Merge remote-tracking branch 'origin/master' into add-docker-role-to-…

…dev-env

.github/workflows/docker/vrx/Dockerfile

@@ -10,7 +10,7 @@ ARG ROSDIST=humble
 RUN mkdir -p ~/vrx_ws/src
 
 # TODO: restore version tag
-RUN git clone --depth 1 -b 2.3.1 https://github.com/osrf/vrx.git \
+RUN git clone --depth 1 -b 2.3.3 https://github.com/osrf/vrx.git \
 && mv ./vrx ~/vrx_ws/src
 
 # Compile the VRX project.
@@ -49,4 +49,4 @@ COPY ./vrx_entrypoint.sh /
 
 COPY ./run_vrx_gazebo.bash /
 
-ENTRYPOINT ["/vrx_entrypoint.sh"]
+ENTRYPOINT ["/vrx_entrypoint.sh"]

.github/workflows/docker/vrx/README.md

@@ -1,9 +1,16 @@
 # Docker Image for Virtual RobotX
 
 ## How to use
-
+Firstly, run wamvtan/vrx
+```bash
+docker run -it wamvtan/vrx /bin/bash
+ros2 launch vrx_gz competition.launch.py world:=stationkeeping_task headless:=true urdf:=/home/config/wamv_target.urdf
+```
+Next, run another docker_image wamvtan/dev_container which includes our autonomous system.
 ```bash
-docker run wamvtan/vrx
+docker run -it wamvtan/dev_container /bin/bash
+ros2 run vrx_bridge vrx_bridge_node&
+ros2 launch navi_sim navi_sim.launch.py&
 ```
 
 In default setting, you can publish/subscribe these topics.  

.github/workflows/docker/vrx/run_vrx_gazebo.bash

@@ -1,5 +1,11 @@
 # generate wamv_target.urdf
 ros2 launch vrx_gazebo generate_wamv.launch.py component_yaml:=/home/config/component_config.yaml thruster_yaml:=/home/config/thruster_config.yaml wamv_target:=/home/config/wamv_target.urdf wamv_locked:=False
 
+# launch nav_sim 
+#ros2 launch navi_sim navi_sim.launch.py&
+
+# run vrx_bridge node to exchange sensor info with nav_sim
+#ros2 run vrx_bridge vrx_bridge_node&
+
 # launch vrx gazebo
-ros2 launch vrx_gz competition.launch.py world:=sydney_regatta headless:=true urdf:=/home/config/wamv_target.urdf
+# ros2 launch vrx_gz competition.launch.py world:=stationkeeping_task headless:=true urdf:=/home/config/wamv_target.urdf

.github/workflows/docker/vrx/vrx_entrypoint.sh

@@ -13,4 +13,4 @@ export GAZEBO_IP=127.0.0.1
 export GAZEBO_IP_WHITE_LIST=127.0.0.1
 
 /run_vrx_gazebo.bash
-exec "$@"
+exec "$@"

ansible/roles/build/tasks/main.yml

@@ -45,6 +45,13 @@
   command: rosdep install -y -r -i --from-paths {{ workspace_path }}/src --ignore-src --rosdistro humble
   become: yes
 
+- name: add colcon mixin
+  command: colcon mixin add default https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml
+  ignore_errors: true
+
+- name: update colcon mixin
+  command: colcon mixin update default
+
 - name: load env variable & build
   shell: |-
     cd {{ workspace_path }}

ansible/roles/clone_packages/tasks/main.yml

@@ -136,6 +136,13 @@
     version: main
     accept_hostkey: yes
   tags: [utility]
+- name: clone vrx_bridge
+  git:
+    repo: https://github.com/OUXT-Polaris/vrx_bridge.git
+    dest: "{{workspace_path}}/src/utils/vrx_bridge"
+    version: master
+    accept_hostkey: yes
+  tags: [utility]
 
 # Description Packages
 - name: clone wamv_description

ansible/roles/ros2/tasks/main.yml

@@ -60,7 +60,7 @@
 #   shell: apt-get -y update && apt-get -y upgrade && apt-get --with-new-pkgs -y upgrade && aptitude -y full-upgrade && apt-get -y update && apt-get -y upgrade
 #   become: yes
 
-- name: install ros2 humble/colcon/vcs
+- name: install ros2 humble/vcs
   become: yes
   apt:
     name: "{{ packages }}"
@@ -70,8 +70,8 @@
     packages:
       - "{{ ros_package_name }}"
       - python3-colcon-common-extensions
+      - python3-colcon-mixin
       - python3-vcstool
-      - python3-colcon-common-extensions 
       - python3-rospkg 
       - python3-catkin-pkg 
       - python3-rosdep