hardware jazzy with namespaces

Signed-off-by: Jakub Delicat <[email protected]>
husarion · Jul 26, 2024 · c6e7c1d · c6e7c1d
1 parent 605b017
commit c6e7c1d
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Showing 10 changed files with 81 additions and 51 deletions.
diff --git a/rosbot/rosbot_hardware.repos b/rosbot/rosbot_hardware.repos
@@ -11,7 +11,7 @@ repositories:
   husarion_controllers:
     type: git
     url: https://github.com/husarion/husarion_controllers
-    version: 217b09830f5f42930098b9992eda41710702b625
+    version: jazzy
   # Waiting for backporting to the humble version
   # https://github.com/ros-controls/ros2_controllers/pull/726 and
   # https://github.com/ros-controls/ros2_controllers/pull/831

diff --git a/rosbot_bringup/package.xml b/rosbot_bringup/package.xml
@@ -18,8 +18,7 @@
   <exec_depend>launch_ros</exec_depend>
   <exec_depend>rosbot_controller</exec_depend>
   <exec_depend>robot_localization</exec_depend>
-  <exec_depend>micro_ros_agent</exec_depend>
-  <exec_depend>micro_ros_msgs</exec_depend>
+
 
   <test_depend>python3-pytest</test_depend>
   <test_depend>launch</test_depend>

diff --git a/rosbot_controller/config/diff_drive_controller.yaml b/rosbot_controller/config/diff_drive_controller.yaml
@@ -15,7 +15,7 @@
     tf_frame_prefix_enable: false
     use_namespace_as_sensor_name_prefix: true
 
-    sensor_name: imu
+    sensor_name: <robot_namespace>/imu
     frame_id: imu_link
     static_covariance_orientation: [1.9e-3, 0.0, 0.0, 0.0, 1.9e-3, 0.0, 0.0, 0.0, 1.9e-3] # Values taken from datasheet
     static_covariance_angular_velocity: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 2.0e-3] # Values measured experimentally
@@ -60,7 +60,6 @@
 
     cmd_vel_timeout: 0.5
     #publish_limited_velocity: true
-    use_stamped_vel: false
 
     # Velocity and acceleration limits
     # Whenever a min_* is unspecified, default to -max_*

diff --git a/rosbot_controller/config/mecanum_drive_controller.yaml b/rosbot_controller/config/mecanum_drive_controller.yaml
@@ -15,7 +15,7 @@
     tf_frame_prefix_enable: false
     use_namespace_as_sensor_name_prefix: true
 
-    sensor_name: imu
+    sensor_name: <robot_namespace>/imu
     frame_id: imu_link
     static_covariance_orientation: [1.9e-3, 0.0, 0.0, 0.0, 1.9e-3, 0.0, 0.0, 0.0, 1.9e-3] # Values taken from datasheet
     static_covariance_angular_velocity: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 2.0e-3] # Values based on diff_drive
@@ -59,7 +59,6 @@
 
     cmd_vel_timeout: 0.5
     #publish_limited_velocity: true
-    use_stamped_vel: false
 
     # Velocity and acceleration limits
     # Whenever a min_* is unspecified, default to -max_*

diff --git a/rosbot_controller/launch/controller.launch.py b/rosbot_controller/launch/controller.launch.py
@@ -25,6 +25,7 @@
 )
 from launch_ros.actions import Node, SetParameter
 from launch_ros.substitutions import FindPackageShare
+from nav2_common.launch import ReplaceString
 
 
 def generate_launch_description():
@@ -109,26 +110,34 @@ def generate_launch_description():
     )
     robot_description = {"robot_description": robot_description_content}
 
-    robot_controllers = PathJoinSubstitution(
+    robot_controllers_config = PathJoinSubstitution(
         [
             FindPackageShare("rosbot_controller"),
             "config",
             controller_config_name,
         ]
     )
 
+    namespaced_robot_controllers_config = ReplaceString(
+        source_file=robot_controllers_config,
+        replacements={
+            "<robot_namespace>": namespace,
+            "//": "/"
+        },
+    )
+
     control_node = Node(
         package="controller_manager",
         executable="ros2_control_node",
         parameters=[
             robot_description,
-            robot_controllers,
+            namespaced_robot_controllers_config,
         ],
         remappings=[
             ("imu_sensor_node/imu", "/_imu/data_raw"),
             ("~/motors_cmd", "/_motors_cmd"),
             ("~/motors_response", "/_motors_response"),
-            ("rosbot_base_controller/cmd_vel_unstamped", "cmd_vel"),
+            ("rosbot_base_controller/cmd_vel", "cmd_vel"),
             ("/tf", "tf"),
             ("/tf_static", "tf_static"),
         ],

diff --git a/rosbot_controller/package.xml b/rosbot_controller/package.xml
@@ -17,6 +17,7 @@
 
   <exec_depend>launch</exec_depend>
   <exec_depend>launch_ros</exec_depend>
+  <exec_depend>nav2_common</exec_depend>
 
   <exec_depend>xacro</exec_depend>
   <exec_depend>controller_manager</exec_depend>
@@ -29,8 +30,7 @@
   <exec_depend>joint_state_broadcaster</exec_depend>
   <exec_depend>imu_sensor_broadcaster</exec_depend>
   <exec_depend>diff_drive_controller</exec_depend>
-  <!-- TODO: @delihus update -->
-  <!-- <exec_depend>mecanum_drive_controller</exec_depend> -->
+  <exec_depend>mecanum_drive_controller</exec_depend>
 
   <test_depend>python3-pytest</test_depend>
   <test_depend>launch</test_depend>

diff --git a/rosbot_description/urdf/rosbot_macro.urdf.xacro b/rosbot_description/urdf/rosbot_macro.urdf.xacro
@@ -70,7 +70,7 @@
 
         <xacro:if value="$(arg use_sim)">
           <xacro:if value="${simulation_engine == 'ignition-gazebo'}">
-            <plugin>ign_ros2_control/IgnitionSystem</plugin>
+            <plugin>gz_ros2_control/GazeboSimSystem</plugin>
           </xacro:if>
           <xacro:if value="${simulation_engine == 'webots'}">
             <plugin>webots_ros2_control::Ros2ControlSystem</plugin>
@@ -121,7 +121,7 @@
     <xacro:if value="${use_sim}">
       <xacro:if value="${simulation_engine == 'ignition-gazebo'}">
         <gazebo>
-          <plugin filename="ign_ros2_control-system" name="ign_ros2_control::IgnitionROS2ControlPlugin">
+          <plugin filename="gz_ros2_control-system" name="gz_ros2_control::GazeboSimROS2ControlPlugin">
 
             <xacro:if value="${mecanum}">
               <parameters>$(find rosbot_controller)/config/mecanum_drive_controller.yaml</parameters>
@@ -134,7 +134,7 @@
               <xacro:unless value="${namespace == 'None'}">
                 <namespace>${namespace}</namespace>
               </xacro:unless>
-              <remapping>rosbot_base_controller/cmd_vel_unstamped:=cmd_vel</remapping>
+              <remapping>rosbot_base_controller/cmd_vel:=cmd_vel</remapping>
               <remapping>/tf:=tf</remapping>
             </ros>
           </plugin>

diff --git a/rosbot_description/urdf/wheel.urdf.xacro b/rosbot_description/urdf/wheel.urdf.xacro
@@ -90,19 +90,21 @@
       </inertial>
     </link>
 
-    <gazebo reference="${side}_wheel_link" xmlns:ignition="http://ignitionrobotics.org/schema">
-      <collision>
-        <surface>
-          <friction>
-            <ode>
-              <mu>1.0</mu>
-              <mu2>0.0</mu2>
-              <fdir1 ignition:expressed_in="base_link">${fdir}</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-    </gazebo>
+    <xacro:if value="${mecanum}">
+      <gazebo reference="${side}_wheel_link" xmlns:ignition="http://ignitionrobotics.org/schema">
+        <collision>
+          <surface>
+            <friction>
+              <ode>
+                <mu>1.0</mu>
+                <mu2>0.0</mu2>
+                <fdir1 ignition:expressed_in="base_link">${fdir}</fdir1>
+              </ode>
+            </friction>
+          </surface>
+        </collision>
+      </gazebo>
+    </xacro:if>
 
   </xacro:macro>
 </robot>
diff --git a/tools/Dockerfile.dev b/tools/Dockerfile.dev
@@ -1,9 +1,9 @@
-ARG ROS_DISTRO=humble
+ARG ROS_DISTRO=jazzy
 ARG PREFIX=
 ARG HUSARION_ROS_BUILD_TYPE=hardware
 
 ## =========================== ROS builder ===============================
-FROM husarnet/ros:${PREFIX}${ROS_DISTRO}-ros-base AS ros_builder
+FROM rosbot-jazzy-rosdep
 
 ARG ROS_DISTRO
 ARG PREFIX
@@ -12,20 +12,21 @@ ARG HUSARION_ROS_BUILD_TYPE
 ENV HUSARION_ROS_BUILD_TYPE=${HUSARION_ROS_BUILD_TYPE}
 
 WORKDIR /ros2_ws
-RUN mkdir src
-
-COPY ./ src/
+RUN mkdir -p src
 
 RUN apt-get update && apt-get install -y \
         python3-pip \
-        stm32flash
-
-RUN vcs import src < src/rosbot/rosbot_hardware.repos && \
-    if [ "$HUSARION_ROS_BUILD_TYPE" == "simulation" ]; then \
-        vcs import src < src/rosbot/rosbot_simulation.repos; \
-    else \
-        rm -rf src/rosbot_gazebo; \
-    fi && \
+        stm32flash python3-periphery  python3-ftdi
+
+
+COPY ./ src/
+# RUN vcs import src < src/rosbot/rosbot_hardware.repos && \
+#     if [ "$HUSARION_ROS_BUILD_TYPE" == "simulation" ]; then \
+#         vcs import src < src/rosbot/rosbot_simulation.repos; \
+#     else \
+#         rm -rf src/rosbot_gazebo; \
+#     fi && \
+RUN rm -rf src/rosbot_gazebo; rm -rf src/rosbot_controllers/mecanum_drive_controller \
     rm -rf /etc/ros/rosdep/sources.list.d/20-default.list && \
 	rosdep init && \
     rosdep update --rosdistro $ROS_DISTRO && \

diff --git a/tools/compose.dev.yaml b/tools/compose.dev.yaml
@@ -10,16 +10,37 @@ services:
     build:
       context: ../
       dockerfile: tools/Dockerfile.dev
+    network_mode: host
+    ipc: host
     # privileged: true # GPIO
-    devices:
-      - ${SERIAL_PORT:?err}
-      - /dev/bus/usb/ #FTDI
+    # devices:
+    #   - ${SERIAL_PORT:?err}
+    #   - /dev/bus/usb/ #FTDI
     volumes:
       - ../rosbot_utils:/ros2_ws/src/rosbot_utils
-    command: tail -f /dev/null
-    # command: >
-    #   ros2 launch rosbot_bringup combined.launch.py
-    #     mecanum:=${MECANUM:-False}
-    #     serial_port:=$SERIAL_PORT
-    #     serial_baudrate:=576000
-    #     namespace:=robot1
+    # command: tail -f /dev/null
+    environment:
+      - RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
+    command: >
+      ros2 launch rosbot_bringup bringup.launch.py
+        mecanum:=${MECANUM:-False}
+        namespace:=rosbot
+  rviz:
+    image: husarion/rviz2:jazzy-jazzy
+    # build:
+    #   context: ..
+    #   dockerfile: Dockerfile
+    network_mode: host
+    ipc: host
+    runtime: nvidia
+    volumes:
+      - /tmp/.X11-unix:/tmp/.X11-unix:rw
+      # - ./rosbot.rviz:/root/.rviz2/default.rviz
+    environment:
+      - RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
+      - ROS_DOMAIN_ID
+      - DISPLAY
+      - NVIDIA_VISIBLE_DEVICES=all
+      - NVIDIA_DRIVER_CAPABILITIES=all
+    command: >
+      rviz2 --ros-args -r __ns:=/rosbot -r /tf:=tf -r /tf_static:=tf_static