ROS 2 Jazzy対応 (#62)

* The header file "cv_bridge.h" in the cv_bridge package has been renamed to "cv_bridge.hpp". This change has been applied to all corresponding "#include" statements. * Replaced "Twist" with "TwistStamped" in "joystick_control.py" * Replaced "Twist" with "TwistStamped" for "camera_line_follower.launch.py" * Replaced "Twist" with "TwistStamped" for "object_tracking.launch.py" * Replaced "Twist" with "TwistStamped" (Changed in all instances, revert if any unexpected issues occur, "revert"). * Modify CI to ensure compatibility with the act tool * Add author * Update README for Support Jazzy * Add CI settings for Rolling * Revert "Add CI settings for Rolling" This reverts commit 5996db3. * Replace ROS_REPO: [ros] with ROS_REPO: [main] * Add rosinstall for CI * Adapt clang-format with Google style * Fix order of include in c file * Revert "Add rosinstall for CI" This reverts commit b9605cd. * Reapply "Add rosinstall for CI" This reverts commit a06b8a9. * Revert "Fix order of include in c file" This reverts commit 356a417. * Revert "Adapt clang-format with Google style" This reverts commit 0a42043. * fix typo of distribution name * Applied "ament_clang_format" and passed cpplint, with manual adjustments made to the "include" order * Adapted ruff formetter * fix "import" module order * Adaptted "ament_uncrustify" * Update README.en.md fo Jazzy * Fix pictures and page links * Fix images for README in japanese * Update Copyright years * Fix Indent and replace .h with .hpp * FIxed autho name * Add warnings for camera settings
rt-net · Nov 25, 2024 · b0ac055 · b0ac055
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diff --git a/.github/workflows/.ci.rosinstall b/.github/workflows/.ci.rosinstall
@@ -0,0 +1,8 @@
+- git:
+    uri: https://github.com/rt-net/raspimouse2.git
+    local-name: raspimouse2
+    version: jazzy
+- git:
+    uri: https://github.com/rt-net/rt_usb_9axisimu_driver.git
+    local-name: rt_usb_9axisimu_driver
+    version: jazzy
diff --git a/.github/workflows/industrial_ci.yml b/.github/workflows/industrial_ci.yml
@@ -12,16 +12,21 @@ on:
   schedule:
     - cron: "0 2 * * 0" # Weekly on Sundays at 02:00
 
+env:
+  UPSTREAM_WORKSPACE: .github/workflows/.ci.rosinstall
+
 jobs:
   industrial_ci:
     strategy:
       fail-fast: false
       matrix:
-        env:
-          - { ROS_DISTRO: humble, ROS_REPO: ros }
+        ROS_DISTRO: [jazzy]
+        ROS_REPO: [main]
 
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
       - uses: "ros-industrial/industrial_ci@master"
-        env: ${{ matrix.env }}
+        env:
+          ROS_DISTRO: ${{matrix.ROS_DISTRO}}
+          ROS_REPO: ${{matrix.ROS_REPO}}
diff --git a/README.en.md b/README.en.md
@@ -14,25 +14,24 @@ To run on Gazebo, click [here](https://github.com/rt-net/raspimouse_sim/blob/ros
 
 ## Supported ROS 2 distributions
 
-- [Foxy](https://github.com/rt-net/raspimouse_ros2_examples/tree/foxy-devel)
-- Humble (This branch)
+- [Humble](https://github.com/rt-net/raspimouse_ros2_examples/tree/humble)
+- [Jazzy](https://github.com/rt-net/raspimouse_ros2_examples/tree/jazzy) (This branch)
 
 ## Requirements
 
 - Raspberry Pi Mouse
   - https://rt-net.jp/products/raspberrypimousev3/
   - Linux OS
-    - Ubuntu server 22.04
-    - https://ubuntu.com/download/raspberry-pi
+    - Ubuntu server 24.04
   - Device Driver
     - [rt-net/RaspberryPiMouse](https://github.com/rt-net/RaspberryPiMouse)
   - ROS
-    - [Humble Hawksbill](https://docs.ros.org/en/humble/Installation/Ubuntu-Install-Debians.html)
+    - [Jazzy Jalisco](https://docs.ros.org/en/jazzy/index.html)
   - Raspberry Pi Mouse ROS 2 package
     - https://github.com/rt-net/raspimouse2
 - Remote Computer (Optional)
   - ROS
-    - [Humble Hawksbill](https://docs.ros.org/en/humble/Installation/Ubuntu-Install-Debians.html)
+    - [Jazzy Jalisco](https://docs.ros.org/en/jazzy/index.html)
   - Raspberry Pi Mouse ROS 2 package
     - https://github.com/rt-net/raspimouse2
 
@@ -41,7 +40,7 @@ To run on Gazebo, click [here](https://github.com/rt-net/raspimouse_sim/blob/ros
 ```sh
 $ cd ~/ros2_ws/src
 # Clone package
-$ git clone -b $ROS_DISTRO-devel https://github.com/rt-net/raspimouse_ros2_examples.git
+$ git clone -b $ROS_DISTRO https://github.com/rt-net/raspimouse_ros2_examples.git
 
 # Install dependencies
 $ rosdep install -r -y --from-paths . --ignore-src
@@ -71,7 +70,7 @@ This repository is licensed under the Apache 2.0, see [LICENSE](./LICENSE) for d
 
 This is an example to use joystick controller to control a Raspberry Pi Mouse.
 
-#### Requirements 
+#### Requirements
 
 - Joystick Controller
   - [Logicool Wireless Gamepad F710](https://gaming.logicool.co.jp/ja-jp/products/gamepads/f710-wireless-gamepad.html#940-0001440)
@@ -122,15 +121,15 @@ button_cmd_enable       : 4
 
 [back to example list](#how-to-use-examples)
 
---- 
+---
 
 ### object_tracking
 
 <img src=https://rt-net.github.io/images/raspberry-pi-mouse/object_tracking.JPG width=500 />
 
 This is an example to use RGB camera images and OpenCV library for object tracking.
 
-#### Requirements 
+#### Requirements
 
 - Web camera
   - [Logicool HD WEBCAM C310N](https://www.logicool.co.jp/ja-jp/product/hd-webcam-c310n)
@@ -190,7 +189,7 @@ void Tracker::tracking(const cv::Mat & input_frame, cv::Mat & result_frame)
 
 [back to example list](#how-to-use-examples)
 
---- 
+---
 
 ### line_follower
 
@@ -256,7 +255,7 @@ void Follower::publish_cmdvel_for_line_following(void)
 
 This is an example for line following by RGB camera.
 
-#### Requirements 
+#### Requirements
 
 - Web camera
   - [Logicool HD WEBCAM C310N](https://www.logicool.co.jp/ja-jp/product/hd-webcam-c310n)
@@ -285,6 +284,8 @@ or [rqt_image_view](https://index.ros.org/p/rqt_image_view/).
 
 **Viewing an image may cause the node to behave unstable and not publish cmd_vel or image topics.**
 
+**If the line detection accuracy is poor, please adjust the camera's exposure and white balance.**
+
 <img src=https://rt-net.github.io/images/raspberry-pi-mouse/camera_line_trace.png width=500 />
 
 #### Parameters
@@ -316,7 +317,7 @@ ros2 param set /camera_follower max_brightness 80
 
 [back to example list](#how-to-use-examples)
 
---- 
+---
 
 ### SLAM
 
@@ -330,13 +331,13 @@ SLAM and Navigation examples for Raspberry Pi Mouse is [here](https://github.com
 
 ### direction_controller
 
-<img src=https://www.rt-net.jp/wp-content/uploads/2018/02/img-usb9s_01.png width=500 />
+<img src=https://www.rt-shop.jp/images/RT/RT-USB-9axisIMU.png width=200 /> <img src=https://www.rt-shop.jp/images/RT/%E8%A3%BD%E5%93%81%E5%86%99%E7%9C%9F.JPG height=200>
 
 This is an example to use an IMU sensor for direction control.
 
 #### Requirements
 
-- [USB output 9 degrees IMU sensor module](https://www.rt-shop.jp/index.php?main_page=product_info&cPath=1348_1&products_id=3416&language=en)
+- [USB output 9 degrees IMU sensor module](https://www.rt-shop.jp/index.php?main_page=product_info&products_id=3416&language=en)
 - [LiDAR Mount](https://www.rt-shop.jp/index.php?main_page=product_info&cPath=1299_1395&products_id=3867)
 - RT-USB-9axisIMU ROS Package.
   - https://github.com/rt-net/rt_usb_9axisimu_driver
@@ -369,8 +370,8 @@ Then, press SW0 ~ SW2 to change the control mode as following,
 
 ### Troubleshooting
 
-The IMU might not be connected correctly.  
-Reconnect the USB cable several times and re-execute the above command.  
+The IMU might not be connected correctly.
+Reconnect the USB cable several times and re-execute the above command.
 
 #### Configure
 

diff --git a/README.md b/README.md
@@ -14,25 +14,24 @@ Gazebo（シミュレータ）でも動作します。詳細は[こちら](https
 
 ## Supported ROS 2 distributions
 
-- [Foxy](https://github.com/rt-net/raspimouse_ros2_examples/tree/foxy-devel)
-- Humble (This branch)
+- [Humble](https://github.com/rt-net/raspimouse_ros2_examples/tree/humble)
+- [Jazzy](https://github.com/rt-net/raspimouse_ros2_examples/tree/jazzy) (This branch)
 
 ## Requirements
 
 - Raspberry Pi Mouse
   - https://rt-net.jp/products/raspberrypimousev3/
   - Linux OS
-    - Ubuntu server 22.04
-    - https://ubuntu.com/download/raspberry-pi
+    - Ubuntu server 24.04
   - Device Driver
     - [rt-net/RaspberryPiMouse](https://github.com/rt-net/RaspberryPiMouse)
   - ROS
-    - [Humble Hawksbill](https://docs.ros.org/en/humble/Installation/Ubuntu-Install-Debians.html)
+    - [Jazzy Jalisco](https://docs.ros.org/en/jazzy/index.html)
   - Raspberry Pi Mouse ROS 2 package
     - https://github.com/rt-net/raspimouse2
 - Remote Computer (Optional)
   - ROS
-    - [Humble Hawksbill](https://dcs.ros.org/en/humble/Installation/Ubuntu-Install-Debians.html)
+    - [Jazzy Jalisco](https://docs.ros.org/en/jazzy/index.html)
   - Raspberry Pi Mouse ROS 2 package
     - https://github.com/rt-net/raspimouse2
 
@@ -41,7 +40,7 @@ Gazebo（シミュレータ）でも動作します。詳細は[こちら](https
 ```sh
 $ cd ~/ros2_ws/src
 # Clone package
-$ git clone -b $ROS_DISTRO-devel https://github.com/rt-net/raspimouse_ros2_examples.git
+$ git clone -b $ROS_DISTRO https://github.com/rt-net/raspimouse_ros2_examples.git
 
 # Install dependencies
 $ rosdep install -r -y --from-paths . --ignore-src
@@ -54,7 +53,7 @@ $ source ~/ros2_ws/install/setup.bash
 
 ## License
 
-このリポジトリはApache 2.0ライセンスの元、公開されています。 
+このリポジトリはApache 2.0ライセンスの元、公開されています。
 ライセンスについては[LICENSE](./LICENSE)を参照ください。
 
 ## How To Use Examples
@@ -72,7 +71,7 @@ $ source ~/ros2_ws/install/setup.bash
 
 ジョイスティックコントローラでRaspberryPiMouseを動かすコード例です。
 
-#### Requirements 
+#### Requirements
 
 - Joystick Controller
   - [Logicool Wireless Gamepad F710](https://gaming.logicool.co.jp/ja-jp/products/gamepads/f710-wireless-gamepad.html#940-0001440)
@@ -123,7 +122,7 @@ button_cmd_enable       : 4
 
 [back to example list](#how-to-use-examples)
 
---- 
+---
 
 ### object_tracking
 
@@ -132,7 +131,7 @@ button_cmd_enable       : 4
 色情報をもとにオレンジ色のボールの追跡を行うコード例です。
 USB接続のWebカメラとOpenCVを使ってボール追跡をします。
 
-#### Requirements 
+#### Requirements
 
 - Webカメラ
   - [Logicool HD WEBCAM C310N](https://www.logicool.co.jp/ja-jp/product/hd-webcam-c310n)
@@ -194,7 +193,7 @@ void Tracker::tracking(const cv::Mat & input_frame, cv::Mat & result_frame)
 
 [back to example list](#how-to-use-examples)
 
---- 
+---
 
 ### line_follower
 
@@ -252,15 +251,15 @@ void Follower::publish_cmdvel_for_line_following(void)
 
 [back to example list](#how-to-use-examples)
 
---- 
+---
 
 ### camera_line_follower
 
 <img src=https://rt-net.github.io/images/raspberry-pi-mouse/mouse_camera_line_trace_2.png width=500 />
 
 RGBカメラによるライントレースのコード例です。
 
-#### Requirements 
+#### Requirements
 
 - Webカメラ
   - [Logicool HD WEBCAM C310N](https://www.logicool.co.jp/ja-jp/product/hd-webcam-c310n)
@@ -289,6 +288,8 @@ $ ros2 launch raspimouse_ros2_examples camera_line_follower.launch.py video_devi
 
 **画像を表示するとノードの動作が不安定になり、cmd_velや画像トピックが発行されないことがあります。**
 
+**ラインの検出精度が悪い場合はカメラの露光やホワイトバランスの調整を行ってください。**
+
 <img src=https://rt-net.github.io/images/raspberry-pi-mouse/camera_line_trace.png width=500 />
 
 #### Parameters
@@ -309,7 +310,7 @@ $ ros2 launch raspimouse_ros2_examples camera_line_follower.launch.py video_devi
   - Type: `double`
   - Default: 0.8
   - 旋回速度の最大値
-- `area_threthold`
+- `area_threshold`
   - Type: `double`
   - Default: 0.20
   - 走行を開始するためのライン面積のしきい値
@@ -320,7 +321,7 @@ ros2 param set /camera_follower max_brightness 80
 
 [back to example list](#how-to-use-examples)
 
---- 
+---
 
 ### SLAM
 
@@ -334,7 +335,7 @@ Raspberry Pi MouseでSLAMとNavigationを行うサンプルは[rt-net/raspimouse
 
 ### direction_controller
 
-<img src=https://www.rt-net.jp/wp-content/uploads/2018/02/img-usb9s_01.png width=500 />
+<img src=https://www.rt-shop.jp/images/RT/RT-USB-9axisIMU.png width=200 /> <img src=https://www.rt-shop.jp/images/RT/%E8%A3%BD%E5%93%81%E5%86%99%E7%9C%9F.JPG height=200>
 
 IMUセンサを使用した角度制御のコード例です。
 
@@ -373,9 +374,9 @@ SW0 ~ SW2を押して動作モードを切り替えます。
 
 ### Troubleshooting
 
-IMUの接続が正常に行われない場合があります。  
-その時は、IMUのUSBケーブルを抜き差ししてください。  
-抜き差し実施後は、コマンドを再度実行してください。  
+IMUの接続が正常に行われない場合があります。
+その時は、IMUのUSBケーブルを抜き差ししてください。
+抜き差し実施後は、コマンドを再度実行してください。
 
 #### Configure
 
@@ -410,7 +411,7 @@ Set parameter successful
   - Target angle for the SW1 control mode.
   - default: 0.0, min:-π, max:+π
   - type: double
-  
+
 #### Publish topics
 - heading_angle
   - Heading angle of the robot that calculated from the IMU module sensor values.

diff --git a/include/raspimouse_ros2_examples/camera_line_follower_component.hpp b/include/raspimouse_ros2_examples/camera_line_follower_component.hpp
@@ -1,4 +1,4 @@
-// Copyright 2023 RT Corporation
+// Copyright 2023-2024 RT Corporation
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
@@ -19,14 +19,14 @@
 #include <string>
 
 #include "raspimouse_msgs/msg/switches.hpp"
-#include "raspimouse_ros2_examples/visibility_control.h"
+#include "raspimouse_ros2_examples/visibility_control.hpp"
 #include "rclcpp/rclcpp.hpp"
 #include "rclcpp_lifecycle/lifecycle_node.hpp"
 #include "rclcpp_lifecycle/lifecycle_publisher.hpp"
 #include "std_msgs/msg/string.hpp"
 #include "std_srvs/srv/set_bool.hpp"
 #include "sensor_msgs/msg/image.hpp"
-#include "geometry_msgs/msg/twist.hpp"
+#include "geometry_msgs/msg/twist_stamped.hpp"
 #include "opencv2/highgui/highgui.hpp"
 
 namespace camera_line_follower
@@ -50,30 +50,29 @@ class CameraFollower : public rclcpp_lifecycle::LifecycleNode
   cv::Point2d object_normalized_point_;
   double object_normalized_area_;
   std::shared_ptr<rclcpp_lifecycle::LifecyclePublisher<sensor_msgs::msg::Image>> result_image_pub_;
-  std::shared_ptr<rclcpp_lifecycle::LifecyclePublisher<geometry_msgs::msg::Twist>> cmd_vel_pub_;
+  std::shared_ptr<rclcpp_lifecycle::LifecyclePublisher<geometry_msgs::msg::TwistStamped>>
+  cmd_vel_pub_;
   std::shared_ptr<rclcpp::Client<std_srvs::srv::SetBool>> motor_power_client_;
   rclcpp::Subscription<sensor_msgs::msg::Image>::SharedPtr image_sub_;
   rclcpp::Subscription<raspimouse_msgs::msg::Switches>::SharedPtr switches_sub_;
   rclcpp::TimerBase::SharedPtr cmd_vel_timer_;
 
   void set_motor_power(const bool motor_on);
   std::string mat_type2encoding(const int mat_type) const;
-  void convert_frame_to_message(
-    const cv::Mat & frame,
-    sensor_msgs::msg::Image & msg) const;
+  void convert_frame_to_message(const cv::Mat & frame, sensor_msgs::msg::Image & msg) const;
 
   bool detect_line(const cv::Mat & input_frame, cv::Mat & result_frame);
 
-  rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn
-  on_configure(const rclcpp_lifecycle::State &);
-  rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn
-  on_activate(const rclcpp_lifecycle::State &);
-  rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn
-  on_deactivate(const rclcpp_lifecycle::State &);
-  rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn
-  on_cleanup(const rclcpp_lifecycle::State &);
-  rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn
-  on_shutdown(const rclcpp_lifecycle::State &);
+  rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn on_configure(
+    const rclcpp_lifecycle::State &);
+  rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn on_activate(
+    const rclcpp_lifecycle::State &);
+  rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn on_deactivate(
+    const rclcpp_lifecycle::State &);
+  rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn on_cleanup(
+    const rclcpp_lifecycle::State &);
+  rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn on_shutdown(
+    const rclcpp_lifecycle::State &);
 };
 
 }  // namespace camera_line_follower