Ros2

.github/workflows/buildTest.yml

@@ -6,64 +6,29 @@ jobs:
   # Set the job key. The key is displayed as the job name
   # when a job name is not provided
   build-test:
-    # Name the Job
+    runs-on: ubuntu-latest
     name: Build test
-    # Set the type of machine to run on
-    runs-on: ubuntu-20.04
-
+    container:
+      image: natester/roboracer_sim:latest
+      options: --user root
     steps:
-      # Run package update
-      - name: Run package update
-        run: |
-          sudo apt-get update
-          sudo apt-get dist-upgrade -y
-
-      # Install ROS Melodic
-      - name: Install ROS Noetic
-        run: |
-          sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
-          sudo apt install curl
-          curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -
-          sudo apt-get update
-          sudo apt-get install ros-noetic-desktop python3-rosdep python3-rosinstall python3-rosinstall-generator python3-wstool build-essential
-          sudo rosdep init
-          rosdep update
-
-      # Install dependencies
-      - name: Install dependencies
-        run: |
-          sudo apt-get install git libgflags-dev libpopt-dev libgoogle-glog-dev liblua5.1-0-dev libboost-all-dev libqt5websockets5-dev
-
-
-      # Checks out a copy of your repository
       - name: Checkout code
-        uses: actions/checkout@v2
+        uses: actions/checkout@v5
         with:
           submodules: 'recursive'
-
-      # Checkout and build amrl_msgs
       - name: Get amrl_msgs
         run: |
-          source /opt/ros/melodic/setup.bash
-          export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:$GITHUB_WORKSPACE:$GITHUB_WORKSPACE/../amrl_msgs
-          cd $GITHUB_WORKSPACE/..
-          git clone https://github.com/ut-amrl/amrl_msgs.git
-          cd amrl_msgs
-          make
-
-
-      # Checkout and build amrl_maps
+          mkdir -p $HOME/roboracer_sim_ws/src
+          cd $HOME/roboracer_sim_ws/src
+          git clone -b master https://github.com/ut-amrl/amrl_msgs.git
       - name: Get amrl_maps
         run: |
-          source /opt/ros/melodic/setup.bash
-          export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:$GITHUB_WORKSPACE:$GITHUB_WORKSPACE/../amrl_maps
-          cd $GITHUB_WORKSPACE/..
-          git clone https://github.com/ut-amrl/amrl_maps.git
-
-      # Compiles the code
+          mkdir -p $HOME/roboracer_sim_ws/src
+          cd $HOME/roboracer_sim_ws/src
+          git clone -b ros2 https://github.com/ut-amrl/amrl_maps.git
       - name: Run build
         run: |
-          source /opt/ros/melodic/setup.bash
-          export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:$GITHUB_WORKSPACE:$GITHUB_WORKSPACE/../amrl_msgs:$GITHUB_WORKSPACE/../amrl_maps
-          cd $GITHUB_WORKSPACE
-          make
+          cd $HOME/roboracer_sim_ws
+          source /opt/ros/humble/setup.bash
+          colcon build --cmake-args -DCMAKE_BUILD_MODE="Software"
+        shell: bash

.gitignore

@@ -1,6 +1,8 @@
 build/
 bin/
+install/
 lib/
+log/
 msg_gen/
 src/f1tenth_course/
 src/ut_automata/

CMakeLists.txt

@@ -1,12 +1,23 @@
+CMAKE_MINIMUM_REQUIRED(VERSION 3.14.4)
 PROJECT(ut_automata)
-CMAKE_MINIMUM_REQUIRED(VERSION 3.1.0)
+
+set(CMAKE_CXX_STANDARD 17)
+set(CMAKE_CXX_STANDARD_REQUIRED ON)
 
 MESSAGE(STATUS "Compilers found: ${CMAKE_CXX_COMPILER_LIST}")
 MESSAGE(STATUS "Using compiler: ${CMAKE_CXX_COMPILER}")
 MESSAGE(STATUS "Build Type: ${CMAKE_BUILD_TYPE}")
 MESSAGE(STATUS "Build Mode: ${CMAKE_BUILD_MODE}")
 MESSAGE(STATUS "Arch: ${CMAKE_SYSTEM_PROCESSOR}")
 
+# Set CMake policies
+cmake_policy(SET CMP0071 NEW)
+
+# Configure RPATH for proper library linking
+set(CMAKE_SKIP_BUILD_RPATH FALSE)
+set(CMAKE_BUILD_WITH_INSTALL_RPATH FALSE)
+set(CMAKE_INSTALL_RPATH_USE_LINK_PATH TRUE)
+
 SET(CMAKE_AUTOMOC ON)
 SET(CMAKE_AUTORCC ON)
 SET(CMAKE_AUTOUIC ON)
@@ -26,10 +37,26 @@ ELSEIF(${CMAKE_BUILD_TYPE} MATCHES "Debug")
   SET(BUILD_SPECIFIC_LIBRARIES "")
 ENDIF()
 
-INCLUDE($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
-ROSBUILD_INIT()
-SET(ROS_BUILD_STATIC_LIBS true)
-SET(ROS_BUILD_SHARED_LIBS false)
+message(STATUS "Building with ROS 2")
+add_compile_definitions(ROS2)
+find_package(rclcpp REQUIRED)
+find_package(ament_index_cpp REQUIRED)
+find_package(ament_cmake REQUIRED)
+find_package(geometry_msgs REQUIRED)
+find_package(sensor_msgs REQUIRED)
+find_package(visualization_msgs REQUIRED)
+find_package(builtin_interfaces REQUIRED)
+find_package(nav_msgs REQUIRED)
+find_package(std_msgs REQUIRED)
+find_package(tf2 REQUIRED)
+find_package(tf2_geometry_msgs REQUIRED)
+find_package(tf2_ros REQUIRED)
+find_package(amrl_msgs REQUIRED)
+find_package(amrl_maps REQUIRED)
+find_package(cv_bridge REQUIRED)
+find_package(OpenCV REQUIRED)
+find_package(rosidl_default_generators REQUIRED)
+find_package(rosidl_default_runtime REQUIRED)
 
 FIND_PACKAGE(Qt5 COMPONENTS Core Widgets Gui WebSockets OpenGL REQUIRED)
 SET(CMAKE_INCLUDE_CURRENT_DIR ON)
@@ -48,64 +75,159 @@ INCLUDE_DIRECTORIES(${PROJECT_SOURCE_DIR}/src)
 INCLUDE_DIRECTORIES(${PROJECT_SOURCE_DIR}/include)
 INCLUDE_DIRECTORIES(${PROJECT_SOURCE_DIR}/submodules/config_reader/include)
 
-ROSBUILD_GENMSG()
+# Generate ROS 2 messages
+rosidl_generate_interfaces(${PROJECT_NAME}
+  "msg/VescState.msg"
+  "msg/VescStateStamped.msg"
+  "msg/CarStatusMsg.msg"
+  DEPENDENCIES geometry_msgs std_msgs sensor_msgs visualization_msgs nav_msgs
+)
+
+# Ensure generated message headers are visible to targets in this package
+include_directories(${CMAKE_CURRENT_BINARY_DIR}/rosidl_generator_cpp)
+
+# Provide the rosidl fastrtps C++ typesupport target for linking against the
+# generated type support library for this package's messages.
+## Link helper that prefers the generated FastRTPS C++ typesupport target for
+## this package, but falls back to the introspection C++ typesupport if the
+## fastrtps target isn't available. The generated target names use the
+## convention: <pkg>__rosidl_typesupport_fastrtps_cpp.
+## Candidate package-specific rosidl typesupport targets. Use generator
+## expressions so CMake will link whichever one was generated for this
+## package (fastrtps, introspection, or the generic cpp typesupport).
+set(UT_AUTOMATA_TYPESUPPORT_LINK
+  $<TARGET_NAME_IF_EXISTS:${PROJECT_NAME}__rosidl_typesupport_fastrtps_cpp>
+  $<TARGET_NAME_IF_EXISTS:${PROJECT_NAME}__rosidl_typesupport_introspection_cpp>
+  $<TARGET_NAME_IF_EXISTS:${PROJECT_NAME}__rosidl_typesupport_cpp>
+)
 
 ADD_SUBDIRECTORY(src/shared)
 INCLUDE_DIRECTORIES(${PROJECT_SOURCE_DIR}/src/shared)
 
-SET(libs roslib roscpp glog gflags amrl_shared_lib
-    ${BUILD_SPECIFIC_LIBRARIES} rosbag X11 lua5.1 boost_system)
+SET(libs glog gflags amrl_shared_lib
+    ${BUILD_SPECIFIC_LIBRARIES} X11 lua5.1 boost_system)
 
 IF(${CMAKE_BUILD_MODE} MATCHES "Hardware")
   MESSAGE(STATUS "Building hardware drivers")
-  rosbuild_add_executable(vesc_driver
-                          src/vesc_driver/serial.cc
-                          src/vesc_driver/vesc_driver_node.cpp
-                          src/vesc_driver/vesc_driver.cpp
-                          src/vesc_driver/vesc_interface.cpp
-                          src/vesc_driver/vesc_packet.cpp
-                          src/vesc_driver/vesc_packet_factory.cpp)
-  target_link_libraries(vesc_driver ${libs})
-
-  ROSBUILD_ADD_EXECUTABLE(gui
+
+  add_executable(vesc_driver
+                 src/vesc_driver/serial.cc
+                 src/vesc_driver/vesc_driver_node.cpp
+                 src/vesc_driver/vesc_driver.cpp
+                 src/vesc_driver/vesc_interface.cpp
+                 src/vesc_driver/vesc_packet.cpp
+                 src/vesc_driver/vesc_packet_factory.cpp)
+  ament_target_dependencies(vesc_driver rclcpp std_msgs geometry_msgs nav_msgs sensor_msgs amrl_msgs rosidl_default_runtime)
+  target_include_directories(vesc_driver PRIVATE
+    $<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}/rosidl_generator_cpp>)
+  target_link_libraries(vesc_driver ${libs} ${UT_AUTOMATA_TYPESUPPORT_LINK})
+
+  add_executable(gui
         src/gui/gui_main.cc
         src/gui/gui_mainwindow.cc
         src/gui/vector_display.cc
         ${GUI_MOC_SRCS})
+  ament_target_dependencies(gui rclcpp std_msgs geometry_msgs nav_msgs sensor_msgs amrl_msgs cv_bridge OpenCV rosidl_default_runtime)
+  target_include_directories(gui PRIVATE
+    $<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}/rosidl_generator_cpp>)
   TARGET_LINK_LIBRARIES(gui
         Qt5::Core
         Qt5::Gui
         Qt5::Widgets
         Qt5::OpenGL
-        ${libs} ${OPENGL_LIBRARY} GL)
+        ${OpenCV_LIBS}
+  ${libs} ${OPENGL_LIBRARY} GL ${UT_AUTOMATA_TYPESUPPORT_LINK})
 
-  ROSBUILD_ADD_EXECUTABLE(joystick
+  add_executable(joystick
     src/joystick/joystick.cc
     src/joystick/joystick_driver.cc)
-  TARGET_LINK_LIBRARIES(joystick ${libs})
+  ament_target_dependencies(joystick rclcpp std_msgs geometry_msgs nav_msgs sensor_msgs amrl_msgs rosidl_default_runtime)
+  target_include_directories(joystick PRIVATE
+    $<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}/rosidl_generator_cpp>)
+  target_link_libraries(joystick ${libs} ${UT_AUTOMATA_TYPESUPPORT_LINK})
+
+  # Install hardware executables for ROS 2
+  install(TARGETS
+    vesc_driver
+    gui
+    joystick
+    DESTINATION lib/${PROJECT_NAME})
 ENDIF()
 
 MESSAGE(STATUS "Building simulator")
 
-ROSBUILD_ADD_EXECUTABLE(simulator
+add_executable(simulator
     src/simulator/simulator.cc
     src/simulator/vector_map.cc
     src/simulator/simulator_main.cc)
-TARGET_LINK_LIBRARIES(simulator ${libs})
+ament_target_dependencies(simulator rclcpp ament_index_cpp std_msgs geometry_msgs nav_msgs sensor_msgs visualization_msgs amrl_msgs tf2 tf2_geometry_msgs tf2_ros rosidl_default_runtime)
+target_include_directories(simulator PRIVATE
+  $<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}/rosidl_generator_cpp>)
+target_link_libraries(simulator ${libs} ${UT_AUTOMATA_TYPESUPPORT_LINK})
 
-ROSBUILD_ADD_EXECUTABLE(step_simulator
+add_executable(step_simulator
     src/simulator/simulator.cc
     src/simulator/vector_map.cc
     src/simulator/step_simulator_main.cc)
-TARGET_LINK_LIBRARIES(step_simulator ${libs})
+ament_target_dependencies(step_simulator rclcpp ament_index_cpp std_msgs geometry_msgs nav_msgs sensor_msgs visualization_msgs amrl_msgs tf2 tf2_geometry_msgs tf2_ros rosidl_default_runtime)
+target_include_directories(step_simulator PRIVATE
+  $<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}/rosidl_generator_cpp>)
+target_link_libraries(step_simulator ${libs} ${UT_AUTOMATA_TYPESUPPORT_LINK})
 
-ROSBUILD_ADD_EXECUTABLE(websocket
+add_executable(websocket
     src/websocket/websocket_main.cc
     src/websocket/websocket.cc
 )
-TARGET_LINK_LIBRARIES(websocket
+ament_target_dependencies(websocket rclcpp ament_index_cpp std_msgs geometry_msgs nav_msgs sensor_msgs amrl_msgs rosidl_default_runtime)
+target_include_directories(websocket PRIVATE
+  $<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}/rosidl_generator_cpp>)
+target_link_libraries(websocket
     Qt5::Core
     Qt5::Gui
     Qt5::Widgets
     Qt5::WebSockets
-    ${libs})
+  ${libs} ${UT_AUTOMATA_TYPESUPPORT_LINK})
+
+# Install executables for ROS 2
+install(TARGETS
+  simulator
+  step_simulator
+  websocket
+  DESTINATION lib/${PROJECT_NAME})
+
+# Copy simulator configs
+install(DIRECTORY
+  config
+  DESTINATION share/${PROJECT_NAME}
+  OPTIONAL)
+
+# ROS 2 package finalization
+# Install launch files, config files, etc.
+install(DIRECTORY
+  launch
+  config
+  DESTINATION share/${PROJECT_NAME}
+  OPTIONAL)
+
+ament_export_dependencies(rosidl_default_runtime)
+ament_package()
+
+# Generate car.lua from the hostname at build time and install it.
+# The generated file will be written to the build tree and then installed
+# into share/${PROJECT_NAME}/config/car.lua so it ends up at
+# $(ros2 pkg prefix ut_automata)/share/ut_automata/config/car.lua
+set(GENERATED_CAR_LUA ${CMAKE_CURRENT_BINARY_DIR}/share/${PROJECT_NAME}/config/car.lua)
+
+add_custom_command(
+  OUTPUT ${GENERATED_CAR_LUA}
+  COMMAND ${CMAKE_COMMAND} -E make_directory ${CMAKE_CURRENT_BINARY_DIR}/share/${PROJECT_NAME}/config
+  COMMAND /bin/sh -c "hn=$(hostname); num=$(echo \"${hn}\" | grep -oE '[0-9]+' | tail -n1); if [ -z \"${num}\" ]; then num=0; fi; printf 'car_name = \"car%s\";\\n' \"${num}\" > \"${GENERATED_CAR_LUA}\""
+  COMMENT "Generating ${GENERATED_CAR_LUA} from hostname"
+  VERBATIM
+)
+
+add_custom_target(generate_car_lua ALL DEPENDS ${GENERATED_CAR_LUA})
+
+# Install the generated file into the package share directory so it's available
+# after 'colcon build' under $(ros2 pkg prefix ut_automata)/share/ut_automata/config/car.lua
+install(FILES ${GENERATED_CAR_LUA} DESTINATION share/${PROJECT_NAME}/config)

Makefile

@@ -4,7 +4,7 @@
 build_type=Release
 # build_type=Debug
 #acceptable build_mode: Simulation/Hardware
-build_mode=Simulation
+build_mode=Hardware
 
 .SILENT:
 

config/joystick.lua

@@ -1,8 +1,14 @@
-joystick_port="/dev/input/js1"
+joystick_port="/dev/input/js0"
 
 -- name of controller used
-joystick_name="Logitech_F710"
--- joystick_name="Sony_DualShock_4"
+-- joystick_name="Logitech_F710"
+joystick_name="Sony_DualShock_4"
+
+-- Joystick control mode configuration
+-- "both": left stick horizontal for steering, right stick vertical for drive (default)
+-- "left": left stick only (horizontal for steering, vertical for drive)
+-- "right": right stick only (horizontal for steering, vertical for drive)
+joystick_mode = "both"