Update jazzy

README.md

@@ -3,7 +3,7 @@
 [![Super-Linter](https://github.com/IntelLabs/Scenario_Execution/actions/workflows/scan.yml/badge.svg)](https://github.com/marketplace/actions/super-linter)
 [![OpenSSF Scorecard](https://api.scorecard.dev/projects/github.com/IntelLabs/scenario_execution/badge)](https://scorecard.dev/viewer/?uri=github.com/IntelLabs/scenario_execution)
 
-Scenario execution is a backend- and middleware-agnostic library written in Python based on the generic scenario description language [OpenSCENARIO 2](https://www.asam.net/static_downloads/public/asam-openscenario/2.0.0/welcome.html) and [pytrees](https://py-trees.readthedocs.io/en/devel/).
+Scenario execution is a backend- and middleware-agnostic library written in Python based on the generic scenario description language [OpenSCENARIO DSL](https://www.asam.net/standards/detail/openscenario-dsl/) and [pytrees](https://py-trees.readthedocs.io/en/devel/).
 It reads a scenario definition from a file and then executes it, reusing available checks and actions. It is easily extendable through a library mechanism.
 This separation of the scenario definition from implementation massively reduces the manual efforts of scenario creation.
 

docs/architecture.rst

@@ -7,8 +7,8 @@ Architecture
 
    Overview of Scenario Execution
 
-Scenario execution is built as a Python library on top of two open-source components: the generic scenario description language `OpenSCENARIO 2 <https://www.asam.net/index.php?eID=dumpFile&t=f&f=3460&token=14e7c7fab9c9b75118bb4939c725738fa0521fe9>`_ and `PyTrees  <https://py-trees.readthedocs.io/en/devel/introduction.html>`_.
-In general, the user defines a scenario in the OpenSCENARIO 2 language, scenario execution parses the scenario, translates it to a behavior tree, executes it and finally gathers the test results.
+Scenario execution is built as a Python library on top of two open-source components: the generic scenario description language `OpenSCENARIO DSL <https://www.asam.net/index.php?eID=dumpFile&t=f&f=3460&token=14e7c7fab9c9b75118bb4939c725738fa0521fe9>`_ and `PyTrees  <https://py-trees.readthedocs.io/en/devel/introduction.html>`_.
+In general, the user defines a scenario in the OpenSCENARIO DSL language, scenario execution parses the scenario, translates it to a behavior tree, executes it and finally gathers the test results.
 
 
 .. figure:: images/scenario_execution_arch.png
@@ -18,7 +18,7 @@ In general, the user defines a scenario in the OpenSCENARIO 2 language, scenario
 
 Our implementation is highly modular separating the core components from simulation- and/or middleware-specific modules realized through a plugin-based approach. 
 In principle, any additional feature that is required by a specific scenario and that can be implemented in Python could be realized as additional library.
-A library typically provides an OpenSCENARIO 2 file with additional definitions and may provide code implementing additional functionality such as conditions or actions.
+A library typically provides an OpenSCENARIO DSL file with additional definitions and may provide code implementing additional functionality such as conditions or actions.
 
 Currently, the following sub-packages and libraries are available:
 
@@ -63,11 +63,11 @@ The Internal Model Builder, implemented as a Model Listener does an initial chec
 Modules
 -------
 
-- ``scenario_execution``: The base package for scenario execution. It provides the parsing of OpenSCENARIO 2 files and the conversion to py-trees. It's middleware agnostic and can therefore be used as a basis for more specific implementations (e.g. ROS). It also provides basic OpenSCENARIO 2 libraries and actions.
-- ``scenario_execution_ros``: This package uses ``scenario_execution`` as a basis and implements a ROS2 version of scenario execution. It provides a OpenSCENARIO 2 library with basic ROS2-related actions like publishing on a topic or calling a service.
+- ``scenario_execution``: The base package for scenario execution. It provides the parsing of OpenSCENARIO DSL files and the conversion to py-trees. It's middleware agnostic and can therefore be used as a basis for more specific implementations (e.g. ROS). It also provides basic OpenSCENARIO DSL libraries and actions.
+- ``scenario_execution_ros``: This package uses ``scenario_execution`` as a basis and implements a ROS2 version of scenario execution. It provides a OpenSCENARIO DSL library with basic ROS2-related actions like publishing on a topic or calling a service.
 - ``scenario_execution_control``: Provides code to control scenario execution (in ROS2) from another application such as RViz.
-- ``scenario_execution_coverage``: Provides tools to generate concrete scenarios from abstract OpenSCENARIO 2 scenario definition and execute them.
-- ``scenario_execution_gazebo``: Provides a `Gazebo <https://gazebosim.org/>`_-specific OpenSCENARIO 2 library with actions.
+- ``scenario_execution_coverage``: Provides tools to generate concrete scenarios from abstract OpenSCENARIO DSL scenario definition and execute them.
+- ``scenario_execution_gazebo``: Provides a `Gazebo <https://gazebosim.org/>`_-specific OpenSCENARIO DSL library with actions.
 - ``scenario_execution_interfaces``: Provides ROS2 `interfaces <https://docs.ros.org/en/rolling/Concepts/Basic/About-Interfaces.html>`__, more specifically, messages and services, which are used to interface ROS2 with the ``scenario_execution_control`` package.
 - ``scenario_execution_rviz``: Contains several `rviz <https://github.com/ros2/rviz>`__ plugins for visualizing and controlling scenarios when working with ROS2.
 - ``simulation/gazebo_tf_publisher``: Publish ground truth transforms from simulation within TF.

docs/dictionary.txt

@@ -33,4 +33,8 @@ png
 svg
 Kubernetes
 yaml
-absolutized
+absolutized
+moveit
+replan
+effector
+mnt

docs/index.rst

@@ -3,7 +3,7 @@ Scenario Execution
 ==================
 
 Scenario Execution for Robotics is a backend- and middleware-agnostic library, that enables the robotics community to perform reproducible experiments at scale and allows a seamless transition from simulation to real-world experiments.
-Scenario Execution is written in Python and builds upon the generic scenario description language `OpenScenario2 <https://www.asam.net/static_downloads/public/asam-openscenario/2.0.0/welcome.html>`__ and `pytrees <https://py-trees.readthedocs.io/en/devel/>`__.  
+Scenario Execution is written in Python and builds upon the generic scenario description language `OpenSCENARIO DSL <https://www.asam.net/standards/detail/openscenario-dsl/>`__ and `pytrees <https://py-trees.readthedocs.io/en/devel/>`__.  
 
 Scenario Execution reads a scenario definition from a file, translates it to a py-trees behavior tree and then executes it. This separation of the scenario definition from the implementation massively reduces the manual efforts of (robotics) scenario creation.
 Although Scenario Execution can be used as a pure Python library, it is mainly targeted to be used with the `Robot Operating System (ROS2) <https://www.ros.org/>`__. The backend-agnostic implementation allows Scenario Execution to be used with both, robotics simulators such as `Gazebo <https://gazebosim.org/>`__ and physical robots, with minimal adaptations necessary in the scenario description file. 
@@ -37,5 +37,5 @@ If you use Scenario Execution for Robotics in your scientific work, please cite
    architecture
    libraries
    development
-   openscenario2
+   openscenarioDSL
    how_to_cite

docs/libraries.rst

@@ -1,7 +1,7 @@
 Libraries
 =========
 
-Beside ``osc.standard`` provided by OpenSCENARIO 2 (which we divide into ``osc.standard`` and ``osc.standard_base``), multiple libraries are provided with scenario execution.
+Beside ``osc.standard`` and ``osc.types`` provided by OpenSCENARIO DSL, multiple libraries are provided with scenario execution.
 
 .. list-table:: 
    :widths: 40 60
@@ -10,6 +10,8 @@ Beside ``osc.standard`` provided by OpenSCENARIO 2 (which we divide into ``osc.s
 
    * - Name
      - Description
+   * - ``osc.docker``
+     - Docker Library (provided with :repo_link:`libs/scenario_execution_docker`)
    * - ``osc.gazebo``
      - Gazebo Library (provided with :repo_link:`libs/scenario_execution_gazebo`)
    * - ``osc.helpers``
@@ -32,6 +34,163 @@ Beside ``osc.standard`` provided by OpenSCENARIO 2 (which we divide into ``osc.s
 Additional features can be implemented by defining your own library.
 
 
+Docker
+------
+
+The library contains actions to interact with `Docker <https://www.docker.com/>`_. Import it with ``import osc.docker``. It's provided by the package :repo_link:`libs/scenario_execution_docker`.
+
+``docker_run()``
+^^^^^^^^^^^^^^^^
+
+Runs a Docker container
+
+.. list-table:: 
+   :widths: 15 15 5 65
+   :header-rows: 1
+   :class: tight-table   
+
+   * - Parameter
+     - Type
+     - Default
+     - Description
+   * - ``image``
+     - ``string``
+     -
+     - The image to run
+   * - ``command``
+     - ``string``
+     - 
+     - The command to run in the container
+   * - ``container_name``
+     - ``string``
+     - 
+     - The name for this container
+   * - ``detach``
+     - ``bool``
+     - false
+     - Whether to run container in the background
+   * - ``environment``
+     - ``list of string``
+     - 
+     - Environment variables to set inside the container, i.e., a list of strings in the format ["SOMEVARIABLE=xxx"].
+   * - ``network``
+     - ``string``
+     - 
+     - Name of the network this container will be connected to at creation time
+   * - ``privileged``
+     - ``bool``
+     - false
+     - Give extended privileges to this container
+   * - ``remove``
+     - ``bool``
+     - true
+     - Remove the container when it as finished running
+   * - ``stream``
+     - ``bool``
+     - true
+     - If true and detach is false, return a log generator instead of a string. Ignored if detach is true.
+   * - ``volumes``
+     - ``list of string``
+     - 
+     - A list of strings which each one of its elements specifies a mount volume: ['/home/user1/:/mount/vol2','/home/user2/:/mount/vol1']
+
+``docker_exec()``
+^^^^^^^^^^^^^^^^^
+
+Runs a command inside a given Docker container
+
+.. list-table:: 
+   :widths: 15 15 5 65
+   :header-rows: 1
+   :class: tight-table   
+
+   * - Parameter
+     - Type
+     - Default
+     - Description
+   * - ``container``
+     - ``string``
+     - 
+     - The name or id of the container to run the command in 
+   * - ``container``
+     - ``string``
+     - 
+     - The name or id of the container to run the command in 
+   * - ``command``
+     - ``string``
+     - 
+     - The command to run inside the container
+   * - ``environment``
+     - ``list of string``
+     - 
+     - Environment variables to set inside the container, i.e., a list of strings in the format ["SOMEVARIABLE=xxx"].
+   * - ``privileged``
+     - ``bool``
+     - false
+     - Give extended privileges to this container
+   * - ``user``
+     - ``string``
+     - root
+     - User to execute command as
+   * - ``workdir``
+     - ``string``
+     - 
+     - Path to working directory for this exec session
+
+``docker_copy()``
+^^^^^^^^^^^^^^^^^
+
+Copy a file or folder from the container.
+Note that this actions potentially blocks other action calls if the copied content is large.
+In case large files or folders need to be copied, consider mounting a volume to the container instead of this action.
+
+.. list-table:: 
+   :widths: 15 15 5 65
+   :header-rows: 1
+   :class: tight-table   
+
+   * - Parameter
+     - Type
+     - Default
+     - Description
+   * - ``container``
+     - ``string``
+     - 
+     - The name or id of the container to run the command in 
+   * - ``file_path``
+     - ``string``
+     - 
+     - Path to the file or folder inside the container to retrieve
+
+``docker_put()``
+^^^^^^^^^^^^^^^^^
+
+Copy a file or folder from the local system into a running container.
+Note that this actions potentially blocks other action calls if the copied content is large.
+In case large files or folders need to be copied, consider mounting a volume to the container instead of this action.
+
+.. list-table:: 
+   :widths: 15 15 5 65
+   :header-rows: 1
+   :class: tight-table   
+
+   * - Parameter
+     - Type
+     - Default
+     - Description
+   * - ``container``
+     - ``string``
+     - 
+     - The name or id of the container to put the file or folder into 
+   * - ``source_path``
+     - ``string``
+     - 
+     - Path to the file or folder in the local system to copy
+   * - ``target_path``
+     - ``string``
+     - 
+     - Target path inside the container to put the file or folder
+
 Gazebo
 ------
 
@@ -1604,4 +1763,4 @@ Capture the screen content within a video.
    * - ``frame_rate``
      - ``float``
      - ``25.0``
-     - Frame-rate of the resulting video
+     - Frame-rate of the resulting video

docs/openscenario2.rst → docs/openscenarioDSL.rst

@@ -1,17 +1,16 @@
-OpenSCENARIO 2
-==============
+OpenSCENARIO DSL
+================
 
 General
 -------
 
-This tool supports a subset of the `OpenSCENARIO
-2 <https://www.asam.net/project-detail/asam-openscenario-v20-1/>`__ standard.
+This tool supports a subset of the `OpenSCENARIO DSL <https://www.asam.net/standards/detail/openscenario-dsl/>`__ standard.
 
 The official documentation is available
-`here <https://www.asam.net/static_downloads/public/asam-openscenario/2.0.0/welcome.html>`__.
+`here <https://publications.pages.asam.net/standards/ASAM_OpenSCENARIO/ASAM_OpenSCENARIO_DSL/latest/index.html>`__.
 
 The `standard library of
-OSC2 <https://www.asam.net/static_downloads/public/asam-openscenario/2.0.0/domain-model/standard_library.html>`__
+OSC2 <https://publications.pages.asam.net/standards/ASAM_OpenSCENARIO/ASAM_OpenSCENARIO_DSL/latest/domain-model/_attachments/ASAM_OpenSCENARIO_DSL_v2.1.0_Domain_model_library.zip>`__
 was adapted to be usable by the current parsing support of scenario execution.
 
 
@@ -46,7 +45,7 @@ Mapping to py-trees
 Supported features
 ------------------
 
-In the following the OpenSCENARIO 2 keywords are listed with their current support status.
+In the following the OpenSCENARIO DSL keywords are listed with their current support status.
 
 
 ======================= ==================== =============================

docs/setup.rst

@@ -2,42 +2,60 @@
 Setup
 =====
 
-Installation from source as ROS 2 workspace
--------------------------------------------
+Installation with ROS 2
+-----------------------
 
 Prerequisites
 ^^^^^^^^^^^^^
 
-Install ROS2 humble following the `installation instructions <https://docs.ros.org/en/humble/Installation.html>`_.
+Install ROS2 following the `installation instructions <https://docs.ros.org/en/jazzy/Installation.html>`_ for your distribution `$ROS_DISTRO`.
 
-Installation
-^^^^^^^^^^^^^
+Scenario execution currently supports the ROS 2 distributions `Humble <https://docs.ros.org/en/humble/index.html>`_ and `Jazzy <https://docs.ros.org/en/jazzy/index.html>`_.
 
-Clone the scenario execution repository
+Installation as Debian package (recommended)
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+To install scenario execution together with all its libraries, run
 
 .. code-block:: bash
 
-   git clone https://github.com/IntelLabs/scenario_execution.git
+   sudo apt update && sudo apt install -y ros-$ROS_DISTRO-scenario_execution*
+
+To install just the core packages of scenario execution, run
+
+.. code-block:: bash
+
+   sudo apt update && sudo apt install -y ros-$ROS_DISTRO-scenario_execution ros-$ROS_DISTRO-scenario_execution_ros ros-$ROS_DISTRO-scenario_execution_rviz  
 
-and update its submodules by running the following command in the root folder of the cloned repository
+
+Developer Installation (from source as ROS 2 workspace)
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+Clone the scenario execution repository
 
 .. code-block:: bash
 
-   git submodule update --init
+   git clone https://github.com/IntelLabs/scenario_execution.git
 
-install the necessary dependencies
+and install the necessary dependencies
 
 .. code-block:: bash
 
    rosdep install  --from-paths . --ignore-src
    pip3 install -r requirements.txt
 
-and build it
+Now, build your workspace by running
 
 .. code-block:: bash
 
    colcon build
 
+and source your installation by running
+
+.. code-block:: bash
+
+   source /opt/ros/$ROS_DISTRO/setup.bash && source install/setup.bash
+
 .. _install_with_pip:
 
 Installation with pip as standalone Python package