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Add launch arguments info
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@rafal-gorecki
rafal-gorecki committed Dec 5, 2024
1 parent 482a944 commit c15d21b
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31 changes: 31 additions & 0 deletions README.md
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Expand Up @@ -95,6 +95,37 @@ source install/setup.bash
ros2 launch rosbot_gazebo simulation.launch.py
```

### Launch Arguments

| Symbol | Meaning |
| ------ | ---------------------------- |
| 🤖 | Available for physical robot |
| 🖥️ | Available in simulation |

| 🤖 | 🖥️ | Argument | Description <br/> ***Type:*** `Default` |
| --- | --- | ------------------- | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| ✅ | ✅ | `namespace` | Namespace for all topics and tfs. <br/> ***string:*** `env(ROBOT_NAMESPACE)` |
| ✅ | ❌ | `mecanum` | Whether to use mecanum drive controller (otherwise diff drive controller is used). <br/> ***bool:*** `False` |
| ✅ | ❌ | `microros` | Automatically connect with hardware using microros. <br/> ***bool:*** `True` |
| ✅ | ❌ | `serial_baudrate` | Baud rate for serial communication . <br/> ***string:*** `576000` |
| ✅ | ❌ | `serial_port` | Automatically connect with hardware using microros. <br/> ***string:*** `/dev/ttySERIAL` |
| ✅ | ❌ | `fastrtps_profiles` | Path to the Fast RTPS default profiles file for Micro-ROS agent for localhost only setup. <br/> ***string:*** [`microros_localhost_only.xml`](./rosbot_bringup/config/microros_localhost_only.xml) |
| ❌ | ✅ | `gz_gui` | Run simulation with specific GUI layout. <br/> ***string:*** [`teleop.config`](https://github.com/husarion/husarion_gz_worlds/blob/main/config/teleop.config) |
| ❌ | ✅ | `gz_headless_mode` | Run the simulation in headless mode. Useful when a GUI is not needed or to reduce the number of calculations. <br/> ***bool:*** `False` |
| ❌ | ✅ | `gz_log_level` | Adjust the level of console output. <br/> ***int:*** `1` (choices: `0`, `1`, `2`, `3`, `4`) |
| ❌ | ✅ | `gz_world` | Absolute path to SDF world file. <br/> ***string:*** [`husarion_world.sdf`](https://github.com/husarion/husarion_gz_worlds/blob/main/worlds/husarion_world.sdf) |
| ❌ | ✅ | `robots` | Spawning multiple robots at positions with yaw orientations e.g.robots:='robot1={x: 0.0, y: -1.0}; robot2={x: 1.0, y: -1.0};' <br/> ***string:*** `''` |
| ❌ | ✅ | `x` | Initial robot position in the global 'x' axis. <br/> ***float:*** `0.0` |
| ❌ | ✅ | `y` | Initial robot position in the global 'y' axis. <br/> ***float:***`-2.0` |
| ❌ | ✅ | `z` | Initial robot position in the global 'z' axis. <br/> ***float:*** `0.0` |
| ❌ | ✅ | `roll` | Initial robot 'roll' orientation. <br/> ***float:*** `0.0` |
| ❌ | ✅ | `pitch` | Initial robot 'pitch' orientation. <br/> ***float:*** `0.0` |
| ❌ | ✅ | `yaw` | Initial robot 'yaw' orientation. <br/> ***float:*** `0.0` |

> [!TIP]
>
> To read the arguments for individual packages, add the `-s` flag to the `ros2 launch` command (e.g. `ros2 launch rosbot_bringup bringup.launch.py ​​-s`)

## 🕹️ Demo

Explore demos showcasing the capabilities of ROSbots:
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46 changes: 0 additions & 46 deletions ROS_API.md
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Expand Up @@ -17,17 +17,6 @@ Package that contains launch, which starts all base functionalities with the mic
- `bringup.launch.py` - is responsible for communicating with firmware and activating all logic related to the robot's movement and processing of sensory data.
- `microros.launch.py` - establishes connection with the firmware.

**Launch Params:**

| PARAMETER | DESCRIPTION | VALUE |
| ------------------------ | ----------------------------------------------------------------- | ---------- |
| **camera_model** | Add camera model to the robot URDF | **None**\* |
| **lidar_model** | Add LiDAR model to the robot URDF | **None**\* |
| **include_camera_mount** | Whether to include camera mount to the robot URDF | **False** |
| **mecanum** | Whether to use mecanum drive controller, otherwise use diff drive | **False** |
| **namespace** | Namespace for all topics and tfs | **""** |

> \*You can check all available options using `-s`/`--show-args` flag. (e.g. `ros2 launch rosbot_bringup bringup.launch.py -s`).

### `rosbot_controller`

Expand All @@ -52,45 +41,10 @@ Launch files for Ignition Gazebo working with ROS2 control.

- `simulations.launch.py` - running a rosbot in Gazebo simulator and simulate all specified sensors.

**Launch Params:**

| PARAMETER | DESCRIPTION | VALUE |
| ------------------------ | ----------------------------------------------------------------- | ----------------------------------------------------------- |
| **camera_model** | Add camera model to the robot URDF | **None**\* |
| **lidar_model** | Add LiDAR model to the robot URDF | **None**\* |
| **include_camera_mount** | Whether to include camera mount to the robot URDF | **False** |
| **mecanum** | Whether to use mecanum drive controller, otherwise use diff drive | **False** |
| **namespace** | Namespace for all topics and tfs | **""** |
| **world** | Path to SDF world file | **`husarion_gz_worlds/`<br /> `worlds/husarion_world.sdf`** |
| **headless** | Run Gazebo Ignition in the headless mode | **False** |
| **robots** | List of robots that will be spawn in the simulation | **[]**\*\* |

> \*You can check all available options using `-s`/`--show-args` flag. (e.g. `ros2 launch rosbot_bringup bringup.launch.py -s`).
>
> \*\*Example of use: `robots:='robot1={x: 0.0, y: -1.0}; robot2={x: 1.0, y: -1.0};'`
### `rosbot_utils`

This package contains the stable firmware version with the flash script.

### `rosbot_navigation`

Package that contains navigation configurations and launch files for ROSbot. It integrates with `nav2` for autonomous navigation.

**Available Launch Files:**

- `navigation.launch.py` - launches the navigation stack with predefined parameters.

**Launch Params:**

| PARAMETER | DESCRIPTION | VALUE |
| ------------------------ | ----------------------------------------------------------------- | ---------- |
| **map** | Path to the map file used for navigation | **""** |
| **use_sim_time** | Whether to use simulation time | **False** |
| **params_file** | Path to the parameters file for navigation stack | **""** |

> You can check all available options using `-s`/`--show-args` flag. (e.g. `ros2 launch rosbot_navigation navigation.launch.py -s`).
## ROS API

### Available Nodes
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17 changes: 7 additions & 10 deletions rosbot_bringup/launch/microros.launch.py
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Expand Up @@ -37,24 +37,22 @@ def generate_microros_agent_node(context, *args, **kwargs):

serial_port = LaunchConfiguration("serial_port").perform(context)
serial_baudrate = LaunchConfiguration("serial_baudrate").perform(context)
localhost_only_fastrtps_profiles_file = LaunchConfiguration(
"localhost_only_fastrtps_profiles_file"
).perform(context)
fastrtps_profiles = LaunchConfiguration("fastrtps_profiles").perform(context)

if os.environ.get("ROS_LOCALHOST_ONLY") == "1":
env_setup_actions.extend(
[
LogInfo(
msg=[
"ROS_LOCALHOST_ONLY set to 1. Using FASTRTPS_DEFAULT_PROFILES_FILE=",
localhost_only_fastrtps_profiles_file,
fastrtps_profiles,
".",
]
),
SetEnvironmentVariable(name="RMW_IMPLEMENTATION", value="rmw_fastrtps_cpp"),
SetEnvironmentVariable(
name="FASTRTPS_DEFAULT_PROFILES_FILE",
value=localhost_only_fastrtps_profiles_file,
value=fastrtps_profiles,
),
]
)
Expand Down Expand Up @@ -92,20 +90,19 @@ def generate_launch_description():
fastrtps_profiles_file = PathJoinSubstitution(
[FindPackageShare("rosbot_bringup"), "config", "microros_localhost_only.xml"]
)
declare_localhost_only_fastrtps_profiles_file_arg = DeclareLaunchArgument(
"localhost_only_fastrtps_profiles_file",
declare_fastrtps_profiles_arg = DeclareLaunchArgument(
"fastrtps_profiles",
default_value=fastrtps_profiles_file,
description=(
"Path to the Fast RTPS default profiles file for Micro-ROS agent for localhost only"
" setup"
"Path to the Fast RTPS default profiles file for Micro-ROS agent for localhost only setup"
),
)

return LaunchDescription(
[
declare_serial_port_arg,
declare_serial_baudrate_arg,
declare_localhost_only_fastrtps_profiles_file_arg,
declare_fastrtps_profiles_arg,
OpaqueFunction(function=generate_microros_agent_node),
]
)

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