From 5536557f383a2269e5ad9409c60c987e3ecc36df Mon Sep 17 00:00:00 2001 From: imagidan-ets <110196106+imagidan-ets@users.noreply.github.com> Date: Tue, 13 Feb 2024 10:12:00 -0500 Subject: [PATCH 1/4] Update docker_architecture_dev.puml --- docs/docker_architecture_dev.puml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/docs/docker_architecture_dev.puml b/docs/docker_architecture_dev.puml index 716b2c9..1cdec9d 100644 --- a/docs/docker_architecture_dev.puml +++ b/docs/docker_architecture_dev.puml @@ -5,7 +5,7 @@ title "Docker Image Dependencies" rectangle "ghcr.io/clubcapra/gazebo:harmonic" as harmonic rectangle "ros/ros:humble-desktop" as ros_desktop rectangle "ros/ros:humble-ros-base" as ros_base -rectangle "nvcr.io/nvidia/isaac/ros:x86_64-ros2_humble_bcf535ea3b9d16a854aaeb1701ab5a86" as jetson_orin +rectangle "nvcr.io/nvidia/isaac/ros:aarch64-ros2_humble_b7e1ed6c02a6fa3c1c7392479291c035" as jetson_orin rectangle "rove-devcontainer" as development_container rectangle "rove-raspberry-pi" as rpi_container From 6b7e91b0528cb635c717de157c09590b5256158c Mon Sep 17 00:00:00 2001 From: imagidan-ets <110196106+imagidan-ets@users.noreply.github.com> Date: Tue, 13 Feb 2024 10:37:04 -0500 Subject: [PATCH 2/4] fixed typos --- README.md | 16 ++++++++-------- 1 file changed, 8 insertions(+), 8 deletions(-) diff --git a/README.md b/README.md index 1172b09..e24cc9b 100644 --- a/README.md +++ b/README.md @@ -4,7 +4,7 @@ Rove is a robot developed by the Capra team at ÉTS. Utilizing ROS2 Humble, Rove ## Work in a docker container (Preferred) -Working in a dev container will allow you to have the same environnement as the CI and make sure that your code will work on another computer. It will also allow you to easily switch package version and test thing without breaking your computer. +Working in a dev container will allow you to have the same environment as the CI and make sure that your code will work on another computer. It will also allow you to easily switch package version and test things without breaking your computer. ### Windows installation @@ -19,15 +19,15 @@ Working in a dev container will allow you to have the same environnement as the ### Linux installation -Same as the windows installation, step 4 and 8 can be skiped. +Same as the windows installation, step 3 and 8 can be skipped. -Replace the DISPLAY environemnt variable in the .env file +Replace the DISPLAY environment variable in the .env file ```bash echo DISPLAY=$DISPLAY ``` To be able to use the controller node, the user need read/write permissions on the inputs. -Exemple: +Example: ```bash cat /dev/input/event0 ``` @@ -58,11 +58,11 @@ source install/setup.bash ros2 launch rove_bringup rove_controller_usb.launch.py ``` -## Running the controller with a usb cable +## Running the controller with bluetooth ```bash source install/setup.bash -ros2 launch rove_bringup rove_controller_bluethoot.launch.py +ros2 launch rove_bringup rove_controller_bluetooth.launch.py ``` ## Adding New Packages @@ -98,10 +98,10 @@ This package serves as a comprehensive wrapper for SLAM operations, incorporatin ## Docker architecture -It's possible to run the entire project into multiple docker containers. Each container can be run independantly and are built using the following structure : +It's possible to run the entire project into multiple docker containers. Each container can be run independently and are built using the following structure : ![Docker structure](https://www.plantuml.com/plantuml/svg/VP71Ri8m38RlUOgezwvZq8vnc3XmsLDKJkgLGEj4JbfjU_gr0QgWJHoGVjl_xtouUn-0mz1tyc3r6Ldwm8CE0wCGmOGEPNOTVFJGeZoWGsgGj46V2S6e0r0xszgZvYTZ2zqDIeDZA5huGMLtH-3Uaj6P12zlHPfawulfjpiElUemRz2VWtNHFhNhQ_qWCSbSWSSbCXUfdyOB6uscCL0O3w3ZWgzjLLURUS5BVLbMA_rPhak4jNfhLXLiomq0gjNhymfK2TigFdB2u2tLbWs9Ux1n_WEZjXJ0479qJmtihEkHGhrC_iGOl5F8_9qx4sFip0Fx1I6V4HAa922IPsMUlzyTCz5njdoNcuZT_y55jg3A2NLsBbUNOb6nxSnTy8G-M98HEXhIGoOwdINvFL8pz9tu1G00 "Docker structure") # Documentation -To update the UML diagram, create a new encoded link on the PlantUML website. Copy the existing UML, make your changes, and then update the markdown file with the new link. \ No newline at end of file +To update the UML diagram, create a new encoded link on the PlantUML website. Copy the existing UML, make your changes, and then update the Markdown file with the new link. From 7635932b9de51729f5b6c4c0e4589a94306813d8 Mon Sep 17 00:00:00 2001 From: imagidan-ets <110196106+imagidan-ets@users.noreply.github.com> Date: Tue, 13 Feb 2024 10:41:55 -0500 Subject: [PATCH 3/4] Fixed bluethoot typo by bluetooth --- ...ethoot.launch.py => rove_controller_bluetooth.launch.py} | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) rename src/rove_bringup/launch/{rove_controller_bluethoot.launch.py => rove_controller_bluetooth.launch.py} (90%) diff --git a/src/rove_bringup/launch/rove_controller_bluethoot.launch.py b/src/rove_bringup/launch/rove_controller_bluetooth.launch.py similarity index 90% rename from src/rove_bringup/launch/rove_controller_bluethoot.launch.py rename to src/rove_bringup/launch/rove_controller_bluetooth.launch.py index a52ec66..b7c5ae4 100644 --- a/src/rove_bringup/launch/rove_controller_bluethoot.launch.py +++ b/src/rove_bringup/launch/rove_controller_bluetooth.launch.py @@ -8,7 +8,7 @@ def generate_launch_description(): # Get params files joy_params_file = dir + '/config/joy_params.yaml' teleope_joy_params_file = dir + '/config/teleop_joy_params.yaml' - bluethoot_mapping_file = dir + '/config/bluethoot_mapping.yaml' + bluetooth_mapping_file = dir + '/config/bluetooth_mapping.yaml' return LaunchDescription([ Node( @@ -32,7 +32,7 @@ def generate_launch_description(): package=package_name, executable='rove_controller_node', name='rove_controller_node', - parameters=[bluethoot_mapping_file], + parameters=[bluetooth_mapping_file], output='screen', ), - ]) \ No newline at end of file + ]) From 62617ecb36cf3639fa7029bac26e7c642f9c768c Mon Sep 17 00:00:00 2001 From: imagidan-ets <110196106+imagidan-ets@users.noreply.github.com> Date: Tue, 13 Feb 2024 10:42:24 -0500 Subject: [PATCH 4/4] Rename bluethoot_mapping.yaml to bluetooth_mapping.yaml --- .../config/{bluethoot_mapping.yaml => bluetooth_mapping.yaml} | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) rename src/rove_bringup/config/{bluethoot_mapping.yaml => bluetooth_mapping.yaml} (94%) diff --git a/src/rove_bringup/config/bluethoot_mapping.yaml b/src/rove_bringup/config/bluetooth_mapping.yaml similarity index 94% rename from src/rove_bringup/config/bluethoot_mapping.yaml rename to src/rove_bringup/config/bluetooth_mapping.yaml index fee4bbc..e7de860 100644 --- a/src/rove_bringup/config/bluethoot_mapping.yaml +++ b/src/rove_bringup/config/bluetooth_mapping.yaml @@ -21,4 +21,4 @@ RS_Y: 3 RT: 4 D_PAD_X: 6 - D_PAD_Y: 7 \ No newline at end of file + D_PAD_Y: 7