Merge pull request #79 from lge-ros2/backport/jazzy_to_humble

Backport/jazzy to humble
lge-ros2 · Jul 22, 2024 · 797e658 · 797e658
2 parents e92084c + 3d72adc
commit 797e658
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diff --git a/.gitmodules b/.gitmodules
@@ -0,0 +1,4 @@
+[submodule "cloi_common_interfaces"]
+	path = cloi_common_interfaces
+	url = https://github.com/lge-ros2/cloi_common_interfaces.git
+	branch = 4.0.0
diff --git a/Dockerfile b/Dockerfile
@@ -1,16 +1,20 @@
 FROM ros:humble-ros-base
 
 ENV HOSTNAME cloisim_ros
+ENV RMW_IMPLEMENTATION rmw_cyclonedds_cpp
+ENV DEBIAN_FRONTEND noninteractive
+ENV DEBCONF_NOWARNINGS yes
 
 WORKDIR /opt/lge-ros2/src
 
-RUN git clone https://github.com/lge-ros2/cloisim_ros.git -b ${ROS_DISTRO}
-RUN git clone https://github.com/lge-ros2/cloi_common_interfaces.git -b ${ROS_DISTRO}
+RUN git clone --recursive https://github.com/lge-ros2/cloisim_ros.git -b ${ROS_DISTRO}
 
 WORKDIR /opt/lge-ros2
 
-RUN apt update && apt upgrade -y && rosdep update && \
-rosdep install -y -r -q --from-paths src --ignore-src --rosdistro $ROS_DISTRO
+RUN apt update && apt upgrade -y && \
+    apt install -y -q ros-${ROS_DISTRO}-rmw-cyclonedds-cpp && \
+    rosdep update && \
+    rosdep install -y -r -q --from-paths src --ignore-src --rosdistro ${ROS_DISTRO}
 
 RUN ["/bin/bash", "-c", "source /opt/ros/${ROS_DISTRO}/setup.bash; colcon build --symlink-install"]
 

diff --git a/README.md b/README.md
@@ -9,15 +9,20 @@ ROS2 simulation device packages to connect CLOiSim(the unity3D based multi-robot
 
 ## Install ROS2 humble
 
-  follow the guideline on below link.
+follow the guideline on below link.
 
   <https://docs.ros.org/en/humble/Installation/Ubuntu-Install-Debians.html>
 
 ## Prerequisite
 
 ```shell
+mkdir -p ~/cloisim_ws/src
+cd ~/cloisim_ws/src
+git clone --recursive https://github.com/lge-ros2/cloisim_ros.git -b humble
+
 sudo apt update
 sudo apt install -y python3-rosdep
+
 sudo rosdep init
 rosdep update
 rosdep install -y -r -q --from-paths src --ignore-src --rosdistro humble
@@ -29,6 +34,7 @@ Set up ROS2 environment first
 
 ```shell
 source /opt/ros2/humble/setup.bash
+cd ~/cloisim_ws
 colcon build --symlink-install --packages-up-to cloisim_ros_bringup
 ```
 
@@ -45,6 +51,14 @@ check here [details](https://github.com/lge-ros2/cloisim_ros/tree/humble/cloisim
 
 ### Run cloisim_ros (robot + world)
 
+#### DDS
+
+recommended to use cylcone DDS
+
+```shell
+export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
+```
+
 #### Shared Memory DDS with FastRTPS
 
 It's experimental feature for cloisim_ros. Use absolute path in FASTRTPS_DEFAULT_PROFILES_FILE environment variable.

diff --git a/cloi_common_interfaces b/cloi_common_interfaces
diff --git a/cloisim_ros_actor/src/actor.cpp b/cloisim_ros_actor/src/actor.cpp
@@ -15,9 +15,10 @@
 
 #include "cloisim_ros_actor/actor.hpp"
 
-using namespace std;
 using namespace std::placeholders;
-using namespace cloisim;
+using Param = cloisim::msgs::Param;
+using Any = cloisim::msgs::Any;
+using string = std::string;
 
 namespace cloisim_ros
 {
@@ -59,9 +60,9 @@ void Actor::Initialize()
 }
 
 void Actor::CallMoveActor(
-    const shared_ptr<rmw_request_id_t> /*request_header*/,
-    const shared_ptr<cloisim_ros_msgs::srv::MoveActor::Request> request,
-    const shared_ptr<cloisim_ros_msgs::srv::MoveActor::Response> response)
+    const std::shared_ptr<rmw_request_id_t> /*request_header*/,
+    const std::shared_ptr<cloisim_ros_msgs::srv::MoveActor::Request> request,
+    const std::shared_ptr<cloisim_ros_msgs::srv::MoveActor::Response> response)
 {
   const auto message = CreateMoveRequest(request->target_name, request->destination);
   const auto reply = RequestReplyMessage(control_bridge_ptr, message);
@@ -71,7 +72,7 @@ void Actor::CallMoveActor(
   }
 }
 
-bool Actor::GetResultFromResponse(const msgs::Param &response_msg)
+bool Actor::GetResultFromResponse(const Param &response_msg)
 {
   if (!response_msg.IsInitialized() || response_msg.name().compare("result") != 0)
   {
@@ -80,15 +81,15 @@ bool Actor::GetResultFromResponse(const msgs::Param &response_msg)
   return response_msg.value().bool_value();
 }
 
-msgs::Param Actor::CreateMoveRequest(
+Param Actor::CreateMoveRequest(
     const string target_name,
     const geometry_msgs::msg::Vector3 point)
 {
-  msgs::Param request_msg;
+  Param request_msg;
   request_msg.set_name(target_name);
 
   auto value_ptr = request_msg.mutable_value();
-  value_ptr->set_type(msgs::Any::VECTOR3D);
+  value_ptr->set_type(Any::VECTOR3D);
 
   auto vector3d_value_ptr = value_ptr->mutable_vector3d_value();
   vector3d_value_ptr->set_x(point.x);

diff --git a/.../include/cloisim_ros_base/camera_helper.h → ...nclude/cloisim_ros_base/camera_helper.hpp b/.../include/cloisim_ros_base/camera_helper.h → ...nclude/cloisim_ros_base/camera_helper.hpp
@@ -1,5 +1,5 @@
 /**
- *  @file   camera_helper.h
+ *  @file   camera_helper.hpp
  *  @date   2021-05-16
  *  @author Hyunseok Yang
  *  @brief
@@ -13,8 +13,8 @@
  *      SPDX-License-Identifier: MIT
  */
 
-#ifndef CLOISIM_ROS_BASE__CAMERA_HELPER_H_
-#define CLOISIM_ROS_BASE__CAMERA_HELPER_H_
+#ifndef CLOISIM_ROS_BASE__CAMERA_HELPER_HPP_
+#define CLOISIM_ROS_BASE__CAMERA_HELPER_HPP_
 
 #include <cloisim_msgs/camerasensor.pb.h>
 #include <cloisim_msgs/param.pb.h>
@@ -178,4 +178,4 @@ static cloisim::msgs::CameraSensor GetCameraSensorMessage(
   return cameraSensorInfo;
 }
 
-#endif  // CLOISIM_ROS_BASE__CAMERA_HELPER_H_
+#endif  // CLOISIM_ROS_BASE__CAMERA_HELPER_HPP_
diff --git a/...os_base/include/cloisim_ros_base/helper.h → ..._base/include/cloisim_ros_base/helper.hpp b/...os_base/include/cloisim_ros_base/helper.h → ..._base/include/cloisim_ros_base/helper.hpp
@@ -1,5 +1,5 @@
 /**
- *  @file   helper.h
+ *  @file   helper.hpp
  *  @date   2021-01-14
  *  @author Hyunseok Yang
  *  @brief
@@ -13,8 +13,8 @@
  *      SPDX-License-Identifier: MIT
  */
 
-#ifndef CLOISIM_ROS_BASE__HELPER_H_
-#define CLOISIM_ROS_BASE__HELPER_H_
+#ifndef CLOISIM_ROS_BASE__HELPER_HPP_
+#define CLOISIM_ROS_BASE__HELPER_HPP_
 
 #include <tf2/LinearMath/Quaternion.h>
 
@@ -114,4 +114,4 @@ static void ConvertPointToVector3(
   dst.z = src.z;
 }
 
-#endif  // CLOISIM_ROS_BASE__HELPER_H_
+#endif  // CLOISIM_ROS_BASE__HELPER_HPP_
diff --git a/cloisim_ros_base/src/base.cpp b/cloisim_ros_base/src/base.cpp
@@ -16,10 +16,10 @@
 #include <cloisim_msgs/transform_stamped.pb.h>
 
 #include "cloisim_ros_base/base.hpp"
-#include "cloisim_ros_base/helper.h"
+#include "cloisim_ros_base/helper.hpp"
 
-using namespace std;
-using namespace cloisim;
+using namespace std::literals::chrono_literals;
+using string = std::string;
 
 namespace cloisim_ros
 {
@@ -45,16 +45,16 @@ Base::Base(const string node_name, const string namespace_, const rclcpp::NodeOp
            rclcpp::NodeOptions(options)
                .automatically_declare_parameters_from_overrides(true)
                .append_parameter_override("use_sim_time", true)
-               .arguments(vector<string>{"--ros-args",
-                                         "--remap", "/tf:=tf",
-                                         "--remap", "/tf_static:=tf_static"}))
+               .arguments(std::vector<string>{"--ros-args",
+                                              "--remap", "/tf:=tf",
+                                              "--remap", "/tf_static:=tf_static"}))
     , m_bRunThread(false)
-    , m_node_handle(shared_ptr<rclcpp::Node>(this, [](auto) {}))
+    , m_node_handle(std::shared_ptr<rclcpp::Node>(this, [](auto) {}))
     , m_static_tf_broadcaster(nullptr)
     , m_tf_broadcaster(nullptr)
     , enable_tf_publish_(true)
 {
-  get_parameter_or("enable_tf", enable_tf_publish_, bool(true));
+  get_parameter_or("enable_tf", enable_tf_publish_, true);
 }
 
 Base::~Base()
@@ -117,7 +117,9 @@ void Base::GenerateTF(const string& buffer)
     newTf.header.stamp = Convert(pb_transform_stamped.header().stamp());
     newTf.header.frame_id = pb_transform_stamped.header().str_id();
     newTf.child_frame_id = pb_transform_stamped.transform().name();
-    // DBG_SIM_INFO("%ld %ld %s %s", newTf.header.stamp.sec, newTf.header.stamp.nanosec, newTf.header.frame_id.c_str(), newTf.child_frame_id.c_str());
+    // DBG_SIM_INFO("%ld %ld %s %s",
+    //              newTf.header.stamp.sec, newTf.header.stamp.nanosec,
+    //              newTf.header.frame_id.c_str(), newTf.child_frame_id.c_str());
     SetTf2(newTf,
            pb_transform_stamped.transform(),
            pb_transform_stamped.transform().name(),
@@ -161,7 +163,7 @@ void Base::CloseBridges()
 
 void Base::AddPublisherThread(
     zmq::Bridge* const bridge_ptr,
-    function<void(const string&)> thread_func)
+    std::function<void(const string&)> thread_func)
 {
   m_threads.emplace_back(
       [this, bridge_ptr, thread_func]()
@@ -173,7 +175,8 @@ void Base::AddPublisherThread(
           const bool succeeded = GetBufferFromSimulator(bridge_ptr, &buffer_ptr, bufferLength);
           if (!succeeded || bufferLength < 0)
           {
-            DBG_ERR("[%s] Failed to get buffer(%d) <= Sim, %s", get_name(), bufferLength, zmq_strerror(zmq_errno()));
+            DBG_ERR("[%s] Failed to get buffer(%d) <= Sim, %s",
+                    get_name(), bufferLength, zmq_strerror(zmq_errno()));
             continue;
           }
 
@@ -221,7 +224,7 @@ void Base::GetStaticTransforms(zmq::Bridge* const bridge_ptr)
     {
       if (link.IsInitialized() && link.has_name() && link.has_value())
       {
-        const auto parent_frame_id = (link.value().type() == msgs::Any_ValueType_STRING &&
+        const auto parent_frame_id = (link.value().type() == cloisim::msgs::Any_ValueType_STRING &&
                                       link.name().compare("parent_frame_id") == 0)
                                          ? link.value().string_value()
                                          : "base_link";
@@ -233,7 +236,7 @@ void Base::GetStaticTransforms(zmq::Bridge* const bridge_ptr)
           if (child.has_name() && child.has_value())
           {
             if ((child.name().compare("pose") == 0) &&
-                child.value().type() == msgs::Any_ValueType_POSE3D)
+                child.value().type() == cloisim::msgs::Any_ValueType_POSE3D)
             {
               pose = child.value().pose3d_value();
             }
@@ -247,12 +250,12 @@ void Base::GetStaticTransforms(zmq::Bridge* const bridge_ptr)
   }
 }
 
-msgs::Pose Base::GetObjectTransform(
+cloisim::msgs::Pose Base::GetObjectTransform(
     zmq::Bridge* const bridge_ptr,
     const string target_name,
     string& parent_frame_id)
 {
-  msgs::Pose transform;
+  cloisim::msgs::Pose transform;
   transform.Clear();
 
   if (bridge_ptr == nullptr)
@@ -272,7 +275,7 @@ msgs::Pose Base::GetObjectTransform(
       {
         const auto child_param = reply.children(0);
         if (child_param.name() == "parent_frame_id" && child_param.has_value() &&
-            child_param.value().type() == msgs::Any_ValueType_STRING &&
+            child_param.value().type() == cloisim::msgs::Any_ValueType_STRING &&
             !child_param.value().string_value().empty())
         {
           // set parent_frame_id into name if exists.
@@ -303,7 +306,7 @@ void Base::GetRos2Parameter(zmq::Bridge* const bridge_ptr)
       {
         const auto param = reply.children(i);
         const auto paramValue = (param.has_value() &&
-                                 param.value().type() == msgs::Any_ValueType_STRING)
+                                 param.value().type() == cloisim::msgs::Any_ValueType_STRING)
                                     ? param.value().string_value()
                                     : "";
 
@@ -347,7 +350,7 @@ bool Base::GetBufferFromSimulator(
 
 void Base::SetTf2(
     geometry_msgs::msg::TransformStamped& target_msg,
-    const msgs::Pose transform,
+    const cloisim::msgs::Pose transform,
     const string child_frame_id,
     const string header_frame_id)
 {
@@ -358,7 +361,7 @@ void Base::SetTf2(
 }
 
 void Base::SetStaticTf2(
-    const msgs::Pose transform,
+    const cloisim::msgs::Pose transform,
     const string parent_header_frame_id)
 {
   geometry_msgs::msg::TransformStamped static_tf;
@@ -370,12 +373,12 @@ void Base::SetStaticTf2(
   AddStaticTf2(static_tf);
 }
 
-msgs::Param Base::RequestReplyMessage(
+cloisim::msgs::Param Base::RequestReplyMessage(
     zmq::Bridge* const bridge_ptr,
     const string request_message,
     const string request_value)
 {
-  msgs::Param reply;
+  cloisim::msgs::Param reply;
 
   if (bridge_ptr == nullptr)
   {
@@ -384,7 +387,7 @@ msgs::Param Base::RequestReplyMessage(
   }
 
   string serialized_request_data;
-  msgs::Param request;
+  cloisim::msgs::Param request;
   request.set_name(request_message);
 
   if (!request_value.empty())
@@ -401,19 +404,22 @@ msgs::Param Base::RequestReplyMessage(
   if (serialized_reply_data.size() > 0)
   {
     if (reply.ParseFromString(serialized_reply_data) == false)
-      DBG_SIM_ERR("Failed to parse serialized buffer, buffer_ptr(%p) length(%ld)", serialized_reply_data.data(), serialized_reply_data.size());
+    {
+      DBG_SIM_ERR("Failed to parse serialized buffer, buffer_ptr(%p) length(%ld)",
+                  serialized_reply_data.data(), serialized_reply_data.size());
+    }
   }
   else
     DBG_SIM_ERR("Failed to get reply data, length(%ld)", serialized_reply_data.size());
 
   return reply;
 }
 
-msgs::Param Base::RequestReplyMessage(
+cloisim::msgs::Param Base::RequestReplyMessage(
     zmq::Bridge* const bridge_ptr,
-    const msgs::Param request_message)
+    const cloisim::msgs::Param request_message)
 {
-  msgs::Param response_msg;
+  cloisim::msgs::Param response_msg;
 
   string serializedBuffer;
   request_message.SerializeToString(&serializedBuffer);
@@ -427,9 +433,9 @@ msgs::Param Base::RequestReplyMessage(
   return response_msg;
 }
 
-msgs::Pose Base::IdentityPose()
+cloisim::msgs::Pose Base::IdentityPose()
 {
-  msgs::Pose identityTransform;
+  cloisim::msgs::Pose identityTransform;
   identityTransform.mutable_position()->set_x(0.0);
   identityTransform.mutable_position()->set_y(0.0);
   identityTransform.mutable_position()->set_z(0.0);

diff --git a/cloisim_ros_bridge_zmq/include/cloisim_ros_bridge_zmq/bridge.hpp b/cloisim_ros_bridge_zmq/include/cloisim_ros_bridge_zmq/bridge.hpp
@@ -17,10 +17,9 @@
 #define CLOISIM_ROS_BRIDGE_ZMQ__BRIDGE_HPP_
 
 #include <zmq.h>
-
-#include "log.h"
-
 #include <string>
+#include "cloisim_ros_bridge_zmq/log.h"
+
 
 namespace cloisim_ros
 {
@@ -85,7 +84,7 @@ class Bridge
 
  private:
   bool Setup(const unsigned char mode);
-  bool SetupCommon(void* const targetSocket);
+  bool SetupCommon(void* const socket);
   bool SetupSubscriber();
   bool SetupPublisher();
   bool SetupService();