Dockerfile and Workspace for slamtool-box #15

Assume-Zhan · 2023-10-20T14:00:01Z

Closes: #11

- slam_toobox ref: https://github.com/SteveMacenski/slam_toolbox Originally I've the commit with folder named slamtoolbox_ws, I found the term 'slamtoolbox' to be a bit challenging to comprehend, which is why I altered it to 'slam_toolbox_ws'. Add COPY bashrc in dockerfile Ref: https://github.com/j3soon/ros2-agv-essentials/blob/master/template_ws/docker/Dockerfile#L48

- gitignore template: template_ws https://github.com/j3soon/ros2-agv-essentials/blob/master/template_ws/.gitignore - Error cache folder Fixed in this PR: j3soon#13

- Docker-Compose template: template_ws https://github.com/j3soon/ros2-agv-essentials/blob/master/template_ws/docker/docker-compose.yaml - Modify name to slam-toolbox in docker compose In this case I've only changed the name to slam-toolbox. I considered it is redundant to seperate into different commit, so I've combined them into same commit.

Due to the inconvenience of using a Git container, I decided to modify the mount folder in the Docker Compose configuration. However, with this setup, there's a potential risk of inadvertently modifying the wrong workspace, as both the .git folder and other workspace contents are mounted into the container, which contains many similar elements such as Dockerfiles and docker-compose files. Similar topic: j3soon#13

From template_ws https://github.com/j3soon/ros2-agv-essentials/tree/master/template_ws/.devcontainer Change name to slam-toolbox

- How to create a package https://docs.ros.org/en/humble/Tutorials/Beginner-Client-Libraries/Creating-Your-First-ROS2-Package.html#create-a-package - Also modify the LICENSE and description in package.xml

j3soon

Thanks for opening this PR.

The commit history is well-organized and informative. In addition, I learned a lot while reviewing this PR. Please resolve each comment and re-request a review. Thank you.

slam_toolbox_ws/src/slam_simulation/package.xml

slam_toolbox_ws/src/slam_simulation/config/mapper_online_async.yaml

j3soon · 2023-10-28T11:37:40Z

slam_toolbox_ws/src/slam_simulation/config/mapper_online_async.yaml

+    # if you'd like to immediately start continuing a map at a given pose
+    # or at the dock, but they are mutually exclusive, if pose is given
+    # will use pose
+    # map_file_name: /home/ros2-agv-essentials/slam_toolbox_ws/maps/map_posegraph


Since the map_file_name is commented out. I wonder why the change is required in commit 311ea43.

Or should we include a section in README showing how to use a map file?

slam_toolbox_ws/src/slam_simulation/CMakeLists.txt

slam_toolbox_ws/src/slam_simulation/launch/slam_sim.launch.py

j3soon · 2023-10-28T16:08:45Z

slam_toolbox_ws/src/slam_simulation/launch/slam_sim.launch.py

@@ -66,10 +66,42 @@ def generate_launch_description():
        PythonLaunchDescriptionSource(gazebo_path)
    )

+    # TF Ref: 
+    # https://docs.ros.org/en/humble/Tutorials/Intermediate/Tf2/Writing-A-Tf2-Static-Broadcaster-Py.html#the-proper-way-to-publish-static-transforms


Suggest adding more info such as:

Add a comment on the dummy TFs:

# These static TF values are merely dummy values. The preferred way is to store the TFs in the URDF/SDF file and publish through `robot_state_publisher`.

Add comment on the turtlebot SDF file:

# The links are defined based on the following SDF file: # https://github.com/ROBOTIS-GIT/turtlebot3_simulations/blob/humble-devel/turtlebot3_gazebo/models/turtlebot3_waffle/model.sdf

Add comment on inspecting the SDF file:

# The links can be visualized in the TF section in rviz2 by the following commands: # $ export TURTLEBOT3_MODEL=waffle # $ ros2 launch turtlebot3_gazebo empty_world.launch.py # $ ros2 launch turtlebot3_bringup rviz2.launch.py # Ref: https://emanual.robotis.com/docs/en/platform/turtlebot3/simulation/ # Ref: https://idminer.gitbook.io/robotis/part-1-turtlebot3/15.-ros2/15.2.-bringup-qi-yong/15.2.2.-rviz2-3d-ke-shi-hua-gong-ju

If you know a better (or shorter) command to visualize TFs in rviz2, feel free to use yours instead.

j3soon · 2023-10-28T16:18:42Z

slam_toolbox_ws/src/slam_simulation/launch/slam_sim.launch.py

+        name = "link_to_imu",
+        arguments = ["0", "0", "0", "0", "0", "0", "base_link", "imu_link"],
+        parameters=[{'use_sim_time': True}]
+    )


It would be better to mention why these 3 links are necessary. Take base_footprint -> base_link as an example, it may be necessary since base_footprint is the base frame as set here: https://github.com/SteveMacenski/slam_toolbox/blob/8365b77710df4759cd96a14be2b3082ede22f15a/config/mapper_params_online_async.yaml#L15

j3soon · 2023-10-28T16:29:23Z

slam_toolbox_ws/README.md

+  ```sh
+  docker attach ros2-slam-toolbox-ws
+  ```
+


Since we didn't build this package in the Dockerfile, we need to run colcon build and source $ROS2_WS/install/setup.bash here. Otherwise, the next step will fail:

Package 'slam_simulation' not found: "package 'slam_simulation' not found, searching: ['/opt/ros/humble']"

P.S. Maybe we can consider running colcon build in .bashrc? I'm not sure about this though.

I suggest implementing a straightforward conditional statement to verify whether the current folder corresponds to the workspace folder. If it does, we can execute 'colcon build' directly; otherwise, the script should do nothing preventing from building a wrong folder.

Or maybe we could directly add "colcon build" in README?

Adding colcon build in README sounds simpler.

slam_toolbox_ws/README.md

j3soon · 2023-10-28T16:32:34Z

slam_toolbox_ws/README.md

+ros2 launch slam_simulation slam_sim.launch.py
+```
+
+You can put something in the gazebo world, since currently is empty.


Two suggestions here:

Use a default gazebo map such as this or this for verifying that slam toolbox is indeed working as expected.

Add a short guide on using rqt to control the turtlebot for the ease of testing.

Install in CMakeList.txt ref: https://docs.ros.org/en/humble/How-To-Guides/Developing-a-ROS-2-Package.html#c-packages

- How to write the launch file https://docs.ros.org/en/rolling/Tutorials/Intermediate/Launch/Launch-Main.html - Gazebo and Turtlebot3 I've open gazebo by gazebo_ros launch file Launch ref: https://github.com/ros-simulation/gazebo_ros_pkgs/blob/ros2/gazebo_ros/launch/gazebo.launch.py Setup model path and spawn entity ref: https://github.com/ros-simulation/gazebo_ros_pkgs/blob/ros2/gazebo_ros/launch/spawn_entity_demo.launch.py Setup rviz by passing rviz path

Static TF2 ref: https://docs.ros.org/en/humble/Tutorials/Intermediate/Tf2/Writing-A-Tf2-Static-Broadcaster-Py.html#the-proper-way-to-publish-static-transforms

Ref: - Commit: https://github.com/SteveMacenski/slam_toolbox/tree/8365b77 - File: slam_toolbox/config/mapper_params_online_async.yaml

- Async slam Ref: https://github.com/SteveMacenski/slam_toolbox/blob/ros2/launch/online_async_launch.py - Async Config Here, I'm copying the configuration to facilitate fine-tuning of the SLAM parameters. Ref: https://github.com/SteveMacenski/slam_toolbox/blob/ros2/config/mapper_params_online_async.yaml

- In this case, we want to automate the building process in bashrc. - And preventing error when we haven't build the workspace if-else statement in shell script Ref: https://linuxize.com/post/bash-if-else-statement/

Assume-Zhan force-pushed the slamtoolbox-humble-docker branch from bb6e173 to a0dac6f Compare October 21, 2023 06:11

Assume-Zhan added 7 commits October 21, 2023 15:17

Add gitkeep in Gazebo cache

a8fd07f

Add gitignore

4968772

- gitignore template: template_ws https://github.com/j3soon/ros2-agv-essentials/blob/master/template_ws/.gitignore - Error cache folder Fixed in this PR: j3soon#13

Add devcontainer for developing in VScode

5f9aa00

From template_ws https://github.com/j3soon/ros2-agv-essentials/tree/master/template_ws/.devcontainer Change name to slam-toolbox

Create package slam_simulation

7f3cfdf

- How to create a package https://docs.ros.org/en/humble/Tutorials/Beginner-Client-Libraries/Creating-Your-First-ROS2-Package.html#create-a-package - Also modify the LICENSE and description in package.xml

Assume-Zhan force-pushed the slamtoolbox-humble-docker branch from a0dac6f to 03093c9 Compare October 21, 2023 07:20

Assume-Zhan requested a review from j3soon October 21, 2023 14:17

j3soon requested changes Oct 28, 2023

View reviewed changes

Assume-Zhan added 9 commits November 16, 2023 19:06

Add launch, config and rviz folder in CMakeList.txt

4ff9134

Install in CMakeList.txt ref: https://docs.ros.org/en/humble/How-To-Guides/Developing-a-ROS-2-Package.html#c-packages

Modify .launch

e971e60

Add static TF2

16ab826

Static TF2 ref: https://docs.ros.org/en/humble/Tutorials/Intermediate/Tf2/Writing-A-Tf2-Static-Broadcaster-Py.html#the-proper-way-to-publish-static-transforms

Copy mapper online async config file

da7a94a

Ref: - Commit: https://github.com/SteveMacenski/slam_toolbox/tree/8365b77 - File: slam_toolbox/config/mapper_params_online_async.yaml

A simple test with given map

84e13ea

Add README.md

93df3e9

Update maintainer name in package.xml

4b687ad

Assume-Zhan force-pushed the slamtoolbox-humble-docker branch from 03093c9 to 4b687ad Compare November 16, 2023 11:25

Add workspace check in bashrc

60e5b8b

- In this case, we want to automate the building process in bashrc. - And preventing error when we haven't build the workspace if-else statement in shell script Ref: https://linuxize.com/post/bash-if-else-statement/

Assume-Zhan self-assigned this Jan 26, 2024

j3soon force-pushed the master branch from 012a21e to 6a2b875 Compare July 5, 2024 06:32

j3soon force-pushed the main branch 2 times, most recently from a8b1110 to dbd12e4 Compare October 23, 2024 19:17

j3soon force-pushed the main branch 4 times, most recently from 9a326f9 to ffd229a Compare December 13, 2024 15:24

j3soon force-pushed the main branch 3 times, most recently from ecf7008 to adf7444 Compare December 15, 2024 03:53

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Dockerfile and Workspace for slamtool-box #15

Dockerfile and Workspace for slamtool-box #15

Assume-Zhan commented Oct 20, 2023 •

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Dockerfile and Workspace for slamtool-box #15

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Dockerfile and Workspace for slamtool-box #15

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