Implement launch files

.devcontainer.json

@@ -4,10 +4,10 @@
   "build": {
     "args": {
       "WORKSPACE": "${containerWorkspaceFolder}",
-      "ROS_DISTRO": "humble"
+      "ROS_DISTRO": "rolling"
     }
   },
-  "remoteUser": "dev",
+  "remoteUser": "blue",
   "runArgs": [
     "--network=host",
     "--cap-add=SYS_PTRACE",
@@ -91,9 +91,6 @@
         "[xml]": {
           "editor.defaultFormatter": "redhat.vscode-xml"
         },
-        "[yaml]": {
-          "editor.defaultFormatter": "redhat.vscode-yaml"
-        },
         "[markdown]": {
           "editor.rulers": [80],
           "editor.defaultFormatter": "DavidAnson.vscode-markdownlint"

.docker/Dockerfile

@@ -26,12 +26,6 @@ RUN apt-get -q update \
     && apt-get clean -y \
     && rm -rf /var/lib/apt/lists/*
 
-# Install MAVROS dependencies prior to installing ROS dependencies
-RUN [ "/bin/bash" , "-c" , "\
-    wget https://raw.githubusercontent.com/mavlink/mavros/master/mavros/scripts/install_geographiclib_datasets.sh \
-    && chmod +x install_geographiclib_datasets.sh \
-    && sudo ./install_geographiclib_datasets.sh" ]
-
 # Install all ROS dependencies
 RUN apt-get -q update \
     && apt-get -q -y upgrade \
@@ -42,6 +36,35 @@ RUN apt-get -q update \
     && apt-get clean -y \
     && rm -rf /var/lib/apt/lists/*
 
+# Configure a new non-root user
+ARG USERNAME=blue
+ARG USER_UID=1000
+ARG USER_GID=$USER_UID
+
+RUN groupadd --gid $USER_GID $USERNAME \
+    && useradd --uid $USER_UID --gid $USER_GID -m $USERNAME \
+    && apt-get update && apt-get upgrade -y \
+    && echo $USERNAME ALL=\(root\) NOPASSWD:ALL > /etc/sudoers.d/$USERNAME \
+    && chmod 0440 /etc/sudoers.d/$USERNAME \
+    && rm -rf /var/lib/apt/lists/* \
+    && echo "source /usr/share/bash-completion/completions/git" >> /home/$USERNAME/.bashrc
+
+# Switch to the non-root user to install MAVROS dependencies and ArduSub
+USER $USERNAME
+ENV USER=$USERNAME
+
+# Set the working directory to the user's home directory
+WORKDIR /home/$USERNAME
+
+# Install MAVROS dependencies
+RUN wget https://raw.githubusercontent.com/mavlink/mavros/ros2/mavros/scripts/install_geographiclib_datasets.sh \
+    && chmod +x install_geographiclib_datasets.sh \
+    && sudo ./install_geographiclib_datasets.sh
+
+# Switch back to root user
+USER root
+ENV USER=root
+
 FROM ci as source
 
 ENV ROS_UNDERLAY /root/ws_blue/install
@@ -105,20 +128,6 @@ RUN pip3 install \
     black \
     setuptools==58.2.0
 
-# Configure a new non-root user
-ARG USERNAME=dev
-ARG USER_UID=1000
-ARG USER_GID=$USER_UID
-
-RUN groupadd --gid $USER_GID $USERNAME \
-    && useradd --uid $USER_UID --gid $USER_GID -m $USERNAME \
-    && apt-get update && apt-get upgrade -y \
-    && apt-get install -y sudo \
-    && echo $USERNAME ALL=\(root\) NOPASSWD:ALL > /etc/sudoers.d/$USERNAME \
-    && chmod 0440 /etc/sudoers.d/$USERNAME \
-    && rm -rf /var/lib/apt/lists/* \
-    && echo "source /usr/share/bash-completion/completions/git" >> /home/$USERNAME/.bashrc \
-    && echo "if [ -f /opt/ros/${ROS_DISTRO}/setup.bash ]; then source /opt/ros/${ROS_DISTRO}/setup.bash; fi" >> /home/$USERNAME/.bashrc
-
 ARG WORKSPACE
-RUN echo "if [ -f ${WORKSPACE}/install/setup.bash ]; then source ${WORKSPACE}/install/setup.bash; fi" >> /home/$USERNAME/.bashrc
+RUN echo "if [ -f ${WORKSPACE}/install/setup.bash ]; then source ${WORKSPACE}/install/setup.bash; fi" >> /home/$USERNAME/.bashrc \
+    && echo "if [ -f /opt/ros/${ROS_DISTRO}/setup.bash ]; then source /opt/ros/${ROS_DISTRO}/setup.bash; fi" >> /home/$USERNAME/.bashrc

.dockerignore

@@ -6,3 +6,4 @@
 !blue_manager
 !blue_control
 !blue_msgs
+!blue_bringup

blue_bringup/LICENSE

@@ -0,0 +1,17 @@
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in
+all copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL
+THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+THE SOFTWARE.

blue_bringup/config/blue.yaml

@@ -0,0 +1,50 @@
+blue_manager:
+  ros__parameters:
+    num_thrusters: 8
+    mode_change_timeout: 1.0
+    mode_change_retries: 3
+
+ismc:
+  ros__parameters:
+    mass: 11.5
+    buoyancy: 112.80
+    weight: 114.80
+    inertia_tensor_coeff: [0.16, 0.16, 0.16]
+    added_mass_coeff: [-5.50, -12.70, -14.60, -0.12, -0.12, -0.12]
+    linear_damping_coeff: [-4.03, -6.22, -5.18, -0.07, -0.07, -0.07]
+    quadratic_damping_coeff: [-18.18, -21.66, -36.99, -1.55, -1.55, -1.55]
+    center_of_gravity: [0.0, 0.0, 0.0]
+    center_of_buoyancy: [0.0, 0.0, 0.0]
+    ocean_current: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
+    num_thrusters: 8
+    tcm: [0.707,   0.707,  -0.707, -0.707,  0.0,    0.0,    0.0,   0.0,
+          -0.707,  0.707,  -0.707, 0.707,   0.0,    0.0,    0.0,   0.0,
+          0.0,     0.0,    0.0,    0.0,     -1.0,   1.0,    1.0,   -1.0,
+          0.06,    -0.06,  0.06,   -0.06,   -0.218, -0.218, 0.218, 0.218,
+          0.06,    0.06,   -0.06,  -0.06,   0.120,  -0.120, 0.120, -0.120,
+          -0.1888, 0.1888, 0.1888, -0.1888, 0.0,    0.0,    0.0,   0.0]
+    msg_ids: [31, 32]
+    msg_rates: [100.0, 100.0]
+
+mavros:
+  ros__parameters:
+    system_id: 255
+    plugin_allowlist:
+      - sys_status
+      - command
+      - imu
+      - local_position
+      - rc_io
+      - param
+      - vision_pose
+
+mavros_node:
+  ros__parameters:
+    fcu_url: "tcp://localhost"
+    gcs_url: "udp://@localhost:14550"
+
+mavros/local_position:
+  ros__parameters:
+    frame_id: "map"
+    tf:
+      send: false

blue_bringup/launch/blue.launch.py

@@ -0,0 +1,93 @@
+# Copyright 2023, Evan Palmer
+#
+# Permission is hereby granted, free of charge, to any person obtaining a copy
+# of this software and associated documentation files (the "Software"), to deal
+# in the Software without restriction, including without limitation the rights
+# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+# copies of the Software, and to permit persons to whom the Software is
+# furnished to do so, subject to the following conditions:
+
+# The above copyright notice and this permission notice shall be included in
+# all copies or substantial portions of the Software.
+
+# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL
+# THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+# THE SOFTWARE.
+
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
+from launch_ros.actions import Node
+from launch_ros.substitutions import FindPackageShare
+
+
+def generate_launch_description() -> LaunchDescription:
+    """Generate a launch description to run the system.
+
+    Returns:
+        The Blue ROS 2 launch description.
+    """
+    # Declare the launch arguments
+    args = [
+        DeclareLaunchArgument(
+            "config",
+            default_value="blue.yaml",
+            description="The ROS 2 parameters configuration file",
+        ),
+        DeclareLaunchArgument(
+            "controller",
+            default_value="ismc",
+            description=(
+                "The controller to use; this should be the same name as the"
+                " controller's executable"
+            ),
+            choices=["ismc"],
+        ),
+    ]
+
+    config_filepath = PathJoinSubstitution(
+        [
+            FindPackageShare("blue_bringup"),
+            "config",
+            LaunchConfiguration("config"),
+        ]
+    )
+
+    nodes = [
+        Node(
+            package="mavros",
+            executable="mavros_node",
+            output="screen",
+            parameters=[config_filepath],
+        ),
+    ]
+
+    # Declare additional launch files to run
+    includes = [
+        IncludeLaunchDescription(
+            PythonLaunchDescriptionSource(
+                PathJoinSubstitution(
+                    [FindPackageShare("blue_manager"), "manager.launch.py"]
+                )
+            ),
+            launch_arguments={"config_filepath": config_filepath}.items(),
+        ),
+        IncludeLaunchDescription(
+            PythonLaunchDescriptionSource(
+                PathJoinSubstitution(
+                    [FindPackageShare("blue_control"), "launch", "control.launch.py"]
+                )
+            ),
+            launch_arguments={
+                "config_filepath": config_filepath,
+                "controller": LaunchConfiguration("controller"),
+            }.items(),
+        ),
+    ]
+
+    return LaunchDescription(args + nodes + includes)

blue_bringup/package.xml

@@ -0,0 +1,21 @@
+<?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>blue_bringup</name>
+  <version>0.0.1</version>
+  <description>Entrypoints for the Blue project.</description>
+  <maintainer email="evanp922@gmail.com">Evan Palmer</maintainer>
+  <license>MIT</license>
+
+  <exec_depend>mavros</exec_depend>
+  <exec_depend>mavros_extras</exec_depend>
+
+  <test_depend>ament_copyright</test_depend>
+  <test_depend>ament_flake8</test_depend>
+  <test_depend>ament_pep257</test_depend>
+  <test_depend>python3-pytest</test_depend>
+
+  <export>
+    <build_type>ament_python</build_type>
+  </export>
+</package>

blue_bringup/setup.cfg

@@ -0,0 +1,4 @@
+[develop]
+script_dir=$base/lib/blue_bringup
+[install]
+install_scripts=$base/lib/blue_bringup

blue_bringup/setup.py

@@ -0,0 +1,48 @@
+# Copyright 2023, Evan Palmer
+#
+# Permission is hereby granted, free of charge, to any person obtaining a copy
+# of this software and associated documentation files (the "Software"), to deal
+# in the Software without restriction, including without limitation the rights
+# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+# copies of the Software, and to permit persons to whom the Software is
+# furnished to do so, subject to the following conditions:
+
+# The above copyright notice and this permission notice shall be included in
+# all copies or substantial portions of the Software.
+
+# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL
+# THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+# THE SOFTWARE.
+
+import os
+from glob import glob
+
+from setuptools import setup
+
+package_name = "blue_bringup"
+
+setup(
+    name=package_name,
+    version="0.0.1",
+    packages=[package_name],
+    data_files=[
+        ("share/ament_index/resource_index/packages", ["resource/" + package_name]),
+        ("share/" + package_name, ["package.xml"]),
+        (os.path.join("share", package_name), glob("launch/*.launch.py")),
+        (os.path.join("share", package_name, "config"), glob("config/*.yaml")),
+    ],
+    install_requires=["setuptools"],
+    zip_safe=True,
+    maintainer="Evan Palmer",
+    maintainer_email="evanp922@gmail.com",
+    description="Entrypoints for the Blue project.",
+    license="MIT",
+    tests_require=["pytest"],
+    entry_points={
+        "console_scripts": [],
+    },
+)

blue_bringup/test/test_copyright.py

@@ -0,0 +1,27 @@
+# Copyright 2015 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+import pytest
+from ament_copyright.main import main
+
+
+# Remove the `skip` decorator once the source file(s) have a copyright header
+@pytest.mark.skip(
+    reason="No copyright header has been placed in the generated source file."
+)
+@pytest.mark.copyright
+@pytest.mark.linter
+def test_copyright():
+    rc = main(argv=[".", "test"])
+    assert rc == 0, "Found errors"

blue_bringup/test/test_flake8.py

@@ -0,0 +1,25 @@
+# Copyright 2017 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+import pytest
+from ament_flake8.main import main_with_errors
+
+
+@pytest.mark.flake8
+@pytest.mark.linter
+def test_flake8():
+    rc, errors = main_with_errors(argv=[])
+    assert rc == 0, "Found %d code style errors / warnings:\n" % len(
+        errors
+    ) + "\n".join(errors)