Merge pull request #37 from Juancams/rolling

Rolling support

.github/workflows/jazzy-devel.yaml

@@ -0,0 +1,38 @@
+name: jazzy-devel
+
+on:
+  pull_request:
+    branches:
+      - jazzy-devel
+  push:
+    branches:
+      - jazzy-devel
+
+
+jobs:
+  build-and-test:
+    runs-on: ${{ matrix.os }}
+    strategy:
+      matrix:
+        os: [ubuntu-24.04]
+      fail-fast: false
+    steps:
+      - name: Install popf deps
+        run: sudo apt-get install libfl-dev
+      - uses: actions/checkout@v2
+      - name: Setup ROS 2
+        uses: ros-tooling/[email protected]
+        with:
+          required-ros-distributions: jazzy
+      - name: build and test
+        uses: ros-tooling/[email protected]
+        with:
+          package-name: br2_basics br2_bt_bumpgo br2_bt_patrolling br2_fsm_bumpgo_cpp br2_fsm_bumpgo_py br2_navigation br2_tf2_detector br2_tiago br2_tracking br2_tracking_msgs br2_vff_avoidance
+          target-ros2-distro: jazzy
+          vcs-repo-file-url: ${GITHUB_WORKSPACE}/third_parties.repos
+          colcon-defaults: |
+            {
+              "test": {
+                "parallel-workers" : 1
+              }
+            }

.github/workflows/rolling.yaml

@@ -0,0 +1,38 @@
+name: rolling
+
+on:
+  pull_request:
+    branches:
+      - rolling
+  push:
+    branches:
+      - rolling
+
+
+jobs:
+  build-and-test:
+    runs-on: ${{ matrix.os }}
+    strategy:
+      matrix:
+        os: [ubuntu-24.04]
+      fail-fast: false
+    steps:
+      - name: Install popf deps
+        run: sudo apt-get install libfl-dev
+      - uses: actions/checkout@v2
+      - name: Setup ROS 2
+        uses: ros-tooling/[email protected]
+        with:
+          required-ros-distributions: rolling
+      - name: build and test
+        uses: ros-tooling/[email protected]
+        with:
+          package-name: br2_basics br2_bt_bumpgo br2_bt_patrolling br2_fsm_bumpgo_cpp br2_fsm_bumpgo_py br2_navigation br2_tf2_detector br2_tiago br2_tracking br2_tracking_msgs br2_vff_avoidance
+          target-ros2-distro: rolling
+          vcs-repo-file-url: ${GITHUB_WORKSPACE}/third_parties.repos
+          colcon-defaults: |
+            {
+              "test": {
+                "parallel-workers" : 1
+              }
+            }

README.md

@@ -1,7 +1,7 @@
 # A Concise Introduction to Robot Programming with ROS2 - Code Repository
 
-[![GitHub Action
-Status](https://github.com/fmrico/book_ros2/workflows/main/badge.svg)](https://github.com/fmrico/book_ros2)
+[![rolling](https://github.com/fmrico/book_ros2/actions/workflows/rolling.yaml/badge.svg)](https://github.com/fmrico/book_ros2/actions/workflows/rolling.yaml)
+[![jazzy-devel](https://github.com/fmrico/book_ros2/actions/workflows/jazzy-devel.yaml/badge.svg)](https://github.com/fmrico/book_ros2/actions/workflows/jazzy-devel.yaml)
 [![GitHub Action
 Status](https://github.com/fmrico/book_ros2/actions/workflows/humble-devel.yaml/badge.svg?branch=humble-devel)](https://github.com/fmrico/book_ros2)
 [![GitHub Action
@@ -11,11 +11,13 @@ Status](https://github.com/fmrico/book_ros2/workflows/foxy-devel/badge.svg)](htt
 
 This repository contains the source code shown and analyzed in book _A Concise Introduction to Robot Programming with ROS2_, as well as complementary teaching material that will be added.
 
-**Requirements for `main` branch**: Ubuntu 22.04 LTS + ROS2 Humble Hawksbill
+**Requirements for `rolling` branch**: Ubuntu 24.04 LTS + ROS 2 Rolling Ridley
+
+**Requirements for `jazzy-devel` branch**: Ubuntu 24.04 LTS + ROS 2 Jazzy Jalisco
 
-**Requirements for `humble-devel` branch**: Ubuntu 22.04 LTS + ROS2 Humble Hawksbill
+**Requirements for `humble-devel` branch**: Ubuntu 22.04 LTS + ROS 2 Humble Hawksbill
 
-**Requirements for `foxy-devel` branch**: Ubuntu 20.04 LTS + ROS2 Foxy Fitzroy
+**Requirements for `foxy-devel` branch**: Ubuntu 20.04 LTS + ROS 2 Foxy Fitzroy
 
 ## Slides
 

br2_bt_patrolling/launch/patrolling.launch.py

@@ -37,7 +37,7 @@ def generate_launch_description():
         }],
         remappings=[
           ('input_scan', '/scan_raw'),
-          ('output_vel', '/nav_vel')
+          ('output_vel', '/cmd_vel')
         ],
         output='screen'
     )

br2_bt_patrolling/src/br2_bt_patrolling/GetWaypoint.cpp

@@ -42,23 +42,23 @@ GetWaypoint::GetWaypoint(
   wp.pose.orientation.w = 1.0;
 
   // recharge wp
-  wp.pose.position.x = 3.67;
-  wp.pose.position.y = -0.24;
+  wp.pose.position.x = -1.0;
+  wp.pose.position.y = 4.14;
   recharge_point_ = wp;
 
   // wp1
-  wp.pose.position.x = 1.07;
-  wp.pose.position.y = -12.38;
+  wp.pose.position.x = 6.7;
+  wp.pose.position.y = -2.54;
   waypoints_.push_back(wp);
 
   // wp2
-  wp.pose.position.x = -5.32;
-  wp.pose.position.y = -8.85;
+  wp.pose.position.x = 0.45;
+  wp.pose.position.y = -3.9;
   waypoints_.push_back(wp);
 
   // wp3
-  wp.pose.position.x = -0.56;
-  wp.pose.position.y = 0.24;
+  wp.pose.position.x = -6.01;
+  wp.pose.position.y = -0.3;
   waypoints_.push_back(wp);
 }
 

br2_bt_patrolling/tests/bt_action_test.cpp

@@ -305,8 +305,8 @@ TEST(bt_action, get_waypoint_btn)
     auto point = blackboard->get<geometry_msgs::msg::PoseStamped>("waypoint");
 
     ASSERT_EQ(counter, 1);
-    ASSERT_NEAR(point.pose.position.x, 3.67, 0.0000001);
-    ASSERT_NEAR(point.pose.position.y, -0.24, 0.0000001);
+    ASSERT_NEAR(point.pose.position.x, -1.0, 0.0000001);
+    ASSERT_NEAR(point.pose.position.y, 4.14, 0.0000001);
   }
 
   {
@@ -354,22 +354,22 @@ TEST(bt_action, get_waypoint_btn)
 
     const auto & waypoints = StoreWP::waypoints_;
     ASSERT_EQ(waypoints.size(), 7);
-    ASSERT_NEAR(waypoints[0].pose.position.x, 1.07, 0.0000001);
-    ASSERT_NEAR(waypoints[0].pose.position.y, -12.38, 0.0000001);
-    ASSERT_NEAR(waypoints[1].pose.position.x, -5.32, 0.0000001);
-    ASSERT_NEAR(waypoints[1].pose.position.y, -8.85, 0.0000001);
-    ASSERT_NEAR(waypoints[2].pose.position.x, -0.56, 0.0000001);
-    ASSERT_NEAR(waypoints[2].pose.position.y, 0.24, 0.0000001);
-
-    ASSERT_NEAR(waypoints[3].pose.position.x, 3.67, 0.0000001);
-    ASSERT_NEAR(waypoints[3].pose.position.y, -0.24, 0.0000001);
-
-    ASSERT_NEAR(waypoints[4].pose.position.x, 1.07, 0.0000001);
-    ASSERT_NEAR(waypoints[4].pose.position.y, -12.38, 0.0000001);
-    ASSERT_NEAR(waypoints[5].pose.position.x, -5.32, 0.0000001);
-    ASSERT_NEAR(waypoints[5].pose.position.y, -8.85, 0.0000001);
-    ASSERT_NEAR(waypoints[6].pose.position.x, -0.56, 0.0000001);
-    ASSERT_NEAR(waypoints[6].pose.position.y, 0.24, 0.0000001);
+    ASSERT_NEAR(waypoints[0].pose.position.x, 6.7, 0.0000001);
+    ASSERT_NEAR(waypoints[0].pose.position.y, -2.54, 0.0000001);
+    ASSERT_NEAR(waypoints[1].pose.position.x, 0.45, 0.0000001);
+    ASSERT_NEAR(waypoints[1].pose.position.y, -3.9, 0.0000001);
+    ASSERT_NEAR(waypoints[2].pose.position.x, -6.01, 0.0000001);
+    ASSERT_NEAR(waypoints[2].pose.position.y, -0.3, 0.0000001);
+
+    ASSERT_NEAR(waypoints[3].pose.position.x, -1.0, 0.0000001);
+    ASSERT_NEAR(waypoints[3].pose.position.y, 4.14, 0.0000001);
+
+    ASSERT_NEAR(waypoints[4].pose.position.x, 6.7, 0.0000001);
+    ASSERT_NEAR(waypoints[4].pose.position.y, -2.54, 0.0000001);
+    ASSERT_NEAR(waypoints[5].pose.position.x, 0.45, 0.0000001);
+    ASSERT_NEAR(waypoints[5].pose.position.y, -3.9, 0.0000001);
+    ASSERT_NEAR(waypoints[6].pose.position.x, -6.01, 0.0000001);
+    ASSERT_NEAR(waypoints[6].pose.position.y, -0.3, 0.0000001);
   }
 }
 

br2_fsm_bumpgo_cpp/launch/bump_and_go.launch.py

@@ -26,7 +26,7 @@ def generate_launch_description():
                       }],
                       remappings=[
                         ('input_scan', '/scan_raw'),
-                        ('output_vel', '/nav_vel')
+                        ('output_vel', '/cmd_vel')
                       ])
 
     ld = LaunchDescription()

br2_fsm_bumpgo_py/launch/bump_and_go.launch.py

@@ -26,7 +26,7 @@ def generate_launch_description():
                       }],
                       remappings=[
                         ('input_scan', '/scan_raw'),
-                        ('output_vel', '/nav_vel')
+                        ('output_vel', '/cmd_vel')
                       ])
 
     ld = LaunchDescription()