From 4b73cccc961593371478331092d9db923d6bde1a Mon Sep 17 00:00:00 2001 From: duttaishan01 Date: Tue, 18 Aug 2026 03:03:04 -0400 Subject: [PATCH 01/10] Initial Docker setup --- .devcontainer/Dockerfile | 151 ++++++++++++++++++++++++++++++++ .devcontainer/devcontainer.json | 36 ++++++++ .devcontainer/loop_ascii.txt | 5 ++ .devcontainer/post_create.sh | 9 ++ .dockerignore | 11 +++ 5 files changed, 212 insertions(+) create mode 100644 .devcontainer/Dockerfile create mode 100644 .devcontainer/devcontainer.json create mode 100644 .devcontainer/loop_ascii.txt create mode 100755 .devcontainer/post_create.sh create mode 100644 .dockerignore diff --git a/.devcontainer/Dockerfile b/.devcontainer/Dockerfile new file mode 100644 index 00000000..215eee65 --- /dev/null +++ b/.devcontainer/Dockerfile @@ -0,0 +1,151 @@ +FROM ubuntu:22.04 + +ARG DEBIAN_FRONTEND=noninteractive +ARG ROS_DISTRO=humble +ARG USERNAME=loop_dev +ARG USER_UID=1000 +ARG USER_GID=${USER_UID} + +ENV ROS_DISTRO=${ROS_DISTRO} +ENV LANG=en_US.UTF-8 +ENV LC_ALL=en_US.UTF-8 +ENV SHELL=/bin/bash + +SHELL ["/bin/bash", "-c"] + +RUN apt-get update && apt-get install -y --no-install-recommends \ + ca-certificates \ + curl \ + gnupg \ + lsb-release \ + locales \ + software-properties-common \ + sudo \ + && locale-gen en_US en_US.UTF-8 \ + && update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8 \ + && add-apt-repository universe \ + && curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key \ + -o /usr/share/keyrings/ros-archive-keyring.gpg \ + && echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo ${UBUNTU_CODENAME}) main" \ + > /etc/apt/sources.list.d/ros2.list \ + && rm -rf /var/lib/apt/lists/* + +RUN apt-get update && apt-get install -y --no-install-recommends \ + bash-completion \ + build-essential \ + clang-format \ + cmake \ + geographiclib-tools \ + git \ + git-lfs \ + gdb \ + htop \ + iproute2 \ + iputils-ping \ + libboost-chrono-dev \ + libboost-date-time-dev \ + libboost-filesystem-dev \ + libboost-program-options-dev \ + libboost-regex-dev \ + libboost-serialization-dev \ + libboost-system-dev \ + libboost-thread-dev \ + libboost-timer-dev \ + libgeographic-dev \ + libopencv-dev \ + libpcl-dev \ + libserial-dev \ + nano \ + net-tools \ + openssh-client \ + python3-dev \ + python3-colcon-common-extensions \ + python3-pip \ + python3-rosdep \ + python3-serial \ + python3-vcstool \ + python3-venv \ + ruby \ + tmux \ + tmuxinator \ + udev \ + unzip \ + usbutils \ + vim \ + wget \ + && apt-get install -y --no-install-recommends \ + ros-${ROS_DISTRO}-desktop \ + ros-${ROS_DISTRO}-moveit \ + ros-${ROS_DISTRO}-navigation2 \ + ros-${ROS_DISTRO}-nav2-bringup \ + ros-${ROS_DISTRO}-ros2-control \ + ros-${ROS_DISTRO}-ros2-controllers \ + ros-${ROS_DISTRO}-ros2-control-test-assets \ + ros-${ROS_DISTRO}-ros2controlcli \ + ros-${ROS_DISTRO}-control-msgs \ + ros-${ROS_DISTRO}-controller-manager \ + ros-${ROS_DISTRO}-cv-bridge \ + ros-${ROS_DISTRO}-eigen3-cmake-module \ + ros-${ROS_DISTRO}-generate-parameter-library \ + ros-${ROS_DISTRO}-geographic-msgs \ + ros-${ROS_DISTRO}-gps-msgs \ + ros-${ROS_DISTRO}-gtsam \ + ros-${ROS_DISTRO}-gz-ros2-control \ + ros-${ROS_DISTRO}-image-transport-plugins \ + ros-${ROS_DISTRO}-joint-state-broadcaster \ + ros-${ROS_DISTRO}-joint-state-publisher \ + ros-${ROS_DISTRO}-joint-state-publisher-gui \ + ros-${ROS_DISTRO}-joint-trajectory-controller \ + ros-${ROS_DISTRO}-kdl-parser \ + ros-${ROS_DISTRO}-moveit-configs-utils \ + ros-${ROS_DISTRO}-moveit-kinematics \ + ros-${ROS_DISTRO}-moveit-planners \ + ros-${ROS_DISTRO}-moveit-ros-planning-interface \ + ros-${ROS_DISTRO}-moveit-simple-controller-manager \ + ros-${ROS_DISTRO}-nmea-msgs \ + ros-${ROS_DISTRO}-pcl-conversions \ + ros-${ROS_DISTRO}-position-controllers \ + ros-${ROS_DISTRO}-realtime-tools \ + ros-${ROS_DISTRO}-robot-localization \ + ros-${ROS_DISTRO}-robot-state-publisher \ + ros-${ROS_DISTRO}-ros-gz \ + ros-${ROS_DISTRO}-ros-gz-bridge \ + ros-${ROS_DISTRO}-ros-gz-sim \ + ros-${ROS_DISTRO}-rosidl-default-generators \ + ros-${ROS_DISTRO}-tf2-eigen \ + ros-${ROS_DISTRO}-tf2-geometry-msgs \ + ros-${ROS_DISTRO}-tf2-ros \ + ros-${ROS_DISTRO}-tf2-sensor-msgs \ + ros-${ROS_DISTRO}-topic-tools \ + ros-${ROS_DISTRO}-velocity-controllers \ + ros-${ROS_DISTRO}-vision-msgs \ + ros-${ROS_DISTRO}-xacro \ + && rm -rf /var/lib/apt/lists/* + +COPY requirements.txt /tmp/requirements.txt +RUN python3 -m pip install --no-cache-dir --upgrade pip \ + && python3 -m pip install --no-cache-dir -r /tmp/requirements.txt + +COPY libmavsdk-dev_3.14.0_ubuntu22.04_amd64.deb /tmp/libmavsdk-dev_3.14.0_ubuntu22.04_amd64.deb +RUN dpkg -i /tmp/libmavsdk-dev_3.14.0_ubuntu22.04_amd64.deb \ + || (apt-get update && apt-get install -y --no-install-recommends -f && rm -rf /var/lib/apt/lists/*) \ + && rm -f /tmp/libmavsdk-dev_3.14.0_ubuntu22.04_amd64.deb + +RUN if ! getent group ${USER_GID} >/dev/null; then groupadd --gid ${USER_GID} ${USERNAME}; fi \ + && if ! id -u ${USERNAME} >/dev/null 2>&1; then useradd --uid ${USER_UID} --gid ${USER_GID} -m ${USERNAME} -s /bin/bash; fi \ + && usermod -aG sudo,dialout,video,plugdev ${USERNAME} \ + && echo "${USERNAME} ALL=(ALL) NOPASSWD:ALL" > /etc/sudoers.d/${USERNAME} \ + && chmod 0440 /etc/sudoers.d/${USERNAME} + +RUN rosdep init || true + +COPY .devcontainer/loop_ascii.txt /etc/loop_ascii.txt + +RUN echo "source /opt/ros/${ROS_DISTRO}/setup.bash" >> /etc/bash.bashrc + +USER ${USERNAME} +RUN touch /home/${USERNAME}/.hushlogin +RUN printf '\nif [[ $- == *i* ]] && [[ -r /etc/loop_ascii.txt ]]; then\n printf '"'"'%%b\\n'"'"' "$(cat /etc/loop_ascii.txt)"\nfi\n' \ + >> /home/${USERNAME}/.bashrc + +WORKDIR /athena-code diff --git a/.devcontainer/devcontainer.json b/.devcontainer/devcontainer.json new file mode 100644 index 00000000..69e7d5a6 --- /dev/null +++ b/.devcontainer/devcontainer.json @@ -0,0 +1,36 @@ +{ + "name": "Athena ROS 2 Humble", + "build": { + "dockerfile": "Dockerfile", + "context": ".." + }, + "remoteUser": "loop_dev", + "updateRemoteUserUID": true, + "workspaceFolder": "/athena-code", + "workspaceMount": "source=${localWorkspaceFolder},target=/athena-code,type=bind,consistency=cached", + "postCreateCommand": ".devcontainer/post_create.sh", + "runArgs": [ + "--network=host", + "--ipc=host", + "--privileged" + ], + "containerEnv": { + "ROS_DISTRO": "humble", + "RMW_IMPLEMENTATION": "rmw_fastrtps_cpp" + }, + "customizations": { + "vscode": { + "extensions": [ + "ms-vscode.cpptools", + "ms-vscode.cmake-tools", + "ms-python.python", + "ms-iot.vscode-ros", + "openai.chatgpt", + "cweijan.vscode-office", + "esbenp.prettier-vscode", + "redhat.vscode-xml", + "tamasfe.even-better-toml" + ] + } + } +} diff --git a/.devcontainer/loop_ascii.txt b/.devcontainer/loop_ascii.txt new file mode 100644 index 00000000..8f24643f --- /dev/null +++ b/.devcontainer/loop_ascii.txt @@ -0,0 +1,5 @@ +\033[31m ]▓▓░ ╫▓Ñ╟▓▓, .@▓▓░▓▓▓▓▄@. \033[37m ██▌ ,▄▄██▄▄ ╓▄███▄, █████▄ +\033[31m ▐▓▓ ░▓▓▒▓▓▓▓p▓▓▓▌]▓▓╜╙▓▓▓ \033[37m▐██' ]██▀▀▀███▄█▀▀▀▀██W▐██▌ ██ +\033[31m .▓▓Ñ ╟▓▓]▓▓▓▓▓▓▓▓▒▓▓▌ ,╫▓▓ \033[37m███ ▐██ ,▒███, ██▌██████▀ +\033[31m ▀▓▓▓▓▓╜▓▓▌'╙╙╠▓▓░▓▓▓▓▓▓▀j \033[37m█████▌ ▀██████~▀██████▀j██▌ +We make kickass engineers! diff --git a/.devcontainer/post_create.sh b/.devcontainer/post_create.sh new file mode 100755 index 00000000..0de5444a --- /dev/null +++ b/.devcontainer/post_create.sh @@ -0,0 +1,9 @@ +#!/usr/bin/env bash +set -euo pipefail + +source "/opt/ros/${ROS_DISTRO}/setup.bash" + +sudo rosdep update +sudo rosdep install -r --from-paths src --ignore-src --rosdistro "$ROS_DISTRO" -y + +colcon build --symlink-install diff --git a/.dockerignore b/.dockerignore new file mode 100644 index 00000000..9561dc44 --- /dev/null +++ b/.dockerignore @@ -0,0 +1,11 @@ +.git +.agents +.codex +build +install +log +**/__pycache__ +**/.pytest_cache +**/.mypy_cache +**/.ruff_cache +*.pyc From 1f0d9fb9370e1b50b42daf2c41d6b552fb546904 Mon Sep 17 00:00:00 2001 From: duttaishan01 Date: Tue, 18 Aug 2026 03:21:08 -0400 Subject: [PATCH 02/10] reorganizing files, fixing files to allow for colcon build --symlink-install, modified files for more improved launch setup --- src/bringup/launch/delivery.launch.py | 2 +- .../launch/equipment_servicing.launch.py | 2 +- src/bringup/launch/science.launch.py | 4 +- .../config/odrive.ros2_control.xacro | 42 --- src/description/launch/display.launch.py | 1 + .../arm/arm.mock.ros2_control.xacro | 251 ++++++++++++++++++ .../drive/drive.odrive.ros2_control.xacro | 88 ++++-- .../science/science.dc.ros2_control.xacro | 6 - .../science/science.laser.ros2_control.xacro | 6 - .../science/science.mock.ros2_control.xacro | 7 +- .../science.stepper.ros2_control.xacro | 6 - .../urdf/{ => arm}/athena_arm.urdf.xacro | 6 +- .../athena_arm_description.urdf.xacro | 0 .../urdf/{ => components}/depth_camera.xacro | 0 .../urdf/{ => components}/gps.xacro | 0 .../{ => components}/ground_truth_odom.xacro | 0 .../urdf/{ => components}/imu.xacro | 0 .../{common => components}/inertials.xacro | 0 .../urdf/{ => components}/magnetometer.xacro | 0 .../{common => components}/materials.xacro | 0 .../urdf/{ => components}/zed_camera.xacro | 2 +- .../{ => components}/zed_macro_sim.urdf.xacro | 0 .../urdf/{ => drive}/athena_drive.urdf.xacro | 23 +- .../athena_drive_description.urdf.xacro | 0 .../athena_drive_macro.ros2_control.xacro | 0 .../athena_drive_macro.xacro | 4 +- .../{ => science}/athena_science.urdf.xacro | 0 .../src/rmd_hardware_interface.cpp | 1 + src/infrastructure/umdloop_can/setup.py | 1 - src/simulation/launch/spawn.launch.py | 2 +- .../config/athena_arm_controllers.yaml | 18 +- .../launch/athena_arm.jetson.launch.py | 4 +- .../arm_bringup/launch/athena_arm.launch.py | 159 ++++++----- src/subsystems/arm/arm_bringup/package.xml | 2 + .../src/manual_arm_cylindrical_controller.cpp | 8 +- .../launch/athena_arm_moveit.launch.py | 16 +- .../config/athena_drive_controllers.yaml | 73 +++-- .../config/test_goal_publishers_config.yaml | 57 ---- .../launch/athena_drive.launch.py | 43 ++- ...test_forward_position_controller.launch.py | 46 ---- .../drive/drive_controllers/CMakeLists.txt | 1 + .../athena_drive_controllers.xml | 20 -- .../config/crab_steering_controller.yaml | 57 ---- .../config/double_ackermann_controller.yaml | 63 ----- .../config/front_ackermann_controller.yaml | 1 - .../config/rear_ackermann_controller.yaml | 1 - .../config/swerve_drive_controller.yaml | 62 +---- .../src/crab_steering_controller.cpp | 12 +- .../src/double_ackermann_controller.cpp | 14 +- .../src/swerve_drive_controller.cpp | 13 +- .../navigation/aruco_bt/package.xml | 2 - src/subsystems/navigation/aruco_bt/setup.py | 1 - .../navigation/aruco_detection/setup.py | 1 - src/subsystems/navigation/gps_goal/setup.py | 1 - .../navigation/led_indicator/setup.py | 1 - .../navigation/mag_heading/setup.py | 1 - .../nav_bringup/launch/emmn.launch.py | 2 +- .../nav_bringup/launch/nav_bringup.launch.py | 2 +- .../navigation/waypoint_manager/setup.py | 1 - .../navigation/yolo_ros_bt/package.xml | 4 +- .../navigation/yolo_ros_bt/setup.py | 3 +- .../launch/athena_science.launch.py | 84 ++++-- ...test_forward_position_controller.launch.py | 46 ---- src/teleop/teleop/setup.py | 1 - 64 files changed, 620 insertions(+), 654 deletions(-) delete mode 100644 src/description/config/odrive.ros2_control.xacro create mode 100644 src/description/ros2_control/arm/arm.mock.ros2_control.xacro rename src/description/urdf/{ => arm}/athena_arm.urdf.xacro (93%) rename src/description/urdf/{ => arm}/athena_arm_description.urdf.xacro (100%) rename src/description/urdf/{ => components}/depth_camera.xacro (100%) rename src/description/urdf/{ => components}/gps.xacro (100%) rename src/description/urdf/{ => components}/ground_truth_odom.xacro (100%) rename src/description/urdf/{ => components}/imu.xacro (100%) rename src/description/urdf/{common => components}/inertials.xacro (100%) rename src/description/urdf/{ => components}/magnetometer.xacro (100%) rename src/description/urdf/{common => components}/materials.xacro (100%) rename src/description/urdf/{ => components}/zed_camera.xacro (96%) rename src/description/urdf/{ => components}/zed_macro_sim.urdf.xacro (100%) rename src/description/urdf/{ => drive}/athena_drive.urdf.xacro (75%) rename src/description/urdf/{ => drive}/athena_drive_description.urdf.xacro (100%) rename src/description/urdf/{athena_drive => drive}/athena_drive_macro.ros2_control.xacro (100%) rename src/description/urdf/{athena_drive => drive}/athena_drive_macro.xacro (98%) rename src/description/urdf/{ => science}/athena_science.urdf.xacro (100%) delete mode 100644 src/subsystems/drive/drive_bringup/config/test_goal_publishers_config.yaml delete mode 100644 src/subsystems/drive/drive_bringup/launch/test_forward_position_controller.launch.py delete mode 100644 src/subsystems/science/science_bringup/launch/test_forward_position_controller.launch.py diff --git a/src/bringup/launch/delivery.launch.py b/src/bringup/launch/delivery.launch.py index eb46eba9..d5558316 100644 --- a/src/bringup/launch/delivery.launch.py +++ b/src/bringup/launch/delivery.launch.py @@ -94,7 +94,7 @@ def launch_setup(context, *args, **kwargs): # Arm: inlined, namespaced under /arm so its CM/topics don't clash with drive. # The arm subsystem files (URDF, controllers YAML, joystick YAML) are reused as-is. # ------------------------------------------------------------------ - arm_urdf_xacro = os.path.join(description_share, 'urdf', 'athena_arm.urdf.xacro') + arm_urdf_xacro = os.path.join(description_share, 'urdf', 'arm', 'athena_arm.urdf.xacro') arm_controllers_yaml = os.path.join(arm_bringup_share, 'config', 'athena_arm_controllers.yaml') arm_joystick_yaml = os.path.join(arm_bringup_share, 'config', 'joystick.yaml') diff --git a/src/bringup/launch/equipment_servicing.launch.py b/src/bringup/launch/equipment_servicing.launch.py index 11df3e20..82043fac 100644 --- a/src/bringup/launch/equipment_servicing.launch.py +++ b/src/bringup/launch/equipment_servicing.launch.py @@ -94,7 +94,7 @@ def launch_setup(context, *args, **kwargs): # Arm: inlined, namespaced under /arm so its CM/topics don't clash with drive. # The arm subsystem files (URDF, controllers YAML, joystick YAML) are reused as-is. # ------------------------------------------------------------------ - arm_urdf_xacro = os.path.join(description_share, 'urdf', 'athena_arm.urdf.xacro') + arm_urdf_xacro = os.path.join(description_share, 'urdf', 'arm', 'athena_arm.urdf.xacro') arm_controllers_yaml = os.path.join(arm_bringup_share, 'config', 'athena_arm_controllers.yaml') arm_joystick_yaml = os.path.join(arm_bringup_share, 'config', 'joystick.yaml') diff --git a/src/bringup/launch/science.launch.py b/src/bringup/launch/science.launch.py index 29c6ea79..595c17a3 100644 --- a/src/bringup/launch/science.launch.py +++ b/src/bringup/launch/science.launch.py @@ -96,7 +96,7 @@ def launch_setup(context, *args, **kwargs): # Science: inlined, namespaced under /science so its CM/topics don't clash with drive. # The science subsystem files (URDF, controllers YAML, joystick YAML) are reused as-is. # ------------------------------------------------------------------ - science_urdf_xacro = os.path.join(description_share, 'urdf', 'athena_science.urdf.xacro') + science_urdf_xacro = os.path.join(description_share, 'urdf', 'science', 'athena_science.urdf.xacro') science_controllers_yaml = os.path.join(science_bringup_share, 'config', 'athena_science_controllers.yaml') science_joystick_yaml = os.path.join(science_bringup_share, 'config', 'joystick.yaml') @@ -196,4 +196,4 @@ def spawner(name, inactive=False): elif mode == 'base_station': return [drive, science_joystick] else: # standalone - return [drive, science_hardware, science_joystick, gps, heading, led] \ No newline at end of file + return [drive, science_hardware, science_joystick, gps, heading, led] diff --git a/src/description/config/odrive.ros2_control.xacro b/src/description/config/odrive.ros2_control.xacro deleted file mode 100644 index 901cc064..00000000 --- a/src/description/config/odrive.ros2_control.xacro +++ /dev/null @@ -1,42 +0,0 @@ - - - - - - - - odrive_ros2_control_plugin/ODriveHardwareInterface - ${can_interface} - - - - - - - - diff --git a/src/description/launch/display.launch.py b/src/description/launch/display.launch.py index 60abf239..bbff0b0a 100644 --- a/src/description/launch/display.launch.py +++ b/src/description/launch/display.launch.py @@ -21,6 +21,7 @@ def generate_launch_description(): robot_description_path = PathJoinSubstitution([ FindPackageShare("description"), "urdf", + "arm", "athena_arm.urdf.xacro" ]) diff --git a/src/description/ros2_control/arm/arm.mock.ros2_control.xacro b/src/description/ros2_control/arm/arm.mock.ros2_control.xacro new file mode 100644 index 00000000..18183062 --- /dev/null +++ b/src/description/ros2_control/arm/arm.mock.ros2_control.xacro @@ -0,0 +1,251 @@ + + + + + + + + mock_components/GenericSystem + true + + false + false + true + 0.0 + + + + + + + + + + + + 0.0 + + + + + + + + + + + + + + + + + 0.0 + + + + + + + + + + + + + + + + + 0.0 + + + + + + + + + + + + + + + + + 0.0 + + + + + + + + + + + + + + + + + 0.0 + + + + + + + + + + + + + 0.0 + + + + + + + + + + + + + 0.0 + + + + + + + + + + + + + 0.0 + + + + + + + + + + + + + 0.0 + + + + + + + + + + + + + + + + + 0.0 + + + + + + + + + + + + + + + 0.0 + + + + + + + + + + + + + + + 0.0 + + + + + + + + + 0.0 + + + + + + + + 0.0 + + + + + + + + 0.0 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/src/description/ros2_control/drive/drive.odrive.ros2_control.xacro b/src/description/ros2_control/drive/drive.odrive.ros2_control.xacro index 4dc31b49..1d8f2d19 100644 --- a/src/description/ros2_control/drive/drive.odrive.ros2_control.xacro +++ b/src/description/ros2_control/drive/drive.odrive.ros2_control.xacro @@ -1,7 +1,7 @@ - + @@ -18,33 +18,65 @@ - - 7 - 26 - - - - - - - - - - - - 5 - 26 - - - - - - - - - + + + 6 + 26 + + + + + + + + + + + + 4 + 26 + + + + + + + + + + + + + + 7 + 26 + + + + + + + + + + + + 5 + 26 + + + + + + + + + + diff --git a/src/description/ros2_control/science/science.dc.ros2_control.xacro b/src/description/ros2_control/science/science.dc.ros2_control.xacro index 32f3bc06..001be4c9 100644 --- a/src/description/ros2_control/science/science.dc.ros2_control.xacro +++ b/src/description/ros2_control/science/science.dc.ros2_control.xacro @@ -1,10 +1,7 @@ - - - dc_ros2_control/DCHardwareInterface 20 @@ -53,9 +50,6 @@ --> - - - diff --git a/src/description/ros2_control/science/science.laser.ros2_control.xacro b/src/description/ros2_control/science/science.laser.ros2_control.xacro index 6fea9233..f8217dae 100644 --- a/src/description/ros2_control/science/science.laser.ros2_control.xacro +++ b/src/description/ros2_control/science/science.laser.ros2_control.xacro @@ -1,10 +1,7 @@ - - - laser_ros2_control/LaserHardwareInterface ${can_interface} @@ -22,9 +19,6 @@ - - - diff --git a/src/description/ros2_control/science/science.mock.ros2_control.xacro b/src/description/ros2_control/science/science.mock.ros2_control.xacro index 2a25a88a..ec94c917 100644 --- a/src/description/ros2_control/science/science.mock.ros2_control.xacro +++ b/src/description/ros2_control/science/science.mock.ros2_control.xacro @@ -1,8 +1,6 @@ - - mock_components/GenericSystem @@ -85,9 +83,6 @@ - - - + - \ No newline at end of file diff --git a/src/description/ros2_control/science/science.stepper.ros2_control.xacro b/src/description/ros2_control/science/science.stepper.ros2_control.xacro index 135152c6..e34bcdee 100644 --- a/src/description/ros2_control/science/science.stepper.ros2_control.xacro +++ b/src/description/ros2_control/science/science.stepper.ros2_control.xacro @@ -1,10 +1,7 @@ - - - stepper_ros2_control/STEPPERHardwareInterface 10 @@ -47,9 +44,6 @@ - - - diff --git a/src/description/urdf/athena_arm.urdf.xacro b/src/description/urdf/arm/athena_arm.urdf.xacro similarity index 93% rename from src/description/urdf/athena_arm.urdf.xacro rename to src/description/urdf/arm/athena_arm.urdf.xacro index 187bc098..57abd793 100644 --- a/src/description/urdf/athena_arm.urdf.xacro +++ b/src/description/urdf/arm/athena_arm.urdf.xacro @@ -14,10 +14,10 @@ - + - + @@ -53,7 +53,7 @@ - + diff --git a/src/description/urdf/athena_arm_description.urdf.xacro b/src/description/urdf/arm/athena_arm_description.urdf.xacro similarity index 100% rename from src/description/urdf/athena_arm_description.urdf.xacro rename to src/description/urdf/arm/athena_arm_description.urdf.xacro diff --git a/src/description/urdf/depth_camera.xacro b/src/description/urdf/components/depth_camera.xacro similarity index 100% rename from src/description/urdf/depth_camera.xacro rename to src/description/urdf/components/depth_camera.xacro diff --git a/src/description/urdf/gps.xacro b/src/description/urdf/components/gps.xacro similarity index 100% rename from src/description/urdf/gps.xacro rename to src/description/urdf/components/gps.xacro diff --git a/src/description/urdf/ground_truth_odom.xacro b/src/description/urdf/components/ground_truth_odom.xacro similarity index 100% rename from src/description/urdf/ground_truth_odom.xacro rename to src/description/urdf/components/ground_truth_odom.xacro diff --git a/src/description/urdf/imu.xacro b/src/description/urdf/components/imu.xacro similarity index 100% rename from src/description/urdf/imu.xacro rename to src/description/urdf/components/imu.xacro diff --git a/src/description/urdf/common/inertials.xacro b/src/description/urdf/components/inertials.xacro similarity index 100% rename from src/description/urdf/common/inertials.xacro rename to src/description/urdf/components/inertials.xacro diff --git a/src/description/urdf/magnetometer.xacro b/src/description/urdf/components/magnetometer.xacro similarity index 100% rename from src/description/urdf/magnetometer.xacro rename to src/description/urdf/components/magnetometer.xacro diff --git a/src/description/urdf/common/materials.xacro b/src/description/urdf/components/materials.xacro similarity index 100% rename from src/description/urdf/common/materials.xacro rename to src/description/urdf/components/materials.xacro diff --git a/src/description/urdf/zed_camera.xacro b/src/description/urdf/components/zed_camera.xacro similarity index 96% rename from src/description/urdf/zed_camera.xacro rename to src/description/urdf/components/zed_camera.xacro index b8d44419..34749fe6 100644 --- a/src/description/urdf/zed_camera.xacro +++ b/src/description/urdf/components/zed_camera.xacro @@ -1,7 +1,7 @@ - + @@ -30,7 +31,7 @@ - + @@ -78,7 +79,11 @@ - + diff --git a/src/description/urdf/athena_drive_description.urdf.xacro b/src/description/urdf/drive/athena_drive_description.urdf.xacro similarity index 100% rename from src/description/urdf/athena_drive_description.urdf.xacro rename to src/description/urdf/drive/athena_drive_description.urdf.xacro diff --git a/src/description/urdf/athena_drive/athena_drive_macro.ros2_control.xacro b/src/description/urdf/drive/athena_drive_macro.ros2_control.xacro similarity index 100% rename from src/description/urdf/athena_drive/athena_drive_macro.ros2_control.xacro rename to src/description/urdf/drive/athena_drive_macro.ros2_control.xacro diff --git a/src/description/urdf/athena_drive/athena_drive_macro.xacro b/src/description/urdf/drive/athena_drive_macro.xacro similarity index 98% rename from src/description/urdf/athena_drive/athena_drive_macro.xacro rename to src/description/urdf/drive/athena_drive_macro.xacro index e64baee7..ba86d452 100644 --- a/src/description/urdf/athena_drive/athena_drive_macro.xacro +++ b/src/description/urdf/drive/athena_drive_macro.xacro @@ -1,8 +1,8 @@ - - + + diff --git a/src/description/urdf/athena_science.urdf.xacro b/src/description/urdf/science/athena_science.urdf.xacro similarity index 100% rename from src/description/urdf/athena_science.urdf.xacro rename to src/description/urdf/science/athena_science.urdf.xacro diff --git a/src/hardware_interfaces/rmd_ros2_control/src/rmd_hardware_interface.cpp b/src/hardware_interfaces/rmd_ros2_control/src/rmd_hardware_interface.cpp index de6d4d0b..61cd42fb 100644 --- a/src/hardware_interfaces/rmd_ros2_control/src/rmd_hardware_interface.cpp +++ b/src/hardware_interfaces/rmd_ros2_control/src/rmd_hardware_interface.cpp @@ -25,6 +25,7 @@ namespace rmd_ros2_control // -- HELPER FUNCTIONS -- // +// TODO: Remove the 0.01 dps conversion factor, we are not using double RMDHardwareInterface::calculate_joint_position_from_motor_position(double motor_position, int gear_ratio){ // Converts from 0.01 deg to deg to radians/s return (motor_position * 0.01 * (M_PI/180.0))/gear_ratio; diff --git a/src/infrastructure/umdloop_can/setup.py b/src/infrastructure/umdloop_can/setup.py index 7f6264b3..ded9f5f8 100644 --- a/src/infrastructure/umdloop_can/setup.py +++ b/src/infrastructure/umdloop_can/setup.py @@ -20,7 +20,6 @@ maintainer_email='loop@adriancires.com', description='ROS2 CAN Package for UMD Loop', license='Apache-2.0', - tests_require=['pytest'], entry_points={ 'console_scripts': [ 'can_node = umdloop_can.can_node:main', diff --git a/src/simulation/launch/spawn.launch.py b/src/simulation/launch/spawn.launch.py index adee51c6..e1aa788b 100644 --- a/src/simulation/launch/spawn.launch.py +++ b/src/simulation/launch/spawn.launch.py @@ -31,7 +31,7 @@ def generate_launch_description(): pkg_description = get_package_share_directory('description') pkg_sim = get_package_share_directory('simulation') - urdf_file = os.path.join(pkg_description, 'urdf', 'athena_drive.urdf.xacro') + urdf_file = os.path.join(pkg_description, 'urdf', 'drive', 'athena_drive.urdf.xacro') controllers_file = os.path.join(pkg_description, 'config', 'athena_drive_sim_controllers.yaml') rviz_config_file = os.path.join(pkg_sim, 'rviz', 'sim.rviz') diff --git a/src/subsystems/arm/arm_bringup/config/athena_arm_controllers.yaml b/src/subsystems/arm/arm_bringup/config/athena_arm_controllers.yaml index 6426cee0..dec389dd 100644 --- a/src/subsystems/arm/arm_bringup/config/athena_arm_controllers.yaml +++ b/src/subsystems/arm/arm_bringup/config/athena_arm_controllers.yaml @@ -40,7 +40,23 @@ rotary_encoder_state_request_controller: type: forward_command_controller/ForwardCommandController - + +/**/joint_state_broadcaster: + ros__parameters: + # Only publish joints represented in the kinematic URDF. Hardware-only + # resources (cameras, encoders, and limit switches) are exposed by their + # dedicated controllers and must not be sent to MoveIt's state monitor. + joints: + - base_yaw + - shoulder_pitch + - elbow_pitch + - wrist_pitch + - wrist_roll + - gripper_claw + - actuator + interfaces: + - position + - velocity /**/twodof_joint_trajectory_controller: ros__parameters: diff --git a/src/subsystems/arm/arm_bringup/launch/athena_arm.jetson.launch.py b/src/subsystems/arm/arm_bringup/launch/athena_arm.jetson.launch.py index 31024964..8f54e6b7 100644 --- a/src/subsystems/arm/arm_bringup/launch/athena_arm.jetson.launch.py +++ b/src/subsystems/arm/arm_bringup/launch/athena_arm.jetson.launch.py @@ -32,7 +32,7 @@ def generate_launch_description(): declared_arguments.append( DeclareLaunchArgument( "description_file", - default_value="athena_arm.urdf.xacro", + default_value="arm/athena_arm.urdf.xacro", description="URDF/XACRO description file with the robot.", ) ) @@ -91,7 +91,7 @@ def generate_launch_description(): # -- Building Path Files -- robot_description_path = PathJoinSubstitution( - [FindPackageShare("description"), "urdf", "athena_arm.urdf.xacro"] + [FindPackageShare(description_package), "urdf", LaunchConfiguration("description_file")] ) robot_controllers = PathJoinSubstitution( [FindPackageShare(runtime_config_package), "config", controllers_file] diff --git a/src/subsystems/arm/arm_bringup/launch/athena_arm.launch.py b/src/subsystems/arm/arm_bringup/launch/athena_arm.launch.py index c15397fc..7ace0d80 100644 --- a/src/subsystems/arm/arm_bringup/launch/athena_arm.launch.py +++ b/src/subsystems/arm/arm_bringup/launch/athena_arm.launch.py @@ -1,15 +1,12 @@ -from launch import LaunchDescription, LaunchContext +from launch import LaunchDescription from launch.actions import RegisterEventHandler, DeclareLaunchArgument, TimerAction, OpaqueFunction -from launch.conditions import IfCondition, UnlessCondition +from launch.conditions import IfCondition from launch.event_handlers import OnProcessExit, OnProcessStart from launch.substitutions import Command, FindExecutable, PathJoinSubstitution, LaunchConfiguration, PythonExpression from launch_ros.actions import Node from launch_ros.substitutions import FindPackageShare -from moveit_configs_utils import MoveItConfigsBuilder - - def generate_launch_description(): declared_arguments = [] declared_arguments.append( @@ -32,6 +29,13 @@ def generate_launch_description(): description="Start RViz2 automatically with this launch file.", ) ) + declared_arguments.append( + DeclareLaunchArgument( + "use_moveit", + default_value="false", + description="Start the MoveIt move_group and hello_moveit nodes.", + ) + ) declared_arguments.append( DeclareLaunchArgument( "runtime_config_package", @@ -58,7 +62,7 @@ def generate_launch_description(): declared_arguments.append( DeclareLaunchArgument( "description_file", - default_value="athena_arm.urdf.xacro", + default_value="arm/athena_arm.urdf.xacro", description="URDF/XACRO description file with the robot.", ) ) @@ -129,14 +133,15 @@ def generate_launch_description(): def launch_setup(context, *args, **kwargs): mode = LaunchConfiguration("mode").perform(context) use_sim = LaunchConfiguration("use_sim") + use_moveit = LaunchConfiguration("use_moveit") runtime_config_package = LaunchConfiguration("runtime_config_package") controllers_file = LaunchConfiguration("controllers_file") description_package = LaunchConfiguration("description_package") description_file = LaunchConfiguration("description_file") rviz_file = LaunchConfiguration("rviz_file") - moveit_package = LaunchConfiguration("moveit_package") prefix = LaunchConfiguration("prefix") use_mock_hardware = LaunchConfiguration("use_mock_hardware") + using_mock_hardware = use_mock_hardware.perform(context).lower() in ("true", "1", "yes") mock_sensor_commands = LaunchConfiguration("mock_sensor_commands") use_3dof = LaunchConfiguration("use_3dof") deactivate_talon = LaunchConfiguration("deactivate_talon") @@ -147,17 +152,11 @@ def launch_setup(context, *args, **kwargs): # This is creating a terminal command that essentially expands all macros in this file # and creates the FULL URDF robot_description_path = PathJoinSubstitution( - [FindPackageShare("description"), "urdf", "athena_arm.urdf.xacro"] + [FindPackageShare(description_package), "urdf", description_file] ) robot_controllers = PathJoinSubstitution( [FindPackageShare(runtime_config_package), "config", controllers_file] ) - joint_state_yaml = PathJoinSubstitution( - [FindPackageShare(runtime_config_package), "config", "initial_joint_states.yaml"] - ) - rviz_config_file = PathJoinSubstitution( - [FindPackageShare(description_package), "rviz", rviz_file] - ) joystick_config_file = PathJoinSubstitution( [FindPackageShare(runtime_config_package), 'config', 'joystick.yaml'] ) @@ -166,19 +165,6 @@ def launch_setup(context, *args, **kwargs): [FindPackageShare(runtime_config_package), "config", "controller_switcher.yaml"] ) - # MoveIt Config Setup (TODO: Currently not using Launch Configuration for description and these configs because moveit - # config builder happens at launch time. Is there a way to keep these Launch configs when building file path?) - robot_semantic_path = PathJoinSubstitution( - [FindPackageShare("arm_moveit"), "srdf", "athena_arm.srdf"] - ) - robot_kinematics_path = PathJoinSubstitution( - [FindPackageShare("arm_moveit"), "config", "kinematics.yaml"] - ) - - moveit_controllers_config_path = PathJoinSubstitution( - [FindPackageShare("arm_moveit"), "config", "moveit_controllers_2dof.yaml"] - ) - robot_description_content = Command( [ PathJoinSubstitution([FindExecutable(name="xacro")]), @@ -206,22 +192,6 @@ def launch_setup(context, *args, **kwargs): ) robot_description = {"robot_description": robot_description_content} - moveit_config = ( - MoveItConfigsBuilder("athena_arm", package_name="arm_moveit") - .robot_description(file_path=robot_description_path.perform(LaunchContext())) - .robot_description_semantic(file_path=robot_semantic_path.perform(LaunchContext())) - .robot_description_kinematics(file_path=robot_kinematics_path.perform(LaunchContext())) - .trajectory_execution(file_path=moveit_controllers_config_path.perform(LaunchContext())) - .planning_scene_monitor( - publish_robot_description=True, publish_robot_description_semantic=True - ) - .planning_pipelines( - pipelines=["ompl", "pilz_industrial_motion_planner"], - default_planning_pipeline="ompl", - ) - .to_moveit_configs() - ) - joystick_publisher = Node( package='teleop', executable='joystick', @@ -247,22 +217,6 @@ def launch_setup(context, *args, **kwargs): parameters=[robot_description], ) - rviz_node = Node( - package="rviz2", - executable="rviz2", - name="rviz2", - output="log", - arguments=["-d", rviz_config_file], - condition=IfCondition(use_sim), - parameters=[ - moveit_config.robot_description, - moveit_config.robot_description_semantic, - moveit_config.robot_description_kinematics, - moveit_config.planning_pipelines, - moveit_config.joint_limits, - ], - ) - joint_state_broadcaster_spawner = Node( package="controller_manager", executable="spawner", @@ -332,10 +286,11 @@ def launch_setup(context, *args, **kwargs): ) ] - active_robot_controller_names = [ - "rotary_encoder_state_request_controller", - "cam_position_controller", - ] + active_robot_controller_names = ["cam_position_controller"] + if not using_mock_hardware: + active_robot_controller_names.insert( + 0, "rotary_encoder_state_request_controller" + ) for controller in active_robot_controller_names: robot_controller_spawners += [ Node( @@ -379,13 +334,6 @@ def launch_setup(context, *args, **kwargs): ) ) - delay_rviz_after_joint_state_broadcaster_spawner = RegisterEventHandler( - event_handler=OnProcessExit( - target_action=joint_state_broadcaster_spawner, - on_exit=[rviz_node], - ) - ) - delay_robot_controller_spawners_after_joint_state_broadcaster_spawner = [] for i, controller in enumerate(robot_controller_spawners): delay_robot_controller_spawners_after_joint_state_broadcaster_spawner += [ @@ -416,16 +364,81 @@ def launch_setup(context, *args, **kwargs): ) ] + standalone_visualization_actions = [] + if mode == "standalone": + from moveit_configs_utils import MoveItConfigsBuilder + + rviz_config_file = PathJoinSubstitution( + [FindPackageShare(description_package), "rviz", rviz_file] + ) + robot_semantic_path = PathJoinSubstitution( + [FindPackageShare("arm_moveit"), "srdf", "athena_arm.srdf"] + ) + robot_kinematics_path = PathJoinSubstitution( + [FindPackageShare("arm_moveit"), "config", "kinematics.yaml"] + ) + moveit_controllers_config_path = PathJoinSubstitution( + [FindPackageShare("arm_moveit"), "config", "moveit_controllers_2dof.yaml"] + ) + moveit_config = ( + MoveItConfigsBuilder("athena_arm", package_name="arm_moveit") + .robot_description(file_path=robot_description_path.perform(context)) + .robot_description_semantic(file_path=robot_semantic_path.perform(context)) + .robot_description_kinematics(file_path=robot_kinematics_path.perform(context)) + .trajectory_execution(file_path=moveit_controllers_config_path.perform(context)) + .planning_scene_monitor( + publish_robot_description=True, publish_robot_description_semantic=True + ) + .planning_pipelines( + pipelines=["ompl", "pilz_industrial_motion_planner"], + default_planning_pipeline="ompl", + ) + .to_moveit_configs() + ) + rviz_node = Node( + package="rviz2", + executable="rviz2", + name="rviz2", + output="log", + arguments=["-d", rviz_config_file], + condition=IfCondition(use_sim), + parameters=[ + moveit_config.robot_description, + moveit_config.robot_description_semantic, + moveit_config.robot_description_kinematics, + moveit_config.planning_pipelines, + moveit_config.joint_limits, + ], + ) + move_group_node = Node( + package="moveit_ros_move_group", + executable="move_group", + output="screen", + condition=IfCondition(use_moveit), + parameters=[moveit_config.to_dict()], + ) + standalone_visualization_actions.append( + RegisterEventHandler( + event_handler=OnProcessExit( + target_action=joint_state_broadcaster_spawner, + on_exit=[rviz_node, move_group_node], + ) + ) + ) + jetson_actions = [ control_node, robot_state_pub_node, delay_joint_state_broadcaster_spawner_after_ros2_control_node, - delay_motor_status_controller_after_joint_state_broadcaster, - delay_rviz_after_joint_state_broadcaster_spawner, controller_switcher_node, ] + delay_robot_controller_spawners_after_joint_state_broadcaster_spawner \ + delay_inactive_robot_controller_spawners_after_joint_state_broadcaster_spawner + if not using_mock_hardware: + jetson_actions.append( + delay_motor_status_controller_after_joint_state_broadcaster + ) + base_station_actions = [ joystick_publisher, ] @@ -435,4 +448,4 @@ def launch_setup(context, *args, **kwargs): elif mode == "base_station": return base_station_actions else: - return jetson_actions + base_station_actions + return jetson_actions + base_station_actions + standalone_visualization_actions diff --git a/src/subsystems/arm/arm_bringup/package.xml b/src/subsystems/arm/arm_bringup/package.xml index bc813d56..6f10b22a 100644 --- a/src/subsystems/arm/arm_bringup/package.xml +++ b/src/subsystems/arm/arm_bringup/package.xml @@ -41,7 +41,9 @@ urdf xacro arm_controllers + arm_moveit general_controllers + moveit_ros_move_group rosidl_default_runtime builtin_interfaces diff --git a/src/subsystems/arm/arm_controllers/src/manual_arm_cylindrical_controller.cpp b/src/subsystems/arm/arm_controllers/src/manual_arm_cylindrical_controller.cpp index 8afa579b..aecf1c2d 100644 --- a/src/subsystems/arm/arm_controllers/src/manual_arm_cylindrical_controller.cpp +++ b/src/subsystems/arm/arm_controllers/src/manual_arm_cylindrical_controller.cpp @@ -244,11 +244,11 @@ controller_interface::return_type ManualArmCylindricalController::update( if (!std::isnan((*current_ref)->axes[0])) { //TODO: Get rid of the hardcoded rigamarole (translates to max vel of 1.5 inches/s) - command_velocities_[0] = (*current_ref)->axes[2]*0.174533; // l/r right joystick -> yaw 10 dps - command_velocities_[1] = (*current_ref)->axes[1]*6*0.00635; // u/d left joystick -> vy - command_velocities_[2] = (*current_ref)->axes[3]*6*0.00635; // u/d right joystick -> vz + command_velocities_[0] = (*current_ref)->axes[0]*0.174533; // l/r left joystick -> yaw 10 dps + command_velocities_[1] = (*current_ref)->axes[1]*6*0.00635; // u/d left joystick -> vx + command_velocities_[2] = (*current_ref)->axes[3]*6*0.00635; // u/d right joystick -> vy command_velocities_[3] = (*current_ref)->axes[1] * static_cast((*current_ref)->buttons[1]); // u/d left joystick & circle -> thetadot - command_velocities_[4] = 0.0; // (*current_ref)->axes[0]; // l/r left joystick -> wrist roll + command_velocities_[4] = (*current_ref)->axes[2]; // l/r right joystick -> wrist roll command_velocities_[5] = (*current_ref)->axes[4]; // left trigger -> open claw command_velocities_[6] = (*current_ref)->axes[5]; // right trigger -> close claw } diff --git a/src/subsystems/arm/arm_moveit/launch/athena_arm_moveit.launch.py b/src/subsystems/arm/arm_moveit/launch/athena_arm_moveit.launch.py index c1ffb53d..9d61621b 100644 --- a/src/subsystems/arm/arm_moveit/launch/athena_arm_moveit.launch.py +++ b/src/subsystems/arm/arm_moveit/launch/athena_arm_moveit.launch.py @@ -1,5 +1,5 @@ -from launch import LaunchDescription, LaunchContext -from launch.actions import DeclareLaunchArgument +from launch import LaunchDescription +from launch.actions import DeclareLaunchArgument, OpaqueFunction from launch.substitutions import Command, FindExecutable, PathJoinSubstitution, LaunchConfiguration, PythonExpression from launch_ros.actions import Node @@ -10,7 +10,6 @@ def generate_launch_description(): - declared_arguments = [] declared_arguments.append( DeclareLaunchArgument( @@ -20,6 +19,10 @@ def generate_launch_description(): ) ) + return LaunchDescription(declared_arguments + [OpaqueFunction(function=launch_setup)]) + + +def launch_setup(context, *args, **kwargs): use_3dof = LaunchConfiguration("use_3dof") joint_state_yaml = PathJoinSubstitution( @@ -32,6 +35,7 @@ def generate_launch_description(): robot_description_path = PathJoinSubstitution([FindPackageShare("description"), "urdf", + "arm", "athena_arm.urdf.xacro"]) robot_semantic_path = PathJoinSubstitution([FindPackageShare("arm_moveit"), "srdf", @@ -71,9 +75,9 @@ def generate_launch_description(): MoveItConfigsBuilder( "athena_arm", package_name="arm_moveit" ) - .robot_description(robot_description_path.perform(LaunchContext())) + .robot_description(robot_description_path.perform(context)) .robot_description_semantic("srdf/athena_arm.srdf") - .trajectory_execution(file_path=moveit_controllers_config_path.perform(LaunchContext())) + .trajectory_execution(file_path=moveit_controllers_config_path.perform(context)) .planning_scene_monitor( publish_robot_description=True, publish_robot_description_semantic=True ) @@ -142,4 +146,4 @@ def generate_launch_description(): run_move_group_node, hello_moveit_node ] - return LaunchDescription(declared_arguments + nodes) \ No newline at end of file + return nodes diff --git a/src/subsystems/drive/drive_bringup/config/athena_drive_controllers.yaml b/src/subsystems/drive/drive_bringup/config/athena_drive_controllers.yaml index 27319c2c..fc41bb9f 100644 --- a/src/subsystems/drive/drive_bringup/config/athena_drive_controllers.yaml +++ b/src/subsystems/drive/drive_bringup/config/athena_drive_controllers.yaml @@ -1,24 +1,3 @@ -# Copyright (c) 20224 Stogl Robotics Consulting UG (haftungsbeschränkt) -# -# 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. - -# -# Source of this file are templates in -# [RosTeamWorkspace](https://github.com/StoglRobotics/ros_team_workspace) repository. -# -# Author: Dr. Denis -# - controller_manager: ros__parameters: update_rate: 30 # Hz @@ -31,6 +10,15 @@ controller_manager: front_ackermann_controller: type: athena_drive_controllers/FrontAckermannController + + crab_steering_controller: + type: athena_drive_controllers/CrabSteeringController + + double_ackermann_controller: + type: athena_drive_controllers/DoubleAckermannController + + swerve_drive_controller: + type: athena_drive_controllers/SwerveDriveController drive_velocity_controller: type: velocity_controllers/JointGroupVelocityController @@ -38,9 +26,6 @@ controller_manager: drive_position_controller: type: position_controllers/JointGroupPositionController - # swerve_drive_controller: - # type: drive_controllers/SwerveDriveController - # LED GPIO Controller drive_led_gpio_controller: type: gpio_controllers/GpioCommandController @@ -89,6 +74,46 @@ front_ackermann_controller: base_frame_id: "base_footprint" velocity_rolling_window_size: 10 +crab_steering_controller: + ros__parameters: + front_left_drive_joint: propulsion_fl_joint + front_right_drive_joint: propulsion_fr_joint + rear_left_drive_joint: propulsion_bl_joint + rear_right_drive_joint: propulsion_br_joint + front_left_swerve_joint: steer_fl_joint + front_right_swerve_joint: steer_fr_joint + rear_left_swerve_joint: steer_bl_joint + rear_right_swerve_joint: steer_br_joint + wheel_radius: 0.125 + +double_ackermann_controller: + ros__parameters: + front_left_drive_joint: propulsion_fl_joint + front_right_drive_joint: propulsion_fr_joint + rear_left_drive_joint: propulsion_bl_joint + rear_right_drive_joint: propulsion_br_joint + front_left_swerve_joint: steer_fl_joint + front_right_swerve_joint: steer_fr_joint + rear_left_swerve_joint: steer_bl_joint + rear_right_swerve_joint: steer_br_joint + track_width: 0.6604 + wheelbase: 0.8382 + wheel_radius: 0.125 + +swerve_drive_controller: + ros__parameters: + front_left_drive_joint: propulsion_fl_joint + front_right_drive_joint: propulsion_fr_joint + rear_left_drive_joint: propulsion_bl_joint + rear_right_drive_joint: propulsion_br_joint + front_left_swerve_joint: steer_fl_joint + front_right_swerve_joint: steer_fr_joint + rear_left_swerve_joint: steer_bl_joint + rear_right_swerve_joint: steer_br_joint + track_width: 0.6604 + wheelbase: 0.8382 + wheel_radius: 0.125 + drive_velocity_controller: ros__parameters: joints: diff --git a/src/subsystems/drive/drive_bringup/config/test_goal_publishers_config.yaml b/src/subsystems/drive/drive_bringup/config/test_goal_publishers_config.yaml deleted file mode 100644 index 9d83c239..00000000 --- a/src/subsystems/drive/drive_bringup/config/test_goal_publishers_config.yaml +++ /dev/null @@ -1,57 +0,0 @@ -# Copyright (c) 20224 Stogl Robotics Consulting UG (haftungsbeschränkt) -# -# 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. - -# -# Source of this file are templates in -# [RosTeamWorkspace](https://github.com/StoglRobotics/ros_team_workspace) repository. -# - -publisher_forward_position_controller: - ros__parameters: - - controller_name: "forward_position_controller" - wait_sec_between_publish: 5 - - goal_names: ["pos1", "pos2", "pos3", "pos4"] - pos1: [0.785, 0.785, 0.785, 0.785, 0.785, 0.785] - pos2: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] - pos3: [-0.785, -0.785, -0.785, -0.785, -0.785, -0.785] - pos4: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] - - -publisher_joint_trajectory_controller: - ros__parameters: - - controller_name: "joint_trajectory_controller" - wait_sec_between_publish: 6 - repeat_the_same_goal: 1 # useful to simulate continuous inputs - - goal_time_from_start: 3.0 - goal_names: ["pos1", "pos2", "pos3", "pos4"] - pos1: - positions: [0.785, 0.785, 0.785, 0.785, 0.785, 0.785] - pos2: - positions: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] - pos3: - positions: [-0.785, -0.785, -0.785, -0.785, -0.785, -0.785] - pos4: - positions: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] - - joints: - - suspension_left_joint - - steer_fl_joint - - propulsion_fl_joint - - swerve_module_back_joint - - propulsion_bl_joint - - suspension_right_joint diff --git a/src/subsystems/drive/drive_bringup/launch/athena_drive.launch.py b/src/subsystems/drive/drive_bringup/launch/athena_drive.launch.py index 91999751..9a32165b 100644 --- a/src/subsystems/drive/drive_bringup/launch/athena_drive.launch.py +++ b/src/subsystems/drive/drive_bringup/launch/athena_drive.launch.py @@ -69,7 +69,7 @@ def generate_launch_description(): declared_arguments.append( DeclareLaunchArgument( "description_file", - default_value="athena_drive.urdf.xacro", + default_value="drive/athena_drive.urdf.xacro", description="URDF/XACRO description file with the robot.", ) ) @@ -108,7 +108,14 @@ def generate_launch_description(): DeclareLaunchArgument( "robot_controller", default_value="rear_ackermann_controller", - choices=["front_ackermann_controller", "ackermann_steering_controller", "rear_ackermann_controller"], + choices=[ + "front_ackermann_controller", + "ackermann_steering_controller", + "rear_ackermann_controller", + "crab_steering_controller", + "double_ackermann_controller", + "swerve_drive_controller", + ], description="Robot controller to start.", ) ) @@ -119,6 +126,14 @@ def generate_launch_description(): description="Deactivate the ODrive joints in the URDF when using mock hardware to prevent excessive CAN flow.", ) ) + declared_arguments.append( + DeclareLaunchArgument( + "steering_config", + default_value="rear", + choices=["front", "rear", "all"], + description="Steering joints to load in the ODrive ros2_control description.", + ) + ) declared_arguments.append( DeclareLaunchArgument( "can_interface", @@ -144,7 +159,9 @@ def launch_setup(context, *args, **kwargs): use_mock_hardware = LaunchConfiguration("use_mock_hardware") mock_sensor_commands = LaunchConfiguration("mock_sensor_commands") robot_controller = LaunchConfiguration("robot_controller") + robot_controller_name = robot_controller.perform(context) deactivate_odrive = LaunchConfiguration("deactivate_odrive") + steering_config = LaunchConfiguration("steering_config") can_interface = LaunchConfiguration("can_interface") robot_description_path = PathJoinSubstitution( @@ -186,6 +203,9 @@ def launch_setup(context, *args, **kwargs): "deactivate_odrive:=", deactivate_odrive, " ", + "steering_config:=", + steering_config, + " ", "can_interface:=", can_interface, ] @@ -212,7 +232,7 @@ def launch_setup(context, *args, **kwargs): output='screen', parameters=[teleop_twist_config], remappings=[ - ('/cmd_vel', '/rear_ackermann_controller/reference'), + ('/cmd_vel', f'/{robot_controller_name}/reference'), ], ) @@ -224,7 +244,6 @@ def launch_setup(context, *args, **kwargs): remappings=[ ("~/robot_description", "/robot_description"), ("/front_ackermann_controller/tf_odometry", "/tf"), - ("/ackermann_steering_controller/reference", "/cmd_vel"), ], ) @@ -256,7 +275,7 @@ def launch_setup(context, *args, **kwargs): arguments=["motor_status_controller", "-c", "/controller_manager"], ) - robot_controller_names = [robot_controller] + robot_controller_names = [robot_controller_name] robot_controller_spawners = [] for controller in robot_controller_names: robot_controller_spawners += [ @@ -278,7 +297,19 @@ def launch_setup(context, *args, **kwargs): ) ] - inactive_robot_controller_names = ["ackermann_steering_controller", "drive_velocity_controller", "drive_position_controller"] + selectable_robot_controller_names = [ + "front_ackermann_controller", + "ackermann_steering_controller", + "rear_ackermann_controller", + "crab_steering_controller", + "double_ackermann_controller", + "swerve_drive_controller", + ] + inactive_robot_controller_names = [ + controller + for controller in selectable_robot_controller_names + if controller != robot_controller_name + ] + ["drive_velocity_controller", "drive_position_controller"] inactive_robot_controller_spawners = [] for controller in inactive_robot_controller_names: inactive_robot_controller_spawners += [ diff --git a/src/subsystems/drive/drive_bringup/launch/test_forward_position_controller.launch.py b/src/subsystems/drive/drive_bringup/launch/test_forward_position_controller.launch.py deleted file mode 100644 index 15d48329..00000000 --- a/src/subsystems/drive/drive_bringup/launch/test_forward_position_controller.launch.py +++ /dev/null @@ -1,46 +0,0 @@ -# Copyright (c) 2024, Stogl Robotics Consulting UG (haftungsbeschränkt) -# -# 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. - -# -# Source of this file are templates in -# [RosTeamWorkspace](https://github.com/StoglRobotics/ros_team_workspace) repository. -# -# Author: Dr. Denis -# - -from launch import LaunchDescription -from launch.substitutions import PathJoinSubstitution -from launch_ros.actions import Node -from launch_ros.substitutions import FindPackageShare - - -def generate_launch_description(): - position_goals = PathJoinSubstitution( - [FindPackageShare("drive_bringup"), "config", "test_goal_publishers_config.yaml"] - ) - - return LaunchDescription( - [ - Node( - package="ros2_controllers_test_nodes", - executable="publisher_forward_position_controller", - name="publisher_forward_position_controller", - parameters=[position_goals], - output={ - "stdout": "screen", - "stderr": "screen", - }, - ) - ] - ) diff --git a/src/subsystems/drive/drive_controllers/CMakeLists.txt b/src/subsystems/drive/drive_controllers/CMakeLists.txt index 20bc96b9..12358b02 100644 --- a/src/subsystems/drive/drive_controllers/CMakeLists.txt +++ b/src/subsystems/drive/drive_controllers/CMakeLists.txt @@ -61,6 +61,7 @@ add_library( SHARED src/swerve_drive_controller.cpp src/double_ackermann_controller.cpp + src/crab_steering_controller.cpp src/front_ackermann_controller.cpp src/rear_ackermann_controller.cpp ) diff --git a/src/subsystems/drive/drive_controllers/athena_drive_controllers.xml b/src/subsystems/drive/drive_controllers/athena_drive_controllers.xml index f4810ca6..3c4a0245 100644 --- a/src/subsystems/drive/drive_controllers/athena_drive_controllers.xml +++ b/src/subsystems/drive/drive_controllers/athena_drive_controllers.xml @@ -1,23 +1,3 @@ - - diff --git a/src/subsystems/drive/drive_controllers/config/crab_steering_controller.yaml b/src/subsystems/drive/drive_controllers/config/crab_steering_controller.yaml index 749b7a50..0f38fc49 100644 --- a/src/subsystems/drive/drive_controllers/config/crab_steering_controller.yaml +++ b/src/subsystems/drive/drive_controllers/config/crab_steering_controller.yaml @@ -1,118 +1,61 @@ -# Copyright (c) 20224 Stogl Robotics Consulting UG (haftungsbeschränkt) -# -# 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. - -# -# Source of this file are templates in -# [RosTeamWorkspace](https://github.com/StoglRobotics/ros_team_workspace) repository. -# - crab_steering_controller: state_joints: { type: string_array, default_value: [], description: "(optional) Specifies joints for reading states. This parameter is only relevant when state joints are different then command joint, i.e., when a following controller is used.", read_only: true, - validation: { - unique<>: null, - } } front_left_drive_joint: { type: string, default_value: "", description: "Specifies the front left drive joints used by the controller.", read_only: true, - validation: { - unique<>: null, - not_empty<>: null, - } } front_right_drive_joint: { type: string, default_value: "", description: "Specifies the front right drive joints used by the controller.", read_only: true, - validation: { - unique<>: null, - not_empty<>: null, - } } rear_left_drive_joint: { type: string, default_value: "", description: "Specifies the rear left drive joints used by the controller.", read_only: true, - validation: { - unique<>: null, - not_empty<>: null, - } } rear_right_drive_joint: { type: string, default_value: "", description: "Specifies the rear right drive joints used by the controller.", read_only: true, - validation: { - unique<>: null, - not_empty<>: null, - } } front_left_swerve_joint: { type: string, default_value: "", description: "Specifies the front left swerve joints used by the controller.", read_only: true, - validation: { - unique<>: null, - not_empty<>: null, - } } front_right_swerve_joint: { type: string, default_value: "", description: "Specifies the front right swerve joints used by the controller.", read_only: true, - validation: { - unique<>: null, - not_empty<>: null, - } } rear_left_swerve_joint: { type: string, default_value: "", description: "Specifies the rear left swerve joints used by the controller.", read_only: true, - validation: { - unique<>: null, - not_empty<>: null, - } } rear_right_swerve_joint: { type: string, default_value: "", description: "Specifies the rear right swerve joints used by the controller.", read_only: true, - validation: { - unique<>: null, - not_empty<>: null, - } } wheel_radius: { type: double, default_value: 0.254, description: "Specifies wheel radius calculation purposes. ", read_only: true, - validation: { - not_empty<>: null, - } } diff --git a/src/subsystems/drive/drive_controllers/config/double_ackermann_controller.yaml b/src/subsystems/drive/drive_controllers/config/double_ackermann_controller.yaml index e3a208e2..a60feae2 100644 --- a/src/subsystems/drive/drive_controllers/config/double_ackermann_controller.yaml +++ b/src/subsystems/drive/drive_controllers/config/double_ackermann_controller.yaml @@ -1,136 +1,73 @@ -# Copyright (c) 20224 Stogl Robotics Consulting UG (haftungsbeschränkt) -# -# 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. - -# -# Source of this file are templates in -# [RosTeamWorkspace](https://github.com/StoglRobotics/ros_team_workspace) repository. -# - double_ackermann_controller: state_joints: { type: string_array, default_value: [], description: "(optional) Specifies joints for reading states. This parameter is only relevant when state joints are different then command joint, i.e., when a following controller is used.", read_only: true, - validation: { - unique<>: null, - } } front_left_drive_joint: { type: string, default_value: "", description: "Specifies the front left drive joints used by the controller.", read_only: true, - validation: { - unique<>: null, - not_empty<>: null, - } } front_right_drive_joint: { type: string, default_value: "", description: "Specifies the front right drive joints used by the controller.", read_only: true, - validation: { - unique<>: null, - not_empty<>: null, - } } rear_left_drive_joint: { type: string, default_value: "", description: "Specifies the rear left drive joints used by the controller.", read_only: true, - validation: { - unique<>: null, - not_empty<>: null, - } } rear_right_drive_joint: { type: string, default_value: "", description: "Specifies the rear right drive joints used by the controller.", read_only: true, - validation: { - unique<>: null, - not_empty<>: null, - } } front_left_swerve_joint: { type: string, default_value: "", description: "Specifies the front left swerve joints used by the controller.", read_only: true, - validation: { - unique<>: null, - not_empty<>: null, - } } front_right_swerve_joint: { type: string, default_value: "", description: "Specifies the front right swerve joints used by the controller.", read_only: true, - validation: { - unique<>: null, - not_empty<>: null, - } } rear_left_swerve_joint: { type: string, default_value: "", description: "Specifies the rear left swerve joints used by the controller.", read_only: true, - validation: { - unique<>: null, - not_empty<>: null, - } } rear_right_swerve_joint: { type: string, default_value: "", description: "Specifies the rear right swerve joints used by the controller.", read_only: true, - validation: { - unique<>: null, - not_empty<>: null, - } } track_width: { type: double, default_value: 0.6604, description: "Specifies track width, or the distance in meters between left and right wheel for calculation purposes. ", read_only: true, - validation: { - not_empty<>: null, - } } wheelbase: { type: double, default_value: 0.8382, description: "Specifies wheelbase, or the distance in meters between front and back wheels for calculation purposes. ", read_only: true, - validation: { - not_empty<>: null, - } } wheel_radius: { type: double, default_value: 0.254, description: "Specifies wheel radius calculation purposes. ", read_only: true, - validation: { - not_empty<>: null, - } } diff --git a/src/subsystems/drive/drive_controllers/config/front_ackermann_controller.yaml b/src/subsystems/drive/drive_controllers/config/front_ackermann_controller.yaml index 77ae6d18..12c69c5e 100644 --- a/src/subsystems/drive/drive_controllers/config/front_ackermann_controller.yaml +++ b/src/subsystems/drive/drive_controllers/config/front_ackermann_controller.yaml @@ -1,4 +1,3 @@ -# Parameters for the FrontAckermannController front_ackermann_controller: drive_joints: { type: string_array, diff --git a/src/subsystems/drive/drive_controllers/config/rear_ackermann_controller.yaml b/src/subsystems/drive/drive_controllers/config/rear_ackermann_controller.yaml index 9483e9b2..b36cd365 100644 --- a/src/subsystems/drive/drive_controllers/config/rear_ackermann_controller.yaml +++ b/src/subsystems/drive/drive_controllers/config/rear_ackermann_controller.yaml @@ -1,4 +1,3 @@ -# Parameters for the RearAckermannController rear_ackermann_controller: drive_joints: { type: string_array, diff --git a/src/subsystems/drive/drive_controllers/config/swerve_drive_controller.yaml b/src/subsystems/drive/drive_controllers/config/swerve_drive_controller.yaml index f8030467..18e783f2 100644 --- a/src/subsystems/drive/drive_controllers/config/swerve_drive_controller.yaml +++ b/src/subsystems/drive/drive_controllers/config/swerve_drive_controller.yaml @@ -1,22 +1,3 @@ -# Copyright (c) 20224 Stogl Robotics Consulting UG (haftungsbeschränkt) -# -# 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. - -# -# Source of this file are templates in -# [RosTeamWorkspace](https://github.com/StoglRobotics/ros_team_workspace) repository. -# - swerve_drive_controller: state_joints: { type: string_array, @@ -32,105 +13,64 @@ swerve_drive_controller: default_value: "", description: "Specifies the front left drive joints used by the controller.", read_only: true, - validation: { - unique<>: null, - not_empty<>: null, - } } front_right_drive_joint: { type: string, default_value: "", description: "Specifies the front right drive joints used by the controller.", read_only: true, - validation: { - unique<>: null, - not_empty<>: null, - } } rear_left_drive_joint: { type: string, default_value: "", description: "Specifies the rear left drive joints used by the controller.", read_only: true, - validation: { - unique<>: null, - not_empty<>: null, - } } rear_right_drive_joint: { type: string, default_value: "", description: "Specifies the rear right drive joints used by the controller.", read_only: true, - validation: { - unique<>: null, - not_empty<>: null, - } } front_left_swerve_joint: { type: string, default_value: "", description: "Specifies the front left swerve joints used by the controller.", read_only: true, - validation: { - unique<>: null, - not_empty<>: null, - } } front_right_swerve_joint: { type: string, default_value: "", description: "Specifies the front right swerve joints used by the controller.", read_only: true, - validation: { - unique<>: null, - not_empty<>: null, - } } rear_left_swerve_joint: { type: string, default_value: "", description: "Specifies the rear left swerve joints used by the controller.", read_only: true, - validation: { - unique<>: null, - not_empty<>: null, - } } rear_right_swerve_joint: { type: string, default_value: "", description: "Specifies the rear right swerve joints used by the controller.", read_only: true, - validation: { - unique<>: null, - not_empty<>: null, - } } track_width: { type: double, default_value: 0.6604, description: "Specifies track width, or the distance in meters between left and right wheel for calculation purposes. ", read_only: true, - validation: { - not_empty<>: null, - } } wheelbase: { type: double, default_value: 0.8382, description: "Specifies wheelbase, or the distance in meters between front and back wheels for calculation purposes. ", read_only: true, - validation: { - not_empty<>: null, - } } wheel_radius: { type: double, default_value: 0.254, description: "Specifies wheel radius calculation purposes. ", read_only: true, - validation: { - not_empty<>: null, - } - } \ No newline at end of file + } diff --git a/src/subsystems/drive/drive_controllers/src/crab_steering_controller.cpp b/src/subsystems/drive/drive_controllers/src/crab_steering_controller.cpp index 905941da..821595d3 100644 --- a/src/subsystems/drive/drive_controllers/src/crab_steering_controller.cpp +++ b/src/subsystems/drive/drive_controllers/src/crab_steering_controller.cpp @@ -174,17 +174,7 @@ controller_interface::CallbackReturn CrabSteeringController::on_configure( void CrabSteeringController::reference_callback(const std::shared_ptr msg) { - // if (msg->joint_names.size() == joints.size()) - // { - // input_ref_.writeFromNonRT(msg); - // } - // else - // { - // RCLCPP_ERROR( - // get_node()->get_logger(), - // "Received %zu , but expected %zu joints in command. Ignoring message.", - // msg->joint_names.size(), joints.size()); - // } + input_ref_.writeFromNonRT(msg); } controller_interface::InterfaceConfiguration CrabSteeringController::command_interface_configuration() const diff --git a/src/subsystems/drive/drive_controllers/src/double_ackermann_controller.cpp b/src/subsystems/drive/drive_controllers/src/double_ackermann_controller.cpp index 1c3db9eb..13cbeb47 100644 --- a/src/subsystems/drive/drive_controllers/src/double_ackermann_controller.cpp +++ b/src/subsystems/drive/drive_controllers/src/double_ackermann_controller.cpp @@ -172,19 +172,9 @@ controller_interface::CallbackReturn DoubleAckermannController::on_configure( return controller_interface::CallbackReturn::SUCCESS; } -void DoubleAckermannController::reference_callback(const std::shared_ptr /*msg*/) +void DoubleAckermannController::reference_callback(const std::shared_ptr msg) { - // if (msg->joint_names.size() == joints.size()) - // { - // input_ref_.writeFromNonRT(msg); - // } - // else - // { - // RCLCPP_ERROR( - // get_node()->get_logger(), - // "Received %zu , but expected %zu joints in command. Ignoring message.", - // msg->joint_names.size(), joints.size()); - // } + input_ref_.writeFromNonRT(msg); } controller_interface::InterfaceConfiguration DoubleAckermannController::command_interface_configuration() const diff --git a/src/subsystems/drive/drive_controllers/src/swerve_drive_controller.cpp b/src/subsystems/drive/drive_controllers/src/swerve_drive_controller.cpp index 533adfea..deeccb4e 100644 --- a/src/subsystems/drive/drive_controllers/src/swerve_drive_controller.cpp +++ b/src/subsystems/drive/drive_controllers/src/swerve_drive_controller.cpp @@ -122,7 +122,7 @@ controller_interface::CallbackReturn SwerveDriveController::on_configure( // Reference Subscriber ref_subscriber_ = get_node()->create_subscription( - "/cmd_vel", subscribers_qos, + "~/reference", subscribers_qos, std::bind(&SwerveDriveController::reference_callback, this, std::placeholders::_1)); std::shared_ptr msg = std::make_shared(); @@ -175,17 +175,6 @@ controller_interface::CallbackReturn SwerveDriveController::on_configure( void SwerveDriveController::reference_callback(const std::shared_ptr msg) { - // if (msg->joint_names.size() == params_.joints.size()) - // { - // input_ref_.writeFromNonRT(msg); - // } - // else - // { - // RCLCPP_ERROR( - // get_node()->get_logger(), - // "Received %zu , but expected %zu joints in command. Ignoring message.", - // msg->joint_names.size(), params_.joints.size()); - // } input_ref_.writeFromNonRT(msg); } diff --git a/src/subsystems/navigation/aruco_bt/package.xml b/src/subsystems/navigation/aruco_bt/package.xml index f96c2e8a..3b2fe38d 100644 --- a/src/subsystems/navigation/aruco_bt/package.xml +++ b/src/subsystems/navigation/aruco_bt/package.xml @@ -7,8 +7,6 @@ abhinavkota06 TODO: License declaration - ament_python - rclpy sensor_msgs geometry_msgs diff --git a/src/subsystems/navigation/aruco_bt/setup.py b/src/subsystems/navigation/aruco_bt/setup.py index eb6b067b..655833b0 100644 --- a/src/subsystems/navigation/aruco_bt/setup.py +++ b/src/subsystems/navigation/aruco_bt/setup.py @@ -19,7 +19,6 @@ maintainer_email='abhinav.kota06@gmail.com', description='Python package for aruco detection and pose estimation', license='TODO: License declaration', - tests_require=['pytest'], entry_points={ 'console_scripts': [ 'aruco_node = aruco_bt.aruco_node:main', diff --git a/src/subsystems/navigation/aruco_detection/setup.py b/src/subsystems/navigation/aruco_detection/setup.py index 6d0b311e..5e04d777 100644 --- a/src/subsystems/navigation/aruco_detection/setup.py +++ b/src/subsystems/navigation/aruco_detection/setup.py @@ -17,7 +17,6 @@ maintainer_email='abhinav.kota06@gmail.com', description='TODO: Package description', license='TODO: License declaration', - tests_require=['pytest'], entry_points={ 'console_scripts': [ "aruco_node = aruco_detection.aruco_node:main", diff --git a/src/subsystems/navigation/gps_goal/setup.py b/src/subsystems/navigation/gps_goal/setup.py index 264ff97e..7a1caf7f 100644 --- a/src/subsystems/navigation/gps_goal/setup.py +++ b/src/subsystems/navigation/gps_goal/setup.py @@ -21,7 +21,6 @@ maintainer_email='mdurrani808@gmail.com', description='GPS goal navigation action server for Nav2', license='MIT', - tests_require=['pytest'], entry_points={ 'console_scripts': [ 'gps_goal_server = gps_goal.gps_goal_server:main', diff --git a/src/subsystems/navigation/led_indicator/setup.py b/src/subsystems/navigation/led_indicator/setup.py index 53711e99..e0ba8187 100644 --- a/src/subsystems/navigation/led_indicator/setup.py +++ b/src/subsystems/navigation/led_indicator/setup.py @@ -19,7 +19,6 @@ maintainer_email="mdurrani808@gmail.com", description="LED status indicator via Adafruit Pixel Trinkey + NeoPixels", license="MIT", - tests_require=["pytest"], entry_points={ "console_scripts": [ "led_indicator_node = led_indicator.led_indicator_node:main", diff --git a/src/subsystems/navigation/mag_heading/setup.py b/src/subsystems/navigation/mag_heading/setup.py index e1cb0d41..a3fa9bcf 100644 --- a/src/subsystems/navigation/mag_heading/setup.py +++ b/src/subsystems/navigation/mag_heading/setup.py @@ -21,7 +21,6 @@ maintainer_email='mdurrani808@gmail.com', description='Magnetometer calibration and heading publisher for ZED camera IMU', license='MIT', - tests_require=['pytest'], entry_points={ 'console_scripts': [ 'mag_heading_node = mag_heading.mag_heading_node:main', diff --git a/src/subsystems/navigation/nav_bringup/launch/emmn.launch.py b/src/subsystems/navigation/nav_bringup/launch/emmn.launch.py index be0d4d56..d6ae91a2 100644 --- a/src/subsystems/navigation/nav_bringup/launch/emmn.launch.py +++ b/src/subsystems/navigation/nav_bringup/launch/emmn.launch.py @@ -94,7 +94,7 @@ def launch_setup(context, *args, **kwargs): PathJoinSubstitution([FindExecutable(name='xacro')]), ' ', PathJoinSubstitution([ - FindPackageShare('description'), 'urdf', 'athena_drive.urdf.xacro' + FindPackageShare('description'), 'urdf', 'drive', 'athena_drive.urdf.xacro' ]), ]) diff --git a/src/subsystems/navigation/nav_bringup/launch/nav_bringup.launch.py b/src/subsystems/navigation/nav_bringup/launch/nav_bringup.launch.py index 6ca05525..0fdb32fd 100644 --- a/src/subsystems/navigation/nav_bringup/launch/nav_bringup.launch.py +++ b/src/subsystems/navigation/nav_bringup/launch/nav_bringup.launch.py @@ -37,7 +37,7 @@ def generate_launch_description(): PathJoinSubstitution([FindExecutable(name='xacro')]), ' ', PathJoinSubstitution([ - FindPackageShare('description'), 'urdf', 'athena_drive.urdf.xacro' + FindPackageShare('description'), 'urdf', 'drive', 'athena_drive.urdf.xacro' ]), ' ', 'can_interface:=', diff --git a/src/subsystems/navigation/waypoint_manager/setup.py b/src/subsystems/navigation/waypoint_manager/setup.py index a71ee970..9f88c5a9 100644 --- a/src/subsystems/navigation/waypoint_manager/setup.py +++ b/src/subsystems/navigation/waypoint_manager/setup.py @@ -20,7 +20,6 @@ maintainer_email='abhinav.kota06@gmail.com', description='Waypoint management and navigation node for simulation', license='MIT', - tests_require=['pytest'], entry_points={ 'console_scripts': [ 'waypoint_manager_node = waypoint_manager.waypoint_manager_node:main', diff --git a/src/subsystems/navigation/yolo_ros_bt/package.xml b/src/subsystems/navigation/yolo_ros_bt/package.xml index 75ad3402..8df7902b 100644 --- a/src/subsystems/navigation/yolo_ros_bt/package.xml +++ b/src/subsystems/navigation/yolo_ros_bt/package.xml @@ -6,8 +6,6 @@ abdul MIT - ament_python - rclpy std_msgs geometry_msgs @@ -19,4 +17,4 @@ ament_python - \ No newline at end of file + diff --git a/src/subsystems/navigation/yolo_ros_bt/setup.py b/src/subsystems/navigation/yolo_ros_bt/setup.py index 20e5a857..1ddaee62 100644 --- a/src/subsystems/navigation/yolo_ros_bt/setup.py +++ b/src/subsystems/navigation/yolo_ros_bt/setup.py @@ -32,10 +32,9 @@ maintainer_email='abdul@example.com', description='YOLO ROS 2 perception node for Behavior Tree integration', license='Apache-2.0', - tests_require=['pytest'], entry_points={ 'console_scripts': [ 'yolo_ros_node = yolo_ros_bt.yolo_ros_node:main', ], }, -) \ No newline at end of file +) diff --git a/src/subsystems/science/science_bringup/launch/athena_science.launch.py b/src/subsystems/science/science_bringup/launch/athena_science.launch.py index fdf3be13..352bc68a 100644 --- a/src/subsystems/science/science_bringup/launch/athena_science.launch.py +++ b/src/subsystems/science/science_bringup/launch/athena_science.launch.py @@ -20,17 +20,37 @@ # from launch import LaunchDescription -from launch.actions import DeclareLaunchArgument, RegisterEventHandler, TimerAction +from launch.actions import DeclareLaunchArgument, OpaqueFunction, RegisterEventHandler, TimerAction +from launch.conditions import IfCondition from launch.event_handlers import OnProcessExit, OnProcessStart from launch.substitutions import Command, FindExecutable, LaunchConfiguration, PathJoinSubstitution from launch_ros.actions import Node from launch_ros.substitutions import FindPackageShare -from launch.actions import TimerAction def generate_launch_description(): # Declare arguments declared_arguments = [] + declared_arguments.append( + DeclareLaunchArgument( + "mode", + default_value="standalone", + choices=["standalone", "jetson", "base_station"], + description=( + "Deployment mode. " + "'standalone' (default) starts all nodes on a single machine. " + "'jetson' starts only the control/hardware nodes (run on the rover). " + "'base_station' starts only the teleop node (joystick)." + ), + ) + ) + declared_arguments.append( + DeclareLaunchArgument( + "use_sim", + default_value="true", + description="Start RViz2 automatically with this launch file.", + ) + ) declared_arguments.append( DeclareLaunchArgument( "runtime_config_package", @@ -57,7 +77,7 @@ def generate_launch_description(): declared_arguments.append( DeclareLaunchArgument( "description_file", - default_value="athena_science.urdf.xacro", + default_value="science/athena_science.urdf.xacro", description="URDF/XACRO description file with the robot.", ) ) @@ -108,7 +128,13 @@ def generate_launch_description(): ) ) + return LaunchDescription(declared_arguments + [OpaqueFunction(function=launch_setup)]) + + +def launch_setup(context, *args, **kwargs): # Initialize Arguments + mode = LaunchConfiguration("mode").perform(context) + use_sim = LaunchConfiguration("use_sim") runtime_config_package = LaunchConfiguration("runtime_config_package") controllers_file = LaunchConfiguration("controllers_file") description_package = LaunchConfiguration("description_package") @@ -117,6 +143,7 @@ def generate_launch_description(): use_mock_hardware = LaunchConfiguration("use_mock_hardware") mock_sensor_commands = LaunchConfiguration("mock_sensor_commands") robot_controller = LaunchConfiguration("robot_controller") + robot_controller_name = robot_controller.perform(context) deactivate_talon = LaunchConfiguration("deactivate_talon") can_interface = LaunchConfiguration("can_interface") @@ -193,6 +220,7 @@ def generate_launch_description(): name="rviz2", output="log", arguments=["-d", rviz_config_file], + condition=IfCondition(use_sim), ) joint_state_broadcaster_spawner = Node( @@ -222,7 +250,7 @@ def generate_launch_description(): )''' # Active Spawners - robot_controller_names = ["science_controller"] # robot_controller + robot_controller_names = [robot_controller_name] robot_controller_spawners = [] for controller in robot_controller_names: robot_controller_spawners += [ @@ -310,6 +338,13 @@ def generate_launch_description(): ) ) + delay_rviz_after_joint_state_broadcaster_spawner = RegisterEventHandler( + event_handler=OnProcessExit( + target_action=joint_state_broadcaster_spawner, + on_exit=[rviz_node], + ) + ) + umdloop_can_node = Node( package='umdloop_can', executable='can_node', @@ -350,19 +385,28 @@ def generate_launch_description(): ) ] - return LaunchDescription( - declared_arguments - + [ - control_node, - robot_state_pub_node, - rviz_node, - delay_joint_state_broadcaster_spawner_after_ros2_control_node, - delay_motor_status_controller_after_joint_state_broadcaster, - # umdloop_can_node, - controller_switcher_node, - joystick_publisher, - ] - + delay_robot_controller_spawners_after_joint_state_broadcaster_spawner - + delay_inactive_robot_controller_spawners_after_joint_state_broadcaster_spawner - + delay_gpio_controller_spawners_after_joint_state_broadcaster_spawner - ) + jetson_actions = [ + control_node, + robot_state_pub_node, + delay_joint_state_broadcaster_spawner_after_ros2_control_node, + delay_motor_status_controller_after_joint_state_broadcaster, + # umdloop_can_node, + controller_switcher_node, + ] + delay_robot_controller_spawners_after_joint_state_broadcaster_spawner \ + + delay_inactive_robot_controller_spawners_after_joint_state_broadcaster_spawner \ + + delay_gpio_controller_spawners_after_joint_state_broadcaster_spawner + + base_station_actions = [ + joystick_publisher, + ] + + standalone_visualization_actions = [ + delay_rviz_after_joint_state_broadcaster_spawner, + ] + + if mode == "jetson": + return jetson_actions + elif mode == "base_station": + return base_station_actions + else: + return jetson_actions + base_station_actions + standalone_visualization_actions diff --git a/src/subsystems/science/science_bringup/launch/test_forward_position_controller.launch.py b/src/subsystems/science/science_bringup/launch/test_forward_position_controller.launch.py deleted file mode 100644 index 8cb14c77..00000000 --- a/src/subsystems/science/science_bringup/launch/test_forward_position_controller.launch.py +++ /dev/null @@ -1,46 +0,0 @@ -# Copyright (c) 2024, Stogl Robotics Consulting UG (haftungsbeschränkt) -# -# 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. - -# -# Source of this file are templates in -# [RosTeamWorkspace](https://github.com/StoglRobotics/ros_team_workspace) repository. -# -# Author: Dr. Denis -# - -from launch import LaunchDescription -from launch.substitutions import PathJoinSubstitution -from launch_ros.actions import Node -from launch_ros.substitutions import FindPackageShare - - -def generate_launch_description(): - position_goals = PathJoinSubstitution( - [FindPackageShare("science_bringup"), "config", "test_goal_publishers_config.yaml"] - ) - - return LaunchDescription( - [ - Node( - package="ros2_controllers_test_nodes", - executable="publisher_forward_position_controller", - name="publisher_forward_position_controller", - parameters=[position_goals], - output={ - "stdout": "screen", - "stderr": "screen", - }, - ) - ] - ) diff --git a/src/teleop/teleop/setup.py b/src/teleop/teleop/setup.py index a8fae374..2d074759 100644 --- a/src/teleop/teleop/setup.py +++ b/src/teleop/teleop/setup.py @@ -17,7 +17,6 @@ maintainer_email='duttaishan01@todo.todo', description='TODO: Package description', license='TODO: License declaration', - tests_require=['pytest'], entry_points={ 'console_scripts': [ 'joystick = teleop.joystick_publisher:main' From 04fa48994e9995d21f1204fc35457f83201c66e6 Mon Sep 17 00:00:00 2001 From: duttaishan01 Date: Thu, 20 Aug 2026 01:23:26 -0400 Subject: [PATCH 03/10] Used yaml file for 3dof configuration instead of different controller names. Fixed controller switcher configuration and launch files to reflect this change --- src/bringup/launch/delivery.launch.py | 20 +- .../launch/equipment_servicing.launch.py | 20 +- src/bringup/scripts/controller_switcher.py | 16 +- .../drive/drive.odrive.ros2_control.xacro | 7 +- ....yaml => athena_arm_controllers_2dof.yaml} | 139 +--------- .../config/athena_arm_controllers_3dof.yaml | 238 ++++++++++++++++++ ...her.yaml => controller_switcher_2dof.yaml} | 6 +- .../config/controller_switcher_3dof.yaml | 12 + .../launch/athena_arm.jetson.launch.py | 59 +++-- .../arm_bringup/launch/athena_arm.launch.py | 72 +++--- .../arm_moveit/config/moveit_controllers.yaml | 4 +- .../config/moveit_controllers_2dof.yaml | 4 +- .../config/moveit_controllers_3dof.yaml | 4 +- 13 files changed, 353 insertions(+), 248 deletions(-) rename src/subsystems/arm/arm_bringup/config/{athena_arm_controllers.yaml => athena_arm_controllers_2dof.yaml} (64%) create mode 100644 src/subsystems/arm/arm_bringup/config/athena_arm_controllers_3dof.yaml rename src/subsystems/arm/arm_bringup/config/{controller_switcher.yaml => controller_switcher_2dof.yaml} (58%) create mode 100644 src/subsystems/arm/arm_bringup/config/controller_switcher_3dof.yaml diff --git a/src/bringup/launch/delivery.launch.py b/src/bringup/launch/delivery.launch.py index d5558316..aeeab520 100644 --- a/src/bringup/launch/delivery.launch.py +++ b/src/bringup/launch/delivery.launch.py @@ -95,7 +95,12 @@ def launch_setup(context, *args, **kwargs): # The arm subsystem files (URDF, controllers YAML, joystick YAML) are reused as-is. # ------------------------------------------------------------------ arm_urdf_xacro = os.path.join(description_share, 'urdf', 'arm', 'athena_arm.urdf.xacro') - arm_controllers_yaml = os.path.join(arm_bringup_share, 'config', 'athena_arm_controllers.yaml') + use_3dof_bool = use_3dof.lower() == 'true' + arm_controllers_yaml = os.path.join( + arm_bringup_share, + 'config', + 'athena_arm_controllers_3dof.yaml' if use_3dof_bool else 'athena_arm_controllers_2dof.yaml', + ) arm_joystick_yaml = os.path.join(arm_bringup_share, 'config', 'joystick.yaml') arm_urdf = Command([ @@ -109,22 +114,17 @@ def launch_setup(context, *args, **kwargs): ' can_interface:=', can_interface, ' ', ]) - use_3dof_bool = use_3dof.lower() == 'true' - wrist_active = 'manual_3dof_wrist_joint_by_joint_controller' if use_3dof_bool else 'manual_2dof_wrist_joint_by_joint_controller' - wrist_inactive = 'manual_2dof_wrist_joint_by_joint_controller' if use_3dof_bool else 'manual_3dof_wrist_joint_by_joint_controller' - jt_controller = 'threedof_joint_trajectory_controller' if use_3dof_bool else 'twodof_joint_trajectory_controller' - active_controllers = [ 'manual_arm_joint_by_joint_controller', - wrist_active, + 'manual_wrist_joint_by_joint_controller', 'manual_end_effector_gripper_claw_controller', ] inactive_controllers = [ - wrist_inactive, - 'manual_arm_cylindrical_controller', - jt_controller, + 'joint_trajectory_controller', 'arm_velocity_controller', ] + if not use_3dof_bool: + inactive_controllers.insert(0, 'manual_arm_cylindrical_controller') arm_cm = Node( package='controller_manager', diff --git a/src/bringup/launch/equipment_servicing.launch.py b/src/bringup/launch/equipment_servicing.launch.py index 82043fac..5a56dd36 100644 --- a/src/bringup/launch/equipment_servicing.launch.py +++ b/src/bringup/launch/equipment_servicing.launch.py @@ -95,7 +95,12 @@ def launch_setup(context, *args, **kwargs): # The arm subsystem files (URDF, controllers YAML, joystick YAML) are reused as-is. # ------------------------------------------------------------------ arm_urdf_xacro = os.path.join(description_share, 'urdf', 'arm', 'athena_arm.urdf.xacro') - arm_controllers_yaml = os.path.join(arm_bringup_share, 'config', 'athena_arm_controllers.yaml') + use_3dof_bool = use_3dof.lower() == 'true' + arm_controllers_yaml = os.path.join( + arm_bringup_share, + 'config', + 'athena_arm_controllers_3dof.yaml' if use_3dof_bool else 'athena_arm_controllers_2dof.yaml', + ) arm_joystick_yaml = os.path.join(arm_bringup_share, 'config', 'joystick.yaml') arm_urdf = Command([ @@ -109,22 +114,17 @@ def launch_setup(context, *args, **kwargs): ' can_interface:=', can_interface, ' ', ]) - use_3dof_bool = use_3dof.lower() == 'true' - wrist_active = 'manual_3dof_wrist_joint_by_joint_controller' if use_3dof_bool else 'manual_2dof_wrist_joint_by_joint_controller' - wrist_inactive = 'manual_2dof_wrist_joint_by_joint_controller' if use_3dof_bool else 'manual_3dof_wrist_joint_by_joint_controller' - jt_controller = 'threedof_joint_trajectory_controller' if use_3dof_bool else 'twodof_joint_trajectory_controller' - active_controllers = [ 'manual_arm_joint_by_joint_controller', - wrist_active, + 'manual_wrist_joint_by_joint_controller', 'manual_end_effector_gripper_claw_controller', ] inactive_controllers = [ - wrist_inactive, - 'manual_arm_cylindrical_controller', - jt_controller, + 'joint_trajectory_controller', 'arm_velocity_controller', ] + if not use_3dof_bool: + inactive_controllers.insert(0, 'manual_arm_cylindrical_controller') arm_cm = Node( package='controller_manager', diff --git a/src/bringup/scripts/controller_switcher.py b/src/bringup/scripts/controller_switcher.py index 2f8c3736..80c0fc76 100755 --- a/src/bringup/scripts/controller_switcher.py +++ b/src/bringup/scripts/controller_switcher.py @@ -40,7 +40,12 @@ def __init__(self): self.client_cb_group = MutuallyExclusiveCallbackGroup() # Controllers to always keep active or ignore - self.always_active = ["joint_state_broadcaster", "motor_status_broadcaster"] + self.always_active = ["joint_state_broadcaster", "motor_status_controller"] + if self.subsystem == 'arm': + self.always_active.extend([ + "cam_position_controller", + "rotary_encoder_state_request_controller", + ]) self.ignore_controllers = [] # Lock to prevent concurrent service processing @@ -149,9 +154,10 @@ def _handle_set_controller(self, request, response): controllers_to_deactivate = [] - # Always ensure joint_state_broadcaster is active - if "joint_state_broadcaster" not in active_controllers and "joint_state_broadcaster" not in controllers_to_activate: - controllers_to_activate.append("joint_state_broadcaster") + # Ensure every loaded protected controller remains active. + for controller in self.always_active: + if controller in all_controllers and controller not in active_controllers: + controllers_to_activate.append(controller) def controller_handler(controller, subsystem_controllers): @@ -325,4 +331,4 @@ def main(args=None): if __name__ == '__main__': - main() \ No newline at end of file + main() diff --git a/src/description/ros2_control/drive/drive.odrive.ros2_control.xacro b/src/description/ros2_control/drive/drive.odrive.ros2_control.xacro index 1d8f2d19..4914cb5d 100644 --- a/src/description/ros2_control/drive/drive.odrive.ros2_control.xacro +++ b/src/description/ros2_control/drive/drive.odrive.ros2_control.xacro @@ -1,8 +1,6 @@ - - ${deactivate_odrive} @@ -77,9 +75,6 @@ - - - - + \ No newline at end of file diff --git a/src/subsystems/arm/arm_bringup/config/athena_arm_controllers.yaml b/src/subsystems/arm/arm_bringup/config/athena_arm_controllers_2dof.yaml similarity index 64% rename from src/subsystems/arm/arm_bringup/config/athena_arm_controllers.yaml rename to src/subsystems/arm/arm_bringup/config/athena_arm_controllers_2dof.yaml index dec389dd..77d0dcb3 100644 --- a/src/subsystems/arm/arm_bringup/config/athena_arm_controllers.yaml +++ b/src/subsystems/arm/arm_bringup/config/athena_arm_controllers_2dof.yaml @@ -5,11 +5,9 @@ joint_state_broadcaster: type: joint_state_broadcaster/JointStateBroadcaster - twodof_joint_trajectory_controller: + joint_trajectory_controller: type: joint_trajectory_controller/JointTrajectoryController - threedof_joint_trajectory_controller: - type: joint_trajectory_controller/JointTrajectoryController arm_velocity_controller: type: velocity_controllers/JointGroupVelocityController @@ -20,20 +18,16 @@ manual_arm_joint_by_joint_controller: type: arm_controllers/ManualArmJointByJointController - manual_2dof_wrist_joint_by_joint_controller: + manual_wrist_joint_by_joint_controller: type: arm_controllers/Manual2DOFWristJointByJointController - manual_3dof_wrist_joint_by_joint_controller: - type: arm_controllers/Manual3DOFWristJointByJointController manual_end_effector_gripper_claw_controller: type: arm_controllers/ManualEndEffectorGripperClawController - two_dof_motor_status_controller: + motor_status_controller: type: general_controllers/MotorStatusController - three_dof_motor_status_controller: - type: general_controllers/MotorStatusController cam_position_controller: type: position_controllers/JointGroupPositionController @@ -58,7 +52,7 @@ - position - velocity -/**/twodof_joint_trajectory_controller: +/**/joint_trajectory_controller: ros__parameters: joints: - base_yaw @@ -110,41 +104,6 @@ # trajectory: 0.05 # goal: 0.03 -/**/threedof_joint_trajectory_controller: - ros__parameters: - joints: - - base_yaw - - shoulder_pitch - - elbow_pitch - - wrist_motor_a - - wrist_motor_b - - wrist_motor_c - - gripper_claw - - actuator - - command_interfaces: - - position - - state_interfaces: - - position - - velocity - - action_monitor_rate: 20.0 # Rate to monitor status changes when the controller is executing action - - allow_partial_joints_goal: true - - # Open loop:The controller ignores the states provided by hardware interface but using - # last commands as states for starting the trajectory interpolation - # deactivates the feedback control - open_loop_control: true - constraints: - # Velocity tolerance for at the end of the trajectory that indicates that controlled system is stopped. - stopped_velocity_tolerance: 0.01 - - # Time tolerance for achieving trajectory goal before or after commanded time. - # If set to zero, the controller will wait a potentially infinite amount of time. - goal_time: 10.0 - /**/arm_velocity_controller: ros__parameters: joints: @@ -201,7 +160,7 @@ - 0.05148721 virtual_four_bar_coupling_ratio: 1.0 -/**/manual_2dof_wrist_joint_by_joint_controller: +/**/manual_wrist_joint_by_joint_controller: ros__parameters: joints: - wrist_pitch @@ -211,18 +170,6 @@ - 0.785398 # 45 dps - 0.785398 -/**/manual_3dof_wrist_joint_by_joint_controller: - ros__parameters: - joints: - - wrist_motor_a - - wrist_motor_b - - wrist_motor_c - # interface_name: velocity - joint_max_velocities: - - 0.785398 # TODO - - 0.785398 # TODO - - 0.785398 # TODO - /**/manual_end_effector_gripper_claw_controller: ros__parameters: velocity_joints: @@ -247,7 +194,7 @@ # - motor_temperature # - torque_current # - status -/**/two_dof_motor_status_controller: +/**/motor_status_controller: ros__parameters: joints: - base_yaw @@ -310,77 +257,3 @@ interfaces: - status publish_rate: 10.0 - -/**/three_dof_motor_status_controller: - ros__parameters: - joints: - - base_yaw - - shoulder_pitch - - elbow_pitch - - wrist_motor_a - - wrist_motor_b - - wrist_motor_c - - actuator - - gripper_claw - - cam_0 - - cam_1 - gpios: - - limit_switch_0 - - limit_switch_1 - - limit_switch_2 - - limit_switch_3 - - limit_switch_4 - command_interfaces: - gripper_claw: - interfaces: - - status_request - wrist_motor_a: - interfaces: - - status_request - wrist_motor_b: - interfaces: - - status_request - wrist_motor_c: - interfaces: - - status_request - limit_switch_0: - interfaces: - - status_request - limit_switch_1: - interfaces: - - status_request - limit_switch_2: - interfaces: - - status_request - limit_switch_3: - interfaces: - - status_request - limit_switch_4: - interfaces: - - status_request - state_interfaces: - actuator: - interfaces: - - status - cam_0: - interfaces: - - status - cam_1: - interfaces: - - status - limit_switch_0: - interfaces: - - status - limit_switch_1: - interfaces: - - status - limit_switch_2: - interfaces: - - status - limit_switch_3: - interfaces: - - status - limit_switch_4: - interfaces: - - status - publish_rate: 10.0 diff --git a/src/subsystems/arm/arm_bringup/config/athena_arm_controllers_3dof.yaml b/src/subsystems/arm/arm_bringup/config/athena_arm_controllers_3dof.yaml new file mode 100644 index 00000000..ebfb9b25 --- /dev/null +++ b/src/subsystems/arm/arm_bringup/config/athena_arm_controllers_3dof.yaml @@ -0,0 +1,238 @@ +/**/controller_manager: + ros__parameters: + update_rate: 100 # Hz + + joint_state_broadcaster: + type: joint_state_broadcaster/JointStateBroadcaster + + + joint_trajectory_controller: + type: joint_trajectory_controller/JointTrajectoryController + + arm_velocity_controller: + type: velocity_controllers/JointGroupVelocityController + + + manual_arm_joint_by_joint_controller: + type: arm_controllers/ManualArmJointByJointController + + + manual_wrist_joint_by_joint_controller: + type: arm_controllers/Manual3DOFWristJointByJointController + + manual_end_effector_gripper_claw_controller: + type: arm_controllers/ManualEndEffectorGripperClawController + + + motor_status_controller: + type: general_controllers/MotorStatusController + + cam_position_controller: + type: position_controllers/JointGroupPositionController + + rotary_encoder_state_request_controller: + type: forward_command_controller/ForwardCommandController + +/**/joint_state_broadcaster: + ros__parameters: + # Only publish joints represented in the kinematic URDF. Hardware-only + # resources (cameras, encoders, and limit switches) are exposed by their + # dedicated controllers and must not be sent to MoveIt's state monitor. + joints: + - base_yaw + - shoulder_pitch + - elbow_pitch + - wrist_motor_a + - wrist_motor_b + - wrist_motor_c + - gripper_claw + - actuator + interfaces: + - position + - velocity + +/**/joint_trajectory_controller: + ros__parameters: + joints: + - base_yaw + - shoulder_pitch + - elbow_pitch + - wrist_motor_a + - wrist_motor_b + - wrist_motor_c + - gripper_claw + - actuator + + command_interfaces: + - position + + state_interfaces: + - position + - velocity + + action_monitor_rate: 20.0 # Rate to monitor status changes when the controller is executing action + + allow_partial_joints_goal: true + + # Open loop:The controller ignores the states provided by hardware interface but using + # last commands as states for starting the trajectory interpolation + # deactivates the feedback control + open_loop_control: true + constraints: + # Velocity tolerance for at the end of the trajectory that indicates that controlled system is stopped. + stopped_velocity_tolerance: 0.01 + + # Time tolerance for achieving trajectory goal before or after commanded time. + # If set to zero, the controller will wait a potentially infinite amount of time. + goal_time: 10.0 + +/**/arm_velocity_controller: + ros__parameters: + joints: + - base_yaw + - shoulder_pitch + - elbow_pitch + - wrist_motor_a + - wrist_motor_b + - wrist_motor_c + - gripper_claw + - actuator + interface_name: velocity + +/**/cam_position_controller: + ros__parameters: + joints: + - cam_0 + - cam_1 + interface_name: position + +/**/rotary_encoder_state_request_controller: + ros__parameters: + joints: + - base_yaw_encoder + - elbow_pitch_encoder + - shoulder_pitch_encoder + interface_name: state_request + +/**/manual_arm_joint_by_joint_controller: + ros__parameters: + joints: + - base_yaw + - shoulder_pitch + - elbow_pitch + # interface_name: velocity + joint_max_velocities: + - 0.08 # base_yaw + - 0.05148721 # 2.95 dps + - 0.05148721 + virtual_four_bar_coupling_ratio: 1.0 + +/**/manual_wrist_joint_by_joint_controller: + ros__parameters: + joints: + - wrist_motor_a + - wrist_motor_b + - wrist_motor_c + # interface_name: velocity + joint_max_velocities: + - 0.785398 # TODO + - 0.785398 # TODO + - 0.785398 # TODO + +/**/manual_end_effector_gripper_claw_controller: + ros__parameters: + velocity_joints: + - gripper_claw + position_joints: + - actuator + # interface_name: velocity + joint_max_velocities: + - 0.005 # TODO: Find this + - 0.03 # Actuator max displacement + joint_max_positions: + - 0.03 # Actuator max displacement + +# Default command interfaces: +# - status_request +# - maintenance_request +# - maintenance_frame_high +# - maintenance_frame_low +# - maintenance_data_count + +# Default state interfaces: +# - motor_temperature +# - torque_current +# - status +/**/motor_status_controller: + ros__parameters: + joints: + - base_yaw + - shoulder_pitch + - elbow_pitch + - wrist_motor_a + - wrist_motor_b + - wrist_motor_c + - actuator + - gripper_claw + - cam_0 + - cam_1 + gpios: + - limit_switch_0 + - limit_switch_1 + - limit_switch_2 + - limit_switch_3 + - limit_switch_4 + command_interfaces: + gripper_claw: + interfaces: + - status_request + wrist_motor_a: + interfaces: + - status_request + wrist_motor_b: + interfaces: + - status_request + wrist_motor_c: + interfaces: + - status_request + limit_switch_0: + interfaces: + - status_request + limit_switch_1: + interfaces: + - status_request + limit_switch_2: + interfaces: + - status_request + limit_switch_3: + interfaces: + - status_request + limit_switch_4: + interfaces: + - status_request + state_interfaces: + actuator: + interfaces: + - status + cam_0: + interfaces: + - status + cam_1: + interfaces: + - status + limit_switch_0: + interfaces: + - status + limit_switch_1: + interfaces: + - status + limit_switch_2: + interfaces: + - status + limit_switch_3: + interfaces: + - status + limit_switch_4: + interfaces: + - status + publish_rate: 10.0 diff --git a/src/subsystems/arm/arm_bringup/config/controller_switcher.yaml b/src/subsystems/arm/arm_bringup/config/controller_switcher_2dof.yaml similarity index 58% rename from src/subsystems/arm/arm_bringup/config/controller_switcher.yaml rename to src/subsystems/arm/arm_bringup/config/controller_switcher_2dof.yaml index 8bc999c5..4bdd38fa 100644 --- a/src/subsystems/arm/arm_bringup/config/controller_switcher.yaml +++ b/src/subsystems/arm/arm_bringup/config/controller_switcher_2dof.yaml @@ -4,12 +4,10 @@ full_arm: - manual_arm_cylindrical_controller - arm_velocity_controller - - twodof_joint_trajectory_controller - - threedof_joint_trajectory_controller + - joint_trajectory_controller arm: - manual_arm_joint_by_joint_controller wrist: - - manual_2dof_wrist_joint_by_joint_controller - - manual_3dof_wrist_joint_by_joint_controller + - manual_wrist_joint_by_joint_controller end_effector: - manual_end_effector_gripper_claw_controller diff --git a/src/subsystems/arm/arm_bringup/config/controller_switcher_3dof.yaml b/src/subsystems/arm/arm_bringup/config/controller_switcher_3dof.yaml new file mode 100644 index 00000000..eaab9903 --- /dev/null +++ b/src/subsystems/arm/arm_bringup/config/controller_switcher_3dof.yaml @@ -0,0 +1,12 @@ +/**: + ros__parameters: + subsystem: arm + full_arm: + - arm_velocity_controller + - joint_trajectory_controller + arm: + - manual_arm_joint_by_joint_controller + wrist: + - manual_wrist_joint_by_joint_controller + end_effector: + - manual_end_effector_gripper_claw_controller diff --git a/src/subsystems/arm/arm_bringup/launch/athena_arm.jetson.launch.py b/src/subsystems/arm/arm_bringup/launch/athena_arm.jetson.launch.py index 8f54e6b7..bd09ec1a 100644 --- a/src/subsystems/arm/arm_bringup/launch/athena_arm.jetson.launch.py +++ b/src/subsystems/arm/arm_bringup/launch/athena_arm.jetson.launch.py @@ -1,7 +1,7 @@ from launch import LaunchDescription, LaunchContext -from launch.actions import RegisterEventHandler, DeclareLaunchArgument, TimerAction +from launch.actions import RegisterEventHandler, DeclareLaunchArgument, TimerAction, OpaqueFunction from launch.event_handlers import OnProcessExit, OnProcessStart -from launch.substitutions import Command, FindExecutable, PathJoinSubstitution, LaunchConfiguration, PythonExpression +from launch.substitutions import Command, FindExecutable, PathJoinSubstitution, LaunchConfiguration from launch_ros.actions import Node from launch_ros.substitutions import FindPackageShare @@ -18,8 +18,8 @@ def generate_launch_description(): declared_arguments.append( DeclareLaunchArgument( "controllers_file", - default_value="athena_arm_controllers.yaml", - description="YAML file with the controllers configuration.", + default_value="", + description="Optional controller YAML override. The wrist-specific configuration is selected by default.", ) ) declared_arguments.append( @@ -78,6 +78,11 @@ def generate_launch_description(): description="CAN interface to use for hardware interfaces.", ) ) + + return LaunchDescription(declared_arguments + [OpaqueFunction(function=launch_setup)]) + + +def launch_setup(context, *args, **kwargs): # -- Initialize Arguments -- runtime_config_package = LaunchConfiguration("runtime_config_package") controllers_file = LaunchConfiguration("controllers_file") @@ -86,6 +91,7 @@ def generate_launch_description(): use_mock_hardware = LaunchConfiguration("use_mock_hardware") mock_sensor_commands = LaunchConfiguration("mock_sensor_commands") use_3dof = LaunchConfiguration("use_3dof") + using_3dof = use_3dof.perform(context).lower() in ("true", "1", "yes") deactivate_talon = LaunchConfiguration("deactivate_talon") can_interface = LaunchConfiguration("can_interface") @@ -93,13 +99,22 @@ def generate_launch_description(): robot_description_path = PathJoinSubstitution( [FindPackageShare(description_package), "urdf", LaunchConfiguration("description_file")] ) + controllers_file_name = controllers_file.perform(context) + if not controllers_file_name: + controllers_file_name = ( + "athena_arm_controllers_3dof.yaml" + if using_3dof + else "athena_arm_controllers_2dof.yaml" + ) robot_controllers = PathJoinSubstitution( - [FindPackageShare(runtime_config_package), "config", controllers_file] + [FindPackageShare(runtime_config_package), "config", controllers_file_name] ) - controller_switcher_config = PathJoinSubstitution( - [FindPackageShare("bringup"), "config", "controller_switcher.yaml"] - ) + controller_switcher_config = PathJoinSubstitution([ + FindPackageShare(runtime_config_package), + "config", + "controller_switcher_3dof.yaml" if using_3dof else "controller_switcher_2dof.yaml", + ]) # -- Additional Configuration Setup -- robot_description_content = Command( @@ -154,15 +169,9 @@ def generate_launch_description(): arguments=["joint_state_broadcaster"], ) - wrist_controller = PythonExpression([ - '"manual_3dof_wrist_joint_by_joint_controller" if "', - use_3dof, - '" == "true" else "manual_2dof_wrist_joint_by_joint_controller"' - ]) - robot_controller_names = [ "manual_arm_joint_by_joint_controller", - wrist_controller, + "manual_wrist_joint_by_joint_controller", "manual_end_effector_gripper_claw_controller", ] robot_controller_spawners = [] @@ -175,23 +184,12 @@ def generate_launch_description(): ) ] - joint_trajectory_controller = PythonExpression([ - '"threedof_joint_trajectory_controller" if "', - use_3dof, - '" == "true" else "twodof_joint_trajectory_controller"' - ]) - - inactive_controller = PythonExpression([ - '"manual_2dof_wrist_joint_by_joint_controller" if "', - use_3dof, - '" == "true" else "manual_3dof_wrist_joint_by_joint_controller"', - ]) inactive_robot_controller_names = [ - inactive_controller, - "manual_arm_cylindrical_controller", - joint_trajectory_controller, + "joint_trajectory_controller", "arm_velocity_controller", ] + if not using_3dof: + inactive_robot_controller_names.insert(0, "manual_arm_cylindrical_controller") inactive_robot_controller_spawners = [] for controller in inactive_robot_controller_names: inactive_robot_controller_spawners += [ @@ -264,8 +262,7 @@ def generate_launch_description(): ) ] - return LaunchDescription( - declared_arguments + + return ( [ control_node, robot_state_pub_node, diff --git a/src/subsystems/arm/arm_bringup/launch/athena_arm.launch.py b/src/subsystems/arm/arm_bringup/launch/athena_arm.launch.py index 7ace0d80..c8a40a1e 100644 --- a/src/subsystems/arm/arm_bringup/launch/athena_arm.launch.py +++ b/src/subsystems/arm/arm_bringup/launch/athena_arm.launch.py @@ -2,7 +2,7 @@ from launch.actions import RegisterEventHandler, DeclareLaunchArgument, TimerAction, OpaqueFunction from launch.conditions import IfCondition from launch.event_handlers import OnProcessExit, OnProcessStart -from launch.substitutions import Command, FindExecutable, PathJoinSubstitution, LaunchConfiguration, PythonExpression +from launch.substitutions import Command, FindExecutable, PathJoinSubstitution, LaunchConfiguration from launch_ros.actions import Node from launch_ros.substitutions import FindPackageShare @@ -47,8 +47,8 @@ def generate_launch_description(): declared_arguments.append( DeclareLaunchArgument( "controllers_file", - default_value="athena_arm_controllers.yaml", - description="YAML file with the controllers configuration.", + default_value="", + description="Optional controller YAML override. The wrist-specific configuration is selected by default.", ) ) declared_arguments.append( @@ -144,6 +144,7 @@ def launch_setup(context, *args, **kwargs): using_mock_hardware = use_mock_hardware.perform(context).lower() in ("true", "1", "yes") mock_sensor_commands = LaunchConfiguration("mock_sensor_commands") use_3dof = LaunchConfiguration("use_3dof") + using_3dof = use_3dof.perform(context).lower() in ("true", "1", "yes") deactivate_talon = LaunchConfiguration("deactivate_talon") can_interface = LaunchConfiguration("can_interface") @@ -154,16 +155,25 @@ def launch_setup(context, *args, **kwargs): robot_description_path = PathJoinSubstitution( [FindPackageShare(description_package), "urdf", description_file] ) + controllers_file_name = controllers_file.perform(context) + if not controllers_file_name: + controllers_file_name = ( + "athena_arm_controllers_3dof.yaml" + if using_3dof + else "athena_arm_controllers_2dof.yaml" + ) robot_controllers = PathJoinSubstitution( - [FindPackageShare(runtime_config_package), "config", controllers_file] + [FindPackageShare(runtime_config_package), "config", controllers_file_name] ) joystick_config_file = PathJoinSubstitution( [FindPackageShare(runtime_config_package), 'config', 'joystick.yaml'] ) - controller_switcher_config = PathJoinSubstitution( - [FindPackageShare(runtime_config_package), "config", "controller_switcher.yaml"] - ) + controller_switcher_config = PathJoinSubstitution([ + FindPackageShare(runtime_config_package), + "config", + "controller_switcher_3dof.yaml" if using_3dof else "controller_switcher_2dof.yaml", + ]) robot_description_content = Command( [ @@ -226,27 +236,12 @@ def launch_setup(context, *args, **kwargs): motor_status_controller_spawner = Node( package="controller_manager", executable="spawner", - arguments=[ - PythonExpression([ - '"three_dof_motor_status_controller" if "', - use_3dof, - '" == "true" else "two_dof_motor_status_controller"' - ]), - "-c", - "/controller_manager", - ], + arguments=["motor_status_controller", "-c", "/controller_manager"], ) - - wrist_controller = PythonExpression([ - '"manual_3dof_wrist_joint_by_joint_controller" if "', - use_3dof, - '" == "true" else "manual_2dof_wrist_joint_by_joint_controller"' - ]) - robot_controller_names = [ "manual_arm_joint_by_joint_controller", - wrist_controller, + "manual_wrist_joint_by_joint_controller", "manual_end_effector_gripper_claw_controller", ] robot_controller_spawners = [] @@ -259,23 +254,12 @@ def launch_setup(context, *args, **kwargs): ) ] - joint_trajectory_controller = PythonExpression([ - '"threedof_joint_trajectory_controller" if "', - use_3dof, - '" == "true" else "twodof_joint_trajectory_controller"' - ]) - - - inactive_controller = PythonExpression([ - '"manual_2dof_wrist_joint_by_joint_controller" if "', - use_3dof, - '" == "true" else "manual_3dof_wrist_joint_by_joint_controller"', - ]) inactive_robot_controller_names = [ - inactive_controller, - "manual_arm_cylindrical_controller", - joint_trajectory_controller, - "arm_velocity_controller"] + "joint_trajectory_controller", + "arm_velocity_controller", + ] + if not using_3dof: + inactive_robot_controller_names.insert(0, "manual_arm_cylindrical_controller") inactive_robot_controller_spawners = [] for controller in inactive_robot_controller_names: inactive_robot_controller_spawners += [ @@ -377,9 +361,11 @@ def launch_setup(context, *args, **kwargs): robot_kinematics_path = PathJoinSubstitution( [FindPackageShare("arm_moveit"), "config", "kinematics.yaml"] ) - moveit_controllers_config_path = PathJoinSubstitution( - [FindPackageShare("arm_moveit"), "config", "moveit_controllers_2dof.yaml"] - ) + moveit_controllers_config_path = PathJoinSubstitution([ + FindPackageShare("arm_moveit"), + "config", + "moveit_controllers_3dof.yaml" if using_3dof else "moveit_controllers_2dof.yaml", + ]) moveit_config = ( MoveItConfigsBuilder("athena_arm", package_name="arm_moveit") .robot_description(file_path=robot_description_path.perform(context)) diff --git a/src/subsystems/arm/arm_moveit/config/moveit_controllers.yaml b/src/subsystems/arm/arm_moveit/config/moveit_controllers.yaml index 76233e51..0073d69b 100644 --- a/src/subsystems/arm/arm_moveit/config/moveit_controllers.yaml +++ b/src/subsystems/arm/arm_moveit/config/moveit_controllers.yaml @@ -9,9 +9,9 @@ moveit_controller_manager: moveit_simple_controller_manager/MoveItSimpleControll moveit_simple_controller_manager: controller_names: - - twodof_joint_trajectory_controller + - joint_trajectory_controller - twodof_joint_trajectory_controller: + joint_trajectory_controller: type: FollowJointTrajectory action_ns: follow_joint_trajectory default: true diff --git a/src/subsystems/arm/arm_moveit/config/moveit_controllers_2dof.yaml b/src/subsystems/arm/arm_moveit/config/moveit_controllers_2dof.yaml index 76233e51..0073d69b 100644 --- a/src/subsystems/arm/arm_moveit/config/moveit_controllers_2dof.yaml +++ b/src/subsystems/arm/arm_moveit/config/moveit_controllers_2dof.yaml @@ -9,9 +9,9 @@ moveit_controller_manager: moveit_simple_controller_manager/MoveItSimpleControll moveit_simple_controller_manager: controller_names: - - twodof_joint_trajectory_controller + - joint_trajectory_controller - twodof_joint_trajectory_controller: + joint_trajectory_controller: type: FollowJointTrajectory action_ns: follow_joint_trajectory default: true diff --git a/src/subsystems/arm/arm_moveit/config/moveit_controllers_3dof.yaml b/src/subsystems/arm/arm_moveit/config/moveit_controllers_3dof.yaml index 41c2e8f5..d814559a 100644 --- a/src/subsystems/arm/arm_moveit/config/moveit_controllers_3dof.yaml +++ b/src/subsystems/arm/arm_moveit/config/moveit_controllers_3dof.yaml @@ -9,9 +9,9 @@ moveit_controller_manager: moveit_simple_controller_manager/MoveItSimpleControll moveit_simple_controller_manager: controller_names: - - threedof_joint_trajectory_controller + - joint_trajectory_controller - threedof_joint_trajectory_controller: + joint_trajectory_controller: type: FollowJointTrajectory action_ns: follow_joint_trajectory default: true From d604cb1612530b066f61fdd862f5c8dca32ba062 Mon Sep 17 00:00:00 2001 From: duttaishan01 Date: Thu, 20 Aug 2026 02:28:44 -0400 Subject: [PATCH 04/10] add base station and jetson docker configurations to be populated appropriately in the future, added build and run docker shell scripts for when vscode is not available --- .devcontainer/{ => base_station}/Dockerfile | 3 + .devcontainer/base_station/build_docker.sh | 17 ++ .devcontainer/base_station/devcontainer.json | 40 +++++ .../{ => base_station}/post_create.sh | 3 + .devcontainer/base_station/run_docker.sh | 33 ++++ .devcontainer/developer/Dockerfile | 154 ++++++++++++++++++ .devcontainer/developer/build_docker.sh | 17 ++ .devcontainer/developer/devcontainer.json | 40 +++++ .devcontainer/developer/post_create.sh | 12 ++ .devcontainer/developer/run_docker.sh | 33 ++++ .devcontainer/jetson/Dockerfile | 154 ++++++++++++++++++ .devcontainer/jetson/build_docker.sh | 17 ++ .devcontainer/{ => jetson}/devcontainer.json | 14 +- .devcontainer/jetson/post_create.sh | 12 ++ .devcontainer/jetson/run_docker.sh | 33 ++++ .devcontainer/loop_ascii.txt | 8 +- 16 files changed, 581 insertions(+), 9 deletions(-) rename .devcontainer/{ => base_station}/Dockerfile (98%) create mode 100755 .devcontainer/base_station/build_docker.sh create mode 100644 .devcontainer/base_station/devcontainer.json rename .devcontainer/{ => base_station}/post_create.sh (86%) create mode 100755 .devcontainer/base_station/run_docker.sh create mode 100644 .devcontainer/developer/Dockerfile create mode 100755 .devcontainer/developer/build_docker.sh create mode 100644 .devcontainer/developer/devcontainer.json create mode 100755 .devcontainer/developer/post_create.sh create mode 100755 .devcontainer/developer/run_docker.sh create mode 100644 .devcontainer/jetson/Dockerfile create mode 100755 .devcontainer/jetson/build_docker.sh rename .devcontainer/{ => jetson}/devcontainer.json (70%) create mode 100755 .devcontainer/jetson/post_create.sh create mode 100755 .devcontainer/jetson/run_docker.sh diff --git a/.devcontainer/Dockerfile b/.devcontainer/base_station/Dockerfile similarity index 98% rename from .devcontainer/Dockerfile rename to .devcontainer/base_station/Dockerfile index 215eee65..5190d9b3 100644 --- a/.devcontainer/Dockerfile +++ b/.devcontainer/base_station/Dockerfile @@ -5,6 +5,7 @@ ARG ROS_DISTRO=humble ARG USERNAME=loop_dev ARG USER_UID=1000 ARG USER_GID=${USER_UID} +ARG MACHINE_TYPE=developer ENV ROS_DISTRO=${ROS_DISTRO} ENV LANG=en_US.UTF-8 @@ -33,8 +34,10 @@ RUN apt-get update && apt-get install -y --no-install-recommends \ RUN apt-get update && apt-get install -y --no-install-recommends \ bash-completion \ build-essential \ + can-utils \ clang-format \ cmake \ + evtest \ geographiclib-tools \ git \ git-lfs \ diff --git a/.devcontainer/base_station/build_docker.sh b/.devcontainer/base_station/build_docker.sh new file mode 100755 index 00000000..606d0329 --- /dev/null +++ b/.devcontainer/base_station/build_docker.sh @@ -0,0 +1,17 @@ +#!/usr/bin/env bash +set -euo pipefail + +config_dir="$(cd -- "$(dirname -- "${BASH_SOURCE[0]}")" && pwd)" +repo_root="$(cd -- "${config_dir}/../.." && pwd)" +machine_type="$(basename -- "${config_dir}")" +image_name="athena-code:${machine_type}" + +docker build \ + --file "${config_dir}/Dockerfile" \ + --build-arg "MACHINE_TYPE=${machine_type}" \ + --build-arg "USER_UID=$(id -u)" \ + --build-arg "USER_GID=$(id -g)" \ + --tag "${image_name}" \ + "${repo_root}" + +echo "Built ${image_name}" diff --git a/.devcontainer/base_station/devcontainer.json b/.devcontainer/base_station/devcontainer.json new file mode 100644 index 00000000..e03e1dd6 --- /dev/null +++ b/.devcontainer/base_station/devcontainer.json @@ -0,0 +1,40 @@ +{ + "name": "Athena ROS 2 Humble (Base Station)", + "build": { + "dockerfile": "Dockerfile", + "context": "../..", + "args": { + "MACHINE_TYPE": "base_station" + } + }, + "remoteUser": "loop_dev", + "updateRemoteUserUID": true, + "workspaceFolder": "/athena-code", + "workspaceMount": "source=${localWorkspaceFolder},target=/athena-code,type=bind,consistency=cached", + "postCreateCommand": ".devcontainer/base_station/post_create.sh", + "runArgs": [ + "--network=host", + "--ipc=host", + "--privileged" + ], + "containerEnv": { + "ROS_DISTRO": "humble", + "RMW_IMPLEMENTATION": "rmw_fastrtps_cpp", + "ATHENA_MACHINE_TYPE": "base_station" + }, + "customizations": { + "vscode": { + "extensions": [ + "ms-vscode.cpptools", + "ms-vscode.cmake-tools", + "ms-python.python", + "ms-iot.vscode-ros", + "openai.chatgpt", + "cweijan.vscode-office", + "esben.prettier-vscode", + "redhat.vscode-xml", + "tamasfe.even-better-toml" + ] + } + } +} diff --git a/.devcontainer/post_create.sh b/.devcontainer/base_station/post_create.sh similarity index 86% rename from .devcontainer/post_create.sh rename to .devcontainer/base_station/post_create.sh index 0de5444a..6a2e0ee0 100755 --- a/.devcontainer/post_create.sh +++ b/.devcontainer/base_station/post_create.sh @@ -1,8 +1,11 @@ #!/usr/bin/env bash set -euo pipefail +set +u source "/opt/ros/${ROS_DISTRO}/setup.bash" +set -u +sudo apt-get update sudo rosdep update sudo rosdep install -r --from-paths src --ignore-src --rosdistro "$ROS_DISTRO" -y diff --git a/.devcontainer/base_station/run_docker.sh b/.devcontainer/base_station/run_docker.sh new file mode 100755 index 00000000..04b61c4a --- /dev/null +++ b/.devcontainer/base_station/run_docker.sh @@ -0,0 +1,33 @@ +#!/usr/bin/env bash +set -euo pipefail + +config_dir="$(cd -- "$(dirname -- "${BASH_SOURCE[0]}")" && pwd)" +repo_root="$(cd -- "${config_dir}/../.." && pwd)" +machine_type="$(basename -- "${config_dir}")" +image_name="athena-code:${machine_type}" +command=("$@") +if [[ ${#command[@]} -eq 0 ]]; then + command=(bash) +fi + +docker_args=( + --rm + --interactive + --tty + --network host + --ipc host + --privileged + --env "ROS_DISTRO=humble" + --env "RMW_IMPLEMENTATION=rmw_fastrtps_cpp" + --volume "${repo_root}:/athena-code" + --workdir /athena-code +) + +if [[ -n "${DISPLAY:-}" && -d /tmp/.X11-unix ]]; then + docker_args+=( + --env "DISPLAY=${DISPLAY}" + --volume /tmp/.X11-unix:/tmp/.X11-unix:rw + ) +fi + +docker run "${docker_args[@]}" "${image_name}" "${command[@]}" diff --git a/.devcontainer/developer/Dockerfile b/.devcontainer/developer/Dockerfile new file mode 100644 index 00000000..5190d9b3 --- /dev/null +++ b/.devcontainer/developer/Dockerfile @@ -0,0 +1,154 @@ +FROM ubuntu:22.04 + +ARG DEBIAN_FRONTEND=noninteractive +ARG ROS_DISTRO=humble +ARG USERNAME=loop_dev +ARG USER_UID=1000 +ARG USER_GID=${USER_UID} +ARG MACHINE_TYPE=developer + +ENV ROS_DISTRO=${ROS_DISTRO} +ENV LANG=en_US.UTF-8 +ENV LC_ALL=en_US.UTF-8 +ENV SHELL=/bin/bash + +SHELL ["/bin/bash", "-c"] + +RUN apt-get update && apt-get install -y --no-install-recommends \ + ca-certificates \ + curl \ + gnupg \ + lsb-release \ + locales \ + software-properties-common \ + sudo \ + && locale-gen en_US en_US.UTF-8 \ + && update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8 \ + && add-apt-repository universe \ + && curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key \ + -o /usr/share/keyrings/ros-archive-keyring.gpg \ + && echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo ${UBUNTU_CODENAME}) main" \ + > /etc/apt/sources.list.d/ros2.list \ + && rm -rf /var/lib/apt/lists/* + +RUN apt-get update && apt-get install -y --no-install-recommends \ + bash-completion \ + build-essential \ + can-utils \ + clang-format \ + cmake \ + evtest \ + geographiclib-tools \ + git \ + git-lfs \ + gdb \ + htop \ + iproute2 \ + iputils-ping \ + libboost-chrono-dev \ + libboost-date-time-dev \ + libboost-filesystem-dev \ + libboost-program-options-dev \ + libboost-regex-dev \ + libboost-serialization-dev \ + libboost-system-dev \ + libboost-thread-dev \ + libboost-timer-dev \ + libgeographic-dev \ + libopencv-dev \ + libpcl-dev \ + libserial-dev \ + nano \ + net-tools \ + openssh-client \ + python3-dev \ + python3-colcon-common-extensions \ + python3-pip \ + python3-rosdep \ + python3-serial \ + python3-vcstool \ + python3-venv \ + ruby \ + tmux \ + tmuxinator \ + udev \ + unzip \ + usbutils \ + vim \ + wget \ + && apt-get install -y --no-install-recommends \ + ros-${ROS_DISTRO}-desktop \ + ros-${ROS_DISTRO}-moveit \ + ros-${ROS_DISTRO}-navigation2 \ + ros-${ROS_DISTRO}-nav2-bringup \ + ros-${ROS_DISTRO}-ros2-control \ + ros-${ROS_DISTRO}-ros2-controllers \ + ros-${ROS_DISTRO}-ros2-control-test-assets \ + ros-${ROS_DISTRO}-ros2controlcli \ + ros-${ROS_DISTRO}-control-msgs \ + ros-${ROS_DISTRO}-controller-manager \ + ros-${ROS_DISTRO}-cv-bridge \ + ros-${ROS_DISTRO}-eigen3-cmake-module \ + ros-${ROS_DISTRO}-generate-parameter-library \ + ros-${ROS_DISTRO}-geographic-msgs \ + ros-${ROS_DISTRO}-gps-msgs \ + ros-${ROS_DISTRO}-gtsam \ + ros-${ROS_DISTRO}-gz-ros2-control \ + ros-${ROS_DISTRO}-image-transport-plugins \ + ros-${ROS_DISTRO}-joint-state-broadcaster \ + ros-${ROS_DISTRO}-joint-state-publisher \ + ros-${ROS_DISTRO}-joint-state-publisher-gui \ + ros-${ROS_DISTRO}-joint-trajectory-controller \ + ros-${ROS_DISTRO}-kdl-parser \ + ros-${ROS_DISTRO}-moveit-configs-utils \ + ros-${ROS_DISTRO}-moveit-kinematics \ + ros-${ROS_DISTRO}-moveit-planners \ + ros-${ROS_DISTRO}-moveit-ros-planning-interface \ + ros-${ROS_DISTRO}-moveit-simple-controller-manager \ + ros-${ROS_DISTRO}-nmea-msgs \ + ros-${ROS_DISTRO}-pcl-conversions \ + ros-${ROS_DISTRO}-position-controllers \ + ros-${ROS_DISTRO}-realtime-tools \ + ros-${ROS_DISTRO}-robot-localization \ + ros-${ROS_DISTRO}-robot-state-publisher \ + ros-${ROS_DISTRO}-ros-gz \ + ros-${ROS_DISTRO}-ros-gz-bridge \ + ros-${ROS_DISTRO}-ros-gz-sim \ + ros-${ROS_DISTRO}-rosidl-default-generators \ + ros-${ROS_DISTRO}-tf2-eigen \ + ros-${ROS_DISTRO}-tf2-geometry-msgs \ + ros-${ROS_DISTRO}-tf2-ros \ + ros-${ROS_DISTRO}-tf2-sensor-msgs \ + ros-${ROS_DISTRO}-topic-tools \ + ros-${ROS_DISTRO}-velocity-controllers \ + ros-${ROS_DISTRO}-vision-msgs \ + ros-${ROS_DISTRO}-xacro \ + && rm -rf /var/lib/apt/lists/* + +COPY requirements.txt /tmp/requirements.txt +RUN python3 -m pip install --no-cache-dir --upgrade pip \ + && python3 -m pip install --no-cache-dir -r /tmp/requirements.txt + +COPY libmavsdk-dev_3.14.0_ubuntu22.04_amd64.deb /tmp/libmavsdk-dev_3.14.0_ubuntu22.04_amd64.deb +RUN dpkg -i /tmp/libmavsdk-dev_3.14.0_ubuntu22.04_amd64.deb \ + || (apt-get update && apt-get install -y --no-install-recommends -f && rm -rf /var/lib/apt/lists/*) \ + && rm -f /tmp/libmavsdk-dev_3.14.0_ubuntu22.04_amd64.deb + +RUN if ! getent group ${USER_GID} >/dev/null; then groupadd --gid ${USER_GID} ${USERNAME}; fi \ + && if ! id -u ${USERNAME} >/dev/null 2>&1; then useradd --uid ${USER_UID} --gid ${USER_GID} -m ${USERNAME} -s /bin/bash; fi \ + && usermod -aG sudo,dialout,video,plugdev ${USERNAME} \ + && echo "${USERNAME} ALL=(ALL) NOPASSWD:ALL" > /etc/sudoers.d/${USERNAME} \ + && chmod 0440 /etc/sudoers.d/${USERNAME} + +RUN rosdep init || true + +COPY .devcontainer/loop_ascii.txt /etc/loop_ascii.txt + +RUN echo "source /opt/ros/${ROS_DISTRO}/setup.bash" >> /etc/bash.bashrc + +USER ${USERNAME} +RUN touch /home/${USERNAME}/.hushlogin +RUN printf '\nif [[ $- == *i* ]] && [[ -r /etc/loop_ascii.txt ]]; then\n printf '"'"'%%b\\n'"'"' "$(cat /etc/loop_ascii.txt)"\nfi\n' \ + >> /home/${USERNAME}/.bashrc + +WORKDIR /athena-code diff --git a/.devcontainer/developer/build_docker.sh b/.devcontainer/developer/build_docker.sh new file mode 100755 index 00000000..606d0329 --- /dev/null +++ b/.devcontainer/developer/build_docker.sh @@ -0,0 +1,17 @@ +#!/usr/bin/env bash +set -euo pipefail + +config_dir="$(cd -- "$(dirname -- "${BASH_SOURCE[0]}")" && pwd)" +repo_root="$(cd -- "${config_dir}/../.." && pwd)" +machine_type="$(basename -- "${config_dir}")" +image_name="athena-code:${machine_type}" + +docker build \ + --file "${config_dir}/Dockerfile" \ + --build-arg "MACHINE_TYPE=${machine_type}" \ + --build-arg "USER_UID=$(id -u)" \ + --build-arg "USER_GID=$(id -g)" \ + --tag "${image_name}" \ + "${repo_root}" + +echo "Built ${image_name}" diff --git a/.devcontainer/developer/devcontainer.json b/.devcontainer/developer/devcontainer.json new file mode 100644 index 00000000..8e0a83d2 --- /dev/null +++ b/.devcontainer/developer/devcontainer.json @@ -0,0 +1,40 @@ +{ + "name": "Athena ROS 2 Humble (Developer)", + "build": { + "dockerfile": "Dockerfile", + "context": "../..", + "args": { + "MACHINE_TYPE": "developer" + } + }, + "remoteUser": "loop_dev", + "updateRemoteUserUID": true, + "workspaceFolder": "/athena-code", + "workspaceMount": "source=${localWorkspaceFolder},target=/athena-code,type=bind,consistency=cached", + "postCreateCommand": ".devcontainer/developer/post_create.sh", + "runArgs": [ + "--network=host", + "--ipc=host", + "--privileged" + ], + "containerEnv": { + "ROS_DISTRO": "humble", + "RMW_IMPLEMENTATION": "rmw_fastrtps_cpp", + "ATHENA_MACHINE_TYPE": "developer" + }, + "customizations": { + "vscode": { + "extensions": [ + "ms-vscode.cpptools", + "ms-vscode.cmake-tools", + "ms-python.python", + "ms-iot.vscode-ros", + "openai.chatgpt", + "cweijan.vscode-office", + "esben.prettier-vscode", + "redhat.vscode-xml", + "tamasfe.even-better-toml" + ] + } + } +} diff --git a/.devcontainer/developer/post_create.sh b/.devcontainer/developer/post_create.sh new file mode 100755 index 00000000..7c0101a8 --- /dev/null +++ b/.devcontainer/developer/post_create.sh @@ -0,0 +1,12 @@ +#!/usr/bin/env bash +set -euo pipefail + +set +u +source "/opt/ros/${ROS_DISTRO}/setup.bash" +set -u + +sudo apt-get update +sudo rosdep update +sudo rosdep install -r --from-paths src --ignore-src --rosdistro "$ROS_DISTRO" -y + +colcon build --symlink-install --packages-ignore zed_components zed_debug diff --git a/.devcontainer/developer/run_docker.sh b/.devcontainer/developer/run_docker.sh new file mode 100755 index 00000000..04b61c4a --- /dev/null +++ b/.devcontainer/developer/run_docker.sh @@ -0,0 +1,33 @@ +#!/usr/bin/env bash +set -euo pipefail + +config_dir="$(cd -- "$(dirname -- "${BASH_SOURCE[0]}")" && pwd)" +repo_root="$(cd -- "${config_dir}/../.." && pwd)" +machine_type="$(basename -- "${config_dir}")" +image_name="athena-code:${machine_type}" +command=("$@") +if [[ ${#command[@]} -eq 0 ]]; then + command=(bash) +fi + +docker_args=( + --rm + --interactive + --tty + --network host + --ipc host + --privileged + --env "ROS_DISTRO=humble" + --env "RMW_IMPLEMENTATION=rmw_fastrtps_cpp" + --volume "${repo_root}:/athena-code" + --workdir /athena-code +) + +if [[ -n "${DISPLAY:-}" && -d /tmp/.X11-unix ]]; then + docker_args+=( + --env "DISPLAY=${DISPLAY}" + --volume /tmp/.X11-unix:/tmp/.X11-unix:rw + ) +fi + +docker run "${docker_args[@]}" "${image_name}" "${command[@]}" diff --git a/.devcontainer/jetson/Dockerfile b/.devcontainer/jetson/Dockerfile new file mode 100644 index 00000000..5190d9b3 --- /dev/null +++ b/.devcontainer/jetson/Dockerfile @@ -0,0 +1,154 @@ +FROM ubuntu:22.04 + +ARG DEBIAN_FRONTEND=noninteractive +ARG ROS_DISTRO=humble +ARG USERNAME=loop_dev +ARG USER_UID=1000 +ARG USER_GID=${USER_UID} +ARG MACHINE_TYPE=developer + +ENV ROS_DISTRO=${ROS_DISTRO} +ENV LANG=en_US.UTF-8 +ENV LC_ALL=en_US.UTF-8 +ENV SHELL=/bin/bash + +SHELL ["/bin/bash", "-c"] + +RUN apt-get update && apt-get install -y --no-install-recommends \ + ca-certificates \ + curl \ + gnupg \ + lsb-release \ + locales \ + software-properties-common \ + sudo \ + && locale-gen en_US en_US.UTF-8 \ + && update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8 \ + && add-apt-repository universe \ + && curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key \ + -o /usr/share/keyrings/ros-archive-keyring.gpg \ + && echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo ${UBUNTU_CODENAME}) main" \ + > /etc/apt/sources.list.d/ros2.list \ + && rm -rf /var/lib/apt/lists/* + +RUN apt-get update && apt-get install -y --no-install-recommends \ + bash-completion \ + build-essential \ + can-utils \ + clang-format \ + cmake \ + evtest \ + geographiclib-tools \ + git \ + git-lfs \ + gdb \ + htop \ + iproute2 \ + iputils-ping \ + libboost-chrono-dev \ + libboost-date-time-dev \ + libboost-filesystem-dev \ + libboost-program-options-dev \ + libboost-regex-dev \ + libboost-serialization-dev \ + libboost-system-dev \ + libboost-thread-dev \ + libboost-timer-dev \ + libgeographic-dev \ + libopencv-dev \ + libpcl-dev \ + libserial-dev \ + nano \ + net-tools \ + openssh-client \ + python3-dev \ + python3-colcon-common-extensions \ + python3-pip \ + python3-rosdep \ + python3-serial \ + python3-vcstool \ + python3-venv \ + ruby \ + tmux \ + tmuxinator \ + udev \ + unzip \ + usbutils \ + vim \ + wget \ + && apt-get install -y --no-install-recommends \ + ros-${ROS_DISTRO}-desktop \ + ros-${ROS_DISTRO}-moveit \ + ros-${ROS_DISTRO}-navigation2 \ + ros-${ROS_DISTRO}-nav2-bringup \ + ros-${ROS_DISTRO}-ros2-control \ + ros-${ROS_DISTRO}-ros2-controllers \ + ros-${ROS_DISTRO}-ros2-control-test-assets \ + ros-${ROS_DISTRO}-ros2controlcli \ + ros-${ROS_DISTRO}-control-msgs \ + ros-${ROS_DISTRO}-controller-manager \ + ros-${ROS_DISTRO}-cv-bridge \ + ros-${ROS_DISTRO}-eigen3-cmake-module \ + ros-${ROS_DISTRO}-generate-parameter-library \ + ros-${ROS_DISTRO}-geographic-msgs \ + ros-${ROS_DISTRO}-gps-msgs \ + ros-${ROS_DISTRO}-gtsam \ + ros-${ROS_DISTRO}-gz-ros2-control \ + ros-${ROS_DISTRO}-image-transport-plugins \ + ros-${ROS_DISTRO}-joint-state-broadcaster \ + ros-${ROS_DISTRO}-joint-state-publisher \ + ros-${ROS_DISTRO}-joint-state-publisher-gui \ + ros-${ROS_DISTRO}-joint-trajectory-controller \ + ros-${ROS_DISTRO}-kdl-parser \ + ros-${ROS_DISTRO}-moveit-configs-utils \ + ros-${ROS_DISTRO}-moveit-kinematics \ + ros-${ROS_DISTRO}-moveit-planners \ + ros-${ROS_DISTRO}-moveit-ros-planning-interface \ + ros-${ROS_DISTRO}-moveit-simple-controller-manager \ + ros-${ROS_DISTRO}-nmea-msgs \ + ros-${ROS_DISTRO}-pcl-conversions \ + ros-${ROS_DISTRO}-position-controllers \ + ros-${ROS_DISTRO}-realtime-tools \ + ros-${ROS_DISTRO}-robot-localization \ + ros-${ROS_DISTRO}-robot-state-publisher \ + ros-${ROS_DISTRO}-ros-gz \ + ros-${ROS_DISTRO}-ros-gz-bridge \ + ros-${ROS_DISTRO}-ros-gz-sim \ + ros-${ROS_DISTRO}-rosidl-default-generators \ + ros-${ROS_DISTRO}-tf2-eigen \ + ros-${ROS_DISTRO}-tf2-geometry-msgs \ + ros-${ROS_DISTRO}-tf2-ros \ + ros-${ROS_DISTRO}-tf2-sensor-msgs \ + ros-${ROS_DISTRO}-topic-tools \ + ros-${ROS_DISTRO}-velocity-controllers \ + ros-${ROS_DISTRO}-vision-msgs \ + ros-${ROS_DISTRO}-xacro \ + && rm -rf /var/lib/apt/lists/* + +COPY requirements.txt /tmp/requirements.txt +RUN python3 -m pip install --no-cache-dir --upgrade pip \ + && python3 -m pip install --no-cache-dir -r /tmp/requirements.txt + +COPY libmavsdk-dev_3.14.0_ubuntu22.04_amd64.deb /tmp/libmavsdk-dev_3.14.0_ubuntu22.04_amd64.deb +RUN dpkg -i /tmp/libmavsdk-dev_3.14.0_ubuntu22.04_amd64.deb \ + || (apt-get update && apt-get install -y --no-install-recommends -f && rm -rf /var/lib/apt/lists/*) \ + && rm -f /tmp/libmavsdk-dev_3.14.0_ubuntu22.04_amd64.deb + +RUN if ! getent group ${USER_GID} >/dev/null; then groupadd --gid ${USER_GID} ${USERNAME}; fi \ + && if ! id -u ${USERNAME} >/dev/null 2>&1; then useradd --uid ${USER_UID} --gid ${USER_GID} -m ${USERNAME} -s /bin/bash; fi \ + && usermod -aG sudo,dialout,video,plugdev ${USERNAME} \ + && echo "${USERNAME} ALL=(ALL) NOPASSWD:ALL" > /etc/sudoers.d/${USERNAME} \ + && chmod 0440 /etc/sudoers.d/${USERNAME} + +RUN rosdep init || true + +COPY .devcontainer/loop_ascii.txt /etc/loop_ascii.txt + +RUN echo "source /opt/ros/${ROS_DISTRO}/setup.bash" >> /etc/bash.bashrc + +USER ${USERNAME} +RUN touch /home/${USERNAME}/.hushlogin +RUN printf '\nif [[ $- == *i* ]] && [[ -r /etc/loop_ascii.txt ]]; then\n printf '"'"'%%b\\n'"'"' "$(cat /etc/loop_ascii.txt)"\nfi\n' \ + >> /home/${USERNAME}/.bashrc + +WORKDIR /athena-code diff --git a/.devcontainer/jetson/build_docker.sh b/.devcontainer/jetson/build_docker.sh new file mode 100755 index 00000000..606d0329 --- /dev/null +++ b/.devcontainer/jetson/build_docker.sh @@ -0,0 +1,17 @@ +#!/usr/bin/env bash +set -euo pipefail + +config_dir="$(cd -- "$(dirname -- "${BASH_SOURCE[0]}")" && pwd)" +repo_root="$(cd -- "${config_dir}/../.." && pwd)" +machine_type="$(basename -- "${config_dir}")" +image_name="athena-code:${machine_type}" + +docker build \ + --file "${config_dir}/Dockerfile" \ + --build-arg "MACHINE_TYPE=${machine_type}" \ + --build-arg "USER_UID=$(id -u)" \ + --build-arg "USER_GID=$(id -g)" \ + --tag "${image_name}" \ + "${repo_root}" + +echo "Built ${image_name}" diff --git a/.devcontainer/devcontainer.json b/.devcontainer/jetson/devcontainer.json similarity index 70% rename from .devcontainer/devcontainer.json rename to .devcontainer/jetson/devcontainer.json index 69e7d5a6..5f81b21b 100644 --- a/.devcontainer/devcontainer.json +++ b/.devcontainer/jetson/devcontainer.json @@ -1,14 +1,17 @@ { - "name": "Athena ROS 2 Humble", + "name": "Athena ROS 2 Humble (Jetson)", "build": { "dockerfile": "Dockerfile", - "context": ".." + "context": "../..", + "args": { + "MACHINE_TYPE": "jetson" + } }, "remoteUser": "loop_dev", "updateRemoteUserUID": true, "workspaceFolder": "/athena-code", "workspaceMount": "source=${localWorkspaceFolder},target=/athena-code,type=bind,consistency=cached", - "postCreateCommand": ".devcontainer/post_create.sh", + "postCreateCommand": ".devcontainer/jetson/post_create.sh", "runArgs": [ "--network=host", "--ipc=host", @@ -16,7 +19,8 @@ ], "containerEnv": { "ROS_DISTRO": "humble", - "RMW_IMPLEMENTATION": "rmw_fastrtps_cpp" + "RMW_IMPLEMENTATION": "rmw_fastrtps_cpp", + "ATHENA_MACHINE_TYPE": "jetson" }, "customizations": { "vscode": { @@ -27,7 +31,7 @@ "ms-iot.vscode-ros", "openai.chatgpt", "cweijan.vscode-office", - "esbenp.prettier-vscode", + "esben.prettier-vscode", "redhat.vscode-xml", "tamasfe.even-better-toml" ] diff --git a/.devcontainer/jetson/post_create.sh b/.devcontainer/jetson/post_create.sh new file mode 100755 index 00000000..6a2e0ee0 --- /dev/null +++ b/.devcontainer/jetson/post_create.sh @@ -0,0 +1,12 @@ +#!/usr/bin/env bash +set -euo pipefail + +set +u +source "/opt/ros/${ROS_DISTRO}/setup.bash" +set -u + +sudo apt-get update +sudo rosdep update +sudo rosdep install -r --from-paths src --ignore-src --rosdistro "$ROS_DISTRO" -y + +colcon build --symlink-install diff --git a/.devcontainer/jetson/run_docker.sh b/.devcontainer/jetson/run_docker.sh new file mode 100755 index 00000000..04b61c4a --- /dev/null +++ b/.devcontainer/jetson/run_docker.sh @@ -0,0 +1,33 @@ +#!/usr/bin/env bash +set -euo pipefail + +config_dir="$(cd -- "$(dirname -- "${BASH_SOURCE[0]}")" && pwd)" +repo_root="$(cd -- "${config_dir}/../.." && pwd)" +machine_type="$(basename -- "${config_dir}")" +image_name="athena-code:${machine_type}" +command=("$@") +if [[ ${#command[@]} -eq 0 ]]; then + command=(bash) +fi + +docker_args=( + --rm + --interactive + --tty + --network host + --ipc host + --privileged + --env "ROS_DISTRO=humble" + --env "RMW_IMPLEMENTATION=rmw_fastrtps_cpp" + --volume "${repo_root}:/athena-code" + --workdir /athena-code +) + +if [[ -n "${DISPLAY:-}" && -d /tmp/.X11-unix ]]; then + docker_args+=( + --env "DISPLAY=${DISPLAY}" + --volume /tmp/.X11-unix:/tmp/.X11-unix:rw + ) +fi + +docker run "${docker_args[@]}" "${image_name}" "${command[@]}" diff --git a/.devcontainer/loop_ascii.txt b/.devcontainer/loop_ascii.txt index 8f24643f..42131f85 100644 --- a/.devcontainer/loop_ascii.txt +++ b/.devcontainer/loop_ascii.txt @@ -1,5 +1,5 @@ -\033[31m ]▓▓░ ╫▓Ñ╟▓▓, .@▓▓░▓▓▓▓▄@. \033[37m ██▌ ,▄▄██▄▄ ╓▄███▄, █████▄ -\033[31m ▐▓▓ ░▓▓▒▓▓▓▓p▓▓▓▌]▓▓╜╙▓▓▓ \033[37m▐██' ]██▀▀▀███▄█▀▀▀▀██W▐██▌ ██ -\033[31m .▓▓Ñ ╟▓▓]▓▓▓▓▓▓▓▓▒▓▓▌ ,╫▓▓ \033[37m███ ▐██ ,▒███, ██▌██████▀ -\033[31m ▀▓▓▓▓▓╜▓▓▌'╙╙╠▓▓░▓▓▓▓▓▓▀j \033[37m█████▌ ▀██████~▀██████▀j██▌ +\033[31m ██ ██ ███ ██▒ ██████▌ \033[37m ██▌ ▄▄██▄▄ ▄▄███▄ █████▄ +\033[31m ▓██ ██▌████ ███ ██ ▀███\033[37m▐██ ██▀▀▀███▄█▀▀▀▀██ ▐██ ██ +\033[31m ██▓ ▓██ ████████ ███ ██ \033[37m███ ▐██ ▒███ ██▌██████▀ +\033[31m ██████ ▒█ ▀▀ ██ ▒███████ \033[37m█████▌ ▀██████ ▀██████▀ ██▌ We make kickass engineers! From 34f20b896090f81e0277189692ccbbee2efddfe9 Mon Sep 17 00:00:00 2001 From: duttaishan01 Date: Thu, 20 Aug 2026 02:29:15 -0400 Subject: [PATCH 05/10] updated readme documentation --- README.md | 188 +++++----- docs/arm_breakdown.png | Bin 0 -> 63432 bytes docs/arm_controls_2dof_wrist_jbj.png | Bin 0 -> 33969 bytes docs/arm_controls_3dof_wrist_jbj.png | Bin 0 -> 46333 bytes docs/arm_controls_arm_jbj.png | Bin 0 -> 39866 bytes docs/arm_controls_cylindrical.png | Bin 0 -> 103373 bytes docs/arm_controls_endeff_gripper_jbj.png | Bin 0 -> 50983 bytes docs/cylindrical_controller.gif | Bin 0 -> 323072 bytes docs/drive_controls_rear_ackermann.png | Bin 0 -> 82758 bytes docs/moveit_demo.gif | Bin 0 -> 859781 bytes docs/science_controls_manual.png | Bin 0 -> 105280 bytes docs/title_picture.JPG | Bin 0 -> 16154624 bytes src/README.md | 41 --- src/bringup/README.md | 177 +++++++--- src/hardware_interfaces/README.md | 21 +- src/subsystems/arm/README.md | 250 ++++++++------ src/subsystems/drive/README.md | 185 +++++++--- src/subsystems/general/README.md | 414 +++++++++++++++++++++-- src/subsystems/science/README.md | 101 ++++-- 19 files changed, 992 insertions(+), 385 deletions(-) create mode 100644 docs/arm_breakdown.png create mode 100644 docs/arm_controls_2dof_wrist_jbj.png create mode 100644 docs/arm_controls_3dof_wrist_jbj.png create mode 100644 docs/arm_controls_arm_jbj.png create mode 100644 docs/arm_controls_cylindrical.png create mode 100644 docs/arm_controls_endeff_gripper_jbj.png create mode 100644 docs/cylindrical_controller.gif create mode 100644 docs/drive_controls_rear_ackermann.png create mode 100644 docs/moveit_demo.gif create mode 100644 docs/science_controls_manual.png create mode 100644 docs/title_picture.JPG delete mode 100644 src/README.md diff --git a/README.md b/README.md index 50d79492..a9296793 100644 --- a/README.md +++ b/README.md @@ -1,11 +1,50 @@ # Athena Code +![Alt text](docs/title_picture.JPG) + This repository contains all the code for UMDLoop's 2025-26 rover, Athena. When cloning, be sure to use `git clone --recursive [URL to Git repository]` to pull in the submodules found in `src/third-party`. Alternatively, run `git submodule update --init --recursive` if you have already cloned. ## How To Use +### Docker setup + +*Prior to building:* + +Plug in all necessary usb devices. If a new one is plugged in, rebuild the devcontainer. + +*devcontainer:* + +`Ctrl+Shift+P` + +Dev Containers: Rebuild and Reopen in Container + +Choose based on what computer this repository is running on. Developer is general use, the other two are for competition specific systems. + +*no vscode available:* + +1. Navigate to desired system directory (base_station, developer, or jetson) +2. Build the docker + +```bash +./build_docker.sh +docker images +``` + +3. Run the docker + +```bash +./run_docker.sh +docker ps +``` + +4. Quick hardware test (joystick controller): + +```bash +sudo evtest +``` + ### Hardware Setup - Ensure CAN Bus is connected and hardware is configured to the correct IDs @@ -14,13 +53,15 @@ When cloning, be sure to use `git clone --recursive [URL to Git repository]` to ### CAN Setup _Hardware:_ + ```bash -./src/athena-code/src/tools/scripts/can_setup.sh +./src/tools/scripts/can_setup.sh ``` _Virtual:_ + ```bash -./src/athena-code/src/tools/scripts/virtual_can_setup.sh +./src/tools/scripts/virtual_can_setup.sh ``` Use `ip link` to verify that `can0` or `vcan0` is up. @@ -28,122 +69,88 @@ Use `ip link` to verify that `can0` or `vcan0` is up. ### Building 1. Install required dependencies: + ```bash rosdep install --from-paths src -y --ignore-src ``` 2. Build the workspace: + ```bash colcon build --symlink-install ``` 3. Source the workspace: + ```bash source install/setup.bash ``` ---- +### Building and Running with Docker -## Controller Switching +In VS Code, open the command palette with `Ctrl+Shift+P`, select **Dev Containers: Reopen in Container**, and choose the Developer, Jetson, or Base Station configuration. -All subsystems use a controller switching service. Open a new terminal, source the workspace, and call: +Outside VS Code, use the scripts inside the desired machine configuration. For example, to build and run the developer container: ```bash -source install/setup.bash -ros2 service call /set_controller msgs/srv/SetController "{controller_names: [CONTROLLER_NAME]}" +./.devcontainer/developer/build_docker.sh +./.devcontainer/developer/run_docker.sh ``` -Only one motion controller should be active at a time (alongside the `joint_state_broadcaster`). +The Jetson and base-station configurations use the same filenames in their respective directories: ---- +```bash +./.devcontainer/jetson/build_docker.sh +./.devcontainer/jetson/run_docker.sh -## Testing +./.devcontainer/base_station/build_docker.sh +./.devcontainer/base_station/run_docker.sh +``` -### Arm +For hardware access, connect and pass through all required USB devices to the host or VM before creating the Docker container. This is suitable for now for devices such as controllers and CANable adapters, because Docker captures available device nodes when the container is created. -#### Launch +--- -_Hardware:_ -```bash -ros2 launch arm_bringup athena_arm.launch.py use_mock_hardware:=false -``` +## Subsystems -_Mock (no hardware):_ -```bash -ros2 launch arm_bringup athena_arm.launch.py use_mock_hardware:=true -``` +### Arm -#### PS4 Controller +See the [Arm subsystem README](src/subsystems/arm/README.md). -- **Base Yaw**: Left/Right on Left Joystick (Axes 0) -- **Shoulder Pitch**: Up/Down on Left Joystick (Axes 1) -- **Elbow Pitch**: Up/Down on Right Joystick (Axes 3) -- **Wrist Pitch**: Up/Down on Left Joystick AND O button (Axes 1) -- **Wrist Roll**: Left/Right on Left Joystick AND O button (Axes 0) -- **Open Claw (max speed)**: Left Bumper (Button 5) -- **Close Claw (max speed)**: Right Bumper (Button 4) -- **Open Claw (speed control)**: Left Trigger (Axes 5) -- **Close Claw (speed control)**: Right Trigger (Axes 4) +### Drive -#### Velocity Testing +See the [Drive subsystem README](src/subsystems/drive/README.md). -1. Switch to velocity controller using the controller switching service -2. In a new terminal: -```bash -ros2 topic pub /velocity_controller/commands std_msgs/msg/Float64MultiArray "{data: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]}" -``` +### Science -#### Joint Trajectory Testing +See the [Science subsystem README](src/subsystems/science/README.md). -1. Switch to joint trajectory controller using the controller switching service -2. In a new terminal: -```bash -ros2 action send_goal /joint_trajectory_controller/follow_joint_trajectory control_msgs/action/FollowJointTrajectory "{ \ - trajectory:{ \ - joint_names: ['base_yaw', 'shoulder_pitch', 'elbow_pitch', 'wrist_pitch', 'wrist_roll', 'gripper_claw', 'actuator'], \ - points: [ \ - {positions: [0.0, -1.0, -2.0, -1.0, -0.16, 0.0, 0.0], time_from_start: {sec: 3, nanosec: 0}}, \ - ] \ - } \ -}" -``` +### Navigation ---- +See the [Navigation subsystem README](src/subsystems/navigation/README.md). -### Drive +### General -#### Launch +See the [General subsystem README](src/subsystems/general/README.md). -_Hardware:_ -```bash -ros2 launch drive_bringup athena_drive.launch.py use_mock_hardware:=false -``` +--- -_Mock (no hardware):_ -```bash -ros2 launch drive_bringup athena_drive.launch.py use_mock_hardware:=true -``` +## Hardware Interfaces -The default controller is `single_ackermann_controller`. To use the built-in ackermann steering controller instead: -```bash -ros2 launch drive_bringup athena_drive.launch.py robot_controller:=ackermann_steering_controller -``` +For a list of available hardware interfaces, see the [Hardware Interfaces README](src/hardware_interfaces/README.md) --- -### Science +## Controller Switching -#### Launch +All subsystems use a controller switching service. Open a new terminal, source the workspace, and call: -_Hardware:_ ```bash -ros2 launch science_bringup athena_science.launch.py use_mock_hardware:=false +source install/setup.bash +ros2 service call /set_controller msgs/srv/SetController "{controller_names: [CONTROLLER_NAME]}" ``` -_Mock (no hardware):_ -```bash -ros2 launch science_bringup athena_science.launch.py use_mock_hardware:=true -``` +Only one motion controller should be active at a time (alongside the `joint_state_broadcaster`). --- @@ -151,7 +158,7 @@ ros2 launch science_bringup athena_science.launch.py use_mock_hardware:=true ### Learning Git -If you're new to Git and GitHub, start with this beginner-friendly tutorial: [GitHub's Hello World Guide](https://docs.github.com/en/get-started/quickstart/hello-world) +If you're new to Git and GitHub, start with this beginner-friendly tutorial: [GitHub's Hello World Guide](https://docs.github.com/en/get-started/quickstart/hello-world) For a more comprehensive introduction, check out: [Git and GitHub Tutorial for Beginners](https://www.freecodecamp.org/news/git-and-github-for-beginners/) @@ -175,17 +182,16 @@ To securely authenticate with GitHub without entering your password each time, s Once you're set up, here's how to contribute your changes: 1. **Fork the repository** - Create your own copy of the repository: [Fork a repo](https://docs.github.com/en/pull-requests/collaborating-with-pull-requests/working-with-forks/fork-a-repo) - 2. **Clone your fork** - Download your forked repository to your local machine using `git clone`. - 3. **Create a feature branch** - Make a new branch for your specific feature or fix: + ```bash git checkout -b feature/your-feature-name ``` 4. **Make your changes** - Write your code, test it thoroughly, and commit your changes - 5. **Push to your fork** - Upload your feature branch to your GitHub fork + ```bash git push origin feature/your-feature-name ``` @@ -193,3 +199,33 @@ git push origin feature/your-feature-name 6. **Open a Pull Request** - Submit your changes for review: [Creating a pull request from a fork](https://docs.github.com/en/pull-requests/collaborating-with-pull-requests/proposing-changes-to-your-work-with-pull-requests/creating-a-pull-request-from-a-fork) Your PR will be reviewed by your lead, and once approved, it will be merged into the main codebase! + +--- + +### Enabling Real Time ros2_control + +```bash +sudo addgroup realtime +sudo usermod -a -G realtime $(whoami) +``` + +Afterwards, add the following limits to the realtime group in `/etc/security/limits.conf`: + +``` +@realtime soft rtprio 99 +@realtime soft priority 99 +@realtime soft memlock unlimited +@realtime hard rtprio 99 +@realtime hard priority 99 +@realtime hard memlock unlimited +``` + +--- + +## Future Work + +- Test docker setup and documentation branch changes on actual rover. +- Modify `.devcontainer/jetson/Dockerfile` for the Jetson platform and its hardware-specific dependencies. +- Modify `.devcontainer/base_station/Dockerfile` for the base-station machine and its runtime requirements. +- Validate both images on their target machines so they can replace the shared developer setup. +- Test Docker hardware access with a CANable adapter when one is available. diff --git a/docs/arm_breakdown.png b/docs/arm_breakdown.png new file mode 100644 index 0000000000000000000000000000000000000000..896ac890c34a5f4463eb506a06467cb2755f5bad GIT binary patch literal 63432 zcmd43Wmr}1_Ak5y1p^F_5(ESZ73od|0cq(}y1S%9r33-#2I&$(x>1pk?rxCoZqArK z@Bhntoe$@HJNvr!-l(j#=Dg>9kMXOqKE9F`#lC*;Itqot7JKb#VJwNy}k)5!LoxG)iorAWGKFZL-(p>+kt*(u}zJ;xkrQHU4 z9Y6fiQ{S-?Vw4EG~;v^wgx`rQgu+7F$c$42ip~8yZ1ejpI#`v?4f|a^Fwju9=-+j2 znPA-VQOcX@d*micaZZVKS6FuU{=XZg<|l25@(mX75jgiG^XPMUF(dHo-@OkX^ebEK z(n`i(rKkV=8AVM!V%rq-Gmv;>CyJrIZ1R^sURS|`uWztrk_0c#U!`Afi@)Z5-B{E- zmJMBN`j>ZKo_ds0p4!sJ`HR|z!M^ZWdXw9K8MRQX7Fc*se#Np~#Phtxns6hKPV@?; z`q`%tHzpZ}@w&<+3{O+@a8t<2-ust#vYX4^_U5M5H_f`lgM)|Ld_>5ihwx$E^o$}H 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