From 2c808a0e75f8541fe6f2865e1351ef47f79f820f Mon Sep 17 00:00:00 2001 From: Maciej Majek <46171033+maciejmajek@users.noreply.github.com> Date: Mon, 27 Jan 2025 20:22:50 +0100 Subject: [PATCH] refactor: ros2 package structures (#391) --- .pre-commit-config.yaml | 10 +++++----- .../ros2}/rai_bringup/launch/hri.launch.py | 0 .../ros2}/rai_bringup/launch/openset.launch.py | 0 .../rai_bringup/launch/sim_whoami_demo.launch.py | 0 .../ros2}/rai_bringup/launch/voice.launch.py | 0 .../ros2}/rai_bringup/package.xml | 0 .../ros2}/rai_bringup/resource/rai_bringup | 0 src/{ => rai_extensions/ros2}/rai_bringup/setup.py | 0 .../ros2}/rai_interfaces/CMakeLists.txt | 0 .../ros2/rai_interfaces}/LICENSE | 0 .../ros2}/rai_interfaces/action/Task.action | 0 .../ros2}/rai_interfaces/action/TaskFeedback.action | 0 .../ros2}/rai_interfaces/msg/RAIDetectionArray.msg | 0 .../ros2}/rai_interfaces/package.xml | 0 .../ros2}/rai_interfaces/srv/ManipulatorMoveTo.srv | 0 .../ros2}/rai_interfaces/srv/RAIGroundedSam.srv | 0 .../ros2}/rai_interfaces/srv/RAIGroundingDino.srv | 0 .../ros2}/rai_interfaces/srv/StringList.srv | 0 .../rai_interfaces/srv/VectorStoreRetrieval.srv | 0 .../ros2}/rai_interfaces/srv/WhatISee.srv | 0 src/rai_extensions/{ => ros2}/rai_nomad/LICENSE | 0 src/rai_extensions/{ => ros2}/rai_nomad/README.md | 0 src/rai_extensions/{ => ros2}/rai_nomad/package.xml | 0 .../{ => ros2}/rai_nomad/rai_nomad/__init__.py | 0 .../{ => ros2}/rai_nomad/rai_nomad/nomad.py | 0 .../{ => ros2}/rai_nomad/resource/nomad_params.yaml | 0 .../{ => ros2}/rai_nomad/resource/rai_nomad | 0 src/rai_extensions/{ => ros2}/rai_nomad/setup.cfg | 0 src/rai_extensions/{ => ros2}/rai_nomad/setup.py | 0 .../{ => ros2}/rai_open_set_vision/.gitignore | 0 .../{ => ros2}/rai_open_set_vision/README.md | 0 .../rai_open_set_vision/images/sample.jpg | Bin .../launch/example_communication_launch.xml | 0 .../rai_open_set_vision/launch/gdino_launch.xml | 0 .../rai_open_set_vision/launch/gsam_launch.xml | 0 .../{ => ros2}/rai_open_set_vision/package.xml | 0 .../rai_open_set_vision/rai_open_set_vision/NOTICE | 0 .../rai_open_set_vision/__init__.py | 0 .../rai_open_set_vision/configs/__init__.py | 0 .../rai_open_set_vision/configs/gdino_config.py | 0 .../rai_open_set_vision/configs/seg_config.yml | 0 .../rai_open_set_vision/examples/__init__.py | 0 .../rai_open_set_vision/examples/talker.py | 0 .../rai_open_set_vision/services/__init__.py | 0 .../rai_open_set_vision/services/grounded_sam.py | 0 .../rai_open_set_vision/services/grounding_dino.py | 0 .../rai_open_set_vision/tools/__init__.py | 0 .../rai_open_set_vision/tools/gdino_tools.py | 0 .../rai_open_set_vision/tools/segmentation_tools.py | 0 .../rai_open_set_vision/vision_markup/__init__.py | 0 .../rai_open_set_vision/vision_markup/boxer.py | 0 .../rai_open_set_vision/vision_markup/segmenter.py | 0 .../resource/rai_open_set_vision | 0 .../{ => ros2}/rai_open_set_vision/setup.cfg | 0 .../{ => ros2}/rai_open_set_vision/setup.py | 0 .../ros2}/rai_state_logs/CMakeLists.txt | 0 .../ros2/rai_state_logs}/LICENSE | 0 .../ros2}/rai_state_logs/README.md | 0 .../rai_state_logs/launch/rai_state_logs.launch.py | 0 .../ros2}/rai_state_logs/package.xml | 0 .../rai_state_logs/src/rai_state_logs_node.cpp | 0 .../rai_state_logs/src/test_rai_state_logs_node.cpp | 0 .../ros2}/rai_whatisee/CMakeLists.txt | 0 .../ros2/rai_whatisee}/LICENSE | 0 .../ros2}/rai_whatisee/package.xml | 0 .../ros2}/rai_whatisee/src/rai_whatisee_node.cpp | 0 .../ros2/rai_whoami}/LICENSE | 0 .../ros2}/rai_whoami/launch/rai_whoami.launch.py | 0 .../ros2}/rai_whoami/package.xml | 0 .../ros2}/rai_whoami/rai_whoami/__init__.py | 0 .../ros2}/rai_whoami/rai_whoami/rai_whoami_node.py | 0 .../resource/default_robot_constitution.txt | 0 .../ros2}/rai_whoami/resource/rai_whoami | 0 src/{ => rai_extensions/ros2}/rai_whoami/setup.cfg | 0 src/{ => rai_extensions/ros2}/rai_whoami/setup.py | 0 75 files changed, 5 insertions(+), 5 deletions(-) rename src/{ => rai_extensions/ros2}/rai_bringup/launch/hri.launch.py (100%) rename src/{ => rai_extensions/ros2}/rai_bringup/launch/openset.launch.py (100%) rename src/{ => rai_extensions/ros2}/rai_bringup/launch/sim_whoami_demo.launch.py (100%) rename src/{ => rai_extensions/ros2}/rai_bringup/launch/voice.launch.py (100%) rename src/{ => rai_extensions/ros2}/rai_bringup/package.xml (100%) rename src/{ => rai_extensions/ros2}/rai_bringup/resource/rai_bringup (100%) rename src/{ => rai_extensions/ros2}/rai_bringup/setup.py (100%) rename src/{ => rai_extensions/ros2}/rai_interfaces/CMakeLists.txt (100%) rename src/{perception/rai_whatisee => rai_extensions/ros2/rai_interfaces}/LICENSE (100%) rename src/{ => rai_extensions/ros2}/rai_interfaces/action/Task.action (100%) rename src/{ => rai_extensions/ros2}/rai_interfaces/action/TaskFeedback.action (100%) rename src/{ => rai_extensions/ros2}/rai_interfaces/msg/RAIDetectionArray.msg (100%) rename src/{ => rai_extensions/ros2}/rai_interfaces/package.xml (100%) rename src/{ => rai_extensions/ros2}/rai_interfaces/srv/ManipulatorMoveTo.srv (100%) rename src/{ => rai_extensions/ros2}/rai_interfaces/srv/RAIGroundedSam.srv (100%) rename src/{ => rai_extensions/ros2}/rai_interfaces/srv/RAIGroundingDino.srv (100%) rename src/{ => rai_extensions/ros2}/rai_interfaces/srv/StringList.srv (100%) rename src/{ => rai_extensions/ros2}/rai_interfaces/srv/VectorStoreRetrieval.srv (100%) rename src/{ => rai_extensions/ros2}/rai_interfaces/srv/WhatISee.srv (100%) rename src/rai_extensions/{ => ros2}/rai_nomad/LICENSE (100%) rename src/rai_extensions/{ => ros2}/rai_nomad/README.md (100%) rename src/rai_extensions/{ => ros2}/rai_nomad/package.xml (100%) rename src/rai_extensions/{ => ros2}/rai_nomad/rai_nomad/__init__.py (100%) rename src/rai_extensions/{ => ros2}/rai_nomad/rai_nomad/nomad.py (100%) rename src/rai_extensions/{ => ros2}/rai_nomad/resource/nomad_params.yaml (100%) rename src/rai_extensions/{ => ros2}/rai_nomad/resource/rai_nomad (100%) rename src/rai_extensions/{ => ros2}/rai_nomad/setup.cfg (100%) rename src/rai_extensions/{ => ros2}/rai_nomad/setup.py (100%) rename src/rai_extensions/{ => ros2}/rai_open_set_vision/.gitignore (100%) rename src/rai_extensions/{ => ros2}/rai_open_set_vision/README.md (100%) rename src/rai_extensions/{ => ros2}/rai_open_set_vision/images/sample.jpg (100%) rename src/rai_extensions/{ => ros2}/rai_open_set_vision/launch/example_communication_launch.xml (100%) rename src/rai_extensions/{ => ros2}/rai_open_set_vision/launch/gdino_launch.xml (100%) rename src/rai_extensions/{ => ros2}/rai_open_set_vision/launch/gsam_launch.xml (100%) rename src/rai_extensions/{ => ros2}/rai_open_set_vision/package.xml (100%) rename src/rai_extensions/{ => ros2}/rai_open_set_vision/rai_open_set_vision/NOTICE (100%) rename src/rai_extensions/{ => ros2}/rai_open_set_vision/rai_open_set_vision/__init__.py (100%) rename src/rai_extensions/{ => ros2}/rai_open_set_vision/rai_open_set_vision/configs/__init__.py (100%) rename src/rai_extensions/{ => ros2}/rai_open_set_vision/rai_open_set_vision/configs/gdino_config.py (100%) rename src/rai_extensions/{ => ros2}/rai_open_set_vision/rai_open_set_vision/configs/seg_config.yml (100%) rename src/rai_extensions/{ => ros2}/rai_open_set_vision/rai_open_set_vision/examples/__init__.py (100%) rename src/rai_extensions/{ => ros2}/rai_open_set_vision/rai_open_set_vision/examples/talker.py (100%) rename src/rai_extensions/{ => ros2}/rai_open_set_vision/rai_open_set_vision/services/__init__.py (100%) rename src/rai_extensions/{ => ros2}/rai_open_set_vision/rai_open_set_vision/services/grounded_sam.py (100%) rename src/rai_extensions/{ => ros2}/rai_open_set_vision/rai_open_set_vision/services/grounding_dino.py (100%) rename src/rai_extensions/{ => ros2}/rai_open_set_vision/rai_open_set_vision/tools/__init__.py (100%) rename src/rai_extensions/{ => ros2}/rai_open_set_vision/rai_open_set_vision/tools/gdino_tools.py (100%) rename src/rai_extensions/{ => ros2}/rai_open_set_vision/rai_open_set_vision/tools/segmentation_tools.py (100%) rename src/rai_extensions/{ => ros2}/rai_open_set_vision/rai_open_set_vision/vision_markup/__init__.py (100%) rename src/rai_extensions/{ => ros2}/rai_open_set_vision/rai_open_set_vision/vision_markup/boxer.py (100%) rename src/rai_extensions/{ => ros2}/rai_open_set_vision/rai_open_set_vision/vision_markup/segmenter.py (100%) rename src/rai_extensions/{ => ros2}/rai_open_set_vision/resource/rai_open_set_vision (100%) rename src/rai_extensions/{ => ros2}/rai_open_set_vision/setup.cfg (100%) rename src/rai_extensions/{ => ros2}/rai_open_set_vision/setup.py (100%) rename src/{state_tools => rai_extensions/ros2}/rai_state_logs/CMakeLists.txt (100%) rename src/{rai_interfaces => rai_extensions/ros2/rai_state_logs}/LICENSE (100%) rename src/{state_tools => rai_extensions/ros2}/rai_state_logs/README.md (100%) rename src/{state_tools => rai_extensions/ros2}/rai_state_logs/launch/rai_state_logs.launch.py (100%) rename src/{state_tools => rai_extensions/ros2}/rai_state_logs/package.xml (100%) rename src/{state_tools => rai_extensions/ros2}/rai_state_logs/src/rai_state_logs_node.cpp (100%) rename src/{state_tools => rai_extensions/ros2}/rai_state_logs/src/test_rai_state_logs_node.cpp (100%) rename src/{perception => rai_extensions/ros2}/rai_whatisee/CMakeLists.txt (100%) rename src/{rai_whoami => rai_extensions/ros2/rai_whatisee}/LICENSE (100%) rename src/{perception => rai_extensions/ros2}/rai_whatisee/package.xml (100%) rename src/{perception => rai_extensions/ros2}/rai_whatisee/src/rai_whatisee_node.cpp (100%) rename src/{state_tools/rai_state_logs => rai_extensions/ros2/rai_whoami}/LICENSE (100%) rename src/{ => rai_extensions/ros2}/rai_whoami/launch/rai_whoami.launch.py (100%) rename src/{ => rai_extensions/ros2}/rai_whoami/package.xml (100%) rename src/{ => rai_extensions/ros2}/rai_whoami/rai_whoami/__init__.py (100%) rename src/{ => rai_extensions/ros2}/rai_whoami/rai_whoami/rai_whoami_node.py (100%) rename src/{ => rai_extensions/ros2}/rai_whoami/resource/default_robot_constitution.txt (100%) rename src/{ => rai_extensions/ros2}/rai_whoami/resource/rai_whoami (100%) rename src/{ => rai_extensions/ros2}/rai_whoami/setup.cfg (100%) rename src/{ => rai_extensions/ros2}/rai_whoami/setup.py (100%) diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml index 2caf3cb76..cafdfa6eb 100644 --- a/.pre-commit-config.yaml +++ b/.pre-commit-config.yaml @@ -29,11 +29,11 @@ repos: - id: autoflake args: ["--remove-all-unused-imports", "--in-place"] - - repo: https://github.com/pycqa/isort - rev: 5.13.2 - hooks: - - id: isort - args: ["--profile", "black", "--filter-files"] + # - repo: https://github.com/pycqa/isort + # rev: 5.13.2 + # hooks: + # - id: isort + # args: ["--profile", "black", "--filter-files"] - repo: https://github.com/psf/black rev: 24.4.2 diff --git a/src/rai_bringup/launch/hri.launch.py b/src/rai_extensions/ros2/rai_bringup/launch/hri.launch.py similarity index 100% rename from src/rai_bringup/launch/hri.launch.py rename to src/rai_extensions/ros2/rai_bringup/launch/hri.launch.py diff --git a/src/rai_bringup/launch/openset.launch.py b/src/rai_extensions/ros2/rai_bringup/launch/openset.launch.py similarity index 100% rename from src/rai_bringup/launch/openset.launch.py rename to src/rai_extensions/ros2/rai_bringup/launch/openset.launch.py diff --git a/src/rai_bringup/launch/sim_whoami_demo.launch.py b/src/rai_extensions/ros2/rai_bringup/launch/sim_whoami_demo.launch.py similarity index 100% rename from src/rai_bringup/launch/sim_whoami_demo.launch.py rename to src/rai_extensions/ros2/rai_bringup/launch/sim_whoami_demo.launch.py diff --git a/src/rai_bringup/launch/voice.launch.py b/src/rai_extensions/ros2/rai_bringup/launch/voice.launch.py similarity index 100% rename from src/rai_bringup/launch/voice.launch.py rename to src/rai_extensions/ros2/rai_bringup/launch/voice.launch.py diff --git a/src/rai_bringup/package.xml b/src/rai_extensions/ros2/rai_bringup/package.xml similarity index 100% rename from src/rai_bringup/package.xml rename to src/rai_extensions/ros2/rai_bringup/package.xml diff --git a/src/rai_bringup/resource/rai_bringup b/src/rai_extensions/ros2/rai_bringup/resource/rai_bringup similarity index 100% rename from src/rai_bringup/resource/rai_bringup rename to src/rai_extensions/ros2/rai_bringup/resource/rai_bringup diff --git a/src/rai_bringup/setup.py b/src/rai_extensions/ros2/rai_bringup/setup.py similarity index 100% rename from src/rai_bringup/setup.py rename to src/rai_extensions/ros2/rai_bringup/setup.py diff --git a/src/rai_interfaces/CMakeLists.txt b/src/rai_extensions/ros2/rai_interfaces/CMakeLists.txt similarity index 100% rename from src/rai_interfaces/CMakeLists.txt rename to src/rai_extensions/ros2/rai_interfaces/CMakeLists.txt diff --git a/src/perception/rai_whatisee/LICENSE b/src/rai_extensions/ros2/rai_interfaces/LICENSE similarity index 100% rename from src/perception/rai_whatisee/LICENSE rename to src/rai_extensions/ros2/rai_interfaces/LICENSE diff --git a/src/rai_interfaces/action/Task.action b/src/rai_extensions/ros2/rai_interfaces/action/Task.action similarity index 100% rename from src/rai_interfaces/action/Task.action rename to src/rai_extensions/ros2/rai_interfaces/action/Task.action diff --git a/src/rai_interfaces/action/TaskFeedback.action b/src/rai_extensions/ros2/rai_interfaces/action/TaskFeedback.action similarity index 100% rename from src/rai_interfaces/action/TaskFeedback.action rename to src/rai_extensions/ros2/rai_interfaces/action/TaskFeedback.action diff --git a/src/rai_interfaces/msg/RAIDetectionArray.msg b/src/rai_extensions/ros2/rai_interfaces/msg/RAIDetectionArray.msg similarity index 100% rename from src/rai_interfaces/msg/RAIDetectionArray.msg rename to src/rai_extensions/ros2/rai_interfaces/msg/RAIDetectionArray.msg diff --git a/src/rai_interfaces/package.xml b/src/rai_extensions/ros2/rai_interfaces/package.xml similarity index 100% rename from src/rai_interfaces/package.xml rename to src/rai_extensions/ros2/rai_interfaces/package.xml diff --git a/src/rai_interfaces/srv/ManipulatorMoveTo.srv b/src/rai_extensions/ros2/rai_interfaces/srv/ManipulatorMoveTo.srv similarity index 100% rename from src/rai_interfaces/srv/ManipulatorMoveTo.srv rename to src/rai_extensions/ros2/rai_interfaces/srv/ManipulatorMoveTo.srv diff --git a/src/rai_interfaces/srv/RAIGroundedSam.srv b/src/rai_extensions/ros2/rai_interfaces/srv/RAIGroundedSam.srv similarity index 100% rename from src/rai_interfaces/srv/RAIGroundedSam.srv rename to src/rai_extensions/ros2/rai_interfaces/srv/RAIGroundedSam.srv diff --git a/src/rai_interfaces/srv/RAIGroundingDino.srv b/src/rai_extensions/ros2/rai_interfaces/srv/RAIGroundingDino.srv similarity index 100% rename from src/rai_interfaces/srv/RAIGroundingDino.srv rename to src/rai_extensions/ros2/rai_interfaces/srv/RAIGroundingDino.srv diff --git a/src/rai_interfaces/srv/StringList.srv b/src/rai_extensions/ros2/rai_interfaces/srv/StringList.srv similarity index 100% rename from src/rai_interfaces/srv/StringList.srv rename to src/rai_extensions/ros2/rai_interfaces/srv/StringList.srv diff --git a/src/rai_interfaces/srv/VectorStoreRetrieval.srv b/src/rai_extensions/ros2/rai_interfaces/srv/VectorStoreRetrieval.srv similarity index 100% rename from src/rai_interfaces/srv/VectorStoreRetrieval.srv rename to src/rai_extensions/ros2/rai_interfaces/srv/VectorStoreRetrieval.srv diff --git a/src/rai_interfaces/srv/WhatISee.srv b/src/rai_extensions/ros2/rai_interfaces/srv/WhatISee.srv similarity index 100% rename from src/rai_interfaces/srv/WhatISee.srv rename to src/rai_extensions/ros2/rai_interfaces/srv/WhatISee.srv diff --git a/src/rai_extensions/rai_nomad/LICENSE b/src/rai_extensions/ros2/rai_nomad/LICENSE similarity index 100% rename from src/rai_extensions/rai_nomad/LICENSE rename to src/rai_extensions/ros2/rai_nomad/LICENSE diff --git a/src/rai_extensions/rai_nomad/README.md b/src/rai_extensions/ros2/rai_nomad/README.md similarity index 100% rename from src/rai_extensions/rai_nomad/README.md rename to src/rai_extensions/ros2/rai_nomad/README.md diff --git a/src/rai_extensions/rai_nomad/package.xml b/src/rai_extensions/ros2/rai_nomad/package.xml similarity index 100% rename from src/rai_extensions/rai_nomad/package.xml rename to src/rai_extensions/ros2/rai_nomad/package.xml diff --git a/src/rai_extensions/rai_nomad/rai_nomad/__init__.py b/src/rai_extensions/ros2/rai_nomad/rai_nomad/__init__.py similarity index 100% rename from src/rai_extensions/rai_nomad/rai_nomad/__init__.py rename to src/rai_extensions/ros2/rai_nomad/rai_nomad/__init__.py diff --git a/src/rai_extensions/rai_nomad/rai_nomad/nomad.py b/src/rai_extensions/ros2/rai_nomad/rai_nomad/nomad.py similarity index 100% rename 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similarity index 100% rename from src/rai_extensions/rai_nomad/setup.py rename to src/rai_extensions/ros2/rai_nomad/setup.py diff --git a/src/rai_extensions/rai_open_set_vision/.gitignore b/src/rai_extensions/ros2/rai_open_set_vision/.gitignore similarity index 100% rename from src/rai_extensions/rai_open_set_vision/.gitignore rename to src/rai_extensions/ros2/rai_open_set_vision/.gitignore diff --git a/src/rai_extensions/rai_open_set_vision/README.md b/src/rai_extensions/ros2/rai_open_set_vision/README.md similarity index 100% rename from src/rai_extensions/rai_open_set_vision/README.md rename to src/rai_extensions/ros2/rai_open_set_vision/README.md diff --git a/src/rai_extensions/rai_open_set_vision/images/sample.jpg b/src/rai_extensions/ros2/rai_open_set_vision/images/sample.jpg similarity index 100% rename from src/rai_extensions/rai_open_set_vision/images/sample.jpg rename to src/rai_extensions/ros2/rai_open_set_vision/images/sample.jpg diff --git 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