broken ros2 controller - previous worked fine

docker/Dockerfile

@@ -14,9 +14,9 @@ RUN apt-get update && apt-get install -y \
         ros-${ROS_DISTRO}-teleop-twist-keyboard
 
 RUN vcs import src < src/rosbot/rosbot_hardware.repos && \
-    cp -r src/ros2_controllers/diff_drive_controller src/ && \
-    cp -r src/ros2_controllers/imu_sensor_broadcaster src/ && \
-    rm -rf src/ros2_controllers && \
+    # cp -r src/ros2_controllers/diff_drive_controller src/ && \
+    # cp -r src/ros2_controllers/imu_sensor_broadcaster src/ && \
+    # rm -rf src/ros2_controllers && \
     rm -r src/rosbot_gazebo
 
 # Create a script to install runtime dependencies for final image

docker/compose.yaml

@@ -3,17 +3,17 @@ services:
     build:
       context: ..
       dockerfile: docker/Dockerfile
-    # command: tail -f /dev/null
     network_mode: host
     ipc: host
     devices:
       - ${SERIAL_PORT:?err}
       - /dev/bus/usb/ # FTDI
-    environment:
-      - ROS_NAMESPACE # For healthckeck node
+    # environment:
+    #   - ROS_NAMESPACE
+    # command: tail -f /dev/null
     command: >
       ros2 launch rosbot_bringup combined.launch.py
         mecanum:=${MECANUM:-False}
         serial_port:=$SERIAL_PORT
         serial_baudrate:=576000
-        namespace:=${ROS_NAMESPACE:-rosbot}
+    # namespace:=${ROS_NAMESPACE:-rosbot}

docker/justfile

@@ -32,14 +32,23 @@ flash-firmware: _install-yq _run-as-user
         echo "Probably user laptop"
         gpio_chip=/dev/bus/usb
         serial_port=$SERIAL_PORT
+        enable_usb="--usb"
     fi
 
     echo "Flashing the firmware for STM32 microcontroller in ROSbot through $serial_port"
     docker run --rm -it \
         --device $gpio_chip \
         --device $serial_port \
         docker-rosbot \
-        ros2 run rosbot_utils flash_firmware --usb
+        ros2 run rosbot_utils flash_firmware ${enable_usb}
+
+run:
+    #/bin/bash
+    docker compose up
+
+build:
+    #/bin/bash
+    docker compose build
 
 _run-as-root:
     #!/bin/bash

rosbot/rosbot_hardware copy.repos

@@ -0,0 +1,28 @@
+repositories:
+  rosbot_hardware_interfaces:
+    type: git
+    url: https://github.com/husarion/rosbot_hardware_interfaces.git
+    version: main
+  ros_components_description:
+    type: git
+    url: https://github.com/husarion/ros_components_description.git
+    version: 1cb25600afa5941d21d48c0af8e63ad2eb3afaa0
+  husarion_controllers:
+    type: git
+    url: https://github.com/husarion/husarion_controllers
+    version: 217b09830f5f42930098b9992eda41710702b625
+  # Waiting for backporting to the humble version
+  # https://github.com/ros-controls/ros2_controllers/pull/726 and
+  # https://github.com/ros-controls/ros2_controllers/pull/831
+  ros2_controllers:
+    type: git
+    url: https://github.com/delihus/ros2_controllers
+    version: humble
+  micro_ros_msgs:
+    type: git
+    url: https://github.com/micro-ROS/micro_ros_msgs.git
+    version: humble
+  micro-ROS-Agent:
+    type: git
+    url: https://github.com/micro-ROS/micro-ROS-Agent.git
+    version: humble

rosbot/rosbot_hardware.repos

@@ -10,14 +10,7 @@ repositories:
   husarion_controllers:
     type: git
     url: https://github.com/husarion/husarion_controllers
-    version: 217b09830f5f42930098b9992eda41710702b625
-  # Waiting for backporting to the humble version
-  # https://github.com/ros-controls/ros2_controllers/pull/726 and
-  # https://github.com/ros-controls/ros2_controllers/pull/831
-  ros2_controllers:
-    type: git
-    url: https://github.com/delihus/ros2_controllers
-    version: humble
+    version: main
   micro_ros_msgs:
     type: git
     url: https://github.com/micro-ROS/micro_ros_msgs.git