Merge remote-tracking branch 'origin/humble' into code-extentions-rec…

…ommendation
husarion · Oct 17, 2023 · f2cb857 · f2cb857
2 parents a704d14 + c92fb13
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diff --git a/README.md b/README.md
@@ -106,6 +106,27 @@ source install/setup.bash
 ros2 launch rosbot_gazebo simulation.launch.py
 ```
 
+## Testing package
+
+### Industrial CI
+```
+colcon test
+```
+
+> [!NOTE]  
+> Command `colcon test` does not build the code. Remember to build your code after changes.
+
+If tests finish with errors print logs:
+```
+colcon test-result --verbose
+```
+
+### Format python code with [Black](https://github.com/psf/black)
+```
+cd src/
+black rosbot*
+```
+
 ## Demo
 Bellow you can find demos with ROSbots:
 - in [rosbot-docker](https://github.com/husarion/rosbot-docker/tree/ros2) you will find a simple example how to drive ROSbot with `teleop_twist_keyboard`.

diff --git a/rosbot/CHANGELOG.rst b/rosbot/CHANGELOG.rst
@@ -2,6 +2,15 @@
 Changelog for package rosbot
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.9.0 (2023-10-16)
+------------------
+
+0.8.5 (2023-10-11)
+------------------
+* Merge remote-tracking branch 'origin/test-gazebo' into test-gazebo
+* Merge branch 'humble' into test-gazebo
+* Contributors: Jakub Delicat, rafal-gorecki
+
 0.8.4 (2023-09-21)
 ------------------
 * Merge branch 'humble' into test-ekf

diff --git a/rosbot/package.xml b/rosbot/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>rosbot</name>
-  <version>0.8.4</version>
+  <version>0.9.0</version>
 
   <description>Meta package that contains all packages of Rosbot 2 2R PRO</description>
   <license>Apache License 2.0</license>

diff --git a/rosbot_bringup/CHANGELOG.rst b/rosbot_bringup/CHANGELOG.rst
@@ -2,6 +2,17 @@
 Changelog for package rosbot_bringup
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.9.0 (2023-10-16)
+------------------
+
+0.8.5 (2023-10-11)
+------------------
+* Merge pull request `#70 <https://github.com/husarion/rosbot_ros/issues/70>`_ from husarion/test-gazebo
+  Test gazebo
+* Merge remote-tracking branch 'origin/test-gazebo' into test-gazebo
+* Merge branch 'humble' into test-gazebo
+* Contributors: Jakub Delicat, rafal-gorecki
+
 0.8.4 (2023-09-21)
 ------------------
 * Merge pull request `#69 <https://github.com/husarion/rosbot_ros/issues/69>`_ from husarion/test-ekf

diff --git a/rosbot_bringup/config/ekf.yaml b/rosbot_bringup/config/ekf.yaml
@@ -36,7 +36,7 @@ ekf_filter_node:
         imu0_differential: false
         imu0_relative: true
         imu0_remove_gravitational_acceleration: true
-        
+
         # [ADVANCED] The process noise covariance matrix can be difficult to tune, and can vary for each application, so it is
         # exposed as a configuration parameter. This matrix represents the noise we add to the total error after each
         # prediction step. The better the omnidirectional motion model matches your system, the smaller these values can be.
@@ -73,7 +73,7 @@ ekf_filter_node:
                                       0.0,    0.0,    1e-9, 0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,     0.0,     0.0,     0.0,    0.0,    0.0,
                                       0.0,    0.0,    0.0,    1e-9, 0.0,    0.0,    0.0,    0.0,    0.0,    0.0,     0.0,     0.0,     0.0,    0.0,    0.0,
                                       0.0,    0.0,    0.0,    0.0,    1e-9, 0.0,    0.0,    0.0,    0.0,    0.0,     0.0,     0.0,     0.0,    0.0,    0.0,
-                                      0.0,    0.0,    0.0,    0.0,    0.0,    1e-9, 0.0,    0.0,    0.0,    0.0,     0.0,     0.0,     0.0,    0.0,    0.0,
+                                      0.0,    0.0,    0.0,    0.0,    0.0,    1e-8, 0.0,    0.0,    0.0,    0.0,     0.0,     0.0,     0.0,    0.0,    0.0,
                                       0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    1e-9, 0.0,    0.0,    0.0,     0.0,     0.0,     0.0,    0.0,    0.0,
                                       0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    1e-9, 0.0,    0.0,     0.0,     0.0,     0.0,    0.0,    0.0,
                                       0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    1e-9, 0.0,     0.0,     0.0,     0.0,    0.0,    0.0,

diff --git a/rosbot_bringup/package.xml b/rosbot_bringup/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>rosbot_bringup</name>
-  <version>0.8.4</version>
+  <version>0.9.0</version>
   <description>ROSbot 2, 2R, PRO bringup package</description>
   <license>Apache License 2.0</license>
 

diff --git a/rosbot_bringup/test/bringup_test_node.py b/rosbot_bringup/test/bringup_test_node.py
@@ -21,7 +21,9 @@
 from rclpy.node import Node
 
 from sensor_msgs.msg import JointState, Imu
-from nav_msgs.msg import Odometry
+from tf2_ros import TransformException
+from tf2_ros.buffer import Buffer
+from tf2_ros.transform_listener import TransformListener
 
 
 class BringupTestNode(Node):
@@ -31,7 +33,7 @@ class BringupTestNode(Node):
 
     def __init__(self, name="test_node"):
         super().__init__(name)
-        self.odom_msg_event = Event()
+        self.odom_tf_event = Event()
 
     def create_test_subscribers_and_publishers(self):
         self.imu_publisher = self.create_publisher(Imu, "_imu/data_raw", 10)
@@ -40,26 +42,34 @@ def create_test_subscribers_and_publishers(self):
             JointState, "_motors_response", 10
         )
 
-        self.odom_sub = self.create_subscription(
-            Odometry, "/odometry/filtered", self.odometry_callback, 10
-        )
+        self.tf_buffer = Buffer()
+        self.tf_listener = TransformListener(self.tf_buffer, self)
+
         self.timer = None
 
+    def lookup_transform_odom(self):
+        try:
+            self.tf_buffer.lookup_transform("odom", "base_link", rclpy.time.Time())
+            self.odom_tf_event.set()
+        except TransformException as ex:
+            self.get_logger().error(f"Could not transform odom to base_link: {ex}")
+
     def start_node_thread(self):
         self.ros_spin_thread = Thread(
             target=lambda node: rclpy.spin(node), args=(self,)
         )
         self.ros_spin_thread.start()
 
-    def odometry_callback(self, data):
-        self.odom_msg_event.set()
-
     def start_publishing_fake_hardware(self):
         self.timer = self.create_timer(
             1.0 / self.ROSBOT_HARDWARE_PUBLISHERS_RATE,
-            self.publish_fake_hardware_messages,
+            self.timer_callback,
         )
 
+    def timer_callback(self):
+        self.publish_fake_hardware_messages()
+        self.lookup_transform_odom()
+
     def publish_fake_hardware_messages(self):
         imu_msg = Imu()
         imu_msg.header.stamp = self.get_clock().now().to_msg()

diff --git a/rosbot_bringup/test/test_diff_drive_ekf.py b/rosbot_bringup/test/test_diff_drive_ekf.py
@@ -58,10 +58,10 @@ def test_bringup_startup_success():
         node.start_publishing_fake_hardware()
 
         node.start_node_thread()
-        msgs_received_flag = node.odom_msg_event.wait(timeout=10.0)
+        msgs_received_flag = node.odom_tf_event.wait(timeout=10.0)
         assert (
             msgs_received_flag
-        ), "Expected Odom message but it was not received. Check robot_localization!"
+        ), "Expected odom to base_link tf but it was not received. Check robot_localization!"
 
     finally:
         rclpy.shutdown()
diff --git a/rosbot_bringup/test/test_mecanum_ekf.py b/rosbot_bringup/test/test_mecanum_ekf.py
@@ -58,9 +58,10 @@ def test_bringup_startup_success():
         node.start_publishing_fake_hardware()
 
         node.start_node_thread()
-        msgs_received_flag = node.odom_msg_event.wait(timeout=10.0)
+        msgs_received_flag = node.odom_tf_event.wait(timeout=10.0)
         assert (
             msgs_received_flag
-        ), "Expected Odom message but it was not received. Check robot_localization!"
+        ), "Expected odom to base_link tf but it was not received. Check robot_localization!"
+
     finally:
         rclpy.shutdown()
diff --git a/rosbot_controller/CHANGELOG.rst b/rosbot_controller/CHANGELOG.rst
@@ -2,6 +2,15 @@
 Changelog for package rosbot_controller
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.9.0 (2023-10-16)
+------------------
+
+0.8.5 (2023-10-11)
+------------------
+* Merge remote-tracking branch 'origin/test-gazebo' into test-gazebo
+* Merge branch 'humble' into test-gazebo
+* Contributors: Jakub Delicat, rafal-gorecki
+
 0.8.4 (2023-09-21)
 ------------------
 * Merge pull request `#69 <https://github.com/husarion/rosbot_ros/issues/69>`_ from husarion/test-ekf

diff --git a/rosbot_controller/package.xml b/rosbot_controller/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>rosbot_controller</name>
-  <version>0.8.4</version>
+  <version>0.9.0</version>
 
   <description>Hardware configuration for ROSbot 2, 2R, PRO</description>
   <license>Apache License 2.0</license>

diff --git a/rosbot_description/CHANGELOG.rst b/rosbot_description/CHANGELOG.rst
@@ -2,6 +2,17 @@
 Changelog for package rosbot_description
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.9.0 (2023-10-16)
+------------------
+
+0.8.5 (2023-10-11)
+------------------
+* Merge pull request `#70 <https://github.com/husarion/rosbot_ros/issues/70>`_ from husarion/test-gazebo
+  Test gazebo
+* Merge remote-tracking branch 'origin/test-gazebo' into test-gazebo
+* Merge branch 'humble' into test-gazebo
+* Contributors: Jakub Delicat, rafal-gorecki
+
 0.8.4 (2023-09-21)
 ------------------
 * Merge branch 'humble' into test-ekf

diff --git a/rosbot_description/package.xml b/rosbot_description/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>rosbot_description</name>
-  <version>0.8.4</version>
+  <version>0.9.0</version>
 
   <description>ROSbot 2, 2R, PRO description package</description>
   <license>Apache License 2.0</license>

diff --git a/rosbot_description/urdf/wheel.urdf.xacro b/rosbot_description/urdf/wheel.urdf.xacro
@@ -63,7 +63,7 @@
       <child link="${prefix}_wheel_link" />
       <origin xyz="${x} ${y} 0.0" rpy="0.0 0.0 0.0" />
       <axis xyz="0.0 1.0 0.0" />
-      <limit effort="1.5" velocity="5.0" />
+      <limit effort="1.5" velocity="24.0" />
       <dynamics damping="0.001" friction="0.001" />
     </joint>
 

diff --git a/rosbot_gazebo/CHANGELOG.rst b/rosbot_gazebo/CHANGELOG.rst
@@ -2,6 +2,19 @@
 Changelog for package rosbot_gazebo
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.9.0 (2023-10-16)
+------------------
+
+0.8.5 (2023-10-11)
+------------------
+* Merge pull request `#70 <https://github.com/husarion/rosbot_ros/issues/70>`_ from husarion/test-gazebo
+  Test gazebo
+* Merge pull request `#74 <https://github.com/husarion/rosbot_ros/issues/74>`_ from husarion/rafal-suggestions
+  rafal-sugestions
+* Merge remote-tracking branch 'origin/test-gazebo' into test-gazebo
+* Merge branch 'humble' into test-gazebo
+* Contributors: Jakub Delicat, rafal-gorecki
+
 0.8.4 (2023-09-21)
 ------------------
 * Merge branch 'humble' into test-ekf

diff --git a/rosbot_gazebo/package.xml b/rosbot_gazebo/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>rosbot_gazebo</name>
-  <version>0.8.4</version>
+  <version>0.9.0</version>
 
   <description>Gazebo Ignition simulation for ROSbot 2, 2R, PRO</description>
   <license>Apache License 2.0</license>