Add Kuba suggestions

.github/workflows/industrial_ci.yaml

@@ -49,10 +49,6 @@ jobs:
           cp -r src/ros2_controllers/diff_drive_controller src/
           cp -r src/ros2_controllers/imu_sensor_broadcaster src/
           rm -rf src/ros2_controllers
-          cp -r src/geometry2/tf2_ros_py src/
-          rm -rf src/geometry2/
-          rm -rf src/gazebosim/gz_ros2_control/ign_ros2_control_demos
-          rm -rf src/gazebosim/gz_ros2_control/gz_ros2_control_tests
 
       - uses: ros-industrial/industrial_ci@master
         env:

rosbot_xl/rosbot_xl_hardware.repos

@@ -15,7 +15,3 @@ repositories:
     type: git
     url: https://github.com/delihus/ros2_controllers
     version: humble
-  geometry2:
-    type: git
-    url: https://github.com/delihus/geometry2
-    version: rolling

rosbot_xl/rosbot_xl_simulation.repos

@@ -1,9 +1,4 @@
 repositories:
-  gazebosim/gz_ros2_control:
-    type: git
-    url: https://github.com/ros-controls/gz_ros2_control
-    version: humble
-
   husarion/husarion_office_gz:
     type: git
     url: https://github.com/husarion/husarion_office_gz

rosbot_xl_bringup/test/test_multirobot_ekf_and_scan.py

@@ -65,17 +65,17 @@ def test_namespaced_bringup_startup_success():
         nodes = {}
         executor = SingleThreadedExecutor()
 
-        for node_name in robot_names:
-            node = BringupTestNode("test_bringup", namespace=node_name)
+        for node_namespace in robot_names:
+            node = BringupTestNode("test_bringup", namespace=node_namespace)
             node.start_publishing_fake_hardware()
-            nodes[node_name] = node
+            nodes[node_namespace] = node
             executor.add_node(node)
 
         Thread(target=lambda executor: executor.spin(), args=(executor,)).start()
 
-        for node_name in robot_names:
-            node = nodes[node_name]
-            ekf_and_scan_test(node, node_name)
+        for node_namespace in robot_names:
+            node = nodes[node_namespace]
+            ekf_and_scan_test(node, node_namespace)
             executor.remove_node(node)
             node.destroy_node()
 

rosbot_xl_gazebo/test/test_multirobot_diff_drive_simulation.py

@@ -67,16 +67,16 @@ def test_multirobot_diff_drive_simulation():
         nodes = {}
         executor = SingleThreadedExecutor()
 
-        for node_name in robots:
-            node = SimulationTest("test_multirobot_diff_drive_simulation", namespace=node_name)
-            nodes[node_name] = node
+        for node_namespace in robots:
+            node = SimulationTest("test_multirobot_diff_drive_simulation", namespace=node_namespace)
+            nodes[node_namespace] = node
             executor.add_node(node)
 
         Thread(target=lambda executor: executor.spin(), args=(executor,)).start()
 
-        for node_name in robots:
-            node = nodes[node_name]
-            diff_test(node, node_name)
+        for node_namespace in robots:
+            node = nodes[node_namespace]
+            diff_test(node, node_namespace)
             executor.remove_node(node)
             node.destroy_node()
 

rosbot_xl_gazebo/test/test_multirobot_mecanum_simulation.py

@@ -68,16 +68,16 @@ def test_multirobot_mecanum_simulation():
         nodes = {}
         executor = SingleThreadedExecutor()
 
-        for node_name in robots:
-            node = SimulationTest("test_multirobot_mecanum_simulation", namespace=node_name)
-            nodes[node_name] = node
+        for node_namespace in robots:
+            node = SimulationTest("test_multirobot_mecanum_simulation", namespace=node_namespace)
+            nodes[node_namespace] = node
             executor.add_node(node)
 
         Thread(target=lambda executor: executor.spin(), args=(executor,)).start()
 
-        for node_name in robots:
-            node = nodes[node_name]
-            mecanum_test(node, node_name)
+        for node_namespace in robots:
+            node = nodes[node_namespace]
+            mecanum_test(node, node_namespace)
             executor.remove_node(node)
             node.destroy_node()
 

rosbot_xl_gazebo/test/test_utils.py

@@ -50,22 +50,22 @@ def __init__(self, name="test_node", namespace=None):
 
         # Sensor callback
         self.camera_rgb_sub = self.create_subscription(
-            Image, "camera/image", self.camera_rgb_callback, 10
+            Image, "camera/image", self.camera_image_callback, 10
         )
         self.camera_pc_sub = self.create_subscription(
-            PointCloud2, "camera/points", self.camera_pc_callback, 10
+            PointCloud2, "camera/points", self.camera_points_callback, 10
         )
         self.scan_sub = self.create_subscription(LaserScan, "scan", self.scan_callback, 10)
 
         # Timer - send cmd_vel and check if the time needed for speed stabilization has elapsed
         self.timer = self.create_timer(0.1, self.timer_callback)
 
-        # Values for cmd_vel
+        # Destination velocity for cmd_vel
         self.v_x = 0.0
         self.v_y = 0.0
         self.v_yaw = 0.0
 
-        # Debug value
+        # Debug values
         self.controller_twist = None
         self.ekf_twist = None
 
@@ -163,11 +163,11 @@ def scan_callback(self, data: LaserScan):
         if data.ranges:
             self.scan_event.set()
 
-    def camera_rgb_callback(self, data: Image):
+    def camera_image_callback(self, data: Image):
         if data.data:
             self.camera_color_event.set()
 
-    def camera_pc_callback(self, data: PointCloud2):
+    def camera_points_callback(self, data: PointCloud2):
         if data.data:
             self.camera_points_event.set()