Feature/unified ground station bringup

.gitignore

@@ -75,4 +75,5 @@ bld/
 
 # NUNIT
 *.VisualState.xml
-TestResult.xml
+TestResult.xml__pycache__/
+*.pyc

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

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

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

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
+    ])

waybionic_bringup/package.xml

@@ -12,6 +12,7 @@
   <exec_depend>ament_index_python</exec_depend>
   <exec_depend>xacro</exec_depend>
   <exec_depend>waybionic_description</exec_depend>
+  <exec_depend>waybionic_rviz_plugins</exec_depend>
   <exec_depend>launch</exec_depend>
   <exec_depend>launch_ros</exec_depend>
   <exec_depend>robot_state_publisher</exec_depend>
@@ -20,6 +21,7 @@
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>
+  <test_depend>launch_testing_ament_cmake</test_depend>
 
   <export>
     <build_type>ament_cmake</build_type>

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: <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
+        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: <Fixed 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: 000000ff00000000fd0000000400000000000001a400000774fc020000000bfb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003b000000c7000000c700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb000000200044006900610067006e006f0073007400690063007300500061006e0065006c0100000108000002330000023400fffffffb000000200044006900610067006e006f0073007400690063007300500061006e0065006c0100000341000002340000023400fffffffb000000200044006900610067006e006f0073007400690063007300500061006e0065006c010000057b000002340000023400ffffff000000010000010f00000774fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003b00000774000000a000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000002ea00000037fc0100000002fb0000000800540069006d00650100000000000002ea0000025300fffffffb0000000800540069006d006501000000000000045000000000000000000000002b0000077500000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Time:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: false
+  Width: 746
+  X: 57
+  Y: 4