Merge pull request #92 from husarion/ros2-lynx-devel

ROS 2 husarion UGV

Dockerfile.hardware

@@ -16,7 +16,7 @@ RUN apt-get update  && \
         ros-dev-tools && \
     # Setup workspace
     git clone -b ${BRANCH_NAME} https://github.com/husarion/panther_ros.git src/panther_ros && \
-    vcs import src < src/panther_ros/panther/panther_${HUSARION_ROS_BUILD_TYPE}.repos && \
+    vcs import src < src/panther_ros/husarion_ugv/${HUSARION_ROS_BUILD_TYPE}_deps.repos && \
     cp -r src/ros2_controllers/diff_drive_controller src && \
     cp -r src/ros2_controllers/imu_sensor_broadcaster src && \
     rm -rf src/ros2_controllers && \
@@ -26,9 +26,9 @@ RUN apt-get update  && \
     rosdep install --from-paths src -y -i && \
     # Build
     source /opt/ros/$ROS_DISTRO/setup.bash && \
-    colcon build --symlink-install --packages-up-to panther --cmake-args -DCMAKE_BUILD_TYPE=Release -DBUILD_TESTING=$BUILD_TEST && \
+    colcon build --symlink-install --packages-up-to husarion_ugv --cmake-args -DCMAKE_BUILD_TYPE=Release -DBUILD_TESTING=$BUILD_TEST && \
     # Get version
-    echo $(cat /ros2_ws/src/panther_ros/panther/package.xml | grep '<version>' | sed -r 's/.*<version>([0-9]+.[0-9]+.[0-9]+)<\/version>/\1/g') >> /version.txt && \
+    echo $(cat /ros2_ws/src/panther_ros/husarion_ugv/package.xml | grep '<version>' | sed -r 's/.*<version>([0-9]+.[0-9]+.[0-9]+)<\/version>/\1/g') >> /version.txt && \
     # Size optimalization
     export SUDO_FORCE_REMOVE=yes && \
     apt-get remove -y \
@@ -37,5 +37,8 @@ RUN apt-get update  && \
     apt-get clean && \
     rm -rf /var/lib/apt/lists/*
 
+COPY update_config_directory.sh /usr/local/sbin/update_config_directory
+COPY setup_environment.sh /usr/local/sbin/setup_environment
+
 # Setup envs from eeprom
-RUN sed -i "/# <additional-user-commands>/i set -e -a && source /run/husarion/panther_config.env" /*_entrypoint.sh
+RUN sed -i "/# <additional-user-commands>/i set -e -a && source setup_environment" /*_entrypoint.sh

Dockerfile.simulation

@@ -16,7 +16,7 @@ RUN apt-get update  && \
         ros-dev-tools && \
     # Setup workspace
     git clone -b ${BRANCH_NAME} https://github.com/husarion/panther_ros.git src/panther_ros && \
-    vcs import src < src/panther_ros/panther/panther_${HUSARION_ROS_BUILD_TYPE}.repos && \
+    vcs import src < src/panther_ros/husarion_ugv/${HUSARION_ROS_BUILD_TYPE}_deps.repos && \
     cp -r src/ros2_controllers/diff_drive_controller src && \
     cp -r src/ros2_controllers/imu_sensor_broadcaster src && \
     rm -rf src/ros2_controllers && \
@@ -26,9 +26,9 @@ RUN apt-get update  && \
     rosdep install --from-paths src -y -i && \
     # Build
     source /opt/ros/$ROS_DISTRO/setup.bash && \
-    colcon build --symlink-install --packages-up-to panther --cmake-args -DCMAKE_BUILD_TYPE=Release -DBUILD_TESTING=$BUILD_TEST && \
+    colcon build --symlink-install --packages-up-to husarion_ugv --cmake-args -DCMAKE_BUILD_TYPE=Release -DBUILD_TESTING=$BUILD_TEST && \
     # Get version
-    echo $(cat /ros2_ws/src/panther_ros/panther/package.xml | grep '<version>' | sed -r 's/.*<version>([0-9]+.[0-9]+.[0-9]+)<\/version>/\1/g') >> /version.txt && \
+    echo $(cat /ros2_ws/src/panther_ros/husarion_ugv/package.xml | grep '<version>' | sed -r 's/.*<version>([0-9]+.[0-9]+.[0-9]+)<\/version>/\1/g') >> /version.txt && \
     # Size optimalization
     export SUDO_FORCE_REMOVE=yes && \
     apt-get remove -y \

README.md

@@ -32,13 +32,22 @@ cd panther-docker/demo
 
 ### 🤖 Robot
 
-1. Activate Panther
+1. (Optional) Updating configuration files.
+
+   > [!NOTE]
+   > This may overwrite your changes made in the `config` directory. If you want to keep your configuration you should skip this step or create backup of the `config` directory.
+
+   ```bash
+   docker run --rm -v /home/husarion/config:/config husarion/panther:humble-<newest_tag> update_config_directory
+   ```
+
+2. Activate Panther
 
    ```bash
    docker compose -f compose.minimal-setup.yaml up
    ```
 
-2. Launch Visualization on PC
+3. Launch Visualization on PC
 
    ```bash
    xhost local:root

demo/compose.minimal-setup.yaml

@@ -2,15 +2,13 @@ x-common-config: &common-config
   network_mode: host
   ipc: host
   restart: always
-  environment:
-    - RMW_IMPLEMENTATION=rmw_cyclonedds_cpp # Default FastDDS do not work
-    - ROBOT_MODEL=${ROBOT_MODEL:-panther}
-    - ROBOT_NAMESPACE=${ROBOT_MODEL:-panther}
-    - ROS_DOMAIN_ID=${ROS_DOMAIN_ID:-0}
+  env_file:
+    - /home/husarion/config/common/.env # env configuration including namespace, domain id, DDS, etc.
+
 services:
-  panther_ros:
-    image: husarion/panther:humble-2.1.2-20241125
-    container_name: panther_ros
+  husarion_ugv_ros:
+    image: husarion/panther:humble-ros2-devel
+    container_name: husarion_ugv_ros
     <<: *common-config
     devices:
       - /dev/bus/usb
@@ -22,10 +20,11 @@ services:
       - 'c 254:0 rmw' # gpiochip0
       - 'c 153:* rmw' # spiled-channel1, spiled-channel2
     volumes:
-      - /run/husarion/panther_config.env:/run/husarion/panther_config.env
-      - /run/husarion/panther_config.yaml:/run/husarion/panther_config.yaml
+      - /run/husarion/robot_config.env:/run/husarion/robot_config.env
+      - /run/husarion/robot_config.yaml:/run/husarion/robot_config.yaml
       - /sys/bus/iio/devices:/sys/bus/iio/devices:ro # Read-only access to IIO devices
       - ~/.ssh/id_rsa:/root/.ssh/id_rsa
+      - /home/husarion/config:/config
     # Realtime hardware (https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html#determinism)
     ulimits:
       rtprio:
@@ -35,17 +34,19 @@ services:
         soft: 102400
         hard: 102400
     command: >
-      ros2 launch panther_bringup bringup.launch.py
+      ros2 launch husarion_ugv_bringup bringup.launch.py
 
   gamepad_controller:
     image: husarion/joy2twist:humble-1.0.0-20241003-stable
     container_name: gamepad_controller
     <<: *common-config
+    volumes:
+      - /config/common/joy2twist.yaml:/joy2twist.yaml
     devices:
       - /dev/input/js0
     device_cgroup_rules:
       - 'c 13:0 rmw' # gamepad
     stop_signal: SIGINT
     command: >
-      bash -c "ros2 launch joy2twist gamepad_controller.launch.py joy2twist_params_file:=$(ros2 pkg prefix joy2twist)/share/joy2twist/config/joy2twist_ugv.yaml"
+      ros2 launch joy2twist gamepad_controller.launch.py joy2twist_params_file:=/joy2twist.yaml
 

setup_environment.sh

@@ -0,0 +1,11 @@
+#!/bin/bash
+set -e
+
+# source robot environment
+source /run/husarion/robot_config.env
+
+# check if /config directory is empty except it may contain common directory inside
+if [ ! "$(ls -A /config | grep -v common)" ]; then
+    echo "Config directory is empty, copying files."
+    update_config_directory
+fi

update_config_directory.sh

@@ -0,0 +1,39 @@
+#!/bin/bash
+set -e
+
+# method to copy directory/file using package name
+copy_package_file() {
+  local package_name=$1
+  local file_name=$2
+  local package_file_path=$(ros2 pkg prefix $package_name)/share/$package_name/$file_name
+
+  if [ ! -d "/config/$package_name" ]; then
+    mkdir -p /config/$package_name
+  fi
+
+  # create subdirectories for files with subdirectories
+  if [[ $file_name == */* ]]; then
+    local subdirectory=$(dirname $file_name)
+    if [ ! -d "/config/$package_name/$subdirectory" ]; then
+      mkdir -p /config/$package_name/$subdirectory
+    fi
+  fi
+
+  if [ -d "$package_file_path" ]; then
+    cp -rL $package_file_path /config/$package_name || true
+  else
+    cp -L $package_file_path /config/$package_name/$file_name || true
+  fi
+}
+
+copy_package_file husarion_ugv_controller config
+copy_package_file husarion_ugv_lights config/user_animations.yaml
+copy_package_file husarion_ugv_localization config
+rm /config/husarion_ugv_localization/config/nmea_navsat.yaml || true
+copy_package_file husarion_ugv_manager behavior_trees/lights.xml
+copy_package_file husarion_ugv_manager behavior_trees/LightsBT.btproj
+copy_package_file panther_description config/components.yaml
+copy_package_file lynx_description config/components.yaml
+
+# Change ownership of the copied files to host user
+chown -R 1000:1001 /config