Add firmware flash utilities and microros

.github/workflows/industrial_ci.yaml

@@ -49,6 +49,9 @@ jobs:
           cp -r src/ros2_controllers/diff_drive_controller src/
           cp -r src/ros2_controllers/imu_sensor_broadcaster src/
           rm -rf src/ros2_controllers
+          # Package micro_ros_msgs does not have industrial ci and tests does not pass.
+          # For more information see https://github.com/micro-ROS/micro_ros_msgs/issues/7
+          sed '/if(BUILD_TESTING)/,/endif()/d' src/micro_ros_msgs/CMakeLists.txt -i
 
       - uses: ros-industrial/industrial_ci@master
         env:

.gitignore

@@ -16,6 +16,9 @@ rosbot_hardware_interfaces/
 ros_components_description/
 rosbot_controllers/
 husarion/husarion_office_gz
+micro-ROS-Agent/
+micro_ros_msgs/
+industrial_ci/
 ros2_controllers/
 diff_drive_controller/
 imu_sensor_broadcaster/

.pre-commit-config.yaml

@@ -76,6 +76,3 @@ repos:
     rev: 1.0.0
     hooks:
       - id: xmllint
-        args:
-          - --schema
-          - http://download.ros.org/schema/package_format3.xsd

.wordlist.txt

@@ -70,6 +70,21 @@ utils
 tf
 yaml
 odometry
+pyftdi
+usbutils
+CustomUdpTransport
+UDPv
+SHM
+UDPv
+laggy
+CBUS
+cbus
+ftdi
+RST
+url
+subprocess
+Ftdi
+Microros
 namespaces
 namespace
 delihus

README.md

@@ -10,7 +10,7 @@ Metapackage that contains dependencies to other repositories. It is also used to
 
 ### `rosbot_xl_bringup`
 
-Package that contains launch, which starts all base functionalities. Also configs for `robot_localization` and `laser_filters` are defined there.
+Package that contains launch, which starts all base functionalities with the microros agent. Also configs for `robot_localization` and `laser_filters` are defined there.
 
 ### `rosbot_xl_description`
 
@@ -32,6 +32,10 @@ Launch files for Ignition Gazebo working with ROS2 control.
 
 ROS2 hardware controller for ROSbot XL. Inputs and outputs data from ROS2 control and forwards it via ROS topic to be read by microros.
 
+### `rosbot_xl_utils`
+
+This package contains the stable firmware version with the flash script.
+
 ## ROS API
 
 Available in [ROS_API.md](./ROS_API.md)
@@ -67,13 +71,19 @@ source /opt/ros/$ROS_DISTRO/setup.bash
 
 vcs import src < src/rosbot_xl/rosbot_xl_hardware.repos
 
+# Remove tests from micro_ros_msgs
+sed '/if(BUILD_TESTING)/,/endif()/d' src/micro_ros_msgs/CMakeLists.txt -i
+
 rm -r src/rosbot_xl_gazebo
 
 # 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
@@ -84,9 +94,19 @@ colcon build
 > 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 bringup.launch.py
+ros2 launch rosbot_xl_bringup combined.launch.py
 ```
 
 ### Build and run Gazebo simulation
@@ -100,6 +120,9 @@ source /opt/ros/$ROS_DISTRO/setup.bash
 vcs import src < src/rosbot_xl/rosbot_xl_hardware.repos
 vcs import src < src/rosbot_xl/rosbot_xl_simulation.repos
 
+# Remove tests from micro_ros_msgs
+sed '/if(BUILD_TESTING)/,/endif()/d' src/micro_ros_msgs/CMakeLists.txt -i
+
 # 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/

rosbot_xl/rosbot_xl_hardware.repos

@@ -7,6 +7,14 @@ repositories:
     type: git
     url: https://github.com/husarion/ros_components_description.git
     version: ros2
+  micro_ros_msgs:
+    type: git
+    url: https://github.com/micro-ROS/micro_ros_msgs.git
+    version: humble
+  micro-ROS-Agent:
+    type: git
+    url: https://github.com/micro-ROS/micro-ROS-Agent.git
+    version: humble
   rosbot_controllers:
     type: git
     url: https://github.com/husarion/rosbot_controllers

rosbot_xl_bringup/config/microros_localhost_only.xml

@@ -0,0 +1,26 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!--The only purpose of this file is to disable
+Fast-DDS SHM transport used by default to use UDPv4-->
+<dds>
+    <profiles xmlns="https://raw.githubusercontent.com/eProsima/Fast-DDS/master/resources/xsd/fastRTPS_profiles.xsd">
+        <transport_descriptors>
+            <transport_descriptor>
+                <transport_id>CustomUdpTransport</transport_id>
+                <type>UDPv4</type>
+                <interfaceWhiteList>
+                    <address>127.0.0.1</address>
+                </interfaceWhiteList>
+            </transport_descriptor>
+        </transport_descriptors>
+
+        <participant profile_name="participant_profile" is_default_profile="true">
+            <rtps>
+                <userTransports>
+                    <transport_id>CustomUdpTransport</transport_id>
+                </userTransports>
+
+                <useBuiltinTransports>false</useBuiltinTransports>
+            </rtps>
+        </participant>
+    </profiles>
+</dds>

rosbot_xl_bringup/launch/combined.launch.py

@@ -0,0 +1,166 @@
+# 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.
+
+from launch import LaunchDescription
+from launch_ros.substitutions import FindPackageShare
+from launch.actions import (
+    IncludeLaunchDescription,
+    DeclareLaunchArgument,
+    LogInfo,
+    SetEnvironmentVariable,
+    OpaqueFunction,
+)
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.substitutions import ThisLaunchFileDir, LaunchConfiguration
+from launch_ros.actions import Node
+import os
+
+
+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",
+    )
+
+    mecanum = LaunchConfiguration("mecanum")
+    declare_mecanum_arg = DeclareLaunchArgument(
+        "mecanum",
+        default_value="False",
+        description=(
+            "Whether to use mecanum drive controller (otherwise diff drive controller is used)"
+        ),
+    )
+
+    camera_model = LaunchConfiguration("camera_model")
+    declare_camera_model_arg = DeclareLaunchArgument(
+        "camera_model",
+        default_value="None",
+        description="Add camera model to the robot URDF",
+        choices=[
+            "None",
+            "intel_realsense_d435",
+            "orbbec_astra",
+            "stereolabs_zed",
+            "stereolabs_zedm",
+            "stereolabs_zed2",
+            "stereolabs_zed2i",
+            "stereolabs_zedx",
+            "stereolabs_zedxm",
+        ],
+    )
+
+    lidar_model = LaunchConfiguration("lidar_model")
+    declare_lidar_model_arg = DeclareLaunchArgument(
+        "lidar_model",
+        default_value="slamtec_rplidar_s1",
+        description="Add LiDAR model to the robot URDF",
+        choices=[
+            "None",
+            "slamtec_rplidar_a2",
+            "slamtec_rplidar_a3",
+            "slamtec_rplidar_s1",
+            "slamtec_rplidar_s2",
+            "slamtec_rplidar_s3",
+            "velodyne_puck",
+        ],
+    )
+
+    include_camera_mount = LaunchConfiguration("include_camera_mount")
+    declare_include_camera_mount_arg = DeclareLaunchArgument(
+        "include_camera_mount",
+        default_value="False",
+        description="Whether to include camera mount to the robot URDF",
+    )
+
+    # 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 = os.path.join(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"
+        ),
+    )
+
+    bringup_launch = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource([ThisLaunchFileDir(), "/bringup.launch.py"]),
+        launch_arguments={
+            "mecanum": mecanum,
+            "lidar_model": lidar_model,
+            "camera_model": camera_model,
+            "include_camera_mount": include_camera_mount,
+        }.items(),
+    )
+
+    return LaunchDescription(
+        [
+            declare_port_arg,
+            declare_localhost_only_fastrtps_profiles_file_arg,
+            declare_mecanum_arg,
+            declare_camera_model_arg,
+            declare_lidar_model_arg,
+            declare_include_camera_mount_arg,
+            OpaqueFunction(function=generate_microros_agent_node),
+            bringup_launch,
+        ]
+    )

rosbot_xl_bringup/package.xml

@@ -27,6 +27,10 @@
 
   <exec_depend>laser_filters</exec_depend>
   <exec_depend>robot_localization</exec_depend>
+  <exec_depend>micro_ros_agent</exec_depend>
+
+  <!-- Microros agent build dependency-->
+  <build_depend>git</build_depend>
 
   <test_depend>rclpy</test_depend>
   <test_depend>python3-pytest</test_depend>

rosbot_xl_bringup/setup.py

@@ -27,6 +27,7 @@
         ("share/" + package_name, ["package.xml"]),
         (os.path.join("share", package_name, "launch"), glob("launch/*.launch.py")),
         (os.path.join("share", package_name, "config"), glob("config/*.yaml")),
+        (os.path.join("share", package_name, "config"), glob("config/*.xml")),
     ],
     install_requires=["setuptools"],
     zip_safe=True,

rosbot_xl_utils/package.xml

@@ -0,0 +1,33 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>rosbot_xl_utils</name>
+  <version>0.8.12</version>
+  <description>Utilities for ROSbot XL</description>
+
+  <maintainer email="support@husarion.com">Husarion</maintainer>
+
+  <license>Apache License 2.0</license>
+
+  <url type="website">https://husarion.com/</url>
+  <url type="repository">https://github.com/husarion/rosbot_xl_ros</url>
+  <url type="bugtracker">https://github.com/husarion/rosbot_xl_ros/issues</url>
+
+  <author email="jakub.delicat@husarion.com">Jakub Delicat</author>
+
+  <exec_depend>python3-sh</exec_depend>
+  <exec_depend>python-periphery-pip</exec_depend>
+  <exec_depend>python3-pyftdi-pip</exec_depend>
+  <exec_depend>usbutils</exec_depend>
+  <exec_depend>python3-serial</exec_depend>
+  <exec_depend>python3-requests</exec_depend>
+
+  <test_depend>ament_copyright</test_depend>
+  <test_depend>ament_flake8</test_depend>
+  <test_depend>ament_pep257</test_depend>
+  <test_depend>python3-pytest</test_depend>
+
+  <export>
+    <build_type>ament_python</build_type>
+  </export>
+</package>