Add namespace

.flake8

@@ -1,5 +1,5 @@
 [flake8]
-extend-ignore = E203, B902,C816,D100,D101,D102,D103,D104,D105,D106,D107,D203,D212,D404,I202
+extend-ignore = E203, B902,C816,D100,D101,D102,D103,D104,D105,D106,D107,D203,D212,D404,I202,E203
 import-order-style = google
 max-line-length = 99
 show-source = true

.github/workflows/industrial_ci.yaml

@@ -34,12 +34,42 @@ jobs:
             matrix:
                 ROS_DISTRO: [humble]
         runs-on: ubuntu-latest
-        timeout-minutes: 16
+        timeout-minutes: 30
         steps:
-            - uses: actions/checkout@v3
+            - name: Checkout
+              uses: actions/checkout@v3
+
+            - name: Copy to src
+              run: |
+                  mkdir -p src
+                  find . -maxdepth 1 -not -name src -not -name . -exec mv {} src/ \;
+
             - name: Clone installation requirements
               shell: bash
-              run: python3 -m pip install -U vcstool && vcs import . < ./rosbot_xl/rosbot_xl_hardware.repos && vcs import . < ./rosbot_xl/rosbot_xl_simulation.repos
+              run: |
+                  python3 -m pip install -U vcstool
+                  vcs import src < src/rosbot_xl/rosbot_xl_hardware.repos
+                  vcs import src < src/rosbot_xl/rosbot_xl_simulation.repos
+
+            - name: Copy only diff_drive_controller and imu_sensor_broadcaster, waits for features from ros2-control
+              shell: bash
+              run: |
+                  cp -r src/ros2_controllers/diff_drive_controller src/
+                  cp -r src/ros2_controllers/imu_sensor_broadcaster src/
+                  rm -rf src/ros2_controllers
+
+            - name: Copy only tf2_ros_py from geometry2, waits for https://github.com/ros2/geometry2/pull/641
+              shell: bash
+              run: |
+                  cp -r src/geometry2/tf2_ros_py src/
+                  rm -rf src/geometry2/
+
+            - name: Remove ign_ros2_control demo
+              shell: bash
+              run: |
+                  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:
                   ROS_DISTRO: ${{matrix.ROS_DISTRO}}

.gitignore

@@ -17,6 +17,10 @@ ros_components_description/
 rosbot_controllers/
 husarion/husarion_office_gz
 gazebosim/gz_ros2_control
+ros2_controllers/
+diff_drive_controller/
+imu_sensor_broadcaster/
+tf2_ros_py/
 
 # pyspelling
 *.dic

.pre-commit-config.yaml

@@ -35,13 +35,13 @@ repos:
       rev: 23.11.0
       hooks:
         - id: black
-          args: ["--line-length=99", "--preview"]
+          args: ["--line-length=99", "--experimental-string-processing"]
 
     - repo: https://github.com/PyCQA/flake8
       rev: 6.1.0
       hooks:
         - id: flake8
-          args: ["--ignore=E501,W503,E203"] # ignore too long line and line break before binary operator,
+          args: ["--ignore=E501,W503"] # ignore too long line and line break before binary operator,
                                        # black checks it
 
     - repo: local

.wordlist.txt

@@ -70,3 +70,16 @@ utils
 tf
 yaml
 odometry
+namespaces
+namespace
+delihus
+microros
+remappings
+unbuffered
+py
+len
+ns
+psutil
+src
+xml
+spawner

README.md

@@ -69,6 +69,15 @@ vcs import src < src/rosbot_xl/rosbot_xl_hardware.repos
 
 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
+
+# Copy only tf2_ros_py from geometry2, waits for https://github.com/ros2/geometry2/pull/641
+cp -r src/geometry2/tf2_ros_py src/
+rm -rf src/geometry2/
+
 rosdep init
 rosdep update --rosdistro $ROS_DISTRO
 rosdep install -i --from-path src --rosdistro $ROS_DISTRO -y
@@ -95,6 +104,19 @@ source /opt/ros/$ROS_DISTRO/setup.bash
 vcs import src < src/rosbot_xl/rosbot_xl_hardware.repos
 vcs import src < src/rosbot_xl/rosbot_xl_simulation.repos
 
+# 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
+
+# Copy only tf2_ros_py from geometry2, waits for https://github.com/ros2/geometry2/pull/641
+cp -r src/geometry2/tf2_ros_py src/
+rm -rf src/geometry2/
+
+# Remove ign_ros2_control demo
+rm -rf src/gazebosim/gz_ros2_control/ign_ros2_control_demos &&
+rm -rf src/gazebosim/gz_ros2_control/gz_ros2_control_tests
+
 rosdep init
 rosdep update --rosdistro $ROS_DISTRO
 rosdep install -i --from-path src --rosdistro $ROS_DISTRO -y

rosbot_xl/rosbot_xl_hardware.repos

@@ -3,11 +3,15 @@ repositories:
     type: git
     url: https://github.com/husarion/rosbot_hardware_interfaces.git
     version: main
+  ros_components_description:
+    type: git
+    url: https://github.com/husarion/ros_components_description.git
+    version: ros2
   rosbot_controllers:
     type: git
     url: https://github.com/husarion/rosbot_controllers
     version: main
-  ros_components_description:
+  ros2_controllers:
     type: git
-    url: https://github.com/husarion/ros_components_description.git
-    version: ros2
+    url: https://github.com/delihus/ros2_controllers
+    version: humble

rosbot_xl/rosbot_xl_simulation.repos

@@ -1,12 +1,5 @@
 repositories:
-  gazebosim/gz_ros2_control:
+  husarion/husarion_office_gz:
     type: git
-    url: https://github.com/ros-controls/gz_ros2_control.git
-    # on branch humble hardware isn't activated
-    # recently on master API breaking change was introduced, it is necessary to use commit before this change
-    version: b296ff2f5c3758b637a70bd496fe6ed875ab03ce
-
-  husarion/gazebo_worlds:
-    type: git
-    url: https://github.com/husarion/gazebo_worlds.git
+    url: https://github.com/husarion/husarion_office_gz
     version: main

rosbot_xl_bringup/config/ekf.yaml

@@ -1,7 +1,7 @@
 # Ref: http://docs.ros.org/en/noetic/api/robot_localization/html/state_estimation_nodes.html
 
 ## ekf config file ###
-ekf_filter_node:
+/**/ekf_filter_node:
     ros__parameters:
         frequency: 25.0
         sensor_timeout: 0.05
@@ -17,7 +17,7 @@ ekf_filter_node:
         publish_tf: true
         publish_acceleration: false
 
-        odom0: /rosbot_xl_base_controller/odom
+        odom0: rosbot_xl_base_controller/odom
         odom0_config: [false, false, false, # X , Y , Z
                       false, false, false, # roll , pitch ,yaw
                       true, true, false, # dX , dY , dZ
@@ -29,7 +29,7 @@ ekf_filter_node:
         odom0_differential: false
         odom0_relative: true
 
-        imu0: /imu_broadcaster/imu
+        imu0: imu_broadcaster/imu
         imu0_config: [false, false, false, # X , Y , Z
                       false, false, true, # roll , pitch ,yaw
                       false, false, false, # dX , dY , dZ

rosbot_xl_bringup/config/laser_filter.yaml

@@ -1,4 +1,4 @@
-scan_to_scan_filter_chain:
+/**/scan_to_scan_filter_chain:
   ros__parameters:
     filter1:
       name: box_filter

rosbot_xl_bringup/launch/bringup.launch.py

@@ -14,10 +14,7 @@
 
 from launch import LaunchDescription
 from launch.actions import IncludeLaunchDescription, DeclareLaunchArgument
-from launch.substitutions import (
-    PathJoinSubstitution,
-    LaunchConfiguration,
-)
+from launch.substitutions import PathJoinSubstitution, LaunchConfiguration
 from launch.launch_description_sources import PythonLaunchDescriptionSource
 
 from launch_ros.actions import Node, SetParameter
@@ -26,6 +23,13 @@
 
 
 def generate_launch_description():
+    namespace = LaunchConfiguration("namespace")
+    declare_namespace_arg = DeclareLaunchArgument(
+        "namespace",
+        default_value="",
+        description="Namespace for all topics and tfs",
+    )
+
     mecanum = LaunchConfiguration("mecanum")
     declare_mecanum_arg = DeclareLaunchArgument(
         "mecanum",
@@ -90,13 +94,18 @@ def generate_launch_description():
         description="Which simulation engine will be used",
     )
 
+    rosbot_xl_controller = get_package_share_directory("rosbot_xl_controller")
+    rosbot_xl_bringup = get_package_share_directory("rosbot_xl_bringup")
+
     controller_launch = IncludeLaunchDescription(
         PythonLaunchDescriptionSource(
-            PathJoinSubstitution([
-                get_package_share_directory("rosbot_xl_controller"),
-                "launch",
-                "controller.launch.py",
-            ])
+            PathJoinSubstitution(
+                [
+                    rosbot_xl_controller,
+                    "launch",
+                    "controller.launch.py",
+                ]
+            )
         ),
         launch_arguments={
             "mecanum": mecanum,
@@ -105,44 +114,58 @@ def generate_launch_description():
             "include_camera_mount": include_camera_mount,
             "use_sim": use_sim,
             "simulation_engine": simulation_engine,
+            "namespace": namespace,
         }.items(),
     )
 
+    ekf_config = PathJoinSubstitution([rosbot_xl_bringup, "config", "ekf.yaml"])
+
     robot_localization_node = Node(
         package="robot_localization",
         executable="ekf_node",
         name="ekf_filter_node",
         output="screen",
-        parameters=[
-            PathJoinSubstitution([
-                get_package_share_directory("rosbot_xl_bringup"), "config", "ekf.yaml"
-            ])
+        parameters=[ekf_config],
+        remappings=[
+            ("/tf", "tf"),
+            ("/tf_static", "tf_static"),
         ],
+        namespace=namespace,
+    )
+
+    laser_filter_config = PathJoinSubstitution(
+        [
+            rosbot_xl_bringup,
+            "config",
+            "laser_filter.yaml",
+        ]
     )
 
     laser_filter_node = Node(
         package="laser_filters",
         executable="scan_to_scan_filter_chain",
         parameters=[
-            PathJoinSubstitution([
-                get_package_share_directory("rosbot_xl_bringup"),
-                "config",
-                "laser_filter.yaml",
-            ])
+            laser_filter_config,
         ],
+        remappings=[
+            ("/tf", "tf"),
+            ("/tf_static", "tf_static"),
+        ],
+        namespace=namespace,
     )
 
-    actions = [
-        declare_mecanum_arg,
-        declare_lidar_model_arg,
-        declare_camera_model_arg,
-        declare_include_camera_mount_arg,
-        declare_use_sim_arg,
-        declare_simulation_engine_arg,
-        SetParameter(name="use_sim_time", value=use_sim),
-        controller_launch,
-        robot_localization_node,
-        laser_filter_node,
-    ]
-
-    return LaunchDescription(actions)
+    return LaunchDescription(
+        [
+            declare_namespace_arg,
+            declare_mecanum_arg,
+            declare_lidar_model_arg,
+            declare_camera_model_arg,
+            declare_include_camera_mount_arg,
+            declare_use_sim_arg,
+            declare_simulation_engine_arg,
+            SetParameter(name="use_sim_time", value=use_sim),
+            controller_launch,
+            robot_localization_node,
+            laser_filter_node,
+        ]
+    )

rosbot_xl_bringup/package.xml

@@ -1,5 +1,6 @@
 <?xml version="1.0"?>
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<!-- Used https://github.com/colcon/colcon-bundle/blob/master/integration/test_workspace/src/test-nodes/package.xml -->
 <package format="3">
   <name>rosbot_xl_bringup</name>
   <version>0.8.12</version>
@@ -15,22 +16,27 @@
   <url type="repository">https://github.com/husarion/rosbot_xl_ros</url>
   <url type="bugtracker">https://github.com/husarion/rosbot_xl_ros/issues</url>
 
-  <exec_depend>rosbot_xl_controller</exec_depend>
-
+  <!-- Launch tools dependencies -->
+  <exec_depend>ros2launch</exec_depend>
   <exec_depend>launch</exec_depend>
   <exec_depend>launch_ros</exec_depend>
+  <exec_depend>ament_index_python</exec_depend>
+
+  <!-- Husarion dependencies -->
+  <exec_depend>rosbot_xl_controller</exec_depend>
 
+  <!-- Launched packages dependencies -->
   <exec_depend>laser_filters</exec_depend>
   <exec_depend>robot_localization</exec_depend>
 
+  <!-- Launch and test dependencies -->
+  <test_depend>rclpy</test_depend>
   <test_depend>python3-pytest</test_depend>
-  <test_depend>launch</test_depend>
-  <test_depend>launch_ros</test_depend>
   <test_depend>launch_pytest</test_depend>
 
-  <test_depend>laser_filters</test_depend>
-  <test_depend>robot_localization</test_depend>
-  <test_depend>rosbot_xl_controller</test_depend>
+  <!-- Packages used in tests  -->
+  <test_depend>tf2_ros_py</test_depend>
+  <test_depend>sensor_msgs</test_depend>
 
   <export>
     <build_type>ament_python</build_type>