Feature/humble devel

install.sh

@@ -9,17 +9,15 @@ cd ..
 
 # Dowload required packages for SOBIT EDU
 ros_packages=(
-    "sobits_common" \
     "sobits_msgs" \
-    "urg_node" \
-    "azure_kinect_ros_driver" \
-    "turtlebot2_on_noetic"
+    "dynamixel_hardware" \
+    "realsense_ros"
 )
 
-# Clone all packages
+#Clone all packages
 for ((i = 0; i < ${#ros_packages[@]}; i++)) {
     echo "Clonning: ${ros_packages[i]}"
-    git clone https://github.com/TeamSOBITS/${ros_packages[i]}.git
+    git clone -b $ROS_DISTRO-devel https://github.com/TeamSOBITS/${ros_packages[i]}.git
 
     # Check if install.sh exists in each package
     if [ -f ${ros_packages[i]}/install.sh ]; then
@@ -32,12 +30,23 @@ for ((i = 0; i < ${#ros_packages[@]}; i++)) {
 
 # Setup Turtlebot2 (Kobuki) for ROS Noetic
 cd ${DIR}
-bash ../turtlebot2_on_noetic/turtlebot/setup_kobuki.sh
+# bash ../turtlebot2_on_noetic/turtlebot/setup_kobuki.sh
+
+# Download required dependencies
+python3 -m pip install \
+    transforms3d
+
 
 # Download ROS packages
 sudo apt-get update
 sudo apt-get install -y \
-    ros-$ROS_DISTRO-pybind11-catkin \
+    ros-$ROS_DISTRO-ecl-linear-algebra \
+    ros-$ROS_DISTRO-kobuki-ros-interfaces \
+    ros-$ROS_DISTRO-kobuki-core \
+    ros-$ROS_DISTRO-laser-proc \
+    ros-$ROS_DISTRO-urg-c \
+    ros-$ROS_DISTRO-urg-node \
+    ros-$ROS_DISTRO-urg-node-msgs \
     ros-$ROS_DISTRO-robot-state-publisher \
     ros-$ROS_DISTRO-joint-state-controller \
     ros-$ROS_DISTRO-joint-state-publisher \
@@ -53,8 +62,47 @@ sudo apt-get install -y \
     ros-$ROS_DISTRO-trajectory-msgs \
     ros-$ROS_DISTRO-geometry-msgs \
     ros-$ROS_DISTRO-joy
+
+    # refer to sobit_light
+    ros-$ROS_DISTRO-ros2-control \
+    ros-$ROS_DISTRO-ros2-controllers \
+    ros-$ROS_DISTRO-control-toolbox \
+    ros-$ROS_DISTRO-controller-interface \
+    ros-$ROS_DISTRO-controller-manager \
+    ros-$ROS_DISTRO-position-controllers \
+    ros-$ROS_DISTRO-velocity-controllers \
+    ros-$ROS_DISTRO-effort-controllers \
+    ros-$ROS_DISTRO-joint-trajectory-controller \
+    ros-$ROS_DISTRO-joint-group-impedance-controller \
+    ros-$ROS_DISTRO-joint-state-publisher \
+    ros-$ROS_DISTRO-joint-state-publisher-gui \
+    ros-$ROS_DISTRO-joint-state-broadcaster \
+    ros-$ROS_DISTRO-joint-limits \
+    ros-$ROS_DISTRO-robot-controllers \
+    ros-$ROS_DISTRO-robot-controllers-interface \
+    ros-$ROS_DISTRO-robot-state-publisher \
+    ros-$ROS_DISTRO-hardware-interface \
+    ros-$ROS_DISTRO-transmission-interface \
+    ros-$ROS_DISTRO-urdf \
+    ros-$ROS_DISTRO-urdf-launch \
+    ros-$ROS_DISTRO-xacro \
+    ros-$ROS_DISTRO-tf-transformations
 
 
+
+
+    # Install Gazebo Fortress with binaries
+    sudo apt-get install -y \
+        ros-${ROS_DISTRO}-ros-gz \
+        ros-${ROS_DISTRO}-ign-ros2-control \
+        ros-${ROS_DISTRO}-ign-ros2-control-demos
+
+    echo "╚══╣ Setup: SOBIT EDU (FINISHED) ╠══╝"
+
+
+
+### ここから下は未確認。いるいらないがわからない。
+'''
 # Setting up Dynamixel USB configuration (SOBIT EDU: Head and Arm Robot Mechanism)
 echo "SUBSYSTEM==\"tty\", ATTRS{idVendor}==\"0403\", ATTRS{idProduct}==\"6015\", SYMLINK+=\"input/dx_upper\", MODE=\"0666\"" | sudo tee /etc/udev/rules.d/dx_upper.rules
 
@@ -78,6 +126,10 @@ sudo udevadm control --reload-rules
 
 # Trigger the new rules
 sudo udevadm trigger
+'''
+
+# Go back to previous directory
+cd ${DIR}
 
 
-echo "╚══╣ Setup: SOBIT EDU (FINISHED) ╠══╝"
+echo "╚══╣ Setup: SOBIT LIGHT (FINISHED) ╠══╝"

sobit_edu_bringup/CMakeLists.txt

@@ -1,39 +1,32 @@
-cmake_minimum_required(VERSION 3.10.2)
+cmake_minimum_required(VERSION 3.8)
 project(sobit_edu_bringup)
 
-## Find catkin macros and libraries
-## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
-## is used, also find other catkin packages
-find_package(catkin REQUIRED COMPONENTS
-  rospy
-  sensor_msgs
-  trajectory_msgs
-  geometry_msgs
-)
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+# uncomment the following section in order to fill in
+# further dependencies manually.
+# find_package(<dependency> REQUIRED)
 
-###################################
-## catkin specific configuration ##
-###################################
-## The catkin_package macro generates cmake config files for your package
-## Declare things to be passed to dependent projects
-## INCLUDE_DIRS: uncomment this if your package contains header files
-## LIBRARIES: libraries you create in this project that dependent projects also need
-## CATKIN_DEPENDS: catkin_packages dependent projects also need
-## DEPENDS: system dependencies of this project that dependent projects also need
-catkin_package(
-#  INCLUDE_DIRS include
-#  LIBRARIES sobit_pro_bringup
- CATKIN_DEPENDS rospy sensor_msgs trajectory_msgs geometry_msgs
-#  DEPENDS system_lib
+install(DIRECTORY
+  launch
+  rviz
+  DESTINATION share/${PROJECT_NAME}
 )
 
-###########
-## Build ##
-###########
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  # the following line skips the linter which checks for copyrights
+  # comment the line when a copyright and license is added to all source files
+  set(ament_cmake_copyright_FOUND TRUE)
+  # the following line skips cpplint (only works in a git repo)
+  # comment the line when this package is in a git repo and when
+  # a copyright and license is added to all source files
+  set(ament_cmake_cpplint_FOUND TRUE)
+  ament_lint_auto_find_test_dependencies()
+endif()
 
-## Specify additional locations of header files
-## Your package locations should be listed before other locations
-include_directories(
-# include
-  ${catkin_INCLUDE_DIRS}
-)
+ament_package()

sobit_edu_bringup/launch/gz_minimal.launch.py

@@ -0,0 +1,106 @@
+import os
+from ament_index_python.packages import get_package_share_directory
+
+from launch_ros.substitutions import FindPackageShare
+from launch_ros.actions import Node
+
+from launch import LaunchDescription
+from launch.actions import IncludeLaunchDescription
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.substitutions import PathJoinSubstitution
+
+
+def generate_launch_description():
+    gz_bridge_node = Node(
+        package='ros_gz_bridge',
+        executable='parameter_bridge',
+        arguments=[
+                    "/clock" + "@rosgraph_msgs/msg/Clock" + "[ignition.msgs.Clock",
+                    "/tf" + "@tf2_msgs/msg/TFMessage" + "[ignition.msgs.TFMessage",
+                   ],
+        output='screen'
+    )
+
+    rviz_config = PathJoinSubstitution([
+            FindPackageShare('sobit_edu_bringup'),
+            'rviz',
+            'gazebo.rviz'
+    ])
+    rviz_node = Node(
+        package='rviz2',
+        executable='rviz2',
+        output='screen',
+        arguments=['-d', rviz_config],
+    )
+
+    world_file = os.path.join(get_package_share_directory(
+        'sobit_light_description'), 
+        'worlds',
+        'empty_w_physics.sdf'
+    )
+
+    return LaunchDescription([
+        # Launch gazebo environment
+        IncludeLaunchDescription(
+            PythonLaunchDescriptionSource([
+                PathJoinSubstitution([
+                    FindPackageShare('ros_gz_sim'),
+                    'launch',
+                    'gz_sim.launch.py'
+                ])
+            ]),
+            launch_arguments={
+                'gz_args' : ' -r -v 4 ' + world_file,
+            }.items()
+        ),
+        gz_bridge_node,
+        # Launch Robot No. 1
+        IncludeLaunchDescription(
+            PythonLaunchDescriptionSource([
+                PathJoinSubstitution([
+                    FindPackageShare('sobit_edu_bringup'),
+                    'launch',
+                    'gz_robot.launch.py'
+                ])
+            ]),
+            launch_arguments={
+                'robot_name': 'sobit_edu',
+                'robot_coords_x': '0', # x 
+                'robot_coords_y': '0', # y
+                'robot_coords_Y': '0', # yaw
+                'enable_gz_front_cam_color' : 'True',
+                'enable_gz_back_cam_color' : 'True',
+                'enable_gz_head_cam_color' : 'True',
+                'enable_gz_head_cam_depth' : 'True',
+                'enable_gz_hand_cam_color' : 'True',
+                'enable_gz_hand_cam_depth' : 'True',
+                'enable_gz_lidar' : 'True',
+                'enable_gz_imu' : 'True',
+            }.items()
+        ),
+        # Launch Robot No. 2
+        # IncludeLaunchDescription(
+        #     PythonLaunchDescriptionSource([
+        #         PathJoinSubstitution([
+        #             FindPackageShare('sobit_light_bringup'),
+        #             'launch',
+        #             'gz_robot.launch.py'
+        #         ])
+        #     ]),
+        #     launch_arguments={
+        #         'robot_name': 'sobit_light_2',
+        #         'robot_coords_x': '0', # x 
+        #         'robot_coords_y': '2', # y
+        #         'robot_coords_Y': '0', # yaw
+        #         'enable_gz_front_cam_color' : 'True',
+        #         'enable_gz_back_cam_color' : 'True',
+        #         'enable_gz_head_cam_color' : 'True',
+        #         'enable_gz_head_cam_depth' : 'True',
+        #         'enable_gz_hand_cam_color' : 'True',
+        #         'enable_gz_hand_cam_depth' : 'True',
+        #         'enable_gz_lidar' : 'True',
+        #         'enable_gz_imu' : 'True',
+        #     }.items()
+        # ),
+        rviz_node,
+    ])