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Use newer version with updated ROBOT_NAMESPACE #87

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Oct 7, 2024
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9 changes: 5 additions & 4 deletions .coderabbit.yaml
Original file line number Diff line number Diff line change
@@ -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
5 changes: 3 additions & 2 deletions .github/workflows/protect-default-branch.yaml
Original file line number Diff line number Diff line change
@@ -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
15 changes: 9 additions & 6 deletions .github/workflows/release-repository.yaml
Original file line number Diff line number Diff line change
@@ -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 }} \
4 changes: 3 additions & 1 deletion README.md
Original file line number Diff line number Diff line change
@@ -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).
8 changes: 4 additions & 4 deletions demo/compose.minimal-setup.yaml
Original file line number Diff line number Diff line change
@@ -4,7 +4,8 @@ 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:
@@ -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 +47,4 @@ 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"
3 changes: 1 addition & 2 deletions demo/compose.simulation.yaml
Original file line number Diff line number Diff line change
@@ -19,5 +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