Merge pull request #3 from JBVAkshaya/iron-mp-tmp

Author: JBVAkshaya

.devcontainer/nvidia/Dockerfile

@@ -1,4 +1,7 @@
-FROM ghcr.io/jbvakshaya/blue:iron-nvidia-ompl
+# FROM ghcr.io/jbvakshaya/blue:iron-nvidia-ompl
+FROM ghcr.io/jbvakshaya/blue:iron-nvidia-multi-robots-recent
+# With above image we probably don't need to install any other dependencies
+
 # FROM ghcr.io/robotic-decision-making-lab/blue:iron-desktop-nvidia
 
 # Install ROS dependencies
@@ -9,19 +12,19 @@ ENV USER_WORKSPACE=/home/$USERNAME/ws_blue
 WORKDIR $USER_WORKSPACE
 
 COPY --chown=$USER_UID:$USER_GID . src/blue
-RUN sudo apt-get -q update \
-    && sudo apt-get -q -y upgrade \
-    && rosdep update \
-    && rosdep install -y --from-paths src --ignore-src --rosdistro ${ROS_DISTRO} --skip-keys="gz-transport12 gz-sim7 gz-math7 gz-msgs9 gz-plugin2" \
-    && sudo apt-get autoremove -y \
-    && sudo apt-get clean -y \
-    && sudo rm -rf /var/lib/apt/lists/*
-
-# Install OMPL with ROS2
-RUN curl http://repo.ros2.org/repos.key | sudo apt-key add -\
-    && sudo apt-get update \
-    && sudo apt-get install -y nano \
-    && sudo apt-get install -y ros-iron-ompl
+# RUN sudo apt-get -q update \
+#     && sudo apt-get -q -y upgrade \
+#     && rosdep update \
+#     && rosdep install -y --from-paths src --ignore-src --rosdistro ${ROS_DISTRO} --skip-keys="gz-transport12 gz-sim7 gz-math7 gz-msgs9 gz-plugin2" \
+#     && sudo apt-get autoremove -y \
+#     && sudo apt-get clean -y \
+#     && sudo rm -rf /var/lib/apt/lists/*
+
+# # Install OMPL with ROS2
+# RUN curl http://repo.ros2.org/repos.key | sudo apt-key add -\
+#     && sudo apt-get update \
+#     && sudo apt-get install -y nano \
+#     && sudo apt-get install -y ros-iron-ompl
 
 # RUN cd ${USER_WORKSPACE}/src/learn_ros2 \
 #     && echo "Check me" \

blue_bringup/launch/bluerov2_heavy/ns_bluerov2_heavy.launch.yaml

@@ -79,15 +79,15 @@ launch:
       default: "1"
 
   - arg:
-      name: rob_x
+      name: init_rob_x
       default: "0.0"
 
   - arg:
-      name: rob_y
+      name: init_rob_y
       default: "0.0"
 
   - arg:
-      name: rob_z
+      name: init_rob_z
       default: "0.0"
 
   # Nodes
@@ -134,12 +134,12 @@ launch:
           value: $(var ardusub_instance)
         - name: sysid_thismav
           value: $(var sysid_thismav)
-        - name: rob_x
-          value: $(var rob_x)
-        - name: rob_y
-          value: $(var rob_y)
-        - name: rob_z
-          value: $(var rob_z)
+        - name: init_rob_x
+          value: $(var init_rob_x)
+        - name: init_rob_y
+          value: $(var init_rob_y)
+        - name: init_rob_z
+          value: $(var init_rob_z)
 
   - include:
       file: $(find-pkg-share blue_localization)/localization.launch.py

blue_demos/control_integration/config/bluerov2_heavy_joint_traj_controller.yaml

@@ -65,9 +65,6 @@ jt_controller:
       - position
       - velocity
 
-    action_monitor_rate: 20.0
-
-    allow_partial_joints_goal: true
     open_loop_control: true
     constraints:
       stopped_velocity_tolerance: 0.01

blue_demos/control_integration/description/ros2_control/bluerov2_heavy.ros2_control.xacro

@@ -68,16 +68,6 @@
       </joint>
 
     </ros2_control>
-    <xacro:if value="${use_mavros_odom}">
-      <ros2_control name="MavrosOdomSensor" type="sensor">
-        <hardware>
-          <plugin>mavros_odom_sensor/MavrosOdomSensor</plugin>
-          <param name="max_set_param_attempts">${max_set_param_attempts}</param>
-          <param name="mavros_odom_topic">${mavros_odom_topic}</param>
-          <param name="namespace">${prefix}</param>
-        </hardware>
-      </ros2_control>
-    </xacro:if>
 
   </xacro:macro>
 

blue_demos/control_integration/launch/obstacles.launch.yaml renamed to blue_demos/multi_robot/control_integration/launch/obstacles.launch.yaml

@@ -1,4 +1,4 @@
-# Copyright 2024, Evan Palmer
+# Copyright 2024, Akshaya Agrawal
 #
 # Permission is hereby granted, free of charge, to any person obtaining a copy
 # of this software and associated documentation files (the "Software"), to deal

blue_demos/multi_robot/control_integration/launch/rob_1_bluerov2_heavy_controllers.launch.py

@@ -41,15 +41,15 @@ launch:
       value: "1"
 
   - let:
-      name: rob_x
-      value: "0.0"
+      name: init_rob_x
+      value: "-3.0"
 
   - let:
-      name: rob_y
-      value: "4.0"
+      name: init_rob_y
+      value: "-3.0"
 
   - let:
-      name: rob_z
+      name: init_rob_z
       value: "0.0"
 
   - let:
@@ -64,14 +64,6 @@ launch:
       name: fdm_port_out
       value: "9003"
 
-  - let:
-      name: use_mavros_odom
-      value: "true"
-
-  - let:
-      name: mavros_odom_topic
-      value: /rob_1/local_position/odom
-
   - group:
     - push-ros-namespace:
         namespace: "$(var namespace)"
@@ -82,7 +74,7 @@ launch:
 
     - let:
         name: robot_description
-        value: $(command 'xacro $(var description_file) prefix:=$(var prefix) use_sim:=$(var use_sim) fdm_port_in:=$(var fdm_port_in) fdm_port_out:=$(var fdm_port_out) use_mavros_odom:=$(var use_mavros_odom) mavros_odom_topic:=$(var mavros_odom_topic)')
+        value: $(command 'xacro $(var description_file) prefix:=$(var prefix) use_sim:=$(var use_sim) fdm_port_in:=$(var fdm_port_in) fdm_port_out:=$(var fdm_port_out)')
 
     - include:
         file: $(find-pkg-share blue_bringup)/launch/bluerov2_heavy/ns_bluerov2_heavy.launch.yaml
@@ -103,16 +95,16 @@ launch:
             value: $(var sysid_thismav)
           - name: localization_file
             value: $(var localization_file)
-          - name: rob_x
-            value: $(var rob_x)
-          - name: rob_y
-            value: $(var rob_y)
-          - name: rob_z
-            value: $(var rob_z)
-
-    #Spawn obstacles
+          - name: init_rob_x
+            value: $(var init_rob_x)
+          - name: init_rob_y
+            value: $(var init_rob_y)
+          - name: init_rob_z
+            value: $(var init_rob_z)
+
+    #Spawn obstacles and bridge them to ROS
     - include:
-        file: $(find-pkg-share blue_demos)/control_integration/launch/obstacles.launch.yaml
+        file: $(find-pkg-share blue_demos)/multi_robot/control_integration/launch/obstacles.launch.yaml
         arg:
           - name: gazebo_world_file
             value: $(var gazebo_world_file)

blue_demos/multi_robot/control_integration/launch/rob_1_bluerov2_heavy_demo.launch.yaml

@@ -1,4 +1,4 @@
-# Copyright 2024, Evan Palmer
+# Copyright 2024, Akshaya Agrawal
 #
 # Permission is hereby granted, free of charge, to any person obtaining a copy
 # of this software and associated documentation files (the "Software"), to deal

blue_demos/multi_robot/control_integration/launch/rob_3_bluerov2_heavy_controllers.launch.py

@@ -22,15 +22,15 @@ launch:
 
   - arg:
       name: mavros_file
-      default: $(find-pkg-share blue_description)/config/ardusub/rob_3_mavros.yaml
+      default: $(find-pkg-share blue_demos)/multi_robot/description/config/ardusub/rob_3_mavros.yaml
 
   - let:
       name: manager_file
-      value: $(find-pkg-share blue_description)/config/ardusub/ROB_3_ardusub_manager.yaml
+      value: $(find-pkg-share blue_demos)/multi_robot/description/config/ardusub/rob_3_ardusub_manager.yaml
 
   - let:
       name: localization_file
-      value: $(find-pkg-share blue_description)/config/bluerov2_heavy/ROB_3_localization.yaml
+      value: $(find-pkg-share blue_demos)/multi_robot/description/config/bluerov2_heavy/rob_3_localization.yaml
 
   - let:
       name: ardusub_instance
@@ -41,15 +41,15 @@ launch:
       value: "2"
 
   - let:
-      name: rob_x
+      name: init_rob_x
       value: "0.0"
 
   - let:
-      name: rob_y
+      name: init_rob_y
       value: "0.0"
 
   - let:
-      name: rob_z
+      name: init_rob_z
       value: "0.0"
 
   - let:
@@ -95,16 +95,9 @@ launch:
             value: $(var sysid_thismav)
           - name: localization_file
             value: $(var localization_file)
-          - name: rob_x
-            value: $(var rob_x)
-          - name: rob_y
-            value: $(var rob_y)
-          - name: rob_z
-            value: $(var rob_z)
-
-    #Spawn obstacles
-    # - include:
-    #     file: $(find-pkg-share blue_demos)/control_integration/launch/obstacles.launch.yaml
-    #     arg:
-    #       - name: gazebo_world_file
-    #         value: $(var gazebo_world_file)
+          - name: init_rob_x
+            value: $(var init_rob_x)
+          - name: init_rob_y
+            value: $(var init_rob_y)
+          - name: init_rob_z
+            value: $(var init_rob_z)

blue_demos/multi_robot/control_integration/launch/rob_3_bluerov2_heavy_demo.launch.yaml

@@ -5,5 +5,5 @@ rob_1:
         ids: [31, 32]
         rates: [50.0, 50.0]
       set_ekf_origin: true
-      publish_tf: false
+      publish_tf: true
       prefix: "rob_1/"