From b6459ebde10c0380d40aac00c7776c08661e75d6 Mon Sep 17 00:00:00 2001 From: Blacklotus89898 Date: Fri, 23 Aug 2024 12:56:17 -0400 Subject: [PATCH 01/11] actions test --- .github/workflows/main.yml | 40 ++++++++++++++++++++++++++++++++++++++ 1 file changed, 40 insertions(+) create mode 100644 .github/workflows/main.yml diff --git a/.github/workflows/main.yml b/.github/workflows/main.yml new file mode 100644 index 0000000..2ea5b02 --- /dev/null +++ b/.github/workflows/main.yml @@ -0,0 +1,40 @@ +name: ROS 2 Build + +on: + push: + branches: + - main + - workflow + pull_request: + branches: + - main + +jobs: + build: + runs-on: ubuntu-22.04 + + steps: + - name: Checkout code + uses: actions/checkout@v3 + + - name: Set up ROS 2 Humble + run: | + sudo apt update + sudo apt install -y curl gnupg2 lsb-release + sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add - + echo "deb [arch=amd64] http://packages.ros.org/ros2/ubuntu jammy main" | sudo tee /etc/apt/sources.list.d/ros2.list + sudo apt update + sudo apt install -y ros-humble-desktop + + - name: Install dependencies + run: | + sudo apt update + sudo apt install -y python3-colcon-common-extensions python3-pip + python3 -m pip install -U setuptools + + - name: Build ROS 2 workspace + run: | + mkdir -p ~/ros2_ws/src + cp -r . ~/ros2_ws/src + cd ~/ros2_ws + colcon build From d4b807f87cdf1e277038e1efc4f7d6977e945d1e Mon Sep 17 00:00:00 2001 From: Blacklotus89898 Date: Fri, 23 Aug 2024 13:02:22 -0400 Subject: [PATCH 02/11] template code --- cpp_pubsub/CMakeLists.txt | 35 ++++ cpp_pubsub/LICENSE | 202 +++++++++++++++++++ cpp_pubsub/package.xml | 20 ++ cpp_pubsub/src/publisher_member_function.cpp | 58 ++++++ 4 files changed, 315 insertions(+) create mode 100644 cpp_pubsub/CMakeLists.txt create mode 100644 cpp_pubsub/LICENSE create mode 100644 cpp_pubsub/package.xml create mode 100644 cpp_pubsub/src/publisher_member_function.cpp diff --git a/cpp_pubsub/CMakeLists.txt b/cpp_pubsub/CMakeLists.txt new file mode 100644 index 0000000..ed26267 --- /dev/null +++ b/cpp_pubsub/CMakeLists.txt @@ -0,0 +1,35 @@ +cmake_minimum_required(VERSION 3.8) +project(cpp_pubsub) + +if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") + add_compile_options(-Wall -Wextra -Wpedantic) +endif() + +# find dependencies +find_package(ament_cmake REQUIRED) +# uncomment the following section in order to fill in +# further dependencies manually. +# find_package( REQUIRED) +find_package(rclcpp REQUIRED) +find_package(std_msgs REQUIRED) + +add_executable(talker src/publisher_member_function.cpp) +ament_target_dependencies(talker rclcpp std_msgs) + +install(TARGETS + talker + DESTINATION lib/${PROJECT_NAME}) + +if(BUILD_TESTING) + find_package(ament_lint_auto REQUIRED) + # the following line skips the linter which checks for copyrights + # comment the line when a copyright and license is added to all source files + set(ament_cmake_copyright_FOUND TRUE) + # the following line skips cpplint (only works in a git repo) + # comment the line when this package is in a git repo and when + # a copyright and license is added to all source files + set(ament_cmake_cpplint_FOUND TRUE) + ament_lint_auto_find_test_dependencies() +endif() + +ament_package() diff --git a/cpp_pubsub/LICENSE b/cpp_pubsub/LICENSE new file mode 100644 index 0000000..d645695 --- /dev/null +++ b/cpp_pubsub/LICENSE @@ -0,0 +1,202 @@ + + Apache License + Version 2.0, January 2004 + http://www.apache.org/licenses/ + + TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION + + 1. 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We also recommend that a + file or class name and description of purpose be included on the + same "printed page" as the copyright notice for easier + identification within third-party archives. + + Copyright [yyyy] [name of copyright owner] + + Licensed under the Apache License, Version 2.0 (the "License"); + you may not use this file except in compliance with the License. + You may obtain a copy of the License at + + http://www.apache.org/licenses/LICENSE-2.0 + + Unless required by applicable law or agreed to in writing, software + distributed under the License is distributed on an "AS IS" BASIS, + WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + See the License for the specific language governing permissions and + limitations under the License. diff --git a/cpp_pubsub/package.xml b/cpp_pubsub/package.xml new file mode 100644 index 0000000..ff376d1 --- /dev/null +++ b/cpp_pubsub/package.xml @@ -0,0 +1,20 @@ + + + + cpp_pubsub + 0.0.0 + TODO: Package description + blacklotus + Apache-2.0 + + ament_cmake + rclcpp + std_msgs + + ament_lint_auto + ament_lint_common + + + ament_cmake + + diff --git a/cpp_pubsub/src/publisher_member_function.cpp b/cpp_pubsub/src/publisher_member_function.cpp new file mode 100644 index 0000000..b211a5e --- /dev/null +++ b/cpp_pubsub/src/publisher_member_function.cpp @@ -0,0 +1,58 @@ +// Copyright 2016 Open Source Robotics Foundation, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include +#include +#include +#include + +#include "rclcpp/rclcpp.hpp" +#include "std_msgs/msg/string.hpp" + +using namespace std::chrono_literals; + +/* This example creates a subclass of Node and uses std::bind() to register a + * member function as a callback from the timer. */ + +class MinimalPublisher : public rclcpp::Node +{ +public: + MinimalPublisher() + : Node("minimal_publisher"), count_(0) + { + publisher_ = this->create_publisher("topic", 10); + timer_ = this->create_wall_timer( + 500ms, std::bind(&MinimalPublisher::timer_callback, this)); + } + +private: + void timer_callback() + { + auto message = std_msgs::msg::String(); + message.data = "Hello, world! " + std::to_string(count_++); + RCLCPP_INFO(this->get_logger(), "Publishing: '%s'", message.data.c_str()); + publisher_->publish(message); + } + rclcpp::TimerBase::SharedPtr timer_; + rclcpp::Publisher::SharedPtr publisher_; + size_t count_; +}; + +int main(int argc, char * argv[]) +{ + rclcpp::init(argc, argv); + rclcpp::spin(std::make_shared()); + rclcpp::shutdown(); + return 0; +} From 72da618c9d79fe46bdac1f78d1460a05a1c80851 Mon Sep 17 00:00:00 2001 From: Blacklotus89898 Date: Fri, 23 Aug 2024 13:07:10 -0400 Subject: [PATCH 03/11] source default ros2 --- .github/workflows/main.yml | 1 + 1 file changed, 1 insertion(+) diff --git a/.github/workflows/main.yml b/.github/workflows/main.yml index 2ea5b02..6c64af7 100644 --- a/.github/workflows/main.yml +++ b/.github/workflows/main.yml @@ -34,6 +34,7 @@ jobs: - name: Build ROS 2 workspace run: | + source /opt/ros/humble/setup.bash mkdir -p ~/ros2_ws/src cp -r . ~/ros2_ws/src cd ~/ros2_ws From b55e295514948f53129cc22d2d49134ee182f99c Mon Sep 17 00:00:00 2001 From: Blacklotus88888 Date: Tue, 29 Oct 2024 01:22:38 -0400 Subject: [PATCH 04/11] ui, command, readme --- README.md | 117 +- cmd.txt | 7 +- react-ros2/.gitignore | 24 + react-ros2/README.md | 8 + react-ros2/eslint.config.js | 38 + react-ros2/index.html | 13 + react-ros2/package-lock.json | 4004 +++++++++++++++++++++++ react-ros2/package.json | 31 + react-ros2/public/vite.svg | 1 + react-ros2/src/App.css | 42 + react-ros2/src/App.tsx | 38 + react-ros2/src/assets/react.svg | 1 + react-ros2/src/components/Container.tsx | 24 + react-ros2/src/components/Header.tsx | 26 + react-ros2/src/components/Navbar.tsx | 16 + react-ros2/src/components/RosStatus.tsx | 28 + react-ros2/src/components/Sidebar.tsx | 19 + react-ros2/src/index.css | 68 + react-ros2/src/main.tsx | 11 + react-ros2/src/pages/Home.tsx | 10 + react-ros2/src/pages/Sandbox.tsx | 7 + react-ros2/src/services/ros.ts | 31 + react-ros2/vite.config.js | 7 + 23 files changed, 4569 insertions(+), 2 deletions(-) create mode 100644 react-ros2/.gitignore create mode 100644 react-ros2/README.md create mode 100644 react-ros2/eslint.config.js create mode 100644 react-ros2/index.html create mode 100644 react-ros2/package-lock.json create mode 100644 react-ros2/package.json create mode 100644 react-ros2/public/vite.svg create mode 100644 react-ros2/src/App.css create mode 100644 react-ros2/src/App.tsx create mode 100644 react-ros2/src/assets/react.svg create mode 100644 react-ros2/src/components/Container.tsx create mode 100644 react-ros2/src/components/Header.tsx create mode 100644 react-ros2/src/components/Navbar.tsx create mode 100644 react-ros2/src/components/RosStatus.tsx create mode 100644 react-ros2/src/components/Sidebar.tsx create mode 100644 react-ros2/src/index.css create mode 100644 react-ros2/src/main.tsx create mode 100644 react-ros2/src/pages/Home.tsx create mode 100644 react-ros2/src/pages/Sandbox.tsx create mode 100644 react-ros2/src/services/ros.ts create mode 100644 react-ros2/vite.config.js diff --git a/README.md b/README.md index 1b244c5..3c2e856 100644 --- a/README.md +++ b/README.md @@ -1,2 +1,117 @@ # MyROS2 -This is the repo for RnD ROS2 Humble and testing +This is the repo for RnD ROS2 Humble and Testing for McGill Robotics + +## Table of Contents +- [MyROS2](#myros2) + - [Table of Contents](#table-of-contents) + - [Node Management](#node-management) + - [Graphical Tools](#graphical-tools) + - [Topic Management](#topic-management) + - [Service Management](#service-management) + - [Parameter Management](#parameter-management) + - [Action Management](#action-management) + - [Logging and Launching](#logging-and-launching) + - [Rosbridge with Webapp](#rosbridge-with-webapp) + - [Build Tools](#build-tools) + - [Docker for Unity](#docker-for-unity) + +## Node Management +- List all nodes: + ```sh + ros2 node list + ``` +- Get information about a node: + ```sh + ros2 node info + ``` +- Run a node from a package: + ```sh + ros2 run + ``` + +## Graphical Tools +- View the ROS graph: + ```sh + rqt_graph + ``` + +## Topic Management +- Echo messages from a topic: + ```sh + ros2 topic echo + ``` +- Show interface of a message type: + ```sh + ros2 interface show + ``` +- Publish a message to a topic: + ```sh + ros2 topic pub '' + ``` +- Check the publishing rate of a topic: + ```sh + ros2 topic hz + ``` + +## Service Management +- Get the type of a service: + ```sh + ros2 service type + ``` + +## Parameter Management +- List all parameters: + ```sh + ros2 param list + ``` +- Set a parameter for a node: + ```sh + ros2 param set + ``` + +## Action Management +- List all actions: + ```sh + ros2 action list + ``` + +## Logging and Launching +- Run the ROS console: + ```sh + ros2 run rqt_console rqt_console + ``` +- Publish a Twist message to control a turtle: + ```sh + ros2 topic pub -r 1 /turtle1/cmd_vel geometry_msgs/msg/Twist "{linear: {x: 2.0, y: 0.0, z: 0.0}, angular: {x: 0.0, y: 0.0, z: 0.0}}" + ``` +- Launch a ROS launch file (supports Python launch scripts): + ```sh + ros2 launch + ``` +- Record data to a bag file: + ```sh + ros2 bag record + ``` + +## Rosbridge with Webapp +- Run the rosbridge websocket server: + ```sh + ros2 run rosbridge_server rosbridge_websocket + ``` +- Launch the rosbridge websocket server: + ```sh + ros2 launch rosbridge_server rosbridge_websocket.launch + ``` + +## Build Tools +- Build packages with colcon: + ```sh + colcon build --symlink-install + ``` +- Create a new ROS package: + ```sh + ros2 pkg create + ``` + +## Docker for Unity +- (Add relevant Docker commands for Unity here) \ No newline at end of file diff --git a/cmd.txt b/cmd.txt index 257bece..504bf0d 100644 --- a/cmd.txt +++ b/cmd.txt @@ -17,9 +17,14 @@ ros2 topic pub -r 1 /turtle1/cmd_vel geometry_msgs/msg/Twist "{linear: {x: 2.0, ros2 launch //supports python launch script ros2 bag //logging data bag_files is stored in the invoked directory +rosbridge with webapp: +ros2 run rosbridge_server rosbridge_websocket +ros2 launch rosbridge_server rosbridge_websocket.launch + Build tool: colcon colcon build --symlink-install ros2 pkg create - +Dcoker for Unity + \ No newline at end of file diff --git a/react-ros2/.gitignore b/react-ros2/.gitignore new file mode 100644 index 0000000..a547bf3 --- /dev/null +++ b/react-ros2/.gitignore @@ -0,0 +1,24 @@ +# Logs +logs +*.log +npm-debug.log* +yarn-debug.log* +yarn-error.log* +pnpm-debug.log* +lerna-debug.log* + +node_modules +dist +dist-ssr +*.local + +# Editor directories and files +.vscode/* +!.vscode/extensions.json +.idea +.DS_Store +*.suo +*.ntvs* +*.njsproj +*.sln +*.sw? diff --git a/react-ros2/README.md b/react-ros2/README.md new file mode 100644 index 0000000..f768e33 --- /dev/null +++ b/react-ros2/README.md @@ -0,0 +1,8 @@ +# React + Vite + +This template provides a minimal setup to get React working in Vite with HMR and some ESLint rules. + +Currently, two official plugins are available: + +- [@vitejs/plugin-react](https://github.com/vitejs/vite-plugin-react/blob/main/packages/plugin-react/README.md) uses [Babel](https://babeljs.io/) for Fast Refresh +- [@vitejs/plugin-react-swc](https://github.com/vitejs/vite-plugin-react-swc) uses [SWC](https://swc.rs/) for Fast Refresh diff --git a/react-ros2/eslint.config.js b/react-ros2/eslint.config.js new file mode 100644 index 0000000..238d2e4 --- /dev/null +++ b/react-ros2/eslint.config.js @@ -0,0 +1,38 @@ +import js from '@eslint/js' +import globals from 'globals' +import react from 'eslint-plugin-react' +import reactHooks from 'eslint-plugin-react-hooks' +import reactRefresh from 'eslint-plugin-react-refresh' + +export default [ + { ignores: ['dist'] }, + { + files: ['**/*.{js,jsx}'], + languageOptions: { + ecmaVersion: 2020, + globals: globals.browser, + parserOptions: { + ecmaVersion: 'latest', + ecmaFeatures: { jsx: true }, + sourceType: 'module', + }, + }, + settings: { react: { version: '18.3' } }, + plugins: { + react, + 'react-hooks': reactHooks, + 'react-refresh': reactRefresh, + }, + rules: { + ...js.configs.recommended.rules, + ...react.configs.recommended.rules, + ...react.configs['jsx-runtime'].rules, + ...reactHooks.configs.recommended.rules, + 'react/jsx-no-target-blank': 'off', + 'react-refresh/only-export-components': [ + 'warn', + { allowConstantExport: true }, + ], + }, + }, +] diff --git a/react-ros2/index.html b/react-ros2/index.html new file mode 100644 index 0000000..891a938 --- /dev/null +++ b/react-ros2/index.html @@ -0,0 +1,13 @@ + + + + + + + Vite + React + + +
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">=10" + }, + "funding": { + "url": "https://github.com/sponsors/sindresorhus" + } + } + } +} diff --git a/react-ros2/package.json b/react-ros2/package.json new file mode 100644 index 0000000..9c4eb47 --- /dev/null +++ b/react-ros2/package.json @@ -0,0 +1,31 @@ +{ + "name": "react-ros2", + "private": true, + "version": "0.0.0", + "type": "module", + "scripts": { + "dev": "vite", + "build": "vite build", + "lint": "eslint .", + "preview": "vite preview" + }, + "dependencies": { + "react": "^18.3.1", + "react-dom": "^18.3.1", + "react-router-dom": "^6.27.0", + "roslib": "^1.4.1" + }, + "devDependencies": { + "@eslint/js": "^9.13.0", + "@types/react": "^18.3.11", + "@types/react-dom": "^18.3.1", + "@types/roslib": "^1.3.5", + "@vitejs/plugin-react-swc": "^3.5.0", + "eslint": "^9.13.0", + "eslint-plugin-react": "^7.37.1", + "eslint-plugin-react-hooks": "^5.0.0", + "eslint-plugin-react-refresh": "^0.4.13", + "globals": "^15.11.0", + "vite": "^5.4.9" + } +} diff --git a/react-ros2/public/vite.svg b/react-ros2/public/vite.svg new file mode 100644 index 0000000..e7b8dfb --- /dev/null +++ b/react-ros2/public/vite.svg @@ -0,0 +1 @@ + \ No newline at end of file diff --git a/react-ros2/src/App.css b/react-ros2/src/App.css new file mode 100644 index 0000000..b9d355d --- /dev/null +++ b/react-ros2/src/App.css @@ -0,0 +1,42 @@ +#root { + max-width: 1280px; + margin: 0 auto; + padding: 2rem; + text-align: center; +} + +.logo { + height: 6em; + padding: 1.5em; + will-change: filter; + transition: filter 300ms; +} +.logo:hover { + filter: drop-shadow(0 0 2em #646cffaa); +} +.logo.react:hover { + filter: drop-shadow(0 0 2em #61dafbaa); +} + +@keyframes logo-spin { + from { + transform: rotate(0deg); + } + to { + transform: rotate(360deg); + } +} + +@media (prefers-reduced-motion: no-preference) { + a:nth-of-type(2) .logo { + animation: logo-spin infinite 20s linear; + } +} + +.card { + padding: 2em; +} + +.read-the-docs { + color: #888; +} diff --git a/react-ros2/src/App.tsx b/react-ros2/src/App.tsx new file mode 100644 index 0000000..24a830e --- /dev/null +++ b/react-ros2/src/App.tsx @@ -0,0 +1,38 @@ +import './App.css' + +import { BrowserRouter as Router, Route, Routes } from 'react-router-dom'; +import Sandbox from './pages/Sandbox'; +import Home from './pages/Home'; +import Header from './components/Header'; +import Sidebar from './components/Sidebar'; +import React from 'react'; + + +function App() { + + return ( + <> + +
+ +
+ + + + +
+ + } /> + } /> + } /> + +
+
+ + + + + ) +} + +export default App diff --git a/react-ros2/src/assets/react.svg b/react-ros2/src/assets/react.svg new file mode 100644 index 0000000..6c87de9 --- /dev/null +++ b/react-ros2/src/assets/react.svg @@ -0,0 +1 @@ + \ No newline at end of file diff --git a/react-ros2/src/components/Container.tsx b/react-ros2/src/components/Container.tsx new file mode 100644 index 0000000..e651444 --- /dev/null +++ b/react-ros2/src/components/Container.tsx @@ -0,0 +1,24 @@ +import { ReactNode } from "react"; +import React from "react"; + +interface ContainerProps { + title: string; + width: string; + height: string; + border?: string; + children?: ReactNode; +} + +export function Container({ title, width, height, border, children }: ContainerProps) { + return ( +
+

{title}

+ + {children} + +
+ ); +} + + + diff --git a/react-ros2/src/components/Header.tsx b/react-ros2/src/components/Header.tsx new file mode 100644 index 0000000..74e6792 --- /dev/null +++ b/react-ros2/src/components/Header.tsx @@ -0,0 +1,26 @@ +import { Container } from "./Container"; +import Navbar from "./Navbar"; +import { RosStatus } from "./RosStatus"; +import React from 'react'; + +interface HeaderProps { + title: string; + width: string; + height: string; + border?: string; +} + +function Header({ title, width, height, border }: HeaderProps) { + return ( +
+

{title}

+ + + + + +
+ ); +} + +export default Header; \ No newline at end of file diff --git a/react-ros2/src/components/Navbar.tsx b/react-ros2/src/components/Navbar.tsx new file mode 100644 index 0000000..10d346e --- /dev/null +++ b/react-ros2/src/components/Navbar.tsx @@ -0,0 +1,16 @@ +import { Link } from 'react-router-dom'; +import React from 'react'; + +function Navbar() { + return ( +
+ +
+ ); +} + +export default Navbar; \ No newline at end of file diff --git a/react-ros2/src/components/RosStatus.tsx b/react-ros2/src/components/RosStatus.tsx new file mode 100644 index 0000000..521b263 --- /dev/null +++ b/react-ros2/src/components/RosStatus.tsx @@ -0,0 +1,28 @@ +import { useEffect, useState } from "react"; +import ros from "../services/ros"; +import React from 'react'; + +export function RosStatus() { + const [status, setStatus] = useState("Status"); + + useEffect(() => { + ros.on("connection", () => { + setStatus("successful"); + }); + + ros.on("error", (error: Error) => { + setStatus(`errored out (${error})`); + }); + + ros.on("close", () => { + setStatus("closed"); + }); + }, []); + + return ( +
+

{status}

+
{JSON.stringify(ros, null, 2)}
+
+ ); +} \ No newline at end of file diff --git a/react-ros2/src/components/Sidebar.tsx b/react-ros2/src/components/Sidebar.tsx new file mode 100644 index 0000000..ffe6e58 --- /dev/null +++ b/react-ros2/src/components/Sidebar.tsx @@ -0,0 +1,19 @@ +import React from 'react'; + + +interface SidebarProps { + width: string; +} + +function Sidebar({ width }: SidebarProps) { + return ( +
+

Sidebar

+
+ ); +} + +export default Sidebar; \ No newline at end of file diff --git a/react-ros2/src/index.css b/react-ros2/src/index.css new file mode 100644 index 0000000..6119ad9 --- /dev/null +++ b/react-ros2/src/index.css @@ -0,0 +1,68 @@ +:root { + font-family: Inter, system-ui, Avenir, Helvetica, Arial, sans-serif; + line-height: 1.5; + font-weight: 400; + + color-scheme: light dark; + color: rgba(255, 255, 255, 0.87); + background-color: #242424; + + font-synthesis: none; + text-rendering: optimizeLegibility; + -webkit-font-smoothing: antialiased; + -moz-osx-font-smoothing: grayscale; +} + +a { + font-weight: 500; + color: #646cff; + text-decoration: inherit; +} +a:hover { + color: #535bf2; +} + +body { + margin: 0; + display: flex; + place-items: center; + min-width: 320px; + min-height: 100vh; +} + +h1 { + font-size: 3.2em; + line-height: 1.1; +} + +button { + border-radius: 8px; + border: 1px solid transparent; + padding: 0.6em 1.2em; + font-size: 1em; + font-weight: 500; + font-family: inherit; + background-color: #1a1a1a; + cursor: pointer; + transition: border-color 0.25s; +} +button:hover { + border-color: #646cff; +} +button:focus, +button:focus-visible { + outline: 4px auto -webkit-focus-ring-color; +} + +@media (prefers-color-scheme: light) { + :root { + color: #213547; + background-color: #ffffff; + } + a:hover { + color: #747bff; + } + button { + background-color: #f9f9f9; + } +} diff --git a/react-ros2/src/main.tsx b/react-ros2/src/main.tsx new file mode 100644 index 0000000..0f1effa --- /dev/null +++ b/react-ros2/src/main.tsx @@ -0,0 +1,11 @@ +import { StrictMode } from 'react' +import { createRoot } from 'react-dom/client' +import './index.css' +import App from './App.tsx' +import React from 'react' + +createRoot(document.getElementById('root')!).render( + + + , +) diff --git a/react-ros2/src/pages/Home.tsx b/react-ros2/src/pages/Home.tsx new file mode 100644 index 0000000..984fcd3 --- /dev/null +++ b/react-ros2/src/pages/Home.tsx @@ -0,0 +1,10 @@ +import React from 'react'; + +function Home() { + return ( +

Home Page

+ ); + +} + +export default Home; \ No newline at end of file diff --git a/react-ros2/src/pages/Sandbox.tsx b/react-ros2/src/pages/Sandbox.tsx new file mode 100644 index 0000000..7f68dc9 --- /dev/null +++ b/react-ros2/src/pages/Sandbox.tsx @@ -0,0 +1,7 @@ +// Pages are the views that can contain components. They are displayed based on the path. +import React from 'react'; +function Sandbox() { + return

Sandbox Page

; +} + +export default Sandbox; \ No newline at end of file diff --git a/react-ros2/src/services/ros.ts b/react-ros2/src/services/ros.ts new file mode 100644 index 0000000..e239b55 --- /dev/null +++ b/react-ros2/src/services/ros.ts @@ -0,0 +1,31 @@ +// Import necessary types from ROSLIB +import * as ROSLIB from 'roslib'; + +// Create ros object to communicate over your Rosbridge connection +const ros = new ROSLIB.Ros({ url: "ws://localhost:9090" }); + +// When the Rosbridge server connects, fill the span with id "status" with "successful" +ros.on("connection", () => { + const statusElement = document.getElementById("status"); + if (statusElement) { + statusElement.innerHTML = "successful"; + } +}); + +// When the Rosbridge server experiences an error, fill the "status" span with the returned error +ros.on("error", (error: Error) => { + const statusElement = document.getElementById("status"); + if (statusElement) { + statusElement.innerHTML = `errored out (${error})`; + } +}); + +// When the Rosbridge server shuts down, fill the "status" span with "closed" +ros.on("close", () => { + const statusElement = document.getElementById("status"); + if (statusElement) { + statusElement.innerHTML = "closed"; + } +}); + +export default ros; \ No newline at end of file diff --git a/react-ros2/vite.config.js b/react-ros2/vite.config.js new file mode 100644 index 0000000..2328e17 --- /dev/null +++ b/react-ros2/vite.config.js @@ -0,0 +1,7 @@ +import { defineConfig } from 'vite' +import react from '@vitejs/plugin-react-swc' + +// https://vite.dev/config/ +export default defineConfig({ + plugins: [react()], +}) From adc3d89bf739838a4905997b6f231b80ad5c4053 Mon Sep 17 00:00:00 2001 From: Blacklotus89898 Date: Wed, 6 Nov 2024 03:27:07 -0500 Subject: [PATCH 05/11] cmd --- cmd.txt | 11 +++++++++-- 1 file changed, 9 insertions(+), 2 deletions(-) diff --git a/cmd.txt b/cmd.txt index 504bf0d..1ef9eab 100644 --- a/cmd.txt +++ b/cmd.txt @@ -26,5 +26,12 @@ colcon colcon build --symlink-install ros2 pkg create -Dcoker for Unity - \ No newline at end of file +Docker: +docker run -it --rm -p 10000:10000 foxy /bin/bash //delete immediately after use +docker run -it -p 10000:10000 --name my_foxy_container foxy /bin/bash +docker start -ai my_foxy_container + +Unity: +ros2 run ros_tcp_endpoint default_server_endpoint + + From 0c2c41c491c3280a2bd67d4cdf53b77ef75d99b8 Mon Sep 17 00:00:00 2001 From: Blacklotus89898 Date: Wed, 6 Nov 2024 04:54:48 -0500 Subject: [PATCH 06/11] adding actions --- .github/workflows/ci.yml | 28 ++++++++++++++++++++++++++++ 1 file changed, 28 insertions(+) create mode 100644 .github/workflows/ci.yml diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml new file mode 100644 index 0000000..f270fa9 --- /dev/null +++ b/.github/workflows/ci.yml @@ -0,0 +1,28 @@ +name: CI + +on: + push: + branches: + - main + pull_request: + branches: + - main + +jobs: + build: + runs-on: ubuntu-22.04 + + steps: + - name: Checkout repository + uses: actions/checkout@v2 + + - name: Set up Node.js + uses: actions/setup-node@v2 + with: + node-version: '16' + + - name: Install dependencies + run: npm install + + - name: Run development server + run: npm run dev \ No newline at end of file From 36f1746255284e867bb939464d8b6a413e63543f Mon Sep 17 00:00:00 2001 From: Blacklotus89898 Date: Wed, 6 Nov 2024 04:59:32 -0500 Subject: [PATCH 07/11] fixing ui workflow --- .github/workflows/ci.yml | 3 +++ 1 file changed, 3 insertions(+) diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml index f270fa9..03510e7 100644 --- a/.github/workflows/ci.yml +++ b/.github/workflows/ci.yml @@ -15,6 +15,9 @@ jobs: steps: - name: Checkout repository uses: actions/checkout@v2 + + - name: Change to react-ros2 directory + run: cd react-ros2 - name: Set up Node.js uses: actions/setup-node@v2 From 4eeaa6bdec2b82c076d65f933a87b32eb457cbf6 Mon Sep 17 00:00:00 2001 From: Blacklotus89898 Date: Wed, 6 Nov 2024 05:02:56 -0500 Subject: [PATCH 08/11] fix --- .github/workflows/ci.yml | 7 +++---- 1 file changed, 3 insertions(+), 4 deletions(-) diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml index 03510e7..10648b4 100644 --- a/.github/workflows/ci.yml +++ b/.github/workflows/ci.yml @@ -15,9 +15,6 @@ jobs: steps: - name: Checkout repository uses: actions/checkout@v2 - - - name: Change to react-ros2 directory - run: cd react-ros2 - name: Set up Node.js uses: actions/setup-node@v2 @@ -26,6 +23,8 @@ jobs: - name: Install dependencies run: npm install + working-directory: react-ros2 - name: Run development server - run: npm run dev \ No newline at end of file + run: npm run dev + working-directory: react-ros2 \ No newline at end of file From 16a9a99fc937af9cf1b69da40f8ff57304430782 Mon Sep 17 00:00:00 2001 From: Blacklotus89898 Date: Wed, 6 Nov 2024 05:05:45 -0500 Subject: [PATCH 09/11] clean up, stop --- .github/workflows/ci.yml | 15 ++++++++++++++- 1 file changed, 14 insertions(+), 1 deletion(-) diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml index 10648b4..0d0f1cb 100644 --- a/.github/workflows/ci.yml +++ b/.github/workflows/ci.yml @@ -26,5 +26,18 @@ jobs: working-directory: react-ros2 - name: Run development server - run: npm run dev + run: npm run dev & + working-directory: react-ros2 + + - name: Wait for server to start + run: sleep 10 + + - name: Stop development server + run: kill $(jobs -p) + working-directory: react-ros2 + + - name: Cleanup + run: | + echo "Cleaning up..." + rm -rf node_modules working-directory: react-ros2 \ No newline at end of file From 3de6c745e4b9416cb6b04b1c2a887c2ba44a52c6 Mon Sep 17 00:00:00 2001 From: Blacklotus89898 Date: Wed, 6 Nov 2024 05:07:44 -0500 Subject: [PATCH 10/11] stop vs kill --- .github/workflows/ci.yml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml index 0d0f1cb..59c8f5c 100644 --- a/.github/workflows/ci.yml +++ b/.github/workflows/ci.yml @@ -33,7 +33,7 @@ jobs: run: sleep 10 - name: Stop development server - run: kill $(jobs -p) + run: npm stop working-directory: react-ros2 - name: Cleanup From d3a5c7076295784ac73bb56660cc11d252bbe835 Mon Sep 17 00:00:00 2001 From: Blacklotus89898 Date: Wed, 6 Nov 2024 05:10:48 -0500 Subject: [PATCH 11/11] kill --- .github/workflows/ci.yml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml index 59c8f5c..623c10f 100644 --- a/.github/workflows/ci.yml +++ b/.github/workflows/ci.yml @@ -33,7 +33,7 @@ jobs: run: sleep 10 - name: Stop development server - run: npm stop + run: pkill -f "npm run dev" working-directory: react-ros2 - name: Cleanup