Merge branch 'main' of https://github.com/Gold-Rush-Robotics/Robot2023

.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

@@ -53,3 +53,5 @@ CATKIN_IGNORE
 
 install/
 log/
+
+bloodstone.urdf

.vscode/c_cpp_properties.json

@@ -0,0 +1,18 @@
+{
+    "configurations": [
+        {
+            "name": "Linux",
+            "includePath": [
+                "${workspaceFolder}/**",
+                "~/miniforge3/envs/ros_env/include/**",
+                "/robotics/bcm2835-1.73/**"
+            ],
+            "defines": [],
+            "compilerPath": "/usr/bin/gcc",
+            "cStandard": "c17",
+            "cppStandard": "gnu++17",
+            "intelliSenseMode": "linux-gcc-arm64"
+        }
+    ],
+    "version": 4
+}

.vscode/settings.json

@@ -0,0 +1,92 @@
+{
+    "files.associations": {
+        "cctype": "cpp",
+        "clocale": "cpp",
+        "cmath": "cpp",
+        "csignal": "cpp",
+        "cstdarg": "cpp",
+        "cstddef": "cpp",
+        "cstdio": "cpp",
+        "cstdlib": "cpp",
+        "cstring": "cpp",
+        "ctime": "cpp",
+        "cwchar": "cpp",
+        "cwctype": "cpp",
+        "array": "cpp",
+        "atomic": "cpp",
+        "strstream": "cpp",
+        "bit": "cpp",
+        "*.tcc": "cpp",
+        "bitset": "cpp",
+        "cfenv": "cpp",
+        "chrono": "cpp",
+        "codecvt": "cpp",
+        "compare": "cpp",
+        "complex": "cpp",
+        "concepts": "cpp",
+        "condition_variable": "cpp",
+        "cstdint": "cpp",
+        "deque": "cpp",
+        "forward_list": "cpp",
+        "list": "cpp",
+        "map": "cpp",
+        "set": "cpp",
+        "string": "cpp",
+        "unordered_map": "cpp",
+        "unordered_set": "cpp",
+        "vector": "cpp",
+        "exception": "cpp",
+        "algorithm": "cpp",
+        "functional": "cpp",
+        "iterator": "cpp",
+        "memory": "cpp",
+        "memory_resource": "cpp",
+        "numeric": "cpp",
+        "optional": "cpp",
+        "random": "cpp",
+        "ratio": "cpp",
+        "string_view": "cpp",
+        "system_error": "cpp",
+        "tuple": "cpp",
+        "type_traits": "cpp",
+        "utility": "cpp",
+        "fstream": "cpp",
+        "future": "cpp",
+        "initializer_list": "cpp",
+        "iomanip": "cpp",
+        "iosfwd": "cpp",
+        "iostream": "cpp",
+        "istream": "cpp",
+        "limits": "cpp",
+        "mutex": "cpp",
+        "new": "cpp",
+        "numbers": "cpp",
+        "ostream": "cpp",
+        "semaphore": "cpp",
+        "shared_mutex": "cpp",
+        "sstream": "cpp",
+        "stdexcept": "cpp",
+        "stop_token": "cpp",
+        "streambuf": "cpp",
+        "thread": "cpp",
+        "cinttypes": "cpp",
+        "typeindex": "cpp",
+        "typeinfo": "cpp",
+        "variant": "cpp"
+    },
+    "ros.distro": "humble",
+    "python.autoComplete.extraPaths": [
+        "/workspaces/DevEnv/repos/Robot2023/install/grr_test/lib/python3.10/site-packages",
+        "/workspaces/DevEnv/repos/Robot2023/install/grr_python_controllers/lib/python3.10/site-packages",
+        "/workspaces/DevEnv/repos/Robot2023/install/grr_bringup/lib/python3.10/site-packages",
+        "/opt/ros/humble/lib/python3.10/site-packages",
+        "/opt/ros/humble/local/lib/python3.10/dist-packages"
+    ],
+    "python.analysis.extraPaths": [
+        "/workspaces/DevEnv/repos/Robot2023/install/grr_test/lib/python3.10/site-packages",
+        "/workspaces/DevEnv/repos/Robot2023/install/grr_python_controllers/lib/python3.10/site-packages",
+        "/workspaces/DevEnv/repos/Robot2023/install/grr_bringup/lib/python3.10/site-packages",
+        "/opt/ros/humble/lib/python3.10/site-packages",
+        "/opt/ros/humble/local/lib/python3.10/dist-packages"
+    ]
+}

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

src/grr_bringup/config/controllers.yaml

@@ -0,0 +1,63 @@
+controller_manager:
+  ros__parameters:
+    update_rate: 1  # Hz
+
+    joint_state_broadcaster:
+      type: joint_state_broadcaster/JointStateBroadcaster
+
+    grr_cmake_controller:
+      type: grr_cmake_controller/MecanumController
+
+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: 0.104775 #4.125 in to m
+    axle_center_to_wheel: 0.10795 #4.25 in
+    wheel_radius: 0.0375 #1.5 in
+
+    cmd_vel_timeout: 0.5
+    use_stamped_vel: false