frewf

.github/workflows/compile_run.yml

@@ -10,7 +10,7 @@ on:
 
 jobs:
   compile:
-    runs-on: ubuntu-22.04
+    runs-on: ubuntu-24.04
     steps:
       - name: Code Checkout
         uses: actions/checkout@v3
@@ -26,4 +26,4 @@ jobs:
         env:
           VN_USERNAME: ${{ secrets.VN_USERNAME }}
           VN_PASSWORD: ${{ secrets.VN_PASSWORD }}
-        run: docker build . --file Dockerfile --build-arg VN_USERNAME=${{ secrets.VN_USERNAME }} --build-arg VN_PASSWORD=${{ secrets.VN_PASSWORD }}
+        run: docker build . --file Dockerfile --build-arg VN_USERNAME=${{ secrets.VN_USERNAME }} --build-arg VN_PASSWORD=${{ secrets.VN_PASSWORD }}

Dockerfile

@@ -0,0 +1,16 @@
+FROM osrf/ros:jazzy-desktop-full
+
+RUN mkdir -p /autonav/autonav_ws/src
+# RUN mkdir -p /autonav/setup
+# RUN mkdir -p /autonav/deps
+
+COPY autonav_ws/src /autonav/autonav_ws/src
+# COPY setup /autonav/setup
+# COPY vectorsecrets.txt /autonav/setup/vectorsecrets.txt
+# COPY deps /autonav/deps
+
+# WORKDIR /autonav/setup
+# RUN /bin/bash -c "./setup.sh"
+
+WORKDIR /autonav/autonav_ws
+RUN /bin/bash -c "source /opt/ros/jazzy/setup.bash; colcon build"

README.md

@@ -1,6 +1,6 @@
 # autonav_software_2025
 
-![Github Workflow Status](https://img.shields.io/github/actions/workflow/status/SoonerRobotics/autonav_software_2024/compile_run.yml)
+![Github Workflow Status](https://img.shields.io/github/actions/workflow/status/SoonerRobotics/autonav_software_2025/compile_run.yml)
 
 Software for our 2025 [Intelligent Ground Vehicle Competition](http://www.igvc.org/) AutoNav challenge entry, **NAME TBD**.  
 We are using [ROS2 Jazzy](https://docs.ros.org/en/jazzy/index.html) on [Ubuntu 24.04](https://releases.ubuntu.com/24.04/).
@@ -17,7 +17,7 @@ echo "machine files.dylanzeml.in login <user> password <password>" > vectorsecre
 ## Building
 
 ```bash
-source /opt/ros/humble/setup.bash
+source /opt/ros/jazzy/setup.bash
 cd autonav_ws
 colcon build
 source /install/setup.bash

autonav_ws/src/autonav_msgs/CMakeLists.txt

@@ -12,10 +12,20 @@ find_package(builtin_interfaces REQUIRED)
 
 # generate messages
 set(msg_files
-    "msg/SystemState.msg"
+    "msg/AudibleFeedback.msg"
+    "msg/Conbus.msg"
     "msg/DeviceState.msg"
-    "msg/Performance.msg"
+    "msg/GPSFeedback.msg"
+    "msg/IMUData.msg"
     "msg/Log.msg"
+    "msg/MotorFeedback.msg"
+    "msg/MotorInput.msg"
+    "msg/NUCStatistics.msg"
+    "msg/Position.msg"
+    "msg/SafetyLights.msg"
+    "msg/SystemState.msg"
+    "msg/Ultrasonic.msg"
+    "msg/Performance.msg"
 )
 
 set(srv_files

autonav_ws/src/autonav_msgs/msg/AudibleFeedback.msg

@@ -0,0 +1 @@
+string filename

autonav_ws/src/autonav_msgs/msg/Conbus.msg

@@ -0,0 +1,3 @@
+uint32 id
+uint8[] data
+int64 iterator -1

autonav_ws/src/autonav_msgs/msg/GPSFeedback.msg

@@ -0,0 +1,6 @@
+float64 latitude
+float64 longitude
+float64 altitude
+int16 gps_fix
+bool is_locked
+int16 satellites

autonav_ws/src/autonav_msgs/msg/IMUData.msg

@@ -0,0 +1,9 @@
+float64 yaw
+float64 pitch
+float64 roll
+float64 accel_x
+float64 accel_y
+float64 accel_z
+float64 angular_x
+float64 angular_y
+float64 angular_z

autonav_ws/src/autonav_msgs/msg/MotorFeedback.msg

@@ -0,0 +1,3 @@
+float64 delta_x 0
+float64 delta_y 0
+float64 delta_theta 0

autonav_ws/src/autonav_msgs/msg/MotorInput.msg

@@ -0,0 +1,3 @@
+float32 forward_velocity 0
+float32 sideways_velocity 0
+float32 angular_velocity 0

autonav_ws/src/autonav_msgs/msg/NUCStatistics.msg

@@ -0,0 +1,5 @@
+uint32 timestamp # in milliseconds
+float32 cpu_percentage
+float32 ram_usage
+float32 disk_usage
+float32 gpu_usage

autonav_ws/src/autonav_msgs/msg/Position.msg

@@ -0,0 +1,5 @@
+float64 x 0
+float64 y 0
+float64 theta 0
+float64 latitude
+float64 longitude

autonav_ws/src/autonav_msgs/msg/SafetyLights.msg

@@ -0,0 +1,4 @@
+bool autonomous
+uint8 red
+uint8 green
+uint8 blue

autonav_ws/src/autonav_msgs/msg/Ultrasonic.msg

@@ -0,0 +1,2 @@
+uint8 id
+uint16 distance