From 98986b375b21b1c97db944987955e864bc14d1e9 Mon Sep 17 00:00:00 2001 From: rafal-gorecki Date: Thu, 3 Oct 2024 10:00:14 +0200 Subject: [PATCH 1/4] Use newer version with updated ROBOT_NAMESPACE --- .coderabbit.yaml | 9 +++++---- .github/workflows/protect-default-branch.yaml | 5 +++-- .github/workflows/release-repository.yaml | 15 +++++++++------ demo/compose.minimal-setup.yaml | 7 +++---- demo/compose.simulation.yaml | 1 - 5 files changed, 20 insertions(+), 17 deletions(-) diff --git a/.coderabbit.yaml b/.coderabbit.yaml index 51c85f2..8c9c45d 100644 --- a/.coderabbit.yaml +++ b/.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 \ No newline at end of file + auto_reply: true diff --git a/.github/workflows/protect-default-branch.yaml b/.github/workflows/protect-default-branch.yaml index 61f85f4..678daeb 100644 --- a/.github/workflows/protect-default-branch.yaml +++ b/.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 \ No newline at end of file + fi diff --git a/.github/workflows/release-repository.yaml b/.github/workflows/release-repository.yaml index 2e7e4e2..c742d18 100644 --- a/.github/workflows/release-repository.yaml +++ b/.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 ${{ env.MAIN_BRANCH }} \ diff --git a/demo/compose.minimal-setup.yaml b/demo/compose.minimal-setup.yaml index 8e13949..5f5e44d 100644 --- a/demo/compose.minimal-setup.yaml +++ b/demo/compose.minimal-setup.yaml @@ -4,7 +4,7 @@ x-common-config: &common-config restart: always environment: - RMW_IMPLEMENTATION=rmw_cyclonedds_cpp # Default FastDDS do not work - - ROBOT_NAMESPACE=panther + - ROBOT_NAMESPACE=${ROBOT_MODEL:-panther} - ROS_DOMAIN_ID=${ROS_DOMAIN_ID:-0} services: panther_ros: @@ -37,7 +37,7 @@ services: ros2 launch panther_bringup bringup.launch.py gamepad_controller: - image: husarion/joy2twist:humble-1.0.0-20240725-stable + image: husarion/joy2twist:humble-1.0.0-20241003 container_name: gamepad_controller <<: *common-config devices: @@ -46,5 +46,4 @@ services: - 'c 13:0 rmw' # gamepad stop_signal: SIGINT command: > - bash -c "ros2 launch joy2twist gamepad_controller.launch.py joy2twist_params_file:=$(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" diff --git a/demo/compose.simulation.yaml b/demo/compose.simulation.yaml index d39dc8f..6fbc027 100644 --- a/demo/compose.simulation.yaml +++ b/demo/compose.simulation.yaml @@ -20,4 +20,3 @@ services: - /tmp/.X11-unix:/tmp/.X11-unix:rw command: > ros2 launch panther_gazebo simulation.launch.py namespace:=panther - From b92196b382b0c703db60d614c1db7580a14e0d0f Mon Sep 17 00:00:00 2001 From: rafal-gorecki Date: Thu, 3 Oct 2024 10:23:58 +0200 Subject: [PATCH 2/4] Sim update --- README.md | 4 +++- demo/compose.simulation.yaml | 2 +- 2 files changed, 4 insertions(+), 2 deletions(-) diff --git a/README.md b/README.md index 9ba248d..6019186 100644 --- a/README.md +++ b/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). diff --git a/demo/compose.simulation.yaml b/demo/compose.simulation.yaml index 6fbc027..c24c55e 100644 --- a/demo/compose.simulation.yaml +++ b/demo/compose.simulation.yaml @@ -19,4 +19,4 @@ services: 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 From f7f08f33912ab9e0e40c90f69592b6a83d3f338d Mon Sep 17 00:00:00 2001 From: rafal-gorecki <126687345+rafal-gorecki@users.noreply.github.com> Date: Fri, 4 Oct 2024 12:22:06 +0200 Subject: [PATCH 3/4] Update compose.minimal-setup.yaml --- demo/compose.minimal-setup.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/demo/compose.minimal-setup.yaml b/demo/compose.minimal-setup.yaml index 5f5e44d..8732624 100644 --- a/demo/compose.minimal-setup.yaml +++ b/demo/compose.minimal-setup.yaml @@ -37,7 +37,7 @@ services: ros2 launch panther_bringup bringup.launch.py gamepad_controller: - image: husarion/joy2twist:humble-1.0.0-20241003 + image: husarion/joy2twist:humble-1.0.0-20241003-stable container_name: gamepad_controller <<: *common-config devices: From f5d61a994999b0f6b4cb7e8de136d92522068e69 Mon Sep 17 00:00:00 2001 From: rafal-gorecki Date: Fri, 4 Oct 2024 12:36:35 +0200 Subject: [PATCH 4/4] Add ROBOT_MODEL env --- demo/compose.minimal-setup.yaml | 1 + 1 file changed, 1 insertion(+) diff --git a/demo/compose.minimal-setup.yaml b/demo/compose.minimal-setup.yaml index 8732624..3576675 100644 --- a/demo/compose.minimal-setup.yaml +++ b/demo/compose.minimal-setup.yaml @@ -4,6 +4,7 @@ x-common-config: &common-config restart: always environment: - RMW_IMPLEMENTATION=rmw_cyclonedds_cpp # Default FastDDS do not work + - ROBOT_MODEL=${ROBOT_MODEL:-panther} - ROBOT_NAMESPACE=${ROBOT_MODEL:-panther} - ROS_DOMAIN_ID=${ROS_DOMAIN_ID:-0} services: