Feature/ros2

.github/workflows/main.yml

@@ -15,7 +15,7 @@ jobs:
   # The introduction just shows some useful informations.
   intro:
     # The type of runner that the job will run on.
-    runs-on: ubuntu-latest
+    runs-on: ubuntu-24.04
     # Steps represent a sequence of tasks that will be executed as part of the job.
     steps:
     - run: echo "The job was automatically triggered by a ${{ github.event_name }} event."
@@ -27,7 +27,7 @@ jobs:
     - name: Set up Python
       uses: actions/setup-python@v5
       with:
-        python-version: '3.9'
+        python-version: '3.12.3'
         cache: 'pip'
         cache-dependency-path: .github/workflows/requirements.txt
 
@@ -38,11 +38,15 @@ jobs:
   # Build all targets
   build:
     # The type of runner that the job will run on.
-    runs-on: ubuntu-latest
+    runs-on: ubuntu-24.04
     needs: intro
     strategy:
       matrix:
-        environment: ["ConvoyLeaderTarget", "ConvoyFollowerTarget", "RemoteControlTarget", "SensorFusionTarget"]
+        environment: ["ConvoyLeaderTarget",
+                      "ConvoyFollowerTarget",
+                      "RemoteControlTarget",
+                      "SensorFusionTarget",
+                      "TurtleTarget"]
 
     # Steps represent a sequence of tasks that will be executed as part of the job.
     steps:
@@ -52,7 +56,7 @@ jobs:
     - name: Set up Python
       uses: actions/setup-python@v5
       with:
-        python-version: '3.9'
+        python-version: '3.12.3'
         cache: 'pip'
         cache-dependency-path: .github/workflows/requirements.txt
 
@@ -63,14 +67,17 @@ jobs:
     - name: Compile ${{ matrix.environment }} firmware
       run: platformio run --environment ${{ matrix.environment }}
 
+    - name: Perform static checks on ${{ matrix.environment }}
+      run: platformio check --environment ${{ matrix.environment }} --fail-on-defect=medium --fail-on-defect=high
+
   # Perform static checks and test
   check:
     # The type of runner that the job will run on.
-    runs-on: ubuntu-latest
+    runs-on: ubuntu-24.04
     needs: intro
     strategy:
       matrix:
-        environment: ["ConvoyLeaderTarget", "ConvoyFollowerTarget", "RemoteControlTarget", "SensorFusionTarget", "Test"]
+        environment: ["Test"]
 
     steps:
     - name: Checkout repository
@@ -79,7 +86,7 @@ jobs:
     - name: Set up Python
       uses: actions/setup-python@v5
       with:
-        python-version: '3.9'
+        python-version: '3.12.3'
         cache: 'pip'
         cache-dependency-path: .github/workflows/requirements.txt
 
@@ -93,7 +100,7 @@ jobs:
   # Perform tests
   test:
     # The type of runner that the job will run on.
-    runs-on: ubuntu-latest
+    runs-on: ubuntu-24.04
     needs: intro
 
     steps:
@@ -103,7 +110,7 @@ jobs:
     - name: Set up Python
       uses: actions/setup-python@v5
       with:
-        python-version: '3.9'
+        python-version: '3.12.3'
         cache: 'pip'
         cache-dependency-path: .github/workflows/requirements.txt
 
@@ -117,11 +124,20 @@ jobs:
   # Build documentation
   doc:
     # The type of runner that the job will run on.
-    runs-on: ubuntu-latest
+    runs-on: ubuntu-24.04
     needs: intro
     strategy:
       matrix:
-        environment: ["ConvoyLeaderTarget", "ConvoyFollowerTarget", "ConvoyLeaderSim", "ConvoyFollowerSim", "RemoteControlTarget", "RemoteControlSim", "SensorFusionTarget", "SensorFusionSim"]
+        environment: ["ConvoyLeaderTarget",
+                      "ConvoyFollowerTarget",
+                      "ConvoyLeaderSim",
+                      "ConvoyFollowerSim",
+                      "RemoteControlTarget",
+                      "RemoteControlSim",
+                      "SensorFusionTarget",
+                      "SensorFusionSim",
+                      "TurtleTarget",
+                      "TurtleSim"]
 
     steps:
     - name: Checkout repository

.github/workflows/requirements.txt

@@ -1 +1 @@
-platformio==6.1.15
+platformio

.gitignore

@@ -7,4 +7,5 @@
 lib/Webots
 webots/worlds/*.wbproj
 webots/worlds/*.jpg
-doc/doxygen/*/*
+doc/doxygen/*/*
+lib/libmicroros

README.md

@@ -12,6 +12,7 @@ It provides different kind of exclusive applications, used for educational purpo
 * Convoy Leader Robot - Based on odometry information, it leads the followers to follow like a lemming trail.
 * Convoy Follower Robot - It follows the leader by mainly reacting on the received information.
 * Remote Control - Receives commands and motor speeds from an external source through MQTT.
+* APPTurtle - A [ROS2](https://docs.ros.org/en/jazzy/index.html) Robot controller that uses Twist messages like the ROS2 TurtleSim demo.
 
 ## Table of content
 
@@ -51,6 +52,7 @@ The simulation is based on the open source robot simulator *Webots*. The applica
 1. Install the native compiler toolchain:
     * Linux
         * Install the gcc toolchain, depended on your distribution.
+        * Install libmosquitto-dev, depended on your distribution.
     * Windows
         * Install the [MSYS2](https://www.msys2.org) toolchain.
         * Open MSYS2 shell.
@@ -105,6 +107,7 @@ In a similar way, not providing a WiFi configuration will force the target into
 | RemoteControl | No | Yes | RemoteControl | Yes |
 | SensorFusion | No | Yes | SensorFusion | Yes |
 | Test | Yes | No | N/A | No |
+| Turtle | No | Yes | RemoteControl | Yes (ROS2 + Micro-ROS Agent) |
 
 # Documentation
 

data/config/config.json

@@ -24,5 +24,9 @@
     "x": "0",
     "y": "0",
     "heading": "0"
+  },
+  "microROSAgent": {
+    "host": "127.0.0.1",
+    "port": "8888"
   }
 }

doc/ROS2/README.md

@@ -0,0 +1,82 @@
+# ROS 2 and micro-ROS
+
+ROS 2 is a powerful framework for developing robot applications, while micro-ROS extends ROS 2 capabilities to microcontrollers, enabling robotics applications on a wider range of hardware.
+
+## Table of Contents
+
+- [What is ROS 2?](#what-is-ros-2)
+- [What is micro-ROS?](#what-is-micro-ros)
+- [What has improved since ROS 1](#what-has-improved-since-ros-1)
+- [What is micro-ROS?](#what-is-micro-ros)
+- [micro-ROS Project Components](#what-is-micro-ros)
+- [Webots Integration](#webots-integration)
+- [Installation Steps](#installation-steps)
+
+## What is ROS 2?
+
+ROS 2 is the second major version of the Robot Operating System (ROS), an open-source framework to build complex robot applications.
+
+Key features of ROS 2 include:
+- Distributed Computing: Nodes can be distributed across multiple machines.
+- Real-Time Capabilities: Improved support for real-time systems.
+- Cross-Platform: Runs on various operating systems, including Linux, Windows, and macOS.
+- Modularity: Encourages modularity and reusability of code.
+
+## What has improved since ROS 1
+
+Major advancements from ROS (1) include improved real-time capability, more generic Data Distribution Service (DDS) than previously used TCPROS/UDPROS protocols.
+
+List of key differences and new features:
+- Middleware: ROS 2 uses DDS for better performance and QoS.
+- Real-Time Support: ROS 2 offers enhanced real-time capabilities.
+- Cross-Platform: ROS 2 supports multiple operating systems and RTOS.
+- Distributed Computing: ROS 2 enables distributed node execution.
+- QoS: ROS 2 provides extensive QoS settings.
+- Lifecycle Management: ROS 2 introduces lifecycle management for nodes.
+- API Stability: ROS 2 emphasizes stable and versioned APIs.
+- Security: ROS 2 includes initial security features.
+- Development Tools: ROS 2 builds on the ROS 1 ecosystem with new tools.
+
+## What is micro-ROS?
+
+micro-ROS brings ROS 2 to microcontrollers, allowing developers to run ROS 2 applications on resource-constrained devices. This extension enables the integration of microcontrollers into ROS 2 networks, making it possible to create more complex and distributed robotic systems.
+
+Key features of micro-ROS include:
+- [Small Footprint](https://micro.ros.org/docs/concepts/benchmarking/memo_prof/): Optimized for microcontrollers with limited resources.
+- [Real-Time Capabilities](https://micro.ros.org/docs/concepts/rtos/): Supports real-time operation on microcontrollers.
+- [ROS 2 Compatibility](https://micro.ros.org/docs/overview/ROS_2_feature_comparison/): Fully compatible with ROS 2, allowing seamless integration with larger ROS 2 systems. See 
+- [Cross-Platform](https://micro.ros.org/docs/overview/hardware/): Supports a variety of microcontroller platforms and RTOS (Real-Time Operating Systems).
+
+## External micro-ROS build system
+
+micro-ROS supports a variety of external build system beyond the micro_ros_setup tool such as PlatformIO [micro_ros_platformio](https://github.com/micro-ROS/micro_ros_platformio/). The following component diagram depi
+
+![uros_ws](http://www.plantuml.com/plantuml/proxy?cache=no&src=https://raw.githubusercontent.com/BlueAndi/DroidControlShip/feature/ROS2/doc/ROS2/uml/micro-ros_build_system.puml)
+
+## ROS 2 in DCS
+
+This section describes the integration of micro-ROS in the existing workspace, extending it by implementing a ROS 2 node and the micro-ROS stack. The goal is to connect the ZumoComSystem with the DDS network using DDS-XRCE, making the robot controllable via ROS messages to mimic turtle graphics drawing using the robot.
+
+### Component Deployment
+
+The following diagram illustrates the component deployment of micro-ROS in the DroidControlSystem.
+
+![turtle_sim](http://www.plantuml.com/plantuml/proxy?cache=no&src=https://raw.githubusercontent.com/BlueAndi/DroidControlShip/feature/ROS2/doc/ROS2/uml/turtle_sim.plantuml)
+
+## Installation Steps
+
+1. [WSL with Ubuntu](./setup/wsl.md)
+2. [ROS2 Jazzy](./setup/ROS2_Jazzy.md)
+3. [Webots](./setup/Webots.md)
+4. [micro-ROS Native](./setup/microROS_Native.md)
+5. [micro-ROS Agent](./setup/Agent.md)
+
+## Execution Steps
+
+### Webots Simulation
+
+[Webots simulation](./webots/webots.md).
+
+### Target
+
+[Target](./setup/Target.md)

doc/ROS2/interface/README.md

@@ -0,0 +1,94 @@
+# TurtleSim turtle_teleop_key message interface
+
+## turtle_teleop_key
+
+The `turtle_teleop_key` executable is part of the `turtlesim` package, and its used to send commands to the `turtlesim` for it to move.
+It is launched using the following command:
+
+```bash
+ros2 run turtlesim turtle_teleop_key
+```
+
+This will per default spawn an new Node with the name `teleop_turtle`, which has the following interfaces:
+
+```yaml
+  Subscribers:
+    /parameter_events: rcl_interfaces/msg/ParameterEvent
+  Publishers:
+    /parameter_events: rcl_interfaces/msg/ParameterEvent
+    /rosout: rcl_interfaces/msg/Log
+    /turtle1/cmd_vel: geometry_msgs/msg/Twist
+  Service Servers:
+    /teleop_turtle/describe_parameters: rcl_interfaces/srv/DescribeParameters
+    /teleop_turtle/get_parameter_types: rcl_interfaces/srv/GetParameterTypes
+    /teleop_turtle/get_parameters: rcl_interfaces/srv/GetParameters
+    /teleop_turtle/list_parameters: rcl_interfaces/srv/ListParameters
+    /teleop_turtle/set_parameters: rcl_interfaces/srv/SetParameters
+    /teleop_turtle/set_parameters_atomically: rcl_interfaces/srv/SetParametersAtomically
+  Service Clients:
+
+  Action Servers:
+
+  Action Clients:
+    /turtle1/rotate_absolute: turtlesim/action/RotateAbsolute
+```
+
+This information can be found by running the command while the node is running on a separate terminal:
+
+```bash
+ros2 node info /teleop_turtle
+```
+
+Relevant for this project is the Publisher to the topic `/turtle1/cmd_vel` which uses the type `geometry_msgs/msg/Twist`. Note that `turtle_teleop_key` publishes to the topic on button press, not periodically.
+
+## geometry_msgs/msg/Twist Topic Type
+
+The `geometry_msgs/msg/Twist` topic type is defined as:
+
+```yaml
+# This expresses velocity in free space broken into its linear and angular parts.
+
+Vector3  linear
+        float64 x
+        float64 y
+        float64 z
+Vector3  angular
+        float64 x
+        float64 y
+        float64 z
+```
+
+This information can be found by running the command:
+
+```bash
+ros2 interface show geometry_msgs/msg/Twist
+```
+
+## turtlesim/action/RotateAbsolute Action
+
+The `turtlesim` has `RotateAbsolute` action server. To learn more about actions see [here](https://docs.ros.org/en/jazzy/Tutorials/Beginner-CLI-Tools/Understanding-ROS2-Actions/Understanding-ROS2-Actions.html). This Action has the following interface/type:
+
+```bash
+# The desired heading in radians
+float32 theta
+---
+# The angular displacement in radians to the starting position
+float32 delta
+---
+# The remaining rotation in radians
+float32 remaining
+```
+
+This information can be found by running the command:
+
+```bash
+ros2 interface show turtlesim/action/RotateAbsolute
+```
+
+The section of this message above the first --- is the structure (data type and name) of the goal request. The next section is the structure of the result. The last section is the structure of the feedback.
+
+## rqt_graph
+
+Using `rqt_graph`, the following topic graph is generated:
+
+![topic_graph](./rosgraph.png)