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bjoernellens1
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f5185df422
48
README.md
48
README.md
@ -36,53 +36,7 @@ I would advise to fork the repository and start working in your own one.
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```
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This will allow you to modify the images to your needs. Enjoy!
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## Old-fashioned way:
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temporary ws for developing ros2 control on robot mini with odrive
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needed repos are:
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- https://github.com/bjoernellens1/odrive_ros2_control on branch humble-fw-v0.5.1
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- https://github.com/bjoernellens1/rmp220_teleop on branch bot_mini
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- https://github.com/bjoernellens1/ros2_cam_openCV
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- https://github.com/bjoernellens1/bot_mini_bringup.git
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For initialization, just call "python3 initialize.py"
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TODO: extend bot_mini_bringup, python scripts for simplyfiyng startup process.
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## Useful commands:
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```
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rosdep install --from-paths src --ignore-src -r -y
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```
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### Localization using predefined map and navigation
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don't forget to set transient_local in rviz to see the map
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ros2 launch bot_mini_bringup nav2.launch.py map_subscribe_transient_local:=true
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ros2 launch nav2_bringup localization_launch.py map:=/home/bjorn/Documents/ros_projects/cps_bot_mini_ws/src/bot_mini_bringup/maps/cps_save_map.yaml
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### Real-Time priority
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Process real-time settings
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These are the options that allows to configure the process real-time settings:
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priority: changes the process priority and set a real-time FIFO priority. This will set the priority of the thread where the ROS 2 executor is running.
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cpu-affinity: binds the application to a specific CPU core by setting a CPU mask. For example, to bind the process or thread to CPU 3 (or 2 starting from 0) we set the CPU mask to 4 (100 in binary).
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lock-memory: pre-faults memory until no more page faults are seen. This usually allocated a high amount of memory so make sure there is enough memory in the system.
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lock-memory-size: specifies the amount of memory we want to pre-allocate. For example lock-memory-size 100 pre-allocates 100 MB.
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config-child-threads: specifies if the RMW middleware child threads will inherit the main process settings. This applies for priority and cpu-affinity options.. For example, if config-child-threads False is set, only the main thread where the ROS executor is set with the priority and cpu-affinity options. If, config-child-threads True is set, the DDS threads will also inherit the same priority and CPU affinity configuration than the main thread.
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Example using ros2 launch:
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```
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ros2 launch pendulum_bringup pendulum_bringup.launch.py priority:=80 cpu-affinity:=4 lock-memory-size:=100 config-child-threads:=True
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```
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Example using the executable command line arguments:
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```
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ros2 run pendulum_demo pendulum_demo --priority 80 --cpu-affinity:=4 --lock-memory-size 100 --config-child-threads True
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```
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Source: https://github.com/ros2-realtime-demo/pendulum/blob/rolling/docs/real_time_tutorial.md
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```
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47
build.py
47
build.py
@ -1,47 +0,0 @@
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import subprocess
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import signal
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import os
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import time
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processes = []
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def source_setup_files():
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subprocess.Popen("source /opt/ros/humble/setup.bash", shell=True, executable="/bin/bash")
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#subprocess.Popen("source ./install/setup.bash", shell=True, executable="/bin/bash")
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print("Setup files sourced")
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def start_process(command):
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process = subprocess.Popen(command, shell=True, executable="/bin/bash", preexec_fn=os.setsid)
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processes.append(process)
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print(f"Started process with command: {command}")
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def stop_processes():
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for process in processes:
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os.killpg(os.getpgid(process.pid), signal.SIGTERM)
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print("Stopped all processes")
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def handle_interrupt(signal, frame):
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print("Keyboard interrupt detected")
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stop_processes()
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exit(0)
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# Add your commands here
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commands = [
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"colcon build"
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]
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# Register the signal handler
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signal.signal(signal.SIGINT, handle_interrupt)
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# Source the setup files
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source_setup_files()
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# Start the remaining processes
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for command in commands:
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start_process(command)
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# Wait for user input to stop the processes
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input("Press Enter to stop all processes...")
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# Stop all processes
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stop_processes()
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@ -1,3 +0,0 @@
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import subprocess
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subprocess.check_output(['rm', '-rf', 'src', 'log', 'build', 'install'])
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@ -1,85 +0,0 @@
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import os
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import subprocess
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import yaml
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class GitCloner:
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def __init__(self, directory, repos_file):
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self.directory = directory
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self.maindir = os.path.dirname(os.path.abspath(__file__)) # should be equal to the current directory where the script is called from
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self.repos_file = repos_file
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def clone_or_update_repos(self):
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# Load repository URLs from YAML file
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with open(self.repos_file, 'r') as file:
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repos_data = yaml.safe_load(file)
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# Clone or update repositories
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for repo_data in repos_data['repositories']:
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repo_url = repo_data['url']
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branch = repo_data.get('branch', 'main')
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self.clone_or_update_repo(repo_url, branch)
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def clone_or_update_repo(self, repo_url, branch='main'):
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repo_name = repo_url.split('/')[-1].split('.')[0]
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repo_path = os.path.join(self.directory, repo_name)
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if os.path.exists(repo_path):
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print(f"Repository '{repo_name}' already exists. Updating...")
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try:
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# Change working directory to the repository path
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os.chdir(repo_path)
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# Pull the latest changes from the repository
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subprocess.check_output(['git', 'pull'])
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#Go back one level
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os.chdir(os.path.join(self.maindir, 'src'))
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print(f"Successfully updated repository '{repo_name}'.")
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except subprocess.CalledProcessError as e:
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print(f"Failed to update repository '{repo_name}': {e}")
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return
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else:
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try:
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# Clone the repository
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subprocess.check_output(['git', 'clone', '--branch', branch, repo_url, repo_path])
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print(f"Successfully cloned repository '{repo_name}' on branch '{branch}'.")
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except subprocess.CalledProcessError as e:
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print(f"Failed to clone repository '{repo_name}' on branch '{branch}': {e}")
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return
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def build_repos(self):
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try:
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# Change working directory to the base directory
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main_dir = os.path.join(self.maindir)
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os.chdir(main_dir)
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# Execute colcon build
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subprocess.check_output(['colcon', 'build'])
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print("Build completed successfully.")
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except subprocess.CalledProcessError as e:
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print(f"Failed to build repositories: {e}")
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def source_setup(self):
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try:
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# Change working directory to the base directory
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main_dir = os.path.join(self.maindir)
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os.chdir(main_dir)
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# Execute "source install/setup.bash" from the parent directory
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#subprocess.check_call(['source', os.path.join('install', 'setup.bash')], shell=True)
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subprocess.check_output(['source', 'install/setup.bash'])
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print("Setup file sourced successfully.")
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except subprocess.CalledProcessError as e:
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print(f"Failed to source setup file: {e}")
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# Usage example
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cloner = GitCloner('./src', 'repos.yaml')
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cloner.clone_or_update_repos()
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#cloner.build_repos()
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#cloner.source_setup()
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10
repos.yaml
10
repos.yaml
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repositories:
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- url: https://github.com/bjoernellens1/odrive_ros2_control
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branch: humble-fw-v0.5.1
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- url: https://github.com/bjoernellens1/rmp220_teleop
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branch: bot_mini
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- url: https://github.com/bjoernellens1/ros2_cam_openCV
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- url: https://github.com/bjoernellens1/bot_mini_bringup
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- url: https://github.com/bjoernellens1/Lslidar_ROS2_driver
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branch: N10_V1.0
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- url: https://github.com/bjoernellens1/bot_mini_description
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@ -1,71 +0,0 @@
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import subprocess
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import signal
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import os
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import time
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import threading
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processes = []
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current_directory = os.getcwd()
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def source_setup_files():
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subprocess.Popen("source /opt/ros/humble/setup.bash", shell=True, executable="/bin/bash")
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subprocess.Popen("source ./install/setup.bash", shell=True, executable="/bin/bash")
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print("Setup files sourced")
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def start_process(command):
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process = subprocess.Popen(command, shell=True, executable="/bin/bash", preexec_fn=os.setsid)
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processes.append(process)
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print(f"Started process with command: {command}")
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def stop_processes():
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for process in processes:
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os.killpg(os.getpgid(process.pid), signal.SIGTERM)
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print("Stopped all processes")
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def handle_interrupt(signal, frame):
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print("Keyboard interrupt detected")
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stop_processes()
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exit(0)
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# Define the base command
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base_command = "ros2 launch bot_mini_bringup"
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# Define the commands to launch
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launch_commands = [
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"rsp.launch.py",
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"robot_controller.launch.py",
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"robot_joy_teleop.launch.py",
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"robot_twist_mux.launch.py",
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"robot_lidar.launch.py"
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]
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# Create the commands by joining the base command with each launch command
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commands = [f"{base_command} {command}" for command in launch_commands]
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# Add the path to the map file
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map_file = os.path.join(current_directory, "src", "bot_mini_bringup", "maps", "default_save_map.yaml")
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map_command = f"ros2 launch nav2_bringup localization_launch.py map:={map_file}"
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commands.append(map_command)
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# Register the signal handler
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signal.signal(signal.SIGINT, handle_interrupt)
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# Source the setup files
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source_setup_files()
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# Create and start threads for each command
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threads = []
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for command in commands:
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thread = threading.Thread(target=start_process, args=(command,))
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thread.start()
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threads.append(thread)
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# Wait for user input to stop the processes
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input("Press Enter to stop all processes...")
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# Stop all processes
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stop_processes()
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# Wait for all threads to complete
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for thread in threads:
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thread.join()
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@ -1,64 +0,0 @@
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import subprocess
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import signal
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import os
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import time
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processes = []
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current_directory = os.getcwd()
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def source_setup_files():
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subprocess.Popen("source /opt/ros/humble/setup.bash", shell=True, executable="/bin/bash")
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subprocess.Popen("source ./install/setup.bash", shell=True, executable="/bin/bash")
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print("Setup files sourced")
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def start_process(command):
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process = subprocess.Popen(command, shell=True, executable="/bin/bash", preexec_fn=os.setsid)
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processes.append(process)
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print(f"Started process with command: {command}")
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def stop_processes():
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for process in processes:
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os.killpg(os.getpgid(process.pid), signal.SIGTERM)
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print("Stopped all processes")
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def handle_interrupt(signal, frame):
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print("Keyboard interrupt detected")
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stop_processes()
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exit(0)
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# Define the base command
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base_command = "ros2 launch bot_mini_bringup"
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# Define the commands to launch
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launch_commands = [
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"rsp.launch.py",
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"robot_controller.launch.py",
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"robot_joy_teleop.launch.py",
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"robot_twist_mux.launch.py",
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"robot_lidar.launch.py",
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#"robot_cam.launch.py"
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]
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# Create the commands by joining the base command with each launch command
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commands = [f"{base_command} {command}" for command in launch_commands]
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# Add the path to the map file
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map_file = os.path.join(current_directory, "src", "bot_mini_bringup", "maps", "default_map_save.yaml")
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map_command = f"ros2 launch nav2_bringup localization_launch.py map:={map_file}"
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commands.append(map_command)
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# Register the signal handler
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signal.signal(signal.SIGINT, handle_interrupt)
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# Source the setup files
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source_setup_files()
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# Start the processes
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for command in commands:
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start_process(command)
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# Wait for user input to stop the processes
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input("Press Enter to stop all processes...")
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# Stop all processes
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stop_processes()
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@ -1,61 +0,0 @@
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import subprocess
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import signal
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import os
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import time
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processes = []
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def source_setup_files():
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subprocess.Popen("source /opt/ros/humble/setup.bash", shell=True, executable="/bin/bash")
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subprocess.Popen("source ./install/setup.bash", shell=True, executable="/bin/bash")
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print("Setup files sourced")
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def start_process(command):
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process = subprocess.Popen(command, shell=True, executable="/bin/bash", preexec_fn=os.setsid)
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processes.append(process)
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print(f"Started process with command: {command}")
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def stop_processes():
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for process in processes:
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os.killpg(os.getpgid(process.pid), signal.SIGTERM)
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print("Stopped all processes")
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def handle_interrupt(signal, frame):
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print("Keyboard interrupt detected")
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stop_processes()
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exit(0)
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# Add your commands here
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commands = [
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#"ros2 launch bot_mini_bringup rsp.launch.py",
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"ros2 launch bot_mini_bringup robot_controller.launch.py",
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"ros2 launch bot_mini_bringup robot_joy_teleop.launch.py",
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"ros2 launch bot_mini_bringup robot_twist_mux.launch.py",
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"ros2 launch bot_mini_bringup robot_lidar.launch.py",
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"ros2 launch bot_mini_bringup robot_mapper.launch.py"
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]
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# Register the signal handler
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signal.signal(signal.SIGINT, handle_interrupt)
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# Source the setup files
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source_setup_files()
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# Start rsp.launch.py
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start_process(commands[0])
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# Start controller
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start_process(commands[1])
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# Wait for 20 seconds because the ros2 control needs some time to initialize.
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print("Waiting for 20 seconds...")
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time.sleep(20)
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# Start the remaining processes
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for command in commands[1:]:
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start_process(command)
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# Wait for user input to stop the processes
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input("Press Enter to stop all processes...")
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# Stop all processes
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stop_processes()
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Block a user