Husarion UGV nav2 package (#10)

* nav2 demo * add vnc rviz * link fix * Update README.md * Update README.md * use cyclone DDS (#2) * removed white space Signed-off-by: Jakub Delicat <[email protected]> * Added lidar Signed-off-by: Jakub Delicat <[email protected]> * Applied precommit Signed-off-by: Jakub Delicat <[email protected]> * fixed readme Signed-off-by: Jakub Delicat <[email protected]> * Simplify Configuration * delete slam config * setup default sim topic * Update compose.simulation.yaml * Only PC2 support & nicer readme * Small adjustment * Nav2-estop (#8) * Nav2 support namespace * Fix typo in readme * Small modification * Use foxglove and simplify instruction. * Update Readme * Add laser scan * Clean up * Adjustments * Fix * Set frame id for loadded map (#7) Signed-off-by: Jakub Delicat <[email protected]> * Increase publish rate * Create new package * Add justfile * Fix hardware * Fix after laserscan test * Add map autosaver * Fix layout * Remove healthcheck * Layout * Adjust local/global costmap * Create docker folder * Add map folder * Fix use_sim_time * Clean up parameters file * Fix laserscan obstacle height --------- Signed-off-by: Jakub Delicat <[email protected]> Co-authored-by: Jakub Delicat <[email protected]> * Configure smoother * Add map_autosaver parameters * Increase size of local cost map * Apply suggestions from code review Co-authored-by: Jakub Delicat <[email protected]> * Jakub suggestions * Further batch of suggestions * Merge nav2_params.yaml * Apply suggestions from code review Co-authored-by: Jakub Delicat <[email protected]> * Clean up * Fix * Update husarion_ugv_navigation/launch/bringup_launch.py Co-authored-by: Jakub Delicat <[email protected]> * Add launch argument table * Simplify instruction --------- Signed-off-by: Jakub Delicat <[email protected]> Co-authored-by: Dawid <[email protected]> Co-authored-by: Dawid Kmak <[email protected]> Co-authored-by: Jakub Delicat <[email protected]> Co-authored-by: Jakub Delicat <[email protected]>
husarion · Dec 17, 2024 · 320b1df · 320b1df
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diff --git a/.github/workflows/ros-docker-image.yaml b/.github/workflows/ros-docker-image.yaml
@@ -0,0 +1,63 @@
+---
+name: Create and Push Navigation Docker
+
+on:
+  workflow_dispatch:
+    inputs:
+      build_type:
+        description: Is it a "development" or a "stable" release?
+        required: true
+        default: development
+        type: choice
+        options:
+          - development
+          - stable
+      target_distro:
+        description: In case of "stable" release specify the ROS distro of the existing docker image (eg.
+          humble)
+        type: string
+        default: ardent
+      target_release:
+        description: In case of "stable" release specify the version of the existing docker image (eg.
+          1.0.12)
+        type: string
+        default: 0.0.0
+      target_date:
+        description: In case of "stable" release specify the date of the existing docker image in format
+          YYYYMMDD (eg. 20220124)
+        type: string
+        default: '20131206'
+  repository_dispatch:
+    types: [rebuild]
+  pull_request:
+    types:
+      - closed
+      - opened
+
+jobs:
+  build:
+    runs-on: ubuntu-22.04
+    strategy:
+      fail-fast: false
+      matrix:
+        ros-distro: [humble]     # iron is not supported on arm
+
+    steps:
+
+      - name: Checkout
+        uses: actions/checkout@v4
+
+      - name: Build Docker Image
+        uses: husarion-ci/[email protected]
+        with:
+          dockerhub_username: ${{ secrets.DOCKERHUB_USERNAME }}
+          dockerhub_token: ${{ secrets.DOCKERHUB_TOKEN }}
+          main_branch_name: ros2
+          repo_name: husarion-ugv-navigation
+          build_type: ${{ inputs.build_type }}
+          ros_distro: ${{ matrix.ros-distro }}
+          platforms: linux/amd64, linux/arm64
+          # variables important only for stable release
+          target_distro: ${{ inputs.target_distro }}
+          target_release: ${{ inputs.target_release }}
+          target_date: ${{ inputs.target_date }}
diff --git a/.gitignore b/.gitignore
@@ -0,0 +1,3 @@
+.vscode
+__pycache__
+maps
diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
@@ -0,0 +1,91 @@
+repos:
+  - repo: https://github.com/pre-commit/pre-commit-hooks
+    rev: v5.0.0
+    hooks:
+      - id: check-added-large-files
+        args: ["--maxkb=3000"]
+      - id: check-ast
+      - id: check-json
+        exclude: ^.vscode/
+      - id: check-merge-conflict
+      - id: check-symlinks
+      - id: check-xml
+      - id: check-yaml
+      - id: debug-statements
+      - id: destroyed-symlinks
+      - id: detect-private-key
+      - id: end-of-file-fixer
+      - id: fix-byte-order-marker
+      - id: name-tests-test
+      - id: mixed-line-ending
+      - id: trailing-whitespace
+
+  - repo: https://github.com/PyCQA/isort
+    rev: 5.13.2
+    hooks:
+      - id: isort
+        args: ["--profile", "black"]
+
+  - repo: https://github.com/cheshirekow/cmake-format-precommit
+    rev: v0.6.13
+    hooks:
+      - id: cmake-format
+
+  - repo: https://github.com/pre-commit/mirrors-clang-format
+    rev: v19.1.3
+    hooks:
+      - id: clang-format
+
+  - repo: https://github.com/codespell-project/codespell
+    rev: v2.3.0
+    hooks:
+      - id: codespell
+        name: codespell
+        description: Checks for common misspellings in text files.
+        entry: codespell
+        exclude_types: [rst, svg]
+        language: python
+        types: [text]
+
+  - repo: https://github.com/jumanjihouse/pre-commit-hook-yamlfmt
+    rev: 0.2.3
+    hooks:
+      - id: yamlfmt
+        files: ^.github|./\.yaml
+        args: [--mapping, '2', --sequence, '4', --offset, '2', --width, '100']
+
+  - repo: https://github.com/psf/black
+    rev: 24.10.0
+    hooks:
+      - id: black
+        args: ["--line-length=99"]
+
+  - repo: https://github.com/PyCQA/flake8
+    rev: 7.1.1
+    hooks:
+      - id: flake8
+        args:
+          ["--ignore=E501,W503"] # ignore too long line and line break before binary operator,
+          # black checks it
+
+  - repo: local
+    hooks:
+      - id: ament_copyright
+        name: ament_copyright
+        description: Check if copyright notice is available in all files.
+        stages: [commit]
+        entry: ament_copyright
+        language: system
+
+  - repo: https://github.com/PyCQA/doc8
+    rev: v1.1.2
+    hooks:
+      - id: doc8
+        args: ["--max-line-length=100", "--ignore=D001"]
+        exclude: ^.*\/CHANGELOG\.rst/.*$
+
+  - repo: https://github.com/tier4/pre-commit-hooks-ros
+    rev: v0.10.0
+    hooks:
+      - id: prettier-package-xml
+      - id: sort-package-xml
diff --git a/README.md b/README.md
@@ -1,2 +1,93 @@
-# panther-navigation
-A GitHub template for Panther: creating a map a using Slam Toolbox 
+# husarion-ugv-autonomy
+
+A GitHub template for Husarion UGVs: creating a map using Slam Toolbox and navigation with localization using Nav2.
+
+![autonomy-result](https://github-readme-figures.s3.eu-central-1.amazonaws.com/panther/husarion_ugv/husarion_ugv_autonomy.gif)
+
+## 📋 Requirement
+
+### Justfile
+
+To simplify the execution of this project, we are utilizing [just](https://github.com/casey/just). Install it with:
+
+```bash
+curl --proto '=https' --tlsv1.2 -sSf https://just.systems/install.sh | sudo bash -s -- --to /usr/bin
+```
+
+### Robot Configuration
+
+The provided example is configured for the Panther robot and supports any LIDAR that publishes `PointCloud2` or `LaserScan` data type by setting the appropriate environment variable.
+
+> [!IMPORTANT]
+> Before running the navigation demo, ensure the following:
+>
+> - This demo should be run on **User Computer** with IP address: **`10.15.20.3/24`**.
+> - a LIDAR publishes messages of type: **`PointCloud2`** or **`LaserScan`**.
+> - A static transformation between a LIDAR and a robot frame is provided. The value of the **`frame_id`** field inside the published message must connect to the robot's `base_link`.
+
+## 🚀 Quick Start
+
+### 🔧 Step 1: Environment configuration
+
+Download this repository:
+
+```bash
+git clone https://github.com/husarion/panther-navigation
+```
+
+Setup environment:
+
+```bash
+cd panther-navigation
+
+# The following configuration is only needed for the physical robot
+export OBSERVATION_TOPIC={point_cloud_topic} # absolute topic name to match your LIDAR pointcloud2 topic (e.g. /scan)
+export OBSERVATION_TOPIC_TYPE={msg_type} # Specify: `laserscan`, `pointcloud`
+```
+
+> [!NOTE]
+> Additional arguments are detailed in the [Launch Arguments](#launch-arguments) section.
+
+### 🧭 Step 2: Run navigation
+
+🤖 Run Navigation on the Physical Robot:
+
+```bash
+just start-hardware
+```
+
+🖥️ Run Navigation in Simulation:
+
+```bash
+just start-simulation
+```
+
+### 🕹️ Step 3: Control the robot from a Web Browser
+
+1. Install and run husarion-webui
+
+    ```bash
+    just start-visualization
+    ```
+
+2. Open the your browser on your laptop and navigate to:
+
+    - http://{ip_address}:8080/ui (devices in the same LAN)
+    - http://{hostname}:8080/ui (devices in the same Husarnet Network)
+
+## Launch Arguments
+
+| Argument                 | Description <br/> ***Type:*** `Default`                                                               |
+| ------------------------ | ----------------------------------------------------------------------------------------------------- |
+| `autostart`              | Automatically startup the nav2 stack. <br/> ***bool:*** `True`                                        |
+| `log_level`              | Logging level. <br/> ***string*** `info` (choices: `debug`, `info`, `warning`, `error`, `custom`)     |
+| `map`                    | Path to map yaml file to load. <br/> ***string:*** `/maps/map.yaml`                                   |
+| `namespace`              | Add namespace to all launched nodes. <br/> ***string:*** `env(ROBOT_NAMESPACE)`                       |
+| `observation_topic`      | Topic name for LaserScan or PointCloud2 observation messages type. <br/> `''`                         |
+| `observation_topic_type` | Observation topic type. <br/> ***string:*** `pointcloud` (choices: `laserscan`, `pointcloud`)         |
+| `params_file`            | Path to the parameters file to use for all nav2 related nodes. <br/> ***string:*** [`nav2_params.yaml](./husarion_ugv_navigation/config/nav2_params.yaml) |
+| `pc2ls_params_file`      | Path to the parameters file to use for pointcloud_to_laserscan node. <br/> ***string:*** [`pc2ls_params.yaml](./husarion_ugv_navigation/config/pc2ls_params.yaml) |
+| `slam`                   | Whether run a SLAM. <br/> ***bool:*** `False`                                                         |
+| `use_composition`        | Whether to use composed bringup. <br/> ***bool:*** `True`                                             |
+| `use_respawn`            | Whether to respawn if a node crashes. Applied when composition is disabled. <br/> ***bool:*** `False` |
+| `use_sim_time`           | Use simulation (Gazebo) clock if true. <br/> ***bool:*** `False`                                      |
diff --git a/docker/Dockerfile b/docker/Dockerfile
@@ -0,0 +1,33 @@
+ARG ROS_DISTRO=humble
+ARG PREFIX=
+
+FROM husarnet/ros:${PREFIX}${ROS_DISTRO}-ros-core
+
+ARG PREFIX
+
+WORKDIR /ros2_ws
+
+COPY ./husarion_ugv_navigation /ros2_ws/src/husarion_ugv_navigation
+
+RUN MYDISTRO=${PREFIX:-ros}; MYDISTRO=${MYDISTRO//-/} && \
+    apt-get update --fix-missing && \
+    apt upgrade -y && \
+    apt-get install -y \
+        ros-dev-tools && \
+    # Install dependencies
+    rm -rf /etc/ros/rosdep/sources.list.d/20-default.list && \
+    rosdep init && \
+    rosdep update --rosdistro $ROS_DISTRO && \
+    rosdep install -i --from-path src --rosdistro $ROS_DISTRO -y && \
+    # Build
+    source /opt/ros/$ROS_DISTRO/setup.bash && \
+    colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release && \
+    # Save version
+    echo $(cat /ros2_ws/src/husarion_ugv_navigation/package.xml | grep '<version>' | sed -r 's/.*<version>([0-9]+.[0-9]+.[0-9]+)<\/version>/\1/g') >> /version.txt && \
+    # Size optimalization
+    export SUDO_FORCE_REMOVE=yes && \
+    apt-get remove -y \
+        ros-dev-tools && \
+    apt-get autoremove -y && \
+    apt-get clean && \
+    rm -rf /var/lib/apt/lists/*
diff --git a/docker/compose.hardware.yaml b/docker/compose.hardware.yaml
@@ -0,0 +1,25 @@
+x-common-config:
+  &common-config
+  network_mode: host
+  ipc: host
+
+services:
+  navigation:
+    # image: husarion/husarion-ugv-navigation:humble-0.1.0-20241113
+    build:
+      context: ..
+      dockerfile: docker/Dockerfile
+    container_name: navigation
+    <<: *common-config
+    volumes:
+      - ../husarion_ugv_navigation:/ros2_ws/src/husarion_ugv_navigation
+      - ../maps:/maps
+    environment:
+      - RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
+    command: >
+      ros2 launch husarion_ugv_navigation bringup_launch.py
+        namespace:=panther
+        observation_topic:=${OBSERVATION_TOPIC:-err}
+        observation_topic_type:=${OBSERVATION_TOPIC_TYPE:-err}
+        slam:=True
+        use_sim_time:=False
diff --git a/docker/compose.simulation.yaml b/docker/compose.simulation.yaml
@@ -0,0 +1,43 @@
+x-common-config:
+  &common-config
+  network_mode: host
+  ipc: host
+
+services:
+  husarion_ugv_gazebo:
+    image: husarion/panther-gazebo:humble-2.1.1-20240828
+    container_name: husarion_ugv_gazebo
+    <<: *common-config
+    runtime: nvidia
+    environment:
+      - RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
+      - DISPLAY
+      - NVIDIA_VISIBLE_DEVICES=all
+      - NVIDIA_DRIVER_CAPABILITIES=compute,utility,display
+    volumes:
+      - /tmp/.X11-unix:/tmp/.X11-unix:rw
+      - ./config:/config
+    command: >
+      ros2 launch panther_gazebo simulation.launch.py
+        components_config_path:=/config/components.yaml
+        namespace:=panther
+
+  navigation:
+    # image: husarion/husarion-ugv-navigation:humble-0.1.0-20241113
+    build:
+      context: ..
+      dockerfile: docker/Dockerfile
+    container_name: navigation
+    <<: *common-config
+    volumes:
+      - ../husarion_ugv_navigation:/ros2_ws/src/husarion_ugv_navigation
+      - ../maps:/maps
+    environment:
+      - RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
+    command: >
+      ros2 launch husarion_ugv_navigation bringup_launch.py
+        namespace:=panther
+        observation_topic:=/panther/velodyne_points
+        observation_topic_type:=pointcloud
+        slam:=True
+        use_sim_time:=True
diff --git a/docker/config/components.yaml b/docker/config/components.yaml
@@ -0,0 +1,7 @@
+---
+components:
+  - type: LDR20
+    parent_link: cover_link
+    xyz: 0.185 0.0 0.0
+    rpy: 0.0 0.0 0.0
+    device_namespace: None