Merge branch 'development' into feat/manipulation-improvements

Author: maciejmajek

.github/workflows/poetry-test.yml

@@ -49,6 +49,11 @@ jobs:
         run: |
           rosdep update
 
+      - name: Import ros2 dependencies
+        shell: bash
+        run: |
+          vcs import . < ros_deps.repos
+
       - name: Install ROS 2 package dependencies
         shell: bash
         run: |
@@ -64,6 +69,5 @@ jobs:
       - name: Run tests
         shell: bash
         run: |
-          source /opt/ros/${{ matrix.ros_distro }}/setup.bash
-          source install/setup.bash
-          poetry run pytest -m "not billable"
+          source setup_shell.sh
+          pytest -m "not billable"

.github/workflows/pre-commit.yml

@@ -9,14 +9,30 @@ on:
 
 jobs:
   pre-commit:
-    runs-on: ubuntu-24.04
+    runs-on:
+      - self-hosted
+
+    container:
+      image: osrf/ros:humble-desktop-full
 
     steps:
+      - name: Install pre-commit
+        run: |
+          apt update && apt install -y python3-pip shellcheck python-is-python3
+
       - name: Checkout code
         uses: actions/checkout@v4
         with:
           fetch-depth: 0
 
+      - run: |
+           git config --global --add safe.directory /__w/rai/rai
+
+      - name: Import ros2 dependencies
+        shell: bash
+        run: |
+          vcs import . < ros_deps.repos
+
       - name: Run pre-commit
         uses: pre-commit/[email protected]
         with:

.gitignore

@@ -15,8 +15,7 @@ log/
 # Distribution / packaging
 .Python
 build/
-develop-eggs/
-dist/
+develop-eggs/ dist/
 downloads/
 eggs/
 .eggs/
@@ -31,6 +30,7 @@ share/python-wheels/
 .installed.cfg
 *.egg
 MANIFEST
+dist/
 
 # PyInstaller
 #  Usually these files are written by a python script from a template
@@ -176,6 +176,7 @@ artifact_database.pkl
 imgui.ini
 
 src/rai_bench/rai_bench/experiments
+src/rai_interfaces
 
 # Demo assets
 demo_assets/

docs/API_documentation/connectors/overview.md

@@ -40,10 +40,9 @@ Extends BaseConnector with Human-Robot Interaction capabilities:
 
 ### Concrete Implementations
 
-| Connector              | Description                            | Documentation Link                         |
-| ---------------------- | -------------------------------------- | ------------------------------------------ |
-| ROS 2 Connectors       | Robot Operating System 2 integration   | [ROS2 Connectors](./ROS_2_Connectors.md)   |
-| Sound Device Connector | Audio streaming and playback/recording | [Sound Device Connector](./sounddevice.md) |
+| Connector        | Description                          | Documentation Link                       |
+| ---------------- | ------------------------------------ | ---------------------------------------- |
+| ROS 2 Connectors | Robot Operating System 2 integration | [ROS2 Connectors](./ROS_2_Connectors.md) |
 
 ## Key Features
 
@@ -89,10 +88,9 @@ Connectors implement thread-safe operations:
 
 ## Usage Examples
 
-| Connector    | Example Usage Documentation                              |
-| ------------ | -------------------------------------------------------- |
-| ROS 2        | [ROS2 Connectors](./ROS_2_Connectors.md#example-usage)   |
-| Sound Device | [Sound Device Connector](./sounddevice.md#example-usage) |
+| Connector | Example Usage Documentation                            |
+| --------- | ------------------------------------------------------ |
+| ROS 2     | [ROS2 Connectors](./ROS_2_Connectors.md#example-usage) |
 
 ## Error Handling
 

docs/demos/agriculture.md

@@ -15,19 +15,21 @@ optimally by calling the RAI agent to decide what to do.
     Ensure that every command is run in a sourced shell using `source setup_shell.sh`
     Ensure ROS 2 is sourced.
 
-1. **Download the Latest Release**
+1. Follow the RAI setup instructions in the [quick setup guide](../setup/install.md#setting-up-developer-environment).
+
+2. Download the Latest Release
 
     ```bash
     ./scripts/download_demo.sh agriculture
     ```
 
-2. **Run the Simulation**
+3. Run the Simulation
 
     ```bash
     ./demo_assets/agriculture/RAIAgricultureDemo/RAIAgricultureDemo.GameLauncher -bg_ConnectToAssetProcessor=0
     ```
 
-3. **Start the Tractor Node**
+4. Start the Tractor Node
 
     ```bash
     python examples/agriculture-demo.py --tractor_number 1

docs/demos/debugging_assistant.md

@@ -18,8 +18,7 @@ where you can ask questions about your ROS 2 setup and execute common debugging
 
 ## Running the Assistant
 
-1. Make sure you have RAI installed and configured according to the
-   [quick setup guide](../setup/install.md)
+1. Follow the RAI setup instructions in the [quick setup guide](../setup/install.md#setting-up-developer-environment).
 
 2. Launch the debugging assistant:
 

docs/demos/manipulation.md

@@ -18,7 +18,7 @@ manipulation techniques.
 
     Make sure ROS 2 is sourced. (e.g. `source /opt/ros/humble/setup.bash`)
 
-1. Follow the RAI setup instructions in the [quick setup guide](../setup/install.md).
+1. Follow the RAI setup instructions in the [quick setup guide](../setup/install.md#setting-up-developer-environment).
 2. Download additional dependencies:
 
     ```shell

docs/demos/overview.md

@@ -16,4 +16,6 @@ All demos require:
 -   ROS 2 (Humble or Jazzy)
 -   RAI platform setup
 
+Make sure to follow the [installation instructions](../setup/install.md).
+
 For detailed setup and running instructions, please refer to the individual demo documentation linked above.

docs/demos/rosbot_xl.md

@@ -16,13 +16,15 @@ platform in a nice apartment.
 
     Make sure ROS 2 is sourced. (e.g. `source /opt/ros/humble/setup.bash`)
 
-1. Download the newest binary release:
+1. Follow the RAI setup instructions in the [quick setup guide](../setup/install.md#setting-up-developer-environment).
+
+2. Download the newest binary release:
 
     ```bash
     ./scripts/download_demo.sh rosbot
     ```
 
-2. Install and download required packages
+3. Install and download required packages
 
     ```bash
     sudo apt install ros-${ROS_DISTRO}-navigation2 ros-${ROS_DISTRO}-nav2-bringup