From a5b970591930e85aac8c788869c7b85b4c4d8690 Mon Sep 17 00:00:00 2001 From: Aaron Chong Date: Thu, 2 Jan 2025 13:40:28 +0800 Subject: [PATCH] Change maintainer emails, fix versions, minor cleanup Signed-off-by: Aaron Chong --- .github/workflows/unit-tests.yaml | 2 +- README.md | 5 ++++- free_fleet/package.xml | 2 +- free_fleet/setup.py | 2 +- free_fleet_adapter/free_fleet_adapter/nav1_robot_adapter.py | 1 - free_fleet_adapter/package.xml | 2 +- free_fleet_examples/package.xml | 2 +- 7 files changed, 9 insertions(+), 7 deletions(-) diff --git a/.github/workflows/unit-tests.yaml b/.github/workflows/unit-tests.yaml index 0234e56c..0efc04c9 100644 --- a/.github/workflows/unit-tests.yaml +++ b/.github/workflows/unit-tests.yaml @@ -20,5 +20,5 @@ jobs: uses: ./.github/actions/build-and-test with: ros-distribution: ${{ matrix.ros_distribution }} - zenoh-version: 1.0.1 + zenoh-version: 1.1.0 integration-testing: OFF diff --git a/README.md b/README.md index 46605987..68edf730 100644 --- a/README.md +++ b/README.md @@ -15,7 +15,7 @@ Free fleet is a python implementation of the Open-RMF Fleet Adapter, based on the [`fleet_adapter_template`](https://github.com/open-rmf/fleet_adapter_template). It uses `zenoh` as a communication layer between each robot and the fleet adapter, allowing access and control over the navigation stacks of the robots. -Using `zenoh` bridges to pipe the necessary ROS 2 messages between each robot and the `free_fleet_adapter`, users have the flexibility to configure and customize their network setups accordingly following the [official guide](https://github.com/eclipse-zenoh/zenoh?tab=readme-ov-file#configuration-options). Examples provided in this repository are using [these configurations](./free_fleet_examples/config/zenoh/), do take note of the selective topics that are required for the `free_fleet_adapter` to work. The `zenoh` configuration conveniently allows users to filter and limit the rate of messages based on topics as well, which will be helpful in deployments with limited network bandwidth. +Using `zenoh` bridges to pipe the necessary ROS 2 / 1 messages between each robot and the `free_fleet_adapter`, users have the flexibility to configure and customize their network setups accordingly following the [official guide](https://github.com/eclipse-zenoh/zenoh?tab=readme-ov-file#configuration-options). Examples provided in this repository are using [these configurations](./free_fleet_examples/config/zenoh/), do take note of the selective topics that are required for the `free_fleet_adapter` to work. The `zenoh` configuration conveniently allows users to filter and limit the rate of messages based on topics as well, which will be helpful in deployments with limited network bandwidth. ![](../media/architecture.jpg) @@ -27,10 +27,13 @@ Supports * [rmw-cyclonedds-cpp](https://github.com/ros2/rmw_cyclonedds) * [Open-RMF on main](https://github.com/open-rmf/rmf) * [zenoh-bridge-ros2dds v1.1.0](https://github.com/eclipse-zenoh/zenoh-plugin-ros2dds/releases/tag/1.1.0) +* [zenoh-bridge-ros1 main](https://github.com/aaronchongth/zenoh-plugin-ros1) * [zenoh router](https://zenoh.io/docs/getting-started/installation/#ubuntu-or-any-debian) We recommend setting up `zenoh-bridge-ros2dds` with the released standalone binaries. After downloading the appropriate released version and platform, extract and use the standalone binaries as is. For source builds of `zenoh-bridge-ros2dds`, please follow the [official guides](https://github.com/eclipse-zenoh/zenoh-plugin-ros2dds). +As for `zenoh-bridge-ros1`, a custom fork is currently used to support bridge namespaces, and requires to be built from source. Once the changes have been merged upstream, this will be updated. + Most of the tests have been performed using `rmw-cyclonedds-cpp`, while other RMW implementations have shown varying results. Support and testing with other RMW implementations will be set up down the road. ## Dependency installation, source build and setup diff --git a/free_fleet/package.xml b/free_fleet/package.xml index 67892257..ca8b59dd 100644 --- a/free_fleet/package.xml +++ b/free_fleet/package.xml @@ -4,7 +4,7 @@ free_fleet 2.0.0 A free fleet management library - Aaron Chong + Aaron Chong Apache License 2.0 builtin_interfaces diff --git a/free_fleet/setup.py b/free_fleet/setup.py index be3d615f..366d031b 100644 --- a/free_fleet/setup.py +++ b/free_fleet/setup.py @@ -5,7 +5,7 @@ setup( name=package_name, - version='2.4.0', + version='2.0.0', packages=find_packages(), data_files=[ ( diff --git a/free_fleet_adapter/free_fleet_adapter/nav1_robot_adapter.py b/free_fleet_adapter/free_fleet_adapter/nav1_robot_adapter.py index 3b04f06e..49be0cf9 100644 --- a/free_fleet_adapter/free_fleet_adapter/nav1_robot_adapter.py +++ b/free_fleet_adapter/free_fleet_adapter/nav1_robot_adapter.py @@ -39,7 +39,6 @@ from free_fleet_adapter.robot_adapter import RobotAdapter from geometry_msgs.msg import TransformStamped -# import numpy as np import rclpy import rmf_adapter.easy_full_control as rmf_easy from rmf_adapter.robot_update_handle import ActivityIdentifier diff --git a/free_fleet_adapter/package.xml b/free_fleet_adapter/package.xml index c459277b..970fba30 100644 --- a/free_fleet_adapter/package.xml +++ b/free_fleet_adapter/package.xml @@ -4,7 +4,7 @@ free_fleet_adapter 2.0.0 Free fleet Open-RMF fleet adapter based on fleet_adapter_template - Aaron Chong + Aaron Chong Apache License 2.0 ament_cmake diff --git a/free_fleet_examples/package.xml b/free_fleet_examples/package.xml index 6a500461..b226bad5 100644 --- a/free_fleet_examples/package.xml +++ b/free_fleet_examples/package.xml @@ -4,7 +4,7 @@ free_fleet_examples 2.0.0 A package containing example maps and configs for running free fleet - Aaron Chong + Aaron Chong Apache License 2.0 ament_cmake