From ec8bf0d3abf11bf8ba969d0daeea4df4b2c7446b Mon Sep 17 00:00:00 2001 From: MrBearing Date: Sat, 26 Oct 2024 00:20:39 +0900 Subject: [PATCH] update --- .github/workflows/ci_jazzy.yaml | 37 ++++ build_depends.repos | 5 + sanehal_mother.repos | 6 - sanehal_mother_ship_bringup/config/.gitkeep | 0 .../config/diffbot.rviz | 178 ++++++++++++++++++ sanehal_mother_ship_bringup/launch/.gitkeep | 0 .../launch/rviz.launch.py | 55 ++++++ setup.bash | 33 ++++ 8 files changed, 308 insertions(+), 6 deletions(-) create mode 100644 .github/workflows/ci_jazzy.yaml create mode 100644 build_depends.repos delete mode 100644 sanehal_mother.repos delete mode 100644 sanehal_mother_ship_bringup/config/.gitkeep create mode 100644 sanehal_mother_ship_bringup/config/diffbot.rviz delete mode 100644 sanehal_mother_ship_bringup/launch/.gitkeep create mode 100644 sanehal_mother_ship_bringup/launch/rviz.launch.py create mode 100755 setup.bash diff --git a/.github/workflows/ci_jazzy.yaml b/.github/workflows/ci_jazzy.yaml new file mode 100644 index 0000000..e5d5997 --- /dev/null +++ b/.github/workflows/ci_jazzy.yaml @@ -0,0 +1,37 @@ +name: ci_jazzy + +on: + push: + branches: + - "jazzy" + pull_request: + types: [opened, synchronize, labeled] + +jobs: + ci: + runs-on: ${{ matrix.os }} + if: | + ((github.event.action == 'labeled') && (github.event.label.name == 'TESTING') && (github.base_ref == 'jazzy' )) || + ((github.event.action == 'synchronize') && (github.base_ref == 'jazzy') && contains(github.event.pull_request.labels.*.name, 'TESTING')) || + (github.ref_name == 'jazzy') + container: + image: osrf/ros:${{ matrix.ros_distribution }}-desktop + timeout-minutes: 20 + strategy: + fail-fast: false + matrix: + os: [ubuntu-24.04] + ros_distribution: [jazzy] + steps: + - uses: actions/checkout@v2 + - name: Install dependencies + run: sudo apt-get update && sudo apt-get install -y wget python3-vcstool python3-colcon-coveragepy-result + - uses: ros-tooling/setup-ros@v0.7 + - name: Build and Test + uses: ros-tooling/action-ros-ci@v0.3 + with: + target-ros2-distro: ${{ matrix.ros_distribution }} + import-token: ${{ secrets.GITHUB_TOKEN }} + package-name: | + sanehal_mother_ship + sanehal_mother_ship_bringup \ No newline at end of file diff --git a/build_depends.repos b/build_depends.repos new file mode 100644 index 0000000..0357f63 --- /dev/null +++ b/build_depends.repos @@ -0,0 +1,5 @@ +repositories: + PlayStation-JoyInterface-ROS2: + type: git + url: https://github.com/MrBearing/PlayStation-JoyInterface-ROS2.git + version: jazzy diff --git a/sanehal_mother.repos b/sanehal_mother.repos deleted file mode 100644 index 3a0e93a..0000000 --- a/sanehal_mother.repos +++ /dev/null @@ -1,6 +0,0 @@ -repositories: - PlayStation-JoyInterface-ROS2: - type: git - url: https://github.com/HarvestX/PlayStation-JoyInterface-ROS2 - version: ros2 - diff --git a/sanehal_mother_ship_bringup/config/.gitkeep b/sanehal_mother_ship_bringup/config/.gitkeep deleted file mode 100644 index e69de29..0000000 diff --git a/sanehal_mother_ship_bringup/config/diffbot.rviz b/sanehal_mother_ship_bringup/config/diffbot.rviz new file mode 100644 index 0000000..8867d24 --- /dev/null +++ b/sanehal_mother_ship_bringup/config/diffbot.rviz @@ -0,0 +1,178 @@ +Panels: + - Class: rviz_common/Displays + Help Height: 87 + Name: Displays + Property Tree Widget: + Expanded: + - /Global Options1 + - /Status1 + - /RobotModel1 + - /RobotModel1/Links1 + - /RobotModel1/Links1/base_link1 + - /RobotModel1/Links1/caster_rear_wheel1 + - /RobotModel1/Links1/left_wheel1 + - /RobotModel1/Links1/right_wheel1 + Splitter Ratio: 0.5 + Tree Height: 514 + - Class: rviz_common/Selection + Name: Selection + - Class: rviz_common/Tool Properties + Expanded: + - /2D Goal Pose1 + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.5886790156364441 + - Class: rviz_common/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz_default_plugins/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.029999999329447746 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: + Value: true + - Alpha: 1 + Class: rviz_default_plugins/RobotModel + Collision Enabled: false + Description File: "" + Description Source: Topic + Description Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /robot_description + Enabled: true + Links: + All Links Enabled: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + Link Tree Style: Links in Alphabetic Order + base_link: + Alpha: 1 + Show Axes: true + Show Trail: false + Value: true + caster_rear_wheel: + Alpha: 1 + Show Axes: true + Show Trail: false + Value: true + left_wheel: + Alpha: 1 + Show Axes: true + Show Trail: false + Value: true + right_wheel: + Alpha: 1 + Show Axes: true + Show Trail: false + Value: true + Mass Properties: + Inertia: false + Mass: false + Name: RobotModel + TF Prefix: "" + Update Interval: 0 + Value: true + Visual Enabled: true + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Fixed Frame: odom + Frame Rate: 30 + Name: root + Tools: + - Class: rviz_default_plugins/Interact + Hide Inactive Objects: true + - Class: rviz_default_plugins/MoveCamera + - Class: rviz_default_plugins/Select + - Class: rviz_default_plugins/FocusCamera + - Class: rviz_default_plugins/Measure + Line color: 128; 128; 0 + - Class: rviz_default_plugins/SetInitialPose + Covariance x: 0.25 + Covariance y: 0.25 + Covariance yaw: 0.06853891909122467 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /initialpose + - Class: rviz_default_plugins/SetGoal + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /goal_pose + - Class: rviz_default_plugins/PublishPoint + Single click: true + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /clicked_point + Transformation: + Current: + Class: rviz_default_plugins/TF + Value: true + Views: + Current: + Class: rviz_default_plugins/Orbit + Distance: 1.4723538160324097 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: -0.05434183403849602 + Y: 0.6973574757575989 + Z: -0.00023954140488058329 + Focal Shape Fixed Size: true + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.009999999776482582 + Pitch: 0.16539862751960754 + Target Frame: + Value: Orbit (rviz) + Yaw: 4.898587703704834 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 752 + Hide Left Dock: false + Hide Right Dock: false + QMainWindow State: 000000ff00000000fd00000004000000000000016a00000296fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d00000296000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000011000000296fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d00000296000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d006501000000000000045000000000000000000000040a0000029600000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + Selection: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: false + Width: 1402 + X: 103 + Y: 62 diff --git a/sanehal_mother_ship_bringup/launch/.gitkeep b/sanehal_mother_ship_bringup/launch/.gitkeep deleted file mode 100644 index e69de29..0000000 diff --git a/sanehal_mother_ship_bringup/launch/rviz.launch.py b/sanehal_mother_ship_bringup/launch/rviz.launch.py new file mode 100644 index 0000000..cc78832 --- /dev/null +++ b/sanehal_mother_ship_bringup/launch/rviz.launch.py @@ -0,0 +1,55 @@ +# Copyright 2020 ros2_control Development Team +# +# 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. + +from launch import LaunchDescription +from launch.actions import RegisterEventHandler +from launch.event_handlers import OnProcessExit +from launch.substitutions import Command, FindExecutable, PathJoinSubstitution,LaunchConfiguration +from launch.actions import DeclareLaunchArgument + +from launch_ros.actions import Node +from launch_ros.substitutions import FindPackageShare + + +def generate_launch_description(): + rviz_config_file = PathJoinSubstitution( + [FindPackageShare('sanehal_mother_ship_bringup'), 'config', 'diffbot.rviz'] + ) + + # for debug + # logger = LaunchConfiguration('log_level') + launch_arg = DeclareLaunchArgument( + 'log_level', + default_value=['debug'], + description='Logging level', + ) + + rviz_node = Node( + package='rviz2', + executable='rviz2', + name='rviz2', + output='log', + arguments=[ + '-d', rviz_config_file, + # '--ros-args', '--log-level', logger + ], + ) + + nodes = [ + launch_arg, + rviz_node + ] + + ld = LaunchDescription(nodes) + return ld \ No newline at end of file diff --git a/setup.bash b/setup.bash new file mode 100755 index 0000000..96ed2a8 --- /dev/null +++ b/setup.bash @@ -0,0 +1,33 @@ +#!/usr/bin/env bash + +if [ -z "$ROS_DISTRO" ]; then + echo "Please set \$ROS_DISTRO variable." + exit +fi + +THIS_FILE=$BASH_SOURCE +THIS_PROJECT_ROOT=$(realpath $(dirname $(realpath $THIS_FILE))) + +# Install ROS2 dependency +## From git repos +echo "Start to install dependent repos(vcs)" +colcon_ws=$(realpath ${THIS_PROJECT_ROOT}/../../) + +vcs import \ + --recursive \ + --input ${THIS_PROJECT_ROOT}/build_depends.repos \ + ${colcon_ws}/src +vcs pull ${colcon_ws}/src + +## From apt repositories +echo "Start to install dependent binarys(rosdep )" +rosdep update +rosdep install -r -y -i \ + --from-paths ${colcon_ws}/src \ + --rosdistro $ROS_DISTRO + +unset colcon_ws +unset THIS_FILE +unset THIS_PROJECT_ROOT +unset THIS_REPOSITORY_NAME +echo "finish to install dependencies!"