Revert "Revert "Revert "Merge master18 into master19"""

Dockerfile

@@ -1,5 +1,5 @@
 # Note: this container will have the name duckietown/rpi-duckiebot-base
-FROM duckietown/rpi-ros-kinetic-base:master18
+FROM duckietown/rpi-ros-kinetic-base:master19
 
 
 RUN [ "cross-build-start" ]
@@ -13,7 +13,6 @@ RUN pip install -r /requirements.txt
 
 RUN mkdir /home/software
 COPY . /home/software/
-COPY docker/machines.xml /home/software/catkin_ws/src/00-infrastructure/duckietown/machines
 
 ENV ROS_LANG_DISABLE=gennodejs:geneus:genlisp
 RUN /bin/bash -c "cd /home/software/ && source /opt/ros/kinetic/setup.bash && catkin_make -j -C catkin_ws/"
@@ -34,6 +33,8 @@ RUN [ "cross-build-end" ]
 
 WORKDIR /home/software
 
+ENTRYPOINT ["/home/software/docker/entrypoint.sh"]
+
 CMD [ "/bin/bash" ]
 
 ENV DISABLE_CONTRACTS=1

Makefiles/Makefile.docker.mk

@@ -25,11 +25,13 @@ branch=$(shell git rev-parse --abbrev-ref HEAD)
 docker_image_name=duckietown/rpi-duckiebot-base:$(branch)
 
 docker-build:
-	docker build -t $(docker_image_name) .
+	docker build --pull -t $(docker_image_name) .
 
 docker-upload:
 	docker push $(docker_image_name)
 
+docker-build-no-cache:
+	docker build --no-cache -t $(docker_image_name) .
 
 #docker-clean:
 #	# Kill all running containers:

catkin_ws/src/00-infrastructure/duckietown/config/baseline/lane_control/lane_controller_node/default.yaml

@@ -1,20 +1,22 @@
-
 #lane_control/lane_controller_node
-# <<<<<<< HEAD
 #v_bar_old 0.45
 v_bar: 0.23
 # k_d_old: -12
 k_d: -3.5
 # k_theta_old: -6.0
 k_theta: -1
 k_Id: 1
-# =======
 # v_bar: 0.2
 # k_d: -7
 # k_theta: -2
 # k_Id: 0.5
-# >>>>>>> origin/devel-intersection_navigation-final-report
 k_Iphi: 0.0
 theta_thres: 0.523
 d_thres: 0.2615
 d_offset: 0.0
+
+# LP copying these into here for now since they are loaded from the lane_controller
+#default parameters for dagu_car/wheels_driver_node 
+use_rad_lim: False
+min_rad: 0.06
+wheel_distance: 0.103

catkin_ws/src/00-infrastructure/duckietown/config/baseline/traffic_light/traffic_light_node/default.yaml

@@ -1,5 +1,5 @@
 # default parameters for lane_filter/traffic_traffic_node
-traffic_light_list: [0,2,3,4]
+traffic_light_list: [1,3,2,0]
 allred_duration: 4
 greenlight_duration: 5
 # the frequencies are read from LED_protocol.yaml in led_interpreter package config folder

catkin_ws/src/00-infrastructure/duckietown/launch/apriltags.launch

@@ -23,7 +23,6 @@
     <remap from="camera_node/image/camera_info" to="camera_node/raw_camera_info" />
     <include file="$(find apriltags_ros)/launch/apriltag_detector_node.launch">
         <arg name="veh" value="$(arg veh)"/>
-        <arg name="local" value="$(arg local)"/>
         <arg name="config" value="$(arg config)"/>
         <arg name="param_file_name" value="$(arg param_file_name)"/>
     </include>
@@ -32,7 +31,6 @@
  	<remap from="apriltags_postprocessing_node/apriltags_in" to="tag_detections" />
  	<include file="$(find apriltags_ros)/launch/apriltags_postprocessing_node.launch">
  		<arg name="veh" value="$(arg veh)"/>
-        <arg name="local" value="$(arg local)"/>
         <arg name="config" value="$(arg config)"/>
         <arg name="param_file_name" value="$(arg param_file_name)"/>
  	</include>

catkin_ws/src/00-infrastructure/duckietown/launch/apriltags2.launch

@@ -9,7 +9,6 @@
     <!-- Camera -->
  	<include if="$(arg camera)" file="$(find duckietown)/launch/camera.launch">
  		<arg name="veh" value="$(arg veh)"/>
- 		<arg name="local" value="$(arg local)"/>
  		<arg name="config" value="$(arg config)"/>
  		<arg name="param_file_name" value="$(arg param_file_name)"/>
  		<arg name="raw" value="true"/>

catkin_ws/src/00-infrastructure/duckietown/launch/camera.launch

@@ -1,29 +1,19 @@
 <launch>
     <arg name="veh" doc="Name of vehicle. ex: megaman"/>
-    <arg name="local" default="false" doc="true for running everything you possibly can on laptop. false for everything running on vehicle."/>
     <arg name="config" default="baseline" doc="Specify a config."/>
     <arg name="param_file_name" default="default" doc="Specify a param file. ex:megaman." />
     <arg name="raw" default="false" doc="If set to true, also publish raw image using decoder."/>
     <arg name="cam_info" default="true" doc="If set to true, use cam_info_reader_node to pusblish CameraInfo."/>
     <arg name="live" default="true" doc="live set to false means we don't run the actual camera (i.e. running from a log file" />
     <arg name="rect" default="false" />
 
-    <!-- camera_node -->
-    <group if="$(arg live)">
-        <include  file="$(find pi_camera)/launch/camera_node.launch">
-            <arg name="veh" value="$(arg veh)"/>
-            <arg name="config" value="$(arg config)"/>
-            <arg name="param_file_name" value="$(arg param_file_name)"/>
-        </include>
-    </group>
 
     <!-- decoder_node -->
     <group if="$(arg raw)">
         <remap from="decoder_node/compressed_image" to="camera_node/image/compressed"/>
         <remap from="decoder_node/image/raw" to="camera_node/image/raw"/>
         <include file="$(find pi_camera)/launch/decoder_node.launch">
             <arg name="veh" value="$(arg veh)"/>
-            <arg name="local" value="$(arg local)"/>
             <arg name="config" value="$(arg config)"/>
             <arg name="param_file_name" value="$(arg param_file_name)"/>
         </include>
@@ -35,7 +25,6 @@
         <remap from="cam_info_reader_node/compressed_image" to="camera_node/image/compressed"/>
         <include file="$(find pi_camera)/launch/cam_info_reader_node.launch">
             <arg name="veh" value="$(arg veh)"/>
-            <arg name="local" value="$(arg local)"/>
             <arg name="config" value="$(arg config)"/>
             <arg name="param_file_name" value="$(arg param_file_name)"/>
         </include>
@@ -45,7 +34,6 @@
             <remap from="raw_cam_info_reader_node/compressed_image" to="camera_node/image/raw"/>
             <include file="$(find pi_camera)/launch/cam_info_reader_node.launch">
                 <arg name="veh" value="$(arg veh)"/>
-                <arg name="local" value="$(arg local)"/>
                 <arg name="config" value="$(arg config)"/>
                 <arg name="param_file_name" value="$(arg param_file_name)"/>
                 <arg name="node_name" value="raw_cam_info_reader_node" />
@@ -59,7 +47,6 @@
                 <remap from="image_rect_color" to="camera_node/image/rect" />
                 <include file="$(find pi_camera)/launch/image_proc_node.launch">
                     <arg name="veh" value="$(arg veh)"/>
-                    <arg name="local" value="$(arg local)"/>
                 </include>
             </group>
         </group>

catkin_ws/src/00-infrastructure/duckietown/launch/closed_loop_navigation.launch

@@ -1,27 +1,22 @@
 <launch>
     <arg name="veh" doc="Name of vehicle. ex: megaman"/>
-    <arg name="local" default="false" doc="true for running on laptop. false for running on vehicle."/>
     <arg name="config" default="baseline" doc="Specify a config."/>
     <arg name="special_param_file_name" default="default" doc="Specify a param file. ex:megaman. Note that you will need a megaman.yaml in the config folder for every node you are launching. To test with only one megaman.yaml, the recommendation is to set this to default and then manually change the desired param file in the approprate rosparam tag below"/> 
     <arg name="param_file_name" default="default" doc="Specify a param file. ex:megaman. Note that you will need a megaman.yaml in the config folder for every node you are launching. To test with only one megaman.yaml, the recommendation is to set this to default and then manually change the desired param file in the approprate rosparam tag below"/> 
 
     <arg name="test" default="false"/>
 
-    <include file="$(find duckietown)/machines"/>
-
     <!-- closed loop intersection_controller -->
     <remap from="~mode" to="fsm_node/mode"/>
     <include file="$(find intersection_control)/launch/closed_loop_intersection_controller_node.launch">
       <arg name="veh" value="$(arg veh)"/>        
-      <arg name="local" value="$(arg local)"/>        
       <arg name="config" value="$(arg config)"/>        
       <arg name="param_file_name" value="$(arg special_param_file_name)"/>        
     </include>
 
     <!-- Lane filter and everything before it -->
     <include unless="$(arg test)" file="$(find duckietown)/launch/lane_filter.launch">
         <arg name="veh" value="$(arg veh)"/>
-        <arg name="local" value="$(arg local)"/>
         <arg name="config" value="$(arg config)"/>
         <arg name="param_file_name" value="$(arg param_file_name)"/>        
     </include>
@@ -30,7 +25,6 @@
     <remap from="lane_controller_node/lane_pose" to="lane_filter_node/lane_pose"/>
     <include unless="$(arg test)" file="$(find lane_control)/launch/lane_controller_node.launch">
         <arg name="veh" value="$(arg veh)"/>
-        <arg name="local" value="$(arg local)"/>
         <arg name="config" value="$(arg config)"/>
         <arg name="param_file_name" value="$(arg param_file_name)"/>        
     </include>
@@ -39,15 +33,13 @@
     <!-- Wheels cmd switch topics defined in yaml file -->
     <include file="$(find dagu_car)/launch/wheels_cmd_switch_node.launch">
       <arg name="veh" value="$(arg veh)"/>        
-      <arg name="local" value="$(arg local)"/>        
       <arg name="param_file_name" value="$(arg special_param_file_name)"/>        
     </include>
 
     <!-- Wheels Trimmer -->
     <remap from="wheels_trimmer_node/wheels_cmd" to="wheels_cmd_switch_node/wheels_cmd"/>
     <include file="$(find dagu_car)/launch/wheels_trimmer_node.launch">
       <arg name="veh" value="$(arg veh)"/>
-      <arg name="local" value="$(arg local)"/>
       <arg name="config" value="$(arg config)"/>
       <arg name="param_file_name" value="$(arg param_file_name)"/>
     </include>
@@ -62,7 +54,6 @@
     <!-- FSM topics defined in yaml file. -->
     <include file="$(find fsm)/launch/fsm_node.launch">
       <arg name="veh" value="$(arg veh)"/>        
-      <arg name="local" value="$(arg local)"/>        
       <arg name="config" value="$(arg config)"/>        
       <arg name="param_file_name" value="$(arg special_param_file_name)"/>        
     </include>
@@ -71,15 +62,13 @@
     <remap from="veh_coordinator_node/mode" to="fsm_node/mode" />
     <include file="$(find veh_coordinator)/launch/veh_coordinator_node.launch">
       <arg name="veh" value="$(arg veh)"/>        
-      <arg name="local" value="$(arg local)"/>        
       <arg name="config" value="$(arg config)"/>        
       <arg name="param_file_name" value="$(arg param_file_name)"/>        
     </include>
 
     <!-- Fake inputs for Vehicle Coordinator -->
     <include file="$(find veh_coordinator)/launch/fake_intersection_detection.launch">
       <arg name="veh" value="$(arg veh)"/>        
-      <arg name="local" value="$(arg local)"/>        
       <arg name="config" value="$(arg config)"/>        
     </include>
 

catkin_ws/src/00-infrastructure/duckietown/launch/joystick_dagu.launch → catkin_ws/src/00-infrastructure/duckietown/launch/experimental/joystick_dagu.launch

@@ -1,23 +1,17 @@
 <launch>
     <arg name="veh" doc="Name of vehicle. ex: megaman"/>
-    <arg name="local" default="false" doc="true for running on laptop. false for running on vehicle."/>
     <arg name="config" default="baseline" doc="Specify a config."/>
     <arg name="param_file_name" default="default" doc="Specify a param file. ex:megaman." />
 
 
-    <include file="$(find duckietown)/machines"/>
     <!-- joy -->
-    <node ns="$(arg veh)" if="$(arg local)" pkg="joy" type="joy_node" name="joy" output="screen">
-        <rosparam command="load" file="$(find duckietown)/config/$(arg config)/joy/joy_node/$(arg param_file_name).yaml"/>
-    </node>
-    <node ns="$(arg veh)" unless="$(arg local)" machine="$(arg veh)" pkg="joy" type="joy_node" name="joy" output="screen">
+    <node ns="$(arg veh)"  pkg="joy" type="joy_node" name="joy" output="screen">
         <rosparam command="load" file="$(find duckietown)/config/$(arg config)/joy/joy_node/$(arg param_file_name).yaml"/>
     </node>
 
     <!-- joy_mapper -->
     <include file="$(find joy_mapper)/launch/joy_mapper_node.launch">
         <arg name="veh" value="$(arg veh)"/>
-        <arg name="local" value="$(arg local)"/>
         <arg name="config" value="$(arg config)"/>
         <arg name="param_file_name" value="$(arg param_file_name)"/>
     </include>
@@ -27,7 +21,6 @@
     <remap from="inverse_kinematics_node/wheels_cmd" to="wheels_driver_node/wheels_cmd" />
     <include file="$(find dagu_car)/launch/inverse_kinematics_node.launch">
         <arg name="veh" value="$(arg veh)"/>
-        <arg name="local" value="$(arg local)"/>
         <arg name="config" value="$(arg config)"/>
         <arg name="param_file_name" value="$(arg param_file_name)"/>
     </include>
@@ -36,7 +29,6 @@
     <remap from="forward_kinematics_node/wheels_cmd" to="wheels_driver_node/wheels_cmd_executed" />
     <include file="$(find dagu_car)/launch/forward_kinematics_node.launch">
         <arg name="veh" value="$(arg veh)"/>
-        <arg name="local" value="$(arg local)"/>
         <arg name="config" value="$(arg config)"/>
         <arg name="param_file_name" value="$(arg param_file_name)"/>
     </include>
@@ -45,7 +37,6 @@
     <remap from="velocity_to_pose_node/velocity" to="forward_kinematics_node/velocity" />
     <include file="$(find dagu_car)/launch/velocity_to_pose_node.launch">
         <arg name="veh" value="$(arg veh)"/>
-        <arg name="local" value="$(arg local)"/>
         <arg name="config" value="$(arg config)"/>
         <arg name="param_file_name" value="$(arg param_file_name)"/>
     </include>

catkin_ws/src/00-infrastructure/duckietown/launch/ground_projection.launch

@@ -1,6 +1,5 @@
 <launch>
 	<arg name="veh" doc="Name of vehicle. ex: megaman"/>
-	<arg name="local" default="false" doc="true for running everything you possibly can on laptop. false for everything running on vehicle."/>
 	<arg name="config" default="baseline" doc="Specify a config."/>
 	<arg name="param_file_name" default="default" doc="Specify a param file. ex:megaman." />
 	<arg name="live" default="true" doc="if set to true, run the camera and do live detection. "/>
@@ -11,15 +10,13 @@
 
 	<include unless="$(arg only)" file="$(find duckietown)/launch/line_detector.launch">
 		 <arg name="veh" value="$(arg veh)"/>
-		 <arg name="local" value="$(arg local)"/>
 		 <arg name="config" value="$(arg config)"/>
 		 <arg name="param_file_name" value="$(arg param_file_name)"/>
 		 <arg name="live" value="$(arg live)"/>
 	</include>
 
 	<include file="$(find ground_projection)/launch/ground_projection.launch">
 		 <arg name="veh" value="$(arg veh)"/>
-		 <arg name="local" value="$(arg local)"/>
 		 <arg name="config" value="$(arg config)"/>
 		 <arg name="param_file_name" value="$(arg param_file_name)"/>
 		 <arg name="camera_topic" value="$(arg camera_topic)"/>

catkin_ws/src/00-infrastructure/duckietown/launch/intersection_navigation_localization_onboard.launch

@@ -1,32 +1,27 @@
 <launch>
     <arg name="veh" doc="Name of vehicle. ex: megaman"/>
-    <arg name="local" default="false" doc="true for running on laptop. false for running on vehicle."/>
     <arg name="config" default="baseline" doc="Specify a config."/>
     <arg name="param_file_name" default="default" doc="Specify a param file. ex:megaman. Note that you will need a megaman.yaml in the config folder for every node you are launching. To test with only one megaman.yaml, the recommendation is to set this to default and then manually change the desired param file in the approprate rosparam tag below"/>
 
     <include file="$(find duckietown)/launch/apriltags.launch">
       <arg name="veh" value="$(arg veh)"/>
-      <arg name="local" value="$(arg local)"/>
       <arg name="config" value="$(arg config)"/>
       <arg name="param_file_name" value="$(arg param_file_name)"/>
       <arg name="camera" value="true"/>
     </include>
 
-    <include file="$(find duckietown)/machines"/>
 
 
     <!-- Wheels Cmd Switch -->
     <!-- Wheels cmd switch topics defined in yaml file -->
     <include file="$(find dagu_car)/launch/wheels_cmd_switch_node.launch">
       <arg name="veh" value="$(arg veh)"/>
-      <arg name="local" value="$(arg local)"/>
     </include>
 
     <!-- Wheels Trimmer -->
     <remap from="wheels_trimmer_node/wheels_cmd" to="wheels_cmd_switch_node/wheels_cmd"/>
     <include file="$(find dagu_car)/launch/wheels_trimmer_node.launch">
       <arg name="veh" value="$(arg veh)"/>
-      <arg name="local" value="$(arg local)"/>
       <arg name="config" value="$(arg config)"/>
       <arg name="param_file_name" value="$(arg param_file_name)"/>
     </include>