Add controller config path (#70)

* Add controller_config_path arg * Add deprecated info * Readme update * pre-commit * spellcheck * Use pre-commit action instead spellcheck * Black inside pre-commit * Remove local repos from pre-commit * Update version * Fix noise
husarion · May 15, 2024 · fd6d730 · fd6d730
1 parent 7a1388e
commit fd6d730
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Showing 15 changed files with 301 additions and 220 deletions.
diff --git a/.github/workflows/industrial_ci.yaml b/.github/workflows/industrial_ci.yaml
@@ -7,28 +7,19 @@ on:
 
 
 jobs:
-  black:
-    name: Black
-    runs-on: ubuntu-latest
-    steps:
-      - uses: actions/checkout@v3
-      - uses: psf/black@stable
-        with:
-          options: --line-length=99
 
-  spellcheck:
-    name: Spellcheck
+  pre-commit:
+    name: pre-commit
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/checkout@v3
-      - uses: rojopolis/spellcheck-github-actions@0.33.1
-        name: Spellcheck
+      - uses: actions/checkout@v4
+      - uses: actions/setup-python@v4
+      - uses: pre-commit/action@v3.0.1
 
   ros_industrial_ci:
     name: ROS Industrial CI
     needs:
-      - black
-      - spellcheck
+      - pre-commit
     strategy:
       fail-fast: false
       matrix:
@@ -37,7 +28,7 @@ jobs:
     timeout-minutes: 30
     steps:
       - name: Checkout
-        uses: actions/checkout@v3
+        uses: actions/checkout@v4
 
       - name: Setup ROS2 Workspace and Clone Repositories
         run: |

diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
@@ -51,25 +51,26 @@ repos:
       - id: isort
         args: [--profile, black]
 
-  - repo: local
-    hooks:
-      - id: ament_lint_cmake
-        name: ament_lint_cmake
-        description: Check format of CMakeLists.txt files.
-        entry: ament_lint_cmake
-        language: system
-        files: CMakeLists\.txt$
+  # Need to figure out how o check local repos in action
+  # - repo: local
+  #   hooks:
+  #     - id: ament_lint_cmake
+  #       name: ament_lint_cmake
+  #       description: Check format of CMakeLists.txt files.
+  #       entry: ament_lint_cmake
+  #       language: system
+  #       files: CMakeLists\.txt$
 
-  - repo: local
-    hooks:
-      - id: ament_copyright
-        name: ament_copyright
-        description: Check if copyright notice is available in all files.
-        stages: [commit]
-        entry: ament_copyright
-        language: system
+  # - repo: local
+  #   hooks:
+  #     - id: ament_copyright
+  #       name: ament_copyright
+  #       description: Check if copyright notice is available in all files.
+  #       stages: [commit]
+  #       entry: ament_copyright
+  #       language: system
 
-      # Docs - RestructuredText hooks
+  # Docs - RestructuredText hooks
   - repo: https://github.com/PyCQA/doc8
     rev: v1.1.1
     hooks:

diff --git a/.wordlist.txt b/.wordlist.txt
diff --git a/README.md b/README.md
@@ -54,7 +54,7 @@ You can find ROS API and detailed package description in [ROS_API.md](./ROS_API.
 
     ```bash
     source install/setup.bash
-    ros2 launch rosbot_xl_bringup combined.launch.py
+    ros2 launch rosbot_xl_bringup bringup.launch.py
     ```
 
 > [!IMPORTANT]

diff --git a/ROS_API.md b/ROS_API.md
@@ -14,8 +14,8 @@ Package that contains launch, which starts all base functionalities with the mic
 
 **Available Launch Files:**
 
-- `bringup.launch.py` - is responsible for activating all logic related to the robot's movement and processing of sensory data.
-- `combined.launch.py` - launches `bringup.launch.py` and communication with the firmware allows you to control the robot.
+- `bringup.launch.py` - is responsible for communicating with firmware and activating all logic related to the robot's movement and processing of sensory data.
+- `microros.launch.py` - establishes connection with the firmware.
 
 **Launch Params:**
 

diff --git a/rosbot_xl_bringup/launch/bringup.launch.py b/rosbot_xl_bringup/launch/bringup.launch.py
@@ -14,8 +14,14 @@
 
 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
 
@@ -90,6 +96,12 @@ def generate_launch_description():
         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 +162,11 @@ 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 +176,9 @@ 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,

diff --git a/rosbot_xl_bringup/launch/combined.launch.py b/rosbot_xl_bringup/launch/combined.launch.py
@@ -154,9 +154,15 @@ 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]: combined.launch.py will be is deprecated and will be removed please use bringup.launch.py instead.\033[0m"
+    )
     return LaunchDescription(
         [
             declare_port_arg,

diff --git a/rosbot_xl_bringup/launch/microros.launch.py b/rosbot_xl_bringup/launch/microros.launch.py
@@ -0,0 +1,102 @@
+# 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),
+        ]
+    )