fixed bad references

.github/workflows/build.yml

@@ -0,0 +1,14 @@
+name: Ros2 Build
+on:
+    - push
+    - pull_request
+
+jobs:
+    test:
+        runs-on: ubuntu-latest 
+        steps:
+            - uses: actions/checkout@v2
+            - name: build docker container
+              run: docker buildx build -t local .
+            - name: rosdep install and colcon build
+              run: docker run local /bin/bash -c "source /opt/ros/humble/setup.bash && rosdep install --from-paths src -y --ignore-src --rosdistro humble && colcon build --symlink-install"

.gitignore

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+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
+.#*
+
+# Catkin custom files
+CATKIN_IGNORE
+
+
+install/
+log/
+.vscode/*
+
+bloodstone.urdf

Dockerfile

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+# This is an auto generated Dockerfile for ros:ros-base
+# generated from docker_images_ros2/create_ros_image.Dockerfile.em
+FROM ros:humble-ros-base-jammy
+
+# install bootstrap tools
+RUN apt-get update && apt-get install --no-install-recommends -y \
+    build-essential \
+    git \
+    python3-colcon-common-extensions \
+    python3-colcon-mixin \
+    python3-rosdep \
+    python3-vcstool \
+    && rm -rf /var/lib/apt/lists/*
+
+# bootstrap rosdep
+RUN rosdep update --rosdistro $ROS_DISTRO
+# install ros2 packages
+RUN apt-get update && apt-get install -y --no-install-recommends \
+    ros-humble-ros-base=0.10.0-1*
+
+COPY src /workspace/src 
+
+WORKDIR /workspace

LICENSE

@@ -0,0 +1,21 @@
+MIT License
+
+Copyright (c) 2023 GoldRushRobotics
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.

README.md

@@ -0,0 +1 @@
+# Robot2023

launch.sh

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+#!/usr/bin/env bash
+
+echo "hello world"
+
+source /opt/ros/humble/setup.bash
+source /robotics/workspace/install/setup.bash
+
+ros2 launch grr_bringup bloodstone.launch.py

src/grr_bringup/config/controllers.yaml

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+controller_manager:
+  ros__parameters:
+    update_rate: 10  # Hz
+
+    joint_state_broadcaster:
+      type: joint_state_broadcaster/JointStateBroadcaster
+
+    grr_cmake_controller:
+      type: grr_cmake_controller/MecanumController
+
+    effort_controller:
+      type: effort_controllers/JointGroupEffortController
+
+joint_state_broadcaster:
+  ros__parameters:
+    extra_joints: [
+      "rear_right_roller_0_joint",
+      "rear_right_roller_1_joint",
+      "rear_right_roller_2_joint",
+      "rear_right_roller_3_joint",
+      "rear_right_roller_4_joint",
+      "rear_right_roller_5_joint",
+      "rear_right_roller_6_joint",
+      "rear_right_roller_7_joint",
+      "rear_right_roller_8_joint",
+      "rear_left_roller_0_joint",
+      "rear_left_roller_1_joint",
+      "rear_left_roller_2_joint",
+      "rear_left_roller_3_joint",
+      "rear_left_roller_4_joint",
+      "rear_left_roller_5_joint",
+      "rear_left_roller_6_joint",
+      "rear_left_roller_7_joint",
+      "rear_left_roller_8_joint",
+      "front_left_roller_0_joint",
+      "front_left_roller_1_joint",
+      "front_left_roller_2_joint",
+      "front_left_roller_3_joint",
+      "front_left_roller_4_joint",
+      "front_left_roller_5_joint",
+      "front_left_roller_6_joint",
+      "front_left_roller_7_joint",
+      "front_left_roller_8_joint",
+      "front_right_roller_0_joint",
+      "front_right_roller_1_joint",
+      "front_right_roller_2_joint",
+      "front_right_roller_3_joint",
+      "front_right_roller_4_joint",
+      "front_right_roller_5_joint",
+      "front_right_roller_6_joint",
+      "front_right_roller_7_joint",
+      "front_right_roller_8_joint"]
+
+grr_cmake_controller:
+  ros__parameters:
+    front_left_joint: "front_left_mecanum_joint"
+    front_right_joint: "front_right_mecanum_joint"
+    rear_left_joint: "rear_left_mecanum_joint"
+    rear_right_joint: "rear_right_mecanum_joint"
+
+    chassis_center_to_axle: 0.102 #4.125 in to m
+    axle_center_to_wheel: 0.1075 #4.25 in
+    wheel_radius: 0.0375 #1.5 in
+
+    cmd_vel_timeout: 0.5
+    use_stamped_vel: false
+effort_controller:
+  ros__parameters:
+    cmd_timeout: 1.0
+    joints:
+      - small_package_grabber_roller_1_joint
+      - small_package_sweeper_roller_joint