Refactor husarion snap common

.gitignore

@@ -1,3 +1,5 @@
 *.snap
-squashfs-root
-test*
+.snapcraft_store_credentials.txt
+squashfs-root/
+**/snapcraft.yaml
+exported.txt

demo/compose.yaml

@@ -9,7 +9,7 @@ x-net-config:
 
 x-gpu-config:
   &gpu-config
-  runtime: nvidia
+  # runtime: nvidia
   environment:
     - DISPLAY=${DISPLAY:?err}
     - NVIDIA_VISIBLE_DEVICES=all
@@ -23,16 +23,5 @@ services:
     container_name: rviz
     volumes:
       - /tmp/.X11-unix:/tmp/.X11-unix:rw
-      - ./config/rosbot_xl.rviz:/ros2_ws/install/rosbot_xl_manipulation_moveit/share/rosbot_xl_manipulation_moveit/config/moveit.rviz
     command: ros2 launch rosbot_xl_manipulation_moveit rviz.launch.py
 
-  joy2twist:
-    image: husarion/joy2twist:humble-1.0.0-20230204-stable
-    <<: *net-config
-    devices:
-      - /dev/input
-    volumes: 
-      - ./config/joy2twist.yaml:/joy2twist.yaml
-    command: > 
-      ros2 launch joy2twist gamepad_controller.launch.py
-        joy2twist_params_file:=/joy2twist.yaml

demo/net.env

@@ -3,10 +3,10 @@
 # =======================================
 
 # 1. Fast DDS + LAN
-# RMW_IMPLEMENTATION=rmw_fastrtps_cpp
+RMW_IMPLEMENTATION=rmw_fastrtps_cpp
 
 # 2. Cyclone DDS + LAN
-RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
+# RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
 
 # 3. Fast DDS + VPN
 # RMW_IMPLEMENTATION=rmw_fastrtps_cpp

justfile

@@ -142,8 +142,8 @@ teleop:
     # export FASTRTPS_DEFAULT_PROFILES_FILE=$(pwd)/shm-only.xml
     ros2 run teleop_twist_keyboard teleop_twist_keyboard # --ros-args -r __ns:=/robot
 
-iterate:
-    #!/bin/bash -e
+iterate target="jazzy":
+    #!/bin/bash
     start_time=$(date +%s)
 
     echo "Starting script..."
@@ -152,13 +152,31 @@ iterate:
     sudo rm -rf squashfs-root/
     sudo rm -rf rosbot-xl*.snap
     export SNAPCRAFT_ENABLE_EXPERIMENTAL_EXTENSIONS=1
-    snapcraft clean
+
+    if [ {{target}} == "humble" ]; then
+        export ROS_DISTRO=humble
+    elif [ {{target}} == "jazzy" ]; then
+        export ROS_DISTRO=jazzy
+    else
+        echo "Unknown target: {{target}}"
+        exit 1
+    fi
+
+    if [ -f snap/snapcraft.yaml ]; then
+        snapcraft clean
+        sudo rm -rf snap/snapcraft.yaml
+    fi
+
+    ./render_template.py ./snapcraft_template.yaml.jinja2 snap/snapcraft.yaml
+    chmod 444 snap/snapcraft.yaml
     snapcraft
     unsquashfs rosbot-xl*.snap
     sudo snap try squashfs-root/
     sudo snap connect rosbot-xl:raw-usb
     sudo snap connect rosbot-xl:shm-plug rosbot-xl:shm-slot
     sudo snap connect rosbot-xl:shutdown
+    sudo snap connect rosbot-xl:hardware-observe
+    sudo snap connect rosbot-xl:joystick
 
     end_time=$(date +%s)
     duration=$(( end_time - start_time ))
@@ -172,4 +190,16 @@ iterate:
 remove-logs:
     #!/bin/bash
     sudo rm -rf /var/log/journal/*
-    sudo systemctl restart systemd-journald
+    sudo systemctl restart systemd-journald
+
+prepare-store-credentials:
+    #!/bin/bash
+    snapcraft export-login --snaps=rosbot-xl \
+      --acls package_access,package_push,package_update,package_release \
+      exported.txt
+
+publish:
+    #!/bin/bash
+    export SNAPCRAFT_STORE_CREDENTIALS=$(cat exported.txt)
+    snapcraft login
+    snapcraft upload --release edge rosbot-xl*.snap

snap/hooks/configure

@@ -9,11 +9,9 @@ source $SNAP/usr/bin/utils.sh
 
 # Define the top-level key and the list of valid keys
 VALID_DRIVER_KEYS=("mecanum" "include-camera-mount" "camera-model" "lidar-model" "db-serial-port" "manipulator-serial-port" )
-VALID_WEBUI_KEYS=("layout" "port")
 
 # Call the validation function
 validate_keys "driver" VALID_DRIVER_KEYS[@]
-validate_keys "webui" VALID_WEBUI_KEYS[@]
 
 # Define the valid options for camera model and lidar model
 VALID_CAMERA_OPTIONS=("None" "intel_realsense_d435" "orbbec_astra" "stereolabs_zed" "stereolabs_zedm" "stereolabs_zed2" "stereolabs_zed2i" "stereolabs_zedx" "stereolabs_zedxm")
@@ -27,25 +25,10 @@ validate_option "driver.mecanum" VALID_BOOLEAN_OPTIONS[@]
 validate_option "driver.include-camera-mount" VALID_BOOLEAN_OPTIONS[@]
 
 # Validate specific serial ports
-validate_serial_port "driver.db-serial-port"
-validate_serial_port "driver.manipulator-serial-port"
-
-# Get the transport setting using snapctl
-OPT="webui.layout"
-LAYOUT="$(snapctl get ${OPT})"
-
-# Only exit with status 1 if conditions are not met
-if [ ! -f "${SNAP_COMMON}/foxglove-${LAYOUT}.json" ]; then
-  log_and_echo "'${SNAP_COMMON}/foxglove-${LAYOUT}.json' does not exist."
-  exit 1
-fi
-
-# Make sure WEBUI_PORT is valid
-EXCLUDED_PORTS=(3000 8888)
-SUPPORTED_RANGE=(0 65535)
-
-# Validate a specific port, for example, webui.port
-validate_number "webui.port" SUPPORTED_RANGE[@] EXCLUDED_PORTS[@]
+# validate driver.serial-port
+ALTERNATIVE_SERIAL_PORT_OPTIONS=("auto")
+validate_path "driver.db-serial-port" "/dev/ttyUSB[0-9]+" ALTERNATIVE_SERIAL_PORT_OPTIONS[@]
+validate_path "driver.manipulator-serial-port" "/dev/ttyUSB[0-9]+" ALTERNATIVE_SERIAL_PORT_OPTIONS[@]
 
 VALID_CONFIGURATION_OPTIONS=("basic" "manipulation")
 
@@ -65,7 +48,7 @@ fi
 $SNAP/usr/bin/configure_hook_ros.sh
 
 # restart services with new ROS 2 config
-for service in daemon web-ui web-ws joy teleop-twist-joy; do
+for service in daemon joy; do
   if snapctl services ${SNAP_NAME}.${service} | grep -qw enabled; then
     snapctl restart ${SNAP_NAME}.${service}
     log "Restarted ${SNAP_NAME}.${service}"

snap/hooks/install

@@ -14,21 +14,18 @@ snapctl set driver.lidar-model=None
 snapctl set driver.db-serial-port=auto
 snapctl set driver.manipulator-serial-port=auto
 
-snapctl set webui.layout=default
-snapctl set webui.port=8080
-
 snapctl set configuration=basic
 
 if ! snapctl is-connected raw-usb; then
   log "Plug 'raw-usb' isn't connected, please run:"
   log "sudo snap connect ${SNAP_NAME}:raw-usb"
 fi
 
-# copy meshes to shared folder
-log "copy meshes to '${SNAP_COMMON}/ros2_ws/'"
-mkdir -p ${SNAP_COMMON}/ros2_ws
-cp -r $SNAP/opt/ros/snap/share/rosbot_xl_description ${SNAP_COMMON}/ros2_ws/rosbot_xl_description
-cp -r $SNAP/opt/ros/snap/share/ros_components_description ${SNAP_COMMON}/ros2_ws/ros_components_description
+# # copy meshes to shared folder
+# log "copy meshes to '${SNAP_COMMON}/ros2_ws/'"
+# mkdir -p ${SNAP_COMMON}/ros2_ws
+# cp -r $SNAP/opt/ros/snap/share/rosbot_xl_description ${SNAP_COMMON}/ros2_ws/rosbot_xl_description
+# cp -r $SNAP/opt/ros/snap/share/ros_components_description ${SNAP_COMMON}/ros2_ws/ros_components_description
 
 # copy joy params
 cp -r $SNAP/usr/share/rosbot-xl/config/teleop_twist_joy_params.yaml ${SNAP_COMMON}/
@@ -38,5 +35,5 @@ cp -r $SNAP/usr/share/rosbot-xl/config/joy_servo.yaml ${SNAP_COMMON}/
 cp -r $SNAP/usr/share/rosbot-xl/config/joy_teleop.config.yaml ${SNAP_COMMON}/
 cp -r $SNAP/usr/share/rosbot-xl/config/joy_params.yaml ${SNAP_COMMON}/
 
-# copy webui layouts
-cp -r $SNAP/usr/share/$SNAP_NAME/config/foxglove-*.json ${SNAP_COMMON}/
+# # copy webui layouts
+# cp -r $SNAP/usr/share/$SNAP_NAME/config/foxglove-*.json ${SNAP_COMMON}/

snap/local/flash_launcher.sh

@@ -19,7 +19,7 @@ else
 fi
 
 # Check if SERIAL_PORT is set to auto or specified
-SERIAL_PORT=$(find_ttyUSB driver.db-serial-port "0403" "6015")
+SERIAL_PORT=$(find_usb_device "ttyUSB" driver.db-serial-port "0403" "6015")
 if [ $? -ne 0 ]; then
   log_and_echo "Failed to find the serial port."
   exit 1