Refactoring features foxy

.github/pull_request_template.md

@@ -0,0 +1,13 @@
+### Description
+
+Please explain the changes you made, including a reference to the related issue if applicable.
+
+### Checklist
+- [ ] I have formatted the code to pass the CI.
+- [ ] Extend the test.
+
+### Screenshots / Images / Videos
+Please add here all the media that shows the system in operation.
+
+### People involved
+Please use @mentions to name people who have contributed to this PR.

.github/workflows/humble-devel.yaml

@@ -0,0 +1,30 @@
+name: humble
+
+on:
+  push:
+    branches:
+      - humble-devel
+  pull_request:
+    branches:
+      - humble-devel
+  schedule:
+    - cron: "0 7 * * 1"
+
+jobs:
+  ROS2:
+    runs-on: ubuntu-22.04
+    steps:
+      - name: Checkout
+        uses: actions/checkout@v4
+
+      - name: Setup ROS 2 environment
+        uses: ros-tooling/setup-ros@0.7.9
+        with:
+          ros-distro: humble
+
+      - name: Build ROS 2 package   
+        uses: ros-tooling/action-ros-ci@0.3.13
+        with:
+          package-name: go2_driver unitree_go unitree_api go2_interfaces
+          vcs-repo-file-url: https://raw.githubusercontent.com/Unitree-Go2-Robot/go2_driver/refs/heads/humble-devel/dependencies.repos
+          target-ros2-distro: humble

.github/workflows/humble.yaml

@@ -0,0 +1,30 @@
+name: humble
+
+on:
+  push:
+    branches:
+      - humble
+  pull_request:
+    branches:
+      - humble
+  schedule:
+    - cron: "0 7 * * 1"
+
+jobs:
+  ROS2:
+    runs-on: ubuntu-22.04
+    steps:
+      - name: Checkout
+        uses: actions/checkout@v4
+
+      - name: Setup ROS 2 environment
+        uses: ros-tooling/setup-ros@0.7.9
+        with:
+          ros-distro: humble
+
+      - name: Build ROS 2 package   
+        uses: ros-tooling/action-ros-ci@0.3.13
+        with:
+          package-name: go2_driver unitree_go unitree_api go2_interfaces
+          vcs-repo-file-url: https://raw.githubusercontent.com/Unitree-Go2-Robot/go2_driver/refs/heads/humble/dependencies.repos
+          target-ros2-distro: humble

CMakeLists.txt

@@ -5,6 +5,8 @@ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   add_compile_options(-Wall -Wextra -Wpedantic)
 endif()
 
+add_definitions(-DRCLCPP_ENABLE_TOPIC_STATISTICS=0)
+
 find_package(ament_cmake REQUIRED)
 find_package(rclcpp REQUIRED)
 find_package(rclcpp_lifecycle REQUIRED)
@@ -16,6 +18,9 @@ find_package(unitree_go REQUIRED)
 find_package(unitree_api REQUIRED)
 find_package(tf2_ros REQUIRED)
 find_package(go2_interfaces REQUIRED)
+find_package(cv_bridge REQUIRED)
+find_package(OpenCV REQUIRED)
+find_package(OpenSSL REQUIRED)
 
 set(dependencies
   rclcpp
@@ -28,15 +33,26 @@ set(dependencies
   unitree_api
   tf2_ros
   go2_interfaces
+  cv_bridge
+  OpenCV
+  OpenSSL
 )
 
 include_directories(include)
 
 add_library(${PROJECT_NAME} SHARED
   src/go2_driver/go2_driver.cpp
+  src/go2_driver/modules/go2_camera.cpp
+  src/go2_driver/modules/go2_handle_services.cpp
+  src/go2_driver/modules/go2_tts.cpp
+  src/go2_driver/modules/go2_vui.cpp
+  src/go2_driver/modules/go2_odometry.cpp
+  src/go2_driver/modules/go2_joint_states.cpp
+  src/go2_driver/modules/go2_switch_obstacles_avoidance.cpp
 )
 
 ament_target_dependencies(${PROJECT_NAME} ${dependencies})
+target_link_libraries(${PROJECT_NAME} avcodec avformat avutil swscale OpenSSL::SSL OpenSSL::Crypto ${OpenCV_LIBS})
 
 rclcpp_components_register_nodes(${PROJECT_NAME} "go2_driver::Go2Driver")
 
@@ -53,7 +69,7 @@ install(DIRECTORY include/
   DESTINATION include
 )
 
-install(DIRECTORY launch
+install(DIRECTORY launch config
   DESTINATION share/${PROJECT_NAME}
 )
 

config/camera_calibration.yaml

@@ -0,0 +1,19 @@
+go2_driver:
+  ros__parameters:
+    frame_id: "camera_frame"
+    distortion_model: "plumb_bob"
+    width: 1280
+    height: 720
+    d: [ -0.3899037066336244, 0.1788088900468458, 0.0002001278572207758, -0.000684749815310552, -0.044162166777284 ]
+    k: [ 806.0577552762542, 0, 632.4742958402456, 0, 805.5558008931949, 346.8794920158575, 0, 0, 1 ]
+    r: [ 1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0 ]
+    p: [ 806.0577552762542, 0, 632.4742958402456, 0, 0, 805.5558008931949, 346.8794920158575, 0, 0, 0, 1, 0 ]
+    binning_x: 0
+    binning_y: 0
+    roi:
+      x_offset: 0
+      y_offset: 0
+      height: 0
+      width: 0
+      do_rectify: false
+

dependencies.repos

@@ -0,0 +1,13 @@
+repositories:
+  go2_interfaces:
+    type: git
+    url: https://github.com/Unitree-Go2-Robot/go2_interfaces.git
+    version: humble
+  unitree_api:
+    type: git
+    url: https://github.com/Unitree-Go2-Robot/unitree_api.git
+    version: main
+  unitree_go:
+    type: git
+    url: https://github.com/Unitree-Go2-Robot/unitree_go.git
+    version: main