Merge pull request #34 from turtlebot/roni-kreinin/humble

Humble fixes
turtlebot · Mar 3, 2023 · 05e86c7 · 05e86c7
2 parents 95f70a6 + a868207
commit 05e86c7
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Showing 8 changed files with 45 additions and 60 deletions.
diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
@@ -16,7 +16,6 @@ jobs:
         with:
           target-ros2-distro: humble
           import-token: ${{ secrets.GITHUB_TOKEN }}
-          vcs-repo-file-url: dependencies.repos
           package-name:
             turtlebot4_ignition_bringup
             turtlebot4_ignition_gui_plugins

diff --git a/dependencies.repos b/dependencies.repos
diff --git a/turtlebot4_ignition_bringup/launch/ignition.launch.py b/turtlebot4_ignition_bringup/launch/ignition.launch.py
@@ -50,11 +50,11 @@ def perform(
     DeclareLaunchArgument('rviz', default_value='false',
                           choices=['true', 'false'],
                           description='Start rviz.'),
-    DeclareLaunchArgument('slam', default_value='off',
-                          choices=['off', 'sync', 'async'],
-                          description='Whether to run a SLAM'),
-    DeclareLaunchArgument('localization', default_value='false',
+    DeclareLaunchArgument('sync', default_value='true',
                           choices=['true', 'false'],
+                          description='Whether to run a SLAM'),
+    DeclareLaunchArgument('localization', default_value='off',
+                          choices=['off', 'localization', 'slam'],
                           description='Whether to run localization'),
     DeclareLaunchArgument('nav2', default_value='false',
                           choices=['true', 'false'],
@@ -120,8 +120,12 @@ def generate_launch_description():
         [pkg_turtlebot4_ignition_bringup, 'launch', 'ros_ign_bridge.launch.py'])
     rviz_launch = PathJoinSubstitution(
         [pkg_turtlebot4_viz, 'launch', 'view_robot.launch.py'])
-    nav_launch = PathJoinSubstitution(
-        [pkg_turtlebot4_navigation, 'launch', 'nav_bringup.launch.py'])
+    nav2_launch = PathJoinSubstitution(
+        [pkg_turtlebot4_navigation, 'launch', 'nav2.launch.py'])
+    slam_launch = PathJoinSubstitution(
+        [pkg_turtlebot4_navigation, 'launch', 'slam.launch.py'])
+    localization_launch = PathJoinSubstitution(
+        [pkg_turtlebot4_navigation, 'launch', 'localization.launch.py'])
     node_launch = PathJoinSubstitution(
         [pkg_turtlebot4_ignition_bringup, 'launch', 'turtlebot4_nodes.launch.py'])
     create3_nodes_launch = PathJoinSubstitution(
@@ -220,15 +224,25 @@ def generate_launch_description():
     )
 
     # Navigation
-    navigation = IncludeLaunchDescription(
-        PythonLaunchDescriptionSource([nav_launch]),
-        launch_arguments=[('slam', LaunchConfiguration('slam')),
-                          ('nav2', LaunchConfiguration('nav2')),
-                          ('localization', LaunchConfiguration('localization')),
-                          ('use_sim_time', LaunchConfiguration('use_sim_time')),
-                          ('map', LaunchConfiguration('map'))]
+    nav2 = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource([nav2_launch]),
+        condition=IfCondition(LaunchConfiguration('nav2'))
+    )
+
+    slam = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource([slam_launch]),
+        launch_arguments=[('sync', LaunchConfiguration('sync'))],
+        condition=LaunchConfigurationEquals('localization', 'slam')
     )
 
+    localization = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource([localization_launch]),
+        launch_arguments=[('map', LaunchConfiguration('map'))],
+        condition=LaunchConfigurationEquals('localization', 'localization')
+    )
+
+    # TurtleBot 4 nodes
+
     turtlebot4_node = IncludeLaunchDescription(
         PythonLaunchDescriptionSource([node_launch]),
         launch_arguments=[('model', LaunchConfiguration('model')),
@@ -257,30 +271,16 @@ def generate_launch_description():
         )
 
     # OAKD static transforms
-    oakd_pro_stf = Node(
-            name='camera_stf',
-            package='tf2_ros',
-            executable='static_transform_publisher',
-            output='screen',
-            arguments=[
-                '0', '0', '0', '0', '0', '0',
-                'oakd_pro_rgb_camera_optical_frame',
-                [LaunchConfiguration('robot_name'), '/oakd_pro_rgb_camera_frame/rgbd_camera']
-            ],
-            condition=LaunchConfigurationEquals('model', 'standard')
-        )
-
-    oakd_lite_stf = Node(
+    oakd_stf = Node(
             name='camera_stf',
             package='tf2_ros',
             executable='static_transform_publisher',
             output='screen',
             arguments=[
                 '0', '0', '0', '0', '0', '0',
-                'oakd_lite_rgb_camera_optical_frame',
-                [LaunchConfiguration('robot_name'), '/oakd_lite_rgb_camera_frame/rgbd_camera']
-            ],
-            condition=LaunchConfigurationEquals('model', 'lite')
+                'oakd_rgb_camera_optical_frame',
+                [LaunchConfiguration('robot_name'), '/oakd_rgb_camera_frame/rgbd_camera']
+            ]
         )
 
     # Define LaunchDescription variable
@@ -299,8 +299,9 @@ def generate_launch_description():
     ld.add_action(create3_nodes)
     ld.add_action(create3_ignition_nodes)
     ld.add_action(turtlebot4_node)
-    ld.add_action(navigation)
+    ld.add_action(nav2)
+    ld.add_action(slam)
+    ld.add_action(localization)
     ld.add_action(rplidar_stf)
-    ld.add_action(oakd_pro_stf)
-    ld.add_action(oakd_lite_stf)
+    ld.add_action(oakd_stf)
     return ld
diff --git a/turtlebot4_ignition_gui_plugins/Turtlebot4Hmi/CMakeLists.txt b/turtlebot4_ignition_gui_plugins/Turtlebot4Hmi/CMakeLists.txt
@@ -17,7 +17,7 @@ find_package(Qt5
 )
 
 # Find the Ignition gui library
-find_package(ignition-gui5 REQUIRED)
+find_package(ignition-gui6 REQUIRED)
 find_package(ignition-common4 REQUIRED)
 
 set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${IGNITION-GUI_CXX_FLAGS}")

diff --git a/turtlebot4_ignition_gui_plugins/Turtlebot4Hmi/Turtlebot4Hmi.cc b/turtlebot4_ignition_gui_plugins/Turtlebot4Hmi/Turtlebot4Hmi.cc
@@ -20,12 +20,13 @@
 
 #include <ignition/msgs/int32.pb.h>
 
+#include <iostream>
+#include <vector>
+
 #include <ignition/plugin/Register.hh>
 #include <ignition/gui/Application.hh>
 #include <ignition/gui/MainWindow.hh>
 
-#include <iostream>
-
 using ignition::gui::Turtlebot4Hmi;
 
 Turtlebot4Hmi::Turtlebot4Hmi()

diff --git a/turtlebot4_ignition_gui_plugins/Turtlebot4Hmi/Turtlebot4Hmi.hh b/turtlebot4_ignition_gui_plugins/Turtlebot4Hmi/Turtlebot4Hmi.hh
@@ -19,13 +19,13 @@
 #ifndef TURTLEBOT4_IGNITION_GUI_PLUGINS__TURTLEBOT4HMI__TURTLEBOT4HMI_HH_
 #define TURTLEBOT4_IGNITION_GUI_PLUGINS__TURTLEBOT4HMI__TURTLEBOT4HMI_HH_
 
-#include <ignition/transport/Node.hh>
-
 #include <ignition/gui/qt.h>
-#include <ignition/gui/Plugin.hh>
 
 #include <string>
 
+#include <ignition/transport/Node.hh>
+#include <ignition/gui/Plugin.hh>
+
 namespace ignition
 {
 

diff --git a/turtlebot4_ignition_gui_plugins/package.xml b/turtlebot4_ignition_gui_plugins/package.xml
@@ -8,7 +8,7 @@
   <license>Apache 2.0</license>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
-  <buildtool_depend>ignition-gui5</buildtool_depend>
+  <buildtool_depend>ignition-gui6</buildtool_depend>
   <depend>qml-module-qtquick-extras</depend>
 
   <test_depend>ament_lint_auto</test_depend>

diff --git a/turtlebot4_ignition_toolbox/include/turtlebot4_ignition_toolbox/hmi_node.hpp b/turtlebot4_ignition_toolbox/include/turtlebot4_ignition_toolbox/hmi_node.hpp
@@ -19,9 +19,10 @@
 #ifndef TURTLEBOT4_IGNITION_TOOLBOX__HMI_NODE_HPP_
 #define TURTLEBOT4_IGNITION_TOOLBOX__HMI_NODE_HPP_
 
-#include <rclcpp/rclcpp.hpp>
 #include <string>
 
+#include <rclcpp/rclcpp.hpp>
+
 #include "std_msgs/msg/int32.hpp"
 #include "std_msgs/msg/string.hpp"
 #include "turtlebot4_msgs/msg/user_button.hpp"