ros2 initial setup for emc_system

tue-robotics · Dec 10, 2024 · 68dc6c0 · 68dc6c0
1 parent 30e0c11
commit 68dc6c0
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Showing 4 changed files with 93 additions and 34 deletions.
diff --git a/.gitignore b/.gitignore
@@ -0,0 +1,8 @@
+CMakeLists.txt.user*
+/build/
+/log/
+/install/
+.txt
+*.txt
+settings.json
+*.pyc
diff --git a/install.bash b/install.bash
@@ -1,6 +1,13 @@
+# set -e
+# set -x
+
 export EMC_DIR=~/.emc
 export EMC_ENV_DIR=$EMC_DIR/env
 
+# log_file="$EMC_DIR/install.log"
+# exec > >(tee -i $log_file)
+# exec 2>&1
+
 if ! dpkg -s curl &> /dev/null
 then
     echo "Going to install curl"
@@ -23,11 +30,13 @@ fi
 if [[ ! -d $EMC_ENV_DIR ]] && [[ -z "$CI" ]]
 then
     git clone https://github.com/tue-robotics/emc-env $EMC_ENV_DIR
+    git -C $EMC_ENV_DIR checkout ros2
 elif [[ -n "$CI" ]]
 then
     mkdir -p $EMC_DIR
     cp -r . $EMC_ENV_DIR
 else
+    git -C $EMC_ENV_DIR checkout ros2
     git -C $EMC_ENV_DIR pull
 fi
 

diff --git a/setup.bash b/setup.bash
@@ -14,6 +14,10 @@ then
 
     # Set ROS version
     case $DISTRIB_RELEASE in
+        "24.04")
+            EMC_ROS_DISTRO=jazzy
+            echo "[emc-env] Detected ubuntu 24.04, using ROS2 Jazzy"
+            ;;
         "20.04")
             EMC_ROS_DISTRO=noetic
             echo "[emc-env] Detected ubuntu 20.04, using ROS Noetic"
@@ -23,14 +27,29 @@ then
             echo "[emc-env] Detected ubuntu 18.04, using ROS Melodic"
             ;;
         *)
-            echo "[emc-env] Ubuntu $DISTRIB_RELEASE is unsupported. Use 20.04, 18.04"
+            echo "[emc-env] Ubuntu $DISTRIB_RELEASE is unsupported. Use 24.04, 20.04, 18.04"
             exit 1
             ;;
     esac
 fi
 
 export EMC_ROS_DISTRO
 
+# Source the ROS environment
+if [ -f /opt/ros/$EMC_ROS_DISTRO/setup.bash ]
+then
+    source /opt/ros/$EMC_ROS_DISTRO/setup.bash
+else
+    echo "[emc-env] ROS distribution $EMC_ROS_DISTRO is not installed."
+    exit 1
+fi
+
+# Source the workspace
+if [ -f $EMC_SYSTEM_DIR/install/setup.bash ]
+then
+    source $EMC_SYSTEM_DIR/install/setup.bash
+fi
+
 if [ -f $EMC_SYSTEM_DIR/devel/setup.bash ]
 then
     source $EMC_SYSTEM_DIR/devel/setup.bash
@@ -52,8 +71,10 @@ function emc-update
         if [[ ! -d $EMC_ENV_DIR ]]
         then
             git clone https://github.com/tue-robotics/emc-env $EMC_ENV_DIR
+            git -C $EMC_ENV_DIR checkout ros2
         else
             git -C $EMC_ENV_DIR pull
+            git -C $EMC_ENV_DIR checkout ros2
         fi
     fi
 
@@ -67,35 +88,40 @@ function emc-update
 # --------------------------------------------------------------------------------
 #export ROS_HOSTNAME=$HOSTNAME.local
 
-alias mrc-teleop='rosrun emc_system teleop.py'
+# alias mrc-teleop='rosrun emc_system teleop.py'
+alias mrc-teleop='python3 $EMC_ENV_DIR/../system/src/emc_system/scripts/teleop.py'
+alias mrc-talker='python3 $EMC_ENV_DIR/../system/src/emc_system/scripts/talker.py'
 
 alias mrc-update=emc-update
 
 export BOBO_IP='192.168.6.68'
 export COCO_IP='192.168.6.186'
 
-if [ "$ROBOT_REAL" == true ]
-then
-  alias hero-start='rosparam load $EMC_SYSTEM_DIR/src/emc_system/config/hero_mrc_config.yaml'
-  alias rosbot-start='roslaunch rosbot_bringup start_emc.launch'
-  alias bobo-start='roslaunch rosbot_bringup start_emc.launch name:=bobo'
-  alias coco-start='roslaunch rosbot_bringup start_emc.launch name:=coco'
 
-  alias define-map='rosrun map_server map_server'
-else
-  alias sshbobo='ssh -A -X husarion@$BOBO_IP'
-  alias sshcoco='ssh -A -X husarion@$COCO_IP'
-  alias sshhero='ssh -A -X [email protected]'
-  alias bobo-core='export ROS_MASTER_URI=http://$BOBO_IP:11311'
-  alias coco-core='export ROS_MASTER_URI=http://$COCO_IP:11311'
-  alias hero-core='export ROS_MASTER_URI=http://192.168.44.51:11311'
-  alias mrc-sim='rosrun emc_simulator simulator'
-  alias sim-rviz='roslaunch emc_simulator viz.launch'
-  alias mrc-open-door='rostopic pub --once /pyro/open_door std_msgs/Empty "{}"'
-  alias mrc-speech='rosrun pico_talk speech_server.py'
-
-  alias hero-rviz='roslaunch emc_system hero_rviz.launch'
-  alias rosbot-rviz='roslaunch emc_system rosbot_rviz.launch'
-  alias bobo-rviz='roslaunch emc_system rosbot_rviz.launch'
-  alias coco-rviz='roslaunch emc_system rosbot_rviz.launch'
-fi
+# Change aliases for executables for ros2
+
+# if [ "$ROBOT_REAL" == true ]
+# then
+#   alias hero-start='rosparam load $EMC_SYSTEM_DIR/src/emc_system/config/hero_mrc_config.yaml'
+#   alias rosbot-start='roslaunch rosbot_bringup start_emc.launch'
+#   alias bobo-start='roslaunch rosbot_bringup start_emc.launch name:=bobo'
+#   alias coco-start='roslaunch rosbot_bringup start_emc.launch name:=coco'
+
+#   alias define-map='rosrun map_server map_server'
+# else
+#   alias sshbobo='ssh -A -X husarion@$BOBO_IP'
+#   alias sshcoco='ssh -A -X husarion@$COCO_IP'
+#   alias sshhero='ssh -A -X [email protected]'
+#   alias bobo-core='export ROS_MASTER_URI=http://$BOBO_IP:11311'
+#   alias coco-core='export ROS_MASTER_URI=http://$COCO_IP:11311'
+#   alias hero-core='export ROS_MASTER_URI=http://192.168.44.51:11311'
+#   alias mrc-sim='rosrun emc_simulator simulator'
+#   alias sim-rviz='roslaunch emc_simulator viz.launch'
+#   alias mrc-open-door='rostopic pub --once /pyro/open_door std_msgs/Empty "{}"'
+#   alias mrc-speech='rosrun pico_talk speech_server.py'
+
+#   alias hero-rviz='roslaunch emc_system hero_rviz.launch'
+#   alias rosbot-rviz='roslaunch emc_system rosbot_rviz.launch'
+#   alias bobo-rviz='roslaunch emc_system rosbot_rviz.launch'
+#   alias coco-rviz='roslaunch emc_system rosbot_rviz.launch'
+# fi
diff --git a/setup/emc-update-impl.bash b/setup/emc-update-impl.bash
@@ -61,12 +61,20 @@ function _git_clone_or_update
 {
     local repo_url=$1
     local dest=$2
+    local branch=$3
 
     if [ ! -d "$dest" ]
     then
         git clone "$repo_url" "$dest"
+        if [ -n "$branch" ]; then
+            git -C "$dest" checkout "$branch"
+        fi
     else
         git -C "$dest" pull
+        if [ -n "$branch" ]; then
+            git -C "$dest" checkout "$branch"
+            git -C "$dest" pull origin "$branch"
+        fi
     fi
 }
 
@@ -75,7 +83,7 @@ function _git_clone_or_update
 # Install ROS
 if [ ! -d /opt/ros/"$EMC_ROS_DISTRO" ]
 then
-    if [ ! -f /etc/apt/sources.list.d/ros-latest.list ]
+    if [ ! -f /etc/apt/sources.list.d/ros2.list ]
     then
         sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
 
@@ -114,7 +122,7 @@ then
 fi
 
 # 2) Download packages
-_git_clone_or_update https://github.com/tue-robotics/emc_system "$EMC_SYSTEM_DIR"/src/emc_system
+_git_clone_or_update https://github.com/tue-robotics/emc_system "$EMC_SYSTEM_DIR"/src/emc_system ros2
 _git_clone_or_update https://github.com/tue-robotics/catkin_lint_cmake "$EMC_SYSTEM_DIR"/src/catkin_lint_cmake
 _git_clone_or_update https://github.com/tue-robotics/emc_simulator "$EMC_SYSTEM_DIR"/src/emc_simulator
 _git_clone_or_update https://github.com/tue-robotics/geolib2 "$EMC_SYSTEM_DIR"/src/geolib2
@@ -128,19 +136,27 @@ then
 fi
 
 # 3) Install dependencies
-_make_sure_installed python3-catkin-tools libassimp-dev ros-"${EMC_ROS_DISTRO}"-cv-bridge ros-"${EMC_ROS_DISTRO}"-image-geometry ros-"${EMC_ROS_DISTRO}"-map-server ros-"${EMC_ROS_DISTRO}"-message-generation ros-"${EMC_ROS_DISTRO}"-message-runtime ros-"${EMC_ROS_DISTRO}"-nav-msgs ros-"${EMC_ROS_DISTRO}"-robot-state-publisher ros-"${EMC_ROS_DISTRO}"-joint-state-publisher ros-"${EMC_ROS_DISTRO}"-roscpp ros-"${EMC_ROS_DISTRO}"-rviz ros-"${EMC_ROS_DISTRO}"-shape-msgs ros-"${EMC_ROS_DISTRO}"-tf2 ros-"${EMC_ROS_DISTRO}"-tf ros-"${EMC_ROS_DISTRO}"-xacro
+# _make_sure_installed python3-catkin-tools libassimp-dev ros-"${EMC_ROS_DISTRO}"-cv-bridge ros-"${EMC_ROS_DISTRO}"-image-geometry ros-"${EMC_ROS_DISTRO}"-map-server ros-"${EMC_ROS_DISTRO}"-message-generation ros-"${EMC_ROS_DISTRO}"-message-runtime ros-"${EMC_ROS_DISTRO}"-nav-msgs ros-"${EMC_ROS_DISTRO}"-robot-state-publisher ros-"${EMC_ROS_DISTRO}"-joint-state-publisher ros-"${EMC_ROS_DISTRO}"-roscpp ros-"${EMC_ROS_DISTRO}"-rviz ros-"${EMC_ROS_DISTRO}"-shape-msgs ros-"${EMC_ROS_DISTRO}"-tf2 ros-"${EMC_ROS_DISTRO}"-tf ros-"${EMC_ROS_DISTRO}"-xacro
+_make_sure_installed ros-"${EMC_ROS_DISTRO}"-desktop ros-"${EMC_ROS_DISTRO}"-ros-base 
 
 # 4) Compile
+cd "$EMC_SYSTEM_DIR"
 if [[ -n "$CI" ]]
 then
-	# suppress status bar in CI
-	catkin build --workspace "$EMC_SYSTEM_DIR" -DCATKIN_ENABLE_TESTING=OFF --no-status
+    # suppress status bar in CI
+    colcon build --packages-select emc_system --event-handlers console_cohesion+ --cmake-args -DCMAKE_BUILD_TYPE=Release
 else
-	catkin build --workspace "$EMC_SYSTEM_DIR" -DCATKIN_ENABLE_TESTING=OFF
+    colcon build --packages-select emc_system --cmake-args -DCMAKE_BUILD_TYPE=Release
+fi
+
+# Source the workspace
+if [ -f "$EMC_SYSTEM_DIR/install/setup.bash" ]
+then
+    source "$EMC_SYSTEM_DIR/install/setup.bash"
 fi
 
 # 5) Install the libraries
-sudo cp "$EMC_SYSTEM_DIR"/devel/lib/libemc_system.so /usr/lib/libemc-framework.so
+sudo cp "$EMC_SYSTEM_DIR"/install/emc_system/lib/emc_system/libemc-framework.so /usr/lib/libemc-framework.so
 sudo cp "$EMC_SYSTEM_DIR"/src/emc_system/include/emc /usr/include/ -r
 
-trap - ERR
+trap - ERR