From f74bcd2510f27c01117f2f32e36d0c16e2e178f1 Mon Sep 17 00:00:00 2001 From: Evan Palmer Date: Sat, 14 Sep 2024 11:23:10 -0700 Subject: [PATCH 01/11] Added ament hooks to track blue description files (#296) --- .docker/Dockerfile | 7 ------- blue_description/CMakeLists.txt | 2 ++ blue_description/hooks/hooks.dsv.in | 2 ++ 3 files changed, 4 insertions(+), 7 deletions(-) create mode 100644 blue_description/hooks/hooks.dsv.in diff --git a/.docker/Dockerfile b/.docker/Dockerfile index 85540dee..81ef2e47 100644 --- a/.docker/Dockerfile +++ b/.docker/Dockerfile @@ -243,13 +243,6 @@ export GZ_SIM_SYSTEM_PLUGIN_PATH=\$HOME/ardupilot_gazebo/build:\$GZ_SIM_SYSTEM_P # Add ardupilot_gazebo models and worlds export GZ_SIM_RESOURCE_PATH=\$HOME/ardupilot_gazebo/models:\$HOME/ardupilot_gazebo/worlds:\$GZ_SIM_RESOURCE_PATH - -# Add blue models and worlds -BLUE_DESCRIPTION=\$USER_WORKSPACE/src/blue/blue_description -export GZ_SIM_RESOURCE_PATH=\$BLUE_DESCRIPTION/gazebo/models:\$BLUE_DESCRIPTION/gazebo/worlds:\$GZ_SIM_RESOURCE_PATH - -# Add blue meshes -export GZ_SIM_RESOURCE_PATH=\$BLUE_DESCRIPTION/meshes:\$GZ_SIM_RESOURCE_PATH EOT FROM desktop AS desktop-nvidia diff --git a/blue_description/CMakeLists.txt b/blue_description/CMakeLists.txt index de084cee..cc68f270 100644 --- a/blue_description/CMakeLists.txt +++ b/blue_description/CMakeLists.txt @@ -8,4 +8,6 @@ install( DESTINATION share/blue_description ) +ament_environment_hooks("${CMAKE_CURRENT_SOURCE_DIR}/hooks/hooks.dsv.in") + ament_package() diff --git a/blue_description/hooks/hooks.dsv.in b/blue_description/hooks/hooks.dsv.in new file mode 100644 index 00000000..9e0cfbd7 --- /dev/null +++ b/blue_description/hooks/hooks.dsv.in @@ -0,0 +1,2 @@ +prepend-non-duplicate;GZ_SIM_RESOURCE_PATH;@CMAKE_INSTALL_PREFIX@/share/@PROJECT_NAME@/gazebo/models +prepend-non-duplicate;GZ_SIM_RESOURCE_PATH;@CMAKE_INSTALL_PREFIX@/share/@PROJECT_NAME@/gazebo/worlds From 6155ac860221ec695fd31eccef502169356734a5 Mon Sep 17 00:00:00 2001 From: Evan Palmer Date: Sat, 14 Sep 2024 11:35:03 -0700 Subject: [PATCH 02/11] Consolidated worlds into a single file (#298) * Consolidated worlds into a single file * Merge upstream * Fixed stale compose file change --- .docker/compose/nouveau-desktop.yaml | 1 - .docker/compose/nvidia-desktop.yaml | 1 - .../launch/bluerov2/bluerov2.launch.yaml | 2 +- .../bluerov2_heavy/bluerov2_heavy.launch.yaml | 2 +- .../bluerov2_heavy_reach.launch.yaml | 2 +- .../bluerov2_heavy_reach_underwater.world | 47 ------------------- .../worlds/bluerov2_heavy_underwater.world | 47 ------------------- ...rov2_underwater.world => underwater.world} | 3 +- 8 files changed, 4 insertions(+), 101 deletions(-) delete mode 100644 blue_description/gazebo/worlds/bluerov2_heavy_reach_underwater.world delete mode 100644 blue_description/gazebo/worlds/bluerov2_heavy_underwater.world rename blue_description/gazebo/worlds/{bluerov2_underwater.world => underwater.world} (93%) diff --git a/.docker/compose/nouveau-desktop.yaml b/.docker/compose/nouveau-desktop.yaml index f18588de..d7ccecac 100644 --- a/.docker/compose/nouveau-desktop.yaml +++ b/.docker/compose/nouveau-desktop.yaml @@ -1,4 +1,3 @@ -version: "3" services: blue: image: ghcr.io/robotic-decision-making-lab/blue:rolling-desktop diff --git a/.docker/compose/nvidia-desktop.yaml b/.docker/compose/nvidia-desktop.yaml index da240d51..86526f43 100644 --- a/.docker/compose/nvidia-desktop.yaml +++ b/.docker/compose/nvidia-desktop.yaml @@ -1,4 +1,3 @@ -version: "3" services: blue: image: ghcr.io/robotic-decision-making-lab/blue:rolling-desktop-nvidia diff --git a/blue_bringup/launch/bluerov2/bluerov2.launch.yaml b/blue_bringup/launch/bluerov2/bluerov2.launch.yaml index b57e0937..f8aa9b50 100644 --- a/blue_bringup/launch/bluerov2/bluerov2.launch.yaml +++ b/blue_bringup/launch/bluerov2/bluerov2.launch.yaml @@ -39,7 +39,7 @@ launch: - arg: name: gazebo_world_file - default: $(find-pkg-share blue_description)/gazebo/worlds/$(var model_name)_underwater.world + default: $(find-pkg-share blue_description)/gazebo/worlds/underwater.world - arg: name: mavros_file diff --git a/blue_bringup/launch/bluerov2_heavy/bluerov2_heavy.launch.yaml b/blue_bringup/launch/bluerov2_heavy/bluerov2_heavy.launch.yaml index 93897099..368be9ee 100644 --- a/blue_bringup/launch/bluerov2_heavy/bluerov2_heavy.launch.yaml +++ b/blue_bringup/launch/bluerov2_heavy/bluerov2_heavy.launch.yaml @@ -39,7 +39,7 @@ launch: - arg: name: gazebo_world_file - default: $(find-pkg-share blue_description)/gazebo/worlds/$(var model_name)_underwater.world + default: $(find-pkg-share blue_description)/gazebo/worlds/underwater.world - arg: name: mavros_file diff --git a/blue_bringup/launch/bluerov2_heavy_reach/bluerov2_heavy_reach.launch.yaml b/blue_bringup/launch/bluerov2_heavy_reach/bluerov2_heavy_reach.launch.yaml index d16e459b..6af54b05 100644 --- a/blue_bringup/launch/bluerov2_heavy_reach/bluerov2_heavy_reach.launch.yaml +++ b/blue_bringup/launch/bluerov2_heavy_reach/bluerov2_heavy_reach.launch.yaml @@ -39,7 +39,7 @@ launch: - arg: name: gazebo_world_file - default: $(find-pkg-share blue_description)/gazebo/worlds/$(var model_name)_underwater.world + default: $(find-pkg-share blue_description)/gazebo/worlds/underwater.world - arg: name: mavros_file diff --git a/blue_description/gazebo/worlds/bluerov2_heavy_reach_underwater.world b/blue_description/gazebo/worlds/bluerov2_heavy_reach_underwater.world deleted file mode 100644 index 4d908b1e..00000000 --- a/blue_description/gazebo/worlds/bluerov2_heavy_reach_underwater.world +++ /dev/null @@ -1,47 +0,0 @@ - - - - - - - - - - - - - - - - - - - 1000 - - 0 - 1 - - - bluerov2_heavy_reach - - - - https://fuel.gazebosim.org/1.0/OpenRobotics/models/Sun - - - - model://sand_heightmap - 0 7 -10 0 0 0 - - - - diff --git a/blue_description/gazebo/worlds/bluerov2_heavy_underwater.world b/blue_description/gazebo/worlds/bluerov2_heavy_underwater.world deleted file mode 100644 index 715d1171..00000000 --- a/blue_description/gazebo/worlds/bluerov2_heavy_underwater.world +++ /dev/null @@ -1,47 +0,0 @@ - - - - - - - - - - - - - - - - - - - 1000 - - 0 - 1 - - - bluerov2_heavy - - - - https://fuel.gazebosim.org/1.0/OpenRobotics/models/Sun - - - - model://sand_heightmap - 0 7 -10 0 0 0 - - - - diff --git a/blue_description/gazebo/worlds/bluerov2_underwater.world b/blue_description/gazebo/worlds/underwater.world similarity index 93% rename from blue_description/gazebo/worlds/bluerov2_underwater.world rename to blue_description/gazebo/worlds/underwater.world index c1d7ce12..1eb2ddde 100644 --- a/blue_description/gazebo/worlds/bluerov2_underwater.world +++ b/blue_description/gazebo/worlds/underwater.world @@ -1,6 +1,6 @@ - + 1 - bluerov2 From 5b34879454e28d0a2ed4fc002baf92057494f521 Mon Sep 17 00:00:00 2001 From: Evan Palmer Date: Sat, 14 Sep 2024 11:42:05 -0700 Subject: [PATCH 03/11] Add water and sky textures to underwater Gazebo world (#299) * Consolidated worlds into a single file * Added water and sky textures to underwater world * what * Remove random change --- .../gazebo/worlds/underwater.world | 21 +++++++++++++++++++ 1 file changed, 21 insertions(+) diff --git a/blue_description/gazebo/worlds/underwater.world b/blue_description/gazebo/worlds/underwater.world index 1eb2ddde..22e75d54 100644 --- a/blue_description/gazebo/worlds/underwater.world +++ b/blue_description/gazebo/worlds/underwater.world @@ -42,5 +42,26 @@ 0 7 -10 0 0 0 + + + https://fuel.gazebosim.org/1.0/OpenRobotics/models/Coast Water + + 0 0 0 0 0 0 + + + + 1.0 1.0 1.0 + 0.8 0.8 0.8 + + + + + 50 0 150 0 0 0 + 1 1 1 1 + .1 .1 .1 1 + 0.3 0.3 -1 + false + + From 49a0fa2f0f47d48524c3607124a8b959612bec5a Mon Sep 17 00:00:00 2001 From: "dependabot[bot]" <49699333+dependabot[bot]@users.noreply.github.com> Date: Sat, 21 Sep 2024 19:02:16 -0700 Subject: [PATCH 04/11] Bump express from 4.19.2 to 4.21.0 in /docs (#311) Bumps [express](https://github.com/expressjs/express) from 4.19.2 to 4.21.0. - [Release notes](https://github.com/expressjs/express/releases) - [Changelog](https://github.com/expressjs/express/blob/4.21.0/History.md) - [Commits](https://github.com/expressjs/express/compare/4.19.2...4.21.0) --- updated-dependencies: - dependency-name: express dependency-type: indirect ... Signed-off-by: dependabot[bot] Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com> --- docs/package-lock.json | 142 +++++++++++++++++------------------------ 1 file changed, 57 insertions(+), 85 deletions(-) diff --git a/docs/package-lock.json b/docs/package-lock.json index 9a29d9d2..82c09a77 100644 --- a/docs/package-lock.json +++ b/docs/package-lock.json @@ -5127,10 +5127,9 @@ } }, "node_modules/body-parser": { - "version": "1.20.2", - "resolved": "https://registry.npmjs.org/body-parser/-/body-parser-1.20.2.tgz", - "integrity": "sha512-ml9pReCu3M61kGlqoTm2umSXTlRTuGTx0bfYj+uIUKKYycG5NtSbeetV3faSU6R7ajOPw0g/J1PvK4qNy7s5bA==", - "license": "MIT", + "version": "1.20.3", + "resolved": "https://registry.npmjs.org/body-parser/-/body-parser-1.20.3.tgz", + "integrity": "sha512-7rAxByjUMqQ3/bHJy7D6OGXvx/MMc4IqBn/X0fcM1QUcAItpZrBEYhWGem+tzXH90c+G01ypMcYJBO9Y30203g==", "dependencies": { "bytes": "3.1.2", "content-type": "~1.0.5", @@ -5140,7 +5139,7 @@ "http-errors": "2.0.0", "iconv-lite": "0.4.24", "on-finished": "2.4.1", - "qs": "6.11.0", + "qs": "6.13.0", "raw-body": "2.5.2", "type-is": "~1.6.18", "unpipe": "1.0.0" @@ -5154,7 +5153,6 @@ "version": "3.1.2", "resolved": "https://registry.npmjs.org/bytes/-/bytes-3.1.2.tgz", "integrity": "sha512-/Nf7TyzTx6S3yRJObOAV7956r8cr2+Oj8AC5dt8wSP3BQAoeX58NoHyCU8P8zGkNXStjTSi6fzO6F0pBdcYbEg==", - "license": "MIT", "engines": { "node": ">= 0.8" } @@ -5163,7 +5161,6 @@ "version": "2.6.9", "resolved": "https://registry.npmjs.org/debug/-/debug-2.6.9.tgz", "integrity": "sha512-bC7ElrdJaJnPbAP+1EotYvqZsb3ecl5wi6Bfi6BJTUcNowp6cvspg0jXznRTKDjm/E7AdgFBVeAPVMNcKGsHMA==", - "license": "MIT", "dependencies": { "ms": "2.0.0" } @@ -5172,7 +5169,6 @@ "version": "0.4.24", "resolved": "https://registry.npmjs.org/iconv-lite/-/iconv-lite-0.4.24.tgz", "integrity": "sha512-v3MXnZAcvnywkTUEZomIActle7RXXeedOR31wwl7VlyoXO4Qi9arvSenNQWne1TcRwhCL1HwLI21bEqdpj8/rA==", - "license": "MIT", "dependencies": { "safer-buffer": ">= 2.1.2 < 3" }, @@ -5183,8 +5179,7 @@ "node_modules/body-parser/node_modules/ms": { "version": "2.0.0", "resolved": "https://registry.npmjs.org/ms/-/ms-2.0.0.tgz", - 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"license": "MIT", "engines": { "node": ">= 0.8" } From 608e987f1f66d4ed998a55887774ed2dcd7f9e3b Mon Sep 17 00:00:00 2001 From: Evan Palmer Date: Mon, 23 Sep 2024 22:30:19 -0700 Subject: [PATCH 05/11] Integrate latest mobile_to_maritime API (#316) * Added message transforms * Fixed launch file * cleanup launch file --- .../teleoperation/config/joy_teleop.yaml | 2 +- .../teleoperation/config/transforms.yaml | 10 ++++++++++ .../launch/joy_teleop.launch.yaml | 18 +++++++----------- docs/docs/tutorials/teleop.mdx | 11 +++++++++-- 4 files changed, 27 insertions(+), 14 deletions(-) create mode 100644 blue_demos/teleoperation/config/transforms.yaml diff --git a/blue_demos/teleoperation/config/joy_teleop.yaml b/blue_demos/teleoperation/config/joy_teleop.yaml index c1d3dd7a..aa19c8b6 100644 --- a/blue_demos/teleoperation/config/joy_teleop.yaml +++ b/blue_demos/teleoperation/config/joy_teleop.yaml @@ -8,7 +8,7 @@ joy_teleop: manual_control: type: topic interface_type: geometry_msgs/msg/Twist - topic_name: cmd_vel + topic_name: /cmd_vel deadman_axes: [2] axis_mappings: linear-x: diff --git a/blue_demos/teleoperation/config/transforms.yaml b/blue_demos/teleoperation/config/transforms.yaml new file mode 100644 index 00000000..00c04540 --- /dev/null +++ b/blue_demos/teleoperation/config/transforms.yaml @@ -0,0 +1,10 @@ +message_transforms: + ros__parameters: + + incoming_topics: + - /cmd_vel + + transforms: + /cmd_vel: + outgoing_topic: /integral_sliding_mode_controller/reference + message_type: geometry_msgs/msg/Twist diff --git a/blue_demos/teleoperation/launch/joy_teleop.launch.yaml b/blue_demos/teleoperation/launch/joy_teleop.launch.yaml index 34598461..966f3620 100644 --- a/blue_demos/teleoperation/launch/joy_teleop.launch.yaml +++ b/blue_demos/teleoperation/launch/joy_teleop.launch.yaml @@ -5,8 +5,8 @@ launch: default: $(find-pkg-share blue_demos)/teleoperation/config/joy_teleop.yaml - arg: - name: use_maritime - default: "true" + name: transforms_file + default: $(find-pkg-share blue_demos)/teleoperation/config/transforms.yaml - node: pkg: joy_linux @@ -22,12 +22,8 @@ launch: param: - from: $(var joy_file) - - node: - pkg: mobile_to_maritime - exec: mobile_twist_to_maritime_twist - param: - - name: in_topic - value: cmd_vel - - name: out_topic - value: /integral_sliding_mode_controller/reference - if: $(var use_maritime) + - include: + file: $(find-pkg-share message_transforms)/launch/message_transforms.launch.py + arg: + - name: parameters_file + value: $(var transforms_file) diff --git a/docs/docs/tutorials/teleop.mdx b/docs/docs/tutorials/teleop.mdx index f2e1796a..6e468a91 100644 --- a/docs/docs/tutorials/teleop.mdx +++ b/docs/docs/tutorials/teleop.mdx @@ -51,10 +51,17 @@ Docker as described in the [installation instructions](/installation). [REP-105](https://ros.org/reps/rep-0105.html); however, the launched ISMC adheres to the maritime conventions recorded in [REP-156](https://github.com/ros-infrastructure/rep/pull/398). To convert the velocity commands to the appropriate convention, run the - following `mobile_to_maritime` message filter in a new terminal: + `message_transforms` node in a new terminal: ```bash - ros2 run mobile_to_maritime mobile_twist_to_maritime_twist --ros-args -p in_topic:=/cmd_vel -p out_topic:=/integral_sliding_mode_controller/reference + ros2 launch message_transforms message_transforms.launch.py parameters_file:= + ``` + + where `` should be replaced with the path to the + `transforms.yaml` file in the `blue_demos` package, e.g., + + ```bash + ros2 launch message_transforms message_transforms.launch.py parameters_file:=./blue_demos/teleoperation/config/transforms.yaml ``` 5. You should now be able to teleoperate the BlueROV2 using your keyboard. From 2d17d70bf940832a6dc21c905385a519926bd60c Mon Sep 17 00:00:00 2001 From: Evan Palmer Date: Wed, 25 Sep 2024 00:15:15 -0700 Subject: [PATCH 06/11] Fixed instances where mobile_to_maritime API wasn't updated (#320) * Fixed instances where old m2m api was used * precommit --- .../launch/bluerov2/bluerov2.launch.yaml | 2 +- .../bluerov2_heavy/bluerov2_heavy.launch.yaml | 2 +- .../bluerov2_heavy_reach.launch.yaml | 2 +- .../config/transforms.yaml | 11 +++++ .../launch/bluerov2_controllers.launch.py | 44 ++++++++++++------- .../bluerov2_heavy_controllers.launch.py | 44 ++++++++++++------- 6 files changed, 72 insertions(+), 33 deletions(-) create mode 100644 blue_demos/control_integration/config/transforms.yaml diff --git a/blue_bringup/launch/bluerov2/bluerov2.launch.yaml b/blue_bringup/launch/bluerov2/bluerov2.launch.yaml index f8aa9b50..7781fd27 100644 --- a/blue_bringup/launch/bluerov2/bluerov2.launch.yaml +++ b/blue_bringup/launch/bluerov2/bluerov2.launch.yaml @@ -122,4 +122,4 @@ launch: file: $(find-pkg-share blue_bringup)/launch/$(var model_name)/thrusters.launch.yaml - include: - file: $(find-pkg-share mobile_to_maritime)/launch/tf.launch.yaml + file: $(find-pkg-share message_transforms)/launch/tf.launch.yaml diff --git a/blue_bringup/launch/bluerov2_heavy/bluerov2_heavy.launch.yaml b/blue_bringup/launch/bluerov2_heavy/bluerov2_heavy.launch.yaml index 368be9ee..8d8f8de7 100644 --- a/blue_bringup/launch/bluerov2_heavy/bluerov2_heavy.launch.yaml +++ b/blue_bringup/launch/bluerov2_heavy/bluerov2_heavy.launch.yaml @@ -122,4 +122,4 @@ launch: file: $(find-pkg-share blue_bringup)/launch/$(var model_name)/thrusters.launch.yaml - include: - file: $(find-pkg-share mobile_to_maritime)/launch/tf.launch.yaml + file: $(find-pkg-share message_transforms)/launch/tf.launch.yaml diff --git a/blue_bringup/launch/bluerov2_heavy_reach/bluerov2_heavy_reach.launch.yaml b/blue_bringup/launch/bluerov2_heavy_reach/bluerov2_heavy_reach.launch.yaml index 6af54b05..1464a0a8 100644 --- a/blue_bringup/launch/bluerov2_heavy_reach/bluerov2_heavy_reach.launch.yaml +++ b/blue_bringup/launch/bluerov2_heavy_reach/bluerov2_heavy_reach.launch.yaml @@ -122,4 +122,4 @@ launch: file: $(find-pkg-share blue_bringup)/launch/$(var model_name)/thrusters.launch.yaml - include: - file: $(find-pkg-share mobile_to_maritime)/launch/tf.launch.yaml + file: $(find-pkg-share message_transforms)/launch/tf.launch.yaml diff --git a/blue_demos/control_integration/config/transforms.yaml b/blue_demos/control_integration/config/transforms.yaml new file mode 100644 index 00000000..6f562a34 --- /dev/null +++ b/blue_demos/control_integration/config/transforms.yaml @@ -0,0 +1,11 @@ +/control_integration/message_transforms: + ros__parameters: + + incoming_topics: + - /mavros/local_position/velocity_body + + transforms: + /mavros/local_position/velocity_body: + outgoing_topic: /integral_sliding_mode_controller/system_state + message_type: geometry_msgs/msg/TwistStamped + frame_id: base_link_fsd diff --git a/blue_demos/control_integration/launch/bluerov2_controllers.launch.py b/blue_demos/control_integration/launch/bluerov2_controllers.launch.py index b4e6d059..e37dc412 100644 --- a/blue_demos/control_integration/launch/bluerov2_controllers.launch.py +++ b/blue_demos/control_integration/launch/bluerov2_controllers.launch.py @@ -19,9 +19,14 @@ # THE SOFTWARE. from launch import LaunchDescription -from launch.actions import DeclareLaunchArgument, RegisterEventHandler +from launch.actions import ( + DeclareLaunchArgument, + IncludeLaunchDescription, + RegisterEventHandler, +) from launch.event_handlers import OnProcessExit -from launch.substitutions import PathJoinSubstitution +from launch.launch_description_sources import PythonLaunchDescriptionSource +from launch.substitutions import PathJoinSubstitution, TextSubstitution from launch_ros.actions import Node from launch_ros.substitutions import FindPackageShare @@ -48,18 +53,27 @@ def generate_launch_description() -> LaunchDescription: ] # The ISMC expects state information to be provided in the FSD frame - mobile_to_maritime_velocity_state = Node( - package="mobile_to_maritime", - executable="mobile_twist_stamped_to_maritime_twist", - name="velocity_state_transform", - parameters=[ - { - "in_topic": "/mavros/local_position/velocity_body", - "out_topic": "/integral_sliding_mode_controller/system_state", - "qos_reliability": "best_effort", - "qos_durability": "volatile", - } - ], + message_transformer = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + PathJoinSubstitution( + [ + FindPackageShare("message_transforms"), + "launch", + "message_transforms.launch.py", + ] + ) + ), + launch_arguments={ + "parameters_file": PathJoinSubstitution( + [ + FindPackageShare("blue_demos"), + "control_integration", + "config", + "transforms.yaml", + ] + ), + "ns": TextSubstitution(text="control_integration"), + }.items(), ) controller_manager = Node( @@ -151,7 +165,7 @@ def generate_launch_description() -> LaunchDescription: return LaunchDescription( [ *args, - mobile_to_maritime_velocity_state, + message_transformer, controller_manager, *delay_thruster_spawners, delay_tam_controller_spawner_after_thruster_controller_spawners, diff --git a/blue_demos/control_integration/launch/bluerov2_heavy_controllers.launch.py b/blue_demos/control_integration/launch/bluerov2_heavy_controllers.launch.py index 5e367672..3f6ab9a9 100644 --- a/blue_demos/control_integration/launch/bluerov2_heavy_controllers.launch.py +++ b/blue_demos/control_integration/launch/bluerov2_heavy_controllers.launch.py @@ -19,9 +19,14 @@ # THE SOFTWARE. from launch import LaunchDescription -from launch.actions import DeclareLaunchArgument, RegisterEventHandler +from launch.actions import ( + DeclareLaunchArgument, + IncludeLaunchDescription, + RegisterEventHandler, +) from launch.event_handlers import OnProcessExit -from launch.substitutions import PathJoinSubstitution +from launch.launch_description_sources import PythonLaunchDescriptionSource +from launch.substitutions import PathJoinSubstitution, TextSubstitution from launch_ros.actions import Node from launch_ros.substitutions import FindPackageShare @@ -47,18 +52,27 @@ def generate_launch_description() -> LaunchDescription: ] # The ISMC expects state information to be provided in the FSD frame - mobile_to_maritime_velocity_state = Node( - package="mobile_to_maritime", - executable="mobile_twist_stamped_to_maritime_twist", - name="velocity_state_transform", - parameters=[ - { - "in_topic": "/mavros/local_position/velocity_body", - "out_topic": "/integral_sliding_mode_controller/system_state", - "qos_reliability": "best_effort", - "qos_durability": "volatile", - } - ], + message_transformer = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + PathJoinSubstitution( + [ + FindPackageShare("message_transforms"), + "launch", + "message_transforms.launch.py", + ] + ) + ), + launch_arguments={ + "parameters_file": PathJoinSubstitution( + [ + FindPackageShare("blue_demos"), + "control_integration", + "config", + "transforms.yaml", + ] + ), + "ns": TextSubstitution(text="control_integration"), + }.items(), ) controller_manager = Node( @@ -150,7 +164,7 @@ def generate_launch_description() -> LaunchDescription: return LaunchDescription( [ *args, - mobile_to_maritime_velocity_state, + message_transformer, controller_manager, *delay_thruster_spawners, delay_tam_controller_spawner_after_thruster_controller_spawners, From 52a55f52c9bf36cf2c0ea61b7077d2958c23fd10 Mon Sep 17 00:00:00 2001 From: "dependabot[bot]" <49699333+dependabot[bot]@users.noreply.github.com> Date: Mon, 30 Sep 2024 12:15:00 -0700 Subject: [PATCH 07/11] Bump docker/bake-action from 5.7.0 to 5.9.0 (#325) Bumps [docker/bake-action](https://github.com/docker/bake-action) from 5.7.0 to 5.9.0. - [Release notes](https://github.com/docker/bake-action/releases) - [Commits](https://github.com/docker/bake-action/compare/v5.7.0...v5.9.0) --- updated-dependencies: - dependency-name: docker/bake-action dependency-type: direct:production update-type: version-update:semver-minor ... Signed-off-by: dependabot[bot] Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com> --- .github/workflows/docker.yaml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/.github/workflows/docker.yaml b/.github/workflows/docker.yaml index 22ba1977..2e2c1543 100644 --- a/.github/workflows/docker.yaml +++ b/.github/workflows/docker.yaml @@ -99,7 +99,7 @@ jobs: - if: github.event_name == 'push' name: Build and push (non PR) - uses: docker/bake-action@v5.7.0 + uses: docker/bake-action@v5.9.0 env: BLUE_ROS_DISTRO: ${{ matrix.ROS_DISTRO }} BLUE_GITHUB_REPO: ${{ steps.lowercase-repo.outputs.repository }} @@ -119,7 +119,7 @@ jobs: # Pull request builds are not cached; and only built for AMD64 - if: github.event_name == 'pull_request' name: Build and push (PR) - uses: docker/bake-action@v5.7.0 + uses: docker/bake-action@v5.9.0 env: BLUE_ROS_DISTRO: ${{ matrix.ROS_DISTRO }} BLUE_GITHUB_REPO: ${{ steps.lowercase-repo.outputs.repository }} From 52048dc6d00546dff58370b6cc0a203b6195400d Mon Sep 17 00:00:00 2001 From: "dependabot[bot]" <49699333+dependabot[bot]@users.noreply.github.com> Date: Wed, 9 Oct 2024 11:04:02 -0700 Subject: [PATCH 08/11] Bump docker/bake-action from 5.9.0 to 5.10.0 (#329) Bumps [docker/bake-action](https://github.com/docker/bake-action) from 5.9.0 to 5.10.0. - [Release notes](https://github.com/docker/bake-action/releases) - [Commits](https://github.com/docker/bake-action/compare/v5.9.0...v5.10.0) --- updated-dependencies: - dependency-name: docker/bake-action dependency-type: direct:production update-type: version-update:semver-minor ... Signed-off-by: dependabot[bot] Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com> --- .github/workflows/docker.yaml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/.github/workflows/docker.yaml b/.github/workflows/docker.yaml index 2e2c1543..bd903c86 100644 --- a/.github/workflows/docker.yaml +++ b/.github/workflows/docker.yaml @@ -99,7 +99,7 @@ jobs: - if: github.event_name == 'push' name: Build and push (non PR) - uses: docker/bake-action@v5.9.0 + uses: docker/bake-action@v5.10.0 env: BLUE_ROS_DISTRO: ${{ matrix.ROS_DISTRO }} BLUE_GITHUB_REPO: ${{ steps.lowercase-repo.outputs.repository }} @@ -119,7 +119,7 @@ jobs: # Pull request builds are not cached; and only built for AMD64 - if: github.event_name == 'pull_request' name: Build and push (PR) - uses: docker/bake-action@v5.9.0 + uses: docker/bake-action@v5.10.0 env: BLUE_ROS_DISTRO: ${{ matrix.ROS_DISTRO }} BLUE_GITHUB_REPO: ${{ steps.lowercase-repo.outputs.repository }} From af36d6f0619770387294c6d6fc3d8af81fce255d Mon Sep 17 00:00:00 2001 From: "dependabot[bot]" <49699333+dependabot[bot]@users.noreply.github.com> Date: Wed, 9 Oct 2024 13:07:32 -0700 Subject: [PATCH 09/11] Bump cookie and express in /docs (#331) Bumps [cookie](https://github.com/jshttp/cookie) and [express](https://github.com/expressjs/express). These dependencies needed to be updated together. Updates `cookie` from 0.6.0 to 0.7.1 - [Release notes](https://github.com/jshttp/cookie/releases) - [Commits](https://github.com/jshttp/cookie/compare/v0.6.0...v0.7.1) Updates `express` from 4.21.0 to 4.21.1 - [Release notes](https://github.com/expressjs/express/releases) - [Changelog](https://github.com/expressjs/express/blob/4.21.1/History.md) - [Commits](https://github.com/expressjs/express/compare/4.21.0...4.21.1) --- updated-dependencies: - dependency-name: cookie dependency-type: indirect - dependency-name: express dependency-type: indirect ... Signed-off-by: dependabot[bot] Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com> --- docs/package-lock.json | 15 +++++++-------- 1 file changed, 7 insertions(+), 8 deletions(-) diff --git a/docs/package-lock.json b/docs/package-lock.json index 82c09a77..6f732116 100644 --- a/docs/package-lock.json +++ b/docs/package-lock.json @@ -5873,10 +5873,9 @@ "license": "MIT" }, "node_modules/cookie": { - "version": "0.6.0", - "resolved": "https://registry.npmjs.org/cookie/-/cookie-0.6.0.tgz", - "integrity": "sha512-U71cyTamuh1CRNCfpGY6to28lxvNwPG4Guz/EVjgf3Jmzv0vlDp1atT9eS5dDjMYHucpHbWns6Lwf3BKz6svdw==", - "license": "MIT", + "version": "0.7.1", + "resolved": "https://registry.npmjs.org/cookie/-/cookie-0.7.1.tgz", + "integrity": "sha512-6DnInpx7SJ2AK3+CTUE/ZM0vWTUboZCegxhC2xiIydHR9jNuTAASBrfEpHhiGOZw/nX51bHt6YQl8jsGo4y/0w==", "engines": { "node": ">= 0.6" } @@ -8440,16 +8439,16 @@ } }, "node_modules/express": { - "version": "4.21.0", - "resolved": "https://registry.npmjs.org/express/-/express-4.21.0.tgz", - "integrity": "sha512-VqcNGcj/Id5ZT1LZ/cfihi3ttTn+NJmkli2eZADigjq29qTlWi/hAQ43t/VLPq8+UX06FCEx3ByOYet6ZFblng==", + "version": "4.21.1", + "resolved": "https://registry.npmjs.org/express/-/express-4.21.1.tgz", + "integrity": "sha512-YSFlK1Ee0/GC8QaO91tHcDxJiE/X4FbpAyQWkxAvG6AXCuR65YzK8ua6D9hvi/TzUfZMpc+BwuM1IPw8fmQBiQ==", "dependencies": { "accepts": "~1.3.8", "array-flatten": "1.1.1", "body-parser": "1.20.3", "content-disposition": "0.5.4", "content-type": "~1.0.4", - "cookie": "0.6.0", + "cookie": "0.7.1", "cookie-signature": "1.0.6", "debug": "2.6.9", "depd": "2.0.0", From c598d42db09f67ed232d166b2491c3958b16e8a8 Mon Sep 17 00:00:00 2001 From: "dependabot[bot]" <49699333+dependabot[bot]@users.noreply.github.com> Date: Wed, 23 Oct 2024 22:47:48 -0700 Subject: [PATCH 10/11] Bump mermaid from 10.9.1 to 10.9.3 in /docs (#337) Bumps [mermaid](https://github.com/mermaid-js/mermaid) from 10.9.1 to 10.9.3. - [Release notes](https://github.com/mermaid-js/mermaid/releases) - [Changelog](https://github.com/mermaid-js/mermaid/blob/develop/CHANGELOG.md) - [Commits](https://github.com/mermaid-js/mermaid/compare/v10.9.1...v10.9.3) --- updated-dependencies: - dependency-name: mermaid dependency-type: indirect ... Signed-off-by: dependabot[bot] Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com> --- docs/package-lock.json | 9 ++++----- 1 file changed, 4 insertions(+), 5 deletions(-) diff --git a/docs/package-lock.json b/docs/package-lock.json index 6f732116..75adb95b 100644 --- a/docs/package-lock.json +++ b/docs/package-lock.json @@ -11796,10 +11796,9 @@ } }, "node_modules/mermaid": { - "version": "10.9.1", - "resolved": "https://registry.npmjs.org/mermaid/-/mermaid-10.9.1.tgz", - "integrity": "sha512-Mx45Obds5W1UkW1nv/7dHRsbfMM1aOKA2+Pxs/IGHNonygDHwmng8xTHyS9z4KWVi0rbko8gjiBmuwwXQ7tiNA==", - "license": "MIT", + "version": "10.9.3", + "resolved": "https://registry.npmjs.org/mermaid/-/mermaid-10.9.3.tgz", + "integrity": "sha512-V80X1isSEvAewIL3xhmz/rVmc27CVljcsbWxkxlWJWY/1kQa4XOABqpDl2qQLGKzpKm6WbTfUEKImBlUfFYArw==", "dependencies": { "@braintree/sanitize-url": "^6.0.1", "@types/d3-scale": "^4.0.3", @@ -11810,7 +11809,7 @@ "d3-sankey": "^0.12.3", "dagre-d3-es": "7.0.10", "dayjs": "^1.11.7", - "dompurify": "^3.0.5", + "dompurify": "^3.0.5 <3.1.7", "elkjs": "^0.9.0", "katex": "^0.16.9", "khroma": "^2.0.0", From 86f394e25651372c01dd57163d399e7cecca973c Mon Sep 17 00:00:00 2001 From: "dependabot[bot]" <49699333+dependabot[bot]@users.noreply.github.com> Date: Wed, 23 Oct 2024 22:59:36 -0700 Subject: [PATCH 11/11] Bump http-proxy-middleware from 2.0.6 to 2.0.7 in /docs (#340) Bumps [http-proxy-middleware](https://github.com/chimurai/http-proxy-middleware) from 2.0.6 to 2.0.7. - [Release notes](https://github.com/chimurai/http-proxy-middleware/releases) - [Changelog](https://github.com/chimurai/http-proxy-middleware/blob/v2.0.7/CHANGELOG.md) - [Commits](https://github.com/chimurai/http-proxy-middleware/compare/v2.0.6...v2.0.7) --- updated-dependencies: - dependency-name: http-proxy-middleware dependency-type: indirect ... Signed-off-by: dependabot[bot] Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com> --- docs/package-lock.json | 7 +++---- 1 file changed, 3 insertions(+), 4 deletions(-) diff --git a/docs/package-lock.json b/docs/package-lock.json index 75adb95b..f1241005 100644 --- a/docs/package-lock.json +++ b/docs/package-lock.json @@ -9952,10 +9952,9 @@ } }, "node_modules/http-proxy-middleware": { - "version": "2.0.6", - "resolved": "https://registry.npmjs.org/http-proxy-middleware/-/http-proxy-middleware-2.0.6.tgz", - "integrity": "sha512-ya/UeJ6HVBYxrgYotAZo1KvPWlgB48kUJLDePFeneHsVujFaW5WNj2NgWCAE//B1Dl02BIfYlpNgBy8Kf8Rjmw==", - "license": "MIT", + "version": "2.0.7", + "resolved": "https://registry.npmjs.org/http-proxy-middleware/-/http-proxy-middleware-2.0.7.tgz", + "integrity": "sha512-fgVY8AV7qU7z/MmXJ/rxwbrtQH4jBQ9m7kp3llF0liB7glmFeVZFBepQb32T3y8n8k2+AEYuMPCpinYW+/CuRA==", "dependencies": { "@types/http-proxy": "^1.17.8", "http-proxy": "^1.18.1",