Clean up

husarion · Dec 2, 2024 · 8c0dd94 · 8c0dd94
1 parent 9c3307c
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diff --git a/README.md b/README.md
@@ -28,88 +28,85 @@ ROS2 hardware controllers configuration for ROSbots.
 
 Available in [ROS_API.md](./ROS_API.md)
 
-## Usage on hardware
-
-To run the software on real ROSbot 2R, 2 PRO, also communication with the CORE2 will be necessary.
-First update your firmware to make sure that you use the latest version, then run the `micro-ROS` agent.
-For detailed instructions refer to the [rosbot_ros2_firmware repository](https://github.com/husarion/rosbot_ros2_firmware).
-
-## Source build
+## Quick start
 
 ### Prerequisites
 
-Install all necessary tools:
+1. Install all necessary tools:
 
-```bash
-sudo apt-get update
-sudo apt-get install -y python3-pip ros-dev-tools stm32flash
-```
+    ```bash
+    sudo apt-get update
+    sudo apt-get install -y python3-pip ros-dev-tools stm32flash
+    ```
 
-Create workspace folder and clone `rosbot_ros` repository:
+2. Create workspace folder and clone `rosbot_ros` repository:
 
-```bash
-mkdir -p ros2_ws
-cd ros2_ws
-git clone https://github.com/husarion/rosbot_ros src/rosbot_ros
-```
+    ```bash
+    mkdir -p ros2_ws
+    cd ros2_ws
+    git clone https://github.com/husarion/rosbot_ros src/rosbot_ros
+    ```
 
-### Build and run on hardware
+### Build
 
-Building:
+1. Configure environment
 
-```bash
-export HUSARION_ROS_BUILD_TYPE=hardware
+    The repository is used to run the code both on the real robot and in the simulation. Specify `HUSARION_ROS_BUILD_TYPE` the variable according to your needs.
 
-source /opt/ros/$ROS_DISTRO/setup.bash
+    Real robot:
 
-vcs import src < src/rosbot_ros/rosbot/rosbot_hardware.repos
+    ``` bash
+    export HUSARION_ROS_BUILD_TYPE=hardware
+    ```
 
-rm -r src/rosbot_ros/rosbot_gazebo
+    Simulation:
 
-sudo rosdep init
-rosdep update --rosdistro $ROS_DISTRO
-rosdep install -i --from-path src --rosdistro $ROS_DISTRO -y
-colcon build --symlink-install --packages-up-to rosbot --cmake-args -DCMAKE_BUILD_TYPE=Release
-```
+    ```bash
+    export HUSARION_ROS_BUILD_TYPE=simulation
+    ```
 
-Flash firmware:
+2. Install dependencies:
 
-```bash
-sudo su
-source install/setup.bash
-ros2 run rosbot_utils flash_firmware
-exit
-```
+    ``` bash
+    ./src/rosbot_ros/rosbot/install_dependencies.sh
+    ```
 
-Running:
+3. Build:
 
-```bash
-source install/setup.bash
-ros2 launch rosbot_bringup combined.launch.py
-```
+    ```bash
+    source /opt/ros/$ROS_DISTRO/setup.bash
+    colcon build --symlink-install --packages-up-to rosbot --cmake-args -DCMAKE_BUILD_TYPE=Release
+    ```
 
-### Build and run Gazebo simulation
+>[!NOTE]
+> To build code on a real robot you need to run above commands on the Panther Built-in Computer.
 
-Building:
+### Running
 
-```bash
-export HUSARION_ROS_BUILD_TYPE=simulation
+#### Real robot
 
-source /opt/ros/$ROS_DISTRO/setup.bash
+1. Flash firmware:
 
-vcs import src < src/rosbot_ros/rosbot/rosbot_hardware.repos
-vcs import src < src/rosbot_ros/rosbot/rosbot_simulation.repos
+    ```bash
+    sudo su
+    source install/setup.bash
+    ros2 run rosbot_utils flash_firmware
+    exit
+    ```
 
-# Build only imu_sensor_broadcaster from ros2_controllers
-cp -r src/ros2_controllers/imu_sensor_broadcaster src && rm -rf src/ros2_controllers
+> ![NOTE]
+> To run the software on real ROSbot 2R, 2 PRO, communication with the CORE2 will be necessary.
+> First update your firmware to make sure that you use the latest version, then run the `micro-ROS` agent.
+> For detailed instructions refer to the [rosbot_ros2_firmware repository](https://github.com/husarion/rosbot_ros2_firmware).
 
-sudo rosdep init
-rosdep update --rosdistro $ROS_DISTRO
-rosdep install -i --from-path src --rosdistro $ROS_DISTRO -y
-colcon build --symlink-install --packages-up-to rosbot --cmake-args -DCMAKE_BUILD_TYPE=Release
-```
+2. Launch:
+
+    ```bash
+    source install/setup.bash
+    ros2 launch rosbot_bringup combined.launch.py
+    ```
 
-Running:
+#### Simulation
 
 ```bash
 source install/setup.bash

diff --git a/docker/Dockerfile.hardware → docker/Dockerfile b/docker/Dockerfile.hardware → docker/Dockerfile
@@ -1,10 +1,13 @@
 ARG ROS_DISTRO=humble
+ARG BUILD_TYPE=hardware
 
 FROM husarnet/ros:${ROS_DISTRO}-ros-core
 
+ARG BUILD_TYPE
+
 WORKDIR /ros2_ws
 
-ENV HUSARION_ROS_BUILD_TYPE=hardware
+ENV HUSARION_ROS_BUILD_TYPE=$BUILD_TYPE
 
 COPY .. src/rosbot_ros
 
@@ -14,13 +17,7 @@ RUN apt-get update && apt-get install -y \
         stm32flash \
         ros-${ROS_DISTRO}-teleop-twist-keyboard && \
     # Setup workspace
-    vcs import src < src/rosbot_ros/rosbot/rosbot_hardware.repos && \
-    rm -r src/rosbot_ros/rosbot_gazebo && \
-    # Install dependencies
-    rosdep init && \
-    rosdep update --rosdistro $ROS_DISTRO && \
-    rosdep install --from-paths src -y -i && \
-    # Build
+    ./src/rosbot_ros/rosbot/install_dependencies.sh && \
     source /opt/ros/$ROS_DISTRO/setup.bash && \
     colcon build --symlink-install --packages-up-to rosbot --cmake-args -DCMAKE_BUILD_TYPE=Release && \
     # Get version

diff --git a/docker/Dockerfile.simulation b/docker/Dockerfile.simulation
diff --git a/docker/compose.hardware.yaml b/docker/compose.hardware.yaml
@@ -8,7 +8,9 @@ services:
   rosbot:
     build:
       context: ..
-      dockerfile: docker/Dockerfile.hardware
+      dockerfile: docker/Dockerfile
+      args:
+        BUILD_TYPE: hardware
     network_mode: host
     ipc: host
     restart: unless-stopped

diff --git a/docker/compose.simulation.yaml b/docker/compose.simulation.yaml
@@ -22,7 +22,9 @@ services:
   rosbot:
     build:
       context: ..
-      dockerfile: docker/Dockerfile.simulation
+      dockerfile: docker/Dockerfile
+      args:
+        BUILD_TYPE: simulation
     network_mode: host
     ipc: host
     <<: [ *gpu-config]

diff --git a/rosbot/install_dependencies.sh b/rosbot/install_dependencies.sh
@@ -0,0 +1,34 @@
+#!/bin/bash
+
+# Check if env HUSARION_ROS_BUILD_TYPE is set
+if [ -z "$HUSARION_ROS_BUILD_TYPE" ]; then
+  echo "HUSARION_ROS_BUILD_TYPE is not set. Please set it to 'hardware' or 'simulation'"
+  exit 1
+fi
+
+# Define a function to run commands with or without sudo
+run_with_sudo() {
+  if [ "$(id -u)" -ne 0 ]; then
+    sudo "$@"
+  else
+    "$@"
+  fi
+}
+
+# Install tools
+run_with_sudo apt-get update
+run_with_sudo apt-get install -y python3-pip ros-dev-tools stm32flash
+
+# Import repositories
+vcs import src < src/rosbot_ros/rosbot/rosbot_$HUSARION_ROS_BUILD_TYPE.repos
+if [ "$HUSARION_ROS_BUILD_TYPE" == "simulation" ]; then
+    cp -r src/ros2_controllers/imu_sensor_broadcaster src
+    rm -rf src/ros2_controllers
+fi
+
+# Install dependencies
+if ! [ -d /etc/ros/rosdep ]; then
+  run_with_sudo rosdep init
+fi
+rosdep update --rosdistro $ROS_DISTRO
+rosdep install --from-paths src -y -i
diff --git a/rosbot/rosbot_hardware.repos b/rosbot/rosbot_hardware.repos
@@ -1,12 +1,4 @@
 repositories:
-  rosbot_hardware_interfaces:
-    type: git
-    url: https://github.com/husarion/rosbot_hardware_interfaces.git
-    version: da1805839aaa21b8341a9c39498c96d9a1a4f87d
-  ros_components_description:
-    type: git
-    url: https://github.com/husarion/ros_components_description.git
-    version: 1cb25600afa5941d21d48c0af8e63ad2eb3afaa0
   husarion_controllers:
     type: git
     url: https://github.com/husarion/husarion_controllers
@@ -19,3 +11,11 @@ repositories:
     type: git
     url: https://github.com/micro-ROS/micro-ROS-Agent.git
     version: 30377bbd86ff7ea93ca69a3b37997fd235385e1f
+  ros_components_description:
+    type: git
+    url: https://github.com/husarion/ros_components_description.git
+    version: 1cb25600afa5941d21d48c0af8e63ad2eb3afaa0
+  rosbot_hardware_interfaces:
+    type: git
+    url: https://github.com/husarion/rosbot_hardware_interfaces.git
+    version: da1805839aaa21b8341a9c39498c96d9a1a4f87d
diff --git a/rosbot/rosbot_simulation.repos b/rosbot/rosbot_simulation.repos
@@ -1,8 +1,16 @@
 repositories:
+  husarion_controllers:
+    type: git
+    url: https://github.com/husarion/husarion_controllers
+    version: 217b09830f5f42930098b9992eda41710702b625
   husarion_gz_worlds:
     type: git
     url: https://github.com/husarion/husarion_gz_worlds
     version: c0ff83a476f6e0bc250c763a806bf1769a00f515
+  ros_components_description:
+    type: git
+    url: https://github.com/husarion/ros_components_description.git
+    version: 1cb25600afa5941d21d48c0af8e63ad2eb3afaa0
   ros2_controllers: # Bug: There is no nice way to change `sensor_name` imu_bradcaster param when spawning multiple robots -> ros2_control refer only to single imu entity
     type: git
     url: https://github.com/husarion/ros2_controllers/