test

.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

@@ -1,66 +1,75 @@
 ---
 name: Industrial CI
 on:
-    workflow_call:
-    workflow_dispatch:
-    push:
+  workflow_call:
+  workflow_dispatch:
+  push:
 
 jobs:
-    black:
-        name: Black
-        runs-on: ubuntu-22.04
-        steps:
-            - name: Checkout
-              uses: actions/checkout@v3
-            - name: Black
-              uses: psf/[email protected]
-              with:
-                  options: --line-length=99
+  black:
+      name: Black
+      runs-on: ubuntu-22.04
+      steps:
+          - name: Checkout
+            uses: actions/checkout@v3
+          - name: Black
+            uses: psf/[email protected]
+            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]
+  spellcheck:
+      name: Spellcheck
+      runs-on: ubuntu-22.04
+      steps:
+          - name: Checkout
+            uses: actions/checkout@v3
+          - name: Spellcheck
+            uses: rojopolis/[email protected]
 
-    ros_industrial_ci:
-        name: ROS Industrial CI
-        needs:
-            - black
-            - spellcheck
-        strategy:
-            fail-fast: false
-            matrix:
-                ROS_DISTRO: [humble]
-        runs-on: ubuntu-22.04
+  ros_industrial_ci:
+    name: ROS Industrial CI
+    needs:
+        - black
+        - spellcheck
+    strategy:
+      fail-fast: false
+      matrix:
+        ROS_DISTRO: [humble]
+    runs-on: ubuntu-22.04
 
-        steps:
-            - name: Checkout
-              uses: actions/checkout@v3
+    steps:
+      - name: Checkout
+        uses: actions/checkout@v3
 
-            - name: Copy to src
-              run: |
-                  mkdir -p src
-                  find . -maxdepth 1 -not -name src -not -name . -exec mv {} src/ \;
+      - name: Act + Docker fix
+        run: |
+          sudo chown runner:docker /var/run/docker.sock
 
-            - name: Clone installation requirements
-              shell: bash
-              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 to src
+        run: |
+          mkdir -p src
+          find . -maxdepth 1 -not -name src -not -name . -exec mv {} src/ \;
 
-            - name: Copy only diff_drive_controller and imu_sensor_broadcaster, waits for features from ros2-control
-              shell: bash
-              run: |
-                  cp -r src/ros2_controllers/diff_drive_controller src/
-                  cp -r src/ros2_controllers/imu_sensor_broadcaster src/
-                  rm -rf src/ros2_controllers
+      - name: Clone installation requirements
+        shell: bash
+        run: |
+          python3 -m pip install -U vcstool
+          vcs import src < src/rosbot/rosbot_hardware.repos && vcs import src < src/rosbot/rosbot_simulation.repos
 
-            - 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
+      - name: Copy only diff_drive_controller and imu_sensor_broadcaster, waits for features from ros2-control
+        shell: bash
+        run: |
+          cp -r src/ros2_controllers/diff_drive_controller src/
+          cp -r src/ros2_controllers/imu_sensor_broadcaster src/
+          rm -rf src/ros2_controllers
+
+      - 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
+          # BEFORE_INIT: |
+          #   pwd
+          #   sudo mkdir ./src
+          #   ls -la
+          #   vcs import src < ./rosbot/rosbot_hardware.repos && vcs import src < ./rosbot/rosbot_simulation.repos

rosbot_bringup/launch/combined.launch.py

@@ -0,0 +1,90 @@
+# 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.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):
+    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"
+        return [
+            SetEnvironmentVariable(name="RMW_IMPLEMENTATION", value=rmw_implementation),
+            SetEnvironmentVariable(
+                name="FASTRTPS_DEFAULT_PROFILES_FILE", value=localhost_only_fastrtps_profiles_file
+            ),
+            Node(
+                package="micro_ros_agent",
+                executable="micro_ros_agent",
+                arguments=["serial", "-D", serial_port, "-b", serial_baudrate],
+                output="screen",
+            ),
+        ]
+    else:
+        return [
+            Node(
+                package="micro_ros_agent",
+                executable="micro_ros_agent",
+                arguments=["serial", "-D", serial_port, "-b", serial_baudrate],
+                output="screen",
+            )
+        ]
+
+
+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"
+    )
+
+    declare_localhost_only_fastrtps_profiles_file_arg = DeclareLaunchArgument(
+        "localhost_only_fastrtps_profiles_file",
+        default_value="/microros_localhost_only.xml",
+        description="Path to the Fast RTPS default profiles file",
+    )
+
+    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,
+        ]
+    )