Migrate to a new physical robot

Uses the mecanum controller properly across physical and virtual There is a timing issue with i2c which is why the control update is limited to 10hz The sonar and LED's arent yet working, this will come soon.
2026-05-27 13:25:20 +00:00
parent c1319a6357
commit ec554bcf2c
96 changed files with 2874 additions and 3730 deletions
@@ -0,0 +1,83 @@
+# syntax=docker/dockerfile:1
+# ─────────────────────────────────────────────────────────────────────────────
+# Raspbot V2 — robot deployment image
+#
+# Target:      Raspberry Pi 5  (linux/arm64)
+# Build:       docker buildx build --platform linux/arm64 \
+#                  -t raspbot-v2:latest -f Dockerfile.robot .
+#
+# Run:         docker run --rm -it \
+#                  --network host \
+#                  --device /dev/i2c-1 \
+#                  raspbot-v2:latest
+#
+# Override CMD to pass launch arguments, e.g.:
+#   docker run ... raspbot-v2:latest \
+#       ros2 launch raspbot_v2_hardware hardware.launch.py enable_camera:=false
+# ─────────────────────────────────────────────────────────────────────────────
+
+ARG ROS_DISTRO=kilted
+
+# ── Stage 1: build ───────────────────────────────────────────────────────────
+FROM ros:${ROS_DISTRO}-ros-base AS builder
+ARG ROS_DISTRO
+
+RUN apt-get update && apt-get install -y --no-install-recommends \
+        build-essential \
+        cmake \
+        python3-colcon-common-extensions \
+        python3-rosdep \
+        ros-${ROS_DISTRO}-hardware-interface \
+        ros-${ROS_DISTRO}-pluginlib \
+        ros-${ROS_DISTRO}-rclcpp \
+    && rm -rf /var/lib/apt/lists/*
+
+WORKDIR /ros2_ws
+
+# raspbot_v2_sim is intentionally excluded — Gazebo is not needed on the robot
+COPY src/raspbot_v2_bringup            src/raspbot_v2_bringup
+COPY src/raspbot_v2_control            src/raspbot_v2_control
+COPY src/raspbot_v2_description        src/raspbot_v2_description
+COPY src/raspbot_v2_hardware           src/raspbot_v2_hardware
+COPY src/raspbot_v2_hardware_interface src/raspbot_v2_hardware_interface
+
+RUN . /opt/ros/${ROS_DISTRO}/setup.sh \
+    && sudo apt-get update \
+    && rosdep update --rosdistro ${ROS_DISTRO} \
+    && rosdep install --from-paths src --ignore-src -r -y \
+    && rm -rf /var/lib/apt/lists/*
+
+RUN . /opt/ros/${ROS_DISTRO}/setup.sh \
+ && colcon build \
+        --cmake-args -DCMAKE_BUILD_TYPE=Release \
+        --parallel-workers "$(nproc)"
+
+# ── Stage 2: runtime ─────────────────────────────────────────────────────────
+FROM ros:${ROS_DISTRO}-ros-base AS runtime
+ARG ROS_DISTRO
+
+RUN apt-get update && apt-get install -y --no-install-recommends \
+        # I2C access for Yahboom MCU (motors, LEDs, servos, ultrasonic)
+        python3-smbus \
+        # ros2_control: controller_manager, hardware_interface, spawner CLI
+        ros-${ROS_DISTRO}-ros2-control \
+        # Standard controllers: MecanumDriveController, JointStateBroadcaster,
+        # ForwardCommandController (pan/tilt)
+        ros-${ROS_DISTRO}-ros2-controllers \
+        # URDF/xacro processing and joint-state → TF broadcasting
+        ros-${ROS_DISTRO}-robot-state-publisher \
+        ros-${ROS_DISTRO}-xacro \
+    && rm -rf /var/lib/apt/lists/*
+
+COPY --from=builder /ros2_ws/install /ros2_ws/install
+
+# Entrypoint sources both the ROS underlay and the workspace overlay
+RUN echo '#!/bin/bash'                                          > /entrypoint.sh \
+ && echo 'set -e'                                              >> /entrypoint.sh \
+ && echo "source /opt/ros/${ROS_DISTRO}/setup.bash"            >> /entrypoint.sh \
+ && echo 'source /ros2_ws/install/setup.bash'                  >> /entrypoint.sh \
+ && echo 'exec "$@"'                                           >> /entrypoint.sh \
+ && chmod +x /entrypoint.sh
+
+ENTRYPOINT ["/entrypoint.sh"]
+CMD ["ros2", "launch", "raspbot_v2_hardware", "hardware.launch.py"]