Clean up

.github/workflows/tests.yaml

@@ -26,11 +26,11 @@ jobs:
 
       - name: Setup ROS2 Workspace and Clone Repositories
         run: |
-          mkdir -p src
-          find . -maxdepth 1 -not -name src -not -name . -exec mv {} src/ \;
+          mkdir -p src/rosbot_ros
+          find . -maxdepth 1 -not -name src -not -name . -exec mv {} src/rosbot_ros \;
           python3 -m pip install -U vcstool
-          vcs import src < src/rosbot/rosbot_hardware.repos
-          vcs import src < src/rosbot/rosbot_simulation.repos
+          vcs import src < src/rosbot_ros/rosbot/rosbot_hardware.repos
+          vcs import src < src/rosbot_ros/rosbot/rosbot_simulation.repos
           cp -r src/ros2_controllers/imu_sensor_broadcaster src/
           rm -rf src/ros2_controllers
 

rosbot_controller/launch/controller.launch.py

@@ -105,7 +105,7 @@ def generate_launch_description():
             ("imu_sensor_node/imu", "/_imu/data_raw"),
             ("~/motors_cmd", "/_motors_cmd"),
             ("~/motors_response", "/_motors_response"),
-            ("rosbot_base_controller/cmd_vel", "cmd_vel"),
+            ("rosbot_base_controller/cmd_vel_unstamped", "cmd_vel"),
             ("/tf", "tf"),
             ("/tf_static", "tf_static"),
         ],
@@ -173,7 +173,7 @@ def generate_launch_description():
     def check_if_log_is_fatal(event):
         red_color = "\033[91m"
         reset_color = "\033[0m"
-        if "fatal" in event.text.decode().lower():
+        if "fatal" in event.text.decode().lower() or "failed" in event.text.decode().lower():
             print(f"{red_color}Fatal error: {event.text}. Emitting shutdown...{reset_color}")
             return EmitEvent(event=Shutdown(reason="Spawner failed"))
 

rosbot_controller/package.xml

@@ -30,19 +30,9 @@
   <exec_depend>rosbot_hardware_interfaces</exec_depend>
   <exec_depend>xacro</exec_depend>
 
-  <test_depend>controller_manager</test_depend>
-  <test_depend>diff_drive_controller</test_depend>
-  <test_depend>imu_sensor_broadcaster</test_depend>
-  <test_depend>joint_state_broadcaster</test_depend>
-  <test_depend>launch</test_depend>
-  <test_depend>launch_pytest</test_depend>
-  <test_depend>launch_ros</test_depend>
-  <test_depend>mecanum_drive_controller</test_depend>
-  <test_depend>nav_msgs</test_depend>
   <test_depend>python3-pytest</test_depend>
   <test_depend>ros_components_description</test_depend>
   <test_depend>rosbot_description</test_depend>
-  <test_depend>sensor_msgs</test_depend>
   <test_depend>xacro</test_depend>
 
   <export>