Merge pull request #1 from secorolab/feature/refactor

Feature/refactor

.github/workflows/build.yml

@@ -0,0 +1,22 @@
+name: Build
+on:
+  push:
+    branches:
+      - main
+  pull_request:
+    branches:
+      - main
+jobs:
+  build:
+    runs-on: ubuntu-24.04
+    steps:
+      - name: Checkout code
+        uses: actions/checkout@v4
+      - uses: ros-tooling/[email protected]
+        with:
+          required-ros-distributions: jazzy
+      - uses: ros-tooling/[email protected]
+        with:
+          target-ros2-distro: jazzy
+          vcs-repo-file-url: "${{ github.workspace }}/.github/workflows/ci_dep.repos"
+          package-name: kortex_description robotiq_description eddie_description

.github/workflows/ci_dep.repos

@@ -0,0 +1,9 @@
+repositories:
+  ros2_kortex:
+    type: git
+    url: https://github.com/secorolab/ros2_kortex.git
+    version: main
+  ros2_robotiq_gripper:
+    type: git
+    url: https://github.com/PickNikRobotics/ros2_robotiq_gripper.git
+    version: main

.github/workflows/format_and_lint.yml

@@ -0,0 +1,31 @@
+name: Formatting and Linting
+on:
+  pull_request:
+    branches:
+      - main
+  push:
+    branches:
+      - main
+jobs:
+  setup-build-lint:
+    runs-on: ubuntu-latest
+    steps:
+      - name: Checkout code
+        uses: actions/checkout@v4
+      - name: Install python dependencies
+        run: |
+          python -m pip install --upgrade pip
+          pip install pre-commit
+      - uses: actions/cache@v4
+        with:
+          path: ~/.cache/pre-commit
+          key: pre-commit-${{ runner.os }}-${{ hashFiles('**/.pre-commit-config.yaml') }}
+          restore-keys: |
+            pre-commit-${{ runner.os }}-
+      - name: Run pre-commit checks
+        working-directory: ${{ github.workspace }}
+        run: |
+          pre-commit autoupdate --repo https://github.com/pre-commit/pre-commit-hooks
+
+          # Run pre-commit checks
+          pre-commit run --show-diff-on-failure --color=always --all-files

.gitignore

@@ -0,0 +1 @@
+.ruff_cache

.pre-commit-config.yaml

@@ -0,0 +1,17 @@
+repos:
+  - repo: https://github.com/pre-commit/pre-commit-hooks
+    rev: v5.0.0
+    hooks:
+      - id: trailing-whitespace
+      - id: check-xml
+  - repo: https://github.com/astral-sh/ruff-pre-commit
+    rev: v0.7.4
+    hooks:
+      - id: ruff
+        args: [--line-length=100, --fix]
+      - id: ruff-format
+  - repo: https://github.com/google/yamlfmt
+    rev: v0.10.0
+    hooks:
+      - id: yamlfmt
+        args: ['-formatter', 'max_line_length=100']

CMakeLists.txt

@@ -0,0 +1,13 @@
+cmake_minimum_required(VERSION 3.12)
+project(eddie_description)
+
+# Find dependencies
+find_package(ament_cmake REQUIRED)
+
+# Install the xacro and dae files
+install(DIRECTORY urdf meshes launch config
+  DESTINATION share/${PROJECT_NAME}
+)
+
+# Add ament package macros
+ament_package()

README.md

@@ -1,23 +1,24 @@
 # Eddie Description
 
-Robot description for the eddie robot in form of URDF files, controllers and meshes.
+Robot description for the Eddie robot in form of URDF files, controllers and meshes.
 Gripper not added.
 
 ## Environment
-Tested on:
-  Ubuntu: 22.04
-  ROS2: Humble
+
+  Ubuntu: 24.04
+
+  ROS2: Jazzy
 
 ## Setup
 
 - Clone this repository into your workspace
-  
+
   ```bash
   # Create workspace
   mkdir -p ~/eddie_ws/src && cd ~/eddie_ws/src
 
   # Clone repository
-  git clone https://github.com/secorolab/eddie_description.git -b gz-devel
+  git clone https://github.com/secorolab/eddie_description
   ```
 
 - Build workspace
@@ -28,6 +29,14 @@ Tested on:
   colcon build
   ```
 
+- Clone ependendent packages
+
+    ```bash
+  cd ~/eddie_ws/src
+
+  vcs import < eddie_description/dep.repos
+  ```
+
 ## Usage
 
 - View robot in rviz
@@ -39,15 +48,20 @@ Tested on:
   source install/setup.bash
 
   # View robot in rviz
-  ros2 launch eddie_description view_eddie.launch.py joint_state_gui:=false
+  ros2 launch eddie_description display_eddie.launch.py joint_state_gui:=false
   ```
 
 - View robot in rviz with joint state gui
 
   ```bash
-  ros2 launch eddie_description view_eddie.launch.py joint_state_gui:=true
+  ros2 launch eddie_description display_eddie.launch.py joint_state_gui:=true
   ```
 
+## ROS Independent
+
+- The URDF and the mesh files for the whole Eddie robot including arms and Robotiq-2F-85 gripper are
+  available in the [eddie_urdf](eddie_urdf) folder.
+
 ## Eddie
 
-![Eddie](media/eddie_default_rviz.png)
+TODO: Image of Eddie with arms in rviz to be added

config/initial_positions_arm_left.yaml

@@ -0,0 +1,8 @@
+# NOTE: Used for both 6 and 7 dof bots. The joint_7 value will be unused for 6 dof bots
+joint_1: -0.70
+joint_2: -2.05
+joint_3: 2.14
+joint_4: -2.44
+joint_5: -1.57
+joint_6: 0.00
+joint_7: 0.0

eddie_description/config/initial_positions_arm_right.yaml → config/initial_positions_arm_right.yaml

@@ -5,4 +5,4 @@ joint_3: 0.90
 joint_4: 2.44
 joint_5: 1.57
 joint_6: 0.00
-joint_7: 0.0
+joint_7: 0.0