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Makefile
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Makefile
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catkin_ws := catkin_ws
scuderia := scuderia.yaml
machines := $(catkin_ws)/src/duckietown/machines
all: $(machines)
$(machines): $(scuderia)
python setup/create-machines-file.py $(scuderia) > $(machines)
fix-time:
echo "Calling ntpdate to fix time"
sudo ntpdate -u us.pool.ntp.org
fix-time2:
sudo ntpdate -s time.nist.gov
clean-pyc:
find catkin_ws/src/ -name '*.pyc' | xargs rm
catkin-clean: clean-pyc
rm -rf $(catkin_ws)/build
build-parallel:
catkin_make -C $(catkin_ws) --make-args "-j4"
build:
catkin_make -C $(catkin_ws)
build-single:
catkin_make -C $(catkin_ws) --make-args "-j1"
# Unit tests
# Teddy: make it so "make unittests" runs all unit tests
unittests-environment: $(machines)
bash -c "source environment.sh; source set_vehicle_name.sh; python setup/sanity_checks"
unittests:
$(MAKE) unittests-environment
bash -c "source environment.sh; catkin_make -C $(catkin_ws) run_tests; catkin_test_results $(catkin_ws)/build/test_results/"
unittests-anti_instagram:
$(MAKE) unittests-environment
bash -c "source environment.sh; rosrun anti_instagram annotation_tests.py"
# HW testing
test-camera:
echo "Testing Camera HW by taking a picture (smile!)."
raspistill -t 1000 -o test-camera.jpg
test-led:
echo "Calibration blinking pattern"
bash -c "source environment.sh; rosrun rgb_led blink test_all_1"
test-turn-right:
echo "Calibrating right turn"
bash -c "rostest indefinite_navigation calibrate_turn.test veh:=$(vehicle_name) type:=right"
test-turn-left:
echo "Calibrating left turn"
bash -c "rostest indefinite_navigation calibrate_turn.test veh:=$(vehicle_name) type:=left"
test-turn-forward:
echo "Calibrating forward turn"
bash -c "rostest indefinite_navigation calibrate_turn.test veh:=$(vehicle_name) type:=forward"
# Basic demos
vehicle_name=$(shell hostname)
demo-joystick: unittests-environment
bash -c "source environment.sh; source set_ros_master.sh; roslaunch duckietown joystick.launch veh:=$(vehicle_name)"
demo-joystick-high-speed: unittests-environment
bash -c "source environment.sh; source set_ros_master.sh; roslaunch duckietown joystick.launch veh:=$(vehicle_name) joy_mapper_param_file_name:=high_speed "
demo-joystick-camera: unittests-environment
bash -c "source environment.sh; source set_ros_master.sh; roslaunch duckietown joystick_camera.launch veh:=$(vehicle_name)"
demo-joystick-camera-high-speed: unittests-environment
bash -c "source environment.sh; source set_ros_master.sh; roslaunch duckietown joystick_camera.launch veh:=$(vehicle_name) joy_mapper_param_file_name:=high_speed "
demo-line_detector: unittests-environment
bash -c "source environment.sh; source set_ros_master.sh; roslaunch duckietown line_detector.launch veh:=$(vehicle_name)"
demo-joystick-perception: unittests-environment
bash -c "source environment.sh; source set_ros_master.sh; source set_vehicle_name.sh; roslaunch duckietown_demos master.launch fsm_file_name:=joystick"
demo-lane_following-%: unittests-environment
bash -c "source environment.sh; source set_ros_master.sh; source set_vehicle_name.sh; roslaunch duckietown_demos lane_following.launch line_detector_param_file_name:=$*"
demo-led-fancy1: unittests-environment
bash -c "source environment.sh; rosrun rgb_led fancy1"
demo-led-fancy2: unittests-environment
bash -c "source environment.sh; rosrun rgb_led fancy2"
demo-led-blink-%: unittests-environment
bash -c "source environment.sh; rosrun rgb_led blink $*"
demo-line_detector-default: demo-line_detector-quiet-default
demo-line_detector-guy: demo-line_detector-quiet-guy
demo-line_detector-universal: demo-line_detector-quiet-universal
demo-line_detector-default_ld2: demo-line_detector-quiet-default_ld2
demo-line_detector-quiet-%: unittests-environment
bash -c "source environment.sh; source set_ros_master.sh; roslaunch duckietown line_detector.launch veh:=$(vehicle_name) line_detector_param_file_name:=$* verbose:=false"
# traffic lights
traffic-light:
bash -c "source environment.sh; source set_ros_master.sh; roslaunch traffic_light traffic_light_node.launch veh:=$(vehicle_name)"
#traffic-light-%:
# bash -c "source environment.sh; source set_ros_master.sh $*; roslaunch traffic_light traffic_light_node.launch veh:=$*"
# ==========
# openhouse demos
openhouse-dp1: unittests-environment
bash -c "source environment.sh; source set_ros_master.sh; source set_vehicle_name.sh; roslaunch duckietown_demos parallel_autonomy.launch"
openhouse-dp1-%: unittests-environment
bash -c "source environment.sh; source set_ros_master.sh; source set_vehicle_name.sh; roslaunch duckietown_demos parallel_autonomy.launch line_detector_param_file_name:=$*"
openhouse-dp1-veh: unittests-environment
bash -c "source environment.sh; source set_ros_master.sh; source set_vehicle_name.sh; roslaunch duckietown_demos parallel_autonomy.launch vehicle_avoidance:=true"
openhouse-dp2: unittests-environment
bash -c "source environment.sh; source set_ros_master.sh; source set_vehicle_name.sh; roslaunch duckietown_demos obstacle_vehicle_avoid.launch"
openhouse-dp2-%: unittests-environment
bash -c "source environment.sh; source set_ros_master.sh; source set_vehicle_name.sh; roslaunch duckietown_demos obstacle_vehicle_avoid.launch line_detector_param_file_name:=$*"
openhouse-dp2-vehicle: unittests-environment
bash -c "source environment.sh; source set_ros_master.sh; source set_vehicle_name.sh; roslaunch duckietown_demos vehicle_avoid.launch"
openhouse-dp2-obstacle: unittests-environment
bash -c "source environment.sh; source set_ros_master.sh; source set_vehicle_name.sh; roslaunch duckietown_demos obstacle_avoid.launch"
openhouse-dp2-vehicle-no-wheels: unittests-environment
bash -c "source environment.sh; source set_ros_master.sh; source set_vehicle_name.sh; roslaunch duckietown_demos vehicle_avoid_nowheels.launch"
openhouse-dp2-obstacle-no-wheels: unittests-environment
bash -c "source environment.sh; source set_ros_master.sh; source set_vehicle_name.sh; roslaunch duckietown_demos obstacle_avoid_nowheels.launch"
openhouse-dp6a-generate-map-%: unittests-environment
bash -c 'echo -n "Enter full path to the tags .csv file: "; read tag_map; echo -n "Enter full path to the tiles .csv file: "; read tile_map;\
source environment.sh; source set_ros_master.sh; source set_vehicle_name.sh; \
roslaunch duckietown_description csv2xacro_node.launch tag_map_csv:=$$tag_map tile_map_csv:=$$tile_map map_name:=$*'
openhouse-dp6a-%: unittests-environment
bash -c "source environment.sh; source set_ros_master.sh; source set_vehicle_name.sh; \
roslaunch duckietown_demos localization.launch map_name:=$*"
openhouse-dp6a_laptop-%: unittests-environment
bash -c "source set_ros_master.sh $*; roslaunch duckietown_demos localization_frontend.launch"
openhouse-dp6b: unittests-environment
bash -c "source environment.sh; source set_ros_master.sh; source set_vehicle_name.sh; roslaunch duckietown_demos mission_planning.launch"
openhouse-dp6b-laptop-%: unittests-environment
bash -c "source set_ros_master.sh $*; rqt --force-discover"
openhouse-dp6: unittests-environment
bash -c "source environment.sh; source set_ros_master.sh; source set_vehicle_name.sh; roslaunch duckietown_demos localization_navigation.launch"
openhouse-dp6-laptop-%: unittests-environment
bash -c "source set_ros_master.sh $*; rqt --force-discover"
openhouse-dp3: unittests-environment
bash -c "source environment.sh; source set_ros_master.sh; source set_vehicle_name.sh; roslaunch duckietown_demos indefinite_navigation.launch"
openhouse-dp3-%: unittests-environment
bash -c "source environment.sh; source set_ros_master.sh; source set_vehicle_name.sh; roslaunch duckietown_demos indefinite_navigation.launch line_detector_param_file_name:=$*"
openhouse-dp5: unittests-environment
bash -c "source environment.sh; source set_ros_master.sh; source set_vehicle_name.sh; roslaunch duckietown_demos stop_sign_coordination.launch"
openhouse-dp4: unittests-environment
bash -c "source environment.sh; source set_ros_master.sh; source set_vehicle_name.sh; roslaunch duckietown_demos traffic_light_coordination.launch"