Added microros and combined launch

Signed-off-by: Jakub Delicat <jakub.delicat@husarion.com>

.gitignore

@@ -17,6 +17,9 @@ ros_components_description/
 rosbot_controllers/
 husarion/husarion_office_gz
 gazebosim/gz_ros2_control
+micro-ROS-Agent/
+micro_ros_msgs/
+industrial_ci/
 
 # pyspelling
 *.dic

README.md

@@ -79,9 +79,19 @@ colcon build
 > Before starting the software on the robot please make sure that you're using the latest firmware and run the `micro-ROS` agent as described in the [Usage on hardware](#usage-on-hardware) step.
 
 2. **Running**
+
+Flash firmware.
+```bash
+# Get admin permissions to flash firmware
+sudo su
+source install/setup.bash
+ros2 run rosbot_xl_utils flash_firmware
+exit
+```
+
 ```
 source install/setup.bash
-ros2 launch rosbot_xl_bringup bringup.launch.py
+ros2 launch rosbot_xl_bringup combined.launch.py
 ```
 
 ### Build and run Gazebo simulation

rosbot_xl_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_xl_bringup/launch/combined.launch.py

@@ -0,0 +1,166 @@
+# Copyright 2024 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,
+    LogInfo,
+    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):
+    env_setup_actions = []
+
+    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)
+        )
+
+    port = LaunchConfiguration("port").perform(context)
+
+    localhost_only_fastrtps_profiles_file = LaunchConfiguration(
+        "localhost_only_fastrtps_profiles_file"
+    ).perform(context)
+
+    if os.environ.get("ROS_LOCALHOST_ONLY") == "1":
+        env_setup_actions.extend(
+            [
+                LogInfo(
+                    msg=[
+                        "ROS_LOCALHOST_ONLY set to 1. Using FASTRTPS_DEFAULT_PROFILES_FILE=",
+                        localhost_only_fastrtps_profiles_file,
+                        "."
+                    ]
+                ),
+                SetEnvironmentVariable(name="RMW_IMPLEMENTATION", value="rmw_fastrtps_cpp"),
+                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=["udp4", "--port", port],
+        output="screen",
+    )
+
+    return env_setup_actions + [microros_agent_node]
+
+
+def generate_launch_description():
+    declare_port_arg = DeclareLaunchArgument(
+        "port",
+        default_value="8888",
+        description="UDP4 port for micro-ROS agent",
+    )
+
+    mecanum = LaunchConfiguration("mecanum")
+    declare_mecanum_arg = DeclareLaunchArgument(
+        "mecanum",
+        default_value="False",
+        description=(
+            "Whether to use mecanum drive controller (otherwise diff drive controller is used)"
+        ),
+    )
+
+    camera_model = LaunchConfiguration("camera_model")
+    declare_camera_model_arg = DeclareLaunchArgument(
+        "camera_model",
+        default_value="None",
+        description="Add camera model to the robot URDF",
+        choices=[
+            "None",
+            "intel_realsense_d435",
+            "orbbec_astra",
+            "stereolabs_zed",
+            "stereolabs_zedm",
+            "stereolabs_zed2",
+            "stereolabs_zed2i",
+            "stereolabs_zedx",
+            "stereolabs_zedxm",
+        ],
+    )
+
+    lidar_model = LaunchConfiguration("lidar_model")
+    declare_lidar_model_arg = DeclareLaunchArgument(
+        "lidar_model",
+        default_value="slamtec_rplidar_s1",
+        description="Add LiDAR model to the robot URDF",
+        choices=[
+            "None",
+            "slamtec_rplidar_a2",
+            "slamtec_rplidar_a3",
+            "slamtec_rplidar_s1",
+            "slamtec_rplidar_s2",
+            "slamtec_rplidar_s3",
+            "velodyne_puck",
+        ],
+    )
+
+    include_camera_mount = LaunchConfiguration("include_camera_mount")
+    declare_include_camera_mount_arg = DeclareLaunchArgument(
+        "include_camera_mount",
+        default_value="False",
+        description="Whether to include camera mount to the robot URDF",
+    )
+
+    # Locate the rosbot_bringup package
+    package_dir = FindPackageShare("rosbot_xl_bringup").find("rosbot_xl_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"]),
+        launch_arguments={
+            "mecanum": mecanum,
+            "lidar_model": lidar_model,
+            "camera_model": camera_model,
+            "include_camera_mount": include_camera_mount,
+        }.items(),
+    )
+
+    return LaunchDescription(
+        [
+            declare_port_arg,
+            declare_localhost_only_fastrtps_profiles_file_arg,
+            declare_mecanum_arg,
+            declare_camera_model_arg,
+            declare_lidar_model_arg,
+            declare_include_camera_mount_arg,
+            OpaqueFunction(function=generate_microros_agent_node),
+            bringup_launch,
+        ]
+    )

rosbot_xl_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,

rosbot_xl_utils/rosbot_xl_utils/flash_firmware.py

@@ -76,7 +76,6 @@ def main(args=None):
     signal.signal(signal.SIGINT, signal_handler)
 
     parser = argparse.ArgumentParser(description="Flash Firmware ROS 2 Node")
-    parser.add_argument("--usb", action="store_true", help="Use the USB flashing script")
     parser.add_argument(
         "-p", "--port", default="/dev/ttyUSB0", help="Specify the USB port (default: /dev/ttyUSB0)"
     )
@@ -88,15 +87,10 @@ def main(args=None):
     firmware_file = args.file if args.file else find_firmware_file()
 
     try:
-        if args.usb:
-            script_name = "flash-firmware-usb.py"
-        else:
-            script_name = "flash-firmware.py"
+        script_name = "flash-firmware.py"
 
         script_path = os.path.join(os.path.dirname(__file__), script_name)
-        additional_args = (
-            ["-p", args.port, "--file", firmware_file] if args.usb else ["--file", firmware_file]
-        )
+        additional_args = ["-p", args.port, "--file", firmware_file]
 
         # Print the flashing details
         print(f"Flashing {firmware_file} over {args.port}")

rosbot_xl_utils/setup.py

@@ -12,6 +12,8 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
+import os
+from glob import glob
 from setuptools import find_packages, setup
 
 package_name = "rosbot_xl_utils"
@@ -23,6 +25,7 @@
     data_files=[
         ("share/ament_index/resource_index/packages", ["resource/" + package_name]),
         ("share/" + package_name, ["package.xml"]),
+        (os.path.join("share", package_name, "firmware"), glob("firmware/*.bin")),
     ],
     install_requires=["setuptools"],
     zip_safe=True,