ROS 2 dockerized example for nmea GPS

.github/workflows/build-docker-image.yaml

@@ -1,51 +1,64 @@
-name: Build/Publish Docker Image 
+---
+name: Build/Publish ROS Docker Image
 
 on:
-  push:
-    branches:
-      - 'main'
   workflow_dispatch:
     inputs:
-      tag:
-        description: 'tag that the image will be built with'
+      build_type:
+        description: Is it a "development" or a "stable" release?
         required: true
-        default: 'noetic'
-      branch:
-        description: 'branch that will be used to build image'
-        required: true
-        default: 'main'
-
+        default: development
+        type: choice
+        options:
+          - development
+          - stable
+      target_distro:
+        description:
+          In case of "stable" release specify the ROS distro of the existing docker image (eg.
+          humble)
+        type: string
+        default: ardent
+      target_release:
+        description:
+          In case of "stable" release specify the version of the existing docker image (eg.
+          1.0.12)
+        type: string
+        default: 0.0.0
+      target_date:
+        description:
+          In case of "stable" release specify the date of the existing docker image in format
+          YYYYMMDD (eg. 20220124)
+        type: string
+        default: "20131206"
+  repository_dispatch:
+    types: [rebuild]
+  pull_request:
+    types:
+      - closed
+      - opened
+
 jobs:
-  build_nmea_gps_ros:
-    runs-on: ubuntu-20.04
+  build:
+    runs-on: ubuntu-22.04
+    strategy:
+      fail-fast: false
+      matrix:
+        ros_distro: [iron, humble]
 
     steps:
-
-    - name: Checkout
-      uses: actions/checkout@v1
-      with:
-        ref: ${{ github.event.inputs.branch }}
-
-    - name: Set up QEMU
-      uses: docker/setup-qemu-action@v1
-
-    - name: Set up Docker Buildx
-      uses: docker/setup-buildx-action@v1
-      with:
-        version: latest
-
-    - name: Login to Docker Registry
-      uses: docker/login-action@v1
-      with:
-        registry: docker.io
-        username: ${{ secrets.DOCKERHUB_USERNAME }}
-        password: ${{ secrets.DOCKERHUB_TOKEN }}
+      - name: Checkout
+        uses: actions/checkout@v2
 
-    - name: Build and push
-      uses: docker/build-push-action@v2
-      with:
-        context: .
-        file: ./Dockerfile
-        platforms: linux/arm64, linux/amd64
-        push: true
-        tags: husarion/nmea-gps:noetic
+      - name: Build Docker Image
+        uses: husarion-ci/[email protected]
+        with:
+          dockerhub_username: ${{ secrets.DOCKERHUB_USERNAME }}
+          dockerhub_token: ${{ secrets.DOCKERHUB_TOKEN }}
+          main_branch_name: ros2
+          build_type: ${{ inputs.build_type }}
+          ros_distro: ${{ matrix.ros_distro }}
+          platforms: linux/amd64, linux/arm64
+          # variables important only for stable release
+          target_distro: ${{ inputs.target_distro }}
+          target_release: ${{ inputs.target_release }}
+          target_date: ${{ inputs.target_date }}

Dockerfile

@@ -1,24 +1,26 @@
-FROM ros:noetic-ros-core
+ARG ROS_DISTRO=humble
+ARG PREFIX=
+FROM husarnet/ros:${PREFIX}${ROS_DISTRO}-ros-core
+
+ARG ROS_DISTRO
+ARG PREFIX
 
 SHELL ["/bin/bash", "-c"]
 
-WORKDIR /ros_ws
+WORKDIR /ros2_ws
 
-RUN apt-get update  && \
-    apt-get install -y \
-        git \
-        python3-pip && \
-    pip3 install \
-        rosdep && \
-    git clone -b decode-udp-line https://github.com/ros-drivers/nmea_navsat_driver.git src/nmea_navsat_driver && \
+RUN apt-get update && apt-get install -y \
+        ros-dev-tools python3-transforms3d && \
+    git clone -b ros2 https://github.com/ros-drivers/nmea_navsat_driver.git src/nmea_navsat_driver && \
     rosdep init && \
     rosdep update --rosdistro $ROS_DISTRO && \
-    rosdep install --from-paths src -y -i && \
+    rosdep install -i --from-path src --rosdistro $ROS_DISTRO -y && \
     source /opt/ros/$ROS_DISTRO/setup.bash && \
-    catkin_make -DCATKIN_ENABLE_TESTING=0 -DCMAKE_BUILD_TYPE=Release && \
-    apt-get autoremove -y && \
+    colcon build --cmake-args -DBUILD_TESTING=OFF -DCMAKE_BUILD_TYPE=Release && \
+    echo $(cat /ros2_ws/src/nmea_navsat_driver/package.xml | grep '<version>' | sed -r 's/.*<version>([0-9]+.[0-9]+.[0-9]+)<\/version>/\1/g') >> /version.txt && \
+    # Size optimalization
+    apt-get remove -y \
+        ros-dev-tools && \
     apt-get clean && \
+    rm -rf src build && \
     rm -rf /var/lib/apt/lists/*
-
-COPY ./ros_entrypoint.sh /
-ENTRYPOINT [ "/ros_entrypoint.sh" ]

README.md

@@ -1,20 +1,50 @@
 # nmea-gps-docker
-Building a Docker image for a GPS module
 
-### GPS API 
+The repository includes a GitHub Actions workflow that automatically deploys built Docker images to the [husarion/nmea-gps-docker](https://hub.docker.com/r/husarion/nmea-gps) Docker Hub repositories. This process is based on the [ros-drivers/nmea_navsat_driver](https://github.com/ros-drivers/nmea_navsat_driver/tree/ros2) repository.
 
-GPS data in [NMEA](https://en.wikipedia.org/wiki/NMEA_0183) format is forwarded to RPi IP address at port 5000, typically it is `10.15.20.2:5000`. 
-You can make sure the address is correct by typing [http://10.15.20.1](http://10.15.20.1) into your browser (Username: `admin`, Password: `Husarion1`). Navigate to `Services -> GPS -> NMEA -> NMEA forwarding -> Hostname and Port`. Remember that you must be connected to the robot's WIFi network. If changes were needed, finish the connfiguration by pressing `save & apply` at the bottom of the screen.
+[![.github/workflows/build-docker-image.yaml](https://github.com/husarion/nmea-gps-docker/actions/workflows/build-docker-image.yaml/badge.svg?branch=ros2)](https://github.com/husarion/nmea-gps-docker/actions/workflows/build-docker-image.yaml)
 
-Data frequency is 1Hz and can be interacted ether with GPSD daemon (`gpsd -N udp://10.15.20.2:5000`) or directly with [ROS package](https://github.com/ros-drivers/nmea_navsat_driver/tree/decode-udp-line) redirecting signal to ROS topic. 
+## ROS Nodes
+
+### nmea_navsat_driver
+
+ROS 2 driver to parse NMEA strings and publish standard ROS 2 NavSatFix message types. Does not require the GPSD daemon to be running.
+
+#### Publishers
+
+- `~/fix` [*sensor_msgs/msg/NavSatFix*]: GPS position fix reported by the device. This will be published with whatever positional and status data was available even if the device doesn't have a valid fix. Invalid fields may contain NaNs.
+- `~/heading` [*geometry_msgs/msg/QuaternionStamped*]: stamped orientation of heading.
+-  `~/time_reference` [*sensor_msgs/msg/TimeReference*]: The timestamp from the GPS device is used as the `time_ref``.
+- `~/vel` [*geometry_msgs/msg/TwistStamped*]: Velocity output from the GPS device. Only published when the device outputs valid velocity information. The driver does not calculate the velocity based on only position fixes.
+
+#### Parameters
+
+Node GPS parameters:
+- `~/time_ref_source` [*string*, default: **'gps'**]: The value to use as the source in the `sensor_msgs/msg/TimeReference`.
+- `~/useRMC` [*bool*, default: **False**]: Whether to generate position fixes from GGA sentences or RMC sentences. If True, fixes will be generated from RMC. If False, fixes will be generated based on the GGA sentences. Using GGA sentences allows for approximated covariance output while RMC provides velocity information.
+- `~/frame_id` [*string*, default: **'gps'**]: The`frame_id` for the header of the `sensor_msgs/msg/NavSatFix` and `geometry_msgs/msg/TwistStamped` output messages. Will be resolved with `tf_prefix` if defined.
+- `~/tf_prefix` [*string*, default: **''**]: Adds prefix to the `frame_id`.
+
+`nmea_socket_driver.py` parameters:
+- `~/ip` [*string*, default: **'0.0.0.0'**]: The ip of socket server.
+- `~/port` [*int*, default: **10110**]: The port of socket server.
+- `~/buffer_size` [*int*, default: **4096**]: Communication buffer.
+- `~/timeout_sec` [*double*, default: **2**]: Timeout during waiting for packages in the socket.
+
+# Panther Demo
+
+GPS data in [NMEA](https://en.wikipedia.org/wiki/NMEA_0183) format is forwarded to RPi IP address at port 5000, typically it is `10.15.20.2:5000`.
+You can make sure the address is correct by typing [http://10.15.20.1](http://10.15.20.1) into your browser (Username: `admin`, Password: `Husarion1`). Navigate to `Services -> GPS -> NMEA -> NMEA forwarding -> Hostname and Port`. Remember that you must be connected to the robot's WIFi network. If changes were needed, finish the configuration by pressing `save & apply` at the bottom of the screen.
+
+Data frequency is 1Hz and can be interacted ether with GPSD daemon (`gpsd -N udp://10.15.20.2:5000`) or directly with [ROS package](https://github.com/ros-drivers/nmea_navsat_driver/tree/ros2) redirecting signal to ROS 2 topic.
 
 It is recommended to use docker image. To start the container type:
 
 ```bash
 git clone https://github.com/husarion/nmea-gps-docker.git
-cd nmea-gps-docker
+cd nmea-gps-docker/demo
 
 docker compose up
 ```
 
-You should be able to see data on `/panther/fix` topic (`rostopic echo /panther/fix`). 
+You should be able to see data on `/panther/fix` topic (`ros2 topic echo /panther/fix`).

demo/compose.yaml

@@ -0,0 +1,10 @@
+services:
+  nmea-gps:
+    image: husarion/nmea-gps:humble-2.0.1-20240209
+    network_mode: host
+    volumes:
+      - ./params:/params
+    command: >
+      ros2 run nmea_navsat_driver nmea_socket_driver --ros-args
+      --params-file /params/nmea_socket_driver.yaml
+      -r __ns:=/panther

demo/params/nmea_socket_driver.yaml

@@ -0,0 +1,6 @@
+/**/nmea_navsat_driver:
+  ros__parameters:
+    ip: "10.15.20.2"
+    port: 5000
+    buffer_size: 4096
+    timeout_sec: 2