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.

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

Initial Jazzy implementation #80

Merged
merged 29 commits into from
Sep 3, 2024
Merged
Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
29 commits
Select commit Hold shift + click to select a range
77379e9
Begin renaming ignition -> gz, updating dependencies for Jazzy
civerachb-cpr Jul 16, 2024
695ade5
Update gazebo macros, include paths
civerachb-cpr Jul 16, 2024
5c005f7
More include paths
civerachb-cpr Jul 16, 2024
6c2940c
Namespace replacements
civerachb-cpr Jul 16, 2024
10ec301
Include messages in the header
civerachb-cpr Jul 16, 2024
2eeb00b
Update dependencies
civerachb-cpr Jul 16, 2024
483a3a8
create_ignition -> create_gz
civerachb-cpr Jul 17, 2024
a4361b2
Rename more launch files
civerachb-cpr Jul 17, 2024
0707768
Revert launch argument change
civerachb-cpr Jul 17, 2024
e2bc702
More ignition renames
civerachb-cpr Jul 17, 2024
b52c75f
Remove depcreated condition checks
civerachb-cpr Jul 17, 2024
3a19e11
Fix imports
civerachb-cpr Jul 17, 2024
cc608b2
IfCondition wrappers
civerachb-cpr Jul 17, 2024
e5839f8
Rename gazebo -> sim/gz, fix resource path envar
civerachb-cpr Jul 23, 2024
84b2df2
Fix permissions
civerachb-cpr Jul 23, 2024
cbfcdb7
Update the GUI configurations
civerachb-cpr Jul 30, 2024
3581edb
Update the simulation launch file
civerachb-cpr Jul 30, 2024
cf212fd
ign -> gz for plugin logging, cover up the "UNKNOWN %0" text for now
civerachb-cpr Jul 30, 2024
c0e5512
Replace the Table model with CoffeeTable; Table doesn't appear to be …
civerachb-cpr Jul 30, 2024
168750b
Replace the sitting person so they're in a chair instead of on the gr…
civerachb-cpr Jul 30, 2024
6ba8ea5
Hmi -> HMI in titlebars
civerachb-cpr Jul 30, 2024
4dc4e3f
Ignition -> Harmonic transition, minor updates to the warehouse world
civerachb-cpr Jul 30, 2024
16096c3
Fix gz-gui8 rosdep
civerachb-cpr Jul 31, 2024
c1d627f
Launch Rviz in the naviation profile if it's being started as part of…
civerachb-cpr Aug 21, 2024
efefbde
Update CI for Jazzy
civerachb-cpr Aug 21, 2024
6a286e3
Change the gz_gui_vendor dependency to depend (from buildtool_depend)
civerachb-cpr Aug 27, 2024
e57cc4e
Update github issue template
civerachb-cpr Aug 27, 2024
d643e35
Enable OSRF testing packages for CI
civerachb-cpr Sep 3, 2024
56c1b79
Linting & formatting fixes
civerachb-cpr Sep 3, 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: 2 additions & 0 deletions .github/ISSUE_TEMPLATE/1-bug.yml
Original file line number Diff line number Diff line change
Expand Up @@ -30,6 +30,7 @@ body:
- Select One
- Galactic
- Humble
- Jazzy
validations:
required: true
- type: dropdown
Expand All @@ -52,6 +53,7 @@ body:
- Select One
- Ubuntu 20.04
- Ubuntu 22.04
- Ubuntu 24.04
- Other Linux
- Windows / MAC
validations:
Expand Down
17 changes: 9 additions & 8 deletions .github/workflows/ci.yml
Original file line number Diff line number Diff line change
Expand Up @@ -3,20 +3,21 @@ name: turtlebot4_simulator_ci
on: [push, pull_request]

jobs:
turtlebot4_humble_ci:
name: Humble
runs-on: ubuntu-22.04
turtlebot4_jazzy_ci:
name: Jazzy
runs-on: ubuntu-24.04
steps:
- uses: actions/[email protected]
- uses: ros-tooling/[email protected]
with:
required-ros-distributions: humble
required-ros-distributions: jazzy
use-ros2-testing: true
- uses: ros-tooling/[email protected]
id: action_ros_ci_step
with:
target-ros2-distro: humble
target-ros2-distro: jazzy
import-token: ${{ secrets.GITHUB_TOKEN }}
package-name:
turtlebot4_ignition_bringup
turtlebot4_ignition_gui_plugins
turtlebot4_ignition_toolbox
turtlebot4_gz_bringup
turtlebot4_gz_gui_plugins
turtlebot4_gz_toolbox
4 changes: 2 additions & 2 deletions README.md
Original file line number Diff line number Diff line change
@@ -1,6 +1,6 @@
# Turtlebot4 Simulator

Turtlebot4 Simulation using Ignition Gazebo.
Turtlebot4 Simulation using Harmonic Gazebo for ROS 2 Jazzy.

Visit the [TurtleBot 4 User Manual](https://turtlebot.github.io/turtlebot4-user-manual/software/turtlebot4_simulator.html) for details.

Expand All @@ -10,5 +10,5 @@ sudo apt-get update && sudo apt-get install wget
sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'
wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -
sudo apt-get update
sudo apt-get install ignition-fortress ros-humble-turtlebot4-simulator
sudo apt-get install gz-harmonic ros-jazzy-turtlebot4-simulator
```
Original file line number Diff line number Diff line change
@@ -1,5 +1,5 @@
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
Changelog for package turtlebot4_ignition_bringup
Changelog for package turtlebot4_gz_bringup
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^

1.0.2 (2024-04-15)
Expand Down
Original file line number Diff line number Diff line change
@@ -1,5 +1,5 @@
cmake_minimum_required(VERSION 3.8)
project(turtlebot4_ignition_bringup)
project(turtlebot4_gz_bringup)

if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
add_compile_options(-Wall -Wextra -Wpedantic)
Expand All @@ -8,7 +8,7 @@ endif()
# find dependencies
find_package(ament_cmake REQUIRED)

find_package(ros_ign_interfaces REQUIRED)
find_package(ros_gz_interfaces REQUIRED)

install(
DIRECTORY config gui launch worlds
Expand Down
1 change: 1 addition & 0 deletions turtlebot4_gz_bringup/README.md
Original file line number Diff line number Diff line change
@@ -0,0 +1 @@
# turtlebot4_gz_bringup
Original file line number Diff line number Diff line change
@@ -1,34 +1,46 @@
<?xml version="1.0" ?>

<!-- 3D scene -->
<plugin filename="GzScene3D" name="3D View">
<ignition-gui>
<title>3D View</title>
<property type="bool" key="showTitleBar">false</property>
<property type="string" key="state">docked</property>
</ignition-gui>

<engine>ogre2</engine>
<scene>scene</scene>
<camera_pose>-0.0176 -0.737 0.017 0 -0.135 1.64</camera_pose>
<plugin filename="MinimalScene" name="3D View">
<gz-gui>
<title>3D View</title>
<property key="state" type="string">docked</property>
<property key="showTitleBar" type="bool">false</property>
</gz-gui>
<engine>ogre2</engine>
<scene>scene</scene>
<ambient_light>0.4 0.4 0.4</ambient_light>
<background_color>0.8 0.8 0.8</background_color>
<camera_pose>-6 0 6 0 0.5 0</camera_pose>
</plugin>
<plugin filename="GzSceneManager" name="Scene Manager">
<gz-gui>
<property key="visible" type="bool">false</property>
<property key="state" type="string">floating</property>
</gz-gui>
</plugin>
<plugin filename="InteractiveViewControl" name="Interactive view control">
<gz-gui>
<property key="visible" type="bool">false</property>
<property key="state" type="string">floating</property>
</gz-gui>
</plugin>

<!-- Play / pause / step -->
<plugin filename="WorldControl" name="World control">
<ignition-gui>
<gz-gui>
<title>World control</title>
<property type="bool" key="showTitleBar">false</property>
<property type="bool" key="resizable">false</property>
<property type="double" key="height">72</property>
<property type="double" key="width">121</property>
<property type="double" key="z">1</property>

<property type="string" key="state">floating</property>
<anchors target="3D View">
<line own="left" target="left"/>
<line own="bottom" target="bottom"/>
</anchors>
</ignition-gui>
</gz-gui>

<play_pause>true</play_pause>
<step>true</step>
Expand All @@ -37,7 +49,7 @@

<!-- Time / RTF -->
<plugin filename="WorldStats" name="World stats">
<ignition-gui>
<gz-gui>
<title>World stats</title>
<property type="bool" key="showTitleBar">false</property>
<property type="bool" key="resizable">false</property>
Expand All @@ -50,7 +62,7 @@
<line own="right" target="right"/>
<line own="bottom" target="bottom"/>
</anchors>
</ignition-gui>
</gz-gui>

<sim_time>true</sim_time>
<real_time>true</real_time>
Expand All @@ -60,7 +72,7 @@

<!-- Translate / rotate -->
<plugin filename="TransformControl" name="Transform control">
<ignition-gui>
<gz-gui>
<title>Transform control</title>
<anchors target="3D View">
<line own="left" target="left"/>
Expand All @@ -72,12 +84,12 @@
<property key="state" type="string">floating</property>
<property key="showTitleBar" type="bool">false</property>
<property key="cardBackground" type="string">#03a9f4</property>
</ignition-gui>
</gz-gui>
</plugin>

<!-- Insert simple shapes -->
<plugin filename="Shapes" name="Shapes">
<ignition-gui>
<gz-gui>
<anchors target="Transform control">
<line own="left" target="right"/>
<line own="top" target="top"/>
Expand All @@ -88,25 +100,25 @@
<property key="state" type="string">floating</property>
<property key="showTitleBar" type="bool">false</property>
<property key="cardBackground" type="string">#03a9f4</property>
</ignition-gui>
</gz-gui>
</plugin>

<!-- HMI -->
<plugin filename="Turtlebot4Hmi" name="Turtlebot4Hmi">
<ignition-gui>
<plugin filename="Create3Hmi" name="Create3 HMI">
<gz-gui>
<property type="bool" key="showTitleBar">true</property>
<property type="string" key="state">docked</property>
<property type="double" key="height">200</property>
<property key="resizable" type="bool">true</property>
</ignition-gui>
</gz-gui>
</plugin>

<!-- Teleop -->
<plugin filename="Teleop">
<topic>/cmd_vel</topic>
<ignition-gui>
<gz-gui>
<property type="bool" key="showTitleBar">true</property>
<property type="string" key="state">docked</property>
<property key="resizable" type="bool">true</property>
</ignition-gui>
</gz-gui>
</plugin>
Original file line number Diff line number Diff line change
@@ -1,34 +1,46 @@
<?xml version="1.0" ?>

<!-- 3D scene -->
<plugin filename="GzScene3D" name="3D View">
<ignition-gui>
<title>3D View</title>
<property type="bool" key="showTitleBar">false</property>
<property type="string" key="state">docked</property>
</ignition-gui>

<engine>ogre2</engine>
<scene>scene</scene>
<camera_pose>-0.0176 -0.737 0.017 0 -0.135 1.64</camera_pose>
<plugin filename="MinimalScene" name="3D View">
<gz-gui>
<title>3D View</title>
<property key="state" type="string">docked</property>
<property key="showTitleBar" type="bool">false</property>
</gz-gui>
<engine>ogre2</engine>
<scene>scene</scene>
<ambient_light>0.4 0.4 0.4</ambient_light>
<background_color>0.8 0.8 0.8</background_color>
<camera_pose>-6 0 6 0 0.5 0</camera_pose>
</plugin>
<plugin filename="GzSceneManager" name="Scene Manager">
<gz-gui>
<property key="visible" type="bool">false</property>
<property key="state" type="string">floating</property>
</gz-gui>
</plugin>
<plugin filename="InteractiveViewControl" name="Interactive view control">
<gz-gui>
<property key="visible" type="bool">false</property>
<property key="state" type="string">floating</property>
</gz-gui>
</plugin>

<!-- Play / pause / step -->
<plugin filename="WorldControl" name="World control">
<ignition-gui>
<gz-gui>
<title>World control</title>
<property type="bool" key="showTitleBar">false</property>
<property type="bool" key="resizable">false</property>
<property type="double" key="height">72</property>
<property type="double" key="width">121</property>
<property type="double" key="z">1</property>

<property type="string" key="state">floating</property>
<anchors target="3D View">
<line own="left" target="left"/>
<line own="bottom" target="bottom"/>
</anchors>
</ignition-gui>
</gz-gui>

<play_pause>true</play_pause>
<step>true</step>
Expand All @@ -37,7 +49,7 @@

<!-- Time / RTF -->
<plugin filename="WorldStats" name="World stats">
<ignition-gui>
<gz-gui>
<title>World stats</title>
<property type="bool" key="showTitleBar">false</property>
<property type="bool" key="resizable">false</property>
Expand All @@ -50,7 +62,7 @@
<line own="right" target="right"/>
<line own="bottom" target="bottom"/>
</anchors>
</ignition-gui>
</gz-gui>

<sim_time>true</sim_time>
<real_time>true</real_time>
Expand All @@ -60,7 +72,7 @@

<!-- Translate / rotate -->
<plugin filename="TransformControl" name="Transform control">
<ignition-gui>
<gz-gui>
<title>Transform control</title>
<anchors target="3D View">
<line own="left" target="left"/>
Expand All @@ -72,12 +84,12 @@
<property key="state" type="string">floating</property>
<property key="showTitleBar" type="bool">false</property>
<property key="cardBackground" type="string">#03a9f4</property>
</ignition-gui>
</gz-gui>
</plugin>

<!-- Insert simple shapes -->
<plugin filename="Shapes" name="Shapes">
<ignition-gui>
<gz-gui>
<anchors target="Transform control">
<line own="left" target="right"/>
<line own="top" target="top"/>
Expand All @@ -88,25 +100,25 @@
<property key="state" type="string">floating</property>
<property key="showTitleBar" type="bool">false</property>
<property key="cardBackground" type="string">#03a9f4</property>
</ignition-gui>
</gz-gui>
</plugin>

<!-- HMI -->
<plugin filename="Create3Hmi" name="Create3Hmi">
<ignition-gui>
<plugin filename="Turtlebot4Hmi" name="Turtlebot4 HMI">
<gz-gui>
<property type="bool" key="showTitleBar">true</property>
<property type="string" key="state">docked</property>
<property type="double" key="height">200</property>
<property key="resizable" type="bool">true</property>
</ignition-gui>
</gz-gui>
</plugin>

<!-- Teleop -->
<plugin filename="Teleop">
<topic>/cmd_vel</topic>
<ignition-gui>
<gz-gui>
<property type="bool" key="showTitleBar">true</property>
<property type="string" key="state">docked</property>
<property key="resizable" type="bool">true</property>
</ignition-gui>
</gz-gui>
</plugin>
Loading
Loading