Merge pull request #89 from husarion/2.1.2-20241125

Release 2.1.2 to ros2

.coderabbit.yaml

@@ -1,8 +1,9 @@
+---
 # yaml-language-server: $schema=https://coderabbit.ai/integrations/schema.v2.json
-language: "en-US"
+language: en-US
 early_access: false
 reviews:
-  profile: "chill"
+  profile: chill
   request_changes_workflow: false
   high_level_summary: true
   poem: false
@@ -12,6 +13,6 @@ reviews:
     enabled: true
     drafts: false
     base_branches:
-      - "ros2-devel"
+      - ros2-devel
 chat:
-  auto_reply: true
+  auto_reply: true

.github/workflows/protect-default-branch.yaml

@@ -1,8 +1,9 @@
+---
 name: Validate PR head branch
 on:
   pull_request:
     branches:
-      - "ros2"
+      - ros2
 
 jobs:
   check-head-branch:
@@ -20,4 +21,4 @@ jobs:
           else
             echo "PRs must come from branches containing 'hotfix' phrase or matching X.X.X-YYYYMMDD pattern."
             exit 1
-          fi
+          fi

.github/workflows/release-repository.yaml

@@ -11,8 +11,7 @@ on:
         description: New version (used for tag).
         required: true
       release_name:
-        description:
-          Name of the release to be created. Version in the first place is recommended (e.g.
+        description: Name of the release to be created. Version in the first place is recommended (e.g.
           `2.0.0-alpha`).
         required: true
       automatic_mode:
@@ -61,18 +60,21 @@ jobs:
           --body "This PR incorporates release updates."
 
       - name: Merge PR to main branch
-        if: ${{ fromJSON(github.event.inputs.automatic_mode) == true && github.event.inputs.release_candidate != env.MAIN_BRANCH && env.DIFF == 'true' }}
+        if: ${{ fromJSON(github.event.inputs.automatic_mode) == true && github.event.inputs.release_candidate
+          != env.MAIN_BRANCH && env.DIFF == 'true' }}
         run: |
           gh pr merge ${{ github.event.inputs.release_candidate }} \
           --merge --delete-branch
 
       - name: Delete branch
-        if: ${{ fromJSON(github.event.inputs.automatic_mode) == true && github.event.inputs.release_candidate != env.MAIN_BRANCH && env.DIFF == 'false' }}
+        if: ${{ fromJSON(github.event.inputs.automatic_mode) == true && github.event.inputs.release_candidate
+          != env.MAIN_BRANCH && env.DIFF == 'false' }}
         run: |
           git push origin --delete ${{ github.event.inputs.release_candidate }}
 
       - name: Create prerelease
-        if: ${{ fromJSON(github.event.inputs.automatic_mode) == true && fromJSON(github.event.inputs.prerelease) == true}}
+        if: ${{ fromJSON(github.event.inputs.automatic_mode) == true && fromJSON(github.event.inputs.prerelease)
+          == true}}
         run: |
           gh release create ${{ github.event.inputs.version }} \
           --target ${{ env.MAIN_BRANCH }} \
@@ -81,7 +83,8 @@ jobs:
           --prerelease
 
       - name: Create release
-        if: ${{ fromJSON(github.event.inputs.automatic_mode) == true && fromJSON(github.event.inputs.prerelease) == false}}
+        if: ${{ fromJSON(github.event.inputs.automatic_mode) == true && fromJSON(github.event.inputs.prerelease)
+          == false}}
         run: |
           gh release create ${{ github.event.inputs.version }} \
           --target ${{ env.MAIN_BRANCH }} \

.github/workflows/ros-docker-image.yaml

@@ -4,6 +4,11 @@ name: Build/Publish ROS Docker Image
 on:
   workflow_dispatch:
     inputs:
+      panther_codebase_version:
+        description: Version of the panther_ros to be used in the docker image (branch/tag/commit).
+        required: true
+        type: string
+        default: ros2-devel
       build_type:
         description: Is it a "development" or a "stable" release?
         required: true
@@ -48,13 +53,14 @@ jobs:
         uses: actions/checkout@v2
 
       - name: Build Docker Image
-        uses: husarion-ci/ros-docker-img-action@v0.5
+        uses: husarion-ci/ros-docker-img-action@v0.6
         with:
           dockerhub_username: ${{ secrets.DOCKERHUB_USERNAME }}
           dockerhub_token: ${{ secrets.DOCKERHUB_TOKEN }}
           main_branch_name: ros2
           dockerfile: ${{ matrix.dockerfile }}
           repo_name: ${{ matrix.repo_name }}
+          branch_name: ${{ inputs.panther_codebase_version }}
           build_type: ${{ inputs.build_type }}
           ros_distro: ${{ matrix.ros_distro }}
           platforms: ${{ matrix.platforms }}

Dockerfile.hardware

@@ -1,8 +1,10 @@
 ARG ROS_DISTRO=humble
-ARG BUILD_TEST=OFF
 
 FROM husarnet/ros:${ROS_DISTRO}-ros-core
 
+ARG BRANCH_NAME=ros2-devel
+ARG BUILD_TEST=OFF
+
 ENV HUSARION_ROS_BUILD_TYPE=hardware
 
 STOPSIGNAL SIGINT
@@ -13,7 +15,7 @@ RUN apt-get update  && \
     apt-get install -y \
         ros-dev-tools && \
     # Setup workspace
-    git clone -b ros2-devel https://github.com/husarion/panther_ros.git src/panther_ros && \
+    git clone -b ${BRANCH_NAME} https://github.com/husarion/panther_ros.git src/panther_ros && \
     vcs import src < src/panther_ros/panther/panther_${HUSARION_ROS_BUILD_TYPE}.repos && \
     cp -r src/ros2_controllers/diff_drive_controller src && \
     cp -r src/ros2_controllers/imu_sensor_broadcaster src && \

Dockerfile.simulation

@@ -1,8 +1,10 @@
 ARG ROS_DISTRO=humble
-ARG BUILD_TEST=OFF
 
 FROM husarnet/ros:${ROS_DISTRO}-ros-core
 
+ARG BRANCH_NAME=ros2-devel
+ARG BUILD_TEST=OFF
+
 ENV HUSARION_ROS_BUILD_TYPE=simulation
 
 STOPSIGNAL SIGINT
@@ -13,7 +15,7 @@ RUN apt-get update  && \
     apt-get install -y \
         ros-dev-tools && \
     # Setup workspace
-    git clone -b ros2-devel https://github.com/husarion/panther_ros.git src/panther_ros && \
+    git clone -b ${BRANCH_NAME} https://github.com/husarion/panther_ros.git src/panther_ros && \
     vcs import src < src/panther_ros/panther/panther_${HUSARION_ROS_BUILD_TYPE}.repos && \
     cp -r src/ros2_controllers/diff_drive_controller src && \
     cp -r src/ros2_controllers/imu_sensor_broadcaster src && \

README.md

@@ -58,4 +58,6 @@ docker compose -f compose.simulation.yaml up
 ```
 
 > [!NOTE]
-> If you have an NVIDIA GPU, it is worth changing the compose configuration from cpu-config to gpu-config. For this purpose, it is necessary to install [NVIDIA Container Toolkit](https://docs.nvidia.com/datacenter/cloud-native/container-toolkit/latest/install-guide.html). With NVIDIA Container Toolkit installed, modify following Docker compose file by replacing `*cpu-config` with `*gpu-config`: [compose.simulation.yaml](./demo/compose.simulation.yaml).
+>
+> 1. You can change robot model and namespace by editing the launch command in `compose.simulation.yaml`.
+> 2. If you have an NVIDIA GPU, it is worth changing the compose configuration from `cpu-config` to `gpu-config`. For this purpose, it is necessary to install [NVIDIA Container Toolkit](https://docs.nvidia.com/datacenter/cloud-native/container-toolkit/latest/install-guide.html). With NVIDIA Container Toolkit installed, modify following Docker compose file by replacing `*cpu-config` with `*gpu-config`: [compose.simulation.yaml](./demo/compose.simulation.yaml).

demo/compose.minimal-setup.yaml

@@ -4,11 +4,12 @@ x-common-config: &common-config
   restart: always
   environment:
     - RMW_IMPLEMENTATION=rmw_cyclonedds_cpp # Default FastDDS do not work
-    - ROBOT_NAMESPACE=panther
+    - ROBOT_MODEL=${ROBOT_MODEL:-panther}
+    - ROBOT_NAMESPACE=${ROBOT_MODEL:-panther}
     - ROS_DOMAIN_ID=${ROS_DOMAIN_ID:-0}
 services:
   panther_ros:
-    image: husarion/panther:humble-2.1.1-20240828
+    image: husarion/panther:humble-2.1.2-20241125
     container_name: panther_ros
     <<: *common-config
     devices:
@@ -37,7 +38,7 @@ services:
       ros2 launch panther_bringup bringup.launch.py
 
   gamepad_controller:
-    image: husarion/joy2twist:humble-1.0.0-20240725-stable
+    image: husarion/joy2twist:humble-1.0.0-20241003-stable
     container_name: gamepad_controller
     <<: *common-config
     devices:
@@ -46,5 +47,5 @@ services:
       - 'c 13:0 rmw' # gamepad
     stop_signal: SIGINT
     command: >
-      bash -c "ros2 launch joy2twist gamepad_controller.launch.py joy2twist_params_file:=$(ros2 pkg prefix joy2twist)/share/joy2twist/config/joy2twist_panther.yaml namespace:=panther"
+      bash -c "ros2 launch joy2twist gamepad_controller.launch.py joy2twist_params_file:=$(ros2 pkg prefix joy2twist)/share/joy2twist/config/joy2twist_ugv.yaml"
 

demo/compose.simulation.yaml

@@ -11,13 +11,13 @@ x-gpu-config: &gpu-config
   env_file: .env.gpu
 services:
   panther_gazebo:
-    image: husarion/panther-gazebo:humble-2.1.1-20240828
+    image: husarion/panther-gazebo:humble-2.1.2-20241125
     container_name: panther_gazebo
     <<:
       - *common-config
       - *cpu-config
     volumes:
       - /tmp/.X11-unix:/tmp/.X11-unix:rw
     command: >
-      ros2 launch panther_gazebo simulation.launch.py namespace:=panther
+      ros2 launch panther_gazebo simulation.launch.py robot_model:=panther namespace:=panther