Seprate bringup for Rb XL and Rb 3. Fix ros2 control duplicated nodes

rafal-gorecki · rafal-gorecki · commit 92d12833e301 · 2026-04-01T14:37:04.000+02:00
diff --git a/CONTRIBUTING.md b/CONTRIBUTING.md
@@ -5,7 +5,7 @@
 You can connect with the ROSbot hardware on your own computer. To establish a connection, connect your computer to the robot using a USB-B cable. Then build the code locally and specify via the serial_port argument which processor should be used to establish the connection.
 
 ```bash
-ros2 launch rosbot_bringup bringup.yaml serial_port:=/dev/ttyUSB0
+ros2 launch rosbot_bringup rosbot.yaml serial_port:=/dev/rosbot
 ```
 
 The hardware checks the connection via USB-B only during initialization and when btn1 or btn2 is pressed, so while executing the above command, hold down the reset button together with bnt1/bnt2 and release the reset button. After establishing a connection, you can release bnt1/bnt2.
diff --git a/README.md b/README.md
@@ -120,7 +120,7 @@ ros2 launch rosbot_gazebo simulation.yaml robot_model:=<rosbot/rosbot_xl>
 | ❌  | ✅  | `yaw`               | Initial robot 'yaw' orientation. <br/> **_float:_** `0.0`                                                                                                                                          |
 
 > [!TIP]
-> To read the arguments for individual launch files, add the `-s` flag to the `ros2 launch` command (e.g. `ros2 launch rosbot_bringup bringup.yaml ​​-s`)
+> To read the arguments for individual launch files, add the `-s` flag to the `ros2 launch` command (e.g. `ros2 launch <pkg> <launch> ​​-s`)
 
 ## 🕹️ Demo
 
diff --git a/ROS_API.md b/ROS_API.md
@@ -80,7 +80,8 @@ The main package responsible for running the physical robot.
 
 **Available Launch Files:**
 
-- `bringup.yaml` - is responsible for communicating with firmware and activating all logic related to the robot's movement and processing of sensory data.
+- `rosbot.yaml` - activates all logic related to the ROSbot's movement and processing of sensory data.
+- `rosbot_xl.yaml` - activates all logic related to the ROSbot XL's movement and processing of sensory data.
 - `microros.launch.py` - establishes connection with the hardware using microROS agent.
 
 ### `rosbot_controller`
diff --git a/docker/Dockerfile.hardware b/docker/Dockerfile.hardware
@@ -25,6 +25,7 @@ RUN apt update && apt upgrade -y && \
     # Build
     source /opt/ros/$ROS_DISTRO/setup.bash && \
     colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release && \
+    cp src/rosbot_ros/rosbot_utils/udev/99-rosbot.rules /etc/udev/rules.d/99-rosbot.rules && \
     # Get version
     echo $(cat /ros2_ws/src/rosbot_ros/rosbot/package.xml | grep '<version>' | sed -r 's/.*<version>([0-9]+.[0-9]+.[0-9]+)<\/version>/\1/g') >> /version.txt && \
     # Size optimization
diff --git a/docker/compose.rosbot.yaml b/docker/compose.rosbot.yaml
@@ -11,9 +11,9 @@ services:
     devices:
       - /dev/ttySERIAL # MCU communication port
       - /dev/input:/dev/input:ro # Joystick
+      - /dev/bus/usb:/dev/bus/usb # FTDI
     environment:
       - RMW_IMPLEMENTATION=rmw_fastrtps_cpp
       - FASTRTPS_DEFAULT_PROFILES_FILE=/ros2_ws/src/rosbot_ros/docker/dds-config-udp.xml
     command: >
-      ros2 launch rosbot_bringup bringup.yaml
-        robot_model:=rosbot
+      ros2 launch rosbot_bringup rosbot.yaml
diff --git a/docker/compose.rosbot_xl.yaml b/docker/compose.rosbot_xl.yaml
@@ -10,9 +10,10 @@ services:
     <<: *common-config
     devices:
       - /dev/input:/dev/input:ro # Joystick
+      - /dev/rosbot:/dev/rosbot # MCU
+      - /dev/bus/usb:/dev/bus/usb # FTDI
     environment:
       - RMW_IMPLEMENTATION=rmw_fastrtps_cpp
       - FASTRTPS_DEFAULT_PROFILES_FILE=/ros2_ws/src/rosbot_ros/docker/dds-config-udp.xml
     command: >
-      ros2 launch rosbot_bringup bringup.yaml
-        robot_model:=rosbot_xl
+      ros2 launch rosbot_bringup rosbot_xl.yaml
diff --git a/rosbot_bringup/launch/bringup.yaml b/rosbot_bringup/launch/bringup.yaml
@@ -0,0 +1,13 @@
+---
+launch:
+
+  - arg:
+      name: robot_model
+      default: $(env ROBOT_MODEL '')
+      description: Specify robot model
+      choice:
+        - value: rosbot
+        - value: rosbot_xl
+
+  - include:
+      file: $(find-pkg-share rosbot_bringup)/launch/$(var robot_model).yaml
diff --git a/rosbot_bringup/launch/rosbot.yaml b/rosbot_bringup/launch/rosbot.yaml
@@ -16,7 +16,7 @@ launch:
 
   - arg:
       name: robot_model
-      default: $(env ROBOT_MODEL '')
+      default: rosbot
       description: Specify robot model
       choice:
         - value: rosbot
diff --git a/rosbot_controller/config/rosbot/controllers.yaml b/rosbot_controller/config/rosbot/controllers.yaml
@@ -16,7 +16,7 @@
   imu_broadcaster:
     ros__parameters:
       tf_frame_prefix_enable: false
-      sensor_name: <namespace>/imu
+      sensor_name: <namespace>/imu # Bug: Each sensor in gz need have unique name otherwise they will override sensor readings in gz_ros2_control system plugin
       frame_id: imu_link
       static_covariance_orientation: [1.9e-3, 0.0, 0.0, 0.0, 1.9e-3, 0.0, 0.0, 0.0, 1.9e-3] # Values taken from datasheet
       static_covariance_angular_velocity: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 2.0e-3] # Values measured experimentally
diff --git a/rosbot_controller/config/rosbot_xl/controllers.yaml b/rosbot_controller/config/rosbot_xl/controllers.yaml
@@ -24,7 +24,7 @@
   imu_broadcaster:
     ros__parameters:
       tf_frame_prefix_enable: false
-      sensor_name: <namespace>/imu
+      sensor_name: <namespace>/imu # Bug: Each sensor in gz need have unique name otherwise they will override sensor readings in gz_ros2_control system plugin
       frame_id: imu_link
       static_covariance_orientation: [1.9e-3, 0.0, 0.0, 0.0, 1.9e-3, 0.0, 0.0, 0.0, 1.9e-3] # Values taken from datasheet
       static_covariance_angular_velocity: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 2.0e-3] # Values measured experimentally
diff --git a/rosbot_controller/launch/controller.yaml b/rosbot_controller/launch/controller.yaml
@@ -30,28 +30,9 @@ launch:
         - value: manipulation_pro
         - value: custom
 
-  - let:
-      name: manipulator_dev
-      value: $(command "bash -c '\
-        VENDOR=0403; \
-        PRODUCT=6014; \
-        DEFAULT=/dev/ttyUSB0; \
-        if ls /dev/ttyUSB* 1> /dev/null 2>&1; then \
-          for dev in /dev/ttyUSB*; do \
-            ATTRS=\$(udevadm info -q property -n \$dev); \
-            VID=\$(echo \$ATTRS | grep ^ID_VENDOR_ID= | cut -d= -f2); \
-            PID=\$(echo \$ATTRS | grep ^ID_MODEL_ID= | cut -d= -f2); \
-            if [[ \$VID == \$VENDOR && \$PID == \$PRODUCT ]]; then \
-              echo -n \$dev; \
-              exit 0; \
-            fi; \
-          done; \
-        fi; \
-        echo -n \$DEFAULT;'")
-
   - arg:
       name: manipulator_serial_port
-      default: $(var manipulator_dev)
+      default: /dev/manipulator
       description: Port to connect to the manipulator.
 
   - arg:
@@ -134,8 +115,6 @@ launch:
           value: $(var manipulator_serial_port)
         - name: mock_joints
           value: 'False'
-        - name: robot_model
-          value: $(var robot_model)
         - name: use_sim
           value: $(var use_sim)
 
@@ -173,15 +152,18 @@ launch:
   # Controllers spawner
   # =======================
 
-  - node:
-      pkg: controller_manager
-      exec: spawner
-      args: >
-        $(eval "'mecanum_drive_controller' if $(var mecanum) else 'differential_drive_controller'")
-        imu_broadcaster
-        joint_state_broadcaster
-        -c controller_manager
-        --controller-manager-timeout 20
+  - timer:
+      period: 3.0
+      children:
+        - node:
+            pkg: controller_manager
+            exec: spawner
+            args: >
+              $(eval "'mecanum_drive_controller' if $(var mecanum) else 'differential_drive_controller'")
+              imu_broadcaster
+              joint_state_broadcaster
+              -c controller_manager
+              --controller-manager-timeout 20
 
   # =======================
   # Manipulator (delayed)
diff --git a/rosbot_description/launch/rosbot_xl.yaml b/rosbot_description/launch/rosbot_xl.yaml
@@ -26,8 +26,8 @@ launch:
 
   - arg:
       name: manipulator_serial_port
-      default: /dev/ttyUSB0
-      description: Serial port for manipulator arm communication.
+      default: /dev/manipulator
+      description: Port to connect to the manipulator.
 
   - arg:
       name: mock_joints
@@ -36,6 +36,7 @@ launch:
       choice:
         - value: 'True'
         - value: 'False'
+
   - arg:
       name: namespace
       default: $(env ROBOT_NAMESPACE '')
diff --git a/rosbot_description/urdf/common/ros2_control.urdf.xacro b/rosbot_description/urdf/common/ros2_control.urdf.xacro
@@ -5,12 +5,11 @@
   <xacro:macro name="imu" params="name:='imu' namespace:=''" >
     <xacro:property name="ns" value="${namespace + '/' if namespace != '' else ''}" />
 
-    <ros2_control name="${ns}${name}" type="sensor">
+    <ros2_control name="${name}" type="sensor">
       <hardware>
         <plugin>rosbot_hardware_interfaces/RosbotImuSensor</plugin>
         <param name="connection_timeout_ms">25000</param>
         <param name="connection_check_period_ms">1000</param>
-        <param name="namespace">${namespace}</param>
       </hardware>
 
       <sensor name="${ns}imu">
@@ -31,15 +30,14 @@
   <xacro:macro name="rosbot_system" params="name:='rosbot_system' namespace:=''" >
     <xacro:property name="ns" value="${namespace + '/' if namespace != '' else ''}" />
 
-    <ros2_control name="${ns}${name}" type="system">
+    <ros2_control name="${name}" type="system">
       <hardware>
         <plugin>rosbot_hardware_interfaces/RosbotSystem</plugin>
         <param name="connection_timeout_ms">25000</param>
         <param name="connection_check_period_ms">1000</param>
-        <param name="namespace">${namespace}</param>
         <!-- order of velocity commands to be published in motors_cmd Float32MultiArray msg -->
         <param name="velocity_command_joint_order">
-          rr_wheel_joint, rl_wheel_joint, fr_wheel_joint, fl_wheel_joint
+          fl_wheel_joint, fr_wheel_joint, rl_wheel_joint, rr_wheel_joint
         </param>
       </hardware>
 
diff --git a/rosbot_hardware_interfaces/src/rosbot_imu_sensor.cpp b/rosbot_hardware_interfaces/src/rosbot_imu_sensor.cpp
@@ -38,25 +38,9 @@ CallbackReturn RosbotImuSensor::on_init(
   connection_check_period_ms_ =
       std::stoul(info_.hardware_parameters["connection_check_period_ms"]);
 
-  rclcpp::NodeOptions node_options;
-  std::string ns = "";
-  if (info_.hardware_parameters.find("namespace") !=
-      info_.hardware_parameters.end()) {
-    ns = info_.hardware_parameters.at("namespace");
-    if (!ns.empty() && ns.front() == '/') {
-      ns.erase(0, 1);
-    }
-  }
-  if (!ns.empty()) {
-    node_options.arguments({"--ros-args", "-r", "__ns:=/" + ns});
-    RCLCPP_INFO(rclcpp::get_logger("RosbotImuSensor"),
-                "Creating node with namespace: %s", ns.c_str());
-  }
-
-  node_ = std::make_shared<rclcpp::Node>("imu_sensor", node_options);
-  executor_.add_node(node_);
-  executor_thread_ = std::make_unique<std::thread>(
-      std::bind(&rclcpp::executors::MultiThreadedExecutor::spin, &executor_));
+  node_ = get_node();
+  auto ns = node_->get_namespace();
+  RCLCPP_INFO(node_->get_logger(), "Creating node with namespace: %s", ns);
 
   return CallbackReturn::SUCCESS;
 }
diff --git a/rosbot_hardware_interfaces/src/rosbot_system.cpp b/rosbot_hardware_interfaces/src/rosbot_system.cpp
@@ -91,20 +91,9 @@ RosbotSystem::on_init(const hardware_interface::HardwareInfo &hardware_info) {
   connection_check_period_ms_ =
       std::stoul(info_.hardware_parameters["connection_check_period_ms"]);
 
-  rclcpp::NodeOptions node_options;
-  std::string ns = "";
-  if (info_.hardware_parameters.find("namespace") !=
-      info_.hardware_parameters.end()) {
-    ns = info_.hardware_parameters.at("namespace");
-    if (!ns.empty() && ns.front() == '/') {
-      ns.erase(0, 1);
-    }
-  }
-  if (!ns.empty()) {
-    node_options.arguments({"--ros-args", "-r", "__ns:=/" + ns});
-    RCLCPP_INFO(rclcpp::get_logger("RosbotSystem"),
-                "Creating node with namespace: %s", ns.c_str());
-  }
+  node_ = get_node();
+  auto ns = node_->get_namespace();
+  RCLCPP_INFO(node_->get_logger(), "Creating node with namespace: %s", ns);
 
   std::string velocity_command_joint_order_raw =
       info_.hardware_parameters["velocity_command_joint_order"];
@@ -139,11 +128,6 @@ RosbotSystem::on_init(const hardware_interface::HardwareInfo &hardware_info) {
     }
   }
 
-  node_ = std::make_shared<rclcpp::Node>("rosbot_system", node_options);
-  executor_.add_node(node_);
-  executor_thread_ = std::make_unique<std::thread>(
-      std::bind(&rclcpp::executors::MultiThreadedExecutor::spin, &executor_));
-
   return CallbackReturn::SUCCESS;
 }
 
diff --git a/rosbot_utils/scripts/led_strip_car_wave b/rosbot_utils/scripts/led_strip_car_wave
@@ -22,7 +22,7 @@ from sensor_msgs.msg import Image
 
 class LEDStripWavePublisher(Node):
     def __init__(self):
-        super().__init__("led_strip_animation")
+        super().__init__("led_strip_manager")
         self.pub = self.create_publisher(Image, "led_strip", 10)
         self.create_timer(0.04, self.tick)
 
diff --git a/rosbot_utils/scripts/led_strip_rainbow b/rosbot_utils/scripts/led_strip_rainbow
@@ -24,7 +24,7 @@ from sensor_msgs.msg import Image
 class LEDStripPublisher(Node):
 
     def __init__(self):
-        super().__init__("led_strip_animation")
+        super().__init__("led_strip_manager")
 
         self.num_leds = 18
         self.gradient_resolution = 180

-Original file line number
+Diff line change
 | ❌  | ✅  | `yaw`               | Initial robot 'yaw' orientation. <br/> **_float:_** `0.0`                                                                                                                                          |
 > [!TIP]
 -> To read the arguments for individual launch files, add the `-s` flag to the `ros2 launch` command (e.g. `ros2 launch rosbot_bringup bringup.yaml -s`)
 +> To read the arguments for individual launch files, add the `-s` flag to the `ros2 launch` command (e.g. `ros2 launch <pkg> <launch> -s`)
 ## 🕹️ Demo