Merge pull request #4 from clubcapra/fix-env

Fix-env

.devcontainer/Dockerfile

@@ -1,33 +1,41 @@
-FROM ghcr.io/clubcapra/gazebo:harmonic
+FROM ros:humble-ros-base
 
 # Add vscode user with same UID and GID as your host system
 # (copied from https://code.visualstudio.com/remote/advancedcontainers/add-nonroot-user#_creating-a-nonroot-user)
 ARG USERNAME=ovis
 ARG USER_UID=1000
 ARG USER_GID=$USER_UID
 
+# ENV variables
+ENV ROS_DISTRO=humble
+ENV GZ_VERSION=harmonic
+
 WORKDIR /workspace/$USERNAME
 
-RUN groupadd --gid $USER_GID $USERNAME \
+RUN groupadd --gid $USER_GID $USERNAME || true \
     && groupadd -g 107 input \
     && useradd -s /bin/bash --uid $USER_UID -g $USER_GID -G 107 -m $USERNAME \
     && apt-get update \
-    && apt-get install -y sudo \
+    && apt-get install -y sudo tesseract-ocr \
     && echo $USERNAME ALL=\(root\) NOPASSWD:ALL > /etc/sudoers.d/$USERNAME \
     && chmod 0440 /etc/sudoers.d/$USERNAME
 
+# Give user serial device permission
+RUN usermod -a -G dialout $USERNAME
+
 # Update all packages
 RUN apt update && apt upgrade -y
 
 # Install Git
 RUN apt install -y git
 
-# Copy to preload the ros packages
-COPY ./ /workspace/$USERNAME/
-
 # Change user
+RUN chown $USER_UID:$USER_GID /workspace/$USERNAME
 USER $USERNAME
 
+# Copy to preload the ros packages
+COPY ./ /workspace/$USERNAME/
+
 # Rosdep update
 RUN rosdep update
 RUN rosdep install --from-paths src --ignore-src --rosdistro humble -y

README.md

@@ -1,15 +1,33 @@
 # ovis-ros2
 
-Launch gazebo command:
+Ovis is a 6 Degrees of Freedom (DoF) robotic arm developed by the CAPRA student club. It is designed to be highly versatile and is compatible with MoveIt for motion planning and Kinova motors for precise control. This repository provides the necessary tools and launch files to simulate and visualize the Ovis robotic arm using ROS2.
+
+
+## Installation
+
+Clone and build the repository :
 ```bash
+git clone https://github.com/clubcapra/ovis_ros2.git
+cd ovis_ros2
 colcon build --symlink-install
 source install/setup.bash
-ros2 launch ovis_description sim.launch.py
 ```
 
-Launch rviz command:
+## Usage
+
+Start the gazebo simulation :
+```bash
+ros2 launch ovis_bringup sim.launch.py
+```
+
+Launch gui state publisher and arm visualization :
 ```bash
 colcon build --symlink-install
 source install/setup.bash
 ros2 launch ovis_description launch.py
+```
+
+Launch MoveIt! :
+```bash
+ros2 launch ovis_moveit demo.launch.py
 ```

docs/ros_architecture.puml

@@ -1,61 +1,20 @@
 @startuml
 
 folder "Ovis" as ovis {
-    [gazebo]
-    [hardware]
-    [slam]
-    [navigation]
     [description]
     [bringup]
-    [control]
-    [nlp]
-}
-
-package "Ovis control" as control {
-    [control.launch.py]
-    [teleop.launch.py]
-    [keyboard.launch.py]
-    [joy.launch.py]
-}
-
-package "Natural Language Processing" as nlp {
-    [capra_gpt.launch.py]
-    [web_server.launch.py]
-    [local_chat.launch.py]
-}
-
-package "Ovis hardware" as hardware {
-    [camera.launch.py]
-    [imu.launch.py]
-    [lidar.launch.py]
-    [flipper.launch.py]
-    [track.launch.py]
-    node "motor controller" as motor {
-    }
 }
 
 package "Ovis description" as description {
-    [description.launch.py]
-}
-
-package "Ovis Gazebo" as gazebo {
-    [sim.launch.py]
+    [launch.py]
 }
 
 package "Ovis Bringup" as bringup {
-    [ovis.launch.py]
-    [base.launch.py]
-    [top.launch.py]
-}
-
-package "Ovis Navigation" as navigation {
-    [nav2.launch.py]
+    [sim.launch.py]
 }
 
-package "Ovis SLAM" as slam {
-    [slam.launch.py]
-    [ekf.launch.py]
-    [slam_3d.launch.py]
+package "Ovis Manipulation" as manipulation {
+    [moveit.launch.py]
 }
 
 @enduml

src/ovis_bringup/launch/common.launch.py

@@ -0,0 +1,52 @@
+import os
+
+from ament_index_python.packages import get_package_share_directory
+from launch import LaunchDescription
+from launch.actions import IncludeLaunchDescription
+
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.substitutions import Command
+from launch_ros.actions import Node
+from launch_ros.parameter_descriptions import ParameterValue
+
+
+def generate_launch_description():
+    # Get the launch directory
+    pkg_ovis_description = get_package_share_directory('ovis_description')
+    bringup_pkg_path = get_package_share_directory('ovis_bringup')
+
+    # Get the URDF file
+    urdf_path = os.path.join(pkg_ovis_description, 'urdf', 'ovis_standalone.urdf.xacro')
+    robot_desc = ParameterValue(Command(['xacro ', urdf_path]), value_type=str)
+
+    # Takes the description and joint angles as inputs and publishes
+    robot_state_publisher = Node(
+        package='robot_state_publisher',
+        executable='robot_state_publisher',
+        name='robot_state_publisher',
+        output='both',
+        parameters=[
+            {'robot_description': robot_desc},
+            {"use_sim_time": True, }
+        ]
+    )
+
+    # Visualize in RViz
+    rviz = Node(
+       package='rviz2',
+       executable='rviz2',
+       arguments=['-d', os.path.join(pkg_ovis_description, 'config',
+                                     'basic.rviz')],
+    )
+
+    teleop = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(bringup_pkg_path, "launch", "ovis_controller_usb.launch.py"),
+        ),
+    )
+
+    return LaunchDescription([
+            robot_state_publisher,
+            rviz,
+            teleop,
+            ])

src/ovis_bringup/launch/sim.launch.py

@@ -0,0 +1,71 @@
+import os
+
+from ament_index_python.packages import get_package_share_directory
+from launch import LaunchDescription
+from launch.actions import IncludeLaunchDescription
+
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.substitutions import Command
+from launch_ros.actions import Node
+from launch_ros.parameter_descriptions import ParameterValue
+from launch.actions import DeclareLaunchArgument
+
+
+def generate_launch_description():
+    # Configure ROS nodes for launch
+
+    # Get the launch directory
+    pkg_ovis_bringup = get_package_share_directory('ovis_bringup')
+    pkg_ovis_description = get_package_share_directory('ovis_description')
+    pkg_ros_gz_sim = get_package_share_directory('ros_gz_sim')
+
+    # Get the URDF file
+    world_file_name = 'worlds/base_world.world'
+    world = os.path.join(pkg_ovis_description, world_file_name)
+
+    # Setup to launch the simulator and Gazebo world
+    gz_sim = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(pkg_ros_gz_sim, 'launch', 'gz_sim.launch.py')),
+        launch_arguments={'gz_args': "-v 4 -r " + world}.items(),
+    )
+
+    # Spawn robot
+    create = Node(
+        package='ros_gz_sim',
+        executable='create',
+        arguments=['-name', 'ovis',
+                   '-topic', 'robot_description',
+                   '-x', '0',
+                   '-y', '0',
+                   '-z', '0.1',
+                   ],
+        output='screen',
+    )
+
+    # Bridge ROS topics and Gazebo messages for establishing communication
+    bridge = Node(
+        package='ros_gz_bridge',
+        executable='parameter_bridge',
+        parameters=[{
+            'config_file': os.path.join(pkg_ovis_description, 'config',
+                                        'default_bridge.yaml'),
+            'qos_overrides./tf_static.publisher.durability': 'transient_local',
+            "use_sim_time": True,
+        }],
+        output='screen'
+    )
+
+    # Include common launch configuration
+    common = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(pkg_ovis_bringup, "launch", "common.launch.py"),
+        ),
+    )
+
+    return LaunchDescription([
+            gz_sim,
+            bridge,
+            create,
+            common,
+            ])