Fixed firmware and toid_bot_description

Dockerfile.base.env

@@ -1,4 +1,4 @@
-FROM arm64v8/ros:jazzy as magrob.env
+FROM arm64v8/ros:jazzy-ros-base AS magrob.base.env
 
 RUN mkdir -p /ros_ws/src
 WORKDIR /ros_ws/src
@@ -7,9 +7,7 @@ RUN --mount=type=bind,source=./,target=/ros_ws/src/ \
     --mount=type=cache,target=/var/cache/apt,sharing=locked \
     --mount=type=cache,target=/var/lib/apt,sharing=locked \
     . /opt/ros/jazzy/setup.sh && \
-    apt update && \
+    scripts/install_base_deps.sh
-    apt-get install -y ros-jazzy-hardware-interface && \
-    rosdep install -i --from-paths . -y
 
 RUN cat <<EOF >> /root/.bashrc
 source /opt/ros/jazzy/setup.bash

docker-compose.yaml

@@ -1,9 +1,9 @@
 services:
   magrob_base:
     network_mode: host
-    image: localhost/magrob.env
+    image: localhost/magrob.base.env
     build: 
-      dockerfile: Dockerfile.env
+      dockerfile: Dockerfile.base.env
 
     entrypoint: ["sleep","infinity"]
     volumes:

firmware/base/.vscode/settings.json

@@ -0,0 +1,5 @@
+{
+    "clangd.arguments": [
+        "--query-driver=/usr/bin/arm-none-eabi-g*"
+    ]
+}

firmware/base/src/config.h

@@ -1,5 +1,9 @@
 #pragma once
 
+// STEP_PIN 26
+// DIR_PIN 27
+
+
 //############## CONFIG STEPPERS ################
 #define DIR_PIN_A   26
 #define DIR_PIN_B   16
@@ -10,6 +14,7 @@
 #define SM_B 1
 
 #define PULSE_PER_REV (1 / 3200.0)
+#define SPEED_SET_TIMEOUT 1000000
 //###############################################
 
 //================ CONFIG ENCODERS =====================
@@ -19,7 +24,7 @@
 #define ENCODER_LEFT_PIN_B  7
 #define ENCODER_CPR         3840
 
-#define WHEEL_RADIUS     0.0279
+#define WHEEL_RADIUS     0.0300
-#define WHEEL_SEPARATION 0.310735
+#define WHEEL_SEPARATION 0.264
 #define TIMER_CYCLE_US   1000
-//======================================================
+//======================================================

firmware/base/src/main.c

@@ -32,6 +32,7 @@ static double wheel_ratio_r = 1;
 static uint prev_time;
 static int prev_position_l = 0;
 static int prev_position_r = 0;
+static uint last_speed_change = 100;
 
 
 static unsigned char stepper_instr[2+sizeof(double)*2] = {};
@@ -212,7 +213,6 @@ void stepper_fifo(char c, uint8_t itf) {
         double vr = btod(stepper_instr + 10);
 
         set_speeds(vl, vr);
-
         // tud_cdc_n_write(itf, (uint8_t const *) stepper_instr, 18);
         // tud_cdc_n_write_flush(itf);
     }

firmware/base/src/stepper.c

@@ -34,7 +34,7 @@ void start_pulse(PIO pio, uint sm, uint offset, uint pin, uint freq) {
 
 void update_sm(PIO pio, uint sm, const uint pin ,double v) {
     double u_v = fabs(v);
-    if(u_v > 0.0005)
+    if(u_v > 0.00005)
         pio->txf[sm] = (int)((double)clock_get_hz(clk_sys) * PULSE_PER_REV / u_v) / 2 - 5;
     else
         pio->txf[sm] = 0;

mg_bringup/launch/base.launch.py

@@ -0,0 +1,63 @@
+################################################################################
+#                                                                              #
+#  Launch file meant to be used on the robot itself                            #
+#      uses:                                                                   #
+#         * mg_control    - for sending commands to the stepper drivers        #
+#         * mg_odometry   - for reading and controlling the MCU encoders       #
+#         * mg_navigation - runs the local planner and handles move behaviors  #
+#         * mg_navigation - runs the local planner and handles move behaviors  #
+#         * mg_lidar      - optionally runs the lidar node to read opponents   #
+#                            positions                                         #
+#                                                                              #
+################################################################################
+
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription, GroupAction
+from launch.conditions import UnlessCondition 
+from launch.substitutions import LaunchConfiguration, PathJoinSubstitution, PythonExpression 
+from launch_ros.actions import Node
+from launch_ros.substitutions import FindPackageShare
+
+
+def generate_launch_description():
+
+    is_local_test = DeclareLaunchArgument(
+        'local_test',
+        default_value="False",
+        description='Launch with simulated components'
+    )
+
+    return LaunchDescription([
+        is_local_test,
+        IncludeLaunchDescription(
+            PathJoinSubstitution([
+                FindPackageShare("mg_control"),
+                'launch',
+                'toid.launch.py'
+            ]),
+            launch_arguments={
+                'use_mock': LaunchConfiguration('local_test')
+            }.items()
+        ),
+        Node(
+            package="mg_odometry",
+            executable="mg_odom_publisher",
+            name="mg_odom_publisher",
+            condition=UnlessCondition(LaunchConfiguration('local_test')),
+            parameters=[{
+                'odom': "odom",
+                'serial_path': "/dev/ttyACM0",
+            }],
+
+            emulate_tty=True,
+            output='screen'
+        ),
+        Node(
+            package="mg_navigation",
+            executable="mg_nav_server",
+            name="mg_nav_server",
+            emulate_tty=True,
+            output='screen',
+        )
+    ])
+    

mg_bringup/launch/bt.launch.py

@@ -0,0 +1,29 @@
+################################################################################
+#                                                                              #
+#  Launch file meant to be used on the robot itself                            #
+#      uses:                                                                   #
+#         * mg_bt         - runs the robot's behavior tree server              #
+#                                                                              #
+################################################################################
+
+from launch import LaunchDescription
+from launch.substitutions import PathJoinSubstitution
+from launch_ros.actions import Node
+from launch_ros.substitutions import FindPackageShare
+
+
+def generate_launch_description():
+
+    basedir = FindPackageShare("mg_bt")
+
+    bt_exec_config = PathJoinSubstitution([basedir, "config/mg_bt_executor.yaml"])
+
+    return LaunchDescription([
+        Node(
+            package='mg_bt',
+            executable='mg_bt_executor',
+            output="screen",
+            parameters=[bt_exec_config]
+        ),
+    ])
+    

mg_bringup/package.xml

@@ -10,6 +10,7 @@
   <buildtool_depend>ament_cmake</buildtool_depend>
   <depend>launch</depend>
   <depend>launch_ros</depend>
+  <depend>xacro</depend>
   <depend>mg_control</depend>
   <depend>mg_odometry</depend>
   <depend>mg_navigation</depend>

mg_bt/CMakeLists.txt

@@ -37,6 +37,7 @@ set(SOURCES
 
 
 add_executable(mg_bt_executor ${SOURCES})
+# add_executable(mg_i2cnode i2cmodule/i2cnode.cpp)
 
 target_include_directories(
   mg_bt_executor
@@ -45,10 +46,14 @@ target_include_directories(
   include
 )
 
+# target_link_libraries(mg_i2cnode i2c)
+
 ament_target_dependencies(mg_bt_executor ${PACKAGE_DEPS})
+# ament_target_dependencies(mg_i2cnode rclcpp mg_msgs)
 
 install( TARGETS
   mg_bt_executor
+#  mg_i2cnode
   DESTINATION lib/${PROJECT_NAME}
 )
 

mg_bt/i2cmodule/i2cnode.cpp

@@ -0,0 +1,47 @@
+#include "rclcpp/rclcpp.hpp"
+#include "mg_msgs/srv/i2c.hpp"
+
+extern "C" {
+
+#include <fcntl.h>
+#include <linux/i2c-dev.h>
+#include <sys/ioctl.h>
+#include <i2c/smbus.h>
+}
+class MgI2c : public rclcpp::Node {
+    using I2cSrv = mg_msgs::srv::I2c;
+
+  public:
+    MgI2c(const std::string& name) : rclcpp::Node(name), i2c_fd_(open("/dev/i2c-1", O_RDWR)) { // NOLINT
+        auto cb
+          = [this](I2cSrv::Request::ConstSharedPtr req, I2cSrv::Response::SharedPtr resp) { send_req(req, resp); };
+        i2c_srv_ = create_service<I2cSrv>("/i2c", cb);
+    }
+
+    void send_req(I2cSrv::Request::ConstSharedPtr req, I2cSrv::Response::SharedPtr resp) const {
+        ioctl(i2c_fd_, I2C_SLAVE, req->addr); // NOLINT
+        i2c_smbus_write_byte(i2c_fd_, req->data);
+        int ch = 0;
+
+        rclcpp::Rate rate(100);
+
+        while (ch == 0 || (ch > 255 || ch < 0)) {
+            ch = i2c_smbus_read_byte(i2c_fd_);
+            rate.sleep();
+        }
+        resp->resp.push_back(ch);
+        RCLCPP_INFO(get_logger(), "Recieved %d", resp->resp.front());
+    }
+
+  private:
+    rclcpp::Service<mg_msgs::srv::I2c>::SharedPtr i2c_srv_;
+    int                                           i2c_fd_;
+};
+
+int main(int argc, const char* const* argv) {
+    rclcpp::init(argc, argv);
+    rclcpp::spin(std::make_shared<MgI2c>("i2cu"));
+    rclcpp::shutdown();
+
+    return 0;
+}

mg_bt/package.xml

@@ -14,6 +14,7 @@
   <depend>behaviortree_ros2</depend>
   <depend>btcpp_ros2_interfaces</depend>
   <depend>mg_msgs</depend>
+  <depend>libi2c-dev</depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>

mg_bt/src/mg_tree_executor.cpp

@@ -2,6 +2,7 @@
 
 #include "behaviortree_cpp/xml_parsing.h"
 #include "tree_nodes/calib.hpp"
+#include "tree_nodes/i2c.hpp"
 #include "tree_nodes/move_point.hpp"
 #include "tree_nodes/rotate.hpp"
 #include "tree_nodes/zero.hpp"
@@ -26,6 +27,7 @@ namespace mg {
         factory.registerNodeType<mg::MovePointNode>("MovePoint", node());
         factory.registerNodeType<mg::RotateNode>("RotateNode", node());
         factory.registerNodeType<mg::ZeroNode>("ZeroNode", node());
+        factory.registerNodeType<mg::I2cNode>("I2CSignal", node());
         factory.registerNodeType<mg::CalibWidthNode>("CalibWidth", node(), [this]() { return this->position(); });
     }
 
@@ -35,7 +37,7 @@ namespace mg {
         double    theta;
         glm::vec2 pos;
 
-        auto tmsg = tf_buffer_->lookupTransform("odom", "base-link", tf2::TimePointZero);
+        auto tmsg = tf_buffer_->lookupTransform("odom", "base_footprint", tf2::TimePointZero);
 
         tf2::Transform t;
         tf2::convert(tmsg.transform, t);

mg_bt/src/tree_nodes/i2c.hpp

@@ -0,0 +1,29 @@
+#pragma once
+
+#include "behaviortree_ros2/bt_service_node.hpp"
+#include "mg_msgs/srv/i2c.hpp"
+
+namespace mg {
+    class I2cNode : public BT::RosServiceNode<mg_msgs::srv::I2c> {
+      public:
+        I2cNode(const std::string& name, const BT::NodeConfig& conf, const BT::RosNodeParams& params) :
+          BT::RosServiceNode<mg_msgs::srv::I2c>(name, conf, params) { }
+
+        static BT::PortsList providedPorts() {
+            return providedBasicPorts({ BT::InputPort<int>("Address", 42, {}),
+                                        BT::InputPort<int>("Data", 0, {}),
+                                        BT::OutputPort<int>("Result") });
+        }
+
+        bool setRequest(typename Request::SharedPtr& req) override {
+            req->addr = getInput<int>("Address").value_or(42);
+            req->data = getInput<int>("Result").value_or(0);
+            return true;
+        }
+
+        BT::NodeStatus onResponseReceived(const typename Response::SharedPtr& resp) override {
+            setOutput<int>("Result", resp->resp.front());
+            return BT::NodeStatus::SUCCESS;
+        }
+    };
+}

mg_control/assets/mg_base.urdf

@@ -55,7 +55,7 @@
     </joint>
 
 
-    <ros2_control name="mg-base" type="system">
+    <ros2_control name="mg_base" type="system">
         <hardware>
             <plugin>mg_control/MgStepperInterface</plugin>
         </hardware>

mg_control/assets/mg_base_controllers.yaml

@@ -1,6 +1,6 @@
 controller_manager:
   ros__parameters:
-    update_rate: 100
+    update_rate: 50
 
     diffdrive_controller:
       type: diff_drive_controller/DiffDriveController
@@ -14,7 +14,7 @@ diffdrive_controller:
     
     enable_odom_tf: false 
     odom_frame_id: odom_excpected
-    base_frame_id: base-link
+    base_frame_id: base_footprint
 
     open_loop: true 
 

mg_control/assets/mg_base_controllers_local.yaml

@@ -14,7 +14,7 @@ diffdrive_controller:
     
     enable_odom_tf: true
     odom_frame_id: odom
-    base_frame_id: base-link
+    base_frame_id: base_footprint
 
     open_loop: true 
 

mg_control/assets/mg_base_local.urdf

@@ -55,7 +55,7 @@
     </joint>
 
 
-    <ros2_control name="mg-base" type="system">
+    <ros2_control name="mg_base" type="system">
         <hardware>
             <plugin>mock_components/GenericSystem</plugin> 
             <param name="calculate_dynamics">true</param> 

mg_control/assets/toid_general_params.yaml

@@ -0,0 +1,22 @@
+controller_manager:
+  ros__parameters:
+    update_rate: 50
+
+    diffdrive_controller:
+      type: diff_drive_controller/DiffDriveController
+    joint_state_broadcaster:
+      type: joint_state_broadcaster/JointStateBroadcaster
+
+diffdrive_controller:
+  ros__parameters:
+    left_wheel_names: ["drivewhl_l_joint"]
+    right_wheel_names: ["drivewhl_r_joint"]
+    
+    enable_odom_tf: true 
+    odom_frame_id: odom
+    base_frame_id: base_footprint
+
+    open_loop: true 
+
+    wheel_separation: 0.192
+    wheel_radius: 0.032

mg_control/launch/toid.launch.py

@@ -0,0 +1,111 @@
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument
+from launch.conditions import IfCondition, UnlessCondition 
+from launch.substitutions import Command, LaunchConfiguration, IfElseSubstitution
+from launch_ros.actions import Node, LifecycleNode
+from launch_ros.substitutions import FindPackageShare
+import os
+
+def generate_launch_description():
+    pkg_share = FindPackageShare("").find('mg_control')
+    params = os.path.join(pkg_share, 'assets', 'toid_general_params.yaml')
+    default_rviz_config_path = os.path.join(pkg_share, 'rviz', 'ros_control.rviz')
+    
+
+    description_pkg_share = FindPackageShare("").find('toid_bot_description')
+    default_model_path = os.path.join(
+        description_pkg_share, 
+        'src', 
+        'toid_bot_description.urdf'
+    )
+
+    visualize = LaunchConfiguration("visualize")
+
+    visualize_arg = DeclareLaunchArgument(
+        'visualize',
+        default_value='False',
+        description="Whether to launch rviz2" 
+    )
+
+    use_mock = LaunchConfiguration("use_mock")
+
+    use_mock_arg = DeclareLaunchArgument(
+        'use_mock',
+        default_value='True',
+        description="Whether to use mock controller" 
+    )
+
+    odom_broadcast = Node(
+        package='tf2_ros',
+        executable='static_transform_publisher',
+        name='map_to_odom_broadcaster',
+        arguments=['0', '0', '0', '0', '0', '0', 'map', 'odom'],
+        condition=IfCondition(LaunchConfiguration('visualize'))
+    )
+
+    robot_state_publisher = Node(
+        package='robot_state_publisher',
+        executable='robot_state_publisher',
+        name='robot_state_publisher',
+        output='screen',
+        parameters=[{'robot_description': Command(['xacro ', default_model_path, ' use_mock:=', use_mock])}]
+    )
+
+    controller_manager = Node(
+        package='controller_manager',
+        executable='ros2_control_node',
+        output='screen',
+        parameters=[params]
+    )
+
+    joint_state_broadcaster = Node(
+        package='controller_manager',
+        executable='spawner',
+        output='screen',
+        arguments=["joint_state_broadcaster"]
+    )
+
+    diffbot_base_controller = Node(
+        package='controller_manager',
+        executable='spawner',
+        output='both',
+        arguments=[
+            "diffdrive_controller",
+            "-p",
+            params,
+            "--controller-ros-args",
+            "-r diffdrive_controller/cmd_vel:=/cmd_vel",
+            "--controller-ros-args",
+            "-r diffdrive_controller/odom:=/odom",
+            "--controller-ros-args",
+            IfElseSubstitution(use_mock, 
+                "--param odom_frame_id:=odom", 
+                "--param odom_frame_id:=odom_expected"
+            ),
+            "--controller-ros-args",
+            IfElseSubstitution(use_mock, 
+                "--param enable_odom_tf:=true", 
+                "--param enable_odom_tf:=false"
+            ),
+        ]
+    )
+
+    rviz_node = Node(
+        package='rviz2',
+        executable='rviz2',
+        name='rviz2',
+        output='screen',
+        arguments=['-d', default_rviz_config_path],
+        condition=IfCondition(visualize)
+    )
+
+    return LaunchDescription([
+        visualize_arg,
+        use_mock_arg,
+        odom_broadcast,
+        robot_state_publisher,
+        controller_manager,
+        joint_state_broadcaster,
+        diffbot_base_controller,
+        rviz_node
+    ])

mg_control/src/mg_control.cpp

@@ -31,6 +31,8 @@ CallbackReturn mg::MgStepperInterface::on_configure(const rclcpp_lifecycle::Stat
                      "Failed to open serial port (Is the stepper driver plugged in)");
         return CallbackReturn::ERROR;
     }
+    RCLCPP_INFO(rclcpp::get_logger("MgStepperInterface"),
+                     "Configured stepper motor interface");
     return CallbackReturn::SUCCESS;
 }
 
@@ -45,8 +47,8 @@ std::vector<hardware_interface::StateInterface> mg::MgStepperInterface::export_s
 
     std::vector<hardware_interface::StateInterface> state_interfaces;
     state_interfaces.reserve(2);
-    state_interfaces.emplace_back("left_motor", hardware_interface::HW_IF_POSITION, &left_wheel_pos_state);
+    state_interfaces.emplace_back("drivewhl_l_joint", hardware_interface::HW_IF_POSITION, &left_wheel_pos_state);
-    state_interfaces.emplace_back("right_motor", hardware_interface::HW_IF_POSITION, &right_wheel_pos_state);
+    state_interfaces.emplace_back("drivewhl_r_joint", hardware_interface::HW_IF_POSITION, &right_wheel_pos_state);
 
     return state_interfaces;
 }
@@ -55,8 +57,8 @@ std::vector<hardware_interface::CommandInterface> mg::MgStepperInterface::export
 
     std::vector<hardware_interface::CommandInterface> command_interfaces;
     command_interfaces.reserve(2);
-    command_interfaces.emplace_back("left_motor", hardware_interface::HW_IF_VELOCITY, &left_wheel_vel_cmd);
+    command_interfaces.emplace_back("drivewhl_l_joint", hardware_interface::HW_IF_VELOCITY, &left_wheel_vel_cmd);
-    command_interfaces.emplace_back("right_motor", hardware_interface::HW_IF_VELOCITY, &right_wheel_vel_cmd);
+    command_interfaces.emplace_back("drivewhl_r_joint", hardware_interface::HW_IF_VELOCITY, &right_wheel_vel_cmd);
 
     return command_interfaces;
 }

mg_lidar/CMakeLists.txt

@@ -0,0 +1,60 @@
+cmake_minimum_required(VERSION 3.12)
+project(mg_lidar)
+
+set(CMAKE_CXX_STANDARD 17)
+set(CMAKE_CXX_STANDARD_REQUIRED ON)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+set(PACKAGE_DEPS
+  rclcpp
+  tf2
+  tf2_ros
+  tf2_geometry_msgs
+  mg_msgs
+  sensor_msgs
+  )
+
+find_package(ament_cmake REQUIRED)
+
+include(FindPkgConfig)
+pkg_search_module(LIBGLM REQUIRED glm)
+
+foreach(PACKAGE ${PACKAGE_DEPS})
+    find_package(${PACKAGE} REQUIRED)
+endforeach()
+
+set(SOURCES
+    src/scanner.cpp
+)
+
+add_executable(mg_scanner ${SOURCES})
+
+target_include_directories(
+  mg_scanner
+  PRIVATE
+  ${LIBGLM_INCLUDE_DIRS}
+  include
+)
+
+ament_target_dependencies(mg_scanner ${PACKAGE_DEPS})
+
+install( TARGETS
+  mg_scanner
+  DESTINATION lib/${PROJECT_NAME}
+)
+
+install(DIRECTORY
+  config
+  launch
+  DESTINATION share/${PROJECT_NAME}/
+)
+
+target_compile_features(mg_scanner PUBLIC 
+  c_std_99
+  cxx_std_17
+)  # Require C99 and C++17
+
+ament_package()

mg_lidar/config/lidar.yaml

@@ -0,0 +1,4 @@
+rplidar_node:
+  ros__parameters:
+    scan_mode: "ppbig"
+    topic_name: "base_link"

mg_lidar/launch/launch.py

@@ -0,0 +1,28 @@
+from launch import LaunchDescription
+from launch.substitutions import PathJoinSubstitution
+from launch_ros.actions import Node
+from launch_ros.substitutions import FindPackageShare
+
+from pathlib import Path
+
+def generate_launch_description():
+
+    basedir = FindPackageShare("mg_lidar")
+
+    lidar_config = PathJoinSubstitution([basedir, "config/lidar.yaml"])
+
+    return LaunchDescription([
+        Node(
+            package='mg_lidar',
+            executable='mg_scanner',
+            output="screen",
+            parameters=[lidar_config]
+        ),
+        Node(
+            package='rplidar_ros',
+            executable='rplidar_composition',
+            output="screen",
+            parameters=[lidar_config]
+        ),
+    ])
+    

mg_lidar/package.xml

@@ -0,0 +1,27 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>mg_lidar</name>
+  <version>0.0.0</version>
+  <description>Lidar based opponent tracking</description>
+  <maintainer email="82343504+Pimpest@users.noreply.github.com">Pimpest</maintainer>
+  <license>Apache 2.0</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <depend>rclcpp</depend>
+  <depend>mg_msgs</depend>
+  <depend>std_msgs</depend>
+  <depend>tf2</depend>
+  <depend>tf2_ros</depend>
+  <depend>tf2_geometry_msgs</depend>
+  <depend>visualization_msgs</depend>
+  <depend>sensor_msgs</depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>

mg_lidar/src/scanner.cpp

@@ -0,0 +1,134 @@
+#include "rclcpp/rclcpp.hpp"
+
+#include "sensor_msgs/msg/laser_scan.hpp"
+#include "geometry_msgs/msg/point_stamped.hpp"
+#include "glm/glm.hpp"
+
+#include "tf2_ros/buffer.h"
+#include "tf2_ros/transform_listener.h"
+#include "tf2/convert.hpp"
+#include "tf2_geometry_msgs/tf2_geometry_msgs.hpp"
+#include <glm/gtx/norm.hpp>
+
+class MgScanner : public rclcpp::Node {
+    using LaserScan    = sensor_msgs::msg::LaserScan;
+    using PointStamped = geometry_msgs::msg::PointStamped;
+
+  public:
+    MgScanner() : rclcpp::Node("EnemyScanner") {
+        gen_rotations();
+        scan_sup_ = create_subscription<LaserScan>(
+          "scan", rclcpp::QoS(1), [this](LaserScan::ConstSharedPtr msg) { process_scan(msg); });
+        enemy_pub_ = create_publisher<PointStamped>("/dynamicObstacle", rclcpp::QoS(1));
+
+        tf_buf_      = std::make_shared<tf2_ros::Buffer>(get_clock());
+        tf_listener_ = std::make_shared<tf2_ros::TransformListener>(*tf_buf_);
+    }
+
+  private:
+    rclcpp::Subscription<LaserScan>::SharedPtr  scan_sup_;
+    rclcpp::Publisher<PointStamped>::SharedPtr  enemy_pub_;
+    std::shared_ptr<tf2_ros::Buffer>            tf_buf_;
+    std::shared_ptr<tf2_ros::TransformListener> tf_listener_;
+
+    std::vector<glm::dmat2> rotations;
+
+    void gen_rotations() {
+        constexpr double min_angle       = -3.1241393089294434;
+        constexpr double max_angle       = 3.1415927410125732;
+        constexpr double angle_increment = 0.008714509196579456;
+
+        double curr = min_angle;
+        while (curr <= max_angle) {
+            rotations.emplace_back(glm::cos(curr), glm::sin(curr), -glm::sin(curr), glm::cos(curr));
+            curr += angle_increment;
+        }
+
+        rotations.emplace_back(glm::cos(curr), glm::sin(curr), -glm::sin(curr), glm::cos(curr));
+    }
+
+    glm::dvec3 pos_query() {
+        RCLCPP_ERROR(get_logger(), "Works to here");
+        try {
+            double x   = NAN;
+            double y   = NAN;
+            double rot = NAN;
+
+            auto tmsg = tf_buf_->lookupTransform("odom", "base_footprint", tf2::TimePointZero);
+
+            tf2::Transform t;
+            tf2::convert(tmsg.transform, t);
+            t.getBasis().getRPY(x, y, rot);
+            auto vec3 = tmsg.transform.translation;
+
+            return { vec3.x, vec3.y, rot };
+
+        } catch (const tf2::TransformException& e) {
+            RCLCPP_ERROR(get_logger(), "Got following error when looking up transform:\n\t%s", e.what());
+        }
+        return { 0, 0, 0 };
+    }
+
+    static bool part_of_clump(const glm::dvec2 prev, glm::dvec2 curr) {
+        return glm::length2(prev - curr) < 0.05 * 0.05;
+    }
+
+    void process_scan(LaserScan::ConstSharedPtr msg) {
+        // TODO: finish processing
+        const glm::dvec3 v   = pos_query();
+        const glm::dvec2 pos = { v.x, v.y };
+        const glm::dmat2 rot = { glm::cos(v.z), glm::sin(v.z), -glm::sin(v.z), glm::cos(v.z) };
+
+        double mini = INFINITY;
+
+        glm::dvec2 mini_pos = { 0, 0 };
+        glm::dvec2 prev     = { -1, -1 };
+
+        glm::dvec2 clump      = { -1, -1 };
+        int        clump_size = 0;
+
+        bool good_clump = false;
+
+        if (msg->ranges.size() != rotations.size()) {
+            RCLCPP_ERROR(get_logger(),
+                         "The amount of rotations differs from amount of ranges(%lu != %lu)",
+                         msg->ranges.size(),
+                         rotations.size());
+        }
+
+        for (uint i = 0; i < msg->ranges.size(); i++) {
+            if (msg->intensities.at(i) < 35.0) {
+                continue;
+            }
+            const glm::dvec2 potential_pos = rot * rotations.at(i) * glm::dvec2{ msg->ranges.at(i), 0 } + pos;
+            if (0.1 < potential_pos.x && potential_pos.x < 2.9 && 0.1 < potential_pos.y && potential_pos.y < 1.9) {
+                if (!part_of_clump(prev, potential_pos)) {
+                    clump_size = 0;
+                    clump      = { 0, 0 };
+                }
+                good_clump |= mini > msg->ranges.at(i);
+                clump += potential_pos;
+                clump_size++;
+                if (good_clump) {
+                    mini     = msg->ranges.at(i);
+                    mini_pos = clump / (double)clump_size;
+                }
+            }
+            prev = potential_pos;
+        }
+        if (mini < INFINITY) {
+            PointStamped m;
+            m.header.frame_id = "odom";
+            m.point.x         = mini_pos.x;
+            m.point.y         = mini_pos.y;
+
+            enemy_pub_->publish(m);
+        }
+    }
+};
+
+int main(const int argc, const char** argv) {
+    rclcpp::init(argc, argv);
+    rclcpp::spin(std::make_shared<MgScanner>());
+    rclcpp::shutdown();
+}

mg_msgs/CMakeLists.txt

@@ -19,6 +19,7 @@ rosidl_generate_interfaces(${PROJECT_NAME}
   "action/Rotate.action"
   "srv/CalcPath.srv"
   "srv/SendDouble.srv"
+  "srv/I2c.srv"
 )
 
 ament_package()

mg_msgs/srv/I2c.srv

@@ -0,0 +1,4 @@
+uint8 addr
+uint8 data
+---
+uint8[] resp

mg_navigation/include/handlers/dwa_core.hpp

@@ -152,7 +152,7 @@ namespace mg {
             double x = NAN;
             double y = NAN;
 
-            auto tmsg = tfbuf->lookupTransform("odom", "base-link", tf2::TimePointZero);
+            auto tmsg = tfbuf->lookupTransform("odom", "base_footprint", tf2::TimePointZero);
 
             tf2::Transform t;
             tf2::convert(tmsg.transform, t);

mg_navigation/src/mg_navigation.cpp

@@ -51,7 +51,7 @@ namespace mg {
 
         path_buffer_ = std::make_shared<PathBuffer>(this);
 
-        pub_twist = create_publisher<Geometry::TwistStamped>("diffdrive_controller/cmd_vel", 2);
+        pub_twist = create_publisher<Geometry::TwistStamped>("/cmd_vel", 2);
 
         obstacle_manager_ = std::make_shared<ObstacleManager>(this, tf2_buffer);
 

mg_obstacles/src/mg_obstacles.cpp

@@ -153,7 +153,7 @@ namespace mg {
 
     double ObstacleManager::dist_to_bounds(glm::dvec2 pos, glm::dvec2 size, double rot) {
         // Find me
-        const glm::dmat2 rot_mat{ { glm::cos(rot), -glm::sin(rot) }, { glm::sin(rot), glm::cos(rot) } };
+        const glm::dmat2 rot_mat{ { glm::cos(rot), glm::sin(rot) }, { -glm::sin(rot), glm::cos(rot) } };
         return ObstacleManager::dist_to_bounds(pos, size, rot_mat);
     }
 

mg_odometry/src/mg_odom_publisher.cpp

@@ -23,7 +23,7 @@
 
 #define TIMEOUT 10u
 
-constexpr const char* ENCODER_SERIAL_PATH_DEFAULT = "/dev/ttyACM1";
+constexpr const char* ENCODER_SERIAL_PATH_DEFAULT = "/dev/ttyACM0";
 
 using SendDoubleSrv = mg_msgs::srv::SendDouble;
 using ZeroSrv       = std_srvs::srv::Empty;
@@ -32,7 +32,7 @@ class MgOdomPublisher : public rclcpp::Node {
   public:
     MgOdomPublisher() : Node("mg_odom_publisher") {
         this->declare_parameter("odom", "odom");
-        this->declare_parameter("target", "base-link");
+        this->declare_parameter("target", "base_footprint");
         this->declare_parameter("serial_path", ENCODER_SERIAL_PATH_DEFAULT);
 
         tf_broadcaster_ = std::make_shared<tf2_ros::TransformBroadcaster>(this);

mg_planner/src/mg_planner_node.cpp

@@ -51,7 +51,7 @@ mg::PlannerNode::PlannerNode() : Node("planner"), astar_(this) {
 
 glm::ivec2 mg::PlannerNode::get_pos() {
     try {
-        auto tmsg = tf_buf_->lookupTransform("odom", "base-link", tf2::TimePointZero);
+        auto tmsg = tf_buf_->lookupTransform("odom", "base_footprint", tf2::TimePointZero);
 
         tf2::Transform t;
         tf2::convert(tmsg.transform, t);

scripts/build_base.sh

@@ -0,0 +1,10 @@
+source /opt/ros/jazzy/setup.bash
+
+colcon build --packages-select \
+    mg_bringup \
+    mg_navigation \
+    mg_msgs \
+    mg_control \
+    mg_odometry \
+    mg_obstacles \
+    toid_bot_description

scripts/docker_build.sh

@@ -0,0 +1,55 @@
+usage() {
+	cat <<EOF
+Usage:
+	docker_build.sh <target> <registry> [<args>]
+	docker_build.sh -h
+
+	Build and push a docker image to a arm64v8 registry
+
+	Targets: 
+		base     The pacakges aimed at running on the raspberry pi
+EOF
+}
+
+
+TARGET="$1"
+REGISTRY="$2"
+ARGS="$2"
+
+if [[ $TARGET == "-h" || $TARGET == "--help" ]]; then
+	usage
+	exit 0
+fi
+
+if [[ $# -lt 2 ]]; then
+	echo "Error: Expected at least 2 arguments."
+	usage
+	exit 1
+fi
+
+trap "trap - SIGTERM && kill -- -$$" SIGINT SIGTERM EXIT
+
+case $TARGET in
+	"base_env") 
+		ssh -N \
+			-o StrictHostKeyChecking=no \
+			-o UserKnownHostsFile=/dev/null \
+			-L 0.0.0.0:5000:localhost:5000 \
+			$REGISTRY &
+
+		echo "Building target: base"
+
+		sudo docker buildx build \
+			--platform linux/arm64 \
+			-t localhost:5000/magrob.base.env:latest \
+			-f Dockerfile.base.env \
+			--output type=registry \
+			.
+		;;
+	*)
+		echo "Target not defined"
+		exit 1
+		;;
+esac
+
+

scripts/install_base_deps.sh

@@ -0,0 +1,17 @@
+#!/bin/bash
+
+
+ros_distro="jazzy"
+script_dir=$(dirname "$(readlink -f "${bash_source[0]}")")
+
+source "/opt/ros/${ROS_DISTRO}/setup.bash"
+apt update
+apt-get install -y ros-jazzy-hardware-interface # For some reason this package is problamatic
+rosdep install -i -y \
+    --from-paths ./mg_bringup \
+    --from-paths ./mg_msgs \
+    --from-paths ./mg_navigation \
+    --from-paths ./mg_control \
+    --from-paths ./mg_odometry \
+    --from-paths ./mg_obstacles \
+    --from-paths ./mg_lidar

scripts/run_base.sh

@@ -0,0 +1,9 @@
+#!/bin/bash
+
+ros_distro="jazzy"
+script_dir=$(dirname "$(readlink -f "${bash_source[0]}")")
+
+source "/opt/ros/${ROS_DISTRO}/setup.bash"
+source ./install/setup.bash
+
+ros2 launch mg_bringup base.launch.py $@

scripts/run_bt.sh

@@ -0,0 +1,19 @@
+#!/bin/bash
+
+
+ros_distro="jazzy"
+script_dir=$(dirname "$(readlink -f "${bash_source[0]}")")
+pids=()
+
+source "/opt/ros/${ROS_DISTRO}/setup.bash"
+source "./install/setup.bash"
+
+trap "trap - SIGTERM && kill -- -$$" SIGINT SIGTERM EXIT
+
+ros2 launch mg_bringup bt.launch.py & pids+=($!)
+
+sleep 1
+
+ros2 action send_goal /mg_bt_action_server btcpp_ros2_interfaces/action/ExecuteTree "target_tree: $1" & pids+=($!)
+
+wait

scripts/test_wheel.sh

@@ -0,0 +1,78 @@
+#!/bin/bash
+
+TARGET="$1"
+
+if [[ "$TARGET" == "-h" || "$TARGET" == "--help" ]]; then
+    exit 0
+fi
+
+if [[ $# -ne 1 ]]; then
+    echo "Error: Expected at least 1 arg"
+    exit 1
+fi
+
+source install/setup.bash
+
+trap "trap - SIGTERM && kill -- -$$" SIGINT SIGTERM EXIT
+
+case $TARGET in
+    "forward") 
+        ros2 topic pub --rate 10 /cmd_vel geometry_msgs/msg/TwistStamped "
+          header: auto
+          twist:
+            linear:
+              x: 0.4
+              y: 0.0
+              z: 0.0
+            angular:
+              x: 0.0
+              y: 0.0
+              z: 0.0"
+        ;;
+    "backward") 
+        ros2 topic pub --rate 10 /cmd_vel geometry_msgs/msg/TwistStamped "
+          header: auto
+          twist:
+            linear:
+              x: -0.8
+              y: 0.0
+              z: 0.0
+            angular:
+              x: 0.0
+              y: 0.0
+              z: 0.0"
+        ;;
+    "left") 
+        ros2 topic pub --rate 10 /cmd_vel geometry_msgs/msg/TwistStamped "
+          header: auto
+          twist:
+            linear:
+              x: 0.0
+              y: 0.0
+              z: 0.0
+            angular:
+              x: 0.0
+              y: 0.0
+              z: 0.4"
+        ;;
+    "right") 
+        ros2 topic pub --rate 10 /cmd_vel geometry_msgs/msg/TwistStamped "
+          header: auto
+          twist:
+            linear:
+              x: 0.0
+              y: 0.0
+              z: 0.0
+            angular:
+              x: 0.0
+              y: 0.0
+              z: -0.4"
+        ;;
+    "zero")
+        ros2 service call /zero std_srvs/srv/Empty
+        ;;
+    *)
+        echo "Target not defined"
+        exit 1
+        ;;
+esac

toid_bot_description/CMakeLists.txt

@@ -0,0 +1,34 @@
+cmake_minimum_required(VERSION 3.8)
+project(toid_bot_description)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+# uncomment the following section in order to fill in
+# further dependencies manually.
+# find_package(<dependency> REQUIRED)
+
+install(
+  DIRECTORY 
+    src 
+    launch
+    rviz
+  DESTINATION share/${PROJECT_NAME}
+)
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  # the following line skips the linter which checks for copyrights
+  # comment the line when a copyright and license is added to all source files
+  set(ament_cmake_copyright_FOUND TRUE)
+  # the following line skips cpplint (only works in a git repo)
+  # comment the line when this package is in a git repo and when
+  # a copyright and license is added to all source files
+  set(ament_cmake_cpplint_FOUND TRUE)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_package()

toid_bot_description/LICENSE

@@ -0,0 +1,17 @@
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in
+all copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL
+THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+THE SOFTWARE.

toid_bot_description/launch/display.launch.py

@@ -0,0 +1,50 @@
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument
+from launch.conditions import IfCondition, UnlessCondition 
+from launch.substitutions import Command, LaunchConfiguration
+from launch_ros.actions import Node
+from launch_ros.substitutions import FindPackageShare
+import os
+
+def generate_launch_description():
+    pkg_share = FindPackageShare("").find('toid_bot_description')
+    default_model_path = os.path.join(pkg_share, 'src', 'toid_bot_description.urdf')
+    default_rviz_config_path = os.path.join(pkg_share, 'rviz', 'default.rviz')
+
+    robot_state_publisher_node = Node(
+        package='robot_state_publisher',
+        executable='robot_state_publisher',
+        parameters=[{'robot_description': Command(['xacro ', LaunchConfiguration('model')])}]
+    )
+
+    joint_state_publisher_node = Node(
+        package='joint_state_publisher',
+        executable='joint_state_publisher',
+        name='joint_state_publisher',
+        parameters=[{'robot_description': Command(['xacro ', default_model_path])}],
+        condition=UnlessCondition(LaunchConfiguration('gui'))
+    )
+
+    joint_state_publisher_gui_node = Node(
+        package='joint_state_publisher_gui',
+        executable='joint_state_publisher_gui',
+        name='joint_state_publisher_gui',
+        condition=IfCondition(LaunchConfiguration('gui'))
+    )
+
+    rviz_node = Node(
+        package='rviz2',
+        executable='rviz2',
+        name='rviz2',
+        output='screen',
+        arguments=['-d', default_rviz_config_path]
+    )
+
+    return LaunchDescription([
+        DeclareLaunchArgument(name='gui', default_value='True', description='Flag to enable joint_state_publisher'),
+        DeclareLaunchArgument(name='model', default_value=default_model_path, description='Path to model'),
+        robot_state_publisher_node,
+        joint_state_publisher_node,
+        joint_state_publisher_gui_node,
+        rviz_node
+    ])

toid_bot_description/package.xml

@@ -0,0 +1,24 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>toid_bot_description</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="example@example.com">pimpest</maintainer>
+  <license>MIT</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <exec_depend>joint_state_publisher</exec_depend>
+  <exec_depend>joint_state_publisher_gui</exec_depend>
+  <exec_depend>robot_state_publisher</exec_depend>
+  <exec_depend>rviz2</exec_depend>
+  <exec_depend>xacro</exec_depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>

toid_bot_description/rviz/default.rviz

@@ -0,0 +1,235 @@
+Panels:
+  - Class: rviz_common/Displays
+    Help Height: 78
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Global Options1
+        - /Status1
+      Splitter Ratio: 0.5
+    Tree Height: 542
+  - Class: rviz_common/Selection
+    Name: Selection
+  - Class: rviz_common/Tool Properties
+    Expanded:
+      - /2D Goal Pose1
+      - /Publish Point1
+    Name: Tool Properties
+    Splitter Ratio: 0.5886790156364441
+  - Class: rviz_common/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+  - Class: rviz_common/Time
+    Experimental: false
+    Name: Time
+    SyncMode: 0
+    SyncSource: ""
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz_default_plugins/Grid
+      Color: 160; 160; 164
+      Enabled: true
+      Line Style:
+        Line Width: 0.029999999329447746
+        Value: Lines
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 10
+      Reference Frame: <Fixed Frame>
+      Value: true
+    - Alpha: 0.30000001192092896
+      Class: rviz_default_plugins/RobotModel
+      Collision Enabled: false
+      Description File: ""
+      Description Source: Topic
+      Description Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /robot_description
+      Enabled: true
+      Links:
+        All Links Enabled: true
+        Expand Joint Details: false
+        Expand Link Details: false
+        Expand Tree: false
+        Link Tree Style: Links in Alphabetic Order
+        base_footprint:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        base_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        drivewhl_l_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        drivewhl_r_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        left_caster:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        lidar:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        right_caster:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+      Mass Properties:
+        Inertia: false
+        Mass: false
+      Name: RobotModel
+      TF Prefix: ""
+      Update Interval: 0
+      Value: true
+      Visual Enabled: true
+    - Class: rviz_default_plugins/TF
+      Enabled: true
+      Filter (blacklist): ""
+      Filter (whitelist): ""
+      Frame Timeout: 15
+      Frames:
+        All Enabled: true
+        base_footprint:
+          Value: true
+        base_link:
+          Value: true
+        drivewhl_l_link:
+          Value: true
+        drivewhl_r_link:
+          Value: true
+        left_caster:
+          Value: true
+        lidar:
+          Value: true
+        right_caster:
+          Value: true
+      Marker Scale: 0.30000001192092896
+      Name: TF
+      Show Arrows: true
+      Show Axes: true
+      Show Names: true
+      Tree:
+        base_link:
+          base_footprint:
+            {}
+          drivewhl_l_link:
+            {}
+          drivewhl_r_link:
+            {}
+          left_caster:
+            {}
+          lidar:
+            {}
+          right_caster:
+            {}
+      Update Interval: 0
+      Value: true
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Fixed Frame: base_footprint
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz_default_plugins/Interact
+      Hide Inactive Objects: true
+    - Class: rviz_default_plugins/MoveCamera
+    - Class: rviz_default_plugins/Select
+    - Class: rviz_default_plugins/FocusCamera
+    - Class: rviz_default_plugins/Measure
+      Line color: 128; 128; 0
+    - Class: rviz_default_plugins/SetInitialPose
+      Covariance x: 0.25
+      Covariance y: 0.25
+      Covariance yaw: 0.06853891909122467
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /initialpose
+    - Class: rviz_default_plugins/SetGoal
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /goal_pose
+    - Class: rviz_default_plugins/PublishPoint
+      Single click: true
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /clicked_point
+  Transformation:
+    Current:
+      Class: rviz_default_plugins/TF
+  Value: true
+  Views:
+    Current:
+      Class: rviz_default_plugins/XYOrbit
+      Distance: 1.59040105342865
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.05999999865889549
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Focal Point:
+        X: 0
+        Y: 0
+        Z: 0
+      Focal Shape Fixed Size: false
+      Focal Shape Size: 0.05000000074505806
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.009999999776482582
+      Pitch: 0.6053992509841919
+      Target Frame: <Fixed Frame>
+      Value: XYOrbit (rviz_default_plugins)
+      Yaw: 1.088563323020935
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 846
+  Hide Left Dock: false
+  Hide Right Dock: false
+  QMainWindow State: 000000ff00000000fd00000004000000000000016c000002acfc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005d00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003f000002ac000000cc00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002acfc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003f000002ac000000a900fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004b00000003efc0100000002fb0000000800540069006d00650100000000000004b0000002de00fffffffb0000000800540069006d0065010000000000000450000000000000000000000229000002ac00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Time:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: false
+  Width: 1200
+  X: 60
+  Y: 60

toid_bot_description/src/toid_bot_control.xacro

@@ -0,0 +1,31 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
+
+  <xacro:macro name="toid_control" params="name:=toid_control use_mock_hardware:=^|true">
+
+    <ros2_control name="${name}" type="system">
+      <xacro:unless value="${use_mock_hardware}">
+        <hardware>
+            <plugin>mg_control/MgStepperInterface</plugin>
+        </hardware>
+      </xacro:unless>
+      <xacro:if value="${use_mock_hardware}">
+        <hardware>
+          <plugin>mock_components/GenericSystem</plugin>
+          <param name="calculate_dynamics">true</param>
+        </hardware>
+      </xacro:if>
+
+      <joint name="drivewhl_l_joint">
+        <command_interface name="velocity"/>
+      </joint>
+
+      <joint name="drivewhl_r_joint">
+        <command_interface name="velocity"/>
+      </joint>
+
+    </ros2_control>
+
+  </xacro:macro>
+
+</robot>

toid_bot_description/src/toid_bot_description.urdf

@@ -0,0 +1,117 @@
+<?xml version="1.0"?>
+<robot name="toid_bot" xmlns:xacro="http://ros.org/wiki/xacro">
+
+<xacro:arg name="use_mock" default="true" />
+
+<xacro:property name="base_width" value="0.30"/>
+<xacro:property name="base_length" value="0.30"/>
+<xacro:property name="base_height" value="0.34"/>
+
+<xacro:property name="wheel_radius" value="0.04"/>
+<xacro:property name="wheel_width" value="0.03"/>
+
+<xacro:property name="wheel_zoff" value="0.03"/>
+<xacro:property name="wheel_xoff" value="-0.07"/>
+<xacro:property name="wheel_inset" value="0.01"/>
+
+<xacro:property name="caster_radius" value="0.02"/>
+
+<xacro:property name="caster_inset" value="0.04"/>
+<xacro:property name="caster_xoff" value="0.10"/>
+
+
+<xacro:property name="lidar_radius" value="0.03"/>
+<xacro:property name="lidar_height" value="0.02"/>
+<xacro:property name="lidar_xoff" value="0.09"/>
+
+<xacro:property name="base_zoff" value="${-wheel_zoff + wheel_radius + base_height/2}"/>
+
+<link name="base_link">
+    <visual>
+        <geometry>
+            <box size="${base_length} ${base_width} ${base_height}"/>
+        </geometry>
+        <material name="Cyan">
+            <color rgba="0 1.0 1.0 1.0"/>
+        </material>
+    </visual>
+</link>
+
+<link name="base_footprint"/>
+
+<link name="lidar">
+    <visual>
+        <geometry>
+            <cylinder radius="${lidar_radius}" length="${lidar_height}"/>
+        </geometry>
+        <material name="White">
+            <color rgba="0.9 0.9 0.9 1.0"/>
+        </material>
+    </visual>
+</link>
+
+<joint name="base_joint" type="fixed">
+    <child link="base_link"/>
+    <parent link="base_footprint"/>
+    <origin xyz="${-wheel_xoff} 0.0 ${base_zoff}" rpy="0 0 0"/>
+</joint>
+
+<joint name="lidar_joint" type="fixed">
+    <parent link="base_link"/>
+    <child link="lidar"/>
+    <origin xyz="${lidar_xoff} 0 ${(base_height + lidar_height)/2}" rpy="0 0 0"/>
+</joint>
+
+
+<xacro:macro name="wheel" params="prefix y_reflect">
+    <link name="${prefix}_link">
+        <visual>
+            <origin xyz="0 0 0" rpy="${pi/2} 0 0"/>
+            <geometry>
+                <cylinder radius="${wheel_radius}" length="${wheel_width}"/>
+            </geometry>
+            <material name="Yellow">
+                <color rgba="0.8 0.8 0.3 1.0"/>
+            </material>
+        </visual>
+    </link>
+
+    <joint name="${prefix}_joint" type="continuous">
+        <parent link="base_link"/>
+        <child link="${prefix}_link"/>
+        <origin xyz="${wheel_xoff} ${y_reflect*(base_width/2 - wheel_inset)} ${wheel_zoff-base_height/2}" rpy="0 0 0"/>
+        <axis xyz="0 1 0"/>
+    </joint>
+</xacro:macro>
+
+
+<xacro:macro name="cstr" params="prefix y_reflect">
+    <link name="${prefix}_caster">
+        <visual>
+            <geometry>
+                <sphere radius="${caster_radius}"/>
+            </geometry>
+            <material name="White">
+                <color rgba="1.0 1.0 1.0 1.0"/>
+            </material>
+        </visual>
+    </link>
+
+    <joint name="${prefix}_caster_joint" type="fixed">
+        <parent link="base_link"/>
+        <child link="${prefix}_caster"/>
+        <origin xyz="${caster_xoff} ${y_reflect*(base_width/2 - caster_inset)} ${caster_radius-base_zoff}" rpy="0 0 0"/>
+    </joint>
+</xacro:macro>
+
+
+<xacro:wheel prefix="drivewhl_l" y_reflect="1" />
+<xacro:wheel prefix="drivewhl_r" y_reflect="-1" />
+
+<xacro:cstr prefix="left" y_reflect="1" />
+<xacro:cstr prefix="right" y_reflect="-1" />
+
+<xacro:include filename="$(find toid_bot_description)/src/toid_bot_control.xacro"/>
+<xacro:toid_control name="toid_bot_control" use_mock_hardware="$(arg use_mock)"/>
+
+</robot>

util/docker_registry/config/config.yml

@@ -0,0 +1,9 @@
+version: 0.1
+storage:
+  filesystem:
+    rootdirectory: /var/lib/registry
+http:
+  addr: :5000
+  headers:
+    X-Content-Type-Options: [nosniff]
+

util/docker_registry/docker-compose.yaml

@@ -0,0 +1,13 @@
+services:
+  registry:
+    restart: always
+    image: registry:2
+    ports:
+      - 5000:5000
+    environment:
+      REGISTRY_HTTP_TLS_CERTIFICATE: /certs/domain.crt
+      REGISTRY_HTTP_TLS_KEY: /certs/domain.key
+      REGISTRY_STORAGE_FILESYSTEM_ROOTDIRECTORY: /var/lib/registry
+    volumes:
+      - ./config/config.yml:/etc/docker/registry/config.yml:ro
+      - ./data:/var/lib/registry:rw