Jazzy updates #229

civerachb-cpr · 2024-07-29T18:34:29Z

Description

Several fixes & changes needed for Jazzy support:

renames ign and ignition related nodes to use gz or sim (per new nomenclature)
updates gazebo plugin & resource environment variables to use the new GZ_* nomenclature
adds GzSceneManager and InteractiveViewControl plugins to gui.config (needed for the visualization to render correctly & allow camera movement)
fixes a bug where dock & undock behaviours could be preempted by e.g. reflex, causing their associated ROS actions to cancel
updates diff_drive_controller interaction to use TwistStamped messages (per recent changes from ROS controllers)
replace NotEqualsSubstitution(...) with IfCondition(NotEqualsSubstitution(...)) (deprecation)
slight change to the maze world to ensure the robot's default spawn location doesn't clip into wall 12

How Has This Been Tested?

Tested on Ubuntu 24.04. Able to successfully:

dock & undock the robot using the action servers
control the robot using on-screen teleop controls + keyboard controls
visualize the robot & dock in Rviz2
drive the robot into an obstacle to trigger reflex behaviours

# To start the simulation
ros2 launch irobot_create_gz_bringup create3_gz.launch.py

Wait for the simulation to load fully (may take several seconds, depending on the specs of the machine being used), then press the orange play button to start the simulation. The fan in the depot ceiling will spin when the simulation is running. Rviz will show the robot & dock.

To undock the robot:

ros2 action send_goal /undock irobot_create_msgs/action/Undock {}

To dock the robot:

ros2 action send_goal /dock irobot_create_msgs/action/Dock {} --feedback

…plugin

…t_cmake_python dependency

…zed; just the message type is changed so far

…ock behaviour

…e Gazebo

…sn't clip into the wall

alsora · 2024-07-29T19:16:07Z

Overall looks good, thanks for the work!
I'll give it a try and do a deeper review in the next days

civerachb-cpr · 2024-07-29T20:11:48Z

No big rush. I imagine there may be a few additional updates as I continue testing with the Turtlebot4 packages. But this should give a good base for the remaining Jazzy work.

alsora · 2024-08-12T03:24:30Z

irobot_create_common/irobot_create_common_bringup/CMakeLists.txt

@@ -12,6 +12,7 @@ endif()

 find_package(ament_cmake REQUIRED)
 find_package(ament_cmake_python REQUIRED)
+find_package(rclpy REQUIRED)


why this addition? if we need it, we should also add it to the package.xml, but i don't see it being used

That's a vestigial leftover from some earlier development that I reverted, though apparently incompletely. Fixed.

alsora · 2024-08-12T03:26:21Z

irobot_create_common/irobot_create_nodes/include/irobot_create_nodes/motion_control_node.hpp

@@ -106,10 +106,10 @@ class MotionControlNode : public rclcpp::Node

  rclcpp::Subscription<irobot_create_msgs::msg::HazardDetectionVector>::SharedPtr
    hazard_detection_sub_;
-  rclcpp::Subscription<geometry_msgs::msg::Twist>::SharedPtr teleop_subscription_;
+  rclcpp::Subscription<geometry_msgs::msg::TwistStamped>::SharedPtr teleop_subscription_;


we should keep both subscriptions

For Jazzy I'm not sure the Twist subscription is still necessary. ROS Control dropped support for unstamped messages in Jazzy. I can add it back if you really want, but what are you expecting will be using the unstamped version?

I've added cmd_vel_unstamped as a new subscription. I'm still not thoroughly convinced it's necessary for Jazzy, but including it won't be harmful.

Users could have developed their own controller applications and may still be using the old data type

That's fair. Though in the context of Jazzy I'd argue the correct solution is to require the custom controllers/applications to be updated to the new standard, rather than continuing to support the old one.

Regardless, I've added the second subscription and it appears to be working correctly.

alsora · 2024-08-12T03:27:04Z

irobot_create_common/irobot_create_nodes/src/motion_control/drive_goal_behaviors.cpp

-  default_cmd.angular.x = 0;
-  default_cmd.angular.y = 0;
-  default_cmd.angular.z = 0;
+  geometry_msgs::msg::TwistStamped default_cmd;


we should set the stamp as

default_cmd.header.stamp = this->now();

Fixed this in a slightly different way than above, but the result is the same.

alsora · 2024-08-12T03:29:23Z

irobot_create_gz/irobot_create_gz_bringup/CHANGELOG.rst

 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^

 2.1.0 (2023-05-15)
 ------------------
 * Multi robot support (`#207 <https://github.com/iRobotEducation/create3_sim/issues/207>`_)
-* Added ign_ros2_control dependency as it is released now. (`#204 <https://github.com/iRobotEducation/create3_sim/issues/204>`_)
+* Added gz_ros2_control dependency as it is released now. (`#204 <https://github.com/iRobotEducation/create3_sim/issues/204>`_)


undo changes to the changelog (this comment applies to all the changelog files, not just this one)

Whoops. The dangers of search & replace. Fixed now.

Fixed the remaining changes to the changelogs.

alsora · 2024-08-12T03:33:42Z

I did an additional review and, besides the small comments above, everything looks good.

…ternally, set the stamp outside that function (since we may create the command, do some math, and then publish it later). Add an unstamped velocity command input

civerachb-cpr · 2024-08-13T14:33:32Z

I think I've addressed all the issues raised above.

alsora · 2024-08-14T02:33:02Z

@civerachb-cpr there's still a few CHANGELOG files that have been inadvertently modified.
Can you please revert these changes as well?

azeey · 2024-08-26T19:11:35Z

Great to see this update. Just wanted to drop https://gazebosim.org/docs/latest/ros2_gz_vendor_pkgs/ in case you haven't seen it. Also, since Gazebo is now available from packages.ros.org, there's no need for the instructions that add the packages.osrfoundation.org repo.

civerachb-cpr added 22 commits July 16, 2024 12:27

Remove the COLCON_IGNORE, fix some namespace issues with the Create3 …

3bb35cd

…plugin

Initial bulk renaming ignition -> gz, ign -> gz

39fb2d4

Rename files & folders ignition -> gz

4243451

Add python setup files

134e3e1

Copypasta

5576839

Remove setup files (they're no longer necessary after all?), add amen…

aeb6b6e

…t_cmake_python dependency

Remove substitution deprecations

b780095

Add IfCondition wrappers

f0a03cc

Missing import

75888b6

Rename gazebo launch file

fc68eb6

Update launch file

3cc9e19

Update the GUI config with fixed camera position, add 3d scene manager

9207bdc

Enable the plugins, fix the path envars

c344de0

Remove commented-out parameters

bada055

Initial migration from Twist to TwistStamped. Headers are not initali…

b1c8232

…zed; just the message type is changed so far

Override the backup safety for now; it seems to be clobbering the und…

ac43b55

…ock behaviour

Update the gz_ros_bridge to use stamped messages for cmd_vel

f34e8b3

Don't allow the dock/undock actions to be preempted

990a68b

Add the InteractiveViewControl so we can move the camera around insid…

13f4ee0

…e Gazebo

Reduce the width of wall 12 so the robot's default spawn location doe…

c01cddf

…sn't clip into the wall

Add launch instructions to the readme

1de4ba0

Add note about how to change initial pose

ccc4134

civerachb-cpr requested review from alsora and justinIRBT as code owners July 29, 2024 18:34

Fix logging for the buttons plugin

46bd4bd

alsora reviewed Aug 12, 2024

View reviewed changes

civerachb-cpr added 4 commits August 13, 2024 09:12

Revert accidental change to changelog

7724184

Revert changes to CMakeLists

ba07a50

Set the time in the stamped twist message headers

f7bdf15

Revert get_default_velocity_cmd to have no parameters as it's used ex…

46865fe

…ternally, set the stamp outside that function (since we may create the command, do some math, and then publish it later). Add an unstamped velocity command input

civerachb-cpr added 7 commits August 14, 2024 10:59

Revert additional changelog modifications

cbe7a8e

Add dependency on gz_gui_vendor (provides gz-gui8)

4747b1b

Add dependency on gz_math_vendor (provides gz-math7)

edfc927

Update CI for Jazzy

cc53fca

Make gz-gui8 required in cmake

02be9b7

Update CI versions to latest

1b0ecf4

Linter fixes

447f8f6

alsora merged commit 71cda80 into iRobotEducation:jazzy Aug 16, 2024
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Jazzy updates #229

Jazzy updates #229

civerachb-cpr commented Jul 29, 2024

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azeey commented Aug 26, 2024

Jazzy updates #229

Jazzy updates #229

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civerachb-cpr commented Jul 29, 2024

Description

How Has This Been Tested?

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alsora commented Aug 12, 2024

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azeey commented Aug 26, 2024

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