Merge pull request #84 from husarion/ros2-combined-microros

included launch for microros

.github/workflows/bump_version.yaml

@@ -7,9 +7,9 @@ on:
                 description: Version to bump (major, minor, patch)
                 default: patch
                 required: true
-    pull_request:
-        branches: humble
-        types: [closed]
+        pull_request:
+            branches: humble
+            types: [closed]
 
 jobs:
     industrial_ci:

.github/workflows/industrial_ci.yaml

@@ -5,43 +5,73 @@ on:
     workflow_dispatch:
     push:
 
-
 jobs:
     black:
         name: Black
-        runs-on: ubuntu-latest
+        runs-on: ubuntu-22.04
         steps:
-            - uses: actions/checkout@v3
-            - uses: psf/black@stable
+            - name: Checkout
+              uses: actions/checkout@v3
+            - name: Black
+              uses: psf/[email protected]
               with:
                   options: --line-length=99
 
     spellcheck:
         name: Spellcheck
-        runs-on: ubuntu-latest
+        runs-on: ubuntu-22.04
         steps:
-            - uses: actions/checkout@v3
-            - uses: rojopolis/[email protected]
-              name: Spellcheck
+            - name: Checkout
+              uses: actions/checkout@v3
+            - name: Spellcheck
+              uses: rojopolis/[email protected]
 
     ros_industrial_ci:
         name: ROS Industrial CI
+        runs-on: ubuntu-22.04
+        timeout-minutes: 30 # Set the job timeout to 30 minutes
         needs:
             - black
             - spellcheck
         strategy:
             fail-fast: false
             matrix:
                 ROS_DISTRO: [humble]
-        runs-on: ubuntu-latest
         steps:
-            - uses: actions/checkout@v3
+            - name: Checkout
+              uses: actions/checkout@v3
+
+            - name: Act + Docker fix
+              run: |
+                  sudo chown runner:docker /var/run/docker.sock
+
+            - name: Copy to src
+              run: |
+                  mkdir -p src
+                  find . -maxdepth 1 -not -name src -not -name . -exec mv {} src/ \;
+
             - name: Clone installation requirements
               shell: bash
-              run: python3 -m pip install -U vcstool && vcs import . < ./rosbot/rosbot_hardware.repos && vcs import . < ./rosbot/rosbot_simulation.repos
+              run: |
+                  python3 -m pip install -U vcstool
+                  vcs import src < src/rosbot/rosbot_hardware.repos && vcs import src < src/rosbot/rosbot_simulation.repos
+
             - name: Copy only diff_drive_controller and imu_sensor_broadcaster, waits for features from ros2-control
               shell: bash
-              run: cp -r ros2_controllers/diff_drive_controller . && cp -r ros2_controllers/imu_sensor_broadcaster . && rm -rf ros2_controllers
-            - uses: ros-industrial/industrial_ci@master
+              run: |
+                  cp -r src/ros2_controllers/diff_drive_controller src/
+                  cp -r src/ros2_controllers/imu_sensor_broadcaster src/
+                  rm -rf src/ros2_controllers
+
+            # Package micro_ros_msgs does not have industrial ci and tests does not pass.
+            # For more information see https://github.com/micro-ROS/micro_ros_msgs/issues/7
+            - name: Remove tests from micro_ros_msgs
+              shell: bash
+              run: sed '/if(BUILD_TESTING)/,/endif()/d' src/micro_ros_msgs/CMakeLists.txt -i
+
+            - name: Running ROS Industrial CI
+              uses: ros-industrial/industrial_ci@master
               env:
                   ROS_DISTRO: ${{matrix.ROS_DISTRO}}
+                  DOCKER_IMAGE: ros:${{matrix.ROS_DISTRO}}-ros-base
+                  IMMEDIATE_TEST_OUTPUT: true

.wordlist.txt

@@ -125,3 +125,9 @@ TODO
 delipl
 microros
 namespaces
+fastdds
+localhost
+SHM
+UDPv
+CustomUdpTransport
+UDPv

README.md

@@ -149,6 +149,21 @@ cd src/
 black rosbot*
 ```
 
+### Testing `.github/workflows/industrial_ci.yaml` Locally
+
+At fist install [act](https://github.com/nektos/act):
+
+```
+cd /
+curl -s https://raw.githubusercontent.com/nektos/act/master/install.sh | sudo bash
+```
+
+And test the workflow with:
+
+```
+act -W .github/workflows/industrial_ci.yaml
+```
+
 ## Demo
 Below you can find demos with ROSbots:
 - in [rosbot-docker](https://github.com/husarion/rosbot-docker/tree/ros2) you will find a simple example how to drive ROSbot with `teleop_twist_keyboard`.

rosbot/rosbot_hardware.repos

@@ -18,3 +18,11 @@ repositories:
     type: git
     url: https://github.com/delihus/ros2_controllers
     version: humble-backport
+  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_bringup/config/microros_localhost_only.xml

@@ -0,0 +1,26 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!--The only purpose of this file is to disable
+Fast-DDS SHM transport used by default to use UDPv4-->
+<dds>
+    <profiles xmlns="http://www.eprosima.com/XMLSchemas/fastRTPS_Profiles">
+        <transport_descriptors>
+            <transport_descriptor>
+                <transport_id>CustomUdpTransport</transport_id>
+                <type>UDPv4</type>
+                <interfaceWhiteList>
+                    <address>127.0.0.1</address>
+                </interfaceWhiteList>
+            </transport_descriptor>
+        </transport_descriptors>
+
+        <participant profile_name="participant_profile" is_default_profile="true">
+            <rtps>
+                <userTransports>
+                    <transport_id>CustomUdpTransport</transport_id>
+                </userTransports>
+
+                <useBuiltinTransports>false</useBuiltinTransports>
+            </rtps>
+        </participant>
+    </profiles>
+</dds>

rosbot_bringup/launch/combined.launch.py

@@ -0,0 +1,117 @@
+# Copyright 2023 Husarion
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from launch import LaunchDescription
+from launch_ros.substitutions import FindPackageShare
+from launch.actions import (
+    IncludeLaunchDescription,
+    DeclareLaunchArgument,
+    SetEnvironmentVariable,
+    OpaqueFunction,
+)
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.substitutions import ThisLaunchFileDir, LaunchConfiguration
+from launch_ros.actions import Node
+import os
+
+
+def generate_microros_agent_node(context, *args, **kwargs):
+    # Additional environment variable setup actions
+    env_setup_actions = []
+
+    # Check if ROS_DOMAIN_ID is set and not empty
+    ros_domain_id = os.environ.get("ROS_DOMAIN_ID")
+    if ros_domain_id:
+        env_setup_actions.append(
+            SetEnvironmentVariable(name="XRCE_DOMAIN_ID_OVERRIDE", value=ros_domain_id)
+        )
+
+    serial_port = LaunchConfiguration("serial_port").perform(context)
+    serial_baudrate = LaunchConfiguration("serial_baudrate").perform(context)
+    localhost_only_fastrtps_profiles_file = LaunchConfiguration(
+        "localhost_only_fastrtps_profiles_file"
+    ).perform(context)
+
+    if os.environ.get("ROS_LOCALHOST_ONLY") == "1":
+        # with localhost only setup fastdds is required with a custom config
+        rmw_implementation = "rmw_fastrtps_cpp"
+
+        env_setup_actions.extend(
+            [
+                SetEnvironmentVariable(name="RMW_IMPLEMENTATION", value=rmw_implementation),
+                SetEnvironmentVariable(
+                    name="FASTRTPS_DEFAULT_PROFILES_FILE",
+                    value=localhost_only_fastrtps_profiles_file,
+                ),
+            ]
+        )
+
+        microros_agent_node = Node(
+            package="micro_ros_agent",
+            executable="micro_ros_agent",
+            arguments=["serial", "-D", serial_port, "-b", serial_baudrate],
+            output="screen",
+        )
+
+        return env_setup_actions + [microros_agent_node]
+    else:
+        microros_agent_node = Node(
+            package="micro_ros_agent",
+            executable="micro_ros_agent",
+            arguments=["serial", "-D", serial_port, "-b", serial_baudrate],
+            output="screen",
+        )
+
+        return env_setup_actions + [microros_agent_node]
+
+
+def generate_launch_description():
+    declare_serial_port_arg = DeclareLaunchArgument(
+        "serial_port",
+        default_value="/dev/ttySERIAL",
+        description="Serial port for micro-ROS agent",
+    )
+
+    declare_serial_baudrate_arg = DeclareLaunchArgument(
+        "serial_baudrate", default_value="576000", description="Baud rate for serial communication"
+    )
+
+    # Locate the rosbot_bringup package
+    package_dir = FindPackageShare("rosbot_bringup").find("rosbot_bringup")
+
+    # Construct the path to the XML file within the package
+    fastrtps_profiles_file = os.path.join(package_dir, "config", "microros_localhost_only.xml")
+
+    declare_localhost_only_fastrtps_profiles_file_arg = DeclareLaunchArgument(
+        "localhost_only_fastrtps_profiles_file",
+        default_value=fastrtps_profiles_file,
+        description=(
+            "Path to the Fast RTPS default profiles file for Micro-ROS agent for localhost only"
+            " setup"
+        ),
+    )
+
+    bringup_launch = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource([ThisLaunchFileDir(), "/bringup.launch.py"])
+    )
+
+    return LaunchDescription(
+        [
+            declare_serial_port_arg,
+            declare_serial_baudrate_arg,
+            declare_localhost_only_fastrtps_profiles_file_arg,
+            OpaqueFunction(function=generate_microros_agent_node),
+            bringup_launch,
+        ]
+    )

rosbot_bringup/package.xml

@@ -17,6 +17,7 @@
   <exec_depend>launch_ros</exec_depend>
   <exec_depend>rosbot_controller</exec_depend>
   <exec_depend>robot_localization</exec_depend>
+  <exec_depend>micro_ros_agent</exec_depend>
 
   <test_depend>python3-pytest</test_depend>
   <test_depend>launch</test_depend>

rosbot_bringup/setup.py

@@ -27,6 +27,7 @@
         ("share/" + package_name, ["package.xml"]),
         (os.path.join("share", package_name, "launch"), glob("launch/*.launch.py")),
         (os.path.join("share", package_name, "config"), glob("config/*.yaml")),
+        (os.path.join("share", package_name, "config"), glob("config/*.xml")),
     ],
     install_requires=["setuptools"],
     zip_safe=True,