Add deprecated info

rosbot_xl_bringup/launch/bringup.launch.py

@@ -14,8 +14,9 @@
 
 from launch import LaunchDescription
 from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription
+from launch.conditions import UnlessCondition
 from launch.launch_description_sources import PythonLaunchDescriptionSource
-from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
+from launch.substitutions import LaunchConfiguration, PathJoinSubstitution, PythonExpression, ThisLaunchFileDir
 from launch_ros.actions import Node, SetParameter
 from launch_ros.substitutions import FindPackageShare
 
@@ -89,6 +90,12 @@ def generate_launch_description():
         default_value="ignition-gazebo",
         description="Which simulation engine will be used",
     )
+
+    combined_launch_deprecated = LaunchConfiguration("combined_launch_deprecated")
+    declare_combined_launch_deprecated_arg = DeclareLaunchArgument(
+        "combined_launch_deprecated",
+        default_value="False",
+    )
 
     rosbot_xl_controller = FindPackageShare("rosbot_xl_controller")
     rosbot_xl_bringup = FindPackageShare("rosbot_xl_bringup")
@@ -150,6 +157,11 @@ def generate_launch_description():
         namespace=namespace,
     )
 
+    microros_launch = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource([ThisLaunchFileDir(), "/microros.launch.py"]),
+        condition=UnlessCondition(PythonExpression([use_sim, " or ", combined_launch_deprecated])),
+    )
+
     return LaunchDescription(
         [
             declare_namespace_arg,
@@ -159,7 +171,9 @@ def generate_launch_description():
             declare_include_camera_mount_arg,
             declare_use_sim_arg,
             declare_simulation_engine_arg,
+            declare_combined_launch_deprecated_arg,
             SetParameter(name="use_sim_time", value=use_sim),
+            microros_launch,
             controller_launch,
             robot_localization_node,
             laser_filter_node,

rosbot_xl_bringup/launch/combined.launch.py

@@ -154,9 +154,11 @@ def generate_launch_description():
             "lidar_model": lidar_model,
             "camera_model": camera_model,
             "include_camera_mount": include_camera_mount,
+            "combined_launch_deprecated": LaunchConfiguration("combined_launch_deprecated", default=True),
         }.items(),
     )
 
+    print("\033[93m[WARN] [launch]: cobined.launch.py will be is deprecated and will be removed please use bringup.launch.py instead.\033[0m")
     return LaunchDescription(
         [
             declare_port_arg,

rosbot_xl_bringup/launch/microros.launch.py

@@ -0,0 +1,105 @@
+# Copyright 2024 Husarion
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+import os
+
+from launch import LaunchDescription
+from launch.actions import (
+    DeclareLaunchArgument,
+    LogInfo,
+    OpaqueFunction,
+    SetEnvironmentVariable,
+)
+from launch.substitutions import (
+    LaunchConfiguration,
+    PathJoinSubstitution,
+)
+from launch_ros.actions import Node
+from launch_ros.substitutions import FindPackageShare
+
+
+def generate_microros_agent_node(context, *args, **kwargs):
+    env_setup_actions = []
+
+    ros_domain_id = os.environ.get("ROS_DOMAIN_ID")
+    if ros_domain_id:
+        env_setup_actions.append(
+            SetEnvironmentVariable(name="XRCE_DOMAIN_ID_OVERRIDE", value=ros_domain_id)
+        )
+
+    port = LaunchConfiguration("port").perform(context)
+
+    localhost_only_fastrtps_profiles_file = LaunchConfiguration(
+        "localhost_only_fastrtps_profiles_file"
+    ).perform(context)
+
+    if os.environ.get("ROS_LOCALHOST_ONLY") == "1":
+        env_setup_actions.extend(
+            [
+                LogInfo(
+                    msg=[
+                        "ROS_LOCALHOST_ONLY set to 1. Using FASTRTPS_DEFAULT_PROFILES_FILE=",
+                        localhost_only_fastrtps_profiles_file,
+                        ".",
+                    ]
+                ),
+                SetEnvironmentVariable(name="RMW_IMPLEMENTATION", value="rmw_fastrtps_cpp"),
+                SetEnvironmentVariable(
+                    name="FASTRTPS_DEFAULT_PROFILES_FILE",
+                    value=localhost_only_fastrtps_profiles_file,
+                ),
+            ]
+        )
+
+    microros_agent_node = Node(
+        package="micro_ros_agent",
+        executable="micro_ros_agent",
+        arguments=["udp4", "--port", port],
+        output="screen",
+    )
+
+    return env_setup_actions + [microros_agent_node]
+
+
+def generate_launch_description():
+    declare_port_arg = DeclareLaunchArgument(
+        "port",
+        default_value="8888",
+        description="UDP4 port for micro-ROS agent",
+    )
+
+    # Locate the rosbot_bringup package
+    package_dir = FindPackageShare("rosbot_xl_bringup").find("rosbot_xl_bringup")
+
+    # Construct the path to the XML file within the package
+    fastrtps_profiles_file = PathJoinSubstitution(
+        [package_dir, "config", "microros_localhost_only.xml"]
+    )
+
+    declare_localhost_only_fastrtps_profiles_file_arg = DeclareLaunchArgument(
+        "localhost_only_fastrtps_profiles_file",
+        default_value=fastrtps_profiles_file,
+        description=(
+            "Path to the Fast RTPS default profiles file for Micro-ROS agent for localhost only"
+            " setup"
+        ),
+    )
+
+    return LaunchDescription(
+        [
+            declare_port_arg,
+            declare_localhost_only_fastrtps_profiles_file_arg,
+            OpaqueFunction(function=generate_microros_agent_node),
+        ]
+    )

rosbot_xl_utils/rosbot_xl_utils/flash_firmware.py

@@ -80,8 +80,8 @@ def main(args=None):
     parser.add_argument(
         "-p",
         "--port",
-        default="/dev/ttyUSB0",
-        help="Specify the USB port (default: /dev/ttyUSB0)",
+        default="/dev/ttyUSBDB",
+        help="Specify the USB port (default: /dev/ttyUSBDB)",
     )
     parser.add_argument("--file", help="Specify the firmware file")