Migrate to Rolling

.github/workflows/main_ci.yml

@@ -1,4 +1,4 @@
-name: galactic_ci
+name: main_ci
 
 on:
   pull_request:
@@ -15,10 +15,10 @@ jobs:
       fail-fast: false
       matrix:
         ros_distribution:
-          - galactic
+          - rolling
         include:
-          - docker_image: rostooling/setup-ros-docker:ubuntu-focal-ros-galactic-ros-base-latest
-            ros_distribution: galactic
+          - docker_image: rostooling/setup-ros-docker:ubuntu-focal-ros-rolling-ros-base-latest
+            ros_distribution: rolling
             ros_version: 2
     container:
       image: ${{matrix.docker_image}}

Dockerfile

@@ -1,12 +1,12 @@
-# This Dockerfile can be configured via --build-arg
+# This Dockerfile depends on workspace.repos
 
 # Example build command:
-# docker build --pull --no-cache -t orca3:galactic .
+# docker build --pull --no-cache -t orca3:rolling .
 
 # Example run command using Rocker (see https://github.com/osrf/rocker):
-# rocker --x11 --nvidia orca3:galactic
+# rocker --x11 --nvidia orca3:rolling
 
-FROM osrf/ros:galactic-desktop
+FROM osrf/ros:rolling-desktop
 
 RUN apt-get update && apt-get upgrade -y
 
@@ -19,31 +19,27 @@ RUN apt-get install -y libgstreamer1.0-0 gstreamer1.0-plugins-base gstreamer1.0-
  gstreamer1.0-x gstreamer1.0-alsa gstreamer1.0-gl gstreamer1.0-gtk3 gstreamer1.0-qt5 gstreamer1.0-pulseaudio \
  libgstreamer-plugins-base1.0-dev
 
-WORKDIR /work/orca_ws/src
+WORKDIR /work/orca_ws
 
-COPY . orca3
+# Build part 1: get & build all dependencies
 
-ARG FIDUCIAL_VLAM_BRANCH=master
-ARG H264_IMAGE_TRANSPORT_BRANCH=master
-ARG ORB_SLAM2_ROS_BRANCH=clyde_h264_stereo_galactic
-ARG ROS2_SHARED_BRANCH=master
-ARG SIM_FIDUCIAL_BRANCH=master
-ARG STEREO_DECODER_BRANCH=main
-ARG UKF_BRANCH=master
+COPY workspace.repos src/orca3/workspace.repos
 
-RUN git clone https://github.com/ptrmu/fiducial_vlam.git -b $FIDUCIAL_VLAM_BRANCH
-RUN git clone https://github.com/clydemcqueen/h264_image_transport.git -b $H264_IMAGE_TRANSPORT_BRANCH
-RUN git clone https://github.com/clydemcqueen/orb_slam_2_ros.git -b $ORB_SLAM2_ROS_BRANCH
-RUN git clone https://github.com/ptrmu/ros2_shared.git -b $ROS2_SHARED_BRANCH
-RUN git clone https://github.com/clydemcqueen/sim_fiducial.git -b $SIM_FIDUCIAL_BRANCH
-RUN git clone https://github.com/clydemcqueen/stereo_decoder.git -b $STEREO_DECODER_BRANCH
-RUN git clone https://github.com/clydemcqueen/ukf.git -b $UKF_BRANCH
+RUN vcs import src < src/orca3/workspace.repos
 
-WORKDIR /work/orca_ws
+# Ignore slam_toolbox
+RUN rosdep install -y --from-paths . --ignore-src --skip-keys slam_toolbox
+
+RUN /bin/bash -c "source /opt/ros/rolling/setup.bash && colcon build"
+
+# Build part 2: get & build orca3 source
+
+COPY . src/orca3
+
+RUN rosdep install -y --from-paths . --ignore-src --skip-keys slam_toolbox
 
-RUN rosdep install -y --from-paths . --ignore-src
+RUN /bin/bash -c "source /opt/ros/rolling/setup.bash && colcon build"
 
-RUN /bin/bash -c "source /opt/ros/galactic/setup.bash && colcon build"
 
 # Simulation with fiducial_vlam:
 # source src/orca3/setup.bash       # Required to set up the Gazebo environment correctly

README.md

@@ -1,4 +1,4 @@
-# Orca3 ![example branch parameter](https://github.com/clydemcqueen/orca3/actions/workflows/galactic_ci.yml/badge.svg?branch=main)
+# Orca3 ![example branch parameter](https://github.com/clydemcqueen/orca3/actions/workflows/main_ci.yml/badge.svg?branch=main)
 
 Orca3 is a set of [ROS2](http://www.ros.org/) packages that provide basic AUV (Autonomous Underwater Vehicle)
 functionality for the [BlueRobotics BlueROV2](https://www.bluerobotics.com).
@@ -37,7 +37,7 @@ Orca3 includes experimental hardware drivers that run on a modified BlueROV2:
 
 ## Installation
 
-Orca3 has been tested on ROS2 Foxy and Galactic. See the [Dockerfile](Dockerfile) for installation instructions.
+Orca3 has been tested on ROS2 Foxy, Galactic and Rolling. See the [Dockerfile](Dockerfile) for installation instructions.
 
 ## Simulation with fiducial_vlam
 

orca_base/CMakeLists.txt

@@ -1,26 +1,14 @@
-cmake_minimum_required(VERSION 3.5)
+cmake_minimum_required(VERSION 3.14)
 project(orca_base)
 
 if(NOT CMAKE_CXX_STANDARD)
-  set(CMAKE_CXX_STANDARD 14)
+  set(CMAKE_CXX_STANDARD 17)
 endif()
 
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   add_compile_options(-Wall -Wextra -Wpedantic)
 endif()
 
-# Emulate colcon in CLion
-if($ENV{CLION_IDE})
-  find_package(fastrtps_cmake_module REQUIRED)
-  set(FastRTPS_INCLUDE_DIR "/opt/ros/foxy/include")
-  set(FastRTPS_LIBRARY_RELEASE "/opt/ros/foxy/lib/libfastrtps.so")
-  set(orca_description_DIR "${PROJECT_SOURCE_DIR}/../../../install/orca_description/share/orca_description/cmake")
-  set(orca_msgs_DIR "${PROJECT_SOURCE_DIR}/../../../install/orca_msgs/share/orca_msgs/cmake")
-  set(orca_shared_DIR "${PROJECT_SOURCE_DIR}/../../../install/orca_shared/share/orca_shared/cmake")
-  set(ros2_shared_DIR "${PROJECT_SOURCE_DIR}/../../../install/ros2_shared/share/ros2_shared/cmake")
-  set(ukf_DIR "${PROJECT_SOURCE_DIR}/../../../install/ukf/share/ukf/cmake")
-endif()
-
 find_package(ament_cmake_auto REQUIRED)
 ament_auto_find_build_dependencies()
 

orca_bringup/CMakeLists.txt

@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.5)
+cmake_minimum_required(VERSION 3.14)
 project(orca_bringup)
 
 # Add -Wno-dev to CLion CMake options to suppress warning about gazebo_dev

orca_description/CMakeLists.txt

@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.5)
+cmake_minimum_required(VERSION 3.14)
 project(orca_description)
 
 find_package(ament_cmake_auto REQUIRED)

orca_gazebo/CMakeLists.txt

@@ -1,35 +1,26 @@
-cmake_minimum_required(VERSION 3.5)
+cmake_minimum_required(VERSION 3.14)
 project(orca_gazebo)
 
 if(NOT CMAKE_CXX_STANDARD)
-  set(CMAKE_CXX_STANDARD 14)
+  set(CMAKE_CXX_STANDARD 17)
 endif()
 
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   add_compile_options(-Wall -Wextra -Wpedantic)
 endif()
 
-# Emulate colcon in CLion
-if($ENV{CLION_IDE})
-  find_package(fastrtps_cmake_module REQUIRED)
-  set(FastRTPS_INCLUDE_DIR "/opt/ros/foxy/include")
-  set(FastRTPS_LIBRARY_RELEASE "/opt/ros/foxy/lib/libfastrtps.so")
-  set(orca_msgs_DIR "${PROJECT_SOURCE_DIR}/../../../install/orca_msgs/share/orca_msgs/cmake")
-  set(orca_shared_DIR "${PROJECT_SOURCE_DIR}/../../../install/orca_shared/share/orca_shared/cmake")
-endif()
-
 # Add -Wno-dev to CLion CMake options to suppress warning about gazebo_dev
 find_package(ament_cmake_auto REQUIRED)
 ament_auto_find_build_dependencies()
 
 #=============
 # Run build_world.py to generate .yaml (vlam maps) and .world files
-# Use simple.world as the marker file, if this is stale, re-run build_world.py
+# Use empty.world as the marker file, if this is stale, re-run build_world.py
 #=============
 
 file(MAKE_DIRECTORY "${CMAKE_CURRENT_BINARY_DIR}/worlds")
 
-set(MARKER_FILE "${CMAKE_CURRENT_BINARY_DIR}/worlds/simple.world")
+set(MARKER_FILE "${CMAKE_CURRENT_BINARY_DIR}/worlds/empty.world")
 
 add_custom_command(
   OUTPUT ${MARKER_FILE}

orca_localize/CMakeLists.txt

@@ -1,27 +1,14 @@
-cmake_minimum_required(VERSION 3.5)
+cmake_minimum_required(VERSION 3.14)
 project(orca_localize)
 
 if(NOT CMAKE_CXX_STANDARD)
-  set(CMAKE_CXX_STANDARD 14)
+  set(CMAKE_CXX_STANDARD 17)
 endif()
 
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   add_compile_options(-Wall -Wextra -Wpedantic)
 endif()
 
-# Emulate colcon in CLion
-if($ENV{CLION_IDE})
-  find_package(fastrtps_cmake_module REQUIRED)
-  set(FastRTPS_INCLUDE_DIR "/opt/ros/foxy/include")
-  set(FastRTPS_LIBRARY_RELEASE "/opt/ros/foxy/lib/libfastrtps.so")
-  set(fiducial_vlam_msgs_DIR "${PROJECT_SOURCE_DIR}/../../../install/fiducial_vlam_msgs/share/fiducial_vlam_msgs/cmake")
-  set(orca_description_DIR "${PROJECT_SOURCE_DIR}/../../../install/orca_description/share/orca_description/cmake")
-  set(orca_msgs_DIR "${PROJECT_SOURCE_DIR}/../../../install/orca_msgs/share/orca_msgs/cmake")
-  set(orca_shared_DIR "${PROJECT_SOURCE_DIR}/../../../install/orca_shared/share/orca_shared/cmake")
-  set(ros2_shared_DIR "${PROJECT_SOURCE_DIR}/../../../install/ros2_shared/share/ros2_shared/cmake")
-  set(ukf_DIR "${PROJECT_SOURCE_DIR}/../../../install/ukf/share/ukf/cmake")
-endif()
-
 find_package(ament_cmake_auto REQUIRED)
 ament_auto_find_build_dependencies()
 

orca_localize/src/fiducial_localizer.cpp

@@ -33,7 +33,7 @@
 #include "orca_shared/model.hpp"
 #include "orca_shared/util.hpp"
 #include "rclcpp/rclcpp.hpp"
-#include "tf2_geometry_msgs/tf2_geometry_msgs.h"
+#include "tf2_geometry_msgs/tf2_geometry_msgs.hpp"
 #include "tf2_ros/transform_broadcaster.h"
 #include "tf2_ros/transform_listener.h"
 

orca_msgs/CMakeLists.txt

@@ -1,21 +1,14 @@
-cmake_minimum_required(VERSION 3.5)
+cmake_minimum_required(VERSION 3.14)
 project(orca_msgs)
 
 if(NOT CMAKE_CXX_STANDARD)
-  set(CMAKE_CXX_STANDARD 14)
+  set(CMAKE_CXX_STANDARD 17)
 endif()
 
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   add_compile_options(-Wall -Wextra -Wpedantic)
 endif()
 
-# Emulate colcon in CLion
-if($ENV{CLION_IDE})
-  find_package(fastrtps_cmake_module REQUIRED)
-  set(FastRTPS_INCLUDE_DIR "/opt/ros/foxy/include")
-  set(FastRTPS_LIBRARY_RELEASE "/opt/ros/foxy/lib/libfastrtps.so")
-endif()
-
 # Debugging: set _dump_all_variables to true
 set(_dump_all_variables false)
 if(_dump_all_variables)

orca_nav2/CMakeLists.txt

@@ -1,22 +1,14 @@
-cmake_minimum_required(VERSION 3.5)
+cmake_minimum_required(VERSION 3.14)
 project(orca_nav2)
 
 if(NOT CMAKE_CXX_STANDARD)
-  set(CMAKE_CXX_STANDARD 14)
+  set(CMAKE_CXX_STANDARD 17)
 endif()
 
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   add_compile_options(-Wall -Wextra -Wpedantic)
 endif()
 
-# Emulate colcon in CLion
-if($ENV{CLION_IDE})
-  find_package(fastrtps_cmake_module REQUIRED)
-  set(FastRTPS_INCLUDE_DIR "/opt/ros/foxy/include")
-  set(FastRTPS_LIBRARY_RELEASE "/opt/ros/foxy/lib/libfastrtps.so")
-  set(orca_shared_DIR "${PROJECT_SOURCE_DIR}/../../../install/orca_shared/share/orca_shared/cmake")
-endif()
-
 find_package(ament_cmake_auto REQUIRED)
 ament_auto_find_build_dependencies()
 

orca_shared/CMakeLists.txt

@@ -1,24 +1,14 @@
-cmake_minimum_required(VERSION 3.5)
+cmake_minimum_required(VERSION 3.14)
 project(orca_shared)
 
 if(NOT CMAKE_CXX_STANDARD)
-  set(CMAKE_CXX_STANDARD 14)
+  set(CMAKE_CXX_STANDARD 17)
 endif()
 
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   add_compile_options(-Wall -Wextra -Wpedantic)
 endif()
 
-# Emulate colcon in CLion
-if($ENV{CLION_IDE})
-  find_package(fastrtps_cmake_module REQUIRED)
-  set(FastRTPS_INCLUDE_DIR "/opt/ros/foxy/include")
-  set(FastRTPS_LIBRARY_RELEASE "/opt/ros/foxy/lib/libfastrtps.so")
-  set(fiducial_vlam_msgs_DIR "${PROJECT_SOURCE_DIR}/../../../install/fiducial_vlam_msgs/share/fiducial_vlam_msgs/cmake")
-  set(orca_msgs_DIR "${PROJECT_SOURCE_DIR}/../../../install/orca_msgs/share/orca_msgs/cmake")
-  set(ros2_shared_DIR "${PROJECT_SOURCE_DIR}/../../../install/ros2_shared/share/ros2_shared/cmake")
-endif()
-
 find_package(ament_cmake_auto REQUIRED)
 ament_auto_find_build_dependencies()
 

orca_shared/src/util.cpp

@@ -27,7 +27,7 @@
 #include <string>
 
 #include "orca_msgs/msg/status.hpp"
-#include "tf2_geometry_msgs/tf2_geometry_msgs.h"
+#include "tf2_geometry_msgs/tf2_geometry_msgs.hpp"
 
 namespace orca
 {

orca_topside/CMakeLists.txt

@@ -1,22 +1,14 @@
-cmake_minimum_required(VERSION 3.5)
+cmake_minimum_required(VERSION 3.14)
 project(orca_topside)
 
 if(NOT CMAKE_CXX_STANDARD)
-  set(CMAKE_CXX_STANDARD 14)
+  set(CMAKE_CXX_STANDARD 17)
 endif()
 
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   add_compile_options(-Wall -Wextra -Wpedantic)
 endif()
 
-# Emulate colcon in CLion
-#if($ENV{CLION_IDE})
-#  set(gst_tools_DIR "${PROJECT_SOURCE_DIR}/../../../install/gst_tools/share/gst_tools/cmake")
-#  set(orca_msgs_DIR "${PROJECT_SOURCE_DIR}/../../../install/orca_msgs/share/orca_msgs/cmake")
-#  set(orca_shared_DIR "${PROJECT_SOURCE_DIR}/../../../install/orca_shared/share/orca_shared/cmake")
-#  set(ros2_shared_DIR "${PROJECT_SOURCE_DIR}/../../../install/ros2_shared/share/ros2_shared/cmake")
-#endif()
-
 # A bit tricky to use ament + Qt5 + CMake + CLion, some resources:
 # https://doc.qt.io/qt-5.12/cmake-manual.html
 # https://www.jetbrains.com/help/clion/qt-tutorial.html
@@ -32,6 +24,7 @@ pkg_check_modules(GST_APP REQUIRED gstreamer-app-1.0)
 
 find_package(ament_cmake REQUIRED)
 find_package(camera_info_manager REQUIRED)
+find_package(cv_bridge REQUIRED)
 find_package(gst_tools QUIET)
 find_package(h264_msgs REQUIRED)
 find_package(geometry_msgs REQUIRED)
@@ -73,6 +66,7 @@ add_executable(
 ament_target_dependencies(
   teleop_node
   camera_info_manager
+  cv_bridge
   geometry_msgs
   GST_APP
   h264_msgs

orca_topside/package.xml

@@ -31,6 +31,7 @@
   -->
 
   <depend>camera_info_manager</depend>
+  <depend>cv_bridge</depend>
   <depend>geometry_msgs</depend>
   <depend>h264_msgs</depend>
   <depend>libgstreamer1.0-dev</depend>

workspace.repos

@@ -1,29 +1,33 @@
 repositories:
-  ptrmu/fiducial_vlam:
+  fiducial_vlam:
     type: git
-    url: https://github.com/ptrmu/fiducial_vlam
+    url: https://github.com/clydemcqueen/fiducial_vlam
     version: master
-  clydemcqueen/h264_image_transport:
+  h264_image_transport:
     type: git
     url: https://github.com/clydemcqueen/h264_image_transport
     version: master
-  clydemcqueen/orb_slam_2_ros:
+  orb_slam_2_ros:
     type: git
     url: https://github.com/clydemcqueen/orb_slam_2_ros
-    version: clyde_h264_stereo_galactic
-  ptrmu/ros2_shared:
+    version: clyde_h264_stereo_rolling
+  ros2_shared:
     type: git
     url: https://github.com/ptrmu/ros2_shared
     version: master
-  clydemcqueen/sim_fiducial:
+  sim_fiducial:
     type: git
     url: https://github.com/clydemcqueen/sim_fiducial
     version: master
-  clydemcqueen/stereo_decoder:
+  stereo_decoder:
     type: git
     url: https://github.com/clydemcqueen/stereo_decoder
     version: main
-  clydemcqueen/ukf:
+  ukf:
     type: git
     url: https://github.com/clydemcqueen/ukf
     version: master
+  navigation2:
+    type: git
+    url: https://github.com/ros-planning/navigation2
+    version: main