Added basic launch file for mg_lidar

Dockerfile.env

@@ -1,4 +1,4 @@
-FROM arm64v8/ros:jazzy-ros-base AS magrob.base.env
+FROM arm64v8/ros:jazzy as magrob.env
 
 RUN mkdir -p /ros_ws/src
 WORKDIR /ros_ws/src
@@ -7,7 +7,9 @@ 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 && \
-    scripts/install_base_deps.sh
+    apt update && \
+    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.base.env
+    image: localhost/magrob.env
     build: 
-      dockerfile: Dockerfile.base.env
+      dockerfile: Dockerfile.env
 
     entrypoint: ["sleep","infinity"]
     volumes:

firmware/base/.vscode/settings.json

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

firmware/base/src/config.h

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

firmware/base/src/main.c

@@ -32,7 +32,6 @@ 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] = {};
@@ -213,6 +212,7 @@ 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 > 0.00005)
+    if(u_v > 0.0005)
         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

@@ -1,63 +0,0 @@
-################################################################################
-#                                                                              #
-#  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

@@ -1,29 +0,0 @@
-################################################################################
-#                                                                              #
-#  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

@@ -10,7 +10,6 @@
   <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

@@ -37,7 +37,6 @@ set(SOURCES
 
 
 add_executable(mg_bt_executor ${SOURCES})
-# add_executable(mg_i2cnode i2cmodule/i2cnode.cpp)
 
 target_include_directories(
   mg_bt_executor
@@ -46,14 +45,10 @@ 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

@@ -1,47 +0,0 @@
-#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

@@ -14,7 +14,6 @@
   <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

@@ -2,7 +2,6 @@
 
 #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"
@@ -27,7 +26,6 @@ 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(); });
     }
 
@@ -37,7 +35,7 @@ namespace mg {
         double    theta;
         glm::vec2 pos;
 
-        auto tmsg = tf_buffer_->lookupTransform("odom", "base_footprint", tf2::TimePointZero);
+        auto tmsg = tf_buffer_->lookupTransform("odom", "base-link", tf2::TimePointZero);
 
         tf2::Transform t;
         tf2::convert(tmsg.transform, t);

mg_bt/src/tree_nodes/i2c.hpp

@@ -1,29 +0,0 @@
-#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: 50
+    update_rate: 100
 
     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_footprint
+    base_frame_id: base-link
 
     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_footprint
+    base_frame_id: base-link
 
     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

@@ -1,22 +0,0 @@
-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

@@ -1,111 +0,0 @@
-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

@@ -31,8 +31,6 @@ 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;
 }
 
@@ -47,8 +45,8 @@ std::vector<hardware_interface::StateInterface> mg::MgStepperInterface::export_s
 
     std::vector<hardware_interface::StateInterface> state_interfaces;
     state_interfaces.reserve(2);
-    state_interfaces.emplace_back("drivewhl_l_joint", hardware_interface::HW_IF_POSITION, &left_wheel_pos_state);
+    state_interfaces.emplace_back("left_motor", hardware_interface::HW_IF_POSITION, &left_wheel_pos_state);
-    state_interfaces.emplace_back("drivewhl_r_joint", hardware_interface::HW_IF_POSITION, &right_wheel_pos_state);
+    state_interfaces.emplace_back("right_motor", hardware_interface::HW_IF_POSITION, &right_wheel_pos_state);
 
     return state_interfaces;
 }
@@ -57,8 +55,8 @@ std::vector<hardware_interface::CommandInterface> mg::MgStepperInterface::export
 
     std::vector<hardware_interface::CommandInterface> command_interfaces;
     command_interfaces.reserve(2);
-    command_interfaces.emplace_back("drivewhl_l_joint", hardware_interface::HW_IF_VELOCITY, &left_wheel_vel_cmd);
+    command_interfaces.emplace_back("left_motor", hardware_interface::HW_IF_VELOCITY, &left_wheel_vel_cmd);
-    command_interfaces.emplace_back("drivewhl_r_joint", hardware_interface::HW_IF_VELOCITY, &right_wheel_vel_cmd);
+    command_interfaces.emplace_back("right_motor", hardware_interface::HW_IF_VELOCITY, &right_wheel_vel_cmd);
 
     return command_interfaces;
 }

mg_lidar/config/lidar.yaml

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

mg_lidar/src/scanner.cpp

@@ -54,7 +54,7 @@ class MgScanner : public rclcpp::Node {
             double y   = NAN;
             double rot = NAN;
 
-            auto tmsg = tf_buf_->lookupTransform("odom", "base_footprint", tf2::TimePointZero);
+            auto tmsg = tf_buf_->lookupTransform("odom", "base-link", tf2::TimePointZero);
 
             tf2::Transform t;
             tf2::convert(tmsg.transform, t);

mg_msgs/CMakeLists.txt

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

mg_msgs/srv/I2c.srv

@@ -1,4 +0,0 @@
-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_footprint", tf2::TimePointZero);
+            auto tmsg = tfbuf->lookupTransform("odom", "base-link", 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>("/cmd_vel", 2);
+        pub_twist = create_publisher<Geometry::TwistStamped>("diffdrive_controller/cmd_vel", 2);
 
         obstacle_manager_ = std::make_shared<ObstacleManager>(this, tf2_buffer);
 

mg_odometry/src/mg_odom_publisher.cpp

@@ -23,7 +23,7 @@
 
 #define TIMEOUT 10u
 
-constexpr const char* ENCODER_SERIAL_PATH_DEFAULT = "/dev/ttyACM0";
+constexpr const char* ENCODER_SERIAL_PATH_DEFAULT = "/dev/ttyACM1";
 
 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_footprint");
+        this->declare_parameter("target", "base-link");
         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_footprint", tf2::TimePointZero);
+        auto tmsg = tf_buf_->lookupTransform("odom", "base-link", tf2::TimePointZero);
 
         tf2::Transform t;
         tf2::convert(tmsg.transform, t);

scripts/build_base.sh

@@ -1,10 +0,0 @@
-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

@@ -1,55 +0,0 @@
-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

@@ -1,17 +0,0 @@
-#!/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

@@ -1,9 +0,0 @@
-#!/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

@@ -1,19 +0,0 @@
-#!/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

@@ -1,78 +0,0 @@
-#!/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

@@ -1,34 +0,0 @@
-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

@@ -1,17 +0,0 @@
-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

@@ -1,50 +0,0 @@
-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

@@ -1,24 +0,0 @@
-<?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

@@ -1,235 +0,0 @@
-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

@@ -1,31 +0,0 @@
-<?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

@@ -1,117 +0,0 @@
-<?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

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

util/docker_registry/docker-compose.yaml

@@ -1,13 +0,0 @@
-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