Merge pull request #25 from phausamann/devel

Release 0.6

.bumpversion.cfg

@@ -1,5 +1,5 @@
 [bumpversion]
-current_version = 0.5.0
+current_version = 0.6.0
 commit = True
 
 [bumpversion:file:setup.py]

HISTORY.rst

@@ -2,6 +2,21 @@
 History
 =======
 
+0.6.0 (May 17th, 2021)
+----------------------
+
+Breaking changes
+~~~~~~~~~~~~~~~~
+
+* Example data is now fetched via the ``pooch`` library and no longer a part
+  of the package itself.
+
+New features
+~~~~~~~~~~~~
+* New ``io`` module for import/export methods.
+* New ``ros.RosbagWriter`` class for writing rosbag files.
+
+
 0.5.0 (March 16th, 2021)
 ------------------------
 

MANIFEST.in

@@ -9,5 +9,3 @@ recursive-exclude * __pycache__
 recursive-exclude * *.py[co]
 
 recursive-include docs *.rst conf.py Makefile make.bat *.jpg *.png *.gif
-
-recursive-include rigid_body_motion/data *

ci/conda_recipe/meta.yaml

@@ -32,15 +32,17 @@ test:
     - pandas
     - xarray
     - netcdf4
+    - pooch
     - numba
     - ipywidgets
-    - ros-melodic-rospy # [linux and x86_64]
-    - ros-melodic-tf # [linux and x86_64]
-    - ros-melodic-tf2-ros # [linux and x86_64]
-    - ros-melodic-tf2-geometry-msgs # [linux and x86_64]
-    - ros-melodic-geometry-msgs # [linux and x86_64]
-    - ros-melodic-visualization-msgs # [linux and x86_64]
-    - ros-melodic-python-orocos-kdl # [linux and x86_64]
+    - ros-noetic-rospy
+    - ros-noetic-tf
+    - ros-noetic-tf2-ros
+    - ros-noetic-tf2-geometry-msgs
+    - ros-noetic-geometry-msgs
+    - ros-noetic-visualization-msgs
+    - python-orocos-kdl
+    - boost=1.74
     - pytest
     - pytest-cov
   commands:

ci/requirements_docs.txt

@@ -4,11 +4,13 @@ netcdf4==1.5.3
 numba==0.43
 llvmlite==0.31.0
 anytree==2.8.0
+pooch==1.3.0
 
-sphinx==2.4.4
+sphinx==3.5.4
 sphinx_rtd_theme==0.4.3
 numpydoc==0.9.1
-sphinx-autosummary-accessors==0.1.2
+sphinx-autosummary-accessors==0.2.0
 nbsphinx==0.8.1
+jinja2==2.11.3
 matplotlib==3.3.2
 ipykernel==5.5.0

ci/requirements_latest.txt

@@ -6,3 +6,4 @@ numpy-quaternion
 numba
 anytree
 pytest
+pooch

docs/_static/envs/example-env-ros.yml

@@ -0,0 +1,22 @@
+name: rbm-examples-ros
+channels:
+- conda-forge
+- robostack
+- phausamann
+dependencies:
+- python=3.6
+- rigid-body-motion>=0.6
+- numba
+- xarray
+- netcdf4
+- matplotlib
+- ipykernel
+- ipywidgets
+- ros-noetic-rospy
+- ros-noetic-tf
+- ros-noetic-tf2-ros
+- ros-noetic-tf2-geometry-msgs
+- ros-noetic-geometry-msgs
+- ros-noetic-visualization-msgs
+- python-orocos-kdl
+- boost=1.74

docs/_static/envs/example-env.yml

@@ -4,9 +4,10 @@ channels:
 - phausamann
 dependencies:
 - python=3.6
-- rigid-body-motion>=0.5
+- rigid-body-motion>=0.6
 - numba
 - xarray
 - netcdf4
 - matplotlib
 - ipykernel
+- pooch

docs/_static/example.rviz

@@ -0,0 +1,152 @@
+Panels:
+  - Class: rviz/Displays
+    Help Height: 78
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Global Options1
+        - /Status1
+        - /Grid1/Offset1
+        - /TF1/Status1
+        - /TF1/Tree1
+      Splitter Ratio: 0.5
+    Tree Height: 772
+  - Class: rviz/Selection
+    Name: Selection
+  - Class: rviz/Tool Properties
+    Expanded:
+      - /2D Pose Estimate1
+      - /2D Nav Goal1
+      - /Publish Point1
+    Name: Tool Properties
+    Splitter Ratio: 0.5886790156364441
+  - Class: rviz/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+  - Class: rviz/Time
+    Experimental: false
+    Name: Time
+    SyncMode: 0
+    SyncSource: ""
+Preferences:
+  PromptSaveOnExit: true
+Toolbars:
+  toolButtonStyle: 2
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 10
+      Class: rviz/Grid
+      Color: 160; 160; 164
+      Enabled: true
+      Line Style:
+        Line Width: 0.029999999329447746
+        Value: Lines
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: -20
+        Y: -60
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 10
+      Reference Frame: <Fixed Frame>
+      Value: true
+    - Class: rviz/Marker
+      Enabled: true
+      Marker Topic: /head/path
+      Name: Marker
+      Namespaces:
+        "": true
+      Queue Size: 100
+      Value: true
+    - Class: rviz/TF
+      Enabled: true
+      Frame Timeout: 60
+      Frames:
+        All Enabled: false
+        head:
+          Value: true
+        left_eye:
+          Value: false
+        world:
+          Value: true
+      Marker Alpha: 1
+      Marker Scale: 10
+      Name: TF
+      Show Arrows: false
+      Show Axes: true
+      Show Names: true
+      Tree:
+        world:
+          head:
+            {}
+      Update Interval: 0
+      Value: true
+    - Alpha: 1
+      Axes Length: 1
+      Axes Radius: 0.10000000149011612
+      Class: rviz/Pose
+      Color: 255; 255; 0
+      Enabled: true
+      Head Length: 0.30000001192092896
+      Head Radius: 0.20000000298023224
+      Name: Pose
+      Queue Size: 10
+      Shaft Length: 2
+      Shaft Radius: 0.10000000149011612
+      Shape: Arrow
+      Topic: /left_eye/pose
+      Unreliable: false
+      Value: true
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Default Light: true
+    Fixed Frame: world
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz/Interact
+      Hide Inactive Objects: true
+    - Class: rviz/MoveCamera
+    - Class: rviz/Select
+    - Class: rviz/FocusCamera
+    - Class: rviz/Measure
+    - Class: rviz/SetInitialPose
+      Theta std deviation: 0.2617993950843811
+      Topic: /initialpose
+      X std deviation: 0.5
+      Y std deviation: 0.5
+    - Class: rviz/SetGoal
+      Topic: /move_base_simple/goal
+    - Class: rviz/PublishPoint
+      Single click: true
+      Topic: /clicked_point
+  Value: true
+  Views:
+    Current:
+      Class: rviz/Orbit
+      Distance: 70.07855224609375
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.05999999865889549
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Field of View: 0.7853981852531433
+      Focal Point:
+        X: -1.9384573698043823
+        Y: -35.77290725708008
+        Z: 4.647912979125977
+      Focal Shape Fixed Size: true
+      Focal Shape Size: 0.05000000074505806
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.009999999776482582
+      Pitch: 0.5310819149017334
+      Target Frame: <Fixed Frame>
+      Yaw: 5.843320846557617
+    Saved

docs/api.rst

@@ -91,6 +91,18 @@ Utility functions
     rotate_vectors
 
 
+I/O functions
+-------------
+
+.. currentmodule:: rigid_body_motion.io
+
+.. autosummary::
+    :nosignatures:
+    :toctree: _generated
+
+    load_optitrack
+
+
 Plotting
 --------
 
@@ -112,7 +124,6 @@ xarray Accessors
 .. currentmodule:: xarray
 
 .. autosummary::
-    :nosignatures:
     :toctree: _generated
     :template: autosummary/accessor_method.rst
 

docs/conf.py

@@ -52,7 +52,7 @@
 numpydoc_show_class_members = False
 
 nbsphinx_kernel_name = "python3"
-nbsphinx_execute = "always"
+nbsphinx_execute = "auto"
 nbsphinx_prolog = """
 .. nbinfo::
 

docs/index.rst

@@ -34,6 +34,7 @@ xarray_ data types.
    reference_frames
    velocities
    xarray
+   ros
 
 .. toctree::
    :maxdepth: 1