diff --git a/demo/compose.yaml b/demo/compose.yaml
new file mode 100644
index 0000000..6cd9d00
--- /dev/null
+++ b/demo/compose.yaml
@@ -0,0 +1,38 @@
+# Usage:
+# xhost +local:docker && docker compose up
+
+x-net-config:
+ &net-config
+ network_mode: host
+ ipc: host
+ env_file: net.env
+
+x-gpu-config:
+ &gpu-config
+ runtime: nvidia
+ environment:
+ - DISPLAY=${DISPLAY:?err}
+ - NVIDIA_VISIBLE_DEVICES=all
+ - NVIDIA_DRIVER_CAPABILITIES=all
+
+services:
+ rviz:
+ # Launching rviz with moveit2 requires all the configs, using manipulation simulation image is easiest option
+ image: husarion/rosbot-xl-manipulation-gazebo:humble
+ <<: [ *net-config, *gpu-config ]
+ container_name: rviz
+ volumes:
+ - /tmp/.X11-unix:/tmp/.X11-unix:rw
+ - ./config/rosbot_xl.rviz:/ros2_ws/install/rosbot_xl_manipulation_moveit/share/rosbot_xl_manipulation_moveit/config/moveit.rviz
+ command: ros2 launch rosbot_xl_manipulation_moveit rviz.launch.py
+
+ joy2twist:
+ image: husarion/joy2twist:humble-1.0.0-20230204-stable
+ <<: *net-config
+ devices:
+ - /dev/input
+ volumes:
+ - ./config/joy2twist.yaml:/joy2twist.yaml
+ command: >
+ ros2 launch joy2twist gamepad_controller.launch.py
+ joy2twist_params_file:=/joy2twist.yaml
\ No newline at end of file
diff --git a/demo/config/joy2twist.yaml b/demo/config/joy2twist.yaml
new file mode 100644
index 0000000..4806940
--- /dev/null
+++ b/demo/config/joy2twist.yaml
@@ -0,0 +1,22 @@
+/**:
+ ros__parameters:
+ linear_velocity_factor:
+ fast: 1.0
+ regular: 0.5
+ slow: 0.2
+
+ angular_velocity_factor:
+ fast: 1.5
+ regular: 0.8
+ slow: 0.4
+
+ # This button mapping should be adjusted to the specific controller
+ # The following map is suited for Logitech F710
+ button_index_map:
+ axis:
+ angular_z: 2 # Right joystick
+ linear_x: 1 # Left joystick
+ linear_y: 0 # Left joystick
+ dead_man_switch: 4 # LB
+ fast_mode: 7 # RT
+ slow_mode: 5 # RB
diff --git a/demo/net.env b/demo/net.env
new file mode 100644
index 0000000..a498c9c
--- /dev/null
+++ b/demo/net.env
@@ -0,0 +1,18 @@
+# =======================================
+# Network config options (uncomment one)
+# =======================================
+
+# 1. Fast DDS + LAN
+# RMW_IMPLEMENTATION=rmw_fastrtps_cpp
+
+# 2. Cyclone DDS + LAN
+RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
+
+# 3. Fast DDS + VPN
+# RMW_IMPLEMENTATION=rmw_fastrtps_cpp
+# FASTRTPS_DEFAULT_PROFILES_FILE=/husarnet-fastdds.xml
+
+# 4. Cyclone DDS + VPN
+# RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
+# FASTRTPS_DEFAULT_PROFILES_FILE=/husarnet-fastdds.xml
+# CYCLONEDDS_URI=file:///husarnet-cyclonedds.xml
\ No newline at end of file
diff --git a/justfile b/justfile
index db011e7..953c7d8 100644
--- a/justfile
+++ b/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 ))
diff --git a/snap/hooks/configure b/snap/hooks/configure
index 245c04e..5425f40 100644
--- a/snap/hooks/configure
+++ b/snap/hooks/configure
@@ -7,31 +7,13 @@
source $SNAP/usr/bin/utils.sh
-$SNAP/usr/bin/configure_hook_ros.sh
-
-# Function to validate the option values
-validate_option() {
- local OPT=$1
- local VALID_OPTIONS=("${!2}")
-
- VALUE="$(snapctl get driver.${OPT})"
+# Define the top-level key and the list of valid keys
+VALID_DRIVER_KEYS=("mecanum" "include-camera-mount" "camera-model" "lidar-model" "db-serial-port" "manipulator-serial-port" )
+VALID_WEBUI_KEYS=("layout" "port")
- # Create an associative array to check valid options
- declare -A valid_options_map
- for option in "${VALID_OPTIONS[@]}"; do
- valid_options_map["$option"]=1
- done
-
- # Join the valid options with newlines
- JOINED_OPTIONS=$(printf "%s\n" "${VALID_OPTIONS[@]}")
-
- if [ -n "${VALUE}" ]; then
- if [[ -z "${valid_options_map[$VALUE]}" ]]; then
- log_and_echo "'${VALUE}' is not a supported value for '${OPT}'. Possible values are:\n${JOINED_OPTIONS}"
- exit 1
- fi
- fi
-}
+# Call the validation function
+validate_keys "driver" VALID_DRIVER_KEYS[@]
+validate_keys "webui" VALID_WEBUI_KEYS[@]
# Define the valid options for camera model and lidar model
VALID_CAMERA_OPTIONS=("None" "intel_realsense_d435" "orbbec_astra" "stereolabs_zed" "stereolabs_zedm" "stereolabs_zed2" "stereolabs_zed2i" "stereolabs_zedx" "stereolabs_zedxm")
@@ -39,19 +21,14 @@ VALID_LIDAR_OPTIONS=("None" "slamtec_rplidar_a2" "slamtec_rplidar_a3" "slamtec_r
VALID_BOOLEAN_OPTIONS=("True" "False")
# Validate parameters with array of possible values
-validate_option "camera-model" VALID_CAMERA_OPTIONS[@]
-validate_option "lidar-model" VALID_LIDAR_OPTIONS[@]
-validate_option "mecanum" VALID_BOOLEAN_OPTIONS[@]
-validate_option "include-camera-mount" VALID_BOOLEAN_OPTIONS[@]
-
-# Make sure the serial-port value is valid
-OPT="serial-port"
-VALUE="$(snapctl get ${OPT})"
+validate_option "driver.camera-model" VALID_CAMERA_OPTIONS[@]
+validate_option "driver.lidar-model" VALID_LIDAR_OPTIONS[@]
+validate_option "driver.mecanum" VALID_BOOLEAN_OPTIONS[@]
+validate_option "driver.include-camera-mount" VALID_BOOLEAN_OPTIONS[@]
-if [ "${VALUE}" != "auto" ] && [ ! -e "${VALUE}" ]; then
- log_and_echo "'${VALUE}' is not a valid value for '${OPT}'. It must be 'auto' or a valid serial port in the /dev/ directory."
- exit 1
-fi
+# Validate specific serial ports
+validate_serial_port "driver.db-serial-port"
+validate_serial_port "driver.manipulator-serial-port"
# Get the transport setting using snapctl
OPT="webui.layout"
@@ -64,17 +41,32 @@ if [ ! -f "${SNAP_COMMON}/foxglove-${LAYOUT}.json" ]; then
fi
# Make sure WEBUI_PORT is valid
-OPT="webui.port"
-WEBUI_PORT="$(snapctl get ${OPT})"
+EXCLUDED_PORTS=(3000 8888)
+SUPPORTED_RANGE=(0 65535)
-if ! is_integer "${WEBUI_PORT}" || [ "${WEBUI_PORT}" -lt 0 ] || [ "${WEBUI_PORT}" -gt 65535 ] || [ "${WEBUI_PORT}" -eq 3000 ] || [ "${WEBUI_PORT}" -eq 8888 ]; then
- log_and_echo "'${WEBUI_PORT}' is not a supported value for '${OPT}'. Possible values are integers between 0 and 65535, excluding 3000 and 8888."
- exit 1
+# Validate a specific port, for example, webui.port
+validate_number "webui.port" SUPPORTED_RANGE[@] EXCLUDED_PORTS[@]
+
+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}" == "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
+# moved to the end because for manipulator we usnet ros.namespace
+$SNAP/usr/bin/configure_hook_ros.sh
+
# restart services with new ROS 2 config
-for service in daemon web-ui web-ws; do
- if snapctl services ${SNAP_NAME}.${service} | grep -qw active; then
+for service in daemon web-ui web-ws joy; do
+ if snapctl services ${SNAP_NAME}.${service} | grep -qw enabled; then
snapctl restart ${SNAP_NAME}.${service}
log "Restarted ${SNAP_NAME}.${service}"
fi
diff --git a/snap/hooks/install b/snap/hooks/install
index cf1ed1c..8b4bea7 100644
--- a/snap/hooks/install
+++ b/snap/hooks/install
@@ -11,12 +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 serial-port="auto"
+snapctl set configuration=basic
if ! snapctl is-connected raw-usb; then
log "Plug 'raw-usb' isn't connected, please run:"
@@ -32,5 +33,10 @@ cp -r $SNAP/opt/ros/snap/share/ros_components_description ${SNAP_COMMON}/ros2_ws
# copy joy params
cp -r $SNAP/usr/share/rosbot-xl/config/teleop_twist_joy_params.yaml ${SNAP_COMMON}/
+# copy joy params
+cp -r $SNAP/usr/share/rosbot-xl/config/joy_servo.yaml ${SNAP_COMMON}/
+cp -r $SNAP/usr/share/rosbot-xl/config/joy_teleop.config.yaml ${SNAP_COMMON}/
+cp -r $SNAP/usr/share/rosbot-xl/config/joy_params.yaml ${SNAP_COMMON}/
+
# copy webui layouts
cp -r $SNAP/usr/share/$SNAP_NAME/config/foxglove-*.json ${SNAP_COMMON}/
\ No newline at end of file
diff --git a/snap/local/arm_activate_launcher.sh b/snap/local/arm_activate_launcher.sh
new file mode 100755
index 0000000..43eae20
--- /dev/null
+++ b/snap/local/arm_activate_launcher.sh
@@ -0,0 +1,7 @@
+#!/bin/bash -e
+
+STATE=$1
+
+ros2 service call /controller_manager/set_hardware_component_state \
+ controller_manager_msgs/srv/SetHardwareComponentState \
+ "{name: 'manipulator', target_state: {id: 0, label: '${STATE}'}}"
\ No newline at end of file
diff --git a/snap/local/bridge_launcher.sh b/snap/local/bridge_launcher.sh
index 4ad5267..f34213b 100755
--- a/snap/local/bridge_launcher.sh
+++ b/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 ${LAUNCH_OPTIONS}
diff --git a/snap/local/caddy_launcher.sh b/snap/local/caddy_launcher.sh
index dcda6c0..75b2bc8 100755
--- a/snap/local/caddy_launcher.sh
+++ b/snap/local/caddy_launcher.sh
@@ -29,8 +29,8 @@ echo "${index_html_content/"$replace_pattern"/$replace_value}" > $index_html_pat
sed -i "s||\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
diff --git a/snap/local/flash_launcher.sh b/snap/local/flash_launcher.sh
index c9a5c65..ef6ef46 100755
--- a/snap/local/flash_launcher.sh
+++ b/snap/local/flash_launcher.sh
@@ -10,7 +10,7 @@ if [ "$(id -u)" -ne 0 ]; then
fi
# Check if the daemon is running and stop it if it is
-if snapctl services "${SNAP_NAME}.daemon" | grep -qw active; then
+if snapctl services "${SNAP_NAME}.daemon" | grep -qw enabled; then
log_and_echo "Stopping ${SNAP_NAME}.daemon..."
snapctl stop "${SNAP_NAME}.daemon"
DAEMON_WAS_RUNNING=true
@@ -18,30 +18,21 @@ else
DAEMON_WAS_RUNNING=false
fi
-# Source the find_ttyUSB function
-source $SNAP/usr/bin/find_ttyUSB.sh
-
-# Get the serial-port value using snapctl
-SERIAL_PORT=$(snapctl get serial-port)
+# Check if SERIAL_PORT is set to auto or specified
+SERIAL_PORT=$(find_ttyUSB driver.db-serial-port "0403" "6015")
+if [ $? -ne 0 ]; then
+ log_and_echo "Failed to find the serial port."
+ exit 1
+else
+ log_and_echo "Found serial port: $SERIAL_PORT"
+fi
-# Check if SERIAL_PORT is set to auto
-if [ "$SERIAL_PORT" == "auto" ]; then
- # Find the ttyUSB* device
- SERIAL_PORT=$(find_ttyUSB "0403" "6015")
- if [ $? -ne 0 ]; then
- log_and_echo "Failed to find the serial port."
- exit 1
- else
- log_and_echo "Found serial port: $SERIAL_PORT"
- fi
+# Check if the specified serial port exists
+if [ ! -e "$SERIAL_PORT" ]; then
+ log_and_echo "Specified serial port $SERIAL_PORT does not exist."
+ exit 1
else
- # Check if the specified serial port exists
- if [ ! -e "$SERIAL_PORT" ]; then
- log_and_echo "Specified serial port $SERIAL_PORT does not exist."
- exit 1
- else
- log_and_echo "Specified serial port exists: $SERIAL_PORT"
- fi
+ log_and_echo "Specified serial port exists: $SERIAL_PORT"
fi
ros2 run rosbot_xl_utils flash_firmware --port $SERIAL_PORT
diff --git a/snap/local/foxglove-set-namespace.sh b/snap/local/foxglove-set-namespace.sh
index 6f4d036..e1fe76c 100755
--- a/snap/local/foxglove-set-namespace.sh
+++ b/snap/local/foxglove-set-namespace.sh
@@ -1,5 +1,7 @@
#!/bin/bash -e
+# deprecated (using caddy templates instead)
+
LAYOUT="$(snapctl get webui.layout)"
NAMESPACE="$(snapctl get driver.namespace)"
diff --git a/snap/local/joy_launcher.sh b/snap/local/joy_launcher.sh
new file mode 100755
index 0000000..b41f19a
--- /dev/null
+++ b/snap/local/joy_launcher.sh
@@ -0,0 +1,19 @@
+#!/bin/bash -e
+
+ros2 run joy joy_node --ros-args --params-file $SNAP_COMMON/joy_params.yaml
+
+# # Retrieve the namespace using snapctl
+# NAMESPACE="$(snapctl get ros.namespace)"
+
+# # Check if NAMESPACE is not set or is empty
+# if [ -z "$NAMESPACE" ]; then
+# # No namespace is set, run the launch command without the namespace argument
+# ros2 launch teleop_twist_joy teleop-launch.py \
+# config_filepath:=$SNAP_COMMON/joy_teleop.config.yaml
+# # ros2 launch teleop_twist_joy teleop-launch.py
+# else
+# # Namespace is set, include it in the launch command
+# ros2 launch teleop_twist_joy teleop-launch.py \
+# config_filepath:=$SNAP_COMMON/joy_teleop.config.yaml --ros-args -r __ns:=/$NAMESPACE
+# # ros2 launch teleop_twist_joy teleop-launch.py --ros-args -r __ns:=/$NAMESPACE
+# fi
diff --git a/snap/local/joy_params.yaml b/snap/local/joy_params.yaml
new file mode 100644
index 0000000..99dd41d
--- /dev/null
+++ b/snap/local/joy_params.yaml
@@ -0,0 +1,6 @@
+joy_node:
+ ros__parameters:
+ dev: "/dev/input/js0" # Replace with your joystick device
+ deadzone: 0.1
+ autorepeat_rate: 20.0
+ # dev_ff: "/dev/input/event18" # based on evtest
\ No newline at end of file
diff --git a/snap/local/joy_servo.yaml b/snap/local/joy_servo.yaml
new file mode 100644
index 0000000..be39277
--- /dev/null
+++ b/snap/local/joy_servo.yaml
@@ -0,0 +1,69 @@
+/**:
+ ros__parameters:
+ joint_names: ["joint1", "joint2", "joint3", "joint4"]
+ end_effector_name: "end_effector_link"
+
+ axis_deadzone: 0.05
+
+ dead_man_switch:
+ control_type: "single_button"
+ button_id: 5
+
+ home_manipulator:
+ control_type: "single_button"
+ button_id: 9
+ manipulator_move_group_velocity_scaling_factor: 1.0
+ manipulator_move_group_acceleration_scaling_factor: 1.0
+
+ # max_velocity set to quite low values (for both cartesian and joints control)
+ # so that collistion checker will have enough time to stop manipulator
+
+ # Cartesian control
+ cartesian_control_reference_frame: "link2"
+ cartesian_control_names: ["linear_x", "linear_y", "linear_z", "angular_y"]
+ cartesian_drift_dimensions: [false, false, false, false, false, true] # translation x, y, z; rotation x, y, z
+ cartesian_control:
+ linear_x:
+ control_type: "axis"
+ axis_id: 1
+ max_velocity: 0.1 # m/s
+ linear_y:
+ control_type: "axis"
+ axis_id: 0
+ max_velocity: 0.2 # m/s
+ linear_z:
+ control_type: "axis"
+ axis_id: 3
+ max_velocity: 0.1 # m/s
+ angular_y:
+ control_type: "axis"
+ axis_id: 2
+ max_velocity: 0.8 # rad/s
+
+ # Joints control
+ joints_control:
+ joint1:
+ control_type: "axis"
+ axis_id: 4
+ max_velocity: 0.4 # rad/s
+ joint2:
+ control_type: "axis"
+ axis_id: 5
+ inverted: true
+ max_velocity: 0.4 # rad/s
+ joint3:
+ control_type: "double_button"
+ positive_button_id: 0
+ negative_button_id: 2
+ max_velocity: 0.4 # rad/s
+ joint4:
+ control_type: "double_button"
+ positive_button_id: 1
+ negative_button_id: 3
+ max_velocity: 0.4 # rad/s
+
+ gripper_control:
+ # Toggles between opened and closed positions
+ toggle:
+ control_type: "single_button"
+ button_id: 7
diff --git a/snap/local/joy_teleop.config.yaml b/snap/local/joy_teleop.config.yaml
new file mode 100644
index 0000000..a8783a6
--- /dev/null
+++ b/snap/local/joy_teleop.config.yaml
@@ -0,0 +1,26 @@
+# joy_node:
+# ros__parameters:
+# device_id: 4
+# device_name: "''"
+# deadzone: 0.5
+# autorepeat_rate: 20.0
+# sticky_buttons: false
+# coalesce_interval_ms: 1
+---
+/**:
+ ros__parameters:
+ axis_linear:
+ x: 1
+ scale_linear:
+ x: 0.7
+ scale_linear_turbo:
+ x: 1.5
+
+ axis_angular:
+ yaw: 2
+ scale_angular:
+ yaw: 0.4
+
+ require_enable_button: true
+ enable_button: 4 # TL shoulder button
+ enable_turbo_button: -1 # disabled
\ No newline at end of file
diff --git a/snap/local/launcher.sh b/snap/local/launcher.sh
index 9ce905c..7c8fe1e 100755
--- a/snap/local/launcher.sh
+++ b/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.${OPTION})"
@@ -20,4 +29,32 @@ if [ "${LAUNCH_OPTIONS}" ]; then
log "Running with options: ${LAUNCH_OPTIONS}"
fi
-ros2 launch rosbot_xl_bringup combined.launch.py ${LAUNCH_OPTIONS}
+OPT="configuration"
+VALUE="$(snapctl get ${OPT})"
+if [ "${VALUE}" == "basic" ]; then
+ ros2 launch rosbot_xl_bringup bringup.launch.py ${LAUNCH_OPTIONS}
+elif [ "${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
+ log_and_echo "Failed to find the serial port."
+ exit 1
+ else
+ log_and_echo "Found serial port: $SERIAL_PORT"
+ fi
+
+ # Check if the specified serial port exists
+ if [ ! -e "$SERIAL_PORT" ]; then
+ log_and_echo "Specified serial port $SERIAL_PORT does not exist."
+ exit 1
+ else
+ log_and_echo "Specified serial port exists: $SERIAL_PORT"
+ fi
+
+ ros2 launch rosbot_xl_manipulation_bringup bringup.launch.py \
+ ${LAUNCH_OPTIONS} \
+ manipulator_usb_port:=${SERIAL_PORT} \
+ manipulator_baud_rate:=1000000 \
+ joy_servo_params_file:=${SNAP_COMMON}/joy_servo.yaml \
+ antenna_rotation_angle:=-1.57
+fi
diff --git a/snap/local/ros_common/check_daemon_running.sh b/snap/local/local-ros/check_daemon_running.sh
similarity index 100%
rename from snap/local/ros_common/check_daemon_running.sh
rename to snap/local/local-ros/check_daemon_running.sh
diff --git a/snap/local/ros_common/configure_hook_ros.sh b/snap/local/local-ros/configure_hook_ros.sh
similarity index 83%
rename from snap/local/ros_common/configure_hook_ros.sh
rename to snap/local/local-ros/configure_hook_ros.sh
index 158e0d7..7483d15 100755
--- a/snap/local/ros_common/configure_hook_ros.sh
+++ b/snap/local/local-ros/configure_hook_ros.sh
@@ -45,31 +45,26 @@ check_xml_profile_type() {
fi
}
+VALID_ROS_KEYS=("localhost-only" "domain-id" "transport" "namespace")
+
+# Call the validation function
+validate_keys "ros" VALID_ROS_KEYS[@]
+
+ROS_LOCALHOST_ONLY="$(snapctl get ros.localhost-only)"
+ROS_DOMAIN_ID="$(snapctl get ros.domain-id)"
+
# Make sure ROS_LOCALHOST_ONLY is valid
-OPT="ros-localhost-only"
-ROS_LOCALHOST_ONLY="$(snapctl get ${OPT})"
-if [ -n "${ROS_LOCALHOST_ONLY}" ]; then
- case "${ROS_LOCALHOST_ONLY}" in
- 1) ;;
- 0) ;;
- *)
- log_and_echo "'${ROS_LOCALHOST_ONLY}' is not a supported value for '${OPT}'. Possible values are 0 or 1."
- exit 1
- ;;
- esac
-fi
+VALID_ROS_LOCALHOST_ONLY_OPTIONS=(1 0)
+validate_option "ros.localhost-only" VALID_ROS_LOCALHOST_ONLY_OPTIONS[@]
# Make sure ROS_DOMAIN_ID is valid
-OPT="ros-domain-id"
-ROS_DOMAIN_ID="$(snapctl get ${OPT})"
-
-if ! is_integer "${ROS_DOMAIN_ID}" || [ "${ROS_DOMAIN_ID}" -lt 0 ] || [ "${ROS_DOMAIN_ID}" -gt 232 ]; then
- log_and_echo "'${ROS_DOMAIN_ID}' is not a supported value for '${OPT}'. Possible values are integers between 0 and 232."
- exit 1
-fi
+# Make sure WEBUI_PORT is valid
+SUPPORTED_RANGE=(0 232)
+# Validate a specific port, for example, webui.port
+validate_number "ros.domain-id" SUPPORTED_RANGE[@]
-# Get the transport setting using snapctl
-OPT="transport"
+# Get the ros.transport setting using snapctl
+OPT="ros.transport"
TRANSPORT_SETTING="$(snapctl get ${OPT})"
# Check if TRANSPORT_SETTING is "builtin"
@@ -110,18 +105,18 @@ ROS_SNAP_ARGS="${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=${ROS_LOCALHOST_ONLY} transport=${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=${ROS_LOCALHOST_ONLY} transport=${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
-# Check the transport setting and export the appropriate environment variable
+# Check the ros.transport setting and export the appropriate environment variable
if [ "$TRANSPORT_SETTING" != "rmw_fastrtps_cpp" ] && [ "$TRANSPORT_SETTING" != "rmw_cyclonedds_cpp" ]; then
profile_type=$(check_xml_profile_type "${SNAP_COMMON}/${TRANSPORT_SETTING}.xml")
if [[ "$profile_type" == "rmw_fastrtps_cpp" ]]; then
diff --git a/snap/local/ros_common/install_hook_ros.sh b/snap/local/local-ros/install_hook_ros.sh
similarity index 81%
rename from snap/local/ros_common/install_hook_ros.sh
rename to snap/local/local-ros/install_hook_ros.sh
index 8ffc18e..86848fb 100755
--- a/snap/local/ros_common/install_hook_ros.sh
+++ b/snap/local/local-ros/install_hook_ros.sh
@@ -3,9 +3,10 @@
# Define a function to log messages
source $SNAP/usr/bin/utils.sh
-snapctl set transport="udp"
-snapctl set ros-localhost-only=0
-snapctl set ros-domain-id=0
+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:"
diff --git a/snap/local/ros_common/ros_setup.sh b/snap/local/local-ros/ros_setup.sh
similarity index 100%
rename from snap/local/ros_common/ros_setup.sh
rename to snap/local/local-ros/ros_setup.sh
diff --git a/snap/local/ros_common/shm.xml b/snap/local/local-ros/shm.xml
similarity index 100%
rename from snap/local/ros_common/shm.xml
rename to snap/local/local-ros/shm.xml
diff --git a/snap/local/ros_common/udp-lo-cyclone.xml b/snap/local/local-ros/udp-lo-cyclone.xml
similarity index 100%
rename from snap/local/ros_common/udp-lo-cyclone.xml
rename to snap/local/local-ros/udp-lo-cyclone.xml
diff --git a/snap/local/ros_common/udp-lo.xml b/snap/local/local-ros/udp-lo.xml
similarity index 100%
rename from snap/local/ros_common/udp-lo.xml
rename to snap/local/local-ros/udp-lo.xml
diff --git a/snap/local/ros_common/udp.xml b/snap/local/local-ros/udp.xml
similarity index 100%
rename from snap/local/ros_common/udp.xml
rename to snap/local/local-ros/udp.xml
diff --git a/snap/local/local-ros/utils.sh b/snap/local/local-ros/utils.sh
new file mode 100755
index 0000000..7f05342
--- /dev/null
+++ b/snap/local/local-ros/utils.sh
@@ -0,0 +1,224 @@
+#!/bin/bash -e
+
+# Define a function to log and echo messages
+log_and_echo() {
+ local message="$1"
+ local script_name=$(basename "$0")
+ # Log the message with logger
+ logger -t "${SNAP_NAME}" "${script_name}: $message"
+ # Echo the message to standard error
+ echo -e >&2 "$message"
+}
+
+log() {
+ local message="$1"
+ local script_name=$(basename "$0")
+ # Log the message with logger
+ logger -t "${SNAP_NAME}" "${script_name}: $message"
+}
+
+is_integer() {
+ expr "$1" : '-\?[0-9][0-9]*$' >/dev/null 2>&1
+}
+
+# Function to validate the option values
+validate_option() {
+ local OPT=$1
+ local VALID_OPTIONS=("${!2}")
+
+ VALUE="$(snapctl get ${OPT})"
+
+ # Create an associative array to check valid options
+ declare -A valid_options_map
+ for option in "${VALID_OPTIONS[@]}"; do
+ valid_options_map["$option"]=1
+ done
+
+ # Join the valid options with newlines
+ JOINED_OPTIONS=$(printf "%s\n" "${VALID_OPTIONS[@]}")
+
+ if [ -n "${VALUE}" ]; then
+ if [[ -z "${valid_options_map[$VALUE]}" ]]; then
+ log_and_echo "'${VALUE}' is not a supported value for '${OPT}' parameter. Possible values are:\n${JOINED_OPTIONS}"
+ exit 1
+ fi
+ fi
+}
+
+# Function to validate configuration keys
+validate_keys() {
+ local top_level_key=$1
+ local valid_keys=("${!2}")
+
+ # Get the current configuration keys
+ local config_keys=$(snapctl get "$top_level_key" | yq '. | keys' | sed 's/- //g' | tr -d '"')
+
+ # Create an associative array to check valid keys
+ declare -A valid_keys_map
+ for key in "${valid_keys[@]}"; do
+ valid_keys_map["$key"]=1
+ done
+
+ # Join the valid options with newlines
+ JOINED_OPTIONS=$(printf "%s\n" "${valid_keys[@]}")
+
+ # Iterate over the keys in the configuration
+ for key in $config_keys; do
+ # Check if the key is in the list of valid keys
+ if [[ -z "${valid_keys_map[$key]}" ]]; then
+ log_and_echo "'${key}' is not a supported value for '${top_level_key}' key. Possible values are:\n${JOINED_OPTIONS}"
+ exit 1
+ fi
+ done
+}
+
+validate_number() {
+ local value_key=$1
+ local range=("${!2}")
+ local excluded_values=("${!3:-}")
+
+ # Get the value using snapctl
+ local value=$(snapctl get "$value_key")
+
+ # Extract the min and max range values
+ local min_value=${range[0]}
+ local max_value=${range[1]}
+
+ # Join the excluded values with newlines if they exist
+ local joined_excluded_values
+ local exclude_message
+ if [ -n "$excluded_values" ]; then
+ joined_excluded_values=$(printf "%s\n" "${excluded_values[@]}")
+ exclude_message=" excluding:\n${joined_excluded_values[*]}"
+ else
+ exclude_message=""
+ fi
+
+ # Check if the value is an integer
+ if ! [[ "$value" =~ ^[0-9]+$ ]]; then
+ log_and_echo "'${value}' is not a supported value for '${value_key}'. Possible values are integers between ${min_value} and ${max_value}.${exclude_message}"
+ exit 1
+ fi
+
+ # Check if the value is in the valid range
+ if [ "$value" -lt "$min_value" ] || [ "$value" -gt "$max_value" ]; then
+ log_and_echo "'${value}' is not a supported value for '${value_key}'. Possible values are integers between ${min_value} and ${max_value}.${exclude_message}"
+ exit 1
+ fi
+
+ # Check if the value is in the excluded list
+ if [ -n "$excluded_values" ]; then
+ for excluded_value in "${excluded_values[@]}"; do
+ if [ "$value" -eq "$excluded_value" ]; then
+ log_and_echo "'${value}' is not a supported value for '${value_key}'. Possible values are integers between ${min_value} and ${max_value}.${exclude_message}"
+ exit 1
+ fi
+ done
+ fi
+}
+
+validate_regex() {
+ local value_key=$1
+ local regex=$2
+ local error_message=$3
+
+ # Get the value using snapctl
+ local value=$(snapctl get "$value_key")
+
+ # Check if the value matches the regex
+ if ! [[ "$value" =~ $regex ]]; then
+ log_and_echo "'${value}' is not a supported value for '${value_key}'. ${error_message}"
+ exit 1
+ fi
+}
+
+validate_path() {
+ local value_key=$1
+
+ # Get the value using snapctl
+ local config_path=$(snapctl get "$value_key")
+
+ # Check if the path is a valid file
+ if [ ! -f "$config_path" ]; then
+ log_and_echo "The path specified in '$value_key' does not exist: '$config_path'."
+ exit 1
+ fi
+}
+
+validate_ipv4_addr() {
+ local value_key=$1
+
+ # Get the value using snapctl
+ local ip_address=$(snapctl get "$value_key")
+ local ip_address_regex='^(([0-9]{1,3}\.){3}[0-9]{1,3})$'
+
+ if [[ "$ip_address" =~ $ip_address_regex ]]; then
+ # Split the IP address into its parts
+ IFS='.' read -r -a octets <<< "$ip_address"
+
+ # Check each octet
+ for octet in "${octets[@]}"; do
+ if ((octet < 0 || octet > 255)); then
+ log_and_echo "Invalid format for '$value_key'. Each part of the IPv4 address must be between 0 and 255. Received: '$ip_address'."
+ exit 1
+ fi
+ done
+ else
+ log_and_echo "Invalid format for '$value_key'. Expected format: a valid IPv4 address. Received: '$ip_address'."
+ exit 1
+ fi
+}
+
+# Universal function to validate serial ports
+validate_serial_port() {
+ local port_key=$1
+
+ # Get the port value using snapctl
+ local port_value=$(snapctl get "$port_key")
+
+ # Check if the value is "auto" or a valid serial port
+ if [ "$port_value" != "auto" ] && [ ! -e "$port_value" ]; then
+ log_and_echo "'${port_value}' is not a valid value for '${port_key}'. It must be 'auto' or a valid serial port in the /dev/ directory."
+ exit 1
+ fi
+}
+
+# Function to find the ttyUSB* device for the specified USB Vendor and Product ID
+find_ttyUSB() {
+ # Extract port parameter, vendor, and product ID
+ PORT_PARAM="$1"
+ VENDOR_ID="$2"
+ PRODUCT_ID="$3"
+
+ # Get the serial-port value using snapctl
+ SERIAL_PORT=$(snapctl get "$PORT_PARAM")
+
+ if [ "$SERIAL_PORT" == "auto" ]; then
+ for device in /sys/bus/usb/devices/*; do
+ if [ -f "$device/idVendor" ]; then
+ current_vendor_id=$(cat "$device/idVendor")
+ if [ "$current_vendor_id" == "$VENDOR_ID" ]; then
+ if [ -z "$PRODUCT_ID" ] || ([ -f "$device/idProduct" ] && [ "$(cat "$device/idProduct")" == "$PRODUCT_ID" ]); then
+ # Look for ttyUSB device in the subdirectories
+ for subdir in "$device/"*; do
+ if [ -d "$subdir" ]; then
+ for tty in $(find "$subdir" -name "ttyUSB*" -print 2>/dev/null); do
+ if [ -e "$tty" ]; then
+ ttydev=$(basename "$tty")
+ echo "/dev/$ttydev"
+ return 0
+ fi
+ done
+ fi
+ done
+ fi
+ fi
+ fi
+ done
+ echo "Error: Device with ID $VENDOR_ID:${PRODUCT_ID:-*} not found."
+ return 1
+ else
+ echo "$SERIAL_PORT"
+ return 0
+ fi
+}
\ No newline at end of file
diff --git a/snap/local/ros_common/find_ttyUSB.sh b/snap/local/ros_common/find_ttyUSB.sh
deleted file mode 100755
index 76bb0cf..0000000
--- a/snap/local/ros_common/find_ttyUSB.sh
+++ /dev/null
@@ -1,40 +0,0 @@
-#!/bin/bash -e
-
-# Function to find the ttyUSB* device for the specified USB Vendor and Product ID
-find_ttyUSB() {
- # Extract vendor and product ID
- VENDOR_ID="$1"
- PRODUCT_ID="$2"
-
- # Get the serial-port value using snapctl
- SERIAL_PORT=$(snapctl get serial-port)
-
- if [ "$SERIAL_PORT" == "auto" ]; then
- for device in /sys/bus/usb/devices/*; do
- if [ -f "$device/idVendor" ]; then
- current_vendor_id=$(cat "$device/idVendor")
- if [ "$current_vendor_id" == "$VENDOR_ID" ]; then
- if [ -z "$PRODUCT_ID" ] || ([ -f "$device/idProduct" ] && [ "$(cat "$device/idProduct")" == "$PRODUCT_ID" ]); then
- # Look for ttyUSB device in the subdirectories
- for subdir in "$device/"*; do
- if [ -d "$subdir" ]; then
- for tty in $(find "$subdir" -name "ttyUSB*" -print 2>/dev/null); do
- if [ -e "$tty" ]; then
- ttydev=$(basename "$tty")
- echo "/dev/$ttydev"
- return 0
- fi
- done
- fi
- done
- fi
- fi
- fi
- done
- echo "Error: Device with ID $VENDOR_ID:${PRODUCT_ID:-*} not found."
- return 1
- else
- echo "$SERIAL_PORT"
- return 0
- fi
-}
diff --git a/snap/local/ros_common/utils.sh b/snap/local/ros_common/utils.sh
deleted file mode 100755
index bdbc41f..0000000
--- a/snap/local/ros_common/utils.sh
+++ /dev/null
@@ -1,23 +0,0 @@
-#!/bin/bash -e
-
-# Define a function to log and echo messages
-log_and_echo() {
- local message="$1"
- local script_name=$(basename "$0")
- # Log the message with logger
- logger -t "${SNAP_NAME}" "${script_name}: $message"
- # Echo the message to standard error
- echo -e >&2 "$message"
-}
-
-log() {
- local message="$1"
- local script_name=$(basename "$0")
- # Log the message with logger
- logger -t "${SNAP_NAME}" "${script_name}: $message"
-}
-
-is_integer() {
- expr "$1" : '-\?[0-9][0-9]*$' >/dev/null 2>&1
-}
-
diff --git a/snap/local/rosbot-manipulator.launch.py b/snap/local/rosbot-manipulator.launch.py
new file mode 100644
index 0000000..205c3f1
--- /dev/null
+++ b/snap/local/rosbot-manipulator.launch.py
@@ -0,0 +1,368 @@
+# Copyright 2024 Husarion sp. z o.o.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+# http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+import os
+
+from launch import LaunchDescription
+from launch.actions import (
+ DeclareLaunchArgument,
+ LogInfo,
+ OpaqueFunction,
+ SetEnvironmentVariable,
+ IncludeLaunchDescription
+)
+from launch.conditions import UnlessCondition
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.substitutions import (
+ LaunchConfiguration,
+ PathJoinSubstitution,
+ PythonExpression,
+ ThisLaunchFileDir,
+)
+from launch_ros.actions import Node, SetParameter
+from launch_ros.substitutions import FindPackageShare
+from ament_index_python.packages import get_package_share_directory
+
+def generate_microros_agent_node(context, *args, **kwargs):
+ env_setup_actions = []
+
+ ros_domain_id = os.environ.get("ROS_DOMAIN_ID")
+ if ros_domain_id:
+ env_setup_actions.append(
+ SetEnvironmentVariable(name="XRCE_DOMAIN_ID_OVERRIDE", value=ros_domain_id)
+ )
+
+ port = LaunchConfiguration("port").perform(context)
+
+ localhost_only_fastrtps_profiles_file = LaunchConfiguration(
+ "localhost_only_fastrtps_profiles_file"
+ ).perform(context)
+
+ if os.environ.get("ROS_LOCALHOST_ONLY") == "1":
+ env_setup_actions.extend(
+ [
+ LogInfo(
+ msg=[
+ "ROS_LOCALHOST_ONLY set to 1. Using FASTRTPS_DEFAULT_PROFILES_FILE=",
+ localhost_only_fastrtps_profiles_file,
+ ".",
+ ]
+ ),
+ SetEnvironmentVariable(name="RMW_IMPLEMENTATION", value="rmw_fastrtps_cpp"),
+ SetEnvironmentVariable(
+ name="FASTRTPS_DEFAULT_PROFILES_FILE",
+ value=localhost_only_fastrtps_profiles_file,
+ ),
+ ]
+ )
+
+ microros_agent_node = Node(
+ package="micro_ros_agent",
+ executable="micro_ros_agent",
+ arguments=["udp4", "--port", port],
+ output="screen",
+ )
+
+ return env_setup_actions + [microros_agent_node]
+
+def generate_launch_description():
+ namespace = LaunchConfiguration("namespace")
+ declare_namespace_arg = DeclareLaunchArgument(
+ "namespace",
+ default_value="",
+ description="Namespace for all topics and tfs",
+ )
+
+ declare_port_arg = DeclareLaunchArgument(
+ "port",
+ default_value="8888",
+ description="UDP4 port for micro-ROS agent",
+ )
+
+ # Locate the rosbot_bringup package
+ package_dir = FindPackageShare("rosbot_xl_bringup").find("rosbot_xl_bringup")
+
+ # Construct the path to the XML file within the package
+ fastrtps_profiles_file = PathJoinSubstitution(
+ [package_dir, "config", "microros_localhost_only.xml"]
+ )
+
+ declare_localhost_only_fastrtps_profiles_file_arg = DeclareLaunchArgument(
+ "localhost_only_fastrtps_profiles_file",
+ default_value=fastrtps_profiles_file,
+ description=(
+ "Path to the Fast RTPS default profiles file for Micro-ROS agent for localhost only"
+ " setup"
+ ),
+ )
+
+ mecanum = LaunchConfiguration("mecanum")
+ declare_mecanum_arg = DeclareLaunchArgument(
+ "mecanum",
+ default_value="False",
+ description="Whether to use mecanum drive controller, otherwise use diff drive",
+ )
+
+ camera_model = LaunchConfiguration("camera_model")
+ declare_camera_model_arg = DeclareLaunchArgument(
+ "camera_model",
+ default_value="None",
+ description="Add camera model to the robot URDF",
+ choices=[
+ "None",
+ "intel_realsense_d435",
+ "orbbec_astra",
+ "stereolabs_zed",
+ "stereolabs_zedm",
+ "stereolabs_zed2",
+ "stereolabs_zed2i",
+ "stereolabs_zedx",
+ "stereolabs_zedxm",
+ ],
+ )
+
+ lidar_model = LaunchConfiguration("lidar_model")
+ declare_lidar_model_arg = DeclareLaunchArgument(
+ "lidar_model",
+ default_value="slamtec_rplidar_s1",
+ description="Add LiDAR model to the robot URDF",
+ choices=[
+ "None",
+ "slamtec_rplidar_a2",
+ "slamtec_rplidar_a3",
+ "slamtec_rplidar_s1",
+ "slamtec_rplidar_s2",
+ "slamtec_rplidar_s3",
+ "velodyne_puck",
+ ],
+ )
+
+ include_camera_mount = LaunchConfiguration("include_camera_mount")
+ declare_include_camera_mount_arg = DeclareLaunchArgument(
+ "include_camera_mount",
+ default_value="False",
+ description="Whether to include camera mount to the robot URDF",
+ )
+
+ use_sim = LaunchConfiguration("use_sim")
+ declare_use_sim_arg = DeclareLaunchArgument(
+ "use_sim",
+ default_value="False",
+ description="Whether simulation is used",
+ )
+
+ simulation_engine = LaunchConfiguration("simulation_engine")
+ declare_simulation_engine_arg = DeclareLaunchArgument(
+ "simulation_engine",
+ default_value="ignition-gazebo",
+ description="Which simulation engine will be used",
+ )
+
+ combined_launch_deprecated = LaunchConfiguration("combined_launch_deprecated")
+ declare_combined_launch_deprecated_arg = DeclareLaunchArgument(
+ "combined_launch_deprecated",
+ default_value="False",
+ )
+
+ rosbot_xl_controller = FindPackageShare("rosbot_xl_controller")
+ rosbot_xl_bringup = FindPackageShare("rosbot_xl_bringup")
+ rosbot_xl_manipulation_controller = FindPackageShare("rosbot_xl_manipulation_controller")
+ rosbot_xl_manipulation_moveit = FindPackageShare("rosbot_xl_manipulation_moveit")
+
+ controller_launch = IncludeLaunchDescription(
+ PythonLaunchDescriptionSource(
+ PathJoinSubstitution(
+ [
+ rosbot_xl_controller,
+ "launch",
+ "controller.launch.py",
+ ]
+ )
+ ),
+ launch_arguments={
+ "mecanum": mecanum,
+ "lidar_model": lidar_model,
+ "camera_model": camera_model,
+ "include_camera_mount": include_camera_mount,
+ "use_sim": use_sim,
+ "simulation_engine": simulation_engine,
+ "namespace": namespace,
+ }.items(),
+ )
+
+ ekf_config = PathJoinSubstitution([rosbot_xl_bringup, "config", "ekf.yaml"])
+
+ robot_localization_node = Node(
+ package="robot_localization",
+ executable="ekf_node",
+ name="ekf_filter_node",
+ output="screen",
+ parameters=[ekf_config],
+ remappings=[
+ ("/tf", "tf"),
+ ("/tf_static", "tf_static"),
+ ],
+ namespace=namespace,
+ )
+
+ laser_filter_config = PathJoinSubstitution(
+ [
+ rosbot_xl_bringup,
+ "config",
+ "laser_filter.yaml",
+ ]
+ )
+
+ laser_filter_node = Node(
+ package="laser_filters",
+ executable="scan_to_scan_filter_chain",
+ parameters=[
+ laser_filter_config,
+ ],
+ remappings=[
+ ("/tf", "tf"),
+ ("/tf_static", "tf_static"),
+ ],
+ namespace=namespace,
+ )
+
+ launch_joy_node = LaunchConfiguration("launch_joy_node")
+ declare_launch_joy_node_arg = DeclareLaunchArgument(
+ "launch_joy_node",
+ default_value="False",
+ )
+
+ manipulator_usb_port = LaunchConfiguration("manipulator_usb_port")
+ declare_manipulator_usb_port_arg = DeclareLaunchArgument(
+ "manipulator_usb_port",
+ default_value="/dev/ttyMANIPULATOR",
+ )
+
+ manipulator_baud_rate = LaunchConfiguration("manipulator_baud_rate")
+ declare_manipulator_baud_rate_arg = DeclareLaunchArgument(
+ "manipulator_baud_rate",
+ default_value="1000000",
+ )
+
+ joy_servo_config = LaunchConfiguration("joy_servo_params_file")
+ declare_joy_servo_config_arg = DeclareLaunchArgument(
+ "joy_servo_params_file",
+ default_value=PathJoinSubstitution(
+ [
+ rosbot_xl_manipulation_moveit,
+ "config",
+ "joy_servo.yaml",
+ ]
+ ),
+ description="ROS2 parameters file to use with joy_servo node",
+ )
+
+ joint1_limit_min = LaunchConfiguration("joint1_limit_min")
+ declare_joint1_limit_min_arg = DeclareLaunchArgument(
+ "joint1_limit_min",
+ default_value="-2.356",
+ description="Min angle (in radians) that can be achieved by rotating joint1 of the manipulator",
+ )
+ joint1_limit_max = LaunchConfiguration("joint1_limit_max")
+ declare_joint1_limit_max_arg = DeclareLaunchArgument(
+ "joint1_limit_max",
+ default_value="5.934",
+ description="Max angle (in radians) that can be achieved by rotating joint1 of the manipulator",
+ )
+
+ manipulator_controller_launch = IncludeLaunchDescription(
+ PythonLaunchDescriptionSource(
+ PathJoinSubstitution(
+ [
+ rosbot_xl_manipulation_controller,
+ "launch",
+ "controller.launch.py",
+ ]
+ )
+ ),
+ launch_arguments={
+ "manipulator_usb_port": manipulator_usb_port,
+ "manipulator_baud_rate": manipulator_baud_rate,
+ "joint1_limit_min": joint1_limit_min,
+ "joint1_limit_max": joint1_limit_max,
+ "mecanum": mecanum,
+ "use_sim": use_sim,
+ }.items(),
+ )
+
+ moveit_launch = IncludeLaunchDescription(
+ PythonLaunchDescriptionSource(
+ PathJoinSubstitution(
+ [
+ rosbot_xl_manipulation_moveit,
+ "launch",
+ "move_group.launch.py",
+ ]
+ )
+ ),
+ launch_arguments={
+ "joint1_limit_min": joint1_limit_min,
+ "joint1_limit_max": joint1_limit_max,
+ "mecanum": mecanum,
+ "use_sim": use_sim,
+ }.items(),
+ )
+
+ servo_launch = IncludeLaunchDescription(
+ PythonLaunchDescriptionSource(
+ PathJoinSubstitution(
+ [
+ rosbot_xl_manipulation_moveit,
+ "launch",
+ "servo.launch.py",
+ ]
+ )
+ ),
+ launch_arguments={
+ "launch_joy_node": launch_joy_node,
+ "joy_servo_params_file": joy_servo_config,
+ "joint1_limit_min": joint1_limit_min,
+ "joint1_limit_max": joint1_limit_max,
+ "mecanum": mecanum,
+ "use_sim": use_sim,
+ }.items(),
+ )
+
+ return LaunchDescription(
+ [
+ declare_port_arg,
+ declare_localhost_only_fastrtps_profiles_file_arg,
+ declare_namespace_arg,
+ declare_mecanum_arg,
+ declare_lidar_model_arg,
+ declare_camera_model_arg,
+ declare_include_camera_mount_arg,
+ declare_use_sim_arg,
+ declare_simulation_engine_arg,
+ declare_combined_launch_deprecated_arg,
+ declare_launch_joy_node_arg,
+ declare_manipulator_usb_port_arg,
+ declare_manipulator_baud_rate_arg,
+ declare_joy_servo_config_arg,
+ declare_joint1_limit_min_arg,
+ declare_joint1_limit_max_arg,
+ SetParameter(name="use_sim_time", value=use_sim),
+ controller_launch,
+ robot_localization_node,
+ laser_filter_node,
+ OpaqueFunction(function=generate_microros_agent_node),
+ manipulator_controller_launch,
+ moveit_launch,
+ servo_launch,
+ ]
+ )
diff --git a/snap/local/rosbot.launch.py b/snap/local/rosbot.launch.py
new file mode 100644
index 0000000..2029b5f
--- /dev/null
+++ b/snap/local/rosbot.launch.py
@@ -0,0 +1,254 @@
+# Copyright 2024 Husarion sp. z o.o.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+# http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+import os
+
+from launch import LaunchDescription
+from launch.actions import (
+ DeclareLaunchArgument,
+ LogInfo,
+ OpaqueFunction,
+ SetEnvironmentVariable,
+ IncludeLaunchDescription
+)
+from launch.conditions import UnlessCondition
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.substitutions import (
+ LaunchConfiguration,
+ PathJoinSubstitution,
+ PythonExpression,
+ ThisLaunchFileDir,
+)
+from launch_ros.actions import Node, SetParameter
+from launch_ros.substitutions import FindPackageShare
+
+def generate_microros_agent_node(context, *args, **kwargs):
+ env_setup_actions = []
+
+ ros_domain_id = os.environ.get("ROS_DOMAIN_ID")
+ if ros_domain_id:
+ env_setup_actions.append(
+ SetEnvironmentVariable(name="XRCE_DOMAIN_ID_OVERRIDE", value=ros_domain_id)
+ )
+
+ port = LaunchConfiguration("port").perform(context)
+
+ localhost_only_fastrtps_profiles_file = LaunchConfiguration(
+ "localhost_only_fastrtps_profiles_file"
+ ).perform(context)
+
+ if os.environ.get("ROS_LOCALHOST_ONLY") == "1":
+ env_setup_actions.extend(
+ [
+ LogInfo(
+ msg=[
+ "ROS_LOCALHOST_ONLY set to 1. Using FASTRTPS_DEFAULT_PROFILES_FILE=",
+ localhost_only_fastrtps_profiles_file,
+ ".",
+ ]
+ ),
+ SetEnvironmentVariable(name="RMW_IMPLEMENTATION", value="rmw_fastrtps_cpp"),
+ SetEnvironmentVariable(
+ name="FASTRTPS_DEFAULT_PROFILES_FILE",
+ value=localhost_only_fastrtps_profiles_file,
+ ),
+ ]
+ )
+
+ microros_agent_node = Node(
+ package="micro_ros_agent",
+ executable="micro_ros_agent",
+ arguments=["udp4", "--port", port],
+ output="screen",
+ )
+
+ return env_setup_actions + [microros_agent_node]
+
+def generate_launch_description():
+ namespace = LaunchConfiguration("namespace")
+ declare_namespace_arg = DeclareLaunchArgument(
+ "namespace",
+ default_value="",
+ description="Namespace for all topics and tfs",
+ )
+
+ declare_port_arg = DeclareLaunchArgument(
+ "port",
+ default_value="8888",
+ description="UDP4 port for micro-ROS agent",
+ )
+
+ # Locate the rosbot_bringup package
+ package_dir = FindPackageShare("rosbot_xl_bringup").find("rosbot_xl_bringup")
+
+ # Construct the path to the XML file within the package
+ fastrtps_profiles_file = PathJoinSubstitution(
+ [package_dir, "config", "microros_localhost_only.xml"]
+ )
+
+ declare_localhost_only_fastrtps_profiles_file_arg = DeclareLaunchArgument(
+ "localhost_only_fastrtps_profiles_file",
+ default_value=fastrtps_profiles_file,
+ description=(
+ "Path to the Fast RTPS default profiles file for Micro-ROS agent for localhost only"
+ " setup"
+ ),
+ )
+
+ mecanum = LaunchConfiguration("mecanum")
+ declare_mecanum_arg = DeclareLaunchArgument(
+ "mecanum",
+ default_value="False",
+ description="Whether to use mecanum drive controller, otherwise use diff drive",
+ )
+
+ camera_model = LaunchConfiguration("camera_model")
+ declare_camera_model_arg = DeclareLaunchArgument(
+ "camera_model",
+ default_value="None",
+ description="Add camera model to the robot URDF",
+ choices=[
+ "None",
+ "intel_realsense_d435",
+ "orbbec_astra",
+ "stereolabs_zed",
+ "stereolabs_zedm",
+ "stereolabs_zed2",
+ "stereolabs_zed2i",
+ "stereolabs_zedx",
+ "stereolabs_zedxm",
+ ],
+ )
+
+ lidar_model = LaunchConfiguration("lidar_model")
+ declare_lidar_model_arg = DeclareLaunchArgument(
+ "lidar_model",
+ default_value="slamtec_rplidar_s1",
+ description="Add LiDAR model to the robot URDF",
+ choices=[
+ "None",
+ "slamtec_rplidar_a2",
+ "slamtec_rplidar_a3",
+ "slamtec_rplidar_s1",
+ "slamtec_rplidar_s2",
+ "slamtec_rplidar_s3",
+ "velodyne_puck",
+ ],
+ )
+
+ include_camera_mount = LaunchConfiguration("include_camera_mount")
+ declare_include_camera_mount_arg = DeclareLaunchArgument(
+ "include_camera_mount",
+ default_value="False",
+ description="Whether to include camera mount to the robot URDF",
+ )
+
+ use_sim = LaunchConfiguration("use_sim")
+ declare_use_sim_arg = DeclareLaunchArgument(
+ "use_sim",
+ default_value="False",
+ description="Whether simulation is used",
+ )
+
+ simulation_engine = LaunchConfiguration("simulation_engine")
+ declare_simulation_engine_arg = DeclareLaunchArgument(
+ "simulation_engine",
+ default_value="ignition-gazebo",
+ description="Which simulation engine will be used",
+ )
+
+ combined_launch_deprecated = LaunchConfiguration("combined_launch_deprecated")
+ declare_combined_launch_deprecated_arg = DeclareLaunchArgument(
+ "combined_launch_deprecated",
+ default_value="False",
+ )
+
+ rosbot_xl_controller = FindPackageShare("rosbot_xl_controller")
+ rosbot_xl_bringup = FindPackageShare("rosbot_xl_bringup")
+
+ controller_launch = IncludeLaunchDescription(
+ PythonLaunchDescriptionSource(
+ PathJoinSubstitution(
+ [
+ rosbot_xl_controller,
+ "launch",
+ "controller.launch.py",
+ ]
+ )
+ ),
+ launch_arguments={
+ "mecanum": mecanum,
+ "lidar_model": lidar_model,
+ "camera_model": camera_model,
+ "include_camera_mount": include_camera_mount,
+ "use_sim": use_sim,
+ "simulation_engine": simulation_engine,
+ "namespace": namespace,
+ }.items(),
+ )
+
+ ekf_config = PathJoinSubstitution([rosbot_xl_bringup, "config", "ekf.yaml"])
+
+ robot_localization_node = Node(
+ package="robot_localization",
+ executable="ekf_node",
+ name="ekf_filter_node",
+ output="screen",
+ parameters=[ekf_config],
+ remappings=[
+ ("/tf", "tf"),
+ ("/tf_static", "tf_static"),
+ ],
+ namespace=namespace,
+ )
+
+ laser_filter_config = PathJoinSubstitution(
+ [
+ rosbot_xl_bringup,
+ "config",
+ "laser_filter.yaml",
+ ]
+ )
+
+ laser_filter_node = Node(
+ package="laser_filters",
+ executable="scan_to_scan_filter_chain",
+ parameters=[
+ laser_filter_config,
+ ],
+ remappings=[
+ ("/tf", "tf"),
+ ("/tf_static", "tf_static"),
+ ],
+ namespace=namespace,
+ )
+
+ return LaunchDescription(
+ [
+ declare_port_arg,
+ declare_localhost_only_fastrtps_profiles_file_arg,
+ declare_namespace_arg,
+ declare_mecanum_arg,
+ declare_lidar_model_arg,
+ declare_camera_model_arg,
+ declare_include_camera_mount_arg,
+ declare_use_sim_arg,
+ declare_simulation_engine_arg,
+ declare_combined_launch_deprecated_arg,
+ SetParameter(name="use_sim_time", value=use_sim),
+ controller_launch,
+ robot_localization_node,
+ laser_filter_node,
+ OpaqueFunction(function=generate_microros_agent_node),
+ ]
+ )
diff --git a/snap/local/teleop_launcher.sh b/snap/local/teleop_launcher.sh
index 8cd7da1..d1780ba 100755
--- a/snap/local/teleop_launcher.sh
+++ b/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
diff --git a/snap/snapcraft.yaml b/snap/snapcraft.yaml
index 5105967..90af801 100644
--- a/snap/snapcraft.yaml
+++ b/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.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.
+ * `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 $(cat /var/snap/rosbot-xl/common/ros_snap_args)
@@ -134,7 +140,7 @@ apps:
command-chain: [usr/bin/ros_setup.sh]
daemon: simple
install-mode: enable
- plugs: [network, network-bind, shm-plug]
+ plugs: [network, network-bind, shm-plug, raw-usb]
slots: [shm-slot]
extensions: [ros2-humble-ros-base]
@@ -147,7 +153,7 @@ apps:
rosbot-xl:
command: usr/bin/launcher.sh
command-chain: [usr/bin/check_daemon_running.sh, usr/bin/ros_setup.sh]
- plugs: [network, network-bind, shm-plug]
+ plugs: [network, network-bind, shm-plug, raw-usb]
slots: [shm-slot]
extensions: [ros2-humble-ros-base]
@@ -163,6 +169,31 @@ apps:
slots: [shm-slot]
extensions: [ros2-humble-ros-base]
+ joy:
+ command: usr/bin/joy_launcher.sh
+ command-chain: [usr/bin/ros_setup.sh]
+ daemon: simple
+ install-mode: disable
+ environment:
+ LD_LIBRARY_PATH: "$SNAP/usr/lib/$SNAPCRAFT_ARCH_TRIPLET/pulseaudio:$LD_LIBRARY_PATH"
+ plugs: [hardware-observe, joystick, network, network-bind, shm-plug]
+ slots: [shm-slot]
+ extensions: [ros2-humble-ros-base]
+
+ arm-activate:
+ command: usr/bin/arm_activate_launcher.sh active
+ command-chain: [usr/bin/ros_setup.sh]
+ plugs: [network, network-bind, shm-plug]
+ slots: [shm-slot]
+ extensions: [ros2-humble-ros-base]
+
+ arm-disactivate:
+ command: usr/bin/arm_activate_launcher.sh inactive
+ command-chain: [usr/bin/ros_setup.sh]
+ plugs: [network, network-bind, shm-plug]
+ slots: [shm-slot]
+ extensions: [ros2-humble-ros-base]
+
print-serial-number:
command: usr/bin/serial_number_launcher.sh
command-chain: [usr/bin/ros_setup.sh]
@@ -206,10 +237,41 @@ apps:
command: usr/bin/stop_web_ui_launcher.sh
parts:
+ # rosbot-xl:
+ # plugin: colcon
+ # source: https://github.com/husarion/rosbot_xl_ros.git
+ # source-branch: "0.11.5"
+ # build-packages:
+ # - python3-vcstool
+ # stage-packages:
+ # - stm32flash
+ # - libusb-1.0-0
+ # - usbutils
+ # - ros-humble-rmw-cyclonedds-cpp
+ # override-pull: |
+ # craftctl default
+
+ # vcs import $CRAFT_PART_SRC < $CRAFT_PART_SRC/rosbot_xl/rosbot_xl_hardware.repos
+ # cp -r $CRAFT_PART_SRC/ros2_controllers/diff_drive_controller $CRAFT_PART_SRC/
+ # cp -r $CRAFT_PART_SRC/ros2_controllers/imu_sensor_broadcaster $CRAFT_PART_SRC/
+ # rm -rf $CRAFT_PART_SRC/ros2_controllers
+ # rm -r $CRAFT_PART_SRC/rosbot_xl_gazebo
+ # # Ignore so that rosdep doesn't pull deps
+ # # and colcon doesn't build
+ # # touch $CRAFT_PART_SRC/rosbot_xl_gazebo/COLCON_IGNORE
+
+ # # Set the snap version from the git tag
+ # # The grade is set to 'stable' if the latest entry in the git history
+ # # is the tag itself, otherwise set to devel
+ # version="$(git describe --always --tags| sed -e 's/^v//;s/-/+git/;y/-/./')"
+ # [ -n "$(echo $version | grep "+git")" ] && grade=devel || grade=stable
+ # craftctl set version="$version"
+ # craftctl set grade="$grade"
+
rosbot-xl:
plugin: colcon
- source: https://github.com/husarion/rosbot_xl_ros.git
- source-branch: "0.11.5"
+ source: https://github.com/husarion/rosbot_xl_manipulation_ros.git
+ source-branch: "1.1.2"
build-packages:
- python3-vcstool
stage-packages:
@@ -220,11 +282,15 @@ parts:
override-pull: |
craftctl default
- vcs import $CRAFT_PART_SRC < $CRAFT_PART_SRC/rosbot_xl/rosbot_xl_hardware.repos
+ vcs import $CRAFT_PART_SRC < $CRAFT_PART_SRC/rosbot_xl_manipulation/rosbot_xl_manipulation.repos
+ vcs import $CRAFT_PART_SRC < $CRAFT_PART_SRC/rosbot_xl_ros/rosbot_xl/rosbot_xl_hardware.repos
+ vcs import $CRAFT_PART_SRC < $CRAFT_PART_SRC/open_manipulator_x/open_manipulator_x.repos
+
cp -r $CRAFT_PART_SRC/ros2_controllers/diff_drive_controller $CRAFT_PART_SRC/
cp -r $CRAFT_PART_SRC/ros2_controllers/imu_sensor_broadcaster $CRAFT_PART_SRC/
rm -rf $CRAFT_PART_SRC/ros2_controllers
- rm -r $CRAFT_PART_SRC/rosbot_xl_gazebo
+ rm -r $CRAFT_PART_SRC/rosbot_xl_ros/rosbot_xl_gazebo
+ rm -r $CRAFT_PART_SRC/rosbot_xl_manipulation_gazebo
# Ignore so that rosdep doesn't pull deps
# and colcon doesn't build
# touch $CRAFT_PART_SRC/rosbot_xl_gazebo/COLCON_IGNORE
@@ -237,40 +303,6 @@ parts:
craftctl set version="$version"
craftctl set grade="$grade"
- # rosbot-xl:
- # plugin: colcon
- # source: https://github.com/husarion/rosbot_xl_manipulation_ros.git
- # # source-branch: "0.11.0"
- # build-packages:
- # - python3-vcstool
- # stage-packages:
- # - stm32flash
- # - libusb-1.0-0
- # - usbutils
- # override-pull: |
- # craftctl default
-
- # vcs import $CRAFT_PART_SRC < $CRAFT_PART_SRC/rosbot_xl_manipulation/rosbot_xl_manipulation.repos
- # vcs import $CRAFT_PART_SRC < $CRAFT_PART_SRC/rosbot_xl_ros/rosbot_xl/rosbot_xl_hardware.repos
- # vcs import $CRAFT_PART_SRC < $CRAFT_PART_SRC/open_manipulator_x/open_manipulator_x.repos
-
- # cp -r $CRAFT_PART_SRC/ros2_controllers/diff_drive_controller $CRAFT_PART_SRC/
- # cp -r $CRAFT_PART_SRC/ros2_controllers/imu_sensor_broadcaster $CRAFT_PART_SRC/
- # rm -rf $CRAFT_PART_SRC/ros2_controllers
- # rm -r $CRAFT_PART_SRC/rosbot_xl_ros/rosbot_xl_gazebo
- # rm -r $CRAFT_PART_SRC/rosbot_xl_manipulation_gazebo
- # # Ignore so that rosdep doesn't pull deps
- # # and colcon doesn't build
- # # touch $CRAFT_PART_SRC/rosbot_xl_gazebo/COLCON_IGNORE
-
- # # Set the snap version from the git tag
- # # The grade is set to 'stable' if the latest entry in the git history
- # # is the tag itself, otherwise set to devel
- # version="$(git describe --always --tags| sed -e 's/^v//;s/-/+git/;y/-/./')"
- # [ -n "$(echo $version | grep "+git")" ] && grade=devel || grade=stable
- # craftctl set version="$version"
- # craftctl set grade="$grade"
-
teleop:
plugin: nil
stage-packages:
@@ -358,7 +390,7 @@ 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/