Rebase from 'upstream'

CHANGELOG.rst

@@ -2,6 +2,15 @@
 Changelog for package naoqi_driver
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.1.1 (2023-12-05)
+------------------
+* Drop testing of `foxy` and `galactic`
+* README: remove extraneous args in example
+* Update code and instructions about Docker
+* Fix build for humble
+* Improve README about audio service
+* Contributors: Victor Paléologue
+
 2.1.0 (2023-11-23)
 ------------------
 * New "Listen" action

README.md

@@ -8,14 +8,13 @@ This repo defines the __naoqi_driver__ package for ROS2. The driver is in charge
 The __naoqi_driver__ is a ROS node.
 It connects to a robot running NAOqi using libQi.
 
-It also listens to a libQi endpoint (specified by the option `qi_listen_url`).
-This endpoint should be public (*e.g.* `qi_listen_url:=0.0.0.0:0`)
-to enable collecting audio buffers remotely.
-It should be set to a local address (*e.g.* `qi_listen_url:=127.0.0.1:0`)
-when running on the robot.
-It can be disabled by setting `qi_listen_url:=` when audio is not required.
+To support the audio features, __naoqi_driver__ opens a libQi endpoint.
+It is set by default to `127.0.0.1:0` (random port on local host),
+so it should be set with the option `qi_listen_url`,
+*e.g.* `qi_listen_url:=0.0.0.0:0` to allow collecting audio buffers remotely.
 
-> Audio can be disabled in [boot_config.json](src/naoqi_driver2/share/boot_config.json).
+Audio features are enabled by default and can be disabled in
+[boot_config.json](src/naoqi_driver2/share/boot_config.json).
 
 
 ## Installation
@@ -88,6 +87,8 @@ assuming the author of the job has agreed to the license terms.
 
 ## Launch
 
+### Avoid interference with autonomous life
+
 To have full control of the robot with ROS,
 you may want to disable autonomous behaviors first:
 
@@ -97,20 +98,48 @@ qicli call ALAutonomousLife.setState disabled
 qicli call ALMotion.wakeUp
 ```
 
-The driver can be launched using the following command:
+
+### NAOqi 2.8 and lower
+
+The driver can be launched from a remote machine this way:
 
 ```sh
 source /opt/ros/<distro>/setup.bash # or source <ws>/install/setup.bash if built from source
-ros2 launch naoqi_driver naoqi_driver.launch.py nao_ip:=<robot_host>
+ros2 launch naoqi_driver naoqi_driver.launch.py nao_ip:=<robot_host> qi_listen_url:=0.0.0.0:0
 ```
 
+
+### NAOqi 2.9 and higher
+
 Username and password arguments are required
 for robots running NAOqi 2.9 or greater:
 
 ```sh
-ros2 launch naoqi_driver naoqi_driver.launch.py nao_ip:=<robot_host> nao_username:=nao nao_password:=<robot_password>
+ros2 launch naoqi_driver naoqi_driver.launch.py nao_ip:=<robot_host> nao_username:=nao nao_password:=<robot_password> qi_listen_url:=0.0.0.0:0
+```
+
+
+### From a Docker container
+
+If you run __naoqi_driver__ from a Docker container with audio features enabled,
+you must specify the libQi endpoint with, *e.g.* for port 56000:
+
+```sh
+source /opt/ros/<distro>/setup.bash # or source <ws>/install/setup.bash if built from source
+ros2 launch naoqi_driver naoqi_driver.launch.py nao_ip:=<robot_host> qi_listen_url:=0.0.0.0:56000
 ```
 
+Then you must [expose](https://docs.docker.com/engine/reference/commandline/run/#publish) it from the container.
+
+
+### On the robot or on the same machine
+
+If you run the driver directly from the robot (or your machine running a virtual robot),
+you can omit the options:
+
+```sh
+ros2 launch naoqi_driver naoqi_driver.launch.py
+```
 
 ## Check that the node is running correctly
 
@@ -181,10 +210,10 @@ angular:
 ## Development
 
 Check how to [install the driver from source](#installing-from-source),
-or use the [`Dockerfile`](Dockerfile) to get setup a reproducible dev environment:
+or use `docker compose` to get a more reproducible dev environment:
 
 ```sh
-docker build -t ros2-naoqi-driver .
+ROS_DISTRO=iron docker compose up dev --build
 ```
 
 > To get all logs in live and build debuggable binaries,
@@ -197,7 +226,7 @@ docker build -t ros2-naoqi-driver .
 > It works also when running tests:
 >
 > ```sh
-> colcon test --packages-skip nao_meshes pepper_meshes --event-handlers console_direct+ --ctest-args tests
+> colcon test --event-handlers console_direct+ --ctest-args tests
 > ```
 
 

docker-compose.yaml

@@ -1,32 +1,30 @@
-# Docker Compose file for TurtleBot3 Behavior Examples
+# Docker Compose file for developer containers
 #
 # Usage:
 #
-# To build the images:
-#   docker compose build
-#
-# To start up a specific service by name:
-#   docker compose up <service_name>
+# ROS_DISTRO=<distro> docker compose up dev --build
 #
 # To open an interactive shell to a running container:
-#   docker exec -it <container_name> bash
+#   docker exec -it naoqi_driver-dev-1 bash
 
 version: "3.9"
 services:
-  # Developer container
   dev:
-    image: ros2-naoqi-driver:dev
+    image: naoqi-driver:dev-$ROS_DISTRO
     build:
       context: .
       dockerfile: docker/Dockerfile
       target: dev
+      args:
+        - ROS_DISTRO=$ROS_DISTRO
 
     # Interactive shell
     stdin_open: true
     tty: true
+
     # Networking and IPC for ROS 2
     network_mode: host
     ipc: host
     volumes:
       # Mount the source code
-      - .:/ws/src/naoqi_driver2:rw
+      - .:/ws/src/naoqi_driver:rw

docker/Dockerfile

@@ -6,7 +6,7 @@ SHELL ["/bin/bash", "-c"]
 
 # Create Colcon workspace with the project and its deps
 ENV WS=/ws
-ENV PROJ_SRC=${WS}/src/naoqi_driver2
+ENV PROJ_SRC=${WS}/src/naoqi_driver
 COPY . $PROJ_SRC
 WORKDIR $WS/src
 RUN apt install -y git python3-vcstool

package.xml

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>naoqi_driver</name>
-  <version>2.1.0</version>
+  <version>2.1.1</version>
   <description>Driver module between Aldebaran's NAOqiOS and ROS2. It publishes all sensor and actuator data as well as basic diagnostic for battery, temperature. It subscribes also to RVIZ simple goal and cmd_vel for teleop.</description>
 
   <author>Karsten Knese</author>

src/converters/camera.cpp

@@ -26,7 +26,7 @@
 /*
 * ROS includes
 */
-#include <cv_bridge/cv_bridge.hpp>
+#include <cv_bridge/cv_bridge.h> // not .hpp for humble compat
 
 /*
 * CV includes