new version

.devcontainer/devcontainer.json

@@ -1,7 +1,7 @@
 {
     "image": "incebellipipo/devcontainer:humble",
     "customizations": {
-        "terminalPrompt": "🐳 [container] ${containerName} ${folder}",
+        "terminalPrompt": "[container] ${containerName} ${folder}",
         "settings": {
             "terminal.integrated.shell.linux": "/bin/bash"
         },

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

@@ -13,17 +13,10 @@ jobs:
       fail-fast: false
       matrix:
         configurations:
-          - ros_distro: 'humble'
-            arch: 'amd64'
+          - ros_distro: 'kilted'
           - ros_distro: 'jazzy'
-            arch: 'amd64'
-          - ros_distro: 'humble'
-            arch: 'arm64'
-          - ros_distro: 'jazzy'
-            arch: 'arm64'
 
-    # runs-on: ubuntu-latest
-    runs-on: ubuntu-22.04
+    runs-on: ubuntu-latest
 
     steps:
       - name: Checkout
@@ -49,5 +42,5 @@ jobs:
           build-args: |
             ROS_DISTRO=${{ matrix.configurations.ros_distro }}
           push: true
-          platforms: linux/${{ matrix.configurations.arch }}
+          platforms: linux/amd64,linux/arm64
           tags: incebellipipo/cybership:${{ matrix.configurations.ros_distro }}

README.md

@@ -1,8 +1,8 @@
 # cybership_common
 
-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).
+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).
 
-## What’s Included
+## What's Included
 
 - **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.
 - **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:
 Use the cybership_simulator package. This runs simplified physics scripts:
 
 ### 3. Visualization
-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:
+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:
 
 Additionally, the cybership_description package can publish the URDF model via:
 

cybership_bringup/launch/all.launch.py

@@ -0,0 +1,106 @@
+import launch
+import launch.actions
+import launch.conditions
+import launch.launch_description_sources
+import launch.substitutions
+import launch_ros.substitutions
+
+
+def generate_launch_description():
+
+    ld = launch.LaunchDescription()
+
+    vessel_model = launch.substitutions.LaunchConfiguration("vessel_model")
+    vessel_name = vessel_model
+
+    ld.add_action(
+        launch.actions.DeclareLaunchArgument(
+            "vessel_model",
+            description="Vessel model to bring up (drillship|enterprise|voyager)",
+        )
+    )
+
+    include_drillship = launch.actions.IncludeLaunchDescription(
+        launch.launch_description_sources.PythonLaunchDescriptionSource(
+            launch.substitutions.PathJoinSubstitution(
+                [
+                    launch_ros.substitutions.FindPackageShare("cybership_bringup"),
+                    "launch",
+                    "drillship.launch.py",
+                ]
+            )
+        ),
+        condition=launch.conditions.IfCondition(
+            launch.substitutions.PythonExpression(["'", vessel_model, "' == 'drillship'"])
+        ),
+    )
+
+    include_enterprise = launch.actions.IncludeLaunchDescription(
+        launch.launch_description_sources.PythonLaunchDescriptionSource(
+            launch.substitutions.PathJoinSubstitution(
+                [
+                    launch_ros.substitutions.FindPackageShare("cybership_bringup"),
+                    "launch",
+                    "enterprise.launch.py",
+                ]
+            )
+        ),
+        condition=launch.conditions.IfCondition(
+            launch.substitutions.PythonExpression(["'", vessel_model, "' == 'enterprise'"])
+        ),
+    )
+
+    include_voyager = launch.actions.IncludeLaunchDescription(
+        launch.launch_description_sources.PythonLaunchDescriptionSource(
+            launch.substitutions.PathJoinSubstitution(
+                [
+                    launch_ros.substitutions.FindPackageShare("cybership_bringup"),
+                    "launch",
+                    "voyager.launch.py",
+                ]
+            )
+        ),
+        condition=launch.conditions.IfCondition(
+            launch.substitutions.PythonExpression(["'", vessel_model, "' == 'voyager'"])
+        ),
+    )
+
+    include_localization = launch.actions.IncludeLaunchDescription(
+        launch.launch_description_sources.PythonLaunchDescriptionSource(
+            launch.substitutions.PathJoinSubstitution(
+                [
+                    launch_ros.substitutions.FindPackageShare("cybership_bringup"),
+                    "launch",
+                    "localization.launch.py",
+                ]
+            )
+        ),
+        launch_arguments={
+            "vessel_model": vessel_model,
+            "vessel_name": vessel_name,
+        }.items(),
+    )
+
+    include_dp = launch.actions.IncludeLaunchDescription(
+        launch.launch_description_sources.PythonLaunchDescriptionSource(
+            launch.substitutions.PathJoinSubstitution(
+                [
+                    launch_ros.substitutions.FindPackageShare("cybership_dp"),
+                    "launch",
+                    "dp.launch.py",
+                ]
+            )
+        ),
+        launch_arguments={
+            "vessel_model": vessel_model,
+            "vessel_name": vessel_name,
+        }.items(),
+    )
+
+    ld.add_action(include_drillship)
+    ld.add_action(include_enterprise)
+    ld.add_action(include_voyager)
+    ld.add_action(include_localization)
+    ld.add_action(include_dp)
+
+    return ld

cybership_bringup/launch/drillship.launch.py

@@ -5,42 +5,10 @@
 import launch.launch_description_sources
 
 
-def include_launch_action_with_config(
-        vessel_model,
-        vessel_name,
-        launch_file,
-        param_file=""):
-
-    bringup_pkg_dir = launch_ros.substitutions.FindPackageShare(
-        'cybership_bringup')
-    config_pkg_dir = launch_ros.substitutions.FindPackageShare(
-        'cybership_config')
-
-    launch_arguments = [
-        ('vessel_name', vessel_name),
-        ('vessel_model', vessel_model)
-    ]
-
-    if len(param_file) != 0:
-        launch_arguments.append(
-            (
-                'param_file',
-                launch.substitutions.PathJoinSubstitution(
-                    launch.substitutions.PathJoinSubstitution(
-                        [config_pkg_dir, 'config', vessel_model, param_file]
-                    )
-                )
-            )
-        )
 
-    return launch.actions.IncludeLaunchDescription(
-        launch.launch_description_sources.PythonLaunchDescriptionSource(
-            launch.substitutions.PathJoinSubstitution(
-                [bringup_pkg_dir, 'launch', 'include', launch_file]
-            )
-        ),
-        launch_arguments=launch_arguments
-    )
+
+from cybership_utilities.launch import include_launch_action_with_config
+
 
 
 def generate_launch_description():
@@ -72,13 +40,6 @@ def generate_launch_description():
         )
     )
 
-    # ld.add_action(
-    #     include_launch_action_with_config(
-    #         vessel_model, vessel_name,
-    #         'robot_localization.launch.py', 'robot_localization.yaml'
-    #     )
-    # )
-
     ld.add_action(
         include_launch_action_with_config(
             vessel_model, vessel_name,
@@ -100,11 +61,4 @@ def generate_launch_description():
         )
     )
 
-    # ld.add_action(
-    #     include_launch_action_with_config(
-    #         vessel_model, vessel_name,
-    #         'urdf_description.launch.py', 'empty.yaml'
-    #     )
-    # )
-
     return ld

cybership_bringup/launch/enterprise.launch.py

@@ -5,42 +5,8 @@
 import launch.launch_description_sources
 
 
-def include_launch_action_with_config(
-        vessel_model,
-        vessel_name,
-        launch_file,
-        config_file=""):
+from cybership_utilities.launch import include_launch_action_with_config
 
-    bringup_pkg_dir = launch_ros.substitutions.FindPackageShare(
-        'cybership_bringup')
-    config_pkg_dir = launch_ros.substitutions.FindPackageShare(
-        'cybership_config')
-
-    launch_arguments = [
-        ('vessel_name', vessel_name),
-        ('vessel_model', vessel_model)
-    ]
-
-    if len(config_file) != 0:
-        launch_arguments.append(
-            (
-                'param_file',
-                launch.substitutions.PathJoinSubstitution(
-                    launch.substitutions.PathJoinSubstitution(
-                        [config_pkg_dir, 'config', vessel_model, config_file]
-                    )
-                )
-            )
-        )
-
-    return launch.actions.IncludeLaunchDescription(
-        launch.launch_description_sources.PythonLaunchDescriptionSource(
-            launch.substitutions.PathJoinSubstitution(
-                [bringup_pkg_dir, 'launch', 'include', launch_file]
-            )
-        ),
-        launch_arguments=launch_arguments
-    )
 
 
 def generate_launch_description():
@@ -65,13 +31,6 @@ def generate_launch_description():
         )
     )
 
-    # ld.add_action(
-    #     include_launch_action_with_config(
-    #         vessel_model, vessel_name,
-    #         'robot_localization.launch.py', 'robot_localization.yaml'
-    #     )
-    # )
-
     ld.add_action(
         include_launch_action_with_config(
             vessel_model, vessel_name,