Merge pull request #53 from cwruRobotics/iron

Iron

.devcontainer/linux/devcontainer.json

@@ -1,6 +1,6 @@
 {
     "name" : "ROV Linux",
-    "image": "ghcr.io/cwrurobotics/rov-24:main",
+    "image": "ghcr.io/cwrurobotics/rov-24:iron",
     "containerEnv": {
         "DISPLAY": "${localEnv:DISPLAY}"
     },

.devcontainer/macos/devcontainer.json

@@ -1,6 +1,6 @@
 {
     "name" : "ROV macOS",
-    "image": "ghcr.io/cwrurobotics/rov-24:main",
+    "image": "ghcr.io/cwrurobotics/rov-24:iron",
     "containerEnv": {
         "DISPLAY": "${localEnv:DISPLAY}"
     },

.devcontainer/windows/devcontainer.json

@@ -1,6 +1,6 @@
 {
     "name" : "ROV Windows",
-    "image": "ghcr.io/cwrurobotics/rov-24:main",
+    "image": "ghcr.io/cwrurobotics/rov-24:iron",
     "containerEnv": {  
         "DISPLAY": "${localEnv:DISPLAY}"
     },

.github/workflows/docker.yml

@@ -1,10 +1,9 @@
-#
 name: Create and publish a Docker image
 
 # Configures this workflow to run every time a change is pushed to a branch in the branches array.
 on:
   push:
-    branches: ['main']
+    branches: ['iron']
 
 # Defines two custom environment variables for the workflow. These are used for the Container registry domain, and a name for the Docker image that this workflow builds.
 env:

.github/workflows/industrial_ci_action.yml

@@ -19,7 +19,7 @@ jobs:
     strategy:
       # fail-fast: false # uncomment if failing jobs should not cancel the others immediately
       matrix: # matrix is the product of entries
-        ROS_DISTRO: [humble]
+        ROS_DISTRO: [iron]
         ROS_REPO: [main]
         # exclude: # specific configuration can be excludes
         #   - {ROS_DISTRO: melodic, ROS_REPO: testing}
@@ -29,9 +29,6 @@ jobs:
       CCACHE_DIR: "${{ github.workspace }}/.ccache" # directory for ccache (and how we enable ccache in industrial_ci)
     steps:
       - uses: actions/checkout@v4 # clone target repository
-        with:
-          # Clone submodules as well
-          submodules: 'true'
       - uses: actions/cache@v4 # fetch/store the directory used by ccache before/after the ci run
         with:
           path: ${{ env.CCACHE_DIR }}
@@ -44,7 +41,14 @@ jobs:
   
       - uses: 'ros-industrial/industrial_ci@master' # run industrial_ci
         env: # either pass all entries explicitly
-          DOCKER_IMAGE: ghcr.io/cwrurobotics/rov-24:main
-          ROS_REPO: ${{ matrix.ROS_REPO }}          
+          # Added back so testing without Dockerfile can be done
+          ROS_DISTRO: ${{ matrix.ROS_DISTRO }}
+          DOCKER_IMAGE: ghcr.io/cwrurobotics/rov-24:iron    
+          ROS_REPO: ${{ matrix.ROS_REPO }}
+          # Install missing libxcb-cursor0 xvfb for PyQt unit testing
+          # https://pytest-qt.readthedocs.io/en/latest/troubleshooting.html
+          ADDITIONAL_DEBS: 'libxcb-cursor0 xvfb'
           # Crazy one liner for install python dependencies
-          AFTER_INSTALL_TARGET_DEPENDENCIES_EMBED: 'for d in /root/target_ws/src/rov-24/src/pi/*/ /root/target_ws/src/rov-24/src/surface/*/; do pip install -e "$d"; done'
+          AFTER_INSTALL_TARGET_DEPENDENCIES_EMBED: 'for d in /root/target_ws/src/rov-24/src/pi/*/ /root/target_ws/src/rov-24/src/surface/*/; do pip install -e "$d"; done'
+          # Used for running our CI but don't necessarily want to run others failing unit tests (ej. robot_upstart)
+          UPSTREAM_WORKSPACE: 'github:clearpathrobotics/robot_upstart#foxy-devel'

.gitmodules

@@ -1,3 +1,7 @@
 [submodule "src/surface/ros2_video_streamer"]
 	path = src/surface/ros2_video_streamer
 	url = [email protected]:cwruRobotics/ros2_video_streamer.git
+[submodule "src/pi/robot_upstart"]
+	path = src/pi/robot_upstart
+	url = [email protected]:clearpathrobotics/robot_upstart.git
+	branch = foxy-devel

.vscode/install_dependencies.sh

@@ -1,11 +1,11 @@
 #!/bin/bash
 
 # Update ROS dependencies
-. /opt/ros/humble/setup.sh && rosdep update
+. /opt/ros/iron/setup.sh && rosdep update
 sudo apt-get update -y
 
 # Installs ROS dependencies
-. /opt/ros/humble/setup.sh && rosdep install --from-paths src --ignore-src -r -y
+. /opt/ros/iron/setup.sh && rosdep install --from-paths src --ignore-src -r -y
 
 # Deletes ROS build directories
 rm -rf build install log

.vscode/pi_setup.sh

@@ -17,11 +17,11 @@ sudo apt-get update
 sudo apt-get upgrade -y
 
 # Install ROS2
-sudo apt-get install ros-humble-ros-base -y
+sudo apt-get install ros-iron-ros-base -y
 sudo apt-get upgrade -y
 
 # Add setup.bash to .bashrc only if it isn't already there
-ROS_LINE='source /opt/ros/humble/setup.bash'
+ROS_LINE='source /opt/ros/iron/setup.bash'
 if ! grep -qF "$ROS_LINE" ~/.bashrc ; 
     then echo "$ROS_LINE" >> ~/.bashrc ;
 fi
@@ -41,7 +41,7 @@ source ~/.bashrc
 
 # Install only Pi dependencies
 # Installs ROS dependencies
-source /opt/ros/humble/setup.sh && rosdep install --from-paths src/pi --ignore-src -r -y
+source /opt/ros/iron/setup.sh && rosdep install --from-paths src/pi --ignore-src -r -y
 
 # Crazy one liner for install python dependencies
 for d in src/pi/*/; do sudo pip install -e "$d"; done

.vscode/ros2_install.sh

@@ -13,15 +13,25 @@ sudo apt-get update
 sudo apt-get install curl -y
 sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key  -o /usr/share/keyrings/ros-archive-keyring.gpg
 echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(source /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null
+
+# Install dev tools like rosdep among others. This is ros-distro agnostic.
+# More info can be found here
+# https://discourse.ros.org/t/ros-developer-tools-now-in-binary-form/29802
+sudo apt install ros-dev-tools
+
+# Install pip
+sudo apt install python3-pip
+
+# Update any installed packages
 sudo apt-get update
 sudo apt-get upgrade -y
 
 # Install ROS2
-sudo apt-get install ros-humble-desktop -y
+sudo apt-get install ros-iron-desktop -y
 sudo apt-get upgrade -y
 
 # Add setup.bash to .bashrc only if it isn't already there
-ROS_LINE='source /opt/ros/humble/setup.bash'
+ROS_LINE='source /opt/ros/iron/setup.bash'
 if ! grep -qF "$ROS_LINE" ~/.bashrc ; 
     then echo "$ROS_LINE" >> ~/.bashrc ;
 fi
@@ -36,5 +46,6 @@ fi
 source ~/.bashrc
 
 # Start rosdep
+sudo rosdep init
 rosdep update
 source ~/.bashrc

.vscode/tasks.json

@@ -46,9 +46,9 @@
         {
             "label": "Docker Pull",
             "type": "shell",
-            "command": "sudo docker pull ghcr.io/cwrurobotics/rov-24:main",
+            "command": "sudo docker pull ghcr.io/cwrurobotics/rov-24:iron",
             "windows": {
-                "command": "docker pull ghcr.io/cwrurobotics/rov-24:main"
+                "command": "docker pull ghcr.io/cwrurobotics/rov-24:iron"
             },
             "hide": true
         },

Dockerfile

@@ -1,4 +1,4 @@
-FROM osrf/ros:humble-desktop-full
+FROM osrf/ros:iron-desktop-full
 
 RUN sudo apt-get update -y
 
@@ -32,7 +32,7 @@ RUN echo "$export PYTHONWARNINGS=ignore:::setuptools.command.install,ignore:::se
 # Installs ROS and python dependencies
 RUN . /root/rov-24/.vscode/install_dependencies.sh
 
-RUN . /opt/ros/humble/setup.sh \
+RUN . /opt/ros/iron/setup.sh \
     && PYTHONWARNINGS=ignore:::setuptools.command.install,ignore:::setuptools.command.easy_install,ignore:::pkg_resources; export PYTHONWARNINGS\
     && colcon build --symlink-install
 

README.md

@@ -51,7 +51,7 @@ To reopen after a build Go to File > Open Recent /stuff/rov-24 \[Dev Container]
 
 #### Bare Metal
 
-To run the install script use `F1` or `ctrl+shift+p` to open the command bar and use `Tasks: Runs Task`. Then from the Task selection choose `First Time Setup`. This will install ROS and all our dependencies.
+To run the install script use `F1` or `ctrl+shift+p` to open the command bar and use `Tasks: Runs Task`. Then from the Task selection choose `Setup Surface Environment`. This will install ROS and all our dependencies.
 
 ### Windows
 
@@ -89,7 +89,7 @@ After WSL has been installed follow [this](https://code.visualstudio.com/docs/re
 
 Then run the install script.
 
-To run the install script use `F1` or `ctrl+shift+p` to open the command bar and use `Tasks: Runs Task`. Then from the Task selection choose `First Time Setup`. This will install ROS and all our dependencies.
+To run the install script use `F1` or `ctrl+shift+p` to open the command bar and use `Tasks: Runs Task`. Then from the Task selection choose `Setup Surface Environment`. This will install ROS and all our dependencies.
 
 ### macOS
 
@@ -106,6 +106,10 @@ To reopen after a build Go to File > Open Recent /stuff/rov-24 \[Dev Container]
 <!-- Xserver testing on mac TODO ssh keys work -->
 <!-- https://gist.github.com/cschiewek/246a244ba23da8b9f0e7b11a68bf3285 -->
 
+## Upgrading Environment
+
+If you are upgrading to a newer ROS version make sure to remove `source /opt/ros/$PREVIOUS_ROS_DISTRO/setup.bash`. If you are using Docker you can simply build the new container and delete the old one.
+
 ## Test environment
 
 After running the script open a terminal and run

src/pi/camera_streamer/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>camera_streamer</name>
-  <version>1.0.0</version>
+  <version>1.1.0</version>
   <description>Capture video from usb and pi cameras and send it as MJPEG streams on ROS topics</description>
   <maintainer email="[email protected]">Noah Mollerstuen</maintainer>
   <license>Apches License 2.0</license>

src/pi/camera_streamer/setup.py

@@ -8,7 +8,7 @@
 
 setup(
     name=PACKAGE_NAME,
-    version='1.0.0',
+    version='1.1.0',
     packages=[PACKAGE_NAME],
     data_files=[
         ('share/ament_index/resource_index/packages',
@@ -18,7 +18,7 @@
         (os.path.join('share', PACKAGE_NAME, 'launch'),
          glob('launch/*launch.[pxy][yma]*'))
     ],
-    install_requires=['setuptools', 'flake8==5.0.4', 'mypy >= 1.7'],
+    install_requires=['setuptools', 'flake8==4.0.1', 'mypy >= 1.7'],
     zip_safe=True,
     maintainer='Noah Mollerstuen',
     maintainer_email='[email protected]',

src/pi/manipulators/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>manipulators</name>
-  <version>1.0.0</version>
+  <version>1.1.0</version>
   <description>Code for manipulators.</description>
   <maintainer email="[email protected]">Georgia Martinez</maintainer>
   <maintainer email="[email protected]">Michael Carlstrom</maintainer>

src/pi/manipulators/setup.py

@@ -8,7 +8,7 @@
 
 setup(
     name=PACKAGE_NAME,
-    version='1.0.0',
+    version='1.1.0',
     packages=[PACKAGE_NAME],
     data_files=[
         ('share/ament_index/resource_index/packages',
@@ -18,7 +18,7 @@
         (os.path.join('share', PACKAGE_NAME, 'launch'),
          glob('launch/*launch.[pxy][yma]*'))
     ],
-    install_requires=['setuptools', 'flake8==5.0.4', 'mypy >= 1.7'],
+    install_requires=['setuptools', 'flake8==4.0.1', 'mypy >= 1.7'],
     zip_safe=True,
     maintainer='Georgia Martinez, Michael Carlstrom',
     maintainer_email='[email protected], [email protected]',

src/pi/pi_main/package.xml

@@ -2,17 +2,18 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>pi_main</name>
-  <version>1.0.0</version>
+  <version>1.1.0</version>
   <description>MATE ROV Pi Main</description>
   <maintainer email="[email protected]">Benjamin Poulin</maintainer>
   <license>Apache License 2.0</license>
 
+  <build_depend>robot_upstart</build_depend>
+
   <test_depend>ament_flake8</test_depend>
   <test_depend>ament_pep257</test_depend>
   <test_depend>python3-pytest</test_depend>
 
   <exec_depend>ros2launch</exec_depend>
-  <build_depend>robot_upstart</build_depend>
 
   <export>
     <build_type>ament_python</build_type>

src/pi/pi_main/setup.py

@@ -9,7 +9,7 @@
 
 setup(
     name=PACKAGE_NAME,
-    version='1.0.0',
+    version='1.1.0',
     packages=[PACKAGE_NAME],
     data_files=[
         ('share/ament_index/resource_index/packages',
@@ -21,7 +21,7 @@
         (os.path.join('share', PACKAGE_NAME, 'udev_rules'),
          glob('udev_rules/*'))
     ],
-    install_requires=['setuptools', 'flake8==5.0.4', 'mypy >= 1.7'],
+    install_requires=['setuptools', 'flake8==4.0.1', 'mypy >= 1.7'],
     zip_safe=True,
     maintainer='Michael Carlstrom',
     maintainer_email='[email protected]',

src/pi/pixhawk_communication/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>pixhawk_communication</name>
-  <version>1.0.0</version>
+  <version>1.1.0</version>
   <description>Manages Pixhawk</description>
   <maintainer email="[email protected]">Michael Carlstrom</maintainer>
   <license>Apache License 2.0</license>

src/pi/pixhawk_communication/setup.py

@@ -8,7 +8,7 @@
 
 setup(
     name=PACKAGE_NAME,
-    version='1.0.0',
+    version='1.1.0',
     packages=[PACKAGE_NAME],
     data_files=[
         ('share/ament_index/resource_index/packages',
@@ -18,7 +18,7 @@
         (os.path.join('share', PACKAGE_NAME, 'launch'),
          glob('launch/*launch.[pxy][yma]*'))
     ],
-    install_requires=['setuptools', 'flake8==5.0.4', 'mypy >= 1.7'],
+    install_requires=['setuptools', 'flake8==4.0.1', 'mypy >= 1.7'],
     zip_safe=True,
     maintainer='Michael Carlstrom',
     maintainer_email='[email protected]',

src/pi/realsense/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>realsense</name>
-  <version>1.0.0</version>
+  <version>1.1.0</version>
   <description>MATE ROV Pi Realsense</description>
   <maintainer email="[email protected]">Michael Carlstrom</maintainer>
   <license>Apache License 2.0</license>

src/pi/realsense/setup.py

@@ -9,7 +9,7 @@
 
 setup(
     name=PACKAGE_NAME,
-    version='1.0.0',
+    version='1.1.0',
     packages=[PACKAGE_NAME],
     data_files=[
         ('share/ament_index/resource_index/packages',
@@ -19,7 +19,7 @@
         (os.path.join('share', PACKAGE_NAME, 'launch'),
          glob('launch/*launch.[pxy][yma]*'))
     ],
-    install_requires=['setuptools', 'flake8==5.0.4', 'mypy >= 1.7'],
+    install_requires=['setuptools', 'flake8==4.0.1', 'mypy >= 1.7'],
     zip_safe=True,
     maintainer='Michael Carlstrom',
     maintainer_email='[email protected]',

src/rov_msgs/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>rov_msgs</name>
-  <version>1.0.1</version>
+  <version>1.1.0</version>
   <description>MATE ROV Custom ROS messages</description>
   <maintainer email="[email protected]">Benjamin Poulin</maintainer>
   <maintainer email="[email protected]">Eric Yarnot</maintainer>

src/surface/flight_control/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>flight_control</name>
-  <version>1.0.0</version>
+  <version>1.1.0</version>
   <description>Mate ROV sub movement controllers</description>
   <maintainer email="[email protected]">Benjamin</maintainer>
   <license>Apache License 2.0</license>

src/surface/flight_control/setup.py

@@ -7,7 +7,7 @@
 
 setup(
     name=package_name,
-    version='1.0.0',
+    version='1.1.0',
     packages=[package_name],
     data_files=[
         ('share/ament_index/resource_index/packages',
@@ -17,7 +17,7 @@
         (os.path.join('share', package_name, 'launch'),
          glob('launch/*launch.[pxy][yma]*'))
     ],
-    install_requires=['setuptools', 'flake8==5.0.4', 'mypy>=1.7', 'pynput'],
+    install_requires=['setuptools', 'flake8==4.0.1', 'mypy>=1.7', 'pynput'],
     zip_safe=True,
     maintainer='benjamin',
     maintainer_email='[email protected]',