Improve ROS2 doc

.cspell.json

@@ -0,0 +1,21 @@
+{
+  "version": "0.2",
+  "words": [
+    "Allman",
+    "cppcheck",
+    "doxyfile",
+    "graphviz",
+    "mattnotmitt",
+    "mrad",
+    "multirobot",
+    "pacman",
+    "teleop",
+    "Ulzer",
+    "wbsim",
+    "webots",
+    "Webots",
+    "XRCE",
+    "zumo",
+    "Zumo"
+  ]
+}

DroidControlShip.code-workspace

@@ -6,16 +6,8 @@
 	],
 	"settings": {
 		"editor.formatOnSave": true,
-		"cSpell.words": [
-			"cppcheck",
-			"teleop",
-			"Ulzer",
-			"wbsim",
-			"webots",
-			"Webots",
-			"XRCE",
-			"zumo",
-			"Zumo"
+		"conventionalCommits.scopes": [
+			"Logging"
 		]
 	}
 }

README.md

@@ -99,24 +99,24 @@ Set the IP address and the port in [platformio_override.ini](./platformio_overri
 
 Use *ipc* as *webots_protocol* for local connections and *tcp* for remote connections.
 
-| Key | Description |
-| --- | ----------- |
-| webots\_ip\_address | The IP address of the Webots simulation, which is used for TCP communication. |
-| webots\_protocol | \[ipc\|tcp\] - ipc is faster but only works on the same machine, tcp works also over network. |
+| Key                 | Description                                                                                      |
+| ------------------- | ------------------------------------------------------------------------------------------------ |
+| webots\_ip\_address | The IP address of the Webots simulation, which is used for TCP communication.                    |
+| webots\_protocol    | \[ipc\|tcp\] - ipc is faster but only works on the same machine, tcp works also over network.    |
 | webots\_robot\_name | The robot name used to identify the robot in the Webots world. See Webots world robot prototype. |
 
 PlatformIO project tasks --> <APP-NAME> --> Custom --> Launch
 
 #### Run without Webots launcher
 
-This can be choosen in case the simulation waits just for one robot.
+This can be chosen in case the simulation waits just for one robot.
 
 PlatformIO project tasks --> <APP-NAME> --> General --> Upload
 
 #### Run via terminal
 
-1. Open a command line (shell) and change to the folder with the built executable in ```.pio/build/LineFollowerSim```. This folder contains all necessary shared libraries as well.
-2. Start the executable.
+1. Open a command line (shell) and change to the folder with the built executable in ```.pio/build/<APPLICATION-NAME>```. This folder contains all necessary shared libraries as well.
+2. Start the ```program[.exe]``` executable.
 
 ## The target
 
@@ -144,15 +144,15 @@ In a similar way, not providing a WiFi configuration will force the target into
 
 ## The Applications
 
-| Application | Standalone | Zumo32U4 Robot Required | RadonUlzer Application | MQTT Broker Required |
-| - | - | - | - | - |
-| ConvoyLeader | No | Yes | ConvoyLeader | Yes |
-| ConvoyFollower | No | Yes | RemoteControl | Yes |
-| LineFollower | No | Yes | RemoteControl | No |
-| RemoteControl | No | Yes | RemoteControl | Yes |
-| SensorFusion | No | Yes | SensorFusion | Yes |
-| Test | Yes | No | N/A | No |
-| Turtle | No | Yes | RemoteControl | Yes (ROS2 + Micro-ROS Agent) |
+| Application    | Standalone | Zumo32U4 Robot Required | RadonUlzer Application | MQTT Broker Required         |
+| -------------- | ---------- | ----------------------- | ---------------------- | ---------------------------- |
+| ConvoyLeader   | No         | Yes                     | ConvoyLeader           | Yes                          |
+| ConvoyFollower | No         | Yes                     | RemoteControl          | Yes                          |
+| LineFollower   | No         | Yes                     | RemoteControl          | No                           |
+| RemoteControl  | No         | Yes                     | RemoteControl          | Yes                          |
+| SensorFusion   | No         | Yes                     | SensorFusion           | Yes                          |
+| Test           | Yes        | No                      | N/A                    | No                           |
+| Turtle         | No         | Yes                     | RemoteControl          | Yes (ROS2 + Micro-ROS Agent) |
 
 ## Documentation
 

doc/ROS2/setup/Agent.md

@@ -57,7 +57,7 @@ Start the MicroXRCEAgent binary to listen to **TCP** connections:
 
 ## Using the agent with the UDP interface
 
-> [!WARNING]  
+> [!WARNING]
 > Note: UDP ports on WSL are not working properly if you need to access them outside of the WSL VM (Status 2024-10-31). Use TCP with WSL instead.
 > See [https://github.com/micro-ROS/micro-ROS-Agent/issues/194](https://github.com/micro-ROS/micro-ROS-Agent/issues/194) for further details.
 > The mentioned ```netsh``` tool for port proxy forwarding only supports TCP.

doc/ROS2/setup/Webots.md

@@ -23,7 +23,7 @@ The setup procedure is described on [this page](https://docs.ros.org/en/jazzy/Tu
 
 ### Running Webots ROS2 Universal Robot (on Windows)
 
-See Task 2 from this [Jazzy documentaion page](https://docs.ros.org/en/jazzy/Tutorials/Advanced/Simulators/Webots/Installation-Ubuntu.html#launch-the-webots-ros2-universal-robot-example)
+See Task 2 from this [Jazzy documentation page](https://docs.ros.org/en/jazzy/Tutorials/Advanced/Simulators/Webots/Installation-Ubuntu.html#launch-the-webots-ros2-universal-robot-example)
 
 Replace ```<DRIVE>/<WEBOTS-INSTALLATION_DIRECTORY>``` in the following terminal commands:
 
@@ -94,12 +94,12 @@ Required change:
 ```python
 def is_wsl():
     # return 'microsoft-standard' in uname().release
-    return False                                                                                                        
+    return False
 ```
 
 ### Running Webots ROS2 Universal Robot (on Linux)
 
-See Task 2 from this [Jazzy documentaion page](https://docs.ros.org/en/jazzy/Tutorials/Advanced/Simulators/Webots/Installation-Ubuntu.html#launch-the-webots-ros2-universal-robot-example)
+See Task 2 from this [Jazzy documentation page](https://docs.ros.org/en/jazzy/Tutorials/Advanced/Simulators/Webots/Installation-Ubuntu.html#launch-the-webots-ros2-universal-robot-example)
 
 ```bash
     export WEBOTS_HOME=/usr/local/webots

doc/ROS2/setup/wsl.md

@@ -67,12 +67,11 @@ In the Ubuntu terminal:
 
 ## New Terminal Window
 
-Is is recommended to install the new Microsoft Terminal Window
-if not done already. It is available from
+Is is recommended to install the new Microsoft Terminal Window if not done already. It is available from
 
-[Github Microsoft Terminal](https://github.com/microsoft/terminal).
+[Github Microsoft Terminal](https://github.com/microsoft/terminal)
 
-It offers tabs, history and embedds all kinds of shells (cmd, powershell, Ubuntu, git ...)
+It offers tabs, history and embeds all kinds of shells (cmd, powershell, Ubuntu, git ...)
 
 ![New Shell](./img/new_shell.png)
 

doc/ROS2/uml/turtle_sim_webots.plantuml

@@ -20,15 +20,15 @@ node "PC" {
     package "ROS2" {
         cloud "ROS2 Logical Network" as ros2LogicalNetwork
 
-        node "teleop_turtle" <<executable>> as teleopTurtle {
+        node "turtle_teleop_key" <<executable>> as teleopTurtle {
             component "/teleop_turtle" <<ros2-node>> as teleopTurtleNode
         }
 
         node "Ros2SuperVisor" <<executable>> as wbSupervisorApp {
             component "/Ros2SuperVisor/Ros2SuperVisor" <<ros2-node>> as ros2SupervisorNode
             note bottom of ros2SupervisorNode
                 Simulation time through /clock topic.
-                May not be required.
+                May not be required. Currently disabled.
             end note
         }
 

doc/ROS2/webots/webots.md

@@ -1,35 +1,43 @@
-# Using DCS with Webots under ROS2
+# Using DCS with Webots under ROS2 <!-- omit in toc -->
 
-The page discussed how to integrate DCS with Webots and ROS2.
+This page discusses how to integrate DCS with Webots and ROS2.
+
+- [Deployment for TurtleSim Example](#deployment-for-turtlesim-example)
+- [Option 1: Building and Launching via Platformio](#option-1-building-and-launching-via-platformio)
+  - [RadonUlzer](#radonulzer)
+  - [DroidControlShip](#droidcontrolship)
+- [Option 2: Building and Launching via ROS2 Launcher](#option-2-building-and-launching-via-ros2-launcher)
 
 ## Deployment for TurtleSim Example
 
 ![turtle_sim_webots](http://www.plantuml.com/plantuml/proxy?cache=no&src=https://raw.githubusercontent.com/BlueAndi/DroidControlShip/main/doc/ROS2/uml/turtle_sim_webots.plantuml)
 
-## Building and Launching via Platformio
+## Option 1: Building and Launching via Platformio
 
 ### RadonUlzer
 
-1. Run the following command in the terminal:
+1. Run the following commands in the terminal:
 
 ```bash
+cd ~/RadonUlzer
 pio run -e RemoteControlSim -t webots_launcher_zumo_com_system
 ```
 
 ### DroidControlShip
 
-1. Set micro-ROS agent ip address and port in ```data/config.json``` in microROSAgent section.
-2. Run the following command in the terminal:
+1. Check/adapt micro-ROS agent host/port in the microROSAgent section of ```data/config.json```.
+2. Run the following commands in the terminal:
 
 ```bash
+cd ~/DroidControlShip
 pio run -e TurtleSim -t webots_launcher
 ```
 
-## Building and Launching via ROS2 Launcher
+## Option 2: Building and Launching via ROS2 Launcher
 
 Use the ROS2 Package wrapper `ros2_dcs_turtlesim` to build and launch
 the TurtleSim demo with DroidControlShip and RadonUlzer robots.
-The `ros2_dcs_turtlesim` package is availabe from it's own GIT repository at
+The `ros2_dcs_turtlesim` package is available from it's own GIT repository at
 [https://github.com/nhjschulz/ros2_dcs_turtlesim](https://github.com/nhjschulz/ros2_dcs_turtlesim).
 
 Create a Webots ros2 workspace as described in [setup/Webots.md](../setup/Webots.md),

lib/APPConvoyFollower/src/App.cpp

@@ -102,7 +102,7 @@ void App::setup()
     /* Register serial log sink and select it per default. */
     if (true == Logging::getInstance().registerSink(&gLogSinkSerial))
     {
-        (void)Logging::getInstance().selectSink("Serial");
+        (void)Logging::getInstance().selectSink(gLogSinkSerial.getName());
 
         /* Set severity of logging system. */
         Logging::getInstance().setLogLevel(CONFIG_LOG_SEVERITY);

lib/APPConvoyLeader/src/App.cpp

@@ -102,7 +102,7 @@ void App::setup()
     /* Register serial log sink and select it per default. */
     if (true == Logging::getInstance().registerSink(&gLogSinkSerial))
     {
-        (void)Logging::getInstance().selectSink("Serial");
+        (void)Logging::getInstance().selectSink(gLogSinkSerial.getName());
 
         /* Set severity of logging system. */
         Logging::getInstance().setLogLevel(CONFIG_LOG_SEVERITY);

lib/APPLineFollower/src/App.cpp

@@ -108,7 +108,7 @@ void App::setup()
     /* Register serial log sink and select it per default. */
     if (true == Logging::getInstance().registerSink(&gLogSinkSerial))
     {
-        (void)Logging::getInstance().selectSink("Serial");
+        (void)Logging::getInstance().selectSink(gLogSinkSerial.getName());
 
         /* Set severity of logging system. */
         Logging::getInstance().setLogLevel(CONFIG_LOG_SEVERITY);

lib/APPRemoteControl/src/App.cpp

@@ -107,7 +107,7 @@ void App::setup()
     /* Register serial log sink and select it per default. */
     if (true == Logging::getInstance().registerSink(&gLogSinkSerial))
     {
-        (void)Logging::getInstance().selectSink("Serial");
+        (void)Logging::getInstance().selectSink(gLogSinkSerial.getName());
 
         /* Set severity of logging system. */
         Logging::getInstance().setLogLevel(CONFIG_LOG_SEVERITY);
@@ -481,4 +481,4 @@ void App_currentVehicleChannelCallback(const uint8_t* payload, const uint8_t pay
         LOG_WARNING("%s: Invalid payload size. Expected: %u Received: %u", CURRENT_VEHICLE_DATA_CHANNEL_NAME,
                     CURRENT_VEHICLE_DATA_CHANNEL_DLC, payloadSize);
     }
-}
+}

lib/APPSensorFusion/src/App.cpp

@@ -104,7 +104,7 @@ void App::setup()
     /* Register serial log sink and select it per default. */
     if (true == Logging::getInstance().registerSink(&gLogSinkSerial))
     {
-        (void)Logging::getInstance().selectSink("Serial");
+        (void)Logging::getInstance().selectSink(gLogSinkSerial.getName());
 
         /* Set severity of logging system. */
         Logging::getInstance().setLogLevel(CONFIG_LOG_SEVERITY);
@@ -285,4 +285,4 @@ void App_sensorChannelCallback(const uint8_t* payload, const uint8_t payloadSize
         LOG_WARNING("SENSOR_DATA:: Invalid payload size. Expected: %u Received: %u", SENSORDATA_CHANNEL_DLC,
                     payloadSize);
     }
-}
+}

lib/APPTurtle/src/App.cpp

@@ -88,7 +88,7 @@ void App::setup()
     /* Register serial log sink and select it per default. */
     if (true == Logging::getInstance().registerSink(&gLogSinkSerial))
     {
-        (void)Logging::getInstance().selectSink("Serial");
+        (void)Logging::getInstance().selectSink(gLogSinkSerial.getName());
 
         /* Set severity of logging system. */
         Logging::getInstance().setLogLevel(CONFIG_LOG_SEVERITY);
@@ -293,10 +293,12 @@ void App::handleTurtle()
     /* Check for new data. */
     if (true == m_isNewTurtleSpeedSetpoint)
     {
+        // clang-format off
         RobotSpeed    payload;
         const int32_t MILLI_CONVERSION_FACTOR = 1000;
-        int32_t       linearSpeed = m_turtleSpeedSetpoint.linear.x * MILLI_CONVERSION_FACTOR; /* Linear speed in mm/s */
-        int32_t       angularSpeed = m_turtleSpeedSetpoint.angular.z * MILLI_CONVERSION_FACTOR; /* Angular speed in mrad/s */
+        int32_t       linearSpeed             = m_turtleSpeedSetpoint.linear.x * MILLI_CONVERSION_FACTOR;  // Linear speed in mm/s
+        int32_t       angularSpeed            = m_turtleSpeedSetpoint.angular.z * MILLI_CONVERSION_FACTOR; // Angular speed in mrad/s
+        // clang-format on
 
         payload.linearCenter = linearSpeed;
         payload.angular      = angularSpeed;

lib/APPTurtle/src/MicroRosClient.cpp

@@ -222,7 +222,7 @@ bool MicroRosClient::createEntities()
                 else
                 {
                     m_isExecutorInitialized = true;
-                    isSuccessful = true;
+                    isSuccessful            = true;
                 }
             }
         }
@@ -244,7 +244,7 @@ void MicroRosClient::destroyEntities()
     /* Clean up entities in reverse order of initialization. */
     if (true == m_isExecutorInitialized)
     {
-        ret = rclc_executor_fini(&m_executor);
+        ret                     = rclc_executor_fini(&m_executor);
         m_isExecutorInitialized = false;
     }
 
@@ -323,7 +323,7 @@ void MicroRosClient::waitingForAgentState()
             if (RMW_RET_OK == rmw_uros_ping_agent(MICRO_ROS_AGENT_PING_TIMEOUT, MICRO_ROS_AGENT_PING_ATTEMPTS))
             {
                 m_timer.stop();
-                m_state = STATE_CONNECTING;
+                m_state                      = STATE_CONNECTING;
                 m_numberOfConnectionAttempts = MAX_CONNECTING_ATTEMPTS;
             }
             else if (false == m_timer.isTimerRunning())

lib/APPTurtle/src/MicroRosClient.h

@@ -195,7 +195,7 @@ class MicroRosClient
     BaseSubscriber* m_subscribers[RMW_UXRCE_MAX_SUBSCRIPTIONS];
 
     /**
-     * Counter of subscribtions.
+     * Counter of subscriptions.
      */
     size_t m_numberOfHandles;
 

lib/PlatoonService/src/CollisionAvoidance.h

@@ -69,7 +69,7 @@ class CollisionAvoidance
      */
     CollisionAvoidance(Telemetry::Range closestProximityRangeValue, Telemetry::Range rangeThreshold) :
         m_closestProximityRangeValue(closestProximityRangeValue),
-        m_rangeThreshold(rangeThreshold) {};
+        m_rangeThreshold(rangeThreshold){};
 
     /**
      * Default Destructor.

lib/Utilities/src/Logging.h

@@ -258,11 +258,11 @@ class Logging
     void unregisterSink(LogSink* sink);
 
     /**
-     * Select log sink.
+     * Selects a log sink by name.
      *
      * @param[in] name Log sink name
      *
-     * @return If sink is selected, it will return true otherwise false.
+     * @return True if the sink has been selected successfully; false otherwise.
      */
     bool selectSink(const String& name);