Humble対応

.ci.rosinstall

@@ -1,9 +1,9 @@
 - git:
     uri: https://github.com/rt-net/raspimouse_description.git
     local-name: raspimouse_description
-    version: foxy-devel
+    version: humble-devel
 
 - git:
     uri: https://github.com/rt-net/raspimouse_ros2_examples.git
     local-name: raspimouse_ros2_examples
-    version: foxy-devel
+    version: humble-devel

.github/workflows/industrial_ci.yaml

@@ -20,7 +20,7 @@ jobs:
     strategy:
       matrix:
         env:
-          - { ROS_DISTRO: foxy, ROS_REPO: ros }
+          - { ROS_DISTRO: humble, ROS_REPO: ros }
     runs-on: ubuntu-latest
     steps:
       - uses: actions/checkout@v3

README.md

@@ -7,6 +7,7 @@ Raspberry Pi MouseでSLAMが行える`raspimouse_slam`パッケージとナビ
 
 現在、以下のROS 2のディストリビューションに対応しております。  
  - Foxy ([foxy-devel](https://github.com/rt-net/raspimouse_slam_navigation_ros2/tree/foxy-devel))
+ - Humble ([humble-devel](https://github.com/rt-net/raspimouse_slam_navigation_ros2/tree/humble-devel))
 
 ---
 # Table of Contents
@@ -28,16 +29,16 @@ Raspberry Pi Mouseにはデバイスドライバをインストールしてい
  - [Raspberry Pi Mouse V3](https://rt-net.jp/products/raspberrypimousev3/)
    - Raspberry Pi - Raspberry Pi 4 Model B
      - Raspberry Pi 3 では動作確認していません
-   - Linux OS - Ubuntu 20.04
+   - Linux OS - Ubuntu 22.04
    - Device Driver - [rt-net/RaspberryPiMouse](https://github.com/rt-net/RaspberryPiMouse)
-   - ROS - [Foxy Fitzroy](https://docs.ros.org/en/foxy/Installation.html)
+   - ROS - [Humble Hawksbill](https://docs.ros.org/en/humble/Installation.html)
    - オプションパーツ
      - [Raspberry Pi4用コネクタ](https://www.rt-shop.jp/index.php?main_page=product_info&products_id=3776)
      - [マルチLiDARマウント](https://www.rt-shop.jp/index.php?main_page=product_info&cPath=1299_1395&products_id=3867)
 
  - Remote PC
-   - Linux OS - Ubuntu 20.04
-   - ROS - Foxy Fitzroy
+   - Linux OS - Ubuntu 22.04
+   - ROS - Humble Hawksbill
 
 また、本パッケージは以下の機材に対応しています。  
  - ゲームパッド: [raspimouse_ros2_examplesのREADME参照](https://github.com/rt-net/raspimouse_ros2_examples#requirements-1)
@@ -57,7 +58,7 @@ git clone -b $ROS_DISTRO-devel https://github.com/rt-net/raspimouse_ros2_example
 git clone -b $ROS_DISTRO-devel https://github.com/rt-net/raspimouse_description
 git clone -b $ROS_DISTRO-devel https://github.com/rt-net/raspimouse_slam_navigation_ros2
 # Install dependencies
-rosdep install -r -y -i --from-paths . --ignore-src
+rosdep install -y -i --from-paths . --ignore-src
 
 # make and install
 cd ~/ros2_ws
@@ -73,7 +74,7 @@ cd ~/ros2_ws/src
 git clone -b $ROS_DISTRO-devel https://github.com/rt-net/raspimouse_description
 git clone -b $ROS_DISTRO-devel https://github.com/rt-net/raspimouse_slam_navigation_ros2
 # Install dependencies
-rosdep install -r -y -i --from-paths . --ignore-src
+rosdep install -y -i --from-paths . --ignore-src
 
 # make and install
 cd ~/ros2_ws

raspimouse_navigation/launch/robot_navigation.launch.py

@@ -89,7 +89,7 @@ def generate_launch_description():
     )
 
     mouse_node = LifecycleNode(
-        name='raspimouse',
+        name='raspimouse', namespace='',
         package='raspimouse', executable='raspimouse', output='screen',
         parameters=[os.path.join(get_package_share_directory(
             'raspimouse_slam'), 'config', 'mouse.yaml')]

raspimouse_navigation/params/raspimouse.yaml

@@ -28,7 +28,7 @@ amcl:
     recovery_alpha_fast: 0.0
     recovery_alpha_slow: 0.0
     resample_interval: 1
-    robot_model_type: "differential"
+    robot_model_type: "nav2_amcl::DifferentialMotionModel"
     save_pose_rate: 0.5
     sigma_hit: 0.2
     tf_broadcast: true
@@ -85,6 +85,8 @@ bt_navigator:
     - nav2_transform_available_condition_bt_node
     - nav2_time_expired_condition_bt_node
     - nav2_distance_traveled_condition_bt_node
+    - nav2_compute_path_through_poses_action_bt_node
+    - nav2_remove_passed_goals_action_bt_node
 
 bt_navigator_rclcpp_node:
   ros__parameters:
@@ -99,7 +101,7 @@ controller_server:
     min_theta_velocity_threshold: 0.001
 
     # ゴール判定のプラグインを追加
-    goal_checker_plugins: "goal_checker"
+    goal_checker_plugins: ["goal_checker"]
     goal_checker:
       plugin: "nav2_controller::SimpleGoalChecker"
       xy_goal_tolerance: 0.05
@@ -300,4 +302,4 @@ recoveries_server:
 
 robot_state_publisher:
   ros__parameters:
-    use_sim_time: False
+    use_sim_time: False

raspimouse_navigation/rviz/nav2_view.rviz

@@ -417,7 +417,7 @@ Visualization Manager:
   Global Options:
     Background Color: 48; 48; 48
     Fixed Frame: map
-    Frame Rate: 30
+    Frame Rate: 5
   Name: root
   Tools:
     - Class: rviz_default_plugins/MoveCamera

raspimouse_slam/launch/robot_bringup.launch.py

@@ -53,7 +53,7 @@ def generate_launch_description():
 
     # Launch files and Nodes #
     mouse_node = LifecycleNode(
-        name='raspimouse',
+        name='raspimouse', namespace='',
         package='raspimouse', executable='raspimouse', output='screen',
         parameters=[os.path.join(get_package_share_directory(
             'raspimouse_slam'), 'config', 'mouse.yaml')]

raspimouse_slam/launch/teleop.launch.py

@@ -61,7 +61,7 @@ def generate_launch_description():
     )
 
     mouse_node = LifecycleNode(
-        name='raspimouse',
+        name='raspimouse', namespace='',
         package='raspimouse', executable='raspimouse', output='screen',
         parameters=[os.path.join(get_package_share_directory(
             'raspimouse_slam'), 'config', 'mouse.yaml')],

raspimouse_slam/rviz/default.rviz

@@ -193,7 +193,7 @@ Visualization Manager:
   Global Options:
     Background Color: 48; 48; 48
     Fixed Frame: map
-    Frame Rate: 30
+    Frame Rate: 5
   Name: root
   Tools:
     - Class: rviz_default_plugins/MoveCamera