ROS 2 Jazzy対応 (#494)

Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

.github/workflows/build_test.yaml

@@ -15,13 +15,13 @@ jobs:
           || fromJSON('[ "ubuntu-latest" ]')
       }}
     timeout-minutes: 30
-    container: ghcr.io/ibis-ssl/crane:base
+    container: ros:${{ matrix.rosdistro }}
     env:
       DEBIAN_FRONTEND: noninteractive
     strategy:
       fail-fast: false
       matrix:
-        rosdistro: [humble]
+        rosdistro: [humble, jazzy]
     steps:
       - name: suppress warnings
         run: |
@@ -52,6 +52,11 @@ jobs:
         with:
           token: ${{ secrets.GITHUB_TOKEN }}
 
+      - name: Install wget
+        run: |
+          sudo apt-get update
+          sudo apt-get install -y wget libcpprest-dev
+
       - name: Clone dependency packages
         run: |
           mkdir -p dependency_ws
@@ -76,7 +81,6 @@ jobs:
         run: |
           . /opt/ros/${{ matrix.rosdistro }}/setup.sh
           colcon build --event-handlers console_cohesion+ \
-            --packages-above-and-dependencies ${{ steps.get-modified-packages.outputs.modified-packages }} \
             --cmake-args -DCMAKE_BUILD_TYPE=Release \
             --mixin coverage-gcc coverage-pytest compile-commands
         shell: bash

.github/workflows/custom_dict.json

@@ -6,7 +6,6 @@
     "robocupssl",
     "teleop",
     "inplay",
-    "liborocos",
     "matplotlibcpp",
     "DPPS",
     "consai",

crane_local_planner/CMakeLists.txt

@@ -18,7 +18,10 @@ find_package(rclcpp_components REQUIRED)
 find_package(backward_ros REQUIRED)
 ament_auto_find_build_dependencies()
 
-ament_auto_add_library(${PROJECT_NAME}_component SHARED DIRECTORY src)
+ament_auto_add_library(${PROJECT_NAME}_component SHARED
+  src/rvo2_planner.cpp
+  src/crane_local_planner.cpp
+)
 
 target_precompile_headers(${PROJECT_NAME}_component
   PUBLIC
@@ -37,7 +40,7 @@ ament_auto_add_executable(${PROJECT_NAME}_node
   src/${PROJECT_NAME}_node.cpp
 )
 
-include(/opt/ros/humble/share/backward_ros/cmake/BackwardConfig.cmake)
+include(/opt/ros/$ENV{ROS_DISTRO}/share/backward_ros/cmake/BackwardConfig.cmake)
 add_backward(${PROJECT_NAME}_node)
 
 if(BUILD_TESTING)

crane_local_planner/include/crane_local_planner/local_planner.hpp

@@ -11,12 +11,12 @@
 #include <crane_msgs/msg/robot_commands.hpp>
 #include <crane_msgs/msg/world_model.hpp>
 #include <functional>
-#include <grid_map_ros/grid_map_ros.hpp>
+// #include <grid_map_ros/grid_map_ros.hpp>
 #include <memory>
 #include <rclcpp/rclcpp.hpp>
 #include <std_msgs/msg/float32.hpp>
 
-#include "gridmap_planner.hpp"
+// #include "gridmap_planner.hpp"
 #include "rvo2_planner.hpp"
 #include "simple_planner.hpp"
 #include "visibility_control.h"
@@ -37,15 +37,16 @@ class LocalPlannerComponent : public rclcpp::Node
   explicit LocalPlannerComponent(const rclcpp::NodeOptions & options)
   : rclcpp::Node("local_planner", options)
   {
-    declare_parameter("planner", "gridmap");
+    declare_parameter("planner", "rvo2");
     auto planner_str = get_parameter("planner").as_string();
 
     crane::ConsaiVisualizerBuffer::activate(*this);
 
     process_time_pub = create_publisher<std_msgs::msg::Float32>("process_time", 10);
-    if (planner_str == "gridmap") {
-      planner = std::make_shared<GridMapPlanner>(*this);
-    } else if (planner_str == "simple") {
+    // if (planner_str == "gridmap") {
+    //   planner = std::make_shared<GridMapPlanner>(*this);
+    // }
+    if (planner_str == "simple") {
       planner = std::make_shared<SimplePlanner>(*this);
     } else if (planner_str == "rvo2") {
       planner = std::make_shared<RVO2Planner>(*this);

crane_local_planner/package.xml

@@ -14,12 +14,12 @@
   <depend>consai_visualizer_msgs</depend>
   <depend>crane_msg_wrappers</depend>
   <depend>crane_msgs</depend>
-  <depend>grid_map_core</depend>
-  <depend>grid_map_ros</depend>
   <depend>rclcpp</depend>
   <depend>rclcpp_components</depend>
   <depend>rvo2_vendor</depend>
   <depend>std_msgs</depend>
+  <!-- <depend>grid_map_core</depend> -->
+  <!-- <depend>grid_map_ros</depend> -->
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>crane_lint_common</test_depend>

dependency_jazzy.repos

@@ -7,19 +7,3 @@ repositories:
         type: git
         url: https://github.com/HansRobo/speak_ros_voicevox_plugin.git
         version: main
-    grid_map:
-        type: git
-        url: https://github.com/ANYbotics/grid_map.git
-        version: humble
-    navigation2:
-        type: git
-        url: https://github.com/open-navigation/navigation2.git
-        version: main
-    gazebo_ros_pkgs:
-        type: git
-        url: https://github.com/ros-simulation/gazebo_ros_pkgs.git
-        version: ros2
-    slam_toolbox:
-        type: git
-        url: https://github.com/SteveMacenski/slam_toolbox.git
-        version: ros2

docker/base/Dockerfile

@@ -9,11 +9,7 @@ WORKDIR $ROS_OVERLAY/src
 COPY . crane
 
 RUN apt-get update && \
-    apt-get install -y wget ccache python3-pip ffmpeg&& \
-    wget https://launchpad.net/ubuntu/+archive/primary/+files/liborocos-bfl0.8_0.8.0-6_amd64.deb && \
-    wget https://launchpad.net/ubuntu/+archive/primary/+files/liborocos-bfl-dev_0.8.0-6_amd64.deb && \
-    apt-get install -y ./liborocos-bfl0.8_0.8.0-6_amd64.deb && \
-    apt-get install -y ./liborocos-bfl-dev_0.8.0-6_amd64.deb
+    apt-get install -y wget ccache python3-pip ffmpeg
 
 RUN wget https://go.dev/dl/go1.22.4.linux-amd64.tar.gz && \
     tar -C /usr/local -xzf go1.22.4.linux-amd64.tar.gz && \

utility/crane_lint_common/package.xml

@@ -9,7 +9,7 @@
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 
-  <exec_depend>ament_cmake_clang_format</exec_depend>
+  <!--  <exec_depend>ament_cmake_clang_format</exec_depend>-->
   <exec_depend>ament_cmake_copyright</exec_depend>
   <exec_depend>ament_cmake_xmllint</exec_depend>
   <!--  <exec_depend>ament_cmake_flake8</exec_depend>-->

utility/crane_msg_wrappers/include/crane_msg_wrappers/geometry_wrapper.hpp

@@ -7,8 +7,6 @@
 #ifndef CRANE_MSG_WRAPPERS__GEOMETRY_WRAPPER_HPP_
 #define CRANE_MSG_WRAPPERS__GEOMETRY_WRAPPER_HPP_
 
-#include <bfl/filter/extendedkalmanfilter.h>
-
 #include <geometry_msgs/msg/accel.hpp>
 #include <geometry_msgs/msg/pose.hpp>
 #include <geometry_msgs/msg/pose2_d.hpp>
@@ -34,7 +32,6 @@ class Pose
   explicit Pose(geometry_msgs::msg::Pose pose);
   explicit Pose(geometry_msgs::msg::Pose2D pose);
 
-  MatrixWrapper::ColumnVector toColumnVector();
   geometry_msgs::msg::Pose toROSPose();
   geometry_msgs::msg::Pose2D toROSPose2D();
   geometry2d::Pose transpose(geometry2d::Pose pose);
@@ -66,8 +63,6 @@ class Accel
   Accel();
   Accel(float x, float y, float theta);
   explicit Accel(geometry_msgs::msg::Accel accel);
-
-  MatrixWrapper::ColumnVector toColumnVector();
 };
 
 class Point

utility/crane_msg_wrappers/package.xml

@@ -15,8 +15,6 @@
   <depend>crane_msgs</depend>
   <depend>eigen</depend>
   <depend>geometry_msgs</depend>
-  <depend>liborocos-bfl</depend>
-  <depend>liborocos-bfl-dev</depend>
   <depend>nav_msgs</depend>
   <depend>range-v3</depend>
   <depend>rclcpp</depend>

utility/crane_msg_wrappers/src/geometry_wrapper.cpp

@@ -47,17 +47,6 @@ Pose::Pose(geometry_msgs::msg::Pose2D pose)
   this->theta = pi2pi(this->theta);
 }
 
-MatrixWrapper::ColumnVector Pose::toColumnVector()
-{
-  MatrixWrapper::ColumnVector column_vector(3);
-
-  column_vector(1) = this->x;
-  column_vector(2) = this->y;
-  column_vector(3) = this->theta;
-
-  return column_vector;
-}
-
 geometry_msgs::msg::Pose Pose::toROSPose()
 {
   geometry_msgs::msg::Pose msg;
@@ -165,17 +154,6 @@ Accel::Accel(geometry_msgs::msg::Accel accel)
   this->theta = accel.angular.z;
 }
 
-MatrixWrapper::ColumnVector Accel::toColumnVector()
-{
-  MatrixWrapper::ColumnVector column_vector(3);
-
-  column_vector(1) = this->x;
-  column_vector(2) = this->y;
-  column_vector(3) = this->theta;
-
-  return column_vector;
-}
-
 Odometry::Odometry() {}
 
 Odometry::Odometry(Pose pose, Velocity velocity)