From 6876ae0fd314dc29112c0eef65e53d393fa397d3 Mon Sep 17 00:00:00 2001 From: Kalana Ratnayake Date: Thu, 27 Nov 2025 06:43:10 +0000 Subject: [PATCH 1/7] minor change to xacro file link names --- amr_description/xacro/ld250.urdf.xacro | 14 ++++++++------ 1 file changed, 8 insertions(+), 6 deletions(-) diff --git a/amr_description/xacro/ld250.urdf.xacro b/amr_description/xacro/ld250.urdf.xacro index 18ce32ba..8713d2d3 100644 --- a/amr_description/xacro/ld250.urdf.xacro +++ b/amr_description/xacro/ld250.urdf.xacro @@ -5,7 +5,7 @@ Updated to match LD250.urdf: - Adds laser_frame link - Adds base_link_to_laser_frame fixed joint at xyz="0.45 0 0.195" - - Keeps main_body mesh, inertial, and fixed joints + - Keeps amr_base mesh, inertial, and fixed joints --> @@ -19,13 +19,15 @@ - + - + + + @@ -39,10 +41,10 @@ - - + + - + From 16731d7c41c84727c91ea1e9abcae50f94065397 Mon Sep 17 00:00:00 2001 From: Kalana Ratnayake Date: Thu, 27 Nov 2025 06:44:00 +0000 Subject: [PATCH 2/7] minor change to xacro file link names --- amr_description/xacro/ld250.urdf.xacro | 1 + 1 file changed, 1 insertion(+) diff --git a/amr_description/xacro/ld250.urdf.xacro b/amr_description/xacro/ld250.urdf.xacro index 8713d2d3..3ff9de2c 100644 --- a/amr_description/xacro/ld250.urdf.xacro +++ b/amr_description/xacro/ld250.urdf.xacro @@ -72,6 +72,7 @@ Dimensions (from LD250.urdf comments): - length: 950 mm - width: 696 mm + - base height: 340 mm - laser glass offset front: 20 mm - laser glass offset back: 120 mm - laser glass bottom height: 180 mm From a0fe4d4274d786cf5be8c7b36a5898d593e82827 Mon Sep 17 00:00:00 2001 From: Kalana Ratnayake Date: Tue, 31 Mar 2026 05:02:22 +0000 Subject: [PATCH 3/7] moved config from humble to jazzy --- amr_nav2/config/ld250_nav2.yaml | 77 +++++++++------------------------ 1 file changed, 20 insertions(+), 57 deletions(-) diff --git a/amr_nav2/config/ld250_nav2.yaml b/amr_nav2/config/ld250_nav2.yaml index 21273612..a3ff3dd9 100644 --- a/amr_nav2/config/ld250_nav2.yaml +++ b/amr_nav2/config/ld250_nav2.yaml @@ -48,58 +48,17 @@ bt_navigator: bt_loop_duration: 10 default_server_timeout: 20 wait_for_service_timeout: 1000 + action_server_result_timeout: 900.0 + navigators: ["navigate_to_pose", "navigate_through_poses"] + navigate_to_pose: + plugin: "nav2_bt_navigator::NavigateToPoseNavigator" + navigate_through_poses: + plugin: "nav2_bt_navigator::NavigateThroughPosesNavigator" + error_code_names: ["compute_path_error_code", "follow_path_error_code"] # 'default_nav_through_poses_bt_xml' and 'default_nav_to_pose_bt_xml' are use defaults: # nav2_bt_navigator/navigate_to_pose_w_replanning_and_recovery.xml # nav2_bt_navigator/navigate_through_poses_w_replanning_and_recovery.xml # They can be set here or via a RewrittenYaml remap from a parent launch file to Nav2. - plugin_lib_names: - - nav2_compute_path_to_pose_action_bt_node - - nav2_compute_path_through_poses_action_bt_node - - nav2_smooth_path_action_bt_node - - nav2_follow_path_action_bt_node - - nav2_spin_action_bt_node - - nav2_wait_action_bt_node - - nav2_assisted_teleop_action_bt_node - - nav2_back_up_action_bt_node - - nav2_drive_on_heading_bt_node - - nav2_clear_costmap_service_bt_node - - nav2_is_stuck_condition_bt_node - - nav2_goal_reached_condition_bt_node - - nav2_goal_updated_condition_bt_node - - nav2_globally_updated_goal_condition_bt_node - - nav2_is_path_valid_condition_bt_node - - nav2_initial_pose_received_condition_bt_node - - nav2_reinitialize_global_localization_service_bt_node - - nav2_rate_controller_bt_node - - nav2_distance_controller_bt_node - - nav2_speed_controller_bt_node - - nav2_truncate_path_action_bt_node - - nav2_truncate_path_local_action_bt_node - - nav2_goal_updater_node_bt_node - - nav2_recovery_node_bt_node - - nav2_pipeline_sequence_bt_node - - nav2_round_robin_node_bt_node - - nav2_transform_available_condition_bt_node - - nav2_time_expired_condition_bt_node - - nav2_path_expiring_timer_condition - - nav2_distance_traveled_condition_bt_node - - nav2_single_trigger_bt_node - - nav2_goal_updated_controller_bt_node - - nav2_is_battery_low_condition_bt_node - - nav2_navigate_through_poses_action_bt_node - - nav2_navigate_to_pose_action_bt_node - - nav2_remove_passed_goals_action_bt_node - - nav2_planner_selector_bt_node - - nav2_controller_selector_bt_node - - nav2_goal_checker_selector_bt_node - - nav2_controller_cancel_bt_node - - nav2_path_longer_on_approach_bt_node - - nav2_wait_cancel_bt_node - - nav2_spin_cancel_bt_node - - nav2_back_up_cancel_bt_node - - nav2_assisted_teleop_cancel_bt_node - - nav2_drive_on_heading_cancel_bt_node - - nav2_is_battery_charging_condition_bt_node bt_navigator_navigate_through_poses_rclcpp_node: ros__parameters: @@ -117,7 +76,7 @@ controller_server: min_y_velocity_threshold: 0.5 min_theta_velocity_threshold: 0.001 failure_tolerance: 0.3 - progress_checker_plugin: "progress_checker" + progress_checker_plugins: ["progress_checker"] goal_checker_plugins: ["general_goal_checker"] # "precise_goal_checker" controller_plugins: ["FollowPath"] @@ -296,21 +255,24 @@ smoother_server: behavior_server: ros__parameters: - costmap_topic: local_costmap/costmap_raw - footprint_topic: local_costmap/published_footprint + local_costmap_topic: local_costmap/costmap_raw + global_costmap_topic: global_costmap/costmap_raw + local_footprint_topic: local_costmap/published_footprint + global_footprint_topic: global_costmap/published_footprint cycle_frequency: 10.0 behavior_plugins: ["spin", "backup", "drive_on_heading", "assisted_teleop", "wait"] spin: - plugin: "nav2_behaviors/Spin" + plugin: "nav2_behaviors::Spin" backup: - plugin: "nav2_behaviors/BackUp" + plugin: "nav2_behaviors::BackUp" drive_on_heading: - plugin: "nav2_behaviors/DriveOnHeading" + plugin: "nav2_behaviors::DriveOnHeading" wait: - plugin: "nav2_behaviors/Wait" + plugin: "nav2_behaviors::Wait" assisted_teleop: - plugin: "nav2_behaviors/AssistedTeleop" - global_frame: odom + plugin: "nav2_behaviors::AssistedTeleop" + global_frame: map + local_frame: odom robot_base_frame: base_link transform_tolerance: 0.1 use_sim_time: true @@ -328,6 +290,7 @@ waypoint_follower: use_sim_time: True loop_rate: 20 stop_on_failure: false + action_server_result_timeout: 900.0 waypoint_task_executor_plugin: "wait_at_waypoint" wait_at_waypoint: plugin: "nav2_waypoint_follower::WaitAtWaypoint" From 7718a23ad31e40307942fca77b98bd85ff8ca577 Mon Sep 17 00:00:00 2001 From: Kalana Ratnayake Date: Tue, 31 Mar 2026 05:08:00 +0000 Subject: [PATCH 4/7] updated repo name --- README.md | 12 ++++++------ docs/original_readme.md | 2 +- 2 files changed, 7 insertions(+), 7 deletions(-) diff --git a/README.md b/README.md index 2230ec24..2701852b 100644 --- a/README.md +++ b/README.md @@ -1,11 +1,11 @@ -# Omron Base package +# Omron AMR package To view the original Readme.md [click here](./docs/original_readme.md) This package is a restructuring of [OmronAPAC/Omron_AMR_ROS2](https://github.com/OmronAPAC/Omron_AMR_ROS2) -View [New Developer's Guide](https://github.com/CollaborativeRoboticsLab/omron_base/blob/master/docs/DeveloperGuide_updated.adoc). -View [Old Developer's Guide](https://github.com/CollaborativeRoboticsLab/omron_base/blob/master/docs/DeveloperGuide.adoc). +View [New Developer's Guide](https://github.com/CollaborativeRoboticsLab/omron_amr/blob/master/docs/DeveloperGuide_updated.adoc). +View [Old Developer's Guide](https://github.com/CollaborativeRoboticsLab/omron_amr/blob/master/docs/DeveloperGuide.adoc). ## Setup @@ -24,7 +24,7 @@ sudo apt install ros-humble-navigation2 ros-humble-nav2-bringup ros-humble-slam- Clone the repositories into the `src` folder by ```sh -git clone https://github.com/CollaborativeRoboticsLab/omron_base.git +git clone https://github.com/CollaborativeRoboticsLab/omron_amr.git ``` Build by @@ -38,9 +38,9 @@ colcon build ### Initialization -1. [Establish Remote connection to AMR Robot](https://github.com/CollaborativeRoboticsLab/omron_base/blob/main/docs/DeveloperGuide.adoc#231-set-up-user-ethernet) +1. [Establish Remote connection to AMR Robot](https://github.com/CollaborativeRoboticsLab/omron_amr/blob/main/docs/DeveloperGuide.adoc#231-set-up-user-ethernet) -2. [Configure AMR robot via Mobile Planner](https://github.com/CollaborativeRoboticsLab/omron_base/blob/main/docs/DeveloperGuide_updated.adoc#332-set-up-arcl) +2. [Configure AMR robot via Mobile Planner](https://github.com/CollaborativeRoboticsLab/omron_amr/blob/main/docs/DeveloperGuide_updated.adoc#332-set-up-arcl) ### Connect with the robot base diff --git a/docs/original_readme.md b/docs/original_readme.md index e90ae5ff..2618ff7c 100644 --- a/docs/original_readme.md +++ b/docs/original_readme.md @@ -26,7 +26,7 @@ On information pertaining to robot to camera calibration, see [Here](https://git * Go to a specified point on RViz map * Localize to a specified point on RViz map -**For details on the packages' inner workings, see the [Developer's Guide](https://github.com/CollaborativeRoboticsLab/omron_base/blob/master/docs/DeveloperGuide.adoc).** +**For details on the packages' inner workings, see the [Developer's Guide](https://github.com/CollaborativeRoboticsLab/omron_amr/blob/master/docs/DeveloperGuide.adoc).** ## Limitations ROS is not able to have access to robot hardware, therefore this package does not have full access to all AMR's capabilities. This package uses ARCL to communicate and control the AMR and thus the limitations of this package is defined by ARCL's limitations. From 11477b0d58dd490e04cfaff0bb4ba6540912775b Mon Sep 17 00:00:00 2001 From: Kalana Ratnayake Date: Tue, 31 Mar 2026 05:13:25 +0000 Subject: [PATCH 5/7] added branch info --- README.md | 6 ++++++ 1 file changed, 6 insertions(+) diff --git a/README.md b/README.md index 2701852b..b62920a6 100644 --- a/README.md +++ b/README.md @@ -7,6 +7,12 @@ This package is a restructuring of [OmronAPAC/Omron_AMR_ROS2](https://github.com View [New Developer's Guide](https://github.com/CollaborativeRoboticsLab/omron_amr/blob/master/docs/DeveloperGuide_updated.adoc). View [Old Developer's Guide](https://github.com/CollaborativeRoboticsLab/omron_amr/blob/master/docs/DeveloperGuide.adoc). +| Branch | ROS2 Version | +|--------|--------------| +| main | Jazzy | +| develop | Jazzy | +| humble | Humble | + ## Setup Create a workspace From 053888b8f55d1154864ae4c58b0b290512cf94d5 Mon Sep 17 00:00:00 2001 From: Kalana Ratnayake Date: Tue, 31 Mar 2026 05:42:57 +0000 Subject: [PATCH 6/7] added compile tag --- .github/workflows/compile.yml | 53 +++++++++++++++++++++++++++++++++++ README.md | 10 +++---- 2 files changed, 58 insertions(+), 5 deletions(-) create mode 100644 .github/workflows/compile.yml diff --git a/.github/workflows/compile.yml b/.github/workflows/compile.yml new file mode 100644 index 00000000..29016d9f --- /dev/null +++ b/.github/workflows/compile.yml @@ -0,0 +1,53 @@ +name: Compile Check + +on: + workflow_dispatch: + + push: + branches: + - main + - develop + - humble + + pull_request: + branches: + - main + - develop + - humble + +concurrency: + group: ${{ github.workflow }}-${{ github.ref }} + cancel-in-progress: true + +jobs: + build: + runs-on: ubuntu-24.04 + + steps: + - name: Check out repository + uses: actions/checkout@v4 + + - name: Set up ROS 2 Jazzy + uses: ros-tooling/setup-ros@v0.7 + with: + required-ros-distributions: jazzy + + - name: Install system tooling + run: | + sudo apt-get update + sudo apt-get install -y python3-colcon-common-extensions python3-rosdep + + - name: Initialize rosdep + run: | + sudo rosdep init || true + rosdep update + + - name: Install package dependencies + run: | + rosdep install --from-paths . --ignore-src --rosdistro jazzy -r -y + + - name: Build workspace + shell: bash + run: | + source /opt/ros/jazzy/setup.bash + colcon build --event-handlers console_direct+ diff --git a/README.md b/README.md index b62920a6..9fa1dbcf 100644 --- a/README.md +++ b/README.md @@ -7,11 +7,11 @@ This package is a restructuring of [OmronAPAC/Omron_AMR_ROS2](https://github.com View [New Developer's Guide](https://github.com/CollaborativeRoboticsLab/omron_amr/blob/master/docs/DeveloperGuide_updated.adoc). View [Old Developer's Guide](https://github.com/CollaborativeRoboticsLab/omron_amr/blob/master/docs/DeveloperGuide.adoc). -| Branch | ROS2 Version | -|--------|--------------| -| main | Jazzy | -| develop | Jazzy | -| humble | Humble | +| Branch | ROS2 Version | Compile | +|--------|--------------|---------| +| main | Jazzy | [![main](https://github.com/CollaborativeRoboticsLab/omron_amr/actions/workflows/compile.yml/badge.svg?branch=main)](https://github.com/CollaborativeRoboticsLab/omron_amr/actions/workflows/compile.yml?query=branch%3Amain) | +| develop | Jazzy | [![develop](https://github.com/CollaborativeRoboticsLab/omron_amr/actions/workflows/compile.yml/badge.svg?branch=develop)](https://github.com/CollaborativeRoboticsLab/omron_amr/actions/workflows/compile.yml?query=branch%3Adevelop) | +| humble | Humble | [![humble](https://github.com/CollaborativeRoboticsLab/omron_amr/actions/workflows/compile.yml/badge.svg?branch=humble)](https://github.com/CollaborativeRoboticsLab/omron_amr/actions/workflows/compile.yml?query=branch%3Ahumble) | ## Setup From f26c8dd7a8b99f83dd085ece00e2e352c1f074c0 Mon Sep 17 00:00:00 2001 From: Kalana Ratnayake Date: Tue, 31 Mar 2026 05:44:59 +0000 Subject: [PATCH 7/7] added compile tag --- .github/workflows/compile.yml | 2 -- 1 file changed, 2 deletions(-) diff --git a/.github/workflows/compile.yml b/.github/workflows/compile.yml index 29016d9f..7a6c527c 100644 --- a/.github/workflows/compile.yml +++ b/.github/workflows/compile.yml @@ -7,13 +7,11 @@ on: branches: - main - develop - - humble pull_request: branches: - main - develop - - humble concurrency: group: ${{ github.workflow }}-${{ github.ref }}