use husarion-controller from main branch (#116)

* added docker setup for local build

* ros2 humble works without custom controllers

docker/.env

@@ -0,0 +1,2 @@
+SERIAL_PORT=/dev/ttyUSB0
+ROS_NAMESPACE=robot1

docker/Dockerfile

@@ -0,0 +1,32 @@
+ARG ROS_DISTRO=humble
+
+FROM husarnet/ros:${ROS_DISTRO}-ros-base
+
+SHELL ["/bin/bash", "-c"]
+
+WORKDIR /ros2_ws
+
+COPY . src/
+
+RUN apt-get update && apt-get install -y \
+        python3-pip \
+        stm32flash \
+        ros-${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 && \
+    rm -r src/rosbot_gazebo
+
+# Create a script to install runtime dependencies for final image
+RUN apt update && \
+    rosdep install --from-paths src --ignore-src --rosdistro=${ROS_DISTRO} --reinstall --simulate -y --dependency-types exec >> /rosdep_install.sh && \
+    chmod +x /rosdep_install.sh
+
+RUN apt update && \
+    rosdep install --from-paths src --ignore-src --rosdistro=${ROS_DISTRO} -y  && \
+    source /opt/ros/$ROS_DISTRO/setup.bash && \
+    colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release  && \
+    echo $(cat /ros2_ws/src/rosbot/package.xml | grep '<version>' | sed -r 's/.*<version>([0-9]+.[0-9]+.[0-9]+)<\/version>/\1/g') >> /version.txt && \
+    rm -rf build log src

docker/compose.yaml

@@ -0,0 +1,19 @@
+services:
+  rosbot:
+    build:
+      context: ..
+      dockerfile: docker/Dockerfile
+    network_mode: host
+    ipc: host
+    devices:
+      - ${SERIAL_PORT:?err}
+      - /dev/bus/usb/ # FTDI
+    # environment:
+    #   - ROS_NAMESPACE
+    # command: tail -f /dev/null
+    command: >
+      ros2 launch rosbot_bringup combined.launch.py
+        mecanum:=${MECANUM:-False}
+        serial_port:=$SERIAL_PORT
+        serial_baudrate:=576000
+    # namespace:=${ROS_NAMESPACE:-rosbot}

docker/justfile

@@ -0,0 +1,89 @@
+set dotenv-load # to read ROBOT_NAMESPACE from .env file
+
+[private]
+default:
+    @just --list --unsorted
+
+[private]
+alias flash := flash-firmware
+
+[private]
+alias teleop := run-teleop-docker
+
+# run teleop_twist_keybaord (inside rviz2 container)
+run-teleop-docker: _run-as-user
+    #!/bin/bash
+    docker compose exec rosbot /bin/bash -c "/ros_entrypoint.sh ros2 run teleop_twist_keyboard teleop_twist_keyboard" # --ros-args -r __ns:=/${ROS_NAMESPACE}"
+
+flash-firmware: _install-yq _run-as-user
+    #!/bin/bash
+    echo "Stopping all running containers"
+    docker ps -q | xargs -r docker stop
+
+    if grep -q "Raspberry Pi" /proc/cpuinfo; then
+        echo "Setting up Raspberry Pi GPIO Port"
+        gpio_chip=/dev/gpiochip0
+        serial_port=/dev/ttyAMA0
+    elif grep -q "Intel(R) Atom(TM) x5-Z8350" /proc/cpuinfo; then
+        echo "Setting up UpBoard GPIO Port"
+        gpio_chip=/dev/gpiochip4
+        serial_port=/dev/ttyS4
+    else
+        echo "Probably user laptop"
+        gpio_chip=/dev/bus/usb
+        serial_port=$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 ${enable_usb}
+
+run:
+    #/bin/bash
+    docker compose up
+
+build:
+    #/bin/bash
+    docker compose build
+
+_run-as-root:
+    #!/bin/bash
+    if [ "$EUID" -ne 0 ]; then
+        echo -e "\e[1;33mPlease re-run as root user to install dependencies\e[0m"
+        exit 0
+    fi
+
+_run-as-user:
+    #!/bin/bash
+    if [ "$EUID" -eq 0 ]; then
+        echo -e "\e[1;33mPlease re-run as non-root user\e[0m"
+        exit 0
+    fi
+
+_install-yq:
+    #!/bin/bash
+    if ! command -v /usr/bin/yq &> /dev/null; then
+        if [ "$EUID" -ne 0 ]; then
+            echo -e "\e[1;33mPlease run as root to install dependencies\e[0m"
+            exit 0
+        fi
+
+        YQ_VERSION=v4.35.1
+        ARCH=$(arch)
+
+        if [ "$ARCH" = "x86_64" ]; then
+            YQ_ARCH="amd64"
+        elif [ "$ARCH" = "aarch64" ]; then
+            YQ_ARCH="arm64"
+        else
+            YQ_ARCH="$ARCH"
+        fi
+
+        curl -L https://github.com/mikefarah/yq/releases/download/${YQ_VERSION}/yq_linux_${YQ_ARCH} -o /usr/bin/yq
+        chmod +x /usr/bin/yq
+        echo "yq installed successfully!"
+    fi

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