Merge into jazzy

.gitmodules

@@ -0,0 +1,4 @@
+[submodule "cloi_common_interfaces"]
+	path = cloi_common_interfaces
+	url = https://github.com/lge-ros2/cloi_common_interfaces.git
+	branch = 4.0.0

Dockerfile

@@ -1,16 +1,20 @@
 FROM ros:jazzy-ros-base
 
 ENV HOSTNAME cloisim_ros
+ENV RMW_IMPLEMENTATION rmw_cyclonedds_cpp
+ENV DEBIAN_FRONTEND noninteractive
+ENV DEBCONF_NOWARNINGS yes
 
 WORKDIR /opt/lge-ros2/src
 
-RUN git clone https://github.com/lge-ros2/cloisim_ros.git -b ${ROS_DISTRO}
-RUN git clone https://github.com/lge-ros2/cloi_common_interfaces.git -b ${ROS_DISTRO}
+RUN git clone   --recursive https://github.com/lge-ros2/cloisim_ros.git -b ${ROS_DISTRO}
 
 WORKDIR /opt/lge-ros2
 
-RUN apt update && apt upgrade -y && rosdep update && \
-rosdep install -y -r -q --from-paths src --ignore-src --rosdistro $ROS_DISTRO
+RUN apt update && apt upgrade -y && \
+    apt install -y -q ros-${ROS_DISTRO}-rmw-cyclonedds-cpp && \
+    rosdep update && \
+    rosdep install -y -r -q --from-paths src --ignore-src --rosdistro ${ROS_DISTRO}
 
 RUN ["/bin/bash", "-c", "source /opt/ros/${ROS_DISTRO}/setup.bash; colcon build --symlink-install"]
 

README.md

@@ -9,15 +9,20 @@ ROS2 simulation device packages to connect CLOiSim(the unity3D based multi-robot
 
 ## Install ROS2 jazzy
 
-  follow the guideline on below link.
+follow the guideline on below link.
 
-  <https://docs.ros.org/en/jazzy/Installation/Ubuntu-Install-Debians.html>
+<https://docs.ros.org/en/jazzy/Installation/Ubuntu-Install-Debians.html>
 
 ## Prerequisite
 
 ```shell
+mkdir -p ~/cloisim_ws/src
+cd ~/cloisim_ws/src
+git clone --recursive https://github.com/lge-ros2/cloisim_ros.git -b jazzy
+
 sudo apt update
 sudo apt install -y python3-rosdep
+
 sudo rosdep init
 rosdep update
 rosdep install -y -r -q --from-paths src --ignore-src --rosdistro jazzy
@@ -29,6 +34,7 @@ Set up ROS2 environment first
 
 ```shell
 source /opt/ros2/jazzy/setup.bash
+cd ~/cloisim_ws
 colcon build --symlink-install --packages-up-to cloisim_ros_bringup
 ```
 
@@ -45,6 +51,14 @@ check here [details](https://github.com/lge-ros2/cloisim_ros/tree/jazzy/cloisim_
 
 ### Run cloisim_ros (robot + world)
 
+#### DDS
+
+recommended to use cylcone DDS
+
+```shell
+export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
+```
+
 #### Shared Memory DDS with FastRTPS
 
 It's experimental feature for cloisim_ros. Use absolute path in FASTRTPS_DEFAULT_PROFILES_FILE environment variable.

cloisim_ros_actor/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>cloisim_ros_actor</name>
-  <version>4.2.1</version>
+  <version>4.3.0</version>
   <description>node for actor plugin</description>
   <maintainer email="hyunseok7.yang@lge.com">Hyunseok Yang</maintainer>
   <license>MIT</license>

cloisim_ros_base/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>cloisim_ros_base</name>
-  <version>4.2.1</version>
+  <version>4.3.0</version>
   <description>CLOiSim-ROS base class for other CLOiSim-ROS</description>
   <maintainer email="hyunseok7.yang@lge.com">Hyunseok Yang</maintainer>
   <license>MIT</license>

cloisim_ros_bridge_zmq/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>cloisim_ros_bridge_zmq</name>
-  <version>4.2.1</version>
+  <version>4.3.0</version>
   <description>bridge for cloisim(simulator) connection through ZMQ</description>
   <maintainer email="hyunseok7.yang@lge.com">Hyunseok Yang</maintainer>
   <license>MIT</license>

cloisim_ros_bridge_zmq/src/bridge.cpp

@@ -407,9 +407,9 @@ bool Bridge::CloseSocket(void *&target)
 
 bool Bridge::Receive(void **buffer, int &bufferLength, bool isNonBlockingMode)
 {
-  if (&m_msgRx == nullptr || pSockRx_ == nullptr)
+  if (pSockRx_ == nullptr)
   {
-    DBG_SIM_ERR("Cannot Receive data due to uninitialized pointer m_msgRx(%p) or pSockRx_(%p)", (void *)&m_msgRx, pSockRx_);
+    DBG_SIM_ERR("Cannot Receive data due to uninitialized pointer pSockRx_(%p)", pSockRx_);
     return false;
   }
 

cloisim_ros_bringup/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>cloisim_ros_bringup</name>
-  <version>4.2.1</version>
+  <version>4.3.0</version>
   <description>Bringup scripts and configurations for cloisim_ros</description>
   <maintainer email="hyunseok7.yang@lge.com">Hyunseok Yang</maintainer>
   <maintainer email="sungkyu.kang@lge.com">Sungkyu Kang</maintainer>

cloisim_ros_bringup_param/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>cloisim_ros_bringup_param</name>
-  <version>4.2.1</version>
+  <version>4.3.0</version>
   <description>Bringup scripts and configurations for cloisim_ros</description>
   <maintainer email="hyunseok7.yang@lge.com">Hyunseok Yang</maintainer>
   <license>MIT</license>

cloisim_ros_camera/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>cloisim_ros_camera</name>
-  <version>4.2.1</version>
+  <version>4.3.0</version>
   <description>Virtual camera/depth camera/segmentation camera for CLOiSim</description>
   <maintainer email="hyunseok7.yang@lge.com">Hyunseok Yang</maintainer>
   <license>MIT</license>

cloisim_ros_elevator_system/package.xml

@@ -2,15 +2,15 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>cloisim_ros_elevator_system</name>
-  <version>4.2.1</version>
+  <version>4.3.0</version>
   <description>elevator system for simulation</description>
   <maintainer email="sungkyu.kang@lge.com">Sungkyu Kang</maintainer>
   <maintainer email="hyunseok7.yang@lge.com">Hyunseok Yang</maintainer>
   <license>MIT</license>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 
-  <depend>elevator_system_msgs</depend>
+  <build_depend>elevator_system_msgs</build_depend>
   <depend>cloisim_ros_bringup_param</depend>
   <depend>cloisim_ros_base</depend>
 

cloisim_ros_gps/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>cloisim_ros_gps</name>
-  <version>4.2.1</version>
+  <version>4.3.0</version>
   <description>virtual gps for simulation</description>
   <maintainer email="hyunseok7.yang@lge.com">Hyunseok Yang</maintainer>
   <license>MIT</license>

cloisim_ros_ground_truth/README.md

@@ -5,15 +5,37 @@ ros2 run cloisim_ros_ground_truth standalone
 ros2 run cloisim_ros_ground_truth standalone --ros-args -p target_parts_name:=tracking
 ```
 
-## How to monitor the message of topic.
+## How to configure
 
-```shell
-ros2 topic echo /ground_truth
+if you want to tracking dynamic props, set `enable` attribute in `<props>` element to `true`.
+
+```xml
+<plugin name="GroundTruthPlugin" filename="libGroundTruthPlugin.so">
+  <publish_frequency>5</publish_frequency>
+  <props enable="true">
+    <prop class_id="10">box</prop>
+    <prop class_id="11">cylinder</prop>
+    <prop class_id="12">sphere</prop>
+  </props>
+  <list>
+    <target tracking_id="1" class_id="101">L9S</target>
+    <target tracking_id="11" class_id="100">Former1</target>
+  </list>
+</plugin>
 ```
 
+### samples
+
 You need to configure the ground truth list from [here](https://github.com/lge-ros2/sample_resources/blob/415a700c5280286a28690cf032cd0f4aa826a150/worlds/lg_seocho_with_actors.world#L301).
 
-## Examples of outputs
+
+## How to monitor the message of topic
+
+```shell
+ros2 topic echo /ground_truth
+```
+
+### Examples of outputs
 
 ```shell
 ---

cloisim_ros_ground_truth/package.xml

@@ -2,15 +2,15 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>cloisim_ros_ground_truth</name>
-  <version>4.2.1</version>
+  <version>4.3.0</version>
   <description>world plugin to retrieve ground truth</description>
   <maintainer email="hyunseok7.yang@lge.com">Hyunseok Yang</maintainer>
   <license>MIT</license>
   <author email="hyunseok7.yang@lge.com">Hyunseok Yang</author>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 
-  <depend>perception_msgs</depend>
+  <build_depend>perception_msgs</build_depend>
   <depend>cloisim_ros_bringup_param</depend>
   <depend>cloisim_ros_base</depend>
 

cloisim_ros_imu/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>cloisim_ros_imu</name>
-  <version>4.2.1</version>
+  <version>4.3.0</version>
   <description>virtual imu for simulation</description>
   <maintainer email="hyunseok7.yang@lge.com">Hyunseok Yang</maintainer>
   <license>MIT</license>

cloisim_ros_joint_control/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>cloisim_ros_joint_control</name>
-  <version>4.2.1</version>
+  <version>4.3.0</version>
   <description>joint_control package for simulator</description>
   <maintainer email="hyunseok7.yang@lge.com">Hyunseok Yang</maintainer>
   <license>MIT</license>

cloisim_ros_lidar/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>cloisim_ros_lidar</name>
-  <version>4.2.1</version>
+  <version>4.3.0</version>
   <description>virtual lidar for simulation</description>
   <maintainer email="hyunseok7.yang@lge.com">Hyunseok Yang</maintainer>
   <license>MIT</license>

cloisim_ros_micom/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>cloisim_ros_micom</name>
-  <version>4.2.1</version>
+  <version>4.3.0</version>
   <description>micom package for simulator</description>
   <maintainer email="hyunseok7.yang@lge.com">Hyunseok Yang</maintainer>
   <license>MIT</license>

cloisim_ros_msgs/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>cloisim_ros_msgs</name>
-  <version>4.2.1</version>
+  <version>4.3.0</version>
   <description>interfaces package for cloisim_ros</description>
   <maintainer email="hyunseok7.yang@lge.com">Hyunseok Yang</maintainer>
   <license>MIT</license>

cloisim_ros_multicamera/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>cloisim_ros_multicamera</name>
-  <version>4.2.1</version>
+  <version>4.3.0</version>
   <description>virtual multi-camera for simulator</description>
   <maintainer email="sungkyu.kang@lge.com">Sungkyu Kang</maintainer>
   <maintainer email="hyunseok7.yang@lge.com">Hyunseok Yang</maintainer>

cloisim_ros_protobuf_msgs/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>cloisim_ros_protobuf_msgs</name>
-  <version>4.2.1</version>
+  <version>4.3.0</version>
   <description>CLOiSim-ROS interafces for communication between simulator and CLOiSim-ROS</description>
   <maintainer email="hyunseok7.yang@lge.com">Hyunseok Yang</maintainer>
   <license>MIT</license>

cloisim_ros_realsense/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>cloisim_ros_realsense</name>
-  <version>4.2.1</version>
+  <version>4.3.0</version>
   <description>virtual realsense for simulator</description>
   <maintainer email="sungkyu.kang@lge.com">Sungkyu Kang</maintainer>
   <maintainer email="hyunseok7.yang@lge.com">Hyunseok Yang</maintainer>

cloisim_ros_sonar/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>cloisim_ros_sonar</name>
-  <version>4.2.1</version>
+  <version>4.3.0</version>
   <description>virtual sonar for simulation</description>
   <maintainer email="hyunseok7.yang@lge.com">Hyunseok Yang</maintainer>
   <license>MIT</license>

cloisim_ros_websocket_service/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>cloisim_ros_websocket_service</name>
-  <version>4.2.1</version>
+  <version>4.3.0</version>
   <description>websocket service for cloisim(simulator) connection port control</description>
   <maintainer email="hyunseok7.yang@lge.com">Hyunseok Yang</maintainer>
   <license>MIT</license>

cloisim_ros_world/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>cloisim_ros_world</name>
-  <version>4.2.1</version>
+  <version>4.3.0</version>
   <description>Utilities to interface with Unity through ROS.</description>
   <maintainer email="hyunseok7.yang@lge.com">Hyunseok Yang</maintainer>
   <license>MIT</license>