Merge branch 'main' into add-opi-real

clubcapra · Apr 7, 2024 · d3ea24a · d3ea24a
2 parents 5d738b8 + 933308c
commit d3ea24a
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Showing 26 changed files with 706 additions and 101 deletions.
diff --git a/.devcontainer/Dockerfile b/.devcontainer/Dockerfile
@@ -1,11 +1,15 @@
-FROM ghcr.io/clubcapra/gazebo:harmonic
+FROM ros:humble-ros-base
 
 # Add vscode user with same UID and GID as your host system
 # (copied from https://code.visualstudio.com/remote/advancedcontainers/add-nonroot-user#_creating-a-nonroot-user)
 ARG USERNAME=rove
 ARG USER_UID=1000
 ARG USER_GID=$USER_UID
 
+# ENV variables
+ENV ROS_DISTRO=humble
+ENV GZ_VERSION=harmonic
+
 WORKDIR /workspace/$USERNAME
 
 RUN groupadd --gid $USER_GID $USERNAME || true \
@@ -22,7 +26,32 @@ RUN apt update && apt upgrade -y
 # Install Git
 RUN apt install -y git
 
+# Install necessary packages for Gazebo Garden and its dependencies
+RUN apt-get update && apt-get install -y \
+    software-properties-common \
+    wget \
+    lsb-release \
+    gnupg \
+    curl
+
+# Install Gazebo
+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 update -y
+
+RUN apt install -y ros-humble-ros-gzharmonic
+
+# Adding an APT update and clean step
+RUN apt-get update && \
+    apt-get install -y --no-install-recommends apt-utils && \
+    rm -rf /var/lib/apt/lists/* && \
+    apt-get clean && \
+    apt-get update
+
 # Change user
+RUN chown $USER_UID:$USER_GID /workspace/$USERNAME
+
 USER $USERNAME
 
 # Copy to preload the ros packages
@@ -31,12 +60,12 @@ COPY ./ /workspace/$USERNAME/
 # Install Tesseract
 
 # Source the ROS setup file
-RUN echo "source /opt/ros/${ROS_DISTRO}/setup.bash" >> ~/.bashrc && \
-    echo "source /gazebo/gazebo_ws/install/setup.bash" >> ~/.bashrc
+RUN echo "source /opt/ros/${ROS_DISTRO}/setup.bash" >> ~/.bashrc
+
+COPY --chown=$USERNAME ./ /workspace/$USERNAME
 
 # Rosdep update
 RUN rosdep update
 
 # Install ROS dependencies
 RUN rosdep install --from-paths src --ignore-src --rosdistro humble -y
-
diff --git a/README.md b/README.md
@@ -54,13 +54,18 @@ IF YOU ARE RUNNING IN WSL: do this command
 ```bash
 export LIBGL_ALWAYS_INDIRECT=0 export LIBGL_ALWAYS_SOFTWARE=1
 ```
-Do these commands to run the simulation
+Do these commands to run the gazebo simulation with physics enabled
 ```bash
 colcon build --symlink-install
 source install/setup.bash
 ros2 launch rove_description sim.launch.py
 ```
-
+OR Do these commands to only run the rviz simulation (with joints control)
+```bash
+colcon build --symlink-install
+source install/setup.bash
+ros2 launch rove_description launch.py
+```
 
 ## Running the controller with a usb cable
 

diff --git a/rove.repos b/rove.repos
@@ -3,7 +3,7 @@ repositories:
     type: git
     url: https://github.com/clubcapra/capra_gazebo.git
     version: main
-  capra_gazebo:
+  ovis_description:
     type: git
-    url: https://github.com/clubcapra/capra_opi.git
-    version: main
+    url: https://github.com/clubcapra/ovis_ros2.git
+    version: master
diff --git a/src/rove_bringup/launch/rove_controller_bluetooth.launch.py b/src/rove_bringup/launch/rove_controller_bluetooth.launch.py
@@ -24,7 +24,7 @@ def generate_launch_description():
             name='teleop_twist_joy_node',
             parameters=[teleope_joy_params_file],
             remappings=[
-                ('/joy', '/rove/joy'),
+                ('/joy', '/joy'),
                 # ('/cmd_vel', '/model/rove/cmd_vel')
             ],
         ),

diff --git a/src/rove_bringup/launch/rove_controller_usb.launch.py b/src/rove_bringup/launch/rove_controller_usb.launch.py
@@ -24,7 +24,7 @@ def generate_launch_description():
             name='teleop_twist_joy_node',
             parameters=[teleope_joy_params_file],
             remappings=[
-                ('/joy', '/rove/joy'),
+                ('/joy', '/joy'),
                 # ('/cmd_vel', '/model/rove/cmd_vel')
             ],
         ),

diff --git a/src/rove_description/config/default_bridge.yaml b/src/rove_description/config/default_bridge.yaml
@@ -26,6 +26,13 @@
   gz_type_name: "gz.msgs.LaserScan"
   direction: GZ_TO_ROS
 
+# gz topic published by Sensors plugin (point cloud)
+- ros_topic_name: "velodyne_points"
+  gz_topic_name: "/scan/points"
+  ros_type_name: "sensor_msgs/msg/PointCloud2"
+  gz_type_name: "gz.msgs.PointCloudPacked"
+  direction: GZ_TO_ROS
+
 # gz topic published by JointState plugin
 - ros_topic_name: "joint_states"
   gz_topic_name: "joint_states"

diff --git a/src/rove_description/config/robot_bridge.yaml b/src/rove_description/config/robot_bridge.yaml
diff --git a/src/rove_description/launch/sim.launch.py b/src/rove_description/launch/sim.launch.py
@@ -20,6 +20,7 @@ def generate_launch_description():
     pkg_rove_nav = get_package_share_directory('rove_navigation')
     slam_pkg_path = get_package_share_directory("slam_toolbox")
     pkg_ros_gz_sim = get_package_share_directory('ros_gz_sim')
+    bringup_pkg_path = get_package_share_directory('rove_bringup')
 
     # Get the URDF file
     urdf_path = os.path.join(pkg_rove_description, 'urdf', 'rove.urdf.xacro')
@@ -93,6 +94,16 @@ def generate_launch_description():
         }.items(),
     )
 
+    slam3d = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(pkg_rove_slam, "launch", "slam3d.launch.py"),
+        ),
+        launch_arguments={
+            "use_sim_time": "true",
+            "deskewing": "true",
+        }.items(),
+    )
+
     nav = IncludeLaunchDescription(
         PythonLaunchDescriptionSource(
             os.path.join(pkg_rove_nav, "navigation.launch.py"),
@@ -108,6 +119,12 @@ def generate_launch_description():
                    {'use_sim_time': True}]
                    )
 
+    teleop = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(bringup_pkg_path, "launch", "rove_controller_usb.launch.py"),
+        ),
+    )
+
     return LaunchDescription([
             gz_sim,
             DeclareLaunchArgument('rviz', default_value='true',
@@ -117,6 +134,8 @@ def generate_launch_description():
             robot_localization_node,
             rviz,
             slam,
+            #slam3d,
             create,
             nav,
+            teleop,
             ])
diff --git a/src/rove_description/meshes/vlp16/VLP16_base_1.dae b/src/rove_description/meshes/vlp16/VLP16_base_1.dae
diff --git a/src/rove_description/meshes/vlp16/VLP16_base_1.stl b/src/rove_description/meshes/vlp16/VLP16_base_1.stl
diff --git a/src/rove_description/meshes/vlp16/VLP16_base_2.dae b/src/rove_description/meshes/vlp16/VLP16_base_2.dae
diff --git a/src/rove_description/meshes/vlp16/VLP16_base_2.stl b/src/rove_description/meshes/vlp16/VLP16_base_2.stl
diff --git a/src/rove_description/meshes/vlp16/VLP16_scan.dae b/src/rove_description/meshes/vlp16/VLP16_scan.dae
diff --git a/src/rove_description/meshes/vlp16/VLP16_scan.stl b/src/rove_description/meshes/vlp16/VLP16_scan.stl
diff --git a/src/rove_description/package.xml b/src/rove_description/package.xml
@@ -9,7 +9,7 @@
 
   <exec_depend>rviz2</exec_depend>
   <exec_depend>xacro</exec_depend>
-  <exec_depend>ros_gz_bridge</exec_depend>
+  <exec_depend>velodyne_description</exec_depend>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 

diff --git a/src/rove_description/urdf/command.urdf.xacro b/src/rove_description/urdf/command.urdf.xacro
@@ -0,0 +1,101 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
+    <plugin filename="gz-sim-triggered-publisher-system"
+        name="gz::sim::systems::TriggeredPublisher">
+        <input type="gz.msgs.Int32" topic="/keyboard/keypress">
+            <match field="data">87</match>
+        </input>
+        <output type="gz.msgs.Twist" topic="cmd_vel">
+            linear: {x: 1.0}, angular: {z: 0.0}
+        </output>
+    </plugin>
+
+    <!-- Moving Backward: X -->
+    <plugin filename="gz-sim-triggered-publisher-system"
+        name="gz::sim::systems::TriggeredPublisher">
+        <input type="gz.msgs.Int32" topic="/keyboard/keypress">
+            <match field="data">88</match>
+        </input>
+        <output type="gz.msgs.Twist" topic="cmd_vel">
+            linear: {x: -1.0}, angular: {z: 0.0}
+        </output>
+    </plugin>
+
+    <!-- Stop: S -->
+    <plugin filename="gz-sim-triggered-publisher-system"
+        name="gz::sim::systems::TriggeredPublisher">
+        <input type="gz.msgs.Int32" topic="/keyboard/keypress">
+            <match field="data">83</match>
+        </input>
+        <output type="gz.msgs.Twist" topic="cmd_vel">
+            linear: {x: 0.0}, angular: {z: 0.0}
+        </output>
+    </plugin>
+
+    <!-- Left: A -->
+    <plugin filename="gz-sim-triggered-publisher-system"
+        name="gz::sim::systems::TriggeredPublisher">
+        <input type="gz.msgs.Int32" topic="/keyboard/keypress">
+            <match field="data">65</match>
+        </input>
+        <output type="gz.msgs.Twist" topic="cmd_vel">
+            linear: {x: 0.0}, angular: {z: 1.0}
+        </output>
+    </plugin>
+
+    <!-- Right: D -->
+    <plugin filename="gz-sim-triggered-publisher-system"
+        name="gz::sim::systems::TriggeredPublisher">
+        <input type="gz.msgs.Int32" topic="/keyboard/keypress">
+            <match field="data">68</match>
+        </input>
+        <output type="gz.msgs.Twist" topic="cmd_vel">
+            linear: {x: 0.0}, angular: {z: -1.0}
+        </output>
+    </plugin>
+
+    <!-- Forward Left: Q -->
+    <plugin filename="gz-sim-triggered-publisher-system"
+        name="gz::sim::systems::TriggeredPublisher">
+        <input type="gz.msgs.Int32" topic="/keyboard/keypress">
+            <match field="data">81</match>
+        </input>
+        <output type="gz.msgs.Twist" topic="cmd_vel">
+            linear: {x: 1.0}, angular: {z: 1.0}
+        </output>
+    </plugin>
+
+    <!-- Forward Right: E -->
+    <plugin filename="gz-sim-triggered-publisher-system"
+        name="gz::sim::systems::TriggeredPublisher">
+        <input type="gz.msgs.Int32" topic="/keyboard/keypress">
+            <match field="data">69</match>
+        </input>
+        <output type="gz.msgs.Twist" topic="cmd_vel">
+            linear: {x: 1.0}, angular: {z: -1.0}
+        </output>
+    </plugin>
+
+    <!-- Back Left: Z -->
+    <plugin filename="gz-sim-triggered-publisher-system"
+        name="gz::sim::systems::TriggeredPublisher">
+        <input type="gz.msgs.Int32" topic="/keyboard/keypress">
+            <match field="data">90</match>
+        </input>
+        <output type="gz.msgs.Twist" topic="cmd_vel">
+            linear: {x: -1.0}, angular: {z: 1.0}
+        </output>
+    </plugin>
+
+    <!-- Back Right: C -->
+    <plugin filename="gz-sim-triggered-publisher-system"
+        name="gz::sim::systems::TriggeredPublisher">
+        <input type="gz.msgs.Int32" topic="/keyboard/keypress">
+            <match field="data">67</match>
+        </input>
+        <output type="gz.msgs.Twist" topic="cmd_vel">
+            linear: {x: -1.0}, angular: {z: -1.0}
+        </output>
+    </plugin>
+
+</robot>
diff --git a/src/rove_description/urdf/flipper.urdf.xacro b/src/rove_description/urdf/flipper.urdf.xacro
@@ -36,7 +36,7 @@
             <dynamics damping="50.0" friction="50"/>
         </joint>
 
-       
+
 
 
         <link name="flipper_${suffix}">
@@ -54,7 +54,7 @@
                     <mesh filename="file://$(find rove_description)/meshes/flipper.stl"/>
                 </geometry>
                 <surface>
-                    <friction>
+<friction>
                         <ode>
                             <mu>0.65</mu>
                             <mu2>0.85</mu2>
@@ -75,7 +75,7 @@
             </inertial>
         </link>
         <gazebo>
-            <plugin name='ignition::gazebo::systems::TrackController' filename='libignition-gazebo-track-controller-system.so'>
+            <plugin name='gz::sim::systems::TrackController' filename='gz-sim-track-controller-system'>
                     <link>flipper_${suffix}</link>
                     <min_velocity>-3.0</min_velocity>
                     <max_velocity>3.0</max_velocity>

diff --git a/src/rove_description/urdf/gazebo.urdf.xacro b/src/rove_description/urdf/gazebo.urdf.xacro
@@ -3,14 +3,14 @@
 
     <gazebo>
         <plugin
-            filename="ignition-gazebo-joint-state-publisher-system"
-            name="ignition::gazebo::systems::JointStatePublisher">
+            filename="gz-sim-joint-state-publisher-system"
+            name="gz::sim::systems::JointStatePublisher">
             <topic>joint_states</topic>
         </plugin>
 
         <plugin
-            filename="ignition-gazebo-imu-system"
-            name="ignition::gazebo::systems::Imu">
+            filename="gz-sim-imu-system"
+            name="gz::sim::systems::Imu">
         </plugin>
 
 
@@ -22,27 +22,27 @@
             <right_track><link>flipper_fr</link></right_track>
             <right_track><link>flipper_rr</link></right_track>
 
-             <!-- TODO PUT ACTUAL VALUES -->
+            <!-- TODO PUT ACTUAL VALUES -->
             <tracks_separation>0.63</tracks_separation>
             <tracks_height>0.18094</tracks_height>
             <steering_efficiency>1</steering_efficiency>
 
-             <topic>cmd_vel</topic>
+            <topic>cmd_vel</topic>
 
             <odom_topic>odom</odom_topic>
             <frame_id>odom</frame_id>
             <child_frame_id>base_footprint</child_frame_id>
             <odom_publisher_frequency>30</odom_publisher_frequency>
 
             <publish_odom_tf>false</publish_odom_tf>
-            <publish_wheel_tf>true</publish_wheel_tf>
+            <publish_wheel_tf>false</publish_wheel_tf>
 
             <tf_topic>/tf</tf_topic>
         </plugin>
 
         <plugin 
-            filename="ignition-gazebo-sensors-system"
-            name="ignition::gazebo::systems::Sensors">
+            filename="gz-sim-sensors-system"
+            name="gz::sim::systems::Sensors">
             <render_engine>ogre2</render_engine>
         </plugin>
     </gazebo>