Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Add husarion_ugv_msgs #466

Open
wants to merge 4 commits into
base: ros2-devel
Choose a base branch
from
Open

Add husarion_ugv_msgs #466

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
4 commits
Select commit Hold shift + click to select a range
d501fb7
Add husarion_ugv_msgs
rafal-gorecki Dec 11, 2024
d408f44
husarion_ugv_msg -> husarion_ugv_msgs
rafal-gorecki Dec 11, 2024
0f61d57
fix
rafal-gorecki Dec 11, 2024
dda0d5a
Merge branch 'ros2-devel' into ros2-add-msgs
rafal-gorecki Dec 13, 2024
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
2 changes: 1 addition & 1 deletion .github/workflows/release-candidate.yaml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -44,7 +44,7 @@ jobs:
- unit_test_panther_ros
strategy:
matrix:
repo: [panther_ros, panther_msgs, panther-docker, panther-rpi-os-img]
repo: [panther_ros, panther-docker, panther-rpi-os-img]
steps:
- name: Create test branch
uses: GuillaumeFalourd/[email protected]
Expand Down
17 changes: 0 additions & 17 deletions .github/workflows/release-project.yaml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -34,23 +34,6 @@ jobs:
name: Release Husarion UGV project
runs-on: ubuntu-22.04
steps:
- name: Release panther_msgs repository
uses: convictional/[email protected]
with:
owner: husarion
repo: panther_msgs
github_token: ${{ secrets.GH_PAT }}
workflow_file_name: release-repository.yaml
ref: ${{ env.RC_BRANCH_NAME }}
client_payload: |
{
"release_candidate": "${{ env.RC_BRANCH_NAME }}",
"version": "${{ github.event.inputs.version }}",
"release_name": "${{ github.event.inputs.release_name }}",
"automatic_mode": "${{ github.event.inputs.automatic_mode }}",
"prerelease": "${{ github.event.inputs.prerelease }}"
}

- name: Release panther_ros repository
uses: convictional/[email protected]
with:
Expand Down
12 changes: 6 additions & 6 deletions ROS_API.md
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -68,7 +68,7 @@ Below is information about the physical robot API. For the simulation, topics an
| 🤖 | 🖥️ | Topic | Description |
| --- | --- | ----------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| ✅ | ✅ | `battery/battery_status` | Mean values of both batteries will be published if the robot has two batteries. Otherwise, the state of the single battery will be published.<br/> [*sensor_msgs/BatteryState*](https://docs.ros2.org/latest/api/sensor_msgs/msg/BatteryState.html) |
| ✅ | ❌ | `battery/charging_status` | Battery charging status value.<br/> [*panther_msgs/ChargingStatus*](https://github.com/husarion/panther_msgs) |
| ✅ | ❌ | `battery/charging_status` | Battery charging status value.<br/> [*husarion_ugv_msgs/ChargingStatus*](https://github.com/husarion/husarion_ugv_msgs) |
| ✅ | ✅ | `cmd_vel` | Command velocity value.<br/> [*geometry_msgs/Twist*](https://docs.ros2.org/latest/api/geometry_msgs/msg/Twist.html) |
| ✅ | ✅ | `diagnostics` | Diagnostic data.<br/> [*diagnostic_msgs/DiagnosticArray*](https://docs.ros2.org/latest/api/diagnostic_msgs/msg/DiagnosticArray.html) |
| ✅ | ✅ | `dynamic_joint_states` | Information about the state of various movable joints in a robotic system.<br/> [*control_msgs/DynamicJointState*](https://github.com/ros-controls/control_msgs/blob/master/control_msgs/msg/DynamicJointState.msg) |
Expand All @@ -77,8 +77,8 @@ Below is information about the physical robot API. For the simulation, topics an
| ✅ | ❌ | `gps/time_reference` | The timestamp from the GPS device.<br/> [*sensor_msgs/TimeReference*](https://docs.ros2.org/latest/api/sensor_msgs/msg/TimeReference.html) |
| ✅ | ❌ | `gps/vel` | Velocity output from the GPS device.<br/> [*geometry_msgs/TwistStamped*](https://docs.ros2.org/latest/api/geometry_msgs/msg/TwistStamped.html) |
| ✅ | ✅ | `hardware/e_stop` | Current E-stop state.<br/> [*std_msgs/Bool*](https://docs.ros2.org/latest/api/std_msgs/msg/Bool.html). |
| ✅ | ❌ | `hardware/io_state` | Current IO state.<br/> [*panther_msgs/IOState*](https://github.com/husarion/panther_msgs) |
| ✅ | ✅ | `hardware/robot_driver_state` | Current motor controllers' state and error flags. Subscribed if using Roboteq motor controllers data.<br/> [*panther_msgs/RobotDriverState*](https://github.com/husarion/panther_msgs) |
| ✅ | ❌ | `hardware/io_state` | Current IO state.<br/> [*husarion_ugv_msgs/IOState*](https://github.com/husarion/husarion_ugv_msgs) |
| ✅ | ✅ | `hardware/robot_driver_state` | Current motor controllers' state and error flags. Subscribed if using Roboteq motor controllers data.<br/> [*husarion_ugv_msgs/RobotDriverState*](https://github.com/husarion/husarion_ugv_msgs) |
| ✅ | ✅ | `imu/data` | Filtered IMU data.<br/> [*sensor_msgs/Imu*](https://docs.ros2.org/latest/api/sensor_msgs/msg/Imu.html) |
| ✅ | ✅ | `joint_states` | Provides information about the state of various joints in a robotic system.<br/> [*sensor_msgs/JointState*](https://docs.ros2.org/latest/api/sensor_msgs/msg/JointState.html) |
| ✅ | ✅ | `lights/channel_1_frame` | Frame to be displayed on robot Front Bumper Lights.<br/> [*sensor_msgs/Image*](https://docs.ros2.org/latest/api/sensor_msgs/msg/Image.html) |
Expand All @@ -87,7 +87,7 @@ Below is information about the physical robot API. For the simulation, topics an
| ✅ | ✅ | `odometry/filtered` | Contains information about the filtered position and orientation. When `localization_mode` is `relative`, the position and orientation are relative to the starting point. When `localization_mode` is `enu`, the orientation is relative to the east-north-up (ENU) coordinates.<br/> [*nav_msgs/Odometry*](https://docs.ros2.org/latest/api/nav_msgs/msg/Odometry.html) |
| ✅ | ✅ | `odometry/wheels` | Robot odometry calculated from wheels.<br/> [*nav_msgs/Odometry*](https://docs.ros2.org/latest/api/nav_msgs/msg/Odometry.html) |
| ✅ | ✅ | `robot_description` | Contains information about robot description from URDF file. <br/> [*std_msgs/String*](https://docs.ros2.org/latest/api/std_msgs/msg/String.html) |
| ✅ | ❌ | `system_status` | State of the system, including Built-in Computer's CPU temperature and load. <br/> [*panther_msgs/SystemStatus*](https://github.com/husarion/panther_msgs) |
| ✅ | ❌ | `system_status` | State of the system, including Built-in Computer's CPU temperature and load. <br/> [*husarion_ugv_msgs/SystemStatus*](https://github.com/husarion/husarion_ugv_msgs) |
| ✅ | ✅ | `tf` | Transforms of robot system.<br/> [*tf2_msgs/TFMessage*](https://docs.ros2.org/latest/api/tf2_msgs/msg/TFMessage.html) |
| ✅ | ✅ | `tf_static` | Static transforms of robot system.<br/> [*tf2_msgs/TFMessage*](https://docs.ros2.org/latest/api/tf2_msgs/msg/TFMessage.html) |

Expand Down Expand Up @@ -121,8 +121,8 @@ Below is information about the physical robot API. For the simulation, topics an
| ✅ | ✅ | `hardware/e_stop_trigger` | Triggers E-stop. <br/> [std_srvs/srv/Trigger](https://docs.ros2.org/latest/api/std_srvs/srv/Trigger.html) |
| ✅ | ❌ | `hardware/fan_enable` | Enables or disables fan. <br/> [std_srvs/srv/SetBool](https://docs.ros2.org/latest/api/std_srvs/srv/SetBool.html) |
| ✅ | ❌ | `hardware/motor_power_enable` | Enables or disables motor power. <br/> [std_srvs/srv/SetBool](https://docs.ros2.org/latest/api/std_srvs/srv/SetBool.html) |
| ✅ | ✅ | `lights/set_animation` | Sets LED animation. <br/> [panther_msgs/srv/SetLEDAnimation](https://github.com/husarion/panther_msgs) |
| ✅ | ✅ | `lights/set_animation` | Sets LED animation. <br/> [husarion_ugv_msgs/srv/SetLEDAnimation](https://github.com/husarion/husarion_ugv_msgs) |
| ✅ | ✅ | `localization/enable` | Enable EKF node. <br/> [std_srvs/srv/Empty](https://docs.ros2.org/latest/api/std_srvs/srv/Empty.html) |
| ✅ | ❌ | `lights/set_brightness` | Sets global LED brightness, value ranges from **0.0** to **1.0**. <br/> [panther_msgs/SetLEDBrightness](https://github.com/husarion/panther_msgs) |
| ✅ | ❌ | `lights/set_brightness` | Sets global LED brightness, value ranges from **0.0** to **1.0**. <br/> [husarion_ugv_msgs/SetLEDBrightness](https://github.com/husarion/husarion_ugv_msgs) |
| ✅ | ✅ | `localization/set_pose` | Set pose of EKF node. <br/> [robot_localization/srv/SetPose](https://github.com/cra-ros-pkg/robot_localization/tree/ros2) |
| ✅ | ✅ | `localization/toggle` | Toggle filter processing in the EKF node. <br/> [robot_localization/srv/ToggleFilterProcessing](https://github.com/cra-ros-pkg/robot_localization/tree/ros2) |
4 changes: 0 additions & 4 deletions husarion_ugv/hardware_deps.repos
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -7,10 +7,6 @@ repositories:
type: git
url: https://github.com/husarion/husarion_controllers
version: d184d9b5936ec3f51084b70dc7d3825fa5ecaee0
panther_msgs:
type: git
url: https://github.com/husarion/panther_msgs.git
version: ros2-devel
ros_components_description:
type: git
url: https://github.com/husarion/ros_components_description.git
Expand Down
2 changes: 1 addition & 1 deletion husarion_ugv/package.xml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -7,7 +7,7 @@
<maintainer email="[email protected]">Husarion</maintainer>
<license>Apache License 2.0</license>

<url type="website">https://husarion.com/</url>
<url type="website">https://husarion.com</url>
<url type="repository">https://github.com/husarion/panther_ros</url>
<url type="bugtracker">https://github.com/husarion/panther_ros/issues</url>

Expand Down
10 changes: 3 additions & 7 deletions husarion_ugv/simulation_deps.repos
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -7,10 +7,10 @@ repositories:
type: git
url: https://github.com/husarion/husarion_controllers
version: d184d9b5936ec3f51084b70dc7d3825fa5ecaee0
panther_msgs:
husarion_gz_worlds:
type: git
url: https://github.com/husarion/panther_msgs.git
version: ros2-devel
url: https://github.com/husarion/husarion_gz_worlds.git
version: 9d514a09c74bca2afbfba76cf2c87134918bbf97
ros_components_description:
type: git
url: https://github.com/husarion/ros_components_description.git
Expand All @@ -19,7 +19,3 @@ repositories:
type: git
url: https://github.com/husarion/ros2_controllers/
version: 9da42a07a83bbf3faf5cad11793fff22f25068af
husarion_gz_worlds:
type: git
url: https://github.com/husarion/husarion_gz_worlds.git
version: 9d514a09c74bca2afbfba76cf2c87134918bbf97
10 changes: 5 additions & 5 deletions husarion_ugv_battery/CMakeLists.txt
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -9,7 +9,7 @@ set(PACKAGE_DEPENDENCIES
ament_cmake
diagnostic_updater
generate_parameter_library
panther_msgs
husarion_ugv_msgs
husarion_ugv_utils
rclcpp
sensor_msgs)
Expand Down Expand Up @@ -54,7 +54,7 @@ if(BUILD_TESTING)
PUBLIC $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include>)
ament_target_dependencies(${PROJECT_NAME}_test_battery rclcpp sensor_msgs
panther_msgs)
husarion_ugv_msgs)

ament_add_gtest(${PROJECT_NAME}_test_adc_battery
test/battery/test_adc_battery.cpp src/battery/adc_battery.cpp)
Expand All @@ -63,7 +63,7 @@ if(BUILD_TESTING)
PUBLIC $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include>)
ament_target_dependencies(${PROJECT_NAME}_test_adc_battery rclcpp sensor_msgs
panther_msgs)
husarion_ugv_msgs)

ament_add_gtest(
${PROJECT_NAME}_test_roboteq_battery test/battery/test_roboteq_battery.cpp
Expand All @@ -72,8 +72,8 @@ if(BUILD_TESTING)
${PROJECT_NAME}_test_roboteq_battery
PUBLIC $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include>)
ament_target_dependencies(${PROJECT_NAME}_test_roboteq_battery panther_msgs
rclcpp sensor_msgs)
ament_target_dependencies(${PROJECT_NAME}_test_roboteq_battery
husarion_ugv_msgs rclcpp sensor_msgs)

ament_add_gtest(
${PROJECT_NAME}_test_battery_publisher
Expand Down
6 changes: 3 additions & 3 deletions husarion_ugv_battery/README.md
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -23,13 +23,13 @@ Publishes battery state read from ADC unit.
- `_battery/battery_1_status_raw` [*sensor_msgs/BatteryState*]: First battery raw state.
- `_battery/battery_2_status_raw` [*sensor_msgs/BatteryState*]: Second battery raw state. Published if second battery detected.
- `battery/battery_status` [*sensor_msgs/BatteryState*]: Mean values of both batteries if robot has two batteries. Otherwise, the state of the single battery will be published.
- `battery/charging_status` [*panther_msgs/ChargingStatus*]: Battery charging status.
- `battery/charging_status` [*husarion_ugv_msgs/ChargingStatus*]: Battery charging status.
- `diagnostics` [*diagnostic_msgs/DiagnosticArray*]: Battery diagnostic messages.

#### Subscribers

- `hardware/io_state` [*panther_msgs/IOState*]: Current state of IO.
- `hardware/robot_driver_state` [*panther_msgs/RobotDriverState*]: Current motor controllers' state and error flags. Subscribed if using Roboteq motor controllers data.
- `hardware/io_state` [*husarion_ugv_msgs/IOState*]: Current state of IO.
- `hardware/robot_driver_state` [*husarion_ugv_msgs/RobotDriverState*]: Current motor controllers' state and error flags. Subscribed if using Roboteq motor controllers data.

#### Parameters

Expand Down
4 changes: 2 additions & 2 deletions husarion_ugv_battery/include/husarion_ugv_battery/battery/battery.hpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -25,13 +25,13 @@

#include "sensor_msgs/msg/battery_state.hpp"

#include "panther_msgs/msg/charging_status.hpp"
#include "husarion_ugv_msgs/msg/charging_status.hpp"

namespace husarion_ugv_battery
{

using BatteryStateMsg = sensor_msgs::msg::BatteryState;
using ChargingStatusMsg = panther_msgs::msg::ChargingStatus;
using ChargingStatusMsg = husarion_ugv_msgs::msg::ChargingStatus;

class Battery
{
Expand Down
8 changes: 4 additions & 4 deletions husarion_ugv_battery/include/husarion_ugv_battery/battery/roboteq_battery.hpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -21,17 +21,17 @@

#include "rclcpp/rclcpp.hpp"

#include "panther_msgs/msg/driver_state_named.hpp"
#include "panther_msgs/msg/robot_driver_state.hpp"
#include "husarion_ugv_msgs/msg/driver_state_named.hpp"
#include "husarion_ugv_msgs/msg/robot_driver_state.hpp"

#include "husarion_ugv_battery/battery/battery.hpp"
#include "husarion_ugv_utils/moving_average.hpp"

namespace husarion_ugv_battery
{

using RobotDriverStateMsg = panther_msgs::msg::RobotDriverState;
using DriverStateNamedMsg = panther_msgs::msg::DriverStateNamed;
using RobotDriverStateMsg = husarion_ugv_msgs::msg::RobotDriverState;
using DriverStateNamedMsg = husarion_ugv_msgs::msg::DriverStateNamed;

struct RoboteqBatteryParams
{
Expand Down
Loading
Loading