namespace is now under ros key

justfile

@@ -158,6 +158,7 @@ iterate:
     sudo snap try squashfs-root/
     sudo snap connect rosbot-xl:raw-usb
     sudo snap connect rosbot-xl:shm-plug rosbot-xl:shm-slot
+    sudo snap connect rosbot-xl:shutdown
 
     end_time=$(date +%s)
     duration=$(( end_time - start_time ))

snap/hooks/configure

@@ -10,7 +10,7 @@ source $SNAP/usr/bin/utils.sh
 $SNAP/usr/bin/configure_hook_ros.sh
 
 # Define the top-level key and the list of valid keys
-VALID_DRIVER_KEYS=("namespace" "mecanum" "include-camera-mount" "camera-model" "lidar-model" "db-serial-port" "manipulator-serial-port" )
+VALID_DRIVER_KEYS=("mecanum" "include-camera-mount" "camera-model" "lidar-model" "db-serial-port" "manipulator-serial-port" )
 VALID_WEBUI_KEYS=("layout" "port")
 
 # Call the validation function
@@ -49,16 +49,16 @@ SUPPORTED_RANGE=(0 65535)
 # Validate a specific port, for example, webui.port
 validate_number "webui.port" SUPPORTED_RANGE[@] EXCLUDED_PORTS[@]
 
-VALID_CONFIGURATION_OPTIONS=("mobile-platform" "mobile-manipulator")
+VALID_CONFIGURATION_OPTIONS=("basic" "manipulation")
 
 # Validate parameters with array of possible values
 validate_option "configuration" VALID_CONFIGURATION_OPTIONS[@]
 
 OPT="configuration"
 VALUE="$(snapctl get ${OPT})"
-if [ "${VALUE}" == "mobile-manipulator" ]; then
-  log_and_echo "Currently the 'driver.namespace', 'driver.include-camera-mount' and 'driver.camera-model' are not supported for the 'mobile-manipulator' option. Unsetting them."
-  snapctl set driver.namespace!
+if [ "${VALUE}" == "manipulation" ]; then
+  log_and_echo "Currently the 'ros.namespace', 'driver.include-camera-mount' and 'driver.camera-model' are not supported for the 'manipulation' option. Unsetting them."
+  snapctl set ros.namespace!
   snapctl set driver.camera-model=None
   snapctl set driver.include-camera-mount=False
 fi

snap/hooks/install

@@ -11,14 +11,13 @@ snapctl set driver.mecanum=True
 snapctl set driver.include-camera-mount=True
 snapctl set driver.camera-model=None
 snapctl set driver.lidar-model=None
-snapctl set driver.namespace! # unset
 snapctl set driver.db-serial-port=auto
 snapctl set driver.manipulator-serial-port=auto
 
 snapctl set webui.layout=default
 snapctl set webui.port=8080
 
-snapctl set configuration=mobile-platform
+snapctl set configuration=basic
 
 if ! snapctl is-connected raw-usb; then
   log "Plug 'raw-usb' isn't connected, please run:"

snap/local/bridge_launcher.sh

@@ -1,10 +1,13 @@
 #!/bin/bash -e
 
-NAMESPACE="$(snapctl get driver.namespace)"
+LAUNCH_OPTIONS=""
 
-# Check if the namespace is set and not empty
+# Retrieve the namespace using snapctl
+NAMESPACE="$(snapctl get ros.namespace)"
+
+# Check if NAMESPACE is not set or is empty
 if [ -n "$NAMESPACE" ]; then
-  ros2 launch $SNAP/usr/bin/bridge_launch.py namespace:=${NAMESPACE}
-else
-  ros2 launch $SNAP/usr/bin/bridge_launch.py
+    LAUNCH_OPTIONS+="namespace:=${NAMESPACE} "
 fi
+
+ros2 launch $SNAP/usr/bin/bridge_launch.py ${LAUNCH_OPTIONS}

snap/local/caddy_launcher.sh

@@ -29,8 +29,8 @@ echo "${index_html_content/"$replace_pattern"/$replace_value}" > $index_html_pat
 sed -i "s|<div id=\"root\"></div>|<script>\nlocalStorage.clear();sessionStorage.clear();\n</script>\n&|" $index_html_path
 
 # Define a function to log and echo messages
-# Retrieve the driver.namespace value
-namespace=$(snapctl get driver.namespace)
+# Retrieve the ros.namespace value
+namespace=$(snapctl get ros.namespace)
 
 # Check if the namespace is set and not empty
 if [ -n "$namespace" ]; then

snap/local/foxglove-set-namespace.sh

@@ -1,5 +1,7 @@
 #!/bin/bash -e
 
+# deprecated (using caddy templates instead)
+
 LAYOUT="$(snapctl get webui.layout)"
 NAMESPACE="$(snapctl get driver.namespace)"
 

snap/local/launcher.sh

@@ -2,10 +2,19 @@
 
 source $SNAP/usr/bin/utils.sh
 
+LAUNCH_OPTIONS=""
+
+# Retrieve the namespace using snapctl
+NAMESPACE="$(snapctl get ros.namespace)"
+
+# Check if NAMESPACE is not set or is empty
+if [ -n "$NAMESPACE" ]; then
+    LAUNCH_OPTIONS+="namespace:=${NAMESPACE} "
+fi
+
 # Iterate over the snap parameters and retrieve their value.
 # If a value is set, it is forwarded to the launch file.
-OPTIONS="namespace mecanum include-camera-mount camera-model lidar-model"
-LAUNCH_OPTIONS=""
+OPTIONS="mecanum include-camera-mount camera-model lidar-model"
 
 for OPTION in ${OPTIONS}; do
   VALUE="$(snapctl get driver.${OPTION})"
@@ -22,9 +31,9 @@ fi
 
 OPT="configuration"
 VALUE="$(snapctl get ${OPT})"
-if [ "${VALUE}" == "mobile-platform" ]; then
+if [ "${VALUE}" == "basic" ]; then
   ros2 launch rosbot_xl_bringup bringup.launch.py ${LAUNCH_OPTIONS}
-else
+elif [ "${VALUE}" == "manipulation" ]; then
   # Check if SERIAL_PORT is set to auto or specified
   SERIAL_PORT=$(find_ttyUSB driver.manipulator-serial-port "0403" "6014")
   if [ $? -ne 0 ]; then

snap/local/ros_common/configure_hook_ros.sh → snap/local/local-ros/configure_hook_ros.sh

@@ -45,7 +45,7 @@ check_xml_profile_type() {
     fi
 }
 
-VALID_ROS_KEYS=("localhost-only" "domain-id" "transport")
+VALID_ROS_KEYS=("localhost-only" "domain-id" "transport" "namespace")
 
 # Call the validation function
 validate_keys "ros" VALID_ROS_KEYS[@]
@@ -105,14 +105,14 @@ ROS_SNAP_ARGS="${SNAP_COMMON}/ros_snap_args"
 echo "export ROS_DOMAIN_ID=${ROS_DOMAIN_ID}" > "${ROS_ENV_FILE}"
 echo "export ROS_LOCALHOST_ONLY=${ROS_LOCALHOST_ONLY}" >> "${ROS_ENV_FILE}"
 
-NAMESPACE=$(snapctl get driver.namespace)
+NAMESPACE=$(snapctl get ros.namespace)
 
 # Check if the namespace is set and not empty
 if [ -n "$NAMESPACE" ]; then
-  echo "ros.domain-id=${ROS_DOMAIN_ID} ros.localhost-only=${ROS_LOCALHOST_ONLY} ros.transport=${TRANSPORT_SETTING} driver.namespace=${NAMESPACE}" > "${ROS_SNAP_ARGS}"
+  echo "ros.domain-id=${ROS_DOMAIN_ID} ros.localhost-only=${ROS_LOCALHOST_ONLY} ros.transport=${TRANSPORT_SETTING} ros.namespace=${NAMESPACE}" > "${ROS_SNAP_ARGS}"
   echo "export ROS_NAMESPACE=${NAMESPACE}" >> "${ROS_ENV_FILE}"
 else
-  echo "ros.domain-id=${ROS_DOMAIN_ID} ros.localhost-only=${ROS_LOCALHOST_ONLY} ros.transport=${TRANSPORT_SETTING} driver.namespace!" > "${ROS_SNAP_ARGS}"
+  echo "ros.domain-id=${ROS_DOMAIN_ID} ros.localhost-only=${ROS_LOCALHOST_ONLY} ros.transport=${TRANSPORT_SETTING} ros.namespace!" > "${ROS_SNAP_ARGS}"
   echo "unset ROS_NAMESPACE" >> "${ROS_ENV_FILE}"
 fi
 

snap/local/ros_common/install_hook_ros.sh → snap/local/local-ros/install_hook_ros.sh

@@ -6,6 +6,7 @@ source $SNAP/usr/bin/utils.sh
 snapctl set ros.transport="udp"
 snapctl set ros.localhost-only=0
 snapctl set ros.domain-id=0
+snapctl set ros.namespace! # unset
 
 if ! snapctl is-connected ros-humble-ros-base; then
   log "Plug 'ros-humble-ros-base' isn't connected, please run:"

snap/local/teleop_launcher.sh

@@ -1,7 +1,7 @@
 #!/bin/bash -e
 
 # Retrieve the namespace using snapctl
-NAMESPACE="$(snapctl get driver.namespace)"
+NAMESPACE="$(snapctl get ros.namespace)"
 
 # Check if NAMESPACE is not set or is empty
 if [ -z "$NAMESPACE" ]; then

snap/snapcraft.yaml

@@ -11,7 +11,7 @@ description: |
   To install this snap on the Single Board Computer (SBC) within the ROSbot XL chassis, follow these steps:
 
   1. Connect the SBC to the Digital Board inside ROSbot XL using an Ethernet cable.
-  2. Configure the Ethernet Interface with the static IP address `192.168.77.2` (port `8888` on this IP is used by the STM32F4 microcontroller).
+  2. Configure the Ethernet Interface with the static IP address `192.168.77.2` (port `8888` on this IP is used by the firmware).
   3. Run the following command to install the snap:
 
      snap install rosbot-xl
@@ -20,22 +20,28 @@ description: |
 
   The snap provides the following configurable parameters (`param name`: `default value`):
 
+  * `configuration`: `basic` - presets for ROSbot XL
   * `driver`: `{...}`
-  * `ros-domain-id`: `0` - Sets the `ROS_DOMAIN_ID` environment variable for the ROS driver.
-  * `ros-localhost-only`: `0` - Sets the `ROS_LOCALHOST_ONLY` environment variable for the ROS driver.
-  * `serial-port`: `auto` - Configures the serial port for firmware updates (e.g., `/dev/ttyUSB0`), or set it to `auto`.
-  * `transport`: `udp` - Configures DDS transport. Options are `udp`, `shm`, `builtin` (or `rmw_fastrtps_cpp`), `rmw_cyclonedds_cpp`. Corresponding DDS XML files can be found in the `/var/snap/rosbot-xl/common` directory (custom FastDDS setups can also be created here).
+  * `ros`: `{...}`
   * `webui`: `{...}`
 
-  The `driver` parameter is a dictionary containing the following keys for a ROS 2 driver:
+  The `ros` contains the following keys:
+
+  * `ros.ros-domain-id`: `0` - Sets the `ROS_DOMAIN_ID` environment variable for the ROS driver.
+  * `ros.ros-localhost-only`: `0` - Sets the `ROS_LOCALHOST_ONLY` environment variable for the ROS driver.
+  * `ros.transport`: `udp` - Configures DDS transport. Options are `udp`, `shm`, `builtin` (or `rmw_fastrtps_cpp`), `rmw_cyclonedds_cpp`. Corresponding DDS XML files can be found in the `/var/snap/rosbot-xl/common` directory (custom FastDDS setups can also be created here).
+  * `ros.namespace`: `(unset)` - Namespace for all topics and transforms.
+
+  The `driver` contains the following keys:
 
-  * `driver.namespace`: `(unset)` - Namespace for all topics and transforms.
   * `driver.mecanum`: `True` - Enables the mecanum drive controller; otherwise, uses the differential drive controller.
   * `driver.include-camera-mount`: `True` - Includes the camera mount in the robot URDF.
   * `driver.camera-model`: `None` - Adds the camera model to the robot URDF.
   * `driver.lidar-model`: `None` - Adds the LIDAR model to the robot URDF.
+  * `driver.db-serial-port`: `auto` - Serial port for firmware (e.g., `/dev/ttyUSB0`), or set it to `auto`.
+  * `driver.manipulator-serial-port`: `auto` - Serial port for OpenManipulator-X (e.g., `/dev/ttyUSB0`), or set it to `auto`.
 
-  The `webui` parameter is a dictionary containing the following keys for the Web UI:
+  The `webui` contains the following keys:
 
   * `webui.layout`: `default` - Specifies the layout for the Web UI. Available `*.json` layout files can be found in the `/var/snap/rosbot-xl/common` directory (custom layouts can also be created here).
   * `webui.port`: `8080` - Specifies the port for the built-in web server hosting the Web UI.
@@ -66,7 +72,7 @@ description: |
   Example usage:
 
      # Set parameters in the rosbot-xl snap
-     sudo snap set rosbot-xl transport=udp ros-domain-id=123 driver.namespace=abc
+     sudo snap set rosbot-xl transport=udp ros-domain-id=123 ros.namespace=abc
 
      # Mirror the setup for other ROS 2 snaps
      sudo snap set husarion-depthai $(cat /var/snap/rosbot-xl/common/ros_snap_args)
@@ -359,7 +365,7 @@ parts:
   # copy local scripts to the snap usr/bin
   local-files-ros:
     plugin: dump
-    source: snap/local/ros_common/
+    source: snap/local/local-ros/
     organize:
       '*.sh': usr/bin/
       '*.xml': usr/share/rosbot-xl/config/