Add ros2 launch and make it the default
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@@ -25,6 +25,7 @@ RUN apt-get update && apt-get install -y --no-install-recommends \
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ros-${ROS_DISTRO}-geometry-msgs \
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ros-${ROS_DISTRO}-std-msgs \
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ros-${ROS_DISTRO}-sensor-msgs \
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ros-${ROS_DISTRO}-launch-ros \
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python3-smbus \
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&& rm -rf /var/lib/apt/lists/*
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@@ -42,4 +43,4 @@ COPY docker-entrypoint.sh /docker-entrypoint.sh
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RUN chmod +x /docker-entrypoint.sh
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ENTRYPOINT ["/docker-entrypoint.sh"]
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CMD ["ros2", "run", "my_robot", "motor_controller"]
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CMD ["ros2", "launch", "my_robot", "robot.launch.py"]
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@@ -165,7 +165,7 @@ Replace `matt` with the username configured in [ansible/inventory.ini](ansible/i
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## Launching
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The container needs access to the I²C bus that the motor controller is wired to. Pass only that device rather than running the container in privileged mode:
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The default `CMD` starts both nodes together via the launch file. The container needs access to the I²C bus — pass only that device rather than running privileged:
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```bash
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docker run --rm \
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@@ -175,11 +175,11 @@ docker run --rm \
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my_robot:latest
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```
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If your board exposes the motor controller on a different bus (check with `ls /dev/i2c-*` on the host), substitute the correct device node (e.g. `--device /dev/i2c-0`).
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If your board exposes the controller on a different bus (check with `ls /dev/i2c-*` on the host), substitute the correct device node (e.g. `--device /dev/i2c-0`).
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### Camera orientation node
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### Overriding parameters at launch
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Override the default `CMD` to run the camera orientation node instead:
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Launch arguments can be appended after the image name:
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```bash
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docker run --rm \
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@@ -187,63 +187,22 @@ docker run --rm \
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--device /dev/i2c-1 \
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--env ROS_DOMAIN_ID=0 \
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my_robot:latest \
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ros2 run my_robot camera_orientation
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ros2 launch my_robot robot.launch.py \
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wheel_base:=0.25 max_speed:=0.8 tilt_center_deg:=45.0
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```
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#### Overriding parameters at launch
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Available launch arguments:
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```bash
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docker run --rm \
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--network=host \
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--device /dev/i2c-1 \
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--env ROS_DOMAIN_ID=0 \
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my_robot:latest \
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ros2 run my_robot camera_orientation \
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--ros-args -p pan_center_deg:=90.0 -p tilt_center_deg:=45.0
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```
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#### Commanding the camera from the host
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Pan to centre (90°) and tilt to 30°:
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```bash
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ros2 topic pub --once /joint_command sensor_msgs/msg/JointState \
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"{name: ['pan', 'tilt'], position: [1.5708, 0.5236]}"
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```
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You can command a single axis by omitting the other joint name:
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```bash
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# Pan only
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ros2 topic pub --once /joint_command sensor_msgs/msg/JointState \
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"{name: ['pan'], position: [0.0]}"
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```
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#### Verifying orientation state
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```bash
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ros2 topic echo /joint_states
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```
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---
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### Overriding parameters at launch (motor controller)
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ROS 2 parameters can be passed through `--ros-args`:
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```bash
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docker run --rm \
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--network=host \
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--device /dev/i2c-1 \
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--env ROS_DOMAIN_ID=0 \
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my_robot:latest \
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ros2 run my_robot motor_controller \
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--ros-args -p wheel_base:=0.25 -p max_speed:=0.8
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```
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| Argument | Default | Description |
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|---|---|---|
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| `wheel_base` | `0.3` | Distance between left and right wheels (m) |
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| `max_speed` | `1.0` | Maximum motor speed in library units |
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| `pan_center_deg` | `90.0` | Pan angle at startup and shutdown (degrees) |
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| `tilt_center_deg` | `60.0` | Tilt angle at startup and shutdown (degrees) |
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### Sending velocity commands from the host
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With the container running, publish a `cmd_vel` message from another terminal (requires ROS 2 installed on the host or a second container on the same network):
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With the container running, publish from another terminal (requires ROS 2 on the host or a second container on the same network):
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```bash
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# Drive forward at 0.2 m/s
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@@ -259,10 +218,31 @@ ros2 topic pub --once /cmd_vel geometry_msgs/msg/Twist \
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"{linear: {x: 0.0}, angular: {z: 0.0}}"
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```
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### Commanding the camera from the host
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Pan to centre (90°) and tilt to 30°:
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```bash
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ros2 topic pub --once /joint_command sensor_msgs/msg/JointState \
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"{name: ['pan', 'tilt'], position: [1.5708, 0.5236]}"
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```
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A single axis can be commanded by omitting the other joint name:
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```bash
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# Pan only
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ros2 topic pub --once /joint_command sensor_msgs/msg/JointState \
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"{name: ['pan'], position: [0.0]}"
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```
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### Verifying telemetry
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```bash
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# Wheel speeds
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ros2 topic echo /current_wheel_speeds
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# Camera orientation
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ros2 topic echo /joint_states
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```
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---
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@@ -277,6 +257,8 @@ ros2 topic echo /current_wheel_speeds
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│ └── my_robot/
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│ ├── package.xml # ROS package manifest
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│ ├── setup.py # ament_python build definition
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│ ├── launch/
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│ │ └── robot.launch.py # Starts both nodes together
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│ └── my_robot/
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│ ├── __init__.py
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│ ├── motor_controller_node.py # Differential-drive motor control
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@@ -0,0 +1,45 @@
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from launch import LaunchDescription
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from launch.actions import DeclareLaunchArgument
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from launch.substitutions import LaunchConfiguration
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from launch_ros.actions import Node
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def generate_launch_description():
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return LaunchDescription([
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# ── Motor controller arguments ────────────────────────────────────
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DeclareLaunchArgument('wheel_base', default_value='0.3',
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description='Distance between left and right wheels (m)'),
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DeclareLaunchArgument('max_speed', default_value='1.0',
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description='Maximum motor speed in library units'),
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# ── Camera orientation arguments ──────────────────────────────────
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DeclareLaunchArgument('pan_center_deg', default_value='90.0',
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description='Pan angle at startup and shutdown (degrees)'),
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DeclareLaunchArgument('tilt_center_deg', default_value='60.0',
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description='Tilt angle at startup and shutdown (degrees)'),
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# ── Nodes ─────────────────────────────────────────────────────────
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Node(
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package='my_robot',
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executable='motor_controller',
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name='motor_controller',
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parameters=[{
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'wheel_base': LaunchConfiguration('wheel_base'),
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'max_speed': LaunchConfiguration('max_speed'),
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}],
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output='screen',
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),
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Node(
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package='my_robot',
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executable='camera_orientation',
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name='camera_orientation',
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parameters=[{
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'pan_center_deg': LaunchConfiguration('pan_center_deg'),
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'tilt_center_deg': LaunchConfiguration('tilt_center_deg'),
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}],
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output='screen',
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),
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])
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@@ -10,6 +10,8 @@
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<exec_depend>geometry_msgs</exec_depend>
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<exec_depend>std_msgs</exec_depend>
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<exec_depend>sensor_msgs</exec_depend>
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<exec_depend>launch</exec_depend>
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<exec_depend>launch_ros</exec_depend>
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<buildtool_depend>ament_python</buildtool_depend>
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@@ -9,6 +9,7 @@ setup(
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data_files=[
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('share/ament_index/resource_index/packages', ['resource/' + package_name]),
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('share/' + package_name, ['package.xml']),
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('share/' + package_name + '/launch', ['launch/robot.launch.py']),
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],
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install_requires=['setuptools'],
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zip_safe=True,
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