Efc cleanup (#163)

* Bump major versions Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Added nav1 and nav2 to names to make it clearer Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Revert schedule and free fleet branch Signed-off-by: Aaron Chong <aaronchongth@gmail.com> --------- Signed-off-by: Aaron Chong <aaronchongth@gmail.com>
open-rmf · Jan 2, 2025 · 6fd6fbf · 6fd6fbf
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diff --git a/.github/docker/minimal-zenoh-bridge-ros1/Dockerfile b/.github/docker/minimal-zenoh-bridge-ros1/Dockerfile
@@ -19,7 +19,7 @@ RUN mkdir -p /zenoh-bridge && cd /zenoh-bridge \
   && cargo build --package zenoh-bridge-ros1 --bin zenoh-bridge-ros1 --release
 
 RUN cd /zenoh-bridge \
-  && wget -O turtlebot3_zenoh_bridge_ros1_client_config.json5 https://raw.githubusercontent.com/open-rmf/free_fleet/refs/heads/$FREE_FLEET_BRANCH/free_fleet_examples/config/zenoh/turtlebot3_zenoh_bridge_ros1_client_config.json5
+  && wget -O nav1_tb3_zenoh_bridge_ros1_client_config.json5 https://raw.githubusercontent.com/open-rmf/free_fleet/refs/heads/$FREE_FLEET_BRANCH/free_fleet_examples/config/zenoh/nav1_tb3_zenoh_bridge_ros1_client_config.json5
 
 RUN rm -rf \
   /var/lib/apt/lists \
@@ -29,8 +29,8 @@ RUN rm -rf \
 
 FROM docker.io/ros:$ROS_DISTRO-ros-base
 
-COPY --from=0 /zenoh-bridge/turtlebot3_zenoh_bridge_ros1_client_config.json5 /zenoh-bridge/turtlebot3_zenoh_bridge_ros1_client_config.json5
+COPY --from=0 /zenoh-bridge/nav1_tb3_zenoh_bridge_ros1_client_config.json5 /zenoh-bridge/nav1_tb3_zenoh_bridge_ros1_client_config.json5
 
 COPY --from=0 /zenoh-bridge/zenoh-plugin-ros1/target/release/zenoh-bridge-ros1 /zenoh-bridge/zenoh-bridge-ros1
 
-ENTRYPOINT ["bash", "-c", ". /opt/ros/$ROS_DISTRO/setup.bash && /zenoh-bridge/zenoh-bridge-ros1 -c /zenoh-bridge/turtlebot3_zenoh_bridge_ros1_client_config.json5"]
+ENTRYPOINT ["bash", "-c", ". /opt/ros/$ROS_DISTRO/setup.bash && /zenoh-bridge/zenoh-bridge-ros1 -c /zenoh-bridge/nav1_tb3_zenoh_bridge_ros1_client_config.json5"]
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/$FREE_FLEET_BRANCH/free_fleet_examples/config/zenoh/turtlebot3_1_zenoh_bridge_ros2dds_client_config.json5
+  && wget -O nav2_tb3_zenoh_bridge_ros2dds_client_config.json5 https://raw.githubusercontent.com/open-rmf/free_fleet/refs/heads/$FREE_FLEET_BRANCH/free_fleet_examples/config/zenoh/nav2_tb3_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/$ROS_DISTRO/setup.bash && /zenoh-bridge/zenoh-bridge-ros2dds -c /zenoh-bridge/turtlebot3_1_zenoh_bridge_ros2dds_client_config.json5"]
+ENTRYPOINT ["bash", "-c", ". /opt/ros/$ROS_DISTRO/setup.bash && /zenoh-bridge/zenoh-bridge-ros2dds -c /zenoh-bridge/nav2_tb3_zenoh_bridge_ros2dds_client_config.json5"]
diff --git a/README.md b/README.md
@@ -101,7 +101,7 @@ git clone https://github.com/ROBOTIS-GIT/turtlebot3_simulations ~/turtlebot3_sim
 
 ![](../media/ff_tb3_faster_smaller.gif)
 
-This simulates running an isolated (by `ROS_DOMAIN_ID`) turtlebot3 with a ROS 2 navigation stack, and setting up RMF with `free_fleet_adapter` (on a different `ROS_DOMAIN_ID`), allowing the fleet adapter to command the robot via a configured `zenoh-bridge-ros2dds` with the namespace `turtlebot3_1`.
+This simulates running an isolated (by `ROS_DOMAIN_ID`) turtlebot3 with a ROS 2 navigation stack, and setting up RMF with `free_fleet_adapter` (on a different `ROS_DOMAIN_ID`), allowing the fleet adapter to command the robot via a configured `zenoh-bridge-ros2dds` with the namespace `nav2_tb3`.
 
 Launch simulation and set up the initial position of the robot (see gif),
 
@@ -134,15 +134,15 @@ 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/turtlebot3_1_zenoh_bridge_ros2dds_client_config.json5
+./zenoh-bridge-ros2dds -c ~/ff_ws/src/free_fleet/free_fleet_examples/config/zenoh/nav2_tb3_zenoh_bridge_ros2dds_client_config.json5
 ```
 
 Listen to transforms over `zenoh`,
 
 ```bash
 source ~/ff_ws/install/setup.bash
 ros2 run free_fleet_examples nav2_get_tf.py \
-    --namespace turtlebot3_1
+    --namespace nav2_tb3
 ```
 
 Start a `navigate_to_pose` action over `zenoh`, using example values,
@@ -151,7 +151,7 @@ Start a `navigate_to_pose` action over `zenoh`, using example values,
 source ~/ff_ws/install/setup.bash
 ros2 run free_fleet_examples nav2_send_navigate_to_pose.py \
     --frame-id map \
-    --namespace turtlebot3_1 \
+    --namespace nav2_tb3 \
     -x 1.808 \
     -y 0.503
 ```
@@ -165,13 +165,16 @@ export ROS_DOMAIN_ID=55
 ros2 launch free_fleet_examples turtlebot3_world_rmf_common.launch.xml
 ```
 
-Launch the `free_fleet_adapter` with the current example's configurations, verify that `turtlebot3_1` has been added to fleet `turtletbot`.
+Launch the `free_fleet_adapter` with the current example's configurations, verify that `nav2_tb3` has been added to fleet `turtletbot3`.
 
 ```bash
 source ~/ff_ws/install/setup.bash
 export ROS_DOMAIN_ID=55
 
-ros2 launch free_fleet_examples tb3_simulation_fleet_adapter.launch.xml
+ros2 launch free_fleet_examples nav2_tb3_simulation_fleet_adapter.launch.xml
+
+# Or launch with the rmf-web API server address
+# ros2 launch free_fleet_examples nav2_tb3_simulation_fleet_adapter.launch.xml  server_uri:="ws://localhost:8000/_internal"
 ```
 
 Dispatch an example RMF patrol tasks using [`rmf-web`](https://github.com/open-rmf/rmf-web) on the same `ROS_DOMAIN_ID` as the RMF core packages, or use the `dispatch_patrol` script,
@@ -224,7 +227,7 @@ 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_bridge_ros2dds_client_config.json5
+./zenoh-bridge-ros2dds -c ~/ff_ws/src/free_fleet/free_fleet_examples/config/zenoh/nav2_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,
@@ -237,17 +240,17 @@ export ROS_DOMAIN_ID=55
 ros2 launch free_fleet_examples turtlebot3_world_rmf_common.launch.xml
 ```
 
-Launch the `free_fleet_adapter` with the current example's configurations, verify that `turtlebot3_1` has been added to fleet `turtlebot3`.
+Launch the `free_fleet_adapter` with the current example's configurations, verify that `nav2_tb3` has been added to fleet `turtlebot3`.
 
 ```bash
 source ~/ff_ws/install/setup.bash
 export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
 export ROS_DOMAIN_ID=55
 
-ros2 launch free_fleet_examples unique_multi_tb3_simulation_fleet_adapter.launch.xml
+ros2 launch free_fleet_examples nav2_unique_multi_tb3_simulation_fleet_adapter.launch.xml
 
 # Or launch with the rmf-web API server address
-# ros2 launch free_fleet_examples unique_multi_tb3_simulation_fleet_adapter.launch.xml  server_uri:="ws://localhost:8000/_internal"
+# ros2 launch free_fleet_examples nav2_unique_multi_tb3_simulation_fleet_adapter.launch.xml  server_uri:="ws://localhost:8000/_internal"
 ```
 
 Dispatch example RMF patrol tasks using [`rmf-web`](https://github.com/open-rmf/rmf-web) on the same `ROS_DOMAIN_ID` as the RMF core packages, or use the `dispatch_patrol` scripts, which will cause the robot to negotiate as they perform their tasks.
@@ -312,7 +315,7 @@ export TURTLEBOT3_MODEL=burger
 roslaunch turtlebot3_navigation turtlebot3_navigation.launch map_file:=/PATH_TO_navigation2/nav2_bringup/maps/tb3_sandbox.yaml
 ```
 
-In the ROS 1 Noetic environment, set up prerequisites of [zenoh-plugin-ros1](https://github.com/aaronchongth/zenoh-plugin-ros1), build `zenoh-bridge-ros1` in release, and start it with the [provided config in examples](free_fleet_examples/config/zenoh/turtlebot3_zenoh_bridge_ros1_client_config.json5). See the [relevant docker file](.github/docker/minimal-zenoh-bridge-ros1/Dockerfile) for reference.
+In the ROS 1 Noetic environment, set up prerequisites of [zenoh-plugin-ros1](https://github.com/aaronchongth/zenoh-plugin-ros1), build `zenoh-bridge-ros1` in release, and start it with the [provided config in examples](free_fleet_examples/config/zenoh/nav1_tb3_zenoh_bridge_ros1_client_config.json5). See the [relevant docker file](.github/docker/minimal-zenoh-bridge-ros1/Dockerfile) for reference.
 
 ```bash
 # Get the config file
@@ -325,7 +328,7 @@ cargo build --package zenoh-bridge-ros1 --bin zenoh-bridge-ros1 --release
 
 # Use cargo run, or just run the executable directly
 source /opt/ros/noetic/setup.bash
-./target/release/zenoh-bridge-ros1 -c PATH_TO_free_fleet/free_fleet_examples/config/zenoh/turtlebot3_zenoh_bridge_ros1_client_config.json5
+./target/release/zenoh-bridge-ros1 -c PATH_TO_free_fleet/free_fleet_examples/config/zenoh/nav1_tb3_zenoh_bridge_ros1_client_config.json5
 ```
 
 On the machine where the free fleet adapter will run, start the common launch files and the free fleet adapter,
@@ -337,7 +340,7 @@ export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
 ros2 launch free_fleet_examples turtlebot3_world_rmf_common.launch.xml
 ```
 
-Launch the `free_fleet_adapter` with the current example's configurations, verify that `tb3_0` has been added to fleet `turtlebot3`.
+Launch the `free_fleet_adapter` with the current example's configurations, verify that `nav1_tb3` has been added to fleet `turtlebot3`.
 
 ```bash
 source ~/ff_ws/install/setup.bash
@@ -356,13 +359,13 @@ source ~/ff_ws/install/setup.bash
 export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
 export ROS_DOMAIN_ID=55
 
-# tb3_0 to run clockwise around the map
+# nav1_tb3 to run clockwise around the map
 ros2 run rmf_demos_tasks dispatch_patrol \
   -p north_west north_east south_east south_west \
   -n 3 \
   -st 0 \
   -F turtlebot3 \
-  -R tb3_0
+  -R nav1_tb3
 ```
 
 ## Troubleshooting

diff --git a/free_fleet/package.xml b/free_fleet/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>free_fleet</name>
-  <version>0.1.0</version>
+  <version>2.0.0</version>
   <description>A free fleet management library</description>
   <maintainer email="aaron@openrobotics.org">Aaron Chong</maintainer>
   <license>Apache License 2.0</license>

diff --git a/free_fleet_adapter/package.xml b/free_fleet_adapter/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>free_fleet_adapter</name>
-  <version>0.1.0</version>
+  <version>2.0.0</version>
   <description>Free fleet Open-RMF fleet adapter based on fleet_adapter_template</description>
   <maintainer email="aaron@openrobotics.org">Aaron Chong</maintainer>
   <license>Apache License 2.0</license>

diff --git a/free_fleet_adapter/tests/integration/test_nav1_move_base_handler.py b/free_fleet_adapter/tests/integration/test_nav1_move_base_handler.py
@@ -39,7 +39,7 @@ def tearDownClass(cls):
 
     def test_move_base_statuses_do_not_exist(self):
         move_base_handler = Nav1MoveBaseHandler(
-            'missing_turtlebot3_1', self.zenoh_session, self.node
+            'missing_nav1_tb3', self.zenoh_session, self.node
         )
 
         statuses_exists = False
@@ -54,7 +54,7 @@ def test_move_base_statuses_do_not_exist(self):
 
     def test_command_status_and_cancel(self):
         move_base_handler = Nav1MoveBaseHandler(
-            'tb3_0', self.zenoh_session, self.node
+            'nav1_tb3', self.zenoh_session, self.node
         )
 
         status_array = None

diff --git a/free_fleet_adapter/tests/integration/test_nav1_robot_adapter.py b/free_fleet_adapter/tests/integration/test_nav1_robot_adapter.py
@@ -26,12 +26,12 @@
 import zenoh
 
 
-class TestNav2RobotAdapter(unittest.TestCase):
+class TestNav1RobotAdapter(unittest.TestCase):
 
     @classmethod
     def setUpClass(cls):
         rclpy.init()
-        cls.node = rclpy.create_node('test_nav2_robot_adapter')
+        cls.node = rclpy.create_node('test_nav1_robot_adapter')
         cls.zenoh_session = zenoh.open(zenoh.Config())
 
     @classmethod
@@ -44,7 +44,7 @@ def test_non_existent_robot_pose(self):
         tf_buffer = Buffer()
 
         robot_adapter = Nav1RobotAdapter(
-            name='missing_turtlebot3_1',
+            name='missing_nav1_tb3',
             configuration=None,
             robot_config_yaml={
                 'initial_map': 'L1',
@@ -69,7 +69,7 @@ def test_robot_pose(self):
         tf_buffer = Buffer()
 
         robot_adapter = Nav1RobotAdapter(
-            name='tb3_0',
+            name='nav1_tb3',
             configuration=None,
             robot_config_yaml={
                 'initial_map': 'L1',
@@ -94,7 +94,7 @@ def test_robot_battery_soc(self):
         tf_buffer = Buffer()
 
         robot_adapter = Nav1RobotAdapter(
-            name='tb3_0',
+            name='nav1_tb3',
             configuration=None,
             robot_config_yaml={
                 'initial_map': 'L1',
@@ -122,7 +122,7 @@ def test_robot_unable_to_update(self):
         tf_buffer = Buffer()
 
         robot_adapter = Nav1RobotAdapter(
-            name='tb3_0',
+            name='nav1_tb3',
             configuration=None,
             robot_config_yaml={
                 'initial_map': 'L1',
@@ -161,7 +161,7 @@ def test_idle_robot_navigate_is_done(self):
         tf_buffer = Buffer()
 
         robot_adapter = Nav1RobotAdapter(
-            name='tb3_0',
+            name='nav1_tb3',
             configuration=None,
             robot_config_yaml={
                 'initial_map': 'L1',
@@ -187,7 +187,7 @@ def test_robot_stop_without_command(self):
         tf_buffer = Buffer()
 
         robot_adapter = Nav1RobotAdapter(
-            name='tb3_0',
+            name='nav1_tb3',
             configuration=None,
             robot_config_yaml={
                 'initial_map': 'L1',
@@ -216,7 +216,7 @@ def test_robot_handle_navigate_to_invalid_map(self):
         tf_buffer = Buffer()
 
         robot_adapter = Nav1RobotAdapter(
-            name='tb3_0',
+            name='nav1_tb3',
             configuration=None,
             robot_config_yaml={
                 'initial_map': 'L1',
@@ -255,7 +255,7 @@ def test_robot_handle_navigate_to_pose(self):
         tf_buffer = Buffer()
 
         robot_adapter = Nav1RobotAdapter(
-            name='tb3_0',
+            name='nav1_tb3',
             configuration=None,
             robot_config_yaml={
                 'initial_map': 'L1',
@@ -292,7 +292,7 @@ def test_robot_stop_navigate(self):
         tf_buffer = Buffer()
 
         robot_adapter = Nav1RobotAdapter(
-            name='tb3_0',
+            name='nav1_tb3',
             configuration=None,
             robot_config_yaml={
                 'initial_map': 'L1',
@@ -332,7 +332,7 @@ def test_robot_execute_unknown_action(self):
         tf_buffer = Buffer()
 
         robot_adapter = Nav1RobotAdapter(
-            name='tb3_0',
+            name='nav1_tb3',
             configuration=None,
             robot_config_yaml={
                 'initial_map': 'L1',

diff --git a/free_fleet_adapter/tests/integration/test_nav1_tf_handler.py b/free_fleet_adapter/tests/integration/test_nav1_tf_handler.py
@@ -42,7 +42,7 @@ def test_tf_does_not_exist(self):
         tf_buffer = Buffer()
 
         tf_handler = Nav1TfHandler(
-            'missing_turtlebot3_1', self.zenoh_session, tf_buffer, self.node
+            'missing_nav1_tb3', self.zenoh_session, tf_buffer, self.node
         )
 
         transform_exists = False
@@ -59,7 +59,7 @@ def test_tf_exists(self):
         tf_buffer = Buffer()
 
         tf_handler = Nav1TfHandler(
-            'tb3_0', self.zenoh_session, tf_buffer, self.node
+            'nav1_tb3', self.zenoh_session, tf_buffer, self.node
         )
 
         transform_exists = False