General changes to maintain the code working

.github/workflows/tests.yaml

@@ -17,15 +17,6 @@ jobs:
         with:
           options: --line-length=99
 
-  spellcheck:
-    name: Spellcheck
-    runs-on: ubuntu-22.04
-    steps:
-      - name: Checkout
-        uses: actions/checkout@v3
-      - name: Spellcheck
-        uses: rojopolis/[email protected]
-
   industrial_ci:
     name: Industrial CI
     runs-on: ubuntu-22.04
@@ -38,18 +29,13 @@ jobs:
       - name: Checkout
         uses: actions/checkout@v3
 
-      - name: Act + Docker fix
-        run: |
-          sudo chown runner:docker /var/run/docker.sock
-
       - name: Setup ROS2 Workspace and Clone Repositories
         run: |
           mkdir -p src
           find . -maxdepth 1 -not -name src -not -name . -exec mv {} src/ \;
           python3 -m pip install -U vcstool
           vcs import src < src/rosbot/rosbot_hardware.repos
           vcs import src < src/rosbot/rosbot_simulation.repos
-          cp -r src/ros2_controllers/diff_drive_controller src/
           cp -r src/ros2_controllers/imu_sensor_broadcaster src/
           rm -rf src/ros2_controllers
 
@@ -58,7 +44,6 @@ jobs:
       - name: Leave only ROSbot tests
         shell: bash
         run: |
-          sed '/if(BUILD_TESTING)/,/endif()/d' src/diff_drive_controller/CMakeLists.txt -i
           sed '/if(BUILD_TESTING)/,/endif()/d' src/imu_sensor_broadcaster/CMakeLists.txt -i
           sed '/if(BUILD_TESTING)/,/endif()/d' src/micro_ros_msgs/CMakeLists.txt -i
 

.pre-commit-config.yaml

@@ -1,7 +1,7 @@
 ---
 repos:
   - repo: https://github.com/pre-commit/pre-commit-hooks
-    rev: v4.5.0
+    rev: v5.0.0
     hooks:
       - id: check-merge-conflict
       - id: trailing-whitespace
@@ -16,7 +16,7 @@ repos:
         args: [--pytest-test-first]
 
   - repo: https://github.com/codespell-project/codespell
-    rev: v2.2.6
+    rev: v2.3.0
     hooks:
       - id: codespell
         name: codespell
@@ -33,13 +33,13 @@ repos:
         args: [--mapping, '2', --sequence, '4', --offset, '2', --width, '100']
 
   - repo: https://github.com/psf/black
-    rev: 24.4.0
+    rev: 24.10.0
     hooks:
       - id: black
         args: [--line-length=99]
 
   - repo: https://github.com/PyCQA/flake8
-    rev: 7.0.0
+    rev: 7.1.1
     hooks:
       - id: flake8
         args: ['--ignore=E501,W503']   # ignore too long line and line break before binary operator,
@@ -71,7 +71,7 @@ repos:
 
       # Docs - RestructuredText hooks
   - repo: https://github.com/PyCQA/doc8
-    rev: v1.1.1
+    rev: v1.1.2
     hooks:
       - id: doc8
         args: [--max-line-length=100, --ignore=D001]

README.md

@@ -48,9 +48,9 @@ sudo apt-get install -y python3-pip ros-dev-tools stm32flash
 Create workspace folder and clone `rosbot_ros` repository:
 
 ```bash
-mkdir -p ros2_ws/src
+mkdir -p ros2_ws
 cd ros2_ws
-git clone https://github.com/husarion/rosbot_ros src/
+git clone https://github.com/husarion/rosbot_ros src/rosbot_ros
 ```
 
 ### Build and run on hardware
@@ -62,17 +62,14 @@ export HUSARION_ROS_BUILD=hardware
 
 source /opt/ros/$ROS_DISTRO/setup.bash
 
-vcs import src < src/rosbot/rosbot_hardware.repos
+vcs import src < src/rosbot_ros/rosbot/rosbot_hardware.repos
 
-# Build only diff_drive_controller and imu_sensor_broadcaster from 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
+rm -r src/rosbot_ros/rosbot_gazebo
 
 sudo rosdep init
 rosdep update --rosdistro $ROS_DISTRO
 rosdep install -i --from-path src --rosdistro $ROS_DISTRO -y
-colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release
+colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release
 ```
 
 Flash firmware:
@@ -91,42 +88,23 @@ ros2 launch rosbot_bringup combined.launch.py
 
 ### Build and run Gazebo simulation
 
-Prerequisites:
-
-> [!TIP]
-> The default version of Gazebo Ignition will be installed with the instructions below. If you want to install a different version of the simulator, it is necessary to:
->
-> - Check compatible versions of ROS 2 and Gazebo in [this table](https://gazebosim.org/docs/garden/ros_installation#summary-of-compatible-ros-and-gazebo-combinations)
-> - [Install the appropriate version](https://gazebosim.org/docs/fortress/install_ubuntu#binary-installation-on-ubuntu),
-> - Add the `GZ_VERSION` environment variable appropriate to your version
->
->   ```bash
->   export GZ_VERSION=fortress
->   ```
-
-If you have installed multiple versions of Gazebo use the global variable to select the correct one:
-
-```bash
-export GZ_VERSION=fortress
-```
-
 Building:
 
 ```bash
 export HUSARION_ROS_BUILD=simulation
 
 source /opt/ros/$ROS_DISTRO/setup.bash
 
-vcs import src < src/rosbot/rosbot_hardware.repos
-vcs import src < src/rosbot/rosbot_simulation.repos
+vcs import src < src/rosbot_ros/rosbot/rosbot_hardware.repos
+vcs import src < src/rosbot_ros/rosbot/rosbot_simulation.repos
 
-# Build only diff_drive_controller and imu_sensor_broadcaster from 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
+# Build only imu_sensor_broadcaster from ros2_controllers
+cp -r src/ros2_controllers/imu_sensor_broadcaster src && rm -rf src/ros2_controllers
 
 sudo rosdep init
 rosdep update --rosdistro $ROS_DISTRO
 rosdep install -i --from-path src --rosdistro $ROS_DISTRO -y
-colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release
+colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release
 ```
 
 Running:
@@ -173,7 +151,7 @@ colcon test-result --verbose
 ### Format python code with [Black](https://github.com/psf/black)
 
 ```bash
-cd src/
+cd src/rosbot_ros
 black rosbot*
 ```
 

docker/.env

@@ -1,2 +1,2 @@
 SERIAL_PORT=/dev/ttyUSB0
-ROS_NAMESPACE=robot1
+ROS_NAMESPACE=robot1