Merge pull request #14 from husarion/add-namespace

Add namespace

README.md

@@ -1,6 +1,6 @@
 # Joy2Twist
 
-Dockerized ROS node allowing control of ROS-powered mobile robots with Logitech F710 gamepad. Joy2Twist node is converting `sensor_msgs/Joy` message to `geometry_msgs/Twist` in order to provide velocity commands for the mobile robot. Therefore this package is compliant (but not supported by Husarion) with any other gamepad controller which is able to publish the `sensor_msgs/Joy` message. 
+Dockerized ROS node allowing control of ROS-powered mobile robots with Logitech F710 gamepad. Joy2Twist node is converting `sensor_msgs/Joy` message to `geometry_msgs/Twist` in order to provide velocity commands for the mobile robot. Therefore this package is compliant (but not supported by Husarion) with any other gamepad controller which is able to publish the `sensor_msgs/Joy` message.
 
 ## Setup joy
 
@@ -46,7 +46,7 @@ ROS node is translating `/joy` topic to `/cmd_vel` topic.
 
 Following parameters change joystick axes mapped to given robot axes of freedom. For more information about parameter values, refer to the joy package [wiki page](http://wiki.ros.org/joy#Logitech_Wireless_Gamepad_F710_.28DirectInput_Mode.29).
 
-- `~axis_linear_x`      *(int, default: 3)* 
+- `~axis_linear_x`      *(int, default: 3)*
 - `~axis_linear_y`      *(int, default: 2)*
 - `~axis_angular_z`     *(int, default: 0)*
 
@@ -67,31 +67,60 @@ The robot can be operated at 3 scales of speed depending on pressed buttons. It'
 
 Available on [Docker Hub](https://hub.docker.com/r/husarion/joy2twist/tags)
 
-### Demo
+## Demo
 
-#### Controlling ROSbot 2 with a Logitech F710 gamepad
+### Controlling ROSbot 2 with a Logitech F710 gamepad
 
-1. Clone this repo on your ROSbot:
+Connect Logitech F710 dongle to the ROSbot 2 and run (on ROSbot):
 
-    ```bash
-    git clone https://github.com/husarion/joy2twist.git
-    cd joy2twist/
-    ```
+```bash
+cd joy2twist/demo/single_robot
+docker compose -f compose.rosbot.melodic.yaml up
+ ```
 
-2. Create `demo/.env` based on `demo/.env.template` file and modify it if needed (see comments)
+### Different namespace demo with a Logitech F710 gamepad
 
-    ```bash
-    #SBC <> STM32 serial connection. Set:
-    #SERIAL_PORT=/dev/ttyS1 # ROSbot 2
-    #SERIAL_PORT=/dev/ttyS4 # ROSbot 2 PRO
-    SERIAL_PORT=/dev/ttyAMA0 # ROSbot 2R
-    ```
+Connect a Logitech F710 USB dongle to your PC. Clone this repo to your PC and go to the `joy2twist/demo/` directory and run in a separate terminal:
 
-3. Launch on ROSbot
+```bash
+./sync_with_robot.sh <YOUR_ROSBOT_IP>
+```
+
+Change the namespace in the `multiple_robots/.env` file:
+
+```bash
+ROS_NAMESPACE=robot1
+```
+
+Now SSH to your robot:
+
+```bash
+ssh husarion@<YOUR_ROSBOT_IP>
+```
+
+Go to the folder `/home/husarion/demo/multiple_robots`, and launch the container for ROSbot:
+
+```bash
+docker compose -f compose.rosbot2r.yaml up
+```
+
+> **Topic filtering**
+>
+> If you will then check on the PC the available ROS 2 nodes you will get:
+> 
+> ```bash
+> $ ros2 topic list
+> /parameter_events
+> /robot1/cmd_vel
+> /rosout
+> ```
+> 
+> Note that nly the single `/robot1/cmd_vel` topic is available outside the robot thanks to the configuration from the `ros2router_config.yaml` file.
+>
+> To control the robot by using the teleop, just run: `ros2 run teleop_twist_keyboard teleop_twist_keyboard __ns:=/robot1`
+
+To run the `joy2twist` container execute the following command on your PC in the `joy2twist/demo/multiple_robots` directory:
 
-    Go to the `joy2twist/demo` folder and run:
-
-    ```bash
-    cd joy2twist/demo
-    docker compose -f compose.rosbot.yaml up
-    ```
+```
+docker compose -f compose.pc.yaml up
+```

demo/multiple_robots/.env

@@ -0,0 +1 @@
+ROS_NAMESPACE=robot1

demo/multiple_robots/compose.pc.yaml

@@ -0,0 +1,13 @@
+services:
+  joy2twist:
+    image: husarion/joy2twist:humble-add-namespace
+    network_mode: host
+    ipc: host
+    devices:
+      - /dev/input
+    volumes:
+      - ./joy2twist.yaml:/joy2twist.yaml
+    command: >
+      ros2 launch joy2twist gamepad_controller.launch.py
+        joy2twist_params_file:=/joy2twist.yaml
+        namespace:=${ROS_NAMESPACE}

demo/multiple_robots/compose.rosbot2r.yaml

@@ -0,0 +1,21 @@
+services:
+
+  rosbot:
+    image: husarion/rosbot:humble-ros2-add-namespaces
+    network_mode: bridge                  # using docker0 network interface
+    command: ros2 launch rosbot_bringup bringup.launch.py namespace:=${ROS_NAMESPACE}
+
+  microros:
+    image: husarion/micro-ros-agent:humble-3.1.3-20231122
+    network_mode: bridge                  # using docker0 network interface
+    devices:
+      - ${SERIAL_PORT:?err}
+    command: ros2 run micro_ros_agent micro_ros_agent serial -D $SERIAL_PORT serial -b 576000 # -v6
+
+  ros2router:
+    image: husarnet/ros2router:1.3.0
+    network_mode: host
+    volumes:
+      - ./ros2router_config.yaml:/var/tmp/DDS_ROUTER_CONFIGURATION.yaml
+    environment:
+      - AUTO_CONFIG=FALSE

demo/multiple_robots/flash_firmware.sh

@@ -0,0 +1,9 @@
+#!/bin/bash
+
+DOCKER_IMAGE=$(yq .services.rosbot.image $(dirname "$0")/compose.rosbot2r.yaml)
+
+docker stop $(docker ps -q)
+
+docker run --rm -it --privileged \
+$DOCKER_IMAGE \
+/flash-firmware.py /root/firmware.bin

demo/multiple_robots/joy2twist.yaml

@@ -0,0 +1,22 @@
+/**:
+  ros__parameters:
+    linear_velocity_factor:
+      fast: 1.0
+      regular: 0.5
+      slow: 0.2
+
+    angular_velocity_factor:
+      fast: 1.0
+      regular: 0.5
+      slow: 0.2
+
+    # This button mapping should be adjusted to the specific controller
+    # The following map is suited for Logitech F710
+    button_index_map:
+      axis:
+        angular_z: 0 # Left joystick
+        linear_x: 3 # Right joystick
+        linear_y: 2 # Right joystick
+      dead_man_switch: 4 # LB
+      fast_mode: 7 # RT
+      slow_mode: 5 # RB

demo/multiple_robots/ros2router_config.yaml

@@ -0,0 +1,16 @@
+version: v3.0
+allowlist:
+  - name: "rt/robot1/cmd_vel"
+    type: "geometry_msgs::msg::dds_::Twist_"
+blocklist: []
+builtin-topics: []
+participants:
+  - name: DockerParticipant
+    kind: local
+    domain: 0
+    whitelist-interfaces:
+      - 172.17.0.1   # docker0 IP address
+  - name: HostParticipant
+    kind: local
+    domain: 0
+    ignore-participant-flags: filter_different_and_same_process # Discovery traffic from own host is discarded

demo/compose.rosbot.yaml → demo/single_robot/compose.rosbot2r.ros1.yaml

@@ -34,7 +34,7 @@ services:
     restart: unless-stopped
     tty: true
     devices:
-      - ${SERIAL_PORT}
+      - ${SERIAL_PORT:?err}
     environment:
       - SERIAL_PORT
       - ROS_MASTER_URI=http://ros-master:11311

demo/single_robot/compose.rosbotxl.ros2.sim.yaml

@@ -0,0 +1,31 @@
+x-gpu-config:
+  &gpu-config
+  runtime: nvidia
+  environment:
+    - DISPLAY=${DISPLAY:?err}
+    - NVIDIA_VISIBLE_DEVICES=all
+    - NVIDIA_DRIVER_CAPABILITIES=all
+
+x-cpu-config:
+  &cpu-config
+  environment:
+    - DISPLAY=${DISPLAY:?err}
+    - LIBGL_ALWAYS_SOFTWARE=1
+
+services:
+  rosbot_xl:
+    image: husarion/rosbot-xl-gazebo:humble-0.8.2-20230913-stable
+    <<: *gpu-config
+    volumes:
+      - /tmp/.X11-unix:/tmp/.X11-unix:rw
+      - /dev:/dev
+    command: ros2 launch rosbot_xl_gazebo simulation.launch.py mecanum:=True
+
+  joy2twist:
+    image: husarion/joy2twist:humble-1.0.0-20230424-stable
+    devices:
+      - /dev/input/js0
+    volumes:
+      - ../joy2twist/config/joy2twist.yaml:/joy2twist.yaml
+    command: ros2 launch joy2twist gamepad_controller.launch.py
+        joy2twist_params_file:=/joy2twist.yaml

demo/sync_with_robot.sh

@@ -0,0 +1,10 @@
+#!/bin/bash
+
+# If your ROSbot's IP addr is 10.5.10.64 execute:
+# ./sync_with_robot.sh 10.5.10.64
+
+sshpass -p "husarion" rsync -vRr --delete ./ husarion@$1:/home/husarion/${PWD##*/}
+
+while inotifywait -r -e modify,create,delete,move ./ ; do
+    sshpass -p "husarion" rsync -vRr --delete ./ husarion@$1:/home/husarion/${PWD##*/}
+done

joy2twist/launch/gamepad_controller.launch.py

@@ -8,6 +8,12 @@
 
 
 def generate_launch_description():
+    namespace = LaunchConfiguration("namespace")
+    declare_namespace_arg = DeclareLaunchArgument(
+        "namespace",
+        default_value="",
+        description="Namespace for all topics and tfs",
+    )
 
     joy2twist_cfg_path = PathJoinSubstitution(
         [FindPackageShare("joy2twist"), "config", "joy2twist.yaml"]
@@ -19,31 +25,24 @@ def generate_launch_description():
         description="ROS2 parameters file to use with joy2twist node",
     )
 
-    joy2twist_launch = create_include_launch(
-        package="joy2twist",
-        rel_launch_path="launch/joy2twist.launch.py",
-        arguments={
-            "joy2twist_params_file": LaunchConfiguration("joy2twist_params_file")
-        },
+    joy2twist_launch = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            [PathJoinSubstitution([FindPackageShare("joy2twist"), "launch", "joy2twist.launch.py"])]
+        ),
+        launch_arguments={
+            "joy2twist_params_file": LaunchConfiguration("joy2twist_params_file"),
+            "namespace": namespace,
+        }.items(),
     )
 
     joy_linux_node = Node(
         package="joy_linux",
         executable="joy_linux_node",
         # output={"stdout": "screen", "stderr": "screen"},
         emulate_tty="true",
+        namespace=namespace
     )
 
-    actions = [joy2twist_params_file_argument, joy2twist_launch, joy_linux_node]
+    actions = [declare_namespace_arg, joy2twist_params_file_argument, joy2twist_launch, joy_linux_node]
 
     return LaunchDescription(actions)
-
-
-def create_include_launch(package: str, rel_launch_path: str, arguments: dict):
-    included_launch = IncludeLaunchDescription(
-        PythonLaunchDescriptionSource(
-            [PathJoinSubstitution([FindPackageShare(package), rel_launch_path])]
-        ),
-        launch_arguments=arguments.items(),
-    )
-    return included_launch

joy2twist/launch/joy2twist.launch.py

@@ -7,6 +7,12 @@
 
 
 def generate_launch_description():
+    namespace = LaunchConfiguration("namespace")
+    declare_namespace_arg = DeclareLaunchArgument(
+        "namespace",
+        default_value="",
+        description="Namespace for all topics and tfs",
+    )
 
     joy2twist_cfg_path = PathJoinSubstitution(
         [FindPackageShare("joy2twist"), "config", "joy2twist.yaml"]
@@ -24,8 +30,9 @@ def generate_launch_description():
         parameters=[LaunchConfiguration("joy2twist_params_file")],
         # output={"stdout": "screen", "stderr": "screen"},
         emulate_tty="true",
+        namespace=namespace
     )
 
-    actions = [joy2twist_params_file_argument, joy2twist_node]
+    actions = [declare_namespace_arg, joy2twist_params_file_argument, joy2twist_node]
 
     return LaunchDescription(actions)