Merge pull request #455 from husarion/ros2-lynx-merge

Ros2 lynx merge
husarion · Dec 6, 2024 · 99a62b5 · 99a62b5
2 parents f09439a + b01865e
commit 99a62b5
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Showing 11 changed files with 25 additions and 29 deletions.
diff --git a/README.md b/README.md
@@ -104,7 +104,7 @@ Launch arguments are largely common to both simulation and physical robot. Howev
 | ✅   | ✅   | `localization_mode`          | Specifies the localization mode:  <br/>- 'relative' `odometry/filtered` data is relative to the initial position and orientation. <br/>- 'enu' `odometry/filtered` data is relative to initial position and ENU (East North Up) orientation. <br/> ***string:*** `relative` (choices: `relative`, `enu`)           |
 | ✅   | ✅   | `namespace`                  | Add namespace to all launched nodes. <br/> ***string:*** `env(ROBOT_NAMESPACE)`                                                                                                                                                                                                                                    |
 | ✅   | ✅   | `publish_robot_state`        | Whether to publish the default URDF of specified robot. <br/> ***bool:*** `True`                                                                                                                                                                                                                                   |
-| ❌   | ✅   | `robot_model`                | Specify robot model type. <br/> ***string:*** `env(ROBOT_MODEL)` (choices: `lynx`, `panther`)                                                                                                                                                                                                                      |
+| ❌   | ✅   | `robot_model`                | Specify robot model type. <br/> ***string:*** `env(ROBOT_MODEL_NAME)` (choices: `lynx`, `panther`)                                                                                                                                                                                                                      |
 | ✅   | ✅   | `safety_bt_project_path`     | Path to BehaviorTree project file, responsible for safety and shutdown management. <br/> ***string:*** [`SafetyBT.btproj`](./husarion_ugv_manager/behavior_trees/SafetyBT.btproj)                                                                                                                    |
 | ✅   | ✅   | `shutdown_hosts_config_path` | Path to file with list of hosts to request shutdown. <br/> ***string:*** [`shutdown_hosts.yaml`](./husarion_ugv_manager/config/shutdown_hosts.yaml)                                                                                                                                                                |
 | ✅   | ✅   | `use_ekf`                    | Enable or disable EKF. <br/> ***bool:*** `True`                                                                                                                                                                                                                                                                    |

diff --git a/husarion_ugv_bringup/launch/bringup.launch.py b/husarion_ugv_bringup/launch/bringup.launch.py
@@ -14,7 +14,6 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-import os
 
 from husarion_ugv_utils.messages import welcome_msg
 from launch import LaunchDescription
@@ -45,12 +44,10 @@ def generate_launch_description():
         description="Add namespace to all launched nodes.",
     )
 
-    robot_model_dict = {"LNX": "lynx", "PTH": "panther"}
-    robot_model_env = os.environ.get("ROBOT_MODEL", default="PTH")
-    robot_model = robot_model_dict[robot_model_env]
+    robot_model_name = EnvironmentVariable(name="ROBOT_MODEL_NAME", default_value="panther")
     robot_serial_no = EnvironmentVariable(name="ROBOT_SERIAL_NO", default_value="----")
     robot_version = EnvironmentVariable(name="ROBOT_VERSION", default_value="1.0")
-    welcome_info = welcome_msg(robot_model, robot_serial_no, robot_version)
+    welcome_info = welcome_msg(robot_model_name, robot_serial_no, robot_version)
 
     controller_launch = IncludeLaunchDescription(
         PythonLaunchDescriptionSource(

diff --git a/husarion_ugv_controller/launch/controller.launch.py b/husarion_ugv_controller/launch/controller.launch.py
@@ -39,15 +39,12 @@ def generate_launch_description():
     )
 
     robot_model = LaunchConfiguration("robot_model")
-    robot_model_dict = {"LNX": "lynx", "PTH": "panther"}
-    robot_model_env = os.environ.get("ROBOT_MODEL", default="PTH")
-
     robot_description_pkg = PythonExpression(["'", robot_model, "_description'"])
     robot_description_common_dir = PathJoinSubstitution(["/config", robot_description_pkg])
 
     declare_robot_model_arg = DeclareLaunchArgument(
         "robot_model",
-        default_value=robot_model_dict[robot_model_env],
+        default_value=EnvironmentVariable(name="ROBOT_MODEL_NAME", default_value="panther"),
         description="Specify robot model",
         choices=["lynx", "panther"],
     )

diff --git a/husarion_ugv_gazebo/launch/simulate_robot.launch.py b/husarion_ugv_gazebo/launch/simulate_robot.launch.py
@@ -14,7 +14,6 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-import os
 
 from launch import LaunchDescription
 from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription
@@ -94,11 +93,9 @@ def generate_launch_description():
         description="Add namespace to all launched nodes.",
     )
 
-    robot_model_dict = {"LNX": "lynx", "PTH": "panther"}
-    robot_model_env = os.environ.get("ROBOT_MODEL", default="PTH")
     declare_robot_model_arg = DeclareLaunchArgument(
         "robot_model",
-        default_value=robot_model_dict[robot_model_env],
+        default_value=EnvironmentVariable(name="ROBOT_MODEL_NAME", default_value="panther"),
         description="Specify robot model",
         choices=["lynx", "panther"],
     )

diff --git a/husarion_ugv_gazebo/launch/spawn_robot.launch.py b/husarion_ugv_gazebo/launch/spawn_robot.launch.py
@@ -14,7 +14,6 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-import os
 
 from husarion_ugv_utils.messages import welcome_msg
 from launch import LaunchDescription
@@ -40,11 +39,9 @@ def generate_launch_description():
     )
 
     robot_model = LaunchConfiguration("robot_model")
-    robot_model_dict = {"LNX": "lynx", "PTH": "panther"}
-    robot_model_env = os.environ.get("ROBOT_MODEL", default="PTH")
     declare_robot_model_arg = DeclareLaunchArgument(
         "robot_model",
-        default_value=robot_model_dict[robot_model_env],
+        default_value=EnvironmentVariable(name="ROBOT_MODEL_NAME", default_value="panther"),
         description="Specify robot model",
         choices=["lynx", "panther"],
     )

diff --git a/husarion_ugv_lights/config/user_animations.yaml b/husarion_ugv_lights/config/user_animations.yaml
@@ -4,7 +4,9 @@
 #
 # For more examples and detailed documentation, please visit:
 # https://github.com/husarion/panther_ros/blob/ros2/panther_lights/CONFIGURATION.md#defining-animations
-#
+
+user_animations: []
+
 # Example including a simple custom animation:
 #
 # user_animations:

diff --git a/husarion_ugv_lights/launch/lights.launch.py b/husarion_ugv_lights/launch/lights.launch.py
@@ -15,7 +15,6 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-import os
 
 from launch import LaunchDescription
 from launch.actions import DeclareLaunchArgument, Shutdown
@@ -51,11 +50,9 @@ def generate_launch_description():
         description="Add namespace to all launched nodes.",
     )
 
-    robot_model_dict = {"LNX": "lynx", "PTH": "panther"}
-    robot_model_env = os.environ.get("ROBOT_MODEL", default="PTH")
     declare_robot_model_arg = DeclareLaunchArgument(
         "robot_model",
-        default_value=robot_model_dict[robot_model_env],
+        default_value=EnvironmentVariable(name="ROBOT_MODEL_NAME", default_value="panther"),
         description="Specify robot model",
         choices=["lynx", "panther"],
     )

diff --git a/husarion_ugv_manager/src/lights_manager_node.cpp b/husarion_ugv_manager/src/lights_manager_node.cpp
@@ -22,7 +22,6 @@
 #include <string>
 #include <vector>
 
-#include "ament_index_cpp/get_package_share_directory.hpp"
 #include "behaviortree_ros2/ros_node_params.hpp"
 #include "rclcpp/rclcpp.hpp"
 

diff --git a/husarion_ugv_manager/src/safety_manager_node.cpp b/husarion_ugv_manager/src/safety_manager_node.cpp
@@ -24,7 +24,6 @@
 #include <utility>
 #include <vector>
 
-#include "ament_index_cpp/get_package_share_directory.hpp"
 #include "behaviortree_ros2/ros_node_params.hpp"
 #include "rclcpp/rclcpp.hpp"
 
@@ -138,7 +137,7 @@ std::map<std::string, std::any> SafetyManagerNode::CreateSafetyInitialBlackboard
   const double cpu_fan_off_temp = this->params_.cpu.temp.fan_off;
   const double driver_fan_on_temp = this->params_.driver.temp.fan_on;
   const double driver_fan_off_temp = this->params_.driver.temp.fan_off;
-  const double fan_turn_off_timeout = this->params_.fan_turn_off_timeout;
+  const float fan_turn_off_timeout = static_cast<float>(this->params_.fan_turn_off_timeout);
 
   const std::map<std::string, std::any> safety_initial_bb = {
     {"CPU_FAN_OFF_TEMP", cpu_fan_off_temp},

diff --git a/husarion_ugv_manager/test/test_lights_behavior_tree.cpp b/husarion_ugv_manager/test/test_lights_behavior_tree.cpp
@@ -22,6 +22,7 @@
 
 #include "gtest/gtest.h"
 
+#include "ament_index_cpp/get_package_share_directory.hpp"
 #include "behaviortree_cpp/basic_types.h"
 #include "rclcpp/rclcpp.hpp"
 
@@ -107,18 +108,22 @@ TestLightsBehaviorTree::TestLightsBehaviorTree()
 
 std::vector<rclcpp::Parameter> TestLightsBehaviorTree::CreateTestParameters() const
 {
+  const auto panther_manager_pkg_path =
+    ament_index_cpp::get_package_share_directory("husarion_ugv_manager");
+  const std::string bt_project_path = panther_manager_pkg_path + "/behavior_trees/LightsBT.btproj";
+
   std::vector<std::string> plugin_libs;
   plugin_libs.push_back("tick_after_timeout_bt_node");
 
   std::vector<std::string> ros_plugin_libs;
   ros_plugin_libs.push_back("call_set_led_animation_service_bt_node");
 
   std::vector<rclcpp::Parameter> params;
+  params.push_back(rclcpp::Parameter("bt_project_path", bt_project_path));
   params.push_back(rclcpp::Parameter("plugin_libs", plugin_libs));
   params.push_back(rclcpp::Parameter("ros_plugin_libs", ros_plugin_libs));
-  params.push_back(rclcpp::Parameter("battery.animation_period.low", kLowBatteryAnimPeriod));
-  params.push_back(
-    rclcpp::Parameter("battery.animation_period.critical", kCriticalBatteryAnimPeriod));
+  params.push_back(rclcpp::Parameter("battery.anim_period.low", kLowBatteryAnimPeriod));
+  params.push_back(rclcpp::Parameter("battery.anim_period.critical", kCriticalBatteryAnimPeriod));
 
   return params;
 }

diff --git a/husarion_ugv_manager/test/test_safety_behavior_tree.cpp b/husarion_ugv_manager/test/test_safety_behavior_tree.cpp
@@ -22,6 +22,7 @@
 
 #include "gtest/gtest.h"
 
+#include "ament_index_cpp/get_package_share_directory.hpp"
 #include "behaviortree_cpp/basic_types.h"
 #include "rclcpp/rclcpp.hpp"
 
@@ -126,6 +127,10 @@ TestSafetyBehaviorTree::~TestSafetyBehaviorTree() { rclcpp::shutdown(); }
 
 std::vector<rclcpp::Parameter> TestSafetyBehaviorTree::CreateTestParameters() const
 {
+  const auto panther_manager_pkg_path =
+    ament_index_cpp::get_package_share_directory("husarion_ugv_manager");
+  const std::string bt_project_path = panther_manager_pkg_path + "/behavior_trees/SafetyBT.btproj";
+
   std::vector<std::string> plugin_libs;
   plugin_libs.push_back("tick_after_timeout_bt_node");
   plugin_libs.push_back("shutdown_single_host_bt_node");
@@ -137,6 +142,7 @@ std::vector<rclcpp::Parameter> TestSafetyBehaviorTree::CreateTestParameters() co
   ros_plugin_libs.push_back("call_trigger_service_bt_node");
 
   std::vector<rclcpp::Parameter> params;
+  params.push_back(rclcpp::Parameter("bt_project_path", bt_project_path));
   params.push_back(rclcpp::Parameter("plugin_libs", plugin_libs));
   params.push_back(rclcpp::Parameter("ros_plugin_libs", ros_plugin_libs));
   params.push_back(rclcpp::Parameter("fan_turn_off_timeout", kFanTurnOffTimeout));