booster-robotics-sdk-python 1.3.5__tar.gz → 1.3.6__tar.gz

{booster_robotics_sdk_python-1.3.5 → booster_robotics_sdk_python-1.3.6}/.workflow/git-ee-pipe-build.yml

@@ -1,6 +1,6 @@
 version: '1.0'
-name: git-ee-pipe-1760475713
-displayName: git-ee-pipe-1760475713
+name: git-ee-pipe-1760465487
+displayName: git-ee-pipe-1760465487
 triggers:
   trigger: auto
   push:
@@ -26,6 +26,7 @@ stages:
           hostID:
             - 7a200648-f7df-484f-89e6-85a616a66e7c
             - a8b94e6c-c723-4e77-bf12-12c6ac67f349
+            - 76ba81f4-4bfb-4734-bf9e-adb6b428a216
         script:
           - export CUSTOM_ENV_JOB_STAGE_STEP_NAME="step-wait-u-24-unknown-linux-gnu"
           - curl --silent --show-error --output s-70-closure-build-project.sh http://192.168.33.162:20103/file-build-storage/script/s-70-closure-build-project.sh
@@ -51,10 +52,6 @@ stages:
             - 2e9d29c7-31c2-4814-ae78-2108163acb5c
             - e386b9c2-5a21-4e55-9fd2-6a8ef3e8c5f6
             - c490100d-fc59-486e-bea0-4a5d246176dc
-            - 6cdb7da3-ae1d-4625-8949-9451c246099a
-            - 5cea8344-2e78-4824-8988-96ec6635c62d
-            - 010af21e-d19d-41be-a511-884ae558d307
-            - 521f5f1a-cc02-4d28-a03e-ec6cd1065715
         script:
           - export CUSTOM_ENV_JOB_STAGE_STEP_NAME="step-build-22-aarch64-unknown-linux-gnu"
           - curl --silent --show-error --output s-70-closure-build-project.sh http://192.168.33.162:20103/file-build-storage/script/s-70-closure-build-project.sh
@@ -108,7 +105,7 @@ stages:
         hostGroupID:
           ID: u-24-x86_64-unknown-linux-gnu
           hostID:
-#           - fbd07b0d-41ea-420d-8d8c-27aa3d77fcc5
+            - fbd07b0d-41ea-420d-8d8c-27aa3d77fcc5
             - ea4bde4e-6911-4730-9ed5-7dd1f3199c53
             - f98df53b-60da-4946-b710-7d3e3b585bcc
             - 94f48ac9-2a23-4868-a998-392155eb3849

{booster_robotics_sdk_python-1.3.5 → booster_robotics_sdk_python-1.3.6}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.2
 Name: booster_robotics_sdk_python
-Version: 1.3.5
+Version: 1.3.6
 Summary: Booster Robotics SDK Python bindings and examples.
 Author-Email: Booster Robotics <liupeize@boosterobotics.com>
 Requires-Python: >=3.10

{booster_robotics_sdk_python-1.3.5/sdk_release → booster_robotics_sdk_python-1.3.6}/include/booster/robot/b1/b1_api_const.hpp

@@ -18,7 +18,6 @@ static const std::string kTopicRobotStates = "rt/robot_states";
 static const std::string kTopicProneBodyControlStatus = "rt/prone_body_control_status";
 static const std::string kTopicRobotReplayTrajID = "rt/robot_replay_traj_id";
 static const std::string kTopicRobocupBehaviorStatus = "rt/robocup_behavior_status";
-static const std::string kTopicKickReference = "rt/kick_ball";
 
 // TODO(@wuyuanye): 按照结构图，把电机的索引完善
 enum class JointIndex {

{booster_robotics_sdk_python-1.3.5/sdk_release → booster_robotics_sdk_python-1.3.6}/include/booster/robot/common/robot_shared.hpp

@@ -24,10 +24,11 @@ enum class BodyControl {
     kGetUp = 7,                 // Get up body control, in get up body control, the robot can get up from lying down
     kWholeBodyDance = 8,        // Whole body dance body control, in whole body dance, the robot can do some whole body dance actions
     kShoot = 9,                 // Shoot body control, in shoot body control, the robot can scored with a powerful shot
-    kInsideFoot = 10,           // Inside foot kick body control, in inside foot kick body control, the robot can do precise inside foot kick actions
+    kInsideFoot = 10,           // History caused name, actually is visual kick body control V2
     kGoalie = 11,               // Goalie body control, in goalie body control, the robot can perform goalie actions
     kWBCGait = 12,              // Whole body control gait body control, in WBC gait, the robot walking by whole body control
     kLionDancePreparePose = 13, // Lion dance prepare pose, in this body control, the robot will do lion dance prepare pose
+    kVisualKickV1 = 14,         // Visual kick body control V1, in visual kick body control, the robot can do visual kick actions
 };
 
 enum class Action {

{booster_robotics_sdk_python-1.3.5 → booster_robotics_sdk_python-1.3.6}/pyproject.toml

@@ -7,7 +7,7 @@ build-backend = "scikit_build_core.build"
 
 [project]
 name = "booster_robotics_sdk_python"
-version = "1.3.5"
+version = "1.3.6"
 description = "Booster Robotics SDK Python bindings and examples."
 requires-python = ">=3.10"
 authors = [

booster_robotics_sdk_python-1.3.6/python_example/sdk_pybind_sensor_msgs_example.py

@@ -0,0 +1,249 @@
+#!/usr/bin/env python3
+# -*- coding: utf-8 -*-
+"""
+Sensor message subscriber example.
+
+This example demonstrates the Python bindings for:
+    - ImageSubscriber
+    - CompressedImageSubscriber
+    - CameraInfoSubscriber
+    - RegionOfInterestSubscriber
+
+Each subscriber accepts a topic name from command-line arguments.
+"""
+
+import argparse
+import signal
+import sys
+import time
+
+
+try:
+    import booster_robotics_sdk_python as br
+except ImportError:
+    try:
+        import _core as br
+    except ImportError:
+        print("Error: 'booster_robotics_sdk_python' or '_core' module not found.")
+        print("Please ensure the SDK is installed or PYTHONPATH is set correctly.")
+        sys.exit(1)
+
+
+DEFAULT_TOPICS = {
+    "image": "rt/booster/camera/color/image_raw",
+    "compressed": "rt/booster/camera/color/image_raw/compressed",
+    "camera_info": "rt/booster/camera/color/camera_info",
+    "roi": "rt/booster/camera/color/roi",
+}
+
+
+def stamp_to_str(stamp) -> str:
+    return f"{stamp.sec}.{stamp.nanosec:09d}"
+
+
+def header_to_str(header) -> str:
+    return f"stamp={stamp_to_str(header.stamp)}, frame_id='{header.frame_id}'"
+
+
+def preview_bytes(data, limit: int = 8) -> str:
+    values = list(data[:limit])
+    suffix = "" if len(data) <= limit else "..."
+    return f"{values}{suffix}"
+
+
+def on_image(msg):
+    print(
+        "[Image]",
+        header_to_str(msg.header),
+        f"size={msg.width}x{msg.height}",
+        f"encoding={msg.encoding}",
+        f"bigendian={msg.is_bigendian}",
+        f"step={msg.step}",
+        f"data_len={len(msg.data)}",
+        f"data[:8]={preview_bytes(msg.data)}",
+    )
+
+
+def on_compressed_image(msg):
+    print(
+        "[CompressedImage]",
+        header_to_str(msg.header),
+        f"format={msg.format}",
+        f"data_len={len(msg.data)}",
+        f"data[:8]={preview_bytes(msg.data)}",
+    )
+
+
+def on_camera_info(msg):
+    roi = msg.roi
+    print(
+        "[CameraInfo]",
+        header_to_str(msg.header),
+        f"size={msg.width}x{msg.height}",
+        f"distortion_model={msg.distortion_model}",
+        f"d_len={len(msg.d)}",
+        f"k={list(msg.k)}",
+        f"p={list(msg.p)}",
+        "roi="
+        f"(x={roi.x_offset}, y={roi.y_offset}, w={roi.width}, "
+        f"h={roi.height}, rectify={roi.do_rectify})",
+    )
+
+
+def on_roi(msg):
+    print(
+        "[RegionOfInterest]",
+        f"x={msg.x_offset}",
+        f"y={msg.y_offset}",
+        f"width={msg.width}",
+        f"height={msg.height}",
+        f"do_rectify={msg.do_rectify}",
+    )
+
+
+def parse_switches(raw: str, valid: set) -> set:
+    value = raw.strip().lower()
+    if value == "all":
+        return set(valid)
+    if value == "none" or not value:
+        return set()
+
+    selected = set()
+    for item in value.split(","):
+        key = item.strip()
+        if not key:
+            continue
+        if key not in valid:
+            print(f"[Warn] unknown subscription '{key}', ignored.")
+            continue
+        selected.add(key)
+    return selected
+
+
+def parse_args():
+    parser = argparse.ArgumentParser(
+        description="Subscribe to sensor_msgs topics through booster SDK Python bindings."
+    )
+    parser.add_argument(
+        "--domain-id",
+        type=int,
+        default=0,
+        help="DDS domain id (default: 0)",
+    )
+    parser.add_argument(
+        "--iface",
+        type=str,
+        default="",
+        help="DDS network interface, for example eth0/eno1 (default: auto)",
+    )
+    parser.add_argument(
+        "--subs",
+        type=str,
+        default="all",
+        help="Comma-separated: image,compressed,camera_info,roi,all,none",
+    )
+    parser.add_argument(
+        "--image-topic",
+        type=str,
+        default=DEFAULT_TOPICS["image"],
+        help=f"Image topic (default: {DEFAULT_TOPICS['image']})",
+    )
+    parser.add_argument(
+        "--compressed-topic",
+        type=str,
+        default=DEFAULT_TOPICS["compressed"],
+        help=f"CompressedImage topic (default: {DEFAULT_TOPICS['compressed']})",
+    )
+    parser.add_argument(
+        "--camera-info-topic",
+        type=str,
+        default=DEFAULT_TOPICS["camera_info"],
+        help=f"CameraInfo topic (default: {DEFAULT_TOPICS['camera_info']})",
+    )
+    parser.add_argument(
+        "--roi-topic",
+        type=str,
+        default=DEFAULT_TOPICS["roi"],
+        help=f"RegionOfInterest topic (default: {DEFAULT_TOPICS['roi']})",
+    )
+    parser.add_argument(
+        "--duration",
+        type=float,
+        default=0.0,
+        help="Run duration in seconds. 0 means run until Ctrl+C (default: 0)",
+    )
+    return parser.parse_args()
+
+
+def main():
+    args = parse_args()
+    valid_subs = {"image", "compressed", "camera_info", "roi"}
+    enabled_subs = parse_switches(args.subs, valid_subs)
+
+    topic_by_sub = {
+        "image": args.image_topic,
+        "compressed": args.compressed_topic,
+        "camera_info": args.camera_info_topic,
+        "roi": args.roi_topic,
+    }
+
+    if not enabled_subs:
+        print("No subscribers enabled. Use --subs image,compressed,camera_info,roi or --subs all.")
+        return
+
+    print(f"Initializing ChannelFactory: domain_id={args.domain_id}, iface='{args.iface}'")
+    br.ChannelFactory.Instance().Init(args.domain_id, args.iface)
+
+    subscribers = []
+
+    if "image" in enabled_subs:
+        sub = br.ImageSubscriber(on_image, topic_by_sub["image"])
+        sub.InitChannel()
+        subscribers.append(sub)
+
+    if "compressed" in enabled_subs:
+        sub = br.CompressedImageSubscriber(
+            on_compressed_image, topic_by_sub["compressed"]
+        )
+        sub.InitChannel()
+        subscribers.append(sub)
+
+    if "camera_info" in enabled_subs:
+        sub = br.CameraInfoSubscriber(on_camera_info, topic_by_sub["camera_info"])
+        sub.InitChannel()
+        subscribers.append(sub)
+
+    if "roi" in enabled_subs:
+        sub = br.RegionOfInterestSubscriber(on_roi, topic_by_sub["roi"])
+        sub.InitChannel()
+        subscribers.append(sub)
+
+    print("Enabled subscribers:")
+    for sub in subscribers:
+        print(f"  - {sub.GetChannelName()}")
+
+    running = True
+
+    def handle_sigint(_sig, _frame):
+        nonlocal running
+        running = False
+
+    signal.signal(signal.SIGINT, handle_sigint)
+
+    started_at = time.monotonic()
+    print("\n[Running] Waiting for messages. Press Ctrl+C to exit.\n")
+
+    try:
+        while running:
+            if args.duration > 0.0 and time.monotonic() - started_at >= args.duration:
+                break
+            time.sleep(0.05)
+    finally:
+        print("\nClosing channels...")
+        for sub in subscribers:
+            sub.CloseChannel()
+        print("Done.")
+
+
+if __name__ == "__main__":
+    main()

booster_robotics_sdk_python-1.3.6/sdk_release/example/low_level/battery_state_subscriber.cpp

@@ -0,0 +1,37 @@
+#include <booster/robot/channel/channel_subscriber.hpp>
+#include <booster/idl/b1/BatteryState.h>
+
+#include <thread>
+#include <chrono>
+#include <iostream>
+
+#define TOPIC "rt/battery_state"
+
+using namespace booster::robot;
+using namespace booster::common;
+using namespace booster_interface::msg;
+
+void Handler(const void *msg)
+{
+    const BatteryState* bat = static_cast<const BatteryState*>(msg);
+
+    std::cout << "------- Battery State -------" << std::endl;
+    std::cout << "  Voltage        : " << bat->voltage() << " V" << std::endl;
+    std::cout << "  Current        : " << bat->current() << " A" << std::endl;
+    std::cout << "  SOC            : " << bat->soc() << " %" << std::endl;
+    std::cout << "  Avg Voltage    : " << bat->average_voltage() << " V" << std::endl;
+    std::cout << "------------------------------" << std::endl;
+}
+
+int main()
+{
+    ChannelFactory::Instance()->Init(0);
+
+    ChannelSubscriber<BatteryState> sub(TOPIC, Handler);
+    sub.InitChannel();
+
+    while (true)
+    {
+        std::this_thread::sleep_for(std::chrono::seconds(1));
+    }
+}

{booster_robotics_sdk_python-1.3.5 → booster_robotics_sdk_python-1.3.6}/shared-file-system/rusty-data-root/cfg/commit-dependency.info.json

@@ -2,25 +2,25 @@
     "m_dependency_commit_list": [
         {
             "proto_meta_project_name": "booster-dependency.git",
-            "proto_meta_last_commit_id": "c7d381b2ced0d4cb38ac40889a25d56460c31bab",
+            "proto_meta_last_commit_id": "63de73e7fe073dc19d433f8e74ba00f15cc9e920",
             "proto_meta_target_name": "aarch64-unknown-linux-gnu",
             "proto_meta_os_version": "Linux 22.04 Ubuntu"
         },
         {
             "proto_meta_project_name": "booster-dependency.git",
-            "proto_meta_last_commit_id": "c7d381b2ced0d4cb38ac40889a25d56460c31bab",
+            "proto_meta_last_commit_id": "63de73e7fe073dc19d433f8e74ba00f15cc9e920",
             "proto_meta_target_name": "aarch64-unknown-linux-gnu",
             "proto_meta_os_version": "Linux 24.04 Ubuntu"
         },
         {
             "proto_meta_project_name": "booster-dependency.git",
-            "proto_meta_last_commit_id": "c7d381b2ced0d4cb38ac40889a25d56460c31bab",
+            "proto_meta_last_commit_id": "63de73e7fe073dc19d433f8e74ba00f15cc9e920",
             "proto_meta_target_name": "x86_64-unknown-linux-gnu",
             "proto_meta_os_version": "Linux 22.04 Ubuntu"
         },
         {
             "proto_meta_project_name": "booster-dependency.git",
-            "proto_meta_last_commit_id": "c7d381b2ced0d4cb38ac40889a25d56460c31bab",
+            "proto_meta_last_commit_id": "63de73e7fe073dc19d433f8e74ba00f15cc9e920",
             "proto_meta_target_name": "x86_64-unknown-linux-gnu",
             "proto_meta_os_version": "Linux 24.04 Ubuntu"
         }