Cleanup redundant packages for conda packaging (#116)

* deleted rviz_simu and no easy robot control anymore

* renamed tuto, docs and auto pakge ms

* updated md docs and bump version

* packaged the operator

* updated install and credits

Author: 2lian

.gitignore

@@ -4,6 +4,7 @@ venv
 build-*/
 install-*/
 .pixi/
+src/**/pixi.lock
 *.conda
 files.txt
 *.log

LAUNCH.bash

@@ -15,26 +15,13 @@ UP_TO=1
 
 cd "${ROS2_MOONBOT_WS}" || echo No folder shortcut, working in $PWD
 . "${ROS2_INSTALL_PATH}"/setup.bash || source /opt/ros/humble/setup.bash || source /opt/ros/foxy/setup.bash || echo Ros2 not found for auto-sourcing, continuing
-# rm -r install/rviz_basic
-# rm -r build/rviz_basic
-# rm -r log/rviz_basic
-# rm -r install/easy_robot_control
-# rm -r build/easy_robot_control
-# rm -r log/easy_robot_control
-# rm -r log/ build/ install/
-# . install/setup.bash
 export RCUTILS_COLORIZED_OUTPUT=1
 # colcon build --symlink-install --cmake-args -Wno-dev
 # colcon build --cmake-args -Wno-dev
 doit -n 16 build
 . install/setup.bash
-# colcon test --packages-select motion_stack easy_robot_control ros2_m_hero_pkg rviz_basic --event-handlers console_cohesion+
 # colcon test-result --verbose
 export RCUTILS_CONSOLE_OUTPUT_FORMAT="{message}"
 export NUMBA_CACHE_DIR="./numba_cache" # this will compile numba in a permanant file
 
-ros2 run moonbot_zero_tuto high_dbg
-# ros2 run motion_stack trial
-# ros2 launch motion_stack moonbot_zero.launch.py MS_up_to_level:=$UP_TO
-# ros2 launch moonbot_zero_tuto myrobot.launch.py
-# ros2 launch moonbot_zero_tuto real_moonbot.launch.py MS_up_to_level:=4
+ros2 launch motion_stack_tuto myrobot.launch.py

README.md

@@ -101,21 +101,6 @@ people can take control and do their experiment seamlessly.
 
 * [ms_operator package](docs/build/md/markdown/api/ms_operator/ms_operator.md)
   * [Submodules](docs/build/md/markdown/api/ms_operator/ms_operator.md#submodules)
-  * [ms_operator.operator_node module](docs/build/md/markdown/api/ms_operator/ms_operator.md#module-ms_operator.operator_node)
-  * [ms_operator.operator_tui module](docs/build/md/markdown/api/ms_operator/ms_operator.md#module-ms_operator.operator_tui)
-  * [ms_operator.operator_utils module](docs/build/md/markdown/api/ms_operator/ms_operator.md#module-ms_operator.operator_utils)
-
-# Deprecated Code:
-
-* [easy_robot_control package](docs/build/md/markdown/api/easy_robot_control/easy_robot_control.md)
-  * [Subpackages](docs/build/md/markdown/api/easy_robot_control/easy_robot_control.md#subpackages)
-  * [Submodules](docs/build/md/markdown/api/easy_robot_control/easy_robot_control.md#submodules)
-  * [easy_robot_control.EliaNode module](docs/build/md/markdown/api/easy_robot_control/easy_robot_control.md#module-easy_robot_control.EliaNode)
-  * [easy_robot_control.gait_key_dev module](docs/build/md/markdown/api/easy_robot_control/easy_robot_control.md#module-easy_robot_control.gait_key_dev)
-  * [easy_robot_control.gait_node module](docs/build/md/markdown/api/easy_robot_control/easy_robot_control.md#module-easy_robot_control.gait_node)
-  * [easy_robot_control.ik_heavy_node module](docs/build/md/markdown/api/easy_robot_control/easy_robot_control.md#module-easy_robot_control.ik_heavy_node)
-  * [easy_robot_control.joint_state_interface module](docs/build/md/markdown/api/easy_robot_control/easy_robot_control.md#module-easy_robot_control.joint_state_interface)
-  * [easy_robot_control.lazy_joint_state_publisher module](docs/build/md/markdown/api/easy_robot_control/easy_robot_control.md#module-easy_robot_control.lazy_joint_state_publisher)
-  * [easy_robot_control.leg_api module](docs/build/md/markdown/api/easy_robot_control/easy_robot_control.md#module-easy_robot_control.leg_api)
-  * [easy_robot_control.leg_node module](docs/build/md/markdown/api/easy_robot_control/easy_robot_control.md#module-easy_robot_control.leg_node)
-  * [easy_robot_control.mover_node module](docs/build/md/markdown/api/easy_robot_control/easy_robot_control.md#module-easy_robot_control.mover_node)
+  * [ms_operator.operator_node module](docs/build/md/markdown/api/ms_operator/ms_operator.md#ms-operator-operator-node-module)
+  * [ms_operator.operator_tui module](docs/build/md/markdown/api/ms_operator/ms_operator.md#ms-operator-operator-tui-module)
+  * [ms_operator.operator_utils module](docs/build/md/markdown/api/ms_operator/ms_operator.md#ms-operator-operator-utils-module)

docs/build/md/markdown/api/motion_stack/motion_stack.api.injection.md

@@ -25,7 +25,7 @@ Features
 - You should provide this object an initialized JointCore.
 - You need to call by yourself:
   > - [`OffsetterLvl0.apply_offset()`](#motion_stack.api.injection.offsetter.OffsetterLvl0.apply_offset)
-  > - [`OffsetterLvl0.save_angle_as_offset()`](../easy_robot_control/easy_robot_control.injection.md#easy_robot_control.injection.offsetter.OffsetterLvl0.save_angle_as_offset)
+  > - `OffsetterLvl0.save_angle_as_offset()`
   > - [`OffsetterLvl0.save_current_offset()`](#motion_stack.api.injection.offsetter.OffsetterLvl0.save_current_offset)
 - [`OffsetterLvl0.load_offset()`](#motion_stack.api.injection.offsetter.OffsetterLvl0.load_offset) is called on object initialization.
 - See the ros2 wrapper if you running the core through ros2.

docs/build/md/markdown/api/motion_stack/motion_stack.api.launch.md

@@ -30,7 +30,7 @@ Example:
 from motion_stack.api.launch.builder import LevelBuilder, xacro_path_from_pkg
 
 urdf_path = xacro_path_from_pkg(
-    package_name="moonbot_zero_tuto", xacro_path="urdf/moonbot_zero.xacro"
+    package_name="motion_stack_tuto", xacro_path="urdf/moonbot_zero.xacro"
 )
 LEGS_DIC = {
     1: "end1",
@@ -178,15 +178,6 @@ Along each lvl1 node, it creates:
 * **Return type:**
   `List`[`List`[`Node`]]
 
-### motion_stack.api.launch.builder.xacro_path_from_packer(robot_name)
-
-retieves the .urdf/.xacro path in the install share folder of urdf_packer.
-
-* **Parameters:**
-  **robot_name** (*str*) – corresponds to <robot_name>.xacro
-
-Returns:
-
 ### motion_stack.api.launch.builder.xacro_path_from_pkg(package_name, xacro_path, options=None)
 
 Gets a path from a package, adding options, in view of xacro  compilation.
@@ -208,22 +199,16 @@ Creates ROS2 command to compile xacro at launch time.
   * **path** (*str*)
   * **options** (*str* *|* *None*)
 
-### motion_stack.api.launch.builder.T *= TypeVar(T)*
-
-**Type:**    `TypeVar`
-
-Invariant `TypeVar`.
-
 ### motion_stack.api.launch.builder.get_cli_argument(arg_name, default)
 
 Returns the CLI argument as a string, or default is none inputed.
 Can be much better optimised, I don’t care.
 
 * **Return type:**
-  `Union`[[`~T`](#motion_stack.api.launch.builder.T), `str`]
+  `Union`[`~_T`, `str`]
 * **Parameters:**
   * **arg_name** (*str*)
-  * **default** (*T*)
+  * **default** ( *\_T*)
 
 ## motion_stack.api.launch.default_params module
 
@@ -235,15 +220,6 @@ Provides and explains all parameters to launch the motion stack
 
 Default parameters taken from the python core.
 
-### motion_stack.api.launch.default_params.get_xacro_path(robot_name)
-
-retieves the .urdf/.xacro path in the install share folder
-
-* **Parameters:**
-  **robot_name** (*str*) – corresponds to <robot_name>.xacro
-
-Returns:
-
 ### motion_stack.api.launch.default_params.enforce_params_type(parameters)
 
 enforces types to dic in place

docs/build/md/markdown/api/motion_stack/motion_stack.core.rtb_fix.md

@@ -20,9 +20,6 @@ bad.URDF._recursive_axis_definition = fix.URDF._recursive_axis_definition
 bad.URDF.finalize_linking = fix.URDF.finalize_linking
 ```
 
-#### NOTE
-easy_robot_control/_\_init_\_.py overwrites it, so importing easy_robot_control             will change your rtb
-
 @author (Original) Matthew Matl, Github: mmatl
 @author (Adapted by) Jesse Haviland
 @author (Fixed by) Elian Neppel

docs/build/md/markdown/api/motion_stack/motion_stack.ros2.default_node.md

@@ -130,6 +130,64 @@ Refer to [`ros2.base_node.lvl2.Lvl2Node`](motion_stack.ros2.base_node.md#motion_
 
 ### motion_stack.ros2.default_node.lvl2.main(\*args, \*\*kwargs)
 
+## motion_stack.ros2.default_node.mini_sim module
+
+### *class* motion_stack.ros2.default_node.mini_sim.MiniSim
+
+Bases: `Node`
+
+#### display_new_joints()
+
+#### jsRecieved(jsMSG)
+
+* **Return type:**
+  `None`
+* **Parameters:**
+  **jsMSG** (*JointState*)
+
+#### updateJS(state)
+
+* **Return type:**
+  `None`
+* **Parameters:**
+  **state** ([*JState*](motion_stack.core.utils.md#motion_stack.core.utils.joint_state.JState))
+
+#### integrateSpeed(state, updateTime)
+
+* **Return type:**
+  [`JState`](motion_stack.core.utils.md#motion_stack.core.utils.joint_state.JState)
+* **Parameters:**
+  * **state** ([*JState*](motion_stack.core.utils.md#motion_stack.core.utils.joint_state.JState))
+  * **updateTime** ([*Time*](motion_stack.core.utils.md#motion_stack.core.utils.time.Time) *|* *None*)
+
+#### refreshRviz(names=None)
+
+* **Return type:**
+  `None`
+* **Parameters:**
+  **names** (*List* *[**str* *]*  *|* *None*)
+
+#### send_upward(names=None)
+
+* **Return type:**
+  `None`
+* **Parameters:**
+  **names** (*List* *[**str* *]*  *|* *None*)
+
+#### *static* jsIsMoving(js)
+
+* **Return type:**
+  `bool`
+* **Parameters:**
+  **js** ([*JState*](motion_stack.core.utils.md#motion_stack.core.utils.joint_state.JState))
+
+#### getSpeedControledNames()
+
+* **Return type:**
+  `List`[`str`]
+
+### motion_stack.ros2.default_node.mini_sim.main(args=None)
+
 ## motion_stack.ros2.default_node.trial module
 
 ### *class* motion_stack.ros2.default_node.trial.TestNode

docs/build/md/markdown/api/motion_stack/motion_stack.ros2.md

@@ -21,6 +21,7 @@ Non-ROS2-related opertation must NOT be implemented here.
   * [Submodules](motion_stack.ros2.default_node.md#submodules)
   * [motion_stack.ros2.default_node.lvl1 module](motion_stack.ros2.default_node.md#module-motion_stack.ros2.default_node.lvl1)
   * [motion_stack.ros2.default_node.lvl2 module](motion_stack.ros2.default_node.md#module-motion_stack.ros2.default_node.lvl2)
+  * [motion_stack.ros2.default_node.mini_sim module](motion_stack.ros2.default_node.md#module-motion_stack.ros2.default_node.mini_sim)
   * [motion_stack.ros2.default_node.trial module](motion_stack.ros2.default_node.md#module-motion_stack.ros2.default_node.trial)
 * [motion_stack.ros2.ros2_asyncio package](motion_stack.ros2.ros2_asyncio.md)
   * [`sleep()`](motion_stack.ros2.ros2_asyncio.md#motion_stack.ros2.ros2_asyncio.sleep)

docs/build/md/markdown/api/ms_operator/modules.md

@@ -2,6 +2,6 @@
 
 * [ms_operator package](ms_operator.md)
   * [Submodules](ms_operator.md#submodules)
-  * [ms_operator.operator_node module](ms_operator.md#module-ms_operator.operator_node)
-  * [ms_operator.operator_tui module](ms_operator.md#module-ms_operator.operator_tui)
-  * [ms_operator.operator_utils module](ms_operator.md#module-ms_operator.operator_utils)
+  * [ms_operator.operator_node module](ms_operator.md#ms-operator-operator-node-module)
+  * [ms_operator.operator_tui module](ms_operator.md#ms-operator-operator-tui-module)
+  * [ms_operator.operator_utils module](ms_operator.md#ms-operator-operator-utils-module)