diff --git a/.github/workflows/.ci.rosinstall b/.github/workflows/.ci.rosinstall index 62d26e6..c49857e 100644 --- a/.github/workflows/.ci.rosinstall +++ b/.github/workflows/.ci.rosinstall @@ -1,4 +1,4 @@ - git: uri: https://github.com/rt-net/raspimouse_description.git local-name: raspimouse_description - version: jazzy + version: lyrical diff --git a/.github/workflows/industrial_ci.yml b/.github/workflows/industrial_ci.yml index 159c61a..c440e68 100644 --- a/.github/workflows/industrial_ci.yml +++ b/.github/workflows/industrial_ci.yml @@ -20,7 +20,7 @@ jobs: strategy: fail-fast: false matrix: - ROS_DISTRO: [jazzy] + ROS_DISTRO: [lyrical] ROS_REPO: [main] runs-on: ubuntu-latest diff --git a/README.en.md b/README.en.md index ebce2b4..2d30a53 100644 --- a/README.en.md +++ b/README.en.md @@ -30,22 +30,23 @@ ROS 2 package suite for simulating the Raspberry Pi Mouse in Gazebo - [Humble Hawksbill](https://github.com/rt-net/raspimouse_sim/tree/humble) - [Jazzy Jalisco](https://github.com/rt-net/raspimouse_sim/tree/jazzy) +- [Lyrical Luth](https://github.com/rt-net/raspimouse_sim/tree/lyrical) ## Requirements - OS - - Ubuntu Desktop 24.04 + - Ubuntu Desktop 26.04 - ROS 2 - - ROS 2 Jazzy Jalisco + - ROS 2 Lyrical Luth - Gazebo - - Gazebo Sim 8.x + - Gazebo Sim 10.x ## Installation ### Binary Installation ```bash -sudo apt install ros-jazzy-raspimouse-sim +sudo apt install ros-$ROS_DISTRO-raspimouse-sim ``` ### Source Build diff --git a/README.md b/README.md index a56dc3e..f65b262 100644 --- a/README.md +++ b/README.md @@ -30,22 +30,23 @@ Gazebo上でRaspberry Pi Mouseの動作をシミュレーションするため - [Humble Hawksbill](https://github.com/rt-net/raspimouse_sim/tree/humble) - [Jazzy Jalisco](https://github.com/rt-net/raspimouse_sim/tree/jazzy) +- [Lyrical Luth](https://github.com/rt-net/raspimouse_sim/tree/lyrical) ## Requirements - OS - - Ubuntu Desktop 24.04 + - Ubuntu Desktop 26.04 - ROS 2 - - ROS 2 Jazzy Jalisco + - ROS 2 Lyrical Luth - Gazebo - - Gazebo Sim 8.x + - Gazebo Sim 10.x ## Installation ### Binary Installation ```bash -sudo apt install ros-jazzy-raspimouse-sim +sudo apt install ros-$ROS_DISTRO-raspimouse-sim ``` ### Source Build diff --git a/raspimouse_fake/CMakeLists.txt b/raspimouse_fake/CMakeLists.txt index 9153a09..083a8a1 100644 --- a/raspimouse_fake/CMakeLists.txt +++ b/raspimouse_fake/CMakeLists.txt @@ -1,6 +1,9 @@ -cmake_minimum_required(VERSION 3.5) +cmake_minimum_required(VERSION 3.20) project(raspimouse_fake) +set(CMAKE_CXX_STANDARD 20) +set(CMAKE_CXX_STANDARD_REQUIRED ON) + find_package(ament_cmake REQUIRED) find_package(rclcpp REQUIRED) find_package(rclcpp_components REQUIRED) @@ -8,18 +11,19 @@ find_package(rclcpp_lifecycle REQUIRED) find_package(lifecycle_msgs REQUIRED) find_package(std_srvs REQUIRED) -include_directories(include) - add_library(fake_raspimouse_component SHARED src/fake_raspimouse_component.cpp) +target_include_directories(fake_raspimouse_component PUBLIC + $ + $) target_compile_definitions(fake_raspimouse_component PRIVATE "RASPIMOUSE_FAKE_BUILDING_DLL") -ament_target_dependencies(fake_raspimouse_component - rclcpp - rclcpp_components - rclcpp_lifecycle - lifecycle_msgs - std_srvs) +target_link_libraries(fake_raspimouse_component PUBLIC + rclcpp::rclcpp + rclcpp_components::component + rclcpp_lifecycle::rclcpp_lifecycle + lifecycle_msgs::lifecycle_msgs__rosidl_generator_cpp + std_srvs::std_srvs__rosidl_typesupport_cpp) rclcpp_components_register_nodes(fake_raspimouse_component "fake_raspimouse::Raspimouse") ament_export_targets(export_${PROJECT_NAME} HAS_LIBRARY_TARGET) diff --git a/raspimouse_gazebo/CMakeLists.txt b/raspimouse_gazebo/CMakeLists.txt index 7313576..26b4828 100644 --- a/raspimouse_gazebo/CMakeLists.txt +++ b/raspimouse_gazebo/CMakeLists.txt @@ -1,6 +1,9 @@ -cmake_minimum_required(VERSION 3.5) +cmake_minimum_required(VERSION 3.20) project(raspimouse_gazebo) +set(CMAKE_CXX_STANDARD 20) +set(CMAKE_CXX_STANDARD_REQUIRED ON) + find_package(ament_cmake REQUIRED) install(DIRECTORY diff --git a/raspimouse_gazebo/config/raspimouse_controllers.yaml b/raspimouse_gazebo/config/raspimouse_controllers.yaml index 88788b9..1e85e05 100644 --- a/raspimouse_gazebo/config/raspimouse_controllers.yaml +++ b/raspimouse_gazebo/config/raspimouse_controllers.yaml @@ -27,4 +27,3 @@ diff_drive_controller: base_frame_id: base_footprint open_loop: false enable_odom_tf: true - use_stamped_vel : false diff --git a/raspimouse_gazebo/launch/raspimouse_with_emptyworld.launch.py b/raspimouse_gazebo/launch/raspimouse_with_emptyworld.launch.py index 3cc4a24..55ff6de 100644 --- a/raspimouse_gazebo/launch/raspimouse_with_emptyworld.launch.py +++ b/raspimouse_gazebo/launch/raspimouse_with_emptyworld.launch.py @@ -121,6 +121,11 @@ def generate_launch_description(): description_loader.gz_control_config_package = 'raspimouse_gazebo' description_loader.gz_control_config_file_path = 'config/raspimouse_controllers.yaml' + controller_config_file = os.path.join( + get_package_share_directory('raspimouse_gazebo'), + description_loader.gz_control_config_file_path, + ) + robot_state_publisher = Node( package='robot_state_publisher', executable='robot_state_publisher', @@ -139,7 +144,15 @@ def generate_launch_description(): package='controller_manager', executable='spawner', output='screen', - arguments=['diff_drive_controller'], + arguments=[ + 'diff_drive_controller', + '--param-file', + controller_config_file, + '--controller-ros-args', + '-r /diff_drive_controller/cmd_vel:=/cmd_vel', + '--controller-ros-args', + '-r /diff_drive_controller/odom:=/odom', + ], ) rviz_config_file = get_package_share_directory('raspimouse_gazebo') + '/config/config.rviz' diff --git a/raspimouse_sim/CMakeLists.txt b/raspimouse_sim/CMakeLists.txt index e77a2fc..c1da48e 100644 --- a/raspimouse_sim/CMakeLists.txt +++ b/raspimouse_sim/CMakeLists.txt @@ -1,4 +1,8 @@ -cmake_minimum_required(VERSION 3.5) +cmake_minimum_required(VERSION 3.20) project(raspimouse_sim) + +set(CMAKE_CXX_STANDARD 20) +set(CMAKE_CXX_STANDARD_REQUIRED ON) + find_package(ament_cmake REQUIRED) ament_package()