Split irobot_create_toolbox (#153)

* rename irobot_create_toolbox into irobot_create_nodes

Signed-off-by: Alberto Soragna <alberto.soragna@gmail.com>

* move common utilities to irobot_create_toolbox

Signed-off-by: Alberto Soragna <alberto.soragna@gmail.com>

* register irobot_create_nodes as rclcpp_components

Signed-off-by: Alberto Soragna <alberto.soragna@gmail.com>

* update readme

Signed-off-by: Alberto Soragna <alberto.soragna@gmail.com>

* use new node names in parameter files

Signed-off-by: Alberto Soragna <alberto.soragna@gmail.com>

* remove declare parameter utility and fix linter tests

Signed-off-by: Alberto Soragna <alberto.soragna@gmail.com>

.github/workflows/ci.yml

@@ -25,6 +25,7 @@ jobs:
             irobot_create_common_bringup
             irobot_create_control
             irobot_create_description
+            irobot_create_nodes
             irobot_create_toolbox
             irobot_create_gazebo_bringup
             irobot_create_gazebo_plugins

README.md

@@ -52,6 +52,7 @@ vcs import ~/create3_ws/src/ < ~/create3_ws/src/create3_sim/dependencies.repos
 
 ```bash
 cd ~/create3_ws
+sudo apt-get update
 rosdep install --from-path src -yi
 ```
 
@@ -110,7 +111,8 @@ This repository contains packages for both the Classic and Ignition Gazebo simul
     - `irobot_create_common_bringup` Launch files and configurations
     - `irobot_create_control` Launch control nodes
     - `irobot_create_description`  URDF and mesh files describing the robot
-    - `irobot_create_toolbox` Nodes for simulating robot topics and motion control
+    - `irobot_create_nodes` Nodes for simulating robot topics and motion control
+    - `irobot_create_toolbox` Tools and helpers for creating nodes and plugins
 
 - `irobot_create_gazebo` Packages used for the Classic Gazebo Simulator
     - `irobot_create_gazebo_bringup` Launch files and configurations

irobot_create_common/irobot_create_common_bringup/config/hazard_vector_params.yaml

@@ -1,5 +1,5 @@
 ---
-hazards_vector_node:
+hazards_vector_publisher:
   ros__parameters:
     # Hazard detection publisher topic
     publisher_topic: /hazard_detection

irobot_create_common/irobot_create_common_bringup/config/ir_intensity_vector_params.yaml

@@ -1,5 +1,5 @@
 ---
-ir_intensity_vector_node:
+ir_intensity_vector_publisher:
   ros__parameters:
     # IR intensity publisher topic
     publisher_topic: /ir_intensity

irobot_create_common/irobot_create_common_bringup/config/kidnap_estimator_params.yaml

@@ -1,9 +1,7 @@
 ---
-kidnap_estimator:
+kidnap_estimator_publisher:
   ros__parameters:
     # Kidnap status publisher topic
     kidnap_status_topic: /kidnap_status
-    # Publishers rate
-    kidnap_status_publish_rate: 1.0
     # Subscription topics
     hazard_topic: /hazard_detection

irobot_create_common/irobot_create_common_bringup/config/mock_params.yaml

@@ -1,5 +1,5 @@
 ---
-mock_publisher_node:
+mock_publisher:
   ros__parameters:
     # Mock buttons publisher topic
     button_topic: /interface_buttons

irobot_create_common/irobot_create_common_bringup/config/wheel_status_params.yaml

@@ -1,5 +1,5 @@
 ---
-wheel_status_publisher_node:
+wheel_status_publisher:
   ros__parameters:
     # Publish rate
     publish_rate: 62.0

irobot_create_common/irobot_create_common_bringup/launch/create3_nodes.launch.py

@@ -47,27 +47,27 @@ def generate_launch_description():
 
     # Publish hazards vector
     hazards_vector_node = Node(
-        package='irobot_create_toolbox',
-        name='hazards_vector_node',
-        executable='hazards_vector_publisher_node',
+        package='irobot_create_nodes',
+        name='hazards_vector_publisher',
+        executable='hazards_vector_publisher',
         parameters=[hazards_params_yaml_file,
                     {'use_sim_time': True}],
         output='screen',
     )
 
     # Publish IR intensity vector
     ir_intensity_vector_node = Node(
-        package='irobot_create_toolbox',
-        name='ir_intensity_vector_node',
-        executable='ir_intensity_vector_publisher_node',
+        package='irobot_create_nodes',
+        name='ir_intensity_vector_publisher',
+        executable='ir_intensity_vector_publisher',
         parameters=[ir_intensity_params_yaml_file,
                     {'use_sim_time': True}],
         output='screen',
     )
 
     # Motion Control
     motion_control_node = Node(
-        package='irobot_create_toolbox',
+        package='irobot_create_nodes',
         name='motion_control',
         executable='motion_control',
         parameters=[{'use_sim_time': True}],
@@ -76,19 +76,19 @@ def generate_launch_description():
 
     # Publish wheel status
     wheel_status_node = Node(
-        package='irobot_create_toolbox',
-        name='wheel_status_publisher_node',
-        executable='wheel_status_publisher_node',
+        package='irobot_create_nodes',
+        name='wheel_status_publisher',
+        executable='wheel_status_publisher',
         parameters=[wheel_status_params_yaml_file,
                     {'use_sim_time': True}],
         output='screen',
     )
 
     # Publish mock topics
     mock_topics_node = Node(
-        package='irobot_create_toolbox',
-        name='mock_publisher_node',
-        executable='mock_publisher_node',
+        package='irobot_create_nodes',
+        name='mock_publisher',
+        executable='mock_publisher',
         parameters=[mock_params_yaml_file,
                     {'use_sim_time': True},
                     {'gazebo': LaunchConfiguration('gazebo')}],
@@ -97,19 +97,19 @@ def generate_launch_description():
 
     # Publish robot state
     robot_state_node = Node(
-        package='irobot_create_toolbox',
+        package='irobot_create_nodes',
         name='robot_state',
-        executable='robot_state_node',
+        executable='robot_state',
         parameters=[robot_state_yaml_file,
                     {'use_sim_time': True}],
         output='screen',
     )
 
     # Publish kidnap estimator
     kidnap_estimator_node = Node(
-        package='irobot_create_toolbox',
-        name='kidnap_estimator',
-        executable='kidnap_estimator_publisher_node',
+        package='irobot_create_nodes',
+        name='kidnap_estimator_publisher',
+        executable='kidnap_estimator_publisher',
         parameters=[kidnap_estimator_yaml_file,
                     {'use_sim_time': True}],
         output='screen',

irobot_create_common/irobot_create_control/package.xml

@@ -13,7 +13,7 @@
 
   <exec_depend>gazebo_ros2_control</exec_depend>
   <exec_depend>ign_ros2_control</exec_depend>
-  <exec_depend>irobot_create_toolbox</exec_depend>
+  <exec_depend>irobot_create_nodes</exec_depend>
   <exec_depend>joint_state_broadcaster</exec_depend>
   <exec_depend>ros2launch</exec_depend>
   <exec_depend>ros2_controllers</exec_depend>

irobot_create_common/irobot_create_nodes/CMakeLists.txt

@@ -0,0 +1,195 @@
+cmake_minimum_required(VERSION 3.5)
+
+project(irobot_create_nodes)
+
+# Default to C++14
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 14)
+endif()
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+find_package(ament_cmake REQUIRED)
+find_package(angles REQUIRED)
+find_package(control_msgs REQUIRED)
+find_package(geometry_msgs REQUIRED)
+find_package(sensor_msgs REQUIRED)
+find_package(nav_msgs REQUIRED)
+find_package(irobot_create_msgs REQUIRED)
+find_package(irobot_create_toolbox REQUIRED)
+find_package(nav_msgs REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(rclcpp_action REQUIRED)
+find_package(rclcpp_components REQUIRED)
+find_package(tf2 REQUIRED)
+find_package(tf2_geometry_msgs REQUIRED)
+find_package(tf2_ros REQUIRED)
+
+#### Libraries
+
+set(dependencies
+  angles
+  control_msgs
+  geometry_msgs
+  sensor_msgs
+  nav_msgs
+  irobot_create_msgs
+  irobot_create_toolbox
+  nav_msgs
+  rclcpp
+  rclcpp_action
+  tf2
+  tf2_geometry_msgs
+  tf2_ros
+)
+
+# Hazards vector publisher
+add_library(hazard_publisher_lib SHARED)
+target_sources(
+  hazard_publisher_lib
+  PRIVATE
+    src/hazards_vector_publisher.cpp
+)
+target_include_directories(hazard_publisher_lib PUBLIC include)
+ament_target_dependencies(hazard_publisher_lib
+  ${dependencies}
+)
+
+rclcpp_components_register_node(hazard_publisher_lib
+  PLUGIN "irobot_create_nodes::HazardsVectorPublisher"
+  EXECUTABLE hazards_vector_publisher)
+
+# IR intensity vector publisher
+add_library(ir_intensity_publisher_lib SHARED)
+target_sources(
+  ir_intensity_publisher_lib
+  PRIVATE
+    src/ir_intensity_vector_publisher.cpp
+)
+target_include_directories(ir_intensity_publisher_lib PUBLIC include)
+ament_target_dependencies(ir_intensity_publisher_lib
+  ${dependencies}
+)
+
+rclcpp_components_register_node(ir_intensity_publisher_lib
+  PLUGIN "irobot_create_nodes::IrIntensityVectorPublisher"
+  EXECUTABLE ir_intensity_vector_publisher)
+
+# Motion control node
+add_library(motion_control_lib SHARED)
+target_sources(
+  motion_control_lib
+  PRIVATE
+    src/motion_control_node.cpp
+    src/motion_control/docking_behavior.cpp
+    src/motion_control/drive_goal_behaviors.cpp
+    src/motion_control/reflex_behavior.cpp
+    src/motion_control/wall_follow_behavior.cpp
+    src/motion_control/wall_follow_states.cpp
+)
+target_include_directories(motion_control_lib PUBLIC include)
+ament_target_dependencies(motion_control_lib
+  ${dependencies}
+)
+
+rclcpp_components_register_node(motion_control_lib
+  PLUGIN "irobot_create_nodes::MotionControlNode"
+  EXECUTABLE motion_control)
+
+# Wheel status publisher
+add_library(wheel_status_publisher_lib SHARED)
+target_sources(
+  wheel_status_publisher_lib
+  PRIVATE
+    src/wheels_publisher.cpp
+)
+target_include_directories(wheel_status_publisher_lib PUBLIC include)
+ament_target_dependencies(wheel_status_publisher_lib
+  ${dependencies}
+)
+
+rclcpp_components_register_node(wheel_status_publisher_lib
+  PLUGIN "irobot_create_nodes::WheelsPublisher"
+  EXECUTABLE wheel_status_publisher)
+
+# Robot status publisher
+add_library(robot_state_lib SHARED)
+target_sources(
+  robot_state_lib
+  PRIVATE
+    src/robot_state.cpp
+)
+target_include_directories(robot_state_lib PUBLIC include)
+ament_target_dependencies(robot_state_lib
+  ${dependencies}
+)
+
+rclcpp_components_register_node(robot_state_lib
+  PLUGIN "irobot_create_nodes::RobotState"
+  EXECUTABLE robot_state)
+
+# Mock publisher
+add_library(mock_publisher_lib SHARED)
+target_sources(
+  mock_publisher_lib
+  PRIVATE
+    src/mock_publisher.cpp
+)
+target_include_directories(mock_publisher_lib PUBLIC include)
+ament_target_dependencies(mock_publisher_lib
+  ${dependencies}
+)
+
+rclcpp_components_register_node(mock_publisher_lib
+  PLUGIN "irobot_create_nodes::MockPublisher"
+  EXECUTABLE mock_publisher)
+
+# Kidnap estimator publisher
+add_library(kidnap_estimator_publisher_lib SHARED)
+target_sources(
+  kidnap_estimator_publisher_lib
+  PRIVATE
+    src/kidnap_estimator_publisher.cpp
+)
+target_include_directories(kidnap_estimator_publisher_lib PUBLIC include)
+ament_target_dependencies(kidnap_estimator_publisher_lib
+  ${dependencies}
+)
+
+rclcpp_components_register_node(kidnap_estimator_publisher_lib
+  PLUGIN "irobot_create_nodes::KidnapEstimator"
+  EXECUTABLE kidnap_estimator_publisher)
+
+set(libraries_names
+  hazard_publisher_lib
+  ir_intensity_publisher_lib
+  motion_control_lib
+  wheel_status_publisher_lib
+  robot_state_lib
+  mock_publisher_lib
+  kidnap_estimator_publisher_lib
+)
+
+#### Install
+
+install(TARGETS ${libraries_names}
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+  RUNTIME DESTINATION bin
+)
+
+install(DIRECTORY include/
+  DESTINATION include
+)
+
+ament_export_include_directories(include)
+ament_export_libraries(${libraries_names})
+ament_export_dependencies(${dependencies})
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_package()

irobot_create_common/irobot_create_nodes/README.md

@@ -0,0 +1,4 @@
+# iRobot® Create® 3 Nodes
+
+This package contains a set of nodes used for simulating a iRobot® Create® 3 robot.
+Each node is defined in its own shared library and registered using `rclcpp_components` to allow run-time composition in applications.