.classList.add('js-focus-visible');\n document.documentElement.setAttribute('data-js-focus-visible', '');\n }\n }\n\n // It is important to wrap all references to global window and document in\n // these checks to support server-side rendering use cases\n // @see https://github.com/WICG/focus-visible/issues/199\n if (typeof window !== 'undefined' && typeof document !== 'undefined') {\n // Make the polyfill helper globally available. This can be used as a signal\n // to interested libraries that wish to coordinate with the polyfill for e.g.,\n // applying the polyfill to a shadow root:\n window.applyFocusVisiblePolyfill = applyFocusVisiblePolyfill;\n\n // Notify interested libraries of the polyfill's presence, in case the\n // polyfill was loaded lazily:\n var event;\n\n try {\n event = new CustomEvent('focus-visible-polyfill-ready');\n } catch (error) {\n // IE11 does not support using CustomEvent as a constructor directly:\n event = document.createEvent('CustomEvent');\n event.initCustomEvent('focus-visible-polyfill-ready', false, false, {});\n }\n\n window.dispatchEvent(event);\n }\n\n if (typeof document !== 'undefined') {\n // Apply the polyfill to the global document, so that no JavaScript\n // coordination is required to use the polyfill in the top-level document:\n applyFocusVisiblePolyfill(document);\n }\n\n})));\n", "/*!\n * clipboard.js v2.0.11\n * https://clipboardjs.com/\n *\n * Licensed MIT \u00A9 Zeno Rocha\n */\n(function webpackUniversalModuleDefinition(root, factory) {\n\tif(typeof exports === 'object' && typeof module === 'object')\n\t\tmodule.exports = factory();\n\telse if(typeof define === 'function' && define.amd)\n\t\tdefine([], factory);\n\telse if(typeof exports === 'object')\n\t\texports[\"ClipboardJS\"] = factory();\n\telse\n\t\troot[\"ClipboardJS\"] = factory();\n})(this, function() {\nreturn /******/ (function() { // webpackBootstrap\n/******/ \tvar __webpack_modules__ = ({\n\n/***/ 686:\n/***/ (function(__unused_webpack_module, __webpack_exports__, __webpack_require__) {\n\n\"use strict\";\n\n// EXPORTS\n__webpack_require__.d(__webpack_exports__, {\n \"default\": function() { return /* binding */ clipboard; }\n});\n\n// EXTERNAL MODULE: ./node_modules/tiny-emitter/index.js\nvar tiny_emitter = __webpack_require__(279);\nvar tiny_emitter_default = /*#__PURE__*/__webpack_require__.n(tiny_emitter);\n// EXTERNAL MODULE: ./node_modules/good-listener/src/listen.js\nvar listen = __webpack_require__(370);\nvar listen_default = /*#__PURE__*/__webpack_require__.n(listen);\n// EXTERNAL MODULE: ./node_modules/select/src/select.js\nvar src_select = __webpack_require__(817);\nvar select_default = /*#__PURE__*/__webpack_require__.n(src_select);\n;// CONCATENATED MODULE: ./src/common/command.js\n/**\n * Executes a given operation type.\n * @param {String} type\n * @return {Boolean}\n */\nfunction command(type) {\n try {\n return document.execCommand(type);\n } catch (err) {\n return false;\n }\n}\n;// CONCATENATED MODULE: ./src/actions/cut.js\n\n\n/**\n * Cut action wrapper.\n * @param {String|HTMLElement} target\n * @return {String}\n */\n\nvar ClipboardActionCut = function ClipboardActionCut(target) {\n var selectedText = select_default()(target);\n command('cut');\n return selectedText;\n};\n\n/* harmony default export */ var actions_cut = (ClipboardActionCut);\n;// CONCATENATED MODULE: ./src/common/create-fake-element.js\n/**\n * Creates a fake textarea element with a value.\n * @param {String} value\n * @return {HTMLElement}\n */\nfunction createFakeElement(value) {\n var isRTL = document.documentElement.getAttribute('dir') === 'rtl';\n var fakeElement = document.createElement('textarea'); // Prevent zooming on iOS\n\n fakeElement.style.fontSize = '12pt'; // Reset box model\n\n fakeElement.style.border = '0';\n fakeElement.style.padding = '0';\n fakeElement.style.margin = '0'; // Move element out of screen horizontally\n\n fakeElement.style.position = 'absolute';\n fakeElement.style[isRTL ? 'right' : 'left'] = '-9999px'; // Move element to the same position vertically\n\n var yPosition = window.pageYOffset || document.documentElement.scrollTop;\n fakeElement.style.top = \"\".concat(yPosition, \"px\");\n fakeElement.setAttribute('readonly', '');\n fakeElement.value = value;\n return fakeElement;\n}\n;// CONCATENATED MODULE: ./src/actions/copy.js\n\n\n\n/**\n * Create fake copy action wrapper using a fake element.\n * @param {String} target\n * @param {Object} options\n * @return {String}\n */\n\nvar fakeCopyAction = function fakeCopyAction(value, options) {\n var fakeElement = createFakeElement(value);\n options.container.appendChild(fakeElement);\n var selectedText = select_default()(fakeElement);\n command('copy');\n fakeElement.remove();\n return selectedText;\n};\n/**\n * Copy action wrapper.\n * @param {String|HTMLElement} target\n * @param {Object} options\n * @return {String}\n */\n\n\nvar ClipboardActionCopy = function ClipboardActionCopy(target) {\n var options = arguments.length > 1 && arguments[1] !== undefined ? arguments[1] : {\n container: document.body\n };\n var selectedText = '';\n\n if (typeof target === 'string') {\n selectedText = fakeCopyAction(target, options);\n } else if (target instanceof HTMLInputElement && !['text', 'search', 'url', 'tel', 'password'].includes(target === null || target === void 0 ? void 0 : target.type)) {\n // If input type doesn't support `setSelectionRange`. Simulate it. https://developer.mozilla.org/en-US/docs/Web/API/HTMLInputElement/setSelectionRange\n selectedText = fakeCopyAction(target.value, options);\n } else {\n selectedText = select_default()(target);\n command('copy');\n }\n\n return selectedText;\n};\n\n/* harmony default export */ var actions_copy = (ClipboardActionCopy);\n;// CONCATENATED MODULE: ./src/actions/default.js\nfunction _typeof(obj) { \"@babel/helpers - typeof\"; if (typeof Symbol === \"function\" && typeof Symbol.iterator === \"symbol\") { _typeof = function _typeof(obj) { return typeof obj; }; } else { _typeof = function _typeof(obj) { return obj && typeof Symbol === \"function\" && obj.constructor === Symbol && obj !== Symbol.prototype ? \"symbol\" : typeof obj; }; } return _typeof(obj); }\n\n\n\n/**\n * Inner function which performs selection from either `text` or `target`\n * properties and then executes copy or cut operations.\n * @param {Object} options\n */\n\nvar ClipboardActionDefault = function ClipboardActionDefault() {\n var options = arguments.length > 0 && arguments[0] !== undefined ? arguments[0] : {};\n // Defines base properties passed from constructor.\n var _options$action = options.action,\n action = _options$action === void 0 ? 'copy' : _options$action,\n container = options.container,\n target = options.target,\n text = options.text; // Sets the `action` to be performed which can be either 'copy' or 'cut'.\n\n if (action !== 'copy' && action !== 'cut') {\n throw new Error('Invalid \"action\" value, use either \"copy\" or \"cut\"');\n } // Sets the `target` property using an element that will be have its content copied.\n\n\n if (target !== undefined) {\n if (target && _typeof(target) === 'object' && target.nodeType === 1) {\n if (action === 'copy' && target.hasAttribute('disabled')) {\n throw new Error('Invalid \"target\" attribute. Please use \"readonly\" instead of \"disabled\" attribute');\n }\n\n if (action === 'cut' && (target.hasAttribute('readonly') || target.hasAttribute('disabled'))) {\n throw new Error('Invalid \"target\" attribute. You can\\'t cut text from elements with \"readonly\" or \"disabled\" attributes');\n }\n } else {\n throw new Error('Invalid \"target\" value, use a valid Element');\n }\n } // Define selection strategy based on `text` property.\n\n\n if (text) {\n return actions_copy(text, {\n container: container\n });\n } // Defines which selection strategy based on `target` property.\n\n\n if (target) {\n return action === 'cut' ? actions_cut(target) : actions_copy(target, {\n container: container\n });\n }\n};\n\n/* harmony default export */ var actions_default = (ClipboardActionDefault);\n;// CONCATENATED MODULE: ./src/clipboard.js\nfunction clipboard_typeof(obj) { \"@babel/helpers - typeof\"; if (typeof Symbol === \"function\" && typeof Symbol.iterator === \"symbol\") { clipboard_typeof = function _typeof(obj) { return typeof obj; }; } else { clipboard_typeof = function _typeof(obj) { return obj && typeof Symbol === \"function\" && obj.constructor === Symbol && obj !== Symbol.prototype ? \"symbol\" : typeof obj; }; } return clipboard_typeof(obj); }\n\nfunction _classCallCheck(instance, Constructor) { if (!(instance instanceof Constructor)) { throw new TypeError(\"Cannot call a class as a function\"); } }\n\nfunction _defineProperties(target, props) { for (var i = 0; i < props.length; i++) { var descriptor = props[i]; descriptor.enumerable = descriptor.enumerable || false; descriptor.configurable = true; if (\"value\" in descriptor) descriptor.writable = true; Object.defineProperty(target, descriptor.key, descriptor); } }\n\nfunction _createClass(Constructor, protoProps, staticProps) { if (protoProps) _defineProperties(Constructor.prototype, protoProps); if (staticProps) _defineProperties(Constructor, staticProps); return Constructor; }\n\nfunction _inherits(subClass, superClass) { if (typeof superClass !== \"function\" && superClass !== null) { throw new TypeError(\"Super expression must either be null or a function\"); } subClass.prototype = Object.create(superClass && superClass.prototype, { constructor: { value: subClass, writable: true, configurable: true } }); if (superClass) _setPrototypeOf(subClass, superClass); }\n\nfunction _setPrototypeOf(o, p) { _setPrototypeOf = Object.setPrototypeOf || function _setPrototypeOf(o, p) { o.__proto__ = p; return o; }; return _setPrototypeOf(o, p); }\n\nfunction _createSuper(Derived) { var hasNativeReflectConstruct = _isNativeReflectConstruct(); return function _createSuperInternal() { var Super = _getPrototypeOf(Derived), result; if (hasNativeReflectConstruct) { var NewTarget = _getPrototypeOf(this).constructor; result = Reflect.construct(Super, arguments, NewTarget); } else { result = Super.apply(this, arguments); } return _possibleConstructorReturn(this, result); }; }\n\nfunction _possibleConstructorReturn(self, call) { if (call && (clipboard_typeof(call) === \"object\" || typeof call === \"function\")) { return call; } return _assertThisInitialized(self); }\n\nfunction _assertThisInitialized(self) { if (self === void 0) { throw new ReferenceError(\"this hasn't been initialised - super() hasn't been called\"); } return self; }\n\nfunction _isNativeReflectConstruct() { if (typeof Reflect === \"undefined\" || !Reflect.construct) return false; if (Reflect.construct.sham) return false; if (typeof Proxy === \"function\") return true; try { Date.prototype.toString.call(Reflect.construct(Date, [], function () {})); return true; } catch (e) { return false; } }\n\nfunction _getPrototypeOf(o) { _getPrototypeOf = Object.setPrototypeOf ? Object.getPrototypeOf : function _getPrototypeOf(o) { return o.__proto__ || Object.getPrototypeOf(o); }; return _getPrototypeOf(o); }\n\n\n\n\n\n\n/**\n * Helper function to retrieve attribute value.\n * @param {String} suffix\n * @param {Element} element\n */\n\nfunction getAttributeValue(suffix, element) {\n var attribute = \"data-clipboard-\".concat(suffix);\n\n if (!element.hasAttribute(attribute)) {\n return;\n }\n\n return element.getAttribute(attribute);\n}\n/**\n * Base class which takes one or more elements, adds event listeners to them,\n * and instantiates a new `ClipboardAction` on each click.\n */\n\n\nvar Clipboard = /*#__PURE__*/function (_Emitter) {\n _inherits(Clipboard, _Emitter);\n\n var _super = _createSuper(Clipboard);\n\n /**\n * @param {String|HTMLElement|HTMLCollection|NodeList} trigger\n * @param {Object} options\n */\n function Clipboard(trigger, options) {\n var _this;\n\n _classCallCheck(this, Clipboard);\n\n _this = _super.call(this);\n\n _this.resolveOptions(options);\n\n _this.listenClick(trigger);\n\n return _this;\n }\n /**\n * Defines if attributes would be resolved using internal setter functions\n * or custom functions that were passed in the constructor.\n * @param {Object} options\n */\n\n\n _createClass(Clipboard, [{\n key: \"resolveOptions\",\n value: function resolveOptions() {\n var options = arguments.length > 0 && arguments[0] !== undefined ? arguments[0] : {};\n this.action = typeof options.action === 'function' ? options.action : this.defaultAction;\n this.target = typeof options.target === 'function' ? options.target : this.defaultTarget;\n this.text = typeof options.text === 'function' ? options.text : this.defaultText;\n this.container = clipboard_typeof(options.container) === 'object' ? options.container : document.body;\n }\n /**\n * Adds a click event listener to the passed trigger.\n * @param {String|HTMLElement|HTMLCollection|NodeList} trigger\n */\n\n }, {\n key: \"listenClick\",\n value: function listenClick(trigger) {\n var _this2 = this;\n\n this.listener = listen_default()(trigger, 'click', function (e) {\n return _this2.onClick(e);\n });\n }\n /**\n * Defines a new `ClipboardAction` on each click event.\n * @param {Event} e\n */\n\n }, {\n key: \"onClick\",\n value: function onClick(e) {\n var trigger = e.delegateTarget || e.currentTarget;\n var action = this.action(trigger) || 'copy';\n var text = actions_default({\n action: action,\n container: this.container,\n target: this.target(trigger),\n text: this.text(trigger)\n }); // Fires an event based on the copy operation result.\n\n this.emit(text ? 'success' : 'error', {\n action: action,\n text: text,\n trigger: trigger,\n clearSelection: function clearSelection() {\n if (trigger) {\n trigger.focus();\n }\n\n window.getSelection().removeAllRanges();\n }\n });\n }\n /**\n * Default `action` lookup function.\n * @param {Element} trigger\n */\n\n }, {\n key: \"defaultAction\",\n value: function defaultAction(trigger) {\n return getAttributeValue('action', trigger);\n }\n /**\n * Default `target` lookup function.\n * @param {Element} trigger\n */\n\n }, {\n key: \"defaultTarget\",\n value: function defaultTarget(trigger) {\n var selector = getAttributeValue('target', trigger);\n\n if (selector) {\n return document.querySelector(selector);\n }\n }\n /**\n * Allow fire programmatically a copy action\n * @param {String|HTMLElement} target\n * @param {Object} options\n * @returns Text copied.\n */\n\n }, {\n key: \"defaultText\",\n\n /**\n * Default `text` lookup function.\n * @param {Element} trigger\n */\n value: function defaultText(trigger) {\n return getAttributeValue('text', trigger);\n }\n /**\n * Destroy lifecycle.\n */\n\n }, {\n key: \"destroy\",\n value: function destroy() {\n this.listener.destroy();\n }\n }], [{\n key: \"copy\",\n value: function copy(target) {\n var options = arguments.length > 1 && arguments[1] !== undefined ? arguments[1] : {\n container: document.body\n };\n return actions_copy(target, options);\n }\n /**\n * Allow fire programmatically a cut action\n * @param {String|HTMLElement} target\n * @returns Text cutted.\n */\n\n }, {\n key: \"cut\",\n value: function cut(target) {\n return actions_cut(target);\n }\n /**\n * Returns the support of the given action, or all actions if no action is\n * given.\n * @param {String} [action]\n */\n\n }, {\n key: \"isSupported\",\n value: function isSupported() {\n var action = arguments.length > 0 && arguments[0] !== undefined ? arguments[0] : ['copy', 'cut'];\n var actions = typeof action === 'string' ? [action] : action;\n var support = !!document.queryCommandSupported;\n actions.forEach(function (action) {\n support = support && !!document.queryCommandSupported(action);\n });\n return support;\n }\n }]);\n\n return Clipboard;\n}((tiny_emitter_default()));\n\n/* harmony default export */ var clipboard = (Clipboard);\n\n/***/ }),\n\n/***/ 828:\n/***/ (function(module) {\n\nvar DOCUMENT_NODE_TYPE = 9;\n\n/**\n * A polyfill for Element.matches()\n */\nif (typeof Element !== 'undefined' && !Element.prototype.matches) {\n var proto = Element.prototype;\n\n proto.matches = proto.matchesSelector ||\n proto.mozMatchesSelector ||\n proto.msMatchesSelector ||\n proto.oMatchesSelector ||\n proto.webkitMatchesSelector;\n}\n\n/**\n * Finds the closest parent that matches a selector.\n *\n * @param {Element} element\n * @param {String} selector\n * @return {Function}\n */\nfunction closest (element, selector) {\n while (element && element.nodeType !== DOCUMENT_NODE_TYPE) {\n if (typeof element.matches === 'function' &&\n element.matches(selector)) {\n return element;\n }\n element = element.parentNode;\n }\n}\n\nmodule.exports = closest;\n\n\n/***/ }),\n\n/***/ 438:\n/***/ (function(module, __unused_webpack_exports, __webpack_require__) {\n\nvar closest = __webpack_require__(828);\n\n/**\n * Delegates event to a selector.\n *\n * @param {Element} element\n * @param {String} selector\n * @param {String} type\n * @param {Function} callback\n * @param {Boolean} useCapture\n * @return {Object}\n */\nfunction _delegate(element, selector, type, callback, useCapture) {\n var listenerFn = listener.apply(this, arguments);\n\n element.addEventListener(type, listenerFn, useCapture);\n\n return {\n destroy: function() {\n element.removeEventListener(type, listenerFn, useCapture);\n }\n }\n}\n\n/**\n * Delegates event to a selector.\n *\n * @param {Element|String|Array} [elements]\n * @param {String} selector\n * @param {String} type\n * @param {Function} callback\n * @param {Boolean} useCapture\n * @return {Object}\n */\nfunction delegate(elements, selector, type, callback, useCapture) {\n // Handle the regular Element usage\n if (typeof elements.addEventListener === 'function') {\n return _delegate.apply(null, arguments);\n }\n\n // Handle Element-less usage, it defaults to global delegation\n if (typeof type === 'function') {\n // Use `document` as the first parameter, then apply arguments\n // This is a short way to .unshift `arguments` without running into deoptimizations\n return _delegate.bind(null, document).apply(null, arguments);\n }\n\n // Handle Selector-based usage\n if (typeof elements === 'string') {\n elements = document.querySelectorAll(elements);\n }\n\n // Handle Array-like based usage\n return Array.prototype.map.call(elements, function (element) {\n return _delegate(element, selector, type, callback, useCapture);\n });\n}\n\n/**\n * Finds closest match and invokes callback.\n *\n * @param {Element} element\n * @param {String} selector\n * @param {String} type\n * @param {Function} callback\n * @return {Function}\n */\nfunction listener(element, selector, type, callback) {\n return function(e) {\n e.delegateTarget = closest(e.target, selector);\n\n if (e.delegateTarget) {\n callback.call(element, e);\n }\n }\n}\n\nmodule.exports = delegate;\n\n\n/***/ }),\n\n/***/ 879:\n/***/ (function(__unused_webpack_module, exports) {\n\n/**\n * Check if argument is a HTML element.\n *\n * @param {Object} value\n * @return {Boolean}\n */\nexports.node = function(value) {\n return value !== undefined\n && value instanceof HTMLElement\n && value.nodeType === 1;\n};\n\n/**\n * Check if argument is a list of HTML elements.\n *\n * @param {Object} value\n * @return {Boolean}\n */\nexports.nodeList = function(value) {\n var type = Object.prototype.toString.call(value);\n\n return value !== undefined\n && (type === '[object NodeList]' || type === '[object HTMLCollection]')\n && ('length' in value)\n && (value.length === 0 || exports.node(value[0]));\n};\n\n/**\n * Check if argument is a string.\n *\n * @param {Object} value\n * @return {Boolean}\n */\nexports.string = function(value) {\n return typeof value === 'string'\n || value instanceof String;\n};\n\n/**\n * Check if argument is a function.\n *\n * @param {Object} value\n * @return {Boolean}\n */\nexports.fn = function(value) {\n var type = Object.prototype.toString.call(value);\n\n return type === '[object Function]';\n};\n\n\n/***/ }),\n\n/***/ 370:\n/***/ (function(module, __unused_webpack_exports, __webpack_require__) {\n\nvar is = __webpack_require__(879);\nvar delegate = __webpack_require__(438);\n\n/**\n * Validates all params and calls the right\n * listener function based on its target type.\n *\n * @param {String|HTMLElement|HTMLCollection|NodeList} target\n * @param {String} type\n * @param {Function} callback\n * @return {Object}\n */\nfunction listen(target, type, callback) {\n if (!target && !type && !callback) {\n throw new Error('Missing required arguments');\n }\n\n if (!is.string(type)) {\n throw new TypeError('Second argument must be a String');\n }\n\n if (!is.fn(callback)) {\n throw new TypeError('Third argument must be a Function');\n }\n\n if (is.node(target)) {\n return listenNode(target, type, callback);\n }\n else if (is.nodeList(target)) {\n return listenNodeList(target, type, callback);\n }\n else if (is.string(target)) {\n return listenSelector(target, type, callback);\n }\n else {\n throw new TypeError('First argument must be a String, HTMLElement, HTMLCollection, or NodeList');\n }\n}\n\n/**\n * Adds an event listener to a HTML element\n * and returns a remove listener function.\n *\n * @param {HTMLElement} node\n * @param {String} type\n * @param {Function} callback\n * @return {Object}\n */\nfunction listenNode(node, type, callback) {\n node.addEventListener(type, callback);\n\n return {\n destroy: function() {\n node.removeEventListener(type, callback);\n }\n }\n}\n\n/**\n * Add an event listener to a list of HTML elements\n * and returns a remove listener function.\n *\n * @param {NodeList|HTMLCollection} nodeList\n * @param {String} type\n * @param {Function} callback\n * @return {Object}\n */\nfunction listenNodeList(nodeList, type, callback) {\n Array.prototype.forEach.call(nodeList, function(node) {\n node.addEventListener(type, callback);\n });\n\n return {\n destroy: function() {\n Array.prototype.forEach.call(nodeList, function(node) {\n node.removeEventListener(type, callback);\n });\n }\n }\n}\n\n/**\n * Add an event listener to a selector\n * and returns a remove listener function.\n *\n * @param {String} selector\n * @param {String} type\n * @param {Function} callback\n * @return {Object}\n */\nfunction listenSelector(selector, type, callback) {\n return delegate(document.body, selector, type, callback);\n}\n\nmodule.exports = listen;\n\n\n/***/ }),\n\n/***/ 817:\n/***/ (function(module) {\n\nfunction select(element) {\n var selectedText;\n\n if (element.nodeName === 'SELECT') {\n element.focus();\n\n selectedText = element.value;\n }\n else if (element.nodeName === 'INPUT' || element.nodeName === 'TEXTAREA') {\n var isReadOnly = element.hasAttribute('readonly');\n\n if (!isReadOnly) {\n element.setAttribute('readonly', '');\n }\n\n element.select();\n element.setSelectionRange(0, element.value.length);\n\n if (!isReadOnly) {\n element.removeAttribute('readonly');\n }\n\n selectedText = element.value;\n }\n else {\n if (element.hasAttribute('contenteditable')) {\n element.focus();\n }\n\n var selection = window.getSelection();\n var range = document.createRange();\n\n range.selectNodeContents(element);\n selection.removeAllRanges();\n selection.addRange(range);\n\n selectedText = selection.toString();\n }\n\n return selectedText;\n}\n\nmodule.exports = select;\n\n\n/***/ }),\n\n/***/ 279:\n/***/ (function(module) {\n\nfunction E () {\n // Keep this empty so it's easier to inherit from\n // (via https://github.com/lipsmack from https://github.com/scottcorgan/tiny-emitter/issues/3)\n}\n\nE.prototype = {\n on: function (name, callback, ctx) {\n var e = this.e || (this.e = {});\n\n (e[name] || (e[name] = [])).push({\n fn: callback,\n ctx: ctx\n });\n\n return this;\n },\n\n once: function (name, callback, ctx) {\n var self = this;\n function listener () {\n self.off(name, listener);\n callback.apply(ctx, arguments);\n };\n\n listener._ = callback\n return this.on(name, listener, ctx);\n },\n\n emit: function (name) {\n var data = [].slice.call(arguments, 1);\n var evtArr = ((this.e || (this.e = {}))[name] || []).slice();\n var i = 0;\n var len = evtArr.length;\n\n for (i; i < len; i++) {\n evtArr[i].fn.apply(evtArr[i].ctx, data);\n }\n\n return this;\n },\n\n off: function (name, callback) {\n var e = this.e || (this.e = {});\n var evts = e[name];\n var liveEvents = [];\n\n if (evts && callback) {\n for (var i = 0, len = evts.length; i < len; i++) {\n if (evts[i].fn !== callback && evts[i].fn._ !== callback)\n liveEvents.push(evts[i]);\n }\n }\n\n // Remove event from queue to prevent memory leak\n // Suggested by https://github.com/lazd\n // Ref: https://github.com/scottcorgan/tiny-emitter/commit/c6ebfaa9bc973b33d110a84a307742b7cf94c953#commitcomment-5024910\n\n (liveEvents.length)\n ? e[name] = liveEvents\n : delete e[name];\n\n return this;\n }\n};\n\nmodule.exports = E;\nmodule.exports.TinyEmitter = E;\n\n\n/***/ })\n\n/******/ \t});\n/************************************************************************/\n/******/ \t// The module cache\n/******/ \tvar __webpack_module_cache__ = {};\n/******/ \t\n/******/ \t// The require function\n/******/ \tfunction __webpack_require__(moduleId) {\n/******/ \t\t// Check if module is in cache\n/******/ \t\tif(__webpack_module_cache__[moduleId]) {\n/******/ \t\t\treturn __webpack_module_cache__[moduleId].exports;\n/******/ \t\t}\n/******/ \t\t// Create a new module (and put it into the cache)\n/******/ \t\tvar module = __webpack_module_cache__[moduleId] = {\n/******/ \t\t\t// no module.id needed\n/******/ \t\t\t// no module.loaded needed\n/******/ \t\t\texports: {}\n/******/ \t\t};\n/******/ \t\n/******/ \t\t// Execute the module function\n/******/ \t\t__webpack_modules__[moduleId](module, module.exports, __webpack_require__);\n/******/ \t\n/******/ \t\t// Return the exports of the module\n/******/ \t\treturn module.exports;\n/******/ \t}\n/******/ \t\n/************************************************************************/\n/******/ \t/* webpack/runtime/compat get default export */\n/******/ \t!function() {\n/******/ \t\t// getDefaultExport function for compatibility with non-harmony modules\n/******/ \t\t__webpack_require__.n = function(module) {\n/******/ \t\t\tvar getter = module && module.__esModule ?\n/******/ \t\t\t\tfunction() { return module['default']; } :\n/******/ \t\t\t\tfunction() { return module; };\n/******/ \t\t\t__webpack_require__.d(getter, { a: getter });\n/******/ \t\t\treturn getter;\n/******/ \t\t};\n/******/ \t}();\n/******/ \t\n/******/ \t/* webpack/runtime/define property getters */\n/******/ \t!function() {\n/******/ \t\t// define getter functions for harmony exports\n/******/ \t\t__webpack_require__.d = function(exports, definition) {\n/******/ \t\t\tfor(var key in definition) {\n/******/ \t\t\t\tif(__webpack_require__.o(definition, key) && !__webpack_require__.o(exports, key)) {\n/******/ \t\t\t\t\tObject.defineProperty(exports, key, { enumerable: true, get: definition[key] });\n/******/ \t\t\t\t}\n/******/ \t\t\t}\n/******/ \t\t};\n/******/ \t}();\n/******/ \t\n/******/ \t/* webpack/runtime/hasOwnProperty shorthand */\n/******/ \t!function() {\n/******/ \t\t__webpack_require__.o = function(obj, prop) { return Object.prototype.hasOwnProperty.call(obj, prop); }\n/******/ \t}();\n/******/ \t\n/************************************************************************/\n/******/ \t// module exports must be returned from runtime so entry inlining is disabled\n/******/ \t// startup\n/******/ \t// Load entry module and return exports\n/******/ \treturn __webpack_require__(686);\n/******/ })()\n.default;\n});", "/*!\n * escape-html\n * Copyright(c) 2012-2013 TJ Holowaychuk\n * Copyright(c) 2015 Andreas Lubbe\n * Copyright(c) 2015 Tiancheng \"Timothy\" Gu\n * MIT Licensed\n */\n\n'use strict';\n\n/**\n * Module variables.\n * @private\n */\n\nvar matchHtmlRegExp = /[\"'&<>]/;\n\n/**\n * Module exports.\n * @public\n */\n\nmodule.exports = escapeHtml;\n\n/**\n * Escape special characters in the given string of html.\n *\n * @param {string} string The string to escape for inserting into HTML\n * @return {string}\n * @public\n */\n\nfunction escapeHtml(string) {\n var str = '' + string;\n var match = matchHtmlRegExp.exec(str);\n\n if (!match) {\n return str;\n }\n\n var escape;\n var html = '';\n var index = 0;\n var lastIndex = 0;\n\n for (index = match.index; index < str.length; index++) {\n switch (str.charCodeAt(index)) {\n case 34: // \"\n escape = '"';\n break;\n case 38: // &\n escape = '&';\n break;\n case 39: // '\n escape = ''';\n break;\n case 60: // <\n escape = '<';\n break;\n case 62: // >\n escape = '>';\n break;\n default:\n continue;\n }\n\n if (lastIndex !== index) {\n html += str.substring(lastIndex, index);\n }\n\n lastIndex = index + 1;\n html += escape;\n }\n\n return lastIndex !== index\n ? html + str.substring(lastIndex, index)\n : html;\n}\n", "/*\n * Copyright (c) 2016-2023 Martin Donath \n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport \"focus-visible\"\n\nimport {\n EMPTY,\n NEVER,\n Observable,\n Subject,\n defer,\n delay,\n filter,\n map,\n merge,\n mergeWith,\n shareReplay,\n switchMap\n} from \"rxjs\"\n\nimport { configuration, feature } from \"./_\"\nimport {\n at,\n getActiveElement,\n getOptionalElement,\n requestJSON,\n setLocation,\n setToggle,\n watchDocument,\n watchKeyboard,\n watchLocation,\n watchLocationTarget,\n watchMedia,\n watchPrint,\n watchScript,\n watchViewport\n} from \"./browser\"\nimport {\n getComponentElement,\n getComponentElements,\n mountAnnounce,\n mountBackToTop,\n mountConsent,\n mountContent,\n mountDialog,\n mountHeader,\n mountHeaderTitle,\n mountPalette,\n mountSearch,\n mountSearchHiglight,\n mountSidebar,\n mountSource,\n mountTableOfContents,\n mountTabs,\n watchHeader,\n watchMain\n} from \"./components\"\nimport {\n SearchIndex,\n setupClipboardJS,\n setupInstantLoading,\n setupVersionSelector\n} from \"./integrations\"\nimport {\n patchIndeterminate,\n patchScrollfix,\n patchScrolllock\n} from \"./patches\"\nimport \"./polyfills\"\n\n/* ----------------------------------------------------------------------------\n * Functions - @todo refactor\n * ------------------------------------------------------------------------- */\n\n/**\n * Fetch search index\n *\n * @returns Search index observable\n */\nfunction fetchSearchIndex(): Observable {\n if (location.protocol === \"file:\") {\n return watchScript(\n `${new URL(\"search/search_index.js\", config.base)}`\n )\n .pipe(\n // @ts-ignore - @todo fix typings\n map(() => __index),\n shareReplay(1)\n )\n } else {\n return requestJSON(\n new URL(\"search/search_index.json\", config.base)\n )\n }\n}\n\n/* ----------------------------------------------------------------------------\n * Application\n * ------------------------------------------------------------------------- */\n\n/* Yay, JavaScript is available */\ndocument.documentElement.classList.remove(\"no-js\")\ndocument.documentElement.classList.add(\"js\")\n\n/* Set up navigation observables and subjects */\nconst document$ = watchDocument()\nconst location$ = watchLocation()\nconst target$ = watchLocationTarget(location$)\nconst keyboard$ = watchKeyboard()\n\n/* Set up media observables */\nconst viewport$ = watchViewport()\nconst tablet$ = watchMedia(\"(min-width: 960px)\")\nconst screen$ = watchMedia(\"(min-width: 1220px)\")\nconst print$ = watchPrint()\n\n/* Retrieve search index, if search is enabled */\nconst config = configuration()\nconst index$ = document.forms.namedItem(\"search\")\n ? fetchSearchIndex()\n : NEVER\n\n/* Set up Clipboard.js integration */\nconst alert$ = new Subject()\nsetupClipboardJS({ alert$ })\n\n/* Set up instant loading, if enabled */\nif (feature(\"navigation.instant\"))\n setupInstantLoading({ location$, viewport$ })\n .subscribe(document$)\n\n/* Set up version selector */\nif (config.version?.provider === \"mike\")\n setupVersionSelector({ document$ })\n\n/* Always close drawer and search on navigation */\nmerge(location$, target$)\n .pipe(\n delay(125)\n )\n .subscribe(() => {\n setToggle(\"drawer\", false)\n setToggle(\"search\", false)\n })\n\n/* Set up global keyboard handlers */\nkeyboard$\n .pipe(\n filter(({ mode }) => mode === \"global\")\n )\n .subscribe(key => {\n switch (key.type) {\n\n /* Go to previous page */\n case \"p\":\n case \",\":\n const prev = getOptionalElement(\"link[rel=prev]\")\n if (typeof prev !== \"undefined\")\n setLocation(prev)\n break\n\n /* Go to next page */\n case \"n\":\n case \".\":\n const next = getOptionalElement(\"link[rel=next]\")\n if (typeof next !== \"undefined\")\n setLocation(next)\n break\n\n /* Expand navigation, see https://bit.ly/3ZjG5io */\n case \"Enter\":\n const active = getActiveElement()\n if (active instanceof HTMLLabelElement)\n active.click()\n }\n })\n\n/* Set up patches */\npatchIndeterminate({ document$, tablet$ })\npatchScrollfix({ document$ })\npatchScrolllock({ viewport$, tablet$ })\n\n/* Set up header and main area observable */\nconst header$ = watchHeader(getComponentElement(\"header\"), { viewport$ })\nconst main$ = document$\n .pipe(\n map(() => getComponentElement(\"main\")),\n switchMap(el => watchMain(el, { viewport$, header$ })),\n shareReplay(1)\n )\n\n/* Set up control component observables */\nconst control$ = merge(\n\n /* Consent */\n ...getComponentElements(\"consent\")\n .map(el => mountConsent(el, { target$ })),\n\n /* Dialog */\n ...getComponentElements(\"dialog\")\n .map(el => mountDialog(el, { alert$ })),\n\n /* Header */\n ...getComponentElements(\"header\")\n .map(el => mountHeader(el, { viewport$, header$, main$ })),\n\n /* Color palette */\n ...getComponentElements(\"palette\")\n .map(el => mountPalette(el)),\n\n /* Search */\n ...getComponentElements(\"search\")\n .map(el => mountSearch(el, { index$, keyboard$ })),\n\n /* Repository information */\n ...getComponentElements(\"source\")\n .map(el => mountSource(el))\n)\n\n/* Set up content component observables */\nconst content$ = defer(() => merge(\n\n /* Announcement bar */\n ...getComponentElements(\"announce\")\n .map(el => mountAnnounce(el)),\n\n /* Content */\n ...getComponentElements(\"content\")\n .map(el => mountContent(el, { viewport$, target$, print$ })),\n\n /* Search highlighting */\n ...getComponentElements(\"content\")\n .map(el => feature(\"search.highlight\")\n ? mountSearchHiglight(el, { index$, location$ })\n : EMPTY\n ),\n\n /* Header title */\n ...getComponentElements(\"header-title\")\n .map(el => mountHeaderTitle(el, { viewport$, header$ })),\n\n /* Sidebar */\n ...getComponentElements(\"sidebar\")\n .map(el => el.getAttribute(\"data-md-type\") === \"navigation\"\n ? at(screen$, () => mountSidebar(el, { viewport$, header$, main$ }))\n : at(tablet$, () => mountSidebar(el, { viewport$, header$, main$ }))\n ),\n\n /* Navigation tabs */\n ...getComponentElements(\"tabs\")\n .map(el => mountTabs(el, { viewport$, header$ })),\n\n /* Table of contents */\n ...getComponentElements(\"toc\")\n .map(el => mountTableOfContents(el, {\n viewport$, header$, main$, target$\n })),\n\n /* Back-to-top button */\n ...getComponentElements(\"top\")\n .map(el => mountBackToTop(el, { viewport$, header$, main$, target$ }))\n))\n\n/* Set up component observables */\nconst component$ = document$\n .pipe(\n switchMap(() => content$),\n mergeWith(control$),\n shareReplay(1)\n )\n\n/* Subscribe to all components */\ncomponent$.subscribe()\n\n/* ----------------------------------------------------------------------------\n * Exports\n * ------------------------------------------------------------------------- */\n\nwindow.document$ = document$ /* Document observable */\nwindow.location$ = location$ /* Location subject */\nwindow.target$ = target$ /* Location target observable */\nwindow.keyboard$ = keyboard$ /* Keyboard observable */\nwindow.viewport$ = viewport$ /* Viewport observable */\nwindow.tablet$ = tablet$ /* Media tablet observable */\nwindow.screen$ = screen$ /* Media screen observable */\nwindow.print$ = print$ /* Media print observable */\nwindow.alert$ = alert$ /* Alert subject */\nwindow.component$ = component$ /* Component observable */\n", "/*! *****************************************************************************\r\nCopyright (c) Microsoft Corporation.\r\n\r\nPermission to use, copy, modify, and/or distribute this software for any\r\npurpose with or without fee is hereby granted.\r\n\r\nTHE SOFTWARE IS PROVIDED \"AS IS\" AND THE AUTHOR DISCLAIMS ALL WARRANTIES WITH\r\nREGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF MERCHANTABILITY\r\nAND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR ANY SPECIAL, DIRECT,\r\nINDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES WHATSOEVER RESULTING FROM\r\nLOSS OF USE, DATA OR PROFITS, WHETHER IN AN ACTION OF CONTRACT, NEGLIGENCE OR\r\nOTHER TORTIOUS ACTION, ARISING OUT OF OR IN CONNECTION WITH THE USE OR\r\nPERFORMANCE OF THIS SOFTWARE.\r\n***************************************************************************** */\r\n/* global Reflect, Promise */\r\n\r\nvar extendStatics = function(d, b) {\r\n extendStatics = Object.setPrototypeOf ||\r\n ({ __proto__: [] } instanceof Array && function (d, b) { d.__proto__ = b; }) ||\r\n function (d, b) { for (var p in b) if (Object.prototype.hasOwnProperty.call(b, p)) d[p] = b[p]; };\r\n return extendStatics(d, b);\r\n};\r\n\r\nexport function __extends(d, b) {\r\n if (typeof b !== \"function\" && b !== null)\r\n throw new TypeError(\"Class extends value \" + String(b) + \" is not a constructor or null\");\r\n extendStatics(d, b);\r\n function __() { this.constructor = d; }\r\n d.prototype = b === null ? Object.create(b) : (__.prototype = b.prototype, new __());\r\n}\r\n\r\nexport var __assign = function() {\r\n __assign = Object.assign || function __assign(t) {\r\n for (var s, i = 1, n = arguments.length; i < n; i++) {\r\n s = arguments[i];\r\n for (var p in s) if (Object.prototype.hasOwnProperty.call(s, p)) t[p] = s[p];\r\n }\r\n return t;\r\n }\r\n return __assign.apply(this, arguments);\r\n}\r\n\r\nexport function __rest(s, e) {\r\n var t = {};\r\n for (var p in s) if (Object.prototype.hasOwnProperty.call(s, p) && e.indexOf(p) < 0)\r\n t[p] = s[p];\r\n if (s != null && typeof Object.getOwnPropertySymbols === \"function\")\r\n for (var i = 0, p = Object.getOwnPropertySymbols(s); i < p.length; i++) {\r\n if (e.indexOf(p[i]) < 0 && Object.prototype.propertyIsEnumerable.call(s, p[i]))\r\n t[p[i]] = s[p[i]];\r\n }\r\n return t;\r\n}\r\n\r\nexport function __decorate(decorators, target, key, desc) {\r\n var c = arguments.length, r = c < 3 ? target : desc === null ? desc = Object.getOwnPropertyDescriptor(target, key) : desc, d;\r\n if (typeof Reflect === \"object\" && typeof Reflect.decorate === \"function\") r = Reflect.decorate(decorators, target, key, desc);\r\n else for (var i = decorators.length - 1; i >= 0; i--) if (d = decorators[i]) r = (c < 3 ? d(r) : c > 3 ? d(target, key, r) : d(target, key)) || r;\r\n return c > 3 && r && Object.defineProperty(target, key, r), r;\r\n}\r\n\r\nexport function __param(paramIndex, decorator) {\r\n return function (target, key) { decorator(target, key, paramIndex); }\r\n}\r\n\r\nexport function __metadata(metadataKey, metadataValue) {\r\n if (typeof Reflect === \"object\" && typeof Reflect.metadata === \"function\") return Reflect.metadata(metadataKey, metadataValue);\r\n}\r\n\r\nexport function __awaiter(thisArg, _arguments, P, generator) {\r\n function adopt(value) { return value instanceof P ? value : new P(function (resolve) { resolve(value); }); }\r\n return new (P || (P = Promise))(function (resolve, reject) {\r\n function fulfilled(value) { try { step(generator.next(value)); } catch (e) { reject(e); } }\r\n function rejected(value) { try { step(generator[\"throw\"](value)); } catch (e) { reject(e); } }\r\n function step(result) { result.done ? resolve(result.value) : adopt(result.value).then(fulfilled, rejected); }\r\n step((generator = generator.apply(thisArg, _arguments || [])).next());\r\n });\r\n}\r\n\r\nexport function __generator(thisArg, body) {\r\n var _ = { label: 0, sent: function() { if (t[0] & 1) throw t[1]; return t[1]; }, trys: [], ops: [] }, f, y, t, g;\r\n return g = { next: verb(0), \"throw\": verb(1), \"return\": verb(2) }, typeof Symbol === \"function\" && (g[Symbol.iterator] = function() { return this; }), g;\r\n function verb(n) { return function (v) { return step([n, v]); }; }\r\n function step(op) {\r\n if (f) throw new TypeError(\"Generator is already executing.\");\r\n while (_) try {\r\n if (f = 1, y && (t = op[0] & 2 ? y[\"return\"] : op[0] ? y[\"throw\"] || ((t = y[\"return\"]) && t.call(y), 0) : y.next) && !(t = t.call(y, op[1])).done) return t;\r\n if (y = 0, t) op = [op[0] & 2, t.value];\r\n switch (op[0]) {\r\n case 0: case 1: t = op; break;\r\n case 4: _.label++; return { value: op[1], done: false };\r\n case 5: _.label++; y = op[1]; op = [0]; continue;\r\n case 7: op = _.ops.pop(); _.trys.pop(); continue;\r\n default:\r\n if (!(t = _.trys, t = t.length > 0 && t[t.length - 1]) && (op[0] === 6 || op[0] === 2)) { _ = 0; continue; }\r\n if (op[0] === 3 && (!t || (op[1] > t[0] && op[1] < t[3]))) { _.label = op[1]; break; }\r\n if (op[0] === 6 && _.label < t[1]) { _.label = t[1]; t = op; break; }\r\n if (t && _.label < t[2]) { _.label = t[2]; _.ops.push(op); break; }\r\n if (t[2]) _.ops.pop();\r\n _.trys.pop(); continue;\r\n }\r\n op = body.call(thisArg, _);\r\n } catch (e) { op = [6, e]; y = 0; } finally { f = t = 0; }\r\n if (op[0] & 5) throw op[1]; return { value: op[0] ? op[1] : void 0, done: true };\r\n }\r\n}\r\n\r\nexport var __createBinding = Object.create ? (function(o, m, k, k2) {\r\n if (k2 === undefined) k2 = k;\r\n Object.defineProperty(o, k2, { enumerable: true, get: function() { return m[k]; } });\r\n}) : (function(o, m, k, k2) {\r\n if (k2 === undefined) k2 = k;\r\n o[k2] = m[k];\r\n});\r\n\r\nexport function __exportStar(m, o) {\r\n for (var p in m) if (p !== \"default\" && !Object.prototype.hasOwnProperty.call(o, p)) __createBinding(o, m, p);\r\n}\r\n\r\nexport function __values(o) {\r\n var s = typeof Symbol === \"function\" && Symbol.iterator, m = s && o[s], i = 0;\r\n if (m) return m.call(o);\r\n if (o && typeof o.length === \"number\") return {\r\n next: function () {\r\n if (o && i >= o.length) o = void 0;\r\n return { value: o && o[i++], done: !o };\r\n }\r\n };\r\n throw new TypeError(s ? \"Object is not iterable.\" : \"Symbol.iterator is not defined.\");\r\n}\r\n\r\nexport function __read(o, n) {\r\n var m = typeof Symbol === \"function\" && o[Symbol.iterator];\r\n if (!m) return o;\r\n var i = m.call(o), r, ar = [], e;\r\n try {\r\n while ((n === void 0 || n-- > 0) && !(r = i.next()).done) ar.push(r.value);\r\n }\r\n catch (error) { e = { error: error }; }\r\n finally {\r\n try {\r\n if (r && !r.done && (m = i[\"return\"])) m.call(i);\r\n }\r\n finally { if (e) throw e.error; }\r\n }\r\n return ar;\r\n}\r\n\r\n/** @deprecated */\r\nexport function __spread() {\r\n for (var ar = [], i = 0; i < arguments.length; i++)\r\n ar = ar.concat(__read(arguments[i]));\r\n return ar;\r\n}\r\n\r\n/** @deprecated */\r\nexport function __spreadArrays() {\r\n for (var s = 0, i = 0, il = arguments.length; i < il; i++) s += arguments[i].length;\r\n for (var r = Array(s), k = 0, i = 0; i < il; i++)\r\n for (var a = arguments[i], j = 0, jl = a.length; j < jl; j++, k++)\r\n r[k] = a[j];\r\n return r;\r\n}\r\n\r\nexport function __spreadArray(to, from, pack) {\r\n if (pack || arguments.length === 2) for (var i = 0, l = from.length, ar; i < l; i++) {\r\n if (ar || !(i in from)) {\r\n if (!ar) ar = Array.prototype.slice.call(from, 0, i);\r\n ar[i] = from[i];\r\n }\r\n }\r\n return to.concat(ar || Array.prototype.slice.call(from));\r\n}\r\n\r\nexport function __await(v) {\r\n return this instanceof __await ? (this.v = v, this) : new __await(v);\r\n}\r\n\r\nexport function __asyncGenerator(thisArg, _arguments, generator) {\r\n if (!Symbol.asyncIterator) throw new TypeError(\"Symbol.asyncIterator is not defined.\");\r\n var g = generator.apply(thisArg, _arguments || []), i, q = [];\r\n return i = {}, verb(\"next\"), verb(\"throw\"), verb(\"return\"), i[Symbol.asyncIterator] = function () { return this; }, i;\r\n function verb(n) { if (g[n]) i[n] = function (v) { return new Promise(function (a, b) { q.push([n, v, a, b]) > 1 || resume(n, v); }); }; }\r\n function resume(n, v) { try { step(g[n](v)); } catch (e) { settle(q[0][3], e); } }\r\n function step(r) { r.value instanceof __await ? Promise.resolve(r.value.v).then(fulfill, reject) : settle(q[0][2], r); }\r\n function fulfill(value) { resume(\"next\", value); }\r\n function reject(value) { resume(\"throw\", value); }\r\n function settle(f, v) { if (f(v), q.shift(), q.length) resume(q[0][0], q[0][1]); }\r\n}\r\n\r\nexport function __asyncDelegator(o) {\r\n var i, p;\r\n return i = {}, verb(\"next\"), verb(\"throw\", function (e) { throw e; }), verb(\"return\"), i[Symbol.iterator] = function () { return this; }, i;\r\n function verb(n, f) { i[n] = o[n] ? function (v) { return (p = !p) ? { value: __await(o[n](v)), done: n === \"return\" } : f ? f(v) : v; } : f; }\r\n}\r\n\r\nexport function __asyncValues(o) {\r\n if (!Symbol.asyncIterator) throw new TypeError(\"Symbol.asyncIterator is not defined.\");\r\n var m = o[Symbol.asyncIterator], i;\r\n return m ? m.call(o) : (o = typeof __values === \"function\" ? __values(o) : o[Symbol.iterator](), i = {}, verb(\"next\"), verb(\"throw\"), verb(\"return\"), i[Symbol.asyncIterator] = function () { return this; }, i);\r\n function verb(n) { i[n] = o[n] && function (v) { return new Promise(function (resolve, reject) { v = o[n](v), settle(resolve, reject, v.done, v.value); }); }; }\r\n function settle(resolve, reject, d, v) { Promise.resolve(v).then(function(v) { resolve({ value: v, done: d }); }, reject); }\r\n}\r\n\r\nexport function __makeTemplateObject(cooked, raw) {\r\n if (Object.defineProperty) { Object.defineProperty(cooked, \"raw\", { value: raw }); } else { cooked.raw = raw; }\r\n return cooked;\r\n};\r\n\r\nvar __setModuleDefault = Object.create ? (function(o, v) {\r\n Object.defineProperty(o, \"default\", { enumerable: true, value: v });\r\n}) : function(o, v) {\r\n o[\"default\"] = v;\r\n};\r\n\r\nexport function __importStar(mod) {\r\n if (mod && mod.__esModule) return mod;\r\n var result = {};\r\n if (mod != null) for (var k in mod) if (k !== \"default\" && Object.prototype.hasOwnProperty.call(mod, k)) __createBinding(result, mod, k);\r\n __setModuleDefault(result, mod);\r\n return result;\r\n}\r\n\r\nexport function __importDefault(mod) {\r\n return (mod && mod.__esModule) ? mod : { default: mod };\r\n}\r\n\r\nexport function __classPrivateFieldGet(receiver, state, kind, f) {\r\n if (kind === \"a\" && !f) throw new TypeError(\"Private accessor was defined without a getter\");\r\n if (typeof state === \"function\" ? receiver !== state || !f : !state.has(receiver)) throw new TypeError(\"Cannot read private member from an object whose class did not declare it\");\r\n return kind === \"m\" ? f : kind === \"a\" ? f.call(receiver) : f ? f.value : state.get(receiver);\r\n}\r\n\r\nexport function __classPrivateFieldSet(receiver, state, value, kind, f) {\r\n if (kind === \"m\") throw new TypeError(\"Private method is not writable\");\r\n if (kind === \"a\" && !f) throw new TypeError(\"Private accessor was defined without a setter\");\r\n if (typeof state === \"function\" ? receiver !== state || !f : !state.has(receiver)) throw new TypeError(\"Cannot write private member to an object whose class did not declare it\");\r\n return (kind === \"a\" ? f.call(receiver, value) : f ? f.value = value : state.set(receiver, value)), value;\r\n}\r\n", "/**\n * Returns true if the object is a function.\n * @param value The value to check\n */\nexport function isFunction(value: any): value is (...args: any[]) => any {\n return typeof value === 'function';\n}\n", "/**\n * Used to create Error subclasses until the community moves away from ES5.\n *\n * This is because compiling from TypeScript down to ES5 has issues with subclassing Errors\n * as well as other built-in types: https://github.com/Microsoft/TypeScript/issues/12123\n *\n * @param createImpl A factory function to create the actual constructor implementation. The returned\n * function should be a named function that calls `_super` internally.\n */\nexport function createErrorClass(createImpl: (_super: any) => any): T {\n const _super = (instance: any) => {\n Error.call(instance);\n instance.stack = new Error().stack;\n };\n\n const ctorFunc = createImpl(_super);\n ctorFunc.prototype = Object.create(Error.prototype);\n ctorFunc.prototype.constructor = ctorFunc;\n return ctorFunc;\n}\n", "import { createErrorClass } from './createErrorClass';\n\nexport interface UnsubscriptionError extends Error {\n readonly errors: any[];\n}\n\nexport interface UnsubscriptionErrorCtor {\n /**\n * @deprecated Internal implementation detail. Do not construct error instances.\n * Cannot be tagged as internal: https://github.com/ReactiveX/rxjs/issues/6269\n */\n new (errors: any[]): UnsubscriptionError;\n}\n\n/**\n * An error thrown when one or more errors have occurred during the\n * `unsubscribe` of a {@link Subscription}.\n */\nexport const UnsubscriptionError: UnsubscriptionErrorCtor = createErrorClass(\n (_super) =>\n function UnsubscriptionErrorImpl(this: any, errors: (Error | string)[]) {\n _super(this);\n this.message = errors\n ? `${errors.length} errors occurred during unsubscription:\n${errors.map((err, i) => `${i + 1}) ${err.toString()}`).join('\\n ')}`\n : '';\n this.name = 'UnsubscriptionError';\n this.errors = errors;\n }\n);\n", "/**\n * Removes an item from an array, mutating it.\n * @param arr The array to remove the item from\n * @param item The item to remove\n */\nexport function arrRemove(arr: T[] | undefined | null, item: T) {\n if (arr) {\n const index = arr.indexOf(item);\n 0 <= index && arr.splice(index, 1);\n }\n}\n", "import { isFunction } from './util/isFunction';\nimport { UnsubscriptionError } from './util/UnsubscriptionError';\nimport { SubscriptionLike, TeardownLogic, Unsubscribable } from './types';\nimport { arrRemove } from './util/arrRemove';\n\n/**\n * Represents a disposable resource, such as the execution of an Observable. A\n * Subscription has one important method, `unsubscribe`, that takes no argument\n * and just disposes the resource held by the subscription.\n *\n * Additionally, subscriptions may be grouped together through the `add()`\n * method, which will attach a child Subscription to the current Subscription.\n * When a Subscription is unsubscribed, all its children (and its grandchildren)\n * will be unsubscribed as well.\n *\n * @class Subscription\n */\nexport class Subscription implements SubscriptionLike {\n /** @nocollapse */\n public static EMPTY = (() => {\n const empty = new Subscription();\n empty.closed = true;\n return empty;\n })();\n\n /**\n * A flag to indicate whether this Subscription has already been unsubscribed.\n */\n public closed = false;\n\n private _parentage: Subscription[] | Subscription | null = null;\n\n /**\n * The list of registered finalizers to execute upon unsubscription. Adding and removing from this\n * list occurs in the {@link #add} and {@link #remove} methods.\n */\n private _finalizers: Exclude[] | null = null;\n\n /**\n * @param initialTeardown A function executed first as part of the finalization\n * process that is kicked off when {@link #unsubscribe} is called.\n */\n constructor(private initialTeardown?: () => void) {}\n\n /**\n * Disposes the resources held by the subscription. May, for instance, cancel\n * an ongoing Observable execution or cancel any other type of work that\n * started when the Subscription was created.\n * @return {void}\n */\n unsubscribe(): void {\n let errors: any[] | undefined;\n\n if (!this.closed) {\n this.closed = true;\n\n // Remove this from it's parents.\n const { _parentage } = this;\n if (_parentage) {\n this._parentage = null;\n if (Array.isArray(_parentage)) {\n for (const parent of _parentage) {\n parent.remove(this);\n }\n } else {\n _parentage.remove(this);\n }\n }\n\n const { initialTeardown: initialFinalizer } = this;\n if (isFunction(initialFinalizer)) {\n try {\n initialFinalizer();\n } catch (e) {\n errors = e instanceof UnsubscriptionError ? e.errors : [e];\n }\n }\n\n const { _finalizers } = this;\n if (_finalizers) {\n this._finalizers = null;\n for (const finalizer of _finalizers) {\n try {\n execFinalizer(finalizer);\n } catch (err) {\n errors = errors ?? [];\n if (err instanceof UnsubscriptionError) {\n errors = [...errors, ...err.errors];\n } else {\n errors.push(err);\n }\n }\n }\n }\n\n if (errors) {\n throw new UnsubscriptionError(errors);\n }\n }\n }\n\n /**\n * Adds a finalizer to this subscription, so that finalization will be unsubscribed/called\n * when this subscription is unsubscribed. If this subscription is already {@link #closed},\n * because it has already been unsubscribed, then whatever finalizer is passed to it\n * will automatically be executed (unless the finalizer itself is also a closed subscription).\n *\n * Closed Subscriptions cannot be added as finalizers to any subscription. Adding a closed\n * subscription to a any subscription will result in no operation. (A noop).\n *\n * Adding a subscription to itself, or adding `null` or `undefined` will not perform any\n * operation at all. (A noop).\n *\n * `Subscription` instances that are added to this instance will automatically remove themselves\n * if they are unsubscribed. Functions and {@link Unsubscribable} objects that you wish to remove\n * will need to be removed manually with {@link #remove}\n *\n * @param teardown The finalization logic to add to this subscription.\n */\n add(teardown: TeardownLogic): void {\n // Only add the finalizer if it's not undefined\n // and don't add a subscription to itself.\n if (teardown && teardown !== this) {\n if (this.closed) {\n // If this subscription is already closed,\n // execute whatever finalizer is handed to it automatically.\n execFinalizer(teardown);\n } else {\n if (teardown instanceof Subscription) {\n // We don't add closed subscriptions, and we don't add the same subscription\n // twice. Subscription unsubscribe is idempotent.\n if (teardown.closed || teardown._hasParent(this)) {\n return;\n }\n teardown._addParent(this);\n }\n (this._finalizers = this._finalizers ?? []).push(teardown);\n }\n }\n }\n\n /**\n * Checks to see if a this subscription already has a particular parent.\n * This will signal that this subscription has already been added to the parent in question.\n * @param parent the parent to check for\n */\n private _hasParent(parent: Subscription) {\n const { _parentage } = this;\n return _parentage === parent || (Array.isArray(_parentage) && _parentage.includes(parent));\n }\n\n /**\n * Adds a parent to this subscription so it can be removed from the parent if it\n * unsubscribes on it's own.\n *\n * NOTE: THIS ASSUMES THAT {@link _hasParent} HAS ALREADY BEEN CHECKED.\n * @param parent The parent subscription to add\n */\n private _addParent(parent: Subscription) {\n const { _parentage } = this;\n this._parentage = Array.isArray(_parentage) ? (_parentage.push(parent), _parentage) : _parentage ? [_parentage, parent] : parent;\n }\n\n /**\n * Called on a child when it is removed via {@link #remove}.\n * @param parent The parent to remove\n */\n private _removeParent(parent: Subscription) {\n const { _parentage } = this;\n if (_parentage === parent) {\n this._parentage = null;\n } else if (Array.isArray(_parentage)) {\n arrRemove(_parentage, parent);\n }\n }\n\n /**\n * Removes a finalizer from this subscription that was previously added with the {@link #add} method.\n *\n * Note that `Subscription` instances, when unsubscribed, will automatically remove themselves\n * from every other `Subscription` they have been added to. This means that using the `remove` method\n * is not a common thing and should be used thoughtfully.\n *\n * If you add the same finalizer instance of a function or an unsubscribable object to a `Subscription` instance\n * more than once, you will need to call `remove` the same number of times to remove all instances.\n *\n * All finalizer instances are removed to free up memory upon unsubscription.\n *\n * @param teardown The finalizer to remove from this subscription\n */\n remove(teardown: Exclude): void {\n const { _finalizers } = this;\n _finalizers && arrRemove(_finalizers, teardown);\n\n if (teardown instanceof Subscription) {\n teardown._removeParent(this);\n }\n }\n}\n\nexport const EMPTY_SUBSCRIPTION = Subscription.EMPTY;\n\nexport function isSubscription(value: any): value is Subscription {\n return (\n value instanceof Subscription ||\n (value && 'closed' in value && isFunction(value.remove) && isFunction(value.add) && isFunction(value.unsubscribe))\n );\n}\n\nfunction execFinalizer(finalizer: Unsubscribable | (() => void)) {\n if (isFunction(finalizer)) {\n finalizer();\n } else {\n finalizer.unsubscribe();\n }\n}\n", "import { Subscriber } from './Subscriber';\nimport { ObservableNotification } from './types';\n\n/**\n * The {@link GlobalConfig} object for RxJS. It is used to configure things\n * like how to react on unhandled errors.\n */\nexport const config: GlobalConfig = {\n onUnhandledError: null,\n onStoppedNotification: null,\n Promise: undefined,\n useDeprecatedSynchronousErrorHandling: false,\n useDeprecatedNextContext: false,\n};\n\n/**\n * The global configuration object for RxJS, used to configure things\n * like how to react on unhandled errors. Accessible via {@link config}\n * object.\n */\nexport interface GlobalConfig {\n /**\n * A registration point for unhandled errors from RxJS. These are errors that\n * cannot were not handled by consuming code in the usual subscription path. For\n * example, if you have this configured, and you subscribe to an observable without\n * providing an error handler, errors from that subscription will end up here. This\n * will _always_ be called asynchronously on another job in the runtime. This is because\n * we do not want errors thrown in this user-configured handler to interfere with the\n * behavior of the library.\n */\n onUnhandledError: ((err: any) => void) | null;\n\n /**\n * A registration point for notifications that cannot be sent to subscribers because they\n * have completed, errored or have been explicitly unsubscribed. By default, next, complete\n * and error notifications sent to stopped subscribers are noops. However, sometimes callers\n * might want a different behavior. For example, with sources that attempt to report errors\n * to stopped subscribers, a caller can configure RxJS to throw an unhandled error instead.\n * This will _always_ be called asynchronously on another job in the runtime. This is because\n * we do not want errors thrown in this user-configured handler to interfere with the\n * behavior of the library.\n */\n onStoppedNotification: ((notification: ObservableNotification, subscriber: Subscriber) => void) | null;\n\n /**\n * The promise constructor used by default for {@link Observable#toPromise toPromise} and {@link Observable#forEach forEach}\n * methods.\n *\n * @deprecated As of version 8, RxJS will no longer support this sort of injection of a\n * Promise constructor. If you need a Promise implementation other than native promises,\n * please polyfill/patch Promise as you see appropriate. Will be removed in v8.\n */\n Promise?: PromiseConstructorLike;\n\n /**\n * If true, turns on synchronous error rethrowing, which is a deprecated behavior\n * in v6 and higher. This behavior enables bad patterns like wrapping a subscribe\n * call in a try/catch block. It also enables producer interference, a nasty bug\n * where a multicast can be broken for all observers by a downstream consumer with\n * an unhandled error. DO NOT USE THIS FLAG UNLESS IT'S NEEDED TO BUY TIME\n * FOR MIGRATION REASONS.\n *\n * @deprecated As of version 8, RxJS will no longer support synchronous throwing\n * of unhandled errors. All errors will be thrown on a separate call stack to prevent bad\n * behaviors described above. Will be removed in v8.\n */\n useDeprecatedSynchronousErrorHandling: boolean;\n\n /**\n * If true, enables an as-of-yet undocumented feature from v5: The ability to access\n * `unsubscribe()` via `this` context in `next` functions created in observers passed\n * to `subscribe`.\n *\n * This is being removed because the performance was severely problematic, and it could also cause\n * issues when types other than POJOs are passed to subscribe as subscribers, as they will likely have\n * their `this` context overwritten.\n *\n * @deprecated As of version 8, RxJS will no longer support altering the\n * context of next functions provided as part of an observer to Subscribe. Instead,\n * you will have access to a subscription or a signal or token that will allow you to do things like\n * unsubscribe and test closed status. Will be removed in v8.\n */\n useDeprecatedNextContext: boolean;\n}\n", "import type { TimerHandle } from './timerHandle';\ntype SetTimeoutFunction = (handler: () => void, timeout?: number, ...args: any[]) => TimerHandle;\ntype ClearTimeoutFunction = (handle: TimerHandle) => void;\n\ninterface TimeoutProvider {\n setTimeout: SetTimeoutFunction;\n clearTimeout: ClearTimeoutFunction;\n delegate:\n | {\n setTimeout: SetTimeoutFunction;\n clearTimeout: ClearTimeoutFunction;\n }\n | undefined;\n}\n\nexport const timeoutProvider: TimeoutProvider = {\n // When accessing the delegate, use the variable rather than `this` so that\n // the functions can be called without being bound to the provider.\n setTimeout(handler: () => void, timeout?: number, ...args) {\n const { delegate } = timeoutProvider;\n if (delegate?.setTimeout) {\n return delegate.setTimeout(handler, timeout, ...args);\n }\n return setTimeout(handler, timeout, ...args);\n },\n clearTimeout(handle) {\n const { delegate } = timeoutProvider;\n return (delegate?.clearTimeout || clearTimeout)(handle as any);\n },\n delegate: undefined,\n};\n", "import { config } from '../config';\nimport { timeoutProvider } from '../scheduler/timeoutProvider';\n\n/**\n * Handles an error on another job either with the user-configured {@link onUnhandledError},\n * or by throwing it on that new job so it can be picked up by `window.onerror`, `process.on('error')`, etc.\n *\n * This should be called whenever there is an error that is out-of-band with the subscription\n * or when an error hits a terminal boundary of the subscription and no error handler was provided.\n *\n * @param err the error to report\n */\nexport function reportUnhandledError(err: any) {\n timeoutProvider.setTimeout(() => {\n const { onUnhandledError } = config;\n if (onUnhandledError) {\n // Execute the user-configured error handler.\n onUnhandledError(err);\n } else {\n // Throw so it is picked up by the runtime's uncaught error mechanism.\n throw err;\n }\n });\n}\n", "/* tslint:disable:no-empty */\nexport function noop() { }\n", "import { CompleteNotification, NextNotification, ErrorNotification } from './types';\n\n/**\n * A completion object optimized for memory use and created to be the\n * same \"shape\" as other notifications in v8.\n * @internal\n */\nexport const COMPLETE_NOTIFICATION = (() => createNotification('C', undefined, undefined) as CompleteNotification)();\n\n/**\n * Internal use only. Creates an optimized error notification that is the same \"shape\"\n * as other notifications.\n * @internal\n */\nexport function errorNotification(error: any): ErrorNotification {\n return createNotification('E', undefined, error) as any;\n}\n\n/**\n * Internal use only. Creates an optimized next notification that is the same \"shape\"\n * as other notifications.\n * @internal\n */\nexport function nextNotification(value: T) {\n return createNotification('N', value, undefined) as NextNotification;\n}\n\n/**\n * Ensures that all notifications created internally have the same \"shape\" in v8.\n *\n * TODO: This is only exported to support a crazy legacy test in `groupBy`.\n * @internal\n */\nexport function createNotification(kind: 'N' | 'E' | 'C', value: any, error: any) {\n return {\n kind,\n value,\n error,\n };\n}\n", "import { config } from '../config';\n\nlet context: { errorThrown: boolean; error: any } | null = null;\n\n/**\n * Handles dealing with errors for super-gross mode. Creates a context, in which\n * any synchronously thrown errors will be passed to {@link captureError}. Which\n * will record the error such that it will be rethrown after the call back is complete.\n * TODO: Remove in v8\n * @param cb An immediately executed function.\n */\nexport function errorContext(cb: () => void) {\n if (config.useDeprecatedSynchronousErrorHandling) {\n const isRoot = !context;\n if (isRoot) {\n context = { errorThrown: false, error: null };\n }\n cb();\n if (isRoot) {\n const { errorThrown, error } = context!;\n context = null;\n if (errorThrown) {\n throw error;\n }\n }\n } else {\n // This is the general non-deprecated path for everyone that\n // isn't crazy enough to use super-gross mode (useDeprecatedSynchronousErrorHandling)\n cb();\n }\n}\n\n/**\n * Captures errors only in super-gross mode.\n * @param err the error to capture\n */\nexport function captureError(err: any) {\n if (config.useDeprecatedSynchronousErrorHandling && context) {\n context.errorThrown = true;\n context.error = err;\n }\n}\n", "import { isFunction } from './util/isFunction';\nimport { Observer, ObservableNotification } from './types';\nimport { isSubscription, Subscription } from './Subscription';\nimport { config } from './config';\nimport { reportUnhandledError } from './util/reportUnhandledError';\nimport { noop } from './util/noop';\nimport { nextNotification, errorNotification, COMPLETE_NOTIFICATION } from './NotificationFactories';\nimport { timeoutProvider } from './scheduler/timeoutProvider';\nimport { captureError } from './util/errorContext';\n\n/**\n * Implements the {@link Observer} interface and extends the\n * {@link Subscription} class. While the {@link Observer} is the public API for\n * consuming the values of an {@link Observable}, all Observers get converted to\n * a Subscriber, in order to provide Subscription-like capabilities such as\n * `unsubscribe`. Subscriber is a common type in RxJS, and crucial for\n * implementing operators, but it is rarely used as a public API.\n *\n * @class Subscriber\n */\nexport class Subscriber extends Subscription implements Observer {\n /**\n * A static factory for a Subscriber, given a (potentially partial) definition\n * of an Observer.\n * @param next The `next` callback of an Observer.\n * @param error The `error` callback of an\n * Observer.\n * @param complete The `complete` callback of an\n * Observer.\n * @return A Subscriber wrapping the (partially defined)\n * Observer represented by the given arguments.\n * @nocollapse\n * @deprecated Do not use. Will be removed in v8. There is no replacement for this\n * method, and there is no reason to be creating instances of `Subscriber` directly.\n * If you have a specific use case, please file an issue.\n */\n static create(next?: (x?: T) => void, error?: (e?: any) => void, complete?: () => void): Subscriber {\n return new SafeSubscriber(next, error, complete);\n }\n\n /** @deprecated Internal implementation detail, do not use directly. Will be made internal in v8. */\n protected isStopped: boolean = false;\n /** @deprecated Internal implementation detail, do not use directly. Will be made internal in v8. */\n protected destination: Subscriber | Observer; // this `any` is the escape hatch to erase extra type param (e.g. R)\n\n /**\n * @deprecated Internal implementation detail, do not use directly. Will be made internal in v8.\n * There is no reason to directly create an instance of Subscriber. This type is exported for typings reasons.\n */\n constructor(destination?: Subscriber | Observer) {\n super();\n if (destination) {\n this.destination = destination;\n // Automatically chain subscriptions together here.\n // if destination is a Subscription, then it is a Subscriber.\n if (isSubscription(destination)) {\n destination.add(this);\n }\n } else {\n this.destination = EMPTY_OBSERVER;\n }\n }\n\n /**\n * The {@link Observer} callback to receive notifications of type `next` from\n * the Observable, with a value. The Observable may call this method 0 or more\n * times.\n * @param {T} [value] The `next` value.\n * @return {void}\n */\n next(value?: T): void {\n if (this.isStopped) {\n handleStoppedNotification(nextNotification(value), this);\n } else {\n this._next(value!);\n }\n }\n\n /**\n * The {@link Observer} callback to receive notifications of type `error` from\n * the Observable, with an attached `Error`. Notifies the Observer that\n * the Observable has experienced an error condition.\n * @param {any} [err] The `error` exception.\n * @return {void}\n */\n error(err?: any): void {\n if (this.isStopped) {\n handleStoppedNotification(errorNotification(err), this);\n } else {\n this.isStopped = true;\n this._error(err);\n }\n }\n\n /**\n * The {@link Observer} callback to receive a valueless notification of type\n * `complete` from the Observable. Notifies the Observer that the Observable\n * has finished sending push-based notifications.\n * @return {void}\n */\n complete(): void {\n if (this.isStopped) {\n handleStoppedNotification(COMPLETE_NOTIFICATION, this);\n } else {\n this.isStopped = true;\n this._complete();\n }\n }\n\n unsubscribe(): void {\n if (!this.closed) {\n this.isStopped = true;\n super.unsubscribe();\n this.destination = null!;\n }\n }\n\n protected _next(value: T): void {\n this.destination.next(value);\n }\n\n protected _error(err: any): void {\n try {\n this.destination.error(err);\n } finally {\n this.unsubscribe();\n }\n }\n\n protected _complete(): void {\n try {\n this.destination.complete();\n } finally {\n this.unsubscribe();\n }\n }\n}\n\n/**\n * This bind is captured here because we want to be able to have\n * compatibility with monoid libraries that tend to use a method named\n * `bind`. In particular, a library called Monio requires this.\n */\nconst _bind = Function.prototype.bind;\n\nfunction bind any>(fn: Fn, thisArg: any): Fn {\n return _bind.call(fn, thisArg);\n}\n\n/**\n * Internal optimization only, DO NOT EXPOSE.\n * @internal\n */\nclass ConsumerObserver implements Observer {\n constructor(private partialObserver: Partial>) {}\n\n next(value: T): void {\n const { partialObserver } = this;\n if (partialObserver.next) {\n try {\n partialObserver.next(value);\n } catch (error) {\n handleUnhandledError(error);\n }\n }\n }\n\n error(err: any): void {\n const { partialObserver } = this;\n if (partialObserver.error) {\n try {\n partialObserver.error(err);\n } catch (error) {\n handleUnhandledError(error);\n }\n } else {\n handleUnhandledError(err);\n }\n }\n\n complete(): void {\n const { partialObserver } = this;\n if (partialObserver.complete) {\n try {\n partialObserver.complete();\n } catch (error) {\n handleUnhandledError(error);\n }\n }\n }\n}\n\nexport class SafeSubscriber extends Subscriber {\n constructor(\n observerOrNext?: Partial> | ((value: T) => void) | null,\n error?: ((e?: any) => void) | null,\n complete?: (() => void) | null\n ) {\n super();\n\n let partialObserver: Partial>;\n if (isFunction(observerOrNext) || !observerOrNext) {\n // The first argument is a function, not an observer. The next\n // two arguments *could* be observers, or they could be empty.\n partialObserver = {\n next: (observerOrNext ?? undefined) as (((value: T) => void) | undefined),\n error: error ?? undefined,\n complete: complete ?? undefined,\n };\n } else {\n // The first argument is a partial observer.\n let context: any;\n if (this && config.useDeprecatedNextContext) {\n // This is a deprecated path that made `this.unsubscribe()` available in\n // next handler functions passed to subscribe. This only exists behind a flag\n // now, as it is *very* slow.\n context = Object.create(observerOrNext);\n context.unsubscribe = () => this.unsubscribe();\n partialObserver = {\n next: observerOrNext.next && bind(observerOrNext.next, context),\n error: observerOrNext.error && bind(observerOrNext.error, context),\n complete: observerOrNext.complete && bind(observerOrNext.complete, context),\n };\n } else {\n // The \"normal\" path. Just use the partial observer directly.\n partialObserver = observerOrNext;\n }\n }\n\n // Wrap the partial observer to ensure it's a full observer, and\n // make sure proper error handling is accounted for.\n this.destination = new ConsumerObserver(partialObserver);\n }\n}\n\nfunction handleUnhandledError(error: any) {\n if (config.useDeprecatedSynchronousErrorHandling) {\n captureError(error);\n } else {\n // Ideal path, we report this as an unhandled error,\n // which is thrown on a new call stack.\n reportUnhandledError(error);\n }\n}\n\n/**\n * An error handler used when no error handler was supplied\n * to the SafeSubscriber -- meaning no error handler was supplied\n * do the `subscribe` call on our observable.\n * @param err The error to handle\n */\nfunction defaultErrorHandler(err: any) {\n throw err;\n}\n\n/**\n * A handler for notifications that cannot be sent to a stopped subscriber.\n * @param notification The notification being sent\n * @param subscriber The stopped subscriber\n */\nfunction handleStoppedNotification(notification: ObservableNotification, subscriber: Subscriber) {\n const { onStoppedNotification } = config;\n onStoppedNotification && timeoutProvider.setTimeout(() => onStoppedNotification(notification, subscriber));\n}\n\n/**\n * The observer used as a stub for subscriptions where the user did not\n * pass any arguments to `subscribe`. Comes with the default error handling\n * behavior.\n */\nexport const EMPTY_OBSERVER: Readonly> & { closed: true } = {\n closed: true,\n next: noop,\n error: defaultErrorHandler,\n complete: noop,\n};\n", "/**\n * Symbol.observable or a string \"@@observable\". Used for interop\n *\n * @deprecated We will no longer be exporting this symbol in upcoming versions of RxJS.\n * Instead polyfill and use Symbol.observable directly *or* use https://www.npmjs.com/package/symbol-observable\n */\nexport const observable: string | symbol = (() => (typeof Symbol === 'function' && Symbol.observable) || '@@observable')();\n", "/**\n * This function takes one parameter and just returns it. Simply put,\n * this is like `(x: T): T => x`.\n *\n * ## Examples\n *\n * This is useful in some cases when using things like `mergeMap`\n *\n * ```ts\n * import { interval, take, map, range, mergeMap, identity } from 'rxjs';\n *\n * const source$ = interval(1000).pipe(take(5));\n *\n * const result$ = source$.pipe(\n * map(i => range(i)),\n * mergeMap(identity) // same as mergeMap(x => x)\n * );\n *\n * result$.subscribe({\n * next: console.log\n * });\n * ```\n *\n * Or when you want to selectively apply an operator\n *\n * ```ts\n * import { interval, take, identity } from 'rxjs';\n *\n * const shouldLimit = () => Math.random() < 0.5;\n *\n * const source$ = interval(1000);\n *\n * const result$ = source$.pipe(shouldLimit() ? take(5) : identity);\n *\n * result$.subscribe({\n * next: console.log\n * });\n * ```\n *\n * @param x Any value that is returned by this function\n * @returns The value passed as the first parameter to this function\n */\nexport function identity(x: T): T {\n return x;\n}\n", "import { identity } from './identity';\nimport { UnaryFunction } from '../types';\n\nexport function pipe(): typeof identity;\nexport function pipe(fn1: UnaryFunction): UnaryFunction;\nexport function pipe(fn1: UnaryFunction, fn2: UnaryFunction): UnaryFunction;\nexport function pipe(fn1: UnaryFunction, fn2: UnaryFunction, fn3: UnaryFunction): UnaryFunction;\nexport function pipe(\n fn1: UnaryFunction,\n fn2: UnaryFunction,\n fn3: UnaryFunction,\n fn4: UnaryFunction\n): UnaryFunction;\nexport function pipe(\n fn1: UnaryFunction,\n fn2: UnaryFunction,\n fn3: UnaryFunction,\n fn4: UnaryFunction,\n fn5: UnaryFunction\n): UnaryFunction;\nexport function pipe(\n fn1: UnaryFunction,\n fn2: UnaryFunction,\n fn3: UnaryFunction,\n fn4: UnaryFunction,\n fn5: UnaryFunction,\n fn6: UnaryFunction\n): UnaryFunction;\nexport function pipe(\n fn1: UnaryFunction,\n fn2: UnaryFunction,\n fn3: UnaryFunction,\n fn4: UnaryFunction,\n fn5: UnaryFunction,\n fn6: UnaryFunction,\n fn7: UnaryFunction\n): UnaryFunction;\nexport function pipe(\n fn1: UnaryFunction,\n fn2: UnaryFunction,\n fn3: UnaryFunction,\n fn4: UnaryFunction,\n fn5: UnaryFunction,\n fn6: UnaryFunction,\n fn7: UnaryFunction,\n fn8: UnaryFunction\n): UnaryFunction;\nexport function pipe(\n fn1: UnaryFunction,\n fn2: UnaryFunction,\n fn3: UnaryFunction,\n fn4: UnaryFunction,\n fn5: UnaryFunction,\n fn6: UnaryFunction,\n fn7: UnaryFunction,\n fn8: UnaryFunction,\n fn9: UnaryFunction\n): UnaryFunction;\nexport function pipe(\n fn1: UnaryFunction,\n fn2: UnaryFunction,\n fn3: UnaryFunction,\n fn4: UnaryFunction,\n fn5: UnaryFunction,\n fn6: UnaryFunction,\n fn7: UnaryFunction,\n fn8: UnaryFunction,\n fn9: UnaryFunction,\n ...fns: UnaryFunction[]\n): UnaryFunction;\n\n/**\n * pipe() can be called on one or more functions, each of which can take one argument (\"UnaryFunction\")\n * and uses it to return a value.\n * It returns a function that takes one argument, passes it to the first UnaryFunction, and then\n * passes the result to the next one, passes that result to the next one, and so on. \n */\nexport function pipe(...fns: Array>): UnaryFunction {\n return pipeFromArray(fns);\n}\n\n/** @internal */\nexport function pipeFromArray(fns: Array>): UnaryFunction {\n if (fns.length === 0) {\n return identity as UnaryFunction;\n }\n\n if (fns.length === 1) {\n return fns[0];\n }\n\n return function piped(input: T): R {\n return fns.reduce((prev: any, fn: UnaryFunction) => fn(prev), input as any);\n };\n}\n", "import { Operator } from './Operator';\nimport { SafeSubscriber, Subscriber } from './Subscriber';\nimport { isSubscription, Subscription } from './Subscription';\nimport { TeardownLogic, OperatorFunction, Subscribable, Observer } from './types';\nimport { observable as Symbol_observable } from './symbol/observable';\nimport { pipeFromArray } from './util/pipe';\nimport { config } from './config';\nimport { isFunction } from './util/isFunction';\nimport { errorContext } from './util/errorContext';\n\n/**\n * A representation of any set of values over any amount of time. This is the most basic building block\n * of RxJS.\n *\n * @class Observable\n */\nexport class Observable implements Subscribable {\n /**\n * @deprecated Internal implementation detail, do not use directly. Will be made internal in v8.\n */\n source: Observable | undefined;\n\n /**\n * @deprecated Internal implementation detail, do not use directly. Will be made internal in v8.\n */\n operator: Operator | undefined;\n\n /**\n * @constructor\n * @param {Function} subscribe the function that is called when the Observable is\n * initially subscribed to. This function is given a Subscriber, to which new values\n * can be `next`ed, or an `error` method can be called to raise an error, or\n * `complete` can be called to notify of a successful completion.\n */\n constructor(subscribe?: (this: Observable, subscriber: Subscriber) => TeardownLogic) {\n if (subscribe) {\n this._subscribe = subscribe;\n }\n }\n\n // HACK: Since TypeScript inherits static properties too, we have to\n // fight against TypeScript here so Subject can have a different static create signature\n /**\n * Creates a new Observable by calling the Observable constructor\n * @owner Observable\n * @method create\n * @param {Function} subscribe? the subscriber function to be passed to the Observable constructor\n * @return {Observable} a new observable\n * @nocollapse\n * @deprecated Use `new Observable()` instead. Will be removed in v8.\n */\n static create: (...args: any[]) => any = (subscribe?: (subscriber: Subscriber) => TeardownLogic) => {\n return new Observable(subscribe);\n };\n\n /**\n * Creates a new Observable, with this Observable instance as the source, and the passed\n * operator defined as the new observable's operator.\n * @method lift\n * @param operator the operator defining the operation to take on the observable\n * @return a new observable with the Operator applied\n * @deprecated Internal implementation detail, do not use directly. Will be made internal in v8.\n * If you have implemented an operator using `lift`, it is recommended that you create an\n * operator by simply returning `new Observable()` directly. See \"Creating new operators from\n * scratch\" section here: https://rxjs.dev/guide/operators\n */\n lift(operator?: Operator): Observable {\n const observable = new Observable();\n observable.source = this;\n observable.operator = operator;\n return observable;\n }\n\n subscribe(observerOrNext?: Partial> | ((value: T) => void)): Subscription;\n /** @deprecated Instead of passing separate callback arguments, use an observer argument. Signatures taking separate callback arguments will be removed in v8. Details: https://rxjs.dev/deprecations/subscribe-arguments */\n subscribe(next?: ((value: T) => void) | null, error?: ((error: any) => void) | null, complete?: (() => void) | null): Subscription;\n /**\n * Invokes an execution of an Observable and registers Observer handlers for notifications it will emit.\n *\n * Use it when you have all these Observables, but still nothing is happening.\n *\n * `subscribe` is not a regular operator, but a method that calls Observable's internal `subscribe` function. It\n * might be for example a function that you passed to Observable's constructor, but most of the time it is\n * a library implementation, which defines what will be emitted by an Observable, and when it be will emitted. This means\n * that calling `subscribe` is actually the moment when Observable starts its work, not when it is created, as it is often\n * the thought.\n *\n * Apart from starting the execution of an Observable, this method allows you to listen for values\n * that an Observable emits, as well as for when it completes or errors. You can achieve this in two\n * of the following ways.\n *\n * The first way is creating an object that implements {@link Observer} interface. It should have methods\n * defined by that interface, but note that it should be just a regular JavaScript object, which you can create\n * yourself in any way you want (ES6 class, classic function constructor, object literal etc.). In particular, do\n * not attempt to use any RxJS implementation details to create Observers - you don't need them. Remember also\n * that your object does not have to implement all methods. If you find yourself creating a method that doesn't\n * do anything, you can simply omit it. Note however, if the `error` method is not provided and an error happens,\n * it will be thrown asynchronously. Errors thrown asynchronously cannot be caught using `try`/`catch`. Instead,\n * use the {@link onUnhandledError} configuration option or use a runtime handler (like `window.onerror` or\n * `process.on('error)`) to be notified of unhandled errors. Because of this, it's recommended that you provide\n * an `error` method to avoid missing thrown errors.\n *\n * The second way is to give up on Observer object altogether and simply provide callback functions in place of its methods.\n * This means you can provide three functions as arguments to `subscribe`, where the first function is equivalent\n * of a `next` method, the second of an `error` method and the third of a `complete` method. Just as in case of an Observer,\n * if you do not need to listen for something, you can omit a function by passing `undefined` or `null`,\n * since `subscribe` recognizes these functions by where they were placed in function call. When it comes\n * to the `error` function, as with an Observer, if not provided, errors emitted by an Observable will be thrown asynchronously.\n *\n * You can, however, subscribe with no parameters at all. This may be the case where you're not interested in terminal events\n * and you also handled emissions internally by using operators (e.g. using `tap`).\n *\n * Whichever style of calling `subscribe` you use, in both cases it returns a Subscription object.\n * This object allows you to call `unsubscribe` on it, which in turn will stop the work that an Observable does and will clean\n * up all resources that an Observable used. Note that cancelling a subscription will not call `complete` callback\n * provided to `subscribe` function, which is reserved for a regular completion signal that comes from an Observable.\n *\n * Remember that callbacks provided to `subscribe` are not guaranteed to be called asynchronously.\n * It is an Observable itself that decides when these functions will be called. For example {@link of}\n * by default emits all its values synchronously. Always check documentation for how given Observable\n * will behave when subscribed and if its default behavior can be modified with a `scheduler`.\n *\n * #### Examples\n *\n * Subscribe with an {@link guide/observer Observer}\n *\n * ```ts\n * import { of } from 'rxjs';\n *\n * const sumObserver = {\n * sum: 0,\n * next(value) {\n * console.log('Adding: ' + value);\n * this.sum = this.sum + value;\n * },\n * error() {\n * // We actually could just remove this method,\n * // since we do not really care about errors right now.\n * },\n * complete() {\n * console.log('Sum equals: ' + this.sum);\n * }\n * };\n *\n * of(1, 2, 3) // Synchronously emits 1, 2, 3 and then completes.\n * .subscribe(sumObserver);\n *\n * // Logs:\n * // 'Adding: 1'\n * // 'Adding: 2'\n * // 'Adding: 3'\n * // 'Sum equals: 6'\n * ```\n *\n * Subscribe with functions ({@link deprecations/subscribe-arguments deprecated})\n *\n * ```ts\n * import { of } from 'rxjs'\n *\n * let sum = 0;\n *\n * of(1, 2, 3).subscribe(\n * value => {\n * console.log('Adding: ' + value);\n * sum = sum + value;\n * },\n * undefined,\n * () => console.log('Sum equals: ' + sum)\n * );\n *\n * // Logs:\n * // 'Adding: 1'\n * // 'Adding: 2'\n * // 'Adding: 3'\n * // 'Sum equals: 6'\n * ```\n *\n * Cancel a subscription\n *\n * ```ts\n * import { interval } from 'rxjs';\n *\n * const subscription = interval(1000).subscribe({\n * next(num) {\n * console.log(num)\n * },\n * complete() {\n * // Will not be called, even when cancelling subscription.\n * console.log('completed!');\n * }\n * });\n *\n * setTimeout(() => {\n * subscription.unsubscribe();\n * console.log('unsubscribed!');\n * }, 2500);\n *\n * // Logs:\n * // 0 after 1s\n * // 1 after 2s\n * // 'unsubscribed!' after 2.5s\n * ```\n *\n * @param {Observer|Function} observerOrNext (optional) Either an observer with methods to be called,\n * or the first of three possible handlers, which is the handler for each value emitted from the subscribed\n * Observable.\n * @param {Function} error (optional) A handler for a terminal event resulting from an error. If no error handler is provided,\n * the error will be thrown asynchronously as unhandled.\n * @param {Function} complete (optional) A handler for a terminal event resulting from successful completion.\n * @return {Subscription} a subscription reference to the registered handlers\n * @method subscribe\n */\n subscribe(\n observerOrNext?: Partial> | ((value: T) => void) | null,\n error?: ((error: any) => void) | null,\n complete?: (() => void) | null\n ): Subscription {\n const subscriber = isSubscriber(observerOrNext) ? observerOrNext : new SafeSubscriber(observerOrNext, error, complete);\n\n errorContext(() => {\n const { operator, source } = this;\n subscriber.add(\n operator\n ? // We're dealing with a subscription in the\n // operator chain to one of our lifted operators.\n operator.call(subscriber, source)\n : source\n ? // If `source` has a value, but `operator` does not, something that\n // had intimate knowledge of our API, like our `Subject`, must have\n // set it. We're going to just call `_subscribe` directly.\n this._subscribe(subscriber)\n : // In all other cases, we're likely wrapping a user-provided initializer\n // function, so we need to catch errors and handle them appropriately.\n this._trySubscribe(subscriber)\n );\n });\n\n return subscriber;\n }\n\n /** @internal */\n protected _trySubscribe(sink: Subscriber): TeardownLogic {\n try {\n return this._subscribe(sink);\n } catch (err) {\n // We don't need to return anything in this case,\n // because it's just going to try to `add()` to a subscription\n // above.\n sink.error(err);\n }\n }\n\n /**\n * Used as a NON-CANCELLABLE means of subscribing to an observable, for use with\n * APIs that expect promises, like `async/await`. You cannot unsubscribe from this.\n *\n * **WARNING**: Only use this with observables you *know* will complete. If the source\n * observable does not complete, you will end up with a promise that is hung up, and\n * potentially all of the state of an async function hanging out in memory. To avoid\n * this situation, look into adding something like {@link timeout}, {@link take},\n * {@link takeWhile}, or {@link takeUntil} amongst others.\n *\n * #### Example\n *\n * ```ts\n * import { interval, take } from 'rxjs';\n *\n * const source$ = interval(1000).pipe(take(4));\n *\n * async function getTotal() {\n * let total = 0;\n *\n * await source$.forEach(value => {\n * total += value;\n * console.log('observable -> ' + value);\n * });\n *\n * return total;\n * }\n *\n * getTotal().then(\n * total => console.log('Total: ' + total)\n * );\n *\n * // Expected:\n * // 'observable -> 0'\n * // 'observable -> 1'\n * // 'observable -> 2'\n * // 'observable -> 3'\n * // 'Total: 6'\n * ```\n *\n * @param next a handler for each value emitted by the observable\n * @return a promise that either resolves on observable completion or\n * rejects with the handled error\n */\n forEach(next: (value: T) => void): Promise;\n\n /**\n * @param next a handler for each value emitted by the observable\n * @param promiseCtor a constructor function used to instantiate the Promise\n * @return a promise that either resolves on observable completion or\n * rejects with the handled error\n * @deprecated Passing a Promise constructor will no longer be available\n * in upcoming versions of RxJS. This is because it adds weight to the library, for very\n * little benefit. If you need this functionality, it is recommended that you either\n * polyfill Promise, or you create an adapter to convert the returned native promise\n * to whatever promise implementation you wanted. Will be removed in v8.\n */\n forEach(next: (value: T) => void, promiseCtor: PromiseConstructorLike): Promise;\n\n forEach(next: (value: T) => void, promiseCtor?: PromiseConstructorLike): Promise {\n promiseCtor = getPromiseCtor(promiseCtor);\n\n return new promiseCtor((resolve, reject) => {\n const subscriber = new SafeSubscriber({\n next: (value) => {\n try {\n next(value);\n } catch (err) {\n reject(err);\n subscriber.unsubscribe();\n }\n },\n error: reject,\n complete: resolve,\n });\n this.subscribe(subscriber);\n }) as Promise;\n }\n\n /** @internal */\n protected _subscribe(subscriber: Subscriber): TeardownLogic {\n return this.source?.subscribe(subscriber);\n }\n\n /**\n * An interop point defined by the es7-observable spec https://github.com/zenparsing/es-observable\n * @method Symbol.observable\n * @return {Observable} this instance of the observable\n */\n [Symbol_observable]() {\n return this;\n }\n\n /* tslint:disable:max-line-length */\n pipe(): Observable;\n pipe(op1: OperatorFunction): Observable;\n pipe(op1: OperatorFunction, op2: OperatorFunction): Observable;\n pipe(op1: OperatorFunction, op2: OperatorFunction, op3: OperatorFunction): Observable;\n pipe(\n op1: OperatorFunction,\n op2: OperatorFunction,\n op3: OperatorFunction,\n op4: OperatorFunction\n ): Observable;\n pipe(\n op1: OperatorFunction,\n op2: OperatorFunction,\n op3: OperatorFunction,\n op4: OperatorFunction,\n op5: OperatorFunction\n ): Observable;\n pipe(\n op1: OperatorFunction,\n op2: OperatorFunction,\n op3: OperatorFunction,\n op4: OperatorFunction,\n op5: OperatorFunction,\n op6: OperatorFunction\n ): Observable;\n pipe(\n op1: OperatorFunction,\n op2: OperatorFunction,\n op3: OperatorFunction,\n op4: OperatorFunction,\n op5: OperatorFunction,\n op6: OperatorFunction,\n op7: OperatorFunction\n ): Observable;\n pipe(\n op1: OperatorFunction,\n op2: OperatorFunction,\n op3: OperatorFunction,\n op4: OperatorFunction,\n op5: OperatorFunction,\n op6: OperatorFunction,\n op7: OperatorFunction,\n op8: OperatorFunction\n ): Observable;\n pipe(\n op1: OperatorFunction,\n op2: OperatorFunction,\n op3: OperatorFunction,\n op4: OperatorFunction,\n op5: OperatorFunction,\n op6: OperatorFunction,\n op7: OperatorFunction,\n op8: OperatorFunction,\n op9: OperatorFunction\n ): Observable;\n pipe(\n op1: OperatorFunction,\n op2: OperatorFunction,\n op3: OperatorFunction,\n op4: OperatorFunction,\n op5: OperatorFunction,\n op6: OperatorFunction,\n op7: OperatorFunction,\n op8: OperatorFunction,\n op9: OperatorFunction,\n ...operations: OperatorFunction[]\n ): Observable;\n /* tslint:enable:max-line-length */\n\n /**\n * Used to stitch together functional operators into a chain.\n * @method pipe\n * @return {Observable} the Observable result of all of the operators having\n * been called in the order they were passed in.\n *\n * ## Example\n *\n * ```ts\n * import { interval, filter, map, scan } from 'rxjs';\n *\n * interval(1000)\n * .pipe(\n * filter(x => x % 2 === 0),\n * map(x => x + x),\n * scan((acc, x) => acc + x)\n * )\n * .subscribe(x => console.log(x));\n * ```\n */\n pipe(...operations: OperatorFunction[]): Observable {\n return pipeFromArray(operations)(this);\n }\n\n /* tslint:disable:max-line-length */\n /** @deprecated Replaced with {@link firstValueFrom} and {@link lastValueFrom}. Will be removed in v8. Details: https://rxjs.dev/deprecations/to-promise */\n toPromise(): Promise;\n /** @deprecated Replaced with {@link firstValueFrom} and {@link lastValueFrom}. Will be removed in v8. Details: https://rxjs.dev/deprecations/to-promise */\n toPromise(PromiseCtor: typeof Promise): Promise;\n /** @deprecated Replaced with {@link firstValueFrom} and {@link lastValueFrom}. Will be removed in v8. Details: https://rxjs.dev/deprecations/to-promise */\n toPromise(PromiseCtor: PromiseConstructorLike): Promise;\n /* tslint:enable:max-line-length */\n\n /**\n * Subscribe to this Observable and get a Promise resolving on\n * `complete` with the last emission (if any).\n *\n * **WARNING**: Only use this with observables you *know* will complete. If the source\n * observable does not complete, you will end up with a promise that is hung up, and\n * potentially all of the state of an async function hanging out in memory. To avoid\n * this situation, look into adding something like {@link timeout}, {@link take},\n * {@link takeWhile}, or {@link takeUntil} amongst others.\n *\n * @method toPromise\n * @param [promiseCtor] a constructor function used to instantiate\n * the Promise\n * @return A Promise that resolves with the last value emit, or\n * rejects on an error. If there were no emissions, Promise\n * resolves with undefined.\n * @deprecated Replaced with {@link firstValueFrom} and {@link lastValueFrom}. Will be removed in v8. Details: https://rxjs.dev/deprecations/to-promise\n */\n toPromise(promiseCtor?: PromiseConstructorLike): Promise {\n promiseCtor = getPromiseCtor(promiseCtor);\n\n return new promiseCtor((resolve, reject) => {\n let value: T | undefined;\n this.subscribe(\n (x: T) => (value = x),\n (err: any) => reject(err),\n () => resolve(value)\n );\n }) as Promise;\n }\n}\n\n/**\n * Decides between a passed promise constructor from consuming code,\n * A default configured promise constructor, and the native promise\n * constructor and returns it. If nothing can be found, it will throw\n * an error.\n * @param promiseCtor The optional promise constructor to passed by consuming code\n */\nfunction getPromiseCtor(promiseCtor: PromiseConstructorLike | undefined) {\n return promiseCtor ?? config.Promise ?? Promise;\n}\n\nfunction isObserver(value: any): value is Observer {\n return value && isFunction(value.next) && isFunction(value.error) && isFunction(value.complete);\n}\n\nfunction isSubscriber(value: any): value is Subscriber {\n return (value && value instanceof Subscriber) || (isObserver(value) && isSubscription(value));\n}\n", "import { Observable } from '../Observable';\nimport { Subscriber } from '../Subscriber';\nimport { OperatorFunction } from '../types';\nimport { isFunction } from './isFunction';\n\n/**\n * Used to determine if an object is an Observable with a lift function.\n */\nexport function hasLift(source: any): source is { lift: InstanceType['lift'] } {\n return isFunction(source?.lift);\n}\n\n/**\n * Creates an `OperatorFunction`. Used to define operators throughout the library in a concise way.\n * @param init The logic to connect the liftedSource to the subscriber at the moment of subscription.\n */\nexport function operate(\n init: (liftedSource: Observable, subscriber: Subscriber) => (() => void) | void\n): OperatorFunction {\n return (source: Observable) => {\n if (hasLift(source)) {\n return source.lift(function (this: Subscriber, liftedSource: Observable) {\n try {\n return init(liftedSource, this);\n } catch (err) {\n this.error(err);\n }\n });\n }\n throw new TypeError('Unable to lift unknown Observable type');\n };\n}\n", "import { Subscriber } from '../Subscriber';\n\n/**\n * Creates an instance of an `OperatorSubscriber`.\n * @param destination The downstream subscriber.\n * @param onNext Handles next values, only called if this subscriber is not stopped or closed. Any\n * error that occurs in this function is caught and sent to the `error` method of this subscriber.\n * @param onError Handles errors from the subscription, any errors that occur in this handler are caught\n * and send to the `destination` error handler.\n * @param onComplete Handles completion notification from the subscription. Any errors that occur in\n * this handler are sent to the `destination` error handler.\n * @param onFinalize Additional teardown logic here. This will only be called on teardown if the\n * subscriber itself is not already closed. This is called after all other teardown logic is executed.\n */\nexport function createOperatorSubscriber(\n destination: Subscriber,\n onNext?: (value: T) => void,\n onComplete?: () => void,\n onError?: (err: any) => void,\n onFinalize?: () => void\n): Subscriber {\n return new OperatorSubscriber(destination, onNext, onComplete, onError, onFinalize);\n}\n\n/**\n * A generic helper for allowing operators to be created with a Subscriber and\n * use closures to capture necessary state from the operator function itself.\n */\nexport class OperatorSubscriber extends Subscriber {\n /**\n * Creates an instance of an `OperatorSubscriber`.\n * @param destination The downstream subscriber.\n * @param onNext Handles next values, only called if this subscriber is not stopped or closed. Any\n * error that occurs in this function is caught and sent to the `error` method of this subscriber.\n * @param onError Handles errors from the subscription, any errors that occur in this handler are caught\n * and send to the `destination` error handler.\n * @param onComplete Handles completion notification from the subscription. Any errors that occur in\n * this handler are sent to the `destination` error handler.\n * @param onFinalize Additional finalization logic here. This will only be called on finalization if the\n * subscriber itself is not already closed. This is called after all other finalization logic is executed.\n * @param shouldUnsubscribe An optional check to see if an unsubscribe call should truly unsubscribe.\n * NOTE: This currently **ONLY** exists to support the strange behavior of {@link groupBy}, where unsubscription\n * to the resulting observable does not actually disconnect from the source if there are active subscriptions\n * to any grouped observable. (DO NOT EXPOSE OR USE EXTERNALLY!!!)\n */\n constructor(\n destination: Subscriber,\n onNext?: (value: T) => void,\n onComplete?: () => void,\n onError?: (err: any) => void,\n private onFinalize?: () => void,\n private shouldUnsubscribe?: () => boolean\n ) {\n // It's important - for performance reasons - that all of this class's\n // members are initialized and that they are always initialized in the same\n // order. This will ensure that all OperatorSubscriber instances have the\n // same hidden class in V8. This, in turn, will help keep the number of\n // hidden classes involved in property accesses within the base class as\n // low as possible. If the number of hidden classes involved exceeds four,\n // the property accesses will become megamorphic and performance penalties\n // will be incurred - i.e. inline caches won't be used.\n //\n // The reasons for ensuring all instances have the same hidden class are\n // further discussed in this blog post from Benedikt Meurer:\n // https://benediktmeurer.de/2018/03/23/impact-of-polymorphism-on-component-based-frameworks-like-react/\n super(destination);\n this._next = onNext\n ? function (this: OperatorSubscriber, value: T) {\n try {\n onNext(value);\n } catch (err) {\n destination.error(err);\n }\n }\n : super._next;\n this._error = onError\n ? function (this: OperatorSubscriber, err: any) {\n try {\n onError(err);\n } catch (err) {\n // Send any errors that occur down stream.\n destination.error(err);\n } finally {\n // Ensure finalization.\n this.unsubscribe();\n }\n }\n : super._error;\n this._complete = onComplete\n ? function (this: OperatorSubscriber) {\n try {\n onComplete();\n } catch (err) {\n // Send any errors that occur down stream.\n destination.error(err);\n } finally {\n // Ensure finalization.\n this.unsubscribe();\n }\n }\n : super._complete;\n }\n\n unsubscribe() {\n if (!this.shouldUnsubscribe || this.shouldUnsubscribe()) {\n const { closed } = this;\n super.unsubscribe();\n // Execute additional teardown if we have any and we didn't already do so.\n !closed && this.onFinalize?.();\n }\n }\n}\n", "import { Subscription } from '../Subscription';\n\ninterface AnimationFrameProvider {\n schedule(callback: FrameRequestCallback): Subscription;\n requestAnimationFrame: typeof requestAnimationFrame;\n cancelAnimationFrame: typeof cancelAnimationFrame;\n delegate:\n | {\n requestAnimationFrame: typeof requestAnimationFrame;\n cancelAnimationFrame: typeof cancelAnimationFrame;\n }\n | undefined;\n}\n\nexport const animationFrameProvider: AnimationFrameProvider = {\n // When accessing the delegate, use the variable rather than `this` so that\n // the functions can be called without being bound to the provider.\n schedule(callback) {\n let request = requestAnimationFrame;\n let cancel: typeof cancelAnimationFrame | undefined = cancelAnimationFrame;\n const { delegate } = animationFrameProvider;\n if (delegate) {\n request = delegate.requestAnimationFrame;\n cancel = delegate.cancelAnimationFrame;\n }\n const handle = request((timestamp) => {\n // Clear the cancel function. The request has been fulfilled, so\n // attempting to cancel the request upon unsubscription would be\n // pointless.\n cancel = undefined;\n callback(timestamp);\n });\n return new Subscription(() => cancel?.(handle));\n },\n requestAnimationFrame(...args) {\n const { delegate } = animationFrameProvider;\n return (delegate?.requestAnimationFrame || requestAnimationFrame)(...args);\n },\n cancelAnimationFrame(...args) {\n const { delegate } = animationFrameProvider;\n return (delegate?.cancelAnimationFrame || cancelAnimationFrame)(...args);\n },\n delegate: undefined,\n};\n", "import { createErrorClass } from './createErrorClass';\n\nexport interface ObjectUnsubscribedError extends Error {}\n\nexport interface ObjectUnsubscribedErrorCtor {\n /**\n * @deprecated Internal implementation detail. Do not construct error instances.\n * Cannot be tagged as internal: https://github.com/ReactiveX/rxjs/issues/6269\n */\n new (): ObjectUnsubscribedError;\n}\n\n/**\n * An error thrown when an action is invalid because the object has been\n * unsubscribed.\n *\n * @see {@link Subject}\n * @see {@link BehaviorSubject}\n *\n * @class ObjectUnsubscribedError\n */\nexport const ObjectUnsubscribedError: ObjectUnsubscribedErrorCtor = createErrorClass(\n (_super) =>\n function ObjectUnsubscribedErrorImpl(this: any) {\n _super(this);\n this.name = 'ObjectUnsubscribedError';\n this.message = 'object unsubscribed';\n }\n);\n", "import { Operator } from './Operator';\nimport { Observable } from './Observable';\nimport { Subscriber } from './Subscriber';\nimport { Subscription, EMPTY_SUBSCRIPTION } from './Subscription';\nimport { Observer, SubscriptionLike, TeardownLogic } from './types';\nimport { ObjectUnsubscribedError } from './util/ObjectUnsubscribedError';\nimport { arrRemove } from './util/arrRemove';\nimport { errorContext } from './util/errorContext';\n\n/**\n * A Subject is a special type of Observable that allows values to be\n * multicasted to many Observers. Subjects are like EventEmitters.\n *\n * Every Subject is an Observable and an Observer. You can subscribe to a\n * Subject, and you can call next to feed values as well as error and complete.\n */\nexport class Subject extends Observable implements SubscriptionLike {\n closed = false;\n\n private currentObservers: Observer[] | null = null;\n\n /** @deprecated Internal implementation detail, do not use directly. Will be made internal in v8. */\n observers: Observer[] = [];\n /** @deprecated Internal implementation detail, do not use directly. Will be made internal in v8. */\n isStopped = false;\n /** @deprecated Internal implementation detail, do not use directly. Will be made internal in v8. */\n hasError = false;\n /** @deprecated Internal implementation detail, do not use directly. Will be made internal in v8. */\n thrownError: any = null;\n\n /**\n * Creates a \"subject\" by basically gluing an observer to an observable.\n *\n * @nocollapse\n * @deprecated Recommended you do not use. Will be removed at some point in the future. Plans for replacement still under discussion.\n */\n static create: (...args: any[]) => any = (destination: Observer, source: Observable): AnonymousSubject => {\n return new AnonymousSubject(destination, source);\n };\n\n constructor() {\n // NOTE: This must be here to obscure Observable's constructor.\n super();\n }\n\n /** @deprecated Internal implementation detail, do not use directly. Will be made internal in v8. */\n lift(operator: Operator): Observable {\n const subject = new AnonymousSubject(this, this);\n subject.operator = operator as any;\n return subject as any;\n }\n\n /** @internal */\n protected _throwIfClosed() {\n if (this.closed) {\n throw new ObjectUnsubscribedError();\n }\n }\n\n next(value: T) {\n errorContext(() => {\n this._throwIfClosed();\n if (!this.isStopped) {\n if (!this.currentObservers) {\n this.currentObservers = Array.from(this.observers);\n }\n for (const observer of this.currentObservers) {\n observer.next(value);\n }\n }\n });\n }\n\n error(err: any) {\n errorContext(() => {\n this._throwIfClosed();\n if (!this.isStopped) {\n this.hasError = this.isStopped = true;\n this.thrownError = err;\n const { observers } = this;\n while (observers.length) {\n observers.shift()!.error(err);\n }\n }\n });\n }\n\n complete() {\n errorContext(() => {\n this._throwIfClosed();\n if (!this.isStopped) {\n this.isStopped = true;\n const { observers } = this;\n while (observers.length) {\n observers.shift()!.complete();\n }\n }\n });\n }\n\n unsubscribe() {\n this.isStopped = this.closed = true;\n this.observers = this.currentObservers = null!;\n }\n\n get observed() {\n return this.observers?.length > 0;\n }\n\n /** @internal */\n protected _trySubscribe(subscriber: Subscriber): TeardownLogic {\n this._throwIfClosed();\n return super._trySubscribe(subscriber);\n }\n\n /** @internal */\n protected _subscribe(subscriber: Subscriber): Subscription {\n this._throwIfClosed();\n this._checkFinalizedStatuses(subscriber);\n return this._innerSubscribe(subscriber);\n }\n\n /** @internal */\n protected _innerSubscribe(subscriber: Subscriber) {\n const { hasError, isStopped, observers } = this;\n if (hasError || isStopped) {\n return EMPTY_SUBSCRIPTION;\n }\n this.currentObservers = null;\n observers.push(subscriber);\n return new Subscription(() => {\n this.currentObservers = null;\n arrRemove(observers, subscriber);\n });\n }\n\n /** @internal */\n protected _checkFinalizedStatuses(subscriber: Subscriber) {\n const { hasError, thrownError, isStopped } = this;\n if (hasError) {\n subscriber.error(thrownError);\n } else if (isStopped) {\n subscriber.complete();\n }\n }\n\n /**\n * Creates a new Observable with this Subject as the source. You can do this\n * to create custom Observer-side logic of the Subject and conceal it from\n * code that uses the Observable.\n * @return {Observable} Observable that the Subject casts to\n */\n asObservable(): Observable {\n const observable: any = new Observable();\n observable.source = this;\n return observable;\n }\n}\n\n/**\n * @class AnonymousSubject\n */\nexport class AnonymousSubject extends Subject {\n constructor(\n /** @deprecated Internal implementation detail, do not use directly. Will be made internal in v8. */\n public destination?: Observer,\n source?: Observable\n ) {\n super();\n this.source = source;\n }\n\n next(value: T) {\n this.destination?.next?.(value);\n }\n\n error(err: any) {\n this.destination?.error?.(err);\n }\n\n complete() {\n this.destination?.complete?.();\n }\n\n /** @internal */\n protected _subscribe(subscriber: Subscriber): Subscription {\n return this.source?.subscribe(subscriber) ?? EMPTY_SUBSCRIPTION;\n }\n}\n", "import { TimestampProvider } from '../types';\n\ninterface DateTimestampProvider extends TimestampProvider {\n delegate: TimestampProvider | undefined;\n}\n\nexport const dateTimestampProvider: DateTimestampProvider = {\n now() {\n // Use the variable rather than `this` so that the function can be called\n // without being bound to the provider.\n return (dateTimestampProvider.delegate || Date).now();\n },\n delegate: undefined,\n};\n", "import { Subject } from './Subject';\nimport { TimestampProvider } from './types';\nimport { Subscriber } from './Subscriber';\nimport { Subscription } from './Subscription';\nimport { dateTimestampProvider } from './scheduler/dateTimestampProvider';\n\n/**\n * A variant of {@link Subject} that \"replays\" old values to new subscribers by emitting them when they first subscribe.\n *\n * `ReplaySubject` has an internal buffer that will store a specified number of values that it has observed. Like `Subject`,\n * `ReplaySubject` \"observes\" values by having them passed to its `next` method. When it observes a value, it will store that\n * value for a time determined by the configuration of the `ReplaySubject`, as passed to its constructor.\n *\n * When a new subscriber subscribes to the `ReplaySubject` instance, it will synchronously emit all values in its buffer in\n * a First-In-First-Out (FIFO) manner. The `ReplaySubject` will also complete, if it has observed completion; and it will\n * error if it has observed an error.\n *\n * There are two main configuration items to be concerned with:\n *\n * 1. `bufferSize` - This will determine how many items are stored in the buffer, defaults to infinite.\n * 2. `windowTime` - The amount of time to hold a value in the buffer before removing it from the buffer.\n *\n * Both configurations may exist simultaneously. So if you would like to buffer a maximum of 3 values, as long as the values\n * are less than 2 seconds old, you could do so with a `new ReplaySubject(3, 2000)`.\n *\n * ### Differences with BehaviorSubject\n *\n * `BehaviorSubject` is similar to `new ReplaySubject(1)`, with a couple of exceptions:\n *\n * 1. `BehaviorSubject` comes \"primed\" with a single value upon construction.\n * 2. `ReplaySubject` will replay values, even after observing an error, where `BehaviorSubject` will not.\n *\n * @see {@link Subject}\n * @see {@link BehaviorSubject}\n * @see {@link shareReplay}\n */\nexport class ReplaySubject extends Subject {\n private _buffer: (T | number)[] = [];\n private _infiniteTimeWindow = true;\n\n /**\n * @param bufferSize The size of the buffer to replay on subscription\n * @param windowTime The amount of time the buffered items will stay buffered\n * @param timestampProvider An object with a `now()` method that provides the current timestamp. This is used to\n * calculate the amount of time something has been buffered.\n */\n constructor(\n private _bufferSize = Infinity,\n private _windowTime = Infinity,\n private _timestampProvider: TimestampProvider = dateTimestampProvider\n ) {\n super();\n this._infiniteTimeWindow = _windowTime === Infinity;\n this._bufferSize = Math.max(1, _bufferSize);\n this._windowTime = Math.max(1, _windowTime);\n }\n\n next(value: T): void {\n const { isStopped, _buffer, _infiniteTimeWindow, _timestampProvider, _windowTime } = this;\n if (!isStopped) {\n _buffer.push(value);\n !_infiniteTimeWindow && _buffer.push(_timestampProvider.now() + _windowTime);\n }\n this._trimBuffer();\n super.next(value);\n }\n\n /** @internal */\n protected _subscribe(subscriber: Subscriber): Subscription {\n this._throwIfClosed();\n this._trimBuffer();\n\n const subscription = this._innerSubscribe(subscriber);\n\n const { _infiniteTimeWindow, _buffer } = this;\n // We use a copy here, so reentrant code does not mutate our array while we're\n // emitting it to a new subscriber.\n const copy = _buffer.slice();\n for (let i = 0; i < copy.length && !subscriber.closed; i += _infiniteTimeWindow ? 1 : 2) {\n subscriber.next(copy[i] as T);\n }\n\n this._checkFinalizedStatuses(subscriber);\n\n return subscription;\n }\n\n private _trimBuffer() {\n const { _bufferSize, _timestampProvider, _buffer, _infiniteTimeWindow } = this;\n // If we don't have an infinite buffer size, and we're over the length,\n // use splice to truncate the old buffer values off. Note that we have to\n // double the size for instances where we're not using an infinite time window\n // because we're storing the values and the timestamps in the same array.\n const adjustedBufferSize = (_infiniteTimeWindow ? 1 : 2) * _bufferSize;\n _bufferSize < Infinity && adjustedBufferSize < _buffer.length && _buffer.splice(0, _buffer.length - adjustedBufferSize);\n\n // Now, if we're not in an infinite time window, remove all values where the time is\n // older than what is allowed.\n if (!_infiniteTimeWindow) {\n const now = _timestampProvider.now();\n let last = 0;\n // Search the array for the first timestamp that isn't expired and\n // truncate the buffer up to that point.\n for (let i = 1; i < _buffer.length && (_buffer[i] as number) <= now; i += 2) {\n last = i;\n }\n last && _buffer.splice(0, last + 1);\n }\n }\n}\n", "import { Scheduler } from '../Scheduler';\nimport { Subscription } from '../Subscription';\nimport { SchedulerAction } from '../types';\n\n/**\n * A unit of work to be executed in a `scheduler`. An action is typically\n * created from within a {@link SchedulerLike} and an RxJS user does not need to concern\n * themselves about creating and manipulating an Action.\n *\n * ```ts\n * class Action extends Subscription {\n * new (scheduler: Scheduler, work: (state?: T) => void);\n * schedule(state?: T, delay: number = 0): Subscription;\n * }\n * ```\n *\n * @class Action\n */\nexport class Action extends Subscription {\n constructor(scheduler: Scheduler, work: (this: SchedulerAction, state?: T) => void) {\n super();\n }\n /**\n * Schedules this action on its parent {@link SchedulerLike} for execution. May be passed\n * some context object, `state`. May happen at some point in the future,\n * according to the `delay` parameter, if specified.\n * @param {T} [state] Some contextual data that the `work` function uses when\n * called by the Scheduler.\n * @param {number} [delay] Time to wait before executing the work, where the\n * time unit is implicit and defined by the Scheduler.\n * @return {void}\n */\n public schedule(state?: T, delay: number = 0): Subscription {\n return this;\n }\n}\n", "import type { TimerHandle } from './timerHandle';\ntype SetIntervalFunction = (handler: () => void, timeout?: number, ...args: any[]) => TimerHandle;\ntype ClearIntervalFunction = (handle: TimerHandle) => void;\n\ninterface IntervalProvider {\n setInterval: SetIntervalFunction;\n clearInterval: ClearIntervalFunction;\n delegate:\n | {\n setInterval: SetIntervalFunction;\n clearInterval: ClearIntervalFunction;\n }\n | undefined;\n}\n\nexport const intervalProvider: IntervalProvider = {\n // When accessing the delegate, use the variable rather than `this` so that\n // the functions can be called without being bound to the provider.\n setInterval(handler: () => void, timeout?: number, ...args) {\n const { delegate } = intervalProvider;\n if (delegate?.setInterval) {\n return delegate.setInterval(handler, timeout, ...args);\n }\n return setInterval(handler, timeout, ...args);\n },\n clearInterval(handle) {\n const { delegate } = intervalProvider;\n return (delegate?.clearInterval || clearInterval)(handle as any);\n },\n delegate: undefined,\n};\n", "import { Action } from './Action';\nimport { SchedulerAction } from '../types';\nimport { Subscription } from '../Subscription';\nimport { AsyncScheduler } from './AsyncScheduler';\nimport { intervalProvider } from './intervalProvider';\nimport { arrRemove } from '../util/arrRemove';\nimport { TimerHandle } from './timerHandle';\n\nexport class AsyncAction extends Action {\n public id: TimerHandle | undefined;\n public state?: T;\n // @ts-ignore: Property has no initializer and is not definitely assigned\n public delay: number;\n protected pending: boolean = false;\n\n constructor(protected scheduler: AsyncScheduler, protected work: (this: SchedulerAction, state?: T) => void) {\n super(scheduler, work);\n }\n\n public schedule(state?: T, delay: number = 0): Subscription {\n if (this.closed) {\n return this;\n }\n\n // Always replace the current state with the new state.\n this.state = state;\n\n const id = this.id;\n const scheduler = this.scheduler;\n\n //\n // Important implementation note:\n //\n // Actions only execute once by default, unless rescheduled from within the\n // scheduled callback. This allows us to implement single and repeat\n // actions via the same code path, without adding API surface area, as well\n // as mimic traditional recursion but across asynchronous boundaries.\n //\n // However, JS runtimes and timers distinguish between intervals achieved by\n // serial `setTimeout` calls vs. a single `setInterval` call. An interval of\n // serial `setTimeout` calls can be individually delayed, which delays\n // scheduling the next `setTimeout`, and so on. `setInterval` attempts to\n // guarantee the interval callback will be invoked more precisely to the\n // interval period, regardless of load.\n //\n // Therefore, we use `setInterval` to schedule single and repeat actions.\n // If the action reschedules itself with the same delay, the interval is not\n // canceled. If the action doesn't reschedule, or reschedules with a\n // different delay, the interval will be canceled after scheduled callback\n // execution.\n //\n if (id != null) {\n this.id = this.recycleAsyncId(scheduler, id, delay);\n }\n\n // Set the pending flag indicating that this action has been scheduled, or\n // has recursively rescheduled itself.\n this.pending = true;\n\n this.delay = delay;\n // If this action has already an async Id, don't request a new one.\n this.id = this.id ?? this.requestAsyncId(scheduler, this.id, delay);\n\n return this;\n }\n\n protected requestAsyncId(scheduler: AsyncScheduler, _id?: TimerHandle, delay: number = 0): TimerHandle {\n return intervalProvider.setInterval(scheduler.flush.bind(scheduler, this), delay);\n }\n\n protected recycleAsyncId(_scheduler: AsyncScheduler, id?: TimerHandle, delay: number | null = 0): TimerHandle | undefined {\n // If this action is rescheduled with the same delay time, don't clear the interval id.\n if (delay != null && this.delay === delay && this.pending === false) {\n return id;\n }\n // Otherwise, if the action's delay time is different from the current delay,\n // or the action has been rescheduled before it's executed, clear the interval id\n if (id != null) {\n intervalProvider.clearInterval(id);\n }\n\n return undefined;\n }\n\n /**\n * Immediately executes this action and the `work` it contains.\n * @return {any}\n */\n public execute(state: T, delay: number): any {\n if (this.closed) {\n return new Error('executing a cancelled action');\n }\n\n this.pending = false;\n const error = this._execute(state, delay);\n if (error) {\n return error;\n } else if (this.pending === false && this.id != null) {\n // Dequeue if the action didn't reschedule itself. Don't call\n // unsubscribe(), because the action could reschedule later.\n // For example:\n // ```\n // scheduler.schedule(function doWork(counter) {\n // /* ... I'm a busy worker bee ... */\n // var originalAction = this;\n // /* wait 100ms before rescheduling the action */\n // setTimeout(function () {\n // originalAction.schedule(counter + 1);\n // }, 100);\n // }, 1000);\n // ```\n this.id = this.recycleAsyncId(this.scheduler, this.id, null);\n }\n }\n\n protected _execute(state: T, _delay: number): any {\n let errored: boolean = false;\n let errorValue: any;\n try {\n this.work(state);\n } catch (e) {\n errored = true;\n // HACK: Since code elsewhere is relying on the \"truthiness\" of the\n // return here, we can't have it return \"\" or 0 or false.\n // TODO: Clean this up when we refactor schedulers mid-version-8 or so.\n errorValue = e ? e : new Error('Scheduled action threw falsy error');\n }\n if (errored) {\n this.unsubscribe();\n return errorValue;\n }\n }\n\n unsubscribe() {\n if (!this.closed) {\n const { id, scheduler } = this;\n const { actions } = scheduler;\n\n this.work = this.state = this.scheduler = null!;\n this.pending = false;\n\n arrRemove(actions, this);\n if (id != null) {\n this.id = this.recycleAsyncId(scheduler, id, null);\n }\n\n this.delay = null!;\n super.unsubscribe();\n }\n }\n}\n", "import { Action } from './scheduler/Action';\nimport { Subscription } from './Subscription';\nimport { SchedulerLike, SchedulerAction } from './types';\nimport { dateTimestampProvider } from './scheduler/dateTimestampProvider';\n\n/**\n * An execution context and a data structure to order tasks and schedule their\n * execution. Provides a notion of (potentially virtual) time, through the\n * `now()` getter method.\n *\n * Each unit of work in a Scheduler is called an `Action`.\n *\n * ```ts\n * class Scheduler {\n * now(): number;\n * schedule(work, delay?, state?): Subscription;\n * }\n * ```\n *\n * @class Scheduler\n * @deprecated Scheduler is an internal implementation detail of RxJS, and\n * should not be used directly. Rather, create your own class and implement\n * {@link SchedulerLike}. Will be made internal in v8.\n */\nexport class Scheduler implements SchedulerLike {\n public static now: () => number = dateTimestampProvider.now;\n\n constructor(private schedulerActionCtor: typeof Action, now: () => number = Scheduler.now) {\n this.now = now;\n }\n\n /**\n * A getter method that returns a number representing the current time\n * (at the time this function was called) according to the scheduler's own\n * internal clock.\n * @return {number} A number that represents the current time. May or may not\n * have a relation to wall-clock time. May or may not refer to a time unit\n * (e.g. milliseconds).\n */\n public now: () => number;\n\n /**\n * Schedules a function, `work`, for execution. May happen at some point in\n * the future, according to the `delay` parameter, if specified. May be passed\n * some context object, `state`, which will be passed to the `work` function.\n *\n * The given arguments will be processed an stored as an Action object in a\n * queue of actions.\n *\n * @param {function(state: ?T): ?Subscription} work A function representing a\n * task, or some unit of work to be executed by the Scheduler.\n * @param {number} [delay] Time to wait before executing the work, where the\n * time unit is implicit and defined by the Scheduler itself.\n * @param {T} [state] Some contextual data that the `work` function uses when\n * called by the Scheduler.\n * @return {Subscription} A subscription in order to be able to unsubscribe\n * the scheduled work.\n */\n public schedule(work: (this: SchedulerAction, state?: T) => void, delay: number = 0, state?: T): Subscription {\n return new this.schedulerActionCtor(this, work).schedule(state, delay);\n }\n}\n", "import { Scheduler } from '../Scheduler';\nimport { Action } from './Action';\nimport { AsyncAction } from './AsyncAction';\nimport { TimerHandle } from './timerHandle';\n\nexport class AsyncScheduler extends Scheduler {\n public actions: Array> = [];\n /**\n * A flag to indicate whether the Scheduler is currently executing a batch of\n * queued actions.\n * @type {boolean}\n * @internal\n */\n public _active: boolean = false;\n /**\n * An internal ID used to track the latest asynchronous task such as those\n * coming from `setTimeout`, `setInterval`, `requestAnimationFrame`, and\n * others.\n * @type {any}\n * @internal\n */\n public _scheduled: TimerHandle | undefined;\n\n constructor(SchedulerAction: typeof Action, now: () => number = Scheduler.now) {\n super(SchedulerAction, now);\n }\n\n public flush(action: AsyncAction): void {\n const { actions } = this;\n\n if (this._active) {\n actions.push(action);\n return;\n }\n\n let error: any;\n this._active = true;\n\n do {\n if ((error = action.execute(action.state, action.delay))) {\n break;\n }\n } while ((action = actions.shift()!)); // exhaust the scheduler queue\n\n this._active = false;\n\n if (error) {\n while ((action = actions.shift()!)) {\n action.unsubscribe();\n }\n throw error;\n }\n }\n}\n", "import { AsyncAction } from './AsyncAction';\nimport { AsyncScheduler } from './AsyncScheduler';\n\n/**\n *\n * Async Scheduler\n *\n * Schedule task as if you used setTimeout(task, duration)\n *\n * `async` scheduler schedules tasks asynchronously, by putting them on the JavaScript\n * event loop queue. It is best used to delay tasks in time or to schedule tasks repeating\n * in intervals.\n *\n * If you just want to \"defer\" task, that is to perform it right after currently\n * executing synchronous code ends (commonly achieved by `setTimeout(deferredTask, 0)`),\n * better choice will be the {@link asapScheduler} scheduler.\n *\n * ## Examples\n * Use async scheduler to delay task\n * ```ts\n * import { asyncScheduler } from 'rxjs';\n *\n * const task = () => console.log('it works!');\n *\n * asyncScheduler.schedule(task, 2000);\n *\n * // After 2 seconds logs:\n * // \"it works!\"\n * ```\n *\n * Use async scheduler to repeat task in intervals\n * ```ts\n * import { asyncScheduler } from 'rxjs';\n *\n * function task(state) {\n * console.log(state);\n * this.schedule(state + 1, 1000); // `this` references currently executing Action,\n * // which we reschedule with new state and delay\n * }\n *\n * asyncScheduler.schedule(task, 3000, 0);\n *\n * // Logs:\n * // 0 after 3s\n * // 1 after 4s\n * // 2 after 5s\n * // 3 after 6s\n * ```\n */\n\nexport const asyncScheduler = new AsyncScheduler(AsyncAction);\n\n/**\n * @deprecated Renamed to {@link asyncScheduler}. Will be removed in v8.\n */\nexport const async = asyncScheduler;\n", "import { AsyncAction } from './AsyncAction';\nimport { AnimationFrameScheduler } from './AnimationFrameScheduler';\nimport { SchedulerAction } from '../types';\nimport { animationFrameProvider } from './animationFrameProvider';\nimport { TimerHandle } from './timerHandle';\n\nexport class AnimationFrameAction extends AsyncAction {\n constructor(protected scheduler: AnimationFrameScheduler, protected work: (this: SchedulerAction, state?: T) => void) {\n super(scheduler, work);\n }\n\n protected requestAsyncId(scheduler: AnimationFrameScheduler, id?: TimerHandle, delay: number = 0): TimerHandle {\n // If delay is greater than 0, request as an async action.\n if (delay !== null && delay > 0) {\n return super.requestAsyncId(scheduler, id, delay);\n }\n // Push the action to the end of the scheduler queue.\n scheduler.actions.push(this);\n // If an animation frame has already been requested, don't request another\n // one. If an animation frame hasn't been requested yet, request one. Return\n // the current animation frame request id.\n return scheduler._scheduled || (scheduler._scheduled = animationFrameProvider.requestAnimationFrame(() => scheduler.flush(undefined)));\n }\n\n protected recycleAsyncId(scheduler: AnimationFrameScheduler, id?: TimerHandle, delay: number = 0): TimerHandle | undefined {\n // If delay exists and is greater than 0, or if the delay is null (the\n // action wasn't rescheduled) but was originally scheduled as an async\n // action, then recycle as an async action.\n if (delay != null ? delay > 0 : this.delay > 0) {\n return super.recycleAsyncId(scheduler, id, delay);\n }\n // If the scheduler queue has no remaining actions with the same async id,\n // cancel the requested animation frame and set the scheduled flag to\n // undefined so the next AnimationFrameAction will request its own.\n const { actions } = scheduler;\n if (id != null && actions[actions.length - 1]?.id !== id) {\n animationFrameProvider.cancelAnimationFrame(id as number);\n scheduler._scheduled = undefined;\n }\n // Return undefined so the action knows to request a new async id if it's rescheduled.\n return undefined;\n }\n}\n", "import { AsyncAction } from './AsyncAction';\nimport { AsyncScheduler } from './AsyncScheduler';\n\nexport class AnimationFrameScheduler extends AsyncScheduler {\n public flush(action?: AsyncAction): void {\n this._active = true;\n // The async id that effects a call to flush is stored in _scheduled.\n // Before executing an action, it's necessary to check the action's async\n // id to determine whether it's supposed to be executed in the current\n // flush.\n // Previous implementations of this method used a count to determine this,\n // but that was unsound, as actions that are unsubscribed - i.e. cancelled -\n // are removed from the actions array and that can shift actions that are\n // scheduled to be executed in a subsequent flush into positions at which\n // they are executed within the current flush.\n const flushId = this._scheduled;\n this._scheduled = undefined;\n\n const { actions } = this;\n let error: any;\n action = action || actions.shift()!;\n\n do {\n if ((error = action.execute(action.state, action.delay))) {\n break;\n }\n } while ((action = actions[0]) && action.id === flushId && actions.shift());\n\n this._active = false;\n\n if (error) {\n while ((action = actions[0]) && action.id === flushId && actions.shift()) {\n action.unsubscribe();\n }\n throw error;\n }\n }\n}\n", "import { AnimationFrameAction } from './AnimationFrameAction';\nimport { AnimationFrameScheduler } from './AnimationFrameScheduler';\n\n/**\n *\n * Animation Frame Scheduler\n *\n * Perform task when `window.requestAnimationFrame` would fire\n *\n * When `animationFrame` scheduler is used with delay, it will fall back to {@link asyncScheduler} scheduler\n * behaviour.\n *\n * Without delay, `animationFrame` scheduler can be used to create smooth browser animations.\n * It makes sure scheduled task will happen just before next browser content repaint,\n * thus performing animations as efficiently as possible.\n *\n * ## Example\n * Schedule div height animation\n * ```ts\n * // html:
\n * import { animationFrameScheduler } from 'rxjs';\n *\n * const div = document.querySelector('div');\n *\n * animationFrameScheduler.schedule(function(height) {\n * div.style.height = height + \"px\";\n *\n * this.schedule(height + 1); // `this` references currently executing Action,\n * // which we reschedule with new state\n * }, 0, 0);\n *\n * // You will see a div element growing in height\n * ```\n */\n\nexport const animationFrameScheduler = new AnimationFrameScheduler(AnimationFrameAction);\n\n/**\n * @deprecated Renamed to {@link animationFrameScheduler}. Will be removed in v8.\n */\nexport const animationFrame = animationFrameScheduler;\n", "import { Observable } from '../Observable';\nimport { SchedulerLike } from '../types';\n\n/**\n * A simple Observable that emits no items to the Observer and immediately\n * emits a complete notification.\n *\n * Just emits 'complete', and nothing else.\n *\n * ![](empty.png)\n *\n * A simple Observable that only emits the complete notification. It can be used\n * for composing with other Observables, such as in a {@link mergeMap}.\n *\n * ## Examples\n *\n * Log complete notification\n *\n * ```ts\n * import { EMPTY } from 'rxjs';\n *\n * EMPTY.subscribe({\n * next: () => console.log('Next'),\n * complete: () => console.log('Complete!')\n * });\n *\n * // Outputs\n * // Complete!\n * ```\n *\n * Emit the number 7, then complete\n *\n * ```ts\n * import { EMPTY, startWith } from 'rxjs';\n *\n * const result = EMPTY.pipe(startWith(7));\n * result.subscribe(x => console.log(x));\n *\n * // Outputs\n * // 7\n * ```\n *\n * Map and flatten only odd numbers to the sequence `'a'`, `'b'`, `'c'`\n *\n * ```ts\n * import { interval, mergeMap, of, EMPTY } from 'rxjs';\n *\n * const interval$ = interval(1000);\n * const result = interval$.pipe(\n * mergeMap(x => x % 2 === 1 ? of('a', 'b', 'c') : EMPTY),\n * );\n * result.subscribe(x => console.log(x));\n *\n * // Results in the following to the console:\n * // x is equal to the count on the interval, e.g. (0, 1, 2, 3, ...)\n * // x will occur every 1000ms\n * // if x % 2 is equal to 1, print a, b, c (each on its own)\n * // if x % 2 is not equal to 1, nothing will be output\n * ```\n *\n * @see {@link Observable}\n * @see {@link NEVER}\n * @see {@link of}\n * @see {@link throwError}\n */\nexport const EMPTY = new Observable((subscriber) => subscriber.complete());\n\n/**\n * @param scheduler A {@link SchedulerLike} to use for scheduling\n * the emission of the complete notification.\n * @deprecated Replaced with the {@link EMPTY} constant or {@link scheduled} (e.g. `scheduled([], scheduler)`). Will be removed in v8.\n */\nexport function empty(scheduler?: SchedulerLike) {\n return scheduler ? emptyScheduled(scheduler) : EMPTY;\n}\n\nfunction emptyScheduled(scheduler: SchedulerLike) {\n return new Observable((subscriber) => scheduler.schedule(() => subscriber.complete()));\n}\n", "import { SchedulerLike } from '../types';\nimport { isFunction } from './isFunction';\n\nexport function isScheduler(value: any): value is SchedulerLike {\n return value && isFunction(value.schedule);\n}\n", "import { SchedulerLike } from '../types';\nimport { isFunction } from './isFunction';\nimport { isScheduler } from './isScheduler';\n\nfunction last(arr: T[]): T | undefined {\n return arr[arr.length - 1];\n}\n\nexport function popResultSelector(args: any[]): ((...args: unknown[]) => unknown) | undefined {\n return isFunction(last(args)) ? args.pop() : undefined;\n}\n\nexport function popScheduler(args: any[]): SchedulerLike | undefined {\n return isScheduler(last(args)) ? args.pop() : undefined;\n}\n\nexport function popNumber(args: any[], defaultValue: number): number {\n return typeof last(args) === 'number' ? args.pop()! : defaultValue;\n}\n", "export const isArrayLike = ((x: any): x is ArrayLike => x && typeof x.length === 'number' && typeof x !== 'function');", "import { isFunction } from \"./isFunction\";\n\n/**\n * Tests to see if the object is \"thennable\".\n * @param value the object to test\n */\nexport function isPromise(value: any): value is PromiseLike {\n return isFunction(value?.then);\n}\n", "import { InteropObservable } from '../types';\nimport { observable as Symbol_observable } from '../symbol/observable';\nimport { isFunction } from './isFunction';\n\n/** Identifies an input as being Observable (but not necessary an Rx Observable) */\nexport function isInteropObservable(input: any): input is InteropObservable {\n return isFunction(input[Symbol_observable]);\n}\n", "import { isFunction } from './isFunction';\n\nexport function isAsyncIterable(obj: any): obj is AsyncIterable {\n return Symbol.asyncIterator && isFunction(obj?.[Symbol.asyncIterator]);\n}\n", "/**\n * Creates the TypeError to throw if an invalid object is passed to `from` or `scheduled`.\n * @param input The object that was passed.\n */\nexport function createInvalidObservableTypeError(input: any) {\n // TODO: We should create error codes that can be looked up, so this can be less verbose.\n return new TypeError(\n `You provided ${\n input !== null && typeof input === 'object' ? 'an invalid object' : `'${input}'`\n } where a stream was expected. You can provide an Observable, Promise, ReadableStream, Array, AsyncIterable, or Iterable.`\n );\n}\n", "export function getSymbolIterator(): symbol {\n if (typeof Symbol !== 'function' || !Symbol.iterator) {\n return '@@iterator' as any;\n }\n\n return Symbol.iterator;\n}\n\nexport const iterator = getSymbolIterator();\n", "import { iterator as Symbol_iterator } from '../symbol/iterator';\nimport { isFunction } from './isFunction';\n\n/** Identifies an input as being an Iterable */\nexport function isIterable(input: any): input is Iterable {\n return isFunction(input?.[Symbol_iterator]);\n}\n", "import { ReadableStreamLike } from '../types';\nimport { isFunction } from './isFunction';\n\nexport async function* readableStreamLikeToAsyncGenerator(readableStream: ReadableStreamLike): AsyncGenerator {\n const reader = readableStream.getReader();\n try {\n while (true) {\n const { value, done } = await reader.read();\n if (done) {\n return;\n }\n yield value!;\n }\n } finally {\n reader.releaseLock();\n }\n}\n\nexport function isReadableStreamLike(obj: any): obj is ReadableStreamLike {\n // We don't want to use instanceof checks because they would return\n // false for instances from another Realm, like an + + + + + + + + + + + + + + + + + + + + + +
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JKK

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The Vehicle Industry Research Center has been working since May 2011 in Gyor, Hungary at the Széchenyi University. Understanding and researching how people and vehicles cooperate is an essential skill when designing the future of traffic. We believe that fully self-driving (a.k.a. autonomous) technology can lead to safe, easy, and sustainable transportation. We are preparing for this new technology-to-come by studying and researching its fundamentals and exploring the possibilities it offers. This process helps us gain unique knowledge on the mixed field of mechatronics, robotics, and artificial intelligence. Future transportation can be safe, easy, and sustainable without compromises.

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One of our most researched topic is self-driving (a.k.a autonomous) vehicles. We believe that fully self-driving technology can lead to safe, easy and sustainable transportation. We are preparing for this new technology-to-come by studying and researching its fundamentals and exploring the possibilities it offers. This process helps us gain unique knowledge on the mixed field of mechatronics, robotics and artificial intelligence. Future transportation can be safe, easy and sustainable without compromises.

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Papers overview

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The Vehicle Industry Research Center has been working since May 2011 in Gyor, Hungary at the Sz\u00e9chenyi University. Understanding and researching how people and vehicles cooperate is an essential skill when designing the future of traffic. We believe that fully self-driving (a.k.a. autonomous) technology can lead to safe, easy, and sustainable transportation. We are preparing for this new technology-to-come by studying and researching its fundamentals and exploring the possibilities it offers. This process helps us gain unique knowledge on the mixed field of mechatronics, robotics, and artificial intelligence. Future transportation can be safe, easy, and sustainable without compromises.

One of our most researched topic is self-driving (a.k.a autonomous) vehicles. We believe that fully self-driving technology can lead to safe, easy and sustainable transportation. We are preparing for this new technology-to-come by studying and researching its fundamentals and exploring the possibilities it offers. This process helps us gain unique knowledge on the mixed field of mechatronics, robotics and artificial intelligence. Future transportation can be safe, easy and sustainable without compromises.

"},{"location":"dataset/","title":"Dataset overview","text":""},{"location":"dataset/#jkk_dataset_01","title":"JKK_DATASET_01","text":"

This dataset consists of measurement log files (ROS 1 rosbag), pointcloud files and additional scripts to access and edit these. The data is provided for research and educational purposes.

Details

"},{"location":"dataset/#jkk_dataset_02","title":"JKK_DATASET_02","text":"

This dataset consists of measurement log files (ROS 2 mcap) with additional scripts to access and edit these. The data is provided for research and educational purposes.

Details

"},{"location":"dataset/#jkk_dataset_03","title":"JKK_DATASET_03","text":"

This dataset contains the Human-like Behavior (HLB) usecase data, in mat format.

Details

"},{"location":"dataset/jkk_dataset_01/","title":"jkk_dataset_01","text":"

The log data is in .bag format, the standard logging format for ROS. To simply view and play the data Foxglove Studio is the easiest solution. It works on Windows, Linux and Mac. Another popular option is MATLAB. The data can be imported, viewed and edited in MATLAB. If you are familiar with ROS C++ or python can be a good option too. Python also offers possibilities top open the rosbags without ROS, similarly to MATLAB. The postprocessed 3D pointcloud data is in .pcd (Point Cloud Data) file format, it is a common format used inside Point Cloud Library (PCL). Also pcd can be imported easily to MATLAB / python. One of our most researched topic is self-driving (a.k.a autonomous) vehicles. We believe that fully self-driving technology can lead to safe, easy and sustainable transportation. We are preparing for this new technology-to-come by studying and researching its fundamentals and exploring the possibilities it offers. This process helps us gain unique knowledge on the mixed field of mechatronics, robotics and artificial intelligence. Future transportation can be safe, easy and sustainable without compromises.

"},{"location":"dataset/jkk_dataset_01/#leaf-2022-03-18-gyorbag","title":"leaf-2022-03-18-gyor.bag","text":"

Size: 2.12 GB

Go to details

Download from here or get it with wget:

wget https://laesze-my.sharepoint.com/:u:/g/personal/herno_o365_sze_hu/EVlk6YgDtj9BrzIE8djt-rwBZ47q9NwcbgxU_zOuBji9IA?download=1 -O leaf-2022-03-18-gyor.bag\n

"},{"location":"dataset/jkk_dataset_01/#leaf-2021-04-23-campusbag","title":"leaf-2021-04-23-campus.bag","text":"

Size: 3.37 GB

Go to details

Download from here or get it with wget:

wget https://laesze-my.sharepoint.com/:u:/g/personal/herno_o365_sze_hu/EYl_ahy5pgBBhNHt5ZkiBikBoy_j_x95E96rDtTsxueB_A?download=1 -O leaf-2021-04-23-campus.bag\n

"},{"location":"dataset/jkk_dataset_01/#leaf-2021-07-02-zala-uni-trackbag","title":"leaf-2021-07-02-zala-uni-track.bag","text":"

Size: 1.16 GB

Go to details

Download from here or get it with wget:

wget https://laesze-my.sharepoint.com/:u:/g/personal/herno_o365_sze_hu/EaUlnq2KcQBHkCLB52nuPtQBw-FXYby23VUuwk6jmVzJBA?download=1 -O leaf-2021-07-02-zala-uni-track.bag\n

"},{"location":"dataset/jkk_dataset_01/#leaf-2020-06-10-campusbag","title":"leaf-2020-06-10-campus.bag","text":"

Size: 2.36 GB

Go to details

Download from here or get it with wget:

wget https://laesze-my.sharepoint.com/:u:/g/personal/herno_o365_sze_hu/ETGGWQ0z5FxDkj3vwsjRPJEBuMwnFavgEU9aF0ol4NlwDA?download=1 -O leaf-2020-06-10-campus.bag\n
"},{"location":"dataset/jkk_dataset_02/","title":"jkk_dataset_02","text":"

The log data is in .mcap format, the standard logging format for ROS 2. MCAP is an open source container file format for multimodal log data. It supports multiple channels of timestamped pre-serialized data, and is ideal for use in pub/sub or robotics applications.

"},{"location":"dataset/jkk_dataset_02/#getting-started","title":"Getting started","text":""},{"location":"dataset/jkk_dataset_02/#download-the-mcap-bag-files","title":"Download the mcap (bag) files","text":"

Download every MCAP as a ZIP

Download a sample MCAP

You can instanly view the data in Foxglove Studio (Free, online or on ay platform).

"},{"location":"dataset/jkk_dataset_02/#python-scripts-for-mcap","title":"Python scripts for MCAP","text":"

One of the easiest way to getting started with the dataset is to look at the examples:

MCAP scripts examples

Further MCAP in python notebook

Important note

MCAP is ROS 2 agnostic, and can be used in any Python project, but rosbag2-api does rely on ROS2. Use mcap-ros2-support which is not dependent on ROS 2.

Python MCAP ROS2 support package (mcap-ros2-support) provides ROS2 support for the Python MCAP file format reader. It has no dependencies on ROS2 itself or a ROS 2 environment, and can be used in any Python project.

On windows / linux / mac install the following packages:

pip install mcap mcap-ros2-support matplotlib numpy pandas scipy\n
"},{"location":"dataset/jkk_dataset_02/#dataset-description","title":"Dataset description","text":"Route Name Description Terrain nissan_zala_90_country_road_1 road section flat - no hills nissan_zala_90_country_road_2 longer stretches of highway, slight bends, some roundabouts hilly road nissan_zala_50_sagod slightly winding roads with some sharper turns 1 slight uphill nissan_zala_50_zeg_1 mostly going in one direction, interrupted by roundabouts, continuous going flat - no hills nissan_zala_50_zeg_2 roundabouts, bends, stationary situations (due to traffic) flat - no hills nissan_zala_50_zeg_3 square bends with parking flat - no hills nissan_zala_50_zeg_4 winding flat - no hills nissan_zala_90_mixed dynamic, city and country road mostly flat, last about 10m hilly"},{"location":"dataset/jkk_dataset_02/#usage-in-ubuntu-windows-wsl","title":"Usage in Ubuntu / Windows WSL","text":""},{"location":"dataset/jkk_dataset_02/#install-mcap","title":"Install mcap:","text":"
pip install mcap\n
"},{"location":"dataset/jkk_dataset_02/#download-dataset-eg-to-mntcbagjkkds02","title":"Download dataset, e.g. to /mnt/c/bag/jkkds02/:","text":"
cd /mnt/c/bag/jkkds02/\n
wget https://laesze-my.sharepoint.com/:u:/g/personal/herno_o365_sze_hu/EVofDCG_ORZJh--XTVLFsFEBOUYB1eAbHAzdTVDdf19Y9g?download=1 -O jkkds02.zip\n

Make sure you have unzip (sudo apt-get install unzip) and:

unzip jkkds02.zip\n
"},{"location":"dataset/jkk_dataset_02/#some-images","title":"Some images","text":""},{"location":"dataset/jkk_dataset_03/","title":"jkk_dataset_03","text":"

This dataset contains the raw data of naturalistic driving, utilized for Human-Like Behavior studies of Automated Vehicles (HLB4AV).

The zipped measurements can be downloaded from the following link. Download from here. To access the original files, along with the labelling traffic data, click here: Access data.

The data contains information of 17 drivers, who were selected to have relevant driving experience. Dr001-Dr003 are professional drivers who have extra driving certificate. The following table shows the details of participants:

Driver ID Type Age Driving Experience Driving Frequency Milage per year 001 P 31 10+ 3 4 002 P 32 10+ 3 4 003 P 28 10+ 3 5 004 N-P 31 10+ 4 5 005 N-P 46 10+ 4 4 006 N-P 25 6-10 2 2 007 N-P 29 10+ 3 3 008 N-P 28 3-6 2 3 009 N-P 28 1-3 1 2 010 N-P 43 10+ 4 4 011 N-P 31 10+ 3 3 012 N-P 44 10+ 3 3 013 N-P 52 10+ 4 4 014 N-P 36 10+ 4 5 015 N-P 32 10+ 3 4 021 N-P 51 10+ 4 5 023 N-P 39 10+ 2 3

Explanation to notations: - P: Professional, N-P: Non-Professional - Driving Frequency: 1: few times a year, 2: few times a month, 3: few times a week, 4: every day. - Driving Milage per year: 1: 0-1000km, 2: 1000-3000km, 3: 5000-10000km, 4: 10000-25000km, 5: more than 25000km.

The dataset uses the following coordinate system of the vehicle:

Even though the data is recorded considering only two dimensional movement, the Z axis is displayed to give the right explanation of the yaw rate signal. Always, positive direction of a rotational quantity means CCW direction.

"},{"location":"dataset/jkk_dataset_03/#reference-platform","title":"Reference Platform","text":"

Data was recorded using two different vehicle platforms.

The reference platform is a dedicated test vehicle, equipped with multiple environment sensors, also with direct access to the CAN network of the vehicle. The type of the vehicle is a Volkswagen Golf VII Variant, with a 1.4 TSI engine and 7-shift automatic gearbox.

There are various sensor devices in this vehicle: - Genesys ADMA Gen3 (DGPS), source: ADMA 3.0 Technical Documentation, Document revision: 1.9, Date: 02/2019. Device includes the sensing of vehicle kinematic states. - Bosch Second Generation Multi-Purpose Camera (MPC2.5), including lane edge detection. - Bosch Fourth Generation Radar sensor, including object detection in ego lane and the two neighbouring lanes. - CAN data, steering torque and steering angle values.

Reference Platform was used for measurements with Driver 1, 2 and 3 (professional drivers).

"},{"location":"dataset/jkk_dataset_03/#test-platform","title":"Test Platform","text":"

The test platform is a vehicle which is used when nonprofessional drivers are measured. The test vehicle is a Skoda Octavia MK3, with automatic gearbox. The vehicle systems were not modified, and no driver-assistance function was activated during testing. This vehicle was only equipped with the Genesys ADMA Gen3 (DGPS) device. The lane position information was reconstructed from the static lane map and the localization of the vehicle.

"},{"location":"dataset/jkk_dataset_03/#offline-calculations","title":"Offline Calculations","text":""},{"location":"dataset/jkk_dataset_03/#static-lane-map","title":"Static Lane Map","text":"

Based on the reference measurements, the lane map of the test route was created. For this, the lane position provided by the video camera was used. The lane position accuracy has +/- 2cm, while the localization has accuracy of +/- 1 cm.

The camera provides information of the position of the lane edges at each sample time. The following information are provided: - lane position ($d$) - lane orientation ($\\Theta$) - lane curvature ($\\kappa$). These data are then interpolated to a resolution of 5 cm travel distance through the route, using MATLAB function spline. Also, the lane edge position are transformed to the global UTM coordinates considering the pose of the vehicle. In the end, the map data contains high resolution geometry of the lane edges and also the higher level geometrical quantities (orientation and curvature).

"},{"location":"dataset/jkk_dataset_03/#lane-reconstruction","title":"Lane Reconstruction","text":"

For the test platform, the static lane map information is transferred back to the vehicle coordinate frame at each time sample. This replaced the video camera information, therefore the lane position of the test vehicle is available, with an accuracy of +/- 3 cm. Unfortunately, the dynamic information (e.g., other objects in the lane) are not available for the test platform.

"},{"location":"dataset/jkk_dataset_03/#dash-cam-data","title":"Dash-cam data","text":"

For multiple drivers' data (currently noted by \"_withTraffic\" tag in the file name) a dash cam video is available. This video is not applicable to use for e.g., computer vision algorithms, but serve more as an informal source of traffic data. However, by manual labelling the following information were added to the data: 1. Oncoming traffic time to pass: when a vehicle appears on the camera image, a timer starts to count down from a certain initial value, until the vehicle passes the test vehicle. Initial value is 2.38 seconds for small vehicles (higher preceeding speed) and 3.38 seconds for trucks (lower preceeding speed). Times were calculated based on the experiments. When there is no oncoming traffic detected, time-to-pass is set to 2.38 seconds, reflecting the fact that a vehicle may turn up in any minute. Therefore, drivers are assumed to be prepared as there would already be oncoming traffic. When a vehicle is followed, the initial value is decreased to the half for both types of vehicles. 2. Oncoming traffic type: 0: no oncoming traffic, 1: small vehicle, 2: truck and 3: convoy.

An example of a convoy, passing the ego vehicle is shown here:

The same scenario on the dash cam video (snippets cut by hand):

Please be noted, that this information is added manually, therefore not suitable for quantitative evaluation, only qualitative!

"},{"location":"dataset/jkk_dataset_03/#summary-of-signals","title":"Summary of Signals","text":"Signal Name Description Unit Range Availability Source VelocityX Longitudinal velocity of the vehicle m/s 0 - 40 both platforms ADMA SteeringTorque Torque applied by the driver on the steering wheel Nm +/-3 reference platforms CAN LaneOrientation Orientation of the mid-lane in the ego frame (positive: CW, negative: CCW) rad +/- 0.1 both platforms Camera LaneEdgePositionRight Position of the lane edge of the ego lane on right side (positive: left, negative: right) m +/- 2 both platforms Camera LaneEdgePositionLeft Position of the lane edge of the ego lane on left side (positive: left, negative: right) m +/- 2 both platforms Camera LaneCurvature Curvature of the lane in the vehicle position 1/m +/- 0.005 both platforms Camera ObjectDistanceFront Distance of the vehicle in the ego lane (if no vehicle is present, value is zero) m 0-250 m reference platforms Radar ObjectVelocityFront Absolute velocity of the vehicle in the ego lane (if no vehicle is present, value is zero) m/s 0-40 reference platforms Radar ObjectAccelerationFront Absolute acceleration of the vehicle in the ego lane (if no vehicle is present, value is zero) m/s^2 +/- 10 reference platforms Radar YawRate Yawrate of the vehicle around the Z axis rad/s +/- 0.1 both platforms ADMA AccelerationX Longitudinal acceleration of the vehicle m/s^2 +/- 10 both platforms ADMA AccelerationY Longitudinal acceleration of the vehicle m/s^2 +/- 10 both platforms ADMA RoadWheelAngleFront Road-wheel-angle of the front wheels rad +/- 0.1 reference platforms CAN GPS_time Global GPS time ms - both platforms ADMA GPS_status Global GPS status enum 1: GPS, 2: RTK float, 4: RTK_course, 8: RTK_Fixed both platforms ADMA LongPos_abs Global longitudinal position of the vehicle \u00b0 - both platforms ADMA LatPos_abs Global lateral position of the vehicle \u00b0 - both platforms ADMA Relative_time Relative time stamp to the beginning of the measurement s - both platforms ADMA

The data is recorded in every 10 ms. Localization information is available at every 50 ms.

"},{"location":"dataset/jkk_dataset_03/#github-repo","title":"GitHub repo","text":"

The following repository contains algorithms for driver model analysis and prototypes for ADAS functions endowed with human-like features.

github.com/gfigneczi1/hlb

The following scripts are used for the data process:

  • Lane reconstruction from reference data: Run segmentor profile \"MapValidation\" and evaluator profile \"MapValidation\", based on this description:

Evaluation description

Place the raw mat files (without the map data) into the _temp folder.

  • Traffic information for which dash-cam video is available:

Traffic label procession

In this case, you shall define the path of the corresponding xlsx file that contains the relevant traffic information.

  • Standardize names for the proper storing:

Standardize names

  • Merge data for drivers where multiple short runs are available:

Merge data

For this script, you shall also store all unmerged data in the _temp folder.

"},{"location":"home/about/","title":"About us","text":"
  • Gy\u0151r, Hungary, Europe
  • Sz\u00e9chenyi University IS Building 2nd floor
  • +36 96 613 680
  • jkk@sze.hu
  • jkk.sze.hu
  • youtube.com/jkk-sze-research
"},{"location":"home/social/","title":"Social media","text":"
  • youtube.com/jkk-sze-research
  • instagram.com/jkk.sze
  • youtube.com/szenergyteam
  • instagram.com/szenergyteam
"},{"location":"home/videos/","title":"Videos","text":""},{"location":"papers/","title":"Papers overview","text":"
  • Curve Trajectory Model for Human Preferred Path Planning of Automated Vehicles - Gerg\u0151 Ign\u00e9czi, Ern\u0151 Horv\u00e1th, Roland T\u00f3th, Krisztian Nyilas - Springer Automotive Innovation PDF 2024
  • Deep Learning-Based Approach for Autonomous Vehicle Localization: Application and Experimental Analysis - Norbert Mark\u00f3, Ern\u0151 Horv\u00e1th, Istv\u00e1n Szalay, Kriszti\u00e1n Enisz - Machines, vol. 11, no. 12, p. 1079, 2023
  • Network Optimization Aspects of Autonomous Vehicles: Challenges and Future Directions - Rudolf Krecht, Tam\u00e1s Budai, Ern\u0151 Horv\u00e1th, \u00c1kos Kov\u00e1cs, Nobert Mark\u00f3, Mikl\u00f3s Unger - IEEE Network 2023
  • Node Point Optimization for Local Trajectory Planners based on Human Preferences - Gerg\u0151 Ign\u00e9czi, Ern\u0151 Horv\u00e1th - 21st World Symposium on Applied Machine Intelligence and Informatics (SAMI) 2023
  • Real-Time LIDAR-Based Urban Road and Sidewalk Detection for Autonomous Vehicles - Ern\u0151 Horv\u00e1th,Claudiu Radu Pozna, Mikl\u00f3s Unger - Sensors, vol. 22, no. 1, p. 194, 2022
  • A Clothoid-based Local Trajectory Planner with Extended Kalman Filter - Gerg\u0151 Ign\u00e9czi, Ern\u0151 Horv\u00e1th - IEEE 20th Jubilee World Symposium on Applied Machine Intelligence and Informatics (SAMI) 2022, Poprad, Slovakia
  • Hybrid Particle Filter-Particle Swarm Optimization Algorithm and Application to Fuzzy Controlled Servo Systems - Claudiu Pozna, Radu-Emil Precup, Ern\u0151 Horv\u00e1th, Emil M. Petriu - IEEE Transactions on Fuzzy Systems, 2022
  • Implementation of a self-developed Model Predictive Control Scheme for Vehicle Parking Maneuvers - Gerg\u0151 Ign\u00e9czi, Ern\u0151 Horv\u00e1th, D\u00e1niel Pup - The 1st ISTRC Annual Conference, PDF 2021, Tel Aviv, Israel
  • Case Study on the Tactical Level of an Autonomous Vehicle Control - Claudiu Radu Pozna, Csaba Antonya, Ern\u0151 Horv\u00e1th - International Conference on Electrical, Computer, Communications and Mechatronics Engineering (ICECCME), 2021, Mauritius, Mauritius
  • Clothoid-based Trajectory Following Approach for Self-driving vehicles - Ern\u0151 Horv\u00e1th, Claudiu Radu Pozna - IEEE 19th World Symposium on Applied Machine Intelligence and Informatics (SAMI), 2021, Herl'any, Slovakia, Virtual
  • Development of Point-cloud Processing Algorithm for Self-Driving Challenges - Mikl\u00f3s Unger, Ern\u0151 Horv\u00e1th, P\u00e9ter K\u0151r\u00f6s - IEEE International Conference on Intelligent Engineering Systems (INES), 2020, Reykjav\u00edk, Iceland, Virtual
  • Self-Driving Vehicle Sensors from One-Seated Experimental to Road-legal Vehicle - P\u00e9ter K\u0151r\u00f6s, G\u00e1bor Szak\u00e1llas, P\u00e9ter Guly\u00e1s, Zolt\u00e1n Pusztai, Zolt\u00e1n Szeli, Ern\u0151 Horv\u00e1th - IEEE International Conference on Intelligent Engineering Systems (INES), 2020, Reykjav\u00edk, Iceland, Virtual
  • Improving the efficiency of neural networks with virtual training data - J\u00e1nos Holl\u00f3si, Rudolf Krecht, Norbert Mark\u00f3, \u00c1ron Ballagi - Hungarian Journal of Industry and Chemistry, Self-Driving Vehicles Special Issue, PDF 2020, Hungary
  • Theoretical background and application of multiple goal pursuit trajectory follower - Ern\u0151 Horv\u00e1th, Claudiu Radu Pozna, P\u00e9ter K\u0151r\u00f6s, Csaba Hajdu, \u00c1ron Ballagi - Hungarian Journal of Industry and Chemistry, Self-Driving Vehicles Special Issue, PDF 2020, Hungary
  • LIDAR-based Collision-Free Space Estimation Approach - Mikl\u00f3s Unger, Ern\u0151 Horv\u00e1th, Csaba Hajdu - Hungarian Journal of Industry and Chemistry, Self-Driving Vehicles Special Issue, PDF 2020, Hungary
  • Towards System-Level Testing with Coverage Guarantees for Autonomous Vehicles - Istv\u00e1n Majzik, Oszk\u00e1r Semer\u00e1th, Csaba Hajdu, Krist\u00f3f Marussy, Zolt\u00e1n Szatm\u00e1ri, Zolt\u00e1n Micskei, Andr\u00e1s V\u00f6r\u00f6s, Aren A. Babikian, D\u00e1niel Varr\u00f3 - ACM/IEEE 22nd International Conference on Model Driven Engineering Languages and Systems (MODELS) 2019, Munich, Germany
  • Range Sensor-based Occupancy Grid Mapping with Signatures - Ern\u0151 Horv\u00e1th, Csaba Hajdu, Claudiu Radu Pozna, \u00c1ron Ballagi - 20th International Carpathian Control Conference (ICCC), 2019, Krakow-Wieliczka, Poland
  • Novel Pure-Pursuit Trajectory Following Approaches and their Practical Applications - Ern\u0151 Horv\u00e1th, Csaba Hajdu and Peter K\u0151r\u00f6s - 10th IEEE International Conference on InfoCommunications 2019, Naples, Italy
  • Improve the Accuracy of Neural Networks using Capsule Layers - J\u00e1nos Holl\u00f3si, Claudiu Radu Pozna - IEEE 18th International Symposium on Computational Intelligence and Informatics (CINTI), 2018, Budapest, Hungary
"},{"location":"workshops/","title":"Workshops overview","text":""},{"location":"workshops/#20240608-gyor-ros-2","title":"2024.06.08 Gy\u0151r ROS 2","text":"

During the workshop F1/10 based simulation was presented based on ROS 2 Humble.

"},{"location":"workshops/#20240418-kempten-ros-2","title":"2024.04.18 Kempten ROS 2","text":"

During the workshop F1/10 hands-on session was presented based on ROS 2 Humble.

"},{"location":"workshops/#20231103-gyor-ros-1","title":"2023.11.03 Gy\u0151r ROS 1","text":"

During the workshop a very simple wall following approach was presented with hands-on experinece on a real robot.

"},{"location":"workshops/clustering_a/","title":"Workshop on ROS 2 LIDAR clustering","text":"

This short workshop will guide you through filtering LIDAR data into objects. Objects could be pedestrians, cars, buildings, and so on. This workshop is ROS 2 compatible.

"},{"location":"workshops/clustering_a/#requirements-high-level-overview","title":"Requirements (high-level overview)","text":"
  1. ROS 2 Humble: \ud83d\udfe0 see previous workshops or docs.ros.org/en/humble/Installation.html
  2. A log file with raw LIDAR data (MCAP format) \u2705
  3. The patchworkpp package to filter out the ground plane \u2705
  4. The lidar_cluster package to perform the clustering \u2705
"},{"location":"workshops/clustering_a/#video-overview","title":"Video overview","text":"

The following screen recording demonstrates the steps involved:

"},{"location":"workshops/clustering_a/#step-1-download-the-raw-data","title":"Step 1. - Download the raw data","text":"

In order to cluster LIDAR data, first you need - no surprise - LIDAR data. Use any of the following 3 options.

"},{"location":"workshops/clustering_a/#option-a-download-our-mcap-from-the-link-below","title":"Option A. - Download our MCAP from the link below","text":"

Download MCAP [~540MB]

In our examples the .mcap file is going to be saved in /mnt/c/bag/. If you want to use another directory, please change it accordingly.

"},{"location":"workshops/clustering_a/#option-b-download-our-mcap-through-your-terminal","title":"Option B. - Download our MCAP through your terminal","text":"Don't forget to change directory first. In our case `/mnt/c/bag/` is used as a final destination: 
cd /mnt/c/bag/\n
wget https://laesze-my.sharepoint.com/:u:/g/personal/herno_o365_sze_hu/Eclwzn42FS9GunGay5LPq-EBA6U1dZseBFNDrr6P0MwB2w?download=1  -O lexus3-2024-04-05-gyor.mcap\n
"},{"location":"workshops/clustering_a/#option-c-use-your-own-mcap","title":"Option C. - Use your own MCAP","text":"

You can use your own MCAP, but in that case, you may need to change following:

  • The LIDAR topic
    • In our examples it's /lexus3/os_center/points
  • LIDAR frame
    • In our examples it's lexus3/os_center_a_laser_data_frame

Never forget to update these in later steps if you use your own MCAP.

"},{"location":"workshops/clustering_a/#check-your-raw-data","title":"Check your raw data","text":"

Play your bag using the following command (or however you wish): 

ros2 bag play /mnt/c/bag/lexus3-2024-04-05-gyor.mcap -l\n

Info

The -l option in the play command loops the mcap file.

Success

If everything works as expected you should see a bunch of topics in another terminal Topics In another terminal issue the command: 

ros2 topic list\n
You should see a similar list of topics:

/clock\n/events/read_split\n/lexus3/gps/duro/current_pose\n/lexus3/gps/duro/imu\n/lexus3/gps/duro/mag\n/lexus3/gps/duro/navsatfix\n/lexus3/gps/duro/status_flag\n/lexus3/gps/duro/status_string\n/lexus3/gps/duro/time_diff\n/lexus3/gps/duro/time_ref\n/lexus3/os_center/points\n/lexus3/os_left/points\n/lexus3/os_right/points\n/lexus3/zed2i/zed_node/left/image_rect_color/compressed\n/parameter_events\n/rosout\n/tf\n/tf_static

Also there must be at least one sensor_msgs/msg/PointCloud2, check with: 

 ros2 topic type /lexus3/os_center/points\n
Result: 
sensor_msgs/msg/PointCloud2\n

"},{"location":"workshops/clustering_a/#step-2-install-ros-2-packages","title":"Step 2. - Install ROS 2 packages","text":"

Info

If you don't have the ~/ros2_ws/ directory already, create it with the following command: 

mkdir -p ~/ros2_ws/src\n
If you have your own workspace, make sure to update the paths accordingly in the following steps.

"},{"location":"workshops/clustering_a/#clone-patchworkpp-package","title":"Clone patchworkpp package","text":"

patchwork-plusplus-ros is ROS 2 package of Patchwork++ (@ IROS'22), which provides fast and robust LIDAR ground segmentation. We recommend the JKK research fork which contains some improvements, alternatively you can use the original KAIST version. 

cd ~/ros2_ws/src\n
git clone https://github.com/jkk-research/patchwork-plusplus-ros\n
or 
git clone https://github.com/url-kaist/patchwork-plusplus-ros -b ROS2\n

"},{"location":"workshops/clustering_a/#clone-lidar_cluster-package","title":"Clone lidar_cluster package","text":"
cd ~/ros2_ws/src\n
git clone https://github.com/jkk-research/lidar_cluster_ros2\n
"},{"location":"workshops/clustering_a/#build-the-packages","title":"Build the packages","text":"
cd ~/ros2_ws\n
colcon build --packages-select patchworkpp lidar_cluster --symlink-install\n
"},{"location":"workshops/clustering_a/#step-3-run","title":"Step 3. - Run","text":""},{"location":"workshops/clustering_a/#what-to-expect","title":"What to expect","text":"
graph TD;\n\n    p1[ /lexus3/os_center/points<br/>sensor_msgs::PointCloud2]:::white --> patchwork([ /patchwork_node]):::light\n    patchwork --> p\n    p[ /nonground<br/>sensor_msgs::PointCloud2]:::white --> cluster([ /cluster_node]):::light\n    cluster --> f1[ /clustered_points<br/>sensor_msgs::PointCloud2]:::white\n    cluster --> f2[ /clustered_marker<br/>visualization_msgs::MarkerArray]:::white\n    classDef light fill:#34aec5,stroke:#152742,stroke-width:2px,color:#152742  \n    classDef dark fill:#152742,stroke:#34aec5,stroke-width:2px,color:#34aec5\n    classDef white fill:#ffffff,stroke:#152742,stroke-width:2px,color:#15274\n    classDef dash fill:#ffffff,stroke:#152742,stroke-width:2px,color:#15274, stroke-dasharray: 5 5\n    classDef red fill:#ef4638,stroke:#152742,stroke-width:2px,color:#fff
Don't forget to source before ROS commands. 
source ~/ros2_ws/install/setup.bash\n
ros2 bag play /mnt/c/bag/lexus3-2024-04-05-gyor.mcap -l\n

ros2 launch patchworkpp demo.launch.py  cloud_topic:=/lexus3/os_center/points cloud_frame:=lexus3/os_center_a_laser_data_frame\n
Use one of the following clustering algorithms:

ros2 launch lidar_cluster dbscan_spatial.launch.py\n
DBSCAN (Density-Based Spatial Clustering of Applications with Noise) is a non-grid based clustering algorithm. On a modern 6-core CPU or better, you can expect a performance of at least 10 Hz. 

ros2 launch lidar_cluster euclidean_spatial.launch.py\n
Non-grid clustering based on euclidean distance. On a modern 6-core CPU or better, you can expect a performance of at least 5 Hz. 

ros2 launch lidar_cluster euclidean_grid.launch.py\n
Voxel grid based clustering based on euclidean distance. On a modern 6-core CPU or better, you can expect a performance of at least 100 Hz. 

ros2 launch lidar_cluster rviz02.launch.py\n

Success

If everything works as expected you should see a similar rviz window.

"},{"location":"workshops/control_sim/","title":"Control simulation","text":""},{"location":"workshops/control_sim/#ros-2-sim_wayp_plan_tools-package","title":"ROS 2 sim_wayp_plan_tools package","text":"

Gazebo Fortress ROS 2 simulation for the waypoint and planner tools.

"},{"location":"workshops/control_sim/#requirements","title":"Requirements","text":"
  • ROS 2 Humble: docs.ros.org/en/humble/Installation.html
  • Gazebo Fortress: gazebosim.org/docs/fortress/install_ubuntu, read more about integration: gazebosim.org/docs/fortress/ros2_integration
  • ros-gz-bridge install with a single command: sudo apt install ros-humble-ros-gz-bridge
"},{"location":"workshops/control_sim/#packages-and-build","title":"Packages and build","text":"

It is assumed that the workspace is ~/ros2_ws/.

"},{"location":"workshops/control_sim/#clone-the-packages","title":"Clone the packages","text":"
cd ~/ros2_ws/src && \\\ngit clone https://github.com/jkk-research/wayp_plan_tools && \\\ngit clone https://github.com/jkk-research/sim_wayp_plan_tools\n
"},{"location":"workshops/control_sim/#build-ros-2-packages","title":"Build ROS 2 packages","text":"

cd ~/ros2_ws\n
colcon build --packages-select wayp_plan_tools sim_wayp_plan_tools --symlink-install\n

"},{"location":"workshops/control_sim/#usage-of-wayp_plan_tools-as-a-simulation","title":"Usage of wayp_plan_tools as a simulation","text":""},{"location":"workshops/control_sim/#1-start-the-simulation","title":"1. Start the simulation","text":"
ign gazebo -v 4 -r ackermann_steering.sdf\n
"},{"location":"workshops/control_sim/#2-start-the-gazebo-bridge","title":"2. Start the Gazebo bridge","text":"

Don't forget to source before ROS commands.

source ~/ros2_ws/install/local_setup.bash\n
ros2 launch sim_wayp_plan_tools gazebo_bridge.launch.py\n

In the background this launch file starts nodes similar to:

ros2 run ros_gz_bridge parameter_bridge /world/ackermann_steering/pose/info@geometry_msgs/msg/PoseArray[ignition.msgs.Pose_V\nros2 run ros_gz_bridge parameter_bridge /model/vehicle_blue/cmd_vel@geometry_msgs/msg/Twist]ignition.msgs.Twist\nros2 run ros_gz_bridge parameter_bridge /model/vehicle_blue/odometry@nav_msgs/msg/Odometry[ignition.msgs.Odometry --ros-args -r /model/vehicle_blue/odometry:=/odom\n
More about the bridge here: github.com/gazebosim/ros_gz/blob/ros2/ros_gz_bridge/README.md

Also this launch creates /tf from the PoseArray with pose_arr_to_tf.

"},{"location":"workshops/control_sim/#optional-teleoperation-via-keyboard","title":"Optional: teleoperation via keyboard","text":"
ros2 run teleop_twist_keyboard teleop_twist_keyboard --ros-args -r /cmd_vel:=/model/vehicle_blue/cmd_vel\n
"},{"location":"workshops/control_sim/#3-load-waypoints","title":"3. Load waypoints","text":"

Use you ROS 2 workspace as file_dir: 

ros2 run wayp_plan_tools waypoint_loader --ros-args -p file_name:=sim_waypoints1.csv -p file_dir:=$HOME/ros2_ws/src/sim_wayp_plan_tools/csv -r __ns:=/sim1\n
Or simply with default parameters:

ros2 launch sim_wayp_plan_tools waypoint_loader.launch.py\n
"},{"location":"workshops/control_sim/#4-waypoint-to-target","title":"4. Waypoint to target","text":"

ros2 run wayp_plan_tools waypoint_to_target --ros-args -p lookahead_min:=2.5 -p lookahead_max:=4.5 -p mps_alpha:=1.5 -p mps_beta:=3.5 -p waypoint_topic:=waypointarray -p tf_frame_id:=base_link -p tf_child_frame_id:=map -r __ns:=/sim1\n
Or simply with default parameters:

ros2 launch sim_wayp_plan_tools waypoint_to_target.launch.py\n
"},{"location":"workshops/control_sim/#5-start-a-control","title":"5. Start a control","text":"

There are some options:

  • single_goal_pursuit: Pure pursuit (for vehicles / robots), a simple cross-track error method
  • multiple_goal_pursuit: Multiple goal pursuit for vehicles / robots an implementation of our paper
  • stanley_control: Stanley controller, a heading error + cross-track error method
  • follow_the_carrot: Follow-the-carrot, the simplest controller

This is a pure pursuit example:

ros2 run wayp_plan_tools single_goal_pursuit --ros-args -p cmd_topic:=/model/vehicle_blue/cmd_vel -p wheelbase:=1.0 -p waypoint_topic:=targetpoints -r __ns:=/sim1\n
Or simply with default parameters:

ros2 launch sim_wayp_plan_tools single_goal_pursuit.launch.py\n
"},{"location":"workshops/control_sim/#6-visualize-results-in-rviz2","title":"6. Visualize results in RViz2","text":"
ros2 launch sim_wayp_plan_tools rviz1.launch.py\n
"},{"location":"workshops/control_sim/#or-run-everything-with-a-single-command","title":"Or run everything with a single command","text":"

After ign gazebo -v 4 -r ackermann_steering.sdf (terminal 1) and source ~/ros2_ws/install/local_setup.bash (terminal 2), run this command (also in terminal 2): 

ros2 launch sim_wayp_plan_tools all_in_once.launch.py\n

"},{"location":"workshops/control_sim/#evaluation","title":"Evaluation","text":"

The following image shows some example runs:

"},{"location":"workshops/control_sim/#troubleshoot","title":"Troubleshoot","text":"

Kill ign gazebo server if stuck:

ps aux | grep ign\n
ab  12345 49.9  1.2 2412624 101608 ?      Sl   08:26  27:20 ign gazebo server\nab  12346  518  6.6 10583664 528352 ?     Sl   08:26 283:45 ign gazebo gui\nab  12347  0.0  0.0   9396  2400 pts/2    S+   09:21   0:00 grep --color=auto ign\n

Once you have identified the PID, use the kill command followed by the PID to terminate the process. For example:

kill 12345\n
"},{"location":"workshops/f1tenth_real_a/","title":"ROS 2 F1/10 hands-on workshop","text":"
  • A small overview of the Bavarian-Hungarian Self-driving vehicles workshop.
  • Date: 2024.06.08.
  • Place: Gy\u0151r, Hungary.
"},{"location":"workshops/f1tenth_real_a/#a-ros-2-package","title":"A ROS 2 package","text":""},{"location":"workshops/f1tenth_real_a/#hands-on","title":"Hands-on","text":"

ROS 2 humble

"},{"location":"workshops/f1tenth_sim_a/","title":"ROS 2 F1/10 Wheeltec Gazebo simulation workshop","text":"

The workshop is ROS 2 compatible

"},{"location":"workshops/f1tenth_sim_a/#video","title":"Video","text":""},{"location":"workshops/f1tenth_sim_a/#requirements-high-level","title":"Requirements (high-level)","text":"
  1. ROS 2 Humble: \ud83d\udfe0 see previous workshops or docs.ros.org/en/humble/Installation.html
  2. Gazebo Fortress: \u2705 current workshop gazebosim.org/docs/fortress/install_ubuntu
  3. ROS gz bridge: \u2705 current workshop, ROS integration. Install with a single command: sudo apt install ros-humble-ros-gz-bridge, gazebosim.org/docs/fortress/ros2_integration
  4. Build and run custom worlds and models \u2705 current workshop (e.g. F1/10 / Wheeltec, Roboworks)
Official F1/10 vehicle vs Wheeltec Roboworks Ackermann Rosbot mini vehicle"},{"location":"workshops/f1tenth_sim_a/#binary-installation-on-ubuntu","title":"Binary Installation on Ubuntu","text":"

Fortress binaries are provided for Ubuntu Bionic, Focal and Jammy. All of the Fortress binaries are hosted in the osrfoundation repository. To install all of them, the metapackage ignition-fortress can be installed. The following is based on gazebosim.org/docs/fortress/install_ubuntu.

First install some necessary tools:

sudo apt-get update\n
sudo apt-get install lsb-release wget gnupg\n

Then install Ignition Fortress:

sudo wget https://packages.osrfoundation.org/gazebo.gpg -O /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg\n
echo \"deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main\" | sudo tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null\n
sudo apt-get update\n
sudo apt-get install ignition-fortress\n

All libraries should be ready to use and the ign gazebo app ready to be executed.

"},{"location":"workshops/f1tenth_sim_a/#gazebo-fortress-ros-2-integration","title":"Gazebo Fortress ROS 2 integration","text":"

Issue the following command:

sudo apt install ros-humble-ros-gz-bridge\n
"},{"location":"workshops/f1tenth_sim_a/#additional-settings-to-wsl2","title":"Additional settings to WSL2","text":"

Warning - WSL2

There is an issue, which can be set even in ~/.bashrc:

export LIBGL_ALWAYS_SOFTWARE=1\n

Set it in ~/.bashrc: 

echo \"export LIBGL_ALWAYS_SOFTWARE=1\" >> ~/.bashrc\n

Don't forget to source bashrc. 
source ~/.bashrc\n

After new terminal or source:

echo $LIBGL_ALWAYS_SOFTWARE\n

should print 1. Alternatively 

cat ~/.bashrc | grep LIBGL\n
should print the line.

"},{"location":"workshops/f1tenth_sim_a/#check-the-installation","title":"Check the installation","text":"

Success

Now the ign gazebo should work and the ros2 commands should be available.

Try at least one of the following commands:

ign gazebo\n
ign gazebo -v 4 -r ackermann_steering.sdf\n
ign gazebo shapes.sdf\n

ign param --versions\n
"},{"location":"workshops/f1tenth_sim_a/#packages-and-build","title":"Packages and build","text":"

Detailed description of the packages and build process.

It is assumed that the workspace is ~/ros2_ws/.

cd ~/ros2_ws/src\n
git clone https://github.com/rudolfkrecht/robotverseny\n
"},{"location":"workshops/f1tenth_sim_a/#build","title":"Build","text":"
cd ~/ros2_ws\n
colcon build --symlink-install --packages-select robotverseny_application robotverseny_description robotverseny_bringup robotverseny_gazebo
"},{"location":"workshops/f1tenth_sim_a/#run","title":"Run","text":"Don't forget to source before ROS commands. 
source ~/ros2_ws/install/setup.bash\n
ros2 launch robotverseny_bringup roboworks.launch.py\n
"},{"location":"workshops/f1tenth_sim_a/#useful-commands","title":"Useful commands","text":"

Publish command topic: 

ros2 topic pub --once /roboworks/cmd_vel geometry_msgs/msg/Twist \"{linear: {x: 2.5, y: 0.0, z: 0.0}, angular: {x: 0.0, y: 0.0, z: -0.01}}\"\n

Teleop twist keyboard: 

ros2 run teleop_twist_keyboard teleop_twist_keyboard --ros-args -r /cmd_vel:=/roboworks/cmd_vel\n

Ignition info topic: 

ign topic -i --topic /model/roboworks/cmd_vel\n
Ignition echo topic:

ign topic -et /model/roboworks/cmd_vel\n

Topics:

ros2 topic list\n
Here are the topics. 
/clicked_point\n/clock\n/goal_pose\n/initialpose\n/joint_states\n/parameter_events\n/robot_description\n/roboworks/cmd_vel\n/roboworks/odometry\n/roboworks/scan\n/rosout\n/tf\n/tf_static\n
"},{"location":"workshops/ros2_a/","title":"ROS 2 install","text":""},{"location":"workshops/ros2_a/#ros-2-install-hands-on-workshop","title":"ROS 2 install hands-on workshop","text":"

This document will guide you through the installation process of ROS 2.

This document also served as small overview of the Bavarian-Hungarian Self-driving vehicles workshop. Date: 2024.06.08, place: Gy\u0151r, Hungary.

"},{"location":"workshops/ros2_a/#install-ros-2-video","title":"Install ROS 2 video","text":""},{"location":"workshops/ros2_a/#windows-wsl2","title":"Windows WSL2","text":"

Windows Subsystem for Linux is a compatibility layer for native running of Linux-based elements on Windows 10 or Windows 11-based systems. You should choose to use WSL if you do not want to install native Ubuntu (e.g. 18.04 / 22.04) on your computers.

Steps to install:

  • Run as administrator, open a PowerShell window.
  • Copy the command below. You hereby authorize the use of WSL. 
    Enable-WindowsOptionalFeature -Online -FeatureName Microsoft-Windows-Subsystem-Linux\n
  • Restart the computer by entering the letter Y. (optional)
  • Open the Microsoft Store and search for Windows Subsystem for Linux Preview. Install it.
  • Also search for Ubuntu 22.04 in the Microsoft Store and install or PowerShell (Admin): 
    wsl --install -d Ubuntu-22.04\n
  • For easier handling, it is worth installing the Windows Terminal program as well. Also search for Windows Terminal in the Microsoft Store and install it.
  • Start the Windows Terminal program and open the settings with the Ctrl+, (Control and comma) key combination. Select Ubuntu 22.04 from the drop-down list of the Default Profile setting line.
  • Restart the Windows Terminal. When starting for the first time, enter a user name and password of your choice.
  • We recommend the VS Code editor to develop the solution. Install from: code.visualstudio.com/download
  • Finally, install the VS Code Remote Development add-on to be available using WSL: marketplace.visualstudio.com/items?itemName=ms-vscode-remote.vscode-remote-extensionpack
"},{"location":"workshops/ros2_a/#installation-after-you-have-ubuntu","title":"Installation (after you have Ubuntu)","text":"

ROS 2

ROS 1 versions are only discussed for historical reasons, ROS 2 is recommended for current developments.

ROS 1 is basically supported on Linux systems, although there have been attempts for other operating systems as well. On the other hand, ROS 2 already supports running on native Windows, Mac OS or other Real-Time operating systems. So basically there are four options:

  1. Dual boot, native Linux installed alongside Windows (mostly Ubuntu) \u2705 description
  2. Windows WSL2, lightweight Linux virtual machine \u2705 description
  3. Virtual machine for Windows \ud83d\udfe0
  4. Windows build \ud83d\udfe0

We recommend the first two of these 4 options, but of course the others are not prohibited either. Dual boot provides an insight into the Linux world, which is useful knowledge for an engineer today. Care must be taken during installation, as a wrong setting causes data loss, so a backup is also recommended. WSL (Windows Subsystem for Linux) is a lightweight compatibility layer for running Linux-based components on Windows 10 or Windows 11-based systems. As you can see in the following figure, the Linux kernel can access the hardware elements (CPU, memory, GPU) just as easily as the Windows kernel. Compared to this, the virtual machine (option 3) is a much slower solution that uses more abstraction layers, and is recommended for those who either have a very modern, fast machine or have already installed such systems. The native Windows build (option 4) is a given in principle, but since the majority of the documentation is available for Linux, it will mean a lot of extra work.

Illustration of the first three options:

The following description applies to Ubuntu 22.04 Jammy. Note that other versions are also supported, their installation and descriptions are available here: docs.ros.org/en/humble/Installation/Alternatives.html

The following description is based on docs.ros.org/en/humble/Installation.html.

"},{"location":"workshops/ros2_a/#set-language","title":"Set language","text":"

Note

This step can usually be skipped

Make sure you have a locale that supports UTF-8.

locale # Check for UTF-8\n\nsudo apt update && sudo apt install locales\nsudo locale-gen en_US en_US.UTF-8\nsudo update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8\nexport LANG=en_US.UTF-8\n\ncheck locale # settings\n
"},{"location":"workshops/ros2_a/#set-resources","title":"Set resources","text":"

You need to add the ROS 2 apt repository to your system.

First, make sure the Ubuntu Universe repository is enabled.

sudo apt install software-properties-common\nsudo add-apt-repository universe\n

Add ROS 2 GPG key with apt.

sudo apt update && sudo apt install curl -y\nsudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg\n

Next comes the addition of the container to the source list.

echo \"deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main\" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null\n
"},{"location":"workshops/ros2_a/#install-ros-2-packages","title":"Install ROS 2 packages","text":"

Update:

sudo apt update\n

ROS 2 packages are often built on updated Ubuntu systems. It is always recommended to make sure your system is up-to-date before installing new packages. 

sudo apt upgrade\n

Desktop installation: Installation of ROS, RViz, demos, tutorials: 

sudo apt install ros-humble-desktop\n

Development tools, compilers, and other tools for building ROS packages: 

sudo apt install ros-dev-tools\n

"},{"location":"workshops/ros2_a/#source","title":"Source","text":"

Set up your environment by sourcing the following file:

source /opt/ros/humble/setup.bash\n

Tip: this can also be done in the .bashrc file echo \"source /opt/ros/humble/setup.bash\" >> ~/.bashrc.

"},{"location":"workshops/ros2_a/#check-installation","title":"Check installation","text":"

We check the correctness of the installation with the ros2 topic list command.

$ ros2 topic list\n\n/parameter_events\n/rosout\n

If everything is fine, the above two topics should appear. Then you can learn how to use simple example nodes: docs.ros.org/en/humble/Tutorials/Beginner-CLI-Tools.html

"},{"location":"workshops/ros2_a/#recommended-settings-after-installation","title":"Recommended settings after installation","text":""},{"location":"workshops/ros2_a/#console-colors","title":"Console colors","text":"

By default, the console output is not colored, but it is advisable to set this with the RCUTILS_COLORIZED_OUTPUT environment variable (even written in bashrc). For example:

export RCUTILS_COLORIZED_OUTPUT=1\n

Details: docs.ros.org/en/humble/Tutorials/Demos/Logging-and-logger-configuration.html#id14

"},{"location":"workshops/ros2_a/#colcon_cd","title":"colcon_cd","text":"

It is also advisable to set the colcon_cd command so that you can quickly change your working directory to the directory of a package. As an example, the command colcon_cd some_ros_package can quickly jump to the directory ~/ros2_ws/src/some_ros_package.

Details: docs.ros.org/en/humble/Tutorials/Beginner-Client-Libraries/Colcon-Tutorial.html#setup-colcon-cd

"},{"location":"workshops/ros2_a/#home-laboratory-room-installation","title":"Home / laboratory room installation","text":"

In the lab, we run the following install_humble.sh file (shell script) on each machine.

wget https://raw.githubusercontent.com/sze-info/arj/main/docs/telepites/install_humble.sh\n
sudo chmod +x install_humble.sh\n

At home: 

./install_humble.sh\n
In the laboratory room (campus): 
./install_humble.sh campus\n

"},{"location":"workshops/ros2_a/#workspace-reset","title":"Workspace reset","text":"

If we want to delete the entire ros2_ws, then clone and build it again (~5 minutes), we can do it with the following single long command:

cd ~ ; rm ws_reset.sh; wget https://raw.githubusercontent.com/sze-info/arj/main/docs/telepites/ws_reset.sh; sudo chmod +x ws_reset.sh; ./ws_reset.sh\n
"},{"location":"workshops/ros2_b/","title":"ROS 2 introduction","text":""},{"location":"workshops/ros2_b/#ros-2-intro","title":"ROS 2 intro","text":"

ROS 2, the latest release of ROS, is a set of software libraries and tools (middleware) that help develop robot applications. By definition, middleware is software that connects software components. It is a layer that sits between the operating system and applications on both sides of a distributed computer network. ROS 2 uses the permissive open source Apache 2.0 license.

graph TD;\n\n    u[/Users /]:::light <--> p[/Program/]:::light <--> m\n    m[/Middleware /ROS 2/ /]:::red <--> o[/Operating system/]:::light\n    o <--> h[/Hardware/]:::light\n    classDef light fill:#34aec5,stroke:#152742,stroke-width:2px,color:#152742  \n    classDef dark fill:#152742,stroke:#34aec5,stroke-width:2px,color:#34aec5\n    classDef white fill:#ffffff,stroke:#152742,stroke-width:2px,color:#152742\n    classDef red fill:#ef4638,stroke:#152742,stroke-width:2px,color:#fff

ROS has undergone incremental updates since its release in 2007, so there have been no fundamental changes, but major improvements have been made continuously. In 2017, the robotics community realized that the original 2007 concept has fundamental limitations that unfortunately cannot be improved in such an incremental way. Thus, in the end, Noetic Ninjemys (supported until 2025) is the last release of ROS 1, instead ROS 2 started to be developed in parallel. This also means that it is more difficult to port the previous source codes to the new version, in return we can get a lot of new features, improvements, and support for the robots and vehicles to be developed.

As a result of the above, ROS 2 moved from the world of academic research to industrial use. It is interesting that NASA's VIPER lunar rover also runs ROS 2. It is also used by automotive giants such as Bosch, BMW and Volvo. Many other examples could be given from robotics companies. Links: www.nasa.gov/viper/lunar-operations, rosindustrial.org/ric/current-members, www.bosch.com/stories/bringing-robotics-middleware-onto-tiny-microcontrollers. ROS users in the world: metrorobots.com/rosmap.html.

K\u00e9p forr\u00e1sa: Robot Operating System 2: Design, Architecture, and Uses In The Wild: Steve Macenski et al.

"},{"location":"workshops/ros2_b/#why-should-i-use-a-framework-for-my-robotics-project","title":"Why should I use a framework for my robotics project?","text":"

For our first robotics project, we can choose the path of creating our own solution without a framework. Obviously, this also has advantages (learning, running speed, etc.). But soon we will need an algorithm that has been implemented by others, but is not compatible with the original idea. Here it is advisable to consider using a framework (e.g. ROS 2). Note that ROS 2 is not the only option, there are many similar, smaller frameworks: Player, YARP, Orocos, CARMEN, Orca, MOOS, and Microsoft Robotics Studio. Obviously, all of them have advantages, but in this case, due to the support, we narrow it down to ROS 2.

Image source: ros.org/blog/ecosystem

  • Plumbing: ROS basically provides a messaging system, often called \"middleware\" or \"plumbing\". Communication is one of the first needs that arise when implementing a new robotics application or any software system that is connected to hardware. The built-in and well-tested messaging system of ROS can save time, since it handles the details of communication between decentralized nodes, it does not need to be implemented separately. It is even possible to directly access memory on a machine using intra-process communication.
  • Tools: Developing effective applications requires good development tools. ROS has such tools including: debugging (rqt_console), visualization (Rviz2, Foxglove Studio), plotting (rqt_plot, Foxglove Studio), logging (mcap) and replay.
  • Capabilities: Whether it's a GPS device driver, a gait and balance controller for a quadruped robot, or a mapping system for a mobile robot, ROS has solutions to the problem. From drivers to algorithms to user interfaces, ROS provides the building blocks that allow you to focus on your application.
  • Community: Behind ROS is a large, global and diverse community. From students and hobbyists to multinational companies and government agencies, all segments of people and organizations operate the ROS 2 project. This is also important because a lot of questions will arise during development. Most of these have already been answered by the community, and they are usually happy to answer new questions.

The following figure shows the nodes (programs) and topics (~communication) of a simple line-following robot:

graph TD;\n\n    camd([/cam_driver]):::red --> im1[ /image1<br/>sensor_msgs/Image]:::light\n    im1 --> li1([ /line_detect_node]):::red\n    im1 --> st1([ /stop_detect_node]):::red\n    li1 --> li2[ /line<br/>example_msgs/Line]:::light\n    st1 --> st2[ /stop<br/>example_msgs/Stop]:::light\n    li2 --> nav([ /line_detect_node]):::red\n    st2 --> nav\n    nav --> cmd[ /cmd_vel<br/>geometry_msgs/Twist]:::light\n    cmd --> control([ /robot_control]):::red\n    n1([ /node]):::white -- publishes --> t[ /topic<br/>msg_type]:::white\n    t -- subscribes --> n2([ /node]):::white\n    classDef light fill:#34aec5,stroke:#152742,stroke-width:2px,color:#152742  \n    classDef dark fill:#152742,stroke:#34aec5,stroke-width:2px,color:#34aec5\n    classDef white fill:#ffffff,stroke:#152742,stroke-width:2px,color:#152742\n    classDef red fill:#ef4638,stroke:#152742,stroke-width:2px,color:#fff

Source: Bestmann, Marc & Fakult\u00e4t, Min & Zhang, Jianwei & Hendrich, N.. (2017). Towards Using ROS in the RoboCup Humanoid Soccer League. Masterthesis

Let's look at another example that creates maps from speed data, IMU, and distance data.

graph LR;\n\n    odom[ /odom<br/>nav_msgs/Odometry]:::light --> slam([ /slam_node]):::red\n    speed[ /speed<br/>geometry_msgs/Twist]:::light --> slam\n    imu[ /imu<br/>sensor_msgs/Imu]:::light --> slam\n    scan[ /scan<br/>sensor_msgs/PointCloud2]:::light --> slam\n    n1([ /node]):::white -- publishes --> t[ /topic<br/>msg_type]:::white\n    slam --> pose[ /global_pose<br/>geometry_msgs/Pose]:::light\n    slam --> map_g[ /map_grid<br/>nav_msgs/OccupancyGrid]:::light\n    slam --> map_p[ /map_points<br/>sensor_msgs/PointCloud2]:::light\n    t -- subscribes --> n2([ /node]):::white\n    classDef light fill:#34aec5,stroke:#152742,stroke-width:2px,color:#152742  \n    classDef dark fill:#152742,stroke:#34aec5,stroke-width:2px,color:#34aec5\n    classDef white fill:#ffffff,stroke:#152742,stroke-width:2px,color:#152742\n    classDef red fill:#ef4638,stroke:#152742,stroke-width:2px,color:#fff
"},{"location":"workshops/ros2_b/#ros-2-directory-structure","title":"ROS 2 directory structure","text":"
~/ros2_ws$ ls\n\nbuild  install  log  src\n
graph TD;\n\n    W1{{ Workspace</br>pl. ros2_ws }}:::light --> S1{{ Source space</br>src }}:::white\n    W1 --> B1{{ Build space</br>build }}:::white\n    W1 --> I1{{ Install space</br>install }}:::white\n    W1 --> L1{{ Log space</br>log }}:::white\n    S1 --> P1{{ package1 }}:::white\n    S1 --> P2{{ package2 }}:::white\n    S1 --> P3{{ bundle_packages }}:::white\n    P1 --> LA1{{ launch }}:::white\n    P1 --> SR1{{ src }}:::white\n    P2 --> LA2{{ launch }}:::white\n    P2 --> SR2{{ src }}:::white\n\n    classDef light fill:#34aec5,stroke:#152742,stroke-width:2px,color:#152742  \n    classDef dark fill:#152742,stroke:#34aec5,stroke-width:2px,color:#34aec5\n    classDef white fill:#ffffff,stroke:#152742,stroke-width:2px,color:#152742\n    classDef red fill:#ef4638,stroke:#152742,stroke-width:2px,color:#fff
graph TD;\n\n    W2{{ other_ws }}:::light --> S2{{ src }}:::white\n    W2 --> B2{{ build }}:::white\n    W2 --> I2{{ install }}:::white\n    W2 --> L2{{ log }}:::white\n\n    classDef light fill:#34aec5,stroke:#152742,stroke-width:2px,color:#152742  \n    classDef dark fill:#152742,stroke:#34aec5,stroke-width:2px,color:#34aec5\n    classDef white fill:#ffffff,stroke:#152742,stroke-width:2px,color:#152742\n    classDef red fill:#ef4638,stroke:#152742,stroke-width:2px,color:#fff
~/ros2_ws/\n\u251c\u2500\u2500build  \n\u251c\u2500\u2500install  \n\u251c\u2500\u2500log\n\u2514\u2500\u2500src/\n    \u251c\u2500\u2500 bundle_packages \u2502\u00a0\u00a0 \u251c\u2500\u2500 cone_detection_lidar\n    \u2502\u00a0\u00a0 \u2502\u00a0\u00a0 \u251c\u2500\u2500 launch\n    \u2502\u00a0\u00a0 \u2502\u00a0\u00a0 \u2514\u2500\u2500 src\n    \u2502\u00a0\u00a0 \u251c\u2500\u2500 my_vehicle_bringup\n    \u2502\u00a0\u00a0 \u2502\u00a0\u00a0 \u2514\u2500\u2500 launch\n    \u2502\u00a0\u00a0 \u251c\u2500\u2500 other bundle package1\n    \u2502\u00a0\u00a0 \u251c\u2500\u2500 other bundle package2\n    \u2502\u00a0\u00a0 \u2514\u2500\u2500 img\n    \u2514\u2500\u2500 wayp_plan_tools\n        \u251c\u2500\u2500 csv\n        \u251c\u2500\u2500 launch\n        \u2514\u2500\u2500 src\n
"},{"location":"workshops/ros2_b/#differences-between-ros-1-and-ros-2","title":"Differences between ROS 1 and ROS 2","text":"
  • Changes in Middleware ROS 1 uses Master-Slave architecture and XML-RPC middleware. ROS 2, on the other hand, uses Data Distribution Service (DDS), which provides higher efficiency and reliability, low latency and scalability, as well as configurable quality of service (QoS) parameters. Among other things, you don't have to start `roscore' this way. XML-RPC is better for simple remote procedure calls, while the added complexity of DDS allows it to better support real-time systems.

  • Changes in ROS API ROS 1 has two separate libraries: roscpp for C++ and rospy for Python. They are not exactly identical to each other in terms of functions. In contrast, ROS 2 has a base library written in C - rcl (ROS client library) - on which libraries are built. This ensures that core functionality is available sooner in various APIs. This is one of the main reasons why ROS 2 is able to provide more language support besides the previous Python and C++: for example rclada Ada, rclcpp C++, rclgo Go, rclpy Python, rcljava Java, rclnodejs Node.js, rclobjc Objective C (iOS), rclc C, ros2_rust Rust, ros2_dotnet .NET, ros2cs ros2_dotnet alternative in C#.

  • Changes in data format ROS 2 uses the MCAP format, which is not a dedicated ROS proprietary format, but an open source container file format for multimodal log data. It supports time-stamped pre-queued data and is ideal for use in pub/sub or robotics applications. More: mcap.dev

"},{"location":"workshops/ros2_b/#a-couple-of-useful-updates","title":"A couple of useful updates","text":"
  • Real-time processing The summary of the above functions, as well as the use of DDS, make `ROS 2' well suited for real-time processing, especially when deterministic, low-latency communication is required.
  • QoS: Quality of Service ROS 2 allows you to configure data flow, which affects how data is sent and received. This includes message reliability, deadline, and priority settings that can ensure critical messages are delivered on time.
  • Multi-threaded execution ROS 2 supports truly parallel running of multiple nodes, so modern multi-core processors can be used much better than ROS 1.

Source: husarnet.com/blog/ros2-docker

"},{"location":"workshops/ros2_b/#other-changes","title":"Other changes","text":"
  • Catkin is gone, replaced by Ament (Colcon) as build system. Overlays allow you to create a secondary workspace that does not affect the primary workspace - this is useful when you need to experiment with new packages, but without affecting the base configuration (called an \"underlay\").
  • ROS 2 is not backwards compatible with ROS 1. Consequently, ROS 1 packages will probably not work with ROS 2 and would require reworking, and other software you used to use with ROS 1 will no longer work.
  • ROS 1 is mainly made for Ubuntu. ROS 2 runs on MacOS, Windows, Ubuntu and other (even Real-Time) operating systems.
"},{"location":"workshops/ros2_b/#versions","title":"Versions","text":"

Percentage distribution of distros over time: metrics.ros.org/rosdistro_rosdistro.html

Humble Hawksbill or Humble for short is a long term support (LTS) release, supported for 5 years (May 2022 to May 2027)

Additional releases: docs.ros.org/en/humble/Releases.html

"},{"location":"workshops/ros2_b/#concepts","title":"Concepts","text":""},{"location":"workshops/ros2_b/#nodes","title":"Nodes","text":"

In the simplest terms, node means a ROS program (in other words, node). In the figure, it is marked with a round \ud83d\udd34 symbol. Their characteristics:

  • \"Executables\" (c++ / py).
  • Each node is a \"program\", a separated process. Small overhead can be achieved >> intra-process communication.
  • ROS manages the threads (threading).
  • There can be several threads inside a node.
  • publish/subscribe topics.
  • Several nodes can \"publish\" on a topic, and one node can \"listen\" to several topics.
"},{"location":"workshops/ros2_b/#topics","title":"Topics","text":"

Topics can be understood as a named \"port\" where nodes can communicate. In the figure, it is marked with a square symbol \ud83d\udfe6. Their characteristics:

  • Responsible for information flow between nodes.
  • The type of each topic is determined by the \"message\".
  • \"many-to-many\" communication between nodes is allowed
"},{"location":"workshops/ros2_b/#messages","title":"Messages","text":"
  • The content and structure of a topic is determined by the message
  • Application programming interface (API) for Nodes are defined in files with .msg extension
"},{"location":"workshops/ros2_b/#types-of-messages","title":"Types of messages","text":"
  • Primitive built-in types (std_msgs)
  • bool, string, float32, int32, \u2026
  • Higher-level built in types:
  • geometry_msgs: Point, Polygon, Vector, Pose, PoseWithCovariance, \u2026
  • nav_msgs: OccupancyGrid, Odometry, Path, \u2026
  • sensors_msgs: Joy, Imu, NavSatFix, PointCloud, LaserScan, \u2026
  • T\u00e1mogatottak tov\u00e1bb\u00e1:
  • Konstansok
  • Felsorol\u00e1sok
  • Be\u00e1gyazott defin\u00edci\u00f3k

P\u00e9lda:

$ ros2 interface show geometry_msgs/msg/Point\nfloat64 x\nfloat64 y\nfloat64 z\n
$ ros2 interface show std_msgs/msg/Header\nuint32 seq\ntime stamp\nstring frame_id\n

A Header \u00e9s aPoint a t\u00edpusb\u00f3l \u00e9p\u00fcl fel a PoseStamped t\u00edpus strukt\u00far\u00e1ja:

$ ros2 interface show geometry_msgs/msg/PoseStamped\nstd_msgs/Header header\n  uint32 seq\n  time stamp\n  string frame_id\ngeometry_msgs/Pose pose\n  geometry_msgs/Point position\n    float64 x\n    float64 y\n    float64 z\n  geometry_msgs/Quaternion orientation\n    float64 x\n    float64 y\n    float64 z\n    float64 w\n
"},{"location":"workshops/ros2_b/#publishing-subscribing","title":"Publishing / Subscribing","text":"

In the following, the node named urban_road_filt subscribes to points data, which is of type PointCloud2, and advertises messages of type PointCloud2, MarkerArray:

flowchart LR\n\nP[points]:::light -->|sensor_msgs/PointCloud2| U([urban_road_filt]):::red\nU --> |sensor_msgs/PointCloud2| A[curb]:::light\nU --> |sensor_msgs/PointCloud2| B[road]:::light \nU --> |sensor_msgs/PointCloud2| C[road_probably]:::light\nU --> |sensor_msgs/PointCloud2| D[roi]:::light\nU --> |visualization_msgs/MarkerArray| E[road_marker]:::light\n\nn1([ /node]):::white -- publishes</br>topic_type --> t[ /topic]:::white\nt -- subscribes</br>topic_type --> n2([ /node]):::white\n\nclassDef light fill:#34aec5,stroke:#152742,stroke-width:2px,color:#152742  \nclassDef dark fill:#152742,stroke:#34aec5,stroke-width:2px,color:#34aec5\nclassDef white fill:#ffffff,stroke:#152742,stroke-width:2px,color:#152742\nclassDef red fill:#ef4638,stroke:#152742,stroke-width:2px,color:#fff\n
"},{"location":"workshops/ros2_b/#parameters","title":"Parameters","text":"
  • Not everything can be written using Publish/Subscribe
  • Nodes may sometimes need parameterization
  • Parameters can be:
    • Controller type
    • Color thresholds;
    • Camera resolution, etc
"},{"location":"workshops/ros2_b/#launch-files","title":"Launch files","text":"

Batch execution of several nodes (ROS program). Keeping the ROS 1 conventions, it can be an XML format file that can define almost all aspects/operations of ROS. More recently, however, these can also be python files, so we have much more freedom. Start Node, set / load parameters, map topic, pass command line arguments.

"},{"location":"workshops/ros2_b/#code-example","title":"Code example","text":"PythonC++ 
#  ros2 topic type /lexus3/gps/duro/current_pose\n#  geometry_msgs/msg/PoseStamped\n#  ros2 interface show geometry_msgs/msg/PoseStamped\n\nimport rclpy\nfrom rclpy.node import Node\nfrom geometry_msgs.msg import PoseStamped\n\n\nclass SimplePoseSub(Node):\n\n    def __init__(self):\n        super().__init__('simple_pose_sub')\n        self.sub1_ = self.create_subscription(PoseStamped, '/lexus3/gps/duro/current_pose', self.topic_callback, 10)\n\n\n\n    def topic_callback(self, msg):\n\n        self.get_logger().info('x: %.3f, y: %.3f', msg.pose.position.x, msg.pose.position.y)\n\n\n\n\ndef main(args=None):\n\n    rclpy.init(args=args)                   ## Initialize the ROS 2 client library\n    simple_pose_sub = SimplePoseSub()\n    rclpy.spin(simple_pose_sub)             ## Create a node and spin\n    simple_pose_sub.destroy_node()\n    rclpy.shutdown()                        ## Shutdown the ROS 2 client library\n\nif __name__ == '__main__':\n    main()\n
// ros2 topic type /lexus3/gps/duro/current_pose\n// geometry_msgs/msg/PoseStamped\n// ros2 interface show geometry_msgs/msg/PoseStamped\n\n#include \"rclcpp/rclcpp.hpp\"\n#include <memory>\n#include \"geometry_msgs/msg/pose_stamped.hpp\"\nusing std::placeholders::_1;\n\nclass SimplePoseSub : public rclcpp::Node{\npublic:\nSimplePoseSub() : Node(\"simple_pose_sub\")\n{\nsub1_ = this->create_subscription<geometry_msgs::msg::PoseStamped>(\"/lexus3/gps/duro/current_pose\", 10, std::bind(&SimplePoseSub::topic_callback, this, _1));\n}\n\nprivate:\nvoid topic_callback(const geometry_msgs::msg::PoseStamped &msg) const\n{\nRCLCPP_INFO(this->get_logger(), \"x: %.3f, y: %.3f\", msg.pose.position.x, msg.pose.position.y);\n}\nrclcpp::Subscription<geometry_msgs::msg::PoseStamped>::SharedPtr sub1_;\n};\n\nint main(int argc, char *argv[])\n{\nrclcpp::init(argc, argv);               // Initialize the ROS 2 client library\nrclcpp::spin(\nstd::make_shared<SimplePoseSub>()); // Create a node and spin\n\nrclcpp::shutdown();                     // Shutdown the ROS 2 client library\nreturn 0;\n\n}\n
"},{"location":"workshops/ros2_b/#sources","title":"Sources","text":"
  • docs.ros.org/en/humble
  • ros.org/blog/ecosystem
  • husarnet.com/blog/ros2-docker
  • design.ros2.org/articles/intraprocess_communications.html
  • Towards Using ROS in the RoboCup Humanoid Soccer League - Masterthesis
"},{"location":"workshops/wheeltec_real_a/","title":"ROS 1 real robot workshop","text":"
  • A small overview of the Bavarian-Hungarian Self-driving vehicles workshop.
  • Date: 2023.11.03.
  • Place: Gy\u0151r, Hungary.
"},{"location":"workshops/wheeltec_real_a/#the-megoldas_zala23-ros-1-package","title":"The megoldas_zala23 ROS 1 package","text":"

\ud83e\udd16 In the following a very simple wall/gap following approach will be presented and described. The origin of he code is based on the work of Suresh Babu (University of Virginia, license). Link to the original code: github.com/linklab-uva/f1tenth_gtc_tutorial.

The name of the package is a comes from a hungarian expression (megoldas: solution / L\u00f6sung).

"},{"location":"workshops/wheeltec_real_a/#the-robot-used-in-the-competition","title":"The robot used in the competition","text":"

Wheeltec / Roboworks Rosbot mini Ackermann robot

On-board computer - Nvidia Jetson Nano

Sensors - Orbbec Depth Camera - LSN10 LIDAR

"},{"location":"workshops/wheeltec_real_a/#video","title":"Video","text":""},{"location":"workshops/wheeltec_real_a/#usage","title":"Usage","text":"

Prerequisites: - WiFi-enabled computer with Ubuntu 18.04 / 20.04 operating system and ROS Melodic / Noetic installation - Internet access (Ethernet cable or WiFi)

  1. Turn on the robot platform.
  2. Use the computer to connect to the WiFi network created by the robot. The name of the WiFi network is unique for each robot platform, the # at the end of the SSID changes according to the number of the robot platform: 
    SSID: WHEELTEC_CAR_5.5_#\nPassword: dongguan\n
  3. Use SSH to connect to the on-board computer of the robot platform with the following terminal command: 
    ssh wheeltec@192.168.0.100\n
    A password will be required, the default password is dongguan
"},{"location":"workshops/wheeltec_real_a/#internet-access-on-the-robot-platform","title":"Internet access on the robot platform","text":"

Software packages can be downloaded to the on-board computer of the robot platform, which requires internet access.

  • Ethernet: connect the Ethernet cable to the Ethernet port of the on-board computer of the robot platform.
  • WiFi: after issuing the nmtui terminal command, connect to the available WiFi network. 
    nmtui\n

"},{"location":"workshops/wheeltec_real_a/#install-the-ros-1-package","title":"Install the ROS 1 package","text":"

After installation, the functions of the robot platform can be accessed using ROS. The sample solution of the competition can also be deployed by ROS.

Create a workspace and install the sample solution on the robot:

mkdir -p ~/workshop_ws/src\n
cd ~/workshop_ws/\n
catkin init\n
cd ~/workshop_ws/src/\n
git clone https://github.com/robotverseny/megoldas_zala23\n
cd ~/workshop_ws/\n
catkin build megoldas_zala23\n
echo \"source /home/wheeltec/workshop_ws/devel/setup.bash\" >> ~/.bashrc\n
source ~/.bashrc\n

Install screen 

sudo apt install mc screen\n

Install jks visualization rviz plugin: depending on ROS 1 version (melodic / noetic):

sudo apt install ros-melodic-jsk-rviz-plugins\n
sudo apt install ros-noetic-jsk-rviz-plugins\n
"},{"location":"workshops/wheeltec_real_a/#usage_1","title":"Usage","text":""},{"location":"workshops/wheeltec_real_a/#start-solution-using-screen-recommended","title":"Start solution using screen (recommended)","text":"

The script verseny_start.sh sets the required environmental variables, starts the ROS nodes and finally after 2 minutes stops everything. Have a look at the code: verseny_start.sh 

rosrun megoldas_zala23 verseny_start.sh\n

The verseny_start.sh shell script usually launches several virtual terminals, such as: roscore, turn_on_wheeltec_robot, lsn10_lidar, megoldas1.launch. All components of the solution can be stopped with the following command: 

rosrun megoldas_zala23 stop_all.sh\n

Further commands:

  • list screen: screen -ls
  • restore screen: screen -r roscore / screen -r turn_on_wheeltec_robot / screen -r megoldas1
  • detach: Ctrl-a + Ctrl-d
"},{"location":"workshops/wheeltec_real_a/#ros-connection","title":"ROS connection","text":"

The ROS topics advertised by the robot platform are also available on the computer connected to the platform, with the appropriate setting of the ROS_MASTER_URI variable: 

export ROS_MASTER_URI=http://192.168.0.100:11311\n
After the appropriate setting of the variable, the topics can be listed and visualized using Rviz: 
rostopic list\n
rosrun rviz rviz\n

"},{"location":"workshops/wheeltec_real_a/#some-explanatory-animations","title":"Some explanatory animations","text":"
roslaunch megoldas_zala23 rviz1.launch\n
"},{"location":"workshops/wheeltec_real_a/#start-solution-per-component","title":"Start solution per component","text":"

The solution can also be started per component, not just as a single shell script. This requires four terminal windows on the on-board computer of the robot platform and issuing the following commands per terminal:

roscore\n
roslaunch turn_on_wheeltec_robot turn_on_wheeltec_robot.launch\n
roslaunch lsn10 lsn10.launch\n
roslaunch megoldas_zala23 megoldas1.launch\n
"},{"location":"workshops/wheeltec_real_a/#additional-information","title":"Additional information","text":""},{"location":"workshops/wheeltec_real_a/#workspaces","title":"Workspaces","text":"
~/wheeltec_robot/src\n~/catkin_workspace/src\n~/workshop_ws/src/\n
"},{"location":"workshops/wheeltec_real_a/#topic-management","title":"Topic management","text":"
rostopic hz /scan\nrostopic echo /scan -n1\nrostopic type /scan\n
sensor_msgs/LaserScan\n
"},{"location":"workshops/wheeltec_real_a/#robot-platform-language-settings","title":"Robot platform language settings","text":"
sudo dpkg-reconfigure locales\n

reboot

"},{"location":"workshops/wheeltec_real_a/#rosbag-management","title":"Rosbag management","text":"

cd ~/rosbags\nrosbag record -a -o test1\n
rsync -avzh --progress wheeltec@192.168.0.100:/home/wheeltec/rosbags/ /mnt/c/bag/wheeltec/\nrosbag info test1_2023-03-30-12-37-22.bag\nrosbag play test1_2023-03-30-12-37-22.bag\n

You can even visualize rosbags in Foxglove studio:

Download rosbags

  • Further explanation ipynotebook
  • Competition homepage
  • Foxglove studio
"}]} \ No newline at end of file diff --git a/sitemap.xml b/sitemap.xml new file mode 100644 index 0000000..f9d4a2b --- /dev/null +++ b/sitemap.xml @@ -0,0 +1,88 @@ + + + + https://jkk-research.github.io/ + 2024-08-26 + daily + + + https://jkk-research.github.io/dataset/ + 2024-08-26 + daily + + + https://jkk-research.github.io/dataset/jkk_dataset_01/ + 2024-08-26 + daily + + + https://jkk-research.github.io/dataset/jkk_dataset_02/ + 2024-08-26 + daily + + + https://jkk-research.github.io/dataset/jkk_dataset_03/ + 2024-08-26 + daily + + + https://jkk-research.github.io/home/about/ + 2024-08-26 + daily + + + https://jkk-research.github.io/home/social/ + 2024-08-26 + daily + + + https://jkk-research.github.io/home/videos/ + 2024-08-26 + daily + + + https://jkk-research.github.io/papers/ + 2024-08-26 + daily + + + https://jkk-research.github.io/workshops/ + 2024-08-26 + daily + + + https://jkk-research.github.io/workshops/clustering_a/ + 2024-08-26 + daily + + + https://jkk-research.github.io/workshops/control_sim/ + 2024-08-26 + daily + + + https://jkk-research.github.io/workshops/f1tenth_real_a/ + 2024-08-26 + daily + + + https://jkk-research.github.io/workshops/f1tenth_sim_a/ + 2024-08-26 + daily + + + https://jkk-research.github.io/workshops/ros2_a/ + 2024-08-26 + daily + + + https://jkk-research.github.io/workshops/ros2_b/ + 2024-08-26 + daily + + + https://jkk-research.github.io/workshops/wheeltec_real_a/ + 2024-08-26 + daily + + \ No newline at end of file diff --git a/sitemap.xml.gz b/sitemap.xml.gz new file mode 100644 index 0000000..009e8f3 Binary files /dev/null and b/sitemap.xml.gz differ diff --git a/stylesheets/extra.css b/stylesheets/extra.css new file mode 100644 index 0000000..d7902ec --- /dev/null +++ b/stylesheets/extra.css @@ -0,0 +1,21 @@ +[data-md-color-scheme="youtube"] { + /* Primary color shades */ + --md-primary-fg-color: #43AEC5; + --md-primary-fg-color--light: #9fd4e0; + --md-primary-fg-color--dark: #182744; + + /* Accent color shades */ + --md-accent-fg-color: #43AEC5; } + + :root > * { + + + + + /* Footer */ + --md-footer-bg-color: #182744; + --md-footer-bg-color--dark: #182744; + --md-footer-fg-color: #43AEC5; + --md-footer-fg-color--light: #b9e7f2; + --md-footer-fg-color--lighter: #d9eef3; + } \ No newline at end of file diff --git a/workshops/clustering_a/index.html b/workshops/clustering_a/index.html new file mode 100644 index 0000000..6ac57df --- /dev/null +++ b/workshops/clustering_a/index.html @@ -0,0 +1,1467 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + LIDAR clustering - JKK Research Center + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
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Workshop on ROS 2 LIDAR clustering

+

This short workshop will guide you through filtering LIDAR data into objects. Objects could be pedestrians, cars, buildings, and so on. This workshop is ROS 2 compatible. Static Badge

+

Requirements (high-level overview)

+
    +
  1. ROS 2 Humble: 🟠 see previous workshops or docs.ros.org/en/humble/Installation.html
    2. +
  2. A log file with raw LIDAR data (MCAP format) ✅
    3. +
  3. The patchworkpp package to filter out the ground plane ✅
    4. +
  4. The lidar_cluster package to perform the clustering ✅
    5. +
+

Video overview

+

The following screen recording demonstrates the steps involved:

+ + +

Step 1. - Download the raw data

+

In order to cluster LIDAR data, first you need - no surprise - LIDAR data. Use any of the following 3 options.

+ +

Download MCAP [~540MB]

+

In our examples the .mcap file is going to be saved in /mnt/c/bag/. If you want to use another directory, please change it accordingly.

+

Option B. - Download our MCAP through your terminal

+
+ Don't forget to change directory first. + +In our case `/mnt/c/bag/` is used as a final destination: + +
cd /mnt/c/bag/
+
+
+ +
wget https://laesze-my.sharepoint.com/:u:/g/personal/herno_o365_sze_hu/Eclwzn42FS9GunGay5LPq-EBA6U1dZseBFNDrr6P0MwB2w?download=1  -O lexus3-2024-04-05-gyor.mcap
+
+

Option C. - Use your own MCAP

+

You can use your own MCAP, but in that case, you may need to change following:

+
    +
  • The LIDAR topic
      +
    • In our examples it's /lexus3/os_center/points
      • +
    +
    • +
  • LIDAR frame
      +
    • In our examples it's lexus3/os_center_a_laser_data_frame
      • +
    +
    • +
+

Never forget to update these in later steps if you use your own MCAP.

+

Check your raw data

+

Play your bag using the following command (or however you wish): +

ros2 bag play /mnt/c/bag/lexus3-2024-04-05-gyor.mcap -l
+

+
+

Info

+

The -l option in the play command loops the mcap file.

+
+
+

Success

+

If everything works as expected you should see a bunch of topics in another terminal +

+ Topics +In another terminal issue the command:

+

ros2 topic list
+
+You should see a similar list of topics:

+

/clock
+/events/read_split
+/lexus3/gps/duro/current_pose
+/lexus3/gps/duro/imu
+/lexus3/gps/duro/mag
+/lexus3/gps/duro/navsatfix
+/lexus3/gps/duro/status_flag
+/lexus3/gps/duro/status_string
+/lexus3/gps/duro/time_diff
+/lexus3/gps/duro/time_ref
+/lexus3/os_center/points
+/lexus3/os_left/points
+/lexus3/os_right/points
+/lexus3/zed2i/zed_node/left/image_rect_color/compressed
+/parameter_events
+/rosout
+/tf
+/tf_static   
+
+

+

Also there must be at least one sensor_msgs/msg/PointCloud2, check with: +

 ros2 topic type /lexus3/os_center/points
+
+Result: +
sensor_msgs/msg/PointCloud2
+

+
+

Step 2. - Install ROS 2 packages

+
+

Info

+

If you don't have the ~/ros2_ws/ directory already, create it with the following command: +

mkdir -p ~/ros2_ws/src
+
+If you have your own workspace, make sure to update the paths accordingly in the following steps.

+
+

Clone patchworkpp package

+

patchwork-plusplus-ros is ROS 2 package of Patchwork++ (@ IROS'22), which provides fast and robust LIDAR ground segmentation. We recommend the JKK research fork which contains some improvements, alternatively you can use the original KAIST version.

+

cd ~/ros2_ws/src
+
+
git clone https://github.com/jkk-research/patchwork-plusplus-ros
+
+or +
git clone https://github.com/url-kaist/patchwork-plusplus-ros -b ROS2
+

+

Clone lidar_cluster package

+
cd ~/ros2_ws/src
+
+
git clone https://github.com/jkk-research/lidar_cluster_ros2
+
+

Build the packages

+
cd ~/ros2_ws
+
+
colcon build --packages-select patchworkpp lidar_cluster --symlink-install
+
+

Step 3. - Run

+

What to expect

+
graph TD;
+
+    p1[ /lexus3/os_center/points<br/>sensor_msgs::PointCloud2]:::white --> patchwork([ /patchwork_node]):::light
+    patchwork --> p
+    p[ /nonground<br/>sensor_msgs::PointCloud2]:::white --> cluster([ /cluster_node]):::light
+    cluster --> f1[ /clustered_points<br/>sensor_msgs::PointCloud2]:::white
+    cluster --> f2[ /clustered_marker<br/>visualization_msgs::MarkerArray]:::white
+    classDef light fill:#34aec5,stroke:#152742,stroke-width:2px,color:#152742  
+    classDef dark fill:#152742,stroke:#34aec5,stroke-width:2px,color:#34aec5
+    classDef white fill:#ffffff,stroke:#152742,stroke-width:2px,color:#15274
+    classDef dash fill:#ffffff,stroke:#152742,stroke-width:2px,color:#15274, stroke-dasharray: 5 5
+    classDef red fill:#ef4638,stroke:#152742,stroke-width:2px,color:#fff
+
+ Don't forget to source before ROS commands. + +
source ~/ros2_ws/install/setup.bash
+
+
+ +
ros2 bag play /mnt/c/bag/lexus3-2024-04-05-gyor.mcap -l
+
+

ros2 launch patchworkpp demo.launch.py  cloud_topic:=/lexus3/os_center/points cloud_frame:=lexus3/os_center_a_laser_data_frame
+
+Use one of the following clustering algorithms:

+

ros2 launch lidar_cluster dbscan_spatial.launch.py
+
+DBSCAN (Density-Based Spatial Clustering of Applications with Noise) is a non-grid based clustering algorithm. +On a modern 6-core CPU or better, you can expect a performance of at least 10 Hz.

+

ros2 launch lidar_cluster euclidean_spatial.launch.py
+
+Non-grid clustering based on euclidean distance. +On a modern 6-core CPU or better, you can expect a performance of at least 5 Hz.

+

ros2 launch lidar_cluster euclidean_grid.launch.py
+
+Voxel grid based clustering based on euclidean distance. +On a modern 6-core CPU or better, you can expect a performance of at least 100 Hz.

+
ros2 launch lidar_cluster rviz02.launch.py
+
+
+

Success

+

If everything works as expected you should see a similar rviz window. +lidar_cluster01

+
+ + + + + + +
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+ + + + + + + + + \ No newline at end of file diff --git a/workshops/control_sim/index.html b/workshops/control_sim/index.html new file mode 100644 index 0000000..6581aea --- /dev/null +++ b/workshops/control_sim/index.html @@ -0,0 +1,1458 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + Control simulation - JKK Research Center + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
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ROS 2 sim_wayp_plan_tools package

+

Gazebo Fortress ROS 2 simulation for the waypoint and planner tools.

+

+

Requirements

+ +

Packages and build

+

It is assumed that the workspace is ~/ros2_ws/.

+

Clone the packages

+
cd ~/ros2_ws/src && \
+git clone https://github.com/jkk-research/wayp_plan_tools && \
+git clone https://github.com/jkk-research/sim_wayp_plan_tools
+
+

Build ROS 2 packages

+

cd ~/ros2_ws
+
+
colcon build --packages-select wayp_plan_tools sim_wayp_plan_tools --symlink-install
+

+

Usage of wayp_plan_tools as a simulation

+

1. Start the simulation

+
ign gazebo -v 4 -r ackermann_steering.sdf
+
+

2. Start the Gazebo bridge

+

Don't forget to source before ROS commands.

+
source ~/ros2_ws/install/local_setup.bash
+
+
ros2 launch sim_wayp_plan_tools gazebo_bridge.launch.py
+
+

In the background this launch file starts nodes similar to:

+

ros2 run ros_gz_bridge parameter_bridge /world/ackermann_steering/pose/info@geometry_msgs/msg/PoseArray[ignition.msgs.Pose_V
+ros2 run ros_gz_bridge parameter_bridge /model/vehicle_blue/cmd_vel@geometry_msgs/msg/Twist]ignition.msgs.Twist
+ros2 run ros_gz_bridge parameter_bridge /model/vehicle_blue/odometry@nav_msgs/msg/Odometry[ignition.msgs.Odometry --ros-args -r /model/vehicle_blue/odometry:=/odom
+
+More about the bridge here: github.com/gazebosim/ros_gz/blob/ros2/ros_gz_bridge/README.md

+

Also this launch creates /tf from the PoseArray with pose_arr_to_tf.

+

Optional: teleoperation via keyboard

+
ros2 run teleop_twist_keyboard teleop_twist_keyboard --ros-args -r /cmd_vel:=/model/vehicle_blue/cmd_vel
+
+

3. Load waypoints

+

Use you ROS 2 workspace as file_dir: +

ros2 run wayp_plan_tools waypoint_loader --ros-args -p file_name:=sim_waypoints1.csv -p file_dir:=$HOME/ros2_ws/src/sim_wayp_plan_tools/csv -r __ns:=/sim1
+
+Or simply with default parameters:

+
ros2 launch sim_wayp_plan_tools waypoint_loader.launch.py
+
+

4. Waypoint to target

+

ros2 run wayp_plan_tools waypoint_to_target --ros-args -p lookahead_min:=2.5 -p lookahead_max:=4.5 -p mps_alpha:=1.5 -p mps_beta:=3.5 -p waypoint_topic:=waypointarray -p tf_frame_id:=base_link -p tf_child_frame_id:=map -r __ns:=/sim1
+
+Or simply with default parameters:

+
ros2 launch sim_wayp_plan_tools waypoint_to_target.launch.py
+
+

5. Start a control

+

There are some options:

+
    +
  • single_goal_pursuit: Pure pursuit (for vehicles / robots), a simple cross-track error method
    • +
  • multiple_goal_pursuit: Multiple goal pursuit for vehicles / robots an implementation of our paper
    • +
  • stanley_control: Stanley controller, a heading error + cross-track error method
    • +
  • follow_the_carrot: Follow-the-carrot, the simplest controller
    • +
+

+

This is a pure pursuit example:

+

ros2 run wayp_plan_tools single_goal_pursuit --ros-args -p cmd_topic:=/model/vehicle_blue/cmd_vel -p wheelbase:=1.0 -p waypoint_topic:=targetpoints -r __ns:=/sim1
+
+Or simply with default parameters:

+
ros2 launch sim_wayp_plan_tools single_goal_pursuit.launch.py
+
+

6. Visualize results in RViz2

+
ros2 launch sim_wayp_plan_tools rviz1.launch.py
+
+

Or run everything with a single command

+

After ign gazebo -v 4 -r ackermann_steering.sdf (terminal 1) and source ~/ros2_ws/install/local_setup.bash (terminal 2), run this command (also in terminal 2): +

ros2 launch sim_wayp_plan_tools all_in_once.launch.py
+

+

Evaluation

+

The following image shows some example runs:

+

+

Troubleshoot

+

Kill ign gazebo server if stuck:

+
ps aux | grep ign
+
+
ab  12345 49.9  1.2 2412624 101608 ?      Sl   08:26  27:20 ign gazebo server
+ab  12346  518  6.6 10583664 528352 ?     Sl   08:26 283:45 ign gazebo gui
+ab  12347  0.0  0.0   9396  2400 pts/2    S+   09:21   0:00 grep --color=auto ign
+
+

Once you have identified the PID, use the kill command followed by the PID to terminate the process. For example:

+
kill 12345
+
+ + + + + + +
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+ + + + + + + + + \ No newline at end of file diff --git a/workshops/f1tenth_real_a/index.html b/workshops/f1tenth_real_a/index.html new file mode 100644 index 0000000..f32bbde --- /dev/null +++ b/workshops/f1tenth_real_a/index.html @@ -0,0 +1,1129 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + F1/10 hands-on - JKK Research Center + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
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ROS 2 F1/10 hands-on workshop

+
    +
  • A small overview of the Bavarian-Hungarian Self-driving vehicles workshop.
    • +
  • Date: 2024.06.08.
    • +
  • Place: Győr, Hungary.
    • +
+

A ROS 2 package

+

Static Badge

+

+

Hands-on

+

ROS 2 humble

+ + + + + + +
+
+ + +
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+ + + + + + + + + \ No newline at end of file diff --git a/workshops/f1tenth_sim_a/index.html b/workshops/f1tenth_sim_a/index.html new file mode 100644 index 0000000..c991878 --- /dev/null +++ b/workshops/f1tenth_sim_a/index.html @@ -0,0 +1,1366 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + F1/10 simulation - JKK Research Center + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
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ROS 2 F1/10 Wheeltec Gazebo simulation workshop

+

The workshop is ROS 2 compatible Static Badge

+

Video

+ + +

Requirements (high-level)

+
    +
  1. ROS 2 Humble: 🟠 see previous workshops or docs.ros.org/en/humble/Installation.html
    2. +
  2. Gazebo Fortress: ✅ current workshop gazebosim.org/docs/fortress/install_ubuntu
    3. +
  3. ROS gz bridge: ✅ current workshop, ROS integration. Install with a single command: sudo apt install ros-humble-ros-gz-bridge, gazebosim.org/docs/fortress/ros2_integration
    4. +
  4. Build and run custom worlds and models ✅ current workshop (e.g. F1/10 / Wheeltec, Roboworks)
    5. +
+
+ Image title +
Official F1/10 vehicle vs Wheeltec Roboworks Ackermann Rosbot mini vehicle
+
+

Binary Installation on Ubuntu

+

Fortress binaries are provided for Ubuntu Bionic, Focal and Jammy. All of the Fortress +binaries are hosted in the osrfoundation repository. To install all of them, +the metapackage ignition-fortress can be installed. The following is based on gazebosim.org/docs/fortress/install_ubuntu.

+

First install some necessary tools:

+

sudo apt-get update
+
+
sudo apt-get install lsb-release wget gnupg
+

+

Then install Ignition Fortress:

+

sudo wget https://packages.osrfoundation.org/gazebo.gpg -O /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg
+
+
echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null
+
+
sudo apt-get update
+
+
sudo apt-get install ignition-fortress
+

+

All libraries should be ready to use and the ign gazebo app ready to be executed.

+

Gazebo Fortress ROS 2 integration

+

Issue the following command:

+
sudo apt install ros-humble-ros-gz-bridge
+
+

Additional settings to WSL2

+
+

Warning - WSL2

+

There is an issue, which can be set even in ~/.bashrc:

+
+
export LIBGL_ALWAYS_SOFTWARE=1
+
+

Set it in ~/.bashrc: +

echo "export LIBGL_ALWAYS_SOFTWARE=1" >> ~/.bashrc
+

+
+ Don't forget to source bashrc. + +
source ~/.bashrc
+
+
+ +

After new terminal or source:

+
echo $LIBGL_ALWAYS_SOFTWARE
+
+

should print 1. Alternatively

+

cat ~/.bashrc | grep LIBGL
+
+should print the line.

+

Check the installation

+
+

Success

+

Now the ign gazebo should work and the ros2 commands should be available.

+
+

+

Try at least one of the following commands:

+
ign gazebo
+
+
ign gazebo -v 4 -r ackermann_steering.sdf
+
+
ign gazebo shapes.sdf
+
+

+
ign param --versions
+
+

Packages and build

+

Detailed description of the packages and build process.

+

It is assumed that the workspace is ~/ros2_ws/.

+
cd ~/ros2_ws/src
+
+
git clone https://github.com/rudolfkrecht/robotverseny
+
+

Build

+
cd ~/ros2_ws
+
+
colcon build --symlink-install --packages-select robotverseny_application robotverseny_description robotverseny_bringup robotverseny_gazebo 
+
+

Run

+
+ Don't forget to source before ROS commands. + +
source ~/ros2_ws/install/setup.bash
+
+
+ +
ros2 launch robotverseny_bringup roboworks.launch.py
+
+

+

Useful commands

+

Publish command topic: +

ros2 topic pub --once /roboworks/cmd_vel geometry_msgs/msg/Twist "{linear: {x: 2.5, y: 0.0, z: 0.0}, angular: {x: 0.0, y: 0.0, z: -0.01}}"
+

+

Teleop twist keyboard: +

ros2 run teleop_twist_keyboard teleop_twist_keyboard --ros-args -r /cmd_vel:=/roboworks/cmd_vel
+

+

Ignition info topic: +

ign topic -i --topic /model/roboworks/cmd_vel
+
+Ignition echo topic:

+
ign topic -et /model/roboworks/cmd_vel
+
+

Topics:

+
ros2 topic list
+
+
+ Here are the topics. + +
/clicked_point
+/clock
+/goal_pose
+/initialpose
+/joint_states
+/parameter_events
+/robot_description
+/roboworks/cmd_vel
+/roboworks/odometry
+/roboworks/scan
+/rosout
+/tf
+/tf_static
+
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+ + + + + + +
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+ + +
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+ + + + + + + + + \ No newline at end of file diff --git a/workshops/index.html b/workshops/index.html new file mode 100644 index 0000000..887cdda --- /dev/null +++ b/workshops/index.html @@ -0,0 +1,1151 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + Workshops overview - JKK Research Center + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
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Workshops overview

+

2024.06.08 Győr ROS 2

+

During the workshop F1/10 based simulation was presented based on ROS 2 Humble.

+

+

+

2024.04.18 Kempten ROS 2

+

During the workshop F1/10 hands-on session was presented based on ROS 2 Humble.

+

+

+

2023.11.03 Győr ROS 1

+

During the workshop a very simple wall following approach was presented with hands-on experinece on a real robot.

+

+

+ + + + + + + + +
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+ + + + + + + + + \ No newline at end of file diff --git a/workshops/ros2_a/index.html b/workshops/ros2_a/index.html new file mode 100644 index 0000000..acb3ee8 --- /dev/null +++ b/workshops/ros2_a/index.html @@ -0,0 +1,1427 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + ROS 2 install - JKK Research Center + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
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+ + + + + + + +

ROS 2 install hands-on workshop

+

This document will guide you through the installation process of ROS 2.

+

This document also served as small overview of the Bavarian-Hungarian Self-driving vehicles workshop. Date: 2024.06.08, place: Győr, Hungary.

+

Install ROS 2 video

+

Static Badge

+ + +

Windows WSL2

+

Windows Subsystem for Linux is a compatibility layer for native running of Linux-based elements on Windows 10 or Windows 11-based systems. You should choose to use WSL if you do not want to install native Ubuntu (e.g. 18.04 / 22.04) on your computers.

+

Steps to install:

+
    +
  • Run as administrator, open a PowerShell window.
    • +
  • Copy the command below. You hereby authorize the use of WSL. +
    Enable-WindowsOptionalFeature -Online -FeatureName Microsoft-Windows-Subsystem-Linux
+
    • +
  • Restart the computer by entering the letter Y. (optional)
    • +
  • Open the Microsoft Store and search for Windows Subsystem for Linux Preview. Install it.
    • +
  • Also search for Ubuntu 22.04 in the Microsoft Store and install or PowerShell (Admin): +
    wsl --install -d Ubuntu-22.04
+
    • +
  • For easier handling, it is worth installing the Windows Terminal program as well. Also search for Windows Terminal in the Microsoft Store and install it.
    • +
  • Start the Windows Terminal program and open the settings with the Ctrl+, (Control and comma) key combination. Select Ubuntu 22.04 from the drop-down list of the Default Profile setting line.
    • +
  • Restart the Windows Terminal. When starting for the first time, enter a user name and password of your choice.
    • +
  • We recommend the VS Code editor to develop the solution. Install from: code.visualstudio.com/download
    • +
  • Finally, install the VS Code Remote Development add-on to be available using WSL: marketplace.visualstudio.com/items?itemName=ms-vscode-remote.vscode-remote-extensionpack
    • +
+

Installation (after you have Ubuntu)

+
+

ROS 2

+

ROS 1 versions are only discussed for historical reasons, ROS 2 is recommended for current developments.

+
+

ROS 1 is basically supported on Linux systems, although there have been attempts for other operating systems as well. On the other hand, ROS 2 already supports running on native Windows, Mac OS or other Real-Time operating systems. So basically there are four options:

+
    +
  1. Dual boot, native Linux installed alongside Windows (mostly Ubuntu) ✅ description
    2. +
  2. Windows WSL2, lightweight Linux virtual machine ✅ description
    3. +
  3. Virtual machine for Windows 🟠
    4. +
  4. Windows build 🟠
    5. +
+

We recommend the first two of these 4 options, but of course the others are not prohibited either. Dual boot provides an insight into the Linux world, which is useful knowledge for an engineer today. Care must be taken during installation, as a wrong setting causes data loss, so a backup is also recommended. WSL (Windows Subsystem for Linux) is a lightweight compatibility layer for running Linux-based components on Windows 10 or Windows 11-based systems. As you can see in the following figure, the Linux kernel can access the hardware elements (CPU, memory, GPU) just as easily as the Windows kernel. Compared to this, the virtual machine (option 3) is a much slower solution that uses more abstraction layers, and is recommended for those who either have a very modern, fast machine or have already installed such systems. The native Windows build (option 4) is a given in principle, but since the majority of the documentation is available for Linux, it will mean a lot of extra work.

+

Illustration of the first three options:

+

wsl overview

+

The following description applies to Ubuntu 22.04 Jammy. Note that other versions are also supported, their installation and descriptions are available here: docs.ros.org/en/humble/Installation/Alternatives.html

+

The following description is based on docs.ros.org/en/humble/Installation.html.

+

Set language

+
+

Note

+

This step can usually be skipped

+
+

Make sure you have a locale that supports UTF-8.

+
locale # Check for UTF-8
+
+sudo apt update && sudo apt install locales
+sudo locale-gen en_US en_US.UTF-8
+sudo update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8
+export LANG=en_US.UTF-8
+
+check locale # settings
+
+

Set resources

+

You need to add the ROS 2 apt repository to your system.

+

First, make sure the Ubuntu Universe repository is enabled.

+
sudo apt install software-properties-common
+sudo add-apt-repository universe
+
+

Add ROS 2 GPG key with apt.

+
sudo apt update && sudo apt install curl -y
+sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
+
+

Next comes the addition of the container to the source list.

+
echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null
+
+

Install ROS 2 packages

+

Update:

+
sudo apt update
+
+

ROS 2 packages are often built on updated Ubuntu systems. It is always recommended to make sure your system is up-to-date before installing new packages. +

sudo apt upgrade
+

+

Desktop installation: Installation of ROS, RViz, demos, tutorials: +

sudo apt install ros-humble-desktop
+

+

Development tools, compilers, and other tools for building ROS packages: +

sudo apt install ros-dev-tools
+

+

Source

+

Set up your environment by sourcing the following file:

+
source /opt/ros/humble/setup.bash
+
+

Tip: this can also be done in the .bashrc file echo "source /opt/ros/humble/setup.bash" >> ~/.bashrc.

+

Check installation

+

We check the correctness of the installation with the ros2 topic list command.

+
$ ros2 topic list
+
+/parameter_events
+/rosout
+
+

If everything is fine, the above two topics should appear. Then you can learn how to use simple example nodes: docs.ros.org/en/humble/Tutorials/Beginner-CLI-Tools.html

+

Recommended settings after installation

+

Console colors

+

By default, the console output is not colored, but it is advisable to set this with the RCUTILS_COLORIZED_OUTPUT environment variable (even written in bashrc). For example:

+
export RCUTILS_COLORIZED_OUTPUT=1
+
+

RCUTILS_COLORIZED_OUTPUT

+

Details: docs.ros.org/en/humble/Tutorials/Demos/Logging-and-logger-configuration.html#id14

+

colcon_cd

+

It is also advisable to set the colcon_cd command so that you can quickly change your working directory to the directory of a package. As an example, the command colcon_cd some_ros_package can quickly jump to the directory ~/ros2_ws/src/some_ros_package.

+

Details: docs.ros.org/en/humble/Tutorials/Beginner-Client-Libraries/Colcon-Tutorial.html#setup-colcon-cd

+

Home / laboratory room installation

+

In the lab, we run the following install_humble.sh file (shell script) on each machine.

+

wget https://raw.githubusercontent.com/sze-info/arj/main/docs/telepites/install_humble.sh
+
+
sudo chmod +x install_humble.sh
+

+

At home: +

./install_humble.sh
+
+In the laboratory room (campus): +
./install_humble.sh campus
+

+

Workspace reset

+

If we want to delete the entire ros2_ws, then clone and build it again (~5 minutes), we can do it with the following single long command:

+
cd ~ ; rm ws_reset.sh; wget https://raw.githubusercontent.com/sze-info/arj/main/docs/telepites/ws_reset.sh; sudo chmod +x ws_reset.sh; ./ws_reset.sh
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+ + + + + + + + + \ No newline at end of file diff --git a/workshops/ros2_b/index.html b/workshops/ros2_b/index.html new file mode 100644 index 0000000..6f48136 --- /dev/null +++ b/workshops/ros2_b/index.html @@ -0,0 +1,1759 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + ROS 2 introduction - JKK Research Center + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
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ROS 2 introduction

+ +

ROS 2 intro

+

ROS 2, the latest release of ROS, is a set of software libraries and tools (middleware) that help develop robot applications. By definition, middleware is software that connects software components. It is a layer that sits between the operating system and applications on both sides of a distributed computer network. ROS 2 uses the permissive open source Apache 2.0 license.

+
graph TD;
+
+    u[/Users /]:::light <--> p[/Program/]:::light <--> m
+    m[/Middleware /ROS 2/ /]:::red <--> o[/Operating system/]:::light
+    o <--> h[/Hardware/]:::light
+    classDef light fill:#34aec5,stroke:#152742,stroke-width:2px,color:#152742  
+    classDef dark fill:#152742,stroke:#34aec5,stroke-width:2px,color:#34aec5
+    classDef white fill:#ffffff,stroke:#152742,stroke-width:2px,color:#152742
+    classDef red fill:#ef4638,stroke:#152742,stroke-width:2px,color:#fff
+

ROS has undergone incremental updates since its release in 2007, so there have been no fundamental changes, but major improvements have been made continuously. In 2017, the robotics community realized that the original 2007 concept has fundamental limitations that unfortunately cannot be improved in such an incremental way. Thus, in the end, Noetic Ninjemys (supported until 2025) is the last release of ROS 1, instead ROS 2 started to be developed in parallel. This also means that it is more difficult to port the previous source codes to the new version, in return we can get a lot of new features, improvements, and support for the robots and vehicles to be developed.

+

As a result of the above, ROS 2 moved from the world of academic research to industrial use. It is interesting that NASA's VIPER lunar rover also runs ROS 2. It is also used by automotive giants such as Bosch, BMW and Volvo. Many other examples could be given from robotics companies. Links: www.nasa.gov/viper/lunar-operations, rosindustrial.org/ric/current-members, www.bosch.com/stories/bringing-robotics-middleware-onto-tiny-microcontrollers. ROS users in the world: metrorobots.com/rosmap.html.

+

ROS 2 in space

+

Kép forrása: Robot Operating System 2: Design, Architecture, and Uses In The Wild: +Steve Macenski et al.

+

Why should I use a framework for my robotics project?

+

For our first robotics project, we can choose the path of creating our own solution without a framework. Obviously, this also has advantages (learning, running speed, etc.). But soon we will need an algorithm that has been implemented by others, but is not compatible with the original idea. Here it is advisable to consider using a framework (e.g. ROS 2). Note that ROS 2 is not the only option, there are many similar, smaller frameworks: Player, YARP, Orocos, CARMEN, Orca, MOOS, and Microsoft Robotics Studio. Obviously, all of them have advantages, but in this case, due to the support, we narrow it down to ROS 2.

+

+

Image source: ros.org/blog/ecosystem

+
    +
  • Plumbing: ROS basically provides a messaging system, often called "middleware" or "plumbing". Communication is one of the first needs that arise when implementing a new robotics application or any software system that is connected to hardware. The built-in and well-tested messaging system of ROS can save time, since it handles the details of communication between decentralized nodes, it does not need to be implemented separately. It is even possible to directly access memory on a machine using intra-process communication.
    • +
  • Tools: Developing effective applications requires good development tools. ROS has such tools including: debugging (rqt_console), visualization (Rviz2, Foxglove Studio), plotting (rqt_plot, Foxglove Studio), logging (mcap) and replay.
    • +
  • Capabilities: Whether it's a GPS device driver, a gait and balance controller for a quadruped robot, or a mapping system for a mobile robot, ROS has solutions to the problem. From drivers to algorithms to user interfaces, ROS provides the building blocks that allow you to focus on your application.
    • +
  • Community: Behind ROS is a large, global and diverse community. From students and hobbyists to multinational companies and government agencies, all segments of people and organizations operate the ROS 2 project. This is also important because a lot of questions will arise during development. Most of these have already been answered by the community, and they are usually happy to answer new questions.
    • +
+

The following figure shows the nodes (programs) and topics (~communication) of a simple line-following robot:

+
graph TD;
+
+    camd([/cam_driver]):::red --> im1[ /image1<br/>sensor_msgs/Image]:::light
+    im1 --> li1([ /line_detect_node]):::red
+    im1 --> st1([ /stop_detect_node]):::red
+    li1 --> li2[ /line<br/>example_msgs/Line]:::light
+    st1 --> st2[ /stop<br/>example_msgs/Stop]:::light
+    li2 --> nav([ /line_detect_node]):::red
+    st2 --> nav
+    nav --> cmd[ /cmd_vel<br/>geometry_msgs/Twist]:::light
+    cmd --> control([ /robot_control]):::red
+    n1([ /node]):::white -- publishes --> t[ /topic<br/>msg_type]:::white
+    t -- subscribes --> n2([ /node]):::white
+    classDef light fill:#34aec5,stroke:#152742,stroke-width:2px,color:#152742  
+    classDef dark fill:#152742,stroke:#34aec5,stroke-width:2px,color:#34aec5
+    classDef white fill:#ffffff,stroke:#152742,stroke-width:2px,color:#152742
+    classDef red fill:#ef4638,stroke:#152742,stroke-width:2px,color:#fff
+

Source: Bestmann, Marc & Fakultät, Min & Zhang, Jianwei & Hendrich, N.. (2017). Towards Using ROS in the RoboCup Humanoid Soccer League. Masterthesis

+

Let's look at another example that creates maps from speed data, IMU, and distance data.

+
graph LR;
+
+    odom[ /odom<br/>nav_msgs/Odometry]:::light --> slam([ /slam_node]):::red
+    speed[ /speed<br/>geometry_msgs/Twist]:::light --> slam
+    imu[ /imu<br/>sensor_msgs/Imu]:::light --> slam
+    scan[ /scan<br/>sensor_msgs/PointCloud2]:::light --> slam
+    n1([ /node]):::white -- publishes --> t[ /topic<br/>msg_type]:::white
+    slam --> pose[ /global_pose<br/>geometry_msgs/Pose]:::light
+    slam --> map_g[ /map_grid<br/>nav_msgs/OccupancyGrid]:::light
+    slam --> map_p[ /map_points<br/>sensor_msgs/PointCloud2]:::light
+    t -- subscribes --> n2([ /node]):::white
+    classDef light fill:#34aec5,stroke:#152742,stroke-width:2px,color:#152742  
+    classDef dark fill:#152742,stroke:#34aec5,stroke-width:2px,color:#34aec5
+    classDef white fill:#ffffff,stroke:#152742,stroke-width:2px,color:#152742
+    classDef red fill:#ef4638,stroke:#152742,stroke-width:2px,color:#fff
+

ROS 2 directory structure

+
~/ros2_ws$ ls
+
+build  install  log  src
+
+
graph TD;
+
+    W1{{ Workspace</br>pl. ros2_ws }}:::light --> S1{{ Source space</br>src }}:::white
+    W1 --> B1{{ Build space</br>build }}:::white
+    W1 --> I1{{ Install space</br>install }}:::white
+    W1 --> L1{{ Log space</br>log }}:::white
+    S1 --> P1{{ package1 }}:::white
+    S1 --> P2{{ package2 }}:::white
+    S1 --> P3{{ bundle_packages }}:::white
+    P1 --> LA1{{ launch }}:::white
+    P1 --> SR1{{ src }}:::white
+    P2 --> LA2{{ launch }}:::white
+    P2 --> SR2{{ src }}:::white
+
+    classDef light fill:#34aec5,stroke:#152742,stroke-width:2px,color:#152742  
+    classDef dark fill:#152742,stroke:#34aec5,stroke-width:2px,color:#34aec5
+    classDef white fill:#ffffff,stroke:#152742,stroke-width:2px,color:#152742
+    classDef red fill:#ef4638,stroke:#152742,stroke-width:2px,color:#fff
+
graph TD;
+
+    W2{{ other_ws }}:::light --> S2{{ src }}:::white
+    W2 --> B2{{ build }}:::white
+    W2 --> I2{{ install }}:::white
+    W2 --> L2{{ log }}:::white
+
+    classDef light fill:#34aec5,stroke:#152742,stroke-width:2px,color:#152742  
+    classDef dark fill:#152742,stroke:#34aec5,stroke-width:2px,color:#34aec5
+    classDef white fill:#ffffff,stroke:#152742,stroke-width:2px,color:#152742
+    classDef red fill:#ef4638,stroke:#152742,stroke-width:2px,color:#fff
+
~/ros2_ws/
+├──build  
+├──install  
+├──log
+└──src/
+    ├── bundle_packages 
+    │   ├── cone_detection_lidar
+    │   │   ├── launch
+    │   │   └── src
+    │   ├── my_vehicle_bringup
+    │   │   └── launch
+    │   ├── other bundle package1
+    │   ├── other bundle package2
+    │   └── img
+    └── wayp_plan_tools
+        ├── csv
+        ├── launch
+        └── src
+
+

Differences between ROS 1 and ROS 2

+
    +
  • Changes in Middleware + ROS 1 uses Master-Slave architecture and XML-RPC middleware. ROS 2, on the other hand, uses Data Distribution Service (DDS), which provides higher efficiency and reliability, low latency and scalability, as well as configurable quality of service (QoS) parameters. Among other things, you don't have to start `roscore' this way. XML-RPC is better for simple remote procedure calls, while the added complexity of DDS allows it to better support real-time systems.
    • +
  • +

    Changes in ROS API + ROS 1 has two separate libraries: roscpp for C++ and rospy for Python. They are not exactly identical to each other in terms of functions. In contrast, ROS 2 has a base library written in C - rcl (ROS client library) - on which libraries are built. This ensures that core functionality is available sooner in various APIs. This is one of the main reasons why ROS 2 is able to provide more language support besides the previous Python and C++: for example rclada Ada, rclcpp C++, rclgo Go, rclpy Python, rcljava Java, rclnodejs Node.js, rclobjc Objective C (iOS), rclc C, ros2_rust Rust, ros2_dotnet .NET, ros2cs ros2_dotnet alternative in C#.

    +
    • +
  • +

    Changes in data format + ROS 2 uses the MCAP format, which is not a dedicated ROS proprietary format, but an open source container file format for multimodal log data. It supports time-stamped pre-queued data and is ideal for use in pub/sub or robotics applications. More: mcap.dev

    +
    • +
+

A couple of useful updates

+
    +
  • Real-time processing + The summary of the above functions, as well as the use of DDS, make `ROS 2' well suited for real-time processing, especially when deterministic, low-latency communication is required.
    • +
  • QoS: Quality of Service + ROS 2 allows you to configure data flow, which affects how data is sent and received. This includes message reliability, deadline, and priority settings that can ensure critical messages are delivered on time.
    • +
  • Multi-threaded execution + ROS 2 supports truly parallel running of multiple nodes, so modern multi-core processors can be used much better than ROS 1.
    • +
+

overview +Source: husarnet.com/blog/ros2-docker

+

Other changes

+
    +
  • Catkin is gone, replaced by Ament (Colcon) as build system. Overlays allow you to create a secondary workspace that does not affect the primary workspace - this is useful when you need to experiment with new packages, but without affecting the base configuration (called an "underlay").
    • +
  • ROS 2 is not backwards compatible with ROS 1. Consequently, ROS 1 packages will probably not work with ROS 2 and would require reworking, and other software you used to use with ROS 1 will no longer work.
    • +
  • ROS 1 is mainly made for Ubuntu. ROS 2 runs on MacOS, Windows, Ubuntu and other (even Real-Time) operating systems.
    • +
+

Versions

+

Alt ​​text

+

Percentage distribution of distros over time: metrics.ros.org/rosdistro_rosdistro.html

+

Static Badge

+

Humble Hawksbill or Humble for short is a long term support (LTS) release, supported for 5 years (May 2022 to May 2027)

+

Additional releases: docs.ros.org/en/humble/Releases.html

+

Concepts

+

Nodes

+

In the simplest terms, node means a ROS program (in other words, node). In the figure, it is marked with a round 🔴 symbol. Their characteristics:

+
    +
  • "Executables" (c++ / py).
    • +
  • Each node is a "program", a separated process. Small overhead can be achieved >> intra-process communication.
    • +
  • ROS manages the threads (threading).
    • +
  • There can be several threads inside a node.
    • +
  • publish/subscribe topics.
    • +
  • Several nodes can "publish" on a topic, and one node can "listen" to several topics.
    • +
+

Topics

+

Topics can be understood as a named "port" where nodes can communicate. In the figure, it is marked with a square symbol 🟦. Their characteristics:

+
    +
  • Responsible for information flow between nodes.
    • +
  • The type of each topic is determined by the "message".
    • +
  • "many-to-many" communication between nodes is allowed
    • +
+

Messages

+
    +
  • The content and structure of a topic is determined by the message
    • +
  • Application programming interface (API) for Nodes are defined in files with .msg extension
    • +
+

Types of messages

+
    +
  • Primitive built-in types (std_msgs)
    • +
  • bool, string, float32, int32, …
    • +
  • Higher-level built in types:
    • +
  • geometry_msgs: Point, Polygon, Vector, Pose, PoseWithCovariance, …
    • +
  • nav_msgs: OccupancyGrid, Odometry, Path, …
    • +
  • sensors_msgs: Joy, Imu, NavSatFix, PointCloud, LaserScan, …
    • +
  • Támogatottak továbbá:
    • +
  • Konstansok
    • +
  • Felsorolások
    • +
  • Beágyazott definíciók
    • +
+

Példa:

+
$ ros2 interface show geometry_msgs/msg/Point
+float64 x
+float64 y
+float64 z
+
+
$ ros2 interface show std_msgs/msg/Header
+uint32 seq
+time stamp
+string frame_id
+
+

A Header és aPoint a típusból épül fel a PoseStamped típus struktúrája:

+
$ ros2 interface show geometry_msgs/msg/PoseStamped
+std_msgs/Header header
+  uint32 seq
+  time stamp
+  string frame_id
+geometry_msgs/Pose pose
+  geometry_msgs/Point position
+    float64 x
+    float64 y
+    float64 z
+  geometry_msgs/Quaternion orientation
+    float64 x
+    float64 y
+    float64 z
+    float64 w
+
+

Publishing / Subscribing

+

In the following, the node named urban_road_filt subscribes to points data, which is of type PointCloud2, and advertises messages of type PointCloud2, MarkerArray:

+
flowchart LR
+
+P[points]:::light -->|sensor_msgs/PointCloud2| U([urban_road_filt]):::red
+U --> |sensor_msgs/PointCloud2| A[curb]:::light
+U --> |sensor_msgs/PointCloud2| B[road]:::light 
+U --> |sensor_msgs/PointCloud2| C[road_probably]:::light
+U --> |sensor_msgs/PointCloud2| D[roi]:::light
+U --> |visualization_msgs/MarkerArray| E[road_marker]:::light
+
+n1([ /node]):::white -- publishes</br>topic_type --> t[ /topic]:::white
+t -- subscribes</br>topic_type --> n2([ /node]):::white
+
+classDef light fill:#34aec5,stroke:#152742,stroke-width:2px,color:#152742  
+classDef dark fill:#152742,stroke:#34aec5,stroke-width:2px,color:#34aec5
+classDef white fill:#ffffff,stroke:#152742,stroke-width:2px,color:#152742
+classDef red fill:#ef4638,stroke:#152742,stroke-width:2px,color:#fff
+
+

Parameters

+
    +
  • Not everything can be written using Publish/Subscribe
    • +
  • Nodes may sometimes need parameterization
    • +
  • Parameters can be:
      +
    • Controller type
      • +
    • Color thresholds;
      • +
    • Camera resolution, etc
      • +
    +
    • +
+

Launch files

+

Batch execution of several nodes (ROS program). Keeping the ROS 1 conventions, it can be an XML format file that can define almost all aspects/operations of ROS. More recently, however, these can also be python files, so we have much more freedom. Start Node, set / load parameters, map topic, pass command line arguments.

+

Code example

+
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#  ros2 topic type /lexus3/gps/duro/current_pose
+#  geometry_msgs/msg/PoseStamped
+#  ros2 interface show geometry_msgs/msg/PoseStamped
+
+import rclpy
+from rclpy.node import Node
+from geometry_msgs.msg import PoseStamped
+
+
+class SimplePoseSub(Node):
+
+    def __init__(self):
+        super().__init__('simple_pose_sub')
+        self.sub1_ = self.create_subscription(PoseStamped, '/lexus3/gps/duro/current_pose', self.topic_callback, 10)
+
+
+
+    def topic_callback(self, msg):
+
+        self.get_logger().info('x: %.3f, y: %.3f', msg.pose.position.x, msg.pose.position.y)
+
+
+
+
+def main(args=None):
+
+    rclpy.init(args=args)                   ## Initialize the ROS 2 client library
+    simple_pose_sub = SimplePoseSub()
+    rclpy.spin(simple_pose_sub)             ## Create a node and spin
+    simple_pose_sub.destroy_node()
+    rclpy.shutdown()                        ## Shutdown the ROS 2 client library
+
+if __name__ == '__main__':
+    main()
+
+
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// ros2 topic type /lexus3/gps/duro/current_pose
+// geometry_msgs/msg/PoseStamped
+// ros2 interface show geometry_msgs/msg/PoseStamped
+
+#include "rclcpp/rclcpp.hpp"
+#include <memory>
+#include "geometry_msgs/msg/pose_stamped.hpp"
+using std::placeholders::_1;
+
+class SimplePoseSub : public rclcpp::Node{
+public:
+    SimplePoseSub() : Node("simple_pose_sub")
+    {
+        sub1_ = this->create_subscription<geometry_msgs::msg::PoseStamped>("/lexus3/gps/duro/current_pose", 10, std::bind(&SimplePoseSub::topic_callback, this, _1));
+    }
+
+private:
+    void topic_callback(const geometry_msgs::msg::PoseStamped &msg) const
+    {
+        RCLCPP_INFO(this->get_logger(), "x: %.3f, y: %.3f", msg.pose.position.x, msg.pose.position.y);
+    }
+    rclcpp::Subscription<geometry_msgs::msg::PoseStamped>::SharedPtr sub1_;
+    };
+
+int main(int argc, char *argv[])
+{
+    rclcpp::init(argc, argv);               // Initialize the ROS 2 client library
+    rclcpp::spin(
+        std::make_shared<SimplePoseSub>()); // Create a node and spin
+
+    rclcpp::shutdown();                     // Shutdown the ROS 2 client library
+    return 0;
+
+}
+
+
+
+
+

Sources

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+ + + + + + + + + \ No newline at end of file diff --git a/workshops/wheeltec_real_a/index.html b/workshops/wheeltec_real_a/index.html new file mode 100644 index 0000000..9dd6537 --- /dev/null +++ b/workshops/wheeltec_real_a/index.html @@ -0,0 +1,1506 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + Wheeltec hands-on (ROS 1) - JKK Research Center + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
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ROS 1 real robot workshop

+
    +
  • A small overview of the Bavarian-Hungarian Self-driving vehicles workshop.
    • +
  • Date: 2023.11.03.
    • +
  • Place: Győr, Hungary.
    • +
+

The megoldas_zala23 ROS 1 package

+

🤖 In the following a very simple wall/gap following approach will be presented and described. The origin of he code is based on the work of Suresh Babu (University of Virginia, license). Link to the original code: github.com/linklab-uva/f1tenth_gtc_tutorial.

+

The name of the package is a comes from a hungarian expression (megoldas: solution / Lösung).

+

The robot used in the competition

+

Wheeltec / Roboworks Rosbot mini Ackermann robot +main

+

On-board computer +- Nvidia Jetson Nano

+

Sensors +- Orbbec Depth Camera +- LSN10 LIDAR

+

Video

+ + +

Usage

+

Prerequisites: +- WiFi-enabled computer with Ubuntu 18.04 / 20.04 operating system and ROS Melodic / Noetic installation +- Internet access (Ethernet cable or WiFi)

+
    +
  1. Turn on the robot platform.
    2. +
  2. Use the computer to connect to the WiFi network created by the robot. The name of the WiFi network is unique for each robot platform, the # at the end of the SSID changes according to the number of the robot platform: +
    SSID: WHEELTEC_CAR_5.5_#
+Password: dongguan
+
    3. +
  3. Use SSH to connect to the on-board computer of the robot platform with the following terminal command: +
    ssh wheeltec@192.168.0.100
+
    +A password will be required, the default password is dongguan
    4. +
+

Internet access on the robot platform

+

Software packages can be downloaded to the on-board computer of the robot platform, which requires internet access.

+
    +
  • Ethernet: connect the Ethernet cable to the Ethernet port of the on-board computer of the robot platform.
    • +
  • WiFi: after issuing the nmtui terminal command, connect to the available WiFi network. +
    nmtui
+
    • +
+

+

Install the ROS 1 package

+

After installation, the functions of the robot platform can be accessed using ROS. The sample solution of the competition can also be deployed by ROS.

+

Create a workspace and install the sample solution on the robot:

+
mkdir -p ~/workshop_ws/src
+
+
cd ~/workshop_ws/
+
+
catkin init
+
+
cd ~/workshop_ws/src/
+
+
git clone https://github.com/robotverseny/megoldas_zala23
+
+
cd ~/workshop_ws/
+
+
catkin build megoldas_zala23
+
+
echo "source /home/wheeltec/workshop_ws/devel/setup.bash" >> ~/.bashrc
+
+
source ~/.bashrc
+
+

Install screen +

sudo apt install mc screen
+

+

Install jks visualization rviz plugin: depending on ROS 1 version (melodic / noetic):

+
sudo apt install ros-melodic-jsk-rviz-plugins
+
+
sudo apt install ros-noetic-jsk-rviz-plugins
+
+

Usage

+ +

The script verseny_start.sh sets the required environmental variables, starts the ROS nodes and finally after 2 minutes stops everything. Have a look at the code: verseny_start.sh

+
rosrun megoldas_zala23 verseny_start.sh
+
+

The verseny_start.sh shell script usually launches several virtual terminals, such as: roscore, turn_on_wheeltec_robot, lsn10_lidar, megoldas1.launch. All components of the solution can be stopped with the following command: +

rosrun megoldas_zala23 stop_all.sh
+

+

Further commands:

+
    +
  • list screen: screen -ls
    • +
  • restore screen: screen -r roscore / screen -r turn_on_wheeltec_robot / screen -r megoldas1
    • +
  • detach: Ctrl-a + Ctrl-d
    • +
+

ROS connection

+

The ROS topics advertised by the robot platform are also available on the computer connected to the platform, with the appropriate setting of the ROS_MASTER_URI variable: +

export ROS_MASTER_URI=http://192.168.0.100:11311
+
+After the appropriate setting of the variable, the topics can be listed and visualized using Rviz: +
rostopic list
+
+
rosrun rviz rviz
+

+

Some explanatory animations

+
roslaunch megoldas_zala23 rviz1.launch
+
+

+ +

+

Start solution per component

+

The solution can also be started per component, not just as a single shell script. This requires four terminal windows on the on-board computer of the robot platform and issuing the following commands per terminal:

+
roscore
+
+
roslaunch turn_on_wheeltec_robot turn_on_wheeltec_robot.launch
+
+
roslaunch lsn10 lsn10.launch
+
+
roslaunch megoldas_zala23 megoldas1.launch
+
+

Additional information

+

Workspaces

+
~/wheeltec_robot/src
+~/catkin_workspace/src
+~/workshop_ws/src/
+
+

Topic management

+
rostopic hz /scan
+rostopic echo /scan -n1
+rostopic type /scan
+
+
sensor_msgs/LaserScan
+
+

Robot platform language settings

+
sudo dpkg-reconfigure locales
+
+

+

reboot

+

Rosbag management

+

cd ~/rosbags
+rosbag record -a -o test1
+
+
rsync -avzh --progress wheeltec@192.168.0.100:/home/wheeltec/rosbags/ /mnt/c/bag/wheeltec/
+rosbag info test1_2023-03-30-12-37-22.bag
+rosbag play test1_2023-03-30-12-37-22.bag
+

+

You can even visualize rosbags in Foxglove studio:

+

Alt text

+

Download rosbags

+ + + + + + + +
+
+ + +
+ + + +
+ + + +
+
+
+
+ + + + + + + + + \ No newline at end of file