Ros2 migration (#82)

* Get IntRoLab image from the website

* Migrate turtlebot3_beam_description

* Migrate opentera_webrtc_ros_msgs

* Refactor migration for turtlebot3_beam_description based on upstream to fix missing xacro find_package

* Migrate opentera_protobuf_messages

* Migrate map_image_generator to ROS2 and tf2

* Remove deprecated option in clang-format config making the config invalid with clang-format 18 (used by VSCode clangd)

* Use const& to shared ptrs in callbacks

* Migrate face_cropping to ROS2 (not yet tested)

* Fixes for face_cropping and map_image_generator

* Migrate opentera_webrtc_ros to ROS2

* Migrate opentera_client_ros

* Migrate robot_gui

* Migrate demos

* Migrate launch files and other fixes

* Fix bugs, support Humble and dedicated message packages

* Migrate remaining Python nodes, fix frontend installation

* Remove synchronous service calls in callbacks for Cpp nodes: could cause deadlocks

* Try adding a ros spin to a Qt Python node

* Remove synchronous service calls in callbacks in Python nodes

* Fix python nodes shutdown

* Update opentera-webrtc-teleop-frontend

* Fix ros spin in a thread

* Fix freeze in webrtc video stream due to integer overflow in timestamps

* Fix face_cropping

* Migrate URDF to ROS2, and cleanup unused copies of stuff from the original turtlebot3_description repo

* Fix launch files for simulation in ROS2

* Fix labels and goal managers, and their navigation system

* Fix robot status showing interface name and stuff instead of just network SSID

* Better robot gui Qt/ROS spinning

* Update opentera-webrtc and the teleop frontend. Support symlink-installs for the signaling server, and add missing WebRTC callbacks

* Fix model_viewer launch file and rviz config

* Fix odometry_source in Gazebo URDF being an integer now

* Move back to xml launch files: the set_parameter option exists in xml! Remove unused launch files, and remove shell scripts to start the signaling server (replace with new launch file facilities)

* Update opentera-webrtc for better Ctrl-C of signaling server

* Fix: remove start_signalling_server scripts from CMake installation

* Fix termination errors in map_image_generator

* Fix stuff

* Fix global path not displayed on web interface, and a few other problems

* Fix more launch file stuff and cleanup

* Partial fix for OpenTeraEvent not published in offline mode: rework GUI so that it works without these events

* Move OpenTeraEvent stuff to PeerStatus permanently

* More fixes in launch files and rtabmap services and stuff

* Try fix CI

* WIP CI

* WIP CI

* WIP CI

* WIP CI

* WIP CI

* Try CI without sequential executor

* WIP CI

* WIP CI

---------

Co-authored-by: Marc-Antoine Maheux <[email protected]>

.clang-format

@@ -89,5 +89,4 @@ Standard: c++14
 StatementAttributeLikeMacros: [emit]
 StatementMacros: [Q_UNUSED, Q_OBJECT]
 TabWidth: 4
-UseCRLF: false
 UseTab: Never

.github/workflows/pull-request-audit.yml

@@ -8,20 +8,19 @@ on:
     branches: [main]
 
   workflow_dispatch:
-    branches: [main]
 
 jobs:
   build:
-    runs-on: ubuntu-20.04
+    runs-on: ubuntu-22.04
 
     steps:
       - uses: actions/checkout@v4
         with:
           submodules: recursive
-          path: catkin_ws/src/opentera-webrtc-ros
+          path: colcon_ws/src/opentera-webrtc-ros
       - uses: ros-tooling/[email protected]
         with:
-          required-ros-distributions: noetic
+          required-ros-distributions: humble
 
       - uses: actions/setup-node@v4
         with:
@@ -30,44 +29,45 @@ jobs:
       - name: Install system dependencies
         run: |
           sudo apt-get update
-          sudo apt-get install ros-noetic-turtlebot3 ros-noetic-turtlebot3-gazebo ros-noetic-cv-camera ros-noetic-dwa-local-planner ros-noetic-rtabmap-ros
+          sudo apt-get install ros-humble-rtabmap-ros libunwind-dev
           sudo apt-get install libglib2.0-dev libgtk-3-dev libpulse-dev libasound2-dev
           sudo apt-get install python3-pip portaudio19-dev
-          sudo apt-get install build-essential gfortran texinfo libasound2-dev
-          sudo apt-get install libfftw3-dev libconfig-dev libasound2-dev pulseaudio
+          sudo apt-get install build-essential gfortran texinfo
+          sudo apt-get install libfftw3-dev libconfig-dev pulseaudio
+          sudo apt-get install libprotobuf-dev protobuf-compiler
           sudo apt-get install libqt5charts5-dev
-          sudo apt-get install libgstreamer1.0-dev libgstreamer-plugins-base1.0-dev libgstreamer-plugins-bad1.0-dev gstreamer1.0-plugins-base
+          sudo apt-get install libunwind-dev libgstreamer1.0-dev libgstreamer-plugins-base1.0-dev libgstreamer-plugins-bad1.0-dev gstreamer1.0-plugins-base
           sudo apt-get install gstreamer1.0-plugins-good gstreamer1.0-plugins-bad gstreamer1.0-plugins-ugly gstreamer1.0-libav gstreamer1.0-tools
 
       - name: Clone audio_utils in ROS workspace
-        working-directory: catkin_ws/src
+        working-directory: colcon_ws/src
         run: |
-          source /opt/ros/noetic/setup.bash
+          source /opt/ros/humble/setup.bash
           git clone https://github.com/introlab/audio_utils.git --recurse-submodules
 
       - name: Clone odas_ros in ROS workspace
-        working-directory: catkin_ws/src
+        working-directory: colcon_ws/src
         run: |
-          source /opt/ros/noetic/setup.bash
+          source /opt/ros/humble/setup.bash
           git clone https://github.com/introlab/odas_ros.git --recurse-submodules
 
       - name: Install Python requirements packaging and documentation
-        working-directory: catkin_ws/src/opentera-webrtc-ros/opentera_webrtc_ros/opentera-webrtc
+        working-directory: colcon_ws/src/opentera-webrtc-ros/opentera_webrtc_ros/opentera-webrtc
         run: |
           python3 -m pip install -r requirements.txt
 
       - name: Install Python requirements for OpenTera client
-        working-directory: catkin_ws/src/opentera-webrtc-ros/opentera_client_ros
+        working-directory: colcon_ws/src/opentera-webrtc-ros/opentera_client_ros
         run: |
           python3 -m pip install -r requirements.txt
 
       - name: Install Python requirements for Signaling server
-        working-directory: catkin_ws/src/opentera-webrtc-ros/opentera_webrtc_ros/opentera-webrtc/signaling-server
+        working-directory: colcon_ws/src/opentera-webrtc-ros/opentera_webrtc_ros/opentera-webrtc/signaling-server
         run: |
           python3 -m pip install -r requirements.txt
-          
+
       - name: Install the VUE.js frontend
-        working-directory: catkin_ws/src/opentera-webrtc-ros/opentera_webrtc_demos/opentera-webrtc-teleop-frontend/teleop-vue
+        working-directory: colcon_ws/src/opentera-webrtc-ros/opentera_webrtc_demos/opentera-webrtc-teleop-frontend/teleop-vue
         run: |
           npm --version
           node --version
@@ -76,7 +76,7 @@ jobs:
           npm run build
 
       - name: Compile packages in ROS workspace
-        working-directory: catkin_ws
+        working-directory: colcon_ws
         run: |
-          source /opt/ros/noetic/setup.bash
-          catkin_make -j1
+          source /opt/ros/humble/setup.bash
+          colcon build --cmake-args -Wno-dev

README.md

@@ -117,6 +117,6 @@ Please see the [opentera_webrtc_demos package.](opentera_webrtc_demos/README.md)
 
 ## Sponsor
 
-![IntRoLab](images/IntRoLab.png)
+![IntRoLab](https://introlab.3it.usherbrooke.ca/IntRoLab.png)
 
 [IntRoLab - Intelligent / Interactive / Integrated / Interdisciplinary Robot Lab](https://introlab.3it.usherbrooke.ca)