Merge pull request #25 from ctu-mrs/ft_ros2_rgbdcam

Updated: all camera macros - cameras now have a base template and spawner-compliant implementations
Added: RGB-D and depth-only camera macros (addressing #23)
Added: Unit tests for some of the jinja macros
Added: Spawner argument check for incorrect parameters
Added: unit tests integrated into github actions
Added: dynamic generation of static TFs for all sensor components
Updated: naming conventions of some TF frames (addressing #26)

Author: stibipet

.github/workflows/ros_build_test.yml

@@ -20,6 +20,8 @@ concurrency:
 jobs:
 
   build:
-    uses: ctu-mrs/ci_scripts/.github/workflows/ros_build_test.yml@ros2
+    uses: ctu-mrs/ci_scripts/.github/workflows/ros_build_test.yml@ros2_tests_enabling
+    with:
+      RUN_TESTS: true
     secrets:
       PUSH_TOKEN: ${{ secrets.PUSH_TOKEN }}

.github/workflows/ros_package_build.yml

@@ -17,6 +17,8 @@ concurrency:
 jobs:
 
   build:
-    uses: ctu-mrs/ci_scripts/.github/workflows/ros_package_build.yml@ros2
+    uses: ctu-mrs/ci_scripts/.github/workflows/ros_package_build.yml@ros2_tests_enabling
+    with:
+      RUN_TESTS: true
     secrets:
       PUSH_TOKEN: ${{ secrets.PUSH_TOKEN }}

config/spawner_params.yaml

@@ -17,5 +17,5 @@ mrs_drone_spawner:
     extra_resource_paths: []
 
     tf_static_publisher:
-      base_link: "fcu"
-      ignored_sensor_links: ["air_pressure_sensor", "magnetometer_sensor", "navsat_sensor", "imu_sensor", "lidar"] #lidar is reserved for PX4 Garmin
+      base_frame: "fcu"
+      ignored_sensor_frames: ["air_pressure_sensor", "magnetometer_sensor", "navsat_sensor", "imu_sensor", "lidar"] #lidar is reserved for PX4 Garmin

config/uav_ros_gz_bridge_config.yaml.jinja

@@ -1,22 +1,22 @@
-{%- for topic in camera_info_topic_list -%}
-- ros_topic_name: "{{ topic }}"
-  gz_topic_name: "{{ topic }}"
+{%- for topics in camera_info_topic_list -%}
+- ros_topic_name: "{{ topics["ros"] }}"
+  gz_topic_name: "{{ topics["gazebo"] }}"
   ros_type_name: "sensor_msgs/msg/CameraInfo"
   gz_type_name: "gz.msgs.CameraInfo"
   direction: GZ_TO_ROS
 {% endfor %}
 
-{%- for topic in twoD_lidar_topic_list -%}
-- ros_topic_name: "{{ topic }}"
-  gz_topic_name: "{{ topic }}"
+{%- for topic in laser_scan_topic_list -%}
+- ros_topic_name: "{{ topic["ros"] }}"
+  gz_topic_name: "{{ topic["gazebo"] }}"
   ros_type_name: "sensor_msgs/msg/LaserScan"
   gz_type_name: "gz.msgs.LaserScan"
   direction: GZ_TO_ROS
 {% endfor %}
 
-{%- for topic in threeD_lidar_topic_list -%}
-- ros_topic_name: "{{ topic }}/points"
-  gz_topic_name: "{{ topic }}/points"
+{%- for topic in point_cloud_topic_list -%}
+- ros_topic_name: "{{ topic["ros"] }}"
+  gz_topic_name: "{{ topic["gazebo"] }}"
   ros_type_name: "sensor_msgs/msg/PointCloud2"
   gz_type_name: "gz.msgs.PointCloudPacked"
   direction: GZ_TO_ROS