Moved Python and C++ tutorials directory to root level

definitions/jackal.vehicle.xml

@@ -28,7 +28,7 @@
         </chassis>
 
         <!--   Motor controller -->
-        <controller class="twist_ideal" />
+        <controller class="twist_ideal" />  <!-- "twist_ideal" or "twist_pid" -->
 
     </dynamics>
 

docs/mvsim-cli.rst

@@ -105,4 +105,4 @@ Command ``mvsim topic``
       mvsim topic hz <topicName>    Estimate topic publication rate (in Hz)
 
 Can be used to list or inspect the publication of MVSim (not ROS!) topics with sensor and pose data.
-These topics are accessible via the provided Python API, refer to examples: https://github.com/MRPT/mvsim/tree/develop/mvsim_tutorial/python
+These topics are accessible via the provided Python API, refer to examples: https://github.com/MRPT/mvsim/tree/develop/examples_python

docs/teleoperation.rst

@@ -12,7 +12,7 @@ If no data is being published to ``/cmd_vel``, or if you run MVSim without ROS s
 three alternative methods can be used to move the robots:
 
 - Via ZMQ messages using the MVSim built-in messaging protocol (Write me!).
-  See a `Python code example <https://github.com/MRPT/mvsim/blob/develop/mvsim_tutorial/python/mvsim-teleop.py>`_.
+  See a `Python code example <https://github.com/MRPT/mvsim/blob/develop/examples_python/mvsim-teleop.py>`_.
 - Joystick, if present (see below).
 - Keyboard, from the MVSim GUI (see below).
 

examples_python/plot-log-files-4-wheels.py

@@ -0,0 +1,125 @@
+#!/bin/env python3
+
+# Usage:
+# plot-log-files.py session1-mvsim_r1_logger_pose.log
+
+# Requirements:
+# pip install pandas matplotlib
+
+import pandas as pd
+import matplotlib.pyplot as plt
+import sys
+import os
+
+
+def main(file_path):
+    # Read the main file
+    try:
+        main_data = pd.read_csv(file_path, skipinitialspace=True)
+        print(f"Main data loaded from {file_path}")
+    except Exception as e:
+        print(f"Error reading {file_path}: {e}")
+        return
+
+    # Define the wheel files based on the main file name
+    base_name = file_path.replace("pose.log", "")
+    wheel_files = [f"{base_name}wheel{i}.log" for i in range(1, 5)]
+
+    # Load wheel data
+    wheel_data = {}
+    for i, wheel_file in enumerate(wheel_files, start=1):
+        try:
+            wheel_data[i] = pd.read_csv(wheel_file, skipinitialspace=True)
+            print(f"Wheel {i} data loaded from {wheel_file}")
+        except Exception as e:
+            print(f"Error reading {wheel_file}: {e}")
+            return
+
+    # Create plots for the wheel files (non-blocking)
+    plot_wheel_data(wheel_data)
+
+    # Create plots for the main file (blocking)
+    plot_main_data(main_data)
+
+
+def plot_main_data(data):
+    """Create plots for the main file data."""
+    plt.figure(figsize=(12, 8))
+
+    # print(data.columns)
+    ts = data['Timestamp'].to_numpy()
+
+    # Plot 1: qx, qy, qz over time
+    plt.subplot(3, 1, 1)
+    plt.plot(ts,  data['qx'].to_numpy(), label='qx')
+    plt.plot(ts,  data['qy'].to_numpy(), label='qy')
+    plt.plot(ts,  data['qz'].to_numpy(), label='qz')
+    plt.xlabel('Timestamp')
+    plt.ylabel('Position')
+    plt.title('Position (qx, qy, qz) vs Time')
+    plt.grid()
+    plt.legend()
+
+    # Plot 2: Orientation angles (qpitch, qroll, qyaw) over time
+    plt.subplot(3, 1, 2)
+    plt.plot(ts,
+             data['qpitch'].to_numpy(), label='qpitch')
+    plt.plot(ts,
+             data['qroll'].to_numpy(), label='qroll')
+    plt.plot(ts,
+             data['qyaw'].to_numpy(), label='qyaw')
+    plt.xlabel('Timestamp')
+    plt.ylabel('Orientation')
+    plt.title('Orientation Angles vs Time')
+    plt.grid()
+    plt.legend()
+
+    # Plot 3: dqz over time
+    plt.subplot(3, 1, 3)
+    plt.plot(ts, data['dqx'].to_numpy(), label='dqx', color='red')
+    plt.plot(ts, data['dqy'].to_numpy(), label='dqy', color='green')
+    plt.plot(ts, data['dqz'].to_numpy(), label='dqz', color='blue')
+    plt.xlabel('Timestamp')
+    plt.ylabel('Velocity')
+    plt.title('Velocity components')
+    plt.grid()
+    plt.legend()
+
+    plt.tight_layout()
+    plt.show()
+
+
+def plot_wheel_data(wheel_data):
+    """Create plots for the wheel data."""
+    plt.figure(figsize=(12, 12))
+
+    # Create one plot per variable group across all wheels
+    variables = ['friction_x', 'friction_y',
+                 'velocity_x', 'velocity_y',
+                 'torque', 'weight']
+    wheel_names = ['LR', 'RR', 'LF', 'RF']
+
+    for i, var in enumerate(variables, start=1):
+        plt.subplot(3, 2, i)
+        for wheel, data in wheel_data.items():
+            ts = data['Timestamp'].to_numpy()
+            plt.plot(ts,
+                     data[var].to_numpy(), label=f'{wheel_names[wheel-1]} wheel')
+        plt.xlabel('Timestamp')
+        plt.ylabel(var)
+        plt.title(f'{var.capitalize()} vs Time')
+        plt.grid()
+        plt.legend()
+
+    plt.tight_layout()
+    plt.show(block=False)
+
+
+if __name__ == "__main__":
+    # Check if the path to the main file is provided
+    if len(sys.argv) != 2:
+        print("Usage: python3 script.py </path/to/session1-mvsim_r1_logger_pose.log>")
+        sys.exit(1)
+
+    file_path = sys.argv[1]
+    main(file_path)

mvsim_tutorial/python/simple-obstacle-avoidance.py → examples_python/simple-obstacle-avoidance.py

@@ -11,7 +11,7 @@
 # export PYTHONPATH=$HOME/code/mvsim/build/:$PYTHONPATH
 #
 # Demo with N robots:
-# for i in $(seq 1 25); do bash -c "mvsim_tutorial/python/simple-obstacle-avoidance.py --vehicle veh${i} &"; done
+# for i in $(seq 1 25); do bash -c "examples_python/simple-obstacle-avoidance.py --vehicle veh${i} &"; done
 #
 # ---------------------------------------------------------------------
 
@@ -81,7 +81,7 @@ def evalObstacleAvoidance(obs: ObservationLidar2D_pb2.ObservationLidar2D):
     # Force vectors
     resultantForce = [0, 0]
 
-    #obsWeight = 20.0 / len(obs.scanRanges)
+    # obsWeight = 20.0 / len(obs.scanRanges)
     obsWeight = 1
 
     for idx, r in enumerate(obs.scanRanges):
@@ -138,7 +138,7 @@ def onLidar2DMessage(msgType, msg):
     global prevLidarMsgTimestamp
     global prevGlobalGoalTimestamp, prevGlobalGoal
 
-    assert(msgType == "mvsim_msgs.ObservationLidar2D")
+    assert (msgType == "mvsim_msgs.ObservationLidar2D")
     p = ObservationLidar2D_pb2.ObservationLidar2D()
     p.ParseFromString(bytes(msg))
     # print("[lidar callback] received:\n ranges=\n" + str(p.scanRanges) + "\n validRanges=" + str(p.validRanges))

formatter.sh

@@ -1,2 +1,2 @@
 # formatter.sh
-find modules/ mvsim_node_src/ mvsim_tutorial/cpp/ mvsim-cli/ tests/ -iname *.h -o -iname *.hpp -o -iname *.cpp -o -iname *.c | xargs clang-format-14 -i
+find modules/ mvsim_node_src/ examples_cpp/ mvsim-cli/ tests/ -iname *.h -o -iname *.hpp -o -iname *.cpp -o -iname *.c | xargs clang-format-14 -i