Technical debt

[zbynekwinkler]

Please add all stuff we say "let's merge now anyway, fix it later".

[zbynekwinkler]

#636 (comment) osgar/drivers/lora.py

[zbynekwinkler]

#636 (comment) move ArtifactsReporter away from subt/artifacts.py file.

[zbynekwinkler]

#639 (comment) delete confusing comment in cloudsim2osgar

[zbynekwinkler]

• SubT allow wall side change based on the robot name #641 (comment) add documentation to robot name encoding strategy

[zbynekwinkler]

#644 (comment) refactor osgar.Node and all different SomethingHandler classes in bus.py (when one is updated/changed, all of them need to be changed).

[zbynekwinkler]

#657 (comment) refactor CommsClient out from ros_proxy_node and move the rest of it to cloudsim2osgar.py. CommsClient sends and receives bytes so said bytes can contain msgpack encoded data from osgar and only osgar needs to be able to parse them (not the c++ CommsClient).

[zbynekwinkler]

Follow left wall should not follow wall on the right and vice versa. Currently it finds the closest wall and then turns with its left or right side to it. We had a nice counter example in system urban where mobos was running in circles due to this.

[zbynekwinkler]

Run validator automatically on each and every cloudsim run (run it on some server, autodownload logs, generate some html report, email it, publish it to a website).

[zbynekwinkler]

Create our own cloudsim somewhere - need at least 5 computers to be worth it (1 with nvidia gpu for simulation, 4 for robots - no gpu needed if we switch from pytorch to opencv). The computers don't have to be super fast - we could limit RTF on the simulation side. The simulation is effectively able to use only 4 cores + GPU with 4GB. If the robots won't need GPU, a 4 cores might be enough. So about 20 cpu cores and one nvidia gpu.

[zbynekwinkler]

• subt.tools.ignstate: extract also breadcrumbs #662 (comment) add legend to link robot names with colors in the ground truth picture

[zbynekwinkler]

#667 (comment) in zmqrouter log all uncaught exceptions in child processes

[jisa]

We don't need to switch from pytorch to opencv to avoid running on GPU. All it takes is to say we want to run on cpu:

osgar/subt/artf_node.py

Line 90 in e4d77a3

device = torch.device("cuda" if use_cuda else "cpu")

Or simply to not have the gpu, in which case it will switch to cpu automatically.