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

.github/workflows/ci-docs2.yml

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

.github/workflows/systemtests.yml

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

crazyflie/CMakeLists.txt

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

crazyflie/config/server.yaml

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