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Migrate current nav2 BT wrapper with small tweaks #1

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merged 8 commits into from
Dec 21, 2022

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vicmassy
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@vicmassy vicmassy commented Dec 13, 2022


Basic Info

Info Please fill out this column
Ticket(s) this addresses (Closes #IssueNumber)
Primary OS tested on (Ubuntu, MacOS, Windows)
Robotic platform tested on (Steve's Robot, gazebo simulation of Tally, hardware turtlebot)

How to run this PR feature

Run simulation
xhost +local:root
docker run -it --rm --net host --privileged --gpus all -e DISPLAY=$DISPLAY -e NVIDIA_VISIBLE_DEVICES=all -e NVIDIA_DRIVER_CAPABILITIES=graphics -e ROBOT_NAME=1 --mount type=bind,source=/tmp/.X11-unix,target=/tmp/.X11-unix umdlife/umd-simulation-dev:latest roslaunch umd_simulation three_iris_mavros_sitl.launch
Run docker compose
version: "3.4"

services:
  bridge:
    container_name: bridge
    image: umdlife/umd-bridge:v2.0.4
    network_mode: host
    environment:
      ROS_DOMAIN_ID: 40
      NETWORK: local
    command: ros2 run ros1_bridge parameter_bridge /bridge_topics /bridge_service_1_to_2 /bridge_service_2_to_1
  copter100:
    container_name: copter100
    image: umdlife/umd-copter-dev:feat-bt-4.0-UP-1804
    network_mode: host
    environment:
      ROBOT_MODEL: iris
      ROBOT_ID: 100/sitl
      ROS_DOMAIN_ID: 40
      NETWORK: local
    command: ros2 launch umd_copter_bt px4_bt_navigator.launch.py run_mode:=sim
  mission:
    container_name: mission
    image: umdlife/umd-mission-dev:feat-bt-4.0-UP-1804
    network_mode: host
    environment:
      VPN: disable
      ROS_DOMAIN_ID: 40
      NETWORK: local
    command: ros2 launch umd_mission_core vienna_mission_core.launch.py run_sim:=true
  web:
    container_name: web
    image: umdlife/umd-web-dev:latest
    network_mode: host
    environment:
        ROS_DOMAIN_ID: 40
        NETWORK: local
        VPN: disable   
Open the interface in the browser and execute a mission. Interact with all the buttons to make sure it works as before.

Description of contribution in a few bullet points

  • Migrate to BT 4.0
  • Migrate to BT.ROS2 wrapper
  • Use new base image umd_nav that includes both packages mentioned before
  • Refactor BT plugins
  • Removed mavros_msgs package from umd_interfaces in favor of the binaries

Related PRs

Description of documentation updates required from your changes

  • From now on, use umdlife/umd-bridge:v2.0.4
  • Documentation about the migration is here

Future work that may be required in bullet points

@vicmassy vicmassy changed the title Feat/bt 4.0 up 1804 Migrate current nav2 BT wrapper with small tweaks Dec 15, 2022
@vicmassy vicmassy marked this pull request as ready for review December 15, 2022 13:43
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@sergigraum sergigraum left a comment

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LGTM! We will then iterate over this baseline GJ! 🚀

@sergigraum sergigraum merged commit 561d8cc into main_umd Dec 21, 2022
@sergigraum sergigraum deleted the feat/bt-4.0-UP-1804 branch December 21, 2022 09:55
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2 participants