Asoragna/humble (iRobotEducation#197)

* various fixes to support ROS 2 Humble Signed-off-by: Alberto Soragna <alberto.soragna@gmail.com> * Asoragna/humble fixes (iRobotEducation#196) * Add Humble CI Signed-off-by: Alberto Soragna <alberto.soragna@gmail.com> * rename ign_ros2_control package to gazebo_ros2_control Signed-off-by: Alberto Soragna <alberto.soragna@gmail.com> * use const reference in for loops Signed-off-by: Alberto Soragna <alberto.soragna@gmail.com> Signed-off-by: Alberto Soragna <alberto.soragna@gmail.com> * Humble fix (iRobotEducation#193) * Fix range redefinition and backward movement Signed-off-by: Francisco Martín Rico <fmrico@gmail.com> * Update message names to iRobotEducation/irobot_create_msgs#10 Signed-off-by: Francisco Martín Rico <fmrico@gmail.com> * Revert safety parameter Signed-off-by: Francisco Martín Rico <fmrico@gmail.com> Signed-off-by: Francisco Martín Rico <fmrico@gmail.com> * fix linter errors Signed-off-by: Alberto Soragna <alberto.soragna@gmail.com> * add rsl dependency Signed-off-by: Alberto Soragna <alberto.soragna@gmail.com> * rename dock topic into dock_status Signed-off-by: Alberto Soragna <alberto.soragna@gmail.com> * fix linking with ignition libraries (iRobotEducation#198) Signed-off-by: Alberto Soragna <alberto.soragna@gmail.com> * rename ros2_control filename Signed-off-by: Alberto Soragna <alberto.soragna@gmail.com> * comment ign_ros2_control dependency as it must be built from sources Signed-off-by: Alberto Soragna <alberto.soragna@gmail.com> * add link in the readme admonition Signed-off-by: Alberto Soragna <alberto.soragna@gmail.com> Signed-off-by: Alberto Soragna <alberto.soragna@gmail.com> Signed-off-by: Francisco Martín Rico <fmrico@gmail.com> Co-authored-by: Francisco Martín Rico <fmrico@gmail.com>
roni-kreinin · Jan 19, 2023 · b7c6901 · b7c6901
1 parent ea16648
commit b7c6901
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diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
@@ -9,30 +9,17 @@ on:
 jobs:
   build_and_test:
     name: build_and_test
-    runs-on: ubuntu-20.04
+    runs-on: ubuntu-22.04
     steps:
       - name: Set Ignition Version
         run: |
           echo "IGNITION_VERSION=edifice" >> $GITHUB_ENV
       - uses: actions/checkout@v2.3.4
-      - uses: ros-tooling/setup-ros@0.2.1
+      - uses: ros-tooling/setup-ros@0.4.1
         with:
-          required-ros-distributions: galactic
-      - uses: ros-tooling/action-ros-ci@0.2.1
+          required-ros-distributions: humble
+      - uses: ros-tooling/action-ros-ci@0.2.7
         id: action_ros_ci_step
         with:
-          target-ros2-distro: galactic
+          target-ros2-distro: humble
           import-token: ${{ secrets.REPO_TOKEN }}
-          package-name:
-            irobot_create_common_bringup
-            irobot_create_control
-            irobot_create_description
-            irobot_create_nodes
-            irobot_create_toolbox
-            irobot_create_gazebo_bringup
-            irobot_create_gazebo_plugins
-            irobot_create_gazebo_sim
-            irobot_create_ignition_bringup
-            irobot_create_ignition_plugins
-            irobot_create_ignition_sim
-            irobot_create_ignition_toolbox
diff --git a/README.md b/README.md
@@ -5,13 +5,15 @@
 This is a ROS 2 simulation stack for the [iRobot® Create® 3](https://edu.irobot.com/create3) robot.
 Both Ignition Gazebo and Classic Gazebo are supported.
 
+> :warning: **To run with Ignition Gazebo you must first build and install the [`gz_ros2_control`](https://github.com/ros-controls/gz_ros2_control) package master branch from sources!**
+
 Have a look at the [Create® 3 documentation](https://iroboteducation.github.io/create3_docs/) for more details on the ROS 2 interfaces exposed by the robot.
 
 ## Prerequisites
 
 Required dependencies:
 
-1. [ROS 2 galactic](https://docs.ros.org/en/galactic/Installation/Ubuntu-Install-Debians.html)
+1. [ROS 2 humble](https://docs.ros.org/en/humble/Installation/Ubuntu-Install-Debians.html)
 2. ROS 2 dev tools:
     - [colcon-common-extensions](https://pypi.org/project/colcon-common-extensions/)
     - [rosdep](https://pypi.org/project/rosdep/): Used to install dependencies when building from sources

diff --git a/irobot_create_common/irobot_create_common_bringup/config/robot_state_params.yaml b/irobot_create_common/irobot_create_common_bringup/config/robot_state_params.yaml
@@ -10,7 +10,7 @@ robot_state:
     stop_status_publish_rate: 62.0
     battery_state_publish_rate: 0.1
     # Subscription topics
-    dock_topic: /dock
+    dock_topic: /dock_status
     wheel_vels_topic: /odom
     # Stop status position difference tolerance
     linear_velocity_tolerance: 0.01

diff --git a/irobot_create_common/irobot_create_control/package.xml b/irobot_create_common/irobot_create_control/package.xml
@@ -14,6 +14,7 @@
   <exec_depend>joint_state_broadcaster</exec_depend>
   <exec_depend>ros2launch</exec_depend>
   <exec_depend>ros2_controllers</exec_depend>
+  <exec_depend>rsl</exec_depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_cmake_flake8</test_depend>

diff --git a/irobot_create_common/irobot_create_description/urdf/create3.urdf.xacro b/irobot_create_common/irobot_create_description/urdf/create3.urdf.xacro
@@ -123,7 +123,7 @@
 
   <xacro:if value="${'$(arg gazebo)' == 'ignition'}">
     <gazebo>
-      <plugin filename="ign_ros2_control-system" name="ign_ros2_control::IgnitionROS2ControlPlugin">
+      <plugin filename="libign_ros2_control-system.so" name="ign_ros2_control::IgnitionROS2ControlPlugin">
         <parameters> $(find irobot_create_control)/config/control.yaml </parameters>
       </plugin>
     </gazebo>
@@ -252,7 +252,7 @@
       <plugin name="dock_status_publisher" filename="libgazebo_ros_create_docking_status.so">
         <ros>
           <namespace>/</namespace>
-          <remapping>~/out:=dock</remapping>
+          <remapping>~/out:=dock_status</remapping>
         </ros>
         <update_rate>1.0</update_rate>
         <robot_model_name>${robot_model_name}</robot_model_name>

diff --git a/irobot_create_common/irobot_create_description/urdf/dock/ir_emitter.urdf.xacro b/irobot_create_common/irobot_create_description/urdf/dock/ir_emitter.urdf.xacro
@@ -2,7 +2,7 @@
 <robot xmlns:xacro="http://ros.org/wiki/xacro">
   <xacro:macro name="ir_emitter" params="name parent:=base_link *origin
                                          gazebo
-                                         range
+                                         max_range
                                          aperture
                                          update_rate:=1.0
                                          min_range:=${7*cm2m}
@@ -31,7 +31,7 @@
         <xacro:ray_sensor sensor_name="${name}" gazebo="${gazebo}" 
                       update_rate="${update_rate}" visualize="${visualize}" 
                       h_samples="50" h_res="1.0" h_min_angle="-${aperture/2}" h_max_angle="${aperture/2}" 
-                      r_min="${min_range}" r_max="${range}" r_res="0.01">
+                      r_min="${min_range}" r_max="${max_range}" r_res="0.01">
                       <plugin name="dummy" filename="dummyfile"></plugin>
         </xacro:ray_sensor>
       </gazebo>

diff --git a/irobot_create_common/irobot_create_description/urdf/dock/standard_dock.urdf.xacro b/irobot_create_common/irobot_create_description/urdf/dock/standard_dock.urdf.xacro
@@ -45,7 +45,7 @@
                     parent="${link_name}"
                     gazebo="$(arg gazebo)"
                     aperture="${buoy_lateral_aperture}"
-                    range="1.0"
+                    max_range="1.0"
                     visualize="$(arg visualize_rays)">
     <origin xyz="${buoy_x} 0 ${buoy_z}"
             rpy="0 0 ${- buoy_lateral_angle_yaw}"/>
@@ -56,7 +56,7 @@
                     parent="${link_name}"
                     gazebo="$(arg gazebo)"
                     aperture="${buoy_lateral_aperture}"
-                    range="1.0"
+                    max_range="1.0"
                     visualize="$(arg visualize_rays)">
     <origin xyz="${buoy_x} 0 ${buoy_z}"
             rpy="0 0 ${buoy_lateral_angle_yaw}"/>
@@ -67,7 +67,7 @@
                     parent="${link_name}"
                     gazebo="$(arg gazebo)"
                     aperture="${10*deg2rad}"
-                    range="1.0"
+                    max_range="1.0"
                     visualize="$(arg visualize_rays)">
     <origin xyz="${buoy_x} 0 ${buoy_z}"/>
   </xacro:ir_emitter>
@@ -77,7 +77,7 @@
                     parent="${link_name}"
                     gazebo="$(arg gazebo)"
                     aperture="360"
-                    range="0.6096"
+                    max_range="0.6096"
                     visualize="$(arg visualize_rays)">
     <origin xyz="${buoy_x} 0 ${0.095 - z_offset}"/>
   </xacro:ir_emitter>

diff --git a/irobot_create_common/irobot_create_nodes/CMakeLists.txt b/irobot_create_common/irobot_create_nodes/CMakeLists.txt
@@ -40,6 +40,7 @@ set(dependencies
   nav_msgs
   rclcpp
   rclcpp_action
+  rclcpp_components
   tf2
   tf2_geometry_msgs
   tf2_ros

diff --git a/...on/irobot_create_nodes/include/irobot_create_nodes/motion_control/behaviors_scheduler.hpp b/...on/irobot_create_nodes/include/irobot_create_nodes/motion_control/behaviors_scheduler.hpp
@@ -4,15 +4,15 @@
 #ifndef IROBOT_CREATE_NODES__MOTION_CONTROL__BEHAVIORS_SCHEDULER_HPP_
 #define IROBOT_CREATE_NODES__MOTION_CONTROL__BEHAVIORS_SCHEDULER_HPP_
 
-#include <boost/optional.hpp>
-#include <geometry_msgs/msg/twist.hpp>
-#include <irobot_create_msgs/msg/hazard_detection_vector.hpp>
-#include <tf2/LinearMath/Transform.h>
-
 #include <atomic>
 #include <functional>
 #include <mutex>
 
+#include "boost/optional.hpp"
+#include "geometry_msgs/msg/twist.hpp"
+#include "irobot_create_msgs/msg/hazard_detection_vector.hpp"
+#include "tf2/LinearMath/Transform.h"
+
 namespace irobot_create_nodes
 {
 

diff --git a/...ommon/irobot_create_nodes/include/irobot_create_nodes/motion_control/docking_behavior.hpp b/...ommon/irobot_create_nodes/include/irobot_create_nodes/motion_control/docking_behavior.hpp
@@ -6,19 +6,19 @@
 
 #include <stdint.h>
 
-#include <irobot_create_msgs/action/dock_servo.hpp>
-#include <irobot_create_msgs/action/undock.hpp>
-#include <irobot_create_msgs/msg/dock.hpp>
-#include <irobot_create_nodes/motion_control/behaviors_scheduler.hpp>
-#include <irobot_create_nodes/motion_control/simple_goal_controller.hpp>
-#include <nav_msgs/msg/odometry.hpp>
-#include <rclcpp/rclcpp.hpp>
-#include <rclcpp_action/rclcpp_action.hpp>
-#include <tf2_geometry_msgs/tf2_geometry_msgs.h>
-
 #include <atomic>
 #include <memory>
 
+#include "irobot_create_msgs/action/dock.hpp"
+#include "irobot_create_msgs/action/undock.hpp"
+#include "irobot_create_msgs/msg/dock_status.hpp"
+#include "irobot_create_nodes/motion_control/behaviors_scheduler.hpp"
+#include "irobot_create_nodes/motion_control/simple_goal_controller.hpp"
+#include "nav_msgs/msg/odometry.hpp"
+#include "rclcpp/rclcpp.hpp"
+#include "rclcpp_action/rclcpp_action.hpp"
+#include "tf2_geometry_msgs/tf2_geometry_msgs.hpp"
+
 namespace irobot_create_nodes
 {
 
@@ -45,27 +45,27 @@ class DockingBehavior
     const tf2::Transform & docked_robot_pose,
     const tf2::Transform & dock_pose);
 
-  void dock_status_callback(irobot_create_msgs::msg::Dock::ConstSharedPtr msg);
+  void dock_status_callback(irobot_create_msgs::msg::DockStatus::ConstSharedPtr msg);
 
   void robot_pose_callback(nav_msgs::msg::Odometry::ConstSharedPtr msg);
 
   void dock_pose_callback(nav_msgs::msg::Odometry::ConstSharedPtr msg);
 
   rclcpp_action::GoalResponse handle_dock_servo_goal(
     const rclcpp_action::GoalUUID & uuid,
-    std::shared_ptr<const irobot_create_msgs::action::DockServo::Goal> goal);
+    std::shared_ptr<const irobot_create_msgs::action::Dock::Goal> goal);
 
   rclcpp_action::CancelResponse handle_dock_servo_cancel(
     const std::shared_ptr<
-      rclcpp_action::ServerGoalHandle<irobot_create_msgs::action::DockServo>> goal_handle);
+      rclcpp_action::ServerGoalHandle<irobot_create_msgs::action::Dock>> goal_handle);
 
   void handle_dock_servo_accepted(
     const std::shared_ptr<
-      rclcpp_action::ServerGoalHandle<irobot_create_msgs::action::DockServo>> goal_handle);
+      rclcpp_action::ServerGoalHandle<irobot_create_msgs::action::Dock>> goal_handle);
 
   BehaviorsScheduler::optional_output_t execute_dock_servo(
     const std::shared_ptr<
-      rclcpp_action::ServerGoalHandle<irobot_create_msgs::action::DockServo>> goal_handle,
+      rclcpp_action::ServerGoalHandle<irobot_create_msgs::action::Dock>> goal_handle,
     const RobotState & current_state);
 
   rclcpp_action::GoalResponse handle_undock_goal(
@@ -85,10 +85,10 @@ class DockingBehavior
       rclcpp_action::ServerGoalHandle<irobot_create_msgs::action::Undock>> goal_handle,
     const RobotState & current_state);
 
-  rclcpp_action::Server<irobot_create_msgs::action::DockServo>::SharedPtr docking_action_server_;
+  rclcpp_action::Server<irobot_create_msgs::action::Dock>::SharedPtr docking_action_server_;
   rclcpp_action::Server<irobot_create_msgs::action::Undock>::SharedPtr undocking_action_server_;
 
-  rclcpp::Subscription<irobot_create_msgs::msg::Dock>::SharedPtr dock_status_sub_;
+  rclcpp::Subscription<irobot_create_msgs::msg::DockStatus>::SharedPtr dock_status_sub_;
   rclcpp::Subscription<nav_msgs::msg::Odometry>::SharedPtr robot_pose_sub_;
   rclcpp::Subscription<nav_msgs::msg::Odometry>::SharedPtr dock_pose_sub_;
 

diff --git a/...n/irobot_create_nodes/include/irobot_create_nodes/motion_control/drive_goal_behaviors.hpp b/...n/irobot_create_nodes/include/irobot_create_nodes/motion_control/drive_goal_behaviors.hpp
@@ -4,21 +4,22 @@
 #ifndef IROBOT_CREATE_NODES__MOTION_CONTROL__DRIVE_GOAL_BEHAVIORS_HPP_
 #define IROBOT_CREATE_NODES__MOTION_CONTROL__DRIVE_GOAL_BEHAVIORS_HPP_
 
-#include <irobot_create_nodes/motion_control/behaviors_scheduler.hpp>
-#include <geometry_msgs/msg/twist.hpp>
-#include <irobot_create_msgs/action/drive_arc.hpp>
-#include <irobot_create_msgs/action/drive_distance.hpp>
-#include <irobot_create_msgs/action/navigate_to_position.hpp>
-#include <irobot_create_msgs/action/rotate_angle.hpp>
-#include <rclcpp/rclcpp.hpp>
-#include <rclcpp_action/rclcpp_action.hpp>
 #include <stdint.h>
-#include <tf2_geometry_msgs/tf2_geometry_msgs.h>
 
 #include <atomic>
 #include <memory>
 #include <string>
 
+#include "geometry_msgs/msg/twist.hpp"
+#include "irobot_create_nodes/motion_control/behaviors_scheduler.hpp"
+#include "irobot_create_msgs/action/drive_arc.hpp"
+#include "irobot_create_msgs/action/drive_distance.hpp"
+#include "irobot_create_msgs/action/navigate_to_position.hpp"
+#include "irobot_create_msgs/action/rotate_angle.hpp"
+#include "rclcpp/rclcpp.hpp"
+#include "rclcpp_action/rclcpp_action.hpp"
+#include "tf2_geometry_msgs/tf2_geometry_msgs.hpp"
+
 namespace irobot_create_nodes
 {
 

diff --git a/...common/irobot_create_nodes/include/irobot_create_nodes/motion_control/reflex_behavior.hpp b/...common/irobot_create_nodes/include/irobot_create_nodes/motion_control/reflex_behavior.hpp
@@ -4,21 +4,21 @@
 #ifndef IROBOT_CREATE_NODES__MOTION_CONTROL__REFLEX_BEHAVIOR_HPP_
 #define IROBOT_CREATE_NODES__MOTION_CONTROL__REFLEX_BEHAVIOR_HPP_
 
-#include <irobot_create_msgs/msg/hazard_detection.hpp>
-#include <irobot_create_msgs/msg/hazard_detection_vector.hpp>
-#include <irobot_create_nodes/motion_control/behaviors_scheduler.hpp>
-#include <nav_msgs/msg/odometry.hpp>
-#include <rclcpp/rclcpp.hpp>
-#include <tf2_geometry_msgs/tf2_geometry_msgs.h>
-#include <tf2_ros/buffer.h>
-
 #include <atomic>
 #include <limits>
 #include <map>
 #include <memory>
 #include <string>
 #include <vector>
 
+#include "irobot_create_msgs/msg/hazard_detection.hpp"
+#include "irobot_create_msgs/msg/hazard_detection_vector.hpp"
+#include "irobot_create_nodes/motion_control/behaviors_scheduler.hpp"
+#include "nav_msgs/msg/odometry.hpp"
+#include "rclcpp/rclcpp.hpp"
+#include "tf2_geometry_msgs/tf2_geometry_msgs.hpp"
+#include "tf2_ros/buffer.h"
+
 namespace irobot_create_nodes
 {
 

diff --git a/...irobot_create_nodes/include/irobot_create_nodes/motion_control/simple_goal_controller.hpp b/...irobot_create_nodes/include/irobot_create_nodes/motion_control/simple_goal_controller.hpp
@@ -4,18 +4,18 @@
 #ifndef IROBOT_CREATE_NODES__MOTION_CONTROL__SIMPLE_GOAL_CONTROLLER_HPP_
 #define IROBOT_CREATE_NODES__MOTION_CONTROL__SIMPLE_GOAL_CONTROLLER_HPP_
 
-#include <angles/angles.h>
-#include <boost/optional.hpp>
-#include <geometry_msgs/msg/twist.hpp>
-#include <irobot_create_nodes/motion_control/behaviors_scheduler.hpp>
-#include <tf2/utils.h>
-#include <tf2_geometry_msgs/tf2_geometry_msgs.h>
-
 #include <deque>
 #include <functional>
 #include <mutex>
 #include <vector>
 
+#include "angles/angles.h"
+#include "boost/optional.hpp"
+#include "geometry_msgs/msg/twist.hpp"
+#include "irobot_create_nodes/motion_control/behaviors_scheduler.hpp"
+#include "tf2/utils.h"
+#include "tf2_geometry_msgs/tf2_geometry_msgs.hpp"
+
 namespace irobot_create_nodes
 {
 

diff --git a/...n/irobot_create_nodes/include/irobot_create_nodes/motion_control/wall_follow_behavior.hpp b/...n/irobot_create_nodes/include/irobot_create_nodes/motion_control/wall_follow_behavior.hpp
@@ -6,19 +6,19 @@
 
 #include <stdint.h>
 
-#include <irobot_create_msgs/action/wall_follow.hpp>
-#include <irobot_create_msgs/msg/hazard_detection_vector.hpp>
-#include <irobot_create_msgs/msg/ir_intensity_vector.hpp>
-#include <irobot_create_nodes/motion_control/behaviors_scheduler.hpp>
-#include <irobot_create_nodes/motion_control/wall_follow_states.hpp>
-#include <rclcpp/rclcpp.hpp>
-#include <rclcpp_action/rclcpp_action.hpp>
-
 #include <atomic>
 #include <memory>
 #include <string>
 #include <vector>
 
+#include "irobot_create_msgs/action/wall_follow.hpp"
+#include "irobot_create_msgs/msg/hazard_detection_vector.hpp"
+#include "irobot_create_msgs/msg/ir_intensity_vector.hpp"
+#include "irobot_create_nodes/motion_control/behaviors_scheduler.hpp"
+#include "irobot_create_nodes/motion_control/wall_follow_states.hpp"
+#include "rclcpp/rclcpp.hpp"
+#include "rclcpp_action/rclcpp_action.hpp"
+
 namespace irobot_create_nodes
 {
 

diff --git a/...mon/irobot_create_nodes/include/irobot_create_nodes/motion_control/wall_follow_states.hpp b/...mon/irobot_create_nodes/include/irobot_create_nodes/motion_control/wall_follow_states.hpp
@@ -4,16 +4,16 @@
 #ifndef IROBOT_CREATE_NODES__MOTION_CONTROL__WALL_FOLLOW_STATES_HPP_
 #define IROBOT_CREATE_NODES__MOTION_CONTROL__WALL_FOLLOW_STATES_HPP_
 
-#include <irobot_create_msgs/action/wall_follow.hpp>
-#include <irobot_create_msgs/msg/ir_intensity_vector.hpp>
-#include <tf2/utils.h>
-#include <tf2_geometry_msgs/tf2_geometry_msgs.h>
-
 #include <atomic>
 #include <memory>
 #include <string>
 #include <vector>
 
+#include "irobot_create_msgs/action/wall_follow.hpp"
+#include "irobot_create_msgs/msg/ir_intensity_vector.hpp"
+#include "tf2/utils.h"
+#include "tf2_geometry_msgs/tf2_geometry_msgs.hpp"
+
 namespace irobot_create_nodes
 {