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First jazzy release
Signed-off-by: Alberto Tudela <[email protected]>
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‎.github/workflows/build.yml‎

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on:
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push:
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branches: [main, humble]
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branches: [main, jazzy]
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pull_request:
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env:
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CORTEX_PATH: ${{ github.workspace }}/cortex
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jobs:
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build:
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runs-on: ubuntu-22.04
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runs-on: ubuntu-24.04
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steps:
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- name: Checkout Repository
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uses: actions/[email protected]
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dsr_msgs
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dsr_rqt_plugin
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dsr_util
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target-ros2-distro: humble
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target-ros2-distro: jazzy
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colcon-defaults: |
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{
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"build": {

‎.github/workflows/docker_image.yml‎

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workflow_dispatch:
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workflow_run:
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workflows: ["Build"]
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branches: [main, humble]
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branches: [main, jazzy]
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types:
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- completed
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jobs:
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docker-image:
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runs-on: ubuntu-latest
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if: ${{ github.event_name == 'workflow_dispatch' || github.event.workflow_run.conclusion == 'success' }}
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runs-on: ubuntu-24.04
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steps:
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- name: Checkout
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uses: actions/checkout@v4.1.6
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uses: actions/checkout@v4.2.2
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with:
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ref: ${{ github.event.workflow_run.head_branch }}
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id: dsr_ros-builder
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- name: Cache Docker layers
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uses: actions/cache@v4
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uses: actions/cache@v4.2.0
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with:
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path: /tmp/.buildx-cache
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key: ${{ runner.os }}-buildx-${{ github.sha }}

‎README.md‎

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# dsr_ros
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![ROS2](https://img.shields.io/badge/ros2-humble-blue?logo=ros&logoColor=white)
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![ROS2](https://img.shields.io/badge/ros2-jazzy-blue?logo=ros&logoColor=white)
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![License](https://img.shields.io/github/license/grupo-avispa/dsr_ros)
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[![Build](https://github.com/grupo-avispa/dsr_ros/actions/workflows/build.yml/badge.svg?branch=main)](https://github.com/grupo-avispa/dsr_ros/actions/workflows/build.yml)
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[![Docker image](https://github.com/grupo-avispa/dsr_ros/actions/workflows/docker_image.yml/badge.svg?branch=main)](https://github.com/grupo-avispa/dsr_ros/actions/workflows/docker_image.yml)
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**Author: Alberto Tudela, José Galeas Merchan, Óscar Pons Fernández<br />**
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The dsr_ros package has been tested under [ROS2] Humble on [Ubuntu] 22.04. This is research code, expect that it changes often and any fitness for a particular purpose is disclaimed.
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The dsr_ros package has been tested under [ROS2] Jazzy on [Ubuntu] 24.04. This is research code, expect that it changes often and any fitness for a particular purpose is disclaimed.
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## Installation
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### Building from Source
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#### Dependencies
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- [Robot Operating System (ROS) 2](https://docs.ros.org/en/humble/) (middleware for robotics)
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- [Robot Operating System (ROS) 2](https://docs.ros.org/en/jazzy/) (middleware for robotics)
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- [Cortex](https://github.com/grupo-avispa/cortex) (DSR library)
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- [FAST-DDS](https://github.com/eProsima/Fast-DDS) (eprosima Fast DDS)
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To build from source, clone the latest version of the repository into your colcon workspace and compile the package using the following commands:
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```bash
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cd colcon_workspace/src
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git clone https://github.com/grupo-avispa/dsr_ros.git -b humble
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git clone https://github.com/grupo-avispa/dsr_ros.git -b jazzy
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cd ../
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rosdep install -i --from-path src --rosdistro humble -y
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rosdep install -i --from-path src --rosdistro jazzy -y
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colcon build --symlink-install
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```
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[dsr_util]: ./dsr_util
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[Ubuntu]: https://ubuntu.com/
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[ROS2]: https://docs.ros.org/en/humble/
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[ROS2]: https://docs.ros.org/en/jazzy/

‎dsr_agents/CHANGELOG.rst‎

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Changelog for package dsr_agents
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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1.1.1 (11-02-2025)
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------------------
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* Change opennav_docking_msgs to nav2_msgs.
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* First jazzy release.
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1.1.0 (20-01-2025)
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------------------
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* Added ros_action_name as parameter.

‎dsr_agents/CMakeLists.txt‎

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find_package(fastcdr REQUIRED)
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find_package(geometry_msgs REQUIRED)
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find_package(nav2_msgs REQUIRED)
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find_package(opennav_docking_msgs REQUIRED)
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find_package(rclcpp REQUIRED)
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find_package(rclcpp_action REQUIRED)
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find_package(rclcpp_components REQUIRED)
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target_link_libraries(docking_agent
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PUBLIC
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dsr_util::action_agent
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${opennav_docking_msgs_TARGETS}
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${nav2_msgs_TARGETS}
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PRIVATE
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rclcpp_components::component
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)
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# ###########
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if(BUILD_TESTING)
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find_package(ament_lint_auto REQUIRED)
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find_package(ament_index_cpp REQUIRED)
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# the following line skips the linter which checks for copyrights
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set(ament_cmake_copyright_FOUND TRUE)
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fastcdr
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geometry_msgs
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nav2_msgs
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opennav_docking_msgs
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rclcpp
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rclcpp_action
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rclcpp_components

‎dsr_agents/README.md‎

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* **`Navigation agent:`** facilitates the execution of navigation commands from the DSR.
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* **`TF agent:`** publishes the transformation tree as nodes in the DSR, providing a visual representation of transformations across different reference frames in the CORTEX environment.
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**Keywords:** ROS2, cortex, dsr, deep space representation
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**Author: Alberto Tudela, Oscar Pons Fernández, José Galeas Merchan<br />**
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The dsr_agents package has been tested under [ROS2] Humble on [Ubuntu] 22.04. This is research code, expect that it changes often and any fitness for a particular purpose is disclaimed.
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## Nodes
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### topic_agent
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The source of the nodes / edges.
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[Ubuntu]: https://ubuntu.com/
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[ROS2]: https://docs.ros.org/en/humble/
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[tf2_msgs/TFMessage]: http://docs.ros.org/api/tf2_msgs/html/msg/TFMessage.html
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[nav2_msgs/action/NavigateToPose]: hhttps://github.com/ros-planning/navigation2/blob/main/nav2_msgs/action/NavigateToPose.action
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[opennav_docking_msgs/action/DockRobot]: https://github.com/open-navigation/opennav_docking/blob/main/opennav_docking_msgs/action/DockRobot.action

‎dsr_agents/include/dsr_agents/docking_agent.hpp‎

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#define DSR_AGENTS__DOCKING_AGENT_HPP_
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// ROS
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#include "opennav_docking_msgs/action/dock_robot.hpp"
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#include "nav2_msgs/action/dock_robot.hpp"
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#include "dsr_util/action_agent.hpp"
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* @class dsr_agents::DockingAgent
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* @brief Agent to dock the robot in a charging station.
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*/
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class DockingAgent : public dsr_util::ActionAgent<opennav_docking_msgs::action::DockRobot>
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class DockingAgent : public dsr_util::ActionAgent<nav2_msgs::action::DockRobot>
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{
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public:
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/**

‎dsr_agents/package.xml‎

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<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
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<package format="3">
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<name>dsr_agents</name>
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<version>1.1.0</version>
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<version>1.1.1</version>
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<description>Agents to connect ROS nodes with DSR</description>
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<maintainer email="[email protected]">Alberto Tudela</maintainer>
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<license>Apache-2.0</license>
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<depend>fastrtps</depend>
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<depend>geometry_msgs</depend>
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<depend>nav2_msgs</depend>
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<depend>opennav_docking_msgs</depend>
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<depend>rclcpp</depend>
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<depend>rclcpp_action</depend>
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<depend>rclcpp_components</depend>

‎dsr_agents/src/docking_agent.cpp‎

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{
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DockingAgent::DockingAgent(const rclcpp::NodeOptions & options)
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: dsr_util::ActionAgent<opennav_docking_msgs::action::DockRobot>("docking_agent", options)
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: dsr_util::ActionAgent<nav2_msgs::action::DockRobot>("docking_agent", options)
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{
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}
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‎dsr_agents/test/CMakeLists.txt‎

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find_package(ament_index_cpp REQUIRED)
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find_package(dsr_util REQUIRED)
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find_package(nav2_util REQUIRED)
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