Jazzy 2.0 RC

.github/ISSUE_TEMPLATE/bug.md

@@ -8,8 +8,8 @@ assignees: clearpathrobotics/clearpath-platform-team
 ---
 
 **Please provide the following information:**
- - OS: (e.g. Ubuntu 22.04)
- - ROS 2 Distro: (e.g. Humble)
+ - OS: (e.g. Ubuntu 24.04)
+ - ROS 2 Distro: (e.g. Jazzy)
  - Built from source or installed:
  - Package version: (if from repository, give version from `sudo dpkg -s ros-$ROS_VERSION-clearpath-robot`, if from source, give commit hash)
  - Real hardware or simulation:

.github/workflows/ci.yml

@@ -8,26 +8,26 @@ on:
 
 jobs:
   clearpath_robot_osrf_industrial_ci:
-    name: Humble OSRF Industrial
+    name: Jazzy OSRF Industrial
     strategy:
       matrix:
         env:
-          - {ROS_REPO: testing, ROS_DISTRO: humble, ROSDEP_SKIP_KEYS: "micro_ros_agent sevcon_traction umx_driver valence_bms_driver"}
-          - {ROS_REPO: main, ROS_DISTRO: humble, ROSDEP_SKIP_KEYS: "micro_ros_agent sevcon_traction umx_driver valence_bms_driver"}
+          - {ROS_REPO: testing, ROS_DISTRO: jazzy, ROSDEP_SKIP_KEYS: "micro_ros_agent sevcon_traction umx_driver valence_bms_driver"}
+          - {ROS_REPO: main, ROS_DISTRO: jazzy, ROSDEP_SKIP_KEYS: "micro_ros_agent sevcon_traction umx_driver valence_bms_driver"}
       fail-fast: false
-    runs-on: ubuntu-22.04
+    runs-on: ubuntu-24.04
     steps:
       - uses: actions/checkout@v3
       - uses: 'ros-industrial/industrial_ci@master'
         env: ${{matrix.env}}
   clearpath_robot_cpr_ci:
-    name: Humble Clearpath Release
-    runs-on: ubuntu-22.04
+    name: Jazzy Clearpath Release
+    runs-on: ubuntu-24.04
     steps:
       - uses: actions/checkout@v3
       - uses: ros-tooling/[email protected]
         with:
-          required-ros-distributions: humble
+          required-ros-distributions: jazzy
       - name: clearpath-package-server
         run: |
           sudo apt install wget
@@ -37,24 +37,24 @@ jobs:
       - uses: ros-tooling/[email protected]
         id: action_ros_ci_step
         with:
-          target-ros2-distro: humble
+          target-ros2-distro: jazzy
           package-name: |
             clearpath_diagnostics
             clearpath_generator_robot
             clearpath_robot
             clearpath_sensors
   clearpath_robot_src_ci:
-    name: Humble Clearpath Source
-    runs-on: ubuntu-22.04
+    name: Jazzy Clearpath Source
+    runs-on: ubuntu-24.04
     steps:
       - uses: actions/checkout@v3
       - uses: ros-tooling/[email protected]
         with:
-          required-ros-distributions: humble
+          required-ros-distributions: jazzy
       - uses: ros-tooling/[email protected]
         id: action_ros_ci_step
         with:
-          target-ros2-distro: humble
+          target-ros2-distro: jazzy
           package-name: |
             clearpath_diagnostics
             clearpath_generator_robot

clearpath_diagnostics/clearpath_diagnostics/diagnostics_updater

@@ -45,6 +45,7 @@ from rclpy.qos import qos_profile_sensor_data
 from sensor_msgs.msg import BatteryState, Image, Imu, LaserScan, MagneticField, NavSatFix, PointCloud2
 
 from clearpath_generator_common.common import BaseGenerator
+from clearpath_generator_common.ros import ROS_DISTRO
 from clearpath_config.common.utils.yaml import read_yaml
 from clearpath_config.clearpath_config import ClearpathConfig
 from clearpath_config.sensors.types.sensor import BaseSensor
@@ -100,12 +101,12 @@ class ClearpathDiagnosticUpdater(Node):
         # Check current firmware version
         cache = Cache()
         try:
-            pkg = cache['ros-humble-clearpath-firmware']
+            pkg = cache[f'ros-{ROS_DISTRO}-clearpath-firmware']
             versions = pkg.versions
             newest: Version = versions[0]
             self.newest_firmware_version = newest.version.split('-')[0]
         except KeyError:
-            self.get_logger().warn('ros-humble-clearpath-firmware package not found')
+            self.get_logger().warn(f'ros-{ROS_DISTRO}-clearpath-firmware package not found')
             self.newest_firmware_version = 'Not found'
 
         self.firmware_version = '0.0.0'
@@ -124,13 +125,13 @@ class ClearpathDiagnosticUpdater(Node):
 
     def check_firmware_version(self, stat: DiagnosticStatusWrapper):
         if self.newest_firmware_version == 'Not found':
-            stat.summary(DiagnosticStatus.ERROR, 'ros-humble-clearpath-firmware package not found')
+            stat.summary(DiagnosticStatus.ERROR, f'ros-{ROS_DISTRO}-clearpath-firmware package not found')
         elif self.firmware_version == self.newest_firmware_version:
             stat.summary(DiagnosticStatus.OK, f'Firmware is up to date (v{self.firmware_version})')
         elif self.firmware_version < self.newest_firmware_version:
             stat.summary(DiagnosticStatus.WARN, f'New firmware available. (v{self.firmware_version}) -> (v{self.newest_firmware_version})')
         else:
-            stat.summary(DiagnosticStatus.WARN, 'ros-humble-clearpath-firmware package is outdated.')
+            stat.summary(DiagnosticStatus.WARN, f'ros-{ROS_DISTRO}-clearpath-firmware package is outdated.')
         return stat
 
     def get_headerless_topic_diagnostic(self,

clearpath_generator_robot/clearpath_generator_robot/launch/generator.py

@@ -35,7 +35,7 @@
 
 from clearpath_config.common.types.platform import Platform
 from clearpath_config.platform.battery import BatteryConfig
-from clearpath_generator_common.common import LaunchFile, Package
+from clearpath_generator_common.common import LaunchFile, Package, ParamFile
 from clearpath_generator_common.launch.generator import LaunchGenerator
 from clearpath_generator_common.launch.writer import LaunchWriter
 from clearpath_generator_robot.launch.sensors import SensorLaunch
@@ -46,6 +46,10 @@ class RobotLaunchGenerator(LaunchGenerator):
     def __init__(self, setup_path: str = '/etc/clearpath/') -> None:
         super().__init__(setup_path)
 
+        # Additional packages specific to physical robots
+        self.pkg_clearpath_sensors = Package('clearpath_sensors')
+        self.pkg_clearpath_hardware_interfaces = Package('clearpath_hardware_interfaces')
+
         # Filter for MCU IMU
         self.imu_0_filter_node = LaunchFile.Node(
             package='imu_filter_madgwick',
@@ -149,8 +153,11 @@ def __init__(self, setup_path: str = '/etc/clearpath/') -> None:
             arguments=['-s', setup_path]
         )
 
-        # Valence BMS
+        # BMS
         self.bms_launch_file = None
+        self.bms_node = None
+
+        # Valence BMS
         if (self.clearpath_config.platform.battery.model in
                 [BatteryConfig.VALENCE_U24_12XP, BatteryConfig.VALENCE_U27_12XP]):
 
@@ -176,6 +183,54 @@ def __init__(self, setup_path: str = '/etc/clearpath/') -> None:
                 package=Package('valence_bms_driver'),
                 args=bms_launch_args
                 )
+        # Inventus BMS
+        elif (self.clearpath_config.platform.battery.model in
+              [BatteryConfig.S_24V20_U1]):
+
+            pkg_inventus_bmu = Package('inventus_bmu')
+            launch_args = self.clearpath_config.platform.battery.launch_args
+
+            inventus_bmu_params_file = ParamFile('default', package=pkg_inventus_bmu)
+            inventus_bmu_params = inventus_bmu_params_file.full_path
+
+            module_ids = []
+
+            match(self.clearpath_config.platform.battery.configuration):
+                case BatteryConfig.S1P2:
+                    module_ids = [49, 50]
+                case BatteryConfig.S1P4:
+                    module_ids = [49, 50, 51, 52]
+                case BatteryConfig.S1P6:
+                    module_ids = [49, 50, 51, 52, 53, 54]
+
+            module_series = str([module_ids])
+
+            can_dev = 'vcan1'
+
+            if launch_args:
+                if 'params' in launch_args:
+                    inventus_bmu_params = launch_args['params']
+                if 'can_device' in launch_args:
+                    can_dev = launch_args['can_device']
+
+            self.bms_node = LaunchFile.Node(
+                'inventus_bmu',
+                'inventus_bmu',
+                'inventus_bmu_driver',
+                self.namespace,
+                parameters=[
+                    inventus_bmu_params,
+                    {'can_device': can_dev},
+                    {'module_ids': module_ids},
+                    {'module_series': module_series}
+                ],
+                remappings=[
+                    ('bms/battery_state', 'platform/bms/state'),
+                    ('modules', 'platform/bms/modules'),
+                    ('bms/low_soc_alarm', 'platform/bms/low_soc_alarm'),
+                    ('bms/soc_difference_alarm', 'platform/bms/soc_difference_alarm')
+                ]
+            )
 
         # Lighting
         self.lighting_node = LaunchFile.Node(
@@ -203,12 +258,22 @@ def __init__(self, setup_path: str = '/etc/clearpath/') -> None:
           namespace=self.namespace,
         )
 
+        # BLDC Multi-Drive Node
+        self.lynx_node = LaunchFile.Node(
+          package='lynx_motor_driver',
+          executable='lynx_motor_driver',
+          parameters=[os.path.join(self.platform_params_path, 'control.yaml')],
+          name='lynx_control',
+          namespace=self.namespace,
+        )
+
         # ROS2 socketcan bridges
         ros2_socketcan_package = Package('clearpath_ros2_socketcan_interface')
         self.can_bridges = []
         for can_bridge in self.clearpath_config.platform.can_bridges.get_all():
             self.can_bridges.append(LaunchFile(
-                'receiver',
+                f'{can_bridge.interface}_receiver',
+                filename='receiver',
                 package=ros2_socketcan_package,
                 args=[
                     ('namespace', self.namespace),
@@ -218,7 +283,8 @@ def __init__(self, setup_path: str = '/etc/clearpath/') -> None:
             ))
 
             self.can_bridges.append(LaunchFile(
-                'sender',
+                f'{can_bridge.interface}_sender',
+                filename='sender',
                 package=ros2_socketcan_package,
                 args=[
                     ('namespace', self.namespace),
@@ -231,10 +297,13 @@ def __init__(self, setup_path: str = '/etc/clearpath/') -> None:
         common_platform_components = [
             self.wireless_watcher_node,
             self.diagnostics_launch,
-            self.battery_state_estimator,
-            self.battery_state_control
+            self.battery_state_control,
         ]
 
+        # Only add estimator when no BMS is present
+        if self.bms_launch_file is None and self.bms_node is None:
+            common_platform_components.append(self.battery_state_estimator)
+
         if len(self.can_bridges) > 0:
             common_platform_components.extend(self.can_bridges)
 
@@ -247,6 +316,12 @@ def __init__(self, setup_path: str = '/etc/clearpath/') -> None:
                 self.nmea_driver_node
             ],
             Platform.A200: common_platform_components,
+            Platform.A300: common_platform_components + [
+                self.eth_uros_node,
+                self.configure_mcu,
+                self.lighting_node,
+                self.lynx_node,
+            ],
             Platform.W200: common_platform_components + [
                 self.imu_0_filter_node,
                 self.imu_0_filter_config,
@@ -336,6 +411,9 @@ def generate_platform(self) -> None:
         if self.bms_launch_file:
             platform_service_launch_writer.add(self.bms_launch_file)
 
+        if self.bms_node:
+            platform_service_launch_writer.add(self.bms_node)
+
         platform_service_launch_writer.generate_file()
 
     def generate_manipulators(self) -> None:

clearpath_generator_robot/clearpath_generator_robot/param/generator.py

@@ -32,12 +32,20 @@
 # modification, is not permitted without the express permission
 # of Clearpath Robotics.
 
+from clearpath_generator_common.common import Package
 from clearpath_generator_common.param.generator import ParamGenerator
 from clearpath_generator_robot.param.sensors import SensorParam
 
 
 class RobotParamGenerator(ParamGenerator):
 
+    def __init__(self, setup_path: str = '/etc/clearpath') -> None:
+        super().__init__(setup_path=setup_path)
+
+        # Additional packages specific to physical robots
+        self.pkg_clearpath_sensors = Package('clearpath_sensors')
+        self.pkg_clearpath_hardware_interfaces = Package('clearpath_hardware_interfaces')
+
     def generate_sensors(self) -> None:
         sensors = self.clearpath_config.sensors.get_all_sensors()
         for sensor in sensors:

clearpath_generator_robot/package.xml

@@ -13,12 +13,16 @@
   <exec_depend version_gte="1.0.0">clearpath_config</exec_depend>
   <exec_depend version_gte="1.0.0">clearpath_diagnostics</exec_depend>
   <exec_depend version_gte="1.0.0">clearpath_generator_common</exec_depend>
+  <exec_depend version_gte="1.0.0">clearpath_hardware_interfaces</exec_depend>
+  <exec_depend version_gte="1.0.0">clearpath_motor_msgs</exec_depend>
   <exec_depend version_gte="1.0.0">clearpath_sensors</exec_depend>
+
   <exec_depend>imu_filter_madgwick</exec_depend>
+  <exec_depend>inventus_bmu</exec_depend>
   <exec_depend>micro_ros_agent</exec_depend>
-  <exec_depend version_gte="1.0.0">puma_motor_driver</exec_depend>
-  <exec_depend>sevcon_traction</exec_depend>
+  <!--<exec_depend>sevcon_traction</exec_depend>-->
   <exec_depend>valence_bms_driver</exec_depend>
+  <exec_depend>wireless_msgs</exec_depend>
   <exec_depend>wireless_watcher</exec_depend>
 
   <test_depend>ament_lint_auto</test_depend>

clearpath_generator_robot/test/test_generator_launch.py

@@ -29,6 +29,10 @@
 import shutil
 
 from ament_index_python.packages import get_package_share_directory
+from clearpath_config.common.types.exception import (
+    UnsupportedAccessoryException,
+    UnsupportedPlatformException,
+)
 from clearpath_generator_robot.launch.generator import RobotLaunchGenerator
 
 
@@ -49,6 +53,10 @@ def test_samples(self):
             try:
                 rlg = RobotLaunchGenerator(os.path.dirname(dst))
                 rlg.generate()
+            except UnsupportedAccessoryException as e:
+                print(f'Unsupported accessory: {e}')
+            except UnsupportedPlatformException as e:
+                print(f'Unsupported platform: {e}')
             except Exception as e:
                 errors.append("Sample '%s' failed to load: '%s'" % (
                     sample,

clearpath_generator_robot/test/test_generator_param.py

@@ -29,9 +29,15 @@
 import shutil
 
 from ament_index_python.packages import get_package_share_directory
+from clearpath_config.common.types.exception import (
+    UnsupportedAccessoryException,
+    UnsupportedPlatformException,
+)
+from clearpath_generator_common.ros import ROS_DISTRO
 from clearpath_generator_robot.param.generator import RobotParamGenerator
 
-SAMPLE_DIR = '/opt/ros/humble/share/clearpath_config/sample/'
+
+SAMPLE_DIR = f'/opt/ros/{ROS_DISTRO}/share/clearpath_config/sample/'
 
 
 class TestRobotLaunchGenerator:
@@ -51,6 +57,10 @@ def test_samples(self):
             try:
                 rpg = RobotParamGenerator(os.path.dirname(dst))
                 rpg.generate()
+            except UnsupportedAccessoryException as e:
+                print(f'Unsupported accessory: {e}')
+            except UnsupportedPlatformException as e:
+                print(f'Unsupported platform: {e}')
             except Exception as e:
                 errors.append("Sample '%s' failed to load: '%s'" % (
                     sample,

clearpath_hardware_interfaces/CHANGELOG.rst

@@ -2,12 +2,6 @@
 Changelog for package clearpath_platform
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-0.3.4 (2024-10-08)
-------------------
-
-0.3.3 (2024-10-04)
-------------------
-
 1.1.0 (2025-01-15)
 ------------------
 * Add HE2411 battery support (`#119 <https://github.com/clearpathrobotics/clearpath_robot/issues/119>`_)
@@ -28,6 +22,12 @@ Changelog for package clearpath_platform
 * Add clearpath_hardware_interfaces
 * Contributors: Luis Camero, Tony Baltovski
 
+0.3.4 (2024-10-08)
+------------------
+
+0.3.3 (2024-10-04)
+------------------
+
 0.3.2 (2024-09-29)
 ------------------