Merge pull request #2 from turtlebot/roni-kreinin/domain_id

v0.1.3

Author: roni-kreinin

conf/webserver.service

@@ -0,0 +1,12 @@
+[Unit]
+Description=Create 3 Webserver forwarding service
+After=network.target
+StartLimitIntervalSec=0
+[Service]
+Type=simple
+Restart=always
+RestartSec=1
+ExecStart=/usr/bin/socat TCP-LISTEN:8080,fork,reuseaddr tcp:192.168.186.2:80
+
+[Install]
+WantedBy=multi-user.target

scripts/install.py

@@ -15,45 +15,55 @@
 #
 # @author Roni Kreinin (rkreinin@clearpathrobotics.com)
 
+import argparse
+
 import sys
 
 import robot_upstart
 
 
-def help():
-    print('TurtleBot 4 robot_upstart install script.')
-    print('Usage: install.py [model] <ROS_DOMAIN_ID>')
-    print('models: lite, standard')
-    print('ROS_DOMAIN_ID: optional, defaults to 0')
+parser = argparse.ArgumentParser()
 
+parser.add_argument('model', type=str)
+parser.add_argument('--domain', type=int, default=0)
+parser.add_argument('--rmw', type=str, default='rmw_cyclonedds_cpp')
 
-argc = len(sys.argv)
+args = parser.parse_args()
 
-if argc == 1:
-    print('Model required.')
-    help()
+if args.model != 'lite' and args.model != 'standard':
+    print('Invalid model: {0}'.format(args.model))
+    parser.print_help()
     sys.exit(1)
 
-model = sys.argv[1]
-if model != 'lite' and model != 'standard':
-    print('Invalid model {0}'.format(model))
-    help()
-    sys.exit(2)
+model = args.model
 
 domain_id = 0
-if argc == 3:
-    try:
-        domain_id = int(sys.argv[2])
-    except ValueError:
-        print('Invalid ROS_DOMAIN_ID {0}'.format(sys.argv[2]))
-        help()
-        sys.exit(3)
+if (args.domain >= 0 and args.domain <= 101) or \
+   (args.domain >= 215 and args.domain <= 232):
+    domain_id = args.domain
+else:
+    print('Invalid ROS_DOMAIN_ID: {0}'.format(args.domain))
+    parser.print_help()
+    sys.exit(2)
+
+rmw = 'rmw_cyclonedds_cpp'
+if args.rmw == 'rmw_fastrtps_cpp' or args.rmw == 'rmw_cyclonedds_cpp':
+    rmw = args.rmw
+else:
+    print('Invalid RMW {0}'.format(args.rmw))
+    parser.print_help()
+    sys.exit(3)
+
+print('Installing TurtleBot 4 {0}. ROS_DOMAIN_ID={1}, RMW_IMPLEMENTATION={2}'.format(model, domain_id, rmw))
 
-print('Installing TurtleBot 4 {0}. ROS_DOMAIN_ID={1}'.format(model, domain_id))
+if rmw == 'rmw_cyclonedds_cpp':
+    rmw_config = '/etc/cyclonedds_rpi.xml'
+else:
+    rmw_config = None
 
 turtlebot4_job = robot_upstart.Job(name='turtlebot4',
-                                   rmw='rmw_cyclonedds_cpp',
-                                   rmw_config='/etc/cyclonedds_rpi.xml',
+                                   rmw=rmw,
+                                   rmw_config=rmw_config,
                                    workspace_setup='/opt/ros/galactic/setup.bash',
                                    ros_domain_id=domain_id)
 

scripts/ros_config.sh

@@ -0,0 +1,81 @@
+#!/usr/bin/env bash
+
+# Flags:
+# -h Help
+
+Help()
+{
+   echo "TurtleBot 4 Configure Create 3"
+   echo
+   echo "usage: sudo bash create_config.sh [-h]"
+   echo "options:"
+   echo " -h     Print this help statement"
+   echo
+}
+
+while getopts "h" flag
+do
+    case "${flag}" in
+        h)
+            Help
+            exit;;
+        \?)
+            echo "Error: Invalid flag"
+            exit;;
+    esac
+done
+
+read -p "ROS_DOMAIN_ID (default 0): " ros_domain_id
+ros_domain_id=${ros_domain_id:-0}
+#read -p "ROS namespace (default empty): " namespace
+read -p "RMW Implementation [rmw_cyclonedds_cpp,rmw_fastrtps_cpp] (default rmw_cyclonedds_cpp): " rmw
+rmw=${rmw:-rmw_cyclonedds_cpp}
+
+echo "ROS_DOMAIN_ID: $ros_domain_id";
+#echo "Namespace: $namespace";
+echo "RMW_IMPLEMENTATION: $rmw";
+read -p "Press enter to apply these settings."
+
+ttb4=$( cat /etc/turtlebot4 )
+
+model="standard"
+
+case $ttb4 in
+    *"lite"*)
+    model="lite";;
+esac
+
+# Set Create 3 configuration
+curl -d "ros_domain_id=$ros_domain_id&ros_namespace=&rmw_implementation=$rmw" -X POST http://192.168.186.2/ros-config-save-main -o /dev/null
+
+# Reboot Create 3
+curl -X POST http://192.168.186.2/api/reboot
+
+# Stop running turtlebot4 service
+sudo systemctl stop turtlebot4.service
+
+# Uninstall robot_upstart job
+uninstall.py
+
+# Install robot_upstart job with new ROS_DOMAIN_ID
+install.py $model --domain $ros_domain_id --rmw $rmw
+
+# Start job
+sudo systemctl daemon-reload && sudo systemctl start turtlebot4
+
+# Add settings to .bashrc
+if grep -Fq "export RMW_IMPLEMENTATION=" ~/.bashrc
+then
+    sudo sed -i "s/export RMW_IMPLEMENTATION=.*/export RMW_IMPLEMENTATION=$rmw/g" ~/.bashrc
+else
+    echo "export RMW_IMPLEMENTATION=$rmw" | sudo tee -a ~/.bashrc
+fi
+
+if grep -Fq "export ROS_DOMAIN_ID=" ~/.bashrc
+then
+    sudo sed -i "s/export ROS_DOMAIN_ID=.*/export ROS_DOMAIN_ID=$ros_domain_id/g" ~/.bashrc
+else
+    echo "export ROS_DOMAIN_ID=$ros_domain_id" | sudo tee -a ~/.bashrc
+fi
+
+echo "Source ~/.bashrc to apply these changes to this terminal."

scripts/turtlebot4_setup.sh

@@ -68,10 +68,12 @@ source /opt/ros/galactic/setup.bash
 sudo apt install -y \
 network-manager \
 daemontools \
-ros-galactic-robot-upstart \
 chrony \
+socat \
+ros-galactic-robot-upstart \
 ros-galactic-turtlebot4-robot \
-ros-galactic-irobot-create-control
+ros-galactic-irobot-create-control \
+ros-galactic-rmw-fastrtps-cpp
 
 # Copy udev rules
 sudo cp $SETUP_DIR/udev/turtlebot4.rules /etc/udev/rules.d/
@@ -82,20 +84,29 @@ sudo cp $SETUP_DIR/conf/chrony.conf /etc/chrony/
 # Restart chrony
 sudo service chrony restart
 
+# Copy webserver service
+sudo cp $SETUP_DIR/conf/webserver.service /etc/systemd/system/
+
+# Enable webserver service to run from boot
+sudo systemctl enable webserver.service
+
 # Enable usb0
 echo "dtoverlay=dwc2,dr_mode=peripheral" | sudo tee -a /boot/firmware/usercfg.txt
 sudo sed -i '${s/$/ modules-load=dwc2,g_ether/}' /boot/firmware/cmdline.txt
 
 # Enable i2c-3
 echo "dtoverlay=i2c-gpio,bus=3,i2c_gpio_delay_us=1,i2c_gpio_sda=4,i2c_gpio_scl=5" | sudo tee -a /boot/firmware/usercfg.txt 
 
+# Source galactic setup in bashrc
+echo "source /opt/ros/galactic/setup.bash" | sudo tee -a ~/.bashrc
+
 # Configure cyclonedds
 sudo cp $SETUP_DIR/conf/cyclonedds_rpi.xml /etc/
 echo "export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp" | sudo tee -a ~/.bashrc
 echo "export CYCLONEDDS_URI=/etc/cyclonedds_rpi.xml" | sudo tee -a ~/.bashrc
 
-# Source galactic setup in bashrc
-echo "source /opt/ros/galactic/setup.bash" | sudo tee -a ~/.bashrc
+# Set ROS_DOMAIN_ID
+echo "export ROS_DOMAIN_ID=0" | sudo tee -a ~/.bashrc
 
 # Robot upstart
 $SCRIPT_DIR/install.py $model
@@ -106,6 +117,7 @@ sudo systemctl daemon-reload
 sudo cp $SCRIPT_DIR/wifi.sh \
         $SCRIPT_DIR/create_update_0.4.0.sh \
         $SCRIPT_DIR/create_update.sh \
+        $SCRIPT_DIR/ros_config.sh \
         $SCRIPT_DIR/swap_on.sh \
         $SCRIPT_DIR/swap_off.sh \
         $SCRIPT_DIR/bluetooth.sh \
@@ -114,7 +126,7 @@ sudo cp $SCRIPT_DIR/wifi.sh \
 
 # Set image information
 sudo touch /etc/turtlebot4
-echo "TurtleBot 4 $model v0.1.2" | sudo tee /etc/turtlebot4
+echo "TurtleBot 4 $model v0.1.3" | sudo tee /etc/turtlebot4
 
 echo "Installation complete, press enter to reboot in AP mode."