merged master to branch

.github/workflows/ci.yaml

@@ -50,7 +50,7 @@ jobs:
       - name: Install BlueView Sonar SDK
         run: |
           cd $GITHUB_WORKSPACE/catkin_ws/src/mil
-          ./scripts/hardware_installers/install_bvtsdk --pass ${{ secrets.ZOBELISK_PASSWORD }}
+          ./scripts/hw/install_bvtsdk --pass ${{ secrets.ZOBELISK_PASSWORD }}
           ls mil_common/drivers/mil_blueview_driver
           echo $PWD
       - name: Install system dependencies

mil_common/mil_missions/nodes/mission_client

@@ -34,6 +34,7 @@ class MissionClientCli:
             )
             return
         print("Available Missions:")
+        missions.sort()
         for mission in missions:
             print("- ", mission)
 

scripts/hw/install_8bitdoo_udev

@@ -0,0 +1,58 @@
+#!/bin/bash
+
+# 8bitdoo Ultimate Wireless Controller installation script, by Robert Michael Smith
+# Original source: https://gist.github.com/loopyd/a7ccbf37e27580ccbed859c26aa0a167
+
+# Block script from running as non-root user
+if [ "$EUID" -ne 0 ]; then
+	echo "Please run as root"
+	exit 1
+fi
+# Blacklist Nintendo Switch Pro Controller Driver
+echo blacklist hid_nintendo | tee /etc/modprobe.d/notendo.conf
+
+# Install xboxdrv
+apt-get update
+if ! dpkg -s 'xboxdrv' &>/dev/null; then
+	apt-get install -y xboxdrv
+fi
+
+# Create udev rules
+if [ ! -f '/etc/udev/rules.d' ]; then
+	mkdir -p '/etc/udev/rules.d'
+fi
+udev_rules='/etc/udev/rules.d/99-8bitdo-ultimate.rules'
+if [ -f $udev_rules ]; then
+	sudo rm $udev_rules
+fi
+echo 'SUBSYSTEM=="usb", ACTION=="add", ATTR{idVendor}=="2dc8", ATTR{idProduct}=="3106", ATTR{manufacturer}=="8BitDo", RUN+="/bin/systemctl start 8bitdo-ultimate-xinput@2dc8:3106"' | tee $udev_rules
+echo 'SUBSYSTEM=="usb", ACTION=="add", ATTR{idVendor}=="2dc8", ATTR{idProduct}=="3109", ATTR{manufacturer}=="8BitDo", RUN+="/bin/systemctl stop 8bitdo-ultimate-xinput@2dc8:3106"' | tee -a $udev_rules
+
+# Reload udev rules
+udevadm control --reload-rules
+udevadm trigger
+
+# Create systemd service
+service_file='/etc/systemd/system/8bitdo-ultimate-xinput@.service'
+if [ -f $service_file ]; then
+	rm $service_file
+fi
+echo '[Unit]' | tee $service_file
+echo 'Description=8BitDo Ultimate Controller XInput mode xboxdrv daemon' | tee -a $service_file
+echo '' | tee -a $service_file
+echo '[Service]' | tee -a $service_file
+echo 'Type=simple' | tee -a $service_file
+echo 'ExecStart=/usr/bin/xboxdrv --mimic-xpad --silent --type xbox360 --device-by-id %i --force-feedback --detach-kernel-driver' | tee -a $service_file
+
+systemctl daemon-reload
+
+# Now install jstest-gtk to test the controller, which also installs all the joystick dependencies
+# This fixes:
+# - /dev/input/js0 not found
+if ! dpkg -s 'jstest-gtk' &>/dev/null; then
+	apt-get install -y jstest-gtk
+fi
+
+# Now open jstest-gtk and test the controller, remap the axis / buttons, then exit
+# Save the configuration using the command:
+# sudo jscal-store /dev/input/js0

scripts/setup.bash

@@ -148,6 +148,51 @@ dmb() {
 	git diff "$(git merge-base --fork-point "$(git branch -l main master --format '%(refname:short)')" HEAD)"
 }
 
+subnet_ip() {
+	ifconfig | grep -Eo 'inet (addr:)?([0-9]*\.){3}[0-9]*' | grep -Eo '([0-9]*\.){2}37\.[0-9]*' | grep -v '127.0.0.1'
+}
+
+rosdisconnect() {
+	unset ROS_IP
+	unset ROS_MASTER_URI
+	echo "Disconnected! New values:"
+	echo "ROS_IP=$ROS_IP"
+	echo "ROS_MASTER_URI=$ROS_MASTER_URI"
+}
+
+rosconnect() {
+	# --no-subnet flag to avoid checking for the subnet
+	# Usage: rosconnect --no-subnet <my_ip> <master_ip>
+	if [[ $1 == "--no-subnet" ]]; then
+		if [[ -z $2 || -z $3 ]]; then
+			echo "Usage: rosconnect --no-subnet <my_ip> <master_ip>"
+			return
+		fi
+		export ROS_IP=${2}
+		export ROS_MASTER_URI="http://${3}:11311"
+		echo "ROS_IP=$ROS_IP"
+		echo "ROS_MASTER_URI=$ROS_MASTER_URI"
+		return
+	fi
+	if [[ -n $(subnet_ip) ]]; then
+		my_ip=$(subnet_ip)
+		export ROS_IP=$my_ip
+		export ROS_MASTER_URI="http://${1}:11311"
+		echo "ROS_IP=$ROS_IP"
+		echo "ROS_MASTER_URI=$ROS_MASTER_URI"
+	else
+		echo "No 37 subnet IP found, not setting ROS_IP or ROS_MASTER_URI"
+	fi
+}
+
+rosnavconnect() {
+	rosconnect "192.168.37.82"
+}
+
+rossubconnect() {
+	rosconnect "192.168.37.60"
+}
+
 alias xbox=startxbox
 
 # PYTHONPATH modifications