Reseq_ros2

ROS2 code to control the ReseQ robot.

ROS workspace setup

Inside the folder where you want to keep your ROS workspace, run the following commands to create the workspace and clone this repository

mkdir ros2_ws
cd ros2_ws
git clone --recursive https://github.com/Team-Isaac-Polito/reseq_ros2.git src

This will copy the contents of this repository inside the ros2_ws/src folder.

In VSCode (or your editor of choice) open ros2_ws

Install dependencies with ROSDEP

In the directory ros2_ws with the apt cache updated run:

rosdep install -iy --from-path src --rosdistro humble

Development dependencies

Install dependencies to manually inspect and test the environment:

sudo apt install -y can-utils ros-humble-rviz2 python3-flake8 python3-flake8-blind-except python3-flake8-builtins python3-flake8-class-newline python3-flake8-comprehensions python3-flake8-deprecated python3-flake8-docstrings python3-flake8-import-order python3-flake8-quotes curl lsb-release gnupg

VSCode Development configuration

Install the following extensions:

code --install-extension ms-python.flake8
code --install-extension ms-python.isort
code --install-extension charliermarsh.ruff

In ros_ws, modify the file .vscode/settings.json by adding the following configuration:

    "flake8.args": ["--config", "src/reseq_ros2/test/flake8.cfg"],
    "[python]": {
        "editor.defaultFormatter": "charliermarsh.ruff",
        "editor.formatOnSave": true,
        "editor.codeActionsOnSave": {
            "source.organizeImports": "explicit",
            "python.sortImports": "explicit"
        }
    },
    "ruff.format.args": [
        "--config=src/ruff.toml",
        "--line-length=99"
    ],
    "ruff.organizeImports": false

The files should format correctly on save

Testing

To execute ROS2 tests, run the following command which generates a more detailed output:

colcon test --event-handlers=console_direct+

Gazebo Simulator

Due to problems with wsl, the project uses Gazebo Harmonic, which can be installed from the official Gazebo repositories.

sudo curl https://packages.osrfoundation.org/gazebo.gpg --output /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg
echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null
sudo apt-get update
sudo apt install ros-humble-ros-gzharmonic