General code maintenance - focus on ROSbot XL manipulation (#138)

Author: rafal-gorecki

.docs/gamepad_manipulation.drawio.png

@@ -0,0 +1,29 @@
+---
+name: Backport
+
+on:
+  pull_request_target:
+    types: [closed]
+  workflow_dispatch:
+    inputs:
+      pr_number:
+        description: Pull request number to backport. Please add backport labels to the PR before running
+          this workflow.
+        required: true
+
+jobs:
+  backport:
+    name: Backport
+    runs-on: ubuntu-latest
+    if: >
+      (github.event_name == 'workflow_dispatch') ||
+      (
+        github.event_name == 'pull_request_target' &&
+        github.event.pull_request.merged
+      )
+    steps:
+      - uses: actions/checkout@v4
+      - uses: korthout/backport-action@v3
+        with:
+          github_token: ${{ secrets.GH_PAT }}
+          source_pr_number: ${{ inputs.pr_number || github.event.pull_request.number }}

.github/workflows/backport.yaml

@@ -21,7 +21,7 @@ jobs:
         uses: actions/checkout@v4
 
       - name: Setup ROS environment
-        uses: ros-tooling/setup-ros@0.7.9
+        uses: ros-tooling/setup-ros@0.7.13
         with:
           use-ros2-testing: true
 
@@ -39,7 +39,7 @@ jobs:
                 "packages-up-to": ["rosbot"]
               },
               "test": {
-                "packages-skip": ["rosbot_bringup", "rosbot_gazebo"],
+                "packages-skip": ["rosbot_bringup", "rosbot_gazebo", "rosbot_joy"],
                 "packages-select-regex": ["rosbot*"]
               }
             }

.github/workflows/run-tests.yaml

@@ -27,7 +27,7 @@ Documentation is available in ROS_API.md.
    ```bash
    mkdir rosbot_ws
    cd rosbot_ws
-   git clone https://github.com/husarion/rosbot_ros.git src/rosbot_ros
+   git clone -b jazzy https://github.com/husarion/rosbot_ros.git src/rosbot_ros
    ```
 
 ### Configure environment
@@ -56,7 +56,6 @@ vcs import src < src/rosbot_ros/rosbot/manipulator.repos # For ROSbot XL manipul
 
 sudo rosdep init
 rosdep update --rosdistro $ROS_DISTRO
-export PIP_BREAK_SYSTEM_PACKAGES=1
 rosdep install -i --from-path src --rosdistro $ROS_DISTRO -y
 
 colcon build --symlink-install --packages-up-to rosbot --cmake-args -DCMAKE_BUILD_TYPE=Release
@@ -100,6 +99,8 @@ ros2 launch rosbot_gazebo simulation.launch.py robot_model:=<rosbot/rosbot_xl>
 | ✅  | ✅  | `components_config` | Specify file which contains components. These components will be included in URDF. Available options can be found in [ros_components_description](https://github.com/husarion/ros_components_description/blob/jazzy/README.md#available-urdf-sensors) <br/> **_string_:** [`components.yaml`](rosbot_description/config/components.yaml)                                                                                       |
 | ✅  | ✅  | `configuration` | Specify configuration packages. Currently only ROSbot XL has available packages. Packages: `basic`, `telepresence`, `autonomy`, `manipulation`, `manipulation_pro`. <br/> **_string:_** 'basic'                                                                          |
 | ✅  | ✅  | `controller_config` | Path to controller configuration file. <br/> **_string:_** [`{robot_model}/{mecanum/diff}_drive_controller.yaml`](rosbot_controller/config/)                                                                                       |
+| ✅  | ✅  | `joy_config`       | The file path to the configuration YAML file for the `teleop_twist_joy` node. <br/> **_string:_** [`joy.yaml`](rosbot_bringup/config/joy.yaml) |
+| ✅  | ✅  | `joy_vel`       | The topic name to which velocity commands will be published. <br/> **_string:_** `cmd_vel` |
 | ✅  | ✅  | `mecanum`           | Whether to use mecanum drive controller, otherwise use diff drive. <br/> **_bool:_** `False`                                                                                       |
 | ✅  | ✅  | `namespace`         | Add namespace to all launched nodes. <br/> **_string:_** `env(ROBOT_NAMESPACE)`                                                                                                                       |
 | ✅  | ✅  | `robot_model`       | Specify robot model. <br/> **_string:_** `env(ROBOT_MODEL_NAME)` (choices: `rosbot`, `rosbot_xl`)                                                                                                                       |

README.md

@@ -1,12 +1,4 @@
 repositories:
-  dynamixel_hardware_interface: # Should be available in apt after sync
-    type: git
-    url: https://github.com/ROBOTIS-GIT/dynamixel_hardware_interface.git
-    version: 4e0c7ba6f0650c0fe1e97b421788a58388df63de
-  dynamixel_interfaces: # Should be available in apt after sync
-    type: git
-    url: https://github.com/ROBOTIS-GIT/dynamixel_interfaces.git
-    version: 3392e1214c62c7ee9e05ccc811e3e829c063bae8
   open_manipulator_x:
     type: git
     url: https://github.com/husarion/open_manipulator_x

rosbot/manipulator.repos

@@ -10,7 +10,7 @@ repositories:
   ros_components_description:
     type: git
     url: https://github.com/husarion/ros_components_description.git
-    version: 9f914cfd5e153f4cd012711e8fa031bef6bb346c
+    version: 8ab5219b0663204afbe9987f6472d832e02539c6
   rosbot_hardware_interfaces:
     type: git
     url: https://github.com/husarion/rosbot_hardware_interfaces.git

rosbot/rosbot_hardware.repos

@@ -10,4 +10,4 @@ repositories:
   ros_components_description:
     type: git
     url: https://github.com/husarion/ros_components_description.git
-    version: 9f914cfd5e153f4cd012711e8fa031bef6bb346c
+    version: 8ab5219b0663204afbe9987f6472d832e02539c6

rosbot/rosbot_simulation.repos

@@ -57,6 +57,7 @@ def generate_launch_description():
 
     rosbot_bringup = FindPackageShare("rosbot_bringup")
     rosbot_controller = FindPackageShare("rosbot_controller")
+    rosbot_joy = FindPackageShare("rosbot_joy")
     rosbot_localization = FindPackageShare("rosbot_localization")
     rosbot_utils = FindPackageShare("rosbot_utils")
 
@@ -89,6 +90,12 @@ def generate_launch_description():
         launch_arguments={"robot_model": robot_model}.items(),
     )
 
+    joy_launch = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            PathJoinSubstitution([rosbot_joy, "launch", "joy.launch.py"])
+        )
+    )
+
     green_color = "\033[92m"
     reset_color = "\033[0m"
 
@@ -109,6 +116,7 @@ def generate_launch_description():
         microros_launch,
         localization_launch,
         laser_filter_launch,
+        joy_launch,
         status_info,
     ]
 

rosbot_bringup/launch/bringup.launch.py

@@ -20,6 +20,7 @@
   <exec_depend condition="$HUSARION_ROS_BUILD_TYPE == hardware">launch_ros</exec_depend>
   <exec_depend condition="$HUSARION_ROS_BUILD_TYPE == hardware">micro_ros_agent</exec_depend>
   <exec_depend condition="$HUSARION_ROS_BUILD_TYPE == hardware">rosbot_controller</exec_depend>
+  <exec_depend condition="$HUSARION_ROS_BUILD_TYPE == hardware">rosbot_joy</exec_depend>
   <exec_depend condition="$HUSARION_ROS_BUILD_TYPE == hardware">rosbot_localization</exec_depend>
   <exec_depend condition="$HUSARION_ROS_BUILD_TYPE == hardware">rosbot_utils</exec_depend>
 

rosbot_bringup/package.xml

@@ -23,7 +23,7 @@
 
 setup(
     name=package_name,
-    version="0.14.0",
+    version="0.15.1",
     packages=find_packages(exclude=["test"]),
     data_files=[
         ("share/ament_index/resource_index/packages", [f"resource/{package_name}"]),