Simplify installation

husarion · Apr 5, 2024 · 991417d · 991417d
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diff --git a/README.md b/README.md
@@ -23,7 +23,6 @@ Available models:
 | `rosbot_xl`      | Final configuration of rosbot_xl with ability to attach external hardware.                                                                                                                   |
 | `rosbot_xl_base` | Base of rosbot prepared to be included into preexisting configuration. Meant to be compatible with concept of ROS Industrial ability for manipulators to have interchangeable end effectors. |
 
-
 ### `rosbot_xl_gazebo`
 
 Launch files for Ignition Gazebo working with ROS2 control.
@@ -48,100 +47,90 @@ For detailed instructions refer to the [rosbot_xl_firmware repository](https://g
 
 ## Prepare environment
 
-1. **Install `colcon`, `vsc` and `rosdep`**
-```
-sudo apt-get update
-sudo apt-get install -y ros-dev-tools stm32flash
-```
+1. **Install `ros-dev-tools` and `stm32flash`** (`stm32flash` is not in the ros index and should be installed manually).
 
-2. **Create workspace folder and clone `rosbot_xl_ros` repository:**
-```
-mkdir -p ros2_ws/src
-cd ros2_ws
-git clone https://github.com/husarion/rosbot_xl_ros src/
-```
+    ```bash
+    sudo apt-get update
+    sudo apt-get install -y ros-dev-tools stm32flash
+    ```
 
-### Build and run on hardware
+2. **Create workspace folder and clone `rosbot_xl_ros` repository.**
 
-1. **Building**
-```
-export HUSARION_ROS_BUILD=hardware
+    ```bash
+    mkdir -p ros2_ws/src
+    cd ros2_ws
+    git clone https://github.com/husarion/rosbot_xl_ros src/
+    ```
 
-source /opt/ros/$ROS_DISTRO/setup.bash
+3. **Specify build type.**
+
+    The repository is used to run the code both on the real robot and in the simulation. Specify `HUSARION_ROS_BUILD_TYPE` the variable according to your needs.
 
-vcs import src < src/rosbot_xl/rosbot_xl_hardware.repos
+    **Hardware**:
 
-# Remove tests from micro_ros_msgs
-sed '/if(BUILD_TESTING)/,/endif()/d' src/micro_ros_msgs/CMakeLists.txt -i
+    ``` bash
+    export HUSARION_ROS_BUILD_TYPE=hardware
+    ```
 
-rm -r src/rosbot_xl_gazebo
+    **Simulation**:
+
+    ```bash
+    export HUSARION_ROS_BUILD_TYPE=simulation
+    ```
+
+### Build from source
+
+```bash
+source /opt/ros/$ROS_DISTRO/setup.bash
+
+vcs import src < src/rosbot_xl/rosbot_xl_$HUSARION_ROS_BUILD.repos
 
 # Copy only diff_drive_controller and imu_sensor_broadcaster, waits for features from ros2-control
 cp -r src/ros2_controllers/diff_drive_controller src/
 cp -r src/ros2_controllers/imu_sensor_broadcaster src/
 rm -rf src/ros2_controllers
 
-# stm32flash is not in the ros index and should be installed manually
-sudo apt install stm32flash
-
 rosdep init
 rosdep update --rosdistro $ROS_DISTRO
 rosdep install -i --from-path src --rosdistro $ROS_DISTRO -y
-colcon build
+colcon build --symlink-install --packages-up-to rosbot-xl --cmake-args -DCMAKE_BUILD_TYPE=Release -DBUILD_TESTING=OFF
 ```
 
 > [!NOTE]
 > Before starting the software on the robot please make sure that you're using the latest firmware and run the `micro-ROS` agent as described in the [Usage on hardware](#usage-on-hardware) step.
 
-2. **Running**
-
-Flash firmware.
-```bash
-# Get admin permissions to flash firmware
-sudo su
-source install/setup.bash
-ros2 run rosbot_xl_utils flash_firmware
-exit
-```
-
-```
-source install/setup.bash
-ros2 launch rosbot_xl_bringup combined.launch.py
-```
-
-### Build and run Gazebo simulation
+### Running
 
-1. **Building**
-```
-export HUSARION_ROS_BUILD=simulation
+**Hardware**:
 
-source /opt/ros/$ROS_DISTRO/setup.bash
+1. Flash firmware.
 
-vcs import src < src/rosbot_xl/rosbot_xl_hardware.repos
-vcs import src < src/rosbot_xl/rosbot_xl_simulation.repos
+    ```bash
+    # Get admin permissions to flash firmware
+    sudo su
+    source install/setup.bash
+    ros2 run rosbot_xl_utils flash_firmware
+    exit
+    ```
 
-# Remove tests from micro_ros_msgs
-sed '/if(BUILD_TESTING)/,/endif()/d' src/micro_ros_msgs/CMakeLists.txt -i
+2. Launch robot
 
-# Copy only diff_drive_controller and imu_sensor_broadcaster, waits for features from ros2-control
-cp -r src/ros2_controllers/diff_drive_controller src/
-cp -r src/ros2_controllers/imu_sensor_broadcaster src/
-rm -rf src/ros2_controllers
+    ```bash
+    source install/setup.bash
+    ros2 launch rosbot_xl_bringup combined.launch.py
+    ```
 
-rosdep init
-rosdep update --rosdistro $ROS_DISTRO
-rosdep install -i --from-path src --rosdistro $ROS_DISTRO -y
-colcon build
-```
+**Simulation**:
 
-2. **Running**
-```
+```bash
 source install/setup.bash
 ros2 launch rosbot_xl_gazebo simulation.launch.py
 ```
-## Testing package
+
+## Developer info
 
 ### pre-commit
+
 [pre-commit configuration](.pre-commit-config.yaml) prepares plenty of tests helping for developing and contributing. Usage:
 
 ```bash
@@ -151,7 +140,7 @@ pip install pre-commit
 # initialize pre-commit workspace
 pre-commit install
 
-# manually run tests
+# manually run pre-commit hooks
 pre-commit run -a
 
 # update revision
@@ -161,49 +150,24 @@ pre-commit autoupdate
 After initialization [pre-commit configuration](.pre-commit-config.yaml) will applied on every commit.
 
 ### Industrial CI
-```
-colcon test
-```
-
-> [!NOTE]
-> Command `colcon test` does not build the code. Remember to build your code after changes.
-
-If tests finish with errors print logs:
-```
-colcon test-result --verbose
-```
-
-### Format python code with [Black](https://github.com/psf/black)
-```
-cd src/
-black rosbot*
-```
 
-
-## Testing package
-
-### Industrial CI
-```
+```bash
 colcon test
 ```
 
 > [!NOTE]
 > Command `colcon test` does not build the code. Remember to build your code after changes.
 
 If tests finish with errors print logs:
-```
-colcon test-result --verbose
-```
 
-### Format python code with [Black](https://github.com/psf/black)
-```
-cd src/
-black rosbot*
+```bash
+colcon test-result --verbose
 ```
 
 ## Demos
 
 For further usage examples check out our other repositories:
+
 * [`rosbot-xl-docker`](https://github.com/husarion/rosbot-xl-docker) - Dockerfiles for building hardware and simulation images
 * [`rosbot-xl-gamepad`](https://github.com/husarion/rosbot-xl-gamepad) - simple teleoperation using a gamepad
 * [`rosbot-xl-mapping`](https://github.com/husarion/rosbot-xl-mapping) - creating a map of the environment using slam_toolbox

diff --git a/ROS_API.md b/ROS_API.md
@@ -1,47 +1,70 @@
+# ROS API
+
+Detailed information about content of rosbot_xl package for ROS2.
+
+## rosbot_xl_bringup
+
 Use `bringup.launch.py` from `rosbot_xl_bringup` to start all base functionalities for ROSbot XL. It consists of the following parts:
-- `scan_to_scan_filter_chain` from `laser_filters`, it subscribes to `/scan` topic and removes all points that are within the robot's footprint (defined by config `laser_filter.yaml` in `rosbot_xl_bringup` package). Filtered laser scan is then published on `/scan_filtered` topic
 
-  **Subscribes**
-  - `/scan` (_sensor_msgs/LaserScan_)
+### External Nodes
+
+#### scan_to_scan_filter_chain
+
+`scan_to_scan_filter_chain` from `laser_filters`, it subscribes to `/scan` topic and removes all points that are within the robot's footprint (defined by config `laser_filter.yaml` in `rosbot_xl_bringup` package). Filtered laser scan is then published on `/scan_filtered` topic
 
-  **Publishes**
-  - `/scan_filtered` (_sensor_msgs/LaserScan_)
+##### Subscribes
 
-- `ekf_node` from `robot_localization`, it is used to fuse wheel odometry and IMU data. Parameters are defined in `ekf.yaml` in `rosbot_xl_bringup/config`. It subscribes to `/rosbot_xl_base_controller/odom` and `/imu_broadcaster/imu` published by ros2 controllers and publishes fused odometry on `/odometry/filtered` topic
+- `/scan` (_sensor_msgs/LaserScan_)
 
-  **Subscribes**
-  - `/rosbot_xl_base_controller/odom` (_nav_msgs/Odometry_)
-  - `/imu_broadcaster/imu` (_sensor_msgs/Imu_)
+##### Publishes
 
-  **Publishes**
-  - `/tf` (_tf2_msgs/TFMessage_) - `base_link`->`odom` transform
-  - `/odometry/filtered` (_nav_msgs/Odometry_)
+- `/scan_filtered` (_sensor_msgs/LaserScan_)
 
+#### ekf_node
 
-- `controller.launch.py` from `rosbot_xl_controller`, it loads robot model defined in `rosbot_xl_description` as well as ros2 control [rosbot_hardware_interfaces](https://github.com/husarion/rosbot_hardware_interfaces). It also starts controllers:
-  * `joint_state_broadcaster`
-  * `rosbot_xl_base_controller` - depending on the value of `mecanum` argument it can be `DiffDriveController` or `MecanumDriveController`
-  * `imu_broadcaster`
+`ekf_node` from `robot_localization`, it is used to fuse wheel odometry and IMU data. Parameters are defined in `ekf.yaml` in `rosbot_xl_bringup/config`. It subscribes to `/rosbot_xl_base_controller/odom` and `/imu_broadcaster/imu` published by ros2 controllers and publishes fused odometry on `/odometry/filtered` topic
 
-  **Subscribes**
-  - `/cmd_vel` (_geometry_msgs/Twist_)
-  - `/_motors_responses` (_sensor_msgs/JointState_)
-  - `/_imu/data_raw` (_sensor_msgs/Imu_)
+##### Subscribes
 
-  **Publishes**
-  - `/tf` (_tf2_msgs/TFMessage_)
-  - `/tf_static` (_tf2_msgs/TFMessage_)
-  - `/_motors_cmd` (_std_msgs/Float32MultiArray_)
-  - `/rosbot_xl_base_controller/odom` (_nav_msgs/Odometry_)
-  - `/imu_broadcaster/imu` (_sensor_msgs/Imu_)
+- `/rosbot_xl_base_controller/odom` (_nav_msgs/Odometry_)
+- `/imu_broadcaster/imu` (_sensor_msgs/Imu_)
 
+##### Publishes
+
+- `/tf` (_tf2_msgs/TFMessage_) - `base_link`->`odom` transform
+- `/odometry/filtered` (_nav_msgs/Odometry_)
+
+#### micro_ros_agent
 Use `micro_ros_agent` to communicate with Digital Board, it provides the following interface:
 
-**Subscribes**
+#### Subscribes
+
 - `/_motors_cmd` (_std_msgs/Float32MultiArray_)
 
+#### Publishes
 
-**Publishes**
 - `/_motors_responses` (_sensor_msgs/JointState_)
 - `/_imu/data_raw` (_sensor_msgs/Imu_)
 - `/battery_state` (_sensor_msgs/BatteryState_)
+
+## rosbot_xl_controller
+
+`controller.launch.py` from `rosbot_xl_controller`, it loads robot model defined in `rosbot_xl_description` as well as ros2 control [rosbot_hardware_interfaces](https://github.com/husarion/rosbot_hardware_interfaces). It also starts controllers:
+
+- `joint_state_broadcaster`
+- `rosbot_xl_base_controller` - depending on the value of `mecanum` argument it can be `DiffDriveController` or `MecanumDriveController`
+- `imu_broadcaster`
+
+#### Subscribes
+
+- `/cmd_vel` (_geometry_msgs/Twist_)
+- `/_motors_responses` (_sensor_msgs/JointState_)
+- `/_imu/data_raw` (_sensor_msgs/Imu_)
+
+#### Publishes
+
+- `/tf` (_tf2_msgs/TFMessage_)
+- `/tf_static` (_tf2_msgs/TFMessage_)
+- `/_motors_cmd` (_std_msgs/Float32MultiArray_)
+- `/rosbot_xl_base_controller/odom` (_nav_msgs/Odometry_)
+- `/imu_broadcaster/imu` (_sensor_msgs/Imu_)
diff --git a/rosbot_xl/package.xml b/rosbot_xl/package.xml
@@ -22,10 +22,10 @@
   <buildtool_depend>ament_cmake</buildtool_depend>
 
   <depend>rosbot_xl_bringup</depend>
-  <depend>rosbot_xl_description</depend>
   <depend>rosbot_xl_controller</depend>
-
+  <depend>rosbot_xl_description</depend>
   <depend condition="$HUSARION_ROS_BUILD == simulation">rosbot_xl_gazebo</depend>
+  <depend condition="$HUSARION_ROS_BUILD == hardware">rosbot_xl_utils</depend>
 
   <export>
     <build_type>ament_cmake</build_type>

diff --git a/rosbot_xl/rosbot_xl_simulation.repos b/rosbot_xl/rosbot_xl_simulation.repos
@@ -1,5 +1,17 @@
 repositories:
-  husarion/husarion_office_gz:
+  husarion_controllers:
+    type: git
+    url: https://github.com/husarion/husarion_controllers
+    version: main
+  husarion_office_gz:
     type: git
     url: https://github.com/husarion/husarion_office_gz
     version: main
+  ros_components_description:
+    type: git
+    url: https://github.com/husarion/ros_components_description.git
+    version: ros2
+  ros2_controllers:
+    type: git
+    url: https://github.com/delihus/ros2_controllers
+    version: humble
diff --git a/rosbot_xl_bringup/package.xml b/rosbot_xl_bringup/package.xml
@@ -27,10 +27,10 @@
 
   <exec_depend>laser_filters</exec_depend>
   <exec_depend>robot_localization</exec_depend>
-  <exec_depend>micro_ros_agent</exec_depend>
+  <exec_depend condition="$HUSARION_ROS_BUILD == hardware">micro_ros_agent</exec_depend>
 
   <!-- Microros agent build dependency-->
-  <build_depend>git</build_depend>
+  <build_depend condition="$HUSARION_ROS_BUILD == hardware">git</build_depend>
 
   <test_depend>rclpy</test_depend>
   <test_depend>python3-pytest</test_depend>

diff --git a/rosbot_xl_controller/package.xml b/rosbot_xl_controller/package.xml
@@ -26,7 +26,7 @@
 
   <exec_depend>rosbot_xl_description</exec_depend>
   <exec_depend>ros_components_description</exec_depend>
-  <exec_depend>rosbot_hardware_interfaces</exec_depend>
+  <exec_depend condition="$HUSARION_ROS_BUILD == hardware">rosbot_hardware_interfaces</exec_depend>
   <exec_depend>mecanum_drive_controller</exec_depend>
 
   <exec_depend>xacro</exec_depend>