Merge remote-tracking branch 'upstream/noetic-devel' into jackal2

KumarRobotics · Feb 2, 2024 · 57e30bc · 57e30bc
2 parents 6f1d9ef + 85e16bd
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diff --git a/.github/CODEOWNERS b/.github/CODEOWNERS
@@ -0,0 +1,2 @@
+# Default all changes will request review from:
+* @tonybaltovski
diff --git a/.github/ISSUE_TEMPLATE/bug.md b/.github/ISSUE_TEMPLATE/bug.md
@@ -0,0 +1,31 @@
+---
+name: Bug Report
+about: Provide a report for that the issue is
+title: ''
+labels: bug
+assignees: tonybaltovski, civerachb-cpr
+
+---
+
+**Please provide the following information:**
+ - OS: (e.g. Ubuntu 18.04)
+ - ROS Distro: (e.g. Melodic)
+ - Built from source or installed:
+ - Package version: (if from repository, give version from `sudo dpkg -s ros-$ROS_VERSION-jackal-PACKAGE_WITH_ISSUE`, if from source, give commit hash)
+ - Real hardware or simulation:
+
+ **Expected behaviour**
+ A clear and concise description of what you expected to happen.
+
+ **Actual behaviour**
+ A clear and concise description of what you encountered.
+
+**To Reproduce**
+Provide the steps to reproduce:
+1. run something
+2. launch something else
+3. see the error
+
+
+**Other notes**
+Add anything else you thing is important.
diff --git a/.github/ISSUE_TEMPLATE/feature.md b/.github/ISSUE_TEMPLATE/feature.md
@@ -0,0 +1,14 @@
+---
+name: Feature request
+about: Provide context for the feature you are requesting
+title: ''
+labels: enhancement
+assignees: tonybaltovski, civerachb-cpr
+
+---
+
+**Describe the the feature you would like**
+A clear and concise description of what you want to happen.
+
+**Other notes**
+Add anything else you thing is important.
diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
@@ -0,0 +1,17 @@
+name: jackal_ci
+
+on: [push, pull_request]
+
+jobs:
+  jackal_noetic_ci:
+    name: Noetic
+    strategy:
+      matrix:
+        env:
+          - {ROS_DISTRO: noetic, ROS_REPO: main}
+          - {ROS_DISTRO: noetic, ROS_REPO: testing}
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v1
+      - uses: 'ros-industrial/industrial_ci@master'
+        env: ${{matrix.env}}
diff --git a/LICENSE b/LICENSE
@@ -0,0 +1,21 @@
+Copyright 2021 Clearpath Robotics Inc.
+
+Redistribution and use in source and binary forms, with or without modification, are permitted provided that the
+following conditions are met:
+
+1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following
+disclaimer.
+
+2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following
+disclaimer in the documentation and/or other materials provided with the distribution.
+
+3. Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote products
+derived from this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
+INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
+WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF
+THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
diff --git a/jackal_control/CHANGELOG.rst b/jackal_control/CHANGELOG.rst
@@ -2,6 +2,82 @@
 Changelog for package jackal_control
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.8.8 (2023-06-05)
+------------------
+
+0.8.7 (2023-04-19)
+------------------
+
+0.8.6 (2022-11-16)
+------------------
+
+0.8.5 (2022-05-17)
+------------------
+
+0.8.4 (2022-05-09)
+------------------
+* Disable absolute yaw in default imu configuration
+* Set subst_value=true when loading the control_extras file to allow envar-defined configuration inside the file
+* Contributors: Chris I-B, Chris Iverach-Brereton
+
+0.8.3 (2022-03-08)
+------------------
+
+0.8.2 (2022-02-15)
+------------------
+* Updated control.launch to new microstrain envvars and moved definition of ekf-localization paramaters into it
+* Added Microstrain GX5 to jackal_control
+* Contributors: Luis Camero
+
+0.8.1 (2022-01-18)
+------------------
+* predict odom->base_link tf to current time
+* Contributors: Ebrahim Shahrivar
+
+0.8.0 (2021-04-23)
+------------------
+* Merge branch 'noetic-devel-bkup' into noetic-devel
+* Fix the link_name parameter for the interactive marker server; the default for the package includes a leading '/', which prevents the markers from working on Noetic.  We can revert this if/when the default for interactive_marker_twist_server is modified.
+* Contributors: Chris Iverach-Brereton
+
+0.7.5 (2021-03-24)
+------------------
+
+0.7.4 (2021-03-16)
+------------------
+* Bumped CMake version to avoid author warning.
+* Add the JACKAL_JOY_DEVICE envar to optionally override the joy device more easily.
+* Contributors: Chris Iverach-Brereton, Tony Baltovski
+
+0.7.3 (2021-03-08)
+------------------
+
+0.7.2 (2020-09-29)
+------------------
+* Load the control extras last (`#75 <https://github.com/jackal/jackal/issues/75>`_)
+* Remove the PS4 device from the yaml file, always apply the parameter from the joy_dev argument instead (`#73 <https://github.com/jackal/jackal/issues/73>`_)
+* Contributors: Chris I-B
+
+0.7.1 (2020-08-24)
+------------------
+* Disable ekf option (`#71 <https://github.com/jackal/jackal/issues/71>`_)
+  * added env var and if-statement to disable robot ekf
+  * changed if to unless
+  * clearer wording
+* Contributors: jmastrangelo-cpr
+
+0.7.0 (2020-04-20)
+------------------
+* Mark the PS3 controller launch file as deprecated, update the default joystick device to point to /dev/input/ps4, as per the new udev rules added to the bringup package
+* Contributors: Chris I-B
+
+0.6.4 (2020-03-04)
+------------------
+* Update control.launch
+  Somehow a ">" has gone missing. This change adds it back in.
+* [jackal_control] Added control extras.
+* Contributors: Jeff Schmidt, Tony Baltovski
+
 0.6.3 (2019-07-18)
 ------------------
 

diff --git a/jackal_control/CMakeLists.txt b/jackal_control/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.0.2)
 project(jackal_control)
 
 find_package(catkin REQUIRED COMPONENTS roslaunch)

diff --git a/jackal_control/config/robot_localization.yaml b/jackal_control/config/robot_localization.yaml
@@ -12,7 +12,7 @@ odom0_differential: false
 
 imu0: /imu/data
 imu0_config: [false, false, false,
-              true, true, true,
+              true, true, false,
               false, false, false,
               true, true, true,
               false, false, false]
@@ -21,3 +21,5 @@ imu0_differential: false
 odom_frame: odom
 base_link_frame: base_link
 world_frame: odom
+
+predict_to_current_time: true
diff --git a/jackal_control/config/teleop.yaml → jackal_control/config/teleop_ps3.yaml b/jackal_control/config/teleop.yaml → jackal_control/config/teleop_ps3.yaml
@@ -1,4 +1,5 @@
 # Teleop configuration for PS3 Navigation joystick.
+# THIS IS DEPRECATED AND MAY BE REMOVED IN A FUTURE UPDATE
 teleop_twist_joy:
   axis_linear: 1
   scale_linear: 0.4

diff --git a/jackal_control/config/teleop_ps4.yaml b/jackal_control/config/teleop_ps4.yaml
@@ -10,4 +10,3 @@ teleop_twist_joy:
 joy_node:
   deadzone: 0.1
   autorepeat_rate: 20
-  dev: /dev/input/ds4x
diff --git a/jackal_control/launch/control.launch b/jackal_control/launch/control.launch
@@ -1,17 +1,41 @@
 <launch>
+
+  <arg name="enable_ekf" default="$(optenv ENABLE_EKF true)"/>
+
   <rosparam command="load" file="$(find jackal_control)/config/control.yaml" />
 
   <node name="controller_spawner" pkg="controller_manager" type="spawner"
         args="jackal_joint_publisher jackal_velocity_controller" />
   <!--
-  <node pkg="robot_localization" type="ekf_localization_node" name="ekf_localization"> 
-    <rosparam command="load" file="$(find jackal_control)/config/robot_localization.yaml" />
-  </node>
+  <group if="$(arg enable_ekf)" >
+    <node pkg="robot_localization" type="ekf_localization_node" name="ekf_localization">
+      <rosparam command="load" file="$(find jackal_control)/config/robot_localization.yaml" />
+    </node>
+
+    <group if="$(optenv JACKAL_IMU_MICROSTRAIN 0)">
+      <!-- Optionally load the configuration for the Microstrain-family IMU -->
+      <rosparam>
+        ekf_localization:
+          imu1: microstrain/imu/data
+          imu1_config: [false, false, false,
+                      true, true, true,
+                      false, false, false,
+                      true, true, true,
+                      false, false, false]
+          imu1_differential: false
+      </rosparam>
+      <param name="ekf_localization/imu1" value="$(optenv JACKAL_IMU_MICROSTRAIN_NAME microstrain)/imu/data"/>
+    </group>
+  </group>
+
   <node pkg="twist_mux" type="twist_mux" name="twist_mux">
     <rosparam command="load" file="$(find jackal_control)/config/twist_mux.yaml" />
     <remap from="cmd_vel_out" to="jackal_velocity_controller/cmd_vel"/>
   </node>
--->
+  -->
 
-</launch>
+  <group if="$(optenv JACKAL_CONTROL_EXTRAS 0)" >
+    <rosparam command="load" file="$(env JACKAL_CONTROL_EXTRAS_PATH)" subst_value="true" />
+  </group>
 
+</launch>
diff --git a/jackal_control/launch/teleop.launch b/jackal_control/launch/teleop.launch
@@ -1,15 +1,16 @@
 <launch>
-  <arg name="joy_dev" default="/dev/input/js0" />
+  <arg name="joy_dev" default="$(optenv JACKAL_JOY_DEVICE /dev/input/ps4)" />
   <arg name="joystick" default="true" />
 
   <group ns="bluetooth_teleop" if="$(arg joystick)">
 
     <group unless="$(optenv JACKAL_PS3 0)" >
       <rosparam command="load" file="$(find jackal_control)/config/teleop_ps4.yaml" />
+      <param name="joy_node/dev" value="$(arg joy_dev)" />
     </group>
 
     <group if="$(optenv JACKAL_PS3 0)" >
-      <rosparam command="load" file="$(find jackal_control)/config/teleop.yaml" />
+      <rosparam command="load" file="$(find jackal_control)/config/teleop_ps3.yaml" />
       <param name="joy_node/dev" value="$(arg joy_dev)" />
     </group>
 
@@ -18,5 +19,7 @@
     <node pkg="teleop_twist_joy" type="teleop_node" name="teleop_twist_joy"/>
   </group>
 
-  <node pkg="interactive_marker_twist_server" type="marker_server" name="twist_marker_server"/>
+  <node pkg="interactive_marker_twist_server" type="marker_server" name="twist_marker_server">
+    <param name="link_name" value="base_link" />
+  </node>
 </launch>
diff --git a/jackal_control/package.xml b/jackal_control/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package>
   <name>jackal_control</name>
-  <version>0.6.3</version>
+  <version>0.8.8</version>
   <description>Controllers for Jackal</description>
   <maintainer email="mpurvis@clearpathrobotics.com">Mike Purvis</maintainer>
 

diff --git a/jackal_description/CHANGELOG.rst b/jackal_description/CHANGELOG.rst
@@ -2,6 +2,102 @@
 Changelog for package jackal_description
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.8.8 (2023-06-05)
+------------------
+* change location of onav config
+* added outdoornav enable variable and hardware kit selector for urdf
+* Contributors: José Mastrangelo
+
+0.8.7 (2023-04-19)
+------------------
+* Added Environment Variables
+* Contributors: luis-camero
+
+0.8.6 (2022-11-16)
+------------------
+* Set the GPS plugin's reference heading to 90 so it's ENU
+* Use xacro properties defined from environment variables for Microstrain URDF (`#123 <https://github.com/jackal/jackal/issues/123>`_)
+* Add GAZEBO_WORLD\_{LAT|LON} envars to change the reference coordinate of the robot's integral GPS
+* Contributors: Chris Iverach-Brereton, Joey Yang
+
+0.8.5 (2022-05-17)
+------------------
+* Added Blackfly  entry to URDF
+* Added Blackfly description to package.xml
+* Contributors: Luis Camero
+
+0.8.4 (2022-05-09)
+------------------
+
+0.8.3 (2022-03-08)
+------------------
+* Added the option to remove tower from VLP16 mount
+* Added SICK TIM551 to URDF and package.xml
+* Added UTM30 (`#106 <https://github.com/jackal/jackal/issues/106>`_)
+* Updated Navsat and LMS1xx mounts (`#103 <https://github.com/jackal/jackal/issues/103>`_)
+  * Updated hokuyo_ust10_mount to include min and max angle
+  * Removed extra spaces
+  * Updated SICK LMS1XX mount and NAVSAT mount
+  * Maintained backward compatibility with LMS1xx standard upright poisition by adding mount types
+* Updated hokuyo_ust10_mount to include min and max angle (`#102 <https://github.com/jackal/jackal/issues/102>`_)
+  * Updated hokuyo_ust10_mount to include min and max angle
+  * Removed extra spaces
+* Contributors: Luis Camero, luis-camero
+
+0.8.2 (2022-02-15)
+------------------
+* Moved microstrain link to accessories.urdf and updated envvars
+* Added velodyne tower mesh
+* Added Microstrain GX5 to description
+* Removed unnecessary URDF
+* Added Wibotic mesh and STL
+* Contributors: Luis Camero
+
+0.8.1 (2022-01-18)
+------------------
+* Updated to match melodic-devel
+* Contributors: Luis Camero
+
+0.8.0 (2021-04-23)
+------------------
+
+0.7.5 (2021-03-24)
+------------------
+* Add the origin block to the fender UST-10 macros; otherwise enabling them crashes
+* Contributors: Chris I-B
+
+0.7.4 (2021-03-16)
+------------------
+* Bumped CMake version to avoid author warning.
+* Contributors: Tony Baltovski
+
+0.7.3 (2021-03-08)
+------------------
+*  Add VLP16 support, refactor main/secondary laser envar support (#79)
+* Contributors: Chris I-B
+
+0.7.2 (2020-09-29)
+------------------
+
+0.7.1 (2020-08-24)
+------------------
+
+0.7.0 (2020-04-20)
+------------------
+* [jackal_description] Re-added pointgrey_camera_description as run depend.
+* Contributors: Tony Baltovski
+
+0.6.4 (2020-03-04)
+------------------
+* Modify the hokuyo accessory so that it works properly in gazebo/rviz.  Add an additional environment var JACKAL_LASER_HOKUYO which overrides the default lms1xx sensor with the ust10.
+* use env_run.bat on Windows (`#3 <https://github.com/jackal/jackal/issues/3>`_)
+* add setlocal
+* Fix jackal_description install location & fold xacro includes (`#2 <https://github.com/jackal/jackal/issues/2>`_)
+  * Fix install location.
+  * Fold xacro includes
+* add env-hook batch scripts (`#1 <https://github.com/jackal/jackal/issues/1>`_)
+* Contributors: Chris I-B, James Xu, Sean Yen, Tony Baltovski
+
 0.6.3 (2019-07-18)
 ------------------
 * Added all extra fender changes