Merge branch 'main' into feature/ros2

.github/workflows/docker-build-test.yml

@@ -0,0 +1,58 @@
+name: docker-build-test
+on:
+  - pull_request
+  - push
+
+jobs:
+  docker-build:
+    runs-on: [self-hosted, slambox]
+    steps:
+      - uses: actions/checkout@v3
+        with:
+          submodules: true
+          ref: ${{ github.ref }}
+      - name: Docker build
+        run: docker build . -t jmarpledev/slambox-ros2:github_action -f docker/Dockerfile  --build-arg UID=$(id -u) --build-arg GID=$(id -g)
+
+  format-lint:
+    runs-on: [self-hosted, slambox]
+    needs: docker-build
+    steps:
+      - name: format-and-lint
+        uses: addnab/docker-run-action@v3
+        with:
+          image: jmarpledev/slambox-ros2:github_action
+          shell: bash
+          options: -v ${{ github.workspace }}:/home/user/ros2_ws/src/slambox-ros2
+          run: |
+            cd ~/ros2_ws/src/slambox-ros2 && \
+            export PATH=$PATH:/home/user/.local/bin && \
+            ./run_check.sh all
+
+  build-test:
+    runs-on: [self-hosted, slambox]
+    needs: docker-build
+    steps:
+      - name: build-test
+        uses: addnab/docker-run-action@v3
+        with:
+          image: jmarpledev/slambox-ros2:github_action
+          shell: bash
+          options: -v ${{ github.workspace }}:/home/user/ros2_ws/src/slambox-ros2
+          run: |
+            cd ~/ros2_ws && \
+            colcon build
+
+  unit-test:
+    runs-on: [self-hosted, slambox]
+    needs: docker-build
+    steps:
+      - name: build-and-unittest
+        uses: addnab/docker-run-action@v3
+        with:
+          image: jmarpledev/slambox-ros2:github_action
+          shell: bash
+          options: -v ${{ github.workspace  }}:/home/user/ros2_ws/src/slambox-ros2
+          run: |
+            cd ~/ros2_ws && \
+            colcon test

README.md

@@ -20,8 +20,8 @@ Table of Contents
 # 1. Getting started
 ## 1.1. Installation
 ### 1.1.1. Requirements
-- [ROS noetic](https://wiki.ros.org/noetic/Installation/Ubuntu) (Recommended)
-- [SLAMBOX-SDK](https://github.com/j-marple-dev/slambox-sdk) (v0.1.0)
+- [ROS humble](https://docs.ros.org/en/humble/Installation/Ubuntu-Install-Debians.html) (Recommended)
+- [SLAMBOX-SDK](https://github.com/j-marple-dev/slambox-sdk) (v0.2.0)
 - glog (>=v0.6.0)
 - CMake (>= 3.16.3)
 - docker (Optional but highly recommended)
@@ -34,13 +34,13 @@ Table of Contents
 * Our docker image includes development environment. We highly recommend docker system.
     ```shell
     # Clone this repository
-    git clone https://github.com/j-marple-dev/slambox-ros.git --recursive
+    git clone https://github.com/j-marple-dev/slambox-ros2.git
 
     # Change directory
-    cd slambox-ros
+    cd slambox-ros2
 
     # Build docker image
-    docker build . -t jmarpledev/slambox-ros -f docker/Dockerfile  --build-arg UID=$(id -u) --build-arg GID=$(id -u)
+    docker build . -t jmarpledev/slambox-ros2 -f docker/Dockerfile  --build-arg UID=$(id -u) --build-arg GID=$(id -u)
     ```
 
 ### 1.1.3. Local ROS system
@@ -51,14 +51,14 @@ Table of Contents
 
 
 ```shell
-# Assuming that your ROS workspace is ~/catkin_ws
-mkdir -p ~/catkin_ws/src
-cd ~/catkin_ws/src
-git clone https://github.com/j-marple-dev/slambox-ros.git --recursive
+# Assuming that your ROS workspace is ~/ros2_ws
+mkdir -p ~/ros2_ws/src
+cd ~/ros2_ws/src
+git clone https://github.com/j-marple-dev/slambox-ros2.git --recursive
 cd ../
-catkin build slambox_ros
+colcon build slambox_ros
 # Choose the shell which you are using
-source devel/setup.{bash|zsh}
+source install/setup.{bash|zsh}
 ```
 
 ## 1.2. Configuration
@@ -88,28 +88,28 @@ subscribe:
 ### 1.3.1. Local ROS system
 - Running ROS node
     ```shell
-    roslaunch slambox_ros slambox_ros_client.launch
+    ros2 launch slambox_ros2 slambox_ros_client_launch.py
     ```
 
 - Check rostopic in another shell
     ```shell
-    rostopic hz /SLAMBOX/odom /SLAMBOX/pointcloud
+    ros2 topic hz /SLAMBOX/odom /SLAMBOX/pointcloud
     ```
 
 ### 1.3.2. Running on Docker image
 - Run docker container for running SLAMBOX-ROS client
     ```shell
-    docker run -ti --privileged -e DISPLAY=:0 -e TERM=xterm-256color -v /tmp/.X11-unix:/tmp/.X11-unix:ro -v /dev:/dev -v $PWD:/home/user/catkin_ws/src/slambox-ros --network host jmarpledev/slambox-ros /usr/bin/zsh
+    docker run -ti --privileged -e DISPLAY=:0 -e TERM=xterm-256color -v /tmp/.X11-unix:/tmp/.X11-unix:ro -v /dev:/dev -v $PWD:/home/user/ros2_ws/src/slambox-ros2 --network host jmarpledev/slambox-ros2 /usr/bin/zsh
     ```
 
 - Run docker container for running SLAMBOX-ROS client with rviz visualization
     ```shell
-    docker run -ti --privileged -e TERM=xterm-256color -e DISPLAY=:0 -v /dev:/dev -v /tmp/.X11-unix:/tmp/.X11-unix:ro -v $PWD:/home/user/catkin_ws/src/slambox-ros --network host jmarpledev/slambox-ros /usr/bin/bash -lic "roslaunch slambox_ros slambox_ros_client.launch rviz:=true"
+    docker run -ti --privileged -e TERM=xterm-256color -e DISPLAY=:0 -v /dev:/dev -v /tmp/.X11-unix:/tmp/.X11-unix:ro -v $PWD:/home/user/ros2_ws/src/slambox-ros2 --network host jmarpledev/slambox-ros2 /usr/bin/bash -lic "ros2 launch slambox_ros2 slambox_ros_client_launch.py"
     ```
 
 - Run docker container with shell (For development environment)
     ```shell
-    docker run -ti --privileged -e DISPLAY=:0 -e TERM=xterm-256color -v /tmp/.X11-unix:/tmp/.X11-unix:ro -v /dev:/dev -v $PWD:/home/user/catkin_ws/src/slambox-ros --network host jmarpledev/slambox-ros /usr/bin/zsh
+    docker run -ti --privileged -e DISPLAY=:0 -e TERM=xterm-256color -v /tmp/.X11-unix:/tmp/.X11-unix:ro -v /dev:/dev -v $PWD:/home/user/ros2_ws/src/slambox-ros2 --network host jmarpledev/slambox-ros2 /usr/bin/zsh
     ```
 
 
@@ -121,6 +121,4 @@ Please visit https://sbox.jmarple.ai for more information.
 
 # 4. External resources
 - [glog](https://github.com/google/glog) - Google Logging Library
-- [fmt](https://github.com/fmtlib/fmt) Modern formatting library
-- [cli](https://github.com/daniele77/cli) - C++ CLI Library
 - [ducker](https://github.com/JeiKeiLim/ducker) - Docker Helper CLI application

docker/Dockerfile

@@ -76,6 +76,9 @@ RUN git clone https://github.com/j-marple-dev/slambox-sdk.git -b v0.2.0 --recurs
     make -j && \
     sudo make install
 
+RUN echo "export LD_LIBRARY_PATH=\$LD_LIBRARY_PATH:/usr/local/lib" >> /home/user/.bashrc
+RUN echo "export LD_LIBRARY_PATH=\$LD_LIBRARY_PATH:/usr/local/lib" >> /home/user/.zshrc
+
 # Install ROS2 humble pre-requisites
 RUN sudo apt-get update && sudo apt-get install -y python3-rosdep ros-humble-pluginlib python3-colcon-common-extensions
 

docker/Dockerfile.aarch64

@@ -61,13 +61,18 @@ RUN echo "export LD_LIBRARY_PATH=\$LD_LIBRARY_PATH:/home/user/.local/lib" >> /ho
 # Install SLAMBOX SDK
 RUN sudo apt-get install -y libserial-dev
 WORKDIR /home/user
-RUN git clone https://github.com/j-marple-dev/slambox-sdk.git -b v0.1.0 && \
+
+RUN git clone https://github.com/j-marple-dev/slambox-sdk.git -b v0.2.0 && \
+
     mkdir -p slambox-sdk/build && \
     cd slambox-sdk/build && \
     cmake -G "Unix Makefiles" .. && \
     make -j && \
     sudo make install
 
+RUN echo "export LD_LIBRARY_PATH=\$LD_LIBRARY_PATH:/usr/local/lib" >> /home/user/.bashrc
+RUN echo "export LD_LIBRARY_PATH=\$LD_LIBRARY_PATH:/usr/local/lib" >> /home/user/.zshrc
+
 # Install ROS2 humble pre-requisites
 RUN sudo apt-get purge -y libtbb-dev \
     && sudo apt-get update \
@@ -77,9 +82,10 @@ RUN sudo apt-get purge -y libtbb-dev \
 RUN mkdir -p ~/ros2_ws/src
 COPY --chown=user:user ./ /home/user/ros2_ws/src/slambox_ros2
 
-RUN /bin/bash -c '. /opt/ros/humble/setup.bash; cd ~/ros2_ws; colcon build -j1'
-RUN echo "source ~/catkin_ws/install/setup.bash" >> ~/.bashrc
-RUN echo "source ~/catkin_ws/install/setup.zsh" >> ~/.zshrc
+RUN /bin/bash -c '. /opt/ros/humble/setup.bash; cd ~/ros2_ws; colcon build --parallel-workers 1'
+RUN echo "source ~/ros2_ws/install/setup.bash" >> ~/.bashrc
+RUN echo "source ~/ros2_ws/install/setup.zsh" >> ~/.zshrc
+
 RUN rm -rf /home/user/ros2_ws/src
 
 RUN echo "export ROS_MASTER_URI=http://192.168.0.138:11311" >> ~/.zshrc

src/applications/driver_client.cpp

@@ -75,9 +75,7 @@ SLAMBOXDriverClient::SLAMBOXDriverClient(const rclcpp::NodeOptions &options)
       this->create_publisher<nav_msgs::msg::Odometry>(publish_odom_topic_, 1);
   pointcloud_pub_ = this->create_publisher<sensor_msgs::msg::PointCloud2>(
       publish_pointcloud_topic_, 1);
-  // request_sub_ = nh_.subscribe(subscribe_request_topic_, 1,
-  //                              &SLAMBOXDriverClient::callback_request_,
-  //                              this);
+
   request_sub_ = this->create_subscription<std_msgs::msg::String>(
       subscribe_request_topic_, 1,
       std::bind(&SLAMBOXDriverClient::callback_request_, this,

tests/test_msg_converter.cpp

@@ -5,12 +5,13 @@
 
 #include <glog/logging.h>
 #include <gtest/gtest.h>
+
+#include <random>
+
 #include <nav_msgs/msg/odometry.hpp>
 #include <rclcpp/rclcpp.hpp>
 #include <sensor_msgs/msg/point_cloud2.hpp>
 
-#include <random>
-
 #include <sbox/sbox_msgs/Odometry.hpp>
 #include <sbox/sbox_msgs/PointCloud2.hpp>
 
@@ -133,7 +134,8 @@ TEST(MSGConverter, PointCloud2Conversion) {
     }
     pointcloud.is_dense = dis_bool(gen);
 
-    sensor_msgs::msg::PointCloud2 ros_pointcloud = sbox_msgs::to_ros_msg(pointcloud);
+    sensor_msgs::msg::PointCloud2 ros_pointcloud =
+        sbox_msgs::to_ros_msg(pointcloud);
 
     EXPECT_EQ(pointcloud.timestamp_sec, ros_pointcloud.header.stamp.sec);
     EXPECT_EQ(pointcloud.timestamp_nsec, ros_pointcloud.header.stamp.nanosec);