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Fix simulation container and refactoring #12

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Fix simulation container and refactoring #12

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1cb2400
Refactor README and fix docker-compose for ubuntu 22
leandropineda Aug 17, 2023
434ebd0
remove empty readme line
leandropineda Aug 18, 2023
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6 changes: 6 additions & 0 deletions .markdownlint.json
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@@ -0,0 +1,6 @@
{
"MD033": false,
"MD013": {
"line_length": 100
}
}
15 changes: 10 additions & 5 deletions README.md
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Expand Up @@ -2,26 +2,31 @@

## Description

This repository contains useful packages and tools to work with the [vda5050_connector](https://github.com/inorbit-ai/ros_amr_interop/tree/galactic-devel/vda5050_connector) package. These resources provide a starting point to implement your own VDA5050 Adapter.
This repository contains useful packages and tools to work with the [vda5050_connector](https://github.com/inorbit-ai/ros_amr_interop/tree/galactic-devel/vda5050_connector)
package. These resources provide a starting point to implement your own VDA5050 Adapter.

## Examples

### Docker

The **docker** directory contains a build / deployment configuration to easily work and test the vda5050_connector package, your custom adapter and their dependencies. Check its [README](/docker/README.md) for more details.
The **docker** directory contains a build / deployment configuration to easily work and test the
`vda5050_connector` package, your custom adapter and their dependencies. Check its [README](/docker/README.md)
for more details.

### VDA5050 TB3 Adapter

The **vda5050_tb3_adapter** is a ROS2 package with a python implementation of the adapter. Check its [README](/vda5050_tb3_adapter/README.md) for more details.
The **vda5050_tb3_adapter** is a ROS2 package with a python implementation of the adapter. Check its
[README](/vda5050_tb3_adapter/README.md) for more details.

### VDA5050 Template package (C++)

The **vda5050_template_package** is a ROS2 package with a C++ template to implement a custom VDA5050 adapter. Check its [README](/vda5050_template_package/README.md) for more details.
The **vda5050_template_package** is a ROS2 package with a C++ template to implement a custom VDA5050
adapter. Check its [README](/vda5050_template_package/README.md) for more details.

## Contributing

Please see the [CONTRIBUTING](CONTRIBUTING.md) document.

## License

[![License](https://img.shields.io/badge/License-BSD_3--Clause-blue.svg)](LICENSE)
[![License](https://img.shields.io/badge/License-BSD_3--Clause-blue.svg)](LICENSE)
14 changes: 10 additions & 4 deletions docker/README.md
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Expand Up @@ -4,12 +4,13 @@ This directory contains two Dockerfiles:

- **development**: useful to compile, run and test the connector package with its adapter.

- **simulation**: launches a TB3 Gazebo simulation to test navigation commands and VDA actions using the adapter.
- **simulation**: launches a TB3 Gazebo simulation to test navigation commands and VDA actions
using the adapter.

These docker images can be built and run using the **docker-compose** file. The compose allows:

- Manipulating the execution of three containers: _development_, _simulation_ and _mosquitto_ (MQTT broker).
- DISPLAY capabilities.
- `DISPLAY` capabilities.
- Creating a shared network between the containers.
- Mounting the example adapter packages.

Expand All @@ -27,10 +28,15 @@ To work with it, there are two bash scripts that launch, attach and stop the con
./setup-sim.sh # Run the three containers.
```

These scripts automatically attach to the _development_ container. To attach another terminal to a given container (`development`, `simulation` or `mosquitto`) use:
**Note**: the simulation logs will be flooded with `discarding message because the queue is full`
messages. This is expected, and they will go away after setting simulated robot initial pose.

These scripts automatically attach to the _development_ container. To attach another terminal to a
given container (`development`, `simulation` or `mosquitto`) use:

```sh
cd deployment && docker compose exec <container> bash
```

Inside the _development_ container, you can directly compile the ROS2 code (`colcon build`) under the `dev_ws` folder, open tools like `rqt` or even send a message via MQTT.
Inside the _development_ container, you can directly compile the ROS2 code (`colcon build`) under
the `dev_ws` folder, open tools like `rqt` or even send a message via MQTT.
1 change: 1 addition & 0 deletions docker/deployment/docker-compose.yml
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Expand Up @@ -8,6 +8,7 @@ services:
context: ../build
dockerfile: ../build/simulation.Dockerfile
user: docker
ipc: host
environment:
- DISPLAY
- QT_X11_NO_MITSHM=1
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221 changes: 215 additions & 6 deletions vda5050_tb3_adapter/README.md
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@@ -1,9 +1,15 @@
# VDA5050 TB3 Adapter

ROS2 package with a Python implementation of the adapter for a [Turtlebot 3](https://github.com/ROBOTIS-GIT/turtlebot3/tree/galactic-devel). It contains the following directories:
ROS2 package with a Python implementation of the adapter for a
[Turtlebot 3](https://github.com/ROBOTIS-GIT/turtlebot3/tree/galactic-devel).
It contains the following directories:

- **config**: provides a _connector_tb3.yaml_ file to configure the MQTT bridge, controller and adapter parameters.
- **launch**: provides two `.launch.py` files, one for running the `tb3_adapter` node alone and the other to run the whole connector (`mqtt_bridge` and `controller` nodes from the `vda5050_connector` package, as well as the `tb3_adapter` node).
- **config**: provides a _connector_tb3.yaml_ file to configure the MQTT bridge,
controller and adapter parameters.
- **launch**: provides two `.launch.py` files, one for running the `tb3_adapter`
node alone and the other to run the whole connector (`mqtt_bridge` and
`controller` nodes from the `vda5050_connector` package, as well as the
`tb3_adapter` node).

## Running the TB3 adapter

Expand All @@ -17,13 +23,29 @@ To test the TB3 adapter sample, follow these steps:
# Build workspace packages
colcon build && source install/setup.bash
# Set gazebo simulated `tb3` initial pose
ros2 topic pub -1 --qos-reliability reliable /initialpose geometry_msgs/PoseWithCovarianceStamped \
"{header: {frame_id: map}, pose: {pose: {position: {x: -2.1, y: -0.5, z: 0.0}, orientation: {x: 0.0, y: 0.0, z: 0, w: 1.0000000}}, covariance: [0.25, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.25, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.06853891945200942]}}"
ros2 topic pub -1 --qos-reliability reliable \
/initialpose geometry_msgs/PoseWithCovarianceStamped \
"{
header: {frame_id: map},
pose: {
pose: {
position: {x: -2.1, y: -0.5, z: 0.0},
orientation: {x: 0.0, y: 0.0, z: 0, w: 1.0000000}
},
covariance: [
0.25, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.25, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.06853891945200942
]
}
}"
# Launch the TB3 VDA5050 connector
ros2 launch vda5050_tb3_adapter connector_tb3.launch.py
```

- Attach a new terminal to the _development_ container by running `docker compose exec development bash` inside the `docker/deployment/` folder (see [docker environment](../docker/README.md)). Send any of the following samples.
- Attach a new terminal to the _development_ container by running
`docker compose exec development bash` inside the `docker/deployment/` folder
(see [docker environment](../docker/README.md)). Send any of the following samples.

<details>
<summary>4 nodes order</summary>
Expand Down Expand Up @@ -134,6 +156,7 @@ To test the TB3 adapter sample, follow these steps:
]
}'
```

</details>

<details>
Expand Down Expand Up @@ -277,6 +300,7 @@ To test the TB3 adapter sample, follow these steps:
]
}'
```

</details>

<details>
Expand Down Expand Up @@ -315,4 +339,189 @@ To test the TB3 adapter sample, follow these steps:
]
}'
```

</details>

<details>
<summary>2 nodes order and subsequent stitch order with 2 extra nodes</summary>

```sh
RANDOM_ORDER_ID=$(cat /proc/sys/kernel/random/uuid)
STITCH_NODE_ACTION_ID=$(cat /proc/sys/kernel/random/uuid)
# Publish initial order
echo "Publishing order $RANDOM_ORDER_ID"
mosquitto_pub -h mosquitto -p 1883 -t uagv/v1/OSRF/TB3_1/order -m '
{
"orderId": "'$RANDOM_ORDER_ID'",
"orderUpdateId": 0,
"version": "2.0.0",
"manufacturer": "OSRF",
"serialNumber": "TB3_1",
"nodes": [
{
"nodeId": "node1",
"released": true,
"sequenceId": 0,
"nodePosition": {
"x": 2.0,
"y": 0.95,
"theta": -0.66,
"mapId": "map"
},
"actions": []
},
{
"nodeId": "node2",
"released": true,
"sequenceId": 2,
"nodePosition": {
"x": 1.18,
"y": -1.76,
"theta": 0.0,
"mapId": "map"
},
"actions": [
{
"actionType": "beep",
"actionId": "'$(cat /proc/sys/kernel/random/uuid)'",
"actionDescription": "Make a beep noise on node",
"blockingType": "NONE",
"actionParameters": []
}
]
},
{
"nodeId": "node3",
"released": true,
"sequenceId": 4,
"nodePosition": {
"x": -0.38,
"y": 1.89,
"theta": 0.0,
"mapId": "map"
},
"actions": [
{
"actionType": "beep",
"actionId": "'$STITCH_NODE_ACTION_ID'",
"actionDescription": "Make a beep noise on node",
"blockingType": "NONE",
"actionParameters": []
}
]
}
],
"edges": [
{
"edgeId": "edge1",
"released": true,
"sequenceId": 1,
"startNodeId": "node1",
"endNodeId": "node2",
"actions": []
},
{
"edgeId": "edge2",
"released": true,
"sequenceId": 3,
"startNodeId": "node2",
"endNodeId": "node3",
"actions": []
}
]
}'
# Wait 3 seconds before publishing stitch order
sleep 3
# Publish stitch order
echo "Publishing stitch order $RANDOM_ORDER_ID"
mosquitto_pub -h mosquitto -p 1883 -t uagv/v1/OSRF/TB3_1/order -m '
{
"orderId": "'$RANDOM_ORDER_ID'",
"orderUpdateId": 1,
"version": "2.0.0",
"manufacturer": "OSRF",
"serialNumber": "TB3_1",
"nodes": [
{
"nodeId": "node3",
"released": true,
"sequenceId": 4,
"nodePosition": {
"x": -0.38,
"y": 1.89,
"theta": 0.0,
"mapId": "map"
},
"actions": [
{
"actionType": "beep",
"actionId": "'$STITCH_NODE_ACTION_ID'",
"actionDescription": "Make a beep noise on node",
"blockingType": "NONE",
"actionParameters": []
}
]
},
{
"nodeId": "node4",
"released": true,
"sequenceId": 6,
"nodePosition": {
"x": -0.17,
"y": 1.74,
"theta": -2.6,
"mapId": "map"
},
"actions": [
{
"actionType": "beep",
"actionId": "'$(cat /proc/sys/kernel/random/uuid)'",
"actionDescription": "Make a beep noise on node",
"blockingType": "NONE",
"actionParameters": []
}
]
},
{
"nodeId": "node1",
"released": true,
"sequenceId": 8,
"nodePosition": {
"x": 2.0,
"y": 0.95,
"theta": -0.66,
"mapId": "map"
},
"actions": [
{
"actionType": "beep",
"actionId": "'$(cat /proc/sys/kernel/random/uuid)'",
"actionDescription": "Make a beep noise on node",
"blockingType": "NONE",
"actionParameters": []
}
]
}
],
"edges": [
{
"edgeId": "edge3",
"released": true,
"sequenceId": 5,
"startNodeId": "node3",
"endNodeId": "node4",
"actions": []
},
{
"edgeId": "edge4",
"released": true,
"sequenceId": 7,
"startNodeId": "node4",
"endNodeId": "node1",
"actions": []
}
]
}'
```

</details>