Update for humble and jazzy

.github/workflows/foxy.yaml

@@ -1,4 +1,4 @@
-name: foxy
+name: Build and Test
 
 on:
   push:
@@ -10,9 +10,16 @@ on:
 
 jobs:
   build-and-test:
+    strategy:
+      matrix:
+        env:
+          - { ROS_DISTRO: foxy}
+          - { ROS_DISTRO: humble }
+          - { ROS_DISTRO: jazzy }
+
     runs-on: ubuntu-latest
     container:
-      image: ros:foxy-ros-base
+      image: ros:${{ matrix.env.ROS_DISTRO }}-ros-base
     steps:
       - name: Install pigpio
         run: |
@@ -23,7 +30,7 @@ jobs:
           sudo make install
       - name: Build Workspace
         run: |
-          . /opt/ros/foxy/setup.sh
+          . /opt/ros/${{ matrix.env.ROS_DISTRO }}/setup.sh
           mkdir -p ros2_ws/src
           cd ros2_ws
           colcon build
@@ -33,7 +40,7 @@ jobs:
           path: ros2_ws/src/frootspi
       - name: Build 
         run: |
-          . /opt/ros/foxy/setup.sh
+          . /opt/ros/${{ matrix.env.ROS_DISTRO }}/setup.sh
           cd ros2_ws/src
           git clone https://github.com/SSL-Roots/consai_frootspi_msgs.git
           git clone https://github.com/SSL-Roots/frootspi_msgs.git
@@ -44,7 +51,7 @@ jobs:
           colcon build --symlink-install
       - name: Test
         run: |
-          . /opt/ros/foxy/setup.sh
+          . /opt/ros/${{ matrix.env.ROS_DISTRO }}/setup.sh
           . ros2_ws/install/setup.sh
           cd ros2_ws
           colcon test

README.md

@@ -61,6 +61,14 @@ $ source ~/ros2_ws/install/setup.bash
 
 [SSL-Roots/init_frootspi_gpio_script](https://github.com/SSL-Roots/init_frootspi_gpio_script) のスクリプトを実行してください。
 
+### Robot IDの設定
+
+ホームディレクトリに`robot_config.yaml`ファイルを作成し、ロボットIDを設定します。
+
+```yaml
+robot_id: 1
+```
+
 ## Examples
 
 ### Start frootspi
@@ -81,6 +89,12 @@ $ ros2 launch frootspi_examples hardware.launch.py
 $ ros2 topic echo /switch_state
 ```
 
+### Robotを起動する
+
+```sh
+$ ros2 launch frootspi_examples robot.launch.py
+```
+
 ### Joystickを用いた動作確認
 1. 手持ちのJoystickをRaspberryPiに接続します。
 2. `frootspi_examples/launch/joycon.launch.py` の `joy_config` が、手持ちのJoystickに対応したコンフィグに設定されていることを確認します。

frootspi_examples/launch/conductor.launch.py

@@ -15,6 +15,7 @@
 from launch import LaunchDescription
 from launch.actions import DeclareLaunchArgument
 from launch.substitutions import LaunchConfiguration
+
 from launch_ros.actions import ComposableNodeContainer
 from launch_ros.actions import PushRosNamespace
 from launch_ros.descriptions import ComposableNode

frootspi_examples/launch/hardware.launch.py

@@ -13,12 +13,15 @@
 # limitations under the License.
 
 import os
+
 from ament_index_python.packages import get_package_share_directory
+
 from launch import LaunchDescription
 from launch.actions import ExecuteProcess
 from launch.actions import RegisterEventHandler
 from launch.event_handlers import OnProcessExit
 from launch.event_handlers import OnProcessStart
+
 from launch_ros.actions import ComposableNodeContainer
 from launch_ros.descriptions import ComposableNode
 

frootspi_examples/launch/joycon.launch.py

@@ -14,10 +14,13 @@
 
 
 import os
+
 from ament_index_python.packages import get_package_share_directory
+
 from launch import LaunchDescription
 from launch.actions import DeclareLaunchArgument
 from launch.substitutions import LaunchConfiguration
+
 from launch_ros.actions import Node
 
 

frootspi_examples/launch/robot.launch.py

@@ -13,19 +13,23 @@
 # limitations under the License.
 
 import os
+from pathlib import Path
+
 from ament_index_python.packages import get_package_share_directory
+
 from launch import LaunchDescription
 from launch.actions import ExecuteProcess
 from launch.actions import IncludeLaunchDescription
 from launch.launch_description_sources import PythonLaunchDescriptionSource
+
 from launch_ros.actions import ComposableNodeContainer
 from launch_ros.actions import PushRosNamespace
 from launch_ros.descriptions import ComposableNode
 
+
 import yaml
-from pathlib import Path
 
-DEFAULT_FILE_PATH = Path.home() / Path("robot_config.yaml")
+DEFAULT_FILE_PATH = Path.home() / Path('robot_config.yaml')
 
 
 def get_configuration_from_file(file_path):
@@ -34,7 +38,7 @@ def get_configuration_from_file(file_path):
     # yamlで書かれた設定ファイルから値を取得する
     with open(file_path, 'r') as f:
         config = yaml.safe_load(f)
-        print(f"Read robot config from {file_path}")
+        print(f'Read robot config from {file_path}')
     return config
 
 

frootspi_examples/systemd/robot_launch.sh

@@ -6,7 +6,7 @@ ROS_DOMAIN_ID_VALUE=22
 if [ -f ${ENVFILE} ]; then
     #環境変数読み込み
     echo "Loading ROS2 Env..."
-    source /opt/ros/foxy/setup.bash
+    source /opt/ros/jazzy/setup.bash
     source ${ENVFILE}
     export ROS_DOMAIN_ID=${ROS_DOMAIN_ID_VALUE}
 

frootspi_hardware/src/kicker.cpp

@@ -84,12 +84,19 @@ bool Kicker::kickStraight(uint32_t powerMmps)
   if (this->debug_mode_) {return false;}
 
   uint32_t sleep_time_usec;
-       if (powerMmps < 2000) sleep_time_usec = OPENTIME_1MS;
-  else if (powerMmps < 3000) sleep_time_usec = OPENTIME_2MS;
-  else if (powerMmps < 4000) sleep_time_usec = OPENTIME_3MS;
-  else if (powerMmps < 5000) sleep_time_usec = OPENTIME_4MS;
-  else if (powerMmps < 6000) sleep_time_usec = OPENTIME_5MS;
-  else                       sleep_time_usec = OPENTIME_6MS;
+  if (powerMmps < 2000) {
+    sleep_time_usec = OPENTIME_1MS;
+  } else if (powerMmps < 3000) {
+    sleep_time_usec = OPENTIME_2MS;
+  } else if (powerMmps < 4000) {
+    sleep_time_usec = OPENTIME_3MS;
+  } else if (powerMmps < 5000) {
+    sleep_time_usec = OPENTIME_4MS;
+  } else if (powerMmps < 6000) {
+    sleep_time_usec = OPENTIME_5MS;
+  } else {
+    sleep_time_usec = OPENTIME_6MS;
+  }
 
   if (sleep_time_usec > MAX_SLEEP_TIME_USEC_FOR_STRAIGHT) {
     sleep_time_usec = MAX_SLEEP_TIME_USEC_FOR_STRAIGHT;

frootspi_joycon/frootspi_joycon/joycon.py

@@ -18,10 +18,13 @@
 
 import math
 
-import rclpy
 from geometry_msgs.msg import Twist
+
+import rclpy
 from rclpy.node import Node
+
 from sensor_msgs.msg import Joy
+
 from std_msgs.msg import Float32, Int16
 
 

frootspi_speaker/frootspi_speaker/speaker.py

@@ -16,11 +16,14 @@
 # limitations under the License.
 
 import csv
-from frootspi_msgs.msg import SpeakerVoice
 import os
+
+from frootspi_msgs.msg import SpeakerVoice
+
 import rclpy
 from rclpy.executors import ExternalShutdownException
 from rclpy.node import Node
+
 import simpleaudio
 
 
@@ -52,14 +55,14 @@ class Speaker(Node):
     def __init__(self):
         super().__init__('speaker')
 
-        self._voices_path = self.declare_parameter('voices_path', "").value
-        self._file_list_path = self._voices_path + "/" + \
-            self.declare_parameter('file_list_name', "voice_file_list.csv").value
+        self._voices_path = self.declare_parameter('voices_path', '').value
+        self._file_list_path = self._voices_path + '/' + \
+            self.declare_parameter('file_list_name', 'voice_file_list.csv').value
 
         # TODO(ShotaAk): CSVファイルのフォーマットもチェックしたい
         if not os.path.isfile(self._file_list_path):
             self.get_logger().info('file exist')
-            raise ValueError("File:{} does not exist!".format(self._file_list_path))
+            raise ValueError('File:{} does not exist!'.format(self._file_list_path))
 
         self._file_dict = self.make_file_dict(self._file_list_path)
 
@@ -72,9 +75,9 @@ def make_file_dict(self, file_list_path):
         with open(file_list_path, 'r') as f:
             reader = csv.DictReader(f)
             for r in reader:
-                voice_type = r["type"]
+                voice_type = r['type']
                 if hasattr(SpeakerVoice, voice_type):
-                    file_dict[getattr(SpeakerVoice, voice_type)] = r["file_name"]
+                    file_dict[getattr(SpeakerVoice, voice_type)] = r['file_name']
 
         return file_dict
 
@@ -83,8 +86,8 @@ def callback(self, msg):
             self.get_logger().info('Voice type:{} does not defined.'.format(msg.voice_type))
             return
 
-        voice_file_path = self._voices_path + "/" + self._file_dict[msg.voice_type]
-        if not os.path.isfile(voice_file_path) or not voice_file_path.endswith(".wav"):
+        voice_file_path = self._voices_path + '/' + self._file_dict[msg.voice_type]
+        if not os.path.isfile(voice_file_path) or not voice_file_path.endswith('.wav'):
             self.get_logger().info('File:{} is not wav file.'.format(voice_file_path))
             return
 

frootspi_speaker/launch/speaker.launch.py

@@ -33,7 +33,7 @@ def generate_launch_description():
     )
 
     declare_file_list_name = DeclareLaunchArgument(
-        'file_list_name', default_value="voice_file_list.csv",
+        'file_list_name', default_value='voice_file_list.csv',
         description=('Set voice file list name.')
     )