Added teleop and ArduSub launch files

.codespellrc

@@ -0,0 +1,2 @@
+[codespell]
+ignore-words-list = sitl

.devcontainer/nouveau/Dockerfile

@@ -17,6 +17,9 @@ RUN sudo apt-get -q update \
     && sudo apt-get clean -y \
     && sudo rm -rf /var/lib/apt/lists/*
 
+RUN python3 -m pip install \
+    pre-commit
+
 # Disable the setuputils installation warning
 # This prevents us from needing to pin the setuputils version (which doesn't always work)
 ENV PYTHONWARNINGS="ignore"

.devcontainer/nvidia/Dockerfile

@@ -17,6 +17,9 @@ RUN sudo apt-get -q update \
     && sudo apt-get clean -y \
     && sudo rm -rf /var/lib/apt/lists/*
 
+RUN python3 -m pip install \
+    pre-commit
+
 # Disable the setuputils installation warning
 # This prevents us from needing to pin the setuputils version (which doesn't always work)
 ENV PYTHONWARNINGS="ignore"

.dockerignore

@@ -6,3 +6,6 @@
 
 # Allow your ROS 2 packages here, e.g.:
 !thruster_hardware
+!ardusub_bringup
+!ardusub_manager
+!ardusub_teleop

.gitignore

@@ -2,3 +2,6 @@
 build
 install
 log
+
+# Linters
+.ruff_cache

.pre-commit-config.yaml

@@ -3,7 +3,12 @@ repos:
     rev: v2.2.4
     hooks:
       - id: codespell
-        args: ["--write-changes"]
+
+  - repo: https://github.com/astral-sh/ruff-pre-commit
+    rev: v0.0.291
+    hooks:
+      - id: ruff
+        args: ["--fix", "--exit-non-zero-on-fix"]
 
   - repo: local
     hooks:

README.md

@@ -2,25 +2,15 @@
 
 ardusub_driver is a collection of packages designed to enable integration of
 ROS 2 into marine vehicles that use ArduSub (e.g., the [BlueROV](https://bluerobotics.com/)).
-
-## Main features
-
-The main features of the ArduSub driver include
-
-* thruster_hardware: A ros2_control hardware interface that enables individual
-  thruster-level control in simulation or on hardware. This can be used
-  alongside projects like [auv_controllers](https://github.com/Robotic-Decision-Making-Lab/auv_controllers)
-  to control marine robots.
-* ardusub_manager: A high-level node that simplifies ROS 2 integration with
-  marine vehicles by providing interfaces for tasks like setting the interval
-  at which MAVLINK messages are published by the autopilot.
+You can learn more about the features that ardusub_driver offers in the
+documentation provided by each package.
 
 ## Installation
 
 ardusub_driver is currently supported on Linux and is available for the ROS 2
-Iron distribution. Prior to installing this project, first install [MAVROS](https://github.com/mavlink/mavros).
-Once MAVROS has been successfully installed, clone ardusub_driver to the
-`src` directory of your ROS workspace:
+Iron distribution. Prior to installing this project, first install [MAVROS](https://github.com/mavlink/mavros)
+and its dependencies. Once MAVROS has been successfully installed, clone
+ardusub_driver to the `src` directory of your ROS workspace:
 
 ```bash
 git clone [email protected]:Robotic-Decision-Making-Lab/ardusub_driver.git

ardusub_bringup/CMakeLists.txt

@@ -0,0 +1,17 @@
+cmake_minimum_required(VERSION 3.8)
+project(ardusub_bringup)
+
+set(THIS_PACKAGE_INCLUDE_DEPENDS
+  ament_cmake
+)
+
+foreach(Dependency IN ITEMS ${THIS_PACKAGE_INCLUDE_DEPENDS})
+  find_package(${Dependency} REQUIRED)
+endforeach()
+
+install(
+  DIRECTORY launch
+  DESTINATION share/ardusub_bringup
+)
+
+ament_package()

ardusub_bringup/LICENSE

@@ -0,0 +1,17 @@
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in
+all copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL
+THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+THE SOFTWARE.

ardusub_bringup/launch/ardusub.launch.yaml

@@ -0,0 +1,72 @@
+launch:
+
+  # Arguments
+  - arg:
+      name: mavros_file
+
+  - arg:
+      name: use_sim
+      default: "false"
+
+  - arg:
+      name: use_manager
+      default: "false"
+
+  - arg:
+      name: use_joy
+      default: "false"
+
+  - arg:
+      name: model_name
+      default: ""
+
+  - arg:
+      name: gazebo_world_file
+      default: ""
+
+  - arg:
+      name: ardusub_params_file
+      default: ""
+
+  - arg:
+      name: manager_file
+      default: ""
+
+  - arg:
+      name: joy_file
+      default: $(find-pkg-share ardusub_teleop)/config/joy_teleop.yaml
+
+  # Nodes
+  - node:
+      pkg: mavros
+      exec: mavros_node
+      param:
+        - from: $(var mavros_file)
+        - name: use_sim_time
+          value: $(var use_sim)
+
+  # Includes
+  - include:
+      file: $(find-pkg-share ardusub_bringup)/launch/sitl.launch.yaml
+      if: $(var use_sim)
+      arg:
+        - name: model_name
+          value: $(var model_name)
+        - name: gazebo_world_file
+          value: $(var gazebo_world_file)
+        - name: ardusub_params_file
+          value: $(var ardusub_params_file)
+
+  - include:
+      file: $(find-pkg-share ardusub_manager)/launch/ardusub_manager.launch.py
+      if: $(var use_manager)
+      arg:
+        - name: ardusub_manager_file
+          value: $(var manager_file)
+
+  - include:
+      file: $(find-pkg-share ardusub_teleop)/launch/teleop.launch.yaml
+      if: $(var use_joy)
+      arg:
+        - name: joy_file
+          value: $(var joy_file)

ardusub_bringup/launch/sitl.launch.yaml

@@ -0,0 +1,43 @@
+launch:
+
+  # Arguments
+  - arg:
+      name: model_name
+
+  - arg:
+      name: gazebo_world_file
+
+  - arg:
+      name: ardusub_params_file
+
+  # Nodes
+  - node:
+      pkg: ros_gz_bridge
+      exec: parameter_bridge
+      args: /clock@rosgraph_msgs/msg/Clock[gz.msgs.Clock
+
+  - node:
+      pkg: ros_gz_bridge
+      exec: parameter_bridge
+      args: /camera/image_raw@sensor_msgs/msg/Image[gz.msgs.Image
+
+  - node:
+      pkg: ros_gz_bridge
+      exec: parameter_bridge
+      args: /model/$(var model_name)/odometry@nav_msgs/msg/Odometry[gz.msgs.Odometry
+
+  - node:
+      pkg: ros_gz_sim
+      exec: create
+      args: -name $(var model_name) -topic robot_description
+
+  # Processes
+  - executable:
+      cmd: ardusub -S -w -M JSON --defaults $(var ardusub_params_file) -IO --home 44.65870,-124.06556,0.0,270.0
+
+  # Includes
+  - include:
+      file: $(find-pkg-share ros_gz_sim)/launch/gz_sim.launch.py
+      arg:
+        - name: gz_args
+          value: -v 4 -r $(var gazebo_world_file)

ardusub_bringup/package.xml

@@ -0,0 +1,23 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+
+  <name>ardusub_bringup</name>
+  <version>0.0.1</version>
+  <description>Launch files for the ArduSub driver</description>
+
+  <maintainer email="[email protected]">Evan Palmer</maintainer>
+  <license>MIT</license>
+
+  <url type="repository">https://github.com/Robotic-Decision-Making-Lab/ardusub_driver.git</url>
+  <url type="bugtracker">https://github.com/Robotic-Decision-Making-Lab/ardusub_driver/issues</url>
+
+  <author>Evan Palmer</author>
+
+  <exec_depend>mavros</exec_depend>
+  <exec_depend>mavros_extras</exec_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>

ardusub_manager/CMakeLists.txt

@@ -39,4 +39,9 @@ install(
   DESTINATION lib/ardusub_manager
 )
 
+install(
+  DIRECTORY launch
+  DESTINATION share/ardusub_manager
+)
+
 ament_package()

ardusub_manager/README.md

@@ -1,18 +1,17 @@
 # ardusub_manager
 
-The ArduSub manager provides a high-level interface for some common pieces
+ardusub_manager provides a high-level interface for some common pieces
 of functionality that are used by marine vehicles, including:
 
 * Setting the message intervals for MAVLINK messages
-* Setting the home position of the vehicle
 * Setting the EKF origin of the vehicle
 * Publishing the `map -> base_link` transformation. Support for this
   *technically* exists in MAVROS, but we have encountered difficulties
   enabling its use with ArduSub, which has encouraged this alternative.
 
 > [!IMPORTANT]
-> This node should be launched *after* MAVROS has fully loaded the "local_*",
-> "home_position", and "global_position" plugins.
+> This node should be launched *after* MAVROS has fully loaded the "local_*"
+> and "global_position" plugins.
 
 ## Parameters
 
@@ -26,10 +25,4 @@ of functionality that are used by marine vehicles, including:
   * latitude: The latitude of the EKF origin. [double]
   * longitude: The longitude of the EKF origin. [double]
   * altitude: The altitude of the EKF origin. [double]
-* set_home_position: Whether or not to set the home position on startup. [bool]
-* home_position (only required when `set_home_position = True`):
-  * latitude: The latitude of the home position. [double]
-  * longitude: The longitude of the home position. [double]
-  * altitude: The altitude of the home position. [double]
-  * yaw: The yaw of the home position. [double]
 * publish_tf: Whether or not to publish the TF frames for the vehicle. [bool]

ardusub_manager/launch/ardusub_manager.launch.py

@@ -0,0 +1,72 @@
+# Copyright 2024, Evan Palmer
+#
+# Permission is hereby granted, free of charge, to any person obtaining a copy
+# of this software and associated documentation files (the "Software"), to deal
+# in the Software without restriction, including without limitation the rights
+# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+# copies of the Software, and to permit persons to whom the Software is
+# furnished to do so, subject to the following conditions:
+#
+# The above copyright notice and this permission notice shall be included in all
+# copies or substantial portions of the Software.
+#
+# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+# SOFTWARE.
+
+from launch import LaunchDescription
+from launch_ros.actions import LifecycleNode
+from launch.actions import EmitEvent
+from launch.actions import RegisterEventHandler
+from launch_ros.events.lifecycle import ChangeState
+from launch_ros.event_handlers import OnStateTransition
+from launch.events import matches_action
+from lifecycle_msgs.msg import Transition
+from launch.substitutions import LaunchConfiguration
+from launch.actions import DeclareLaunchArgument
+
+
+def generate_launch_description():
+    declare_manager_file = DeclareLaunchArgument(
+        "ardusub_manager_file", default_value=""
+    )
+
+    ardusub_manager_node = LifecycleNode(
+        package="ardusub_manager",
+        executable="ardusub_manager",
+        name="ardusub_manager",
+        namespace="",
+        output="screen",
+        parameters=[LaunchConfiguration("ardusub_manager_file")],
+    )
+
+    configure_event = EmitEvent(
+        event=ChangeState(
+            lifecycle_node_matcher=matches_action(ardusub_manager_node),
+            transition_id=Transition.TRANSITION_CONFIGURE,
+        )
+    )
+
+    activate_event = RegisterEventHandler(
+        OnStateTransition(
+            target_lifecycle_node=ardusub_manager_node,
+            start_state="configuring",
+            goal_state="inactive",
+            entities=[
+                EmitEvent(
+                    event=ChangeState(
+                        lifecycle_node_matcher=matches_action(ardusub_manager_node),
+                        transition_id=Transition.TRANSITION_ACTIVATE,
+                    )
+                )
+            ],
+        )
+    )
+
+    return LaunchDescription(
+        [declare_manager_file, ardusub_manager_node, configure_event, activate_event]
+    )