Release 0.17.3 (#783)

* release 0.17.3

* switching to https, no tunner works, doesn't work with tunnel on my machine

* fixing test

* fixing obvious stuff in gnc_visualizer

* Update tools/gnc_visualizer/scripts/visualizer.py

Co-authored-by: Trey Smith <trey.smith@nasa.gov>

---------

Co-authored-by: Trey Smith <trey.smith@nasa.gov>

RELEASE.md

@@ -1,5 +1,11 @@
 # Releases
 
+# Release 0.17.3
+
+  * Comms bridge added rate feature
+  * Bug fixes
+  * User feedback improvements
+
 # Release 0.17.2
 
   * Adding Generic comms bridge

astrobee.doxyfile

@@ -39,7 +39,7 @@ PROJECT_NAME           = "NASA Astrobee Robot Software"
 # control system is used.
 
 
-PROJECT_NUMBER         = 0.17.2
+PROJECT_NUMBER         = 0.17.3
 
 # Using the PROJECT_BRIEF tag one can provide an optional one line description
 # for a project that appears at the top of each page and should give viewer a

astrobee/CMakeLists.txt

@@ -18,7 +18,7 @@
 cmake_minimum_required(VERSION 3.0)
 project(astrobee)
 
-set(ASTROBEE_VERSION 0.17.2)
+set(ASTROBEE_VERSION 0.17.3)
 
 ## Compile as C++14, supported in ROS Kinetic and newer
 add_compile_options(-std=c++14)

debian/changelog

@@ -1,3 +1,11 @@
+astrobee (0.17.3) testing; urgency=medium
+
+  * Comms bridge added rate feature
+  * Bug fixes
+  * User feedback improvements
+
+ -- Astrobee Flight Software <astrobee-fsw@nx.arc.nasa.gov> Thu, 09 May 2024 11:50:34 -0700
+
 astrobee (0.17.2) UNRELEASED; urgency=medium
 
   * Adding Generic comms bridge

scripts/setup/install_desktop_packages.sh

@@ -50,13 +50,13 @@ then
 
   if [ "${NO_TUNNEL}" -eq 1 ]; then
       echo "Getting the custom Debian without tunnel"
-      sudo /bin/bash -c "echo \"deb [arch=amd64] http://astrobee.ndc.nasa.gov/software_new ${DIST} main\" > $arssrc" || exit 1
-      sudo /bin/bash -c "echo \"deb-src http://astrobee.ndc.nasa.gov/software_new ${DIST} main\" >> $arssrc" || exit 1
+      sudo /bin/bash -c "echo \"deb [arch=amd64] https://astrobee.ndc.nasa.gov/software_new ${DIST} main\" > $arssrc" || exit 1
+      sudo /bin/bash -c "echo \"deb-src https://astrobee.ndc.nasa.gov/software_new ${DIST} main\" >> $arssrc" || exit 1
   else
       echo "Tunnelling to get the custom Debian"
-      sudo /bin/bash -c "echo \"deb [arch=amd64] http://127.0.0.1:8765/software_new ${DIST} main\" > $arssrc" || exit 1
-      sudo /bin/bash -c "echo \"deb-src http://127.0.0.1:8765/software_new ${DIST} main\" >> $arssrc" || exit 1
-      ssh -N -L 127.0.0.1:8765:astrobee.ndc.nasa.gov:80 ${username}m.ndc.nasa.gov &
+      sudo /bin/bash -c "echo \"deb [arch=amd64] https://127.0.0.1:8765/software_new ${DIST} main\" > $arssrc" || exit 1
+      sudo /bin/bash -c "echo \"deb-src https://127.0.0.1:8765/software_new ${DIST} main\" >> $arssrc" || exit 1
+      ssh -N -L 127.0.0.1:8765:astrobee.ndc.nasa.gov:443 ${username}m.ndc.nasa.gov &
   fi
 
   trap "kill $! 2> /dev/null; sudo truncate -s 0 $arssrc; wait $!" 0 HUP QUIT ILL ABRT FPE SEGV PIPE TERM INT

simulation/CMakeLists.txt

@@ -19,8 +19,8 @@ cmake_minimum_required(VERSION 3.0)
 project(astrobee_gazebo)
 
 if (ENABLE_GAZEBO)
-## Compile as C++14, supported in ROS Kinetic and newer
-add_compile_options(-std=c++14)
+## Compile as C++17
+add_compile_options(-std=c++17)
 
 ## Find catkin macros and libraries
 find_package(catkin2 REQUIRED COMPONENTS

tools/bag_processing/src/bag_processing/pixel_utils.py

@@ -65,7 +65,7 @@
 RgbImage = np.ndarray  # RGB image with array shape (H, W, 3), dtype=np.uint8.
 BayerImage = np.ndarray  # Raw Bayer image with array shape (H, W), dtype=np.uint8
 BayerImagePatch = BayerImage  # A really small BayerImage ;)
-ImageMask = np.ndarray  # An image with array shape (H, W), dtype=np.bool
+ImageMask = np.ndarray  # An image with array shape (H, W), dtype=bool
 Kernel = np.ndarray  # An NxN kernel with N odd
 MonoImage = np.ndarray  # Image with array shape (H, W), dtype=np.uint8
 FloatImage = np.ndarray  # Image with array shape (H, W), dtype=np.float64
@@ -197,12 +197,12 @@ def median_filter(
         assert out.dtype == np.uint8
 
     if compute_mask is None:
-        compute_mask = np.ones(im.shape, dtype=np.bool)
+        compute_mask = np.ones(im.shape, dtype=bool)
     else:
         assert compute_mask.shape == im.shape
 
     # edges - slower due to use of np.ma.median() to exclude out-of-bounds neighbors
-    edge_mask = np.zeros(im.shape, dtype=np.bool)
+    edge_mask = np.zeros(im.shape, dtype=bool)
     edge_mask[:2, :] = compute_mask[:2, :]
     edge_mask[-2:, :] = compute_mask[-2:, :]
     edge_mask[:, :2] = compute_mask[:, :2]
@@ -228,7 +228,7 @@ def median_filter(
         times.append(time.time())  # 6
 
     # middle - runs faster using np.median()
-    middle_mask = np.zeros(im.shape, dtype=np.bool)
+    middle_mask = np.zeros(im.shape, dtype=bool)
     middle_mask[2:-2, 2:-2] = compute_mask[2:-2, 2:-2]
     middle_y, middle_x = np.nonzero(middle_mask)
     y = y0[np.newaxis, middle_y, middle_x] + y_off[:, np.newaxis, np.newaxis]
@@ -801,7 +801,7 @@ def __init__(self, image_shape: ArrayShape, bad_coords: CoordArray, note: str =
 
     def _init_filter(self, bad_coords: CoordArray) -> None:
         "Initialize self.bad_pixels for interpolation."
-        bad_image = np.zeros(self.image_shape, dtype=np.bool)
+        bad_image = np.zeros(self.image_shape, dtype=bool)
         bad_image[tuple(bad_coords)] = True
         for y, x in zip(*bad_coords):
             kernel = get_bayer_neighbor_kernel(

tools/gnc_visualizer/scripts/communications/com_manager.py

@@ -93,15 +93,17 @@ def set_com_method(self, com_method, args=None):
                 partition_name, given_peer, domain, public_ip
             ):
                 # Print result
-                print >> sys.stderr, (
-                    self.config.get_all_warnings() + self.config.get_all_info()
+                print(
+                    self.config.get_all_warnings() + self.config.get_all_info(),
+                    file=sys.stderr,
                 )
             else:
                 # Print result and exit
-                print >> sys.stderr, (
+                print(
                     self.config.get_all_errors()
                     + self.config.get_all_warnings()
-                    + self.config.get_all_info()
+                    + self.config.get_all_info(),
+                    file=sys.stderr,
                 )
                 return False
 

tools/gnc_visualizer/scripts/communications/configuration_support.py

@@ -1,5 +1,6 @@
 #!/usr/bin/env python
 
+import configparser
 import datetime
 import socket
 import string
@@ -8,8 +9,6 @@
 from os import path as osPath
 from os import remove
 
-import ConfigParser
-
 filepath = osPath.dirname(osPath.realpath(__file__))
 
 BASE_DDS_PROFILE_FILE = filepath + "/dds_types/BaseDDSProfile.xml"
@@ -21,7 +20,7 @@ class Preferences:
     def __init__(
         self, partition_name=None, given_peer=None, domain=None, public_ip=None
     ):
-        self.config = ConfigParser.ConfigParser()
+        self.config = configparser.ConfigParser()
         self.dom = None
         self.partition_name = partition_name
         self.initial_peers = dict()
@@ -154,7 +153,7 @@ def clear_node_list(self, node_list, sub_tag_name):
             peer.unlink()
 
     def write_node_list(self, node_list, sub_tag_name, children):
-        children = [children] if isinstance(children, basestring) else children
+        children = [children] if isinstance(children, str) else children
         for child in children:
             new_node = node_list.ownerDocument.createElement(sub_tag_name)
             new_node.appendChild(

tools/gnc_visualizer/scripts/plot_types.py

@@ -21,7 +21,8 @@
 
 import numpy as np
 import pyqtgraph as pg
-from pyqtgraph.Qt import QtCore, QtGui
+from PyQt5 import QtCore
+from PyQt5.QtWidgets import QGraphicsPathItem
 
 DISPLAY_TIME = 10
 
@@ -72,10 +73,10 @@ def update_plot(self, data):
         self.setLimits(xMin=max(0, t - DISPLAY_TIME), xMax=t)
 
 
-class PathItem(pg.QtGui.QGraphicsPathItem):
+class PathItem(QGraphicsPathItem):
     def __init__(self, pen):
         self.path = pg.arrayToQPath(np.zeros(0), np.zeros(0), "all")
-        pg.QtGui.QGraphicsPathItem.__init__(self, self.path)
+        QGraphicsPathItem.__init__(self, self.path)
         self.setPen(pen)
         self.last_time = None
 

tools/gnc_visualizer/scripts/visualizer.py

@@ -32,6 +32,13 @@
 
 import numpy as np
 import pyqtgraph as pg
+from PyQt5.QtWidgets import (
+    QApplication,
+    QGraphicsScene,
+    QGraphicsTextItem,
+    QGraphicsView,
+    QMainWindow,
+)
 from pyqtgraph.Qt import QtCore, QtGui
 
 filepath = os.path.dirname(os.path.realpath(__file__))
@@ -254,7 +261,7 @@ def mahal_filter(dists):
 ]
 
 
-class TerminalView(QtGui.QGraphicsTextItem):
+class TerminalView(QGraphicsTextItem):
     def __init__(self, graphics_view):
         super(TerminalView, self).__init__("")
         self.graphics_view = graphics_view
@@ -274,11 +281,11 @@ def paint(self, painter, o, w):
         super(TerminalView, self).paint(painter, o, w)
 
 
-class TerminalGraphicsView(QtGui.QGraphicsView):
+class TerminalGraphicsView(QGraphicsView):
     def __init__(self, parent):
         super(TerminalGraphicsView, self).__init__()
-        self.connect(parent, QtCore.SIGNAL("resize"), self.resize)
-        self.setScene(QtGui.QGraphicsScene())
+        # self.connect(parent, QtCore.SIGNAL("resize"), self.resize)
+        self.setScene(QGraphicsScene())
         self.setVerticalScrollBarPolicy(QtCore.Qt.ScrollBarAlwaysOff)
         self.setHorizontalScrollBarPolicy(QtCore.Qt.ScrollBarAlwaysOff)
         self.setAttribute(QtCore.Qt.WA_TranslucentBackground)
@@ -292,17 +299,19 @@ def resize(self, event):
 
 
 class ParentGraphicsView(pg.GraphicsView):
+    resized = QtCore.pyqtSignal(QtCore.QEvent)
+
     def __init__(self):
         super(ParentGraphicsView, self).__init__()
         self.setAntialiasing(False)
 
     def resizeEvent(self, event):
         super(ParentGraphicsView, self).resizeEvent(event)
-        if event != None:
-            self.emit(QtCore.SIGNAL("resize"), event)
+        if event is not None:
+            self.resized.emit(event)
 
 
-class Visualizer(QtGui.QMainWindow):
+class Visualizer(QMainWindow):
     def __init__(self, launch_command=None, plan=None, com_method=com.DDS_COM):
         super(Visualizer, self).__init__()
         self.com_method = com_method
@@ -362,10 +371,10 @@ def __init__(self, launch_command=None, plan=None, com_method=com.DDS_COM):
         self.setWindowTitle("GNC Visualizer")
 
         self.settings = QtCore.QSettings("NASA", "gnc_visualizer")
-        self.restoreGeometry(self.settings.value("geometry", "").toByteArray())
-        self.restoreState(self.settings.value("windowState", "").toByteArray())
+        self.restoreGeometry(self.settings.value("geometry", "").encode())
+        self.restoreState(self.settings.value("windowState", "").encode())
 
-        QtGui.qApp.installEventFilter(self)
+        QApplication.instance().installEventFilter(self)
         # make sure initial window size includes menubar
         QtCore.QTimer.singleShot(0, self.menuBar().hide)
 
@@ -403,7 +412,7 @@ def stopProcess(self):
 
     def eventFilter(self, source, event):
         # do not hide menubar when menu shown
-        if QtGui.qApp.activePopupWidget() is None:
+        if QApplication.instance().activePopupWidget() is None:
             if event.type() == QtCore.QEvent.MouseMove:
                 if self.menuBar().isHidden():
                     rect = self.geometry()
@@ -420,7 +429,7 @@ def eventFilter(self, source, event):
                         self.menuBar().hide()
             elif event.type() == QtCore.QEvent.Leave and source is self:
                 self.menuBar().hide()
-        return QtGui.QMainWindow.eventFilter(self, source, event)
+        return super().eventFilter(source, event)
 
     def delete_plot(self, col, row):
         del self.columns[col][row]
@@ -711,7 +720,7 @@ def log_callback(self, data):
 
 
 def sigint_handler(*args):
-    QtGui.QApplication.quit()
+    QApplication.quit()
 
 
 def main():
@@ -797,7 +806,7 @@ def main():
         if args.com_method in (com.DDS_COM, com.ROS_COM):
             com_method = args.com_method
         else:
-            print >> sys.stderr, "Invalid communication method. Must be dds or ros"
+            print("Invalid communication method. Must be dds or ros", file=sys.stderr)
             return
 
     launch_command = None
@@ -806,11 +815,12 @@ def main():
     if com_method == com.DDS_COM and (
         args.launch_command != None or args.disable_pmcs or args.plan != None
     ):
-        print >> sys.stderr, (
+        print(
             "\n###\n"
             + "\nAdditional arguments (--gantry --granite --bag --sim --plan --disable_pmcs) "
             + 'will not be processed when using DDS mode. You may use "--comm ros" or do not include this '
-            + "argument at all in order to use additional arguments.\n\n###\n"
+            + "argument at all in order to use additional arguments.\n\n###\n",
+            file=sys.stderr,
         )
         return
     # Exclude DDS commands when using ROS communication
@@ -820,18 +830,19 @@ def main():
         or args.public_ip != None
         or args.domain != None
     ):
-        print >> sys.stderr, (
+        print(
             "\n###\n"
             + "\nAdditional arguments (--use_ip --robot_name --public_ip) "
             + 'will not be processed when using ROS mode. You may include "--comm dds" '
-            + "argument in order to use these additional arguments.\n\n###\n"
+            + "argument in order to use these additional arguments.\n\n###\n",
+            file=sys.stderr,
         )
         return
     else:
         if args.launch_command == None:
             args.launch_command = []
         if len(args.launch_command) > 1:
-            print >> sys.stderr, "Can only specify one launch command."
+            print("Can only specify one launch command.", file=sys.stderr)
             return
         if len(args.launch_command) == 1:
             launch_command = args.launch_command[0]
@@ -849,7 +860,7 @@ def main():
     if not com_manager.set_com_method(com_method, dds_args):
         return
 
-    app = QtGui.QApplication([])
+    app = QApplication([])
     signal.signal(signal.SIGINT, sigint_handler)
     v = Visualizer(launch_command, args.plan, com_manager.current_com_method)