From a68cd0ec3647f31f787bcf0998dc9fba836c6f57 Mon Sep 17 00:00:00 2001 From: Evan Palmer Date: Wed, 28 Jun 2023 18:01:12 -0700 Subject: [PATCH 01/67] Updated blue.repos to use the correct ros_gz branch --- blue.repos | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/blue.repos b/blue.repos index 6b184ee8..dc173d38 100644 --- a/blue.repos +++ b/blue.repos @@ -3,4 +3,4 @@ repositories: ros_gz: type: git url: https://github.com/gazebosim/ros_gz - version: ros2 + version: iron From 685254662b6e9fc8fa2926280360276c0fcdb4cc Mon Sep 17 00:00:00 2001 From: Evan Palmer Date: Thu, 29 Jun 2023 16:06:03 -0700 Subject: [PATCH 02/67] Updated devcontainer configuration to use Iron --- .devcontainer.json | 14 +++++--------- 1 file changed, 5 insertions(+), 9 deletions(-) diff --git a/.devcontainer.json b/.devcontainer.json index a95f9415..17873713 100644 --- a/.devcontainer.json +++ b/.devcontainer.json @@ -4,7 +4,7 @@ "build": { "args": { "WORKSPACE": "${containerWorkspaceFolder}", - "ROS_DISTRO": "rolling" + "ROS_DISTRO": "iron" } }, "remoteUser": "blue", @@ -53,16 +53,12 @@ "isort.args": ["--profile", "black"], "isort.check": true, "python.autoComplete.extraPaths": [ - "/opt/ros/humble/lib/python3.10/site-packages/", - "/opt/ros/humble/local/lib/python3.10/dist-packages/", - "/opt/ros/rolling/lib/python3.10/site-packages/", - "/opt/ros/rolling/local/lib/python3.10/dist-packages/" + "/opt/ros/iron/lib/python3.10/site-packages/", + "/opt/ros/iron/local/lib/python3.10/dist-packages/" ], "python.analysis.extraPaths": [ - "/opt/ros/humble/lib/python3.10/site-packages/", - "/opt/ros/humble/local/lib/python3.10/dist-packages/", - "/opt/ros/rolling/lib/python3.10/site-packages/", - "/opt/ros/rolling/local/lib/python3.10/dist-packages/" + "/opt/ros/iron/lib/python3.10/site-packages/", + "/opt/ros/iron/local/lib/python3.10/dist-packages/" ], "C_Cpp.default.intelliSenseMode": "linux-gcc-x86", "C_Cpp.clang_format_fallbackStyle": "Google", From d146436d40a01fea5cff5e668c1bba61372b45a6 Mon Sep 17 00:00:00 2001 From: Evan Palmer Date: Sun, 30 Jul 2023 01:10:06 -0700 Subject: [PATCH 03/67] Forgot to fix one more conflict --- .devcontainer/nouveau/devcontainer.json | 11 ----------- 1 file changed, 11 deletions(-) diff --git a/.devcontainer/nouveau/devcontainer.json b/.devcontainer/nouveau/devcontainer.json index 37b7484c..616e11fe 100644 --- a/.devcontainer/nouveau/devcontainer.json +++ b/.devcontainer/nouveau/devcontainer.json @@ -54,23 +54,12 @@ "isort.args": ["--profile", "black"], "isort.check": true, "python.autoComplete.extraPaths": [ -<<<<<<< HEAD:.devcontainer.json "/opt/ros/iron/lib/python3.10/site-packages/", "/opt/ros/iron/local/lib/python3.10/dist-packages/" ], "python.analysis.extraPaths": [ "/opt/ros/iron/lib/python3.10/site-packages/", "/opt/ros/iron/local/lib/python3.10/dist-packages/" -======= - "/opt/ros/rolling/lib/python3.10/site-packages/", - "/opt/ros/rolling/local/lib/python3.10/dist-packages/", - "${workspaceFolder}/install/" - ], - "python.analysis.extraPaths": [ - "/opt/ros/rolling/lib/python3.10/site-packages/", - "/opt/ros/rolling/local/lib/python3.10/dist-packages/", - "${workspaceFolder}/install/" ->>>>>>> origin/main:.devcontainer/nouveau/devcontainer.json ], "C_Cpp.default.intelliSenseMode": "linux-gcc-x86", "C_Cpp.clang_format_fallbackStyle": "Google", From 1df4ca93f5c2ee91860662b33fb846b1a67b2e03 Mon Sep 17 00:00:00 2001 From: "mergify[bot]" <37929162+mergify[bot]@users.noreply.github.com> Date: Thu, 31 Aug 2023 23:19:47 -0700 Subject: [PATCH 04/67] Fixed home position timer (#104) (#105) (cherry picked from commit 1d25643ccd6cfbd58ace7319ff8deba6960c61ec) Co-authored-by: Evan Palmer --- blue_manager/blue_manager/manager.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/blue_manager/blue_manager/manager.py b/blue_manager/blue_manager/manager.py index df330b5c..f13e8252 100644 --- a/blue_manager/blue_manager/manager.py +++ b/blue_manager/blue_manager/manager.py @@ -229,7 +229,7 @@ def set_home_pos(lat: float, lon: float, alt: float, yaw: float) -> None: # Similar to the message rates, we set the home position periodically to handle # the case in which the home position is set by QGC to a different location - self.message_rate_timer = self.create_timer( + self.home_position_timer = self.create_timer( hp_request_rate, lambda: set_home_pos(home_lat, home_lon, home_alt, home_yaw), ) From cc2ff0ba51a870af800f467104d5aa2daf1ad6fa Mon Sep 17 00:00:00 2001 From: "mergify[bot]" <37929162+mergify[bot]@users.noreply.github.com> Date: Thu, 12 Oct 2023 16:55:30 -0700 Subject: [PATCH 05/67] Cleaned up Docker pipelines (backport #121) (#122) * Cleaned up Docker pipelines (#121) * Cleaned up Dockerfile and added new user entrypoints * Fixed robot pipeline to support building for arm64 * Updated devcontainer configurations to use latest changes * Testing pipelines * Removed testing branch from pipelines * Precommit * Resolved pr comments (cherry picked from commit 11807c8e7e5a19faf4b136d9b8c35458338a0fe9) # Conflicts: # .devcontainer/nouveau/devcontainer.json # .devcontainer/nvidia/devcontainer.json # .github/ISSUE_TEMPLATE/config.yaml # .github/workflows/ci.yaml * Fixed backport * Fixed config merge conflict --------- Co-authored-by: Evan Palmer --- .devcontainer/nouveau/Dockerfile | 26 +++ .devcontainer/nouveau/devcontainer.json | 21 +- .devcontainer/nvidia/Dockerfile | 26 +++ .devcontainer/nvidia/devcontainer.json | 29 +-- .docker/Dockerfile | 286 ++++++++---------------- .docker/compose/nouveau-desktop.yaml | 20 ++ .docker/compose/nvidia-desktop.yaml | 30 +++ .docker/entrypoints/dev.sh | 7 - .docker/entrypoints/sim.sh | 10 +- .dockerignore | 1 + .github/ISSUE_TEMPLATE/config.yaml | 4 +- .github/workflows/ci.yaml | 10 +- .github/workflows/docker.yaml | 133 ++++++++++- .github/workflows/format.yaml | 2 +- 14 files changed, 362 insertions(+), 243 deletions(-) create mode 100644 .devcontainer/nouveau/Dockerfile create mode 100644 .devcontainer/nvidia/Dockerfile create mode 100644 .docker/compose/nouveau-desktop.yaml create mode 100644 .docker/compose/nvidia-desktop.yaml delete mode 100644 .docker/entrypoints/dev.sh diff --git a/.devcontainer/nouveau/Dockerfile b/.devcontainer/nouveau/Dockerfile new file mode 100644 index 00000000..1f194fd4 --- /dev/null +++ b/.devcontainer/nouveau/Dockerfile @@ -0,0 +1,26 @@ +FROM ghcr.io/robotic-decision-making-lab/blue:iron-desktop + +# Install ROS dependencies +# This is done in a previous stage, but we include it again here in case anyone wants to +# add new dependencies during development +ENV USERNAME=blue +ENV USER_WORKSPACE=/home/$USERNAME/ws_blue +WORKDIR $USER_WORKSPACE + +COPY --chown=$USER_UID:$USER_GID . src/blue +RUN sudo apt-get -q update \ + && sudo apt-get -q -y upgrade \ + && rosdep update \ + && rosdep install -y --from-paths src --ignore-src --rosdistro ${ROS_DISTRO} --skip-keys="gz-transport12 gz-sim7 gz-math7 gz-msgs9 gz-plugin2" \ + && sudo apt-get autoremove -y \ + && sudo apt-get clean -y \ + && sudo rm -rf /var/lib/apt/lists/* + +# Install debugging/linting Python packages +COPY --chown=$USER_UID:$USER_GID requirements-dev.txt . +RUN python3 -m pip install -r requirements-dev.txt \ + && rm -rf requirements-dev.txt + +# Disable the setuputils installation warning +# This prevents us from needing to pin the setuputils version (which doesn't always work) +ENV PYTHONWARNINGS="ignore" diff --git a/.devcontainer/nouveau/devcontainer.json b/.devcontainer/nouveau/devcontainer.json index 616e11fe..165687e2 100644 --- a/.devcontainer/nouveau/devcontainer.json +++ b/.devcontainer/nouveau/devcontainer.json @@ -1,13 +1,9 @@ { - "dockerFile": "../../.docker/Dockerfile", + "name": "Blue Nouveau Dev Container", + "dockerFile": "Dockerfile", "context": "../..", - "build": { - "args": { - "WORKSPACE": "${containerWorkspaceFolder}", - "ROS_DISTRO": "iron" - }, - "target": "develop" - }, + "workspaceMount": "source=${localWorkspaceFolder},target=/home/blue/ws_blue/src/blue,type=bind", + "workspaceFolder": "/home/blue/ws_blue/src/blue", "remoteUser": "blue", "runArgs": [ "--network=host", @@ -43,12 +39,6 @@ "editor.tabSize": 2, "xml.format.maxLineWidth": 100, "json.format.enable": true, - "python.linting.enabled": true, - "python.linting.flake8Enabled": true, - "python.linting.pylintEnabled": false, - "python.linting.pydocstyleEnabled": true, - "python.linting.mypyEnabled": true, - "python.formatting.provider": "black", "autoDocstring.startOnNewLine": false, "autoDocstring.docstringFormat": "google-notypes", "isort.args": ["--profile", "black"], @@ -76,7 +66,8 @@ "editor.rulers": [90], "editor.codeActionsOnSave": { "source.organizeImports": true - } + }, + "editor.defaultFormatter": "ms-python.black-formatter" }, "[dockerfile]": { "editor.quickSuggestions": { diff --git a/.devcontainer/nvidia/Dockerfile b/.devcontainer/nvidia/Dockerfile new file mode 100644 index 00000000..462e503c --- /dev/null +++ b/.devcontainer/nvidia/Dockerfile @@ -0,0 +1,26 @@ +FROM ghcr.io/robotic-decision-making-lab/blue:iron-desktop-nvidia + +# Install ROS dependencies +# This is done in a previous stage, but we include it again here in case anyone wants to +# add new dependencies during development +ENV USERNAME=blue +ENV USER_WORKSPACE=/home/$USERNAME/ws_blue +WORKDIR $USER_WORKSPACE + +COPY --chown=$USER_UID:$USER_GID . src/blue +RUN sudo apt-get -q update \ + && sudo apt-get -q -y upgrade \ + && rosdep update \ + && rosdep install -y --from-paths src --ignore-src --rosdistro ${ROS_DISTRO} --skip-keys="gz-transport12 gz-sim7 gz-math7 gz-msgs9 gz-plugin2" \ + && sudo apt-get autoremove -y \ + && sudo apt-get clean -y \ + && sudo rm -rf /var/lib/apt/lists/* + +# Install debugging/linting Python packages +COPY --chown=$USER_UID:$USER_GID requirements-dev.txt . +RUN python3 -m pip install -r requirements-dev.txt \ + && rm -rf requirements-dev.txt + +# Disable the setuputils installation warning +# This prevents us from needing to pin the setuputils version (which doesn't always work) +ENV PYTHONWARNINGS="ignore" diff --git a/.devcontainer/nvidia/devcontainer.json b/.devcontainer/nvidia/devcontainer.json index 459f3581..62ff191f 100644 --- a/.devcontainer/nvidia/devcontainer.json +++ b/.devcontainer/nvidia/devcontainer.json @@ -1,13 +1,9 @@ { - "dockerFile": "../../.docker/Dockerfile", + "name": "Blue NVIDIA Dev Container", + "dockerFile": "Dockerfile", "context": "../..", - "build": { - "args": { - "WORKSPACE": "${containerWorkspaceFolder}", - "ROS_DISTRO": "iron" - }, - "target": "develop-nvidia" - }, + "workspaceMount": "source=${localWorkspaceFolder},target=/home/blue/ws_blue/src/blue,type=bind", + "workspaceFolder": "/home/blue/ws_blue/src/blue", "remoteUser": "blue", "runArgs": [ "--network=host", @@ -47,24 +43,18 @@ "editor.tabSize": 2, "xml.format.maxLineWidth": 100, "json.format.enable": true, - "python.linting.enabled": true, - "python.linting.flake8Enabled": true, - "python.linting.pylintEnabled": false, - "python.linting.pydocstyleEnabled": true, - "python.linting.mypyEnabled": true, - "python.formatting.provider": "black", "autoDocstring.startOnNewLine": false, "autoDocstring.docstringFormat": "google-notypes", "isort.args": ["--profile", "black"], "isort.check": true, "python.autoComplete.extraPaths": [ - "/opt/ros/rolling/lib/python3.10/site-packages/", - "/opt/ros/rolling/local/lib/python3.10/dist-packages/", + "/opt/ros/iron/lib/python3.10/site-packages/", + "/opt/ros/iron/local/lib/python3.10/dist-packages/", "${workspaceFolder}/install/" ], "python.analysis.extraPaths": [ - "/opt/ros/rolling/lib/python3.10/site-packages/", - "/opt/ros/rolling/local/lib/python3.10/dist-packages/", + "/opt/ros/iron/lib/python3.10/site-packages/", + "/opt/ros/iron/local/lib/python3.10/dist-packages/", "${workspaceFolder}/install/" ], "C_Cpp.default.intelliSenseMode": "linux-gcc-x86", @@ -82,7 +72,8 @@ "editor.rulers": [90], "editor.codeActionsOnSave": { "source.organizeImports": true - } + }, + "editor.defaultFormatter": "ms-python.black-formatter" }, "[dockerfile]": { "editor.quickSuggestions": { diff --git a/.docker/Dockerfile b/.docker/Dockerfile index e5e59147..730cd9d9 100644 --- a/.docker/Dockerfile +++ b/.docker/Dockerfile @@ -1,24 +1,16 @@ -############################################## -# ci: Install core dependencies needed for CI -############################################## -ARG ROS_DISTRO=rolling +ARG ROS_DISTRO=iron FROM ros:$ROS_DISTRO-ros-base as ci -LABEL maintainer="Evan Palmer" -LABEL maintainer-email="evanp922@gmail.com" - ENV DEBIAN_FRONTEND=noninteractive -WORKDIR /root/ws_blue +WORKDIR /root/ws_blue COPY . src/blue -# Install apt packages +# Install apt packages needed for CI RUN apt-get -q update \ && apt-get -q -y upgrade \ && apt-get -q install --no-install-recommends -y \ git \ - wget \ - curl \ sudo \ clang \ clang-format-14 \ @@ -31,25 +23,6 @@ RUN apt-get -q update \ && apt-get clean -y \ && rm -rf /var/lib/apt/lists/* -# Install the Python requirements that aren't available as rosdeps -RUN python3 -m pip install -r $(pwd)/src/blue/requirements-build.txt - -# Install gstreamer -RUN apt-get -q update \ - && apt-get -q -y upgrade \ - && apt-get -q install --no-install-recommends -y \ - python3-gi \ - gstreamer1.0-tools \ - gir1.2-gstreamer-1.0 \ - gir1.2-gst-plugins-base-1.0 \ - gstreamer1.0-plugins-good \ - gstreamer1.0-plugins-ugly \ - gstreamer1.0-plugins-bad \ - gstreamer1.0-libav \ - && apt-get autoremove -y \ - && apt-get clean -y \ - && rm -rf /var/lib/apt/lists/* - # Install all ROS dependencies RUN apt-get -q update \ && apt-get -q -y upgrade \ @@ -60,6 +33,8 @@ RUN apt-get -q update \ && apt-get clean -y \ && rm -rf /var/lib/apt/lists/* +FROM ci as robot + # Configure a new non-root user ARG USERNAME=blue ARG USER_UID=1000 @@ -69,51 +44,95 @@ RUN groupadd --gid $USER_GID $USERNAME \ && useradd --uid $USER_UID --gid $USER_GID -m $USERNAME \ && echo $USERNAME ALL=\(root\) NOPASSWD:ALL > /etc/sudoers.d/$USERNAME \ && chmod 0440 /etc/sudoers.d/$USERNAME \ + && usermod -a -G dialout $USERNAME \ && echo "source /usr/share/bash-completion/completions/git" >> /home/$USERNAME/.bashrc -# Switch to the non-root user to install MAVROS dependencies +ENV DEBIAN_FRONTEND=noninteractive + +# Switch to the non-root user for the rest of the installation. +# We do this to avoid any conflicts with user permissions USER $USERNAME ENV USER=$USERNAME +# Install some core apt packages +RUN sudo apt-get -q update \ + && sudo apt-get -q -y upgrade \ + && sudo apt-get -q install --no-install-recommends -y \ + lsb-release \ + wget \ + gnupg \ + && sudo apt-get autoremove -y \ + && sudo apt-get clean -y \ + && sudo rm -rf /var/lib/apt/lists/* + # Install MAVROS dependencies WORKDIR /home/$USERNAME RUN wget https://raw.githubusercontent.com/mavlink/mavros/ros2/mavros/scripts/install_geographiclib_datasets.sh \ && chmod +x install_geographiclib_datasets.sh \ && sudo ./install_geographiclib_datasets.sh -# Switch back to root user -USER root -ENV USER=root +# Copy the project over to the image +ENV USER_WORKSPACE=/home/$USERNAME/ws_blue +WORKDIR $USER_WORKSPACE +COPY --chown=$USER_UID:$USER_GID . src/blue -################################################################# -# sim: install Gazebo and the tools needed for Gazebo simulation -################################################################# -FROM ci as sim +# Install the Python requirements that aren't available as rosdeps +RUN python3 -m pip install -r $(pwd)/src/blue/requirements-build.txt + +# Install gstreamer +RUN sudo apt-get -q update \ + && sudo apt-get -q -y upgrade \ + && sudo apt-get -q install --no-install-recommends -y \ + python3-gi \ + gstreamer1.0-tools \ + gir1.2-gstreamer-1.0 \ + gir1.2-gst-plugins-base-1.0 \ + gstreamer1.0-plugins-good \ + gstreamer1.0-plugins-ugly \ + gstreamer1.0-plugins-bad \ + gstreamer1.0-libav \ + && sudo apt-get autoremove -y \ + && sudo apt-get clean -y \ + && sudo rm -rf /var/lib/apt/lists/* + +# Install all ROS dependencies +RUN sudo apt-get -q update \ + && sudo apt-get -q -y upgrade \ + && rosdep update \ + && rosdep install -y --from-paths src --ignore-src --rosdistro ${ROS_DISTRO} \ + && sudo apt-get autoremove -y \ + && sudo apt-get clean -y \ + && sudo rm -rf /var/lib/apt/lists/* + +# Setup the environment variables +RUN echo "source ${USER_WORKSPACE}/install/setup.bash" >> /home/$USERNAME/.bashrc \ + && echo "source /opt/ros/${ROS_DISTRO}/setup.bash" >> /home/$USERNAME/.bashr + +FROM robot as desktop + +ENV DEBIAN_FRONTEND=noninteractive +ENV GZ_VERSION=garden # Install Gazebo Garden: https://gazebosim.org/docs/garden/install_ubuntu -RUN wget https://packages.osrfoundation.org/gazebo.gpg -O /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg -RUN echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" | tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null -RUN apt-get update \ - && apt-get -y --quiet --no-install-recommends install \ +RUN sudo wget https://packages.osrfoundation.org/gazebo.gpg -O /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg \ + && echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null \ + && sudo apt-get update \ + && sudo apt-get -y --quiet --no-install-recommends install \ gz-garden \ - && apt-get autoremove -y \ - && apt-get clean -y \ - && rm -rf /var/lib/apt/lists/* + && sudo apt-get autoremove -y \ + && sudo apt-get clean -y \ + && sudo rm -rf /var/lib/apt/lists/* # Install ArduPilot and ardupilot_gazebo dependencies -RUN apt-get -q update \ - && apt-get -q -y upgrade \ - && apt-get -q install --no-install-recommends -y \ +RUN sudo apt-get -q update \ + && sudo apt-get -q -y upgrade \ + && sudo apt-get -q install --no-install-recommends -y \ python3-wxgtk4.0 \ rapidjson-dev \ xterm \ - && apt-get autoremove -y \ - && apt-get clean -y \ - && rm -rf /var/lib/apt/lists/* - -# Switch to the non-root user to install ArduSub -USER $USERNAME -ENV USER=$USERNAME + && sudo apt-get autoremove -y \ + && sudo apt-get clean -y \ + && sudo rm -rf /var/lib/apt/lists/* # Clone ArduSub # ArduSub is installed for simulation purposes ONLY @@ -144,152 +163,43 @@ RUN [ "/bin/bash" , "-c" , " \ && cmake .. -DCMAKE_BUILD_TYPE=RelWithDebInfo \ && make -j4" ] -# Switch back to the root user -USER root -ENV USER=root - -# Extend the ros_entrypoint to source the simulation environment -COPY .docker/entrypoints/sim.sh / -RUN sed -i '/source "\/opt\/ros\/$ROS_DISTRO\/setup\.bash" --/a source /sim.sh' /ros_entrypoint.sh - -################################################## -# deps: Install all external project dependencies -################################################## -FROM sim as deps - -ENV GZ_VERSION=garden -ENV USER_WORKSPACE=/home/$USERNAME/ws_blue/install -ENV DEBIAN_FRONTEND=noninteractive -WORKDIR $USER_WORKSPACE/.. - -COPY blue.repos src/ - -RUN apt-get -q update \ - && apt-get -q -y upgrade \ - && vcs import src < src/blue.repos \ - && rosdep update \ - && rosdep install -y --from-paths src --ignore-src --rosdistro ${ROS_DISTRO} --as-root=apt:false --skip-keys="gz-transport12 gz-sim7 gz-math7 gz-msgs9 gz-plugin2" \ - && apt-get autoremove -y \ - && apt-get clean -y \ - && rm -rf /var/lib/apt/lists/* - -RUN . "/opt/ros/${ROS_DISTRO}/setup.sh" \ - && colcon build \ - # Update /ros_entrypoint.sh to source the workspace - && sed -i "s#/opt/ros/\$ROS_DISTRO/setup.bash#$USER_WORKSPACE/setup.sh#g" /ros_entrypoint.sh \ - && echo "source ${USER_WORKSPACE}/setup.sh" >> /home/$USERNAME/.bashrc - -#################################################### -# develop: Setup the image for development purposes -#################################################### -FROM deps as develop - -ENV GZ_VERSION=garden -ENV ROS_UNDERLAY /root/ws_blue/install -ENV DEBIAN_FRONTEND=noninteractive -WORKDIR $ROS_UNDERLAY/.. - -COPY . src/blue - -# Install debugging/linting Python packages -RUN python3 -m pip install -r $(pwd)/src/blue/requirements-dev.txt - -RUN apt-get -q update \ - && apt-get -q -y upgrade \ +# Install Gazebo +WORKDIR $USER_WORKSPACE +RUN sudo apt-get -q update \ + && sudo apt-get -q -y upgrade \ && vcs import src < src/blue/blue.repos \ && rosdep update \ - && rosdep install -y --from-paths src --ignore-src --rosdistro ${ROS_DISTRO} --as-root=apt:false --skip-keys="gz-transport12 gz-sim7 gz-math7 gz-msgs9" \ - && rm -rf src \ - && apt-get autoremove -y \ - && apt-get clean -y \ - && rm -rf /var/lib/apt/lists/* - -# Install development tools -RUN apt-get -q update \ - && apt-get -q -y upgrade \ - && apt-get -q install --no-install-recommends -y \ - iputils-ping \ - net-tools \ - gdb \ - nano \ - && apt-get autoremove -y \ - && apt-get clean -y \ - && rm -rf /var/lib/apt/lists/* - -COPY .docker/entrypoints/dev.sh / - -# WARNING: This is a temporary solution for disabling the setuputils installation warning -ENV PYTHONWARNINGS="ignore" - -ARG WORKSPACE -RUN echo "if [ -f ${WORKSPACE}/install/setup.bash ]; then source ${WORKSPACE}/install/setup.bash; fi" >> /home/$USERNAME/.bashrc \ - && echo "if [ -f /opt/ros/${ROS_DISTRO}/setup.bash ]; then source /opt/ros/${ROS_DISTRO}/setup.bash; fi" >> /home/$USERNAME/.bashrc \ - # Expose the environment variables to the non-root user - && echo "if [ -f /sim.sh ]; then source /sim.sh; fi" >> /home/$USERNAME/.bashrc \ - && echo "if [ -f /dev.sh ]; then source /dev.sh; fi" >> /home/$USERNAME/.bashrc + && rosdep install -y --from-paths src --ignore-src --rosdistro ${ROS_DISTRO} --skip-keys="gz-transport12 gz-sim7 gz-math7 gz-msgs9 gz-plugin2" \ + && sudo apt-get autoremove -y \ + && sudo apt-get clean -y \ + && sudo rm -rf /var/lib/apt/lists/* + +# For users that build this on a laptop or system with limited RAM, +# Modify the 'colcon build' line to be 'MAKEFLAGS="-j1 -l1" colcon build' +# This will limit the amount of RAM that colcon is allowed to use +RUN . "/opt/ros/${ROS_DISTRO}/setup.sh" \ + && colcon build +# Setup the simulation environment variables +RUN echo "source ${USER_WORKSPACE}/src/blue/.docker/entrypoints/sim.sh" >> /home/$USERNAME/.bashrc -###################################################################################### -# develop-nvidia: Setup the image for development purposes with NVIDIA driver support -###################################################################################### -FROM deps as develop-nvidia +FROM desktop as desktop-nvidia # Install NVIDIA software -RUN apt-get update \ - && apt-get install -y -qq --no-install-recommends \ +RUN sudo apt-get update \ + && sudo apt-get -q -y upgrade \ + && sudo apt-get install -y -qq --no-install-recommends \ libglvnd0 \ libgl1 \ libglx0 \ libegl1 \ libxext6 \ - libx11-6 + libx11-6 \ + && sudo apt-get autoremove -y \ + && sudo apt-get clean -y \ + && sudo rm -rf /var/lib/apt/lists/* # Env vars for the nvidia-container-runtime. ENV NVIDIA_VISIBLE_DEVICES all ENV NVIDIA_DRIVER_CAPABILITIES graphics,utility,compute ENV QT_X11_NO_MITSHM 1 - -ENV GZ_VERSION=garden -ENV ROS_UNDERLAY /root/ws_blue/install -ENV DEBIAN_FRONTEND=noninteractive -WORKDIR $ROS_UNDERLAY/.. - -COPY . src/blue - -# Install debugging/linting Python packages -RUN python3 -m pip install -r $(pwd)/src/blue/requirements-dev.txt - -RUN apt-get -q update \ - && apt-get -q -y upgrade \ - && vcs import src < src/blue/blue.repos \ - && rosdep update \ - && rosdep install -y --from-paths src --ignore-src --rosdistro ${ROS_DISTRO} --as-root=apt:false --skip-keys="gz-transport12 gz-sim7 gz-math7 gz-msgs9 gz-plugin2" \ - && rm -rf src \ - && apt-get autoremove -y \ - && apt-get clean -y \ - && rm -rf /var/lib/apt/lists/* - -# Install development tools -RUN apt-get -q update \ - && apt-get -q -y upgrade \ - && apt-get -q install --no-install-recommends -y \ - iputils-ping \ - net-tools \ - gdb \ - nano \ - htop \ - && apt-get autoremove -y \ - && apt-get clean -y \ - && rm -rf /var/lib/apt/lists/* - -COPY .docker/entrypoints/dev.sh / - -# WARNING: This is a temporary solution for disabling the setuputils installation warning -ENV PYTHONWARNINGS="ignore" - -ARG WORKSPACE -RUN echo "if [ -f ${WORKSPACE}/install/setup.bash ]; then source ${WORKSPACE}/install/setup.bash; fi" >> /home/$USERNAME/.bashrc \ - && echo "if [ -f /opt/ros/${ROS_DISTRO}/setup.bash ]; then source /opt/ros/${ROS_DISTRO}/setup.bash; fi" >> /home/$USERNAME/.bashrc \ - # Expose the environment variables to the non-root user - && echo "if [ -f /sim.sh ]; then source /sim.sh; fi" >> /home/$USERNAME/.bashrc \ - && echo "if [ -f /dev.sh ]; then source /dev.sh; fi" >> /home/$USERNAME/.bashrc diff --git a/.docker/compose/nouveau-desktop.yaml b/.docker/compose/nouveau-desktop.yaml new file mode 100644 index 00000000..e0745b33 --- /dev/null +++ b/.docker/compose/nouveau-desktop.yaml @@ -0,0 +1,20 @@ +version: "3" +services: + blue: + image: ghcr.io/robotic-decision-making-lab/blue:iron-desktop + environment: + - DISPLAY=${DISPLAY} + - XDG_RUNTIME_DIR=${XDG_RUNTIME_DIR} + - WAYLAND_DISPLAY=${WAYLAND_DISPLAY} # Can be commented out if not used + - PULSE_SERVER=${PULSE_SERVER} # Can be commented out if not used + network_mode: host + privileged: true + cap_add: + - SYS_PTRACE + security_opt: + - seccomp:unconfined + - apparmor:unconfined + volumes: + - /dev:/dev + - /run/user/1000:/run/user/1000 + command: tail -f /dev/null diff --git a/.docker/compose/nvidia-desktop.yaml b/.docker/compose/nvidia-desktop.yaml new file mode 100644 index 00000000..0d255b00 --- /dev/null +++ b/.docker/compose/nvidia-desktop.yaml @@ -0,0 +1,30 @@ +version: "3" +services: + blue: + image: ghcr.io/robotic-decision-making-lab/blue:iron-desktop-nvidia + environment: + - DISPLAY=${DISPLAY} + - XDG_RUNTIME_DIR=${XDG_RUNTIME_DIR} + - LIBGL_ALWAYS_SOFTWARE=1 + - QT_X11_NO_MITSHM=1 + - WAYLAND_DISPLAY=${WAYLAND_DISPLAY} # Can be commented out if not used + - PULSE_SERVER=${PULSE_SERVER} # Can be commented out if not used + network_mode: host + privileged: true + cap_add: + - SYS_PTRACE + security_opt: + - seccomp:unconfined + - apparmor:unconfined + deploy: + resources: + reservations: + devices: + - driver: nvidia + count: 1 + capabilities: [gpu] + volumes: + - /dev:/dev + - /tmp/.X11-unix:/tmp/.X11-unix + - /mnt/wslg:/mnt/wslg + command: tail -f /dev/null diff --git a/.docker/entrypoints/dev.sh b/.docker/entrypoints/dev.sh deleted file mode 100644 index 45d71167..00000000 --- a/.docker/entrypoints/dev.sh +++ /dev/null @@ -1,7 +0,0 @@ -#!/usr/bin/env bash - -# Add blue models and worlds -export GZ_SIM_RESOURCE_PATH=/workspaces/blue/blue_description/gazebo/models:/workspaces/blue/blue_description/gazebo/worlds:$GZ_SIM_RESOURCE_PATH - -# Add blue meshes -export GZ_SIM_RESOURCE_PATH=/workspaces/blue/blue_description/meshes:$GZ_SIM_RESOURCE_PATH diff --git a/.docker/entrypoints/sim.sh b/.docker/entrypoints/sim.sh index c2fe9b80..85b3946b 100644 --- a/.docker/entrypoints/sim.sh +++ b/.docker/entrypoints/sim.sh @@ -9,8 +9,14 @@ export PATH=$HOME/ardupilot/Tools/autotest:$PATH # Add ardupilot_gazebo plugin export GZ_SIM_SYSTEM_PLUGIN_PATH=$HOME/ardupilot_gazebo/build:$GZ_SIM_SYSTEM_PLUGIN_PATH -# Optional: add ardupilot_gazebo models and worlds +# Add ardupilot_gazebo models and worlds export GZ_SIM_RESOURCE_PATH=$HOME/ardupilot_gazebo/models:$HOME/ardupilot_gazebo/worlds:$GZ_SIM_RESOURCE_PATH -# Build ros_gz on the humble branch for Gazebo Garden +# Add blue models and worlds +export GZ_SIM_RESOURCE_PATH=$HOME/ws_blue/src/blue/blue_description/gazebo/models:$HOME/ws_blue/src/blue/blue_description/gazebo/worlds:$GZ_SIM_RESOURCE_PATH + +# Add blue meshes +export GZ_SIM_RESOURCE_PATH=$HOME/ws_blue/src/blue/blue_description/meshes:$GZ_SIM_RESOURCE_PATH + +# Build ros_gz for Gazebo Garden export GZ_VERSION=garden diff --git a/.dockerignore b/.dockerignore index c59c0f0b..97eedc18 100644 --- a/.dockerignore +++ b/.dockerignore @@ -9,6 +9,7 @@ !blue_localization !blue_utils !blue_joy +!blue_description !blue.repos !.docker/entrypoints !requirements-build.txt diff --git a/.github/ISSUE_TEMPLATE/config.yaml b/.github/ISSUE_TEMPLATE/config.yaml index c8af6530..3f1d9873 100644 --- a/.github/ISSUE_TEMPLATE/config.yaml +++ b/.github/ISSUE_TEMPLATE/config.yaml @@ -1,5 +1,5 @@ blank_issues_enabled: false contact_links: - - name: BlueROV2 Driver Community Support - url: https://github.com/evan-palmer/blue/discussions + - name: Blue Community Support + url: https://github.com/Robotic-Decision-Making-Lab/blue/discussions about: Please check out our discussions channel for any questions related to the project! diff --git a/.github/workflows/ci.yaml b/.github/workflows/ci.yaml index 189d1228..9ac7fcef 100644 --- a/.github/workflows/ci.yaml +++ b/.github/workflows/ci.yaml @@ -1,9 +1,9 @@ -name: Continuous Integration +name: CI on: push: branches: - - main + - iron pull_request: workflow_dispatch: @@ -19,12 +19,8 @@ jobs: fail-fast: false matrix: env: - - IMAGE: rolling-ci - ROS_DISTRO: rolling - IMAGE: iron-ci ROS_DISTRO: iron - - IMAGE: humble-ci - ROS_DISTRO: humble steps: - name: Checkout repository uses: actions/checkout@v3 @@ -41,7 +37,7 @@ jobs: - name: Run ROS Industrial CI uses: ros-industrial/industrial_ci@master env: - DOCKER_IMAGE: ghcr.io/evan-palmer/blue:${{ matrix.env.IMAGE }} + DOCKER_IMAGE: ghcr.io/robotic-decision-making-lab/blue:${{ matrix.env.IMAGE }} CXXFLAGS: >- -Wall -Wextra -Wpedantic -Wwrite-strings -Wunreachable-code -Wpointer-arith -Wredundant-decls CC: ${{ env.CLANG_TIDY && 'clang' }} diff --git a/.github/workflows/docker.yaml b/.github/workflows/docker.yaml index 1ebb4acc..68b879b1 100644 --- a/.github/workflows/docker.yaml +++ b/.github/workflows/docker.yaml @@ -5,11 +5,13 @@ on: - cron: "0 17 * * 6" push: branches: - - main + - iron pull_request: paths: - .docker/** - .github/workflows/docker.yaml + - blue.repos + - requirements-build.txt workflow_dispatch: env: @@ -20,7 +22,134 @@ jobs: strategy: fail-fast: false matrix: - ROS_DISTRO: [humble, iron, rolling] + ROS_DISTRO: [iron] + runs-on: ubuntu-latest + permissions: + packages: write + contents: read + steps: + - name: Checkout repository + uses: actions/checkout@v3 + + - name: Log into registry + if: env.PUSH == 'true' + uses: docker/login-action@v3.0.0 + with: + registry: ghcr.io + username: ${{ github.actor }} + password: ${{ secrets.GITHUB_TOKEN }} + + - name: Extract Docker metadata + if: env.PUSH == 'true' + id: meta + uses: docker/metadata-action@v4.6.0 + with: + images: ghcr.io/${{ github.repository }} + tags: | + type=raw,value=${{ matrix.ROS_DISTRO }}-${{ github.job }} + + - name: Build and push Docker image + uses: docker/build-push-action@v5.0.0 + with: + context: . + file: .docker/Dockerfile + build-args: ROS_DISTRO=${{ matrix.ROS_DISTRO }} + target: ${{ github.job }} + tags: ${{ steps.meta.outputs.tags }} + labels: ${{ steps.meta.outputs.labels }} + push: ${{ env.PUSH }} + robot: + strategy: + fail-fast: false + matrix: + ROS_DISTRO: [iron] + runs-on: ubuntu-latest + permissions: + packages: write + contents: read + steps: + - name: Checkout repository + uses: actions/checkout@v3.5.3 + + - name: Set up QEMU + uses: docker/setup-qemu-action@v2.2.0 + + - name: Set up Docker Buildx + uses: docker/setup-buildx-action@v2 + + - name: Log into registry + if: env.PUSH == 'true' + uses: docker/login-action@v2.2.0 + with: + registry: ghcr.io + username: ${{ github.actor }} + password: ${{ secrets.GITHUB_TOKEN }} + + - name: Extract Docker metadata + if: env.PUSH == 'true' + id: meta + uses: docker/metadata-action@v4.6.0 + with: + images: ghcr.io/${{ github.repository }} + tags: | + type=raw,value=${{ matrix.ROS_DISTRO }}-${{ github.job }} + + - name: Build and push Docker image + uses: docker/build-push-action@v4.1.1 + with: + context: . + file: .docker/Dockerfile + build-args: ROS_DISTRO=${{ matrix.ROS_DISTRO }} + target: ${{ github.job }} + tags: ${{ steps.meta.outputs.tags }} + labels: ${{ steps.meta.outputs.labels }} + push: ${{ env.PUSH }} + platforms: linux/amd64,linux/arm64 + desktop: + strategy: + fail-fast: false + matrix: + ROS_DISTRO: [iron] + runs-on: ubuntu-latest + permissions: + packages: write + contents: read + steps: + - name: Checkout repository + uses: actions/checkout@v3 + + - name: Log into registry + if: env.PUSH == 'true' + uses: docker/login-action@v3.0.0 + with: + registry: ghcr.io + username: ${{ github.actor }} + password: ${{ secrets.GITHUB_TOKEN }} + + - name: Extract Docker metadata + if: env.PUSH == 'true' + id: meta + uses: docker/metadata-action@v4.6.0 + with: + images: ghcr.io/${{ github.repository }} + tags: | + type=raw,value=${{ matrix.ROS_DISTRO }}-${{ github.job }} + + - name: Build and push Docker image + uses: docker/build-push-action@v5.0.0 + with: + context: . + file: .docker/Dockerfile + build-args: ROS_DISTRO=${{ matrix.ROS_DISTRO }} + target: ${{ github.job }} + tags: ${{ steps.meta.outputs.tags }} + labels: ${{ steps.meta.outputs.labels }} + push: ${{ env.PUSH }} + desktop-nvidia: + strategy: + fail-fast: false + matrix: + ROS_DISTRO: [iron] runs-on: ubuntu-latest permissions: packages: write diff --git a/.github/workflows/format.yaml b/.github/workflows/format.yaml index 746d77ba..fc85b50e 100644 --- a/.github/workflows/format.yaml +++ b/.github/workflows/format.yaml @@ -4,7 +4,7 @@ on: pull_request: push: branches: - - main + - iron workflow_dispatch: jobs: From 74a88dca34a1bdb98d080a3ab6d357f613f0332e Mon Sep 17 00:00:00 2001 From: "mergify[bot]" <37929162+mergify[bot]@users.noreply.github.com> Date: Thu, 12 Oct 2023 20:45:45 -0700 Subject: [PATCH 06/67] Bump actions/checkout from 3 to 4 (#109) (#124) Bumps [actions/checkout](https://github.com/actions/checkout) from 3 to 4. - [Release notes](https://github.com/actions/checkout/releases) - [Changelog](https://github.com/actions/checkout/blob/main/CHANGELOG.md) - [Commits](https://github.com/actions/checkout/compare/v3...v4) --- updated-dependencies: - dependency-name: actions/checkout dependency-type: direct:production update-type: version-update:semver-major ... Signed-off-by: dependabot[bot] Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com> (cherry picked from commit 96d5854b0ea68b34981c15ed522c72fa1d7744f6) Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com> --- .github/workflows/docker.yaml | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/.github/workflows/docker.yaml b/.github/workflows/docker.yaml index ecd5ff95..767e9273 100644 --- a/.github/workflows/docker.yaml +++ b/.github/workflows/docker.yaml @@ -29,7 +29,7 @@ jobs: contents: read steps: - name: Checkout repository - uses: actions/checkout@v3 + uses: actions/checkout@v4 - name: Log into registry if: env.PUSH == 'true' @@ -69,7 +69,7 @@ jobs: contents: read steps: - name: Checkout repository - uses: actions/checkout@v3.5.3 + uses: actions/checkout@v4 - name: Set up QEMU uses: docker/setup-qemu-action@v2.2.0 @@ -116,7 +116,7 @@ jobs: contents: read steps: - name: Checkout repository - uses: actions/checkout@v3 + uses: actions/checkout@v4 - name: Log into registry if: env.PUSH == 'true' From da6b8b57803458f9d8422851600ba16399dbcd2b Mon Sep 17 00:00:00 2001 From: "mergify[bot]" <37929162+mergify[bot]@users.noreply.github.com> Date: Tue, 17 Oct 2023 18:25:21 -0700 Subject: [PATCH 07/67] Bump docker/setup-buildx-action from 2 to 3 (#128) (#133) Bumps [docker/setup-buildx-action](https://github.com/docker/setup-buildx-action) from 2 to 3. - [Release notes](https://github.com/docker/setup-buildx-action/releases) - [Commits](https://github.com/docker/setup-buildx-action/compare/v2...v3) --- updated-dependencies: - dependency-name: docker/setup-buildx-action dependency-type: direct:production update-type: version-update:semver-major ... Signed-off-by: dependabot[bot] Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com> (cherry picked from commit 28862b2e2c01cdf6ced4694d8656b37b4625534d) Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com> --- .github/workflows/docker.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/workflows/docker.yaml b/.github/workflows/docker.yaml index 767e9273..286ee3a0 100644 --- a/.github/workflows/docker.yaml +++ b/.github/workflows/docker.yaml @@ -75,7 +75,7 @@ jobs: uses: docker/setup-qemu-action@v2.2.0 - name: Set up Docker Buildx - uses: docker/setup-buildx-action@v2 + uses: docker/setup-buildx-action@v3 - name: Log into registry if: env.PUSH == 'true' From 031aa82e92af320aefedc32e81f525a4ca37800f Mon Sep 17 00:00:00 2001 From: "mergify[bot]" <37929162+mergify[bot]@users.noreply.github.com> Date: Tue, 17 Oct 2023 18:26:01 -0700 Subject: [PATCH 08/67] Bump docker/setup-qemu-action from 2.2.0 to 3.0.0 (#129) (#135) Bumps [docker/setup-qemu-action](https://github.com/docker/setup-qemu-action) from 2.2.0 to 3.0.0. - [Release notes](https://github.com/docker/setup-qemu-action/releases) - [Commits](https://github.com/docker/setup-qemu-action/compare/v2.2.0...v3.0.0) --- updated-dependencies: - dependency-name: docker/setup-qemu-action dependency-type: direct:production update-type: version-update:semver-major ... Signed-off-by: dependabot[bot] Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com> (cherry picked from commit 8d2cc5b4858eae5814674f5781fa363bd7330be0) Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com> --- .github/workflows/docker.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/workflows/docker.yaml b/.github/workflows/docker.yaml index 286ee3a0..66c0b602 100644 --- a/.github/workflows/docker.yaml +++ b/.github/workflows/docker.yaml @@ -72,7 +72,7 @@ jobs: uses: actions/checkout@v4 - name: Set up QEMU - uses: docker/setup-qemu-action@v2.2.0 + uses: docker/setup-qemu-action@v3.0.0 - name: Set up Docker Buildx uses: docker/setup-buildx-action@v3 From 6596e8f90245170f541a057ffd2744a40bf95f7b Mon Sep 17 00:00:00 2001 From: "mergify[bot]" <37929162+mergify[bot]@users.noreply.github.com> Date: Tue, 17 Oct 2023 18:26:31 -0700 Subject: [PATCH 09/67] Bump docker/build-push-action from 4.1.1 to 5.0.0 (#130) (#137) Bumps [docker/build-push-action](https://github.com/docker/build-push-action) from 4.1.1 to 5.0.0. - [Release notes](https://github.com/docker/build-push-action/releases) - [Commits](https://github.com/docker/build-push-action/compare/v4.1.1...v5.0.0) --- updated-dependencies: - dependency-name: docker/build-push-action dependency-type: direct:production update-type: version-update:semver-major ... Signed-off-by: dependabot[bot] Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com> (cherry picked from commit 714a253e0f1fddc54b8fae1b9111c8fe84884b4b) Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com> --- .github/workflows/docker.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/workflows/docker.yaml b/.github/workflows/docker.yaml index 66c0b602..fcffd258 100644 --- a/.github/workflows/docker.yaml +++ b/.github/workflows/docker.yaml @@ -95,7 +95,7 @@ jobs: type=raw,value=${{ matrix.ROS_DISTRO }}-${{ github.job }} - name: Build and push Docker image - uses: docker/build-push-action@v4.1.1 + uses: docker/build-push-action@v5.0.0 with: context: . file: .docker/Dockerfile From c5abd6d6a4c1e0916f750cba8a8ca92cb334f85e Mon Sep 17 00:00:00 2001 From: "mergify[bot]" <37929162+mergify[bot]@users.noreply.github.com> Date: Tue, 17 Oct 2023 18:26:55 -0700 Subject: [PATCH 10/67] Bump docker/login-action from 2.2.0 to 3.0.0 (#131) (#139) Bumps [docker/login-action](https://github.com/docker/login-action) from 2.2.0 to 3.0.0. - [Release notes](https://github.com/docker/login-action/releases) - [Commits](https://github.com/docker/login-action/compare/v2.2.0...v3.0.0) --- updated-dependencies: - dependency-name: docker/login-action dependency-type: direct:production update-type: version-update:semver-major ... Signed-off-by: dependabot[bot] Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com> (cherry picked from commit 8abca640fd4540cbfbe4a045506fd04f1e8a0829) Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com> --- .github/workflows/docker.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/workflows/docker.yaml b/.github/workflows/docker.yaml index fcffd258..ba9dc8ea 100644 --- a/.github/workflows/docker.yaml +++ b/.github/workflows/docker.yaml @@ -79,7 +79,7 @@ jobs: - name: Log into registry if: env.PUSH == 'true' - uses: docker/login-action@v2.2.0 + uses: docker/login-action@v3.0.0 with: registry: ghcr.io username: ${{ github.actor }} From d00a37484e5eed4ff238b258dc5ea58979bde42f Mon Sep 17 00:00:00 2001 From: "mergify[bot]" <37929162+mergify[bot]@users.noreply.github.com> Date: Sun, 14 Jan 2024 02:11:35 -0800 Subject: [PATCH 11/67] Allowing gazebo_world_file arg to be passed in (#148) (#149) * Allowing gazebo_world_file arg to be passed in * updating gazebo_world_file arg in launch file * updating gazebo_world_file arg in launch file * Pre-commit --------- Co-authored-by: Evan Palmer (cherry picked from commit 01b385da01df4e6520fa015e10a49b8622fbd307) Co-authored-by: Tim Huff <89954856+timmarkhuff@users.noreply.github.com> --- blue_bringup/launch/bluerov2/bluerov2.launch.py | 4 +++- blue_bringup/launch/bluerov2_heavy/bluerov2_heavy.launch.py | 4 +++- .../bluerov2_heavy_reach/bluerov2_heavy_reach.launch.py | 5 ++++- 3 files changed, 10 insertions(+), 3 deletions(-) diff --git a/blue_bringup/launch/bluerov2/bluerov2.launch.py b/blue_bringup/launch/bluerov2/bluerov2.launch.py index 7f07c0e7..fcf0f2c1 100644 --- a/blue_bringup/launch/bluerov2/bluerov2.launch.py +++ b/blue_bringup/launch/bluerov2/bluerov2.launch.py @@ -133,7 +133,9 @@ def generate_launch_description() -> LaunchDescription: "use_sim": LaunchConfiguration("use_sim"), "use_rviz": LaunchConfiguration("use_rviz"), "rviz_config": LaunchConfiguration("rviz_config"), - "gazebo_world_file": "bluerov2_underwater.world", + "gazebo_world_file": LaunchConfiguration( + "gazebo_world_file", default="bluerov2_underwater.world" + ), "prefix": LaunchConfiguration("prefix"), "robot_description": robot_description, "use_joy": LaunchConfiguration("use_joy"), diff --git a/blue_bringup/launch/bluerov2_heavy/bluerov2_heavy.launch.py b/blue_bringup/launch/bluerov2_heavy/bluerov2_heavy.launch.py index 0adf31ba..1c01286a 100644 --- a/blue_bringup/launch/bluerov2_heavy/bluerov2_heavy.launch.py +++ b/blue_bringup/launch/bluerov2_heavy/bluerov2_heavy.launch.py @@ -133,7 +133,9 @@ def generate_launch_description() -> LaunchDescription: "use_sim": LaunchConfiguration("use_sim"), "use_rviz": LaunchConfiguration("use_rviz"), "rviz_config": LaunchConfiguration("rviz_config"), - "gazebo_world_file": "bluerov2_heavy_underwater.world", + "gazebo_world_file": LaunchConfiguration( + "gazebo_world_file", default="bluerov2_heavy_underwater.world" + ), "prefix": LaunchConfiguration("prefix"), "robot_description": robot_description, "use_joy": LaunchConfiguration("use_joy"), diff --git a/blue_bringup/launch/bluerov2_heavy_reach/bluerov2_heavy_reach.launch.py b/blue_bringup/launch/bluerov2_heavy_reach/bluerov2_heavy_reach.launch.py index 8fd20e07..2201e297 100644 --- a/blue_bringup/launch/bluerov2_heavy_reach/bluerov2_heavy_reach.launch.py +++ b/blue_bringup/launch/bluerov2_heavy_reach/bluerov2_heavy_reach.launch.py @@ -133,7 +133,10 @@ def generate_launch_description() -> LaunchDescription: "use_sim": LaunchConfiguration("use_sim"), "use_rviz": LaunchConfiguration("use_rviz"), "rviz_config": LaunchConfiguration("rviz_config"), - "gazebo_world_file": "bluerov2_heavy_reach_underwater.world", # noqa + "gazebo_world_file": LaunchConfiguration( + "gazebo_world_file", + default="bluerov2_heavy_reach_underwater.world", + ), # noqa "prefix": LaunchConfiguration("prefix"), "robot_description": robot_description, "use_joy": LaunchConfiguration("use_joy"), From b4a8d320bc4afb34271ce274bd87ec9af335e36e Mon Sep 17 00:00:00 2001 From: Evan Palmer Date: Tue, 23 Apr 2024 23:27:39 -0700 Subject: [PATCH 12/67] Fixed missing keys --- .docker/Dockerfile | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.docker/Dockerfile b/.docker/Dockerfile index 0361cb30..6acebc72 100644 --- a/.docker/Dockerfile +++ b/.docker/Dockerfile @@ -157,7 +157,7 @@ RUN sudo apt-get -q update \ && sudo apt-get -q -y upgrade \ && vcs import src < src/blue/blue.repos \ && rosdep update \ - && rosdep install -y --from-paths src --ignore-src --rosdistro ${ROS_DISTRO} \ + && rosdep install -y --from-paths src --ignore-src --rosdistro ${ROS_DISTRO} --skip-keys="gz-transport12 gz-sim7 gz-math7 gz-msgs9 gz-plugin2" \ && sudo apt-get autoremove -y \ && sudo apt-get clean -y \ && sudo rm -rf /var/lib/apt/lists/* From 12301730d044a1e9af750a2e23c794834920bbdd Mon Sep 17 00:00:00 2001 From: "mergify[bot]" <37929162+mergify[bot]@users.noreply.github.com> Date: Thu, 6 Jun 2024 01:27:22 -0700 Subject: [PATCH 13/67] Bump docker/login-action from 3.1.0 to 3.2.0 (#172) (#173) Bumps [docker/login-action](https://github.com/docker/login-action) from 3.1.0 to 3.2.0. - [Release notes](https://github.com/docker/login-action/releases) - [Commits](https://github.com/docker/login-action/compare/v3.1.0...v3.2.0) --- updated-dependencies: - dependency-name: docker/login-action dependency-type: direct:production update-type: version-update:semver-minor ... Signed-off-by: dependabot[bot] Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com> (cherry picked from commit c8e46b704b78780b66aca9c3488f164a6181e773) Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com> --- .github/workflows/ci.yaml | 2 +- .github/workflows/docker.yaml | 8 ++++---- 2 files changed, 5 insertions(+), 5 deletions(-) diff --git a/.github/workflows/ci.yaml b/.github/workflows/ci.yaml index f7a74288..693ac20d 100644 --- a/.github/workflows/ci.yaml +++ b/.github/workflows/ci.yaml @@ -28,7 +28,7 @@ jobs: submodules: recursive - name: Log into registry - uses: docker/login-action@v3.1.0 + uses: docker/login-action@v3.2.0 with: registry: ghcr.io username: ${{ github.actor }} diff --git a/.github/workflows/docker.yaml b/.github/workflows/docker.yaml index f01f8cde..3c4b90f6 100644 --- a/.github/workflows/docker.yaml +++ b/.github/workflows/docker.yaml @@ -33,7 +33,7 @@ jobs: - name: Log into registry if: env.PUSH == 'true' - uses: docker/login-action@v3.1.0 + uses: docker/login-action@v3.2.0 with: registry: ghcr.io username: ${{ github.actor }} @@ -80,7 +80,7 @@ jobs: - name: Log into registry if: env.PUSH == 'true' - uses: docker/login-action@v3.1.0 + uses: docker/login-action@v3.2.0 with: registry: ghcr.io username: ${{ github.actor }} @@ -122,7 +122,7 @@ jobs: - name: Log into registry if: env.PUSH == 'true' - uses: docker/login-action@v3.1.0 + uses: docker/login-action@v3.2.0 with: registry: ghcr.io username: ${{ github.actor }} @@ -163,7 +163,7 @@ jobs: - name: Log into registry if: env.PUSH == 'true' - uses: docker/login-action@v3.1.0 + uses: docker/login-action@v3.2.0 with: registry: ghcr.io username: ${{ github.actor }} From da2185d71e86b927dcb57cd26cfdf2c4df50ad06 Mon Sep 17 00:00:00 2001 From: "mergify[bot]" <37929162+mergify[bot]@users.noreply.github.com> Date: Thu, 20 Jun 2024 15:13:08 -0700 Subject: [PATCH 14/67] Bump docker/build-push-action from 5.3.0 to 5.4.0 (#175) (#177) Bumps [docker/build-push-action](https://github.com/docker/build-push-action) from 5.3.0 to 5.4.0. - [Release notes](https://github.com/docker/build-push-action/releases) - [Commits](https://github.com/docker/build-push-action/compare/v5.3.0...v5.4.0) --- updated-dependencies: - dependency-name: docker/build-push-action dependency-type: direct:production update-type: version-update:semver-minor ... Signed-off-by: dependabot[bot] Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com> (cherry picked from commit 880a2d6d4aea4b67bb7d8e811e0f88d88467b85e) Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com> --- .github/workflows/docker.yaml | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/.github/workflows/docker.yaml b/.github/workflows/docker.yaml index 3c4b90f6..16e6d1c5 100644 --- a/.github/workflows/docker.yaml +++ b/.github/workflows/docker.yaml @@ -49,7 +49,7 @@ jobs: type=raw,value=${{ matrix.ROS_DISTRO }}-${{ github.job }} - name: Build and push Docker image - uses: docker/build-push-action@v5.3.0 + uses: docker/build-push-action@v5.4.0 with: context: . file: .docker/Dockerfile @@ -96,7 +96,7 @@ jobs: type=raw,value=${{ matrix.ROS_DISTRO }}-${{ github.job }} - name: Build and push Docker image - uses: docker/build-push-action@v5.3.0 + uses: docker/build-push-action@v5.4.0 with: context: . file: .docker/Dockerfile @@ -138,7 +138,7 @@ jobs: type=raw,value=${{ matrix.ROS_DISTRO }}-${{ github.job }} - name: Build and push Docker image - uses: docker/build-push-action@v5.3.0 + uses: docker/build-push-action@v5.4.0 with: context: . file: .docker/Dockerfile @@ -179,7 +179,7 @@ jobs: type=raw,value=${{ matrix.ROS_DISTRO }}-${{ github.job }} - name: Build and push Docker image - uses: docker/build-push-action@v5.3.0 + uses: docker/build-push-action@v5.4.0 with: context: . file: .docker/Dockerfile From 3906733fbb5948f98113ea6d3f619145dc546fa8 Mon Sep 17 00:00:00 2001 From: "mergify[bot]" <37929162+mergify[bot]@users.noreply.github.com> Date: Fri, 21 Jun 2024 17:27:45 -0700 Subject: [PATCH 15/67] Bump braces from 3.0.2 to 3.0.3 in /docs (#182) (#184) Bumps [braces](https://github.com/micromatch/braces) from 3.0.2 to 3.0.3. - [Changelog](https://github.com/micromatch/braces/blob/master/CHANGELOG.md) - [Commits](https://github.com/micromatch/braces/compare/3.0.2...3.0.3) --- updated-dependencies: - dependency-name: braces dependency-type: indirect ... Signed-off-by: dependabot[bot] Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com> (cherry picked from commit 107fe4c0ff7f5c3593844685971a67af5bf89ac2) Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com> --- docs/package-lock.json | 14 +++++++------- 1 file changed, 7 insertions(+), 7 deletions(-) diff --git a/docs/package-lock.json b/docs/package-lock.json index 6af2feaa..a75032d3 100644 --- a/docs/package-lock.json +++ b/docs/package-lock.json @@ -4904,11 +4904,11 @@ } }, "node_modules/braces": { - "version": "3.0.2", - "resolved": "https://registry.npmjs.org/braces/-/braces-3.0.2.tgz", - "integrity": "sha512-b8um+L1RzM3WDSzvhm6gIz1yfTbBt6YTlcEKAvsmqCZZFw46z626lVj9j1yEPW33H5H+lBQpZMP1k8l+78Ha0A==", + "version": "3.0.3", + "resolved": "https://registry.npmjs.org/braces/-/braces-3.0.3.tgz", + "integrity": "sha512-yQbXgO/OSZVD2IsiLlro+7Hf6Q18EJrKSEsdoMzKePKXct3gvD8oLcOQdIzGupr5Fj+EDe8gO/lxc1BzfMpxvA==", "dependencies": { - "fill-range": "^7.0.1" + "fill-range": "^7.1.1" }, "engines": { "node": ">=8" @@ -8266,9 +8266,9 @@ } }, "node_modules/fill-range": { - "version": "7.0.1", - "resolved": "https://registry.npmjs.org/fill-range/-/fill-range-7.0.1.tgz", - "integrity": "sha512-qOo9F+dMUmC2Lcb4BbVvnKJxTPjCm+RRpe4gDuGrzkL7mEVl/djYSu2OdQ2Pa302N4oqkSg9ir6jaLWJ2USVpQ==", + "version": "7.1.1", + "resolved": "https://registry.npmjs.org/fill-range/-/fill-range-7.1.1.tgz", + "integrity": "sha512-YsGpe3WHLK8ZYi4tWDg2Jy3ebRz2rXowDxnld4bkQB00cc/1Zw9AWnC0i9ztDJitivtQvaI9KaLyKrc+hBW0yg==", "dependencies": { "to-regex-range": "^5.0.1" }, From 86529c3d705f1aa054320764d88bcabcaf2bd0a6 Mon Sep 17 00:00:00 2001 From: "mergify[bot]" <37929162+mergify[bot]@users.noreply.github.com> Date: Mon, 24 Jun 2024 13:08:02 -0700 Subject: [PATCH 16/67] Bump docker/build-push-action from 5.4.0 to 6.0.0 (#179) (#186) Bumps [docker/build-push-action](https://github.com/docker/build-push-action) from 5.4.0 to 6.0.0. - [Release notes](https://github.com/docker/build-push-action/releases) - [Commits](https://github.com/docker/build-push-action/compare/v5.4.0...v6.0.0) --- updated-dependencies: - dependency-name: docker/build-push-action dependency-type: direct:production update-type: version-update:semver-major ... Signed-off-by: dependabot[bot] Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com> (cherry picked from commit 4efc645c5da0a4876839310b61b1d28b359b919b) Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com> --- .github/workflows/docker.yaml | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/.github/workflows/docker.yaml b/.github/workflows/docker.yaml index 16e6d1c5..34053e75 100644 --- a/.github/workflows/docker.yaml +++ b/.github/workflows/docker.yaml @@ -49,7 +49,7 @@ jobs: type=raw,value=${{ matrix.ROS_DISTRO }}-${{ github.job }} - name: Build and push Docker image - uses: docker/build-push-action@v5.4.0 + uses: docker/build-push-action@v6.0.0 with: context: . file: .docker/Dockerfile @@ -96,7 +96,7 @@ jobs: type=raw,value=${{ matrix.ROS_DISTRO }}-${{ github.job }} - name: Build and push Docker image - uses: docker/build-push-action@v5.4.0 + uses: docker/build-push-action@v6.0.0 with: context: . file: .docker/Dockerfile @@ -138,7 +138,7 @@ jobs: type=raw,value=${{ matrix.ROS_DISTRO }}-${{ github.job }} - name: Build and push Docker image - uses: docker/build-push-action@v5.4.0 + uses: docker/build-push-action@v6.0.0 with: context: . file: .docker/Dockerfile @@ -179,7 +179,7 @@ jobs: type=raw,value=${{ matrix.ROS_DISTRO }}-${{ github.job }} - name: Build and push Docker image - uses: docker/build-push-action@v5.4.0 + uses: docker/build-push-action@v6.0.0 with: context: . file: .docker/Dockerfile From 4a0de68b5aae7fecf29460248ebf2e32a9c92c5a Mon Sep 17 00:00:00 2001 From: Evan Palmer Date: Mon, 24 Jun 2024 14:55:35 -0700 Subject: [PATCH 17/67] Added upstream changes and fixes to docker install (#190) --- .docker/Dockerfile | 6 ++++++ .github/workflows/docker.yaml | 8 ++++---- docs/docs/overview.mdx | 10 +++++++++- docs/docs/welcome.mdx | 4 ++-- 4 files changed, 21 insertions(+), 7 deletions(-) diff --git a/.docker/Dockerfile b/.docker/Dockerfile index 6acebc72..0112cad9 100644 --- a/.docker/Dockerfile +++ b/.docker/Dockerfile @@ -81,6 +81,9 @@ RUN sudo apt-get -q update \ gstreamer1.0-plugins-ugly \ gstreamer1.0-plugins-bad \ gstreamer1.0-libav \ + libgstreamer1.0-dev \ + gstreamer1.0-gl \ + libgstreamer-plugins-base1.0-dev \ && sudo apt-get autoremove -y \ && sudo apt-get clean -y \ && sudo rm -rf /var/lib/apt/lists/* @@ -118,6 +121,9 @@ RUN sudo apt-get -q update \ python3-wxgtk4.0 \ rapidjson-dev \ xterm \ + libgz-sim7-dev \ + rapidjson-dev \ + libopencv-dev \ && sudo apt-get autoremove -y \ && sudo apt-get clean -y \ && sudo rm -rf /var/lib/apt/lists/* diff --git a/.github/workflows/docker.yaml b/.github/workflows/docker.yaml index 34053e75..fb01cad0 100644 --- a/.github/workflows/docker.yaml +++ b/.github/workflows/docker.yaml @@ -49,7 +49,7 @@ jobs: type=raw,value=${{ matrix.ROS_DISTRO }}-${{ github.job }} - name: Build and push Docker image - uses: docker/build-push-action@v6.0.0 + uses: docker/build-push-action@v6.1.0 with: context: . file: .docker/Dockerfile @@ -96,7 +96,7 @@ jobs: type=raw,value=${{ matrix.ROS_DISTRO }}-${{ github.job }} - name: Build and push Docker image - uses: docker/build-push-action@v6.0.0 + uses: docker/build-push-action@v6.1.0 with: context: . file: .docker/Dockerfile @@ -138,7 +138,7 @@ jobs: type=raw,value=${{ matrix.ROS_DISTRO }}-${{ github.job }} - name: Build and push Docker image - uses: docker/build-push-action@v6.0.0 + uses: docker/build-push-action@v6.1.0 with: context: . file: .docker/Dockerfile @@ -179,7 +179,7 @@ jobs: type=raw,value=${{ matrix.ROS_DISTRO }}-${{ github.job }} - name: Build and push Docker image - uses: docker/build-push-action@v6.0.0 + uses: docker/build-push-action@v6.1.0 with: context: . file: .docker/Dockerfile diff --git a/docs/docs/overview.mdx b/docs/docs/overview.mdx index 66c76065..48159e90 100644 --- a/docs/docs/overview.mdx +++ b/docs/docs/overview.mdx @@ -28,7 +28,15 @@ following features: writing your robotics algorithms 😀 4. **Custom control and localization algorithms**: Blue supports custom controllers implemented using [auv_controllers](https://github.com/Robotic-Decision-Making-Lab/auv_controllers) -and localization algorithms implemented using [marine_localization](https://github.com/Robotic-Decision-Making-Lab/marine_localization). +and localization algorithms implemented using [blue_localization](https://github.com/Robotic-Decision-Making-Lab/blue/tree/main/blue_localization). + +:::info + +The features implemented in `blue_localization` are currently being ported to +[marine_localization](https://github.com/Robotic-Decision-Making-Lab/marine_localization). +Keep an eye on that repository for the latest changes and updates. + +::: ## Recommended workflow diff --git a/docs/docs/welcome.mdx b/docs/docs/welcome.mdx index 5e717074..b68588de 100644 --- a/docs/docs/welcome.mdx +++ b/docs/docs/welcome.mdx @@ -22,8 +22,8 @@ import CodeBlock from '@theme/CodeBlock'; regarding usage of Blue, please ask a question on our [Discussions](https://github.com/Robotic-Decision-Making-Lab/blue/discussions) board! If you would like to contribute to Blue, please see our [contribution guidelines](/contributing). - If you find Blue to be helpful in your work, please consider citing our - paper: + If you find Blue to be helpful in your work, please consider citing + [our paper](https://research.engr.oregonstate.edu/rdml/sites/research.engr.oregonstate.edu.rdml/files/icra24_3342_fi.pdf):

From c3f7d75e3dee43ac1e766ff5745e8b2c29d26ead Mon Sep 17 00:00:00 2001 From: Evan Palmer Date: Mon, 24 Jun 2024 20:39:07 -0700 Subject: [PATCH 18/67] Updated controller manager launch in demo --- .../launch/bluerov2/bluerov2.launch.py | 158 ----------------- .../bluerov2_heavy/bluerov2_heavy.launch.py | 158 ----------------- .../bluerov2_heavy_reach.launch.py | 159 ------------------ .../launch/bluerov2_controllers.launch.py | 34 +--- .../bluerov2_heavy_controllers.launch.py | 34 +--- 5 files changed, 8 insertions(+), 535 deletions(-) delete mode 100644 blue_bringup/launch/bluerov2/bluerov2.launch.py delete mode 100644 blue_bringup/launch/bluerov2_heavy/bluerov2_heavy.launch.py delete mode 100644 blue_bringup/launch/bluerov2_heavy_reach/bluerov2_heavy_reach.launch.py diff --git a/blue_bringup/launch/bluerov2/bluerov2.launch.py b/blue_bringup/launch/bluerov2/bluerov2.launch.py deleted file mode 100644 index fcf0f2c1..00000000 --- a/blue_bringup/launch/bluerov2/bluerov2.launch.py +++ /dev/null @@ -1,158 +0,0 @@ -# Copyright 2023, Evan Palmer -# -# Permission is hereby granted, free of charge, to any person obtaining a copy -# of this software and associated documentation files (the "Software"), to deal -# in the Software without restriction, including without limitation the rights -# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell -# copies of the Software, and to permit persons to whom the Software is -# furnished to do so, subject to the following conditions: -# -# The above copyright notice and this permission notice shall be included in -# all copies or substantial portions of the Software. -# -# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR -# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, -# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL -# THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER -# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, -# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN -# THE SOFTWARE. - -from launch import LaunchDescription -from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription -from launch.launch_description_sources import PythonLaunchDescriptionSource -from launch.substitutions import ( - Command, - FindExecutable, - LaunchConfiguration, - PathJoinSubstitution, -) -from launch_ros.substitutions import FindPackageShare - - -def generate_launch_description() -> LaunchDescription: - """Generate a launch description to run the system. - - Returns: - The launch description for the BlueROV2 base configuration. - """ - args = [ - DeclareLaunchArgument( - "controller", - default_value="ismc", - description=( - "The controller to use; this should be the same name as the" - " controller's executable." - ), - choices=["ismc"], - ), - DeclareLaunchArgument( - "localization_source", - default_value="gazebo", - choices=["mocap", "camera", "gazebo"], - description="The localization source to stream from.", - ), - DeclareLaunchArgument( - "use_camera", - default_value="false", - description=( - "Launch the BlueROV2 camera stream. This is automatically set to true" - " when using the camera for localization." - ), - ), - DeclareLaunchArgument( - "use_mocap", - default_value="false", - description=( - "Launch the Qualisys motion capture stream. This is automatically" - " set to true when using the motion capture system for localization." - ), - ), - DeclareLaunchArgument( - "use_sim", - default_value="false", - description="Launch the Gazebo + ArduSub simulator.", - ), - DeclareLaunchArgument( - "use_rviz", default_value="false", description="Launch RViz2." - ), - DeclareLaunchArgument( - "use_joy", default_value="false", description="Use a joystick controller." - ), - DeclareLaunchArgument( - "rviz_config", - default_value="bluerov2.rviz", - description="The RViz2 configuration file to load.", - ), - DeclareLaunchArgument( - "prefix", - default_value="", - description=( - "The prefix of the model. This is useful for multi-robot setups." - " Expected format '/'." - ), - ), - ] - - robot_description = Command( - [ - PathJoinSubstitution([FindExecutable(name="xacro")]), - " ", - PathJoinSubstitution( - [ - FindPackageShare("blue_description"), - "xacro", - "bluerov2", - "config.xacro", - ] - ), - " ", - "prefix:=", - LaunchConfiguration("prefix"), - " ", - "use_sim:=", - LaunchConfiguration("use_sim"), - ] - ) - - return LaunchDescription( - [ - *args, - IncludeLaunchDescription( - PythonLaunchDescriptionSource( - PathJoinSubstitution( - [FindPackageShare("blue_bringup"), "launch", "base.launch.py"] - ) - ), - launch_arguments={ - "configuration_type": "bluerov2", - "controller": LaunchConfiguration("controller"), - "localization_source": LaunchConfiguration("localization_source"), - "use_camera": LaunchConfiguration("use_camera"), - "use_mocap": LaunchConfiguration("use_mocap"), - "use_sim": LaunchConfiguration("use_sim"), - "use_rviz": LaunchConfiguration("use_rviz"), - "rviz_config": LaunchConfiguration("rviz_config"), - "gazebo_world_file": LaunchConfiguration( - "gazebo_world_file", default="bluerov2_underwater.world" - ), - "prefix": LaunchConfiguration("prefix"), - "robot_description": robot_description, - "use_joy": LaunchConfiguration("use_joy"), - }.items(), - ), - IncludeLaunchDescription( - PythonLaunchDescriptionSource( - PathJoinSubstitution( - [ - FindPackageShare("blue_bringup"), - "launch", - "bluerov2", - "tf.launch.py", - ] - ) - ), - launch_arguments={"prefix": LaunchConfiguration("prefix")}.items(), - ), - ] - ) diff --git a/blue_bringup/launch/bluerov2_heavy/bluerov2_heavy.launch.py b/blue_bringup/launch/bluerov2_heavy/bluerov2_heavy.launch.py deleted file mode 100644 index 1c01286a..00000000 --- a/blue_bringup/launch/bluerov2_heavy/bluerov2_heavy.launch.py +++ /dev/null @@ -1,158 +0,0 @@ -# Copyright 2023, Evan Palmer -# -# Permission is hereby granted, free of charge, to any person obtaining a copy -# of this software and associated documentation files (the "Software"), to deal -# in the Software without restriction, including without limitation the rights -# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell -# copies of the Software, and to permit persons to whom the Software is -# furnished to do so, subject to the following conditions: -# -# The above copyright notice and this permission notice shall be included in -# all copies or substantial portions of the Software. -# -# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR -# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, -# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL -# THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER -# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, -# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN -# THE SOFTWARE. - -from launch import LaunchDescription -from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription -from launch.launch_description_sources import PythonLaunchDescriptionSource -from launch.substitutions import ( - Command, - FindExecutable, - LaunchConfiguration, - PathJoinSubstitution, -) -from launch_ros.substitutions import FindPackageShare - - -def generate_launch_description() -> LaunchDescription: - """Generate a launch description to run the system. - - Returns: - The launch description for the BlueROV2 base configuration. - """ - args = [ - DeclareLaunchArgument( - "controller", - default_value="ismc", - description=( - "The controller to use; this should be the same name as the" - " controller's executable." - ), - choices=["ismc"], - ), - DeclareLaunchArgument( - "localization_source", - default_value="gazebo", - choices=["mocap", "camera", "gazebo"], - description="The localization source to stream from.", - ), - DeclareLaunchArgument( - "use_camera", - default_value="false", - description=( - "Launch the BlueROV2 camera stream. This is automatically set to true" - " when using the camera for localization." - ), - ), - DeclareLaunchArgument( - "use_mocap", - default_value="false", - description=( - "Launch the Qualisys motion capture stream. This is automatically" - " set to true when using the motion capture system for localization." - ), - ), - DeclareLaunchArgument( - "use_sim", - default_value="false", - description="Launch the Gazebo + ArduSub simulator.", - ), - DeclareLaunchArgument( - "use_rviz", default_value="false", description="Launch RViz2." - ), - DeclareLaunchArgument( - "use_joy", default_value="false", description="Use a joystick controller." - ), - DeclareLaunchArgument( - "rviz_config", - default_value="bluerov2_heavy.rviz", - description="The RViz2 configuration file to load.", - ), - DeclareLaunchArgument( - "prefix", - default_value="", - description=( - "The prefix of the model. This is useful for multi-robot setups." - " Expected format '/'." - ), - ), - ] - - robot_description = Command( - [ - PathJoinSubstitution([FindExecutable(name="xacro")]), - " ", - PathJoinSubstitution( - [ - FindPackageShare("blue_description"), - "xacro", - "bluerov2_heavy", - "config.xacro", - ] - ), - " ", - "prefix:=", - LaunchConfiguration("prefix"), - " ", - "use_sim:=", - LaunchConfiguration("use_sim"), - ] - ) - - return LaunchDescription( - [ - *args, - IncludeLaunchDescription( - PythonLaunchDescriptionSource( - PathJoinSubstitution( - [FindPackageShare("blue_bringup"), "launch", "base.launch.py"] - ) - ), - launch_arguments={ - "configuration_type": "bluerov2_heavy", - "controller": LaunchConfiguration("controller"), - "localization_source": LaunchConfiguration("localization_source"), - "use_camera": LaunchConfiguration("use_camera"), - "use_mocap": LaunchConfiguration("use_mocap"), - "use_sim": LaunchConfiguration("use_sim"), - "use_rviz": LaunchConfiguration("use_rviz"), - "rviz_config": LaunchConfiguration("rviz_config"), - "gazebo_world_file": LaunchConfiguration( - "gazebo_world_file", default="bluerov2_heavy_underwater.world" - ), - "prefix": LaunchConfiguration("prefix"), - "robot_description": robot_description, - "use_joy": LaunchConfiguration("use_joy"), - }.items(), - ), - IncludeLaunchDescription( - PythonLaunchDescriptionSource( - PathJoinSubstitution( - [ - FindPackageShare("blue_bringup"), - "launch", - "bluerov2_heavy", - "tf.launch.py", - ] - ) - ), - launch_arguments={"prefix": LaunchConfiguration("prefix")}.items(), - ), - ] - ) diff --git a/blue_bringup/launch/bluerov2_heavy_reach/bluerov2_heavy_reach.launch.py b/blue_bringup/launch/bluerov2_heavy_reach/bluerov2_heavy_reach.launch.py deleted file mode 100644 index 2201e297..00000000 --- a/blue_bringup/launch/bluerov2_heavy_reach/bluerov2_heavy_reach.launch.py +++ /dev/null @@ -1,159 +0,0 @@ -# Copyright 2023, Evan Palmer -# -# Permission is hereby granted, free of charge, to any person obtaining a copy -# of this software and associated documentation files (the "Software"), to deal -# in the Software without restriction, including without limitation the rights -# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell -# copies of the Software, and to permit persons to whom the Software is -# furnished to do so, subject to the following conditions: -# -# The above copyright notice and this permission notice shall be included in -# all copies or substantial portions of the Software. -# -# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR -# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, -# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL -# THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER -# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, -# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN -# THE SOFTWARE. - -from launch import LaunchDescription -from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription -from launch.launch_description_sources import PythonLaunchDescriptionSource -from launch.substitutions import ( - Command, - FindExecutable, - LaunchConfiguration, - PathJoinSubstitution, -) -from launch_ros.substitutions import FindPackageShare - - -def generate_launch_description() -> LaunchDescription: - """Generate a launch description to run the system. - - Returns: - The launch description for the BlueROV2 base configuration. - """ - args = [ - DeclareLaunchArgument( - "controller", - default_value="ismc", - description=( - "The controller to use; this should be the same name as the" - " controller's executable." - ), - choices=["ismc"], - ), - DeclareLaunchArgument( - "localization_source", - default_value="gazebo", - choices=["mocap", "camera", "gazebo"], - description="The localization source to stream from.", - ), - DeclareLaunchArgument( - "use_camera", - default_value="false", - description=( - "Launch the BlueROV2 camera stream. This is automatically set to true" - " when using the camera for localization." - ), - ), - DeclareLaunchArgument( - "use_mocap", - default_value="false", - description=( - "Launch the Qualisys motion capture stream. This is automatically" - " set to true when using the motion capture system for localization." - ), - ), - DeclareLaunchArgument( - "use_sim", - default_value="false", - description="Launch the Gazebo + ArduSub simulator.", - ), - DeclareLaunchArgument( - "use_rviz", default_value="false", description="Launch RViz2." - ), - DeclareLaunchArgument( - "use_joy", default_value="false", description="Use a joystick controller." - ), - DeclareLaunchArgument( - "rviz_config", - default_value="bluerov2_heavy_reach.rviz", - description="The RViz2 configuration file to load.", - ), - DeclareLaunchArgument( - "prefix", - default_value="", - description=( - "The prefix of the model. This is useful for multi-robot setups." - " Expected format '/'." - ), - ), - ] - - robot_description = Command( - [ - PathJoinSubstitution([FindExecutable(name="xacro")]), - " ", - PathJoinSubstitution( - [ - FindPackageShare("blue_description"), - "xacro", - "bluerov2_heavy_reach", - "config.xacro", - ] - ), - " ", - "prefix:=", - LaunchConfiguration("prefix"), - " ", - "use_sim:=", - LaunchConfiguration("use_sim"), - ] - ) - - return LaunchDescription( - [ - *args, - IncludeLaunchDescription( - PythonLaunchDescriptionSource( - PathJoinSubstitution( - [FindPackageShare("blue_bringup"), "launch", "base.launch.py"] - ) - ), - launch_arguments={ - "configuration_type": "bluerov2_heavy_reach", - "controller": LaunchConfiguration("controller"), - "localization_source": LaunchConfiguration("localization_source"), - "use_camera": LaunchConfiguration("use_camera"), - "use_mocap": LaunchConfiguration("use_mocap"), - "use_sim": LaunchConfiguration("use_sim"), - "use_rviz": LaunchConfiguration("use_rviz"), - "rviz_config": LaunchConfiguration("rviz_config"), - "gazebo_world_file": LaunchConfiguration( - "gazebo_world_file", - default="bluerov2_heavy_reach_underwater.world", - ), # noqa - "prefix": LaunchConfiguration("prefix"), - "robot_description": robot_description, - "use_joy": LaunchConfiguration("use_joy"), - }.items(), - ), - IncludeLaunchDescription( - PythonLaunchDescriptionSource( - PathJoinSubstitution( - [ - FindPackageShare("blue_bringup"), - "launch", - "bluerov2_heavy_reach", - "tf.launch.py", - ] - ) - ), - launch_arguments={"prefix": LaunchConfiguration("prefix")}.items(), - ), - ] - ) diff --git a/blue_demos/control_integration/launch/bluerov2_controllers.launch.py b/blue_demos/control_integration/launch/bluerov2_controllers.launch.py index a3f6345f..b4e6d059 100644 --- a/blue_demos/control_integration/launch/bluerov2_controllers.launch.py +++ b/blue_demos/control_integration/launch/bluerov2_controllers.launch.py @@ -21,12 +21,7 @@ from launch import LaunchDescription from launch.actions import DeclareLaunchArgument, RegisterEventHandler from launch.event_handlers import OnProcessExit -from launch.substitutions import ( - Command, - FindExecutable, - LaunchConfiguration, - PathJoinSubstitution, -) +from launch.substitutions import PathJoinSubstitution from launch_ros.actions import Node from launch_ros.substitutions import FindPackageShare @@ -52,29 +47,6 @@ def generate_launch_description() -> LaunchDescription: ), ] - robot_description_content = Command( - [ - PathJoinSubstitution([FindExecutable(name="xacro")]), - " ", - PathJoinSubstitution( - [ - FindPackageShare("blue_demos"), - "control_integration", - "description", - "urdf", - "bluerov2.config.xacro", - ] - ), - " ", - "prefix:=", - LaunchConfiguration("prefix"), - " ", - "use_sim:=", - LaunchConfiguration("use_sim"), - ] - ) - robot_description = {"robot_description": robot_description_content} - # The ISMC expects state information to be provided in the FSD frame mobile_to_maritime_velocity_state = Node( package="mobile_to_maritime", @@ -95,7 +67,6 @@ def generate_launch_description() -> LaunchDescription: executable="ros2_control_node", output="both", parameters=[ - robot_description, PathJoinSubstitution( [ FindPackageShare("blue_demos"), @@ -105,6 +76,9 @@ def generate_launch_description() -> LaunchDescription: ] ), ], + remappings=[ + ("/controller_manager/robot_description", "/robot_description"), + ], ) velocity_controller_spawner = Node( diff --git a/blue_demos/control_integration/launch/bluerov2_heavy_controllers.launch.py b/blue_demos/control_integration/launch/bluerov2_heavy_controllers.launch.py index 9e196b7c..5e367672 100644 --- a/blue_demos/control_integration/launch/bluerov2_heavy_controllers.launch.py +++ b/blue_demos/control_integration/launch/bluerov2_heavy_controllers.launch.py @@ -21,12 +21,7 @@ from launch import LaunchDescription from launch.actions import DeclareLaunchArgument, RegisterEventHandler from launch.event_handlers import OnProcessExit -from launch.substitutions import ( - Command, - FindExecutable, - LaunchConfiguration, - PathJoinSubstitution, -) +from launch.substitutions import PathJoinSubstitution from launch_ros.actions import Node from launch_ros.substitutions import FindPackageShare @@ -51,29 +46,6 @@ def generate_launch_description() -> LaunchDescription: ), ] - robot_description_content = Command( - [ - PathJoinSubstitution([FindExecutable(name="xacro")]), - " ", - PathJoinSubstitution( - [ - FindPackageShare("blue_demos"), - "control_integration", - "description", - "urdf", - "bluerov2_heavy.config.xacro", - ] - ), - " ", - "prefix:=", - LaunchConfiguration("prefix"), - " ", - "use_sim:=", - LaunchConfiguration("use_sim"), - ] - ) - robot_description = {"robot_description": robot_description_content} - # The ISMC expects state information to be provided in the FSD frame mobile_to_maritime_velocity_state = Node( package="mobile_to_maritime", @@ -94,7 +66,6 @@ def generate_launch_description() -> LaunchDescription: executable="ros2_control_node", output="both", parameters=[ - robot_description, PathJoinSubstitution( [ FindPackageShare("blue_demos"), @@ -104,6 +75,9 @@ def generate_launch_description() -> LaunchDescription: ] ), ], + remappings=[ + ("/controller_manager/robot_description", "/robot_description"), + ], ) velocity_controller_spawner = Node( From 2dcecb298d7cdfdfe8d105285aefc19e2b679da7 Mon Sep 17 00:00:00 2001 From: "mergify[bot]" <37929162+mergify[bot]@users.noreply.github.com> Date: Tue, 25 Jun 2024 14:13:46 -0700 Subject: [PATCH 19/67] Resolved bug in BlueROV2 Heavy and Heavy Reach launch configurations (#193) (#194) * Fixed ardusub_gazebo install and mavros configurations * Remapped controller manager topic to robot state publisher topic * Added missing gstreamer dependency (cherry picked from commit 9ddb154b1e34800d7f58c0b345bd09370ba74e23) Co-authored-by: Evan Palmer --- blue_bringup/launch/bluerov2_heavy/bluerov2_heavy.launch.yaml | 2 +- .../bluerov2_heavy_reach/bluerov2_heavy_reach.launch.yaml | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/blue_bringup/launch/bluerov2_heavy/bluerov2_heavy.launch.yaml b/blue_bringup/launch/bluerov2_heavy/bluerov2_heavy.launch.yaml index 28819c61..93897099 100644 --- a/blue_bringup/launch/bluerov2_heavy/bluerov2_heavy.launch.yaml +++ b/blue_bringup/launch/bluerov2_heavy/bluerov2_heavy.launch.yaml @@ -43,7 +43,7 @@ launch: - arg: name: mavros_file - default: $(find-pkg-share blue_description)/config/mavros.yaml + default: $(find-pkg-share blue_description)/config/ardusub/mavros.yaml - arg: name: manager_file diff --git a/blue_bringup/launch/bluerov2_heavy_reach/bluerov2_heavy_reach.launch.yaml b/blue_bringup/launch/bluerov2_heavy_reach/bluerov2_heavy_reach.launch.yaml index d4c01132..d16e459b 100644 --- a/blue_bringup/launch/bluerov2_heavy_reach/bluerov2_heavy_reach.launch.yaml +++ b/blue_bringup/launch/bluerov2_heavy_reach/bluerov2_heavy_reach.launch.yaml @@ -43,7 +43,7 @@ launch: - arg: name: mavros_file - default: $(find-pkg-share blue_description)/config/mavros.yaml + default: $(find-pkg-share blue_description)/config/ardusub/mavros.yaml - arg: name: manager_file From 86d3b77957786bc72f9b591b33396ca235d359a5 Mon Sep 17 00:00:00 2001 From: "mergify[bot]" <37929162+mergify[bot]@users.noreply.github.com> Date: Tue, 25 Jun 2024 23:43:32 -0700 Subject: [PATCH 20/67] Added additional resources for USB/IP tutorial (#196) (#198) (cherry picked from commit 531ed83b0ee6859070be48208b6779f42db24309) Co-authored-by: Evan Palmer --- docs/docs/tutorials/teleop.mdx | 6 ++++-- 1 file changed, 4 insertions(+), 2 deletions(-) diff --git a/docs/docs/tutorials/teleop.mdx b/docs/docs/tutorials/teleop.mdx index 0171bcb4..c1519576 100644 --- a/docs/docs/tutorials/teleop.mdx +++ b/docs/docs/tutorials/teleop.mdx @@ -138,10 +138,12 @@ inputs, press and release the left trigger. ## USB/IP gamepad teleoperation -This tutorial describes how to configure [USB/IP](https://www.kernel.org/doc/html/latest/usb/usbip_protocol.html) +This tutorial describes how to configure [USB/IP](https://usbip.sourceforge.net/) so that you can teleoperate a remote vehicle connected to a topside computer -via a tether with a gamepad connected to your topside machine. In this +via tether with a gamepad connected to your topside machine. In this configuration, we recommend using a [Logitech F310 Gamepad](https://www.logitechg.com/en-us/products/gamepads/f310-gamepad.940-000110.html). +Additional USB/IP tutorials can be found on the [RidgeRun Developer Wiki](https://developer.ridgerun.com/wiki/index.php?title=How_to_setup_and_use_USB/IP) +and in the [Linux Magazine](https://www.linux-magazine.com/Issues/2018/208/Tutorial-USB-IP). ### Dependencies From 2cb72121e10ff67bfe70b24736dfce7c74e59d99 Mon Sep 17 00:00:00 2001 From: "mergify[bot]" <37929162+mergify[bot]@users.noreply.github.com> Date: Mon, 1 Jul 2024 21:31:54 -0700 Subject: [PATCH 21/67] Bump docker/build-push-action from 6.1.0 to 6.2.0 (#200) (#202) Bumps [docker/build-push-action](https://github.com/docker/build-push-action) from 6.1.0 to 6.2.0. - [Release notes](https://github.com/docker/build-push-action/releases) - [Commits](https://github.com/docker/build-push-action/compare/v6.1.0...v6.2.0) --- updated-dependencies: - dependency-name: docker/build-push-action dependency-type: direct:production update-type: version-update:semver-minor ... Signed-off-by: dependabot[bot] Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com> (cherry picked from commit 8639c4191064a415b5a9898a44f7d2b6440b63ce) Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com> --- .github/workflows/docker.yaml | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/.github/workflows/docker.yaml b/.github/workflows/docker.yaml index fb01cad0..5230aea7 100644 --- a/.github/workflows/docker.yaml +++ b/.github/workflows/docker.yaml @@ -49,7 +49,7 @@ jobs: type=raw,value=${{ matrix.ROS_DISTRO }}-${{ github.job }} - name: Build and push Docker image - uses: docker/build-push-action@v6.1.0 + uses: docker/build-push-action@v6.2.0 with: context: . file: .docker/Dockerfile @@ -96,7 +96,7 @@ jobs: type=raw,value=${{ matrix.ROS_DISTRO }}-${{ github.job }} - name: Build and push Docker image - uses: docker/build-push-action@v6.1.0 + uses: docker/build-push-action@v6.2.0 with: context: . file: .docker/Dockerfile @@ -138,7 +138,7 @@ jobs: type=raw,value=${{ matrix.ROS_DISTRO }}-${{ github.job }} - name: Build and push Docker image - uses: docker/build-push-action@v6.1.0 + uses: docker/build-push-action@v6.2.0 with: context: . file: .docker/Dockerfile @@ -179,7 +179,7 @@ jobs: type=raw,value=${{ matrix.ROS_DISTRO }}-${{ github.job }} - name: Build and push Docker image - uses: docker/build-push-action@v6.1.0 + uses: docker/build-push-action@v6.2.0 with: context: . file: .docker/Dockerfile From 42c6a48ca469da82ab66bb2df59b340ed61c5bf0 Mon Sep 17 00:00:00 2001 From: "mergify[bot]" <37929162+mergify[bot]@users.noreply.github.com> Date: Fri, 26 Jul 2024 15:40:58 -0700 Subject: [PATCH 22/67] Add xacro as an exec_depend for blue_description (#215) (#219) Co-authored-by: Aaron Marburg (cherry picked from commit 506be0642c94239b9d4c40ed2ab9d05497abafae) Co-authored-by: Aaron Marburg --- blue_description/package.xml | 2 ++ 1 file changed, 2 insertions(+) diff --git a/blue_description/package.xml b/blue_description/package.xml index 0eca687e..e176cb73 100644 --- a/blue_description/package.xml +++ b/blue_description/package.xml @@ -16,6 +16,8 @@ ament_cmake + xacro + ament_cmake From 3e5c96443aab591e8ad96bb3afb58d3e1ed6267f Mon Sep 17 00:00:00 2001 From: "mergify[bot]" <37929162+mergify[bot]@users.noreply.github.com> Date: Fri, 26 Jul 2024 16:18:11 -0700 Subject: [PATCH 23/67] Style: Upcase "as" in Dockerfile (backport #214) (#217) * Fix case on "as" in Dockerfile (#214) Co-authored-by: Aaron Marburg (cherry picked from commit 8bbb19e38e5ccb929ded96512d100877389cde66) # Conflicts: # .docker/Dockerfile * Resolved merge conflicts * Bump build versions --------- Co-authored-by: Aaron Marburg Co-authored-by: Evan Palmer --- .docker/Dockerfile | 8 ++++---- .github/workflows/ci.yaml | 2 +- .github/workflows/docker.yaml | 18 +++++++++--------- 3 files changed, 14 insertions(+), 14 deletions(-) diff --git a/.docker/Dockerfile b/.docker/Dockerfile index 0112cad9..fe30b39a 100644 --- a/.docker/Dockerfile +++ b/.docker/Dockerfile @@ -1,5 +1,5 @@ ARG ROS_DISTRO=iron -FROM ros:$ROS_DISTRO-ros-base as ci +FROM ros:$ROS_DISTRO-ros-base AS ci ENV DEBIAN_FRONTEND=noninteractive @@ -36,7 +36,7 @@ RUN apt-get -q update \ && apt-get clean -y \ && rm -rf /var/lib/apt/lists/* -FROM ci as robot +FROM ci AS robot # Configure a new non-root user ARG USERNAME=blue @@ -99,7 +99,7 @@ RUN sudo apt-get -q update \ RUN echo "source ${USER_WORKSPACE}/install/setup.bash" >> /home/$USERNAME/.bashrc \ && echo "source /opt/ros/${ROS_DISTRO}/setup.bash" >> /home/$USERNAME/.bashrc -FROM robot as desktop +FROM robot AS desktop ENV DEBIAN_FRONTEND=noninteractive ENV GZ_VERSION=garden @@ -177,7 +177,7 @@ RUN . "/opt/ros/${ROS_DISTRO}/setup.sh" \ # Setup the simulation environment variables RUN echo "source ${USER_WORKSPACE}/src/blue/.docker/entrypoints/sim.sh" >> /home/$USERNAME/.bashrc -FROM desktop as desktop-nvidia +FROM desktop AS desktop-nvidia # Install NVIDIA software RUN sudo apt-get update \ diff --git a/.github/workflows/ci.yaml b/.github/workflows/ci.yaml index 693ac20d..33ffca7f 100644 --- a/.github/workflows/ci.yaml +++ b/.github/workflows/ci.yaml @@ -28,7 +28,7 @@ jobs: submodules: recursive - name: Log into registry - uses: docker/login-action@v3.2.0 + uses: docker/login-action@v3.3.0 with: registry: ghcr.io username: ${{ github.actor }} diff --git a/.github/workflows/docker.yaml b/.github/workflows/docker.yaml index 5230aea7..92a44e85 100644 --- a/.github/workflows/docker.yaml +++ b/.github/workflows/docker.yaml @@ -33,7 +33,7 @@ jobs: - name: Log into registry if: env.PUSH == 'true' - uses: docker/login-action@v3.2.0 + uses: docker/login-action@v3.3.0 with: registry: ghcr.io username: ${{ github.actor }} @@ -49,7 +49,7 @@ jobs: type=raw,value=${{ matrix.ROS_DISTRO }}-${{ github.job }} - name: Build and push Docker image - uses: docker/build-push-action@v6.2.0 + uses: docker/build-push-action@v6.5.0 with: context: . file: .docker/Dockerfile @@ -73,14 +73,14 @@ jobs: uses: actions/checkout@v4 - name: Set up QEMU - uses: docker/setup-qemu-action@v3.0.0 + uses: docker/setup-qemu-action@v3.2.0 - name: Set up Docker Buildx uses: docker/setup-buildx-action@v3 - name: Log into registry if: env.PUSH == 'true' - uses: docker/login-action@v3.2.0 + uses: docker/login-action@v3.3.0 with: registry: ghcr.io username: ${{ github.actor }} @@ -96,7 +96,7 @@ jobs: type=raw,value=${{ matrix.ROS_DISTRO }}-${{ github.job }} - name: Build and push Docker image - uses: docker/build-push-action@v6.2.0 + uses: docker/build-push-action@v6.5.0 with: context: . file: .docker/Dockerfile @@ -122,7 +122,7 @@ jobs: - name: Log into registry if: env.PUSH == 'true' - uses: docker/login-action@v3.2.0 + uses: docker/login-action@v3.3.0 with: registry: ghcr.io username: ${{ github.actor }} @@ -138,7 +138,7 @@ jobs: type=raw,value=${{ matrix.ROS_DISTRO }}-${{ github.job }} - name: Build and push Docker image - uses: docker/build-push-action@v6.2.0 + uses: docker/build-push-action@v6.5.0 with: context: . file: .docker/Dockerfile @@ -163,7 +163,7 @@ jobs: - name: Log into registry if: env.PUSH == 'true' - uses: docker/login-action@v3.2.0 + uses: docker/login-action@v3.3.0 with: registry: ghcr.io username: ${{ github.actor }} @@ -179,7 +179,7 @@ jobs: type=raw,value=${{ matrix.ROS_DISTRO }}-${{ github.job }} - name: Build and push Docker image - uses: docker/build-push-action@v6.2.0 + uses: docker/build-push-action@v6.5.0 with: context: . file: .docker/Dockerfile From da4a996f9d751e79edf66010e2547100b96f6e37 Mon Sep 17 00:00:00 2001 From: "mergify[bot]" <37929162+mergify[bot]@users.noreply.github.com> Date: Mon, 5 Aug 2024 13:43:13 -0700 Subject: [PATCH 24/67] Add "robot" container (backport #221) (#225) * Add "robot" container (#221) * Initial commit of _robot container and devcontainer * Add xacro as an exec_depend for blue_description * Update comments * Remove unused Docker stage "blue_src_and_deps" Renamed *.repos --> blue.repos and sim.repos --------- Co-authored-by: Aaron Marburg (cherry picked from commit ba77c25bdcddf1d7ad04779320550820cd4e3b53) # Conflicts: # blue.repos * Fixed merge conflict from mergify * Use "iron" branch of ros_gz --------- Co-authored-by: Aaron Marburg Co-authored-by: Evan Palmer Co-authored-by: Aaron Marburg --- .devcontainer/robot/Dockerfile | 31 +++++++++++++++++++++ .devcontainer/robot/devcontainer.json | 40 +++++++++++++++++++++++++++ .docker/Dockerfile | 19 +++++++++++-- .docker/compose/robot.yaml | 21 ++++++++++++++ .dockerignore | 1 + blue.repos | 5 ---- sim.repos | 11 ++++++++ 7 files changed, 121 insertions(+), 7 deletions(-) create mode 100644 .devcontainer/robot/Dockerfile create mode 100644 .devcontainer/robot/devcontainer.json create mode 100644 .docker/compose/robot.yaml create mode 100644 sim.repos diff --git a/.devcontainer/robot/Dockerfile b/.devcontainer/robot/Dockerfile new file mode 100644 index 00000000..f10cb1e8 --- /dev/null +++ b/.devcontainer/robot/Dockerfile @@ -0,0 +1,31 @@ +# +# Dockerfile for *-robot development container +# +ARG BLUE_GITHUB_REPO=Robotic-Decision-Making-Lab/blue +ARG ROS_DISTRO=rolling +FROM ${BLUE_GITHUB_REPO}:${ROS_DISTRO}-robot + +# Install ROS dependencies +# This is done in a previous stage, but we include it again here in case anyone wants to +# add new dependencies during development +ENV USERNAME=blue +ENV USER_WORKSPACE=/home/$USERNAME/ws_blue +WORKDIR $USER_WORKSPACE + +COPY --chown=$USER_UID:$USER_GID . src/blue +RUN sudo apt-get -q update \ + && sudo apt-get -q -y upgrade \ + && rosdep update \ + && rosdep install -y --from-paths src --ignore-src --rosdistro ${ROS_DISTRO} --skip-keys="gz-transport12 gz-sim7 gz-math7 gz-msgs9 gz-plugin2" \ + && sudo apt-get autoremove -y \ + && sudo apt-get clean -y \ + && sudo rm -rf /var/lib/apt/lists/* + +# Install debugging/linting Python packages +RUN python3 -m pip install \ + pre-commit \ + mypy + +# Disable the setuputils installation warning +# This prevents us from needing to pin the setuputils version (which doesn't always work) +ENV PYTHONWARNINGS="ignore" diff --git a/.devcontainer/robot/devcontainer.json b/.devcontainer/robot/devcontainer.json new file mode 100644 index 00000000..d57e5f09 --- /dev/null +++ b/.devcontainer/robot/devcontainer.json @@ -0,0 +1,40 @@ +{ + "name": "Robot Dev Container", + "build": { + "dockerfile": "Dockerfile", + "context": "../..", + "args": { + "BLUE_GITHUB_REPO": "ghcr.io/robotic-decision-making-lab/blue", + "ROS_DISTRO": "rolling" + } + }, + "workspaceMount": "source=${localWorkspaceFolder},target=/home/blue/ws_blue/src/blue,type=bind", + "workspaceFolder": "/home/blue/ws_blue/src/blue", + "remoteUser": "blue", + "runArgs": [ + "--network=host", + "--cap-add=SYS_PTRACE", + "--security-opt=seccomp:unconfined", + "--security-opt=apparmor:unconfined", + "--volume=/dev:/dev", + "--privileged", + "--volume=/run/user/1000:/run/user/1000" + ], + "containerEnv": {}, + "customizations": { + "vscode": { + "extensions": [ + "ms-azuretools.vscode-docker", + "ms-python.python", + "njpwerner.autodocstring", + "redhat.vscode-xml", + "redhat.vscode-yaml", + "smilerobotics.urdf", + "esbenp.prettier-vscode", + "charliermarsh.ruff", + "josetr.cmake-language-support-vscode", + "unifiedjs.vscode-mdx" + ] + } + } +} diff --git a/.docker/Dockerfile b/.docker/Dockerfile index fe30b39a..6e7c955b 100644 --- a/.docker/Dockerfile +++ b/.docker/Dockerfile @@ -26,7 +26,8 @@ RUN apt-get -q update \ && apt-get clean -y \ && rm -rf /var/lib/apt/lists/* -# Install all ROS dependencies +# Install all ROS dependencies for _just_ blue +# (we have not imported other repos from .repos files) RUN apt-get -q update \ && apt-get -q -y upgrade \ && rosdep update \ @@ -36,6 +37,14 @@ RUN apt-get -q update \ && apt-get clean -y \ && rm -rf /var/lib/apt/lists/* +# This stage includes +# - Switching to the non-root user +# - Copying 'blue' source from this repo into the non-root user's workspace +# - Installing blue deps using pip, apt and rosdep +# - Installs the remaining blue dependencies from blue_robot.repos +# - Installs deps from rosdep for all src dependencies +# - colcon build +# FROM ci AS robot # Configure a new non-root user @@ -88,14 +97,20 @@ RUN sudo apt-get -q update \ && sudo apt-get clean -y \ && sudo rm -rf /var/lib/apt/lists/* +WORKDIR $USER_WORKSPACE RUN sudo apt-get -q update \ && sudo apt-get -q -y upgrade \ + && vcs import src < src/blue/blue.repos \ && rosdep update \ && rosdep install -y --from-paths src --ignore-src --rosdistro ${ROS_DISTRO} \ && sudo apt-get autoremove -y \ && sudo apt-get clean -y \ && sudo rm -rf /var/lib/apt/lists/* +# Actually build workspace +RUN . "/opt/ros/${ROS_DISTRO}/setup.sh" \ + && colcon build + RUN echo "source ${USER_WORKSPACE}/install/setup.bash" >> /home/$USERNAME/.bashrc \ && echo "source /opt/ros/${ROS_DISTRO}/setup.bash" >> /home/$USERNAME/.bashrc @@ -161,7 +176,7 @@ RUN [ "/bin/bash" , "-c" , " \ WORKDIR $USER_WORKSPACE RUN sudo apt-get -q update \ && sudo apt-get -q -y upgrade \ - && vcs import src < src/blue/blue.repos \ + && vcs import src < src/blue/sim.repos \ && rosdep update \ && rosdep install -y --from-paths src --ignore-src --rosdistro ${ROS_DISTRO} --skip-keys="gz-transport12 gz-sim7 gz-math7 gz-msgs9 gz-plugin2" \ && sudo apt-get autoremove -y \ diff --git a/.docker/compose/robot.yaml b/.docker/compose/robot.yaml new file mode 100644 index 00000000..faf1be02 --- /dev/null +++ b/.docker/compose/robot.yaml @@ -0,0 +1,21 @@ +services: + blue: + image: ghcr.io/robotic-decision-making-lab/blue:rolling-robot + build: + dockerfile: .docker/Dockerfile + target: robot + context: ../../ + network_mode: host + privileged: true + cap_add: + - SYS_PTRACE + security_opt: + - seccomp:unconfined + - apparmor:unconfined + volumes: + - /dev:/dev + - /run/user/1000:/run/user/1000 + - type: bind + source: ../../ + target: /home/blue/ws_blue/src/blue + command: tail -f /dev/null diff --git a/.dockerignore b/.dockerignore index 211fad8d..ae633710 100644 --- a/.dockerignore +++ b/.dockerignore @@ -7,5 +7,6 @@ !blue_description !blue_demos !blue.repos +!sim.repos !.docker/entrypoints !requirements-build.txt diff --git a/blue.repos b/blue.repos index 23486eb3..20a32377 100644 --- a/blue.repos +++ b/blue.repos @@ -1,10 +1,5 @@ repositories: - ros_gz: - type: git - url: https://github.com/gazebosim/ros_gz - version: iron - hydrodynamics: type: git url: https://github.com/Robotic-Decision-Making-Lab/hydrodynamics.git diff --git a/sim.repos b/sim.repos new file mode 100644 index 00000000..b530a5f9 --- /dev/null +++ b/sim.repos @@ -0,0 +1,11 @@ +# +# Note this is _in addition to_ blue.repos +# (i.e. you need to vcs import both files independently) +# +repositories: + + # ROS-Gazebo integration + ros_gz: + type: git + url: https://github.com/gazebosim/ros_gz + version: iron From 5f7f740299460c949ffb496892062ebf2d77dcfd Mon Sep 17 00:00:00 2001 From: "mergify[bot]" <37929162+mergify[bot]@users.noreply.github.com> Date: Thu, 8 Aug 2024 13:03:40 -0700 Subject: [PATCH 25/67] Use Gazebo Harmonic (#223) (#231) * Update to use Harmonic * Add "third-party" rosdep from OSRF for gazebo deps. * Added comment on "user ROOT" rather than sudo, joined two adjacent apt-get install steps. * Correct error in comment --------- Co-authored-by: Aaron Marburg (cherry picked from commit 8a4e05aa5e211cd0bab0e72466530f70054814fb) Co-authored-by: Aaron Marburg --- .docker/Dockerfile | 44 +++++++++++++++++++++++--------------------- 1 file changed, 23 insertions(+), 21 deletions(-) diff --git a/.docker/Dockerfile b/.docker/Dockerfile index 6e7c955b..83b8740e 100644 --- a/.docker/Dockerfile +++ b/.docker/Dockerfile @@ -117,38 +117,40 @@ RUN echo "source ${USER_WORKSPACE}/install/setup.bash" >> /home/$USERNAME/.bashr FROM robot AS desktop ENV DEBIAN_FRONTEND=noninteractive -ENV GZ_VERSION=garden - -# Install Gazebo Garden: https://gazebosim.org/docs/garden/install_ubuntu -RUN sudo wget https://packages.osrfoundation.org/gazebo.gpg -O /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg \ - && echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null \ - && sudo apt-get -q update \ - && sudo apt-get -y --quiet --no-install-recommends install \ - gz-garden \ - && sudo apt-get autoremove -y \ - && sudo apt-get clean -y \ - && sudo rm -rf /var/lib/apt/lists/* - -# Install ArduPilot and ardupilot_gazebo dependencies -RUN sudo apt-get -q update \ - && sudo apt-get -q -y upgrade \ - && sudo apt-get -q install --no-install-recommends -y \ +ENV GZ_VERSION=harmonic + +# Install Gazebo Harmonic: https://gazebosim.org/docs/harmonic/install_ubuntu +# Per DL3004, use "USER root" rather than "sudo" +# https://github.com/hadolint/hadolint/wiki/DL3004 +USER root +# Install custom rosdep list +ADD --chown=root:root --chmod=0644 https://raw.githubusercontent.com/osrf/osrf-rosdep/master/gz/00-gazebo.list /etc/ros/rosdep/sources.list.d/00-gazebo.list +RUN wget https://packages.osrfoundation.org/gazebo.gpg -O /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg \ + && echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" | tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null \ + && apt-get -q update \ + && apt-get -y --quiet --no-install-recommends install \ + gz-${GZ_VERSION} \ + python3-pexpect \ python3-wxgtk4.0 \ + python3-future \ rapidjson-dev \ xterm \ - libgz-sim7-dev \ rapidjson-dev \ libopencv-dev \ - && sudo apt-get autoremove -y \ - && sudo apt-get clean -y \ - && sudo rm -rf /var/lib/apt/lists/* + && apt-get autoremove -y \ + && apt-get clean -y \ + && rm -rf /var/lib/apt/lists/* +USER $USERNAME # Clone ArduSub # ArduSub is installed for simulation purposes ONLY # When deployed onto hardware, the native installation of ArduSub # (on the FCU) will be used. WORKDIR /home/$USERNAME -RUN git clone https://github.com/ArduPilot/ardupilot.git --recurse-submodules +# Really should do version pinning but Sub-4.5 is waaaay behind master +# (e.g. it doesn't know about "noble" yet) +ARG ARDUPILOT_RELEASE=master +RUN git clone -b ${ARDUPILOT_RELEASE} https://github.com/ArduPilot/ardupilot.git --recurse-submodules # Install ArduSub dependencies WORKDIR /home/$USERNAME/ardupilot From 0e297bc109aad194e82148c530da0a9027b5c78d Mon Sep 17 00:00:00 2001 From: Aaron Marburg Date: Fri, 9 Aug 2024 14:50:01 -0700 Subject: [PATCH 26/67] Install ros_gz from binary package (iron, humble) (#228) * Install ros_gz from package, not from source, remove sim.repos * Removed additional apt-get lines from cherry-pick --------- Co-authored-by: Aaron Marburg --- .docker/Dockerfile | 2 +- sim.repos | 11 ----------- 2 files changed, 1 insertion(+), 12 deletions(-) delete mode 100644 sim.repos diff --git a/.docker/Dockerfile b/.docker/Dockerfile index 83b8740e..dc31ea0b 100644 --- a/.docker/Dockerfile +++ b/.docker/Dockerfile @@ -130,6 +130,7 @@ RUN wget https://packages.osrfoundation.org/gazebo.gpg -O /usr/share/keyrings/pk && apt-get -q update \ && apt-get -y --quiet --no-install-recommends install \ gz-${GZ_VERSION} \ + ros-${ROS_DISTRO}-ros-gz${GZ_VERSION} \ python3-pexpect \ python3-wxgtk4.0 \ python3-future \ @@ -178,7 +179,6 @@ RUN [ "/bin/bash" , "-c" , " \ WORKDIR $USER_WORKSPACE RUN sudo apt-get -q update \ && sudo apt-get -q -y upgrade \ - && vcs import src < src/blue/sim.repos \ && rosdep update \ && rosdep install -y --from-paths src --ignore-src --rosdistro ${ROS_DISTRO} --skip-keys="gz-transport12 gz-sim7 gz-math7 gz-msgs9 gz-plugin2" \ && sudo apt-get autoremove -y \ diff --git a/sim.repos b/sim.repos deleted file mode 100644 index b530a5f9..00000000 --- a/sim.repos +++ /dev/null @@ -1,11 +0,0 @@ -# -# Note this is _in addition to_ blue.repos -# (i.e. you need to vcs import both files independently) -# -repositories: - - # ROS-Gazebo integration - ros_gz: - type: git - url: https://github.com/gazebosim/ros_gz - version: iron From ffa217beb674760056d7b8ab31b802e6a6955232 Mon Sep 17 00:00:00 2001 From: "mergify[bot]" <37929162+mergify[bot]@users.noreply.github.com> Date: Sat, 17 Aug 2024 16:37:56 -0700 Subject: [PATCH 27/67] Bump docker/build-push-action from 6.5.0 to 6.6.1 (#239) (#246) Bumps [docker/build-push-action](https://github.com/docker/build-push-action) from 6.5.0 to 6.6.1. - [Release notes](https://github.com/docker/build-push-action/releases) - [Commits](https://github.com/docker/build-push-action/compare/v6.5.0...v6.6.1) --- updated-dependencies: - dependency-name: docker/build-push-action dependency-type: direct:production update-type: version-update:semver-minor ... Signed-off-by: dependabot[bot] Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com> (cherry picked from commit c4675d3eba278b8127ccb499a0ce7ba00c48dede) Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com> --- .github/workflows/docker.yaml | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/.github/workflows/docker.yaml b/.github/workflows/docker.yaml index 92a44e85..80df69a2 100644 --- a/.github/workflows/docker.yaml +++ b/.github/workflows/docker.yaml @@ -49,7 +49,7 @@ jobs: type=raw,value=${{ matrix.ROS_DISTRO }}-${{ github.job }} - name: Build and push Docker image - uses: docker/build-push-action@v6.5.0 + uses: docker/build-push-action@v6.6.1 with: context: . file: .docker/Dockerfile @@ -96,7 +96,7 @@ jobs: type=raw,value=${{ matrix.ROS_DISTRO }}-${{ github.job }} - name: Build and push Docker image - uses: docker/build-push-action@v6.5.0 + uses: docker/build-push-action@v6.6.1 with: context: . file: .docker/Dockerfile @@ -138,7 +138,7 @@ jobs: type=raw,value=${{ matrix.ROS_DISTRO }}-${{ github.job }} - name: Build and push Docker image - uses: docker/build-push-action@v6.5.0 + uses: docker/build-push-action@v6.6.1 with: context: . file: .docker/Dockerfile @@ -179,7 +179,7 @@ jobs: type=raw,value=${{ matrix.ROS_DISTRO }}-${{ github.job }} - name: Build and push Docker image - uses: docker/build-push-action@v6.5.0 + uses: docker/build-push-action@v6.6.1 with: context: . file: .docker/Dockerfile From 100191496b165906507ea4260f716d1683e93ddb Mon Sep 17 00:00:00 2001 From: "mergify[bot]" <37929162+mergify[bot]@users.noreply.github.com> Date: Mon, 19 Aug 2024 13:51:54 -0700 Subject: [PATCH 28/67] Fix ENVs to use "key=value" format (#234) (#251) Co-authored-by: Aaron Marburg (cherry picked from commit 368b25a547a8f0a65d3e13872aa5c11eb21ae50c) Co-authored-by: Aaron Marburg --- .docker/Dockerfile | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/.docker/Dockerfile b/.docker/Dockerfile index dc31ea0b..1a828fd9 100644 --- a/.docker/Dockerfile +++ b/.docker/Dockerfile @@ -211,6 +211,6 @@ RUN sudo apt-get update \ && sudo rm -rf /var/lib/apt/lists/* # Env vars for the nvidia-container-runtime. -ENV NVIDIA_VISIBLE_DEVICES all -ENV NVIDIA_DRIVER_CAPABILITIES graphics,utility,compute -ENV QT_X11_NO_MITSHM 1 +ENV NVIDIA_VISIBLE_DEVICES=all +ENV NVIDIA_DRIVER_CAPABILITIES=graphics,utility,compute +ENV QT_X11_NO_MITSHM=1 From 98d5ad508aefa5947780dc4f3a7991be55f57ac6 Mon Sep 17 00:00:00 2001 From: "mergify[bot]" <37929162+mergify[bot]@users.noreply.github.com> Date: Mon, 19 Aug 2024 13:53:34 -0700 Subject: [PATCH 29/67] Bump docker/build-push-action from 6.6.1 to 6.7.0 (#247) (#254) Bumps [docker/build-push-action](https://github.com/docker/build-push-action) from 6.6.1 to 6.7.0. - [Release notes](https://github.com/docker/build-push-action/releases) - [Commits](https://github.com/docker/build-push-action/compare/v6.6.1...v6.7.0) --- updated-dependencies: - dependency-name: docker/build-push-action dependency-type: direct:production update-type: version-update:semver-minor ... Signed-off-by: dependabot[bot] Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com> (cherry picked from commit 96852e3abf16eac1c9b089f1fb0084f9d7b39fb3) Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com> --- .github/workflows/docker.yaml | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/.github/workflows/docker.yaml b/.github/workflows/docker.yaml index 80df69a2..dd901294 100644 --- a/.github/workflows/docker.yaml +++ b/.github/workflows/docker.yaml @@ -49,7 +49,7 @@ jobs: type=raw,value=${{ matrix.ROS_DISTRO }}-${{ github.job }} - name: Build and push Docker image - uses: docker/build-push-action@v6.6.1 + uses: docker/build-push-action@v6.7.0 with: context: . file: .docker/Dockerfile @@ -96,7 +96,7 @@ jobs: type=raw,value=${{ matrix.ROS_DISTRO }}-${{ github.job }} - name: Build and push Docker image - uses: docker/build-push-action@v6.6.1 + uses: docker/build-push-action@v6.7.0 with: context: . file: .docker/Dockerfile @@ -138,7 +138,7 @@ jobs: type=raw,value=${{ matrix.ROS_DISTRO }}-${{ github.job }} - name: Build and push Docker image - uses: docker/build-push-action@v6.6.1 + uses: docker/build-push-action@v6.7.0 with: context: . file: .docker/Dockerfile @@ -179,7 +179,7 @@ jobs: type=raw,value=${{ matrix.ROS_DISTRO }}-${{ github.job }} - name: Build and push Docker image - uses: docker/build-push-action@v6.6.1 + uses: docker/build-push-action@v6.7.0 with: context: . file: .docker/Dockerfile From 356f608ff38f7a1043be7ea8c51f3560dabc2d4f Mon Sep 17 00:00:00 2001 From: "mergify[bot]" <37929162+mergify[bot]@users.noreply.github.com> Date: Mon, 19 Aug 2024 15:16:33 -0700 Subject: [PATCH 30/67] Remove sim.sh, insert contents into .bashrc in Dockerfile (#227) (#258) * GZ_VERSION is set in the Dockerfile, don't override in sim.sh * Remove sim.sh, insert into .bashrc in Dockerfile * Remove dead code in Dockerfile * Use intermediate variable for location of BLUE_DESCRIPTION files. --------- Co-authored-by: Aaron Marburg (cherry picked from commit 2904656bf5fcceab5b4fbeb262842f3edf5e3557) Co-authored-by: Aaron Marburg --- .docker/Dockerfile | 22 +++++++++++++++++++++- .docker/entrypoints/sim.sh | 22 ---------------------- 2 files changed, 21 insertions(+), 23 deletions(-) delete mode 100644 .docker/entrypoints/sim.sh diff --git a/.docker/Dockerfile b/.docker/Dockerfile index 1a828fd9..16ca16a3 100644 --- a/.docker/Dockerfile +++ b/.docker/Dockerfile @@ -192,7 +192,27 @@ RUN . "/opt/ros/${ROS_DISTRO}/setup.sh" \ && colcon build # Setup the simulation environment variables -RUN echo "source ${USER_WORKSPACE}/src/blue/.docker/entrypoints/sim.sh" >> /home/$USERNAME/.bashrc +RUN <> /home/$USERNAME/.bashrc + +# Add results of ArduSub build +export PATH=\$HOME/ardupilot/build/sitl/bin:\$PATH + +# Optional: add autotest to the PATH, helpful for running sim_vehicle.py +export PATH=\$HOME/ardupilot/Tools/autotest:\$PATH + +# Add ardupilot_gazebo plugin +export GZ_SIM_SYSTEM_PLUGIN_PATH=\$HOME/ardupilot_gazebo/build:\$GZ_SIM_SYSTEM_PLUGIN_PATH + +# Add ardupilot_gazebo models and worlds +export GZ_SIM_RESOURCE_PATH=\$HOME/ardupilot_gazebo/models:\$HOME/ardupilot_gazebo/worlds:\$GZ_SIM_RESOURCE_PATH + +# Add blue models and worlds +BLUE_DESCRIPTION=\$USER_WORKSPACE/src/blue/blue_description +export GZ_SIM_RESOURCE_PATH=\$BLUE_DESCRIPTION/gazebo/models:\$BLUE_DESCRIPTION/gazebo/worlds:\$GZ_SIM_RESOURCE_PATH + +# Add blue meshes +export GZ_SIM_RESOURCE_PATH=\$BLUE_DESCRIPTION/meshes:\$GZ_SIM_RESOURCE_PATH +EOT FROM desktop AS desktop-nvidia diff --git a/.docker/entrypoints/sim.sh b/.docker/entrypoints/sim.sh deleted file mode 100644 index 85b3946b..00000000 --- a/.docker/entrypoints/sim.sh +++ /dev/null @@ -1,22 +0,0 @@ -#!/usr/bin/env bash - -# Add results of ArduSub build -export PATH=$HOME/ardupilot/build/sitl/bin:$PATH - -# Optional: add autotest to the PATH, helpful for running sim_vehicle.py -export PATH=$HOME/ardupilot/Tools/autotest:$PATH - -# Add ardupilot_gazebo plugin -export GZ_SIM_SYSTEM_PLUGIN_PATH=$HOME/ardupilot_gazebo/build:$GZ_SIM_SYSTEM_PLUGIN_PATH - -# Add ardupilot_gazebo models and worlds -export GZ_SIM_RESOURCE_PATH=$HOME/ardupilot_gazebo/models:$HOME/ardupilot_gazebo/worlds:$GZ_SIM_RESOURCE_PATH - -# Add blue models and worlds -export GZ_SIM_RESOURCE_PATH=$HOME/ws_blue/src/blue/blue_description/gazebo/models:$HOME/ws_blue/src/blue/blue_description/gazebo/worlds:$GZ_SIM_RESOURCE_PATH - -# Add blue meshes -export GZ_SIM_RESOURCE_PATH=$HOME/ws_blue/src/blue/blue_description/meshes:$GZ_SIM_RESOURCE_PATH - -# Build ros_gz for Gazebo Garden -export GZ_VERSION=garden From 058c27731c15c710a4d007e0fe2760583a6f2b26 Mon Sep 17 00:00:00 2001 From: "mergify[bot]" <37929162+mergify[bot]@users.noreply.github.com> Date: Mon, 19 Aug 2024 15:47:43 -0700 Subject: [PATCH 31/67] Update and remove stale project configurations (backport #256) (#260) * Update and remove stale project configurations (#256) * Updated and removed stale configs * Moved devcontainer specific configurations to devcontainer.json file * Removed stale C++ configurations * Fixed grammar in mergify prompt * Update Python version in settings.json (cherry picked from commit 992b51b6b6a061ff59918d88386d52cfd1129d74) * Resolved cherry pick errors --------- Co-authored-by: Evan Palmer --- .devcontainer/nouveau/devcontainer.json | 4 ++++ .devcontainer/nvidia/devcontainer.json | 4 ++++ .devcontainer/robot/devcontainer.json | 4 ++++ .github/ISSUE_TEMPLATE/documentation.yaml | 8 ++++---- .github/mergify.yml | 13 +++++++++++-- .github/workflows/ci-docs.yaml | 1 - .vscode/c_cpp_properties.json | 7 +------ .vscode/settings.json | 6 ++---- 8 files changed, 30 insertions(+), 17 deletions(-) diff --git a/.devcontainer/nouveau/devcontainer.json b/.devcontainer/nouveau/devcontainer.json index 5dbcef35..a9cb299d 100644 --- a/.devcontainer/nouveau/devcontainer.json +++ b/.devcontainer/nouveau/devcontainer.json @@ -22,6 +22,10 @@ }, "customizations": { "vscode": { + "settings": { + "python.autoComplete.extraPaths": ["${workspaceFolder}/install/"], + "python.analysis.extraPaths": ["${workspaceFolder}/install/"] + }, "extensions": [ "ms-azuretools.vscode-docker", "ms-python.python", diff --git a/.devcontainer/nvidia/devcontainer.json b/.devcontainer/nvidia/devcontainer.json index 9359454f..b6f36a06 100644 --- a/.devcontainer/nvidia/devcontainer.json +++ b/.devcontainer/nvidia/devcontainer.json @@ -26,6 +26,10 @@ }, "customizations": { "vscode": { + "settings": { + "python.autoComplete.extraPaths": ["${workspaceFolder}/install/"], + "python.analysis.extraPaths": ["${workspaceFolder}/install/"] + }, "extensions": [ "ms-azuretools.vscode-docker", "ms-python.python", diff --git a/.devcontainer/robot/devcontainer.json b/.devcontainer/robot/devcontainer.json index d57e5f09..38e9e5a8 100644 --- a/.devcontainer/robot/devcontainer.json +++ b/.devcontainer/robot/devcontainer.json @@ -23,6 +23,10 @@ "containerEnv": {}, "customizations": { "vscode": { + "settings": { + "python.autoComplete.extraPaths": ["${workspaceFolder}/install/"], + "python.analysis.extraPaths": ["${workspaceFolder}/install/"] + }, "extensions": [ "ms-azuretools.vscode-docker", "ms-python.python", diff --git a/.github/ISSUE_TEMPLATE/documentation.yaml b/.github/ISSUE_TEMPLATE/documentation.yaml index d0dcbb2c..c44b1e6b 100644 --- a/.github/ISSUE_TEMPLATE/documentation.yaml +++ b/.github/ISSUE_TEMPLATE/documentation.yaml @@ -1,5 +1,5 @@ name: Documentation Improvement -description: Report an issue related to the BlueROV2 driver documentation. +description: Report an issue related to the Blue documentation. title: "[DOC]: " labels: [documentation, needs triage] @@ -16,9 +16,9 @@ body: label: Documentation Change Type description: Please indicate what type of documentation issue you are reporting. options: - - Adding new documentation to the BlueROV2 driver documentation - - Changing existing BlueROV2 driver documentation - - Removing existing BlueROV2 driver documentation + - Adding new documentation to the Blue documentation + - Changing existing documentation + - Removing existing documentation validations: required: true diff --git a/.github/mergify.yml b/.github/mergify.yml index 89c72613..186c6951 100644 --- a/.github/mergify.yml +++ b/.github/mergify.yml @@ -1,5 +1,5 @@ pull_request_rules: - - name: backport to iron at reviewers discretion + - name: backport to iron at reviewers' discretion conditions: - base=main - "label=backport-iron" @@ -8,7 +8,7 @@ pull_request_rules: branches: - iron - - name: backport to humble at reviewers discretion + - name: backport to humble at reviewers' discretion conditions: - base=main - "label=backport-humble" @@ -17,6 +17,15 @@ pull_request_rules: branches: - humble + - name: backport to jazzy at reviewers' discretion + conditions: + - base=main + - "label=backport-jazzy" + actions: + backport: + branches: + - jazzy + - name: ask to resolve conflict conditions: - conflict diff --git a/.github/workflows/ci-docs.yaml b/.github/workflows/ci-docs.yaml index 53df3f65..0418984d 100644 --- a/.github/workflows/ci-docs.yaml +++ b/.github/workflows/ci-docs.yaml @@ -4,7 +4,6 @@ on: push: branches: - main - - 33-feature-ros2-control pull_request: paths: - docs/** diff --git a/.vscode/c_cpp_properties.json b/.vscode/c_cpp_properties.json index 3c605782..15272365 100644 --- a/.vscode/c_cpp_properties.json +++ b/.vscode/c_cpp_properties.json @@ -2,12 +2,7 @@ "configurations": [ { "name": "Linux", - "includePath": [ - "${workspaceFolder}/**", - "/opt/ros/iron/include/**", - "/usr/include/eigen3/**", - "/home/ros/ws_ros/**" - ], + "includePath": ["${workspaceFolder}/**", "/opt/ros/rolling/include/**"], "defines": [], "compilerPath": "/usr/bin/gcc", "cStandard": "c99", diff --git a/.vscode/settings.json b/.vscode/settings.json index f6d45d50..864f8c9b 100644 --- a/.vscode/settings.json +++ b/.vscode/settings.json @@ -24,13 +24,11 @@ "autoDocstring.docstringFormat": "google-notypes", "python.autoComplete.extraPaths": [ "/opt/ros/iron/lib/python3.10/site-packages/", - "/opt/ros/iron/local/lib/python3.10/dist-packages/", - "${workspaceFolder}/install/" + "/opt/ros/iron/local/lib/python3.10/dist-packages/" ], "python.analysis.extraPaths": [ "/opt/ros/iron/lib/python3.10/site-packages/", - "/opt/ros/iron/local/lib/python3.10/dist-packages/", - "${workspaceFolder}/install/" + "/opt/ros/iron/local/lib/python3.10/dist-packages/" ], "[python]": { "editor.tabSize": 4, From addbd77a72b7139c85a31f35f11c2a4b9938ef19 Mon Sep 17 00:00:00 2001 From: "mergify[bot]" <37929162+mergify[bot]@users.noreply.github.com> Date: Mon, 19 Aug 2024 15:54:00 -0700 Subject: [PATCH 32/67] Replaced instances of Gazebo Garden with Gazebo Harmonic (#238) (#263) (cherry picked from commit 4247e6f43692910f7e7f6c621a48db7449af701d) Co-authored-by: Evan Palmer --- docs/docs/tutorials/control.mdx | 2 +- docs/docs/tutorials/simulation.mdx | 2 +- docs/docs/tutorials/teleop.mdx | 4 ++-- 3 files changed, 4 insertions(+), 4 deletions(-) diff --git a/docs/docs/tutorials/control.mdx b/docs/docs/tutorials/control.mdx index 996996d6..dd168e0b 100644 --- a/docs/docs/tutorials/control.mdx +++ b/docs/docs/tutorials/control.mdx @@ -16,7 +16,7 @@ tutorial. The following ROS 2 dependencies are required for this tutorial: -* Gazebo Garden or newer +* Gazebo Harmonic or newer * [ardusub_driver](https://github.com/Robotic-Decision-Making-Lab/ardusub_driver) (for use with the BlueROV2 vehicle models) * [auv_controllers](https://github.com/Robotic-Decision-Making-Lab/auv_controllers) diff --git a/docs/docs/tutorials/simulation.mdx b/docs/docs/tutorials/simulation.mdx index 20535cc8..8eaae54f 100644 --- a/docs/docs/tutorials/simulation.mdx +++ b/docs/docs/tutorials/simulation.mdx @@ -18,7 +18,7 @@ project's needs. This tutorial has the following dependencies: -* Gazebo Garden or newer +* Gazebo Harmonic or newer * [ardusub_driver](https://github.com/Robotic-Decision-Making-Lab/ardusub_driver) (for use with the BlueROV2 vehicle models) diff --git a/docs/docs/tutorials/teleop.mdx b/docs/docs/tutorials/teleop.mdx index c1519576..f2e1796a 100644 --- a/docs/docs/tutorials/teleop.mdx +++ b/docs/docs/tutorials/teleop.mdx @@ -17,7 +17,7 @@ keyboard. The following ROS 2 dependencies are required for this tutorial: -* Gazebo Garden or newer +* Gazebo Harmonic or newer * [ardusub_driver](https://github.com/Robotic-Decision-Making-Lab/ardusub_driver) * [auv_controllers](https://github.com/Robotic-Decision-Making-Lab/auv_controllers) * [teleop_twist_keyboard](https://github.com/ros2/teleop_twist_keyboard) @@ -68,7 +68,7 @@ This tutorial describes how to teleoperate a simulated BlueROV2 using a gamepad. The following ROS 2 dependencies are needed for this tutorial: -* Gazebo Garden or newer +* Gazebo Harmonic or newer * [ardusub_driver](https://github.com/Robotic-Decision-Making-Lab/ardusub_driver) * [auv_controllers](https://github.com/Robotic-Decision-Making-Lab/auv_controllers) * [mobile_to_maritime](https://github.com/Robotic-Decision-Making-Lab/mobile_to_maritime) From 46bf8e033e84e3739dea7187640503130b5b1072 Mon Sep 17 00:00:00 2001 From: "mergify[bot]" <37929162+mergify[bot]@users.noreply.github.com> Date: Thu, 22 Aug 2024 14:58:48 -0700 Subject: [PATCH 33/67] Add Docker BuildX config (backport #266) (#268) * Add Docker BuildX config (#266) * Allow pushing to apl-ocean-engineering * Install cppzmq-dev for Gazebo * Allow pushing to apl-ocean-engineering * Reverse change in docker.yaml action. * Preliminary version of docker-bake.hcl and updated Docker workflow. * Updated comments in Dockerfile * Attempt to allow manual triggering of builds * Nope, that's not it. * Add preliminary label to all Docker images. * Removed redundant libcppzmq-dev * Hack to lowercase repo name * Re-activate the metadata-action, go back to stages in matrix. * Add comment on lowercasing. * Place files config at correct level. * Re-activate the metadata-action, go back to stages in matrix. * Place files config at correct level. * Switch to registry cache for CI * Removed stage from matrix * Update repo URL, fix list formatting. (cherry picked from commit a8681d091fcb25c6388e09559398a0e40b5e8788) # Conflicts: # .github/workflows/docker.yaml * Resolve conflict while merging #266 --------- Co-authored-by: Aaron Marburg --- .docker/docker-bake.hcl | 94 ++++++++++++++++ .github/workflows/docker.yaml | 202 ++++++++++++---------------------- .gitignore | 3 + 3 files changed, 170 insertions(+), 129 deletions(-) create mode 100644 .docker/docker-bake.hcl diff --git a/.docker/docker-bake.hcl b/.docker/docker-bake.hcl new file mode 100644 index 00000000..6c104206 --- /dev/null +++ b/.docker/docker-bake.hcl @@ -0,0 +1,94 @@ +# +# Override these variables with environment variables +# e.g. +# +# BLUE_ROS_DISTRO=iron docker buildx bake +# +# or +# +# export BLUE_ROS_DISTRO=iron +# docker buildx bake +# +variable "BLUE_ROS_DISTRO" { default = "rolling" } +variable "BLUE_GITHUB_REPO" { default = "robotic-decision-making-lab/blue" } + +group "default" { + targets = ["ci", "robot", "desktop", "desktop-nvidia"] +} + +# These are populated by the metadata-action Github action for each target +# when building in CI +# +target "docker-metadata-action-ci" {} +target "docker-metadata-action-robot" {} +target "docker-metadata-action-desktop" {} +target "docker-metadata-action-desktop-nvidia" {} + + +# +# All images can pull cache from the images published at Github +# or local storage (within the Buildkit image) +# +# ... and push cache to local storage +# +target "ci" { + inherits = ["docker-metadata-action-ci"] + dockerfile = ".docker/Dockerfile" + target = "ci" + context = ".." + args = { + ROS_DISTRO = "${BLUE_ROS_DISTRO}" + } + tags = [ + "ghcr.io/${BLUE_GITHUB_REPO}:${BLUE_ROS_DISTRO}-ci" + ] + labels = { + "org.opencontainers.image.source" = "https://github.com/${BLUE_GITHUB_REPO}" + } + cache_from =[ + "ghcr.io/${BLUE_GITHUB_REPO}:cache-${BLUE_ROS_DISTRO}-ci", + "ghcr.io/${BLUE_GITHUB_REPO}:cache-${BLUE_ROS_DISTRO}-robot", + "ghcr.io/${BLUE_GITHUB_REPO}:cache-${BLUE_ROS_DISTRO}-desktop", + "ghcr.io/${BLUE_GITHUB_REPO}:cache-${BLUE_ROS_DISTRO}-desktop-nvidia", + "type=local,dest=.docker-cache" + ] + cache_to = [ + "type=local,dest=.docker-cache" + ] + platforms = ["linux/amd64", "linux/arm64"] +} + +target "robot" { + inherits = [ "ci", "docker-metadata-action-robot" ] + target = "robot" + tags = [ + "ghcr.io/${BLUE_GITHUB_REPO}:${BLUE_ROS_DISTRO}-robot" + ] + cache_to = [ + "type=local,dest=.docker-cache" + ] +} + +target "desktop" { + inherits = [ "ci", "docker-metadata-action-desktop" ] + target = "desktop" + tags = [ + "ghcr.io/${BLUE_GITHUB_REPO}:${BLUE_ROS_DISTRO}-desktop" + ] + cache_to = [ + "type=local,dest=.docker-cache" + ] + # amd64 only builds for desktop and desktop-nvidia + platforms = ["linux/amd64"] +} + +target "desktop-nvidia" { + inherits = [ "desktop", "docker-metadata-action-desktop-nvidia" ] + target = "desktop-nvidia" + tags = [ + "ghcr.io/${BLUE_GITHUB_REPO}:${BLUE_ROS_DISTRO}-desktop-nvidia" + ] + cache_to = [ + "type=local,dest=.docker-cache" + ] +} diff --git a/.github/workflows/docker.yaml b/.github/workflows/docker.yaml index dd901294..155b92eb 100644 --- a/.github/workflows/docker.yaml +++ b/.github/workflows/docker.yaml @@ -1,8 +1,9 @@ name: Docker on: - schedule: - - cron: "0 17 * * 6" + # Disable schedule for preliminary testing + # schedule: + # - cron: "0 17 * * 6" push: branches: - iron @@ -18,7 +19,7 @@ env: PUSH: ${{ (github.event_name != 'pull_request') && (github.repository == 'Robotic-Decision-Making-Lab/blue') }} jobs: - ci: + docker_build: strategy: fail-fast: false matrix: @@ -28,163 +29,106 @@ jobs: packages: write contents: read steps: - - name: Checkout repository + - name: Checkout uses: actions/checkout@v4 - - name: Log into registry - if: env.PUSH == 'true' - uses: docker/login-action@v3.3.0 - with: - registry: ghcr.io - username: ${{ github.actor }} - password: ${{ secrets.GITHUB_TOKEN }} - - - name: Extract Docker metadata - if: env.PUSH == 'true' - id: meta - uses: docker/metadata-action@v5.5.1 - with: - images: ghcr.io/${{ github.repository }} - tags: | - type=raw,value=${{ matrix.ROS_DISTRO }}-${{ github.job }} - - - name: Build and push Docker image - uses: docker/build-push-action@v6.7.0 - with: - context: . - file: .docker/Dockerfile - build-args: ROS_DISTRO=${{ matrix.ROS_DISTRO }} - target: ${{ github.job }} - tags: ${{ steps.meta.outputs.tags }} - labels: ${{ steps.meta.outputs.labels }} - push: ${{ env.PUSH }} - - robot: - strategy: - fail-fast: false - matrix: - ROS_DISTRO: [iron] - runs-on: ubuntu-latest - permissions: - packages: write - contents: read - steps: - - name: Checkout repository - uses: actions/checkout@v4 - - - name: Set up QEMU - uses: docker/setup-qemu-action@v3.2.0 + - # Add support for more platforms with QEMU (optional) + # https://github.com/docker/setup-qemu-action + name: Set up QEMU + uses: docker/setup-qemu-action@v3 - name: Set up Docker Buildx uses: docker/setup-buildx-action@v3 - - name: Log into registry - if: env.PUSH == 'true' + - if: env.PUSH == 'true' + name: Log into registry uses: docker/login-action@v3.3.0 with: registry: ghcr.io username: ${{ github.actor }} password: ${{ secrets.GITHUB_TOKEN }} - - name: Extract Docker metadata + # buildx bake, unfortunately, requires lower-cased repository names + # This shell ... er, hack, creates a local variable containing + # a down-cased version of $GITHUB_REPOSITORY + # + - id: lowercase-repo + name: Repository to lowercase + run: | + echo "repository=${GITHUB_REPOSITORY@L}" >> $GITHUB_OUTPUT + + # Set metadata for each stage-image separately + - name: Set Docker metadata for "ci" if: env.PUSH == 'true' - id: meta + id: meta-ci uses: docker/metadata-action@v5.5.1 with: images: ghcr.io/${{ github.repository }} + bake-target: docker-metadata-action-ci tags: | - type=raw,value=${{ matrix.ROS_DISTRO }}-${{ github.job }} - - - name: Build and push Docker image - uses: docker/build-push-action@v6.7.0 - with: - context: . - file: .docker/Dockerfile - build-args: ROS_DISTRO=${{ matrix.ROS_DISTRO }} - target: ${{ github.job }} - tags: ${{ steps.meta.outputs.tags }} - labels: ${{ steps.meta.outputs.labels }} - push: ${{ env.PUSH }} - platforms: linux/amd64,linux/arm64 - - desktop: - strategy: - fail-fast: false - matrix: - ROS_DISTRO: [iron] - runs-on: ubuntu-latest - permissions: - packages: write - contents: read - steps: - - name: Checkout repository - uses: actions/checkout@v4 - - - name: Log into registry - if: env.PUSH == 'true' - uses: docker/login-action@v3.3.0 - with: - registry: ghcr.io - username: ${{ github.actor }} - password: ${{ secrets.GITHUB_TOKEN }} + type=raw,value=${{ matrix.ROS_DISTRO }}-ci - - name: Extract Docker metadata + - name: Set Docker metadata for "robot" if: env.PUSH == 'true' - id: meta + id: meta-robot uses: docker/metadata-action@v5.5.1 with: images: ghcr.io/${{ github.repository }} + bake-target: docker-metadata-action-robot tags: | - type=raw,value=${{ matrix.ROS_DISTRO }}-${{ github.job }} - - - name: Build and push Docker image - uses: docker/build-push-action@v6.7.0 - with: - context: . - file: .docker/Dockerfile - build-args: ROS_DISTRO=${{ matrix.ROS_DISTRO }} - target: ${{ github.job }} - tags: ${{ steps.meta.outputs.tags }} - labels: ${{ steps.meta.outputs.labels }} - push: ${{ env.PUSH }} - - desktop-nvidia: - strategy: - fail-fast: false - matrix: - ROS_DISTRO: [iron] - runs-on: ubuntu-latest - permissions: - packages: write - contents: read - steps: - - name: Checkout repository - uses: actions/checkout@v4 + type=raw,value=${{ matrix.ROS_DISTRO }}-robot - - name: Log into registry + - name: Set Docker metadata for "desktop" if: env.PUSH == 'true' - uses: docker/login-action@v3.3.0 + id: meta-desktop + uses: docker/metadata-action@v5.5.1 with: - registry: ghcr.io - username: ${{ github.actor }} - password: ${{ secrets.GITHUB_TOKEN }} + images: ghcr.io/${{ github.repository }} + bake-target: docker-metadata-action-desktop + tags: | + type=raw,value=${{ matrix.ROS_DISTRO }}-desktop - - name: Extract Docker metadata + - name: Set Docker metadata for "desktop-nvidia" if: env.PUSH == 'true' - id: meta + id: meta-desktop-nvidia uses: docker/metadata-action@v5.5.1 with: images: ghcr.io/${{ github.repository }} + bake-target: docker-metadata-action-desktop-nvidia tags: | - type=raw,value=${{ matrix.ROS_DISTRO }}-${{ github.job }} - - - name: Build and push Docker image - uses: docker/build-push-action@v6.7.0 + type=raw,value=${{ matrix.ROS_DISTRO }}-desktop-nvidia + + - if: github.event_name == 'push' + name: Build and push (non PR) + uses: docker/bake-action@v5.5.0 + env: + BLUE_ROS_DISTRO: ${{ matrix.ROS_DISTRO }} + BLUE_GITHUB_REPO: ${{ steps.lowercase-repo.outputs.repository }} with: - context: . - file: .docker/Dockerfile - build-args: ROS_DISTRO=${{ matrix.ROS_DISTRO }} - target: ${{ github.job }} - tags: ${{ steps.meta.outputs.tags }} - labels: ${{ steps.meta.outputs.labels }} + workdir: .docker + files: | + ./docker-bake.hcl + ${{ steps.meta-ci.outputs.bake-file }} + ${{ steps.meta-robot.outputs.bake-file }} + ${{ steps.meta-desktop.outputs.bake-file }} + ${{ steps.meta-desktop-nvidia.outputs.bake-file }} push: ${{ env.PUSH }} + set: | + *.cache-from=type=registry,ref=ghcr.io/${{ github.repository }}:cache-${{ matrix.ROS_DISTRO }} + *.cache-to=type=registry,mode=max,ref=ghcr.io/${{ github.repository }}:cache-${{ matrix.ROS_DISTRO }} + + # Pull request builds are not cached; and only built for AMD64 + - if: github.event_name == 'pull_request' + name: Build and push (PR) + uses: docker/bake-action@v5.5.0 + env: + BLUE_ROS_DISTRO: ${{ matrix.ROS_DISTRO }} + BLUE_GITHUB_REPO: ${{ steps.lowercase-repo.outputs.repository }} + with: + workdir: .docker + files: | + ./docker-bake.hcl + set: | + *.platform=linux/amd64 + *.cache-from=type=registry,ref=ghcr.io/${{ github.repository }}:cache-${{ matrix.ROS_DISTRO }} + *.cache-to= diff --git a/.gitignore b/.gitignore index eb28dd58..fce2ec85 100644 --- a/.gitignore +++ b/.gitignore @@ -16,3 +16,6 @@ mav.parm mav.tlog mav.tlog.raw logs/ + +# Allow overrides in docker-bake +.docker/docker-bake.override.hcl From 25bfbd761dc899d97cd9c284e46eb3097a19f071 Mon Sep 17 00:00:00 2001 From: "mergify[bot]" <37929162+mergify[bot]@users.noreply.github.com> Date: Thu, 22 Aug 2024 20:36:00 -0700 Subject: [PATCH 34/67] Fix organization casing in docker workflow (#271) (#272) * Testing lowercase repo name for cache * Remove dev branch from workflow and fix cron schedule * Use lowercase repo for cache-from in PR build as well. --------- Co-authored-by: Aaron Marburg (cherry picked from commit eaa8ec1b3d30273857917192b3fd8e9578e9d157) Co-authored-by: Evan Palmer --- .github/workflows/docker.yaml | 11 +++++------ 1 file changed, 5 insertions(+), 6 deletions(-) diff --git a/.github/workflows/docker.yaml b/.github/workflows/docker.yaml index 155b92eb..e729e976 100644 --- a/.github/workflows/docker.yaml +++ b/.github/workflows/docker.yaml @@ -1,9 +1,8 @@ name: Docker on: - # Disable schedule for preliminary testing - # schedule: - # - cron: "0 17 * * 6" + schedule: + - cron: "0 17 * * 6" push: branches: - iron @@ -114,8 +113,8 @@ jobs: ${{ steps.meta-desktop-nvidia.outputs.bake-file }} push: ${{ env.PUSH }} set: | - *.cache-from=type=registry,ref=ghcr.io/${{ github.repository }}:cache-${{ matrix.ROS_DISTRO }} - *.cache-to=type=registry,mode=max,ref=ghcr.io/${{ github.repository }}:cache-${{ matrix.ROS_DISTRO }} + *.cache-from=type=registry,ref=ghcr.io/${{ steps.lowercase-repo.outputs.repository }}:cache-${{ matrix.ROS_DISTRO }} + *.cache-to=type=registry,mode=max,ref=ghcr.io/${{ steps.lowercase-repo.outputs.repository }}:cache-${{ matrix.ROS_DISTRO }} # Pull request builds are not cached; and only built for AMD64 - if: github.event_name == 'pull_request' @@ -130,5 +129,5 @@ jobs: ./docker-bake.hcl set: | *.platform=linux/amd64 - *.cache-from=type=registry,ref=ghcr.io/${{ github.repository }}:cache-${{ matrix.ROS_DISTRO }} + *.cache-from=type=registry,ref=ghcr.io/${{ steps.lowercase-repo.outputs.repository }}:cache-${{ matrix.ROS_DISTRO }} *.cache-to= From c59462510cf9794bb17fbed45971c4b4075cc7c0 Mon Sep 17 00:00:00 2001 From: "mergify[bot]" <37929162+mergify[bot]@users.noreply.github.com> Date: Fri, 23 Aug 2024 00:01:57 -0400 Subject: [PATCH 35/67] Add related projects to documentation (#237) (#275) * Added reference to alternative projects * Updated npm dependencies * Removed development branch from documentation build pipeline * Removed unnecessary whitespace * Reverted configuration changes in favor of separate PR (cherry picked from commit cec5e465af76ca852087e2c60bd6a361ac79bcf8) Co-authored-by: Evan Palmer --- docs/docs/overview.mdx | 7 + docs/package-lock.json | 6555 +++++++++++++++++++++++----------------- 2 files changed, 3857 insertions(+), 2705 deletions(-) diff --git a/docs/docs/overview.mdx b/docs/docs/overview.mdx index 48159e90..c6751443 100644 --- a/docs/docs/overview.mdx +++ b/docs/docs/overview.mdx @@ -79,3 +79,10 @@ Several vehicle models have been implemented and tested with Blue in integration of a small manipulator for intervention tasks.
+ +## Alternative projects + +If you find that Blue does not meet your needs, we recommend exploring the following alternative projects: + +- [Orca4](https://github.com/clydemcqueen/orca4) +- [Marine Vehicle Packages (MVP)](https://github.com/uri-ocean-robotics/mvp_readme) diff --git a/docs/package-lock.json b/docs/package-lock.json index a75032d3..0356d2fd 100644 --- a/docs/package-lock.json +++ b/docs/package-lock.json @@ -35,20 +35,11 @@ "node": ">=18.0" } }, - "node_modules/@aashutoshrathi/word-wrap": { - "version": "1.2.6", - "resolved": "https://registry.npmjs.org/@aashutoshrathi/word-wrap/-/word-wrap-1.2.6.tgz", - "integrity": "sha512-1Yjs2SvM8TflER/OD3cOjhWWOZb58A2t7wpE2S9XfBYTiIl+XFhQG2bjy4Pu1I+EAlCNUzRDYDdFwFYUKvXcIA==", - "devOptional": true, - "peer": true, - "engines": { - "node": ">=0.10.0" - } - }, "node_modules/@algolia/autocomplete-core": { "version": "1.9.3", "resolved": "https://registry.npmjs.org/@algolia/autocomplete-core/-/autocomplete-core-1.9.3.tgz", "integrity": "sha512-009HdfugtGCdC4JdXUbVJClA0q0zh24yyePn+KUGk3rP7j8FEe/m5Yo/z65gn6nP/cM39PxpzqKrL7A6fP6PPw==", + "license": "MIT", "dependencies": { "@algolia/autocomplete-plugin-algolia-insights": "1.9.3", "@algolia/autocomplete-shared": "1.9.3" @@ -58,6 +49,7 @@ "version": "1.9.3", "resolved": "https://registry.npmjs.org/@algolia/autocomplete-plugin-algolia-insights/-/autocomplete-plugin-algolia-insights-1.9.3.tgz", "integrity": "sha512-a/yTUkcO/Vyy+JffmAnTWbr4/90cLzw+CC3bRbhnULr/EM0fGNvM13oQQ14f2moLMcVDyAx/leczLlAOovhSZg==", + "license": "MIT", "dependencies": { "@algolia/autocomplete-shared": "1.9.3" }, @@ -69,6 +61,7 @@ "version": "1.9.3", "resolved": "https://registry.npmjs.org/@algolia/autocomplete-preset-algolia/-/autocomplete-preset-algolia-1.9.3.tgz", "integrity": "sha512-d4qlt6YmrLMYy95n5TB52wtNDr6EgAIPH81dvvvW8UmuWRgxEtY0NJiPwl/h95JtG2vmRM804M0DSwMCNZlzRA==", + "license": "MIT", "dependencies": { "@algolia/autocomplete-shared": "1.9.3" }, @@ -81,153 +74,171 @@ "version": 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"https://opencollective.com/unified" } ], + "license": "MIT", "dependencies": { "micromark-util-symbol": "^1.0.0" } @@ -11376,6 +12102,7 @@ "url": "https://opencollective.com/unified" } ], + "license": "MIT", "dependencies": { "micromark-util-character": "^1.0.0", "micromark-util-symbol": "^1.0.0", @@ -11396,6 +12123,7 @@ "url": "https://opencollective.com/unified" } ], + "license": "MIT", "dependencies": { "micromark-util-chunked": "^1.0.0", "micromark-util-types": "^1.0.0" @@ -11415,6 +12143,7 @@ "url": "https://opencollective.com/unified" } ], + "license": "MIT", "dependencies": { "micromark-util-symbol": "^1.0.0" } @@ -11433,6 +12162,7 @@ "url": "https://opencollective.com/unified" } ], + "license": "MIT", "dependencies": { "decode-named-character-reference": "^1.0.0", "micromark-util-character": "^1.0.0", @@ -11453,7 +12183,8 @@ "type": "OpenCollective", "url": "https://opencollective.com/unified" } - ] + ], + "license": "MIT" }, 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"type": "OpenCollective", "url": "https://opencollective.com/unified" } - ] + ], + "license": "MIT" }, "node_modules/mermaid/node_modules/unist-util-stringify-position": { "version": "3.0.3", "resolved": "https://registry.npmjs.org/unist-util-stringify-position/-/unist-util-stringify-position-3.0.3.tgz", "integrity": "sha512-k5GzIBZ/QatR8N5X2y+drfpWG8IDBzdnVj6OInRNWm1oXrzydiaAT2OQiA8DPRRZyAKb9b6I2a6PxYklZD0gKg==", + "license": "MIT", "dependencies": { "@types/unist": "^2.0.0" }, @@ -11574,22 +12312,11 @@ "url": "https://opencollective.com/unified" } }, - "node_modules/mermaid/node_modules/uuid": { - "version": "9.0.1", - "resolved": "https://registry.npmjs.org/uuid/-/uuid-9.0.1.tgz", - "integrity": "sha512-b+1eJOlsR9K8HJpow9Ok3fiWOWSIcIzXodvv0rQjVoOVNpWMpxf1wZNpt4y9h10odCNrqnYp1OBzRktckBe3sA==", - "funding": [ - "https://github.com/sponsors/broofa", - "https://github.com/sponsors/ctavan" - ], - "bin": { - "uuid": "dist/bin/uuid" - } - }, "node_modules/methods": { "version": "1.1.2", 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- ] + ], + "license": "MIT" }, "node_modules/micromark-extension-gfm-footnote": { - "version": "2.0.0", - "resolved": "https://registry.npmjs.org/micromark-extension-gfm-footnote/-/micromark-extension-gfm-footnote-2.0.0.tgz", - "integrity": "sha512-6Rzu0CYRKDv3BfLAUnZsSlzx3ak6HAoI85KTiijuKIz5UxZxbUI+pD6oHgw+6UtQuiRwnGRhzMmPRv4smcz0fg==", + "version": "2.1.0", + "resolved": "https://registry.npmjs.org/micromark-extension-gfm-footnote/-/micromark-extension-gfm-footnote-2.1.0.tgz", + "integrity": "sha512-/yPhxI1ntnDNsiHtzLKYnE3vf9JZ6cAisqVDauhp4CEHxlb4uoOTxOCJ+9s51bIB8U1N1FJ1RXOKTIlD5B/gqw==", + "license": "MIT", "dependencies": { "devlop": "^1.0.0", "micromark-core-commonmark": "^2.0.0", @@ -11935,6 +12679,7 @@ "url": "https://opencollective.com/unified" } ], + "license": "MIT", "dependencies": { "micromark-util-character": "^2.0.0", "micromark-util-types": "^2.0.0" @@ -11954,6 +12699,7 @@ "url": "https://opencollective.com/unified" } ], + "license": "MIT", "dependencies": { "micromark-util-symbol": "^2.0.0", "micromark-util-types": "^2.0.0" @@ -11972,12 +12718,14 @@ "type": "OpenCollective", "url": "https://opencollective.com/unified" } - ] + ], + "license": "MIT" }, "node_modules/micromark-extension-gfm-strikethrough": { - "version": "2.0.0", - "resolved": "https://registry.npmjs.org/micromark-extension-gfm-strikethrough/-/micromark-extension-gfm-strikethrough-2.0.0.tgz", - "integrity": "sha512-c3BR1ClMp5fxxmwP6AoOY2fXO9U8uFMKs4ADD66ahLTNcwzSCyRVU4k7LPV5Nxo/VJiR4TdzxRQY2v3qIUceCw==", + "version": "2.1.0", + "resolved": "https://registry.npmjs.org/micromark-extension-gfm-strikethrough/-/micromark-extension-gfm-strikethrough-2.1.0.tgz", + "integrity": "sha512-ADVjpOOkjz1hhkZLlBiYA9cR2Anf8F4HqZUO6e5eDcPQd0Txw5fxLzzxnEkSkfnD0wziSGiv7sYhk/ktvbf1uw==", + "license": "MIT", "dependencies": { "devlop": "^1.0.0", "micromark-util-chunked": "^2.0.0", @@ -12004,12 +12752,14 @@ "type": "OpenCollective", "url": "https://opencollective.com/unified" } - ] + ], + 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"micromark-util-types": "^2.0.0" @@ -12073,12 +12825,14 @@ "type": "OpenCollective", "url": "https://opencollective.com/unified" } - ] + ], + "license": "MIT" }, "node_modules/micromark-extension-gfm-tagfilter": { "version": "2.0.0", "resolved": "https://registry.npmjs.org/micromark-extension-gfm-tagfilter/-/micromark-extension-gfm-tagfilter-2.0.0.tgz", "integrity": "sha512-xHlTOmuCSotIA8TW1mDIM6X2O1SiX5P9IuDtqGonFhEK0qgRI4yeC6vMxEV2dgyr2TiD+2PQ10o+cOhdVAcwfg==", + "license": "MIT", "dependencies": { "micromark-util-types": "^2.0.0" }, @@ -12088,9 +12842,10 @@ } }, "node_modules/micromark-extension-gfm-task-list-item": { - "version": "2.0.1", - "resolved": "https://registry.npmjs.org/micromark-extension-gfm-task-list-item/-/micromark-extension-gfm-task-list-item-2.0.1.tgz", - "integrity": "sha512-cY5PzGcnULaN5O7T+cOzfMoHjBW7j+T9D2sucA5d/KbsBTPcYdebm9zUd9zzdgJGCwahV+/W78Z3nbulBYVbTw==", + "version": "2.1.0", + "resolved": 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"@types/estree": "^1.0.0", "devlop": "^1.0.0", @@ -12195,6 +12954,7 @@ "url": "https://opencollective.com/unified" } ], + "license": "MIT", "dependencies": { "micromark-util-character": "^2.0.0", "micromark-util-types": "^2.0.0" @@ -12214,6 +12974,7 @@ "url": "https://opencollective.com/unified" } ], + "license": "MIT", "dependencies": { "micromark-util-symbol": "^2.0.0", "micromark-util-types": "^2.0.0" @@ -12232,12 +12993,14 @@ "type": "OpenCollective", "url": "https://opencollective.com/unified" } - ] + ], + "license": "MIT" }, "node_modules/micromark-extension-mdx-jsx": { "version": "3.0.0", "resolved": "https://registry.npmjs.org/micromark-extension-mdx-jsx/-/micromark-extension-mdx-jsx-3.0.0.tgz", "integrity": "sha512-uvhhss8OGuzR4/N17L1JwvmJIpPhAd8oByMawEKx6NVdBCbesjH4t+vjEp3ZXft9DwvlKSD07fCeI44/N0Vf2w==", + "license": "MIT", "dependencies": { "@types/acorn": "^4.0.0", "@types/estree": "^1.0.0", @@ -12269,6 +13032,7 @@ "url": "https://opencollective.com/unified" } ], + "license": "MIT", "dependencies": { "micromark-util-character": "^2.0.0", "micromark-util-types": "^2.0.0" @@ -12288,6 +13052,7 @@ "url": "https://opencollective.com/unified" } ], + "license": "MIT", "dependencies": { "micromark-util-symbol": "^2.0.0", "micromark-util-types": "^2.0.0" @@ -12306,12 +13071,14 @@ "type": "OpenCollective", "url": "https://opencollective.com/unified" } - ] + ], + "license": "MIT" }, "node_modules/micromark-extension-mdx-md": { "version": "2.0.0", "resolved": "https://registry.npmjs.org/micromark-extension-mdx-md/-/micromark-extension-mdx-md-2.0.0.tgz", "integrity": "sha512-EpAiszsB3blw4Rpba7xTOUptcFeBFi+6PY8VnJ2hhimH+vCQDirWgsMpz7w1XcZE7LVrSAUGb9VJpG9ghlYvYQ==", + "license": "MIT", "dependencies": { "micromark-util-types": "^2.0.0" }, @@ -12324,6 +13091,7 @@ "version": "3.0.0", "resolved": "https://registry.npmjs.org/micromark-extension-mdxjs/-/micromark-extension-mdxjs-3.0.0.tgz", "integrity": 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"dependencies": { "micromark-util-character": "^2.0.0", "micromark-util-symbol": "^2.0.0", @@ -12427,6 +13199,7 @@ "url": "https://opencollective.com/unified" } ], + "license": "MIT", "dependencies": { "micromark-util-symbol": "^2.0.0", "micromark-util-types": "^2.0.0" @@ -12445,7 +13218,8 @@ "type": "OpenCollective", "url": "https://opencollective.com/unified" } - ] + ], + "license": "MIT" }, "node_modules/micromark-factory-label": { "version": "2.0.0", @@ -12461,6 +13235,7 @@ "url": "https://opencollective.com/unified" } ], + "license": "MIT", "dependencies": { "devlop": "^1.0.0", "micromark-util-character": "^2.0.0", @@ -12482,6 +13257,7 @@ "url": "https://opencollective.com/unified" } ], + "license": "MIT", "dependencies": { "micromark-util-symbol": "^2.0.0", "micromark-util-types": "^2.0.0" @@ -12500,7 +13276,8 @@ "type": "OpenCollective", "url": "https://opencollective.com/unified" } - ] + ], + "license": "MIT" }, "node_modules/micromark-factory-mdx-expression": { "version": "2.0.1", @@ -12516,6 +13293,7 @@ "url": "https://opencollective.com/unified" } ], + "license": "MIT", "dependencies": { "@types/estree": "^1.0.0", "devlop": "^1.0.0", @@ -12541,6 +13319,7 @@ "url": "https://opencollective.com/unified" } ], + "license": "MIT", "dependencies": { "micromark-util-symbol": "^2.0.0", "micromark-util-types": "^2.0.0" @@ -12559,7 +13338,8 @@ "type": "OpenCollective", "url": "https://opencollective.com/unified" } - ] + ], + "license": "MIT" }, "node_modules/micromark-factory-space": { "version": "1.1.0", @@ -12575,6 +13355,7 @@ "url": "https://opencollective.com/unified" } ], + "license": "MIT", "dependencies": { "micromark-util-character": "^1.0.0", "micromark-util-types": "^1.0.0" @@ -12593,7 +13374,8 @@ "type": "OpenCollective", "url": "https://opencollective.com/unified" } - ] + ], + "license": "MIT" }, "node_modules/micromark-factory-title": { "version": "2.0.0", @@ -12609,6 +13391,7 @@ "url": "https://opencollective.com/unified" } ], + "license": "MIT", "dependencies": { "micromark-factory-space": "^2.0.0", "micromark-util-character": "^2.0.0", @@ -12630,6 +13413,7 @@ "url": "https://opencollective.com/unified" } ], + "license": "MIT", "dependencies": { "micromark-util-character": "^2.0.0", "micromark-util-types": "^2.0.0" @@ -12649,6 +13433,7 @@ "url": "https://opencollective.com/unified" } ], + "license": "MIT", "dependencies": { "micromark-util-symbol": "^2.0.0", "micromark-util-types": "^2.0.0" @@ -12667,7 +13452,8 @@ "type": "OpenCollective", "url": "https://opencollective.com/unified" } - ] + ], + "license": "MIT" }, "node_modules/micromark-factory-whitespace": { "version": "2.0.0", @@ -12683,6 +13469,7 @@ "url": "https://opencollective.com/unified" } ], + "license": "MIT", "dependencies": { "micromark-factory-space": "^2.0.0", "micromark-util-character": "^2.0.0", @@ -12704,6 +13491,7 @@ "url": "https://opencollective.com/unified" } ], + "license": "MIT", "dependencies": { "micromark-util-character": "^2.0.0", "micromark-util-types": "^2.0.0" @@ -12723,6 +13511,7 @@ "url": "https://opencollective.com/unified" } ], + "license": "MIT", "dependencies": { "micromark-util-symbol": "^2.0.0", "micromark-util-types": "^2.0.0" @@ -12741,7 +13530,8 @@ "type": "OpenCollective", "url": "https://opencollective.com/unified" } - ] + ], + "license": "MIT" }, "node_modules/micromark-util-character": { "version": "1.2.0", @@ -12757,6 +13547,7 @@ "url": "https://opencollective.com/unified" } ], + "license": "MIT", "dependencies": { "micromark-util-symbol": "^1.0.0", "micromark-util-types": "^1.0.0" @@ -12775,7 +13566,8 @@ "type": "OpenCollective", "url": "https://opencollective.com/unified" } - ] + ], + "license": "MIT" }, "node_modules/micromark-util-chunked": { "version": "2.0.0", @@ -12791,6 +13583,7 @@ "url": "https://opencollective.com/unified" } ], + "license": "MIT", "dependencies": { "micromark-util-symbol": "^2.0.0" } @@ -12808,7 +13601,8 @@ "type": "OpenCollective", "url": "https://opencollective.com/unified" } - ] + ], + "license": "MIT" }, "node_modules/micromark-util-classify-character": { "version": "2.0.0", @@ -12824,6 +13618,7 @@ "url": "https://opencollective.com/unified" } ], + "license": "MIT", "dependencies": { "micromark-util-character": "^2.0.0", "micromark-util-symbol": "^2.0.0", @@ -12844,6 +13639,7 @@ "url": "https://opencollective.com/unified" } ], + "license": "MIT", "dependencies": { "micromark-util-symbol": "^2.0.0", "micromark-util-types": "^2.0.0" @@ -12862,7 +13658,8 @@ "type": "OpenCollective", "url": "https://opencollective.com/unified" } - ] + ], + "license": "MIT" }, "node_modules/micromark-util-combine-extensions": { "version": "2.0.0", @@ -12878,6 +13675,7 @@ "url": "https://opencollective.com/unified" } ], + "license": "MIT", "dependencies": { "micromark-util-chunked": "^2.0.0", "micromark-util-types": "^2.0.0" @@ -12897,6 +13695,7 @@ "url": "https://opencollective.com/unified" } ], + "license": "MIT", "dependencies": { "micromark-util-symbol": "^2.0.0" } @@ -12914,7 +13713,8 @@ "type": "OpenCollective", "url": "https://opencollective.com/unified" } - ] + ], + "license": "MIT" }, "node_modules/micromark-util-decode-string": { "version": "2.0.0", @@ -12930,6 +13730,7 @@ "url": "https://opencollective.com/unified" } ], + "license": "MIT", "dependencies": { "decode-named-character-reference": "^1.0.0", "micromark-util-character": "^2.0.0", @@ -12951,6 +13752,7 @@ "url": "https://opencollective.com/unified" } ], + "license": "MIT", "dependencies": { "micromark-util-symbol": "^2.0.0", "micromark-util-types": "^2.0.0" @@ -12969,7 +13771,8 @@ "type": "OpenCollective", "url": "https://opencollective.com/unified" } - ] + ], + "license": "MIT" }, "node_modules/micromark-util-encode": { "version": "2.0.0", @@ -12984,7 +13787,8 @@ "type": "OpenCollective", "url": "https://opencollective.com/unified" } - ] + ], + "license": "MIT" }, "node_modules/micromark-util-events-to-acorn": { "version": "2.0.2", @@ -13000,6 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"integrity": "sha512-CC1bOL87PIWSBhDcTrdeLo6eGT7mCFtrg0uIJtqJUFyK+eJnzl8A1niH56uu7KMa5XFrtiV+AQuHO3n7DsHnLQ==" + "integrity": "sha512-CC1bOL87PIWSBhDcTrdeLo6eGT7mCFtrg0uIJtqJUFyK+eJnzl8A1niH56uu7KMa5XFrtiV+AQuHO3n7DsHnLQ==", + "license": "MIT" + }, + "node_modules/word-wrap": { + "version": "1.2.5", + "resolved": "https://registry.npmjs.org/word-wrap/-/word-wrap-1.2.5.tgz", + "integrity": "sha512-BN22B5eaMMI9UMtjrGd5g5eCYPpCPDUy0FJXbYsaT5zYxjFOckS53SQDE3pWkVoWpHXVb3BrYcEN4Twa55B5cA==", + "devOptional": true, + "license": "MIT", + "peer": true, + "engines": { + "node": ">=0.10.0" + } }, "node_modules/wrap-ansi": { "version": "8.1.0", "resolved": "https://registry.npmjs.org/wrap-ansi/-/wrap-ansi-8.1.0.tgz", "integrity": "sha512-si7QWI6zUMq56bESFvagtmzMdGOtoxfR+Sez11Mobfc7tm+VkUckk9bW2UeffTGVUbOksxmSw0AA2gs8g71NCQ==", + "license": "MIT", "dependencies": { "ansi-styles": "^6.1.0", "string-width": "^5.0.1", @@ -18259,6 +19392,7 @@ "version": "6.0.1", "resolved": "https://registry.npmjs.org/ansi-regex/-/ansi-regex-6.0.1.tgz", "integrity": "sha512-n5M855fKb2SsfMIiFFoVrABHJC8QtHwVx+mHWP3QcEqBHYienj5dHSgjbxtC0WEZXYt4wcD6zrQElDPhFuZgfA==", + "license": "MIT", "engines": { "node": ">=12" }, @@ -18270,6 +19404,7 @@ "version": "6.2.1", "resolved": "https://registry.npmjs.org/ansi-styles/-/ansi-styles-6.2.1.tgz", "integrity": "sha512-bN798gFfQX+viw3R7yrGWRqnrN2oRkEkUjjl4JNn4E8GxxbjtG3FbrEIIY3l8/hrwUwIeCZvi4QuOTP4MErVug==", + "license": "MIT", "engines": { "node": ">=12" }, @@ -18281,6 +19416,7 @@ "version": "7.1.0", "resolved": "https://registry.npmjs.org/strip-ansi/-/strip-ansi-7.1.0.tgz", "integrity": "sha512-iq6eVVI64nQQTRYq2KtEg2d2uU7LElhTJwsH4YzIHZshxlgZms/wIc4VoDQTlG/IvVIrBKG06CrZnp0qv7hkcQ==", + "license": "MIT", "dependencies": { "ansi-regex": "^6.0.1" }, @@ -18294,12 +19430,14 @@ "node_modules/wrappy": { "version": "1.0.2", "resolved": "https://registry.npmjs.org/wrappy/-/wrappy-1.0.2.tgz", - "integrity": "sha512-l4Sp/DRseor9wL6EvV2+TuQn63dMkPjZ/sp9XkghTEbV9KlPS1xUsZ3u7/IQO4wxtcFB4bgpQPRcR3QCvezPcQ==" + "integrity": "sha512-l4Sp/DRseor9wL6EvV2+TuQn63dMkPjZ/sp9XkghTEbV9KlPS1xUsZ3u7/IQO4wxtcFB4bgpQPRcR3QCvezPcQ==", + "license": "ISC" }, "node_modules/write-file-atomic": { "version": "3.0.3", "resolved": "https://registry.npmjs.org/write-file-atomic/-/write-file-atomic-3.0.3.tgz", "integrity": "sha512-AvHcyZ5JnSfq3ioSyjrBkH9yW4m7Ayk8/9My/DD9onKeu/94fwrMocemO2QAJFAlnnDN+ZDS+ZjAR5ua1/PV/Q==", + "license": "ISC", "dependencies": { "imurmurhash": "^0.1.4", "is-typedarray": "^1.0.0", @@ -18308,9 +19446,10 @@ } }, "node_modules/ws": { - "version": "7.5.9", - "resolved": "https://registry.npmjs.org/ws/-/ws-7.5.9.tgz", - "integrity": "sha512-F+P9Jil7UiSKSkppIiD94dN07AwvFixvLIj1Og1Rl9GGMuNipJnV9JzjD6XuqmAeiswGvUmNLjr5cFuXwNS77Q==", + "version": "7.5.10", + "resolved": "https://registry.npmjs.org/ws/-/ws-7.5.10.tgz", + "integrity": "sha512-+dbF1tHwZpXcbOJdVOkzLDxZP1ailvSxM6ZweXTegylPny803bFhA+vqBYw4s31NSAk4S2Qz+AKXK9a4wkdjcQ==", + "license": "MIT", "engines": { "node": ">=8.3.0" }, @@ -18331,6 +19470,7 @@ "version": "5.1.0", "resolved": "https://registry.npmjs.org/xdg-basedir/-/xdg-basedir-5.1.0.tgz", "integrity": "sha512-GCPAHLvrIH13+c0SuacwvRYj2SxJXQ4kaVTT5xgL3kPrz56XxkF21IGhjSE1+W0aw7gpBWRGXLCPnPby6lSpmQ==", + "license": "MIT", "engines": { "node": ">=12" }, @@ -18342,6 +19482,7 @@ "version": "1.6.11", "resolved": "https://registry.npmjs.org/xml-js/-/xml-js-1.6.11.tgz", "integrity": "sha512-7rVi2KMfwfWFl+GpPg6m80IVMWXLRjO+PxTq7V2CDhoGak0wzYzFgUY2m4XJ47OGdXd8eLE8EmwfAmdjw7lC1g==", + "license": "MIT", "dependencies": { "sax": "^1.2.4" }, @@ -18352,22 +19493,25 @@ "node_modules/yallist": { "version": "3.1.1", "resolved": "https://registry.npmjs.org/yallist/-/yallist-3.1.1.tgz", - "integrity": "sha512-a4UGQaWPH59mOXUYnAG2ewncQS4i4F43Tv3JoAM+s2VDAmS9NsK8GpDMLrCHPksFT7h3K6TOoUNn2pb7RoXx4g==" + "integrity": "sha512-a4UGQaWPH59mOXUYnAG2ewncQS4i4F43Tv3JoAM+s2VDAmS9NsK8GpDMLrCHPksFT7h3K6TOoUNn2pb7RoXx4g==", + "license": "ISC" }, "node_modules/yaml": { "version": "1.10.2", "resolved": "https://registry.npmjs.org/yaml/-/yaml-1.10.2.tgz", "integrity": "sha512-r3vXyErRCYJ7wg28yvBY5VSoAF8ZvlcW9/BwUzEtUsjvX/DKs24dIkuwjtuprwJJHsbyUbLApepYTR1BN4uHrg==", + "license": "ISC", "engines": { "node": ">= 6" } }, "node_modules/yocto-queue": { - "version": "1.0.0", - "resolved": "https://registry.npmjs.org/yocto-queue/-/yocto-queue-1.0.0.tgz", - "integrity": "sha512-9bnSc/HEW2uRy67wc+T8UwauLuPJVn28jb+GtJY16iiKWyvmYJRXVT4UamsAEGQfPohgr2q4Tq0sQbQlxTfi1g==", + "version": "0.1.0", + "resolved": "https://registry.npmjs.org/yocto-queue/-/yocto-queue-0.1.0.tgz", + "integrity": "sha512-rVksvsnNCdJ/ohGc6xgPwyN8eheCxsiLM8mxuE/t/mOVqJewPuO1miLpTHQiRgTKCLexL4MeAFVagts7HmNZ2Q==", + "license": "MIT", "engines": { - "node": ">=12.20" + "node": ">=10" }, "funding": { "url": "https://github.com/sponsors/sindresorhus" @@ -18377,6 +19521,7 @@ "version": "2.0.4", "resolved": "https://registry.npmjs.org/zwitch/-/zwitch-2.0.4.tgz", "integrity": "sha512-bXE4cR/kVZhKZX/RjPEflHaKVhUVl85noU3v6b8apfQEc1x4A+zBxjZ4lN8LqGd6WZ3dl98pY4o717VFmoPp+A==", + "license": "MIT", "funding": { "type": "github", "url": "https://github.com/sponsors/wooorm" From 62e5b67f7af3d94f5e5bbf644c7c5a719fef92d9 Mon Sep 17 00:00:00 2001 From: "mergify[bot]" <37929162+mergify[bot]@users.noreply.github.com> Date: Mon, 26 Aug 2024 21:36:06 -0700 Subject: [PATCH 36/67] Bump docker/bake-action from 5.5.0 to 5.7.0 (#279) (#280) Bumps [docker/bake-action](https://github.com/docker/bake-action) from 5.5.0 to 5.7.0. - [Release notes](https://github.com/docker/bake-action/releases) - [Commits](https://github.com/docker/bake-action/compare/v5.5.0...v5.7.0) --- updated-dependencies: - dependency-name: docker/bake-action dependency-type: direct:production update-type: version-update:semver-minor ... Signed-off-by: dependabot[bot] Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com> (cherry picked from commit a433dfa5b7fe88540e14c27660967f54def0245a) Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com> --- .github/workflows/docker.yaml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/.github/workflows/docker.yaml b/.github/workflows/docker.yaml index e729e976..4a5e391d 100644 --- a/.github/workflows/docker.yaml +++ b/.github/workflows/docker.yaml @@ -99,7 +99,7 @@ jobs: - if: github.event_name == 'push' name: Build and push (non PR) - uses: docker/bake-action@v5.5.0 + uses: docker/bake-action@v5.7.0 env: BLUE_ROS_DISTRO: ${{ matrix.ROS_DISTRO }} BLUE_GITHUB_REPO: ${{ steps.lowercase-repo.outputs.repository }} @@ -119,7 +119,7 @@ jobs: # Pull request builds are not cached; and only built for AMD64 - if: github.event_name == 'pull_request' name: Build and push (PR) - uses: docker/bake-action@v5.5.0 + uses: docker/bake-action@v5.7.0 env: BLUE_ROS_DISTRO: ${{ matrix.ROS_DISTRO }} BLUE_GITHUB_REPO: ${{ steps.lowercase-repo.outputs.repository }} From 7ebcbecd9e948f1747a20a236b545a18a1024c6a Mon Sep 17 00:00:00 2001 From: "mergify[bot]" <37929162+mergify[bot]@users.noreply.github.com> Date: Wed, 4 Sep 2024 12:36:28 -0700 Subject: [PATCH 37/67] Bump micromatch from 4.0.7 to 4.0.8 in /docs (#282) (#284) Bumps [micromatch](https://github.com/micromatch/micromatch) from 4.0.7 to 4.0.8. - [Release notes](https://github.com/micromatch/micromatch/releases) - [Changelog](https://github.com/micromatch/micromatch/blob/4.0.8/CHANGELOG.md) - [Commits](https://github.com/micromatch/micromatch/compare/4.0.7...4.0.8) --- updated-dependencies: - dependency-name: micromatch dependency-type: indirect ... Signed-off-by: dependabot[bot] Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com> (cherry picked from commit eae895e2d595c95eb74b19b4a34b3b94b97b0690) Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com> --- docs/package-lock.json | 7 +++---- 1 file changed, 3 insertions(+), 4 deletions(-) diff --git a/docs/package-lock.json b/docs/package-lock.json index 0356d2fd..6030e820 100644 --- a/docs/package-lock.json +++ b/docs/package-lock.json @@ -14086,10 +14086,9 @@ "license": "MIT" }, "node_modules/micromatch": { - "version": "4.0.7", - "resolved": "https://registry.npmjs.org/micromatch/-/micromatch-4.0.7.tgz", - "integrity": "sha512-LPP/3KorzCwBxfeUuZmaR6bG2kdeHSbe0P2tY3FLRU4vYrjYz5hI4QZwV0njUx3jeuKe67YukQ1LSPZBKDqO/Q==", - "license": "MIT", + "version": "4.0.8", + "resolved": "https://registry.npmjs.org/micromatch/-/micromatch-4.0.8.tgz", + "integrity": "sha512-PXwfBhYu0hBCPw8Dn0E+WDYb7af3dSLVWKi3HGv84IdF4TyFoC0ysxFd0Goxw7nSv4T/PzEJQxsYsEiFCKo2BA==", "dependencies": { "braces": "^3.0.3", "picomatch": "^2.3.1" From d3e5146b9ac3ab68ab66914607d9bb7fc64f7553 Mon Sep 17 00:00:00 2001 From: "mergify[bot]" <37929162+mergify[bot]@users.noreply.github.com> Date: Wed, 4 Sep 2024 18:04:12 -0700 Subject: [PATCH 38/67] Bump webpack from 5.93.0 to 5.94.0 in /docs (#287) (#289) Bumps [webpack](https://github.com/webpack/webpack) from 5.93.0 to 5.94.0. - [Release notes](https://github.com/webpack/webpack/releases) - [Commits](https://github.com/webpack/webpack/compare/v5.93.0...v5.94.0) --- updated-dependencies: - dependency-name: webpack dependency-type: indirect ... Signed-off-by: dependabot[bot] Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com> (cherry picked from commit faf5edb12fc60a09b260eeea343c160cfa8270b4) Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com> --- docs/package-lock.json | 30 ++++-------------------------- 1 file changed, 4 insertions(+), 26 deletions(-) diff --git a/docs/package-lock.json b/docs/package-lock.json index 6030e820..9a29d9d2 100644 --- a/docs/package-lock.json +++ b/docs/package-lock.json @@ -3952,26 +3952,6 @@ "@types/ms": "*" } }, - "node_modules/@types/eslint": { - "version": "9.6.0", - "resolved": "https://registry.npmjs.org/@types/eslint/-/eslint-9.6.0.tgz", - "integrity": "sha512-gi6WQJ7cHRgZxtkQEoyHMppPjq9Kxo5Tjn2prSKDSmZrCz8TZ3jSRCeTJm+WoM+oB0WG37bRqLzaaU3q7JypGg==", - "license": "MIT", - "dependencies": { - "@types/estree": "*", - "@types/json-schema": "*" - } - }, - "node_modules/@types/eslint-scope": { - "version": "3.7.7", - "resolved": "https://registry.npmjs.org/@types/eslint-scope/-/eslint-scope-3.7.7.tgz", - "integrity": "sha512-MzMFlSLBqNF2gcHWO0G1vP/YQyfvrxZ0bF+u7mzUdZ1/xK4A4sru+nraZz5i3iEIk1l1uyicaDVTB4QbbEkAYg==", - "license": "MIT", - "dependencies": { - "@types/eslint": "*", - "@types/estree": "*" - } - }, "node_modules/@types/estree": { "version": "1.0.5", "resolved": "https://registry.npmjs.org/@types/estree/-/estree-1.0.5.tgz", @@ -18901,12 +18881,10 @@ "license": "Apache-2.0" }, "node_modules/webpack": { - "version": "5.93.0", - "resolved": "https://registry.npmjs.org/webpack/-/webpack-5.93.0.tgz", - "integrity": "sha512-Y0m5oEY1LRuwly578VqluorkXbvXKh7U3rLoQCEO04M97ScRr44afGVkI0FQFsXzysk5OgFAxjZAb9rsGQVihA==", - "license": "MIT", + "version": "5.94.0", + "resolved": "https://registry.npmjs.org/webpack/-/webpack-5.94.0.tgz", + "integrity": "sha512-KcsGn50VT+06JH/iunZJedYGUJS5FGjow8wb9c0v5n1Om8O1g4L6LjtfxwlXIATopoQu+vOXXa7gYisWxCoPyg==", "dependencies": { - "@types/eslint-scope": "^3.7.3", "@types/estree": "^1.0.5", "@webassemblyjs/ast": "^1.12.1", "@webassemblyjs/wasm-edit": "^1.12.1", @@ -18915,7 +18893,7 @@ "acorn-import-attributes": "^1.9.5", "browserslist": "^4.21.10", "chrome-trace-event": "^1.0.2", - "enhanced-resolve": "^5.17.0", + "enhanced-resolve": "^5.17.1", "es-module-lexer": "^1.2.1", "eslint-scope": "5.1.1", "events": "^3.2.0", From eefc465422b9da9700acedbdd0b066a9ac7caf03 Mon Sep 17 00:00:00 2001 From: "mergify[bot]" <37929162+mergify[bot]@users.noreply.github.com> Date: Sat, 14 Sep 2024 11:49:41 -0700 Subject: [PATCH 39/67] Added ament hooks to track blue description files (#296) (#300) (cherry picked from commit f74bcd2510f27c01117f2f32e36d0c16e2e178f1) Co-authored-by: Evan Palmer --- .docker/Dockerfile | 7 ------- blue_description/CMakeLists.txt | 2 ++ blue_description/hooks/hooks.dsv.in | 2 ++ 3 files changed, 4 insertions(+), 7 deletions(-) create mode 100644 blue_description/hooks/hooks.dsv.in diff --git a/.docker/Dockerfile b/.docker/Dockerfile index 16ca16a3..c2d5dd59 100644 --- a/.docker/Dockerfile +++ b/.docker/Dockerfile @@ -205,13 +205,6 @@ export GZ_SIM_SYSTEM_PLUGIN_PATH=\$HOME/ardupilot_gazebo/build:\$GZ_SIM_SYSTEM_P # Add ardupilot_gazebo models and worlds export GZ_SIM_RESOURCE_PATH=\$HOME/ardupilot_gazebo/models:\$HOME/ardupilot_gazebo/worlds:\$GZ_SIM_RESOURCE_PATH - -# Add blue models and worlds -BLUE_DESCRIPTION=\$USER_WORKSPACE/src/blue/blue_description -export GZ_SIM_RESOURCE_PATH=\$BLUE_DESCRIPTION/gazebo/models:\$BLUE_DESCRIPTION/gazebo/worlds:\$GZ_SIM_RESOURCE_PATH - -# Add blue meshes -export GZ_SIM_RESOURCE_PATH=\$BLUE_DESCRIPTION/meshes:\$GZ_SIM_RESOURCE_PATH EOT FROM desktop AS desktop-nvidia diff --git a/blue_description/CMakeLists.txt b/blue_description/CMakeLists.txt index de084cee..cc68f270 100644 --- a/blue_description/CMakeLists.txt +++ b/blue_description/CMakeLists.txt @@ -8,4 +8,6 @@ install( DESTINATION share/blue_description ) +ament_environment_hooks("${CMAKE_CURRENT_SOURCE_DIR}/hooks/hooks.dsv.in") + ament_package() diff --git a/blue_description/hooks/hooks.dsv.in b/blue_description/hooks/hooks.dsv.in new file mode 100644 index 00000000..9e0cfbd7 --- /dev/null +++ b/blue_description/hooks/hooks.dsv.in @@ -0,0 +1,2 @@ +prepend-non-duplicate;GZ_SIM_RESOURCE_PATH;@CMAKE_INSTALL_PREFIX@/share/@PROJECT_NAME@/gazebo/models +prepend-non-duplicate;GZ_SIM_RESOURCE_PATH;@CMAKE_INSTALL_PREFIX@/share/@PROJECT_NAME@/gazebo/worlds From 652f5eee66fa7888f584181184746cde0ce82cb0 Mon Sep 17 00:00:00 2001 From: "mergify[bot]" <37929162+mergify[bot]@users.noreply.github.com> Date: Sat, 14 Sep 2024 11:51:56 -0700 Subject: [PATCH 40/67] Consolidated worlds into a single file (#298) (#303) * Consolidated worlds into a single file * Merge upstream * Fixed stale compose file change (cherry picked from commit 6155ac860221ec695fd31eccef502169356734a5) Co-authored-by: Evan Palmer --- .docker/compose/nouveau-desktop.yaml | 1 - .docker/compose/nvidia-desktop.yaml | 1 - .../launch/bluerov2/bluerov2.launch.yaml | 2 +- .../bluerov2_heavy/bluerov2_heavy.launch.yaml | 2 +- .../bluerov2_heavy_reach.launch.yaml | 2 +- .../bluerov2_heavy_reach_underwater.world | 47 ------------------- .../worlds/bluerov2_heavy_underwater.world | 47 ------------------- ...rov2_underwater.world => underwater.world} | 3 +- 8 files changed, 4 insertions(+), 101 deletions(-) delete mode 100644 blue_description/gazebo/worlds/bluerov2_heavy_reach_underwater.world delete mode 100644 blue_description/gazebo/worlds/bluerov2_heavy_underwater.world rename blue_description/gazebo/worlds/{bluerov2_underwater.world => underwater.world} (93%) diff --git a/.docker/compose/nouveau-desktop.yaml b/.docker/compose/nouveau-desktop.yaml index e0745b33..a2fa8907 100644 --- a/.docker/compose/nouveau-desktop.yaml +++ b/.docker/compose/nouveau-desktop.yaml @@ -1,4 +1,3 @@ -version: "3" services: blue: image: ghcr.io/robotic-decision-making-lab/blue:iron-desktop diff --git a/.docker/compose/nvidia-desktop.yaml b/.docker/compose/nvidia-desktop.yaml index 0d255b00..0afd8fe7 100644 --- a/.docker/compose/nvidia-desktop.yaml +++ b/.docker/compose/nvidia-desktop.yaml @@ -1,4 +1,3 @@ -version: "3" services: blue: image: ghcr.io/robotic-decision-making-lab/blue:iron-desktop-nvidia diff --git a/blue_bringup/launch/bluerov2/bluerov2.launch.yaml b/blue_bringup/launch/bluerov2/bluerov2.launch.yaml index b57e0937..f8aa9b50 100644 --- a/blue_bringup/launch/bluerov2/bluerov2.launch.yaml +++ b/blue_bringup/launch/bluerov2/bluerov2.launch.yaml @@ -39,7 +39,7 @@ launch: - arg: name: gazebo_world_file - default: $(find-pkg-share blue_description)/gazebo/worlds/$(var model_name)_underwater.world + default: $(find-pkg-share blue_description)/gazebo/worlds/underwater.world - arg: name: mavros_file diff --git a/blue_bringup/launch/bluerov2_heavy/bluerov2_heavy.launch.yaml b/blue_bringup/launch/bluerov2_heavy/bluerov2_heavy.launch.yaml index 93897099..368be9ee 100644 --- a/blue_bringup/launch/bluerov2_heavy/bluerov2_heavy.launch.yaml +++ b/blue_bringup/launch/bluerov2_heavy/bluerov2_heavy.launch.yaml @@ -39,7 +39,7 @@ launch: - arg: name: gazebo_world_file - default: $(find-pkg-share blue_description)/gazebo/worlds/$(var model_name)_underwater.world + default: $(find-pkg-share blue_description)/gazebo/worlds/underwater.world - arg: name: mavros_file diff --git a/blue_bringup/launch/bluerov2_heavy_reach/bluerov2_heavy_reach.launch.yaml b/blue_bringup/launch/bluerov2_heavy_reach/bluerov2_heavy_reach.launch.yaml index d16e459b..6af54b05 100644 --- a/blue_bringup/launch/bluerov2_heavy_reach/bluerov2_heavy_reach.launch.yaml +++ b/blue_bringup/launch/bluerov2_heavy_reach/bluerov2_heavy_reach.launch.yaml @@ -39,7 +39,7 @@ launch: - arg: name: gazebo_world_file - default: $(find-pkg-share blue_description)/gazebo/worlds/$(var model_name)_underwater.world + default: $(find-pkg-share blue_description)/gazebo/worlds/underwater.world - arg: name: mavros_file diff --git a/blue_description/gazebo/worlds/bluerov2_heavy_reach_underwater.world b/blue_description/gazebo/worlds/bluerov2_heavy_reach_underwater.world deleted file mode 100644 index 4d908b1e..00000000 --- a/blue_description/gazebo/worlds/bluerov2_heavy_reach_underwater.world +++ /dev/null @@ -1,47 +0,0 @@ - - - - - - - - - - - - - - - - - - - 1000 - - 0 - 1 - - - bluerov2_heavy_reach - - - - https://fuel.gazebosim.org/1.0/OpenRobotics/models/Sun - - - - model://sand_heightmap - 0 7 -10 0 0 0 - - - - diff --git a/blue_description/gazebo/worlds/bluerov2_heavy_underwater.world b/blue_description/gazebo/worlds/bluerov2_heavy_underwater.world deleted file mode 100644 index 715d1171..00000000 --- a/blue_description/gazebo/worlds/bluerov2_heavy_underwater.world +++ /dev/null @@ -1,47 +0,0 @@ - - - - - - - - - - - - - - - - - - - 1000 - - 0 - 1 - - - bluerov2_heavy - - - - https://fuel.gazebosim.org/1.0/OpenRobotics/models/Sun - - - - model://sand_heightmap - 0 7 -10 0 0 0 - - - - diff --git a/blue_description/gazebo/worlds/bluerov2_underwater.world b/blue_description/gazebo/worlds/underwater.world similarity index 93% rename from blue_description/gazebo/worlds/bluerov2_underwater.world rename to blue_description/gazebo/worlds/underwater.world index c1d7ce12..1eb2ddde 100644 --- a/blue_description/gazebo/worlds/bluerov2_underwater.world +++ b/blue_description/gazebo/worlds/underwater.world @@ -1,6 +1,6 @@ - + 1 - bluerov2 From b15be8be5b10e9e8e587f087a10b8062cc4748fc Mon Sep 17 00:00:00 2001 From: "mergify[bot]" <37929162+mergify[bot]@users.noreply.github.com> Date: Sat, 14 Sep 2024 13:16:30 -0700 Subject: [PATCH 41/67] Add water and sky textures to underwater Gazebo world (#299) (#306) * Consolidated worlds into a single file * Added water and sky textures to underwater world * what * Remove random change (cherry picked from commit 5b34879454e28d0a2ed4fc002baf92057494f521) Co-authored-by: Evan Palmer --- .../gazebo/worlds/underwater.world | 21 +++++++++++++++++++ 1 file changed, 21 insertions(+) diff --git a/blue_description/gazebo/worlds/underwater.world b/blue_description/gazebo/worlds/underwater.world index 1eb2ddde..22e75d54 100644 --- a/blue_description/gazebo/worlds/underwater.world +++ b/blue_description/gazebo/worlds/underwater.world @@ -42,5 +42,26 @@ 0 7 -10 0 0 0 + + + https://fuel.gazebosim.org/1.0/OpenRobotics/models/Coast Water + + 0 0 0 0 0 0 + + + + 1.0 1.0 1.0 + 0.8 0.8 0.8 + + + + + 50 0 150 0 0 0 + 1 1 1 1 + .1 .1 .1 1 + 0.3 0.3 -1 + false + + From 4a64479aa5d4efca6fcc09c36de4ab3119fe0885 Mon Sep 17 00:00:00 2001 From: "mergify[bot]" <37929162+mergify[bot]@users.noreply.github.com> Date: Sat, 21 Sep 2024 19:05:48 -0700 Subject: [PATCH 42/67] Bump express from 4.19.2 to 4.21.0 in /docs (#311) (#313) Bumps [express](https://github.com/expressjs/express) from 4.19.2 to 4.21.0. - [Release notes](https://github.com/expressjs/express/releases) - [Changelog](https://github.com/expressjs/express/blob/4.21.0/History.md) - [Commits](https://github.com/expressjs/express/compare/4.19.2...4.21.0) --- updated-dependencies: - dependency-name: express dependency-type: indirect ... Signed-off-by: dependabot[bot] Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com> (cherry picked from commit 49a0fa2f0f47d48524c3607124a8b959612bec5a) Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com> --- docs/package-lock.json | 142 +++++++++++++++++------------------------ 1 file changed, 57 insertions(+), 85 deletions(-) diff --git a/docs/package-lock.json b/docs/package-lock.json index 9a29d9d2..82c09a77 100644 --- a/docs/package-lock.json +++ b/docs/package-lock.json @@ -5127,10 +5127,9 @@ } }, "node_modules/body-parser": { - "version": "1.20.2", - "resolved": "https://registry.npmjs.org/body-parser/-/body-parser-1.20.2.tgz", - "integrity": "sha512-ml9pReCu3M61kGlqoTm2umSXTlRTuGTx0bfYj+uIUKKYycG5NtSbeetV3faSU6R7ajOPw0g/J1PvK4qNy7s5bA==", - "license": "MIT", + "version": "1.20.3", + "resolved": "https://registry.npmjs.org/body-parser/-/body-parser-1.20.3.tgz", + "integrity": "sha512-7rAxByjUMqQ3/bHJy7D6OGXvx/MMc4IqBn/X0fcM1QUcAItpZrBEYhWGem+tzXH90c+G01ypMcYJBO9Y30203g==", "dependencies": { "bytes": "3.1.2", "content-type": "~1.0.5", @@ -5140,7 +5139,7 @@ "http-errors": "2.0.0", "iconv-lite": "0.4.24", "on-finished": "2.4.1", - "qs": "6.11.0", + "qs": "6.13.0", "raw-body": "2.5.2", "type-is": "~1.6.18", "unpipe": "1.0.0" @@ -5154,7 +5153,6 @@ "version": "3.1.2", "resolved": "https://registry.npmjs.org/bytes/-/bytes-3.1.2.tgz", "integrity": "sha512-/Nf7TyzTx6S3yRJObOAV7956r8cr2+Oj8AC5dt8wSP3BQAoeX58NoHyCU8P8zGkNXStjTSi6fzO6F0pBdcYbEg==", - "license": "MIT", "engines": { "node": ">= 0.8" } @@ -5163,7 +5161,6 @@ "version": "2.6.9", "resolved": "https://registry.npmjs.org/debug/-/debug-2.6.9.tgz", "integrity": "sha512-bC7ElrdJaJnPbAP+1EotYvqZsb3ecl5wi6Bfi6BJTUcNowp6cvspg0jXznRTKDjm/E7AdgFBVeAPVMNcKGsHMA==", - "license": "MIT", "dependencies": { "ms": "2.0.0" } @@ -5172,7 +5169,6 @@ "version": "0.4.24", "resolved": "https://registry.npmjs.org/iconv-lite/-/iconv-lite-0.4.24.tgz", "integrity": "sha512-v3MXnZAcvnywkTUEZomIActle7RXXeedOR31wwl7VlyoXO4Qi9arvSenNQWne1TcRwhCL1HwLI21bEqdpj8/rA==", - "license": "MIT", "dependencies": { "safer-buffer": ">= 2.1.2 < 3" }, @@ -5183,8 +5179,7 @@ "node_modules/body-parser/node_modules/ms": { "version": "2.0.0", "resolved": "https://registry.npmjs.org/ms/-/ms-2.0.0.tgz", - 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"license": "MIT", "engines": { "node": ">= 0.8" } From 8772c8a2369e59e29d9b5bc19982c09d3e1d3835 Mon Sep 17 00:00:00 2001 From: "mergify[bot]" <37929162+mergify[bot]@users.noreply.github.com> Date: Mon, 23 Sep 2024 22:39:14 -0700 Subject: [PATCH 43/67] Integrate latest mobile_to_maritime API (#316) (#317) * Added message transforms * Fixed launch file * cleanup launch file (cherry picked from commit 608e987f1f66d4ed998a55887774ed2dcd7f9e3b) Co-authored-by: Evan Palmer --- .../teleoperation/config/joy_teleop.yaml | 2 +- .../teleoperation/config/transforms.yaml | 10 ++++++++++ .../launch/joy_teleop.launch.yaml | 18 +++++++----------- docs/docs/tutorials/teleop.mdx | 11 +++++++++-- 4 files changed, 27 insertions(+), 14 deletions(-) create mode 100644 blue_demos/teleoperation/config/transforms.yaml diff --git a/blue_demos/teleoperation/config/joy_teleop.yaml b/blue_demos/teleoperation/config/joy_teleop.yaml index c1d3dd7a..aa19c8b6 100644 --- a/blue_demos/teleoperation/config/joy_teleop.yaml +++ b/blue_demos/teleoperation/config/joy_teleop.yaml @@ -8,7 +8,7 @@ joy_teleop: manual_control: type: topic interface_type: geometry_msgs/msg/Twist - topic_name: cmd_vel + topic_name: /cmd_vel deadman_axes: [2] axis_mappings: linear-x: diff --git a/blue_demos/teleoperation/config/transforms.yaml b/blue_demos/teleoperation/config/transforms.yaml new file mode 100644 index 00000000..00c04540 --- /dev/null +++ b/blue_demos/teleoperation/config/transforms.yaml @@ -0,0 +1,10 @@ +message_transforms: + ros__parameters: + + incoming_topics: + - /cmd_vel + + transforms: + /cmd_vel: + outgoing_topic: /integral_sliding_mode_controller/reference + message_type: geometry_msgs/msg/Twist diff --git a/blue_demos/teleoperation/launch/joy_teleop.launch.yaml b/blue_demos/teleoperation/launch/joy_teleop.launch.yaml index 34598461..966f3620 100644 --- a/blue_demos/teleoperation/launch/joy_teleop.launch.yaml +++ b/blue_demos/teleoperation/launch/joy_teleop.launch.yaml @@ -5,8 +5,8 @@ launch: default: $(find-pkg-share blue_demos)/teleoperation/config/joy_teleop.yaml - arg: - name: use_maritime - default: "true" + name: transforms_file + default: $(find-pkg-share blue_demos)/teleoperation/config/transforms.yaml - node: pkg: joy_linux @@ -22,12 +22,8 @@ launch: param: - from: $(var joy_file) - - node: - pkg: mobile_to_maritime - exec: mobile_twist_to_maritime_twist - param: - - name: in_topic - value: cmd_vel - - name: out_topic - value: /integral_sliding_mode_controller/reference - if: $(var use_maritime) + - include: + file: $(find-pkg-share message_transforms)/launch/message_transforms.launch.py + arg: + - name: parameters_file + value: $(var transforms_file) diff --git a/docs/docs/tutorials/teleop.mdx b/docs/docs/tutorials/teleop.mdx index f2e1796a..6e468a91 100644 --- a/docs/docs/tutorials/teleop.mdx +++ b/docs/docs/tutorials/teleop.mdx @@ -51,10 +51,17 @@ Docker as described in the [installation instructions](/installation). [REP-105](https://ros.org/reps/rep-0105.html); however, the launched ISMC adheres to the maritime conventions recorded in [REP-156](https://github.com/ros-infrastructure/rep/pull/398). To convert the velocity commands to the appropriate convention, run the - following `mobile_to_maritime` message filter in a new terminal: + `message_transforms` node in a new terminal: ```bash - ros2 run mobile_to_maritime mobile_twist_to_maritime_twist --ros-args -p in_topic:=/cmd_vel -p out_topic:=/integral_sliding_mode_controller/reference + ros2 launch message_transforms message_transforms.launch.py parameters_file:= + ``` + + where `` should be replaced with the path to the + `transforms.yaml` file in the `blue_demos` package, e.g., + + ```bash + ros2 launch message_transforms message_transforms.launch.py parameters_file:=./blue_demos/teleoperation/config/transforms.yaml ``` 5. You should now be able to teleoperate the BlueROV2 using your keyboard. From 8b202aa3870192ddd9ded09792af20086c675bf5 Mon Sep 17 00:00:00 2001 From: Evan Palmer Date: Mon, 23 Sep 2024 22:42:09 -0700 Subject: [PATCH 44/67] Modified blue.repos to use correct auv_controllers branch --- blue.repos | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/blue.repos b/blue.repos index 20a32377..619a685e 100644 --- a/blue.repos +++ b/blue.repos @@ -8,7 +8,7 @@ repositories: auv_controllers: type: git url: https://github.com/Robotic-Decision-Making-Lab/auv_controllers.git - version: main + version: iron ardusub_driver: type: git From cbb7ebf6c6b99d5a3e2d3cb9202889a922159764 Mon Sep 17 00:00:00 2001 From: "mergify[bot]" <37929162+mergify[bot]@users.noreply.github.com> Date: Wed, 25 Sep 2024 10:14:10 -0700 Subject: [PATCH 45/67] Fixed instances where mobile_to_maritime API wasn't updated (#320) (#321) * Fixed instances where old m2m api was used * precommit (cherry picked from commit 2d17d70bf940832a6dc21c905385a519926bd60c) Co-authored-by: Evan Palmer --- .../launch/bluerov2/bluerov2.launch.yaml | 2 +- .../bluerov2_heavy/bluerov2_heavy.launch.yaml | 2 +- .../bluerov2_heavy_reach.launch.yaml | 2 +- .../config/transforms.yaml | 11 +++++ .../launch/bluerov2_controllers.launch.py | 44 ++++++++++++------- .../bluerov2_heavy_controllers.launch.py | 44 ++++++++++++------- 6 files changed, 72 insertions(+), 33 deletions(-) create mode 100644 blue_demos/control_integration/config/transforms.yaml diff --git a/blue_bringup/launch/bluerov2/bluerov2.launch.yaml b/blue_bringup/launch/bluerov2/bluerov2.launch.yaml index f8aa9b50..7781fd27 100644 --- a/blue_bringup/launch/bluerov2/bluerov2.launch.yaml +++ b/blue_bringup/launch/bluerov2/bluerov2.launch.yaml @@ -122,4 +122,4 @@ launch: file: $(find-pkg-share blue_bringup)/launch/$(var model_name)/thrusters.launch.yaml - include: - file: $(find-pkg-share mobile_to_maritime)/launch/tf.launch.yaml + file: $(find-pkg-share message_transforms)/launch/tf.launch.yaml diff --git a/blue_bringup/launch/bluerov2_heavy/bluerov2_heavy.launch.yaml b/blue_bringup/launch/bluerov2_heavy/bluerov2_heavy.launch.yaml index 368be9ee..8d8f8de7 100644 --- a/blue_bringup/launch/bluerov2_heavy/bluerov2_heavy.launch.yaml +++ b/blue_bringup/launch/bluerov2_heavy/bluerov2_heavy.launch.yaml @@ -122,4 +122,4 @@ launch: file: $(find-pkg-share blue_bringup)/launch/$(var model_name)/thrusters.launch.yaml - include: - file: $(find-pkg-share mobile_to_maritime)/launch/tf.launch.yaml + file: $(find-pkg-share message_transforms)/launch/tf.launch.yaml diff --git a/blue_bringup/launch/bluerov2_heavy_reach/bluerov2_heavy_reach.launch.yaml b/blue_bringup/launch/bluerov2_heavy_reach/bluerov2_heavy_reach.launch.yaml index 6af54b05..1464a0a8 100644 --- a/blue_bringup/launch/bluerov2_heavy_reach/bluerov2_heavy_reach.launch.yaml +++ b/blue_bringup/launch/bluerov2_heavy_reach/bluerov2_heavy_reach.launch.yaml @@ -122,4 +122,4 @@ launch: file: $(find-pkg-share blue_bringup)/launch/$(var model_name)/thrusters.launch.yaml - include: - file: $(find-pkg-share mobile_to_maritime)/launch/tf.launch.yaml + file: $(find-pkg-share message_transforms)/launch/tf.launch.yaml diff --git a/blue_demos/control_integration/config/transforms.yaml b/blue_demos/control_integration/config/transforms.yaml new file mode 100644 index 00000000..6f562a34 --- /dev/null +++ b/blue_demos/control_integration/config/transforms.yaml @@ -0,0 +1,11 @@ +/control_integration/message_transforms: + ros__parameters: + + incoming_topics: + - /mavros/local_position/velocity_body + + transforms: + /mavros/local_position/velocity_body: + outgoing_topic: /integral_sliding_mode_controller/system_state + message_type: geometry_msgs/msg/TwistStamped + frame_id: base_link_fsd diff --git a/blue_demos/control_integration/launch/bluerov2_controllers.launch.py b/blue_demos/control_integration/launch/bluerov2_controllers.launch.py index b4e6d059..e37dc412 100644 --- a/blue_demos/control_integration/launch/bluerov2_controllers.launch.py +++ b/blue_demos/control_integration/launch/bluerov2_controllers.launch.py @@ -19,9 +19,14 @@ # THE SOFTWARE. from launch import LaunchDescription -from launch.actions import DeclareLaunchArgument, RegisterEventHandler +from launch.actions import ( + DeclareLaunchArgument, + IncludeLaunchDescription, + RegisterEventHandler, +) from launch.event_handlers import OnProcessExit -from launch.substitutions import PathJoinSubstitution +from launch.launch_description_sources import PythonLaunchDescriptionSource +from launch.substitutions import PathJoinSubstitution, TextSubstitution from launch_ros.actions import Node from launch_ros.substitutions import FindPackageShare @@ -48,18 +53,27 @@ def generate_launch_description() -> LaunchDescription: ] # The ISMC expects state information to be provided in the FSD frame - mobile_to_maritime_velocity_state = Node( - package="mobile_to_maritime", - executable="mobile_twist_stamped_to_maritime_twist", - name="velocity_state_transform", - parameters=[ - { - "in_topic": "/mavros/local_position/velocity_body", - "out_topic": "/integral_sliding_mode_controller/system_state", - "qos_reliability": "best_effort", - "qos_durability": "volatile", - } - ], + message_transformer = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + PathJoinSubstitution( + [ + FindPackageShare("message_transforms"), + "launch", + "message_transforms.launch.py", + ] + ) + ), + launch_arguments={ + "parameters_file": PathJoinSubstitution( + [ + FindPackageShare("blue_demos"), + "control_integration", + "config", + "transforms.yaml", + ] + ), + "ns": TextSubstitution(text="control_integration"), + }.items(), ) controller_manager = Node( @@ -151,7 +165,7 @@ def generate_launch_description() -> LaunchDescription: return LaunchDescription( [ *args, - mobile_to_maritime_velocity_state, + message_transformer, controller_manager, *delay_thruster_spawners, delay_tam_controller_spawner_after_thruster_controller_spawners, diff --git a/blue_demos/control_integration/launch/bluerov2_heavy_controllers.launch.py b/blue_demos/control_integration/launch/bluerov2_heavy_controllers.launch.py index 5e367672..3f6ab9a9 100644 --- a/blue_demos/control_integration/launch/bluerov2_heavy_controllers.launch.py +++ b/blue_demos/control_integration/launch/bluerov2_heavy_controllers.launch.py @@ -19,9 +19,14 @@ # THE SOFTWARE. from launch import LaunchDescription -from launch.actions import DeclareLaunchArgument, RegisterEventHandler +from launch.actions import ( + DeclareLaunchArgument, + IncludeLaunchDescription, + RegisterEventHandler, +) from launch.event_handlers import OnProcessExit -from launch.substitutions import PathJoinSubstitution +from launch.launch_description_sources import PythonLaunchDescriptionSource +from launch.substitutions import PathJoinSubstitution, TextSubstitution from launch_ros.actions import Node from launch_ros.substitutions import FindPackageShare @@ -47,18 +52,27 @@ def generate_launch_description() -> LaunchDescription: ] # The ISMC expects state information to be provided in the FSD frame - mobile_to_maritime_velocity_state = Node( - package="mobile_to_maritime", - executable="mobile_twist_stamped_to_maritime_twist", - name="velocity_state_transform", - parameters=[ - { - "in_topic": "/mavros/local_position/velocity_body", - "out_topic": "/integral_sliding_mode_controller/system_state", - "qos_reliability": "best_effort", - "qos_durability": "volatile", - } - ], + message_transformer = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + PathJoinSubstitution( + [ + FindPackageShare("message_transforms"), + "launch", + "message_transforms.launch.py", + ] + ) + ), + launch_arguments={ + "parameters_file": PathJoinSubstitution( + [ + FindPackageShare("blue_demos"), + "control_integration", + "config", + "transforms.yaml", + ] + ), + "ns": TextSubstitution(text="control_integration"), + }.items(), ) controller_manager = Node( @@ -150,7 +164,7 @@ def generate_launch_description() -> LaunchDescription: return LaunchDescription( [ *args, - mobile_to_maritime_velocity_state, + message_transformer, controller_manager, *delay_thruster_spawners, delay_tam_controller_spawner_after_thruster_controller_spawners, From 774ec3bc8bf2946fe0790d651e9286dcb496ddb0 Mon Sep 17 00:00:00 2001 From: "mergify[bot]" <37929162+mergify[bot]@users.noreply.github.com> Date: Mon, 30 Sep 2024 12:52:10 -0700 Subject: [PATCH 46/67] Bump docker/bake-action from 5.7.0 to 5.9.0 (#325) (#326) Bumps [docker/bake-action](https://github.com/docker/bake-action) from 5.7.0 to 5.9.0. - [Release notes](https://github.com/docker/bake-action/releases) - [Commits](https://github.com/docker/bake-action/compare/v5.7.0...v5.9.0) --- updated-dependencies: - dependency-name: docker/bake-action dependency-type: direct:production update-type: version-update:semver-minor ... Signed-off-by: dependabot[bot] Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com> (cherry picked from commit 52a55f52c9bf36cf2c0ea61b7077d2958c23fd10) Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com> --- .github/workflows/docker.yaml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/.github/workflows/docker.yaml b/.github/workflows/docker.yaml index 4a5e391d..9cc9a212 100644 --- a/.github/workflows/docker.yaml +++ b/.github/workflows/docker.yaml @@ -99,7 +99,7 @@ jobs: - if: github.event_name == 'push' name: Build and push (non PR) - uses: docker/bake-action@v5.7.0 + uses: docker/bake-action@v5.9.0 env: BLUE_ROS_DISTRO: ${{ matrix.ROS_DISTRO }} BLUE_GITHUB_REPO: ${{ steps.lowercase-repo.outputs.repository }} @@ -119,7 +119,7 @@ jobs: # Pull request builds are not cached; and only built for AMD64 - if: github.event_name == 'pull_request' name: Build and push (PR) - uses: docker/bake-action@v5.7.0 + uses: docker/bake-action@v5.9.0 env: BLUE_ROS_DISTRO: ${{ matrix.ROS_DISTRO }} BLUE_GITHUB_REPO: ${{ steps.lowercase-repo.outputs.repository }} From 31771d153641e4727a7e9845e4a43bd0744fc27a Mon Sep 17 00:00:00 2001 From: "mergify[bot]" <37929162+mergify[bot]@users.noreply.github.com> Date: Wed, 9 Oct 2024 13:06:52 -0700 Subject: [PATCH 47/67] Bump docker/bake-action from 5.9.0 to 5.10.0 (#329) (#330) Bumps [docker/bake-action](https://github.com/docker/bake-action) from 5.9.0 to 5.10.0. - [Release notes](https://github.com/docker/bake-action/releases) - [Commits](https://github.com/docker/bake-action/compare/v5.9.0...v5.10.0) --- updated-dependencies: - dependency-name: docker/bake-action dependency-type: direct:production update-type: version-update:semver-minor ... Signed-off-by: dependabot[bot] Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com> (cherry picked from commit 52048dc6d00546dff58370b6cc0a203b6195400d) Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com> --- .github/workflows/docker.yaml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/.github/workflows/docker.yaml b/.github/workflows/docker.yaml index 9cc9a212..5e1a4d9b 100644 --- a/.github/workflows/docker.yaml +++ b/.github/workflows/docker.yaml @@ -99,7 +99,7 @@ jobs: - if: github.event_name == 'push' name: Build and push (non PR) - uses: docker/bake-action@v5.9.0 + uses: docker/bake-action@v5.10.0 env: BLUE_ROS_DISTRO: ${{ matrix.ROS_DISTRO }} BLUE_GITHUB_REPO: ${{ steps.lowercase-repo.outputs.repository }} @@ -119,7 +119,7 @@ jobs: # Pull request builds are not cached; and only built for AMD64 - if: github.event_name == 'pull_request' name: Build and push (PR) - uses: docker/bake-action@v5.9.0 + uses: docker/bake-action@v5.10.0 env: BLUE_ROS_DISTRO: ${{ matrix.ROS_DISTRO }} BLUE_GITHUB_REPO: ${{ steps.lowercase-repo.outputs.repository }} From 6160f54580a990e473a3d9b682f6012041f87a1b Mon Sep 17 00:00:00 2001 From: "mergify[bot]" <37929162+mergify[bot]@users.noreply.github.com> Date: Wed, 9 Oct 2024 18:19:21 -0700 Subject: [PATCH 48/67] Bump cookie and express in /docs (#331) (#334) Bumps [cookie](https://github.com/jshttp/cookie) and [express](https://github.com/expressjs/express). These dependencies needed to be updated together. Updates `cookie` from 0.6.0 to 0.7.1 - [Release notes](https://github.com/jshttp/cookie/releases) - [Commits](https://github.com/jshttp/cookie/compare/v0.6.0...v0.7.1) Updates `express` from 4.21.0 to 4.21.1 - [Release notes](https://github.com/expressjs/express/releases) - [Changelog](https://github.com/expressjs/express/blob/4.21.1/History.md) - [Commits](https://github.com/expressjs/express/compare/4.21.0...4.21.1) --- updated-dependencies: - dependency-name: cookie dependency-type: indirect - dependency-name: express dependency-type: indirect ... Signed-off-by: dependabot[bot] Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com> (cherry picked from commit af36d6f0619770387294c6d6fc3d8af81fce255d) Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com> --- docs/package-lock.json | 15 +++++++-------- 1 file changed, 7 insertions(+), 8 deletions(-) diff --git a/docs/package-lock.json b/docs/package-lock.json index 82c09a77..6f732116 100644 --- a/docs/package-lock.json +++ b/docs/package-lock.json @@ -5873,10 +5873,9 @@ "license": "MIT" }, "node_modules/cookie": { - "version": "0.6.0", - "resolved": "https://registry.npmjs.org/cookie/-/cookie-0.6.0.tgz", - "integrity": "sha512-U71cyTamuh1CRNCfpGY6to28lxvNwPG4Guz/EVjgf3Jmzv0vlDp1atT9eS5dDjMYHucpHbWns6Lwf3BKz6svdw==", - "license": "MIT", + "version": "0.7.1", + "resolved": "https://registry.npmjs.org/cookie/-/cookie-0.7.1.tgz", + "integrity": "sha512-6DnInpx7SJ2AK3+CTUE/ZM0vWTUboZCegxhC2xiIydHR9jNuTAASBrfEpHhiGOZw/nX51bHt6YQl8jsGo4y/0w==", "engines": { "node": ">= 0.6" } @@ -8440,16 +8439,16 @@ } }, "node_modules/express": { - "version": "4.21.0", - "resolved": "https://registry.npmjs.org/express/-/express-4.21.0.tgz", - "integrity": "sha512-VqcNGcj/Id5ZT1LZ/cfihi3ttTn+NJmkli2eZADigjq29qTlWi/hAQ43t/VLPq8+UX06FCEx3ByOYet6ZFblng==", + "version": "4.21.1", + "resolved": "https://registry.npmjs.org/express/-/express-4.21.1.tgz", + "integrity": "sha512-YSFlK1Ee0/GC8QaO91tHcDxJiE/X4FbpAyQWkxAvG6AXCuR65YzK8ua6D9hvi/TzUfZMpc+BwuM1IPw8fmQBiQ==", "dependencies": { "accepts": "~1.3.8", "array-flatten": "1.1.1", "body-parser": "1.20.3", "content-disposition": "0.5.4", "content-type": "~1.0.4", - "cookie": "0.6.0", + "cookie": "0.7.1", "cookie-signature": "1.0.6", "debug": "2.6.9", "depd": "2.0.0", From 9a85bae8b7b2b09399f79cde6364111b9d4d6f46 Mon Sep 17 00:00:00 2001 From: JBVAkshaya Date: Fri, 11 Oct 2024 12:23:23 -0700 Subject: [PATCH 49/67] mount volume --- .devcontainer/nvidia/devcontainer.json | 1 + .docker/Dockerfile | 4 ++++ 2 files changed, 5 insertions(+) diff --git a/.devcontainer/nvidia/devcontainer.json b/.devcontainer/nvidia/devcontainer.json index b6f36a06..73bbfd4e 100644 --- a/.devcontainer/nvidia/devcontainer.json +++ b/.devcontainer/nvidia/devcontainer.json @@ -14,6 +14,7 @@ "--privileged", "--volume=/tmp/.X11-unix:/tmp/.X11-unix", "--volume=/mnt/wslg:/mnt/wslg", + "--volume=/home/akshaya/Research/doc_vol/learn_ros2:/home/blue/ws_blue/src/learn_ros2", "--gpus=all" ], "containerEnv": { diff --git a/.docker/Dockerfile b/.docker/Dockerfile index c2d5dd59..de34a203 100644 --- a/.docker/Dockerfile +++ b/.docker/Dockerfile @@ -227,3 +227,7 @@ RUN sudo apt-get update \ ENV NVIDIA_VISIBLE_DEVICES=all ENV NVIDIA_DRIVER_CAPABILITIES=graphics,utility,compute ENV QT_X11_NO_MITSHM=1 + +# Incase rqt is not showing all the plugins. +RUN sudo apt update +RUN sudo apt install ros-${ROS_DISTRO}-rqt* -y From 2964f3d42eb0cdf3d4af9c6cf4242f8c3791e3f7 Mon Sep 17 00:00:00 2001 From: JBVAkshaya Date: Tue, 22 Oct 2024 17:31:09 -0700 Subject: [PATCH 50/67] install ompl pinocchio rqt update --- .devcontainer/nvidia/Dockerfile | 25 +++++++++++++++++++++++++ 1 file changed, 25 insertions(+) diff --git a/.devcontainer/nvidia/Dockerfile b/.devcontainer/nvidia/Dockerfile index 62421102..c8303703 100644 --- a/.devcontainer/nvidia/Dockerfile +++ b/.devcontainer/nvidia/Dockerfile @@ -16,6 +16,31 @@ RUN sudo apt-get -q update \ && sudo apt-get clean -y \ && sudo rm -rf /var/lib/apt/lists/* +# Install OMPL with ROS2 +RUN curl http://repo.ros2.org/repos.key | sudo apt-key add -\ + && sudo apt-get update \ + && sudo apt-get install -y nano \ + && sudo apt-get install -y ros-iron-ompl + +# RUN cd ${USER_WORKSPACE}/src/learn_ros2 \ +# && echo "Check me" \ +# && echo ls -d -- */ + +# Install pinocchio +RUN sudo apt update && sudo apt install -y ros-${ROS_DISTRO}-pinocchio + +# Update rqt to find plugins work with ROS2 +RUN sudo apt update \ + && sudo apt install -y ros-${ROS_DISTRO}-rqt* + +# Install the learn_ros2 package +RUN cd ${USER_WORKSPACE} \ + && echo "Check me" \ + && pwd \ + && colcon build --packages-select learn_ros2 \ + && . install/setup.bash + +RUN echo 'nvidia' > ${USER_WORKSPACE}/nvidia.txt # Install debugging/linting Python packages RUN python3 -m pip install \ pre-commit \ From 9442d8dffea38ff72a37f1d12a00e7b5cdad8f87 Mon Sep 17 00:00:00 2001 From: JBVAkshaya Date: Tue, 22 Oct 2024 17:31:41 -0700 Subject: [PATCH 51/67] mount additional volume --- .devcontainer/nvidia/devcontainer.json | 8 ++++++-- 1 file changed, 6 insertions(+), 2 deletions(-) diff --git a/.devcontainer/nvidia/devcontainer.json b/.devcontainer/nvidia/devcontainer.json index 73bbfd4e..e3bd61c8 100644 --- a/.devcontainer/nvidia/devcontainer.json +++ b/.devcontainer/nvidia/devcontainer.json @@ -28,8 +28,12 @@ "customizations": { "vscode": { "settings": { - "python.autoComplete.extraPaths": ["${workspaceFolder}/install/"], - "python.analysis.extraPaths": ["${workspaceFolder}/install/"] + "python.autoComplete.extraPaths": [ + "${workspaceFolder}/install/" + ], + "python.analysis.extraPaths": [ + "${workspaceFolder}/install/" + ] }, "extensions": [ "ms-azuretools.vscode-docker", From d220d681820f5e0790987361bb573a4d076bce2c Mon Sep 17 00:00:00 2001 From: JBVAkshaya Date: Tue, 22 Oct 2024 17:32:45 -0700 Subject: [PATCH 52/67] working dockerfile --- .docker/Dockerfile | 60 +++++++++++++++++++++++++++++++++++++++------- 1 file changed, 51 insertions(+), 9 deletions(-) diff --git a/.docker/Dockerfile b/.docker/Dockerfile index de34a203..f7c2973b 100644 --- a/.docker/Dockerfile +++ b/.docker/Dockerfile @@ -1,10 +1,17 @@ ARG ROS_DISTRO=iron -FROM ros:$ROS_DISTRO-ros-base AS ci +ARG USERNAME=blue +ARG USER_GID=1000 +ARG USER_UID=1000 +FROM ros:$ROS_DISTRO-ros-base AS ci +ARG USERNAME +ARG USER_UID +ARG USER_GID ENV DEBIAN_FRONTEND=noninteractive WORKDIR /root/ws_blue COPY . src/blue +RUN echo 'ompl' > ompl.txt # Install apt packages needed for CI RUN apt-get -q update \ @@ -50,7 +57,7 @@ FROM ci AS robot # Configure a new non-root user ARG USERNAME=blue ARG USER_UID=1000 -ARG USER_GID=$USER_UID +ARG USER_GID=1000 RUN groupadd --gid $USER_GID $USERNAME \ && useradd --uid $USER_UID --gid $USER_GID -m $USERNAME \ @@ -78,6 +85,8 @@ COPY --chown=$USER_UID:$USER_GID . src/blue # Install the Python requirements that aren't available as rosdeps RUN python3 -m pip install -r $(pwd)/src/blue/requirements-build.txt +RUN sudo apt-get -q update && sudo apt-get install nano + # Install gstreamer RUN sudo apt-get -q update \ && sudo apt-get -q -y upgrade \ @@ -100,6 +109,7 @@ RUN sudo apt-get -q update \ WORKDIR $USER_WORKSPACE RUN sudo apt-get -q update \ && sudo apt-get -q -y upgrade \ + && sudo chown -R ${USER_UID}:${USER_GID} src \ && vcs import src < src/blue/blue.repos \ && rosdep update \ && rosdep install -y --from-paths src --ignore-src --rosdistro ${ROS_DISTRO} \ @@ -109,13 +119,16 @@ RUN sudo apt-get -q update \ # Actually build workspace RUN . "/opt/ros/${ROS_DISTRO}/setup.sh" \ + && sudo chown -R ${USER_UID}:${USER_GID} $USER_WORKSPACE \ && colcon build RUN echo "source ${USER_WORKSPACE}/install/setup.bash" >> /home/$USERNAME/.bashrc \ && echo "source /opt/ros/${ROS_DISTRO}/setup.bash" >> /home/$USERNAME/.bashrc FROM robot AS desktop - +ARG USERNAME +ARG USER_UID +ARG USER_GID ENV DEBIAN_FRONTEND=noninteractive ENV GZ_VERSION=harmonic @@ -124,7 +137,12 @@ ENV GZ_VERSION=harmonic # https://github.com/hadolint/hadolint/wiki/DL3004 USER root # Install custom rosdep list -ADD --chown=root:root --chmod=0644 https://raw.githubusercontent.com/osrf/osrf-rosdep/master/gz/00-gazebo.list /etc/ros/rosdep/sources.list.d/00-gazebo.list +# ADD --chown=root:root --chmod=0644 https://raw.githubusercontent.com/osrf/osrf-rosdep/master/gz/00-gazebo.list /etc/ros/rosdep/sources.list.d/00-gazebo.list +ADD https://raw.githubusercontent.com/osrf/osrf-rosdep/master/gz/00-gazebo.list /etc/ros/rosdep/sources.list.d/00-gazebo.list + +RUN sudo chown root:root /etc/ros/rosdep/sources.list.d/00-gazebo.list \ + && sudo chmod 0644 /etc/ros/rosdep/sources.list.d/00-gazebo.list + RUN wget https://packages.osrfoundation.org/gazebo.gpg -O /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg \ && echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" | tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null \ && apt-get -q update \ @@ -142,7 +160,7 @@ RUN wget https://packages.osrfoundation.org/gazebo.gpg -O /usr/share/keyrings/pk && apt-get clean -y \ && rm -rf /var/lib/apt/lists/* USER $USERNAME - +RUN echo $USERNAME # Clone ArduSub # ArduSub is installed for simulation purposes ONLY # When deployed onto hardware, the native installation of ArduSub @@ -191,6 +209,12 @@ RUN sudo apt-get -q update \ RUN . "/opt/ros/${ROS_DISTRO}/setup.sh" \ && colcon build +# Install OMPL with ROS2 +RUN curl http://repo.ros2.org/repos.key | sudo apt-key add -\ + && sudo apt-get update \ + && sudo apt-get install -y nano \ + && sudo apt-get install -y ros-iron-ompl + # Setup the simulation environment variables RUN <> /home/$USERNAME/.bashrc @@ -208,7 +232,9 @@ export GZ_SIM_RESOURCE_PATH=\$HOME/ardupilot_gazebo/models:\$HOME/ardupilot_gaze EOT FROM desktop AS desktop-nvidia - +ARG USERNAME +ARG USER_UID +ARG USER_GID # Install NVIDIA software RUN sudo apt-get update \ && sudo apt-get -q -y upgrade \ @@ -223,11 +249,27 @@ RUN sudo apt-get update \ && sudo apt-get clean -y \ && sudo rm -rf /var/lib/apt/lists/* +#Install nano +RUN sudo apt-get update \ + && sudo apt-get install -y nano + # Env vars for the nvidia-container-runtime. ENV NVIDIA_VISIBLE_DEVICES=all ENV NVIDIA_DRIVER_CAPABILITIES=graphics,utility,compute ENV QT_X11_NO_MITSHM=1 -# Incase rqt is not showing all the plugins. -RUN sudo apt update -RUN sudo apt install ros-${ROS_DISTRO}-rqt* -y +# # Incase rqt is not showing all the plugins. +# RUN sudo apt update +# RUN sudo apt install ros-${ROS_DISTRO}-rqt* -y + + + +# # Install OMPL with ROS2 +# RUN curl http://repo.ros2.org/repos.key | sudo apt-key add - +# RUN sudo apt-get update +# RUN sudo apt-get install -y ros-${ROS_DISTRO}-ompl + +# # Install learn_ros2 +# RUN cd ../.. +# RUN colcon build --packages-select learn_ros2 +# RUN . install/setup.bash From af2653f96003f50c3bb2d4f79e6b6001d53462ad Mon Sep 17 00:00:00 2001 From: "mergify[bot]" <37929162+mergify[bot]@users.noreply.github.com> Date: Wed, 23 Oct 2024 22:58:58 -0700 Subject: [PATCH 53/67] Bump mermaid from 10.9.1 to 10.9.3 in /docs (#337) (#338) Bumps [mermaid](https://github.com/mermaid-js/mermaid) from 10.9.1 to 10.9.3. - [Release notes](https://github.com/mermaid-js/mermaid/releases) - [Changelog](https://github.com/mermaid-js/mermaid/blob/develop/CHANGELOG.md) - [Commits](https://github.com/mermaid-js/mermaid/compare/v10.9.1...v10.9.3) --- updated-dependencies: - dependency-name: mermaid dependency-type: indirect ... Signed-off-by: dependabot[bot] Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com> (cherry picked from commit c598d42db09f67ed232d166b2491c3958b16e8a8) Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com> --- docs/package-lock.json | 9 ++++----- 1 file changed, 4 insertions(+), 5 deletions(-) diff --git a/docs/package-lock.json b/docs/package-lock.json index 6f732116..75adb95b 100644 --- a/docs/package-lock.json +++ b/docs/package-lock.json @@ -11796,10 +11796,9 @@ } }, "node_modules/mermaid": { - "version": "10.9.1", - "resolved": "https://registry.npmjs.org/mermaid/-/mermaid-10.9.1.tgz", - "integrity": "sha512-Mx45Obds5W1UkW1nv/7dHRsbfMM1aOKA2+Pxs/IGHNonygDHwmng8xTHyS9z4KWVi0rbko8gjiBmuwwXQ7tiNA==", - "license": "MIT", + "version": "10.9.3", + "resolved": "https://registry.npmjs.org/mermaid/-/mermaid-10.9.3.tgz", + "integrity": "sha512-V80X1isSEvAewIL3xhmz/rVmc27CVljcsbWxkxlWJWY/1kQa4XOABqpDl2qQLGKzpKm6WbTfUEKImBlUfFYArw==", "dependencies": { "@braintree/sanitize-url": "^6.0.1", "@types/d3-scale": "^4.0.3", @@ -11810,7 +11809,7 @@ "d3-sankey": "^0.12.3", "dagre-d3-es": "7.0.10", "dayjs": "^1.11.7", - "dompurify": "^3.0.5", + "dompurify": "^3.0.5 <3.1.7", "elkjs": "^0.9.0", "katex": "^0.16.9", "khroma": "^2.0.0", From 9781629366917275c91e16f7abdfc9dbb581c843 Mon Sep 17 00:00:00 2001 From: "mergify[bot]" <37929162+mergify[bot]@users.noreply.github.com> Date: Wed, 23 Oct 2024 23:03:24 -0700 Subject: [PATCH 54/67] Bump http-proxy-middleware from 2.0.6 to 2.0.7 in /docs (#340) (#343) Bumps [http-proxy-middleware](https://github.com/chimurai/http-proxy-middleware) from 2.0.6 to 2.0.7. - [Release notes](https://github.com/chimurai/http-proxy-middleware/releases) - [Changelog](https://github.com/chimurai/http-proxy-middleware/blob/v2.0.7/CHANGELOG.md) - [Commits](https://github.com/chimurai/http-proxy-middleware/compare/v2.0.6...v2.0.7) --- updated-dependencies: - dependency-name: http-proxy-middleware dependency-type: indirect ... Signed-off-by: dependabot[bot] Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com> (cherry picked from commit 86f394e25651372c01dd57163d399e7cecca973c) Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com> --- docs/package-lock.json | 7 +++---- 1 file changed, 3 insertions(+), 4 deletions(-) diff --git a/docs/package-lock.json b/docs/package-lock.json index 75adb95b..f1241005 100644 --- a/docs/package-lock.json +++ b/docs/package-lock.json @@ -9952,10 +9952,9 @@ } }, "node_modules/http-proxy-middleware": { - "version": "2.0.6", - "resolved": "https://registry.npmjs.org/http-proxy-middleware/-/http-proxy-middleware-2.0.6.tgz", - "integrity": "sha512-ya/UeJ6HVBYxrgYotAZo1KvPWlgB48kUJLDePFeneHsVujFaW5WNj2NgWCAE//B1Dl02BIfYlpNgBy8Kf8Rjmw==", - "license": "MIT", + "version": "2.0.7", + "resolved": "https://registry.npmjs.org/http-proxy-middleware/-/http-proxy-middleware-2.0.7.tgz", + "integrity": "sha512-fgVY8AV7qU7z/MmXJ/rxwbrtQH4jBQ9m7kp3llF0liB7glmFeVZFBepQb32T3y8n8k2+AEYuMPCpinYW+/CuRA==", "dependencies": { "@types/http-proxy": "^1.17.8", "http-proxy": "^1.18.1", From 6446798eb9a6fc93e066b55a2a92cca7a9c6a0d6 Mon Sep 17 00:00:00 2001 From: JBVAkshaya Date: Wed, 30 Oct 2024 22:58:43 +0000 Subject: [PATCH 55/67] tf2 dependencies --- .devcontainer/nvidia/Dockerfile | 3 +++ 1 file changed, 3 insertions(+) diff --git a/.devcontainer/nvidia/Dockerfile b/.devcontainer/nvidia/Dockerfile index c8303703..25c8afdc 100644 --- a/.devcontainer/nvidia/Dockerfile +++ b/.devcontainer/nvidia/Dockerfile @@ -33,6 +33,9 @@ RUN sudo apt update && sudo apt install -y ros-${ROS_DISTRO}-pinocchio RUN sudo apt update \ && sudo apt install -y ros-${ROS_DISTRO}-rqt* +# tf2 depedencies +# RUN sudo apt-get install ros-${ROS_DISTRO}-rviz2 ros-${ROS_DISTRO}-turtle-tf2-py ros-${ROS_DISTRO}-tf2-ros ros-${ROS_DISTRO}-tf2-tools ros-${ROS_DISTRO}-turtlesim + # Install the learn_ros2 package RUN cd ${USER_WORKSPACE} \ && echo "Check me" \ From 1dcb9af02e2d5cdf5ea7b80a60903037b179d892 Mon Sep 17 00:00:00 2001 From: JBVAkshaya Date: Tue, 26 Nov 2024 15:44:21 -0800 Subject: [PATCH 56/67] get docker image from jbvakshaya ghcr --- .devcontainer/nvidia/Dockerfile | 13 +++++++------ 1 file changed, 7 insertions(+), 6 deletions(-) diff --git a/.devcontainer/nvidia/Dockerfile b/.devcontainer/nvidia/Dockerfile index 25c8afdc..c7436e14 100644 --- a/.devcontainer/nvidia/Dockerfile +++ b/.devcontainer/nvidia/Dockerfile @@ -1,4 +1,5 @@ -FROM ghcr.io/robotic-decision-making-lab/blue:iron-desktop-nvidia +FROM ghcr.io/jbvakshaya/blue:iron-nvidia-ompl +# FROM ghcr.io/robotic-decision-making-lab/blue:iron-desktop-nvidia # Install ROS dependencies # This is done in a previous stage, but we include it again here in case anyone wants to @@ -37,11 +38,11 @@ RUN sudo apt update \ # RUN sudo apt-get install ros-${ROS_DISTRO}-rviz2 ros-${ROS_DISTRO}-turtle-tf2-py ros-${ROS_DISTRO}-tf2-ros ros-${ROS_DISTRO}-tf2-tools ros-${ROS_DISTRO}-turtlesim # Install the learn_ros2 package -RUN cd ${USER_WORKSPACE} \ - && echo "Check me" \ - && pwd \ - && colcon build --packages-select learn_ros2 \ - && . install/setup.bash +# RUN cd ${USER_WORKSPACE} \ +# && echo "Check me" \ +# && pwd \ +# && colcon build --packages-select learn_ros2 \ +# && . install/setup.bash RUN echo 'nvidia' > ${USER_WORKSPACE}/nvidia.txt # Install debugging/linting Python packages From 5033652dbbce6ab24d9f82bb03eef21632dc81ff Mon Sep 17 00:00:00 2001 From: JBVAkshaya Date: Wed, 27 Nov 2024 15:11:05 -0800 Subject: [PATCH 57/67] enable adding odom topic specific state interface --- .../description/ros2_control/bluerov2_heavy.ros2_control.xacro | 1 + 1 file changed, 1 insertion(+) diff --git a/blue_demos/control_integration/description/ros2_control/bluerov2_heavy.ros2_control.xacro b/blue_demos/control_integration/description/ros2_control/bluerov2_heavy.ros2_control.xacro index 0ab9119a..40a622e4 100644 --- a/blue_demos/control_integration/description/ros2_control/bluerov2_heavy.ros2_control.xacro +++ b/blue_demos/control_integration/description/ros2_control/bluerov2_heavy.ros2_control.xacro @@ -7,6 +7,7 @@ thruster_hardware/ThrusterHardware ${max_set_param_attempts} + true From be87ef45b7835fb8f73ed7f44c68963a791650b6 Mon Sep 17 00:00:00 2001 From: JBVAkshaya Date: Wed, 27 Nov 2024 15:20:07 -0800 Subject: [PATCH 58/67] add joint trajectory controller as precedence controller to chainable controllers --- .../bluerov2_heavy_joint_traj_controller.yaml | 207 ++++++++++++++++++ ...uerov2_heavy_with_jt_controllers.launch.py | 193 ++++++++++++++++ 2 files changed, 400 insertions(+) create mode 100644 blue_demos/control_integration/config/bluerov2_heavy_joint_traj_controller.yaml create mode 100644 blue_demos/control_integration/launch/bluerov2_heavy_with_jt_controllers.launch.py diff --git a/blue_demos/control_integration/config/bluerov2_heavy_joint_traj_controller.yaml b/blue_demos/control_integration/config/bluerov2_heavy_joint_traj_controller.yaml new file mode 100644 index 00000000..f3cdc2e7 --- /dev/null +++ b/blue_demos/control_integration/config/bluerov2_heavy_joint_traj_controller.yaml @@ -0,0 +1,207 @@ +controller_manager: + ros__parameters: + update_rate: 100 # Hz + + jt_controller: + type: "joint_trajectory_controller/JointTrajectoryController" + + integral_sliding_mode_controller: + type: velocity_controllers/IntegralSlidingModeController + + thruster_allocation_matrix_controller: + type: thruster_allocation_matrix_controller/ThrusterAllocationMatrixController + + thruster1_controller: + type: thruster_controllers/PolynomialThrustCurveController + + thruster2_controller: + type: thruster_controllers/PolynomialThrustCurveController + + thruster3_controller: + type: thruster_controllers/PolynomialThrustCurveController + + thruster4_controller: + type: thruster_controllers/PolynomialThrustCurveController + + thruster5_controller: + type: thruster_controllers/PolynomialThrustCurveController + + thruster6_controller: + type: thruster_controllers/PolynomialThrustCurveController + + thruster7_controller: + type: thruster_controllers/PolynomialThrustCurveController + + thruster8_controller: + type: thruster_controllers/PolynomialThrustCurveController + +jt_controller: + ros__parameters: + action_monitor_rate: 20.0 + allow_integration_in_goal_trajectories: false + allow_nonzero_velocity_at_trajectory_end: false + allow_partial_joints_goal: false + cmd_timeout: 1.0 + joints: + - joint_x + - joint_y + - joint_z + - joint_rx + - joint_ry + - joint_rz + + command_interfaces: + - velocity + + command_joints: + - integral_sliding_mode_controller/x + - integral_sliding_mode_controller/y + - integral_sliding_mode_controller/z + - integral_sliding_mode_controller/rx + - integral_sliding_mode_controller/ry + - integral_sliding_mode_controller/rz + + state_interfaces: + - position + - velocity + + action_monitor_rate: 20.0 + + allow_partial_joints_goal: true + open_loop_control: true + constraints: + stopped_velocity_tolerance: 0.01 + goal_time: 0.0 + joint1: + trajectory: 0.05 + goal: 0.03 + +integral_sliding_mode_controller: + ros__parameters: + use_external_measured_states: true + reference_controller: thruster_allocation_matrix_controller + gains: + rho: 20.0 + lambda: 200.0 + Kp: [10.0, 10.0, 6.0, 3.0, 6.0, 10.0] + tf: + base_frame: "base_link_fsd" + odom_frame: "map_ned" + hydrodynamics: + mass: 13.5 + weight: 114.80 + buoyancy: 112.80 + moments_of_inertia: [0.16, 0.16, 0.16] + added_mass: [-5.50, -12.70, -14.60, -0.12, -0.12, -0.12] + center_of_buoyancy: [0.0, 0.0, 0.0] + center_of_gravity: [0.0, 0.0, 0.0] + linear_damping: [-4.03, -6.22, -5.18, -0.07, -0.07, -0.07] + quadratic_damping: [-18.18, -21.66, -36.99, -1.55, -1.55, -1.55] + +thruster_allocation_matrix_controller: + ros__parameters: + thrusters: + - thruster1_joint + - thruster2_joint + - thruster3_joint + - thruster4_joint + - thruster5_joint + - thruster6_joint + - thruster7_joint + - thruster8_joint + reference_controllers: + - thruster1_controller + - thruster2_controller + - thruster3_controller + - thruster4_controller + - thruster5_controller + - thruster6_controller + - thruster7_controller + - thruster8_controller + tam: + x: [ -0.707, -0.707, 0.707, 0.707, 0.0, 0.0, 0.0, 0.0] + y: [ 0.707, -0.707, 0.707, -0.707, 0.0, 0.0, 0.0, 0.0] + z: [ 0.0, 0.0, 0.0, 0.0, 1.0, 1.0, 1.0, 1.0] + rx: [ 0.0, 0.0, 0.0, 0.0, -0.21805, 0.21805, -0.21805, 0.21805] + ry: [ 0.0, 0.0, 0.0, 0.0, -0.12, -0.12, 0.12, 0.12] + rz: [0.1888, -0.1888, -0.1888, 0.1888, 0.0, 0.0, 0.0, 0.0] + +thruster1_controller: + ros__parameters: + thruster: thruster1_joint + min_thrust: -40.0 + max_thrust: 60.0 + min_deadband: 1470 + max_deadband: 1530 + neutral_pwm: 1500 + thrust_curve_coefficients: [1498.0, 12.01, -0.04731, -0.002098, 0.00002251] + +thruster2_controller: + ros__parameters: + thruster: thruster2_joint + min_thrust: -40.0 + max_thrust: 60.0 + min_deadband: 1470 + max_deadband: 1530 + neutral_pwm: 1500 + thrust_curve_coefficients: [1498.0, 12.01, -0.04731, -0.002098, 0.00002251] + +thruster3_controller: + ros__parameters: + thruster: thruster3_joint + min_thrust: -40.0 + max_thrust: 60.0 + min_deadband: 1470 + max_deadband: 1530 + neutral_pwm: 1500 + thrust_curve_coefficients: [1498.0, 12.01, -0.04731, -0.002098, 0.00002251] + +thruster4_controller: + ros__parameters: + thruster: thruster4_joint + min_thrust: -40.0 + max_thrust: 60.0 + min_deadband: 1470 + max_deadband: 1530 + neutral_pwm: 1500 + thrust_curve_coefficients: [1498.0, 12.01, -0.04731, -0.002098, 0.00002251] + +thruster5_controller: + ros__parameters: + thruster: thruster5_joint + min_thrust: -40.0 + max_thrust: 60.0 + min_deadband: 1470 + max_deadband: 1530 + neutral_pwm: 1500 + thrust_curve_coefficients: [1498.0, 12.01, -0.04731, -0.002098, 0.00002251] + +thruster6_controller: + ros__parameters: + thruster: thruster6_joint + min_thrust: -40.0 + max_thrust: 60.0 + min_deadband: 1470 + max_deadband: 1530 + neutral_pwm: 1500 + thrust_curve_coefficients: [1498.0, 12.01, -0.04731, -0.002098, 0.00002251] + +thruster7_controller: + ros__parameters: + thruster: thruster7_joint + min_thrust: -40.0 + max_thrust: 60.0 + min_deadband: 1470 + max_deadband: 1530 + neutral_pwm: 1500 + thrust_curve_coefficients: [1498.0, 12.01, -0.04731, -0.002098, 0.00002251] + +thruster8_controller: + ros__parameters: + thruster: thruster8_joint + min_thrust: -40.0 + max_thrust: 60.0 + min_deadband: 1470 + max_deadband: 1530 + neutral_pwm: 1500 + thrust_curve_coefficients: [1498.0, 12.01, -0.04731, -0.002098, 0.00002251] diff --git a/blue_demos/control_integration/launch/bluerov2_heavy_with_jt_controllers.launch.py b/blue_demos/control_integration/launch/bluerov2_heavy_with_jt_controllers.launch.py new file mode 100644 index 00000000..85b2bfe7 --- /dev/null +++ b/blue_demos/control_integration/launch/bluerov2_heavy_with_jt_controllers.launch.py @@ -0,0 +1,193 @@ +# Copyright 2024, Evan Palmer +# +# Permission is hereby granted, free of charge, to any person obtaining a copy +# of this software and associated documentation files (the "Software"), to deal +# in the Software without restriction, including without limitation the rights +# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +# copies of the Software, and to permit persons to whom the Software is +# furnished to do so, subject to the following conditions: +# +# The above copyright notice and this permission notice shall be included in +# all copies or substantial portions of the Software. +# +# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL +# THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN +# THE SOFTWARE. + +from launch import LaunchDescription +from launch.actions import ( + DeclareLaunchArgument, + IncludeLaunchDescription, + RegisterEventHandler, +) +from launch.event_handlers import OnProcessExit +from launch.launch_description_sources import PythonLaunchDescriptionSource +from launch.substitutions import PathJoinSubstitution, TextSubstitution +from launch_ros.actions import Node +from launch_ros.substitutions import FindPackageShare + + +def generate_launch_description() -> LaunchDescription: + """Generate a launch description for the BlueROV2. + This should be launched after MAVROS has fully loaded. + """ + args = [ + DeclareLaunchArgument( + "prefix", + default_value="", + description=( + "The prefix of the model. This is useful for multi-robot setups." + " Expected format '/'." + ), + ), + DeclareLaunchArgument( + "use_sim", + default_value="false", + description="Launch the Gazebo + ArduSub simulator.", + ), + ] + + # The ISMC expects state information to be provided in the FSD frame + message_transformer = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + PathJoinSubstitution( + [ + FindPackageShare("message_transforms"), + "launch", + "message_transforms.launch.py", + ] + ) + ), + launch_arguments={ + "parameters_file": PathJoinSubstitution( + [ + FindPackageShare("blue_demos"), + "control_integration", + "config", + "transforms.yaml", + ] + ), + "ns": TextSubstitution(text="control_integration"), + }.items(), + ) + + controller_manager = Node( + package="controller_manager", + executable="ros2_control_node", + output="both", + parameters=[ + PathJoinSubstitution( + [ + FindPackageShare("blue_demos"), + "control_integration", + "config", + "bluerov2_heavy_joint_traj_controller.yaml", + ] + ), + ], + remappings=[ + ("/controller_manager/robot_description", "/robot_description"), + ], + ) + + jt_controller_spawner = Node( + package="controller_manager", + executable="spawner", + arguments=[ + "jt_controller", + "--controller-manager", + ["", "controller_manager"], + ], + ) + + velocity_controller_spawner = Node( + package="controller_manager", + executable="spawner", + arguments=[ + "integral_sliding_mode_controller", + "--controller-manager", + ["", "controller_manager"], + ], + ) + + thruster_spawners = [ + Node( + package="controller_manager", + executable="spawner", + arguments=[ + f"thruster{i + 1}_controller", + "--controller-manager", + ["", "controller_manager"], + ], + ) + for i in range(8) # BlueROV2 Heavy has 8 thrusters + ] + + delay_thruster_spawners = [] + for i, thruster_spawner in enumerate(thruster_spawners): + if not len(delay_thruster_spawners): + delay_thruster_spawners.append( + thruster_spawner, + ) + else: + delay_thruster_spawners.append( + RegisterEventHandler( + event_handler=OnProcessExit( + target_action=thruster_spawners[i - 1], + on_exit=[thruster_spawner], + ) + ) + ) + + tam_controller_spawner = Node( + package="controller_manager", + executable="spawner", + arguments=[ + "thruster_allocation_matrix_controller", + "--controller-manager", + ["", "controller_manager"], + ], + ) + + delay_tam_controller_spawner_after_thruster_controller_spawners = ( + RegisterEventHandler( + event_handler=OnProcessExit( + target_action=thruster_spawners[-1], + on_exit=[tam_controller_spawner], + ) + ) + ) + + delay_velocity_controller_spawner_after_tam_controller_spawner = ( + RegisterEventHandler( + event_handler=OnProcessExit( + target_action=tam_controller_spawner, + on_exit=[velocity_controller_spawner], + ) + ) + ) + + delay_jt_controller_spawner_after_velocity_controller_spawner = ( + RegisterEventHandler( + event_handler=OnProcessExit( + target_action=velocity_controller_spawner, + on_exit=[jt_controller_spawner], + ) + ) + ) + + return LaunchDescription( + [ + *args, + message_transformer, + controller_manager, + *delay_thruster_spawners, + delay_tam_controller_spawner_after_thruster_controller_spawners, + delay_velocity_controller_spawner_after_tam_controller_spawner, + delay_jt_controller_spawner_after_velocity_controller_spawner, + ] + ) From 0f8d9ef23bc58bf59007179c30ef11dd5cc76e8b Mon Sep 17 00:00:00 2001 From: JBVAkshaya Date: Wed, 27 Nov 2024 15:22:20 -0800 Subject: [PATCH 59/67] execute a joint trajectory on jtc controller --- blue_planner_py/LICENSE | 202 ++++++++++++++++++ blue_planner_py/blue_planner_py/__init__.py | 0 blue_planner_py/blue_planner_py/plan_node.py | 103 +++++++++ .../publish_to_ismc_ref_node.py | 63 ++++++ .../blue_planner_py/subscribe_to_odom_node.py | 57 +++++ blue_planner_py/package.xml | 24 +++ blue_planner_py/resource/blue_planner_py | 0 blue_planner_py/setup.cfg | 4 + blue_planner_py/setup.py | 27 +++ blue_planner_py/test/test_copyright.py | 25 +++ blue_planner_py/test/test_flake8.py | 25 +++ blue_planner_py/test/test_pep257.py | 23 ++ 12 files changed, 553 insertions(+) create mode 100644 blue_planner_py/LICENSE create mode 100644 blue_planner_py/blue_planner_py/__init__.py create mode 100644 blue_planner_py/blue_planner_py/plan_node.py create mode 100644 blue_planner_py/blue_planner_py/publish_to_ismc_ref_node.py create mode 100644 blue_planner_py/blue_planner_py/subscribe_to_odom_node.py create mode 100644 blue_planner_py/package.xml create mode 100644 blue_planner_py/resource/blue_planner_py create mode 100644 blue_planner_py/setup.cfg create mode 100644 blue_planner_py/setup.py create mode 100644 blue_planner_py/test/test_copyright.py create mode 100644 blue_planner_py/test/test_flake8.py create mode 100644 blue_planner_py/test/test_pep257.py diff --git a/blue_planner_py/LICENSE b/blue_planner_py/LICENSE new file mode 100644 index 00000000..d6456956 --- /dev/null +++ b/blue_planner_py/LICENSE @@ -0,0 +1,202 @@ + + Apache License + Version 2.0, January 2004 + http://www.apache.org/licenses/ + + TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION + + 1. Definitions. + + "License" shall mean the terms and conditions for use, reproduction, + and distribution as defined by Sections 1 through 9 of this document. + + "Licensor" shall mean the copyright owner or entity authorized by + the copyright owner that is granting the License. + + "Legal Entity" shall mean the union of the acting entity and all + other entities that control, are controlled by, or are under common + control with that entity. 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We also recommend that a + file or class name and description of purpose be included on the + same "printed page" as the copyright notice for easier + identification within third-party archives. + + Copyright [yyyy] [name of copyright owner] + + 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. diff --git a/blue_planner_py/blue_planner_py/__init__.py b/blue_planner_py/blue_planner_py/__init__.py new file mode 100644 index 00000000..e69de29b diff --git a/blue_planner_py/blue_planner_py/plan_node.py b/blue_planner_py/blue_planner_py/plan_node.py new file mode 100644 index 00000000..0c473b10 --- /dev/null +++ b/blue_planner_py/blue_planner_py/plan_node.py @@ -0,0 +1,103 @@ +import rclpy +from nav_msgs.msg import Odometry +from rclpy.duration import Duration +from rclpy.node import Node +from tf_transformations import euler_from_quaternion +from trajectory_msgs.msg import JointTrajectory, JointTrajectoryPoint + + +def position_to_list(position): + return [position.x, position.y, position.z] + + +def quaternion_to_list(orientation): + return [orientation.x, orientation.y, orientation.z, orientation.w] + + +class MoveBluerov(Node): + def __init__(self): + super().__init__("move_bluerov") + + self.subscription = self.create_subscription( + Odometry, "/model/bluerov2_heavy/odometry", self.odom_callback, 10 + ) + self.subscription + + self.odom_pose_position = [] + self.odom_pose_orientation_rpy = [] + + self.publisher_ = self.create_publisher( + JointTrajectory, "/jt_controller/joint_trajectory", 10 + ) + timer_period = 2.0 # seconds + self.timer = self.create_timer(timer_period, self.issue_jt_control_command) + + def odom_callback(self, msg): + self.odom_pose_position = position_to_list(msg.pose.pose.position) + self.odom_pose_orientation_rpy = list( + euler_from_quaternion(quaternion_to_list(msg.pose.pose.orientation)) + ) + + def issue_jt_control_command(self): + # TODO: Implement this method + """ + create two points, point1 and point2, with position and velocity values + """ + self.get_logger().info( + "pose: {0}, {1}".format( + self.odom_pose_position, self.odom_pose_orientation_rpy + ) + ) + joint_state = [] + joint_state_position = self.odom_pose_position.copy() + joint_state_orientation = self.odom_pose_orientation_rpy.copy() + joint_state = joint_state_position + joint_state.extend(joint_state_orientation) + + if len(joint_state) != 0: + # self.get_logger().info("planning: {0}".format(joint_state)) + point1 = JointTrajectoryPoint() + point2 = JointTrajectoryPoint() + duration1 = Duration(seconds=0.0) + duration2 = Duration(seconds=4.0) + point1.time_from_start = duration1.to_msg() + point2.time_from_start = duration2.to_msg() + point1.positions = joint_state + vel_1 = [0.0] * 6 + vel_1[0] = 0.2 + point1.velocities = vel_1 + pos_2 = joint_state.copy() + pos_2[0] = pos_2[0] + (0.2 * 4.0) + point2.positions = pos_2 + vel_2 = [0.0] * 6 + point2.velocities = vel_2 + trajectory = JointTrajectory() + trajectory.joint_names = [ + "joint_x", + "joint_y", + "joint_z", + "joint_rx", + "joint_ry", + "joint_rz", + ] + trajectory.points = [point1, point2] + trajectory.header.stamp = self.get_clock().now().to_msg() + trajectory.header.frame_id = "base_link" + self.publisher_.publish(trajectory) + self.get_logger().info("published: {0}".format(trajectory)) + + +def main(args=None): + rclpy.init(args=args) + + stow_command = MoveBluerov() + + rclpy.spin_once(stow_command) + stow_command.issue_jt_control_command() + rclpy.spin(stow_command) + stow_command.destroy_node() + rclpy.shutdown() + + +if __name__ == "__main__": + main() diff --git a/blue_planner_py/blue_planner_py/publish_to_ismc_ref_node.py b/blue_planner_py/blue_planner_py/publish_to_ismc_ref_node.py new file mode 100644 index 00000000..194247ed --- /dev/null +++ b/blue_planner_py/blue_planner_py/publish_to_ismc_ref_node.py @@ -0,0 +1,63 @@ +# Copyright 2016 Open Source Robotics Foundation, Inc. +# +# 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 rclpy +from geometry_msgs.msg import Twist +from rclpy.node import Node + + +class MinimalPublisher(Node): + def __init__(self): + super().__init__("minimal_publisher") + self.publisher_ = self.create_publisher( + Twist, "/integral_sliding_mode_controller/reference", 10 + ) + timer_period = 0.5 # seconds + self.timer = self.create_timer(timer_period, self.timer_callback) + self.i = 0 + + def timer_callback(self): + vel_msg = Twist() + vel_msg.linear.x = 0.5 + self.get_logger().info( + "Publishing: %f, %f, %f, %f, %f, %f" + % ( + vel_msg.linear.x, + vel_msg.linear.y, + vel_msg.linear.z, + vel_msg.angular.x, + vel_msg.angular.y, + vel_msg.angular.z, + ) + ) + self.publisher_.publish(vel_msg) + self.i += 1 + + +def main(args=None): + rclpy.init(args=args) + + minimal_publisher = MinimalPublisher() + + rclpy.spin(minimal_publisher) + + # Destroy the node explicitly + # (optional - otherwise it will be done automatically + # when the garbage collector destroys the node object) + minimal_publisher.destroy_node() + rclpy.shutdown() + + +if __name__ == "__main__": + main() diff --git a/blue_planner_py/blue_planner_py/subscribe_to_odom_node.py b/blue_planner_py/blue_planner_py/subscribe_to_odom_node.py new file mode 100644 index 00000000..3fa71003 --- /dev/null +++ b/blue_planner_py/blue_planner_py/subscribe_to_odom_node.py @@ -0,0 +1,57 @@ +# Copyright 2016 Open Source Robotics Foundation, Inc. +# +# 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 rclpy +from nav_msgs.msg import Odometry +from rclpy.node import Node + + +class MinimalSubscriber(Node): + def __init__(self): + super().__init__("minimal_subscriber") + self.subscription = self.create_subscription( + Odometry, "/model/bluerov2_heavy/odometry", self.listener_callback, 10 + ) + self.subscription # prevent unused variable warning + + def listener_callback(self, msg): + self.get_logger().info( + "I heard: %f, %f, %f, %f, %f, %f," + % ( + msg.pose.pose.position.x, + msg.pose.pose.position.y, + msg.pose.pose.position.z, + msg.pose.pose.orientation.x, + msg.pose.pose.orientation.y, + msg.pose.pose.orientation.z, + ) + ) + + +def main(args=None): + rclpy.init(args=args) + + minimal_subscriber = MinimalSubscriber() + + rclpy.spin(minimal_subscriber) + + # Destroy the node explicitly + # (optional - otherwise it will be done automatically + # when the garbage collector destroys the node object) + minimal_subscriber.destroy_node() + rclpy.shutdown() + + +if __name__ == "__main__": + main() diff --git a/blue_planner_py/package.xml b/blue_planner_py/package.xml new file mode 100644 index 00000000..7d331f51 --- /dev/null +++ b/blue_planner_py/package.xml @@ -0,0 +1,24 @@ + + + + blue_planner_py + 0.0.0 + python planners + blue + Apache-2.0 + + rclpy + geometry_msgs + nav_msgs + trajectory_msgs + tf_transformation + + ament_copyright + ament_flake8 + ament_pep257 + python3-pytest + + + ament_python + + diff --git a/blue_planner_py/resource/blue_planner_py b/blue_planner_py/resource/blue_planner_py new file mode 100644 index 00000000..e69de29b diff --git a/blue_planner_py/setup.cfg b/blue_planner_py/setup.cfg new file mode 100644 index 00000000..3e2eac8d --- /dev/null +++ b/blue_planner_py/setup.cfg @@ -0,0 +1,4 @@ +[develop] +script_dir=$base/lib/blue_planner_py +[install] +install_scripts=$base/lib/blue_planner_py diff --git a/blue_planner_py/setup.py b/blue_planner_py/setup.py new file mode 100644 index 00000000..993a9888 --- /dev/null +++ b/blue_planner_py/setup.py @@ -0,0 +1,27 @@ +from setuptools import find_packages, setup + +package_name = "blue_planner_py" + +setup( + name=package_name, + version="0.0.0", + packages=find_packages(exclude=["test"]), + data_files=[ + ("share/ament_index/resource_index/packages", ["resource/" + package_name]), + ("share/" + package_name, ["package.xml"]), + ], + install_requires=["setuptools"], + zip_safe=True, + maintainer="blue", + maintainer_email="agrawaak@oregonstate.edu", + description="TODO: Package description", + license="Apache-2.0", + tests_require=["pytest"], + entry_points={ + "console_scripts": [ + "plan_node = blue_planner_py.plan_node:main", + "publish_to_ismc_ref_node = blue_planner_py.publish_to_ismc_ref_node:main", + "subscribe_to_odom_node = blue_planner_py.subscribe_to_odom_node:main", + ], + }, +) diff --git a/blue_planner_py/test/test_copyright.py b/blue_planner_py/test/test_copyright.py new file mode 100644 index 00000000..97a39196 --- /dev/null +++ b/blue_planner_py/test/test_copyright.py @@ -0,0 +1,25 @@ +# Copyright 2015 Open Source Robotics Foundation, Inc. +# +# 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. + +from ament_copyright.main import main +import pytest + + +# Remove the `skip` decorator once the source file(s) have a copyright header +@pytest.mark.skip(reason='No copyright header has been placed in the generated source file.') +@pytest.mark.copyright +@pytest.mark.linter +def test_copyright(): + rc = main(argv=['.', 'test']) + assert rc == 0, 'Found errors' diff --git a/blue_planner_py/test/test_flake8.py b/blue_planner_py/test/test_flake8.py new file mode 100644 index 00000000..27ee1078 --- /dev/null +++ b/blue_planner_py/test/test_flake8.py @@ -0,0 +1,25 @@ +# Copyright 2017 Open Source Robotics Foundation, Inc. +# +# 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. + +from ament_flake8.main import main_with_errors +import pytest + + +@pytest.mark.flake8 +@pytest.mark.linter +def test_flake8(): + rc, errors = main_with_errors(argv=[]) + assert rc == 0, \ + 'Found %d code style errors / warnings:\n' % len(errors) + \ + '\n'.join(errors) diff --git a/blue_planner_py/test/test_pep257.py b/blue_planner_py/test/test_pep257.py new file mode 100644 index 00000000..b234a384 --- /dev/null +++ b/blue_planner_py/test/test_pep257.py @@ -0,0 +1,23 @@ +# Copyright 2015 Open Source Robotics Foundation, Inc. +# +# 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. + +from ament_pep257.main import main +import pytest + + +@pytest.mark.linter +@pytest.mark.pep257 +def test_pep257(): + rc = main(argv=['.', 'test']) + assert rc == 0, 'Found code style errors / warnings' From 4e85046e0da93434b52792f7d30a705ae10f07c8 Mon Sep 17 00:00:00 2001 From: JBVAkshaya Date: Tue, 14 Jan 2025 18:31:45 -0800 Subject: [PATCH 60/67] launch files to include namespaces and obstacles in env --- .../bluerov2_heavy_demo_obs.launch.yaml | 33 +++++++++++++++++++ .../launch/bluerov2_heavy_with_obs.launch.py | 33 +++++++++++++++++++ 2 files changed, 66 insertions(+) create mode 100644 blue_demos/control_integration/launch/bluerov2_heavy_demo_obs.launch.yaml create mode 100644 blue_demos/control_integration/launch/bluerov2_heavy_with_obs.launch.py diff --git a/blue_demos/control_integration/launch/bluerov2_heavy_demo_obs.launch.yaml b/blue_demos/control_integration/launch/bluerov2_heavy_demo_obs.launch.yaml new file mode 100644 index 00000000..5b73adb2 --- /dev/null +++ b/blue_demos/control_integration/launch/bluerov2_heavy_demo_obs.launch.yaml @@ -0,0 +1,33 @@ +launch: + + - arg: + name: namespace + default: "rob_1" + + - group: + - push-ros-namespace: + namespace: "$(var namespace)" + + - arg: + name: use_sim + default: "false" + + - arg: + name: prefix + default: "rob_1/" + + - let: + name: description_file + value: $(find-pkg-share blue_demos)/control_integration/description/urdf/bluerov2_heavy.config.xacro + + - let: + name: robot_description + value: $(command 'xacro $(var description_file) prefix:=$(var prefix) use_sim:=$(var use_sim)') + + - include: + file: $(find-pkg-share blue_bringup)/launch/bluerov2_heavy/bluerov2_heavy_obs.launch.yaml + arg: + - name: robot_description + value: $(var robot_description) + - name: prefix + value: $(var prefix) diff --git a/blue_demos/control_integration/launch/bluerov2_heavy_with_obs.launch.py b/blue_demos/control_integration/launch/bluerov2_heavy_with_obs.launch.py new file mode 100644 index 00000000..03806290 --- /dev/null +++ b/blue_demos/control_integration/launch/bluerov2_heavy_with_obs.launch.py @@ -0,0 +1,33 @@ +from launch import LaunchDescription +from launch.actions import ( + DeclareLaunchArgument, + IncludeLaunchDescription, +) +from launch.substitutions import PathJoinSubstitution +from launch_ros.substitutions import FindPackageShare +from launch_yaml.launch_description_sources import YAMLLaunchDescriptionSource + + +def generate_launch_description(): + args = [ + DeclareLaunchArgument( + "use_sim", + default_value="false", + description="Launch the Gazebo + ArduSub simulator.", + ), + ] + + yaml_launch = IncludeLaunchDescription( + YAMLLaunchDescriptionSource( + PathJoinSubstitution( + [ + FindPackageShare("blue_demos"), + "control_integration", + "launch", + "bluerov2_heavy_demo_obs.launch.yaml", + ] + ), + ) + ) + + return LaunchDescription([*args, yaml_launch]) From 90fc26c4d7b9a7cbdd6c4b5812ae161939790845 Mon Sep 17 00:00:00 2001 From: JBVAkshaya Date: Tue, 14 Jan 2025 18:37:25 -0800 Subject: [PATCH 61/67] config files for mavros, localization and ardusub with ns ' --- .../config/ardusub/ns_ardusub_manager.yaml | 9 ++++ .../config/ardusub/ns_mavros.yaml | 48 +++++++++++++++++++ .../bluerov2_heavy/ns_localization.yaml | 38 +++++++++++++++ 3 files changed, 95 insertions(+) create mode 100644 blue_description/config/ardusub/ns_ardusub_manager.yaml create mode 100644 blue_description/config/ardusub/ns_mavros.yaml create mode 100644 blue_description/config/bluerov2_heavy/ns_localization.yaml diff --git a/blue_description/config/ardusub/ns_ardusub_manager.yaml b/blue_description/config/ardusub/ns_ardusub_manager.yaml new file mode 100644 index 00000000..71ee336c --- /dev/null +++ b/blue_description/config/ardusub/ns_ardusub_manager.yaml @@ -0,0 +1,9 @@ +rob_1: + ardusub_manager: + ros__parameters: + message_intervals: + ids: [31, 32] + rates: [50.0, 50.0] + set_ekf_origin: true + publish_tf: false + prefix: "rob_1/" diff --git a/blue_description/config/ardusub/ns_mavros.yaml b/blue_description/config/ardusub/ns_mavros.yaml new file mode 100644 index 00000000..a7171957 --- /dev/null +++ b/blue_description/config/ardusub/ns_mavros.yaml @@ -0,0 +1,48 @@ +rob_1: + mavros: + ros__parameters: + system_id: 255 + base_link_frame_id: rob_1/base_link + plugin_allowlist: + - sys_status + - command + - imu + - rc_io + - param + - vision* + - local* + - global_position + + mavros_node: + ros__parameters: + base_link_frame: "rob_1/base_link" + map_frame: "map" + odom_frame: "odom" + fcu_url: "tcp://localhost" + gcs_url: "udp://@localhost:14550" + tgt_system: 1 + + local_position: + ros__parameters: + frame_id: "map" + tf: + child_frame_id: "rob_1/base_link" + send: false + + imu: + ros__parameters: + frame_id: "rob_1/base_link" + + global_position: + ros__parameters: + child_frame_id: "rob_1/base_link" + frame_id: "map" + tf: + child_frame_id: "rob_1/base_link" + global_frame_id: "earth" + send: false + + vision_pose: + ros__parameters: + tf/child_frame_id: "rob_1/vision_estimate" + tf/frame_id: map diff --git a/blue_description/config/bluerov2_heavy/ns_localization.yaml b/blue_description/config/bluerov2_heavy/ns_localization.yaml new file mode 100644 index 00000000..501c0338 --- /dev/null +++ b/blue_description/config/bluerov2_heavy/ns_localization.yaml @@ -0,0 +1,38 @@ +rob_1: + camera: + ros__parameters: + port: 5600 + distortion_model: "plumb_bob" + frame: + height: 1080 + width: 1920 + camera_matrix: + [1078.17559, 0.0, 1010.57086, + 0.0, 1076.46176, 463.06243, + 0.0, 0.0, 1.0] + distortion_coefficients: + [0.019645, 0.007271, -0.004324, -0.001628, 0.000000] + projection_matrix: + [1108.25366, 0.0, 1003.75555, 0.0, + 0.0, 1108.39001, 456.92861, 0.0, + 0.0, 0.0, 1.0, 0.0] + + qualisys_mocap: + ros__parameters: + ip: "192.168.254.1" + port: 22223 + version: "1.22" + body: "bluerov" + prefix: "rob_1/" + + qualisys_localizer: + ros__parameters: + update_rate: 30.0 + body: "bluerov" # This should be the same as the body parameter setting for the qualisys_mocap node + prefix: "rob_1/" + + gazebo_localizer: + ros__parameters: + update_rate: 30.0 + gazebo_odom_topic: "/model/rob_1/bluerov2_heavy/odometry" + prefix: "rob_1/" From fcbb383be1383b437bca49b921ec4d3d9bac7f13 Mon Sep 17 00:00:00 2001 From: JBVAkshaya Date: Tue, 14 Jan 2025 18:39:36 -0800 Subject: [PATCH 62/67] modified files to include ns --- .../bluerov2_heavy/thrusters.launch.yaml | 19 +++++++++++-------- .../urdf/bluerov2_heavy.config.xacro | 2 +- .../description/bluerov2_heavy/gazebo.xacro | 13 +++++++++---- .../description/bluerov2_heavy/urdf.xacro | 2 +- .../description/camera/gazebo.xacro | 6 +++--- 5 files changed, 25 insertions(+), 17 deletions(-) diff --git a/blue_bringup/launch/bluerov2_heavy/thrusters.launch.yaml b/blue_bringup/launch/bluerov2_heavy/thrusters.launch.yaml index dba2b883..20cd4b59 100644 --- a/blue_bringup/launch/bluerov2_heavy/thrusters.launch.yaml +++ b/blue_bringup/launch/bluerov2_heavy/thrusters.launch.yaml @@ -1,49 +1,52 @@ launch: + - arg: + name: prefix + default: "" - node: pkg: tf2_ros exec: static_transform_publisher name: base_link_to_thruster1 - args: --x 0.14 --y -0.092 --roll -1.571 --pitch 1.571 --yaw -0.785 --frame-id base_link --child-frame-id thruster1 + args: --x 0.14 --y -0.092 --roll -1.571 --pitch 1.571 --yaw -0.785 --frame-id $(var prefix)base_link --child-frame-id $(var prefix)thruster1 - node: pkg: tf2_ros exec: static_transform_publisher name: base_link_to_thruster2 - args: --x 0.14 --y 0.092 --roll -1.571 --pitch 1.571 --yaw -2.356 --frame-id base_link --child-frame-id thruster2 + args: --x 0.14 --y 0.092 --roll -1.571 --pitch 1.571 --yaw -2.356 --frame-id $(var prefix)base_link --child-frame-id $(var prefix)thruster2 - node: pkg: tf2_ros exec: static_transform_publisher name: base_link_to_thruster3 - args: --x -0.15 --y -0.092 --roll -1.571 --pitch 1.571 --yaw 0.785 --frame-id base_link --child-frame-id thruster3 + args: --x -0.15 --y -0.092 --roll -1.571 --pitch 1.571 --yaw 0.785 --frame-id $(var prefix)base_link --child-frame-id $(var prefix)thruster3 - node: pkg: tf2_ros exec: static_transform_publisher name: base_link_to_thruster4 - args: --x -0.15 --y 0.092 --roll -1.571 --pitch 1.571 --yaw 2.356 --frame-id base_link --child-frame-id thruster4 + args: --x -0.15 --y 0.092 --roll -1.571 --pitch 1.571 --yaw 2.356 --frame-id $(var prefix)base_link --child-frame-id $(var prefix)thruster4 - node: pkg: tf2_ros exec: static_transform_publisher name: base_link_to_thruster5 - args: --x 0.118 --y -0.215 --z 0.064 --frame-id base_link --child-frame-id thruster5 + args: --x 0.118 --y -0.215 --z 0.064 --frame-id $(var prefix)base_link --child-frame-id $(var prefix)thruster5 - node: pkg: tf2_ros exec: static_transform_publisher name: base_link_to_thruster6 - args: --x 0.118 --y 0.215 --z 0.064 --frame-id base_link --child-frame-id thruster6 + args: --x 0.118 --y 0.215 --z 0.064 --frame-id $(var prefix)base_link --child-frame-id $(var prefix)thruster6 - node: pkg: tf2_ros exec: static_transform_publisher name: base_link_to_thruster7 - args: --x -0.118 --y -0.215 --z 0.064 --frame-id base_link --child-frame-id thruster7 + args: --x -0.118 --y -0.215 --z 0.064 --frame-id $(var prefix)base_link --child-frame-id $(var prefix)thruster7 - node: pkg: tf2_ros exec: static_transform_publisher name: base_link_to_thruster8 - args: --x -0.118 --y 0.215 --z 0.064 --frame-id base_link --child-frame-id thruster8 + args: --x -0.118 --y 0.215 --z 0.064 --frame-id $(var prefix)base_link --child-frame-id $(var prefix)thruster8 diff --git a/blue_demos/control_integration/description/urdf/bluerov2_heavy.config.xacro b/blue_demos/control_integration/description/urdf/bluerov2_heavy.config.xacro index ece97666..b9d3c238 100644 --- a/blue_demos/control_integration/description/urdf/bluerov2_heavy.config.xacro +++ b/blue_demos/control_integration/description/urdf/bluerov2_heavy.config.xacro @@ -17,6 +17,6 @@ - + diff --git a/blue_description/description/bluerov2_heavy/gazebo.xacro b/blue_description/description/bluerov2_heavy/gazebo.xacro index 011dc392..b5a60299 100644 --- a/blue_description/description/bluerov2_heavy/gazebo.xacro +++ b/blue_description/description/bluerov2_heavy/gazebo.xacro @@ -2,7 +2,7 @@ - + @@ -20,7 +20,7 @@ 0 0 0 3.142 0 1.571 - imu_sensor + ${prefix}imu_sensor @@ -128,7 +128,7 @@ - + 0 0 0 3.142 0 0 @@ -149,9 +149,14 @@ + + - + diff --git a/blue_description/description/bluerov2_heavy/urdf.xacro b/blue_description/description/bluerov2_heavy/urdf.xacro index 89f91c63..3c2916fb 100644 --- a/blue_description/description/bluerov2_heavy/urdf.xacro +++ b/blue_description/description/bluerov2_heavy/urdf.xacro @@ -26,7 +26,7 @@ - + diff --git a/blue_description/description/camera/gazebo.xacro b/blue_description/description/camera/gazebo.xacro index 0bd0aa7a..3493cefd 100644 --- a/blue_description/description/camera/gazebo.xacro +++ b/blue_description/description/camera/gazebo.xacro @@ -1,6 +1,6 @@ - + @@ -13,7 +13,7 @@ - + 1.0855 @@ -28,7 +28,7 @@ true 10 true - /camera/image_raw + /${prefix}camera/image_raw From 9f0320fa48a0006826dcc83c233b61daa765c613 Mon Sep 17 00:00:00 2001 From: JBVAkshaya Date: Tue, 14 Jan 2025 18:42:43 -0800 Subject: [PATCH 63/67] modified localization code to include ns --- .../blue_localization/localizer.py | 53 +++++++++++++------ 1 file changed, 37 insertions(+), 16 deletions(-) diff --git a/blue_localization/blue_localization/localizer.py b/blue_localization/blue_localization/localizer.py index a12a65f5..92007930 100644 --- a/blue_localization/blue_localization/localizer.py +++ b/blue_localization/blue_localization/localizer.py @@ -49,8 +49,10 @@ ) from scipy.spatial.transform import Rotation as R from sensor_msgs.msg import CameraInfo, Image -from tf2_ros import TransformException # type: ignore -from tf2_ros import Time +from tf2_ros import ( + Time, + TransformException, # type: ignore +) from tf2_ros.buffer import Buffer from tf2_ros.transform_listener import TransformListener @@ -73,6 +75,13 @@ def __init__(self, node_name: str) -> None: Node.__init__(self, node_name) ABC.__init__(self) + # Set frame_names according to namespace + self.declare_parameter("prefix", "") + self.prefix = self.get_parameter("prefix").get_parameter_value().string_value + self.BASE_LINK_FRAME = self.prefix + self.BASE_LINK_FRAME + self.BASE_LINK_FRD_FRAME = self.prefix + self.BASE_LINK_FRD_FRAME + self.CAMERA_FRAME = self.prefix + self.CAMERA_FRAME + self.declare_parameter("update_rate", 30.0) # Provide access to TF2 @@ -143,18 +152,28 @@ def __init__(self, node_name: str) -> None: node_name: The name of the localizer node. """ super().__init__(node_name) - - # Poses are sent to the ArduPilot EKF - self.vision_pose_pub = self.create_publisher( - PoseStamped, - "/mavros/vision_pose/pose", - qos_profile_default, - ) - self.vision_pose_cov_pub = self.create_publisher( - PoseWithCovarianceStamped, - "/mavros/vision_pose/pose_cov", - qos_profile_default, - ) + if self.prefix != "": + self.vision_pose_pub = self.create_publisher( + PoseStamped, + f"/{self.prefix}vision_pose/pose", + qos_profile_default, + ) + self.vision_pose_cov_pub = self.create_publisher( + PoseWithCovarianceStamped, + f"/{self.prefix}vision_pose/pose_cov", + qos_profile_default, + ) + else: + self.vision_pose_pub = self.create_publisher( + PoseStamped, + "/mavros/vision_pose/pose", + qos_profile_default, + ) + self.vision_pose_cov_pub = self.create_publisher( + PoseWithCovarianceStamped, + "/mavros/vision_pose/pose_cov", + qos_profile_default, + ) def publish(self) -> None: """Publish a pose message to the ArduSub EKF.""" @@ -183,7 +202,9 @@ def __init__(self, node_name: str) -> None: # Twists are sent to the ArduPilot EKF self.vision_speed_pub = self.create_publisher( - TwistStamped, "/mavros/vision_speed/speed", qos_profile_default + TwistStamped, + "/mavros/vision_speed/speed", + qos_profile_default, ) self.vision_speed_cov_pub = self.create_publisher( TwistWithCovarianceStamped, @@ -475,7 +496,7 @@ def __init__(self) -> None: self.mocap_sub = self.create_subscription( PoseStamped, - f"/blue/mocap/qualisys/{body}", + "/blue/mocap/qualisys/{body}", self.update_pose_cb, qos_profile_sensor_data, ) From 384866933b219f9c91019a40be24b4faeac19d0b Mon Sep 17 00:00:00 2001 From: JBVAkshaya Date: Tue, 14 Jan 2025 18:44:25 -0800 Subject: [PATCH 64/67] launch file with ns and world file for including obstacles --- .../bluerov2_heavy_obs.launch.yaml | 138 +++++ .../worlds/underwater_with_obstacles.world | 547 ++++++++++++++++++ 2 files changed, 685 insertions(+) create mode 100644 blue_bringup/launch/bluerov2_heavy/bluerov2_heavy_obs.launch.yaml create mode 100644 blue_description/gazebo/worlds/underwater_with_obstacles.world diff --git a/blue_bringup/launch/bluerov2_heavy/bluerov2_heavy_obs.launch.yaml b/blue_bringup/launch/bluerov2_heavy/bluerov2_heavy_obs.launch.yaml new file mode 100644 index 00000000..cdae1bf6 --- /dev/null +++ b/blue_bringup/launch/bluerov2_heavy/bluerov2_heavy_obs.launch.yaml @@ -0,0 +1,138 @@ +launch: + + - let: + name: model_name + value: bluerov2_heavy + + # Arguments + - arg: + name: use_camera + default: "false" + + - arg: + name: use_mocap + default: "false" + + - arg: + name: localization_source + default: gazebo + choice: + - value: gazebo + - value: mocap + - value: camera + + - arg: + name: use_sim + default: "false" + + - arg: + name: prefix + default: "" + + - arg: + name: use_rviz + default: "false" + + - arg: + name: use_manager + default: "true" + + - arg: + name: rviz_config + default: $(find-pkg-share blue_description)/rviz/$(var model_name).rviz + + - arg: + name: gazebo_world_file + default: $(find-pkg-share blue_description)/gazebo/worlds/underwater_with_obstacles.world + + - arg: + name: mavros_file + default: $(find-pkg-share blue_description)/config/ardusub/ns_mavros.yaml + + - arg: + name: manager_file + default: $(find-pkg-share blue_description)/config/ardusub/ns_ardusub_manager.yaml + + - arg: + name: ardusub_params_file + default: $(find-pkg-share blue_description)/config/$(var model_name)/ardusub.parm + + - arg: + name: localization_file + default: $(find-pkg-share blue_description)/config/$(var model_name)/ns_localization.yaml + + # Load the description file + - let: + name: description_file + value: $(find-pkg-share blue_description)/description/$(var model_name)/config.xacro + + - arg: + name: robot_description + default: $(command 'xacro $(var description_file) prefix:=$(var prefix) use_sim:=$(var use_sim)') + + # Nodes + + - node: + pkg: robot_state_publisher + exec: robot_state_publisher + param: + - name: robot_description + value: $(var robot_description) + - name: use_sim_time + value: $(var use_sim) + - name: tf_prefix + value: $(var prefix) + + - node: + pkg: rviz2 + exec: rviz2 + if: $(var use_rviz) + args: -d $(var rviz_config) + param: + - name: robot_description + value: $(var robot_description) + +# Includes + - include: + file: $(find-pkg-share ardusub_bringup)/launch/ardusub.launch.yaml + arg: + - name: mavros_file + value: $(var mavros_file) + - name: gazebo_world_file + value: $(var gazebo_world_file) + - name: ardusub_params_file + value: $(var ardusub_params_file) + - name: manager_file + value: $(var manager_file) + - name: model_name + value: $(var model_name) + - name: use_sim + value: $(var use_sim) + - name: use_manager + value: $(var use_manager) + + - include: + file: $(find-pkg-share blue_localization)/localization.launch.py + arg: + - name: localization_source + value: $(var localization_source) + - name: use_camera + value: $(var use_camera) + - name: use_mocap + value: $(var use_mocap) + - name: use_sim_time + value: $(var use_sim) + - name: config_filepath + value: $(var localization_file) + + - include: + file: $(find-pkg-share blue_bringup)/launch/$(var model_name)/thrusters.launch.yaml + arg: + - name: prefix + value: $(var prefix) + + - include: + file: $(find-pkg-share message_transforms)/launch/tf.launch.yaml + arg: + - name: prefix + value: $(var prefix) diff --git a/blue_description/gazebo/worlds/underwater_with_obstacles.world b/blue_description/gazebo/worlds/underwater_with_obstacles.world new file mode 100644 index 00000000..3034c122 --- /dev/null +++ b/blue_description/gazebo/worlds/underwater_with_obstacles.world @@ -0,0 +1,547 @@ + + + + + + + + + + + + + + + + + + + 1000 + + 0 + 1 + + + + + + https://fuel.gazebosim.org/1.0/OpenRobotics/models/Sun + + + + model://sand_heightmap + 0 7 -10 0 0 0 + + + + + https://fuel.gazebosim.org/1.0/OpenRobotics/models/Coast Water + + 0 0 0 0 0 0 + + + + 1.0 1.0 1.0 + 0.8 0.8 0.8 + + + + + 50 0 150 0 0 0 + 1 1 1 1 + .1 .1 .1 1 + 0.3 0.3 -1 + false + + + + + 6 0 0 0 0 0 + + + + 0.16666 + 0 + 0 + 0.16666 + 0 + 0.16666 + + 970.0 + + + + + 1 1 1 + + + + + + + + 1 2 1 + + + + 1 0 0 1 + 1 0 0 1 + 1 0 0 1 + + + + + false + false + false + false + true + true + + + + + true + 6 -6 0 0 0 0 + + + + 0.16666 + 0 + 0 + 0.16666 + 0 + 0.16666 + + 900.0 + + + + + 1 1 1 + + + + + + + + 1 1 1 + + + + 1 0 0 1 + 1 0 0 1 + 1 0 0 1 + + + + + false + false + false + false + true + true + + + + + true + 6 6 0 0 0 0 + + + + 0.16666 + 0 + 0 + 0.16666 + 0 + 0.16666 + + 900.0 + + + + + 1 1 1 + + + + + + + + 1 1 1 + + + + 1 0 0 1 + 1 0 0 1 + 1 0 0 1 + + + + + false + false + false + false + true + true + + + + + + 4 -3 0 0 0 0 + + + + 0.16666 + 0 + 0 + 0.16666 + 0 + 0.16666 + + 971.0 + + + + + 1 1 1 + + + + + + + + 1 1 1 + + + + 1 0 0 1 + 1 0 0 1 + 1 0 0 1 + + + + + false + false + false + false + true + true + + + + + + 4 3 0 0 0 0 + + + + 0.16666 + 0 + 0 + 0.16666 + 0 + 0.16666 + + 965.0 + + + + + 1 1 1 + + + + + + + + 1 1 1 + + + + 1 0 0 1 + 1 0 0 1 + 1 0 0 1 + + + + + false + false + false + false + true + true + + + + + + 3 -3 0 0 0 0 + + + + 0.16666 + 0 + 0 + 0.16666 + 0 + 0.16666 + + 965.0 + + + + + 1 1 1 + + + + + + + + 1 1 1 + + + + 1 0 0 1 + 1 0 0 1 + 1 0 0 1 + + + + + false + false + false + false + true + true + + + + + + 2 -4 0 0 0 0 + + + + 0.16666 + 0 + 0 + 0.16666 + 0 + 0.16666 + + 968.0 + + + + + 1 1 1 + + + + + + + + 1 1 1 + + + + 1 0 0 1 + 1 0 0 1 + 1 0 0 1 + + + + + false + false + false + false + true + true + + + + + + 2 0 0 0 0 0 + + + + 0.16666 + 0 + 0 + 0.16666 + 0 + 0.16666 + + 969.0 + + + + + 1 1 1 + + + + + + + + 1 4 1 + + + + 1 0 0 1 + 1 0 0 1 + 1 0 0 1 + + + + + false + false + false + false + true + true + + + + + true + 1 4 0 0 0 0 + + + + 0.16666 + 0 + 0 + 0.16666 + 0 + 0.16666 + + 900.0 + + + + + 1 1 1 + + + + + + + + 1 1 1 + + + + 1 0 0 1 + 1 0 0 1 + 1 0 0 1 + + + + + false + false + false + false + true + true + + + + + true + 1 -3 0 0 0 0 + + + + 0.16666 + 0 + 0 + 0.16666 + 0 + 0.16666 + + 900.0 + + + + + 1 1 1 + + + + + + + + 1 1 1 + + + + 1 0 0 1 + 1 0 0 1 + 1 0 0 1 + + + + + false + false + false + false + true + true + + + + + From 3d6c022366613cd94c1af1638176054ab48dd8ff Mon Sep 17 00:00:00 2001 From: JBVAkshaya Date: Tue, 18 Feb 2025 19:20:24 -0800 Subject: [PATCH 65/67] refactored --- .../bluerov2_heavy_obs.launch.yaml | 138 ----- .../bluerov2_heavy_demo_obs.launch.yaml | 33 -- .../launch/bluerov2_heavy_with_obs.launch.py | 33 -- .../worlds/underwater_with_obstacles.world | 547 ------------------ 4 files changed, 751 deletions(-) delete mode 100644 blue_bringup/launch/bluerov2_heavy/bluerov2_heavy_obs.launch.yaml delete mode 100644 blue_demos/control_integration/launch/bluerov2_heavy_demo_obs.launch.yaml delete mode 100644 blue_demos/control_integration/launch/bluerov2_heavy_with_obs.launch.py delete mode 100644 blue_description/gazebo/worlds/underwater_with_obstacles.world diff --git a/blue_bringup/launch/bluerov2_heavy/bluerov2_heavy_obs.launch.yaml b/blue_bringup/launch/bluerov2_heavy/bluerov2_heavy_obs.launch.yaml deleted file mode 100644 index cdae1bf6..00000000 --- a/blue_bringup/launch/bluerov2_heavy/bluerov2_heavy_obs.launch.yaml +++ /dev/null @@ -1,138 +0,0 @@ -launch: - - - let: - name: model_name - value: bluerov2_heavy - - # Arguments - - arg: - name: use_camera - default: "false" - - - arg: - name: use_mocap - default: "false" - - - arg: - name: localization_source - default: gazebo - choice: - - value: gazebo - - value: mocap - - value: camera - - - arg: - name: use_sim - default: "false" - - - arg: - name: prefix - default: "" - - - arg: - name: use_rviz - default: "false" - - - arg: - name: use_manager - default: "true" - - - arg: - name: rviz_config - default: $(find-pkg-share blue_description)/rviz/$(var model_name).rviz - - - arg: - name: gazebo_world_file - default: $(find-pkg-share blue_description)/gazebo/worlds/underwater_with_obstacles.world - - - arg: - name: mavros_file - default: $(find-pkg-share blue_description)/config/ardusub/ns_mavros.yaml - - - arg: - name: manager_file - default: $(find-pkg-share blue_description)/config/ardusub/ns_ardusub_manager.yaml - - - arg: - name: ardusub_params_file - default: $(find-pkg-share blue_description)/config/$(var model_name)/ardusub.parm - - - arg: - name: localization_file - default: $(find-pkg-share blue_description)/config/$(var model_name)/ns_localization.yaml - - # Load the description file - - let: - name: description_file - value: $(find-pkg-share blue_description)/description/$(var model_name)/config.xacro - - - arg: - name: robot_description - default: $(command 'xacro $(var description_file) prefix:=$(var prefix) use_sim:=$(var use_sim)') - - # Nodes - - - node: - pkg: robot_state_publisher - exec: robot_state_publisher - param: - - name: robot_description - value: $(var robot_description) - - name: use_sim_time - value: $(var use_sim) - - name: tf_prefix - value: $(var prefix) - - - node: - pkg: rviz2 - exec: rviz2 - if: $(var use_rviz) - args: -d $(var rviz_config) - param: - - name: robot_description - value: $(var robot_description) - -# Includes - - include: - file: $(find-pkg-share ardusub_bringup)/launch/ardusub.launch.yaml - arg: - - name: mavros_file - value: $(var mavros_file) - - name: gazebo_world_file - value: $(var gazebo_world_file) - - name: ardusub_params_file - value: $(var ardusub_params_file) - - name: manager_file - value: $(var manager_file) - - name: model_name - value: $(var model_name) - - name: use_sim - value: $(var use_sim) - - name: use_manager - value: $(var use_manager) - - - include: - file: $(find-pkg-share blue_localization)/localization.launch.py - arg: - - name: localization_source - value: $(var localization_source) - - name: use_camera - value: $(var use_camera) - - name: use_mocap - value: $(var use_mocap) - - name: use_sim_time - value: $(var use_sim) - - name: config_filepath - value: $(var localization_file) - - - include: - file: $(find-pkg-share blue_bringup)/launch/$(var model_name)/thrusters.launch.yaml - arg: - - name: prefix - value: $(var prefix) - - - include: - file: $(find-pkg-share message_transforms)/launch/tf.launch.yaml - arg: - - name: prefix - value: $(var prefix) diff --git a/blue_demos/control_integration/launch/bluerov2_heavy_demo_obs.launch.yaml b/blue_demos/control_integration/launch/bluerov2_heavy_demo_obs.launch.yaml deleted file mode 100644 index 5b73adb2..00000000 --- a/blue_demos/control_integration/launch/bluerov2_heavy_demo_obs.launch.yaml +++ /dev/null @@ -1,33 +0,0 @@ -launch: - - - arg: - name: namespace - default: "rob_1" - - - group: - - push-ros-namespace: - namespace: "$(var namespace)" - - - arg: - name: use_sim - default: "false" - - - arg: - name: prefix - default: "rob_1/" - - - let: - name: description_file - value: $(find-pkg-share blue_demos)/control_integration/description/urdf/bluerov2_heavy.config.xacro - - - let: - name: robot_description - value: $(command 'xacro $(var description_file) prefix:=$(var prefix) use_sim:=$(var use_sim)') - - - include: - file: $(find-pkg-share blue_bringup)/launch/bluerov2_heavy/bluerov2_heavy_obs.launch.yaml - arg: - - name: robot_description - value: $(var robot_description) - - name: prefix - value: $(var prefix) diff --git a/blue_demos/control_integration/launch/bluerov2_heavy_with_obs.launch.py b/blue_demos/control_integration/launch/bluerov2_heavy_with_obs.launch.py deleted file mode 100644 index 03806290..00000000 --- a/blue_demos/control_integration/launch/bluerov2_heavy_with_obs.launch.py +++ /dev/null @@ -1,33 +0,0 @@ -from launch import LaunchDescription -from launch.actions import ( - DeclareLaunchArgument, - IncludeLaunchDescription, -) -from launch.substitutions import PathJoinSubstitution -from launch_ros.substitutions import FindPackageShare -from launch_yaml.launch_description_sources import YAMLLaunchDescriptionSource - - -def generate_launch_description(): - args = [ - DeclareLaunchArgument( - "use_sim", - default_value="false", - description="Launch the Gazebo + ArduSub simulator.", - ), - ] - - yaml_launch = IncludeLaunchDescription( - YAMLLaunchDescriptionSource( - PathJoinSubstitution( - [ - FindPackageShare("blue_demos"), - "control_integration", - "launch", - "bluerov2_heavy_demo_obs.launch.yaml", - ] - ), - ) - ) - - return LaunchDescription([*args, yaml_launch]) diff --git a/blue_description/gazebo/worlds/underwater_with_obstacles.world b/blue_description/gazebo/worlds/underwater_with_obstacles.world deleted file mode 100644 index 3034c122..00000000 --- a/blue_description/gazebo/worlds/underwater_with_obstacles.world +++ /dev/null @@ -1,547 +0,0 @@ - - - - - - - - - - - - - - - - - - - 1000 - - 0 - 1 - - - - - - https://fuel.gazebosim.org/1.0/OpenRobotics/models/Sun - - - - model://sand_heightmap - 0 7 -10 0 0 0 - - - - - https://fuel.gazebosim.org/1.0/OpenRobotics/models/Coast Water - - 0 0 0 0 0 0 - - - - 1.0 1.0 1.0 - 0.8 0.8 0.8 - - - - - 50 0 150 0 0 0 - 1 1 1 1 - .1 .1 .1 1 - 0.3 0.3 -1 - false - - - - - 6 0 0 0 0 0 - - - - 0.16666 - 0 - 0 - 0.16666 - 0 - 0.16666 - - 970.0 - - - - - 1 1 1 - - - - - - - - 1 2 1 - - - - 1 0 0 1 - 1 0 0 1 - 1 0 0 1 - - - - - false - false - false - false - true - true - - - - - true - 6 -6 0 0 0 0 - - - - 0.16666 - 0 - 0 - 0.16666 - 0 - 0.16666 - - 900.0 - - - - - 1 1 1 - - - - - - - - 1 1 1 - - - - 1 0 0 1 - 1 0 0 1 - 1 0 0 1 - - - - - false - false - false - false - true - true - - - - - true - 6 6 0 0 0 0 - - - - 0.16666 - 0 - 0 - 0.16666 - 0 - 0.16666 - - 900.0 - - - - - 1 1 1 - - - - - - - - 1 1 1 - - - - 1 0 0 1 - 1 0 0 1 - 1 0 0 1 - - - - - false - false - false - false - true - true - - - - - - 4 -3 0 0 0 0 - - - - 0.16666 - 0 - 0 - 0.16666 - 0 - 0.16666 - - 971.0 - - - - - 1 1 1 - - - - - - - - 1 1 1 - - - - 1 0 0 1 - 1 0 0 1 - 1 0 0 1 - - - - - false - false - false - false - true - true - - - - - - 4 3 0 0 0 0 - - - - 0.16666 - 0 - 0 - 0.16666 - 0 - 0.16666 - - 965.0 - - - - - 1 1 1 - - - - - - - - 1 1 1 - - - - 1 0 0 1 - 1 0 0 1 - 1 0 0 1 - - - - - false - false - false - false - true - true - - - - - - 3 -3 0 0 0 0 - - - - 0.16666 - 0 - 0 - 0.16666 - 0 - 0.16666 - - 965.0 - - - - - 1 1 1 - - - - - - - - 1 1 1 - - - - 1 0 0 1 - 1 0 0 1 - 1 0 0 1 - - - - - false - false - false - false - true - true - - - - - - 2 -4 0 0 0 0 - - - - 0.16666 - 0 - 0 - 0.16666 - 0 - 0.16666 - - 968.0 - - - - - 1 1 1 - - - - - - - - 1 1 1 - - - - 1 0 0 1 - 1 0 0 1 - 1 0 0 1 - - - - - false - false - false - false - true - true - - - - - - 2 0 0 0 0 0 - - - - 0.16666 - 0 - 0 - 0.16666 - 0 - 0.16666 - - 969.0 - - - - - 1 1 1 - - - - - - - - 1 4 1 - - - - 1 0 0 1 - 1 0 0 1 - 1 0 0 1 - - - - - false - false - false - false - true - true - - - - - true - 1 4 0 0 0 0 - - - - 0.16666 - 0 - 0 - 0.16666 - 0 - 0.16666 - - 900.0 - - - - - 1 1 1 - - - - - - - - 1 1 1 - - - - 1 0 0 1 - 1 0 0 1 - 1 0 0 1 - - - - - false - false - false - false - true - true - - - - - true - 1 -3 0 0 0 0 - - - - 0.16666 - 0 - 0 - 0.16666 - 0 - 0.16666 - - 900.0 - - - - - 1 1 1 - - - - - - - - 1 1 1 - - - - 1 0 0 1 - 1 0 0 1 - 1 0 0 1 - - - - - false - false - false - false - true - true - - - - - From 2f964080b3b3722a31dc6d3ef8049c27356245d9 Mon Sep 17 00:00:00 2001 From: JBVAkshaya Date: Tue, 18 Feb 2025 19:25:08 -0800 Subject: [PATCH 66/67] compatible with prefixes and namespaces --- .../ns_bluerov2_heavy.launch.yaml | 168 ++++++++++++++++++ .../bluerov2_heavy.ros2_control.xacro | 16 +- .../urdf/bluerov2_heavy.config.xacro | 15 +- .../launch/obstacles.launch.yaml | 18 ++ .../description/bluerov2_heavy/gazebo.xacro | 5 +- .../description/camera/gazebo.xacro | 4 +- 6 files changed, 217 insertions(+), 9 deletions(-) create mode 100644 blue_bringup/launch/bluerov2_heavy/ns_bluerov2_heavy.launch.yaml create mode 100644 blue_demos/control_integration/launch/obstacles.launch.yaml diff --git a/blue_bringup/launch/bluerov2_heavy/ns_bluerov2_heavy.launch.yaml b/blue_bringup/launch/bluerov2_heavy/ns_bluerov2_heavy.launch.yaml new file mode 100644 index 00000000..2bfa0089 --- /dev/null +++ b/blue_bringup/launch/bluerov2_heavy/ns_bluerov2_heavy.launch.yaml @@ -0,0 +1,168 @@ +launch: + + - let: + name: model_name + value: bluerov2_heavy + + # Arguments + - arg: + name: use_camera + default: "false" + + - arg: + name: use_mocap + default: "false" + + - arg: + name: localization_source + default: gazebo + choice: + - value: gazebo + - value: mocap + - value: camera + + - arg: + name: use_sim + default: "false" + + - arg: + name: prefix + default: "" + + - arg: + name: use_rviz + default: "false" + + - arg: + name: use_manager + default: "true" + + - arg: + name: rviz_config + default: $(find-pkg-share blue_description)/rviz/$(var model_name).rviz + + - arg: + name: mavros_file + default: $(find-pkg-share blue_description)/config/ardusub/ns_mavros.yaml + + - arg: + name: manager_file + default: $(find-pkg-share blue_description)/config/ardusub/ns_ardusub_manager.yaml + + - arg: + name: ardusub_params_file + default: $(find-pkg-share blue_description)/config/$(var model_name)/ardusub.parm + + - arg: + name: localization_file + default: $(find-pkg-share blue_description)/config/$(var model_name)/ns_localization.yaml + + # Load the description file + - let: + name: description_file + value: $(find-pkg-share blue_description)/description/$(var model_name)/config.xacro + + - arg: + name: robot_description + default: $(command 'xacro $(var description_file) prefix:=$(var prefix) use_sim:=$(var use_sim)') + + - arg: + name: sitl_file + default: $(find-pkg-share ardusub_bringup)/launch/sitl_multi_robot.launch.yaml + + - arg: + name: ardusub_instance + default: "0" + + - arg: + name: sysid_thismav + default: "1" + + - arg: + name: rob_x + default: "0.0" + + - arg: + name: rob_y + default: "0.0" + + - arg: + name: rob_z + default: "0.0" + + # Nodes + + - node: + pkg: robot_state_publisher + exec: robot_state_publisher + param: + - name: robot_description + value: $(var robot_description) + - name: use_sim_time + value: $(var use_sim) + - name: tf_prefix + value: $(var prefix) + + - node: + pkg: rviz2 + exec: rviz2 + if: $(var use_rviz) + args: -d $(var rviz_config) + param: + - name: robot_description + value: $(var robot_description) + +# Includes + - include: + file: $(find-pkg-share ardusub_bringup)/launch/ns_ardusub.launch.yaml + arg: + - name: mavros_file + value: $(var mavros_file) + - name: ardusub_params_file + value: $(var ardusub_params_file) + - name: manager_file + value: $(var manager_file) + - name: model_name + value: $(var model_name) + - name: use_sim + value: $(var use_sim) + - name: use_manager + value: $(var use_manager) + - name: sitl_file + value: $(var sitl_file) + - name: ardusub_instance + value: $(var ardusub_instance) + - name: sysid_thismav + value: $(var sysid_thismav) + - name: rob_x + value: $(var rob_x) + - name: rob_y + value: $(var rob_y) + - name: rob_z + value: $(var rob_z) + + - include: + file: $(find-pkg-share blue_localization)/localization.launch.py + arg: + - name: localization_source + value: $(var localization_source) + - name: use_camera + value: $(var use_camera) + - name: use_mocap + value: $(var use_mocap) + - name: use_sim_time + value: $(var use_sim) + - name: config_filepath + value: $(var localization_file) + + - include: + file: $(find-pkg-share blue_bringup)/launch/$(var model_name)/thrusters.launch.yaml + arg: + - name: prefix + value: $(var prefix) + + - include: + file: $(find-pkg-share message_transforms)/launch/tf.launch.yaml + arg: + - name: prefix + value: $(var prefix) diff --git a/blue_demos/control_integration/description/ros2_control/bluerov2_heavy.ros2_control.xacro b/blue_demos/control_integration/description/ros2_control/bluerov2_heavy.ros2_control.xacro index 40a622e4..da19f0c2 100644 --- a/blue_demos/control_integration/description/ros2_control/bluerov2_heavy.ros2_control.xacro +++ b/blue_demos/control_integration/description/ros2_control/bluerov2_heavy.ros2_control.xacro @@ -1,13 +1,14 @@ - + thruster_hardware/ThrusterHardware ${max_set_param_attempts} - true + ${prefix} @@ -67,6 +68,17 @@ + + + + mavros_odom_sensor/MavrosOdomSensor + ${max_set_param_attempts} + ${mavros_odom_topic} + ${prefix} + + + + diff --git a/blue_demos/control_integration/description/urdf/bluerov2_heavy.config.xacro b/blue_demos/control_integration/description/urdf/bluerov2_heavy.config.xacro index b9d3c238..c25a7119 100644 --- a/blue_demos/control_integration/description/urdf/bluerov2_heavy.config.xacro +++ b/blue_demos/control_integration/description/urdf/bluerov2_heavy.config.xacro @@ -3,6 +3,11 @@ + + + + + @@ -11,12 +16,16 @@ - + - + filename="$(find + blue_demos)/control_integration/description/ros2_control/bluerov2_heavy.ros2_control.xacro" /> + diff --git a/blue_demos/control_integration/launch/obstacles.launch.yaml b/blue_demos/control_integration/launch/obstacles.launch.yaml new file mode 100644 index 00000000..2239f677 --- /dev/null +++ b/blue_demos/control_integration/launch/obstacles.launch.yaml @@ -0,0 +1,18 @@ +launch: + + # Arguments + - arg: + name: gazebo_world_file + + # Nodes + - node: + pkg: ros_gz_bridge + exec: parameter_bridge + args: /clock@rosgraph_msgs/msg/Clock[gz.msgs.Clock + + # Includes + - include: + file: $(find-pkg-share ros_gz_sim)/launch/gz_sim.launch.py + arg: + - name: gz_args + value: -v 4 -r $(var gazebo_world_file) diff --git a/blue_description/description/bluerov2_heavy/gazebo.xacro b/blue_description/description/bluerov2_heavy/gazebo.xacro index b5a60299..b7c67888 100644 --- a/blue_description/description/bluerov2_heavy/gazebo.xacro +++ b/blue_description/description/bluerov2_heavy/gazebo.xacro @@ -1,13 +1,14 @@ - + 127.0.0.1 - 9002 + ${fdm_port_in} + ${fdm_port_out} 5 1 diff --git a/blue_description/description/camera/gazebo.xacro b/blue_description/description/camera/gazebo.xacro index 3493cefd..762bce7c 100644 --- a/blue_description/description/camera/gazebo.xacro +++ b/blue_description/description/camera/gazebo.xacro @@ -3,13 +3,13 @@ - + From 6abfd465bf51845d3c40ff5c83ce3c60786a33a5 Mon Sep 17 00:00:00 2001 From: JBVAkshaya Date: Tue, 18 Feb 2025 19:27:06 -0800 Subject: [PATCH 67/67] Multi robot teleop demo --- blue_demos/CMakeLists.txt | 7 + .../rob_1_bluerov2_heavy_controllers.yaml | 163 ++++++ .../config/rob_1_transforms.yaml | 11 + .../rob_3_bluerov2_heavy_controllers.yaml | 163 ++++++ .../config/rob_3_transforms.yaml | 11 + ...rob_1_bluerov2_heavy_controllers.launch.py | 189 ++++++ .../rob_1_bluerov2_heavy_demo.launch.yaml | 118 ++++ ...rob_3_bluerov2_heavy_controllers.launch.py | 189 ++++++ .../rob_3_bluerov2_heavy_demo.launch.yaml | 110 ++++ .../config/ardusub/rob_1_ardusub_manager.yaml | 9 + .../config/ardusub/rob_1_mavros.yaml | 49 ++ .../config/ardusub/rob_3_ardusub_manager.yaml | 9 + .../config/ardusub/rob_3_mavros.yaml | 48 ++ .../bluerov2_heavy/rob_1_localization.yaml | 39 ++ .../bluerov2_heavy/rob_3_localization.yaml | 39 ++ .../worlds/underwater_with_obstacles.world | 553 ++++++++++++++++++ .../config/rob_1_transforms.yaml | 10 + .../config/rob_3_transforms.yaml | 10 + 18 files changed, 1727 insertions(+) create mode 100644 blue_demos/multi_robot/control_integration/config/rob_1_bluerov2_heavy_controllers.yaml create mode 100644 blue_demos/multi_robot/control_integration/config/rob_1_transforms.yaml create mode 100644 blue_demos/multi_robot/control_integration/config/rob_3_bluerov2_heavy_controllers.yaml create mode 100644 blue_demos/multi_robot/control_integration/config/rob_3_transforms.yaml create mode 100644 blue_demos/multi_robot/control_integration/launch/rob_1_bluerov2_heavy_controllers.launch.py create mode 100644 blue_demos/multi_robot/control_integration/launch/rob_1_bluerov2_heavy_demo.launch.yaml create mode 100644 blue_demos/multi_robot/control_integration/launch/rob_3_bluerov2_heavy_controllers.launch.py create mode 100644 blue_demos/multi_robot/control_integration/launch/rob_3_bluerov2_heavy_demo.launch.yaml create mode 100644 blue_demos/multi_robot/description/config/ardusub/rob_1_ardusub_manager.yaml create mode 100644 blue_demos/multi_robot/description/config/ardusub/rob_1_mavros.yaml create mode 100644 blue_demos/multi_robot/description/config/ardusub/rob_3_ardusub_manager.yaml create mode 100644 blue_demos/multi_robot/description/config/ardusub/rob_3_mavros.yaml create mode 100644 blue_demos/multi_robot/description/config/bluerov2_heavy/rob_1_localization.yaml create mode 100644 blue_demos/multi_robot/description/config/bluerov2_heavy/rob_3_localization.yaml create mode 100644 blue_demos/multi_robot/description/gazebo/worlds/underwater_with_obstacles.world create mode 100644 blue_demos/multi_robot/teleoperation/config/rob_1_transforms.yaml create mode 100644 blue_demos/multi_robot/teleoperation/config/rob_3_transforms.yaml diff --git a/blue_demos/CMakeLists.txt b/blue_demos/CMakeLists.txt index 977d6090..7cbd9d3c 100644 --- a/blue_demos/CMakeLists.txt +++ b/blue_demos/CMakeLists.txt @@ -16,4 +16,11 @@ install( DESTINATION share/blue_demos/teleoperation ) +install( + DIRECTORY multi_robot/control_integration + multi_robot/teleoperation + multi_robot/description + DESTINATION share/blue_demos/multi_robot +) + ament_package() diff --git a/blue_demos/multi_robot/control_integration/config/rob_1_bluerov2_heavy_controllers.yaml b/blue_demos/multi_robot/control_integration/config/rob_1_bluerov2_heavy_controllers.yaml new file mode 100644 index 00000000..e9badfaa --- /dev/null +++ b/blue_demos/multi_robot/control_integration/config/rob_1_bluerov2_heavy_controllers.yaml @@ -0,0 +1,163 @@ +rob_1/controller_manager: + ros__parameters: + update_rate: 100 # Hz + + integral_sliding_mode_controller: + type: velocity_controllers/IntegralSlidingModeController + + thruster_allocation_matrix_controller: + type: thruster_allocation_matrix_controller/ThrusterAllocationMatrixController + + thruster1_controller: + type: thruster_controllers/PolynomialThrustCurveController + + thruster2_controller: + type: thruster_controllers/PolynomialThrustCurveController + + thruster3_controller: + type: thruster_controllers/PolynomialThrustCurveController + + thruster4_controller: + type: thruster_controllers/PolynomialThrustCurveController + + thruster5_controller: + type: thruster_controllers/PolynomialThrustCurveController + + thruster6_controller: + type: thruster_controllers/PolynomialThrustCurveController + + thruster7_controller: + type: thruster_controllers/PolynomialThrustCurveController + + thruster8_controller: + type: thruster_controllers/PolynomialThrustCurveController + +rob_1/integral_sliding_mode_controller: + ros__parameters: + use_external_measured_states: true + reference_controller: thruster_allocation_matrix_controller + gains: + rho: 20.0 + lambda: 200.0 + Kp: [10.0, 10.0, 6.0, 3.0, 6.0, 10.0] + tf: + base_frame: "rob_1/base_link_fsd" + odom_frame: "map_ned" + hydrodynamics: + mass: 13.5 + weight: 114.80 + buoyancy: 112.80 + moments_of_inertia: [0.16, 0.16, 0.16] + added_mass: [-5.50, -12.70, -14.60, -0.12, -0.12, -0.12] + center_of_buoyancy: [0.0, 0.0, 0.0] + center_of_gravity: [0.0, 0.0, 0.0] + linear_damping: [-4.03, -6.22, -5.18, -0.07, -0.07, -0.07] + quadratic_damping: [-18.18, -21.66, -36.99, -1.55, -1.55, -1.55] + +rob_1/thruster_allocation_matrix_controller: + ros__parameters: + thrusters: + - rob_1/thruster1_joint + - rob_1/thruster2_joint + - rob_1/thruster3_joint + - rob_1/thruster4_joint + - rob_1/thruster5_joint + - rob_1/thruster6_joint + - rob_1/thruster7_joint + - rob_1/thruster8_joint + reference_controllers: + - thruster1_controller + - thruster2_controller + - thruster3_controller + - thruster4_controller + - thruster5_controller + - thruster6_controller + - thruster7_controller + - thruster8_controller + tam: + x: [ -0.707, -0.707, 0.707, 0.707, 0.0, 0.0, 0.0, 0.0] + y: [ 0.707, -0.707, 0.707, -0.707, 0.0, 0.0, 0.0, 0.0] + z: [ 0.0, 0.0, 0.0, 0.0, 1.0, 1.0, 1.0, 1.0] + rx: [ 0.0, 0.0, 0.0, 0.0, -0.21805, 0.21805, -0.21805, 0.21805] + ry: [ 0.0, 0.0, 0.0, 0.0, -0.12, -0.12, 0.12, 0.12] + rz: [0.1888, -0.1888, -0.1888, 0.1888, 0.0, 0.0, 0.0, 0.0] + +rob_1/thruster1_controller: + ros__parameters: + thruster: rob_1/thruster1_joint + min_thrust: -40.0 + max_thrust: 60.0 + min_deadband: 1470 + max_deadband: 1530 + neutral_pwm: 1500 + thrust_curve_coefficients: [1498.0, 12.01, -0.04731, -0.002098, 0.00002251] + +rob_1/thruster2_controller: + ros__parameters: + thruster: rob_1/thruster2_joint + min_thrust: -40.0 + max_thrust: 60.0 + min_deadband: 1470 + max_deadband: 1530 + neutral_pwm: 1500 + thrust_curve_coefficients: [1498.0, 12.01, -0.04731, -0.002098, 0.00002251] + +rob_1/thruster3_controller: + ros__parameters: + thruster: rob_1/thruster3_joint + min_thrust: -40.0 + max_thrust: 60.0 + min_deadband: 1470 + max_deadband: 1530 + neutral_pwm: 1500 + thrust_curve_coefficients: [1498.0, 12.01, -0.04731, -0.002098, 0.00002251] + +rob_1/thruster4_controller: + ros__parameters: + thruster: rob_1/thruster4_joint + min_thrust: -40.0 + max_thrust: 60.0 + min_deadband: 1470 + max_deadband: 1530 + neutral_pwm: 1500 + thrust_curve_coefficients: [1498.0, 12.01, -0.04731, -0.002098, 0.00002251] + +rob_1/thruster5_controller: + ros__parameters: + thruster: rob_1/thruster5_joint + min_thrust: -40.0 + max_thrust: 60.0 + min_deadband: 1470 + max_deadband: 1530 + neutral_pwm: 1500 + thrust_curve_coefficients: [1498.0, 12.01, -0.04731, -0.002098, 0.00002251] + +rob_1/thruster6_controller: + ros__parameters: + thruster: rob_1/thruster6_joint + min_thrust: -40.0 + max_thrust: 60.0 + min_deadband: 1470 + max_deadband: 1530 + neutral_pwm: 1500 + thrust_curve_coefficients: [1498.0, 12.01, -0.04731, -0.002098, 0.00002251] + +rob_1/thruster7_controller: + ros__parameters: + thruster: rob_1/thruster7_joint + min_thrust: -40.0 + max_thrust: 60.0 + min_deadband: 1470 + max_deadband: 1530 + neutral_pwm: 1500 + thrust_curve_coefficients: [1498.0, 12.01, -0.04731, -0.002098, 0.00002251] + +rob_1/thruster8_controller: + ros__parameters: + thruster: rob_1/thruster8_joint + min_thrust: -40.0 + max_thrust: 60.0 + min_deadband: 1470 + max_deadband: 1530 + neutral_pwm: 1500 + thrust_curve_coefficients: [1498.0, 12.01, -0.04731, -0.002098, 0.00002251] diff --git a/blue_demos/multi_robot/control_integration/config/rob_1_transforms.yaml b/blue_demos/multi_robot/control_integration/config/rob_1_transforms.yaml new file mode 100644 index 00000000..fe331004 --- /dev/null +++ b/blue_demos/multi_robot/control_integration/config/rob_1_transforms.yaml @@ -0,0 +1,11 @@ +rob_1/control_integration/message_transforms: + ros__parameters: + + incoming_topics: + - /rob_1/local_position/velocity_body + + transforms: + /rob_1/local_position/velocity_body: + outgoing_topic: /rob_1/integral_sliding_mode_controller/system_state + message_type: geometry_msgs/msg/TwistStamped + frame_id: rob_1/base_link_fsd diff --git a/blue_demos/multi_robot/control_integration/config/rob_3_bluerov2_heavy_controllers.yaml b/blue_demos/multi_robot/control_integration/config/rob_3_bluerov2_heavy_controllers.yaml new file mode 100644 index 00000000..52280988 --- /dev/null +++ b/blue_demos/multi_robot/control_integration/config/rob_3_bluerov2_heavy_controllers.yaml @@ -0,0 +1,163 @@ +rob_3/controller_manager: + ros__parameters: + update_rate: 100 # Hz + + integral_sliding_mode_controller: + type: velocity_controllers/IntegralSlidingModeController + + thruster_allocation_matrix_controller: + type: thruster_allocation_matrix_controller/ThrusterAllocationMatrixController + + thruster1_controller: + type: thruster_controllers/PolynomialThrustCurveController + + thruster2_controller: + type: thruster_controllers/PolynomialThrustCurveController + + thruster3_controller: + type: thruster_controllers/PolynomialThrustCurveController + + thruster4_controller: + type: thruster_controllers/PolynomialThrustCurveController + + thruster5_controller: + type: thruster_controllers/PolynomialThrustCurveController + + thruster6_controller: + type: thruster_controllers/PolynomialThrustCurveController + + thruster7_controller: + type: thruster_controllers/PolynomialThrustCurveController + + thruster8_controller: + type: thruster_controllers/PolynomialThrustCurveController + +rob_3/integral_sliding_mode_controller: + ros__parameters: + use_external_measured_states: true + reference_controller: thruster_allocation_matrix_controller + gains: + rho: 20.0 + lambda: 200.0 + Kp: [10.0, 10.0, 6.0, 3.0, 6.0, 10.0] + tf: + base_frame: "rob_3/base_link_fsd" + odom_frame: "map_ned" + hydrodynamics: + mass: 13.5 + weight: 114.80 + buoyancy: 112.80 + moments_of_inertia: [0.16, 0.16, 0.16] + added_mass: [-5.50, -12.70, -14.60, -0.12, -0.12, -0.12] + center_of_buoyancy: [0.0, 0.0, 0.0] + center_of_gravity: [0.0, 0.0, 0.0] + linear_damping: [-4.03, -6.22, -5.18, -0.07, -0.07, -0.07] + quadratic_damping: [-18.18, -21.66, -36.99, -1.55, -1.55, -1.55] + +rob_3/thruster_allocation_matrix_controller: + ros__parameters: + thrusters: + - rob_3/thruster1_joint + - rob_3/thruster2_joint + - rob_3/thruster3_joint + - rob_3/thruster4_joint + - rob_3/thruster5_joint + - rob_3/thruster6_joint + - rob_3/thruster7_joint + - rob_3/thruster8_joint + reference_controllers: + - thruster1_controller + - thruster2_controller + - thruster3_controller + - thruster4_controller + - thruster5_controller + - thruster6_controller + - thruster7_controller + - thruster8_controller + tam: + x: [ -0.707, -0.707, 0.707, 0.707, 0.0, 0.0, 0.0, 0.0] + y: [ 0.707, -0.707, 0.707, -0.707, 0.0, 0.0, 0.0, 0.0] + z: [ 0.0, 0.0, 0.0, 0.0, 1.0, 1.0, 1.0, 1.0] + rx: [ 0.0, 0.0, 0.0, 0.0, -0.21805, 0.21805, -0.21805, 0.21805] + ry: [ 0.0, 0.0, 0.0, 0.0, -0.12, -0.12, 0.12, 0.12] + rz: [0.1888, -0.1888, -0.1888, 0.1888, 0.0, 0.0, 0.0, 0.0] + +rob_3/thruster1_controller: + ros__parameters: + thruster: rob_3/thruster1_joint + min_thrust: -40.0 + max_thrust: 60.0 + min_deadband: 1470 + max_deadband: 1530 + neutral_pwm: 1500 + thrust_curve_coefficients: [1498.0, 12.01, -0.04731, -0.002098, 0.00002251] + +rob_3/thruster2_controller: + ros__parameters: + thruster: rob_3/thruster2_joint + min_thrust: -40.0 + max_thrust: 60.0 + min_deadband: 1470 + max_deadband: 1530 + neutral_pwm: 1500 + thrust_curve_coefficients: [1498.0, 12.01, -0.04731, -0.002098, 0.00002251] + +rob_3/thruster3_controller: + ros__parameters: + thruster: rob_3/thruster3_joint + min_thrust: -40.0 + max_thrust: 60.0 + min_deadband: 1470 + max_deadband: 1530 + neutral_pwm: 1500 + thrust_curve_coefficients: [1498.0, 12.01, -0.04731, -0.002098, 0.00002251] + +rob_3/thruster4_controller: + ros__parameters: + thruster: rob_3/thruster4_joint + min_thrust: -40.0 + max_thrust: 60.0 + min_deadband: 1470 + max_deadband: 1530 + neutral_pwm: 1500 + thrust_curve_coefficients: [1498.0, 12.01, -0.04731, -0.002098, 0.00002251] + +rob_3/thruster5_controller: + ros__parameters: + thruster: rob_3/thruster5_joint + min_thrust: -40.0 + max_thrust: 60.0 + min_deadband: 1470 + max_deadband: 1530 + neutral_pwm: 1500 + thrust_curve_coefficients: [1498.0, 12.01, -0.04731, -0.002098, 0.00002251] + +rob_3/thruster6_controller: + ros__parameters: + thruster: rob_3/thruster6_joint + min_thrust: -40.0 + max_thrust: 60.0 + min_deadband: 1470 + max_deadband: 1530 + neutral_pwm: 1500 + thrust_curve_coefficients: [1498.0, 12.01, -0.04731, -0.002098, 0.00002251] + +rob_3/thruster7_controller: + ros__parameters: + thruster: rob_3/thruster7_joint + min_thrust: -40.0 + max_thrust: 60.0 + min_deadband: 1470 + max_deadband: 1530 + neutral_pwm: 1500 + thrust_curve_coefficients: [1498.0, 12.01, -0.04731, -0.002098, 0.00002251] + +rob_3/thruster8_controller: + ros__parameters: + thruster: rob_3/thruster8_joint + min_thrust: -40.0 + max_thrust: 60.0 + min_deadband: 1470 + max_deadband: 1530 + neutral_pwm: 1500 + thrust_curve_coefficients: [1498.0, 12.01, -0.04731, -0.002098, 0.00002251] diff --git a/blue_demos/multi_robot/control_integration/config/rob_3_transforms.yaml b/blue_demos/multi_robot/control_integration/config/rob_3_transforms.yaml new file mode 100644 index 00000000..75ee4f0c --- /dev/null +++ b/blue_demos/multi_robot/control_integration/config/rob_3_transforms.yaml @@ -0,0 +1,11 @@ +rob_3/control_integration/message_transforms: + ros__parameters: + + incoming_topics: + - /rob_3/local_position/velocity_body + + transforms: + /rob_3/local_position/velocity_body: + outgoing_topic: /rob_3/integral_sliding_mode_controller/system_state + message_type: geometry_msgs/msg/TwistStamped + frame_id: rob_3/base_link_fsd diff --git a/blue_demos/multi_robot/control_integration/launch/rob_1_bluerov2_heavy_controllers.launch.py b/blue_demos/multi_robot/control_integration/launch/rob_1_bluerov2_heavy_controllers.launch.py new file mode 100644 index 00000000..d0600f47 --- /dev/null +++ b/blue_demos/multi_robot/control_integration/launch/rob_1_bluerov2_heavy_controllers.launch.py @@ -0,0 +1,189 @@ +# Copyright 2024, Evan Palmer +# +# Permission is hereby granted, free of charge, to any person obtaining a copy +# of this software and associated documentation files (the "Software"), to deal +# in the Software without restriction, including without limitation the rights +# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +# copies of the Software, and to permit persons to whom the Software is +# furnished to do so, subject to the following conditions: +# +# The above copyright notice and this permission notice shall be included in +# all copies or substantial portions of the Software. +# +# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL +# THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN +# THE SOFTWARE. +from launch import LaunchDescription +from launch.actions import ( + DeclareLaunchArgument, + GroupAction, + IncludeLaunchDescription, + RegisterEventHandler, +) +from launch.event_handlers import OnProcessExit +from launch.launch_description_sources import PythonLaunchDescriptionSource +from launch.substitutions import PathJoinSubstitution, TextSubstitution +from launch_ros.actions import Node, PushROSNamespace +from launch_ros.substitutions import FindPackageShare + + +def generate_launch_description() -> LaunchDescription: + """Generate a launch description for the BlueROV2. + This should be launched after MAVROS has fully loaded. + """ + args = [ + DeclareLaunchArgument( + "prefix", + default_value="rob_1/", + description=( + "The prefix of the model. This is useful for multi-robot setups." + " Expected format '/'." + ), + ), + DeclareLaunchArgument( + "use_sim", + default_value="false", + description="Launch the Gazebo + ArduSub simulator.", + ), + ] + + # The ISMC expects state information to be provided in the FSD frame + message_transformer = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + PathJoinSubstitution( + [ + FindPackageShare("message_transforms"), + "launch", + "message_transforms.launch.py", + ] + ) + ), + launch_arguments={ + "parameters_file": PathJoinSubstitution( + [ + FindPackageShare("blue_demos"), + "multi_robot", + "control_integration", + "config", + "rob_1_transforms.yaml", + ] + ), + "ns": TextSubstitution(text="control_integration"), + }.items(), + ) + + message_transformer_with_ns = GroupAction( + actions=[ + PushROSNamespace("rob_1"), + message_transformer, + ] + ) + + controller_manager = Node( + package="controller_manager", + executable="ros2_control_node", + output="both", + namespace="rob_1", + parameters=[ + PathJoinSubstitution( + [ + FindPackageShare("blue_demos"), + "multi_robot", + "control_integration", + "config", + "rob_1_bluerov2_heavy_controllers.yaml", + ] + ), + ], + remappings=[ + ("controller_manager/robot_description", "robot_description"), + ], + ) + + velocity_controller_spawner = Node( + package="controller_manager", + executable="spawner", + arguments=[ + "integral_sliding_mode_controller", + "--controller-manager", + ["", "controller_manager"], + "--namespace", + "rob_1", + ], + ) + + thruster_spawners = [ + Node( + package="controller_manager", + executable="spawner", + arguments=[ + f"thruster{i + 1}_controller", + "--controller-manager", + ["", "controller_manager"], + "--namespace", + "rob_1", + ], + ) + for i in range(8) # BlueROV2 Heavy has 8 thrusters + ] + + delay_thruster_spawners = [] + for i, thruster_spawner in enumerate(thruster_spawners): + if not len(delay_thruster_spawners): + delay_thruster_spawners.append( + thruster_spawner, + ) + else: + delay_thruster_spawners.append( + RegisterEventHandler( + event_handler=OnProcessExit( + target_action=thruster_spawners[i - 1], + on_exit=[thruster_spawner], + ) + ) + ) + + tam_controller_spawner = Node( + package="controller_manager", + executable="spawner", + arguments=[ + "thruster_allocation_matrix_controller", + "--controller-manager", + ["", "controller_manager"], + "--namespace", + "rob_1", + ], + ) + + delay_tam_controller_spawner_after_thruster_controller_spawners = ( + RegisterEventHandler( + event_handler=OnProcessExit( + target_action=thruster_spawners[-1], + on_exit=[tam_controller_spawner], + ) + ) + ) + + delay_velocity_controller_spawner_after_tam_controller_spawner = ( + RegisterEventHandler( + event_handler=OnProcessExit( + target_action=tam_controller_spawner, + on_exit=[velocity_controller_spawner], + ) + ) + ) + + return LaunchDescription( + [ + *args, + message_transformer_with_ns, + controller_manager, + *delay_thruster_spawners, + delay_tam_controller_spawner_after_thruster_controller_spawners, + delay_velocity_controller_spawner_after_tam_controller_spawner, + ] + ) diff --git a/blue_demos/multi_robot/control_integration/launch/rob_1_bluerov2_heavy_demo.launch.yaml b/blue_demos/multi_robot/control_integration/launch/rob_1_bluerov2_heavy_demo.launch.yaml new file mode 100644 index 00000000..44ee01db --- /dev/null +++ b/blue_demos/multi_robot/control_integration/launch/rob_1_bluerov2_heavy_demo.launch.yaml @@ -0,0 +1,118 @@ +launch: + + - arg: + name: namespace + default: "rob_1" + + - arg: + name: gazebo_world_file + default: $(find-pkg-share blue_demos)/multi_robot/description/gazebo/worlds/underwater_with_obstacles.world + + - arg: + name: use_sim + default: "false" + + - arg: + name: prefix + default: "rob_1/" + + - arg: + name: use_rviz + default: "false" + + - arg: + name: mavros_file + default: $(find-pkg-share blue_demos)/multi_robot/description/config/ardusub/rob_1_mavros.yaml + + - let: + name: manager_file + value: $(find-pkg-share blue_demos)/multi_robot/description/config/ardusub/rob_1_ardusub_manager.yaml + + - let: + name: localization_file + value: $(find-pkg-share blue_demos)/multi_robot/description/config/bluerov2_heavy/rob_1_localization.yaml + + - let: + name: ardusub_instance + value: "0" + + - let: + name: sysid_thismav + value: "1" + + - let: + name: rob_x + value: "0.0" + + - let: + name: rob_y + value: "4.0" + + - let: + name: rob_z + value: "0.0" + + - let: + name: sitl_file + value: $(find-pkg-share ardusub_bringup)/launch/sitl_multi_robot.launch.yaml + + - let: + name: fdm_port_in + value: "9002" + + - let: + name: fdm_port_out + value: "9003" + + - let: + name: use_mavros_odom + value: "true" + + - let: + name: mavros_odom_topic + value: /rob_1/local_position/odom + + - group: + - push-ros-namespace: + namespace: "$(var namespace)" + + - let: + name: description_file + value: $(find-pkg-share blue_demos)/control_integration/description/urdf/bluerov2_heavy.config.xacro + + - let: + name: robot_description + value: $(command 'xacro $(var description_file) prefix:=$(var prefix) use_sim:=$(var use_sim) fdm_port_in:=$(var fdm_port_in) fdm_port_out:=$(var fdm_port_out) use_mavros_odom:=$(var use_mavros_odom) mavros_odom_topic:=$(var mavros_odom_topic)') + + - include: + file: $(find-pkg-share blue_bringup)/launch/bluerov2_heavy/ns_bluerov2_heavy.launch.yaml + arg: + - name: robot_description + value: $(var robot_description) + - name: prefix + value: $(var prefix) + - name: mavros_file + value: $(var mavros_file) + - name: manager_file + value: $(var manager_file) + - name: sitl_file + value: $(var sitl_file) + - name: ardusub_instance + value: $(var ardusub_instance) + - name: sysid_thismav + value: $(var sysid_thismav) + - name: localization_file + value: $(var localization_file) + - name: rob_x + value: $(var rob_x) + - name: rob_y + value: $(var rob_y) + - name: rob_z + value: $(var rob_z) + + #Spawn obstacles + - include: + file: $(find-pkg-share blue_demos)/control_integration/launch/obstacles.launch.yaml + arg: + - name: gazebo_world_file + value: $(var gazebo_world_file) diff --git a/blue_demos/multi_robot/control_integration/launch/rob_3_bluerov2_heavy_controllers.launch.py b/blue_demos/multi_robot/control_integration/launch/rob_3_bluerov2_heavy_controllers.launch.py new file mode 100644 index 00000000..3d10968d --- /dev/null +++ b/blue_demos/multi_robot/control_integration/launch/rob_3_bluerov2_heavy_controllers.launch.py @@ -0,0 +1,189 @@ +# Copyright 2024, Evan Palmer +# +# Permission is hereby granted, free of charge, to any person obtaining a copy +# of this software and associated documentation files (the "Software"), to deal +# in the Software without restriction, including without limitation the rights +# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +# copies of the Software, and to permit persons to whom the Software is +# furnished to do so, subject to the following conditions: +# +# The above copyright notice and this permission notice shall be included in +# all copies or substantial portions of the Software. +# +# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL +# THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN +# THE SOFTWARE. +from launch import LaunchDescription +from launch.actions import ( + DeclareLaunchArgument, + GroupAction, + IncludeLaunchDescription, + RegisterEventHandler, +) +from launch.event_handlers import OnProcessExit +from launch.launch_description_sources import PythonLaunchDescriptionSource +from launch.substitutions import PathJoinSubstitution, TextSubstitution +from launch_ros.actions import Node, PushROSNamespace +from launch_ros.substitutions import FindPackageShare + + +def generate_launch_description() -> LaunchDescription: + """Generate a launch description for the BlueROV2. + This should be launched after MAVROS has fully loaded. + """ + args = [ + DeclareLaunchArgument( + "prefix", + default_value="rob_3/", + description=( + "The prefix of the model. This is useful for multi-robot setups." + " Expected format '/'." + ), + ), + DeclareLaunchArgument( + "use_sim", + default_value="false", + description="Launch the Gazebo + ArduSub simulator.", + ), + ] + + # The ISMC expects state information to be provided in the FSD frame + message_transformer = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + PathJoinSubstitution( + [ + FindPackageShare("message_transforms"), + "launch", + "message_transforms.launch.py", + ] + ) + ), + launch_arguments={ + "parameters_file": PathJoinSubstitution( + [ + FindPackageShare("blue_demos"), + "multi_robot", + "control_integration", + "config", + "rob_3_transforms.yaml", + ] + ), + "ns": TextSubstitution(text="control_integration"), + }.items(), + ) + + message_transformer_with_ns = GroupAction( + actions=[ + PushROSNamespace("rob_3"), + message_transformer, + ] + ) + + controller_manager = Node( + package="controller_manager", + executable="ros2_control_node", + output="both", + namespace="rob_3", + parameters=[ + PathJoinSubstitution( + [ + FindPackageShare("blue_demos"), + "multi_robot", + "control_integration", + "config", + "rob_3_bluerov2_heavy_controllers.yaml", + ] + ), + ], + remappings=[ + ("controller_manager/robot_description", "robot_description"), + ], + ) + + velocity_controller_spawner = Node( + package="controller_manager", + executable="spawner", + arguments=[ + "integral_sliding_mode_controller", + "--controller-manager", + ["", "controller_manager"], + "--namespace", + "rob_3", + ], + ) + + thruster_spawners = [ + Node( + package="controller_manager", + executable="spawner", + arguments=[ + f"thruster{i + 1}_controller", + "--controller-manager", + ["", "controller_manager"], + "--namespace", + "rob_3", + ], + ) + for i in range(8) # BlueROV2 Heavy has 8 thrusters + ] + + delay_thruster_spawners = [] + for i, thruster_spawner in enumerate(thruster_spawners): + if not len(delay_thruster_spawners): + delay_thruster_spawners.append( + thruster_spawner, + ) + else: + delay_thruster_spawners.append( + RegisterEventHandler( + event_handler=OnProcessExit( + target_action=thruster_spawners[i - 1], + on_exit=[thruster_spawner], + ) + ) + ) + + tam_controller_spawner = Node( + package="controller_manager", + executable="spawner", + arguments=[ + "thruster_allocation_matrix_controller", + "--controller-manager", + ["", "controller_manager"], + "--namespace", + "rob_3", + ], + ) + + delay_tam_controller_spawner_after_thruster_controller_spawners = ( + RegisterEventHandler( + event_handler=OnProcessExit( + target_action=thruster_spawners[-1], + on_exit=[tam_controller_spawner], + ) + ) + ) + + delay_velocity_controller_spawner_after_tam_controller_spawner = ( + RegisterEventHandler( + event_handler=OnProcessExit( + target_action=tam_controller_spawner, + on_exit=[velocity_controller_spawner], + ) + ) + ) + + return LaunchDescription( + [ + *args, + message_transformer_with_ns, + controller_manager, + *delay_thruster_spawners, + delay_tam_controller_spawner_after_thruster_controller_spawners, + delay_velocity_controller_spawner_after_tam_controller_spawner, + ] + ) diff --git a/blue_demos/multi_robot/control_integration/launch/rob_3_bluerov2_heavy_demo.launch.yaml b/blue_demos/multi_robot/control_integration/launch/rob_3_bluerov2_heavy_demo.launch.yaml new file mode 100644 index 00000000..2f8418a3 --- /dev/null +++ b/blue_demos/multi_robot/control_integration/launch/rob_3_bluerov2_heavy_demo.launch.yaml @@ -0,0 +1,110 @@ +launch: + + - arg: + name: namespace + default: "rob_3" + + - arg: + name: gazebo_world_file + default: $(find-pkg-share blue_demos)/multi_robot/description/gazebo/worlds/underwater_with_obstacles.world + + - arg: + name: use_sim + default: "false" + + - arg: + name: prefix + default: "rob_3/" + + - arg: + name: use_rviz + default: "false" + + - arg: + name: mavros_file + default: $(find-pkg-share blue_description)/config/ardusub/rob_3_mavros.yaml + + - let: + name: manager_file + value: $(find-pkg-share blue_description)/config/ardusub/ROB_3_ardusub_manager.yaml + + - let: + name: localization_file + value: $(find-pkg-share blue_description)/config/bluerov2_heavy/ROB_3_localization.yaml + + - let: + name: ardusub_instance + value: "1" + + - let: + name: sysid_thismav + value: "2" + + - let: + name: rob_x + value: "0.0" + + - let: + name: rob_y + value: "0.0" + + - let: + name: rob_z + value: "0.0" + + - let: + name: sitl_file + value: $(find-pkg-share ardusub_bringup)/launch/sitl_multi_robot.launch.yaml + + - let: + name: fdm_port_in + value: "9012" + + - let: + name: fdm_port_out + value: "9013" + + - group: + - push-ros-namespace: + namespace: "$(var namespace)" + + - let: + name: description_file + value: $(find-pkg-share blue_demos)/control_integration/description/urdf/bluerov2_heavy.config.xacro + + - let: + name: robot_description + value: $(command 'xacro $(var description_file) prefix:=$(var prefix) use_sim:=$(var use_sim) fdm_port_in:=$(var fdm_port_in) fdm_port_out:=$(var fdm_port_out)') + + - include: + file: $(find-pkg-share blue_bringup)/launch/bluerov2_heavy/ns_bluerov2_heavy.launch.yaml + arg: + - name: robot_description + value: $(var robot_description) + - name: prefix + value: $(var prefix) + - name: mavros_file + value: $(var mavros_file) + - name: manager_file + value: $(var manager_file) + - name: sitl_file + value: $(var sitl_file) + - name: ardusub_instance + value: $(var ardusub_instance) + - name: sysid_thismav + value: $(var sysid_thismav) + - name: localization_file + value: $(var localization_file) + - name: rob_x + value: $(var rob_x) + - name: rob_y + value: $(var rob_y) + - name: rob_z + value: $(var rob_z) + + #Spawn obstacles + # - include: + # file: $(find-pkg-share blue_demos)/control_integration/launch/obstacles.launch.yaml + # arg: + # - name: gazebo_world_file + # value: $(var gazebo_world_file) diff --git a/blue_demos/multi_robot/description/config/ardusub/rob_1_ardusub_manager.yaml b/blue_demos/multi_robot/description/config/ardusub/rob_1_ardusub_manager.yaml new file mode 100644 index 00000000..71ee336c --- /dev/null +++ b/blue_demos/multi_robot/description/config/ardusub/rob_1_ardusub_manager.yaml @@ -0,0 +1,9 @@ +rob_1: + ardusub_manager: + ros__parameters: + message_intervals: + ids: [31, 32] + rates: [50.0, 50.0] + set_ekf_origin: true + publish_tf: false + prefix: "rob_1/" diff --git a/blue_demos/multi_robot/description/config/ardusub/rob_1_mavros.yaml b/blue_demos/multi_robot/description/config/ardusub/rob_1_mavros.yaml new file mode 100644 index 00000000..e2268fca --- /dev/null +++ b/blue_demos/multi_robot/description/config/ardusub/rob_1_mavros.yaml @@ -0,0 +1,49 @@ +rob_1: + mavros: + ros__parameters: + system_id: 255 + base_link_frame_id: rob_1/base_link + plugin_allowlist: + - sys_status + - command + - imu + - rc_io + - param + - vision* + - local* + - global_position + + mavros_node: + ros__parameters: + base_link_frame: "rob_1/base_link" + map_frame: "map" + odom_frame: "odom" + fcu_url: "tcp://localhost:5760" + # gcs_url: "udp://@localhost:14550" + gcs_url: "" + tgt_system: 1 + + local_position: + ros__parameters: + frame_id: "map" + tf: + child_frame_id: "rob_1/base_link" + send: false + + imu: + ros__parameters: + frame_id: "rob_1/base_link" + + global_position: + ros__parameters: + child_frame_id: "rob_1/base_link" + frame_id: "map" + tf: + child_frame_id: "rob_1/base_link" + global_frame_id: "earth" + send: false + + vision_pose: + ros__parameters: + tf/child_frame_id: "rob_1/vision_estimate" + tf/frame_id: map diff --git a/blue_demos/multi_robot/description/config/ardusub/rob_3_ardusub_manager.yaml b/blue_demos/multi_robot/description/config/ardusub/rob_3_ardusub_manager.yaml new file mode 100644 index 00000000..8e414ea3 --- /dev/null +++ b/blue_demos/multi_robot/description/config/ardusub/rob_3_ardusub_manager.yaml @@ -0,0 +1,9 @@ +rob_3: + ardusub_manager: + ros__parameters: + message_intervals: + ids: [31, 32] + rates: [50.0, 50.0] + set_ekf_origin: true + publish_tf: false + prefix: "rob_3/" diff --git a/blue_demos/multi_robot/description/config/ardusub/rob_3_mavros.yaml b/blue_demos/multi_robot/description/config/ardusub/rob_3_mavros.yaml new file mode 100644 index 00000000..d74a12de --- /dev/null +++ b/blue_demos/multi_robot/description/config/ardusub/rob_3_mavros.yaml @@ -0,0 +1,48 @@ +rob_3: + mavros: + ros__parameters: + system_id: 255 + base_link_frame_id: rob_3/base_link + plugin_allowlist: + - sys_status + - command + - imu + - rc_io + - param + - vision* + - local* + - global_position + + mavros_node: + ros__parameters: + base_link_frame: "rob_3/base_link" + map_frame: "map" + odom_frame: "odom" + fcu_url: "tcp://localhost:5770" + gcs_url: "udp://@localhost:14550" + tgt_system: 2 + + local_position: + ros__parameters: + frame_id: "map" + tf: + child_frame_id: "rob_3/base_link" + send: false + + imu: + ros__parameters: + frame_id: "rob_3/base_link" + + global_position: + ros__parameters: + child_frame_id: "rob_3/base_link" + frame_id: "map" + tf: + child_frame_id: "rob_3/base_link" + global_frame_id: "earth" + send: false + + vision_pose: + ros__parameters: + tf/child_frame_id: "rob_3/vision_estimate" + tf/frame_id: map diff --git a/blue_demos/multi_robot/description/config/bluerov2_heavy/rob_1_localization.yaml b/blue_demos/multi_robot/description/config/bluerov2_heavy/rob_1_localization.yaml new file mode 100644 index 00000000..816acf82 --- /dev/null +++ b/blue_demos/multi_robot/description/config/bluerov2_heavy/rob_1_localization.yaml @@ -0,0 +1,39 @@ +rob_1: + camera: + ros__parameters: + port: 5600 + distortion_model: "plumb_bob" + frame: + height: 1080 + width: 1920 + camera_matrix: + [1078.17559, 0.0, 1010.57086, + 0.0, 1076.46176, 463.06243, + 0.0, 0.0, 1.0] + distortion_coefficients: + [0.019645, 0.007271, -0.004324, -0.001628, 0.000000] + projection_matrix: + [1108.25366, 0.0, 1003.75555, 0.0, + 0.0, 1108.39001, 456.92861, 0.0, + 0.0, 0.0, 1.0, 0.0] + + qualisys_mocap: + ros__parameters: + ip: "192.168.254.1" + port: 22223 + version: "1.22" + body: "bluerov" + prefix: "rob_1/" + + qualisys_localizer: + ros__parameters: + update_rate: 30.0 + body: "bluerov" # This should be the same as the body parameter setting for the qualisys_mocap node + prefix: "rob_1/" + + gazebo_localizer: + ros__parameters: + update_rate: 30.0 + gazebo_odom_topic: "/model/rob_1/bluerov2_heavy/odometry" + prefix: "rob_1/" + diff --git a/blue_demos/multi_robot/description/config/bluerov2_heavy/rob_3_localization.yaml b/blue_demos/multi_robot/description/config/bluerov2_heavy/rob_3_localization.yaml new file mode 100644 index 00000000..cc774d4d --- /dev/null +++ b/blue_demos/multi_robot/description/config/bluerov2_heavy/rob_3_localization.yaml @@ -0,0 +1,39 @@ +rob_3: + camera: + ros__parameters: + port: 5600 + distortion_model: "plumb_bob" + frame: + height: 1080 + width: 1920 + camera_matrix: + [1078.17559, 0.0, 1010.57086, + 0.0, 1076.46176, 463.06243, + 0.0, 0.0, 1.0] + distortion_coefficients: + [0.019645, 0.007271, -0.004324, -0.001628, 0.000000] + projection_matrix: + [1108.25366, 0.0, 1003.75555, 0.0, + 0.0, 1108.39001, 456.92861, 0.0, + 0.0, 0.0, 1.0, 0.0] + + qualisys_mocap: + ros__parameters: + ip: "192.168.254.1" + port: 22223 + version: "1.22" + body: "bluerov" + prefix: "rob_3/" + + qualisys_localizer: + ros__parameters: + update_rate: 30.0 + body: "bluerov" # This should be the same as the body parameter setting for the qualisys_mocap node + prefix: "rob_3/" + + gazebo_localizer: + ros__parameters: + update_rate: 30.0 + gazebo_odom_topic: "/model/rob_3/bluerov2_heavy/odometry" + prefix: "rob_3/" + diff --git a/blue_demos/multi_robot/description/gazebo/worlds/underwater_with_obstacles.world b/blue_demos/multi_robot/description/gazebo/worlds/underwater_with_obstacles.world new file mode 100644 index 00000000..5fddf90f --- /dev/null +++ b/blue_demos/multi_robot/description/gazebo/worlds/underwater_with_obstacles.world @@ -0,0 +1,553 @@ + + + + + + + + + ogre2 + + + + + + + + + + + + + + 1000 + + 0 + 1 + + + + + + https://fuel.gazebosim.org/1.0/OpenRobotics/models/Sun + + + + model://sand_heightmap + 0 7 -10 0 0 0 + + + + + https://fuel.gazebosim.org/1.0/OpenRobotics/models/Coast Water + + 0 0 0 0 0 0 + + + + 1.0 1.0 1.0 + 0.8 0.8 0.8 + + + + + 50 0 150 0 0 0 + 1 1 1 1 + .1 .1 .1 1 + 0.3 0.3 -1 + false + + + + + 6 0 0 0 0 0 + + + + 0.16666 + 0 + 0 + 0.16666 + 0 + 0.16666 + + 970.0 + + + + + 1 1 1 + + + + + + + + 1 2 1 + + + + 1 0 0 1 + 1 0 0 1 + 1 0 0 1 + + + + + false + false + false + false + true + true + + + + + true + 6 -6 0 0 0 0 + + + + 0.16666 + 0 + 0 + 0.16666 + 0 + 0.16666 + + 900.0 + + + + + 1 1 1 + + + + + + + + 1 1 1 + + + + 1 0 0 1 + 1 0 0 1 + 1 0 0 1 + + + + + false + false + false + false + true + true + + + + + true + 6 6 0 0 0 0 + + + + 0.16666 + 0 + 0 + 0.16666 + 0 + 0.16666 + + 900.0 + + + + + 1 1 1 + + + + + + + + 1 1 1 + + + + 1 0 0 1 + 1 0 0 1 + 1 0 0 1 + + + + + false + false + false + false + true + true + + + + + + 4 -3 0 0 0 0 + + + + 0.16666 + 0 + 0 + 0.16666 + 0 + 0.16666 + + 971.0 + + + + + 1 1 1 + + + + + + + + 1 1 1 + + + + 1 0 0 1 + 1 0 0 1 + 1 0 0 1 + + + + + false + false + false + false + true + true + + + + + + 4 3 0 0 0 0 + + + + 0.16666 + 0 + 0 + 0.16666 + 0 + 0.16666 + + 965.0 + + + + + 1 1 1 + + + + + + + + 1 1 1 + + + + 1 0 0 1 + 1 0 0 1 + 1 0 0 1 + + + + + false + false + false + false + true + true + + + + + + 3 -3 0 0 0 0 + + + + 0.16666 + 0 + 0 + 0.16666 + 0 + 0.16666 + + 965.0 + + + + + 1 1 1 + + + + + + + + 1 1 1 + + + + 1 0 0 1 + 1 0 0 1 + 1 0 0 1 + + + + + false + false + false + false + true + true + + + + + + 2 -4 0 0 0 0 + + + + 0.16666 + 0 + 0 + 0.16666 + 0 + 0.16666 + + 968.0 + + + + + 1 1 1 + + + + + + + + 1 1 1 + + + + 1 0 0 1 + 1 0 0 1 + 1 0 0 1 + + + + + false + false + false + false + true + true + + + + + + 2 0 0 0 0 0 + + + + 0.16666 + 0 + 0 + 0.16666 + 0 + 0.16666 + + 969.0 + + + + + 1 1 1 + + + + + + + + 1 4 1 + + + + 1 0 0 1 + 1 0 0 1 + 1 0 0 1 + + + + + false + false + false + false + true + true + + + + + true + 1 4 0 0 0 0 + + + + 0.16666 + 0 + 0 + 0.16666 + 0 + 0.16666 + + 900.0 + + + + + 1 1 1 + + + + + + + + 1 1 1 + + + + 1 0 0 1 + 1 0 0 1 + 1 0 0 1 + + + + + false + false + false + false + true + true + + + + + true + 1 -3 0 0 0 0 + + + + 0.16666 + 0 + 0 + 0.16666 + 0 + 0.16666 + + 900.0 + + + + + 1 1 1 + + + + + + + + 1 1 1 + + + + 1 0 0 1 + 1 0 0 1 + 1 0 0 1 + + + + + false + false + false + false + true + true + + + + + diff --git a/blue_demos/multi_robot/teleoperation/config/rob_1_transforms.yaml b/blue_demos/multi_robot/teleoperation/config/rob_1_transforms.yaml new file mode 100644 index 00000000..beef87dd --- /dev/null +++ b/blue_demos/multi_robot/teleoperation/config/rob_1_transforms.yaml @@ -0,0 +1,10 @@ +rob_1/message_transforms: + ros__parameters: + + incoming_topics: + - /rob_1/cmd_vel + + transforms: + /rob_1/cmd_vel: + outgoing_topic: /rob_1/integral_sliding_mode_controller/reference + message_type: geometry_msgs/msg/Twist diff --git a/blue_demos/multi_robot/teleoperation/config/rob_3_transforms.yaml b/blue_demos/multi_robot/teleoperation/config/rob_3_transforms.yaml new file mode 100644 index 00000000..8409e03d --- /dev/null +++ b/blue_demos/multi_robot/teleoperation/config/rob_3_transforms.yaml @@ -0,0 +1,10 @@ +rob_3/message_transforms: + ros__parameters: + + incoming_topics: + - /rob_3/cmd_vel + + transforms: + /rob_3/cmd_vel: + outgoing_topic: /rob_3/integral_sliding_mode_controller/reference + message_type: geometry_msgs/msg/Twist