Jazzy 2.0 RC

.github/workflows/ci.yml

@@ -8,15 +8,33 @@ on:
 
 jobs:
   build_and_test:
-    name: humble
+    name: jazzy
     strategy:
       matrix:
         env:
-          - {ROS_DISTRO: humble, ROS_REPO: testing}
-          - {ROS_DISTRO: humble, ROS_REPO: main}
+          - {ROS_DISTRO: jazzy, ROS_REPO: testing}
+          - {ROS_DISTRO: jazzy, ROS_REPO: main}
       fail-fast: false
-    runs-on: ubuntu-22.04
+    runs-on: ubuntu-24.04
     steps:
       - uses: actions/checkout@v3
       - uses: 'ros-industrial/industrial_ci@master'
         env: ${{matrix.env}}
+
+  clearpath_simulator_src_ci:
+    name: Jazzy Clearpath Source
+    runs-on: ubuntu-24.04
+    steps:
+      - uses: actions/checkout@v3
+      - uses: ros-tooling/setup-ros@v0.7
+        with:
+          required-ros-distributions: jazzy
+      - uses: ros-tooling/action-ros-ci@v0.3
+        id: action_ros_ci_step
+        with:
+          target-ros2-distro: jazzy
+          package-name: |
+            clearpath_generator_gz
+            clearpath_gz
+            clearpath_simulator
+          vcs-repo-file-url: dependencies.repos

.gitignore

@@ -0,0 +1,54 @@
+devel/
+logs/
+build/
+bin/
+lib/
+msg_gen/
+srv_gen/
+msg/*Action.msg
+msg/*ActionFeedback.msg
+msg/*ActionGoal.msg
+msg/*ActionResult.msg
+msg/*Feedback.msg
+msg/*Goal.msg
+msg/*Result.msg
+msg/_*.py
+build_isolated/
+devel_isolated/
+
+# Generated by dynamic reconfigure
+*.cfgc
+/cfg/cpp/
+/cfg/*.py
+
+# Ignore generated docs
+*.dox
+*.wikidoc
+
+# eclipse stuff
+.project
+.cproject
+
+# qcreator stuff
+CMakeLists.txt.user
+
+srv/_*.py
+*.pcd
+*.pyc
+qtcreator-*
+*.user
+
+/planning/cfg
+/planning/docs
+/planning/src
+
+*~
+
+# Emacs
+.#*
+
+# VS Code
+.vscode
+
+# Catkin custom files
+CATKIN_IGNORE

README.md

@@ -3,15 +3,15 @@
 ## Setup
 
 Prerequisites:
-  - Install [ROS 2 Humble](https://docs.ros.org/en/humble/Installation/Ubuntu-Install-Debians.html)
+  - Install [ROS 2 Jazzy](https://docs.ros.org/en/jazzy/Installation/Ubuntu-Install-Debians.html)
 
-### Ignition Fortress
+### Gazebo Harmonic
+
+See [Gazebo Installation](https://gazebosim.org/docs/latest/ros_installation/) for more information
+on installing Gazebo.
 
 ```
-sudo apt-get update && sudo apt-get install wget
-sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'
-wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -
-sudo apt-get update && sudo apt-get install ignition-fortress
+sudo apt-get install ros-${ROS_DISTRO}-ros-gz
 ```
 
 ### Workspace
@@ -37,4 +37,48 @@ Copy your `robot.yaml` into `~/clearpath`
 
 ```
 ros2 launch clearpath_gz simulation.launch.py
-```
+```
+
+## Worlds
+
+The `clearpath_gz` package includes several simulation worlds. To select a specific world, use the
+`world` launch parameter, e.g.
+```
+ros2 launch clearpath_gz simulation.launch.py world:=pipeline
+```
+
+Available worlds are:
+
+| World                 | Description                                                                                                            | Screenshots                  | Geographic Location      |
+|-----------------------|------------------------------------------------------------------------------------------------------------------------|------------------------------|--------------------------|
+| `construction`        | The same floorplan as the `office` world, but under construction. Features non-solid walls and debris piles.           | [link](docs/construction.md) | Waterloo ON, Canada      |
+| `office`              | The same floorplan as the `construction` world. Features narrow hallways, doorways, meeting rooms, and loading docks.  | [link](docs/office.md)       | Waterloo ON, Canada      |
+| `orchard`             | An outdoor, agricultural environment featuring rows of trees. The terrain has small slopes, but is mostly flat.        | [link](docs/orchard.md)      | Nikea, Greece            |
+| `pipeline`            | A rugged, outdoor environment featuring steeper hills, a river and bridge, a small cave, solar panels, and a pipeline. | [link](docs/pipeline.md)     | Northern Alberta, Canada |
+| `solar_farm`          | An outdoor, agricultural environmentf featuring gentle hills, a barn, rows of solar panels, and fences.                | [link](docs/solar_farm.md)   | Stonewall MB, Canada     |
+| `warehouse` (default) | A flat, indoor warehouse environment. Features shelves and people.                                                     | [link](docs/warehouse.md)    | Rio de Janeiro, Brazil   |
+
+
+## Creating Map Tiles
+
+The `orchard`, `pipeline`, and `solar_farm` worlds include geotagged TIF images in the `geotif`
+directory. These images can be used to generate map tiles of the simulation environment, if
+desired.
+
+To generate the tiles, first install the `gdal-bin` package:
+```bash
+sudo apt install gdal-bin
+```
+
+Then run the following command to generate the tiles:
+```bash
+gdal2tiles.py $(ros2 pkg prefix clearpath_gz)/share/clearpath_gz/geotif/WORLD_geo.tif
+```
+substituting `WORLD` with `orchard`, `pipeline`, or `solar_farm`.
+
+The generated files will be located in the current working directory in a new directory called
+`WORLD_geo` (e.g. `pipeline_geo`).
+
+Note that while the simulation worlds' locations have been chosen to be geographically similar to
+the envrionments depicted, the simulations are wholly fictional locations; the generated tiles
+will not mesh seamlessly into any satellite map of the region depicted.

clearpath_generator_gz/CMakeLists.txt

@@ -11,6 +11,7 @@ find_package(ament_cmake_python REQUIRED)
 
 install(PROGRAMS
   ${PROJECT_NAME}/launch/generate_launch
+  ${PROJECT_NAME}/nodes/ptz_controller_node
   ${PROJECT_NAME}/param/generate_param
   DESTINATION lib/${PROJECT_NAME}
 )

clearpath_generator_gz/clearpath_generator_gz/launch/generator.py

@@ -31,22 +31,19 @@
 # Redistribution and use in source and binary forms, with or without
 # modification, is not permitted without the express permission
 # of Clearpath Robotics.
+import os
 
 from clearpath_config.common.types.platform import Platform
-
 from clearpath_generator_common.common import LaunchFile
-from clearpath_generator_common.launch.writer import LaunchWriter
 from clearpath_generator_common.launch.generator import LaunchGenerator
-
+from clearpath_generator_common.launch.writer import LaunchWriter
 from clearpath_generator_gz.launch.sensors import SensorLaunch
 
-import os
-
 
 class GzLaunchGenerator(LaunchGenerator):
-    GZ_TO_ROS_TWIST = '@geometry_msgs/msg/Twist[ignition.msgs.Twist'
-    ROS_TO_GZ_TWIST = '@geometry_msgs/msg/Twist]ignition.msgs.Twist'
-    GZ_TO_ROS_TF = '@tf2_msgs/msg/TFMessage[ignition.msgs.Pose_V'
+    GZ_TO_ROS_TWIST = '@geometry_msgs/msg/TwistStamped[gz.msgs.Twist'
+    ROS_TO_GZ_TWIST = '@geometry_msgs/msg/TwistStamped]gz.msgs.Twist'
+    GZ_TO_ROS_TF = '@tf2_msgs/msg/TFMessage[gz.msgs.Pose_V'
 
     def __init__(self, setup_path: str = '/etc/clearpath/') -> None:
         super().__init__(setup_path)
@@ -73,7 +70,7 @@ def __init__(self, setup_path: str = '/etc/clearpath/') -> None:
         cmd_vel_robot_bridge_arg = '/model/' + self.robot_name + '/cmd_vel' + self.ROS_TO_GZ_TWIST
         cmd_vel_robot_bridge_remap = (
             '/model/' + self.robot_name + '/cmd_vel',
-            'platform/cmd_vel_unstamped'
+            'platform/cmd_vel'
           )
 
         self.cmd_vel_node = LaunchFile.Node(
@@ -152,62 +149,49 @@ def __init__(self, setup_path: str = '/etc/clearpath/') -> None:
           }]
         )
 
+        # Common components for all platforms
+        self.common_platform_components = [
+            self.cmd_vel_node,
+            self.odom_base_node
+        ]
+
         # Components required for each platform
         self.platform_components = {
-            Platform.J100: [
-                self.cmd_vel_node,
-                self.odom_base_node,
+            Platform.J100: self.common_platform_components + [
                 self.imu_0_bridge_node,
                 self.imu_filter_arg,
                 self.imu_filter_node,
                 self.gps_0_bridge_node,
             ],
-            Platform.A200: [
-                self.cmd_vel_node,
-                self.odom_base_node,
-            ],
-            Platform.DD100: [
-                self.cmd_vel_node,
-                self.odom_base_node,
+            Platform.A200: self.common_platform_components,
+            Platform.A300: self.common_platform_components,
+            Platform.DD100: self.common_platform_components + [
                 self.imu_0_bridge_node,
                 self.imu_filter_arg,
                 self.imu_filter_node,
             ],
-            Platform.DD150: [
-                self.cmd_vel_node,
-                self.odom_base_node,
+            Platform.DD150:  self.common_platform_components + [
                 self.imu_0_bridge_node,
                 self.imu_filter_arg,
                 self.imu_filter_node,
             ],
-            Platform.DO100: [
-                self.cmd_vel_node,
-                self.odom_base_node,
+            Platform.DO100: self.common_platform_components + [
                 self.imu_0_bridge_node,
                 self.imu_filter_arg,
                 self.imu_filter_node,
             ],
-            Platform.DO150: [
-                self.cmd_vel_node,
-                self.odom_base_node,
+            Platform.DO150: self.common_platform_components + [
                 self.imu_0_bridge_node,
                 self.imu_filter_arg,
                 self.imu_filter_node,
             ],
-            Platform.GENERIC: [
-                self.cmd_vel_node,
-                self.odom_base_node,
-            ],
-            Platform.R100: [
-                self.cmd_vel_node,
-                self.odom_base_node,
+            Platform.GENERIC: self.common_platform_components,
+            Platform.R100: self.common_platform_components + [
                 self.imu_0_bridge_node,
                 self.imu_filter_arg,
                 self.imu_filter_node,
             ],
-            Platform.W200: [
-                self.cmd_vel_node,
-                self.odom_base_node,
+            Platform.W200: self.common_platform_components + [
                 self.imu_0_bridge_node,
                 self.imu_filter_arg,
                 self.imu_filter_node,