Camera depth

.clang-format

@@ -5,7 +5,10 @@ Standard: Auto
 IndentWidth: 4
 TabWidth: 4
 UseTab: Never
-ColumnLimit: 110
+ColumnLimit: 150
+
+AccessModifierOffset: -4
+IndentAccessModifiers: true
 
 AlignEscapedNewlinesLeft: false
 AlignTrailingComments: true

.gitignore

@@ -427,3 +427,8 @@ build/
 # pixi environments
 .pixi/*
 !.pixi/config.toml
+
+MUJOCO_LOG.TXT
+path_constants.yaml
+dockerfiles/booster_robotics_sdk
+dockerfiles/booster_robotics_sdk_ros2

CMakeLists.txt

@@ -10,6 +10,9 @@ set(CMAKE_CXX_STANDARD_REQUIRED ON)
 set(CMAKE_POSITION_INDEPENDENT_CODE ON)
 set(CMAKE_RUNTIME_OUTPUT_DIRECTORY "${CMAKE_CURRENT_BINARY_DIR}")
 set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
+set(QT_QML_GENERATE_QMLLS_INI ON)  # For QML language server support
+file(WRITE "${CMAKE_CURRENT_SOURCE_DIR}/.clangd"
+  "CompileFlags:\n  CompilationDatabase: ${CMAKE_CURRENT_BINARY_DIR}\n")
 add_compile_definitions(PROJECT_ROOT="${CMAKE_SOURCE_DIR}")
 include(FetchContent)
 
@@ -28,16 +31,20 @@ option(BUILD_PYTHON_BINDINGS "Build python bindings" ON)
 # ============================= Dependencies ==================================================
 find_package(Eigen3 REQUIRED)
 find_package(OpenGL REQUIRED)
-find_package(Qt6 REQUIRED COMPONENTS Core Widgets OpenGLWidgets)
+find_package(Qt6 REQUIRED COMPONENTS Core Widgets OpenGLWidgets Quick Charts)
 
 # Optional deps (linked only if found)
 find_package(nlohmann_json QUIET)
 find_package(CURL QUIET)
 
 # Generate .clangd configuration after dependencies are found
 get_target_property(EIGEN_INCLUDE_DIR Eigen3::Eigen INTERFACE_INCLUDE_DIRECTORIES)
+get_target_property(QT_CORE_INCLUDE_DIRS Qt6::Core INTERFACE_INCLUDE_DIRECTORIES)
+# Extract the base Qt6 include path (get parent of QtCore path)
+list(GET QT_CORE_INCLUDE_DIRS 0 QT_CORE_PATH)
+get_filename_component(QT_INCLUDE_BASE "${QT_CORE_PATH}" DIRECTORY)
 file(WRITE "${CMAKE_CURRENT_SOURCE_DIR}/.clangd"
-  "CompileFlags:\n  CompilationDatabase: ${CMAKE_CURRENT_BINARY_DIR}\n  Add:\n    - -I${CMAKE_CURRENT_SOURCE_DIR}/include\n    - -isystem${EIGEN_INCLUDE_DIR}\n")
+  "CompileFlags:\n  CompilationDatabase: ${CMAKE_CURRENT_BINARY_DIR}\n  Add:\n    - -I${CMAKE_CURRENT_SOURCE_DIR}/include\n    - -isystem${EIGEN_INCLUDE_DIR}\n    - -isystem${QT_INCLUDE_BASE}\n    - -isystem${QT_INCLUDE_BASE}/QtCore\n    - -isystem${QT_INCLUDE_BASE}/QtWidgets\n    - -isystem${QT_INCLUDE_BASE}/QtGui\n    - -fPIC\n")
 
 # -------------------- yaml-cpp (config -> module -> manual) [robust]
 set(_YAML_HINT "/opt/homebrew/opt/yaml-cpp")
@@ -166,14 +173,20 @@ set(_EXTRA_LIBS
   Qt6::Core
   Qt6::Widgets
   Qt6::OpenGLWidgets
-  OpenGL::GL
+  Qt6::Quick
+  Qt6::Charts
   ${_PUGI_TGT}
   CURL::libcurl
   nlohmann_json::nlohmann_json
 )
 
+# Add util library for PTY support on Linux
+if(UNIX AND NOT APPLE)
+  list(APPEND _EXTRA_LIBS util)
+endif()
+
 # --- Build core library (ensure AUTOMOC is on for the target)
-add_library(${LIBRARY} STATIC ${SOURCES})
+add_library(${LIBRARY} STATIC ${SOURCES} ${QML_RESOURCES})
 target_sources(${LIBRARY} PRIVATE ${HEADERS} ${ALL_UIS} ${ALL_QRCS}) # Just used for IDE discovering headers
 
 set_target_properties(${LIBRARY} PROPERTIES AUTOMOC ON AUTOUIC ON AUTORCC ON)

dockerfiles/Dockerfile

@@ -1,9 +1,64 @@
-FROM ros:jazzy-ros-core
-
+FROM ros:humble-ros-base
 ENV DEBIAN_FRONTEND=noninteractive
 
+# install dependencies
 RUN apt-get update && apt-get install -y \
-    libtinyxml2-dev && \
-    rm -rf /var/lib/apt/lists/*
+    curl \
+    supervisor \
+    gnupg2 \
+    lsb-release \
+    build-essential \
+    libtinyxml2-dev \
+    libtinyxml2-9 \
+    libpulse0 \
+    libpulse-mainloop-glib0 \
+    libasound2 \
+    libxcursor1 \
+    libxinerama1 \
+    libxi6 \
+    libxfixes3 \
+    libxrandr2 \
+    libxss1 \
+    libxxf86vm1 \
+    libdrm2 \
+    libgbm1 \
+    libwayland-egl1 \
+    libwayland-client0 \
+    libwayland-cursor0 \
+    libxkbcommon0 \
+    libdecor-0-0 \
+    ament-cmake \
+    && rm -rf /var/lib/apt/lists/*
+
+# copy configs
+RUN mkdir /opt/booster
+RUN mkdir /opt/booster/configs
+COPY configs/system_settings_config.yaml /opt/booster/configs
+COPY booster.conf /etc/supervisor/conf.d/
+
+# copy and install booster sdk
+COPY booster_robotics_sdk /opt/booster/sdk
+RUN /opt/booster/sdk/install.sh
+
+# compile examples too (loco client in particular)
+RUN mkdir opt/booster/sdk/build
+RUN cd opt/booster/sdk/build && cmake .. && make
+
+# copy, compile and install booster ros sdk
+COPY booster_robotics_sdk_ros2 /opt/booster/sdk_ros2
+
+# Build with minimal optimization and sequential execution
+RUN /bin/bash -c "source /opt/ros/humble/setup.bash; cd /opt/booster/sdk_ros2 && colcon build"
+
+COPY LocoApiPackage /opt/booster/LocoApiPackage
+# RUN /bin/bash -c "source /opt/ros/humble/setup.bash; cd /opt/booster/LocoApiPackage && colcon build --packages-select booster_msgs
+
+# add custom bashrc
+COPY configs/bashrc /root/.bashrc_addendum
+RUN echo ". ~/.bashrc_addendum" >> ~/.bashrc
+
+RUN mkdir /app
+COPY entrypoint.sh /app
+RUN chmod +x /app/entrypoint.sh
 
-CMD ["bash", "-c", "/app/fake_framework/fake_framework & /app/BridgeSubscriber/BridgeSubscriber"]
+CMD ["/app/entrypoint.sh"]

dockerfiles/LocoApiPackage/booster_msgs/CMakeLists.txt

@@ -0,0 +1,31 @@
+cmake_minimum_required(VERSION 3.8)
+project(booster_msgs)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+find_package(rosidl_default_generators REQUIRED)
+find_package(std_msgs REQUIRED)
+
+# Generate interfaces
+rosidl_generate_interfaces(${PROJECT_NAME}
+  "msg/RpcReqMsg.msg"
+  DEPENDENCIES std_msgs
+)
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  # the following line skips the linter which checks for copyrights
+  # comment the line when a copyright and license is added to all source files
+  set(ament_cmake_copyright_FOUND TRUE)
+  # the following line skips cpplint (only works in a git repo)
+  # comment the line when this package is in a git repo and when
+  # a copyright and license is added to all source files
+  set(ament_cmake_cpplint_FOUND TRUE)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_package()

dockerfiles/LocoApiPackage/booster_msgs/msg/RpcReqMsg.msg

@@ -0,0 +1,3 @@
+string m_uuid
+string m_header
+string m_body

dockerfiles/LocoApiPackage/booster_msgs/package.xml

@@ -0,0 +1,24 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>booster_msgs</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="flaviovolpi2000@gmail.com">flavio</maintainer>
+  <license>TODO: License declaration</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <build_depend>rosidl_default_generators</build_depend>
+  <exec_depend>rosidl_default_runtime</exec_depend>
+  <depend>std_msgs</depend>
+
+  <member_of_group>rosidl_interface_packages</member_of_group>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>

dockerfiles/booster.conf

@@ -0,0 +1,18 @@
+[supervisord]
+nodaemon=true
+
+[program:booster-motion]
+directory=/app/booster_motion
+command=/app/booster_motion/booster-motion -mode sim -config ./configs/config_isaac.lua      # DON'T CHANGE
+autostart=true
+autorestart=true
+stdout_logfile=/var/log/booster-motion.log
+stderr_logfile=/var/log/booster-motion.err
+
+[program:simbridge]
+directory=/app/bridge
+command=/app/bridge/simbridge
+autostart=true
+autorestart=true
+stdout_logfile=/var/log/simbridge.log
+stderr_logfile=/var/log/simbridge.err

dockerfiles/configs/bashrc

@@ -0,0 +1,16 @@
+source /opt/ros/humble/setup.sh
+source /opt/booster/sdk_ros2/install/setup.bash
+
+# Export dyanmic libraries and fastdds profile for booster_motion execution
+export LD_LIBRARY_PATH=/app/booster_motion/lib:/app/booster_motion/lib-usr-local:/app/booster_motion/lib-x86_64-linux-gnu:$LD_LIBRARY_PATH
+export FASTRTPS_DEFAULT_PROFILES_FILE=/app/booster_motion/fastdds_profile.xml
+
+alias loco="/opt/booster/sdk/build/b1_loco_example_client 127.0.0.1"
+alias looc="loco"
+alias lcoo="loco"
+alias mw="loco"
+alias mp="loco"
+
+alias echocmd="ros2 topic echo /booster/ros2_k2_joint_cmd"
+alias echostate="ros2 topic echo /booster/ros2_k2_joint_states"
+alias echolow="ros2 topic echo /low_state"

dockerfiles/configs/system_settings_config.yaml

@@ -0,0 +1,4 @@
+audio_settings:
+  enable_dance_music: true
+debug_mode_settings:
+  enable_debug_mode: false

dockerfiles/entrypoint.sh

@@ -0,0 +1,9 @@
+#!/bin/bash
+
+# Export dyanmic libraries and fastdds profile for booster_motion execution
+export LD_LIBRARY_PATH=/app/booster_motion/lib:/app/booster_motion/lib-usr-local:/app/booster_motion/lib-x86_64-linux-gnu:$LD_LIBRARY_PATH
+export FASTRTPS_DEFAULT_PROFILES_FILE=/app/booster_motion/fastdds_profile.xml
+
+
+# Start supervisord to manage processes
+/usr/bin/supervisord -n -c /etc/supervisor/conf.d/booster.conf