AMRService: Initial version of AMR service

Signed-off-by: xiaowz <[email protected]>

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CHANGELOG.md

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+# Changelog for package qrb_ros_amr_service
+
+## 1.0.0 (2024-11-28)
+
+- Initial version release for Humble
+- Contributors: Xiaowei Zhang

CODE-OF-CONDUCT.md

@@ -0,0 +1,132 @@
+# Contributor Covenant Code of Conduct
+
+## Our Pledge
+
+We as members, contributors, and leaders pledge to make participation in our
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+## Attribution
+
+This Code of Conduct is adapted from the [Contributor Covenant][homepage],
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+[translations]: https://www.contributor-covenant.org/translations

CONTRIBUTING.md

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+## Contributing to qrb_ros_amr_service
+
+Hi there!
+We’re thrilled that you’d like to contribute to this project.
+Your help is essential for keeping this project great and for making it better.
+
+## Branching Strategy
+
+In general, contributors should develop on branches based off of `main` and pull requests should be made against `main`.
+
+## Submitting a pull request
+
+1. Please read our [code of conduct](CODE-OF-CONDUCT.md) and [license](LICENSE).
+1. [Fork](https://github.com/quic-qrb-ros/qrb_ros_amr_service/fork) and clone the repository.
+
+    ```bash
+    git clone https://github.com/quic-qrb-ros/qrb_ros_amr_service.git
+    ``` 
+
+1. Create a new branch based on `main`:
+
+    ```bash 
+    git checkout -b <my-branch-name> main
+    ```
+
+1. Create an upstream `remote` to make it easier to keep your branches up-to-date:
+
+    ```bash
+    git remote add upstream https://github.com/quic-qrb-ros/qrb_ros_amr_service.git
+    ```
+
+1. Make your changes, add tests, and make sure the tests still pass.
+1. Commit your changes using the [DCO](http://developercertificate.org/). You can attest to the DCO by commiting with the **-s** or **--signoff** options or manually adding the "Signed-off-by":
+
+    ```bash
+    git commit -s -m "Really useful commit message"`
+    ```
+
+1. After committing your changes on the topic branch, sync it with the upstream branch:
+
+    ```bash
+    git pull --rebase upstream main
+    ```
+
+1. Push to your fork.
+
+    ```bash
+    git push -u origin <my-branch-name>
+    ```
+
+    The `-u` is shorthand for `--set-upstream`. This will set up the tracking reference so subsequent runs of `git push` or `git pull` can omit the remote and branch.
+
+1. [Submit a pull request](https://github.com/quic-qrb-ros/qrb_ros_amr_service/pulls) from your branch to `main`.
+1. Pat yourself on the back and wait for your pull request to be reviewed.
+
+Here are a few things you can do that will increase the likelihood of your pull request to be accepted:
+
+- Follow the existing style where possible. **INSERT LINK TO STYLE, e.g. PEP8 for python**
+- Write tests.
+- Keep your change as focused as possible.
+  If you want to make multiple independent changes, please consider submitting them as separate pull requests.
+- Write a [good commit message](http://tbaggery.com/2008/04/19/a-note-about-git-commit-messages.html).
+- It's a good idea to arrange a discussion with other developers to ensure there is consensus on large features, architecture changes, and other core code changes. PR reviews will go much faster when there are no surprises.

LICENSE

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+BSD 3-Clause License
+
+Copyright (c) 2024, QUIC QRB ROS
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+1. Redistributions of source code must retain the above copyright notice, this
+   list of conditions and the following disclaimer.
+
+2. Redistributions in binary form must reproduce the above copyright notice,
+   this list of conditions and the following disclaimer in the documentation
+   and/or other materials provided with the distribution.
+
+3. Neither the name of the copyright holder nor the names of its
+   contributors may be used to endorse or promote products derived from
+   this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

README.md

@@ -1 +1,81 @@
 # qrb_ros_amr_service
+
+qrb_ros_amr_service is a package to manage the AMR behavior, such as navigation, mapping, return charging station.
+
+## Overview
+
+Qualcomm amr service provides ROS interfaces that application can use these interfaces to start a P2P navigation or
+Follow path, amr service will control the base return the charging station when battery level is low.
+
+qrb_amr_manager, which is a dynamic library, it manages the amr behavior.
+
+## Build
+
+Currently, we only support use QCLINUX to build
+
+1. Setup environments follow this document 's [Set up the cross-compile environment.](https://docs.qualcomm.com/bundle/publicresource/topics/80-65220-2/develop-your-first-application_6.html?product=1601111740013072&facet=Qualcomm%20Intelligent%20Robotics%20(QIRP)%20Product%20SDK&state=releasecandidate) part
+
+2. Create `ros_ws` directory in `<qirp_decompressed_workspace>/qirp-sdk/`
+
+3. Clone this repository under `<qirp_decompressed_workspace>/qirp-sdk/ros_ws`
+     ```bash
+     git clone https://github.com/quic-qrb-ros/qrb_ros_interfaces.git
+     git clone https://github.com/quic-qrb-ros/qrb_ros_amr_service.git
+     ```
+4. Build this project
+     ```bash
+     export AMENT_PREFIX_PATH="${OECORE_TARGET_SYSROOT}/usr;${OECORE_NATIVE_SYSROOT}/usr"
+     export PYTHONPATH=${PYTHONPATH}:${OECORE_TARGET_SYSROOT}/usr/lib/python3.10/site-packages
+     export Python3_NumPy_INCLUDE_DIR=${OECORE_TARGET_SYSROOT}/usr/lib/python3.10/site-packages/numpy/core/include
+     colcon build --merge-install --cmake-args \
+       -DPython3_NumPy_INCLUDE_DIR=${Python3_NumPy_INCLUDE_DIR} \
+       -DPYTHON_SOABI=cpython-310-aarch64-linux-gnu \
+       -DCMAKE_STAGING_PREFIX=$(pwd)/install \
+       -DCMAKE_PREFIX_PATH=$(pwd)/install/share \
+       -DBUILD_TESTING=OFF
+     ```
+5. Push to the device & Install
+     ```bash
+     cd `<qirp_decompressed_workspace>/qirp-sdk/ros_ws/install`
+     tar czvf qrb_ros_amr_service.tar.gz lib share
+     scp qrb_ros_amr_service.tar.gz root@[ip-addr]:/opt/
+     ssh root@[ip-addr]
+     (ssh) tar -zxf /opt/qrb_ros_amr_service.tar.gz -C /opt/qcom/qirp-sdk/usr/
+     ```
+
+## Run
+
+This package supports running it directly from the command or by dynamically adding it to the ros2 component container.
+
+a.Run with command
+
+1. Source this file to set up the environment on your device:
+    ```bash
+    ssh root@[ip-addr]
+    (ssh) export HOME=/opt
+    (ssh) source /opt/qcom/qirp-sdk/qirp-setup.sh
+    (ssh) export ROS_DOMAIN_ID=xx
+    (ssh) source /usr/bin/ros_setup.bash
+    ```
+
+2. Use this command to run this package
+    ```bash
+    (ssh) ros2 launch qrb_ros_amr qrb_ros_amr_bringup.launch.py
+    ```
+## Packages
+
+Will update in the future.
+
+## Resources
+
+- [ROS2 Type Adaption](https://ros.org/reps/rep-2007.html)
+
+## Contributions
+
+Thanks for your interest in contributing to qrb_ros_amr_service! Please read our [Contributions Page](CONTRIBUTING.md) for more information on contributing features or bug fixes. We look forward to your participation!
+
+## License
+
+qrb_ros_imu is licensed under the BSD-3-clause "New" or "Revised" License.
+
+Check out the [LICENSE](LICENSE) for more details.