Rowzaw/GitHub action setup

.github/workflows/test.yaml

@@ -0,0 +1,37 @@
+name: Run setup and colcon build for Dev
+on: push
+jobs:
+  setup_and_build_check:
+    runs-on: ubuntu-22.04
+    steps:
+     - uses: actions/checkout@v4
+     - name: enviroment setupg
+       run: |
+         export ROVERFLAKE_ROOT="${GITHUB_WORKSPACE}"
+         yes | ./setup_scripts/setup_everything_common.sh
+     - name: build
+       run: |
+         cd $ROVERFLAKE_ROOT
+         echo $ROS_DISTRO
+         source /opt/ros/humble/setup.bash
+         echo $ROS_DISTRO
+         colcon build --symlink-install --packages-skip sweeppy  
+     - name: Notify Discord (success)
+       if: ${{ success() }}
+       uses: appleboy/[email protected]
+       with:
+        webhook_id: ${{ secrets.DISCORD_BOT_WEBHOOK_ID }} # it also accepts full URL
+        webhook_token: ${{ secrets.DISCORD_BOT_WEBHOOK_TOKEN }} # it also accepts full URL
+        message: |
+              *I'm happy now and I'll let you merge ${{ github.actor }}. _good job!_* || ${{ github.repository }} on `${{ github.ref_name }}`
+              ${{ github.server_url }}/${{ github.repository }}/actions/runs/${{ github.run_id }}
+     - name: Notify Discord (failure)
+       if: ${{ failure() }}
+       uses: appleboy/[email protected]
+       with:
+        webhook_id: ${{ secrets.DISCORD_BOT_WEBHOOK_ID }} # it also accepts full URL
+        webhook_token: ${{ secrets.DISCORD_BOT_WEBHOOK_TOKEN }} # it also accepts full URL
+        message: |
+              _you have saddened me ${{ github.actor }}_
+              ${{ github.server_url }}/${{ github.repository }}/actions/runs/${{ github.run_id }}
+

.gitignore

@@ -18,6 +18,10 @@ build_isolated/
 devel_isolated/
 phidgetlog.log
 
+# install files
+random_install_files/*
+
+
 # Generated by dynamic reconfigure
 *.cfgc
 /cfg/cpp/
@@ -64,3 +68,4 @@ log/
 **/TODO.md
 
 .vscode/settings.json
+

README.md

@@ -21,10 +21,23 @@ _Obviously you are welcome to use HTTPS or another form of authentication (like
 
 Then cd in, and we can use setup scripts from here. 
 
+Before using setup scripts, you need to set your `ROVERFLAKE_ROOT` enviroment variable. Its best to throw this in your .bashrc file so that it sets permanently. 
+One liner to do that:
+> `echo "export ROVERFLAKE_ROOT=<path_to_roverflake>" >> ~/.bashrc`
+
+If the repo is in your home directory, youd do:
+> `echo "export ROVERFLAKE_ROOT=/home/<your_user>/Roverflake2" >> ~/.bashrc`
+
 > `bash setup_scripts/setup_everything_common.sh`
 
 This script will install ros2, as well as other common dependencies. 
 
+After that script finishes, try to build!
+From the root of RoverFlake2:
+> `colcon build`
+(it should automatically use --symlink-install as set in `colcon_defaults.yaml`)
+
+If you get an error... panic, scream, and hurl insults at your computer. Then look at common issues and ask for help in the discord. 
 
 ### COMMON ISSUES & TROUBLESHOOTING
 arm_hardware_interface fails to build:

colcon.defaults.yaml

@@ -0,0 +1,4 @@
+build:
+  cmake-args:
+    - -DCMAKE_POLICY_DEFAULT_CMP0167=OLD
+    - -DCMAKE_POLICY_DEFAULT_CMP0148=OLD

setup_scripts/install-ros2-humble.sh

@@ -1,4 +1,4 @@
-source $HOME/RoverFlake2/setup_scripts/utils/common.sh
+source $ROVERFLAKE_ROOT/setup_scripts/utils/common.sh
 
 echo CHECKING FOR ROS2 DESKTOP
 if is_package_installed "ros-humble-desktop"; then
@@ -23,14 +23,13 @@ else
     echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null
 
     sudo apt update
-
     sudo apt upgrade
 
     sudo apt install ros-humble-desktop
-
     sudo apt install ros-dev-tools
 
     echo source /opt/ros/humble/setup.bash >> ~/.bashrc
+    source ~/.bashrc
 fi
 
 echo install-ros2-humble.sh complete.

setup_scripts/install_libsweepsdk.sh

@@ -0,0 +1,19 @@
+cd ${RANDOM_INSTALL_FILE_DIR}
+
+# clone the sweep-sdk repository
+git clone https://github.com/scanse/sweep-sdk
+
+# enter the libsweep directory
+cd sweep-sdk/libsweep
+
+# create and enter a build directory
+mkdir -p build
+cd build
+
+# build and install the libsweep library
+cmake .. -DCMAKE_BUILD_TYPE=Release
+cmake --build .
+sudo cmake --build . --target install
+sudo ldconfig
+
+cd ${ROVERFLAKE_ROOT}

setup_scripts/install_moveit_dependencies.sh

@@ -1,5 +1,6 @@
 source $HOME/RoverFlake2/setup_scripts/utils/common.sh
-echo script not ready yet
+echo script not ready yet && false
+
 
 # apt_packages_to_install=(
 #     "ros-humble-moveit-"

setup_scripts/install_rosdeps.sh

@@ -1,2 +1,2 @@
 echo Run from RoverFlake2 root dir
-rosdep install --from-paths src --ignore-src -r -y
+rosdep install --from-paths src --ignore-src -r --skip-keys="serial moteus_msgs" -y

setup_scripts/rover_env/cbs_env_setup.sh

@@ -0,0 +1,2 @@
+# this is only for the control base station.
+source ${ROVERFLAKE_ROOT}/src/rover_manager/screenScripts/cb_env_variables.sh

setup_scripts/rover_env/rover_aliases_common.sh

@@ -0,0 +1,9 @@
+# all our common aliases. 
+alias rosbuild="cd ${ROVERFLAKE_ROOT} && colcon build --symlink-install"
+alias rosclean="cd ${ROVERFLAKE_ROOT} && rm -rf build/ install/ log/"
+
+
+
+# Keyboard layouts for the weirdos
+alias colemak="setxkbmap us -variant colemak"
+alias qwfpgj="setxkbmap us"

setup_scripts/rover_env/rover_env_common.sh

@@ -0,0 +1,4 @@
+# During setup, this file is added to your .bashrc via a single line (source rover_env_common.sh) similar to how /opt/ros/humble/setup.bash is added
+source ${ROVERFLAKE_ROOT}/setup_scripts/rover_env/rover_aliases_common.sh #Aliases like rosbuild, rosclean etc
+source ${ROVERFLAKE_ROOT}/setup_scripts/rover_env/rover_env_vars.sh
+source ${ROVERFLAKE_ROOT}/install/setup.bash # Default to sourcing the repo (May mess up if you have multiple ROS2 or ROS repos)

setup_scripts/rover_env/rover_env_vars.sh

@@ -0,0 +1,4 @@
+# All our common enviroment variables
+export COLCON_DEFAULTS_FILE="${ROVERFLAKE_ROOT}/colcon.defaults.yaml"
+
+export RANDOM_INSTALL_FILE_DIR="${ROVERFLAKE_ROOT}/random_install_files"

setup_scripts/setup_everything_common.sh

@@ -1,4 +1,18 @@
-source $HOME/RoverFlake2/setup_scripts/utils/common.sh
+
+# ? we can do a script dir, but easier and more explicit just to get the user to define their repo root
+# SCRIPT_DIR="$( cd -- "$( dirname -- "${BASH_SOURCE[0]}" )" &> /dev/null && pwd )"
+echo $ROVERFLAKE_ROOT
+
+# check if VAR is unset or empty
+if [ -z "${ROVERFLAKE_ROOT}" ]; then
+  echo "ROVERFLAKE_ROOT is not set (or empty). That makes me really sad."
+  sleep 2
+  echo "Please set the enviroment variable in your bashrc to the root of RoverFlake2/"
+  exit 1
+fi
+
+
+source $ROVERFLAKE_ROOT/utils/common.sh
 
 clear
 
@@ -20,11 +34,10 @@ sleep 1.0
 echo starting with ros2...
 
 #sudo apt update
-cd $HOME/RoverFlake2/setup_scripts/
+cd $ROVERFLAKE_ROOT/setup_scripts/
 bash install_dependencies.sh
 bash install-ros2-humble.sh # also runs apt update, if ros2 is not installed
 
-
 apt_packages_to_install=(
     "curl"
     "git"
@@ -53,12 +66,29 @@ for package in "${apt_packages_to_install[@]}"; do
         fi
     fi
 done
-cd $HOME/RoverFlake2/
+cd $ROVERFLAKE_ROOT
+
 source /opt/ros/humble/setup.bash
 #install ros2 packages
 sudo rosdep init
 rosdep update
-rosdep install --from-paths src -y --ignore-src
+bash setup_scripts/install_rosdeps.sh
+
+# setup user enviroment
+mkdir ${ROVERFLAKE_ROOT}/random_install_files
+echo "source ${ROVERFLAKE_ROOT}/setup_scripts/rover_env/rover_env_common.sh " >> ~/.bashrc
+
+
+# install libsweep
+bash ${ROVERFLAKE_ROOT}/setup_scripts/install_libsweepsdk.sh
+
+
+cd ${ROVERFLAKE_ROOT}
+bash setup_scripts/submodule_update.sh
+
+
+
+
 # for package in "${ros_packages_to_install[@]}"; do
 #     if is_package_installed "$package"; then
 #         echo "Package '$package' is already installed."

setup_scripts/submodule_update.sh

@@ -0,0 +1 @@
+git submodule update --init --recursive

setup_scripts/utils/common.sh

@@ -1,5 +1,8 @@
-
 # export ROVERFLAKE_INSTALL_SCRIPTS_UTILS_SOURCED="true"
+# Resolve repo root
+COMMON_SCRIPT_DIR="$( cd -- "$( dirname -- "${BASH_SOURCE[0]}" )" &> /dev/null && pwd )"
+
+REPO_ROOT="${COMMON_SCRIPT_DIR}/../../"
 
 is_package_installed(){
         local package_name="$1"

src/arm_control/CMakeLists.txt

@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.8)
+cmake_minimum_required(VERSION 3.10)
 project(arm_control)
 
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")

src/arm_control/package.xml

@@ -38,6 +38,10 @@
   <exec_depend>robot_state_publisher</exec_depend>
   <exec_depend>tf2_ros</exec_depend>
 
+  <depend>rover_utils</depend> 
+  <depend>moteus_msgs</depend> 
+
+
   <test_depend>ament_cmake_gtest</test_depend>
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>

src/arm_hardware_interface/package.xml

@@ -15,10 +15,11 @@
 
   <depend>rclcpp</depend>
   <depend>sensor_msgs</depend>
-  <depend>serial</depend>
   <depend>rover_msgs</depend>
   <depend>arm_control</depend>
 
+<!-- Rosdep fails with the following: -->
+  <depend>serial</depend>
 
   <export>
     <build_type>ament_cmake</build_type>

src/aruco_detector/package.xml

@@ -14,8 +14,9 @@
   <depend>cv_bridge</depend>
   <depend>sensor_msgs</depend>
   <depend>std_msgs</depend>
-  <depend>OpenCV</depend>
-  <depend>cv2_aruco</depend>  
+  <!-- Rosdep fails with the following: -->
+  <!-- <depend>cv2_aruco</depend>   -->
+  <!-- <depend>OpenCV</depend> -->
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>

src/cameras_cpp/package.xml

@@ -8,6 +8,8 @@
   <license>TODO: License declaration</license>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
+  <!-- <depend>rover_utils</depend> -->
+  <build_export_depend>rover_utils</build_export_depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>

src/dev_arm_description/CMakeLists.txt

@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.5)
+cmake_minimum_required(VERSION 3.10)
 
 project(dev_arm_description)
 

src/dev_arm_moveit_config_v2/package.xml

@@ -42,9 +42,10 @@
   <exec_depend>rviz_common</exec_depend>
   <exec_depend>rviz_default_plugins</exec_depend>
   <exec_depend>tf2_ros</exec_depend>
-  <exec_depend>warehouse_ros_mongo</exec_depend>
   <exec_depend>xacro</exec_depend>
 
+<!-- Fuck outta here mongo, don't know where you came from -->
+  <!-- <exec_depend>warehouse_ros_mongo</exec_depend> -->
 
   <export>
       <build_type>ament_cmake</build_type>