Develop

.devcontainer/Dockerfile

@@ -1,4 +1,4 @@
-FROM ros:humble
+FROM ros:jazzy
 
 # Add vscode user with same UID and GID as your host system
 # (modified from https://code.visualstudio.com/remote/advancedcontainers/add-nonroot-user#_creating-a-nonroot-user)
@@ -52,8 +52,8 @@ RUN echo "source /opt/ros/${ROS_DISTRO}/setup.bash" >> ~/.bashrc
 # make sure folders exist
 WORKDIR /home/$USERNAME/colcon_ws/src 
 
-RUN git clone https://github.com/CollaborativeRoboticsLab/omron_arm.git -b develop
-RUN git clone https://github.com/CollaborativeRoboticsLab/omron_base.git -b develop
+RUN git clone https://github.com/CollaborativeRoboticsLab/tmr_ros2.git -b develop
+RUN git clone https://github.com/CollaborativeRoboticsLab/omron_amr.git -b develop
 RUN git clone https://github.com/CollaborativeRoboticsLab/omron_gripper.git -b develop
 
 # Install python packages

.devcontainer/devcontainer.json

@@ -1,5 +1,5 @@
 {
-  "name": "Omron Moma humble",
+  "name": "Omron Moma Jazzy",
   "dockerFile": "Dockerfile",
   "remoteUser": "ubuntu",
   "containerEnv": {

.github/workflows/compile.yml

@@ -0,0 +1,51 @@
+name: Compile Check
+
+on:
+  workflow_dispatch:
+
+  push:
+    branches:
+      - main
+      - develop
+
+  pull_request:
+    branches:
+      - main
+      - develop
+
+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+

.github/workflows/humble.yml → .github/workflows/docker.yml

@@ -1,4 +1,4 @@
-name: ROS Humble Omron MoMa Control stack
+name: ROS Jazzy Omron MoMa Control stack
 
 on:
   workflow_dispatch:
@@ -54,4 +54,4 @@ jobs:
           push: true
           tags: |
             ${{ env.REGISTRY }}/${{ env.OWNER }}/${{ env.IMAGE_NAME }}:latest
-            ${{ env.REGISTRY }}/${{ env.OWNER }}/${{ env.IMAGE_NAME }}:humble
+            ${{ env.REGISTRY }}/${{ env.OWNER }}/${{ env.IMAGE_NAME }}:jazzy

README.md

@@ -4,12 +4,18 @@ Original packages are from [OmronAPAC](https://github.com/OmronAPAC)
 
 This repository allows controlling the Base, Arm and Gripper of the Omron Mobile Manipulator using packages,
 
-- [omron_arm](https://github.com/CollaborativeRoboticsLab/omron_arm) package 
-- [omron_base](https://github.com/CollaborativeRoboticsLab/omron_base) package
+- [tmr_ros2](https://github.com/CollaborativeRoboticsLab/tmr_ros2) package 
+- [omron_amr](https://github.com/CollaborativeRoboticsLab/omron_amr) package
 - [omron_gripper](https://github.com/CollaborativeRoboticsLab/omron_gripper.git) package
 
 For supported features and limitations, see the individual repositories on the features supported by the MoMa.
 
+| Branch | ROS2 Version | Compile |
+|--------|--------------|---------|
+| main | Jazzy | [![main](https://github.com/CollaborativeRoboticsLab/omron_moma/actions/workflows/compile.yml/badge.svg?branch=main)](https://github.com/CollaborativeRoboticsLab/omron_moma/actions/workflows/compile.yml?query=branch%3Amain) |
+| develop | Jazzy | [![develop](https://github.com/CollaborativeRoboticsLab/omron_moma/actions/workflows/compile.yml/badge.svg?branch=develop)](https://github.com/CollaborativeRoboticsLab/omron_moma/actions/workflows/compile.yml?query=branch%3Adevelop) |
+| humble | Humble | - |
+
 ## Device Configuration
 
 The robot expects the remote PC to be configured with the following IP address to connect to the robot,
@@ -37,8 +43,8 @@ pip install pymodbus
 Clone the repositories into the `src` folder by
 
 ```sh
-git clone https://github.com/CollaborativeRoboticsLab/omron_arm.git
-git clone https://github.com/CollaborativeRoboticsLab/omron_base.git
+git clone https://github.com/CollaborativeRoboticsLab/tmr_ros2.git
+git clone https://github.com/CollaborativeRoboticsLab/omron_amr.git
 git clone https://github.com/CollaborativeRoboticsLab/omron_gripper.git
 git clone https://github.com/CollaborativeRoboticsLab/omron_moma.git
 ```
@@ -52,34 +58,55 @@ colcon build
 
 **or save time and use devcontainer** 
 
+## Launch Parameters
+
+The top-level launch entry point is `ros2 launch moma_ros ld250_tm12x.launch.py`.
+
+| Parameter | Default | Description |
+|-----------|---------|-------------|
+| `tm_use_simulation` | `false` | Runs the TM arm bringup in simulation mode instead of connecting to the physical arm. |
+| `tm_robot_ip` | `192.168.1.2` | IP address of the TM arm controller. |
+| `use_arm` | `true` | Starts the TM arm hardware stack. If `false`, the arm hardware and MoveIt are not started. |
+| `use_base` | `true` | Starts the AMR base hardware stack. If `false`, the base hardware and Nav2 are not started. |
+| `use_rviz` | `false` | Starts RViz. When enabled, the launch automatically chooses the MoveIt RViz layout if the arm and MoveIt are active, otherwise it uses the Nav2 RViz layout. |
+| `use_moveit` | `true` | Starts MoveIt for the arm. This is only effective when `use_arm:=true`. |
+| `use_nav2` | `true` | Starts Nav2 for the mobile base. This is only effective when `use_base:=true`. |
+
 ## Usage
 
-### Start the system headless
+### Start the full system headless
 
 ```bash
 source install/setup.bash
 ros2 launch moma_ros ld250_tm12x.launch.py
 ```
 
-### Start the system with RVIZ
+### Start the full system with RVIZ
 
 ```bash
 source install/setup.bash
 ros2 launch moma_ros ld250_tm12x.launch.py use_rviz:=true
 ```
 
-### Start the system without Nav2 or Moveit to evaluate the Hardware connection
+### Start the full system without Nav2 or Moveit to evaluate the Hardware connection
 
 ```bash
 source install/setup.bash
 ros2 launch moma_ros ld250_tm12x.launch.py use_nav2:=false use_moveit:=false
 ```
 
-### Start the system without Nav2 to control just the Arm and Gripper using RVIZ
+### Start the ARM only to control Arm and Gripper using RVIZ
+
+```bash
+source install/setup.bash
+ros2 launch moma_ros ld250_tm12x.launch.py use_base:=false use_rviz:=true
+```
+
+### Start the base only to control just the base using RVIZ
 
 ```bash
 source install/setup.bash
-ros2 launch moma_ros ld250_tm12x.launch.py use_nav2:=false use_rviz:=true
+ros2 launch moma_ros ld250_tm12x.launch.py use_arm:=false use_rviz:=true
 ```
 
 ## Docker

docker/Dockerfile

@@ -5,7 +5,7 @@
 #---------------------------------------------------------------------------------------------------------------------------
 
 # Use a base image suitable for Raspberry Pi with ROS 2 Humble
-FROM ros:humble-ros-base-jammy AS base
+FROM ros:jazzy AS base
 
 # Set environment variables
 ENV DEBIAN_FRONTEND=noninteractive
@@ -65,8 +65,8 @@ RUN pip3 install --no-cache-dir pymodbus
 WORKDIR ${WORKSPACE_ROOT}/src
 
 RUN git clone https://github.com/CollaborativeRoboticsLab/omron_moma.git
-RUN git clone https://github.com/CollaborativeRoboticsLab/omron_arm.git 
-RUN git clone https://github.com/CollaborativeRoboticsLab/omron_base.git
+RUN git clone https://github.com/CollaborativeRoboticsLab/tmr_ros2.git 
+RUN git clone https://github.com/CollaborativeRoboticsLab/omron_amr.git
 RUN git clone https://github.com/CollaborativeRoboticsLab/omron_gripper.git
 
 WORKDIR ${WORKSPACE_ROOT}

docker/compose-teleop.yaml

@@ -1,7 +1,7 @@
 services:
   omron_moma:
     container_name: omron_moma
-    image: ghcr.io/collaborativeroboticslab/omron_moma:humble
+    image: ghcr.io/collaborativeroboticslab/omron_moma:jazzy
     command: ros2 launch moma_ros ld250_tm12x.teleop.launch.py
     environment:
       - PYTHONUNBUFFERED=1                # GUI related

docker/compose.yaml

@@ -1,7 +1,7 @@
 services:
   omron_moma:
     container_name: omron_moma
-    image: ghcr.io/collaborativeroboticslab/omron_moma:humble
+    image: ghcr.io/collaborativeroboticslab/omron_moma:jazzy
     command: ros2 launch moma_ros ld250_tm12x.launch.py tm_use_simulation:=false use_rviz:=true use_moveit:=true use_nav2:=true
     environment:
       - PYTHONUNBUFFERED=1                # GUI related

moma_ros/config/ld250_tm12x-nav2.yaml

@@ -50,58 +50,17 @@ 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:
@@ -119,7 +78,7 @@ controller_server:
     min_y_velocity_threshold: 0.0
     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"]
 
@@ -278,7 +237,7 @@ planner_server:
     use_sim_time: false
     planner_plugins: ["GridBased"]
     GridBased:
-      plugin: "nav2_navfn_planner/NavfnPlanner"
+      plugin: "nav2_navfn_planner::NavfnPlanner"
       tolerance: 0.5
       use_astar: false
       allow_unknown: true
@@ -295,23 +254,26 @@ 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: 0.4
+    transform_tolerance: 0.1
     use_sim_time: false
     simulate_ahead_time: 2.0
     max_rotational_vel: 1.0
@@ -329,6 +291,7 @@ waypoint_follower:
     use_sim_time: false
     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"