rt-net · Kuwamai · Dec 20, 2024 · Jul 19, 2024 · Aug 9, 2024 · Aug 13, 2024
diff --git a/.docker/README.md b/.docker/README.md
@@ -7,10 +7,10 @@ https://github.com/rt-net/crane_plus/pkgs/container/crane_plus
 をアップロードしています。
 tagにはROSのディストリビューションを指定してください。
 
-Humbleディストリビューションのイメージをダウンロードする場合は次のコマンドを実行します。
+Jazzyディストリビューションのイメージをダウンロードする場合は次のコマンドを実行します。
 
 ```sh
-$ docker pull ghcr.io/rt-net/crane_plus:humble
+$ docker pull ghcr.io/rt-net/crane_plus:jazzy
 ```
 
 ### ノードの起動
@@ -67,9 +67,9 @@ $ rocker --x11 --net=host --privileged \
 `./build_source.sh $ROS_DISTRO`を実行してイメージを作成します。
 
 ```sh
-# humbleディストリビューションのイメージを作成する
+# jazzyディストリビューションのイメージを作成する
 $ cd crane_plus/.docker
-$ ./build_source.sh humble
+$ ./build_source.sh jazzy
 ...
-Successfully tagged crane_plus:humble
+Successfully tagged crane_plus:jazzy
 ```
diff --git a/.docker/build_source.sh b/.docker/build_source.sh
@@ -4,7 +4,7 @@ set -e
 
 if [ $# -eq 0 ]; then
     echo "Please set ROS_DISTRO to the argument."
-    echo "e.g. ./build_source.sh humble"
+    echo "e.g. ./build_source.sh jazzy"
 fi
 ROS_DISTRO=$1
 

diff --git a/.docker/source/Dockerfile b/.docker/source/Dockerfile
@@ -1,4 +1,4 @@
-ARG ROS_DISTRO="humble"
+ARG ROS_DISTRO="jazzy"
 FROM osrf/ros:${ROS_DISTRO}-desktop
 ENV OVERLAY_WS /root/overlay_ws
 WORKDIR $OVERLAY_WS/src
@@ -31,12 +31,6 @@ RUN mkdir -p /root/.gazebo/models && \
     git pull origin master && \
     rm -rf .git
 
-# Download ignition model
-RUN ign fuel download -v 4 -u https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/sun && \
-    ign fuel download -v 4 -u https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/ground%20plane && \
-    ign fuel download -v 4 -u https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/wood%20cube%205cm && \
-    ign fuel download -v 4 -u https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/table
-
 # Edit entrypoint to source overlay setup file
 WORKDIR $OVERLAY_WS
 RUN sed --in-place --expression \

diff --git a/.github/workflows/build_docker_image.yml b/.github/workflows/build_docker_image.yml
@@ -7,7 +7,7 @@ on:
   workflow_dispatch:
 
 env:
-  ROS_DISTRO: humble
+  ROS_DISTRO: jazzy
   REGISTRY: ghcr.io
 
 jobs:

diff --git a/.github/workflows/industrial_ci.yml b/.github/workflows/industrial_ci.yml
@@ -17,7 +17,7 @@ jobs:
     strategy:
       matrix:
         env:
-          - { ROS_DISTRO: humble, ROS_REPO: ros }
+          - { ROS_DISTRO: jazzy, ROS_REPO: ros }
     runs-on: ubuntu-latest
     steps:
       - uses: actions/checkout@v2

diff --git a/.gitignore b/.gitignore
@@ -56,5 +56,4 @@ docs/_build/
 # PyBuilder
 target/
 .pytest_cache
-
-.vscode
+.vscode
diff --git a/README.md b/README.md
@@ -21,17 +21,17 @@ ROS 2 package suite of CRANE+ V2.
 ## Supported ROS 2 distributions
 
 - [Foxy](https://github.com/rt-net/crane_plus/tree/foxy-devel)
-- Humble
-
+- [Humble](https://github.com/rt-net/crane_plus/tree/humble-devel)
+- Jazzy
 ## Requirements
 
 - CRANE+ V2
   - [Product Introduction](https://rt-net.jp/products/cranev2/)
   - [Web Shop](https://www.rt-shop.jp/index.php?main_page=product_info&cPath=1348_1&products_id=3626&language=ja)
 - Linux OS
-  - Ubuntu 22.04
+  - Ubuntu 24.04
 - ROS
-  - [Humble Hawksbill](https://docs.ros.org/en/humble/Installation.html)
+  - [Jazzy Jalisco](https://docs.ros.org/en/jazzy/Installation.html)
 
 ## Installation
 
@@ -43,14 +43,15 @@ ROS 2 package suite of CRANE+ V2.
 ### Binary installation
 
 ```sh
-TBD
+$ sudo apt update 
+$ sudo apt install ros-jazzy-crane-plus
 ```
 
 ### Source Build
 
 ```sh
 # Setup ROS environment
-$ source /opt/ros/humble/setup.bash
+$ source /opt/ros/jazzy/setup.bash
 
 # Download crane_plus repository
 $ mkdir -p ~/ros2_ws/src

diff --git a/crane_plus_description/crane_plus_description/robot_description_loader.py b/crane_plus_description/crane_plus_description/robot_description_loader.py
@@ -27,7 +27,6 @@ def __init__(self):
             'crane_plus.urdf.xacro')
         self.port_name = '/dev/ttyUSB0'
         self.use_gazebo = 'false'
-        self.use_ignition = 'false'
         self.use_camera = 'false'
         self.gz_control_config_package = ''
         self.gz_control_config_file_path = ''
@@ -38,7 +37,6 @@ def load(self):
                 self.robot_description_path,
                 ' port_name:=', self.port_name,
                 ' use_gazebo:=', self.use_gazebo,
-                ' use_ignition:=', self.use_ignition,
                 ' use_camera:=', self.use_camera,
                 ' gz_control_config_package:=', self.gz_control_config_package,
                 ' gz_control_config_file_path:=', self.gz_control_config_file_path

diff --git a/crane_plus_description/package.xml b/crane_plus_description/package.xml
@@ -9,12 +9,12 @@
 
   <author email="[email protected]">Shota Aoki</author>
   <author email="[email protected]">Atsushi Kuwagata</author>
+  <author email="[email protected]">Nozomi Mizoguchi</author>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
   <buildtool_depend>ament_cmake_python</buildtool_depend>
 
-  <depend>gazebo_ros2_control</depend>
-  <depend>ign_ros2_control</depend>
+  <depend>gz_ros2_control</depend>
   <depend>joint_state_publisher_gui</depend>
   <depend>launch</depend>
   <depend>robot_state_publisher</depend>

diff --git a/crane_plus_description/test/test_robot_description_loader.py b/crane_plus_description/test/test_robot_description_loader.py
@@ -52,17 +52,7 @@ def test_use_gazebo():
     rdl.use_gazebo = 'true'
     rdl.gz_control_config_package = 'crane_plus_description'
     rdl.gz_control_config_file_path = 'test/dummy_controllers.yaml'
-    assert 'gazebo_ros2_control/GazeboSystem' in exec_load(rdl)
-
-
-def test_use_ignition():
-    # use_gazeboとuse_ignitionが変更され、xacroにign_ros2_controlがセットされることを期待
-    rdl = RobotDescriptionLoader()
-    rdl.use_gazebo = 'true'
-    rdl.use_ignition = 'true'
-    rdl.gz_control_config_package = 'crane_plus_description'
-    rdl.gz_control_config_file_path = 'test/dummy_controllers.yaml'
-    assert 'ign_ros2_control/IgnitionSystem' in exec_load(rdl)
+    assert 'gz_ros2_control/GazeboSimSystem' in exec_load(rdl)
 
 
 def test_use_camera():

diff --git a/crane_plus_description/urdf/crane_plus.gazebo.xacro b/crane_plus_description/urdf/crane_plus.gazebo.xacro
@@ -27,24 +27,14 @@
             name_link_4
             name_link_hand
             use_camera
-            use_ignition
             config_package
             config_file_path
             ">
 
     <gazebo>
-      <xacro:if value="${use_ignition}">
-        <plugin filename="libign_ros2_control-system.so" name="ign_ros2_control::IgnitionROS2ControlPlugin">
-          <parameters>$(find ${config_package})/${config_file_path}</parameters>
-        </plugin>
-      </xacro:if>
-
-      <xacro:unless value="${use_ignition}">
-        <plugin filename="libgazebo_ros2_control.so" name="gazebo_ros2_control">
-          <robot_sim_type>gazebo_ros2_control/GazeboSystem</robot_sim_type>
-          <parameters>$(find ${config_package})/${config_file_path}</parameters>
-        </plugin>
-      </xacro:unless>
+      <plugin filename="libgz_ros2_control-system.so" name="gz_ros2_control::GazeboSimROS2ControlPlugin">
+      <parameters>$(find ${config_package})/${config_file_path}</parameters>
+      </plugin>
     </gazebo>
 
     <gazebo reference="${name_link_base}">
@@ -85,9 +75,9 @@
 
     <xacro:if value="$(arg use_camera)">
       <gazebo>
-        <plugin filename="ignition-gazebo-sensors-system" name="ignition::gazebo::systems::Sensors">
-          <render_engine>ogre2</render_engine>
-        </plugin>
+          <plugin filename="gz-sim-sensors-system" name="gz::sim::systems::Sensors">
+            <render_engine>ogre2</render_engine>
+          </plugin>
       </gazebo>
 
       <gazebo reference="camera_color_optical_frame">

diff --git a/crane_plus_description/urdf/crane_plus.gazebo_ros2_control.xacro b/crane_plus_description/urdf/crane_plus.gazebo_ros2_control.xacro
@@ -18,18 +18,11 @@
             joint_4_upper_limit
             joint_hand_lower_limit
             joint_hand_upper_limit
-            use_ignition
             ">
 
     <ros2_control name="${name}" type="system">
       <hardware>
-        <xacro:if value="${use_ignition}">
-          <plugin>ign_ros2_control/IgnitionSystem</plugin>
-        </xacro:if>
-
-        <xacro:unless value="${use_ignition}">
-          <plugin>gazebo_ros2_control/GazeboSystem</plugin>
-        </xacro:unless>
+        <plugin>gz_ros2_control/GazeboSimSystem</plugin>
       </hardware>
 
       <joint name="${name_joint_1}">

diff --git a/crane_plus_description/urdf/crane_plus.urdf.xacro b/crane_plus_description/urdf/crane_plus.urdf.xacro
@@ -13,7 +13,6 @@
   <xacro:include filename="$(find crane_plus_description)/urdf/crane_plus.gazebo_ros2_control.xacro"/>
 
   <xacro:arg name="use_gazebo" default="false" />
-  <xacro:arg name="use_ignition" default="false" />
   <xacro:arg name="use_camera" default="false" />
   <xacro:arg name="port_name" default="/dev/ttyUSB0" />
   <xacro:arg name="baudrate" default="1000000" />
@@ -131,7 +130,6 @@
       name_link_4="${NAME_LINK_4}"
       name_link_hand="${NAME_LINK_HAND}"
       use_camera="$(arg use_camera)"
-      use_ignition="$(arg use_ignition)"
       config_package="$(arg gz_control_config_package)" 
       config_file_path="$(arg gz_control_config_file_path)" />
 
@@ -151,8 +149,7 @@
       joint_4_lower_limit="${JOINT_4_LOWER_LIMIT}"
       joint_4_upper_limit="${JOINT_4_UPPER_LIMIT}"
       joint_hand_lower_limit="${JOINT_HAND_LOWER_LIMIT}"
-      joint_hand_upper_limit="${JOINT_HAND_UPPER_LIMIT}"
-      use_ignition="$(arg use_ignition)" />
+      joint_hand_upper_limit="${JOINT_HAND_UPPER_LIMIT}"/> 
   </xacro:if>
 
 </robot>
diff --git a/crane_plus_examples/launch/demo.launch.py b/crane_plus_examples/launch/demo.launch.py
@@ -43,33 +43,38 @@ def generate_launch_description():
         description='Set video device.'
     )
 
+    declare_rviz_config = DeclareLaunchArgument(
+        'rviz_config',
+        default_value=get_package_share_directory(
+            'crane_plus_moveit_config'
+        ) + '/config/moveit.rviz',
+        description='Set the path to rviz configuration file.',
+        condition=UnlessCondition(LaunchConfiguration('use_camera')),
+    )
+
+    declare_rviz_config_camera = DeclareLaunchArgument(
+        'rviz_config',
+        default_value=get_package_share_directory(
+            'crane_plus_examples'
+        ) + '/launch/camera_example.rviz',
+        description='Set the path to rviz configuration file.',
+        condition=IfCondition(LaunchConfiguration('use_camera')),
+    )
+
     description_loader = RobotDescriptionLoader()
     description_loader.port_name = LaunchConfiguration('port_name')
     description_loader.use_camera = LaunchConfiguration('use_camera')
     description = description_loader.load()
 
     move_group = IncludeLaunchDescription(
-            PythonLaunchDescriptionSource([
-                get_package_share_directory('crane_plus_moveit_config'),
-                '/launch/run_move_group.launch.py']),
-            condition=UnlessCondition(LaunchConfiguration('use_camera')),
-            launch_arguments={
-                'loaded_description': description
-            }.items()
-        )
-
-    rviz_config_file = get_package_share_directory(
-        'crane_plus_examples') + '/launch/camera_example.rviz'
-    move_group_camera = IncludeLaunchDescription(
-            PythonLaunchDescriptionSource([
-                get_package_share_directory('crane_plus_moveit_config'),
-                '/launch/run_move_group.launch.py']),
-            condition=IfCondition(LaunchConfiguration('use_camera')),
-            launch_arguments={
-                'loaded_description': description,
-                'rviz_config_file': rviz_config_file
-            }.items()
-        )
+        PythonLaunchDescriptionSource([
+            get_package_share_directory('crane_plus_moveit_config'),
+            '/launch/run_move_group.launch.py']),
+        launch_arguments={
+            'loaded_description': description,
+            'rviz_config': LaunchConfiguration('rviz_config')
+        }.items()
+    )
 
     control_node = IncludeLaunchDescription(
             PythonLaunchDescriptionSource([
@@ -96,8 +101,9 @@ def generate_launch_description():
         declare_port_name,
         declare_use_camera,
         declare_video_device,
+        declare_rviz_config,
+        declare_rviz_config_camera,
         move_group,
-        move_group_camera,
         control_node,
         usb_cam_node
     ])
diff --git a/crane_plus_examples/src/aruco_detection.cpp b/crane_plus_examples/src/aruco_detection.cpp
@@ -27,7 +27,7 @@
 #include "sensor_msgs/msg/image.hpp"
 #include "opencv2/opencv.hpp"
 #include "opencv2/aruco.hpp"
-#include "cv_bridge/cv_bridge.h"
+#include "cv_bridge/cv_bridge.hpp"
 #include "tf2/LinearMath/Quaternion.h"
 #include "tf2/LinearMath/Matrix3x3.h"
 #include "tf2_ros/transform_broadcaster.h"

diff --git a/crane_plus_examples/src/color_detection.cpp b/crane_plus_examples/src/color_detection.cpp
@@ -29,8 +29,8 @@
 #include "tf2_ros/transform_broadcaster.h"
 #include "opencv2/opencv.hpp"
 #include "opencv2/imgproc/imgproc.hpp"
-#include "cv_bridge/cv_bridge.h"
-#include "image_geometry/pinhole_camera_model.h"
+#include "cv_bridge/cv_bridge.hpp"
+#include "image_geometry/pinhole_camera_model.hpp"
 using std::placeholders::_1;
 
 class ImageSubscriber : public rclcpp::Node
-Original file line number
+Diff line change
@@ Expand Up / @@ -56,5 +56,4 @@ docs/_build/ @@
     # PyBuilder
     target/
     .pytest_cache
-    .vscode
+    .vscode