Renaming types and starting conversions

Signed-off-by: Aaron Chong <aaronchong@google.com>
open-rmf · Dec 20, 2024 · 0ffad09 · 0ffad09
1 parent aa75526
commit 0ffad09
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diff --git a/...ntegration-tests/docker-compose-nav1.yaml → ...ntegration-tests/nav1-docker-compose.yaml b/...ntegration-tests/docker-compose-nav1.yaml → ...ntegration-tests/nav1-docker-compose.yaml
diff --git a/...ntegration-tests/docker-compose-nav2.yaml → ...ntegration-tests/nav2-docker-compose.yaml b/...ntegration-tests/docker-compose-nav2.yaml → ...ntegration-tests/nav2-docker-compose.yaml
diff --git a/.github/docker/minimal-zenoh-bridge-ros2dds/Dockerfile b/.github/docker/minimal-zenoh-bridge-ros2dds/Dockerfile
@@ -11,12 +11,12 @@ RUN mkdir -p /zenoh-bridge && cd /zenoh-bridge \
   && rm zenoh-plugin-ros2dds.zip
 
 RUN cd /zenoh-bridge \
-  && wget -O turtlebot3_1_zenoh_bridge_ros2dds_client_config.json5 https://raw.githubusercontent.com/open-rmf/free_fleet/refs/heads/$FREE_FLEET_BRANCH/free_fleet_examples/config/zenoh/turtlebot3_1_client_zenoh_config.json5
+  && wget -O turtlebot3_1_zenoh_bridge_ros2dds_client_config.json5 https://raw.githubusercontent.com/open-rmf/free_fleet/refs/heads/$FREE_FLEET_BRANCH/free_fleet_examples/config/zenoh/turtlebot3_1_zenoh_bridge_ros2dds_client_config.json5
 
 ENV RMW_IMPLEMENTATION rmw_cyclonedds_cpp
 
 RUN rm -rf \
   /var/lib/apt/lists \
   /dist
 
-ENTRYPOINT ["bash", "-c", ". /opt/ros/$ROS_DISTRO/setup.bash && /zenoh-bridge/zenoh-bridge-ros2dds -c /zenoh-bridge/turtlebot3_1_client_zenoh_config.json5"]
+ENTRYPOINT ["bash", "-c", ". /opt/ros/$ROS_DISTRO/setup.bash && /zenoh-bridge/zenoh-bridge-ros2dds -c /zenoh-bridge/turtlebot3_1_zenoh_bridge_ros2dds_client_config.json5"]
diff --git a/.github/workflows/integration-tests.yaml → ...hub/workflows/nav2-integration-tests.yaml b/.github/workflows/integration-tests.yaml → ...hub/workflows/nav2-integration-tests.yaml
@@ -1,4 +1,4 @@
-name: integration-tests
+name: nav2-integration-tests
 
 on: push
 
@@ -22,7 +22,7 @@ jobs:
           sudo apt update && sudo apt install docker-compose -y
 
       - name: Start test fixture containers
-        run: docker-compose -f ".github/docker/integration-tests/docker-compose-nav2.yaml" up -d --build
+        run: docker-compose -f ".github/docker/integration-tests/nav2-docker-compose.yaml" up -d --build
 
       - name: build-and-test
         uses: ./.github/actions/build-and-test
@@ -33,7 +33,7 @@ jobs:
 
       - name: Stop test fixture containers
         if: always()
-        run: docker-compose -f ".github/docker/integration-tests/docker-compose-nav2.yaml" down
+        run: docker-compose -f ".github/docker/integration-tests/nav2-docker-compose.yaml" down
 
       - name: Upload coverage to Codecov
         uses: codecov/codecov-action@v4

diff --git a/.github/workflows/nightly.yaml b/.github/workflows/nightly.yaml
@@ -1,12 +1,14 @@
 name: nightly
 
-on:
-  schedule:
-    # 2am SGT
-    - cron: '0 18 * * *'
+# on:
+#   schedule:
+#     # 2am SGT
+#     - cron: '0 18 * * *'
+
+on: [push]
 
 jobs:
-  build-minimal-docker-images:
+  build-minimal-nav2-docker-images:
     name: Push minimal docker images to GitHub Packages
     runs-on: ubuntu-latest
     strategy:
@@ -45,12 +47,31 @@ jobs:
           tags: ghcr.io/${{ github.repository }}/minimal-zenoh-bridge-ros2dds:${{ matrix.ros_distribution }}-latest
           context: .github/docker/minimal-zenoh-bridge-ros2dds
 
+  build-minimal-nav1-docker-images:
+    name: Push minimal docker images to GitHub Packages
+    runs-on: ubuntu-latest
+    strategy:
+      matrix:
+        ros_distribution: [noetic]
+    steps:
+      - uses: actions/checkout@v4
+
+      - name: Set up Docker Buildx
+        uses: docker/setup-buildx-action@v3
+
+      - name: Login to docker
+        uses: docker/login-action@v3
+        with:
+          registry: ghcr.io
+          username: ${{ github.actor }}
+          password: ${{ secrets.GITHUB_TOKEN }}
+
       - name: Build and push minimal-ros1-sim
         uses: docker/build-push-action@v5
         with:
           push: true
           build-args: |
-            ROS_DISTRO=noetic
+            ROS_DISTRO=${{ matrix.ros_distribution }}
           tags: ghcr.io/${{ github.repository }}/minimal-ros1-sim:${{ matrix.ros_distribution }}-latest
           context: .github/docker/minimal-ros1-sim
 
@@ -59,7 +80,7 @@ jobs:
         with:
           push: true
           build-args: |
-            ROS_DISTRO=noetic
+            ROS_DISTRO=${{ matrix.ros_distribution }}
           tags: ghcr.io/${{ github.repository }}/minimal-nav1-bringup:${{ matrix.ros_distribution }}-latest
           context: .github/docker/minimal-nav1-bringup
 
@@ -68,14 +89,14 @@ jobs:
         with:
           push: true
           build-args: |
-            ROS_DISTRO=noetic
+            ROS_DISTRO=${{ matrix.ros_distribution }}
             ZENOH_VERSION=1.0.0-beta.2
-            FREE_FLEET_BRANCH=easy-full-control
+            FREE_FLEET_BRANCH=efc/ros1
           tags: ghcr.io/${{ github.repository }}/minimal-zenoh-bridge-ros1:${{ matrix.ros_distribution }}-latest
           context: .github/docker/minimal-zenoh-bridge-ros1
 
-  integration-tests:
-    needs: build-minimal-docker-images
+  nav2-integration-tests:
+    needs: build-minimal-nav2-docker-images
     timeout-minutes: 10
     runs-on: ubuntu-latest
     container:
@@ -94,7 +115,7 @@ jobs:
           sudo apt update && sudo apt install docker-compose -y
 
       - name: Start test fixture containers
-        run: docker-compose -f ".github/docker/integration-tests/docker-compose-nav2.yaml" up -d --build
+        run: docker-compose -f ".github/docker/integration-tests/nav2-docker-compose.yaml" up -d --build
 
       - name: build-and-test
         uses: ./.github/actions/build-and-test
@@ -105,4 +126,4 @@ jobs:
 
       - name: Stop test fixture containers
         if: always()
-        run: docker-compose -f ".github/docker/integration-tests/docker-compose-nav2.yaml" down
+        run: docker-compose -f ".github/docker/integration-tests/nav2-docker-compose.yaml" down
diff --git a/README.md b/README.md
@@ -223,7 +223,7 @@ source /opt/ros/jazzy/setup.bash
 export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
 
 cd PATH_TO_EXTRACTED_ZENOH_BRIDGE
-./zenoh-bridge-ros2dds -c ~/ff_ws/src/free_fleet/free_fleet_examples/config/zenoh/unique_multi_tb3_zenoh_config.json5
+./zenoh-bridge-ros2dds -c ~/ff_ws/src/free_fleet/free_fleet_examples/config/zenoh/unique_multi_tb3_zenoh_bridge_ros2dds_client_config.json5
 ```
 
 Start the RMF core packages on a different `ROS_DOMAIN_ID` to simulate running on a different machine,

diff --git a/free_fleet/free_fleet/convert.py b/free_fleet/free_fleet/convert.py
@@ -16,7 +16,7 @@
 
 
 from builtin_interfaces.msg import Time as RclTimeMsg
-from free_fleet.types import GeometryMsgs_TransformStamped, Time
+from free_fleet.ros2_types import GeometryMsgs_TransformStamped, Time
 from geometry_msgs.msg import TransformStamped
 from rclpy import time as rclpyTime
 

diff --git a/free_fleet/free_fleet/ros1_types.py b/free_fleet/free_fleet/ros1_types.py
@@ -0,0 +1,21 @@
+#!/usr/bin/env python3
+
+# Copyright 2024 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+# https://github.com/ros/geometry2/blob/noetic-devel/tf2_msgs/msg/TFMessage.msg
+TFMESSAGE_TYPE = 'tf2_msgs/msg/TFMessage'
+TFMESSAGE_DEFINITION = """
+geometry_msgs/TransformStamped[] transforms
+"""
diff --git a/free_fleet/free_fleet/types.py → free_fleet/free_fleet/ros2_types.py b/free_fleet/free_fleet/types.py → free_fleet/free_fleet/ros2_types.py
diff --git a/free_fleet/free_fleet/utils.py b/free_fleet/free_fleet/utils.py
@@ -14,7 +14,7 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-from free_fleet.types import (
+from free_fleet.ros2_types import (
     ActionMsgs_CancelGoal_Request,
     ActionMsgs_GoalInfo,
     Time,

diff --git a/free_fleet/tests/test_convert.py b/free_fleet/tests/test_convert.py
@@ -18,7 +18,7 @@
     transform_stamped_to_ros2_msg,
     transform_time_to_ros2_msg
 )
-from free_fleet.types import (
+from free_fleet.ros2_types import (
     GeometryMsgs_Quaternion,
     GeometryMsgs_Transform,
     GeometryMsgs_TransformStamped,

diff --git a/free_fleet_adapter/free_fleet_adapter/nav2_robot_adapter.py b/free_fleet_adapter/free_fleet_adapter/nav2_robot_adapter.py
@@ -17,7 +17,7 @@
 from typing import Annotated
 
 from free_fleet.convert import transform_stamped_to_ros2_msg
-from free_fleet.types import (
+from free_fleet.ros2_types import (
     ActionMsgs_CancelGoal_Response,
     GeometryMsgs_Point,
     GeometryMsgs_Pose,

diff --git a/free_fleet_examples/config/zenoh/turtlebot3_1_zenoh_bridge_ros2dds_client_config.json5 b/free_fleet_examples/config/zenoh/turtlebot3_1_zenoh_bridge_ros2dds_client_config.json5
@@ -13,15 +13,12 @@
       pub_max_frequencies: [".*/navigate_to_pose/*=1", ".*/battery_state=1"],
     },
   },
+  // Zenoh related configurations
   mode: "client",
   connect: {
-    endpoints: [
-      // "<proto>/<ip>:<port>"
-    ]
+    endpoints: []
   },
   listen: {
-    endpoints: [
-      // "<proto>/<ip>:<port>"
-    ]
+    endpoints: []
   },
 }