Ocean Current Plugin

.clang-format-ignore

@@ -0,0 +1 @@
+*.proto

.docker/jazzy.amd64.dockerfile

@@ -39,11 +39,11 @@ RUN adduser --shell /bin/bash --disabled-password --gecos '' $USER \
 
 # Install ROS-Gazebo framework
 ADD https://raw.githubusercontent.com/IOES-Lab/dave/$BRANCH/\
-extras/ros-jazzy-gz-harmonic-install.sh install.sh
+extras/ros-jazzy-binary-gz-harmonic-source-install.sh install.sh
 RUN bash install.sh
 
 # Set up Dave workspace
-ENV DAVE_WS /root/ws_dave
+ENV DAVE_WS=/opt/ws_dave
 WORKDIR $DAVE_WS/src
 
 ADD https://raw.githubusercontent.com/IOES-Lab/dave/$BRANCH/\
@@ -62,8 +62,17 @@ RUN . "/opt/ros/${ROS_DISTRO}/setup.sh" && \
 
 # source entrypoint setup
 RUN touch /ros_entrypoint.sh && sed --in-place --expression \
-    '$i source "$DAVE_WS/install/setup.bash"' /ros_entrypoint.sh
+    '$i source "/opt/ws_dave/install/setup.bash"' /ros_entrypoint.sh
+
+# Source ROS and Gazebo
+RUN sed --in-place --expression \
+'$i source "/opt/ros/jazzy/setup.bash"' /ros_entrypoint.sh && \
+sed --in-place --expression \
+'$i source "/opt/gazebo/install/setup.bash"' /ros_entrypoint.sh && \
+sed --in-place --expression \
+'$i export PYTHONPATH=$PYTHONPATH:/opt/gazebo/install/lib/python' /ros_entrypoint.sh
 
 # Set User as user
 USER $USER
-RUN echo "source /opt/ros/jazzy/setup.bash" >> ~/.bashrc
+RUN echo "source /opt/ros/jazzy/setup.bash" >> ~/.bashrc  && \
+    echo "source /opt/gazebo/install/setup.bash" >> ~/.bashrc

.docker/jazzy.arm64v8.dockerfile

@@ -78,7 +78,7 @@
 
 # Using the pre-built image for above commented out dockerfile code lines
 # hadolint ignore=DL3007
-FROM woensugchoi/ubuntu-arm-rdp-base:latest
+FROM --platform=linux/arm64 woensugchoi/ubuntu-arm-rdp-base:latest
 ARG USER=docker
 
 # ROS-Gazebo arg
@@ -87,11 +87,11 @@ ARG ROS_DISTRO="jazzy"
 
 # Install ROS-Gazebo framework
 ADD https://raw.githubusercontent.com/IOES-Lab/dave/$BRANCH/\
-extras/ros-jazzy-gz-harmonic-install.sh install.sh
+extras/ros-jazzy-binary-gz-harmonic-source-install.sh install.sh
 RUN bash install.sh
 
 # Set up Dave workspace
-ENV ROS_UNDERLAY /home/$USER/dave_ws/install
+ENV ROS_UNDERLAY=/home/$USER/dave_ws/install
 WORKDIR $ROS_UNDERLAY/../src
 
 ADD https://raw.githubusercontent.com/IOES-Lab/dave/$BRANCH/\
@@ -129,6 +129,8 @@ RUN touch /ros_entrypoint.sh && sed --in-place --expression \
 # Set User as user
 USER docker
 RUN echo "source /opt/ros/jazzy/setup.bash" >> ~/.bashrc && \
+    echo "source /opt/gazebo/install/setup.bash" >> ~/.bashrc && \
+    echo "export PYTHONPATH=$PYTHONPATH:/opt/gazebo/install/lib/python" >> ~/.bashrc && \
     echo "if [ -d ~/HOST ]; then chown docker:docker ~/HOST; fi" \
     >> ~/.bashrc
 

.github/workflows/docker-amd64.yml

@@ -7,6 +7,7 @@ on:
     tags: ["*"]
     branches:
       - ros2
+      - dockertest
 
 env:
   IMAGE_NAME: ${{ github.repository }}
@@ -15,7 +16,8 @@ env:
 
 jobs:
   build-and-push-to-docker-hub:
-    runs-on: ubuntu-latest
+    # runs-on: ubuntu-latest
+    runs-on: self-hosted
     permissions:
       contents: read
       packages: write

.github/workflows/docker-arm64v8.yml

@@ -7,6 +7,7 @@ on:
     tags: ["*"]
     branches:
       - ros2
+      - dockertest
 
 env:
   IMAGE_NAME: ${{ github.repository }}
@@ -15,7 +16,9 @@ env:
 
 jobs:
   build-and-push-to-docker-hub:
-    runs-on: ubuntu-latest
+    # runs-on: ubuntu-latest
+    runs-on: self-hosted
+    timeout-minutes: 1440
     permissions:
       contents: read
       packages: write

.github/workflows/jazzy-source-build.yml

@@ -16,9 +16,11 @@ on:
       - "**/package.xml"
       - "**/CMakeLists.txt"
       - "dave.jazzy.repos"
+  pull_request:
+    types: [opened, reopened]
   schedule:
-    # Run every day to detect flakiness and broken dependencies
-    - cron: "03 3 * * *"
+    # Run every week to detect flakiness and broken dependencies
+    - cron: "03 3 * * 1"
 
 env:
   ros_distro: jazzy

.github/workflows/lint.yml

@@ -7,6 +7,8 @@ on:
     tags: ["*"]
     branches:
       - ros2
+  pull_request:
+    types: [opened, reopened]
 
 jobs:
   #   ament_lint:

README.md

@@ -1,3 +1,6 @@
 # DAVE
 
+[![Publish a Docker image (AMD64; Common X86_64 Linux Machine)](https://github.com/IOES-Lab/dave/actions/workflows/docker-amd64.yml/badge.svg)](https://github.com/IOES-Lab/dave/actions/workflows/docker-amd64.yml)
+[![Publish a Docker image (ARM64; Apple Silicon)](https://github.com/IOES-Lab/dave/actions/workflows/docker-arm64v8.yml/badge.svg?branch=ros2)](https://github.com/IOES-Lab/dave/actions/workflows/docker-arm64v8.yml)
+
 For contribution, do `pip3 install pre-commit && pre-commit install && pre-commit run --all-files` before commit.

dave_interfaces/CMakeLists.txt

@@ -11,15 +11,25 @@ find_package(rclcpp REQUIRED)
 find_package(std_msgs REQUIRED)
 find_package(geometry_msgs REQUIRED)
 find_package(rosidl_default_generators REQUIRED)
+find_package(gz-cmake3 REQUIRED)
+find_package(gz-msgs10 REQUIRED)
 
 rosidl_generate_interfaces(${PROJECT_NAME}
   "msg/UsblCommand.msg"
   "msg/UsblResponse.msg"
   "msg/Location.msg"
+  "msg/StratifiedCurrentVelocity.msg"
+  "msg/StratifiedCurrentDatabase.msg"
   "srv/SetOriginSphericalCoord.srv"
   "srv/GetOriginSphericalCoord.srv"
   "srv/TransformToSphericalCoord.srv"
   "srv/TransformFromSphericalCoord.srv"
+  "srv/GetCurrentModel.srv"
+  "srv/SetCurrentModel.srv"
+  "srv/SetCurrentDirection.srv"
+  "srv/SetCurrentVelocity.srv"
+  "srv/SetStratifiedCurrentVelocity.srv"
+  "srv/SetStratifiedCurrentDirection.srv"
   DEPENDENCIES geometry_msgs
 )
 
@@ -33,4 +43,4 @@ ament_export_dependencies(rosidl_default_runtime)
 # Install CMake package configuration
 ament_export_include_directories(include)
 
-ament_package()
+ament_package()

dave_interfaces/msg/StratifiedCurrentDatabase.msg

@@ -0,0 +1,42 @@
+# Publishes depths and velocities read from the csv database
+
+# Depths
+float32[] depths
+
+# Velocities
+geometry_msgs/Vector3[] velocities
+
+# Tide time (GMT)
+int16[] time_gmt_year
+int16[] time_gmt_month
+int16[] time_gmt_day
+int16[] time_gmt_hour
+int16[] time_gmt_minute
+
+# Tide velocities
+float32[] tidevelocities
+
+# Tide constituents
+bool tideconstituents
+float32 m2_amp
+float32 m2_phase
+float32 m2_speed
+float32 s2_amp
+float32 s2_phase
+float32 s2_speed
+float32 n2_amp
+float32 n2_phase
+float32 n2_speed
+
+# Tide direction
+float32 ebb_direction
+float32 flood_direction
+
+# World start time (GMT)
+int16 world_start_time_year
+int16 world_start_time_month
+int16 world_start_time_day
+int16 world_start_time_hour
+int16 world_start_time_minute
+
+# Everything is written in lowercase according to ROS 2 conventions old(v)

dave_interfaces/msg/StratifiedCurrentVelocity.msg

@@ -0,0 +1,10 @@
+# Publishes depths and velocities based on the database contents
+
+std_msgs/Header header
+
+# Depths
+float32[] depths
+
+# Velocities
+geometry_msgs/Vector3[] velocities
+

dave_interfaces/srv/GetCurrentModel.srv

@@ -0,0 +1,21 @@
+# Copyright (c) 2024 The dave Simulator Authors.
+# All rights reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+---
+float64 mean
+float64 min
+float64 max
+float64 noise
+float64 mu

dave_interfaces/srv/SetCurrentDirection.srv

@@ -0,0 +1,18 @@
+# Copyright (c) 2024 The dave Simulator Authors.
+# All rights reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+float64 angle
+---
+bool success

dave_interfaces/srv/SetCurrentModel.srv

@@ -0,0 +1,22 @@
+# Copyright (c) 2024 The dave Simulator Authors.
+# All rights reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+float64 mean
+float64 min
+float64 max
+float64 noise
+float64 mu
+---
+bool success

dave_interfaces/srv/SetCurrentVelocity.srv

@@ -0,0 +1,20 @@
+# Copyright (c) 2024 The dave Simulator Authors.
+# All rights reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+float64 velocity
+float64 horizontal_angle
+float64 vertical_angle
+---
+bool success

dave_interfaces/srv/SetStratifiedCurrentDirection.srv

@@ -0,0 +1,19 @@
+# Copyright (c) 2024 The dave Simulator Authors.
+# All rights reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+uint16 layer
+float64 angle
+---
+bool success

dave_interfaces/srv/SetStratifiedCurrentVelocity.srv

@@ -0,0 +1,21 @@
+# Copyright (c) 2024 The dave Simulator Authors.
+# All rights reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+uint16 layer
+float64 velocity
+float64 horizontal_angle
+float64 vertical_angle
+---
+bool success

examples/dave_robot_launch/launch/robot_in_world.launch.py

@@ -39,7 +39,8 @@ def launch_setup(context, *args, **kwargs):
         gz_args.append(" -r")
     if debug.perform(context) == "true":
         gz_args.append(" -v ")
-        gz_args.append(verbose.perform(context))
+    if verbose.perform(context) == "true":
+        gz_args.append(" -v ")
 
     # Include the first launch file
     gz_sim_launch = IncludeLaunchDescription(