Add launch option for gzclient

.devcontainer/devcontainer.json

@@ -0,0 +1,39 @@
+// See https://aka.ms/vscode-remote/devcontainer.json for format details.
+{
+    "image": "georgno/fhtw-ros:iron-desktop-ros_terminal-standard",
+	"remoteUser": "fhtw_user",
+	"initializeCommand": "xhost +",
+	"onCreateCommand": "sudo bash /entrypoint.sh &",
+	"workspaceMount": "source=${localWorkspaceFolder},target=/home/fhtw_user/sim_ws/src/sjtu_drone,type=bind,consistency=cached",
+	"workspaceFolder": "/home/fhtw_user/sim_ws",
+	// mount Jupyter/src/ros2 to ~/ros2_ws/src
+	"runArgs": [
+		"--shm-size=512m",
+		"--privileged",
+		"--gpus=all",
+		"--volume=/tmp/.X11-unix:/tmp/.X11-unix"
+	],
+	"containerEnv": {
+		"DISPLAY": "${localEnv:DISPLAY}",
+		// "LIBGL_ALWAYS_SOFTWARE": "1" // Needed for software rendering of opengl
+	},
+	// Set *default* container specific settings.json values on container create.
+	"customizations": {
+		"vscode": {
+			"extensions": [
+                "althack.ament-task-provider",
+                "DotJoshJohnson.xml",
+                "ms-azuretools.vscode-docker",
+                "ms-python.python",
+                "ms-vscode.cpptools",
+                "redhat.vscode-yaml",
+                "smilerobotics.urdf",
+                "twxs.cmake",
+                "yzhang.markdown-all-in-one",
+                "zachflower.uncrustify",
+                "ms-iot.vscode-ros",
+                "ms-vscode.cpptools-extension-pack"
+            ]
+		}
+	}
+}

.github/workflows/CI_CD.yml

@@ -11,10 +11,10 @@ jobs:
     strategy:
       matrix:
         include:
-          # - os: ubuntu-20.04
-          #   ros_distribution: "galactic"
           - os: ubuntu-22.04
             ros_distribution: "humble"
+          - os: ubuntu-22.04
+            ros_distribution: "iron"
           - os: ubuntu-22.04
             ros_distribution: "rolling"
       fail-fast: false
@@ -67,7 +67,17 @@ jobs:
         if: always()
 
   deploy:
-    runs-on: ubuntu-latest
+    runs-on: ${{ matrix.os }}
+    strategy:
+      matrix:
+        include:
+          - os: ubuntu-22.04
+            ros_distribution: "humble"
+          - os: ubuntu-22.04
+            ros_distribution: "iron"
+          - os: ubuntu-22.04
+            ros_distribution: "rolling"
+      fail-fast: false
     needs: build
     if: needs.build.outputs.build_step_outcome == 'success'
     steps:
@@ -90,4 +100,5 @@ jobs:
         uses: docker/build-push-action@v5
         with:
           push: true
-          tags: ${{ secrets.DOCKERHUB_USERNAME }}/sjtu_drone:ros2
+          tags: ${{ secrets.DOCKERHUB_USERNAME }}/sjtu_drone:ros2-${{ matrix.ros_distribution }}
+          args: --build-arg ROS_DISTRO=${{ matrix.ros_distribution}}

.gitignore

@@ -1,3 +1,3 @@
 plugins/
 bin/
-
+__pycache__/

Dockerfile

@@ -1,4 +1,5 @@
-FROM ros:humble-ros-core-jammy
+ARG ROS_DISTRO
+FROM ros:${ROS_DISTRO}-ros-core-jammy
 
 RUN apt-get update \
     && apt-get install -y \
@@ -14,23 +15,24 @@ RUN echo "deb http://packages.osrfoundation.org/gazebo/ubuntu `lsb_release -cs`
     && apt-get update \
     && apt-get install -y \
     gazebo \
-    ros-humble-gazebo-ros-pkgs \
+    ros-${ROS_DISTRO}-gazebo-ros-pkgs \
     python3-colcon-common-extensions python3-rosdep --no-install-recommends \
     && apt-get clean
 RUN rosdep init && rosdep update
 
 RUN mkdir -p /ros2_ws/src
 COPY ./sjtu_drone_description /ros2_ws/src/sjtu_drone_description
 COPY ./sjtu_drone_bringup /ros2_ws/src/sjtu_drone_bringup
+COPY ./sjtu_drone_control /ros2_ws/src/sjtu_drone_control
 
 RUN curl -L https://github.com/osrf/gazebo_models/archive/refs/heads/master.zip -o /tmp/gazebo_models.zip \
     && unzip /tmp/gazebo_models.zip -d /tmp && mkdir -p ~/.gazebo/models/ && mv /tmp/gazebo_models-master/* ~/.gazebo/models/ \
     && rm -r /tmp/gazebo_models.zip
 
 WORKDIR /ros2_ws
 RUN /bin/bash -c 'cd /ros2_ws/ \
-    && source /opt/ros/humble/setup.bash \
+    && source /opt/ros/${ROS_DISTRO}/setup.bash \
     && rosdep install --from-paths src --ignore-src -r -y \
     && colcon build'
 
-CMD ["/bin/bash", "-c", "source /opt/ros/humble/setup.bash && source /ros2_ws/install/setup.bash && ros2 launch sjtu_drone_bringup sjtu_drone_bringup.launch.py"]
+CMD ["/bin/bash", "-c", "source /opt/ros/${ROS_DISTRO}/setup.bash && source /ros2_ws/install/setup.bash && ros2 launch sjtu_drone_bringup sjtu_drone_bringup.launch.py"]

README.md

@@ -1,14 +1,14 @@
 # sjtu_drone
 
-[![Humble](https://img.shields.io/endpoint?url=https://gist.githubusercontent.com/NovoG93/589e4b4dc8d92861e4b92defff6d56c0/raw/_humble_build.json)](https://github.com/NovoG93/sjtu_drone/actions/workflows/build.yml) [![Rolling](https://img.shields.io/endpoint?url=https://gist.githubusercontent.com/NovoG93/589e4b4dc8d92861e4b92defff6d56c0/raw/_rolling_build.json)](https://github.com/NovoG93/sjtu_drone/actions/workflows/build.yml)
+[![Iron](https://img.shields.io/endpoint?url=https://gist.githubusercontent.com/NovoG93/589e4b4dc8d92861e4b92defff6d56c0/raw/_iron_build.json)](https://github.com/NovoG93/sjtu_drone/actions/workflows/build.yml) [![Humble](https://img.shields.io/endpoint?url=https://gist.githubusercontent.com/NovoG93/589e4b4dc8d92861e4b92defff6d56c0/raw/_humble_build.json)](https://github.com/NovoG93/sjtu_drone/actions/workflows/build.yml) [![Rolling](https://img.shields.io/endpoint?url=https://gist.githubusercontent.com/NovoG93/589e4b4dc8d92861e4b92defff6d56c0/raw/_rolling_build.json)](https://github.com/NovoG93/sjtu_drone/actions/workflows/build.yml)
 
 sjtu_drone is a quadrotor simulation program forked from [tum_simulator](http://wiki.ros.org/tum_simulator), developed using ROS + Gazebo.
 
 The acronym 'sjtu' stands for Shanghai Jiao Tong University. This package has been used in the past for testing algorithms for the [UAV contest at SJTU](http://mediasoc.sjtu.edu.cn/wordpress)
 
 # Requirements
 
-This package is tested with ROS 2 Humble version (Ubuntu 22.04) and Gazebo 11.
+This package is tested with ROS 2 (Ubuntu 22.04) and Gazebo 11.
 
 # Downloading and building
 

run_docker.sh

@@ -1,9 +1,32 @@
 #!/bin/bash
+
+usage(){
+    echo "Usage: $0 [-r <humble|iron|rolling>]"
+    exit 1
+}
+
+ROS_DISTRO=${ROS_DISTRO:-"iron"}  # [humble, iron, rolling]
+while getopts "r:" opt; do
+    case $opt in
+        r)
+            if [ $OPTARG != "humble" ] && [ $OPTARG != "iron" ] && [ $OPTARG != "rolling" ]; then
+                echo "Invalid ROS distro: $OPTARG" >&2
+                usage
+            fi
+            ROS_DISTRO=$OPTARG
+            ;;
+        \?)
+            echo "Invalid option: -$OPTARG" >&2
+            usage
+            ;;
+    esac
+done
+
 XSOCK=/tmp/.X11-unix
 XAUTH=$HOME/.Xauthority
 
-#  docker build -t georgno/sjtu_drone:$(git rev-parse --abbrev-ref HEAD) .
-docker pull georgno/sjtu_drone:$(git rev-parse --abbrev-ref HEAD)
+#  docker build -t georgno/sjtu_drone:${ROS_DISTRO} .
+docker pull georgno/sjtu_drone:${ROS_DISTRO}
 
 if [ $? -ne 0 ]; then
     exit 1
@@ -22,5 +45,5 @@ docker run \
     --privileged \
     --net=host \
     --name="sjtu_drone" \
-    georgno/sjtu_drone:$(git rev-parse --abbrev-ref HEAD)
+    georgno/sjtu_drone:${ROS_DISTRO}
 xhost -local:docker

sjtu_drone_bringup/launch/sjtu_drone_bringup.launch.py

@@ -1,18 +1,29 @@
 #!/usr/bin/env python3
+# Copyright 2023 Georg Novotny
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
 
 import os
 
 from ament_index_python.packages import get_package_share_directory
 from launch import LaunchDescription
 from launch.actions import IncludeLaunchDescription
-from launch.substitutions import LaunchConfiguration
 from launch_ros.actions import Node
 from launch.launch_description_sources import PythonLaunchDescriptionSource
 
 
 def generate_launch_description():
 
-    use_sim_time = LaunchConfiguration("use_sim_time", default="false")
     sjtu_drone_bringup_path = get_package_share_directory('sjtu_drone_bringup')
 
     rviz_path = os.path.join(
@@ -37,8 +48,8 @@ def generate_launch_description():
         ),
 
         Node(
-            package="teleop_twist_keyboard",
-            executable="teleop_twist_keyboard",
+            package="sjtu_drone_control",
+            executable="teleop",
             namespace="drone",
             output="screen",
             prefix="xterm -e"

sjtu_drone_bringup/launch/sjtu_drone_gazebo.launch.py

@@ -1,19 +1,33 @@
 #!/usr/bin/env python3
+# Copyright 2023 Georg Novotny
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
 
 import os
 
 from ament_index_python.packages import get_package_share_directory
 from launch import LaunchDescription
-from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription
+from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription, OpaqueFunction
 from launch.substitutions import LaunchConfiguration
 from launch_ros.actions import Node
 from launch.launch_description_sources import PythonLaunchDescriptionSource
 
 import xacro
 
-def generate_launch_description():
 
-    use_sim_time = LaunchConfiguration("use_sim_time", default="false")
+def generate_launch_description():
+    use_sim_time = LaunchConfiguration("use_sim_time", default="true")
+    use_gui = DeclareLaunchArgument("use_gui", default_value="true", choices=["true", "false"], description="Whether to execute gzclient")
     xacro_file_name = "sjtu_drone.urdf.xacro"
     pkg_gazebo_ros = get_package_share_directory('gazebo_ros')
     xacro_file = os.path.join(
@@ -29,7 +43,18 @@ def generate_launch_description():
         "worlds", "playground.world"
     )
 
+    def launch_gzclient(context, *args, **kwargs):
+        if context.launch_configurations.get('use_gui') == 'true':
+            return [IncludeLaunchDescription(
+                PythonLaunchDescriptionSource(
+                    os.path.join(pkg_gazebo_ros, 'launch', 'gzclient.launch.py')
+                ),
+                launch_arguments={'verbose': 'true'}.items()
+            )]
+        return []
+
     return LaunchDescription([
+        use_gui,
         Node(
             package="robot_state_publisher",
             executable="robot_state_publisher",
@@ -57,12 +82,7 @@ def generate_launch_description():
                               'extra_gazebo_args': 'verbose'}.items()
         ),
 
-        IncludeLaunchDescription(
-            PythonLaunchDescriptionSource(
-                os.path.join(pkg_gazebo_ros, 'launch', 'gzclient.launch.py')
-            ),
-            launch_arguments={'verbose': "true"}.items()
-        ),
+        OpaqueFunction(function=launch_gzclient),
 
         Node(
             package="sjtu_drone_bringup",

sjtu_drone_bringup/package.xml

@@ -4,7 +4,7 @@
   <name>sjtu_drone_bringup</name>
   <version>0.0.0</version>
   <description>TODO: Package description</description>
-  <maintainer email="[email protected]">ubuntu</maintainer>
+  <maintainer email="[email protected]">Georg Novotny</maintainer>
   <license>TODO: License declaration</license>
 
   <depend>rclpy</depend>

sjtu_drone_bringup/sjtu_drone_bringup/spawn_drone.py

@@ -1,6 +1,19 @@
-#!/usr/bin/python3
+#!/usr/bin/env python3
+# Copyright 2023 Georg Novotny
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
 # -*- coding: utf-8 -*-
-import os
 import sys
 import rclpy
 from gazebo_msgs.srv import SpawnEntity

sjtu_drone_control/package.xml

@@ -0,0 +1,24 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>sjtu_drone_control</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="[email protected]">Georg Novotny</maintainer>
+  <license>TODO: License declaration</license>
+
+  <depend>sensor_msgs</depend>
+  <depend>geometry_msgs</depend>
+  <depend>rclpy</depend>
+  <depend>std_msgs</depend>
+
+  <test_depend>ament_copyright</test_depend>
+  <test_depend>ament_flake8</test_depend>
+  <test_depend>ament_pep257</test_depend>  <maintainer email="[email protected]">ubuntu</maintainer>
+
+  <test_depend>python3-pytest</test_depend>
+
+  <export>
+    <build_type>ament_python</build_type>
+  </export>
+</package>

sjtu_drone_control/setup.cfg

@@ -0,0 +1,4 @@
+[develop]
+script_dir=$base/lib/sjtu_drone_control
+[install]
+install_scripts=$base/lib/sjtu_drone_control

sjtu_drone_control/setup.py

@@ -0,0 +1,26 @@
+from setuptools import setup
+
+package_name = 'sjtu_drone_control'
+
+setup(
+    name=package_name,
+    version='0.0.0',
+    packages=[package_name],
+    data_files=[
+        ('share/ament_index/resource_index/packages',
+            ['resource/' + package_name]),
+        ('share/' + package_name, ['package.xml']),
+    ],
+    install_requires=['setuptools'],
+    zip_safe=True,
+    maintainer='ubuntu',
+    maintainer_email='[email protected]',
+    description='TODO: Package description',
+    license='TODO: License declaration',
+    tests_require=['pytest'],
+    entry_points={
+        'console_scripts': [
+            'teleop = sjtu_drone_control.teleop:main'
+        ],
+    },
+)