New lib for GPIO (#99)

* New lib for GPIO * Update .wordlist.txt * Update .wordlist.txt * Update rosbot_utils/rosbot_utils/flash-firmware.py * clean up * spellcheck fix * Jakub suggestions * Use gpiozero * readme * Update .wordlist.txt * Update rosbot_utils/package.xml * Add author * better * GPIOD --------- Co-authored-by: Jakub Delicat <[email protected]>
husarion · Feb 1, 2024 · abec541 · abec541
1 parent b05a2fe
commit abec541
Show file tree

Hide file tree

Showing 15 changed files with 138 additions and 128 deletions.
diff --git a/.wordlist.txt b/.wordlist.txt
@@ -150,4 +150,11 @@ subprocess
 cbus
 Dockerfile
 unbuffered
+libgpiod
+REQ
+gpiochip
+gpiod
+Rafal
+Gorecki
+gpiozero
 sp
diff --git a/README.md b/README.md
@@ -1,20 +1,27 @@
 # Rosbot ROS
+
 ROS2 packages for ROSbot 2R and ROSbot 2 PRO.
 
 ## ROS packages
+
 ### `rosbot`
+
 Metapackage that contains dependencies to other repositories.
 
 ### `rosbot_bringup`
+
 Package that contains launch, which starts all base functionalities. Also configuration for [robot_localization](https://github.com/cra-ros-pkg/robot_localization) and [ros2_controllers](https://github.com/ros-controls/ros2_controllers) are defined there.
 
 ### `rosbot_description`
+
 URDF model used as a source of transforms on the physical robot. It was written to be compatible with ROS Industrial and preconfigured for ROS2 control.
 
 ### `rosbot_gazebo`
+
 Launch files for Ignition Gazebo working with ROS2 control.
 
 ### `rosbot_controller`
+
 ROS2 hardware controllers configuration for ROSbots.
 
 ## ROS API
@@ -31,14 +38,16 @@ For detailed instructions refer to the [rosbot_ros2_firmware repository](https:/
 
 ### Prerequisites
 
-Install `colcon`, `vcs` and `rosdep`:
-```
+Install all necessary tools:
+
+```bash
 sudo apt-get update
-sudo apt-get install -y python3-colcon-common-extensions python3-vcstool python3-rosdep python3-pip
+sudo apt-get install -y ros-dev-tools python3-pip
 ```
 
 Create workspace folder and clone `rosbot_ros` repository:
-```
+
+```bash
 mkdir -p ros2_ws/src
 cd ros2_ws
 git clone https://github.com/husarion/rosbot_ros src/
@@ -47,7 +56,8 @@ git clone https://github.com/husarion/rosbot_ros src/
 ### Build and run on hardware
 
 Building:
-```
+
+```bash
 export HUSARION_ROS_BUILD=hardware
 
 source /opt/ros/$ROS_DISTRO/setup.bash
@@ -65,31 +75,44 @@ rosdep install -i --from-path src --rosdistro $ROS_DISTRO -y
 colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release
 ```
 
-> **Prerequisites**
->
-> Before starting the software on the robot please make sure that you're using the latest firmware and run the `micro-ROS` agent (as described in the *Usage on hardware* step).
+Flash firmware:
 
-Running:
+```bash
+source install/setup.bash
+ros2 launch rosbot_utils flash_firmware
 ```
+
+Running:
+
+```bash
 source install/setup.bash
-ros2 launch rosbot_bringup bringup.launch.py
+ros2 launch rosbot_bringup combined.launch.py
 ```
 
 ### Build and run Gazebo simulation
+
 Prerequisites:
 
-> **Warning**
-> The simulation is compatible with the Gazebo Fortress LTS version. Use [this installation guide ](https://gazebosim.org/docs/fortress/install_ubuntu#binary-installation-on-ubuntu) to install the proper version and remove the another versions e. g. Gazebo Garden:
-> `sudo apt remove gz-garden && sudo apt autoremove`
-> Look at [the table](https://gazebosim.org/docs/garden/ros_installation#summary-of-compatible-ros-and-gazebo-combinations) to see the compatible ROS 2 and Gazebo versions.
+> [!TIP]
+> The default version of Gazebo Ignition will be installed with the instructions below. If you want to install a different version of the simulator, it is necessary to:
+>
+> - Check compatible versions of ROS 2 and Gazebo in [this table](https://gazebosim.org/docs/garden/ros_installation#summary-of-compatible-ros-and-gazebo-combinations)
+> - [Install the appropriate version](https://gazebosim.org/docs/fortress/install_ubuntu#binary-installation-on-ubuntu),
+> - Add the `GZ_VERSION` environment variable appropriate to your version
+>
+>   ```bash
+>   export GZ_VERSION=fortress
+>   ```
 
 If you have installed multiple versions of Gazebo use the global variable to select the correct one:
+
 ```bash
 export GZ_VERSION=fortress
 ```
 
 Building:
-```
+
+```bash
 export HUSARION_ROS_BUILD=simulation
 
 source /opt/ros/$ROS_DISTRO/setup.bash
@@ -107,14 +130,16 @@ colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release
 ```
 
 Running:
-```
+
+```bash
 source install/setup.bash
 ros2 launch rosbot_gazebo simulation.launch.py
 ```
 
-## Testing package
+## Developer info
 
 ### pre-commit
+
 [pre-commit configuration](.pre-commit-config.yaml) prepares plenty of tests helping for developing and contributing. Usage:
 
 ```bash
@@ -131,20 +156,23 @@ pre-commit run -a
 After initialization [pre-commit configuration](.pre-commit-config.yaml) will applied on every commit.
 
 ### Industrial CI
-```
+
+```bash
 colcon test
 ```
 
 > [!NOTE]
 > Command `colcon test` does not build the code. Remember to build your code after changes.
 
 If tests finish with errors print logs:
-```
+
+``` bash
 colcon test-result --verbose
 ```
 
 ### Format python code with [Black](https://github.com/psf/black)
-```
+
+```bash
 cd src/
 black rosbot*
 ```
@@ -153,18 +181,19 @@ black rosbot*
 
 At fist install [act](https://github.com/nektos/act):
 
-```
+```bash
 cd /
 curl -s https://raw.githubusercontent.com/nektos/act/master/install.sh | sudo bash
 ```
 
 And test the workflow with:
 
-```
+```bash
 act -W .github/workflows/industrial_ci.yaml
 ```
 
 ## Demo
+
 Below you can find demos with ROSbots:
 | link | description |
 | - | - |

diff --git a/rosbot/CHANGELOG.rst b/rosbot/CHANGELOG.rst
@@ -2,9 +2,6 @@
 Changelog for package rosbot
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-0.10.5 (2023-12-05)
--------------------
-
 0.13.0 (2024-01-15)
 -------------------
 
@@ -17,6 +14,9 @@ Changelog for package rosbot
 0.11.0 (2023-12-08)
 -------------------
 
+0.10.5 (2023-12-05)
+-------------------
+
 0.10.4 (2023-12-01)
 -------------------
 

diff --git a/rosbot/package.xml b/rosbot/package.xml
@@ -3,27 +3,24 @@
 <package format="3">
   <name>rosbot</name>
   <version>0.13.0</version>
-
   <description>Meta package that contains all packages of Rosbot 2 2R PRO</description>
-  <license>Apache License 2.0</license>
-
-  <author email="[email protected]">Jakub Delicat</author>
   <maintainer email="[email protected]">Husarion</maintainer>
+  <license>Apache License 2.0</license>
 
   <url type="website">https://husarion.com/</url>
   <url type="repository">https://github.com/husarion/rosbot_ros</url>
   <url type="bugtracker">https://github.com/husarion/rosbot_ros/issues</url>
 
+  <author email="[email protected]">Jakub Delicat</author>
+
   <buildtool_depend>ament_cmake</buildtool_depend>
 
   <depend>rosbot_bringup</depend>
-  <depend>rosbot_description</depend>
   <depend>rosbot_controller</depend>
+  <depend>rosbot_description</depend>
   <depend>rosbot_utils</depend>
 
-  <depend condition="($HUSARION_ROS_BUILD == simulation) and ($SIMULATION_ENGINE == ignition-gazebo)">
-    rosbot_gazebo
-  </depend>
+  <depend condition="($HUSARION_ROS_BUILD == simulation)">rosbot_gazebo</depend>
 
   <export>
     <build_type>ament_cmake</build_type>

diff --git a/rosbot_bringup/CHANGELOG.rst b/rosbot_bringup/CHANGELOG.rst
@@ -2,9 +2,6 @@
 Changelog for package rosbot_bringup
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-0.10.5 (2023-12-05)
--------------------
-
 0.13.0 (2024-01-15)
 -------------------
 
@@ -17,6 +14,9 @@ Changelog for package rosbot_bringup
 0.11.0 (2023-12-08)
 -------------------
 
+0.10.5 (2023-12-05)
+-------------------
+
 0.10.4 (2023-12-01)
 -------------------
 

diff --git a/rosbot_bringup/package.xml b/rosbot_bringup/package.xml
@@ -4,20 +4,22 @@
   <name>rosbot_bringup</name>
   <version>0.13.0</version>
   <description>ROSbot 2, 2R, PRO bringup package</description>
-  <license>Apache License 2.0</license>
-
-  <author email="[email protected]">Jakub Delicat</author>
   <maintainer email="[email protected]">Husarion</maintainer>
+  <license>Apache License 2.0</license>
 
   <url type="website">https://husarion.com/</url>
   <url type="repository">https://github.com/husarion/rosbot_ros</url>
   <url type="bugtracker">https://github.com/husarion/rosbot_ros/issues</url>
 
+  <author email="[email protected]">Jakub Delicat</author>
+  <author email="[email protected]">Rafal Gorecki</author>
+
   <exec_depend>launch</exec_depend>
   <exec_depend>launch_ros</exec_depend>
   <exec_depend>rosbot_controller</exec_depend>
   <exec_depend>robot_localization</exec_depend>
   <exec_depend>micro_ros_agent</exec_depend>
+  <exec_depend>micro_ros_msgs</exec_depend>
 
   <test_depend>python3-pytest</test_depend>
   <test_depend>launch</test_depend>

diff --git a/rosbot_controller/CHANGELOG.rst b/rosbot_controller/CHANGELOG.rst
@@ -2,9 +2,6 @@
 Changelog for package rosbot_controller
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-0.10.5 (2023-12-05)
--------------------
-
 0.13.0 (2024-01-15)
 -------------------
 
@@ -17,6 +14,9 @@ Changelog for package rosbot_controller
 0.11.0 (2023-12-08)
 -------------------
 
+0.10.5 (2023-12-05)
+-------------------
+
 0.10.4 (2023-12-01)
 -------------------
 

diff --git a/rosbot_controller/package.xml b/rosbot_controller/package.xml
@@ -3,17 +3,16 @@
 <package format="3">
   <name>rosbot_controller</name>
   <version>0.13.0</version>
-
   <description>Hardware configuration for ROSbot 2, 2R, PRO</description>
+  <maintainer email="[email protected]">Husarion</maintainer>
   <license>Apache License 2.0</license>
 
-  <author email="[email protected]">Jakub Delicat</author>
-  <maintainer email="[email protected]">Husarion</maintainer>
-
   <url type="website">https://husarion.com/</url>
   <url type="repository">https://github.com/husarion/rosbot_ros</url>
   <url type="bugtracker">https://github.com/husarion/rosbot_ros/issues</url>
 
+  <author email="[email protected]">Jakub Delicat</author>
+
   <buildtool_depend>ament_cmake</buildtool_depend>
 
   <exec_depend>launch</exec_depend>

diff --git a/rosbot_description/CHANGELOG.rst b/rosbot_description/CHANGELOG.rst
@@ -2,9 +2,6 @@
 Changelog for package rosbot_description
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-0.10.5 (2023-12-05)
--------------------
-
 0.13.0 (2024-01-15)
 -------------------
 
@@ -17,6 +14,9 @@ Changelog for package rosbot_description
 0.11.0 (2023-12-08)
 -------------------
 
+0.10.5 (2023-12-05)
+-------------------
+
 0.10.4 (2023-12-01)
 -------------------
 

diff --git a/rosbot_description/package.xml b/rosbot_description/package.xml
@@ -3,18 +3,17 @@
 <package format="3">
   <name>rosbot_description</name>
   <version>0.13.0</version>
-
   <description>ROSbot 2, 2R, PRO description package</description>
+  <maintainer email="[email protected]">Husarion</maintainer>
   <license>Apache License 2.0</license>
 
-  <author email="[email protected]">Jakub Delicat</author>
-  <author email="[email protected]">Maciej Stepien</author>
-  <maintainer email="[email protected]">Husarion</maintainer>
-
   <url type="website">https://husarion.com/</url>
   <url type="repository">https://github.com/husarion/rosbot_ros</url>
   <url type="bugtracker">https://github.com/husarion/rosbot_ros/issues</url>
 
+  <author email="[email protected]">Jakub Delicat</author>
+  <author email="[email protected]">Maciej Stepien</author>
+
   <buildtool_depend>ament_cmake</buildtool_depend>
 
   <export>

diff --git a/rosbot_gazebo/CHANGELOG.rst b/rosbot_gazebo/CHANGELOG.rst
@@ -2,9 +2,6 @@
 Changelog for package rosbot_gazebo
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-0.10.5 (2023-12-05)
--------------------
-
 0.13.0 (2024-01-15)
 -------------------
 
@@ -20,6 +17,9 @@ Changelog for package rosbot_gazebo
   Test gazebo fix
 * Contributors: Dominik Nowak
 
+0.10.5 (2023-12-05)
+-------------------
+
 0.10.4 (2023-12-01)
 -------------------