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Merge pull request #18 from incebellipipo/master
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‎.devcontainer/devcontainer.json‎

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{
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"image": "incebellipipo/devcontainer:humble",
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"customizations": {
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"terminalPrompt": "🐳 [container] ${containerName} ${folder}",
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"terminalPrompt": "[container] ${containerName} ${folder}",
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"settings": {
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"terminal.integrated.shell.linux": "/bin/bash"
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},

‎.github/workflows/build-and-push-arm64.yml‎

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‎.github/workflows/build-and-push.yml‎

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fail-fast: false
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matrix:
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configurations:
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- ros_distro: 'humble'
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arch: 'amd64'
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- ros_distro: 'kilted'
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- ros_distro: 'jazzy'
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arch: 'amd64'
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- ros_distro: 'humble'
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arch: 'arm64'
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- ros_distro: 'jazzy'
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arch: 'arm64'
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# runs-on: ubuntu-latest
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runs-on: ubuntu-22.04
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runs-on: ubuntu-latest
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steps:
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- name: Checkout
@@ -49,5 +42,5 @@ jobs:
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build-args: |
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ROS_DISTRO=${{ matrix.configurations.ros_distro }}
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push: true
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platforms: linux/${{ matrix.configurations.arch }}
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platforms: linux/amd64,linux/arm64
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tags: incebellipipo/cybership:${{ matrix.configurations.ros_distro }}

‎README.md‎

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# cybership_common
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3-
This repository is the home of the CyberShip Software Suite – a collection of ROS 2 packages that together provide the tools to simulate, visualize, and control autonomous maritime vessels. The suite covers everything from the digital twin (URDF models and visualization) to real-time sensor integration (IMU, motion capture, etc.) and advanced control (dynamic positioning and thrust allocation).
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This repository is the home of the CyberShip Software Suite - a collection of ROS 2 packages that together provide the tools to simulate, visualize, and control autonomous maritime vessels. The suite covers everything from the digital twin (URDF models and visualization) to real-time sensor integration (IMU, motion capture, etc.) and advanced control (dynamic positioning and thrust allocation).
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5-
## What’s Included
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## What's Included
66

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- **cybership_bringup**: Launch files to initialize all the necessary nodes for bringing up a vessel in a ROS 2 environment. This includes hardware drivers, localization, and sensor integration.
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- **cybership_simulator**: Simple Python scripts for vessel simulation using basic physics. Use these scripts to test vessel behavior in simulation.
@@ -84,7 +84,7 @@ For Simulation:
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Use the cybership_simulator package. This runs simplified physics scripts:
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### 3. Visualization
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Visualize your vessel using the RViz visualization tools provided in the suite. The cybership_viz package sets up RViz with a preconfigured scene showing your vessel’s URDF model and sensor data overlays. To launch visualization:
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Visualize your vessel using the RViz visualization tools provided in the suite. The cybership_viz package sets up RViz with a preconfigured scene showing your vessel's URDF model and sensor data overlays. To launch visualization:
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Additionally, the cybership_description package can publish the URDF model via:
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‎cybership_bringup/launch/all.launch.py‎

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@@ -0,0 +1,106 @@
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import launch
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import launch.actions
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import launch.conditions
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import launch.launch_description_sources
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import launch.substitutions
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import launch_ros.substitutions
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8+
9+
def generate_launch_description():
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11+
ld = launch.LaunchDescription()
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vessel_model = launch.substitutions.LaunchConfiguration("vessel_model")
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vessel_name = vessel_model
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ld.add_action(
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launch.actions.DeclareLaunchArgument(
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"vessel_model",
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description="Vessel model to bring up (drillship|enterprise|voyager)",
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)
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)
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include_drillship = launch.actions.IncludeLaunchDescription(
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launch.launch_description_sources.PythonLaunchDescriptionSource(
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launch.substitutions.PathJoinSubstitution(
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[
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launch_ros.substitutions.FindPackageShare("cybership_bringup"),
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"launch",
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"drillship.launch.py",
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]
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)
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),
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condition=launch.conditions.IfCondition(
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launch.substitutions.PythonExpression(["'", vessel_model, "' == 'drillship'"])
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),
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)
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include_enterprise = launch.actions.IncludeLaunchDescription(
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launch.launch_description_sources.PythonLaunchDescriptionSource(
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launch.substitutions.PathJoinSubstitution(
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[
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launch_ros.substitutions.FindPackageShare("cybership_bringup"),
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"launch",
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"enterprise.launch.py",
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]
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)
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),
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condition=launch.conditions.IfCondition(
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launch.substitutions.PythonExpression(["'", vessel_model, "' == 'enterprise'"])
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),
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)
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53+
include_voyager = launch.actions.IncludeLaunchDescription(
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launch.launch_description_sources.PythonLaunchDescriptionSource(
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launch.substitutions.PathJoinSubstitution(
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[
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launch_ros.substitutions.FindPackageShare("cybership_bringup"),
58+
"launch",
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"voyager.launch.py",
60+
]
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)
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),
63+
condition=launch.conditions.IfCondition(
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launch.substitutions.PythonExpression(["'", vessel_model, "' == 'voyager'"])
65+
),
66+
)
67+
68+
include_localization = launch.actions.IncludeLaunchDescription(
69+
launch.launch_description_sources.PythonLaunchDescriptionSource(
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launch.substitutions.PathJoinSubstitution(
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[
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launch_ros.substitutions.FindPackageShare("cybership_bringup"),
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"launch",
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"localization.launch.py",
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]
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)
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),
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launch_arguments={
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"vessel_model": vessel_model,
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"vessel_name": vessel_name,
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}.items(),
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)
83+
84+
include_dp = launch.actions.IncludeLaunchDescription(
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launch.launch_description_sources.PythonLaunchDescriptionSource(
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launch.substitutions.PathJoinSubstitution(
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[
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launch_ros.substitutions.FindPackageShare("cybership_dp"),
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"launch",
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"dp.launch.py",
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]
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)
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),
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launch_arguments={
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"vessel_model": vessel_model,
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"vessel_name": vessel_name,
97+
}.items(),
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)
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100+
ld.add_action(include_drillship)
101+
ld.add_action(include_enterprise)
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ld.add_action(include_voyager)
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ld.add_action(include_localization)
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ld.add_action(include_dp)
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return ld

‎cybership_bringup/launch/drillship.launch.py‎

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import launch.launch_description_sources
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def include_launch_action_with_config(
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vessel_model,
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vessel_name,
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launch_file,
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param_file=""):
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bringup_pkg_dir = launch_ros.substitutions.FindPackageShare(
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'cybership_bringup')
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config_pkg_dir = launch_ros.substitutions.FindPackageShare(
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'cybership_config')
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19-
launch_arguments = [
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('vessel_name', vessel_name),
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('vessel_model', vessel_model)
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]
23-
24-
if len(param_file) != 0:
25-
launch_arguments.append(
26-
(
27-
'param_file',
28-
launch.substitutions.PathJoinSubstitution(
29-
launch.substitutions.PathJoinSubstitution(
30-
[config_pkg_dir, 'config', vessel_model, param_file]
31-
)
32-
)
33-
)
34-
)
358

36-
return launch.actions.IncludeLaunchDescription(
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launch.launch_description_sources.PythonLaunchDescriptionSource(
38-
launch.substitutions.PathJoinSubstitution(
39-
[bringup_pkg_dir, 'launch', 'include', launch_file]
40-
)
41-
),
42-
launch_arguments=launch_arguments
43-
)
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10+
from cybership_utilities.launch import include_launch_action_with_config
11+
4412

4513

4614
def generate_launch_description():
@@ -72,13 +40,6 @@ def generate_launch_description():
7240
)
7341
)
7442

75-
# ld.add_action(
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# include_launch_action_with_config(
77-
# vessel_model, vessel_name,
78-
# 'robot_localization.launch.py', 'robot_localization.yaml'
79-
# )
80-
# )
81-
8243
ld.add_action(
8344
include_launch_action_with_config(
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vessel_model, vessel_name,
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10061
)
10162
)
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103-
# ld.add_action(
104-
# include_launch_action_with_config(
105-
# vessel_model, vessel_name,
106-
# 'urdf_description.launch.py', 'empty.yaml'
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# )
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# )
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11064
return ld

‎cybership_bringup/launch/enterprise.launch.py‎

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import launch.launch_description_sources
66

77

8-
def include_launch_action_with_config(
9-
vessel_model,
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vessel_name,
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launch_file,
12-
config_file=""):
8+
from cybership_utilities.launch import include_launch_action_with_config
139

14-
bringup_pkg_dir = launch_ros.substitutions.FindPackageShare(
15-
'cybership_bringup')
16-
config_pkg_dir = launch_ros.substitutions.FindPackageShare(
17-
'cybership_config')
18-
19-
launch_arguments = [
20-
('vessel_name', vessel_name),
21-
('vessel_model', vessel_model)
22-
]
23-
24-
if len(config_file) != 0:
25-
launch_arguments.append(
26-
(
27-
'param_file',
28-
launch.substitutions.PathJoinSubstitution(
29-
launch.substitutions.PathJoinSubstitution(
30-
[config_pkg_dir, 'config', vessel_model, config_file]
31-
)
32-
)
33-
)
34-
)
35-
36-
return launch.actions.IncludeLaunchDescription(
37-
launch.launch_description_sources.PythonLaunchDescriptionSource(
38-
launch.substitutions.PathJoinSubstitution(
39-
[bringup_pkg_dir, 'launch', 'include', launch_file]
40-
)
41-
),
42-
launch_arguments=launch_arguments
43-
)
4410

4511

4612
def generate_launch_description():
@@ -65,13 +31,6 @@ def generate_launch_description():
6531
)
6632
)
6733

68-
# ld.add_action(
69-
# include_launch_action_with_config(
70-
# vessel_model, vessel_name,
71-
# 'robot_localization.launch.py', 'robot_localization.yaml'
72-
# )
73-
# )
74-
7534
ld.add_action(
7635
include_launch_action_with_config(
7736
vessel_model, vessel_name,

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