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paul-nechiforpaul-nechifor
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Merge pull request #887 from dimensionalOS/release_planner
Release planner Former-commit-id: a353120 [formerly 487bcff] Former-commit-id: fd23cb3
1 parent cac4f35 commit e11fa5c

37 files changed

+1452
-350
lines changed

assets/foxglove_dashboards/unitree.json renamed to assets/foxglove_dashboards/go2.json

Lines changed: 141 additions & 24 deletions
Original file line numberDiff line numberDiff line change
@@ -2,14 +2,14 @@
22
"configById": {
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"3D!3ezwzdr": {
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"cameraState": {
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],
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@@ -29,7 +29,8 @@
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"followMode": "follow-pose",
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"scene": {
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"labelSize": 0.1,
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}
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},
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"transforms": {
@@ -49,10 +50,10 @@
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"visible": false
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},
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"frame:map": {
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"visible": true
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"visible": false
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},
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"frame:world": {
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"visible": false
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}
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},
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"topics": {
@@ -63,7 +64,7 @@
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"colorMap": "turbo",
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"pointSize": 2.85,
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"decayTime": 6,
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"pointShape": "cube"
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"pointShape": "circle"
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},
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"/detectorDB/scene_update": {
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"visible": true
@@ -86,7 +87,9 @@
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"visible": false
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},
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"/camera_info": {
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"visible": true
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"visible": true,
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"distance": 1,
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"color": "#c4bcffff"
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},
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"/detectorDB/pointcloud/0": {
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"visible": true,
@@ -121,19 +124,21 @@
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"colorField": "z",
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"colorMode": "colormap",
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"colorMap": "turbo",
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"pointSize": 3.66,
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"pointShape": "cube",
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"pointSize": 4,
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"pointShape": "circle",
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"explicitAlpha": 1,
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"cubeSize": 0.05,
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"cubeOutline": false,
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"flatColor": "#ed8080ff"
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"flatColor": "#ed8080ff",
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"minValue": -0.1,
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"decayTime": 0
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},
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"/global_costmap": {
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"visible": true,
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"colorMode": "custom",
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"unknownColor": "#80808000",
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"minColor": "#282975ff",
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"maxColor": "#ff0000ff",
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"unknownColor": "#ff000000",
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"minColor": "#484981ff",
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"maxColor": "#000000ff",
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"frameLocked": false,
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"drawBehind": false
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},
@@ -203,6 +208,18 @@
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"maxColor": "#ff2222ff",
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"minColor": "#00006bff",
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"unknownColor": "#80808000"
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},
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"/debug_navigation": {
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"visible": false,
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"cameraInfoTopic": "/camera_info"
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},
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"/path": {
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"visible": true,
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"lineWidth": 0.03,
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"gradient": [
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"#ff6b6bff",
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"#ff0000ff"
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]
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}
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},
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"layers": {
@@ -228,6 +245,31 @@
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"frameId": "world",
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"divisions": 25,
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"lineWidth": 1
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},
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"aac2d29a-9580-442f-8067-104830c336c8": {
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"displayMode": "auto",
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"fallbackColor": "#ffffff",
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"showAxis": false,
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"axisScale": 1,
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"showOutlines": true,
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"opacity": 1,
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"visible": true,
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"frameLocked": true,
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"instanceId": "aac2d29a-9580-442f-8067-104830c336c8",
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"label": "URDF",
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"layerId": "foxglove.Urdf",
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"sourceType": "filePath",
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"url": "",
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"filePath": "/home/lesh/coding/dimos/dimos/robot/unitree/go2/go2.urdf",
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"parameter": "",
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"topic": "",
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"framePrefix": "",
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"order": 2,
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"links": {
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"base_link": {
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"visible": true
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}
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}
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}
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},
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"publish": {
@@ -240,7 +282,67 @@
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"poseEstimateThetaDeviation": 0.26179939
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},
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"imageMode": {},
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"followTf": "world"
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"followTf": "map"
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},
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"command-center-extension.command-center!3xr2po0": {},
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"Plot!3cog9zw": {
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"paths": [
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{
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"timestampMethod": "receiveTime",
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"value": "/metrics/_calculate_costmap.data",
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"enabled": true,
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"color": "#4e98e2",
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"id": "a1ff9a80-7a45-48ff-bdb1-232bda7bd492"
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},
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{
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"timestampMethod": "receiveTime",
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"value": "/metrics/get_global_pointcloud.data",
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"enabled": true,
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"color": "#f5774d",
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"id": "5fe70fbd-33f9-4b15-849f-c7c49988af95"
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},
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{
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"timestampMethod": "receiveTime",
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"value": "/metrics/add_frame.data",
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"enabled": true,
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"color": "#f7df71",
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"id": "bb4a56f8-78ae-45cb-850e-48c462dab40f"
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}
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],
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"showXAxisLabels": true,
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"showYAxisLabels": true,
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"showLegend": true,
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"legendDisplay": "floating",
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"showPlotValuesInLegend": false,
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"isSynced": true,
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"xAxisVal": "timestamp",
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"sidebarDimension": 240
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},
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"Plot!47kna9v": {
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"paths": [
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{
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"timestampMethod": "publishTime",
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"value": "/global_map.header.stamp.sec",
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"enabled": true,
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"color": "#4e98e2",
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"id": "19f95865-4d9e-4d38-b9d7-d227319d8ebd"
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},
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{
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"timestampMethod": "publishTime",
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"value": "/global_costmap.header.stamp.sec",
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"color": "#f5774d",
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"id": "86ddc0e2-8e9c-4d52-bd5a-d02cb0357efe"
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}
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"showXAxisLabels": true,
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"showYAxisLabels": true,
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"showLegend": true,
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"legendDisplay": "floating",
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"showPlotValuesInLegend": false,
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"isSynced": true,
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"xAxisVal": "timestamp",
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"sidebarDimension": 240
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},
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"Image!3mnp456": {
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"cameraState": {
@@ -308,7 +410,7 @@
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"visible": false
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},
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"/global_costmap": {
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"visible": true,
413+
"visible": false,
312414
"minColor": "#ffffff00",
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"maxColor": "#ff0000ff",
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"unknownColor": "#80808000"
@@ -351,7 +453,8 @@
351453
"colorMode": "colormap",
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"colorMap": "turbo",
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"pointShape": "cube",
354-
"pointSize": 5
456+
"pointSize": 5,
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"cubeSize": 0.03
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},
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"/detected/pointcloud/1": {
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"visible": false,
@@ -480,7 +583,21 @@
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"layout": {
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"direction": "row",
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"first": "3D!3ezwzdr",
483-
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"second": {
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"first": "command-center-extension.command-center!3xr2po0",
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"second": {
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‎data/.lfs/big_office.ply.tar.gz‎

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‎data/.lfs/big_office_height_cost_occupancy.png.tar.gz‎

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‎data/.lfs/big_office_simple_occupancy.png.tar.gz‎

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‎data/.lfs/occupancy_simple.png.tar.gz‎

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‎data/.lfs/unitree_go2_bigoffice_map.pickle.tar.gz‎

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‎dimos/e2e_tests/conftest.py‎

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# Copyright 2025 Dimensional Inc.
2+
#
3+
# Licensed under the Apache License, Version 2.0 (the "License");
4+
# you may not use this file except in compliance with the License.
5+
# You may obtain a copy of the License at
6+
#
7+
# http://www.apache.org/licenses/LICENSE-2.0
8+
#
9+
# Unless required by applicable law or agreed to in writing, software
10+
# distributed under the License is distributed on an "AS IS" BASIS,
11+
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
12+
# See the License for the specific language governing permissions and
13+
# limitations under the License.
14+
15+
from collections.abc import Callable, Iterator
16+
17+
import pytest
18+
19+
from dimos.core.transport import pLCMTransport
20+
from dimos.e2e_tests.dimos_cli_call import DimosCliCall
21+
from dimos.e2e_tests.lcm_spy import LcmSpy
22+
from dimos.msgs.geometry_msgs import PoseStamped, Quaternion
23+
from dimos.msgs.geometry_msgs.Vector3 import make_vector3
24+
from dimos.msgs.std_msgs.Bool import Bool
25+
26+
27+
def _pose(x: float, y: float, theta: float) -> PoseStamped:
28+
return PoseStamped(
29+
position=make_vector3(x, y, 0),
30+
orientation=Quaternion.from_euler(make_vector3(0, 0, theta)),
31+
frame_id="map",
32+
)
33+
34+
35+
@pytest.fixture
36+
def lcm_spy() -> Iterator[LcmSpy]:
37+
lcm_spy = LcmSpy()
38+
lcm_spy.start()
39+
yield lcm_spy
40+
lcm_spy.stop()
41+
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43+
@pytest.fixture
44+
def follow_points(lcm_spy: LcmSpy):
45+
def fun(*, points: list[tuple[float, float, float]], fail_message: str) -> None:
46+
topic = "/goal_reached#std_msgs.Bool"
47+
lcm_spy.save_topic(topic)
48+
49+
for x, y, theta in points:
50+
lcm_spy.publish("/goal_request#geometry_msgs.PoseStamped", _pose(x, y, theta))
51+
lcm_spy.wait_for_message_result(
52+
topic,
53+
Bool,
54+
predicate=lambda v: bool(v),
55+
fail_message=fail_message,
56+
timeout=60.0,
57+
)
58+
59+
yield fun
60+
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62+
@pytest.fixture
63+
def start_blueprint() -> Iterator[Callable[[str], DimosCliCall]]:
64+
dimos_robot_call = DimosCliCall()
65+
66+
def set_name_and_start(demo_name: str) -> DimosCliCall:
67+
dimos_robot_call.demo_name = demo_name
68+
dimos_robot_call.start()
69+
return dimos_robot_call
70+
71+
yield set_name_and_start
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dimos_robot_call.stop()
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@pytest.fixture
77+
def human_input():
78+
transport = pLCMTransport("/human_input")
79+
transport.lcm.start()
80+
81+
def send_human_input(message: str) -> None:
82+
transport.publish(message)
83+
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yield send_human_input
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transport.lcm.stop()

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