Merge branch 'humble' into francocipollone/rosbag_launch_file

andino_bringup/launch/andino_robot.launch.py

@@ -81,6 +81,7 @@ def generate_launch_description():
             os.path.join(pkg_andino_bringup, 'launch', 'rplidar.launch.py'),
         ),
         launch_arguments={
+            "serial_port": '/dev/ttyUSB_LIDAR',
         }.items(),
                 condition=IfCondition(rplidar)
     )

andino_bringup/launch/rplidar.launch.py

@@ -133,6 +133,7 @@ def generate_launch_description():
                     get_package_share_directory("andino_bringup"),
                     "config", "laser_range_filter.yaml",
                 ])],
+            output='screen',
             remappings=[
               ('scan', 'scan_raw'),
               ('scan_filtered', 'scan'),

andino_description/urdf/include/andino_control.urdf.xacro

@@ -8,7 +8,7 @@
       <!-- TODO(francocipollone): Parameters like loop_rate, device, baud_rate, etc should be loaded from a file or passed via the launch file as xacro args -->
       <param name="left_wheel_name">left_wheel_joint</param>
       <param name="right_wheel_name">right_wheel_joint</param>
-      <param name="serial_device">/dev/ttyUSB0</param>
+      <param name="serial_device">/dev/ttyUSB_ARDUINO</param>
       <param name="baud_rate">57600</param>
       <param name="timeout">1000</param>
       <param name="enc_ticks_per_rev">585</param>

andino_hardware/README.md

@@ -154,6 +154,91 @@ For now, after connecting it to the usb port:
     - `ls -l /dev |grep ttyUSB`
     - Add extra bits by doing `sudo chmod 666 /dev/ttyUSB<number_of_device>`
 
+### USB Port name configuration
+
+#### Fixed USB port names
+
+As having multiple USB devices connected to the USB ports of the Raspberry Pi, the automatically assigned USB port numbers could unexpectedly change after a reboot.
+To avoid assigning your device to a `tty_USBX` number that isn't the correct onew we should assign fixed USB port name for each connected device.
+
+The idea is to be able to generate a link between the real `ttyUSBX` port and an invented one. For this we will need to create rules, that every time the Raspberry Pi boots are executed, and therefore we
+always point to the correct port name.
+
+In order to create fixed names for the USB devices follow the instructions:
+
+1. Check the devices you have connected:
+    ```
+    sudo dmesg | grep ttyUSB
+    ```
+
+    ```
+    [  10.016170] usb 1-1.2: ch341-uart converter now attached to ttyUSB0
+    [ 309.186487] usb 1-1.1: cp210x converter now attached to ttyUSB1
+    ```
+    In the setup where this was tested we have:
+      -> Arduino Microcontroller -> _usb 1-1.2: ch341-uart converter now attached to ttyUSB0_
+      -> A1M8 Lidar Scanner -> _usb 1-1.1: cp210x converter now attached to ttyUSB1_
+
+    _Note: If you don't know how to identify each one you can simply connect them one by one and check this output._
+
+2. Look for attributes for each device that we will use to anchor a particular device with a name.
+  We will use the `idProduct` and `idVendor` of each device.
+   - Arduino Microcontroller:
+      ```
+      udevadm info --name=/dev/ttyUSB0 --attribute-walk
+      ```
+      You should look for the `idProduct` and `idVendor` under the category that matches the usb number(1-1.X):
+      In this case the `ttyUSB0` was referenced to the `usb 1-1.2`, so go to that section and find the ids:
+      ```
+        ATTRS{idProduct}=="7523"
+        ATTRS{idVendor}=="1a86"
+      ```
+   - Lidar Scanner
+      ```
+      udevadm info --name=/dev/ttyUSB1 --attribute-walk
+      ```
+      In this case the `ttyUSB0` was referenced to the `usb 1-1.1`, so go to that section and find the ids:
+      ```
+        ATTRS{idProduct}=="ea60"
+        ATTRS{idVendor}=="10c4"
+      ```
+
+3. Create the rules:
+
+    Open the file:
+    ```
+    sudo nano /etc/udev/rules.d/10-usb-serial.rules
+    ```
+
+    Add the following:
+
+    ```
+    SUBSYSTEM=="tty", ATTRS{idProduct}=="7523", ATTRS{idVendor}=="1a86", SYMLINK+="ttyUSB_ARDUINO"
+    SUBSYSTEM=="tty", ATTRS{idProduct}=="ea60", ATTRS{idVendor}=="10c4", SYMLINK+="ttyUSB_LIDAR"
+    ```
+    Note that in the `symlink` field a fixed name is indicated.
+
+4. Re-trigger the device manager:
+    ```
+    sudo udevadm trigger
+    ```
+
+5. Verify
+    ```
+    ls -l /dev/ttyUSB*
+    ```
+    ```
+    crw-rw---- 1 root dialout 188, 0 Sep  2 15:09 /dev/ttyUSB0
+    crw-rw---- 1 root dialout 188, 1 Sep  2 15:09 /dev/ttyUSB1
+    lrwxrwxrwx 1 root root         7 Sep  2 15:09 /dev/ttyUSB_ARDUINO -> ttyUSB0
+    lrwxrwxrwx 1 root root         7 Sep  2 15:09 /dev/ttyUSB_LIDAR -> ttyUSB1
+    ```
+
+Done! You can always use your devices by the fixed names without using the port number.
+Here, `ttyUSB_ARDUINO` and `ttyUSB_LIDAR` are fixed names for the Arduino Microcontroller and the Lidar Scanner respectively.
+
+For more information you can take a look at this external tutorial: [Here](https://www.freva.com/assign-fixed-usb-port-names-to-your-raspberry-pi/)
+
 ### Create robot workspace
 
 Let's create our workspace and build from source this repository.

andino_slam/launch/rviz.launch.py

@@ -0,0 +1,49 @@
+# BSD 3-Clause License
+
+# Copyright (c) 2023, Ekumen Inc.
+# All rights reserved.
+
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
+
+# 1. Redistributions of source code must retain the above copyright notice, this
+#    list of conditions and the following disclaimer.
+
+# 2. Redistributions in binary form must reproduce the above copyright notice,
+#    this list of conditions and the following disclaimer in the documentation
+#    and/or other materials provided with the distribution.
+
+# 3. Neither the name of the copyright holder nor the names of its
+#    contributors may be used to endorse or promote products derived from
+#    this software without specific prior written permission.
+
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+# DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+# FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+# DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+# SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+# OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+# OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
+import os
+
+from ament_index_python.packages import get_package_share_directory
+from launch import LaunchDescription
+from launch_ros.actions import Node
+
+def generate_launch_description():
+    pkg_andino_slam = get_package_share_directory('andino_slam')
+
+    # RViz
+    rviz = Node(
+        package='rviz2',
+        executable='rviz2',
+        arguments=['-d', os.path.join(pkg_andino_slam, 'rviz', 'andino_slam.rviz')],
+    )
+
+    return LaunchDescription([
+        rviz,
+    ])