andino_apps package created and andino_navigation package updated (#235)

* andino_apps package created and andino_navigation package updated Signed-off-by: JesusSilvaUtrera <[email protected]> * Minor changes from the PR Signed-off-by: JesusSilvaUtrera <[email protected]> * Update andino_navigation README with changes from PR Signed-off-by: JesusSilvaUtrera <[email protected]> * Add andino_apps package to ci.yaml Signed-off-by: JesusSilvaUtrera <[email protected]> * Fixed minor issues from the PR Signed-off-by: JesusSilvaUtrera <[email protected]> * Added 'andino_apps' to the general README Signed-off-by: JesusSilvaUtrera <[email protected]> --------- Signed-off-by: JesusSilvaUtrera <[email protected]>
Ekumen-OS · Apr 19, 2024 · 07a0083 · 07a0083
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diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
@@ -29,6 +29,6 @@ jobs:
     - uses: ros-tooling/[email protected]
       id: action_ros_ci_step
       with:
-        package-name: andino_base andino_bringup andino_control andino_description andino_firmware andino_hardware andino_slam andino_gz_classic andino_navigation
+        package-name: andino_base andino_bringup andino_control andino_description andino_firmware andino_hardware andino_slam andino_gz_classic andino_navigation andino_apps
         target-ros2-distro: ${{ env.ROS_DISTRO }}
         import-token: ${{ secrets.GITHUB_TOKEN }}
diff --git a/README.md b/README.md
@@ -31,6 +31,7 @@ _Note: For videos go to [Media](#selfie-media) section._
 - :computer: [`andino_gz_classic`](./andino_gz_classic/): [Gazebo Classic](https://classic.gazebosim.org/) simulation of the `andino` robot.
 - :world_map: [`andino_slam`](./andino_slam/): Provides support for SLAM with your `andino` robot.
 - :compass: [`andino_navigation`](./andino_navigation/): Navigation stack based on `nav2`.
+- :exclamation: [`andino_apps`](./andino_apps/): Integrated applications with the `andino` robot.
 
 ## :paperclips: Related projects
 

diff --git a/andino_apps/CHANGELOG.rst b/andino_apps/CHANGELOG.rst
@@ -0,0 +1,9 @@
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Changelog for package andino_apps
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+0.1.0 (2024-04-10)
+------------------
+* Initial version of the package
+* Moved launch file to execute Gazebo classic simulation + Nav2 from `andino_navigation` (`#228 <https://github.com/Ekumen-OS/andino/issues/228>`_)
+* Contributors: Jesús Silva
diff --git a/andino_apps/CMakeLists.txt b/andino_apps/CMakeLists.txt
@@ -0,0 +1,14 @@
+cmake_minimum_required(VERSION 3.8)
+project(andino_apps)
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+
+install(
+  DIRECTORY
+    launch
+  DESTINATION
+    share/${PROJECT_NAME}/
+)
+
+ament_package()
diff --git a/andino_apps/LICENSE b/andino_apps/LICENSE
@@ -0,0 +1,29 @@
+BSD 3-Clause License
+
+Copyright (c) 2024, Ekumen Inc.
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+1. Redistributions of source code must retain the above copyright notice, this
+   list of conditions and the following disclaimer.
+
+2. Redistributions in binary form must reproduce the above copyright notice,
+   this list of conditions and the following disclaimer in the documentation
+   and/or other materials provided with the distribution.
+
+3. Neither the name of the copyright holder nor the names of its
+   contributors may be used to endorse or promote products derived from
+   this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
diff --git a/andino_apps/README.md b/andino_apps/README.md
@@ -0,0 +1,28 @@
+# Andino Apps
+
+This package contains integration applications with the Andino robot.
+
+# Applications
+
+## Gazebo classic simulation + Nav2
+
+A launch file for running the andino_gz_classic simulation and the Nav 2 stack is provided.
+It uses the [turtlebot3_world](https://github.com/ROBOTIS-GIT/turtlebot3_simulations/tree/master) world (_Apache 2 license_) by default.
+
+```
+ ros2 launch andino_apps andino_simulation_navigation.launch.py
+```
+
+To visualize and interact with the Andino robot in RViz:
+
+- Click in 2D pose estimate button and select the initial pose of the robot
+- Click in Nav2 Goal button and select the final point.
+- The robot will start to move to the selected goal.
+
+![Rviz_example_Nav2](docs/Rviz_example_Nav2.gif)
+
+For further information and examples you can check the [Nav2 tutorials](https://navigation.ros.org/tutorials/index.html).
+
+This package has been tested with the Andino robot with `diff drive plugin` in Gazebo-classic.
+
+By changing the world file, make sure to also change map file. Further navigation [parameters](params/nav2_params.yaml) tunning is recommended.
diff --git a/andino_apps/docs/Rviz_example_Nav2.gif b/andino_apps/docs/Rviz_example_Nav2.gif
diff --git a/...ch/andino_simulation_navigation.launch.py → ...ch/andino_simulation_navigation.launch.py b/...ch/andino_simulation_navigation.launch.py → ...ch/andino_simulation_navigation.launch.py
diff --git a/andino_apps/package.xml b/andino_apps/package.xml
@@ -0,0 +1,25 @@
+<?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>andino_apps</name>
+  <version>0.1.0</version>
+  <description>Package for apps created with andino</description>
+  <author email="[email protected]">JesusSilvaUtrera</author>
+  <maintainer email="[email protected]">JesusSilvaUtrera</maintainer>
+  <maintainer email="[email protected]">Franco Cipollone</maintainer>
+  <license file="LICENSE">BSD Clause 3</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <exec_depend>ros2launch</exec_depend>
+  <exec_depend>andino_gz_classic</exec_depend>
+  <exec_depend>nav2_bringup</exec_depend>
+  <exec_depend>rviz2</exec_depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>
diff --git a/andino_navigation/README.md b/andino_navigation/README.md
@@ -4,44 +4,29 @@ We rely on [Nav2](https://github.com/ros-planning/navigation2) stack in order to
 
 # Usage
 
-## Real Robot
+## Prerequisites
+  1. Run the mobility stack in a real Andino robot or a simulated one:
 
-### Prerequisites
+_Real robot_
+```
+ros2 launch andino_bringup andino_robot.launch.py
+```
 
-1. Andino robot needs to be up and running:
-  ```sh
-  ros2 launch andino_bringup andino_robot.launch.py
-  ```
+_Example with Gazebo Classic_
+```
+ros2 launch andino_gz_classic andino_one_robot.launch.py
+```
 
-2. We need a previously recorded map in order to navigate on.
-   Refer to [andino_slam](../andino_slam/README.md) to learn how to record a map with Andino.
+  1. Provide a recorded map. Refer to [andino_slam](../andino_slam/README.md) to learn how to record a map with Andino.
 
-### Run nav stack
+## Run Nav Stack
 
 ```sh
 ros2 launch andino_navigation bringup.launch.py map:=<path-to-my-map-yaml-file>
 ```
 
 By default, [config file](params/nav2_params.yaml) is used. For using a custom param file use:
+
 ```sh
 ros2 launch andino_navigation bringup.launch.py map:=<path-to-my-map-yaml-file> params_file:=<path-to-my-param-file>
 ```
-
-## Simulation
-
-A launch file for running the andino_gz_classic simulation and the nav2 stack is provided.
-It uses the [turtlebot3_world](https://github.com/ROBOTIS-GIT/turtlebot3_simulations/tree/master) world (_Apache 2 license_) by default.
-
-```
- ros2 launch andino_navigation andino_simulation_navigation.launch.py
-```
-
-To test the navigation inside rviz:
-
-- click in 2D pose estimate button and select the initial pose of the robot
-- click in nav2 Goal button and select the final point.
-- the robot will start to move to the selected goal.
-
-You test adding obstacles inside the Gazebo simulation or use the rviz button Waypoint/ nav through Poses mode to select sequential targets.
-
-This package has been tested with the Andino robot with `diff drive plugin` in gazebo. If you change the world you should change the map but also it is recommended to tune navigation [parameters](params/nav2_params.yaml).
diff --git a/andino_navigation/package.xml b/andino_navigation/package.xml
@@ -14,11 +14,9 @@
 
   <build_depend>launch_ros</build_depend>
 
-  <exec_depend>andino_gz_classic</exec_depend>
   <exec_depend>launch_ros</exec_depend>
   <exec_depend>navigation2</exec_depend>
   <exec_depend>nav2_bringup</exec_depend>
-  <exec_depend>turtlebot3_gazebo</exec_depend>
   <exec_depend>rviz2</exec_depend>
 
   <test_depend>ament_lint_auto</test_depend>
@@ -28,4 +26,3 @@
     <build_type>ament_cmake</build_type>
   </export>
 </package>
-