merge master

.github/workflows/ci.yml

@@ -1,8 +1,8 @@
 name: CI
 on:
   pull_request:
-    branches: [ master ]
-    types: [ closed ]
+    branches: [master]
+    types: [closed]
   push:
     branches-ignore:
       - master
@@ -18,7 +18,7 @@ jobs:
         with:
           submodules: recursive
           path: colcon_ws/src/urc-software
-          
+
       - name: Update Dependencies
         shell: bash
         run: |
@@ -34,34 +34,6 @@ jobs:
           rosdep update
           rosdep install --from-paths src --ignore-src -r -y
           colcon build
-  
-  test:
-    name: Test
-    needs: build
-    runs-on: ubuntu-22.04
-    container: robojackets/urc-baseimage:humble
-    steps:
-      - name: Checkout repo
-        uses: actions/checkout@v2
-        with:
-          submodules: recursive
-          path: colcon_ws/src/urc-software
-
-      - name: Update Dependencies
-        shell: bash
-        run: |
-          source /opt/ros/humble/setup.bash
-          sudo apt-get update
-          sudo apt-get --with-new-pkgs upgrade -y
-
-      - name: Colcon Test
-        shell: bash
-        working-directory: colcon_ws
-        run: |
-          source /opt/ros/humble/setup.bash
-          rosdep update
-          rosdep install --from-paths src --ignore-src -r -y
-          colcon build && colcon test && colcon test-result --verbose
 
   cpp_linting:
     name: C++ Linting
@@ -95,7 +67,7 @@ jobs:
         run: |
           source /opt/ros/humble/setup.bash
           ament_flake8 --exclude external
-  
+
   build_linting:
     name: Build Linting
     runs-on: ubuntu-22.04

.gitmodules

@@ -10,3 +10,14 @@
 	path = external/aruco_ros
 	url = https://github.com/yambati03/aruco_ros.git
 	branch = humble-devel
+[submodule "external/BehaviorTree.ROS2"]
+	path = external/BehaviorTree.ROS2
+	url = https://github.com/BehaviorTree/BehaviorTree.ROS2.git
+[submodule "external/articubot_one"]
+	path = external/articubot_one
+	url = https://github.com/joshnewans/articubot_one.git
+	branch = humble
+[submodule "external/articubot_one"]
+	path = external/articubot_one
+	url = https://github.com/joshnewans/articubot_one.git
+	branch = humble

README.md

@@ -14,14 +14,10 @@ Welcome to the RoboJackets/RoboNav software repo for the [University Rover Chall
   _Research, design, and documentation_
 - **external**
   _Where all our submodules are located_
-- **urc_analysis**
-  _Nodes used for scientific analysis_
 - **urc_arm_moveit_config**
   _Moveit config folder for rover arm_
 - **urc_bringup**
   _Location of the universal launch file + heartbeat node_
-- **urc_control** *deprecated*
-  _Controller manager node and controllers bring up_
 - **urc_controllers**
   _ros2-control controllers_
 - **urc_gazebo**
@@ -38,8 +34,6 @@ Welcome to the RoboJackets/RoboNav software repo for the [University Rover Chall
   _Custom ROS messages used in various packages_
 - **urc_platform**
   _Manages our nanopb protocol buffers_
-- **urc_nav2**
-  _Launch scripts and configs for Nav2 packages_
 - **urc_navigation**
   _Collection of nodes that form our navigation stack_
 - **urc_perception**
@@ -88,4 +82,4 @@ Fix (will only build after the last time):
 colcon build --symlink-install ; chmod +x build/urc_nanopb/nanopb/generator/protoc-gen-nanopb
 colcon build --symlink-install ; chmod +x build/urc_nanopb/nanopb/generator/nanopb_generator.py
 colcon build --symlink-install
-```
+```

documents/installation/ubuntu_installation.md

@@ -92,61 +92,15 @@ colcon build --symlink-install
 . install/setup.bash
 ```
 
----
-## Drone
-### 1. Create drone colcon environment
-
-```bash
-cd ..
-```
-You should now be in the `/urc` directory
-```bash
-mkdir -p drone-colcon/src
-```
-
-### 2. Clone the drone repository into the drone-colcon environment
-```bash
-cd drone-colcon
-```
-```bash
-git clone https://github.com/RoboJackets/urc-drone.git src --recursive
-```
-
-### 3. Run rosdep
- Make sure to call `rosdep install` from the colcon workspace directory (`/drone-colcon`)!
-```bash
-sudo rosdep init
-rosdep update
-rosdep install --from-paths src --ignore-src -r -y
-```
-
-### 4. Build your drone workspace
-Any time you call `colcon build`, make sure you are in the colcon directory (`/drone-colcon`)!
-```bash
-colcon build --symlink-install
-```
-
-### 5. Source the drone environment
-
-```bash
-. install/setup.bash
-```
-
 ---
 ## Recap
 You should now have a file structure that looks like 
 ```
  urc
- ├── drone-colcon
- │   ├── build
- │   ├── install
- │   ├── log
- │   └── src
- │       └── urc-drone
  └── rover-colcon
      ├── build
      ├── install
      ├── log
      └── src
          └── urc-software
-```
+```

external/README.md

@@ -0,0 +1,8 @@
+# External  
+
+This folder consists of Git Submodules which are pulled in through the setup instructions. If you are missing any of the packages, run `git submodule --update` to pull then in again.  
+Here is a list of the submodules:  
+* BehaviorTree.ROS2: provides a set of C++ interfaces for BT.CPP to connect to ROS2.  
+* Articubot One: an example project by [Articulated Robotics](https://www.youtube.com/@ArticulatedRobotics) which contains a URDF robot and navigation implementation.
+* Aruco ROS: a package designed for reading ARUCO tags and providing the transform to them relative to the robot.
+* NanoPB: a package which allow us to implement [Protocol Buffers](https://protobuf.dev/), a protocol for message transmission which allows us to communicate with our firmware.