update readme and move rename examples (#11)

.github/workflows/ci.yml

@@ -26,7 +26,6 @@ jobs:
       - uses: ros-tooling/setup-ros@v0.6
         with:
           required-ros-distributions: noetic
-      #- run: "source /opt/ros/noetic/setup.bash && rosnode --help"
       - uses: Swatinem/rust-cache@v2
       - name: Install dependencies
         run: sudo apt install -y protobuf-compiler

README.md

@@ -1,7 +1,14 @@
-# How to test the amiga-ROS bridge in simulation
+# ROS bridge for the Amiga
 
-***This is currently without Amiga HW in the loop***
+[![Build Status](https://travis-ci.com/farm-ng/amiga-ros-bridge.svg?branch=master)](https://travis-ci.com/farm-ng/amiga-ros-bridge)
+[![GitHub release (latest by date)](https://img.shields.io/github/v/release/farm-ng/amiga-ros-bridge)](https://github.com/farm-ng/amiga-ros-bridge/releases/latest)
+[![License](https://img.shields.io/badge/License-ADK-blue.svg)](https://github.com/farm-ng/farm-ng-amiga/blob/main/LICENSE)
+[![ROS](https://img.shields.io/badge/ROS-Noetic-blue)](https://www.ros.org)
+[![Rust](https://img.shields.io/badge/rust-1.66.0+-93450a.svg?logo=rust)](https://www.rust-lang.org)
 
+This repository contains a ROS bridge for the Farm-ng Amiga platform written in [Rust](https://www.rust-lang.org/).
+
+> **Disclaimer:** the Amiga stack does not leverage ROS for control, but rather uses a gRPC service for control. This bridge is provided as a convenience for users who wish to use ROS for control. For performance critical applications, we recommend using the gRPC service directly.
 
 ## Overview
 
@@ -29,7 +36,6 @@ Clone the repository and initialize the submodule.
 
 ** [optional] `roscd` to your ROS workspace and clone this repository there.
 
-
 ```bash
 git clone https://github.com/farm-ng/amiga-ros-bridge.git
 git submodule update --init
@@ -40,7 +46,7 @@ git submodule update --init
 - [ROS Noetic install instructions](http://wiki.ros.org/noetic/Installation/Ubuntu)
 - [Rust install instructions](https://www.rust-lang.org/learn/get-started).
 
-## Run the bridge (with ROS commands)
+## Run the bridge
 
 ### Terminal 1
 
@@ -81,50 +87,9 @@ and that you know the IP address of the Amiga.
 rosrun amiga_ros_bridge amiga_ros_bridge -H 192.168.1.98 -p 50060
 ```
 
-## Steps to follow (without ROS commands)
-
-### Terminal 1
-
-Start ROS core:
-
-```bash
-source /opt/ros/noetic/setup.bash
-roscore
-```
-
-### Terminal 2
-
-***In a new terminal***, start the Amiga mock server:
-
-```bash
-source /opt/ros/noetic/setup.bash
-cargo run --example amiga-mock-server
-```
-
-This is a stand-in for the actual Amiga gRPC canbus service that echos back the received commands.
-
-### Terminal 3
-
-***In a new terminal***, start the ROS bridge:
-
-> Warning: This will crash immediately if there is no Amiga gRPC (or mock) service to connect to.
-
-```bash
-source /opt/ros/noetic/setup.bash
-cargo run
-```
-
-This will register the bridge to the Vehicle `Twist` stream, forward these as gRPC messages, and republish them as ROS `TwistStamped` messages.
-
-### Terminal 4 (+ 5)
-
-This is where you would launch your ROS nodes for controlling the Amiga and listening to the measured state of the Amiga.
-You can also try the following stand-in tools:
-
-- [Experimental Amiga Joystick](#experimental-amiga-joystick)
-- [Stable ROS packages](#stable-ros-packages)
+## Control the Amiga
 
-#### Experimental Amiga Joystick
+### Experimental Amiga Joystick
 
 You can start the **experimental** amiga-joystick app to command velocities
 to the Amiga (e.g. the mock server) and print received velocity states:
@@ -138,7 +103,7 @@ cargo run --example amiga-joystick
 
 Use arrow keys (left, right, up, down) to command velocities to the Amiga.
 
-#### Stable ROS packages
+### Stable ROS packages
 
 You can publish `Twist` commands to the ROS bridge on the `/amiga/cmd_vel` topic with the [`rqt_robot_steering`](http://wiki.ros.org/rqt_robot_steering) package.
 
@@ -170,13 +135,58 @@ We have provided some examples to help you get started. You will find the exampl
 
 ### Python
 
-- [`twist_publisher.py`](examples/twist_publisher.py): Publishes a `Twist` message on the `/amiga/cmd_vel` topic.
-- [`twist_subscriber.py`](examples/twist_subscriber.py): Subscribes to the `/amiga/vel` topic and prints the received `TwistStamped` messages.
+- [`amiga_cmd_vel_publisher.py`](examples/amiga_cmd_vel_publisher.py): Publishes a `TwistStamped` message on the `/amiga/cmd_vel` topic.
+- [`amiga_vel_subscriber.py`](examples/amiga_vel_subscriber.py): Subscribes to the `/amiga/vel` topic and prints the received `TwistStamped` messages.
 
 ### Rust
 
+- [`amiga_cmd_vel_publisher.rs`](examples/amiga_cmd_vel_publisher.rs): Publishes a `TwistStamped` message on the `/amiga/cmd_vel` topic.
+- [`amiga_vel_subscriber.rs`](examples/amiga_vel_subscriber.rs): Subscribes to the `/amiga/vel` topic and prints the received `TwistStamped` messages.
 - [`amiga-joystick.rs`](examples/amiga-joystick.rs): A simple joystick to command velocities to the Amiga and print received velocity states.
 
+## Run the mocked bridge
+
+### Terminal 1
+
+Start ROS core:
+
+```bash
+source /opt/ros/noetic/setup.bash
+roscore
+```
+
+### Terminal 2
+
+***In a new terminal***, start the Amiga mock server:
+
+```bash
+source /opt/ros/noetic/setup.bash
+cargo run --example amiga-mock-server
+```
+
+This is a stand-in for the actual Amiga gRPC canbus service that echos back the received commands.
+
+### Terminal 3
+
+***In a new terminal***, start the ROS bridge:
+
+> Warning: This will crash immediately if there is no Amiga gRPC (or mock) service to connect to.
+
+```bash
+source /opt/ros/noetic/setup.bash
+cargo run
+```
+
+This will register the bridge to the Vehicle `Twist` stream, forward these as gRPC messages, and republish them as ROS `TwistStamped` messages.
+
+### Terminal 4 (+ 5)
+
+This is where you would launch your ROS nodes for controlling the Amiga and listening to the measured state of the Amiga.
+You can also try the following stand-in tools:
+
+- [Experimental Amiga Joystick](#experimental-amiga-joystick)
+- [Stable ROS packages](#stable-ros-packages)
+
 ## Do you want to know more?
 
-Inspect ci_test.sh.
+Inspect [`ci_test.sh`](ci_test.sh) for a full example of how to run the bridge in a CI environment.

ci_test.sh

@@ -3,7 +3,7 @@ cargo build
 roslaunch launch/test_launch.launch &
 sleep 2
 cargo run --example amiga-mock-server &
-cargo run --example test-amiga-cmd_vel &
+cargo run --example amiga_cmd_vel_publisher &
 cargo run -- --test-mode &
-cargo run --example test-amiga-vel
+cargo run --example amiga_vel_subscriber
 echo DONE

examples/amiga-mock-server.rs

@@ -1,8 +1,8 @@
 use futures::Stream;
-use ros_bridge::grpc::farm_ng::canbus::proto::canbus_service_server::{
+use amiga_ros_bridge::grpc::farm_ng::canbus::proto::canbus_service_server::{
     CanbusService, CanbusServiceServer,
 };
-use ros_bridge::grpc::farm_ng::canbus::proto::{
+use amiga_ros_bridge::grpc::farm_ng::canbus::proto::{
     SendCanbusMessageReply, SendCanbusMessageRequest, SendVehicleTwistCommandReply,
     SendVehicleTwistCommandRequest, StreamCanbusReply, StreamCanbusRequest, StreamMotorStatesReply,
     StreamMotorStatesRequest, StreamVehicleTwistStateReply, StreamVehicleTwistStateRequest,

examples/test-amiga-cmd_vel.rs → examples/amiga_cmd_vel_publisher.rs

@@ -1,6 +1,6 @@
 fn main() {
     // Initialize node
-    rosrust::init("amiga_cmd_vel_test");
+    rosrust::init("amiga_cmd_vel_publisher");
 
     // Create publisher
     let cmd_vel_pub = rosrust::publish("/amiga/cmd_vel", 2).unwrap();

examples/test-amiga-vel.rs → examples/amiga_vel_subscriber.rs

@@ -7,7 +7,7 @@ fn main() {
     tracing::subscriber::set_global_default(subscriber).expect("setting default subscriber failed");
 
     // Initialize node
-    rosrust::init("amiga/vel listener");
+    rosrust::init("amiga_vel_subcriber");
     let arc_count = std::sync::Arc::new(std::sync::Mutex::<u32>::new(0));
     let arc_count_clone = arc_count.clone();
     let _subscriber_raii = rosrust::subscribe(
@@ -20,7 +20,7 @@ fn main() {
         },
     )
     .unwrap();
-    info!("/amiga/vel subscriber launched");
+    info!("amiga_vel_subscriber launched");
     let rate = rosrust::rate(0.0);
 
     // Block the thread until a count=10

src/main.rs

@@ -194,7 +194,7 @@ async fn main() {
     debug!("Connecting to gRPC server at {}", address);
 
     // the gRPC client takes the receiver rx.
-    let handle = runtime.spawn(async move {
+    let _ = runtime.spawn(async move {
         AmgigRosBridgeGrpcClient::connect(address)
             .await
             .unwrap()