Jazzy

.github/workflows/colcon_test_build.yaml

@@ -1,20 +1,23 @@
+---
 name: ROS2 test build
 
 on:
   - push
 
 jobs:
-  colcon-test-build-ubuntu-22-04:
+  colcon-test-build:
     strategy:
       matrix:
-        ros-distro: [humble]
-    runs-on: ubuntu-22.04
+        ros-distro: [jazzy]
+    runs-on: ubuntu-24.04
 
     name: Build ${{ matrix.ros-distro }}
     steps:
+
       - uses: ros-tooling/setup-ros@v0.7
         with:
           required-ros-distributions: ${{ matrix.ros-distro }}
+
       - uses: ros-tooling/action-ros-ci@v0.3
         with:
           package-name: ros_components_description

.pre-commit-config.yaml

@@ -0,0 +1,121 @@
+---
+repos:
+    # Standard hooks
+  - repo: https://github.com/pre-commit/pre-commit-hooks
+    rev: v5.0.0
+    hooks:
+      - id: check-added-large-files
+        # mesh files has to be taken into account
+        args: [--maxkb=3000]
+      - id: check-ast
+      - id: check-case-conflict
+      - id: check-merge-conflict
+      - id: check-symlinks
+      - id: check-xml
+      - id: check-yaml
+      - id: debug-statements
+      - id: destroyed-symlinks
+      - id: detect-private-key
+      - id: end-of-file-fixer
+      - id: fix-byte-order-marker
+      - id: name-tests-test
+      - id: mixed-line-ending
+      - id: trailing-whitespace
+
+    # Python hooks
+  - repo: https://github.com/asottile/pyupgrade
+    rev: v3.19.1
+    hooks:
+      - id: pyupgrade
+        args: [--py36-plus]
+
+  - repo: https://github.com/psf/black
+    rev: 25.1.0
+    hooks:
+      - id: black
+        args: [--line-length=99]
+
+  - repo: https://github.com/PyCQA/flake8
+    rev: 7.1.1
+    hooks:
+      - id: flake8
+        args: ['--ignore=E501,W503']     # ignore too long line and line break before binary operator,
+          # black checks it
+
+  - repo: https://github.com/PyCQA/isort
+    rev: 6.0.0
+    hooks:
+      - id: isort
+        args: [--profile, black]
+
+    # CPP hooks
+  - repo: https://github.com/pre-commit/mirrors-clang-format
+    rev: v19.1.7
+    hooks:
+      - id: clang-format
+
+  - repo: local
+    hooks:
+      - id: ament_cppcheck
+        name: ament_cppcheck
+        description: Static code analysis of C/C++ files.
+        entry: env AMENT_CPPCHECK_ALLOW_SLOW_VERSIONS=1 ament_cppcheck
+        language: system
+        files: \.(h\+\+|h|hh|hxx|hpp|cuh|c|cc|cpp|cu|c\+\+|cxx|tpp|txx)$
+
+  - repo: local
+    hooks:
+      - id: ament_cpplint
+        name: ament_cpplint
+        description: Static code analysis of C/C++ files.
+        entry: ament_cpplint
+        language: system
+        files: \.(h\+\+|h|hh|hxx|hpp|cuh|c|cc|cpp|cu|c\+\+|cxx|tpp|txx)$
+        args: [--linelength=100, --filter=-whitespace/newline]
+
+    # Cmake hooks
+  - repo: local
+    hooks:
+      - id: ament_lint_cmake
+        name: ament_lint_cmake
+        description: Check format of CMakeLists.txt files.
+        entry: ament_lint_cmake
+        language: system
+        files: CMakeLists\.txt$
+
+  - repo: https://github.com/cheshirekow/cmake-format-precommit
+    rev: v0.6.13
+    hooks:
+      - id: cmake-format
+
+    # XML
+  - repo: https://github.com/tier4/pre-commit-hooks-ros
+    rev: v0.10.0
+    hooks:
+      - id: prettier-package-xml
+      - id: sort-package-xml
+
+    # YAML
+  - repo: https://github.com/jumanjihouse/pre-commit-hook-yamlfmt
+    rev: 0.2.3
+    hooks:
+      - id: yamlfmt
+        files: ^(?!.*compose)(?!.*ekf\.yaml$).*$
+        args: [--mapping, '2', --sequence, '4', --offset, '2', --width, '100']
+
+    # Copyright
+  - repo: local
+    hooks:
+      - id: ament_copyright
+        name: ament_copyright
+        description: Check if copyright notice is available in all files.
+        entry: ament_copyright
+        language: system
+
+    # Spellcheck
+  - repo: https://github.com/codespell-project/codespell
+    rev: v2.4.1
+    hooks:
+      - id: codespell
+        args: [--write-changes, --uri-ignore-words-list=ist, -L manuel]
+        exclude: CHANGELOG\.rst|\.(svg|pyc|drawio)$

CMakeLists.txt

@@ -1,28 +1,29 @@
-cmake_minimum_required(VERSION 3.5)
+cmake_minimum_required(VERSION 3.11)
 project(ros_components_description)
 
 find_package(ament_cmake REQUIRED)
 
-install(
-  DIRECTORY meshes urdf launch config test
-  DESTINATION share/${PROJECT_NAME}
-)
+install(DIRECTORY meshes urdf launch config test
+        DESTINATION share/${PROJECT_NAME})
 
 if(BUILD_TESTING)
   find_package(ament_cmake_pytest REQUIRED)
-  set(pytest_tests
-    test/test_components_xacro.py
-  )
+  set(pytest_tests test/test_components_xacro.py)
   foreach(test_path ${pytest_tests})
     get_filename_component(test_name ${test_path} NAME_WE)
-    ament_add_pytest_test(${test_name} ${test_path}
-      APPEND_ENV PYTHONPATH=${CMAKE_CURRENT_BINARY_DIR}
-      TIMEOUT 60
-      WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
-    )
+    ament_add_pytest_test(
+      ${test_name}
+      ${test_path}
+      APPEND_ENV
+      PYTHONPATH=${CMAKE_CURRENT_BINARY_DIR}
+      TIMEOUT
+      60
+      WORKING_DIRECTORY
+      ${CMAKE_SOURCE_DIR})
   endforeach()
 endif()
 
-ament_environment_hooks("${CMAKE_CURRENT_SOURCE_DIR}/env-hooks/${PROJECT_NAME}.sh.in")
+ament_environment_hooks(
+  "${CMAKE_CURRENT_SOURCE_DIR}/env-hooks/${PROJECT_NAME}.sh.in")
 ament_export_dependencies(${THIS_PACKAGE_INCLUDE_DEPENDS})
 ament_package()

LICENSE.txt

@@ -1,5 +1,5 @@
 ROS COMPONENTS DESCRIPTION PACKAGE LICENSING
-The default license for ROS components description package is the Apache License, Version 2.0 
-(see LICENSE_APACHE2.txt); you may elect at your option to use the ROS COMPONENTS DESCRIPTION 
-package under the MIT License (see LICENSE_MIT.txt).  Contributions must be 
+The default license for ROS components description package is the Apache License, Version 2.0
+(see LICENSE_APACHE2.txt); you may elect at your option to use the ROS COMPONENTS DESCRIPTION
+package under the MIT License (see LICENSE_MIT.txt). Contributions must be
 made under both licenses.

README.md

@@ -2,6 +2,38 @@
 
 URDF models of sensors and other components offered alongside with Husarion robots
 
+## Available URDF Sensors
+
+<div align="center">
+
+| Code  | Device Name                  |
+| ----- | ---------------------------- |
+| ANT02 | Teltonika 003R-00253         |
+| CAM01 | Orbbec Astra                 |
+| CAM03 | StereoLabs ZED 2             |
+| CAM04 | StereoLabs ZED 2i            |
+| CAM06 | StereoLabs ZED X             |
+| CAM11 | Luxonis OAK-D-PRO            |
+| LDR01 | RPLIDAR S1                   |
+| LDR06 | RPLIDAR S3                   |
+| LDR10 | Ouster OS0-32                |
+| LDR11 | Ouster OS0-64                |
+| LDR12 | Ouster OS0-128               |
+| LDR13 | Ouster OS1-32                |
+| LDR14 | Ouster OS1-64                |
+| LDR15 | Ouster OS1-128               |
+| LDR20 | Velodyne Puck                |
+| MAN01 | Universal Robots UR3e        |
+| MAN02 | Universal Robots UR5e        |
+| MAN04 | 6DoF Kinova Gen3             |
+| MAN05 | 6DoF Kinova Gen3 + 3D vision |
+| MAN06 | 7DoF Kinova Gen3             |
+| MAN07 | 7DoF Kinova Gen3 + 3D vision |
+| GRP02 | Robotiq 2F-85                |
+| WCH01 | Wibotic receiver             |
+
+</div>
+
 ## Including sensor
 
 First build the package by running:
@@ -24,10 +56,10 @@ To include the sensor, use the following code:
 
 ```xml
 <!-- include file with definition of xacro macro of sensor -->
-<xacro:include filename="$(find ros_components_description)/urdf/slamtec_rplidar_s1.urdf.xacro" ns="lidar" />
+<xacro:include filename="$(find ros_components_description)/urdf/slamtec_rplidar.urdf.xacro" ns="lidar" />
 
 <!-- evaluate the macro and place the sensor on robot -->
-<xacro:lidar.slamtec_rplidar_s1
+<xacro:lidar.slamtec_rplidar
   parent_link="cover_link"
   xyz="0.0 0.0 0.0"
   rpy="0.0 0.0 0.0" />
@@ -36,11 +68,11 @@ To include the sensor, use the following code:
 A list of parameters can be found here:
 
 - `parent_link` [*string*, default: **None**] parent link to which sensor should be attached.
-- `xyz` [*float list*, default: **None**] 3 float values defining translation between base of a sensor and parent link. Values in **m**.
-- `rpy` [*float list*, default: **None**] 3 float values define rotation between parent link and base of a sensor. Values in **rad**.
-- `namespace` [*string*, default: **None**] global namespace common to the entire robot.
-- `device_namespace` [*string*, default: **None**] local namespace allowing to distinguish two identical devices from each other.
+- `xyz` [*float list*, default: **0.0 0.0 0.0**] 3 float values defining translation between base of a sensor and parent link. Values in **m**.
+- `rpy` [*float list*, default: **0.0 0.0 0.0**] 3 float values define rotation between parent link and base of a sensor. Values in **rad**.
+- `namespace` [*string*, default: **''**] global namespace common to the entire robot.
+- `device_namespace` [*string*, default: **''**] local namespace allowing to distinguish two identical devices from each other.
 
-- `model` [*string*, default: **None**] model argument that appears when you want to load the appropriate model from a given manufacturer.
+- `model` [*string*, default: **''**] model argument that appears when you want to load the appropriate model from a given manufacturer.
 
 Some sensors can define their specific parameters. Refer to their definition for more info.

config/gz_intel_realsense_d435_remappings.yaml

@@ -0,0 +1,27 @@
+---
+# https://github.com/IntelRealSense/realsense-ros/blob/ros2-master/README.md#published-topics
+  - topic_name: <robot_namespace><device_namespace>/color/camera_info
+    ros_type_name: sensor_msgs/msg/CameraInfo
+    gz_type_name: ignition.msgs.CameraInfo
+    lazy: true
+
+  - topic_name: <robot_namespace><device_namespace>/color/image_raw
+    ros_type_name: sensor_msgs/msg/Image
+    gz_type_name: ignition.msgs.Image
+    lazy: true
+
+  - topic_name: <robot_namespace><device_namespace>/depth/camera_info
+    ros_type_name: sensor_msgs/msg/CameraInfo
+    gz_type_name: ignition.msgs.CameraInfo
+    lazy: true
+
+  - topic_name: <robot_namespace><device_namespace>/depth/image_rect_raw
+    ros_type_name: sensor_msgs/msg/Image
+    gz_type_name: ignition.msgs.Image
+    lazy: true
+
+  - ros_topic_name: <robot_namespace><device_namespace>/depth/color/points
+    gz_topic_name: <robot_namespace><device_namespace>/depth/image_rect_raw/points
+    ros_type_name: sensor_msgs/msg/PointCloud2
+    gz_type_name: ignition.msgs.PointCloudPacked
+    lazy: true

config/gz_kinova_remappings.yaml

@@ -0,0 +1,24 @@
+---
+  - topic_name: /<robot_namespace>/<device_namespace>/wrist_mounted_camera/camera_info
+    ros_type_name: sensor_msgs/msg/CameraInfo
+    gz_type_name: gz.msgs.CameraInfo
+    lazy: true
+    direction: GZ_TO_ROS
+
+  - topic_name: /<robot_namespace>/<device_namespace>/wrist_mounted_camera/image
+    ros_type_name: sensor_msgs/msg/Image
+    gz_type_name: gz.msgs.Image
+    lazy: true
+    direction: GZ_TO_ROS
+
+  - topic_name: /<robot_namespace>/<device_namespace>/wrist_mounted_camera/depth_image
+    ros_type_name: sensor_msgs/msg/Image
+    gz_type_name: gz.msgs.Image
+    lazy: true
+    direction: GZ_TO_ROS
+
+  - ros_topic_name: /<robot_namespace>/<device_namespace>/wrist_mounted_camera/points
+    ros_type_name: sensor_msgs/msg/PointCloud2
+    gz_type_name: gz.msgs.PointCloudPacked
+    lazy: true
+    direction: GZ_TO_ROS

config/gz_luxonis_depthai_remappings.yaml

@@ -0,0 +1,35 @@
+---
+  - ros_topic_name: <robot_namespace><device_namespace>/camera_info
+    gz_topic_name: <robot_namespace><device_namespace>/camera_info
+    ros_type_name: sensor_msgs/msg/CameraInfo
+    gz_type_name: gz.msgs.CameraInfo
+    lazy: true
+    direction: GZ_TO_ROS
+
+  - ros_topic_name: <robot_namespace><device_namespace>/rgb/color
+    gz_topic_name: <robot_namespace><device_namespace>/rgb/color
+    ros_type_name: sensor_msgs/msg/Image
+    gz_type_name: gz.msgs.Image
+    lazy: true
+    direction: GZ_TO_ROS
+
+  - ros_topic_name: <robot_namespace><device_namespace>/stereo/camera_info
+    gz_topic_name: <robot_namespace><device_namespace>/stereo/camera_info
+    ros_type_name: sensor_msgs/msg/CameraInfo
+    gz_type_name: gz.msgs.CameraInfo
+    lazy: true
+    direction: GZ_TO_ROS
+
+  - ros_topic_name: <robot_namespace><device_namespace>/stereo/depth
+    gz_topic_name: <robot_namespace><device_namespace>/stereo/depth
+    ros_type_name: sensor_msgs/msg/Image
+    gz_type_name: gz.msgs.Image
+    lazy: true
+    direction: GZ_TO_ROS
+
+  - ros_topic_name: <robot_namespace><device_namespace>/stereo/depth/points
+    gz_topic_name: <robot_namespace><device_namespace>/stereo/depth/points
+    ros_type_name: sensor_msgs/msg/PointCloud2
+    gz_type_name: gz.msgs.PointCloudPacked
+    lazy: true
+    direction: GZ_TO_ROS