Mirte ROS1 simulation

.github/workflows/cpp-check.yml

@@ -0,0 +1,14 @@
+name: test-clang-format
+on: [push, pull_request]
+jobs:
+  cpp_style_check:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v3
+      - uses: DoozyX/[email protected]
+        with:
+          source: '.'
+          # exclude: './third_party ./external'
+          extensions: 'h,cpp'
+          clangFormatVersion: 14
+          style: llvm

.github/workflows/python-check.yml

@@ -0,0 +1,11 @@
+name: python style check
+on: [push, pull_request]
+jobs:
+  check-python-style:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v1
+      - name: Black Code Formatter
+        uses: lgeiger/black-action@master
+        with:
+          args: ". --check"

.github/workflows/xmllint.yaml

@@ -0,0 +1,25 @@
+name: test-xml-format
+on: [push, pull_request]
+# lint all xacro and launch files and check that there are no changes
+# if changes: fail
+jobs:
+  xml_style_check:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v3
+      - name: check xml changes
+        run: |
+          sudo apt update && sudo apt install libxml2-utils -y
+          ./scripts/xmlformat.sh
+      - name: Verify Changed files
+        uses: tj-actions/verify-changed-files@v16
+        id: verify-changed-files
+        with:
+          files: |
+            **/*.xacro
+            **/*.launch
+      - name: Run step only when any of the above files change.
+        if: steps.verify-changed-files.outputs.files_changed == 'true'
+        run: |-
+          echo "Changed files: ${{ steps.verify-changed-files.outputs.changed_files }}"
+          false

.github/workflows/yamlfmt.yml

@@ -0,0 +1,27 @@
+name: test-yaml-format
+on: [push, pull_request]
+jobs:
+  yaml_style_check:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v3
+      - uses: actions/setup-go@v4
+        with:
+          go-version: '>=1.17.0'
+      - run: go version
+      - name: check yaml changes
+        run: |
+          go install github.com/google/yamlfmt/cmd/yamlfmt@latest
+          ./scripts/yamlformat.sh
+      - name: Verify Changed files
+        uses: tj-actions/verify-changed-files@v16
+        id: verify-changed-files
+        with:
+          files: |
+            **/*.yaml
+            **/*.yml
+      - name: Run step only when any of the above files change.
+        if: steps.verify-changed-files.outputs.files_changed == 'true'
+        run: |-
+          echo "Changed files: ${{ steps.verify-changed-files.outputs.changed_files }}"
+          false

.gitignore

@@ -1,3 +1,6 @@
 build/
 install/
 log/
+worlds/generated.world
+urdf/generated.world
+scripts/node_modules

CMakeLists.txt

@@ -1,205 +1,34 @@
 cmake_minimum_required(VERSION 3.0.2)
 project(mirte_gazebo)
 
-## Compile as C++11, supported in ROS Kinetic and newer
-# add_compile_options(-std=c++11)
-
-## Find catkin macros and libraries
-## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
-## is used, also find other catkin packages
 find_package(catkin REQUIRED COMPONENTS
-  rospy
-  std_msgs
+  roscpp
+
 )
-
-## System dependencies are found with CMake's conventions
-# find_package(Boost REQUIRED COMPONENTS system)
-
-
-## Uncomment this if the package has a setup.py. This macro ensures
-## modules and global scripts declared therein get installed
-## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
-# catkin_python_setup()
-
-################################################
-## Declare ROS messages, services and actions ##
-################################################
-
-## To declare and build messages, services or actions from within this
-## package, follow these steps:
-## * Let MSG_DEP_SET be the set of packages whose message types you use in
-##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
-## * In the file package.xml:
-##   * add a build_depend tag for "message_generation"
-##   * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
-##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
-##     but can be declared for certainty nonetheless:
-##     * add a exec_depend tag for "message_runtime"
-## * In this file (CMakeLists.txt):
-##   * add "message_generation" and every package in MSG_DEP_SET to
-##     find_package(catkin REQUIRED COMPONENTS ...)
-##   * add "message_runtime" and every package in MSG_DEP_SET to
-##     catkin_package(CATKIN_DEPENDS ...)
-##   * uncomment the add_*_files sections below as needed
-##     and list every .msg/.srv/.action file to be processed
-##   * uncomment the generate_messages entry below
-##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
-
-## Generate messages in the 'msg' folder
-# add_message_files(
-#   FILES
-#   Message1.msg
-#   Message2.msg
-# )
-
-## Generate services in the 'srv' folder
-# add_service_files(
-#   FILES
-#   Service1.srv
-#   Service2.srv
-# )
-
-## Generate actions in the 'action' folder
-# add_action_files(
-#   FILES
-#   Action1.action
-#   Action2.action
-# )
-
-## Generate added messages and services with any dependencies listed here
-# generate_messages(
-#   DEPENDENCIES
-#   std_msgs
-# )
-
-################################################
-## Declare ROS dynamic reconfigure parameters ##
-################################################
-
-## To declare and build dynamic reconfigure parameters within this
-## package, follow these steps:
-## * In the file package.xml:
-##   * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
-## * In this file (CMakeLists.txt):
-##   * add "dynamic_reconfigure" to
-##     find_package(catkin REQUIRED COMPONENTS ...)
-##   * uncomment the "generate_dynamic_reconfigure_options" section below
-##     and list every .cfg file to be processed
-
-## Generate dynamic reconfigure parameters in the 'cfg' folder
-# generate_dynamic_reconfigure_options(
-#   cfg/DynReconf1.cfg
-#   cfg/DynReconf2.cfg
-# )
-
-###################################
-## catkin specific configuration ##
-###################################
-## The catkin_package macro generates cmake config files for your package
-## Declare things to be passed to dependent projects
-## INCLUDE_DIRS: uncomment this if your package contains header files
-## LIBRARIES: libraries you create in this project that dependent projects also need
-## CATKIN_DEPENDS: catkin_packages dependent projects also need
-## DEPENDS: system dependencies of this project that dependent projects also need
 catkin_package(
-#  INCLUDE_DIRS include
-#  LIBRARIES mirte_gazebo
-#  CATKIN_DEPENDS rospy std_msgs
-#  DEPENDS system_lib
+CATKIN_DEPENDS roscpp std_msgs mirte_msgs
 )
 
-###########
-## Build ##
-###########
-
-## Specify additional locations of header files
-## Your package locations should be listed before other locations
 include_directories(
-# include
   ${catkin_INCLUDE_DIRS}
 )
 
-## Declare a C++ library
-# add_library(${PROJECT_NAME}
-#   src/${PROJECT_NAME}/mirte_gazebo.cpp
-# )
-
-## Add cmake target dependencies of the library
-## as an example, code may need to be generated before libraries
-## either from message generation or dynamic reconfigure
-# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
-
-## Declare a C++ executable
-## With catkin_make all packages are built within a single CMake context
-## The recommended prefix ensures that target names across packages don't collide
-# add_executable(${PROJECT_NAME}_node src/mirte_gazebo_node.cpp)
-
-## Rename C++ executable without prefix
-## The above recommended prefix causes long target names, the following renames the
-## target back to the shorter version for ease of user use
-## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
-# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
-
-## Add cmake target dependencies of the executable
-## same as for the library above
-# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
-
-## Specify libraries to link a library or executable target against
-# target_link_libraries(${PROJECT_NAME}_node
-#   ${catkin_LIBRARIES}
-# )
-
-#############
-## Install ##
-#############
-
-# all install targets should use catkin DESTINATION variables
-# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
-
-## Mark executable scripts (Python etc.) for installation
-## in contrast to setup.py, you can choose the destination
-# catkin_install_python(PROGRAMS
-#   scripts/my_python_script
-#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-# )
-
-## Mark executables for installation
-## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
-# install(TARGETS ${PROJECT_NAME}_node
-#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-# )
-
-## Mark libraries for installation
-## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
-# install(TARGETS ${PROJECT_NAME}
-#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-#   RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
-# )
+find_package(catkin REQUIRED COMPONENTS roscpp sensor_msgs pcl_ros pcl_conversions mirte_msgs)
 
-## Mark cpp header files for installation
-# install(DIRECTORY include/${PROJECT_NAME}/
-#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
-#   FILES_MATCHING PATTERN "*.h"
-#   PATTERN ".svn" EXCLUDE
-# )
 
-## Mark other files for installation (e.g. launch and bag files, etc.)
-# install(FILES
-#   # myfile1
-#   # myfile2
-#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
-# )
+include_directories(${catkin_INCLUDE_DIRS})
 
-#############
-## Testing ##
-#############
 
-## Add gtest based cpp test target and link libraries
-# catkin_add_gtest(${PROJECT_NAME}-test test/test_mirte_gazebo.cpp)
-# if(TARGET ${PROJECT_NAME}-test)
-#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
-# endif()
+add_executable(rotate src/rotate.cpp)
+add_dependencies(rotate ${catkin_EXPORTED_TARGETS})
+target_link_libraries(rotate ${catkin_LIBRARIES} )
 
-## Add folders to be run by python nosetests
-# catkin_add_nosetests(test)
+add_executable(convert_sonar src/convert_ultrasonic.cpp)
+add_dependencies(convert_sonar ${catkin_EXPORTED_TARGETS})
+target_link_libraries(convert_sonar ${catkin_LIBRARIES} )
+add_executable(convert_ir src/convert_ir.cpp)
+add_dependencies(convert_ir ${catkin_EXPORTED_TARGETS})
+target_link_libraries(convert_ir ${catkin_LIBRARIES} )
+add_executable(convert_encoder src/convert_encoder.cpp)
+add_dependencies(convert_encoder ${catkin_EXPORTED_TARGETS})
+target_link_libraries(convert_encoder ${catkin_LIBRARIES} )

README.md

@@ -2,9 +2,36 @@
 
 Have mirte-control and mirte-teleopkey installed
 
+apt install ros-noetic-ros-control ros-noetic-ros-controllers
+
+Requires https://github.com/SyrianSpock/realsense_gazebo_plugin to be downloaded and built if you want an actual realsense. realsense-depth uses a simple depth-camera without the realsense extras.
+
+
 ## running:
 
-term1$ roslaunch mirte_gazebo gazebo_empty.launch
+```sh
+roslaunch mirte_gazebo gazebo_all.launch
+```
+
+Controlling the Mirte:
+```sh
+roslaunch mirte_teleop teleopkey.launch
+```
+
+Change world by changing the `duckietown` argument in `launch/gazebo_duckietown_world.launch` to any map in the maps folder.
+
+The map file is converted to `urdf/generated.world` by `scripts/buildMap.py` and converted to `worlds/generated.world` by xacro before launching Gazebo.
+<!-- term1$ roslaunch mirte_gazebo gazebo_empty_world.launch
 term2$ roslaunch mirte_gazebo spawn_duckietown.launch
 term3$ roslaunch mirte_gazebo spawn_mirte.launch
-term4$ rosrun rviz rviz -d mirte_gazebo.rviz
+term4$ rosrun rviz rviz -d mirte_gazebo.rviz -->
+
+## Format
+Format xml (.launch, .xacro and .world) by running 
+```sh
+./scripts/xmlformat.sh # uses xmllint
+```
+and
+```sh
+./scripts/pythonformat.sh # uses black
+```

config/gazebo_ros_control_params.yaml

@@ -1,12 +1,10 @@
-gazebo_ros_control:   
+gazebo_ros_control:
   pid_gains:
     joint_left_wheel:
-      p: 0.06
-      i: 0.0 
+      p: 0.1
+      i: 0.0
       d: 0.0
     joint_right_wheel:
-      p: 0.06
+      p: 0.1
       i: 0.0
       d: 0.0
-
-