search

Robotic-Decision-Making-Lab / blue

ROS 2 platform for underwater robotics research and development.
https://robotic-decision-making-lab.github.io/blue/
MIT License
40 stars 9 forks source link

Integrate ros2_control and add user documentation #162

Closed evan-palmer closed 2 months ago

evan-palmer commented 2 months ago

Changes Made

This is a pretty significant PR that makes several API-breaking changes. In particular, the following breaking changes were made:

  1. blue_dynamics has been ported to hydrodynamics. The new project cleans up the original dynamics implementation and will also make it easier to add new features that are unrelated to Blue (e.g., parsing hydrodynamic parameters from a URDF/SDF file).
  2. blue_control has been re-written using ros2_control and ported to auv_controllers. Controllers will now be easier to implement and are vehicle-agnostic.
  3. ArduSub-specific packages/files including sitl.launch.py, blue_joy, blue_manager, and the PWM passthrough handling have all been ported to ardusub_driver.
    • In the new repo, SITL, MAVROS, and the ArduSub manager can all be launched using the launch files available in ardusub_bringup.
    • PWM passthrough is now accomplished in the thruster_hardware package and is implemented as a ros2_control hardware interface
    • blue_manager now lives in ardusub_manager and has been cleaned up.
    • The blue_joy package has become ardusub_teleop and now has a joystick configuration file tailored specifically to ArduSub.
  4. Launch files were re-written using the new YAML syntax. The new launch files are a MAJOR improvement over the verbose Python launch files that were originally used.
  5. blue_utils has been removed.

Outside of these breaking changes, user documentation has been added with pipelines that deploy the documentation on push to main. The documentation is written using Docusaurus.

Associated Issues

Testing

Testing was done in simulation using SITL.

evan-palmer commented 2 months ago

CI will continue to fail for rolling until the newest version officially releases here in a month

evan-palmer commented 2 months ago

@mergify backport humble

evan-palmer commented 2 months ago

@mergify backport iron

mergify[bot] commented 2 months ago

backport humble

✅ Backports have been created

* [#163 Integrate ros2_control and add user documentation (backport #162)](https://github.com/Robotic-Decision-Making-Lab/blue/pull/163) has been created for branch `humble` but encountered conflicts
mergify[bot] commented 2 months ago

backport iron

✅ Backports have been created

* [#164 Integrate ros2_control and add user documentation (backport #162)](https://github.com/Robotic-Decision-Making-Lab/blue/pull/164) has been created for branch `iron` but encountered conflicts