stack-of-tasks · olivier-stasse · Apr 2, 2024 · Apr 2, 2024 · Apr 2, 2024 · Apr 4, 2024
diff --git a/.github/workflows/ci-build-binary.yml b/.github/workflows/ci-build-binary.yml
@@ -4,9 +4,6 @@ on:
   push:
     branches:
       - master
-  schedule:
-    # Run every day to detect flakiness and broken dependencies
-    - cron: '23 1 * * *'
 
 jobs:
   binary:
@@ -18,6 +15,15 @@ jobs:
           - {ROS_DISTRO: rolling, ROS_REPO: main}
           - {ROS_DISTRO: rolling, ROS_REPO: testing}
     steps:
-      - uses: actions/checkout@v1
+      - uses: actions/checkout@v3
+        name: Checkout out main repository
+      - uses: actions/checkout@v3
+        name: Checkout out
+        with:
+          repository: stack-of-tasks/ros2_hardware_interface_odri
+      - uses: actions/checkout@v3
+        name: Checkout out
+        with:
+          repository: stack-of-tasks/odri_gz_ros2_control
       - uses: 'ros-industrial/industrial_ci@master'
         env: ${{matrix.env}}
diff --git a/.github/workflows/ci-build-coverage.yml b/.github/workflows/ci-build-coverage.yml
@@ -17,7 +17,7 @@ jobs:
     env:
       ROS_DISTRO: rolling
     steps:
-      - uses: ros-tooling/[email protected].1
+      - uses: ros-tooling/[email protected].7
         with:
           required-ros-distributions: ${{ env.ROS_DISTRO }}
       - uses: actions/checkout@v4

diff --git a/.github/workflows/ci-build-source.yml b/.github/workflows/ci-build-source.yml
@@ -6,9 +6,6 @@ on:
   push:
     branches:
       - main
-  schedule:
-    # Run every day to detect flakiness and broken dependencies
-    - cron: '43 1 * * *'
 
 jobs:
   source:
@@ -17,7 +14,7 @@ jobs:
     strategy:
       fail-fast: false
     steps:
-      - uses: ros-tooling/[email protected].1
+      - uses: ros-tooling/[email protected].7
         with:
           required-ros-distributions: rolling
       - uses: actions/checkout@v4

diff --git a/.github/workflows/ci-format.yml b/.github/workflows/ci-format.yml
@@ -17,8 +17,8 @@ jobs:
     steps:
     - uses: actions/checkout@v2
     - uses: actions/setup-python@v2
-    - name: Install clang-format-10
-      run: sudo apt-get install clang-format-10 cppcheck
-    - uses: pre-commit/action@v2.0.2
+    - name: Install clang-format-15
+      run: sudo apt-get install clang-format-15 cppcheck
+    - uses: pre-commit/action@v3.0.0
       with:
         extra_args: --all-files --hook-stage manual
diff --git a/.github/workflows/ci-ros-lint.yaml b/.github/workflows/ci-ros-lint.yaml
@@ -9,33 +9,14 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-          linter: [copyright, cppcheck, lint_cmake]
+          linter: [lint_cmake, mypy, pep257,  xmllint]
     steps:
-    - uses: actions/checkout@v1
-    - uses: ros-tooling/setup-ros@v0.7.1
+    - uses: actions/checkout@v4
+    - uses: ros-tooling/setup-ros@0.7.7
     - uses: ros-tooling/[email protected]
       with:
         distribution: rolling
         linter: ${{ matrix.linter }}
         package-name:
           odri_bolt_description
           odri_bolt_bringup
-
-  ament_lint_100:
-    name: ament_${{ matrix.linter }}
-    runs-on: ubuntu-latest
-    strategy:
-      fail-fast: false
-      matrix:
-          linter: [cpplint]
-    steps:
-    - uses: actions/checkout@v4
-    - uses: ros-tooling/[email protected]
-    - uses: ros-tooling/[email protected]
-      with:
-        distribution: rolling
-        linter: cpplint
-        arguments: "--linelength=100 --filter=-whitespace/newline"
-        package_name:
-          odri_bolt_description
-          odri_bolt_bringup
diff --git a/odri_bolt_description/CMakeLists.txt b/odri_bolt_description/CMakeLists.txt
@@ -4,7 +4,7 @@ project(odri_bolt_description)
 find_package(ament_cmake REQUIRED)
 
 install(
-  DIRECTORY meshes ros2_control urdf gazebo config
+  DIRECTORY meshes ros2_control urdf gazebo config rviz
   DESTINATION share/${PROJECT_NAME}
 )
 

diff --git a/odri_bolt_description/gazebo/bolt.gazebo.xacro b/odri_bolt_description/gazebo/bolt.gazebo.xacro
@@ -0,0 +1,70 @@
+<!--
+Copied and modified from ROS1 example -
+https://github.com/ros-simulation/gazebo_ros_demos/blob/kinetic-devel/rrbot_descripti
+on/urdf/rrbot.gazebo
+-->
+<robot xmlns:xacro="http://ros.org/wiki/xacro">
+
+  <xacro:macro name="odri_bolt_gazebo" params="prefix">
+    <!-- ros2_control GZ Sim plugin -->
+    <gazebo reference="world">
+    </gazebo>
+
+    <gazebo>
+      <plugin name="odri_gz_ros2_control::GazeboOdriSimROS2ControlPlugin" filename="odri_gz_ros2_control-system">
+	<parameters>$(find odri_bolt_gz)/config/odri_bolt_controllers.yaml</parameters>
+        <controller_manager_node_name>${prefix}controller_manager</controller_manager_node_name>
+      </plugin>
+    </gazebo>
+
+    <gazebo reference="right_SHOULDER">
+      <mu1>0.2</mu1>
+      <mu2>0.2</mu2>
+      <material>Gazebo/Red</material>
+    </gazebo>
+
+    <gazebo reference="right_UPPER_LEG">
+      <mu1>0.2</mu1>
+      <mu2>0.2</mu2>
+      <material>Gazebo/Red</material>
+    </gazebo>
+
+    <gazebo reference="right_LOWER_LEG">
+      <mu1>0.2</mu1>
+      <mu2>0.2</mu2>
+      <material>Gazebo/Red</material>
+    </gazebo>
+
+    <gazebo reference="right_FOOT">
+      <mu1>0.2</mu1>
+      <mu2>0.2</mu2>
+      <material>Gazebo/Red</material>
+    </gazebo>
+
+    <gazebo reference="left_SHOULDER">
+      <mu1>0.2</mu1>
+      <mu2>0.2</mu2>
+      <material>Gazebo/Red</material>
+    </gazebo>
+
+    <gazebo reference="left_UPPER_LEG">
+      <mu1>0.2</mu1>
+      <mu2>0.2</mu2>
+      <material>Gazebo/Red</material>
+    </gazebo>
+
+    <gazebo reference="left_LOWER_LEG">
+      <mu1>0.2</mu1>
+      <mu2>0.2</mu2>
+      <material>Gazebo/Red</material>
+    </gazebo>
+
+    <gazebo reference="left_FOOT">
+      <mu1>0.2</mu1>
+      <mu2>0.2</mu2>
+      <material>Gazebo/Red</material>
+    </gazebo>
+
+  </xacro:macro>
+
+</robot>
diff --git a/odri_bolt_description/ros2_control/system_bolt.ros2_control.xacro b/odri_bolt_description/ros2_control/system_bolt.ros2_control.xacro
@@ -1,18 +1,18 @@
 <?xml version="1.0"?>
 <robot xmlns:xacro="http://www.ros.org/wiki/xacro">
 
-  <xacro:macro name="system_bolt_ros2_control" params="name prefix use_sim:=^|false use_fake_hardware:=^|true fake_sensor_commands:=^|false slowdown:=2.0 ethernet_port:=^|enp6s0f1 true:=^|true false:=^|false">
+  <xacro:macro name="system_bolt_ros2_control" params="name prefix use_gazebo_sim:=^|false use_fake_hardware:=^|true fake_sensor_commands:=^|false slowdown:=2.0 ethernet_port:=^|enp6s0f1 true:=^|true false:=^|false">
 
     <ros2_control name="${name}" type="system">
 
-      <xacro:if value="$(arg use_sim)">
+      <xacro:if value="$(arg use_gazebo_sim)">
         <hardware>
-          <plugin>gazebo_ros2_control_bolt/GazeboBoltSystem</plugin>
+          <plugin>odri_gz_ros2_control/GazeboOdriSimSystem</plugin>
 	  <param name="default_kp">1000.0</param>
 	  <param name="default_kd">10.0</param>
         </hardware>
       </xacro:if>
-      <xacro:unless value="$(arg use_sim)">
+      <xacro:unless value="$(arg use_gazebo_sim)">
         <hardware>
           <xacro:if value="${use_fake_hardware}">
             <plugin>fake_components/GenericSystem</plugin>

diff --git a/odri_bolt_description/rviz/odri_bolt.rviz b/odri_bolt_description/rviz/odri_bolt.rviz
@@ -0,0 +1,187 @@
+Panels:
+  - Class: rviz_common/Displays
+    Help Height: 87
+    Name: Displays
+    Property Tree Widget:
+      Expanded: ~
+      Splitter Ratio: 0.5
+    Tree Height: 1096
+  - Class: rviz_common/Selection
+    Name: Selection
+  - Class: rviz_common/Tool Properties
+    Expanded:
+      - /2D Goal Pose1
+      - /Publish Point1
+    Name: Tool Properties
+    Splitter Ratio: 0.5886790156364441
+  - Class: rviz_common/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz_default_plugins/Grid
+      Color: 160; 160; 164
+      Enabled: true
+      Line Style:
+        Line Width: 0.029999999329447746
+        Value: Lines
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 10
+      Reference Frame: <Fixed Frame>
+      Value: true
+    - Alpha: 1
+      Class: rviz_default_plugins/RobotModel
+      Collision Enabled: false
+      Description File: ""
+      Description Source: Topic
+      Description Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /robot_description
+      Enabled: true
+      Links:
+        All Links Enabled: true
+        Expand Joint Details: false
+        Expand Link Details: false
+        Expand Tree: false
+        Link Tree Style: Links in Alphabetic Order
+        base_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        camera_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        camera_link_optical:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        hokuyo_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        link1:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        link2:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        tool_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        world:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+      Mass Properties:
+        Inertia: false
+        Mass: false
+      Name: RobotModel
+      TF Prefix: ""
+      Update Interval: 0
+      Value: true
+      Visual Enabled: true
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Fixed Frame: base_link
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz_default_plugins/Interact
+      Hide Inactive Objects: true
+    - Class: rviz_default_plugins/MoveCamera
+    - Class: rviz_default_plugins/Select
+    - Class: rviz_default_plugins/FocusCamera
+    - Class: rviz_default_plugins/Measure
+      Line color: 128; 128; 0
+    - Class: rviz_default_plugins/SetInitialPose
+      Covariance x: 0.25
+      Covariance y: 0.25
+      Covariance yaw: 0.06853891909122467
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /initialpose
+    - Class: rviz_default_plugins/SetGoal
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /goal_pose
+    - Class: rviz_default_plugins/PublishPoint
+      Single click: true
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /clicked_point
+  Transformation:
+    Current:
+      Class: rviz_default_plugins/TF
+  Value: true
+  Views:
+    Current:
+      Class: rviz_default_plugins/Orbit
+      Distance: 8.443930625915527
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.05999999865889549
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Focal Point:
+        X: 0.0044944556429982185
+        Y: 1.0785865783691406
+        Z: 2.4839563369750977
+      Focal Shape Fixed Size: true
+      Focal Shape Size: 0.05000000074505806
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.009999999776482582
+      Pitch: 0.23039916157722473
+      Target Frame: <Fixed Frame>
+      Value: Orbit (rviz)
+      Yaw: 5.150422096252441
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 1379
+  Hide Left Dock: false
+  Hide Right Dock: false
+  QMainWindow State: 000000ff00000000fd00000004000000000000016a000004f0fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000007901000003fb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000048000004f00000010101000003fb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c000002610000000100000110000004f0fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730100000048000004f0000000db01000003fb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d0065010000000000000450000000000000000000000784000004f000000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: false
+  Width: 2560
+  X: 0
+  Y: 1470