rss_git_lite
Coming soon!
This repository will hold cleaned-up code from the version 2(.5) codeset from the Resilient Space Systems project (Caltech + NASA JPL + MIT + WHOI)
This is the python-native (not ROS-native) version of the code created and maintained by the Caltech side of the effort.
The majority of this is "structural code" that handles rosbridge communications, layer module setup, function calls inside the layers, map setup, Gazebo-MobileSim setup, and similar.
The conversion of the code to a stripped-down and shareable version of itself is currently a work-in-progress, see below.
Done:
- rosbridge interfaces in python (non-rospy) (uploaded 2017-07-07)
- ./multiopen_*.py and subcall scripts (uploaded 2018-05-25)
- some of ./rss_msgs/* (uploaded 2018-05-25)
Yet to be completed:
- ./algorithms/rss_ompl_wrapper/*
- ./common/*.py (the rest of the directory)
- ./contrib/p3dx_gazebo_mod/* (most extracted as a separate repository already)
- ./deliberative/*.py (but -not- the subdirectories with the closed-source JPL and MIT algorithms -- those require permission for use)
- ./estimator/*.py
- ./habitual/*.py
- ./initialize-params/*.py and *.yaml
- ./input_files/*.txt (will be completely replaced)
- ./reflexive/*.py
- ./rss_maps/*.py and *.world and *.map and *.txt
- the rest of the ./rss_msgs/* (the rest of the directory will be partially-replaced and completely cleaned/generalized)
- ./rss_waypoints/*.txt (will be completely replaced)
- ./trackem and ./contrib/trackem_ros (will be forked from source and updated with new .py code)
Dependencies
This code requires ws4py to be installed to run WebSockets interfaces, which are only needed if connecting to a rosbridge server.
With root access, you can run:
pip install ws4py
Or you can install ws4py locally via:
pip install --user ws4py
There are nominally other dependencies for the larger codeset. The AS4SR/vagrant-rss github repo is generally useful for getting / auto-installing these.
Contact
If you have any questions regarding the current codeset, please email Catharine McGhan at cat.mcghan@uc.edu.
--eof--