Develop

.github/workflows/ros_build_test.yml

@@ -3,23 +3,96 @@ name: ros_build_test
 on:
 
   push:
-    branches: [ devel ]
-
-    paths-ignore:
-      - '**/README.md'
-
-    pull_request:
-      branches: [ master ]
+  pull_request:
 
   workflow_dispatch:
 
 concurrency:
   group: ${{ github.ref }}
   cancel-in-progress: true
 
+
 jobs:
 
-  build:
-    uses: ctu-mrs/ci_scripts/.github/workflows/ros_build_test.yml@master
-    secrets:
-      PUSH_TOKEN: ${{ secrets.PUSH_TOKEN }}
+  build_amd64:
+    runs-on: ubuntu-20.04
+
+    steps:
+
+      - uses: actions/checkout@v3
+        with:
+          fetch-depth: 0
+          submodules: 'recursive'
+
+      - name: Checkout CI scripts
+        uses: actions/checkout@v3
+        with:
+          repository: ctu-mrs/ci_scripts
+          ref: master
+          path: .ci_scripts
+
+      - name: Update submodules
+        run: |
+           sudo pip3 install -U gitman
+           [[ -e .gitman.yml || -e .gitman.yaml ]] && [[ ! -e .gitman_ignore ]] && gitman install || echo "no gitman modules to install"
+
+      - name: Build
+        run: |
+          mkdir -p /tmp/artifacts
+          .ci_scripts/package_build/build_package.sh $GITHUB_WORKSPACE /tmp/artifacts
+
+  build_arm64:
+
+    runs-on: ubuntu-20.04
+
+    steps:
+      - uses: actions/checkout@v3
+        with:
+          fetch-depth: 0
+          submodules: 'recursive'
+
+      - name: Checkout CI scripts
+        uses: actions/checkout@v3
+        with:
+          repository: ctu-mrs/ci_scripts
+          ref: master
+          path: .ci_scripts
+
+      - name: Update submodules
+        run: |
+           sudo pip3 install -U gitman
+           [[ -e .gitman.yml || -e .gitman.yaml ]] && [[ ! -e .gitman_ignore ]] && gitman install || echo "no gitman modules to install"
+
+      - uses: ctu-mrs/run-on-arch-action@master
+        name: Build artifact
+
+        id: build
+
+        with:
+          arch: aarch64
+          distro: noetic
+
+          githubToken: ${{ github.token }}
+
+          # Create an artifacts directory
+          setup: |
+            mkdir -p "/tmp/artifacts"
+            mkdir -p "/tmp/repository"
+
+          # Mount the artifacts directory as /artifacts in the container
+          dockerRunArgs: |
+            --volume "$PWD:/tmp/repository"
+            --volume "/tmp/artifacts:/tmp/artifacts"
+
+          # The shell to run commands with in the container
+          shell: /bin/sh
+
+          install: |
+            apt-get update -q -y
+            apt-get upgrade -q -y
+
+          # Produce a binary artifact and place it in the mounted volume
+          run: |
+            git config --global --add safe.directory "*"
+            /tmp/repository/.ci_scripts/package_build/build_package.sh /tmp/repository /tmp/artifacts
+

CMakeLists.txt

@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.5)
-project(mrs_uav_px4_api)
+project(mrs_usv_ardurover_api)
 
 set(CATKIN_DEPENDENCIES
   cmake_modules
@@ -26,7 +26,7 @@ set(CMAKE_CXX_STANDARD 17)
 set(CMAKE_CXX_STANDARD_REQUIRED ON)
 
 set(LIBRARIES
-  MrsUavPx4Api_Api
+  MrsUsvArduroverApi_Api
   )
 
 catkin_package(
@@ -40,16 +40,16 @@ include_directories(
 
 # Plugin
 
-add_library(MrsUavPx4Api_Api
+add_library(MrsUsvArduroverApi_Api
   src/api.cpp
   )
 
-add_dependencies(MrsUavPx4Api_Api
+add_dependencies(MrsUsvArduroverApi_Api
   ${${PROJECT_NAME}_EXPORTED_TARGETS}
   ${catkin_EXPORTED_TARGETS}
   )
 
-target_link_libraries(MrsUavPx4Api_Api
+target_link_libraries(MrsUsvArduroverApi_Api
   ${catkin_LIBRARIES}
   ${Eigen_LIBRARIES}
   )

README.md

@@ -1,6 +1,6 @@
-# MRS UAV PX4 API Plugin
+# MRS USV ArduPilot Rover API Plugin
 
-[MRS HW Api](https://github.com/ctu-mrs/mrs_uav_hw_api) plugin for interfacing the [UAV Core](https://github.com/ctu-mrs/mrs_uav_core) with the PX4 autopilot.
+[MRS HW Api](https://github.com/ctu-mrs/mrs_uav_hw_api) plugin for interfacing the [UAV Core](https://github.com/ctu-mrs/mrs_uav_core) with the ArduPilot Rover for BlueBoat.
 
 > :warning: **Attention please: This README is outdated.**
 >

config/px4_api.yaml → config/ardurover_api.yaml

@@ -1,6 +1,8 @@
-hw_interface_plugin: "mrs_uav_px4_api/Api"
+hw_interface_plugin: "mrs_usv_ardurover_api/Api"
 
-mavros_timeout: 1.0 # [s]
+mavros_timeout: 5.0 # [s]
+
+position_cmd_map: true
 
 simulated_rtk:
   utm_zone: "32T"
@@ -9,19 +11,21 @@ simulated_rtk:
   amsl: 340.0
 
 inputs:
+  position:      true
   control_group: false
-  attitude_rate: true
-  attitude:      true
+  attitude_rate: false
+  attitude:      false
+  velocity_hdg_rate: true
 
 outputs:
-  distance_sensor:      true
+  distance_sensor:      false
   gnss:                 true
   rtk:                  true
   imu:                  true
   altitude:             true
   magnetometer_heading: true
   magnetic_field:       true
-  rc_channels:          true
+  rc_channels:          false
   battery_state:        true
   position:             true
   orientation:          true

launch/api.launch

@@ -4,7 +4,6 @@
   <arg name="UAV_NAME" default="$(optenv UAV_NAME)" />
   <arg name="LOGGER_DEBUG" default="$(optenv LOGGER_DEBUG false)" />
   <arg name="RUN_TYPE" default="$(optenv RUN_TYPE uav)" />
-  <arg name="OLD_PX4_FW" default="$(optenv OLD_PX4_FW 0)" />
 
   <!-- other args -->
   <arg name="debug" default="false" />
@@ -26,7 +25,7 @@
     <node pkg="nodelet" type="nodelet" name="hw_api" args="$(arg nodelet) mrs_uav_hw_api/HwApiManager $(arg nodelet_manager)" output="screen" launch-prefix="$(arg launch_prefix)">
 
       <rosparam file="$(find mrs_uav_hw_api)/config/hw_api.yaml" />
-      <rosparam file="$(find mrs_uav_px4_api)/config/px4_api.yaml" />
+      <rosparam file="$(find mrs_usv_ardurover_api)/config/ardurover_api.yaml" />
 
       <!-- Load a user param file -->
       <rosparam if="$(eval not arg('custom_config') == '')" file="$(arg custom_config)" />
@@ -36,23 +35,37 @@
       <param name="uav_name" type="string" value="$(arg UAV_NAME)" />
       <param name="simulation" type="bool" value="$(eval arg('RUN_TYPE') == 'simulation')" />
 
+      <!-- Topics -->
       <remap if="$(eval arg('RUN_TYPE') == 'simulation')" from="~ground_truth_in" to="ground_truth" />
-      <remap if="$(eval arg('RUN_TYPE') == 'realworld')" from="~rtk_in" to="rtk/bestpos" />
-      <remap from="~mavros_state_in" to="mavros/state" />
-      <remap if="$(eval arg('OLD_PX4_FW') == 0)" from="~mavros_local_position_in" to="mavros/odometry/in" />
-      <remap if="$(eval arg('OLD_PX4_FW') == 1)" from="~mavros_local_position_in" to="mavros/local_position/odom" />
-      <remap from="~mavros_global_position_in" to="mavros/global_position/global" />
-      <remap from="~mavros_garmin_in" to="mavros/distance_sensor/garmin" />
-      <remap from="~mavros_imu_in" to="mavros/imu/data" />
-      <remap from="~mavros_magnetometer_in" to="mavros/global_position/compass_hdg" />
-      <remap from="~mavros_magnetic_field_in" to="mavros/imu/mag" />
-      <remap from="~mavros_rc_in" to="mavros/rc/in" />
-      <remap from="~mavros_altitude_in" to="mavros/altitude" />
-      <remap from="~mavros_battery_in" to="mavros/battery" />
-      <remap from="~mavros_cmd_out" to="mavros/cmd/command" />
-      <remap from="~mavros_set_mode_out" to="mavros/set_mode" />
-      <remap from="~mavros_attitude_setpoint_out" to="mavros/setpoint_raw/attitude" />
-      <remap from="~mavros_actuator_control_out" to="mavros/actuator_control" />
+      <remap if="$(eval arg('RUN_TYPE') == 'realworld')" from="~rtk_in" to="/uav/rtk/bestpos" />
+
+      <remap from="~mavros_state_in" to="/mavros/state" />
+
+      <remap from="~mavros_local_position_in" to="/mavros/local_position/odom" />
+
+      <remap from="~mavros_global_position_in" to="/mavros/global_position/global" />
+      <remap from="~mavros_imu_in" to="/mavros/imu/data" />
+      <remap from="~mavros_magnetometer_in" to="/mavros/global_position/compass_hdg" />
+      <remap from="~mavros_magnetic_field_in" to="/mavros/imu/mag" />
+      <remap from="~mavros_rc_in" to="/mavros/rc/in" />
+      <remap from="~mavros_battery_in" to="/mavros/battery" />
+
+      <remap from="~mavros_position_setpoint_out" to="/mavros/setpoint_raw/local" />
+      <remap from="~mavros_velocity_setpoint_out" to="/mavros/setpoint_velocity/cmd_vel_unstamped" />
+      <remap from="~mavros_attitude_setpoint_out" to="/mavros/setpoint_raw/attitude" />
+      <remap from="~mavros_actuator_control_out" to="/mavros/actuator_control" />
+      <remap from="~mavros_cmd_out" to="/mavros/cmd/command" />
+      <remap from="~mavros_set_mode_out" to="/mavros/set_mode" />
+
+      <remap from="~left_usv_thrust_cmd_out" to="/wamv/thrusters/left_thrust_cmd" />
+      <remap from="~right_usv_thrust_cmd_out" to="/wamv/thrusters/right_thrust_cmd" />
+      <remap from="~left_usv_thrust_angle_out" to="/wamv/thrusters/left_thrust_angle" />
+      <remap from="~right_usv_thrust_angle_out" to="/wamv/thrusters/right_thrust_angle" />
+
+      <!-- NO DATA -->
+      <remap from="~mavros_altitude_in" to="/mavros/altitude" />
+      <remap from="~mavros_garmin_in" to="/mavros/distance_sensor/garmin" />
+
 
     </node>
 

package.xml

@@ -1,12 +1,12 @@
 <?xml version="1.0"?>
 <package format="2">
 
-  <name>mrs_uav_px4_api</name>
+  <name>mrs_usv_ardurover_api</name>
   <version>1.0.0</version>
-  <description>PX4 API for MRS UAV System</description>
+  <description>ArduPilot Rover API for MRS UAV System</description>
 
-  <author email="tomas.baca@fel.cvut.cz">Tomas Baca</author>
-  <maintainer email="tomas.baca@fel.cvut.cz">Tomas Baca</maintainer>
+  <author email="filip.novak@fel.cvut.cz">Filip Novak</author>
+  <maintainer email="filip.novak@fel.cvut.cz">Filip Novak</maintainer>
 
   <license>BSD 3-Clause</license>
 

plugins.xml

@@ -1,5 +1,5 @@
-<library path="lib/libMrsUavPx4Api_Api">
-  <class name="mrs_uav_px4_api/Api" type="mrs_uav_px4_api::MrsUavPx4Api" base_class_type="mrs_uav_hw_api::MrsUavHwApi">
-    <description>PX4 API module for the MRS UAV System</description>
+<library path="lib/libMrsUsvArduroverApi_Api">
+  <class name="mrs_usv_ardurover_api/Api" type="mrs_usv_ardurover_api::MrsUsvArduroverApi" base_class_type="mrs_uav_hw_api::MrsUavHwApi">
+    <description>ArduPilot Rover API module for the MRS UAV System</description>
   </class>
 </library>