ROS 2 Jazzyへの対応

.github/workflows/industrial_ci.yml

@@ -16,10 +16,12 @@ jobs:
   industrial_ci:
     strategy:
       matrix:
-        env:
-          - { ROS_DISTRO: humble, ROS_REPO: ros }
+        ROS_DISTRO: [jazzy]
+        ROS_REPO: [ros]
     runs-on: ubuntu-latest
     steps:
       - uses: actions/checkout@v3
       - uses: "ros-industrial/industrial_ci@master"
-        env: ${{ matrix.env }}
+        env:
+          ROS_DISTRO: ${{ matrix.ROS_DISTRO }}
+          ROS_REPO: ${{ matrix.ROS_REPO }}

README.md

@@ -1,35 +1,26 @@
 # Raspimouse Node
 
-ROS 2 node for the Raspberry Pi Mouse.
-
-![raspimouse](https://rt-net.jp/wp-content/uploads/2020/04/Raspberry-Pi-Mouse.png)
-
-## Build Status
-
-### master branch
-
-[![industrial_ci](https://github.com/rt-net/raspimouse2/workflows/industrial_ci/badge.svg?branch=master)](https://github.com/rt-net/raspimouse2/actions?query=workflow%3Aindustrial_ci+branch%3Amaster)
+[![industrial_ci](https://github.com/rt-net/raspimouse2/actions/workflows/industrial_ci.yml/badge.svg?branch=master)](https://github.com/rt-net/raspimouse2/actions/workflows/industrial_ci.yml)
 
-### Source Build Status on ROS2 Buildfarm
+ROS 2 node for the Raspberry Pi Mouse.
 
-| ROS 2 + Ubuntu | raspimouse | raspimouse_msgs |
-|:---:|:---:|:---:|
-| Foxy + Focal ([`foxy-devel`](https://github.com/rt-net/raspimouse2/tree/foxy-devel)) | [![Build Status](https://build.ros2.org/view/Fsrc_uF/job/Fsrc_uF__raspimouse__ubuntu_focal__source/badge/icon)](https://build.ros2.org/view/Fsrc_uF/job/Fsrc_uF__raspimouse__ubuntu_focal__source/) | [![Build Status](https://build.ros2.org/view/Fsrc_uF/job/Fsrc_uF__raspimouse_msgs__ubuntu_focal__source/badge/icon)](https://build.ros2.org/view/Fsrc_uF/job/Fsrc_uF__raspimouse_msgs__ubuntu_focal__source/) |
-| Humble + Jammy ([`humble-devel`](https://github.com/rt-net/raspimouse2/tree/humble-devel)) | **TODO** | **TODO** |
+![raspimouse](https://rt-net.github.io/images/raspberry-pi-mouse/Raspberry-Pi-Mouse.png)
 
 ## Requirements
 
 - Raspberry Pi Mouse
-  - https://rt-net.jp/products/raspberrypimousev3/
-  - [RT Robot Shop](https://www.rt-shop.jp/index.php?main_page=product_info&cPath=1299_1395&products_id=3774)
+  - [Summary](https://rt-net.jp/products/raspberrypimousev3/)
+  - [RT Robot Shop](https://www.rt-shop.jp/index.php?main_page=product_info&products_id=4141)
 - Linux OS
-  - Ubuntu server 20.04
-  - https://ubuntu.com/download/raspberry-pi
+  - Ubuntu server
+    - 22.04
+    - 24.04
+  - [Raspberry Pi OS](https://ubuntu.com/download/raspberry-pi)
 - Device Driver
   - [rt-net/RaspberryPiMouse](https://github.com/rt-net/RaspberryPiMouse)
 - ROS
-  - [Foxy Fitzroy](https://index.ros.org/doc/ros2/Installation/Foxy/Linux-Install-Debians/)
   - [Humble Hawksbill](https://docs.ros.org/en/humble/Installation/Ubuntu-Install-Debians.html)
+  - [Jazzy Jalisco](https://docs.ros.org/en/jazzy/Installation/Ubuntu-Install-Debs.html)
 
 ## Installation
 
@@ -44,7 +35,7 @@ $ sudo apt install ros-$ROS_DISTRO-raspimouse
 ```sh
 $ cd ~/ros2_ws/src
 # Clone package
-$ git clone -b $ROS_DISTRO-devel https://github.com/rt-net/raspimouse2
+$ git clone -b $ROS_DISTRO https://github.com/rt-net/raspimouse2
 
 # Install dependencies
 $ rosdep install -r -y -i --from-paths .
@@ -57,19 +48,21 @@ $ source ~/ros2_ws/install/setup.bash
 
 ## QuickStart
 
+Build and install the [device driver](https://github.com/rt-net/RaspberryPiMouse) in advance.
+
 ```sh
 # Terminal 1
 $ source ~/ros2_ws/install/setup.bash
 $ ros2 launch raspimouse raspimouse.launch.py
 
 # Terminal 2
-$ source ~/ros2_ws/install/setup.bash
+$ source ~/ros2_ws/install/setup.
 # Set buzzer frequency
 $ ros2 topic pub -1 /buzzer std_msgs/msg/Int16 '{data: 1000}'
 $ ros2 topic pub -1 /buzzer std_msgs/msg/Int16 '{data: 0}'
 # or rotate motors
 $ ros2 service call /motor_power std_srvs/SetBool '{data: true}'
-$ ros2 topic pub -1 /cmd_vel geometry_msgs/Twist '{linear: {x: 0.1, y: 0, z: 0}, angular: {x: 0, y: 0, z: 0.05}}'
+$ ros2 topic pub -1 /cmd_vel geometry_msgs/msg/TwistStamped '{twist: {linear: {x: 0.05, y: 0, z: 0}, angular: {x: 0, y: 0, z: 0.05}}}'
 # Shutdown
 $ ros2 lifecycle set raspimouse shutdown
 ```
@@ -105,7 +98,7 @@ a velocity command.
 
 ```shell
 $ ros2 service call /motor_power std_srvs/SetBool '{data: true}'
-$ ros2 topic pub -1 /cmd_vel geometry_msgs/Twist '{linear: {x: 0.1, y: 0, z: 0}, angular: {x: 0, y: 0, z: 0.05}}'
+$ ros2 topic pub -1 /cmd_vel geometry_msgs/msg/TwistStamped '{twist: {linear: {x: 0.1, y: 0, z: 0}, angular: {x: 0, y: 0, z: 0.05}}}'
 ```
 
 Odometry information can be checked by echoing the `odom` topic.
@@ -129,7 +122,7 @@ Similarly other sensor information can also be viewed by echoing the relevant to
 
 - `cmd_vel`
 
-  Type: `geometry_msgs/Twist`
+  Type: `geometry_msgs/msg/TwistStamped`
 
   Controls the motors. Specify the forward and turning speeds of the robot.
 
@@ -220,7 +213,7 @@ Similarly other sensor information can also be viewed by echoing the relevant to
 
   Sets the diameter of the robot's wheel.
   The unit is in meters.
-  
+
 - `wheel_tread`
 
   Type: `double`
@@ -298,7 +291,7 @@ Similarly other sensor information can also be viewed by echoing the relevant to
 
   Adds prefix to the frames of the topic `odom`.
   If set as *`mouse`*, the frame_id and the child_frame_id will be *`mouse/odom`* and *`mouse/baes_footprint`*.
-  
+
 ## License
 
 This repository is licensed under the Apache 2.0, see [LICENSE](./LICENSE) for details.

raspimouse/include/raspimouse/raspimouse_component.hpp

@@ -65,6 +65,7 @@ extern "C" {
 #include <std_msgs/msg/int16.hpp>
 #include <std_srvs/srv/set_bool.hpp>
 #include <nav_msgs/msg/odometry.hpp>
+#include <geometry_msgs/msg/twist_stamped.hpp>
 
 #include <raspimouse_msgs/msg/leds.hpp>
 #include <raspimouse_msgs/msg/switches.hpp>
@@ -97,7 +98,7 @@ class Raspimouse : public rclcpp_lifecycle::LifecycleNode
   int last_pulse_count_left_;
   int last_pulse_count_right_;
 
-  rclcpp::Subscription<geometry_msgs::msg::Twist>::SharedPtr velocity_sub_;
+  rclcpp::Subscription<geometry_msgs::msg::TwistStamped>::SharedPtr velocity_sub_;
   rclcpp::Service<std_srvs::srv::SetBool>::SharedPtr power_service_;
   rclcpp::TimerBase::SharedPtr watchdog_timer_;
 
@@ -136,7 +137,7 @@ class Raspimouse : public rclcpp_lifecycle::LifecycleNode
   void publish_switches();
   void publish_light_sensors();
 
-  void velocity_command(const geometry_msgs::msg::Twist::SharedPtr msg);
+  void velocity_command(const geometry_msgs::msg::TwistStamped::SharedPtr msg);
   void leds_command(const raspimouse_msgs::msg::Leds::SharedPtr msg);
   void buzzer_command(const std_msgs::msg::Int16::SharedPtr msg);
 

raspimouse/launch/raspimouse.launch.py

@@ -21,8 +21,8 @@
 from launch.events import matches_action
 from launch.events import Shutdown
 from launch_ros.actions import LifecycleNode
-from launch_ros.events import lifecycle
 from launch_ros.event_handlers import OnStateTransition
+from launch_ros.events import lifecycle
 from lifecycle_msgs.msg import Transition
 
 
@@ -33,7 +33,7 @@ def generate_launch_description():
         package='raspimouse', executable='raspimouse', output='screen',
         parameters=[os.path.join(get_package_share_directory(
             'raspimouse'), 'config', 'params.yaml')]
-            )
+    )
 
     emit_configuring_event = EmitEvent(
         event=lifecycle.ChangeState(

raspimouse/package.xml

@@ -11,6 +11,7 @@
   <author email="daisuke.sato@rt-net.jp">Daisuke Sato</author>
   <author email="kozasa@rt-net.jp">Shuhei Kozasa</author>
   <author email="git@killbots.net">Geoffrey Biggs</author>
+  <author email="kurasawa@rt-net.jp">Kazushi Kurasawa</author>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 

raspimouse/src/raspimouse_component.cpp

@@ -25,6 +25,7 @@
 #include "rclcpp/rclcpp.hpp"
 #include "rosidl_runtime_cpp/message_initialization.hpp"
 #include "lifecycle_msgs/msg/transition.hpp"
+#include "geometry_msgs/msg/twist_stamped.hpp"
 
 #define _USE_MATH_DEFINES
 
@@ -128,7 +129,7 @@ CallbackReturn Raspimouse::on_configure(const rclcpp_lifecycle::State &)
   odom_timer_->cancel();
 
   // Subscriber for velocity commands
-  velocity_sub_ = create_subscription<geometry_msgs::msg::Twist>(
+  velocity_sub_ = create_subscription<geometry_msgs::msg::TwistStamped>(
     "cmd_vel", 10, std::bind(&Raspimouse::velocity_command, this, _1));
 
   // Motor power control service
@@ -431,10 +432,10 @@ void Raspimouse::publish_light_sensors()
   light_sensors_pub_->publish(sensor_values);
 }
 
-void Raspimouse::velocity_command(const geometry_msgs::msg::Twist::SharedPtr msg)
+void Raspimouse::velocity_command(const geometry_msgs::msg::TwistStamped::SharedPtr msg)
 {
-  linear_velocity_ = msg->linear.x;
-  angular_velocity_ = msg->angular.z;
+  linear_velocity_ = msg->twist.linear.x;
+  angular_velocity_ = msg->twist.angular.z;
 
   const auto WHEEL_DIAMETER = get_parameter(WHEEL_DIAMETER_PARAM).get_value<double>();
   const auto WHEEL_TREAD = get_parameter(WHEEL_TREAD_PARAM).get_value<double>();