Merge pull request #24 from sonia-auv/develop

Develop

.devcontainer/devcontainer.json

@@ -18,6 +18,7 @@
 		"--cap-add=SYS_PTRACE",
 		"--security-opt",
 		"seccomp=unconfined",
+		"--env", "AUV=AUV8",
 		"--rm",
 		"--privileged",
 		"--network",

.github/ISSUE_TEMPLATE/config.yml

@@ -1,11 +1,9 @@
 blank_issues_enabled: false
-# TODO: enter appropriate contacts
-"""
+
 contact_links:
-  - name: GitHub Community Forum
-    url: https://github.community/
-    about: Please ask and answer questions here.
-  - name: GitHub Security Bug Bounty
-    url: https://bounty.github.com/
-    about: Please report security vulnerabilities here.
-"""
+  - name: SONIA AUV official documentation
+    url: https://wiki.sonia.etsmtl.ca/
+    about: Visit our documentation for more information.
+  - name: SONIA AUV website
+    url: https://sonia.etsmtl.ca/
+    about: Visit our website and feel free to ask any questions.

.github/workflows/docker-image-perception-develop.yml

@@ -80,34 +80,4 @@ jobs:
 
       - name: Push Image to Github Packages Registry
         run: |
-          docker push --all-tags ${GITHUB_REMOTE_URL}/${IMAGE_NAME}
-
-  notify-success:
-    name: "Notify Slack - Success"
-    runs-on: ubuntu-latest
-    needs: [build-ros-perception-x86-64, build-ros-perception-arm64]
-    if: success()
-    steps:
-      - name: Notify Slack Success
-        env:
-          SLACK_BOT_TOKEN: ${{ secrets.SLACK_BOT_TOKEN }}
-        uses: voxmedia/github-action-slack-notify-build@v1
-        with:
-          channel: github-ci-notifications
-          status: SUCCESS
-          color: good
-
-  notify-fail:
-    name: "Notify Slack - Failure"
-    runs-on: ubuntu-latest
-    needs: [build-ros-perception-x86-64, build-ros-perception-arm64]
-    if: failure()
-    steps:
-      - name: Notify Slack Fail
-        env:
-          SLACK_BOT_TOKEN: ${{ secrets.SLACK_BOT_TOKEN }}
-        uses: voxmedia/github-action-slack-notify-build@v1
-        with:
-          channel: github-ci-notifications
-          status: FAILED
-          color: danger
+          docker push --all-tags ${GITHUB_REMOTE_URL}/${IMAGE_NAME}

.github/workflows/docker-image-perception-feature.yml

@@ -70,34 +70,4 @@ jobs:
 
       - name: Push Image to Github Packages Registry
         run: |
-          docker push --all-tags ${GITHUB_REMOTE_URL}/${IMAGE_NAME}
-
-  notify-success:
-    name: "Notify Slack - Success"
-    runs-on: ubuntu-latest
-    needs: [build-ros-perception-x86-64, build-ros-perception-arm64]
-    if: success()
-    steps:
-      - name: Notify Slack Success
-        env:
-          SLACK_BOT_TOKEN: ${{ secrets.SLACK_BOT_TOKEN }}
-        uses: voxmedia/github-action-slack-notify-build@v1
-        with:
-          channel: github-ci-notifications
-          status: SUCCESS
-          color: good
-
-  notify-fail:
-    name: "Notify Slack - Failure"
-    runs-on: ubuntu-latest
-    needs: [build-ros-perception-x86-64, build-ros-perception-arm64]
-    if: failure()
-    steps:
-      - name: Notify Slack Fail
-        env:
-          SLACK_BOT_TOKEN: ${{ secrets.SLACK_BOT_TOKEN }}
-        uses: voxmedia/github-action-slack-notify-build@v1
-        with:
-          channel: github-ci-notifications
-          status: FAILED
-          color: danger
+          docker push --all-tags ${GITHUB_REMOTE_URL}/${IMAGE_NAME}

.github/workflows/docker-image-perception-fix.yml

@@ -70,34 +70,4 @@ jobs:
 
       - name: Push Image to Github Packages Registry
         run: |
-          docker push --all-tags ${GITHUB_REMOTE_URL}/${IMAGE_NAME}
-
-  notify-success:
-    name: "Notify Slack - Success"
-    runs-on: ubuntu-latest
-    needs: [build-ros-perception-x86-64, build-ros-perception-arm64]
-    if: success()
-    steps:
-      - name: Notify Slack Success
-        env:
-          SLACK_BOT_TOKEN: ${{ secrets.SLACK_BOT_TOKEN }}
-        uses: voxmedia/github-action-slack-notify-build@v1
-        with:
-          channel: github-ci-notifications
-          status: SUCCESS
-          color: good
-
-  notify-fail:
-    name: "Notify Slack - Failure"
-    runs-on: ubuntu-latest
-    needs: [build-ros-perception-x86-64, build-ros-perception-arm64]
-    if: failure()
-    steps:
-      - name: Notify Slack Fail
-        env:
-          SLACK_BOT_TOKEN: ${{ secrets.SLACK_BOT_TOKEN }}
-        uses: voxmedia/github-action-slack-notify-build@v1
-        with:
-          channel: github-ci-notifications
-          status: FAILED
-          color: danger
+          docker push --all-tags ${GITHUB_REMOTE_URL}/${IMAGE_NAME}

.github/workflows/docker-image-perception-master.yml

@@ -113,34 +113,4 @@ jobs:
           body: |
             A new release for this package has been created
           draft: false
-          prerelease: false
-
-  notify-success:
-    name: "Notify Slack - Success"
-    runs-on: ubuntu-latest
-    needs: [build-ros-perception-x86-64, build-ros-perception-arm64, create-release]
-    if: success()
-    steps:
-      - name: Notify Slack Success
-        env:
-          SLACK_BOT_TOKEN: ${{ secrets.SLACK_BOT_TOKEN }}
-        uses: voxmedia/github-action-slack-notify-build@v1
-        with:
-          channel: github-ci-notifications
-          status: SUCCESS
-          color: good
-
-  notify-fail:
-    name: "Notify Slack - Failure"
-    runs-on: ubuntu-latest
-    needs: [build-ros-perception-x86-64, build-ros-perception-arm64, create-release]
-    if: failure()
-    steps:
-      - name: Notify Slack Fail
-        env:
-          SLACK_BOT_TOKEN: ${{ secrets.SLACK_BOT_TOKEN }}
-        uses: voxmedia/github-action-slack-notify-build@v1
-        with:
-          channel: github-ci-notifications
-          status: FAILED
-          color: danger
+          prerelease: false

CMakeLists.txt

@@ -24,7 +24,7 @@
 #===============================================================================
 # G L O B A L   P R O J E C T   C O N F I G U R A T I O N
 
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.0.2)
 project(provider_underwater_com)
 
 if (NOT CMAKE_BUILD_TYPE)

config/AUV7.yaml

@@ -0,0 +1,7 @@
+#********** Driver Parameters ************
+
+/provider_underwater_com/connection/tty_port: "/dev/MODEM"
+
+/provider_underwater_com/settings/role : "b"
+
+/provider_underwater_com/settings/channel : "6"

config/AUV8.yaml

@@ -0,0 +1,7 @@
+#********** Driver Parameters ************
+
+/provider_underwater_com/connection/tty_port: "/dev/MODEM"
+
+/provider_underwater_com/settings/role : "a"
+
+/provider_underwater_com/settings/channel : "6"

config/default.yaml → config/LOCAL.yaml

@@ -4,4 +4,4 @@
 
 /provider_underwater_com/settings/role : "a"
 
-/provider_underwater_com/settings/channel : "4"
+/provider_underwater_com/settings/channel : "6"

config/rosconsole.config

@@ -0,0 +1,3 @@
+# Set the default ros output to warning and higher
+log4j.logger.ros=WARN
+log4j.logger.ros.provider_underwater_com=INFO

launch/provider_underwater_com.launch

@@ -1,8 +1,10 @@
 <launch>
 
+    <env name="ROSCONSOLE_CONFIG_FILE" value="$(find provider_underwater_com)/config/rosconsole.config"/>
+
     <!-- load the provider -->
     <node name="provider_underwater_com" pkg="provider_underwater_com" type="provider_underwater_com_node" output="screen"/>
 
-    <rosparam command="load" file="$(find provider_underwater_com)/config/default.yaml"/>
+    <rosparam command="load" file="$(find provider_underwater_com)/config/$(env AUV).yaml"/>
 
 </launch>

package.xml

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>provider_underwater_com</name>
-  <version>0.6.1</version>
+  <version>1.0.1</version>
   <description>The provider_underwater_com package</description>
 
   <author>Francis Alonzo</author>

src/Configuration.h

@@ -58,9 +58,7 @@ namespace provider_underwater_com
 
         template <typename TType>
         void FindParameter(const std::string &paramName, TType &attribute);
-
-
-        };
+    };
 }
 
 #endif //INTERFACE_CONFIGURATION_H

src/drivers/serial.cc

@@ -28,9 +28,9 @@
 #include <ros/ros.h>
 #include <sys/ioctl.h>
 
-Serial::Serial(std::string port, int flags)
+Serial::Serial(std::string port)
 {
-    fd = open(port.c_str(), flags);
+    fd = open(port.c_str(), O_RDWR | O_NOCTTY);
     if(fd == -1)
     {
         ROS_ERROR("unable to connect to %s", port.c_str());

src/drivers/serial.h

@@ -34,7 +34,7 @@
 
 class Serial{
 public:
-    Serial(std::string port, int flags);
+    Serial(std::string port);
     ~Serial();
 
     std::string receive(size_t count);

src/main.cc

@@ -32,6 +32,5 @@ int main(int argc, char **argv)
     ros::NodeHandlePtr nh(new ros::NodeHandle("~"));
     provider_underwater_com::ProviderUnderwaterComNode provider_underwater_com_node{nh};
     provider_underwater_com_node.Spin();
-
     return 0;
 }