Feature scout mini rtabmap

.github/workflows/release-github.yml

@@ -0,0 +1,26 @@
+name: release-github
+
+on:
+  push:
+    tags:
+      - "*"
+  workflow_dispatch:
+
+env:
+  CONAN_USER: ${{ secrets.ARTIFACTORY_CONAN_USERNAME }}
+  CONAN_TOKEN: ${{ secrets.ARTIFACTORY_CONAN_ACCESS_TOKEN }}
+
+jobs:
+  release:
+    runs-on: ["ubuntu-latest"]
+    container: "westonrobot/ubuntu:jammy-ci-latest"
+    defaults:
+      run:
+        shell: bash
+    permissions:
+      contents: write
+    steps:
+      - name: Create release
+        uses: westonrobot-dev/[email protected]
+        with:
+          generateReleaseNotes: true

.github/workflows/release.yml

@@ -0,0 +1,31 @@
+name: release
+
+on:
+  push:
+    branches:
+      - "main"
+
+env:
+  VERSION: 0.1.0
+
+jobs:
+  tag-release:
+    runs-on: ["ubuntu-latest"]
+    container: "westonrobot/ubuntu:jammy-ci-latest"
+    steps:
+      - name: Create tag
+        continue-on-error: true
+        if: github.ref_name == 'main'
+        uses: westonrobot-dev/[email protected]
+        id: tag_version
+        with:
+          github_token: ${{ secrets.GITHUB_TOKEN }}
+          custom_tag: ${{ env.VERSION }}
+          release_branches: "main"
+          pre_release_branches: "prerelease"
+      - name: Create Github Release
+        if: github.ref_name == 'main' && steps.tag_version.outcome == 'success'
+        uses: westonrobot-dev/[email protected]
+        with:
+          workflow: release-github.yml
+          ref: ${{ steps.tag_version.outputs.new_tag }}

README.md

@@ -2,10 +2,13 @@
 
 ![default workflow](https://github.com/westonrobot/wr_devkit_navigation/actions/workflows/default.yml/badge.svg?branch=main)
 
-This repository provides a reference setup when using the mobile robot development kit from Weston Robot.
+This repository provides a head start for mobile robot development when using the development kit from Weston Robot. 
 
-## Requirements
+The code contained in this repository is meant to be used as a reference for integrating Weston Robot's hardware with ROS2's Navigation2 stack. It includes sample launch files for bringing up the robot, running SLAM, and navigation applications.
 
+**Code is provided `as-is` and may require modifications to work with your specific hardware configuration.**
+
+## Hardware Requirements
 The following hardware configurations are supported:
 
 ### Chassis
@@ -14,147 +17,27 @@ The following hardware configurations are supported:
 | UGV Development Kit V1.0 | [wiki](https://docs.westonrobot.net/wr_dev_kit/ugv_dev_kit_v1.html) | [ugv_devkit_v1_bringup](./src/kits/chassis/ugv_devkit_v1_bringup/) |
 
 ### Sensor Kits
-| Sensor kit               | Mount Location | Documentation | Source Code                                                            |
-| ------------------------ | -------------- | ------------- | ---------------------------------------------------------------------- |
-| Livox Mid360 Lidar + IMU | Top            | TBD           | [mid360_sensor_kit_bringup](./src/kits/top/mid360_sensor_kit_bringup/) |
-| W200D Ultrasonic Sensors | Base           | TBD           | [w200d_sensor_kit_bringup](./src/kits/base/w200d_sensor_kit_bringup/)  |
+| Sensor kit               | Mount Location | Documentation                                                                                                                             | Source Code                                                            |
+| ------------------------ | -------------- | ----------------------------------------------------------------------------------------------------------------------------------------- | ---------------------------------------------------------------------- |
+| Livox Mid360 Lidar + IMU | Top            | [docs](https://docs.westonrobot.com/wr_dev_kit/ugv_dev_kit_v1/ugv_devkit_mid360_extension.html#ref-ugv-devkit-livox-mid360-imu-extension) | [mid360_sensor_kit_bringup](./src/kits/top/mid360_sensor_kit_bringup/) |
+| Vision                   | Top            | [docs](https://docs.westonrobot.com/wr_dev_kit/ugv_dev_kit_v1/ugv_devkit_vision_extension.html#ref-ugv-devkit-vision-extension)           | [vision_sensor_kit_bringup](./src/kits/top/vision_sensor_kit_bringup/)   |
+| W200D Ultrasonic Sensors | Base           | TBD                                                                                                                                       | [w200d_sensor_kit_bringup](./src/kits/base/w200d_sensor_kit_bringup/)  |
 
 ### Robot Bases
 | Base            | Documentation                                                                      |
 | --------------- | ---------------------------------------------------------------------------------- |
 | Ranger Mini 2.0 | [wiki](https://docs.westonrobot.com/robot_user_guide/agilex/ranger_mini_v2.0.html) |
-| Scout Mini      | [wiki](https://docs.westonrobot.com/robot_user_guide/agilex/scout_mini.html) |
+| Scout Mini      | [wiki](https://docs.westonrobot.com/robot_user_guide/agilex/scout_mini.html)       |
 
-**Note**: Robot bases are used for testing and development purposed only. Other robot bases should also be compatible with the provided chassis and sensor kits.
+**Note**: Robot bases are used for testing and development purposes only. Other robot bases should also be compatible with the provided chassis and sensor kits.
 
 ### Onboard Computer
-| Operating System | Framework                                                                             |
-| ---------------- | ------------------------------------------------------------------------------------- |
+| Operating System | Framework                                                                              |
+| ---------------- | -------------------------------------------------------------------------------------- |
 | Ubuntu 22.04     | [ROS2 Humble](https://docs.ros.org/en/humble/Installation/Ubuntu-Install-Debians.html) |
 
-
 ## Installation
-
-* Install the Weston Robot Platform SDK (wrp-sdk)
-
-    ```bash
-    $ sudo install -m 0755 -d /etc/apt/keyrings
-    $ curl -fsSL http://deb.westonrobot.net/signing.key | sudo gpg --dearmor -o /etc/apt/keyrings/weston-robot.gpg
-    $ sudo chmod a+r /etc/apt/keyrings/weston-robot.gpg
-
-    $ echo \
-        "deb [arch=$(dpkg --print-architecture) signed-by=/etc/apt/keyrings/weston-robot.gpg] http://deb.westonrobot.net/$(lsb_release -cs) $(lsb_release -cs) main" | \
-        sudo tee /etc/apt/sources.list.d/weston-robot.list > /dev/null
-
-    $ sudo apt-get update
-    $ sudo apt-get install wrp-sdk
-
-    # Install drivers for peripherals
-    $ sudo apt-get install -y software-properties-common 
-    $ sudo add-apt-repository ppa:lely/ppa
-    $ sudo apt-get update
-
-    $ sudo apt-get install liblely-coapp-dev liblely-co-tools python3-dcf-tools pkg-config
-    ```
-
-    Please refer to [this page](https://docs.westonrobot.com/software/installation_guide.html) for more details of the installation steps.
-
-
-* Install ugv_sdk dependencies
-    ```bash
-    sudo apt-get install build-essential git cmake libasio-dev
-    ```
-
-* Install Livox SDK2 (if you have the Livox Mid360 Lidar + IMU sensor kit)
-
-    ```bash
-    $ cd ~
-    $ git clone https://github.com/Livox-SDK/Livox-SDK2.git
-    $ cd Livox-SDK2
-    $ mkdir build && cd build && cmake .. && make
-    $ sudo make install
-    ```
-
-    > **Note:** You can build and install the Livox-SDK2 at your preferred places other than "~/Livox-SDK2". And you can optionally remove the "Livox-SDK2" folder after installation.
-
-* Import the ROS driver packages into the workspace and build
-
-    ```bash
-    $ cd <your-workspace>/wr_devkit_navigation
-
-    # Clone dependencies
-    $ vcs import --recursive src < ./navigation.repos
-
-    $ source /opt/ros/humble/setup.bash
-    $ colcon build --symlink-install
-    ```
-
-    The build process should finish without any errors.
-
-* Install ROS packages **(Make sure you have ros2 installed first)**
-    ```bash
-    $ chmod +x ros2_packages.sh
-    $ ./ros2_packages.sh
-    ```
+Please refer to the [installation guide](/docs/INSTALLATION.md) for detailed instructions on setting up your development environment.
 
 ## Running the packages
-Sample launch files can be found in the [wr_devkit_bringup](./src/wr_devkit_bringup/) package. They are meant to be used as a starting point for your own development and can be customized to your needs.
-
-Below is the typical workflow to bring up the robot and run some sample applications.  
-**Remember to source the ROS Workspace first and optionally set ROS_DOMAIN_ID**
-
-* Bringup CAN Bus
-    ```bash
-    $ sudo ip link set can0 up type can bitrate 500000
-    $ sudo ip link set can0 txqueuelen 1000
-    ```
-
-| Base                       | robot_model            |robot_param                         |
-| -------------------------- | ---------------------- |----------------------------------- |
-| Ranger Mini 2.0 (default)  | ranger_mini_v2         |nav2_ranger_mini.param.yaml         |
-| Scout Mini                 | scout_mini             |nav2_scout_mini.param.yaml          |
-> **Note:** Ensure the `robot_model` and `robot_param` arguments in the command line match your specific robot configuration. Adjust the launch file as necessary to align with your hardware and software setup
-
-### Sample 2D SLAM ([Cartographer Mapping](https://google-cartographer-ros.readthedocs.io/en/latest/index.html))
-
-* Bringup Robot
-    ```bash
-    $ ros2 launch wr_devkit_bringup wr_devkit_platform.launch.py robot_model:=ranger_mini_v2
-    ```
-
-* SLAM
-    ```bash
-    $ ros2 launch wr_devkit_bringup wr_devkit_cartographer.launch.py
-
-    # Control via RC or teleop
-    $ ros2 run teleop_twist_keyboard teleop_twist_keyboard.py
-    ```
-    > **Note:** The speed should be slow during the mapping process. If the speed is too fast, the map quality will be affected
-
-* Map Saving
-    ```bash
-    $ cd Workspace/wr_devkit_navigation/src/wr_devkit_bringup/maps
-    $ ros2 run nav2_map_server map_saver_cli -f <your_map_name>
-    ```
-
-### Sample Navigation ([Nav2](https://docs.nav2.org/index.html))
-
-* Bringup Robot
-    ```bash
-    $ ros2 launch wr_devkit_bringup wr_devkit_platform.launch.py robot_model:=ranger_mini_v2
-    ```
-
-* Launch Nav2
-    ```bash
-    $ ros2 launch wr_devkit_bringup wr_devkit_nav2.launch.py robot_param:=nav2_ranger_mini.param.yaml map:=<your_map_yaml>
-    ```
-    * You may want to hardcode the absolute path of the pgm file in the map yaml file
-    * Map to odom frame will not be published until you provide an initial pose estimate 
-    * You can run rviz2 on another pc via
-      ```bash
-      $ ros2 launch nav2_bringup rviz_launch.py
-      ```
-
-
-## Notes
-* The sample applications (Nav2/SLAM) are designed to be ran separately and should not be ran at the same time.
+Please refer to the [running guide](/docs/RUN.md) for detailed instructions on running the sample applications.

docs/INSTALLATION.md

@@ -0,0 +1,86 @@
+# Installation Guide
+
+## Getting this repository
+This repository is intended to be used as a ROS2 colcon workspace itself (i.e. you do not need to create your own colcon workspace, though it is possible to do so).
+
+```bash
+$ mkdir -p <parent-directory>
+$ cd <parent-directory>
+$ git clone https://github.com/westonrobot/wr_devkit_navigation.git
+```
+
+## Install Dependencies
+Each sensor kit and robot base has its own set of dependencies. Please follow the instructions below to install the necessary items for your specific hardware configuration.
+
+### Common Dependencies
+The following dependencies are common to multiple sensor kits and robot bases and should be installed regardless of the specific hardware configuration.
+
+  * Weston Robot Platform SDK
+    ```bash
+    $ sudo install -m 0755 -d /etc/apt/keyrings
+    $ curl -fsSL http://deb.westonrobot.net/signing.key | sudo gpg --dearmor -o /etc/apt/keyrings/weston-robot.gpg
+    $ sudo chmod a+r /etc/apt/keyrings/weston-robot.gpg
+
+    $ echo \
+        "deb [arch=$(dpkg --print-architecture) signed-by=/etc/apt/keyrings/weston-robot.gpg] http://deb.westonrobot.net/$(lsb_release -cs) $(lsb_release -cs) main" | \
+        sudo tee /etc/apt/sources.list.d/weston-robot.list > /dev/null
+
+    $ sudo apt-get update
+    $ sudo apt-get install wrp-sdk
+
+    # Install drivers/dependencies for peripherals
+    $ sudo apt-get install -y software-properties-common 
+    $ sudo add-apt-repository ppa:lely/ppa
+    $ sudo apt-get update
+    $ sudo apt-get install liblely-coapp-dev liblely-co-tools python3-dcf-tools pkg-config
+    ```
+    > Please refer to [this page](https://docs.westonrobot.com/software/installation_guide.html) for more details of the installation steps.  
+    > Documentation for the Weston Robot Platform SDK can be found [here](https://github.com/westonrobot/wrp_sdk).
+
+### Sensor Kits Dependencies
+The following dependencies are specific to each sensor kit and should be installed according to the specific hardware configuration.
+
+#### Livox Mid360 Lidar + IMU Sensor Kit
+  * Livox SDK2
+    ```bash
+    $ cd ~
+    $ git clone https://github.com/Livox-SDK/Livox-SDK2.git
+    $ cd Livox-SDK2
+    $ mkdir build && cd build && cmake .. && make
+    $ sudo make install
+    ```
+    > **Note:** You can build and install the Livox-SDK2 at your preferred places other than "~/Livox-SDK2". And you can optionally remove the "Livox-SDK2" folder after installation.
+
+### Robot Bases Dependencies
+The following dependencies are specific to each robot base and should be installed according to the specific hardware configuration.
+
+#### Ranger Mini 2.0 & Scout Mini
+* ugv_sdk dependencies
+  ```bash
+  sudo apt-get install build-essential git cmake libasio-dev
+  ```
+
+### ROS Driver Packages
+All ROS driver packages are listed in the [navigation.repos](/navigation.repos) file. You can import the ROS driver packages by running the following command:
+  ```bash
+  $ vcs import --recursive src < ./navigation.repository
+  ```
+  > **Note:** You might not need to build all the driver packages. You can comment out the packages you do not need in the `navigation.repos` file. Refer to the table below for the ROS driver packages for each sensor kit and robot base.
+
+
+  | Component                           | ROS Driver Packages Needed     |
+  | ----------------------------------- | ------------------------------ |
+  | Livox Mid360 Lidar + IMU Sensor Kit | livox_ros_driver2<br/>wrp_ros2 |
+  | Vision Sensor Kit                   | realsense-ros<br/>usb_cam      |
+  | W200d Sensor Kit                    | wrp_ros2                       |
+  | Ranger Mini 2.0                     | ranger_ros2<br/>ugv_sdk        |
+  | Scout Mini                          | scout_ros2<br/>ugv_sdk         |
+
+## Build the Workspace
+
+After installing the dependencies, you can build the workspace by running the following commands:
+```bash
+$ cd <parent-directory>/wr_devkit_navigation
+$ source /opt/ros/humble/setup.bash
+$ colcon build --symlink-install
+```