diff --git a/.gitignore b/.gitignore index 28b0c9f..5f94900 100644 --- a/.gitignore +++ b/.gitignore @@ -75,4 +75,5 @@ bld/ # NUNIT *.VisualState.xml -TestResult.xml \ No newline at end of file +TestResult.xml__pycache__/ +*.pyc diff --git a/BuildInstructions.md b/BuildInstructions.md index 556c930..31c0765 100644 --- a/BuildInstructions.md +++ b/BuildInstructions.md @@ -10,13 +10,16 @@ cd ~/waybionic_ws ``` ## Build and Launch -- Run these commands in your workspace: +- Run these commands from the root of your workspace (`~/waybionic_ws`) to install dependencies and build the foundation: ``` source /opt/ros/jazzy/setup.bash -rosdep install --from-paths . --ignore-src -r -y -colcon build --packages-select waybionic_description waybionic_bringup +rosdep install --from-paths src --ignore-src -r -y +colcon build source install/setup.bash -ros2 launch waybionic_bringup display.launch.py +``` +- Launch ground station using: +``` +ros2 launch waybionic_bringup ground_station.launch.py ``` - **RViz** and **Joint State Publisher GUI** (separate small window) will pop up after the last command - RViz opens pre-configured with `base_link` fixed frame, `RobotModel`, and `TF` displays already loaded diff --git a/scripts/check_waybionic_ws.sh b/scripts/check_waybionic_ws.sh index da07b4b..4a2ea32 100755 --- a/scripts/check_waybionic_ws.sh +++ b/scripts/check_waybionic_ws.sh @@ -16,7 +16,7 @@ echo "2. Checking dependencies with rosdep..." rosdep install --from-paths src --ignore-src -r -y echo "3. Building Waybionic packages..." -colcon build --packages-select waybionic_description waybionic_bringup +colcon build echo "4. Sourcing workspace..." source install/setup.bash diff --git a/waybionic_bringup/CMakeLists.txt b/waybionic_bringup/CMakeLists.txt index 962f006..fba831a 100644 --- a/waybionic_bringup/CMakeLists.txt +++ b/waybionic_bringup/CMakeLists.txt @@ -13,14 +13,11 @@ find_package(ament_cmake REQUIRED) if(BUILD_TESTING) find_package(ament_lint_auto REQUIRED) - # the following line skips the linter which checks for copyrights - # comment the line when a copyright and license is added to all source files + find_package(launch_testing_ament_cmake REQUIRED) set(ament_cmake_copyright_FOUND TRUE) - # the following line skips cpplint (only works in a git repo) - # comment the line when this package is in a git repo and when - # a copyright and license is added to all source files set(ament_cmake_cpplint_FOUND TRUE) ament_lint_auto_find_test_dependencies() + add_launch_test(test/test_ground_station_launch.py) endif() install(DIRECTORY launch diff --git a/waybionic_bringup/launch/ground_station.launch.py b/waybionic_bringup/launch/ground_station.launch.py new file mode 100644 index 0000000..2183b8b --- /dev/null +++ b/waybionic_bringup/launch/ground_station.launch.py @@ -0,0 +1,112 @@ +import os + +from ament_index_python.packages import get_package_share_directory + +from launch import LaunchDescription +from launch.actions import DeclareLaunchArgument, OpaqueFunction +from launch.conditions import IfCondition +from launch.substitutions import Command, LaunchConfiguration +from launch_ros.actions import Node + + +def check_files_exist(context, *args, **kwargs): + model_path = LaunchConfiguration('model').perform(context) + rviz_path = LaunchConfiguration('rvizconfig').perform(context) + if not os.path.exists(model_path): + raise FileNotFoundError(f'Model file not found: {model_path}') + if not os.path.exists(rviz_path): + raise FileNotFoundError(f'RViz config file not found: {rviz_path}') + return [] + + +def generate_launch_description(): + waybionic_desc_dir = get_package_share_directory('waybionic_description') + waybionic_bringup_dir = get_package_share_directory('waybionic_bringup') + + default_model_path = os.path.join( + waybionic_desc_dir, 'urdf', 'waybionic_placeholder.urdf') + default_rviz_config_path = os.path.join( + waybionic_bringup_dir, 'rviz', 'waybionic_unified.rviz') + + # --- Declare Launch Arguments --- + model_arg = DeclareLaunchArgument( + 'model', default_value=default_model_path, + description='Absolute path to robot urdf') + + use_mock_diag_arg = DeclareLaunchArgument( + 'use_mock_diagnostics', default_value='true', + description='Panel mode: true for internal mock, false for live topics') + + diag_topic_arg = DeclareLaunchArgument( + 'diagnostics_topic', default_value='/diagnostics', + description='Diagnostics topic name') + + start_temp_pub_arg = DeclareLaunchArgument( + 'start_temporary_diagnostics_publisher', default_value='false', + description='Start the optional temporary publisher for live demo') + + use_jsp_gui_arg = DeclareLaunchArgument( + 'use_joint_state_publisher_gui', default_value='true', + description='Launch joint state publisher GUI') + + use_sim_time_arg = DeclareLaunchArgument( + 'use_sim_time', default_value='false', + description='Use simulation time') + + launch_rviz_arg = DeclareLaunchArgument( + 'launch_rviz', default_value='true', + description='Launch RViz (set false for headless validation)') + + rviz_config_arg = DeclareLaunchArgument( + 'rvizconfig', default_value=default_rviz_config_path, + description='Absolute path to rviz config file') + + file_check = OpaqueFunction(function=check_files_exist) + + # --- Nodes --- + robot_description_content = { + 'robot_description': Command(['xacro ', LaunchConfiguration('model')]) + } + + rsp_node = Node( + package='robot_state_publisher', executable='robot_state_publisher', + parameters=[ + robot_description_content, + {'use_sim_time': LaunchConfiguration('use_sim_time')} + ] + ) + + jsp_gui_node = Node( + package='joint_state_publisher_gui', executable='joint_state_publisher_gui', + condition=IfCondition(LaunchConfiguration('use_joint_state_publisher_gui')) + ) + + # Pass the correct arguments to the temporary publisher + temp_diag_pub_node = Node( + package='waybionic_rviz_plugins', executable='temporary_diagnostics_publisher.py', + name='temp_diag_pub', + condition=IfCondition(LaunchConfiguration('start_temporary_diagnostics_publisher')), + parameters=[ + {'mode': 'normal'}, + {'topic': LaunchConfiguration('diagnostics_topic')}, + {'publish_rate_hz': 10.0} + ] + ) + + # Pass the mock toggles into the RViz node parameters + rviz_node = Node( + package='rviz2', executable='rviz2', name='rviz2', output='screen', + arguments=['-d', LaunchConfiguration('rvizconfig')], + condition=IfCondition(LaunchConfiguration('launch_rviz')), + parameters=[ + {'use_sim_time': LaunchConfiguration('use_sim_time')}, + {'use_mock_diagnostics': LaunchConfiguration('use_mock_diagnostics')}, + {'diagnostics_topic': LaunchConfiguration('diagnostics_topic')} + ] + ) + + return LaunchDescription([ + model_arg, use_mock_diag_arg, diag_topic_arg, start_temp_pub_arg, + use_jsp_gui_arg, use_sim_time_arg, launch_rviz_arg, rviz_config_arg, + file_check, rsp_node, jsp_gui_node, temp_diag_pub_node, rviz_node + ]) diff --git a/waybionic_bringup/package.xml b/waybionic_bringup/package.xml index bb3772f..f262ccb 100644 --- a/waybionic_bringup/package.xml +++ b/waybionic_bringup/package.xml @@ -12,6 +12,7 @@ ament_index_python xacro waybionic_description + waybionic_rviz_plugins launch launch_ros robot_state_publisher @@ -20,6 +21,7 @@ ament_lint_auto ament_lint_common + launch_testing_ament_cmake ament_cmake diff --git a/waybionic_bringup/rviz/waybionic_unified.rviz b/waybionic_bringup/rviz/waybionic_unified.rviz new file mode 100644 index 0000000..135994e --- /dev/null +++ b/waybionic_bringup/rviz/waybionic_unified.rviz @@ -0,0 +1,199 @@ +Panels: + - Class: rviz_common/Displays + Help Height: 70 + Name: Displays + Property Tree Widget: + Expanded: + - /Global Options1 + - /Status1 + - /RobotModel1 + - /RobotModel1/Description Topic1 + Splitter Ratio: 0.5 + Tree Height: 70 + - 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 + - Class: rviz_common/Time + Experimental: false + Name: Time + SyncMode: 0 + SyncSource: "" + - Class: waybionic_rviz_plugins/DiagnosticsPanel + Diagnostics Topic: /diagnostics + Name: DiagnosticsPanel + Use Mock Diagnostics: true +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: + 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 + arm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + Mass Properties: + Inertia: false + Mass: false + Name: RobotModel + TF Prefix: "" + Update Interval: 0 + Value: true + Visual Enabled: true + - Class: rviz_default_plugins/TF + Enabled: true + Filter (blacklist): "" + Filter (whitelist): "" + Frame Timeout: 15 + Frames: + All Enabled: true + arm_link: + Value: true + base_link: + Value: true + Marker Scale: 1 + Name: TF + Show Arrows: true + Show Axes: true + Show Names: false + Tree: + base_link: + arm_link: + {} + Update Interval: 0 + Value: 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: 1.5597326755523682 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: 0 + Y: 0 + Z: 0 + Focal Shape Fixed Size: true + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.009999999776482582 + Pitch: 0.785398006439209 + Target Frame: + Value: Orbit (rviz) + Yaw: 0.785398006439209 + Saved: ~ +Window Geometry: + DiagnosticsPanel: + collapsed: false + Displays: + collapsed: false + Height: 2055 + Hide Left Dock: false + Hide Right Dock: false + QMainWindow State: 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+ Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: false + Width: 746 + X: 57 + Y: 4 diff --git a/waybionic_bringup/test/test_ground_station_launch.py b/waybionic_bringup/test/test_ground_station_launch.py new file mode 100644 index 0000000..cee03d3 --- /dev/null +++ b/waybionic_bringup/test/test_ground_station_launch.py @@ -0,0 +1,44 @@ +import os +import unittest + +from ament_index_python.packages import get_package_share_directory +import launch +from launch.actions import IncludeLaunchDescription +from launch.launch_description_sources import PythonLaunchDescriptionSource +import launch_testing +import launch_testing.actions +import pytest + + +@pytest.mark.launch_test +def generate_test_description(): + bringup_dir = get_package_share_directory('waybionic_bringup') + launch_file = os.path.join(bringup_dir, 'launch', 'ground_station.launch.py') + + ground_station_launch = IncludeLaunchDescription( + PythonLaunchDescriptionSource(launch_file), + launch_arguments={ + 'launch_rviz': 'false', + 'use_joint_state_publisher_gui': 'false', + 'start_temporary_diagnostics_publisher': 'true' + }.items() + ) + + return launch.LaunchDescription([ + ground_station_launch, + launch_testing.actions.ReadyToTest() + ]) + + +class TestGroundStationLaunch(unittest.TestCase): + + def test_nodes_started(self, proc_info, proc_output): + proc_info.assertWaitForStartup(process=None, timeout=5) + assert len(proc_info.processes()) > 0, 'No processes were started!' + + +@launch_testing.post_shutdown_test() +class TestProcessOutput(unittest.TestCase): + + def test_exit_codes(self, proc_info): + launch_testing.asserts.assertExitCodes(proc_info, allowable_exit_codes=[0, -2])