Merge pull request #900 from tue-robotics/rwc2019_challenge_rips

Rwc2019 challenge rips
tue-robotics · Nov 12, 2019 · 57df7ae · 57df7ae
2 parents d3122d0 + b6ef863
commit 57df7ae
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Showing 7 changed files with 47 additions and 56 deletions.
diff --git a/challenge_rips/CMakeLists.txt b/challenge_rips/CMakeLists.txt
@@ -7,65 +7,14 @@ find_package(catkin REQUIRED COMPONENTS
     robot_smach_states
 )
 
-# find_package(Boost REQUIRED COMPONENTS system program_options)
-# find_package(PCL REQUIRED)
-# find_package(OpenCV REQUIRED)
-
-# ------------------------------------------------------------------------------------------------
-#                                     ROS MESSAGES AND SERVICES
-# ------------------------------------------------------------------------------------------------
-
-# Generate messages
-# add_message_files(
-#    FILES
-#    message1.msg
-#    ...
-# )
-
-# Generate services
-# add_service_files(
-#    FILES
-#    service1.srv
-#    ...
-# )
-
-# Generate added messages and services with any dependencies listed here
-# generate_messages(
-#    DEPENDENCIES
-#    geometry_msgs
-#    ...
-# )
-
-# ------------------------------------------------------------------------------------------------
-#                                          CATKIN EXPORT
-# ------------------------------------------------------------------------------------------------
-
-catkin_package(
-#  INCLUDE_DIRS include
-#  LIBRARIES bla
-#  CATKIN_DEPENDS other_catkin_pkg
-#  DEPENDS system_lib
-)
-
-# ------------------------------------------------------------------------------------------------
-#                                              BUILD
-# ------------------------------------------------------------------------------------------------
-
 include_directories(
-    include
     ${catkin_INCLUDE_DIRS}
 )
 
-# add_library(library_name
-#     src/lib_source_file1.cpp
-#     ...
-# )
-# target_link_libraries(library_name ${catkin_LIBRARIES})
-
-# add_executable(exec_name
-#     src/source_file1.cpp
-#     ...
-# )
-# target_link_libraries(exec_name ${catkin_LIBRARIES})
+catkin_python_setup()
 
+catkin_package()
 
+if (CATKIN_ENABLE_TESTING)
+  catkin_add_nosetests(test)
+endif()
diff --git a/challenge_rips/setup.py b/challenge_rips/setup.py
@@ -0,0 +1,13 @@
+#!/usr/bin/env python
+
+from distutils.core import setup
+from catkin_pkg.python_setup import generate_distutils_setup
+
+d = generate_distutils_setup(
+    # #  don't do this unless you want a globally visible script
+    # scripts=['bin/myscript'],
+    packages=['challenge_rips'],
+    package_dir={'': 'src'}
+)
+
+setup(**d)
diff --git a/challenge_rips/src/challenge_rips/__init__.py b/challenge_rips/src/challenge_rips/__init__.py
diff --git a/challenge_rips/src/rips.py → challenge_rips/src/challenge_rips/rips.py b/challenge_rips/src/rips.py → challenge_rips/src/challenge_rips/rips.py
diff --git a/challenge_rips/src/testexec.py → ...lenge_rips/src/challenge_rips/testexec.py b/challenge_rips/src/testexec.py → ...lenge_rips/src/challenge_rips/testexec.py
diff --git a/challenge_rips/test/test_construction.py b/challenge_rips/test/test_construction.py
@@ -0,0 +1,18 @@
+import unittest
+
+from robot_skills.mockbot import Mockbot
+
+from challenge_rips.rips import setup_statemachine
+
+
+class TestChallengeConstruction(unittest.TestCase):
+    def test_construction(self):
+        """
+        If no exception is raised, this test will succeed
+        """
+        robot = Mockbot()
+        setup_statemachine(robot)
+
+
+if __name__ == '__main__':
+    unittest.main()
diff --git a/robocup_knowledge/src/robocup_knowledge/environments/rwc2019/challenge_rips.py b/robocup_knowledge/src/robocup_knowledge/environments/rwc2019/challenge_rips.py
@@ -0,0 +1,11 @@
+# RIPS KNOWLEDGE FILE RWC2019
+
+starting_point = "initial_pose"
+
+intermediate_1 = "registration_table1"
+intermediate_2 = "registration_table2"
+intermediate_3 = "registration_table3"
+
+exit_1 = "exit_1_rips"
+exit_2 = "exit_2_rips"
+exit_3 = "exit_3_rips"