Renaming and verifying regression tests

Signed-off-by: Aaron Chong <aaronchongth@gmail.com>

.github/docker/minimal-nav1-bringup/Dockerfile

@@ -7,7 +7,7 @@ RUN mkdir -p /tb3 && cd /tb3 \
   && curl -sL https://github.com/ros-navigation/navigation2/archive/refs/heads/master.tar.gz -o navigation2.tar.gz \
   && mkdir -p /tb3/navigation2 && tar zxf navigation2.tar.gz -C /tb3/navigation2 --strip-components=1 && rm navigation2.tar.gz
 
-ENV TURTLEBOT3_MODEL burger
+ENV TURTLEBOT3_MODEL=burger
 
 RUN rm -rf \
   /var/lib/apt/lists \

.github/docker/minimal-nav2-bringup/Dockerfile

@@ -7,8 +7,8 @@ RUN mkdir -p /tb3 && cd /tb3 \
   && curl -sL https://github.com/ROBOTIS-GIT/turtlebot3_simulations/archive/refs/heads/master.tar.gz -o turtlebot3_simulations.tar.gz \
   && mkdir -p /tb3/turtlebot3_simulations && tar zxf turtlebot3_simulations.tar.gz -C /tb3/turtlebot3_simulations --strip-components=1 && rm turtlebot3_simulations.tar.gz
 
-ENV RMW_IMPLEMENTATION rmw_cyclonedds_cpp
-ENV GAZEBO_MODEL_PATH "$GAZEBO_MODEL_PATH:/tb3/turtlebot3_simulations/turtlebot3_gazebo/models"
+ENV RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
+ENV GAZEBO_MODEL_PATH="$GAZEBO_MODEL_PATH:/tb3/turtlebot3_simulations/turtlebot3_gazebo/models"
 
 RUN rm -rf \
   /var/lib/apt/lists \

.github/docker/minimal-ros1-sim/Dockerfile

@@ -3,7 +3,7 @@ FROM docker.io/ros:$ROS_DISTRO-ros-base
 
 RUN apt update && apt install -y ros-$ROS_DISTRO-turtlebot3-gazebo ros-$ROS_DISTRO-gazebo-ros-pkgs
 
-ENV TURTLEBOT3_MODEL burger
+ENV TURTLEBOT3_MODEL=burger
 
 RUN rm -rf \
   /var/lib/apt/lists \

.github/docker/minimal-zenoh-bridge-ros1/Dockerfile

@@ -13,7 +13,7 @@ RUN mkdir -p /zenoh-bridge && cd /zenoh-bridge \
 RUN cd /zenoh-bridge \
   && wget -O turtlebot3_1_client_zenoh_config.json5 https://raw.githubusercontent.com/open-rmf/free_fleet/refs/heads/$FREE_FLEET_BRANCH/free_fleet_examples/config/zenoh/turtlebot3_1_client_zenoh_config.json5
 
-ENV RMW_IMPLEMENTATION rmw_cyclonedds_cpp
+ENV RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
 
 RUN rm -rf \
   /var/lib/apt/lists \

.github/docker/minimal-zenoh-bridge-ros2dds/Dockerfile

@@ -13,7 +13,7 @@ RUN mkdir -p /zenoh-bridge && cd /zenoh-bridge \
 RUN cd /zenoh-bridge \
   && wget -O turtlebot3_1_zenoh_bridge_ros2dds_client_config.json5 https://raw.githubusercontent.com/open-rmf/free_fleet/refs/heads/$FREE_FLEET_BRANCH/free_fleet_examples/config/zenoh/turtlebot3_1_zenoh_bridge_ros2dds_client_config.json5
 
-ENV RMW_IMPLEMENTATION rmw_cyclonedds_cpp
+ENV RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
 
 RUN rm -rf \
   /var/lib/apt/lists \

.github/workflows/nightly.yaml

@@ -43,7 +43,7 @@ jobs:
           build-args: |
             ROS_DISTRO=${{ matrix.ros_distribution }}
             ZENOH_VERSION=1.0.1
-            FREE_FLEET_BRANCH=easy-full-control
+            FREE_FLEET_BRANCH=efc/ros1
           tags: ghcr.io/${{ github.repository }}/minimal-zenoh-bridge-ros2dds:${{ matrix.ros_distribution }}-latest
           context: .github/docker/minimal-zenoh-bridge-ros2dds
 

README.md

@@ -40,10 +40,10 @@ System dependencies,
 sudo apt update && sudo apt install python3-pip ros-jazzy-rmw-cyclonedds-cpp
 ```
 
-The dependencies `eclipse-zenoh` and `pycdr2` are available through `pip`. Users can choose to set up a virtual environment, or `--break-system-packages` by performing the installation directly.
+The dependencies `eclipse-zenoh`, `pycdr2`, `rosbags` are available through `pip`. Users can choose to set up a virtual environment, or `--break-system-packages` by performing the installation directly.
 
 ```bash
-pip3 install pip install eclipse-zenoh==1.0.1 pycdr2 --break-system-packages
+pip3 install pip install eclipse-zenoh==1.1.0 pycdr2 rosbags --break-system-packages
 ```
 
 Install `zenohd` from the [official guide](https://zenoh.io/docs/getting-started/installation/#ubuntu-or-any-debian).

free_fleet_examples/CMakeLists.txt

@@ -47,6 +47,8 @@ foreach(path ${traffic_editor_paths})
 endforeach()
 
 install(PROGRAMS
+  ${PROJECT_NAME}/nav1_get_tf.py
+  # ${PROJECT_NAME}/nav1_send_move_base_simple_goal.py
   ${PROJECT_NAME}/nav2_cancel_all_goals.py
   ${PROJECT_NAME}/nav2_get_tf.py
   ${PROJECT_NAME}/nav2_send_navigate_to_pose.py

free_fleet_examples/free_fleet_examples/nav1_get_tf.py

@@ -14,45 +14,52 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-# https://github.com/eclipse-zenoh/zenoh-plugin-ros1/issues/131
+# # https://github.com/eclipse-zenoh/zenoh-plugin-ros1/issues/131
 
-import zenoh, time
-from rosbags.typesys import Stores, get_types_from_msg, get_typestore
+# import zenoh, time
+# from rosbags.typesys import Stores, get_types_from_msg, get_typestore
 
-TOPIC = '/tf'
-# TYPE = 'std_msgs/msg/String'
-TYPE = 'tf2_msgs/msg/TFMessage'
+# TOPIC = '/tf'
+# # TYPE = 'std_msgs/msg/String'
+# TYPE = 'tf2_msgs/msg/TFMessage'
 
-# Noetic TFMessage message definition, taken from:
+# # Noetic TFMessage message definition, taken from:
+# #
 # https://github.com/ros/geometry2/blob/noetic-devel/tf2_msgs/msg/TFMessage.msg
-TFMESSAGE_DEFINITION = """
-geometry_msgs/TransformStamped[] transforms
-"""
+# TFMESSAGE_DEFINITION = """
+# geometry_msgs/TransformStamped[] transforms
+# """
 
-def get_zenoh_name_of_ros1_topic(ros1_store, topic: str, msg_type: str) -> str:
-    # Get md5 and encode msg_type to construct zenoh topic
-    msg_type_split = msg_type.split('/')
-    msg_type_encoded = '/'.join([msg_type_split[0],msg_type_split[2]]).encode('utf-8').hex()
-    md5 = ros1_store.generate_msgdef(msg_type)[1]
-    zenoh_topic = '/'.join([msg_type_encoded, md5, topic[1:]])
+# def get_zenoh_name_of_ros1_topic(ros1_store, topic: str, msg_type: str
+# ) -> str:
+#     # Get md5 and encode msg_type to construct zenoh topic
+#     msg_type_split = msg_type.split('/')
+#     msg_type_encoded = \
+#         '/'.join([msg_type_split[0],msg_type_split[2]]).encode('utf-8').hex()
+#     md5 = ros1_store.generate_msgdef(msg_type)[1]
+#     zenoh_topic = '/'.join([msg_type_encoded, md5, topic[1:]])
 
-    return zenoh_topic
+#     return zenoh_topic
 
 
-def listener(sample: zenoh.Sample):
-    msg = ros1_store.deserialize_ros1(sample.payload.to_bytes(), TYPE)
-    print(f'ROS1 msg: {msg}')
+# def listener(sample: zenoh.Sample):
+#     msg = ros1_store.deserialize_ros1(sample.payload.to_bytes(), TYPE)
+#     print(f'ROS1 msg: {msg}')
 
 
-if __name__ == "__main__":
-    session = zenoh.open(zenoh.Config())
-    ros1_store = get_typestore(Stores.ROS1_NOETIC)
+# if __name__ == "__main__":
+#     session = zenoh.open(zenoh.Config())
+#     ros1_store = get_typestore(Stores.ROS1_NOETIC)
 
-    ros1_store.register(
-        get_types_from_msg(TFMESSAGE_DEFINITION, TYPE),
-    )
+#     ros1_store.register(
+#         get_types_from_msg(TFMESSAGE_DEFINITION, TYPE),
+#     )
 
-    zenoh_topic = get_zenoh_name_of_ros1_topic(ros1_store, topic=TOPIC, msg_type=TYPE)
-    print(f'ROS topic {TOPIC} is converted to Zenoh {zenoh_topic}')
-    sub = session.declare_subscriber(zenoh_topic, listener)
-    time.sleep(60)
+#     zenoh_topic = get_zenoh_name_of_ros1_topic(
+#         ros1_store,
+#         topic=TOPIC,
+#         msg_type=TYPE
+#     )
+#     print(f'ROS topic {TOPIC} is converted to Zenoh {zenoh_topic}')
+#     sub = session.declare_subscriber(zenoh_topic, listener)
+#     time.sleep(60)