Fixed README

-> python 3.13

.dockerignore

@@ -0,0 +1,4 @@
+.git
+*.log
+build/
+install/

.env

@@ -0,0 +1 @@
+DOCKER_IMAGE=main-jazzy-tutorial-source

README.md

@@ -11,6 +11,7 @@ You will use these packages to launch all rover-side ROS2 nodes.
 - [Software Prerequisites](#software-prerequisites)
   - [Nix](#nix)
   - [ROS2 Humble + rosdep](#ros2-humble--rosdep)
+  - [Docker](#docker)
 - [Running](#running)
   - [Testing Serial](#testing-serial)
   - [Connecting the GuliKit Controller](#connecting-the-gulikit-controller)
@@ -47,6 +48,17 @@ $ cd path/to/rover-ros2
 $ rosdep install --from-paths src -y --ignore-src
 ```
 
+### Docker
+
+Using the docker compose file automatically builds the workspace and allows you to choose between running on the CPU or GPU for applications like Rviz2 and Gazebo:
+
+```bash
+  # Run on CPU
+$ docker compose run --rm --name rover-ros2-container cpu
+  # Run on GPU (NVidia only)
+$ docker compose run --rm --name rover-ros2-container gpu
+```
+
 ## Running
 
 ```bash

docker-compose.yml

@@ -0,0 +1,38 @@
+services:
+  cpu:
+    image: moveit/moveit2:${DOCKER_IMAGE}
+    container_name: moveit2_container
+    privileged: true
+    network_mode: host
+    command: ["bash", "-c", "colcon build --symlink-install && source /ros2_ws/install/setup.bash && exec bash"]
+    volumes:
+      - ./:/ros2_ws
+      - /tmp/.X11-unix:/tmp/.X11-unix
+      - $XAUTHORITY:/root/.Xauthority
+    working_dir: /ros2_ws
+    environment:
+      QT_X11_NO_MITSHM: 1
+      DISPLAY: $DISPLAY
+  gpu:
+    image: moveit/moveit2:${DOCKER_IMAGE}
+    container_name: moveit2_container
+    privileged: true
+    network_mode: host
+    command: ["bash", "-c", "colcon build --symlink-install && source /ros2_ws/install/setup.bash && exec bash"]
+    deploy:
+      resources:
+        reservations:
+          devices:
+            - driver: nvidia
+              count: 1
+              capabilities: [gpu]
+    volumes:
+      - ./:/ros2_ws
+      - /tmp/.X11-unix:/tmp/.X11-unix
+      - $XAUTHORITY:/root/.Xauthority
+    working_dir: /ros2_ws
+    environment:
+      QT_X11_NO_MITSHM: 1
+      DISPLAY: $DISPLAY
+      NVIDIA_VISIBLE_DEVICES: all
+      NVIDIA_DRIVER_CAPABILITIES: all

flake.lock

@@ -24,27 +24,27 @@
         "nixpkgs": "nixpkgs"
       },
       "locked": {
-        "lastModified": 1761810010,
+        "lastModified": 1770108954,
-        "narHash": "sha256-o0wJKW603SiOO373BTgeZaF6nDxegMA/cRrzSC2Cscg=",
+        "narHash": "sha256-VBj6bd4LPPSfsZJPa/UPPA92dOs6tmQo0XZKqfz/3W4=",
         "owner": "lopsided98",
         "repo": "nix-ros-overlay",
-        "rev": "e277df39e3bc6b372a5138c0bcf10198857c55ab",
+        "rev": "3d05d46451b376e128a1553e78b8870c75d7753a",
         "type": "github"
       },
       "original": {
         "owner": "lopsided98",
-        "ref": "master",
+        "ref": "develop",
         "repo": "nix-ros-overlay",
         "type": "github"
       }
     },
     "nixpkgs": {
       "locked": {
-        "lastModified": 1744849697,
+        "lastModified": 1759381078,
-        "narHash": "sha256-S9hqvanPSeRu6R4cw0OhvH1rJ+4/s9xIban9C4ocM/0=",
+        "narHash": "sha256-gTrEEp5gEspIcCOx9PD8kMaF1iEmfBcTbO0Jag2QhQs=",
-        "owner": "lopsided98",
+        "owner": "NixOS",
         "repo": "nixpkgs",
-        "rev": "6318f538166fef9f5118d8d78b9b43a04bb049e4",
+        "rev": "7df7ff7d8e00218376575f0acdcc5d66741351ee",
         "type": "github"
       },
       "original": {

flake.nix

@@ -2,7 +2,7 @@
   description = "Development environment for ASTRA Anchor";
 
   inputs = {
-    nix-ros-overlay.url = "github:lopsided98/nix-ros-overlay/master";
+    nix-ros-overlay.url = "github:lopsided98/nix-ros-overlay/develop";
     nixpkgs.follows = "nix-ros-overlay/nixpkgs"; # IMPORTANT!!!
   };
 
@@ -25,7 +25,7 @@
           name = "ASTRA Anchor";
           packages = with pkgs; [
             colcon
-            (python312.withPackages (
+            (python313.withPackages (
               p: with p; [
                 pyserial
                 pygame
@@ -56,10 +56,12 @@
                   control-msgs
                   control-toolbox
                   moveit-core
+                  moveit-planners
                   moveit-common
                   moveit-msgs
                   moveit-ros-planning
                   moveit-ros-planning-interface
+		  moveit-ros-visualization
                   moveit-configs-utils
                   moveit-ros-move-group
                   moveit-servo
@@ -68,9 +70,9 @@
                   pilz-industrial-motion-planner
                   pick-ik
                   ompl
-                  chomp-motion-planner
                   joy
-                  # ros2-controllers nixpkg does not build :(
+                  ros2-controllers
+		  chomp-motion-planner
                 ];
               }
             )

src/arm_pkg/arm_pkg/arm_node.py

@@ -49,7 +49,7 @@ class SerialRelay(Node):
 
         # Create subscribers
         self.man_sub = self.create_subscription(
-            ArmManual, "/arm/control/manual", self.send_manual, 10
+            ArmManual, "/arm/control/manual", self.send_manual, 2
         )
 
         # New messages
@@ -190,7 +190,7 @@ class SerialRelay(Node):
 
         command += f"can_relay_tovic,digit,39,{msg.effector_yaw},{msg.effector_roll}\n"
 
-        # command += f"can_relay_tovic,digit,26,{msg.gripper}\n"  # no hardware rn
+        command += f"can_relay_tovic,digit,26,{msg.gripper}\n"  # no hardware rn
 
         command += f"can_relay_tovic,digit,28,{msg.laser}\n"
 

src/core_pkg/core_pkg/core_node.py

@@ -31,14 +31,14 @@ CORE_WHEEL_RADIUS = 0.171  # meters
 CORE_GEAR_RATIO = 100.0  # Clucky: 100:1, Testbed: 64:1
 
 control_qos = qos.QoSProfile(
-    history=qos.QoSHistoryPolicy.KEEP_LAST,
+    # history=qos.QoSHistoryPolicy.KEEP_LAST,
     depth=2,
-    reliability=qos.QoSReliabilityPolicy.BEST_EFFORT,
+    # reliability=qos.QoSReliabilityPolicy.BEST_EFFORT,
-    durability=qos.QoSDurabilityPolicy.VOLATILE,
+    # durability=qos.QoSDurabilityPolicy.VOLATILE,
-    deadline=Duration(seconds=1),
+    # deadline=Duration(seconds=1),
-    lifespan=Duration(nanoseconds=500_000_000),  # 500ms
+    # lifespan=Duration(nanoseconds=500_000_000),  # 500ms
-    liveliness=qos.QoSLivelinessPolicy.SYSTEM_DEFAULT,
+    # liveliness=qos.QoSLivelinessPolicy.SYSTEM_DEFAULT,
-    liveliness_lease_duration=Duration(seconds=5),
+    # liveliness_lease_duration=Duration(seconds=5),
 )
 
 # Used to verify the length of an incoming VicCAN feedback message

src/headless_pkg/src/headless_node.py

@@ -35,14 +35,14 @@ ARM_STOP_MSG = ArmManual()  # "
 BIO_STOP_MSG = BioControl()  # "
 
 control_qos = qos.QoSProfile(
-    history=qos.QoSHistoryPolicy.KEEP_LAST,
+    # history=qos.QoSHistoryPolicy.KEEP_LAST,
     depth=2,
-    reliability=qos.QoSReliabilityPolicy.BEST_EFFORT,
+    # reliability=qos.QoSReliabilityPolicy.BEST_EFFORT,
-    durability=qos.QoSDurabilityPolicy.VOLATILE,
+    # durability=qos.QoSDurabilityPolicy.VOLATILE,
-    deadline=Duration(seconds=1),
+    # deadline=Duration(seconds=1),
-    lifespan=Duration(nanoseconds=500_000_000),  # 500ms
+    # lifespan=Duration(nanoseconds=500_000_000),  # 500ms
-    liveliness=qos.QoSLivelinessPolicy.SYSTEM_DEFAULT,
+    # liveliness=qos.QoSLivelinessPolicy.SYSTEM_DEFAULT,
-    liveliness_lease_duration=Duration(seconds=5),
+    # liveliness_lease_duration=Duration(seconds=5),
 )
 
 CORE_MODE = "twist"  # "twist" or "duty"

src/servo_arm_twist_pkg/src/joystick_twist.cpp

@@ -43,16 +43,12 @@
 #include <control_msgs/msg/joint_jog.hpp>
 #include <std_srvs/srv/trigger.hpp>
 #include <moveit_msgs/msg/planning_scene.hpp>
-#include <rclcpp/client.hpp>
+
-#include <rclcpp/experimental/buffers/intra_process_buffer.hpp>
 #include <rclcpp/node.hpp>
 #include <rclcpp/publisher.hpp>
-#include <rclcpp/qos.hpp>
-#include <rclcpp/qos_event.hpp>
 #include <rclcpp/subscription.hpp>
+#include <rclcpp/qos.hpp>
 #include <rclcpp/time.hpp>
-#include <rclcpp/utilities.hpp>
-#include <thread>
 
 // We'll just set up parameters here
 const std::string JOY_TOPIC = "/joy";
@@ -104,8 +100,9 @@ std::map<Button, double> BUTTON_DEFAULTS;
  * @return return true if you want to publish a Twist, false if you want to publish a JointJog
  */
 bool convertJoyToCmd(const std::vector<float>& axes, const std::vector<int>& buttons,
-                     std::unique_ptr<geometry_msgs::msg::TwistStamped>& twist,
+                     std::unique_ptr<geometry_msgs::msg::TwistStamped>& twist
-                     std::unique_ptr<control_msgs::msg::JointJog>& joint)
+                     // std::unique_ptr<control_msgs::msg::JointJog>& joint
+                    )
 {
     // // Give joint jogging priority because it is only buttons
     // // If any joint jog command is requested, we are only publishing joint commands
@@ -236,7 +233,7 @@ public:
         updateCmdFrame(frame_to_publish_, msg->buttons);
 
         // Convert the joystick message to Twist or JointJog and publish
-        if (convertJoyToCmd(msg->axes, msg->buttons, twist_msg, joint_msg))
+        if (convertJoyToCmd(msg->axes, msg->buttons, twist_msg))
         {
             // publish the TwistStamped
             twist_msg->header.frame_id = frame_to_publish_;