Ros2 #42

nathantsoi · 2025-10-25T18:05:48Z

No description provided.

…r config on installation

Copilot

Pull Request Overview

This PR migrates the UT Automata codebase from ROS 1 to ROS 2, updating dependencies, message types, APIs, and build infrastructure to support the new framework.

Key Changes:

Complete migration from ROS 1 to ROS 2 APIs (roscpp → rclcpp)
Updated message includes and type namespaces (e.g., sensor_msgs::LaserScan → sensor_msgs::msg::LaserScan)
Converted launch files from XML to Python format
Updated build system from rosbuild to ament_cmake

Reviewed Changes

Copilot reviewed 32 out of 33 changed files in this pull request and generated 11 comments.

Show a summary per file

File	Description
src/websocket/websocket_main.cc	Migrated to rclcpp, updated time/clock APIs, added graceful shutdown
src/websocket/websocket.h	Updated message type namespaces, added shutdown methods
src/websocket/websocket.cc	Updated message types and time initialization
src/vesc_driver/vesc_driver_node.cpp	Migrated to rclcpp node creation and spinning
src/vesc_driver/vesc_driver.h	Updated to rclcpp publishers/subscribers and timer
src/vesc_driver/vesc_driver.cpp	Migrated time APIs, callbacks, and added joystick mode config
src/simulator/vector_map.cc	Added default initialization for Vector2f
src/simulator/step_simulator_main.cc	Converted to ROS 2 with rclcpp APIs and parameters
src/simulator/simulator_main.cc	Basic ROS 2 node migration
src/simulator/simulator.h	Updated to rclcpp publishers/subscribers and tf2
src/simulator/simulator.cc	Migrated to tf2, rclcpp time, and ament package paths
src/joystick/joystick_driver.cc	Added Bluetooth controller detection and auto-connection
src/gui/gui_mainwindow.h	Added camera display, disk space, and tmux controls
src/gui/gui_mainwindow.cc	Implemented camera feed, tmux management, instance locking
src/gui/gui_main.cc	Migrated to rclcpp with proper shutdown and timeout detection
scripts/udev.sh	Added udev rule setup script for DualShock 4
scripts/keyboard_teleop.py	Converted from rospy to rclpy
scripts/joystick_teleop.py	Converted from rospy to rclpy with corrected message type
package.xml	Added ROS 2 package manifest
msg/VescStateStamped.msg	Fixed header type reference
launch/*.py	Converted launch files to ROS 2 Python format
config/joystick.lua	Updated defaults and added joystick mode config
Makefile	Changed default build mode to Hardware
CMakeLists.txt	Complete migration to ament_cmake build system
.github/workflows/buildTest.yml	Updated CI to use ROS 2 Humble container

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Copilot · 2025-10-25T18:14:18Z

src/websocket/websocket_main.cc

-  const auto now = ros::Time::now();
-  if ((now - laser_scan_.header.stamp).toSec() > FLAGS_max_age) {
-    laser_scan_.header.stamp = ros::Time(0);
+  const auto now = rclcpp::Clock().now();


Creating a new rclcpp::Clock() instance on each call is inefficient. Consider creating a single clock instance and reusing it, or use a node's clock via node->get_clock()->now().

Copilot · 2025-10-25T18:14:19Z

src/websocket/websocket_main.cc

        map.toStdString().c_str(), x, y, math_util::RadToDeg(theta));
  }
-  initial_pose_msg_.header.stamp = ros::Time::now();
+  initial_pose_msg_.header.stamp = rclcpp::Clock().now();


Creating a new rclcpp::Clock() instance on each call is inefficient. Consider using a node's clock via node->get_clock()->now() since a node is available in this scope.

Copilot · 2025-10-25T18:14:19Z

src/vesc_driver/vesc_driver.cpp

 CONFIG_STRING(serial_port_, "serial_port");

-DEFINE_string(config_dir, "config", 
+DEFINE_string(config_dir, "/home/orin/roboracer_ws/src/ut_automata/config", 


Hardcoded absolute path /home/orin/roboracer_ws/src/ut_automata/config reduces portability. Consider using ament_index_cpp::get_package_share_directory() to locate the config directory relative to the installed package.

Copilot · 2025-10-25T18:14:19Z

src/vesc_driver/vesc_driver.cpp

 void VescDriver::checkCommandTimeout() {
  static const double kTimeout = 0.5;
-  const double t_now = ros::WallTime::now().toSec();
+  const double t_now = rclcpp::Clock(RCL_ROS_TIME).now().seconds();


Creating a new rclcpp::Clock instance on each call is inefficient. Consider storing the clock instance as a member variable and reusing it.

Copilot · 2025-10-25T18:14:19Z

src/vesc_driver/vesc_driver.cpp

+    size_t min_axes = 5; // Default for "both" mode (needs axes 0 and 4)
+    if (joystick_mode_ == "left") {
+      min_axes = 2;  // Needs axes 0 and 1
+    } else if (joystick_mode_ == "right") {
+      min_axes = 5;  // Needs axes 3 and 4


Magic numbers 5, 2, and 5 for min_axes are unclear. Define named constants like kMinAxesBoth = 5, kMinAxesLeft = 2, kMinAxesRight = 5 to improve readability and maintainability.

Copilot · 2025-10-25T18:14:19Z

src/joystick/joystick_driver.cc

+void SaveControllerMAC(const string& mac_address) {
+  if (mac_address.empty()) return;
+
+  string config_file = string(getenv("HOME")) + "/roboracer_ws/car/joystick_controller_mac.txt";


Hardcoded path /roboracer_ws/car/joystick_controller_mac.txt reduces portability. Consider using a more flexible path or storing configuration in a standard location like ~/.config/ut_automata/.

Copilot · 2025-10-25T18:14:20Z

src/gui/gui_mainwindow.cc

+    // Get tmux configuration names (excluding "sim")
+    tmux_config_names_.clear();
+    tmux_config_buttons_.clear();
+    QDir tmux_dir("/home/orin/roboracer_ws/tmux");


Hardcoded absolute path /home/orin/roboracer_ws/tmux reduces portability. Consider making this path configurable or using environment variables.

Suggested change

QDir tmux_dir("/home/orin/roboracer_ws/tmux");

QString tmux_dir_path = QString::fromUtf8(qgetenv("ROBORACER_TMUX_DIR"));

if (tmux_dir_path.isEmpty()) {

tmux_dir_path = "/home/orin/roboracer_ws/tmux";

}

QDir tmux_dir(tmux_dir_path);

Copilot · 2025-10-25T18:14:20Z

src/gui/gui_mainwindow.cc

+  QString original_path = QString("/home/orin/roboracer_ws/tmux/%1/.tmuxinator.yaml").arg(QString::fromStdString(config_name));
+


Hardcoded absolute path /home/orin/roboracer_ws/tmux reduces portability. Consider making this path configurable or using environment variables.

Suggested change

QString original_path = QString("/home/orin/roboracer_ws/tmux/%1/.tmuxinator.yaml").arg(QString::fromStdString(config_name));

// Use environment variable ROBORACER_WS for workspace path

QByteArray ws_path = qgetenv("ROBORACER_WS");

if (ws_path.isEmpty()) {

// Environment variable not set, fallback to default or return error

ws_path = "/home/orin/roboracer_ws";

}

QString original_path = QString("%1/tmux/%2/.tmuxinator.yaml")

.arg(QString::fromUtf8(ws_path))

.arg(QString::fromStdString(config_name));

Copilot · 2025-10-25T18:14:20Z

scripts/joystick_teleop.py

+            print('No joystick found!')
+            print('Please connect a joystick and try again.')
+            print('If your joystick is connected, ensure that the udev rules are set up correctly.')
+            print('You can run the script "src/ut_automata/scripts/udev.sh" to set up the appropriate rule.')


Hardcoded path reference src/ut_automata/scripts/udev.sh may not be accurate depending on where the package is installed. Consider using a more generic instruction or dynamically resolving the script location.

Suggested change

print('You can run the script "src/ut_automata/scripts/udev.sh" to set up the appropriate rule.')

print('You can run the "udev.sh" script in your package\'s scripts directory to set up the appropriate rule.')

Copilot · 2025-10-25T18:14:20Z

CMakeLists.txt

+add_custom_command(
+  OUTPUT ${GENERATED_CAR_LUA}
+  COMMAND ${CMAKE_COMMAND} -E make_directory ${CMAKE_CURRENT_BINARY_DIR}/share/${PROJECT_NAME}/config
+  COMMAND /bin/sh -c "hn=$(hostname); num=$(echo \"${hn}\" | grep -oE '[0-9]+' | tail -n1); if [ -z \"${num}\" ]; then num=0; fi; printf 'car_name = \"car%s\";\\n' \"${num}\" > \"${GENERATED_CAR_LUA}\""


Complex shell command embedded in CMakeLists.txt is difficult to read and maintain. Consider extracting this logic into a separate script file for better maintainability.

for some reason the fuse_imu param is not read correctly from the vesc.lua file, but setting it to true in the header is fine for now

…n the gui header

…ation process

…iddle of the joystick zone and make steering at high speed easier

nathantsoi and others added 30 commits August 5, 2025 21:09

switch to ros2 shared lib

bdfeb5a

update build for colcon

929f3ea

ros2 code updates

c93cd95

read sim configs

f663cf6

docs for sim, fix teleop

3451af8

ros2 hardware

222c1f2

remove old launch files, configure the joystick defaults and add a ca…

81d4ad5

…r config on installation

hokuyo launch

d7ba896

clean shutdown in ros2

8f5ebd1

bind to bluetooth if not already on

b95a31b

static config path

29fb863

more joystick modes

077663c

display camera, show joystick status

68df851

handle rescaling

9a6836f

remove debugging output

05577a0

gui cleanup

a0cca93

control via tmux

b4562bb

switch ros led to imu and show disk usage

fbbf7bc

fix sizing

1a49cc7

remove shutdown button, since we're in the container

f6fca48

bind controller by mac to avoid a multiple-bind situation

f40a5f3

switch to ros2 amrl shared branch

2959ba1

default car.lua file

cfb2c71

fixing build action

7f5be01

fixing build actions

33f5556

fixing build action

e292ce3

fixing build actions

41e9f9e

fixing build tests

dd57b15

fixing build tests

fa785f6

fix build

c17bbe8

nathantsoi added 3 commits October 25, 2025 12:20

no mounts on github build action docker

cd2fee9

building from 0

9b3b037

why wont it source

662d2c0

nathantsoi requested a review from Copilot October 25, 2025 18:11

Copilot AI reviewed Oct 25, 2025

View reviewed changes

nathantsoi added 10 commits November 1, 2025 17:48

fix odom publishing to tf and turn off hokuyo time calibration

9bd2fbe

ekf to fuse imu and wheel odom

fcf028f

for some reason the fuse_imu param is not read correctly from the vesc.lua file, but setting it to true in the header is fine for now

fix status indicators

8f5758b

calibration script, mode names with same size to avoid moving items i…

34e9f29

…n the gui header

read max_steering_angle from the config file and add it to the calibr…

4f3a222

…ation process

wip

f705f9b

trim

692ff2a

fix recording icon

e348cf4

implement a bezier steering curve to flatten the curve torwards the m…

f59a469

…iddle of the joystick zone and make steering at high speed easier

gui upgrades for recording

36b1925

Provide feedback

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Ros2 #42

Ros2 #42

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-    QDir tmux_dir("/home/orin/roboracer_ws/tmux");
+    QString tmux_dir_path = QString::fromUtf8(qgetenv("ROBORACER_TMUX_DIR"));
+    if (tmux_dir_path.isEmpty()) {
+      tmux_dir_path = "/home/orin/roboracer_ws/tmux";
+    }
+    QDir tmux_dir(tmux_dir_path);

		QString original_path = QString("/home/orin/roboracer_ws/tmux/%1/.tmuxinator.yaml").arg(QString::fromStdString(config_name));

-  QString original_path = QString("/home/orin/roboracer_ws/tmux/%1/.tmuxinator.yaml").arg(QString::fromStdString(config_name));
+  // Use environment variable ROBORACER_WS for workspace path
+  QByteArray ws_path = qgetenv("ROBORACER_WS");
+  if (ws_path.isEmpty()) {
+    // Environment variable not set, fallback to default or return error
+    ws_path = "/home/orin/roboracer_ws";
+  }
+  QString original_path = QString("%1/tmux/%2/.tmuxinator.yaml")
+                            .arg(QString::fromUtf8(ws_path))
+                            .arg(QString::fromStdString(config_name));

	print('You can run the script "src/ut_automata/scripts/udev.sh" to set up the appropriate rule.')
	print('You can run the "udev.sh" script in your package\'s scripts directory to set up the appropriate rule.')

Ros2 #42

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Ros2 #42

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