Merge branch 'main' into kp/job-manager

Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>

.github/workflows/nexus_integration_tests.yaml

@@ -11,18 +11,14 @@ jobs:
     runs-on: ubuntu-latest
     strategy:
       matrix:
-        docker_image: ['ros:iron-ros-base']
+        docker_image: ['ros:jazzy-ros-base']
     container:
       image: ${{ matrix.docker_image }}
     timeout-minutes: 60
     steps:
     - name: Install deps for Rust
       run: |
         apt update && apt install -y git curl libclang-dev
-    - name: Setup Rust for nexus_zenoh_bridge
-      uses: dtolnay/rust-toolchain@stable
-      with:
-        components: clippy, rustfmt
     - uses: actions/checkout@v2
     - uses: actions/cache@v3
       with:
@@ -40,7 +36,7 @@ jobs:
         rosdep update
         rosdep install --from-paths . -yir
     - name: build
-      run: /ros_entrypoint.sh colcon build --packages-up-to nexus_integration_tests nexus_motion_planner --mixin release lld --cmake-args -DCMAKE_CXX_COMPILER_LAUNCHER=ccache
+      run: /ros_entrypoint.sh colcon build --packages-up-to nexus_calibration nexus_gazebo nexus_integration_tests nexus_motion_planner --mixin release lld --cmake-args -DCMAKE_CXX_COMPILER_LAUNCHER=ccache
     - name: Test - Unit Tests
       run: . ./install/setup.bash && RMW_IMPLEMENTATION=rmw_cyclonedds_cpp /ros_entrypoint.sh colcon test --packages-select nexus_motion_planner --event-handlers=console_direct+
     - name: Test - Integration Test

.github/workflows/nexus_workcell_editor.yaml

@@ -0,0 +1,45 @@
+name: workcell_editor
+on:
+  pull_request:
+  push:
+    branches: [ main ]
+defaults:
+  run:
+    shell: bash
+jobs:
+  test:
+    runs-on: ubuntu-latest
+    strategy:
+      matrix:
+        docker_image: ['ros:jazzy-ros-base']
+    container:
+      image: ${{ matrix.docker_image }}
+    timeout-minutes: 30
+    steps:
+    - name: Deps
+      run: |
+        apt update && apt install -y git curl libclang-dev libasound2-dev libudev-dev libgtk-3-dev python3-pip python3-vcstool
+    - name: Setup Rust
+      uses: dtolnay/rust-toolchain@1.75
+      with:
+        components: clippy, rustfmt
+    - name: Install colcon cargo
+      run: |
+        cargo install --debug cargo-ament-build  # --debug is faster to install
+        pip install colcon-cargo --break-system-packages
+        pip install colcon-ros-cargo --break-system-packages
+    - uses: actions/checkout@v2
+    - name: vcs
+      # TODO(luca) Go back to cloning a tag when a new version is released with jazzy repos file
+      run: |
+        git clone https://github.com/ros2-rust/ros2_rust.git
+        cd ros2_rust
+        git checkout f45a66f47dc727e3ccb13037a6c57923af1446c7
+        cd ..
+        vcs import . < ros2_rust/ros2_rust_jazzy.repos
+    - name: rosdep
+      run: |
+        rosdep update
+        rosdep install --from-paths . -yir
+    - name: build
+      run: /ros_entrypoint.sh colcon build --packages-up-to nexus_workcell_editor

.github/workflows/style.yaml

@@ -11,17 +11,25 @@ jobs:
     runs-on: ubuntu-latest
     strategy:
       matrix:
-        docker_image: ['ros:iron-ros-base']
+        docker_image: ['ros:jazzy-ros-base']
     container:
       image: ${{ matrix.docker_image }}
     steps:
       - name: checkout
         uses: actions/checkout@v2
-      - name: uncrustify
-        run: |
-          sudo apt update && sudo apt install -y ros-iron-rmf-utils
-          /ros_entrypoint.sh ament_uncrustify -c /opt/ros/iron/share/rmf_utils/rmf_code_style.cfg . --language C++ --exclude nexus_endpoints/nexus_endpoints.hpp
+      # TODO(luca) reintroduce after formatting
+      #- name: uncrustify
+      #  run: |
+      #    sudo apt update && sudo apt install -y ros-jazzy-rmf-utils
+      #    /ros_entrypoint.sh ament_uncrustify -c /opt/ros/jazzy/share/rmf_utils/rmf_code_style.cfg . --language C++ --exclude nexus_endpoints/nexus_endpoints.hpp
       - name: pycodestyle
         run: |
           sudo apt update && sudo apt install -y pycodestyle curl
           pycodestyle nexus_network_configuration/
+      - name: Setup Rust
+        uses: dtolnay/rust-toolchain@1.75
+        with:
+          components: clippy, rustfmt
+      - name: rustfmt
+        run: |
+          rustfmt --check --edition 2021 nexus_workcell_editor/src/main.rs

README.md

@@ -1,6 +1,7 @@
 # NEXUS
-![](https://github.com/osrf/nexus/workflows/style/badge.svg)
-![](https://github.com/osrf/nexus/workflows/integration_tests/badge.svg)
+[![style](https://github.com/osrf/nexus/actions/workflows/style.yaml/badge.svg)](https://github.com/osrf/nexus/actions/workflows/style.yaml)
+[![integration_tests](https://github.com/osrf/nexus/actions/workflows/nexus_integration_tests.yaml/badge.svg)](https://github.com/osrf/nexus/actions/workflows/nexus_integration_tests.yaml)
+[![workcell_editor](https://github.com/osrf/nexus/actions/workflows/nexus_workcell_editor.yaml/badge.svg)](https://github.com/osrf/nexus/actions/workflows/nexus_workcell_editor.yaml)
 
 ![](./docs/media/nexus_architecture.png)
 
@@ -9,7 +10,7 @@ A ROS 2 framework which enables configuration and orchestration of process workf
 For details on architecture and concepts [see](./docs/concepts.md).
 
 ## Requirements
-* [ROS 2 Iron](https://docs.ros.org/en/iron/Installation/Ubuntu-Install-Debians.html) on `Ubuntu 22.04`
+* [ROS 2 Jazzy](https://docs.ros.org/en/jazzy/Installation/Ubuntu-Install-Debians.html) on `Ubuntu 24.04`
 
 ## Setup
 
@@ -33,12 +34,12 @@ cd ~/ws_nexus/src/
 git clone git@github.com:osrf/nexus
 vcs import . < nexus/abb.repos
 cd ~/ws_nexus
-rosdep install --from-paths src --ignore-src --rosdistro iron -y -r
+rosdep install --from-paths src --ignore-src --rosdistro jazzy -y -r
 ```
 
 ### Build the NEXUS workspace
 ```bash
-source /opt/ros/iron/setup.bash
+source /opt/ros/jazzy/setup.bash
 colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release
 ```
 
@@ -102,10 +103,10 @@ The linter of choice is `uncrustify` and the configuration used may be reference
 Instead of invoking `uncrustify` directly, use `ament_uncrustify` instead which is a wrapper around a specific version of `uncrustify`.
 You may locally run the linter as follows
 ```bash
-sudo apt update && sudo apt install -y ros-iron-rmf-utils # This is a one-time step
-source /opt/ros/iron/setup.bash
+sudo apt update && sudo apt install -y ros-jazzy-rmf-utils # This is a one-time step
+source /opt/ros/jazzy/setup.bash
 cd ~/ws_nexus/src/nexus
-ament_uncrustify -c /opt/ros/iron/share/rmf_utils/rmf_code_style.cfg . --language C++ --exclude nexus_endpoints/nexus_endpoints.hpp
+ament_uncrustify -c /opt/ros/jazzy/share/rmf_utils/rmf_code_style.cfg . --language C++ --exclude nexus_endpoints/nexus_endpoints.hpp
 ```
 To automatically reformat the code, append `--reformat` to the `ament_uncrustify` line above.
 It is highly recommended to audit the changes by the linter before committing.

nexus_calibration/CHANGELOG.rst

@@ -0,0 +1,10 @@
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Changelog for package nexus_calibration
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+0.1.1 (2023-11-22)
+------------------
+
+0.1.0 (2023-11-06)
+------------------
+* Provides ``nexus_calibration_node`` which can be queried for poses of calibration links within a workcell.

nexus_calibration/CMakeLists.txt

@@ -0,0 +1,49 @@
+cmake_minimum_required(VERSION 3.8)
+project(nexus_calibration)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+set(dep_pkgs
+  nexus_endpoints
+  rclcpp
+  rclcpp_components
+  rclcpp_lifecycle
+  tf2
+  VRPN
+)
+foreach(pkg ${dep_pkgs})
+  find_package(${pkg} REQUIRED)
+endforeach()
+
+#===============================================================================
+add_library(nexus_calibration_component SHARED src/calibration_node.cpp)
+
+ament_target_dependencies(nexus_calibration_component ${dep_pkgs})
+
+target_compile_features(nexus_calibration_component INTERFACE cxx_std_17)
+
+rclcpp_components_register_node(nexus_calibration_component
+  PLUGIN "nexus::CalibrationNode"
+  EXECUTABLE nexus_calibration_node
+  EXECUTOR SingleThreadedExecutor)
+
+
+#===============================================================================
+if(BUILD_TESTING)
+
+endif()
+
+#===============================================================================
+install(
+  TARGETS
+    nexus_calibration_component
+  RUNTIME DESTINATION lib/${PROJECT_NAME}
+  LIBRARY DESTINATION lib
+  ARCHIVE DESTINATION lib
+)
+
+ament_package()

nexus_calibration/README.md

@@ -0,0 +1,15 @@
+## nexus_calibration
+
+This package provides a ROS 2 Lifecyle node, `nexus_calibration_node`, that connects to a [VRPN](https://vrpn.github.io/) server and builds a cache of rigid body poses in a local `TF2` buffer.
+These rigid bodies could represent calibration links (or reference links) on components within a workcell.
+The poses of these links can then be queried via a ROS 2 service call over the `nexus::endpoints::ExtrinsicCalibrationService` endpoint.
+
+## Test
+```bash
+cd nexus_calibration/
+ros2 launch test/nexus_calibration.launch.py
+``
+Then to retrieve poses of components wrt to the `robot_calibration_link`, ie a reference frame on the robot's `base_link`,
+```bash
+ros2 service call /workcell_1/calibrate_extrinsics nexus_calibration_msgs/src/CalibrateExtrinsics '{frame_id: robot_calibration_link}'
+```

nexus_calibration/config/sample_config.yaml

@@ -0,0 +1,7 @@
+nexus_calibration_node:
+  ros__parameters:
+    vrpn_server_address: "localhost:3883" # The ip_address:port of the vrpn server.
+    vrpn_frame_id: "world" # The calibrated reference frame wrt which the vrpn server is streaming data.
+    workcell_id: "workcell_1" # The name of the workcell. This is used as a prefix for any endpoints.
+    tracker_names: ["workcell_calibration_link", "robot_calibration_link"] # The names of the relevant rigid bodies trackers.
+    update_rate: 2.0 # The rate in hz at which the update loop should run.

nexus_calibration/package.xml

@@ -0,0 +1,24 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>nexus_calibration</name>
+  <version>0.1.1</version>
+  <description>A package with ROS 2 nodes for calibration workcell components</description>
+  <maintainer email="yadunund@openrobotics.org">Yadunund</maintainer>
+  <license>Apache License 2.0</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <depend>nexus_endpoints</depend>
+  <depend>rclcpp</depend>
+  <depend>rclcpp_components</depend>
+  <depend>rclcpp_lifecycle</depend>
+  <depend>tf2</depend>
+  <depend>vrpn</depend>
+
+  <test_depend>nexus_gazebo</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>