Add Jazzy support

.github/workflows/ci.yml

@@ -3,14 +3,14 @@ name: colcon build & test
 on:
   push:
     branches:
-      - humble
+      - jazzy
   pull_request:
     branches:
-      - humble
+      - jazzy
   workflow_dispatch:
 
 env:
-  ROS_DISTRO: humble
+  ROS_DISTRO: jazzy
 
 # Cancel previously running PR jobs
 concurrency:
@@ -22,13 +22,13 @@ jobs:
     name: Compile and test
     runs-on: ubuntu-latest
     container:
-      image: ubuntu:22.04
+      image: ubuntu:24.04
     steps:
     - uses: actions/checkout@v3
     - uses: ros-tooling/[email protected]
     - uses: ros-tooling/[email protected]
       id: action_ros_ci_step
       with:
-        package-name: andino_base andino_bringup andino_control andino_description andino_firmware andino_hardware andino_slam andino_gz_classic andino_navigation andino_apps
+        package-name: andino_base andino_bringup andino_control andino_description andino_firmware andino_hardware andino_slam andino_navigation
         target-ros2-distro: ${{ env.ROS_DISTRO }}
         import-token: ${{ secrets.GITHUB_TOKEN }}

.gitignore

@@ -6,3 +6,6 @@
 
 # Visual Studio Code files
 .vscode
+
+# PyCache
+*.pyc

README.md

@@ -10,6 +10,8 @@
 
 </div>
 
+[**UNSTABLE BRANCH**]
+
 Andino is a fully open-source diff drive robot designed for educational purposes and low-cost applications.
 It is fully integrated with ROS 2 and it is a great base platform to improve skills over the robotics field.
 With its open-source design, anyone can modify and customize the robot to suit their specific needs.
@@ -28,10 +30,8 @@ _Note: For videos go to [Media](#selfie-media) section._
 - :hammer_and_pick: [`andino_firmware`](./andino_firmware): Contains the code be run in the microcontroller for interfacing low level hardware with the SBC.
 - :gear: [`andino_base`](./andino_base): [ROS Control hardware interface](https://control.ros.org/master/doc/ros2_control/hardware_interface/doc/writing_new_hardware_interface.html) is implemented.
 - :control_knobs: [`andino_control`](./andino_control/): It launches the [`controller_manager`](https://control.ros.org/humble/doc/ros2_control/controller_manager/doc/userdoc.html) along with the [ros2 controllers](https://control.ros.org/master/doc/ros2_controllers/doc/controllers_index.html): [diff_drive_controller](https://control.ros.org/master/doc/ros2_controllers/diff_drive_controller/doc/userdoc.html) and the [joint_state_broadcaster](https://control.ros.org/master/doc/ros2_controllers/joint_state_broadcaster/doc/userdoc.html).
-- :computer: [`andino_gz_classic`](./andino_gz_classic/): [Gazebo Classic](https://classic.gazebosim.org/) simulation of the `andino` robot.
 - :world_map: [`andino_slam`](./andino_slam/): Provides support for SLAM with your `andino` robot.
 - :compass: [`andino_navigation`](./andino_navigation/): Navigation stack based on `nav2`.
-- :exclamation: [`andino_apps`](./andino_apps/): Integrated applications with the `andino` robot.
 
 ## :paperclips: Related projects
 
@@ -41,8 +41,14 @@ Other projects built upon Andino! :rocket:
 - :lady_beetle: [`andino_webots`](https://github.com/Ekumen-OS/andino_webots): [Webots](https://github.com/cyberbotics/webots) simulation of the Andino robot fully integrated with ROS 2.
 - :joystick: [`andino_o3de`](https://github.com/Ekumen-OS/andino_o3de): [O3DE](https://o3de.org/) simulation of the Andino robot.
 - :green_circle: [`andino_isaac`](https://github.com/Ekumen-OS/andino_isaac): [Isaac Sim](https://docs.omniverse.nvidia.com/isaacsim/latest/index.html) simulation of the Andino robot.
+- :robot: [`andino_rmf`](https://github.com/Ekumen-OS/andino_rmf): [OpenRMF](https://www.open-rmf.org/) integration of Andino simulation.
 - :test_tube: [`andino_integration_tests`](https://github.com/Ekumen-OS/andino_integration_tests): Extension to the Andino robot showing how to build integration tests.
 
+## :busts_in_silhouette: Community
+
+[<img src="docs/discord-mark-blue.png" width=30 hspace="20"/>](https://discord.gg/tHhH32CTHu) Join our Discord and contribute to the community!
+
+
 ## :pick: Robot Assembly
 
 Visit [`andino_hardware`](./andino_hardware/) for assembly instructions.
@@ -183,12 +189,6 @@ https://github.com/Ekumen-OS/andino/assets/53065142/29951e74-e604-4a6e-80fc-421c
 
 Follow the [`andino_navigation`'s README](./andino_navigation/README.md) instructions for bringing up the Navigation stack in the real robot or in the simulation.
 
-## :computer: Simulation
-
-The [`andino_gz_classic`](./andino_gz_classic/README.MD) package provides a Gazebo simulation for the Andino robot.
-
-<img src="./andino_gz_classic/docs/andino_gz_classic.png" width=400/>
-
 ## :selfie: Media
 
 ### RVIZ Visualization

andino_base/CHANGELOG.rst

@@ -2,6 +2,11 @@
 Changelog for package andino_base
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.2.0 (2024-07-19)
+------------------
+* explicitly add <cstdint> header for fixed width integer types (`#254 <https://github.com/Ekumen-OS/andino/issues/254>`_)
+* Contributors: Sakura286
+
 0.1.0 (2023-10-09)
 ------------------
 * Adds pkg-config module dependency (`#161 <https://github.com/Ekumen-OS/andino/issues/161>`_)

andino_base/include/andino_base/motor_driver.h

@@ -30,6 +30,7 @@
 #pragma once
 
 #include <array>
+#include <cstdint>
 
 #include <libserial/SerialPort.h>
 

andino_base/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>andino_base</name>
-  <version>0.1.0</version>
+  <version>0.2.0</version>
   <description>The andino_base package</description>
 
   <author email="[email protected]">Franco Cipollone</author>

andino_bringup/CHANGELOG.rst

@@ -2,6 +2,14 @@
 Changelog for package andino_bringup
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.2.0 (2024-07-19)
+------------------
+* Camera info yaml (`#231 <https://github.com/Ekumen-OS/andino/issues/231>`_)
+* Added README for andino_bringup (`#233 <https://github.com/Ekumen-OS/andino/issues/233>`_)
+* Matches convention with cmd_vel and odom topics. (`#223 <https://github.com/Ekumen-OS/andino/issues/223>`_)
+* Add missing dependency for keyboard teleop launchfile (`#227 <https://github.com/Ekumen-OS/andino/issues/227>`_)
+* Contributors: Franco Cipollone, Gary Servin, Jesús Silva
+
 0.1.0 (2023-10-09)
 ------------------
 * Fixes rosbag2 dependency. (`#151 <https://github.com/Ekumen-OS/andino/issues/151>`_)

andino_bringup/config/raspicam.yaml

@@ -0,0 +1,29 @@
+# Calibration tutorial (from Nav2 docs): https://docs.nav2.org/tutorials/docs/camera_calibration.html
+# Other info for this Raspberry Pi Camera Module V2 can be found here: https://elinux.org/Rpi_Camera_Module#Technical_Parameters_.28v.2_board.29
+
+image_width: 640
+image_height: 480
+camera_name: narrow_stereo
+camera_matrix:
+  rows: 3
+  cols: 3
+  data: [502.10979,   0.     , 315.89371,
+           0.     , 499.35622, 233.15895,
+           0.     ,   0.     ,   1.     ]
+distortion_model: plumb_bob
+distortion_coefficients:
+  rows: 1
+  cols: 5
+  data: [0.150091, -0.263342, 0.002136, -0.004508, 0.000000]
+rectification_matrix:
+  rows: 3
+  cols: 3
+  data: [1., 0., 0.,
+         0., 1., 0.,
+         0., 0., 1.]
+projection_matrix:
+  rows: 3
+  cols: 4
+  data: [510.31363,   0.     , 312.43595,   0.     ,
+           0.     , 510.29425, 233.43648,   0.     ,
+           0.     ,   0.     ,   1.     ,   0.     ]