Release 0.17.3 (#783)

* release 0.17.3

* switching to https, no tunner works, doesn't work with tunnel on my machine

* fixing test

* fixing obvious stuff in gnc_visualizer

* Update tools/gnc_visualizer/scripts/visualizer.py

Co-authored-by: Trey Smith <trey.smith@nasa.gov>

---------

Co-authored-by: Trey Smith <trey.smith@nasa.gov>

Author: marinagmoreira

RELEASE.md

@@ -1,5 +1,11 @@
 # Releases
 
+# Release 0.17.3
+
+  * Comms bridge added rate feature
+  * Bug fixes
+  * User feedback improvements
+
 # Release 0.17.2
 
   * Adding Generic comms bridge

astrobee.doxyfile

@@ -39,7 +39,7 @@ PROJECT_NAME           = "NASA Astrobee Robot Software"
 # control system is used.
 
 
-PROJECT_NUMBER         = 0.17.2
+PROJECT_NUMBER         = 0.17.3
 
 # Using the PROJECT_BRIEF tag one can provide an optional one line description
 # for a project that appears at the top of each page and should give viewer a

astrobee/CMakeLists.txt

@@ -18,7 +18,7 @@
 cmake_minimum_required(VERSION 3.0)
 project(astrobee)
 
-set(ASTROBEE_VERSION 0.17.2)
+set(ASTROBEE_VERSION 0.17.3)
 
 ## Compile as C++14, supported in ROS Kinetic and newer
 add_compile_options(-std=c++14)

debian/changelog

@@ -1,3 +1,11 @@
+astrobee (0.17.3) testing; urgency=medium
+
+  * Comms bridge added rate feature
+  * Bug fixes
+  * User feedback improvements
+
+ -- Astrobee Flight Software <astrobee-fsw@nx.arc.nasa.gov> Thu, 09 May 2024 11:50:34 -0700
+
 astrobee (0.17.2) UNRELEASED; urgency=medium
 
   * Adding Generic comms bridge

scripts/setup/install_desktop_packages.sh

@@ -50,13 +50,13 @@ then
 
   if [ "${NO_TUNNEL}" -eq 1 ]; then
       echo "Getting the custom Debian without tunnel"
-      sudo /bin/bash -c "echo \"deb [arch=amd64] http://astrobee.ndc.nasa.gov/software_new ${DIST} main\" > $arssrc" || exit 1
-      sudo /bin/bash -c "echo \"deb-src http://astrobee.ndc.nasa.gov/software_new ${DIST} main\" >> $arssrc" || exit 1
+      sudo /bin/bash -c "echo \"deb [arch=amd64] https://astrobee.ndc.nasa.gov/software_new ${DIST} main\" > $arssrc" || exit 1
+      sudo /bin/bash -c "echo \"deb-src https://astrobee.ndc.nasa.gov/software_new ${DIST} main\" >> $arssrc" || exit 1
   else
       echo "Tunnelling to get the custom Debian"
-      sudo /bin/bash -c "echo \"deb [arch=amd64] http://127.0.0.1:8765/software_new ${DIST} main\" > $arssrc" || exit 1
-      sudo /bin/bash -c "echo \"deb-src http://127.0.0.1:8765/software_new ${DIST} main\" >> $arssrc" || exit 1
-      ssh -N -L 127.0.0.1:8765:astrobee.ndc.nasa.gov:80 ${username}m.ndc.nasa.gov &
+      sudo /bin/bash -c "echo \"deb [arch=amd64] https://127.0.0.1:8765/software_new ${DIST} main\" > $arssrc" || exit 1
+      sudo /bin/bash -c "echo \"deb-src https://127.0.0.1:8765/software_new ${DIST} main\" >> $arssrc" || exit 1
+      ssh -N -L 127.0.0.1:8765:astrobee.ndc.nasa.gov:443 ${username}m.ndc.nasa.gov &
   fi
 
   trap "kill $! 2> /dev/null; sudo truncate -s 0 $arssrc; wait $!" 0 HUP QUIT ILL ABRT FPE SEGV PIPE TERM INT

simulation/CMakeLists.txt

@@ -19,8 +19,8 @@ cmake_minimum_required(VERSION 3.0)
 project(astrobee_gazebo)
 
 if (ENABLE_GAZEBO)
-## Compile as C++14, supported in ROS Kinetic and newer
-add_compile_options(-std=c++14)
+## Compile as C++17
+add_compile_options(-std=c++17)
 
 ## Find catkin macros and libraries
 find_package(catkin2 REQUIRED COMPONENTS

tools/bag_processing/src/bag_processing/pixel_utils.py

@@ -65,7 +65,7 @@
 RgbImage = np.ndarray  # RGB image with array shape (H, W, 3), dtype=np.uint8.
 BayerImage = np.ndarray  # Raw Bayer image with array shape (H, W), dtype=np.uint8
 BayerImagePatch = BayerImage  # A really small BayerImage ;)
-ImageMask = np.ndarray  # An image with array shape (H, W), dtype=np.bool
+ImageMask = np.ndarray  # An image with array shape (H, W), dtype=bool
 Kernel = np.ndarray  # An NxN kernel with N odd
 MonoImage = np.ndarray  # Image with array shape (H, W), dtype=np.uint8
 FloatImage = np.ndarray  # Image with array shape (H, W), dtype=np.float64
@@ -197,12 +197,12 @@ def median_filter(
         assert out.dtype == np.uint8
 
     if compute_mask is None:
-        compute_mask = np.ones(im.shape, dtype=np.bool)
+        compute_mask = np.ones(im.shape, dtype=bool)
     else:
         assert compute_mask.shape == im.shape
 
     # edges - slower due to use of np.ma.median() to exclude out-of-bounds neighbors
-    edge_mask = np.zeros(im.shape, dtype=np.bool)
+    edge_mask = np.zeros(im.shape, dtype=bool)
     edge_mask[:2, :] = compute_mask[:2, :]
     edge_mask[-2:, :] = compute_mask[-2:, :]
     edge_mask[:, :2] = compute_mask[:, :2]
@@ -228,7 +228,7 @@ def median_filter(
         times.append(time.time())  # 6
 
     # middle - runs faster using np.median()
-    middle_mask = np.zeros(im.shape, dtype=np.bool)
+    middle_mask = np.zeros(im.shape, dtype=bool)
     middle_mask[2:-2, 2:-2] = compute_mask[2:-2, 2:-2]
     middle_y, middle_x = np.nonzero(middle_mask)
     y = y0[np.newaxis, middle_y, middle_x] + y_off[:, np.newaxis, np.newaxis]
@@ -801,7 +801,7 @@ def __init__(self, image_shape: ArrayShape, bad_coords: CoordArray, note: str =
 
     def _init_filter(self, bad_coords: CoordArray) -> None:
         "Initialize self.bad_pixels for interpolation."
-        bad_image = np.zeros(self.image_shape, dtype=np.bool)
+        bad_image = np.zeros(self.image_shape, dtype=bool)
         bad_image[tuple(bad_coords)] = True
         for y, x in zip(*bad_coords):
             kernel = get_bayer_neighbor_kernel(

tools/gnc_visualizer/scripts/communications/com_manager.py

@@ -93,15 +93,17 @@ def set_com_method(self, com_method, args=None):
                 partition_name, given_peer, domain, public_ip
             ):
                 # Print result
-                print >> sys.stderr, (
-                    self.config.get_all_warnings() + self.config.get_all_info()
+                print(
+                    self.config.get_all_warnings() + self.config.get_all_info(),
+                    file=sys.stderr,
                 )
             else:
                 # Print result and exit
-                print >> sys.stderr, (
+                print(
                     self.config.get_all_errors()
                     + self.config.get_all_warnings()
-                    + self.config.get_all_info()
+                    + self.config.get_all_info(),
+                    file=sys.stderr,
                 )
                 return False
 

tools/gnc_visualizer/scripts/communications/configuration_support.py

@@ -1,5 +1,6 @@
 #!/usr/bin/env python
 
+import configparser
 import datetime
 import socket
 import string
@@ -8,8 +9,6 @@
 from os import path as osPath
 from os import remove
 
-import ConfigParser
-
 filepath = osPath.dirname(osPath.realpath(__file__))
 
 BASE_DDS_PROFILE_FILE = filepath + "/dds_types/BaseDDSProfile.xml"
@@ -21,7 +20,7 @@ class Preferences:
     def __init__(
         self, partition_name=None, given_peer=None, domain=None, public_ip=None
     ):
-        self.config = ConfigParser.ConfigParser()
+        self.config = configparser.ConfigParser()
         self.dom = None
         self.partition_name = partition_name
         self.initial_peers = dict()
@@ -154,7 +153,7 @@ def clear_node_list(self, node_list, sub_tag_name):
             peer.unlink()
 
     def write_node_list(self, node_list, sub_tag_name, children):
-        children = [children] if isinstance(children, basestring) else children
+        children = [children] if isinstance(children, str) else children
         for child in children:
             new_node = node_list.ownerDocument.createElement(sub_tag_name)
             new_node.appendChild(

tools/gnc_visualizer/scripts/plot_types.py

@@ -21,7 +21,8 @@
 
 import numpy as np
 import pyqtgraph as pg
-from pyqtgraph.Qt import QtCore, QtGui
+from PyQt5 import QtCore
+from PyQt5.QtWidgets import QGraphicsPathItem
 
 DISPLAY_TIME = 10
 
@@ -72,10 +73,10 @@ def update_plot(self, data):
         self.setLimits(xMin=max(0, t - DISPLAY_TIME), xMax=t)
 
 
-class PathItem(pg.QtGui.QGraphicsPathItem):
+class PathItem(QGraphicsPathItem):
     def __init__(self, pen):
         self.path = pg.arrayToQPath(np.zeros(0), np.zeros(0), "all")
-        pg.QtGui.QGraphicsPathItem.__init__(self, self.path)
+        QGraphicsPathItem.__init__(self, self.path)
         self.setPen(pen)
         self.last_time = None