Merge pull request #68 from clubcapra/doc/clean_readme

Doc/clean readme

Author: SimonR99

.devcontainer/Dockerfile

@@ -64,7 +64,7 @@ RUN vcs import src < rove.repos
 RUN rosdep update
 
 # Install ROS dependencies
-RUN rosdep install --from-paths src --ignore-src --rosdistro humble -y
+RUN rosdep install --from-paths src --ignore-src -r -y
 
 # Install gzharmonic after rosdep install
 RUN sudo apt install -y ros-humble-ros-gzharmonic

.github/workflows/build.yml

@@ -17,5 +17,5 @@ jobs:
         docker compose build --build-arg USER_UID=$(id -u) --build-arg USER_GID=$(id -g)
     - name: Build rove
       run: |
-        docker compose run devcontainer bash -c "colcon build --packages-ignore zed_components zed_wrapper"
+        docker compose run devcontainer bash -c "colcon build"
 

README.md

@@ -40,32 +40,41 @@ To install ROS2 and vcs natively: https://docs.ros.org/en/humble/Installation/Ub
 
 Note: At the step `sudo apt install ros-humble-desktop` do `sudo apt install ros-humble-desktop-full` instead.
 
+Before installing the robot software, you need to install the simulator : https://gazebosim.org/docs/harmonic/install_ubuntu/#binary-installation-on-ubuntu
+
 ```bash
-git clone https://github.com/gazebosim/ros_gz.git -b humble # Install gazebo locally
 git clone https://github.com/clubcapra/rove.git
+cd rove
 vcs import src < rove.repos
+sudo rosdep init
+rosdep update
+rosdep install --from-paths src --ignore-src -r -y
+colcon build --symlink-install
+source install/setup.bash
+```
+
+If you intend to control the robot you might need to add the hardware package to the build (If you aren't sure, you probably don't need it):
+
+```bash
+vcs import src < rove_hw.repos
+rosdep install --from-paths src --ignore-src -r -y
 colcon build --symlink-install
 source install/setup.bash
 ```
 
+
 ## Running Rove in simulation
 
 IF YOU ARE RUNNING IN WSL: do this command
 ```bash
 export LIBGL_ALWAYS_INDIRECT=0 export LIBGL_ALWAYS_SOFTWARE=1
 ```
-Do these commands to run the gazebo simulation with physics enabled
+
+Do this command to run the gazebo simulation with physics enabled :
+
 ```bash
-colcon build --symlink-install
-source install/setup.bash
 ros2 launch rove_bringup sim.launch.py
 ```
-OR Do these commands to only run the rviz simulation (with joints control)
-```bash
-colcon build --symlink-install
-source install/setup.bash
-ros2 launch rove_description launch.py
-```
 
 ## Running the controller with a usb cable
 

rove.repos

@@ -6,36 +6,4 @@ repositories:
   ovis_ros2:
     type: git
     url: https://github.com/clubcapra/ovis_ros2
-    version: new-env-with-arm
-  ros_odrive:
-    type: git
-    url: https://github.com/IliTheButterfly/ros_odrive.git
-    version: 0fa84d3745a8c385076d29b7f54971e9f2d14de7
-  vectornav:
-    type: git
-    url: https://github.com/dawonn/vectornav.git
-    version: ros2
-  zed_wrapper:
-    type: git
-    url: https://github.com/stereolabs/zed-ros2-wrapper.git
-    version: master
-  zed_wrapper/zed-ros2-interfaces:
-    type: git
-    url: https://github.com/stereolabs/zed-ros2-interfaces.git
-    version: main
-  ros2_robotiq_gripper:
-    type: git
-    url: https://github.com/PickNikRobotics/ros2_robotiq_gripper.git
-    version: main
-  serial:
-    type: git
-    url: https://github.com/tylerjw/serial.git
-    version: ros2
-  control_msgs:
-    type: git
-    url: https://github.com/ros-controls/control_msgs.git
-    version: humble
-  ros2_control:
-    type: git
-    url: https://github.com/ros-controls/ros2_control.git
-    version: humble
+    version: new-env-with-arm

rove_hw.repos

@@ -0,0 +1,25 @@
+repositories:
+  ros_odrive:
+    type: git
+    url: https://github.com/IliTheButterfly/ros_odrive.git
+    version: 0fa84d3745a8c385076d29b7f54971e9f2d14de7
+  vectornav:
+    type: git
+    url: https://github.com/dawonn/vectornav.git
+    version: ros2
+  zed_wrapper:
+    type: git
+    url: https://github.com/stereolabs/zed-ros2-wrapper.git
+    version: master
+  zed_wrapper/zed-ros2-interfaces:
+    type: git
+    url: https://github.com/stereolabs/zed-ros2-interfaces.git
+    version: main
+  ros2_robotiq_gripper:
+    type: git
+    url: https://github.com/PickNikRobotics/ros2_robotiq_gripper.git
+    version: main
+  serial:
+    type: git
+    url: https://github.com/tylerjw/serial.git
+    version: ros2

src/rove_bringup/launch/autonomy.launch.py

@@ -45,7 +45,7 @@ def generate_launch_description():
 
     nav = IncludeLaunchDescription(
         PythonLaunchDescriptionSource(
-            os.path.join(pkg_rove_nav, "navigation.launch.py"),
+            os.path.join(pkg_rove_nav, "launch", "navigation.launch.py"),
         ),
         launch_arguments={
             "use_sim_time": use_sim_time,

src/rove_bringup/launch/common.launch.py

@@ -113,7 +113,7 @@ def generate_launch_description():
             # robot_localization_node_global,
             #navsat_transform,
             twist_mux,
-            #rviz,
+            rviz,
             teleop,
-            #autonomy,
+            autonomy,
             ])

src/rove_bringup/package.xml

@@ -6,7 +6,9 @@
   <description>The rove_bringup package</description>
   <maintainer email="[email protected]">Capra</maintainer>
   <license>GPLv3</license>
-  
+
+
+  <build_depend>ros_gzharmonic</build_depend>
   <build_depend>joy</build_depend>
   <build_depend>teleop_twist_joy</build_depend>
   <build_depend>twist_mux</build_depend>
@@ -28,4 +30,4 @@
   <export>
     <build_type>ament_cmake</build_type>
   </export>
-</package>
+</package>

src/rove_description/package.xml

@@ -7,10 +7,13 @@
   <maintainer email="[email protected]">Capra</maintainer>
   <license>MIT</license>
 
+  <build_depend>ros2_control</build_depend>
+
   <exec_depend>rviz2</exec_depend>
   <exec_depend>xacro</exec_depend>
   <exec_depend>velodyne_description</exec_depend>
   <exec_depend>rviz_imu_plugin</exec_depend>
+  <exec_depend>ros2_control</exec_depend>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 
@@ -20,4 +23,4 @@
   <export>
     <build_type>ament_cmake</build_type>
   </export>
-</package>
+</package>

src/rove_navigation/package.xml

@@ -18,4 +18,4 @@
   <export>
     <build_type>ament_python</build_type>
   </export>
-</package>
+</package>

src/rove_navigation/setup.py

@@ -1,6 +1,6 @@
 from setuptools import find_packages, setup
-from glob import glob
 import os
+from glob import glob
 
 package_name = 'rove_navigation'
 
@@ -12,7 +12,7 @@
         ('share/ament_index/resource_index/packages',
             ['resource/' + package_name]),
         ('share/' + package_name, ['package.xml']),
-        (os.path.join('share', package_name), glob('launch/*.launch.py')),
+        ('share/' + package_name + '/launch', glob('launch/*.launch.py')),
         ('share/' + package_name + '/config', glob('config/*')),
     ],
     install_requires=['setuptools'],
@@ -22,7 +22,6 @@
     description='TODO: Package description',
     license='TODO: License declaration',
     tests_require=['pytest'],
-    package_dir={'': 'src'},
     entry_points={
         'console_scripts': [
             'navigate_to_person = rove_navigation.navigate_to_person:main',

src/rove_zed/package.xml

@@ -30,4 +30,4 @@
   <export>
     <build_type>ament_python</build_type>
   </export>
-</package>
+</package>