Jazzy devel (#113)

* Check jazzy Signed-off-by: Jakub Delicat <[email protected]> * changed ign to gz | skipped mecanum controller Signed-off-by: Jakub Delicat <[email protected]> * skip python-transforms3d-pip Signed-off-by: Jakub Delicat <[email protected]> * rosbot_hardware_interfaces jazzy devel version Signed-off-by: Jakub Delicat <[email protected]> * build rosbot_utils only when is hardware build Signed-off-by: Jakub Delicat <[email protected]> * commit to branch Signed-off-by: Jakub Delicat <[email protected]> * hardware jazzy with namespaces Signed-off-by: Jakub Delicat <[email protected]> * revert tools Signed-off-by: Jakub Delicat <[email protected]> * fix package.xml | jazzy dockerfiles Signed-off-by: Jakub Delicat <[email protected]> * Fixed workflow Signed-off-by: Jakub Delicat <[email protected]> * Applied precommit Signed-off-by: Jakub Delicat <[email protected]> * added mecanum to test_depend Signed-off-by: Jakub Delicat <[email protected]> * changed workflow to 24.04 Signed-off-by: Jakub Delicat <[email protected]> * fix pip Signed-off-by: Jakub Delicat <[email protected]> * detect if running on RPi4 or RPi5 in flashing script --------- Signed-off-by: Jakub Delicat <[email protected]> Co-authored-by: dominikn <[email protected]>
husarion · Aug 7, 2024 · effdee5 · effdee5
1 parent 9c78f90
commit effdee5
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Showing 14 changed files with 81 additions and 57 deletions.
diff --git a/.github/workflows/tests.yaml b/.github/workflows/tests.yaml
@@ -8,7 +8,7 @@ on:
 jobs:
   black:
     name: Black
-    runs-on: ubuntu-22.04
+    runs-on: ubuntu-24.04
     steps:
       - name: Checkout
         uses: actions/checkout@v3
@@ -19,7 +19,7 @@ jobs:
 
   spellcheck:
     name: Spellcheck
-    runs-on: ubuntu-22.04
+    runs-on: ubuntu-24.04
     steps:
       - name: Checkout
         uses: actions/checkout@v3
@@ -28,12 +28,12 @@ jobs:
 
   industrial_ci:
     name: Industrial CI
-    runs-on: ubuntu-22.04
+    runs-on: ubuntu-24.04
     timeout-minutes: 30
     strategy:
       fail-fast: false
       matrix:
-        ROS_DISTRO: [humble]
+        ROS_DISTRO: [jazzy]
     steps:
       - name: Checkout
         uses: actions/checkout@v3
@@ -49,19 +49,19 @@ jobs:
           python3 -m pip install -U vcstool
           vcs import src < src/rosbot/rosbot_hardware.repos
           vcs import src < src/rosbot/rosbot_simulation.repos
-          cp -r src/ros2_controllers/diff_drive_controller src/
-          cp -r src/ros2_controllers/imu_sensor_broadcaster src/
-          rm -rf src/ros2_controllers
 
         # Package micro_ros_msgs does not have industrial ci and tests does not pass.
         # For more information see https://github.com/micro-ROS/micro_ros_msgs/issues/7
       - name: Leave only ROSbot tests
         shell: bash
         run: |
-          sed '/if(BUILD_TESTING)/,/endif()/d' src/diff_drive_controller/CMakeLists.txt -i
-          sed '/if(BUILD_TESTING)/,/endif()/d' src/imu_sensor_broadcaster/CMakeLists.txt -i
           sed '/if(BUILD_TESTING)/,/endif()/d' src/micro_ros_msgs/CMakeLists.txt -i
 
+      - name: Fix pip
+        shell: bash
+        run: |
+          echo -e "[global]\nbreak-system-packages = true" >> ~/.config/pip/pip.conf
+
       - name: Running ROS Industrial CI
         uses: ros-industrial/industrial_ci@master
         env:

diff --git a/rosbot/package.xml b/rosbot/package.xml
@@ -18,7 +18,8 @@
   <depend>rosbot_bringup</depend>
   <depend>rosbot_controller</depend>
   <depend>rosbot_description</depend>
-  <depend>rosbot_utils</depend>
+
+  <depend condition="($HUSARION_ROS_BUILD == hardware)">rosbot_utils</depend>
 
   <depend condition="($HUSARION_ROS_BUILD == simulation)">rosbot_gazebo</depend>
 

diff --git a/rosbot/rosbot_hardware.repos b/rosbot/rosbot_hardware.repos
@@ -1,28 +1,22 @@
 repositories:
+  # jazzy-devel
   rosbot_hardware_interfaces:
     type: git
     url: https://github.com/husarion/rosbot_hardware_interfaces.git
-    version: main
+    version: jazzy-devel
   ros_components_description:
     type: git
     url: https://github.com/husarion/ros_components_description.git
     version: 1cb25600afa5941d21d48c0af8e63ad2eb3afaa0
   husarion_controllers:
     type: git
     url: https://github.com/husarion/husarion_controllers
-    version: 217b09830f5f42930098b9992eda41710702b625
-  # Waiting for backporting to the humble version
-  # https://github.com/ros-controls/ros2_controllers/pull/726 and
-  # https://github.com/ros-controls/ros2_controllers/pull/831
-  ros2_controllers:
-    type: git
-    url: https://github.com/delihus/ros2_controllers
-    version: humble
+    version: jazzy
   micro_ros_msgs:
     type: git
     url: https://github.com/micro-ROS/micro_ros_msgs.git
-    version: humble
+    version: jazzy
   micro-ROS-Agent:
     type: git
     url: https://github.com/micro-ROS/micro-ROS-Agent.git
-    version: humble
+    version: jazzy
diff --git a/rosbot_controller/config/diff_drive_controller.yaml b/rosbot_controller/config/diff_drive_controller.yaml
@@ -15,7 +15,7 @@
     tf_frame_prefix_enable: false
     use_namespace_as_sensor_name_prefix: true
 
-    sensor_name: imu
+    sensor_name: <robot_namespace>/imu
     frame_id: imu_link
     static_covariance_orientation: [1.9e-3, 0.0, 0.0, 0.0, 1.9e-3, 0.0, 0.0, 0.0, 1.9e-3] # Values taken from datasheet
     static_covariance_angular_velocity: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 2.0e-3] # Values measured experimentally
@@ -60,7 +60,6 @@
 
     cmd_vel_timeout: 0.5
     #publish_limited_velocity: true
-    use_stamped_vel: false
 
     # Velocity and acceleration limits
     # Whenever a min_* is unspecified, default to -max_*

diff --git a/rosbot_controller/config/mecanum_drive_controller.yaml b/rosbot_controller/config/mecanum_drive_controller.yaml
@@ -15,7 +15,7 @@
     tf_frame_prefix_enable: false
     use_namespace_as_sensor_name_prefix: true
 
-    sensor_name: imu
+    sensor_name: <robot_namespace>/imu
     frame_id: imu_link
     static_covariance_orientation: [1.9e-3, 0.0, 0.0, 0.0, 1.9e-3, 0.0, 0.0, 0.0, 1.9e-3] # Values taken from datasheet
     static_covariance_angular_velocity: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 2.0e-3] # Values based on diff_drive
@@ -59,7 +59,6 @@
 
     cmd_vel_timeout: 0.5
     #publish_limited_velocity: true
-    use_stamped_vel: false
 
     # Velocity and acceleration limits
     # Whenever a min_* is unspecified, default to -max_*

diff --git a/rosbot_controller/launch/controller.launch.py b/rosbot_controller/launch/controller.launch.py
@@ -25,6 +25,7 @@
 )
 from launch_ros.actions import Node, SetParameter
 from launch_ros.substitutions import FindPackageShare
+from nav2_common.launch import ReplaceString
 
 
 def generate_launch_description():
@@ -109,26 +110,31 @@ def generate_launch_description():
     )
     robot_description = {"robot_description": robot_description_content}
 
-    robot_controllers = PathJoinSubstitution(
+    robot_controllers_config = PathJoinSubstitution(
         [
             FindPackageShare("rosbot_controller"),
             "config",
             controller_config_name,
         ]
     )
 
+    namespaced_robot_controllers_config = ReplaceString(
+        source_file=robot_controllers_config,
+        replacements={"<robot_namespace>": namespace, "//": "/"},
+    )
+
     control_node = Node(
         package="controller_manager",
         executable="ros2_control_node",
         parameters=[
             robot_description,
-            robot_controllers,
+            namespaced_robot_controllers_config,
         ],
         remappings=[
             ("imu_sensor_node/imu", "/_imu/data_raw"),
             ("~/motors_cmd", "/_motors_cmd"),
             ("~/motors_response", "/_motors_response"),
-            ("rosbot_base_controller/cmd_vel_unstamped", "cmd_vel"),
+            ("rosbot_base_controller/cmd_vel", "cmd_vel"),
             ("/tf", "tf"),
             ("/tf_static", "tf_static"),
         ],

diff --git a/rosbot_controller/package.xml b/rosbot_controller/package.xml
@@ -17,6 +17,7 @@
 
   <exec_depend>launch</exec_depend>
   <exec_depend>launch_ros</exec_depend>
+  <exec_depend>nav2_common</exec_depend>
 
   <exec_depend>xacro</exec_depend>
   <exec_depend>controller_manager</exec_depend>

diff --git a/rosbot_description/urdf/rosbot_macro.urdf.xacro b/rosbot_description/urdf/rosbot_macro.urdf.xacro
@@ -70,7 +70,7 @@
 
         <xacro:if value="$(arg use_sim)">
           <xacro:if value="${simulation_engine == 'ignition-gazebo'}">
-            <plugin>ign_ros2_control/IgnitionSystem</plugin>
+            <plugin>gz_ros2_control/GazeboSimSystem</plugin>
           </xacro:if>
           <xacro:if value="${simulation_engine == 'webots'}">
             <plugin>webots_ros2_control::Ros2ControlSystem</plugin>
@@ -121,7 +121,7 @@
     <xacro:if value="${use_sim}">
       <xacro:if value="${simulation_engine == 'ignition-gazebo'}">
         <gazebo>
-          <plugin filename="ign_ros2_control-system" name="ign_ros2_control::IgnitionROS2ControlPlugin">
+          <plugin filename="gz_ros2_control-system" name="gz_ros2_control::GazeboSimROS2ControlPlugin">
 
             <xacro:if value="${mecanum}">
               <parameters>$(find rosbot_controller)/config/mecanum_drive_controller.yaml</parameters>
@@ -134,7 +134,7 @@
               <xacro:unless value="${namespace == 'None'}">
                 <namespace>${namespace}</namespace>
               </xacro:unless>
-              <remapping>rosbot_base_controller/cmd_vel_unstamped:=cmd_vel</remapping>
+              <remapping>rosbot_base_controller/cmd_vel:=cmd_vel</remapping>
               <remapping>/tf:=tf</remapping>
             </ros>
           </plugin>

diff --git a/rosbot_description/urdf/wheel.urdf.xacro b/rosbot_description/urdf/wheel.urdf.xacro
@@ -90,19 +90,21 @@
       </inertial>
     </link>
 
-    <gazebo reference="${side}_wheel_link" xmlns:ignition="http://ignitionrobotics.org/schema">
-      <collision>
-        <surface>
-          <friction>
-            <ode>
-              <mu>1.0</mu>
-              <mu2>0.0</mu2>
-              <fdir1 ignition:expressed_in="base_link">${fdir}</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-    </gazebo>
+    <xacro:if value="${mecanum}">
+      <gazebo reference="${side}_wheel_link" xmlns:ignition="http://ignitionrobotics.org/schema">
+        <collision>
+          <surface>
+            <friction>
+              <ode>
+                <mu>1.0</mu>
+                <mu2>0.0</mu2>
+                <fdir1 ignition:expressed_in="base_link">${fdir}</fdir1>
+              </ode>
+            </friction>
+          </surface>
+        </collision>
+      </gazebo>
+    </xacro:if>
 
   </xacro:macro>
 </robot>
diff --git a/rosbot_gazebo/package.xml b/rosbot_gazebo/package.xml
@@ -26,7 +26,7 @@
     version can chosen using GZ_VERSION (or IGNITION_VERSION) env variable,
     for details refer to the ros_gz_sim package -->
   <exec_depend>ros_gz_bridge</exec_depend>
-  <exec_depend>ign_ros2_control</exec_depend>
+  <exec_depend>gz_ros2_control</exec_depend>
   <exec_depend>nav2_common</exec_depend>
 
   <test_depend>python3-pytest</test_depend>
@@ -35,7 +35,7 @@
   <test_depend>launch_pytest</test_depend>
 
   <test_depend>tf_transformations</test_depend>
-  <test_depend>python-transforms3d-pip</test_depend>
+  <!-- <test_depend>python-transforms3d-pip</test_depend> -->
   <test_depend>nav_msgs</test_depend>
   <test_depend>geometry_msgs</test_depend>
 

diff --git a/rosbot_utils/rosbot_utils/flash-firmware.py b/rosbot_utils/rosbot_utils/flash-firmware.py
@@ -1,4 +1,4 @@
-#!/usr/bin/python3
+#!/usr/bin/env python3
 
 # Copyright 2024 Husarion sp. z o.o.
 #
@@ -25,6 +25,20 @@
 import gpiod
 import sh
 
+def get_raspberry_pi_model():
+    try:
+        with open("/proc/cpuinfo", "r") as f:
+            for line in f:
+                if "Model" in line:
+                    model_info = line.split(":")[1].strip()
+                    if "Raspberry Pi 4" in model_info:
+                        return "Raspberry Pi 4"
+                    elif "Raspberry Pi 5" in model_info:
+                        return "Raspberry Pi 5"
+                    else:
+                        return "Unknown Raspberry Pi Model"
+    except FileNotFoundError:
+        return "Not a Raspberry Pi"
 
 class FirmwareFlasher:
     def __init__(self, sys_arch, binary_file):
@@ -53,12 +67,19 @@ def __init__(self, sys_arch, binary_file):
 
         elif self.sys_arch == "aarch64":
             # Setups RPi pins
-            print("Device: RPi\n")
+            model = get_raspberry_pi_model()
+            print(f"Device: {model}\n")
             self.serial_port = "/dev/ttyAMA0"
-            gpio_chip = "/dev/gpiochip0"
+
+            if model == "Raspberry Pi 4":
+                gpio_chip = "/dev/gpiochip0"
+            elif model == "Raspberry Pi 5":
+                gpio_chip = "/dev/gpiochip4"
+            else:
+                gpio_chip = "/dev/gpiochip0"  # Default or error handling
+
             boot0_pin_no = 17
             reset_pin_no = 18
-
         else:
             print("Unknown device...")
 

diff --git a/rosbot_utils/rosbot_utils/flash_firmware.py b/rosbot_utils/rosbot_utils/flash_firmware.py
@@ -14,14 +14,15 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-import subprocess
-import os
-import sys
 import argparse
-import signal
 import glob
-import requests
+import os
+import signal
+import subprocess
+import sys
+
 import ament_index_python.packages
+import requests
 
 # Global variable to hold the subprocess reference
 subproc = None

diff --git a/tools/Dockerfile b/tools/Dockerfile
@@ -1,4 +1,4 @@
-ARG ROS_DISTRO=humble
+ARG ROS_DISTRO=jazzy
 ARG PREFIX=
 ARG ROSBOT_FW_RELEASE=0.8.0
 

diff --git a/tools/Dockerfile.dev b/tools/Dockerfile.dev
@@ -1,4 +1,4 @@
-ARG ROS_DISTRO=humble
+ARG ROS_DISTRO=jazzy
 ARG PREFIX=
 ARG HUSARION_ROS_BUILD_TYPE=hardware