Skip to content

Commit e02c883

Browse files
YoungWook0533YoungWook0533
authored
Merge pull request #121 from ROBOTIS-GIT/feature-f2-pack
Standardized F1 and F2 launch file names to support shared pack pose launcher
2 parents a24a272 + 0505ab1 commit e02c883

37 files changed

Lines changed: 154 additions & 66 deletions

‎docker/Dockerfile.amd64‎

Lines changed: 2 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -70,6 +70,8 @@ RUN echo "source /opt/ros/${ROS_DISTRO}/setup.bash" >> ~/.bashrc && \
7070
echo "alias ffw_sh5_follower_ai='ros2 launch ffw_bringup ffw_sh5_follower_ai.launch.py start_rviz:=true use_mock_hardware:=true launch_cameras:=false launch_lidar:=false'" >> ~/.bashrc && \
7171
echo "alias ffw_bh5_follower_ai='ros2 launch ffw_bringup ffw_bh5_follower_ai.launch.py start_rviz:=true use_mock_hardware:=true launch_cameras:=false launch_lidar:=false'" >> ~/.bashrc && \
7272
echo "alias ffw_bg2_follower_ai='ros2 launch ffw_bringup ffw_bg2_follower_ai.launch.py start_rviz:=true use_mock_hardware:=true launch_cameras:=false launch_lidar:=false'" >> ~/.bashrc && \
73+
echo "alias ffw_f2_follower_ai='ros2 launch ffw_bringup ffw_f2_follower_ai.launch.py start_rviz:=true use_mock_hardware:=true launch_cameras:=false launch_lidar:=false'" >> ~/.bashrc && \
74+
echo "alias ffw_f1_follower_ai='ros2 launch ffw_bringup ffw_f1_follower_ai.launch.py start_rviz:=true use_mock_hardware:=true launch_cameras:=false launch_lidar:=false'" >> ~/.bashrc && \
7375
echo "alias zenohd='ros2 run rmw_zenoh_cpp rmw_zenohd'" >> ~/.bashrc && \
7476
echo "export RMW_IMPLEMENTATION=rmw_zenoh_cpp" >> ~/.bashrc && \
7577
echo "export ROS_DOMAIN_ID=30" >> ~/.bashrc

‎docker/Dockerfile.arm64‎

Lines changed: 4 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -166,6 +166,10 @@ RUN echo "source /opt/ros/${ROS_DISTRO}/setup.bash" >> ~/.bashrc && \
166166
echo "alias ffw_bh5_follower_ai='ros2 launch ffw_bringup ffw_bh5_follower_ai.launch.py'" >> ~/.bashrc && \
167167
echo "alias motion_controller='ros2 launch cyclo_motion_controller_ros ai_worker_controller.launch.py'" >> ~/.bashrc && \
168168
echo "alias motion_controller_hand='ros2 launch cyclo_motion_controller_ros ai_worker_controller.launch.py controller_type:=vr hand:=true'" >> ~/.bashrc && \
169+
echo "alias ffw_f2_follower_ai='ros2 launch ffw_bringup ffw_f2_follower_ai.launch.py'" >> ~/.bashrc && \
170+
echo "alias ffw_f1_follower_ai='ros2 launch ffw_bringup ffw_f1_follower_ai.launch.py'" >> ~/.bashrc && \
171+
echo "alias ffw_f2_ai='ros2 launch ffw_bringup ffw_f2_ai.launch.py'" >> ~/.bashrc && \
172+
echo "alias ffw_f1_ai='ros2 launch ffw_bringup ffw_f1_ai.launch.py'" >> ~/.bashrc && \
169173
echo "alias zenohd='ros2 run rmw_zenoh_cpp rmw_zenohd'" >> ~/.bashrc && \
170174
echo "export RMW_IMPLEMENTATION=rmw_zenoh_cpp" >> ~/.bashrc && \
171175
echo "export ROS_DOMAIN_ID=30" >> ~/.bashrc

‎docker/docker-compose.yml‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -1,7 +1,7 @@
11
services:
22
ai_worker:
33
container_name: ai_worker
4-
image: robotis/ai-worker:2.2.3
4+
image: robotis/ai-worker:2.2.4
55
tty: true
66
restart: always
77
cap_add:

‎docker/s6-services/ai_worker_bringup/run‎

Lines changed: 2 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -21,9 +21,9 @@ elif [ "${ROBOT_TYPE}" = "sh5" ]; then
2121
elif [ "${ROBOT_TYPE}" = "bh5" ]; then
2222
ROS2_COMMAND="ros2 launch ffw_bringup ffw_bh5_follower_ai.launch.py"
2323
elif [ "${ROBOT_TYPE}" = "f1" ]; then
24-
ROS2_COMMAND="ros2 launch ffw_bringup f1_follower_ai.launch.py"
24+
ROS2_COMMAND="ros2 launch ffw_bringup ffw_f1_follower_ai.launch.py"
2525
elif [ "${ROBOT_TYPE}" = "f2" ]; then
26-
ROS2_COMMAND="ros2 launch ffw_bringup f2_follower_ai.launch.py"
26+
ROS2_COMMAND="ros2 launch ffw_bringup ffw_f2_follower_ai.launch.py"
2727
elif [ "${ROBOT_TYPE}" = "mobile" ]; then
2828
ROS2_COMMAND="ros2 launch ffw_bringup ffw_mobile_base_ai.launch.py"
2929
else

‎ffw/CHANGELOG.rst‎

Lines changed: 6 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -2,6 +2,12 @@
22
Changelog for package ffw
33
^^^^^^^^^^^^^^^^^^^^^^^^^
44

5+
2.2.4 (2026-08-12)
6+
------------------
7+
* Standardized F1 and F2 AI launch names
8+
* Added F1 and F2 support to the shared pack pose launcher
9+
* Contributors: Yeonguk Kim
10+
511
2.2.3 (2026-08-12)
612
------------------
713
* Fixed SH5 ros2_control xacro file

‎ffw/package.xml‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -2,7 +2,7 @@
22
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
33
<package format="3">
44
<name>ffw</name>
5-
<version>2.2.3</version>
5+
<version>2.2.4</version>
66
<description>
77
ROS 2 meta package for FFW
88
</description>

‎ffw_bringup/CHANGELOG.rst‎

Lines changed: 6 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -2,6 +2,12 @@
22
Changelog for package ffw_bringup
33
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
44

5+
2.2.4 (2026-08-12)
6+
------------------
7+
* Standardized F1 and F2 AI launch names and service aliases
8+
* Added F2 pack positions and F1/F2 support to the shared pack pose launcher
9+
* Contributors: Yeonguk Kim
10+
511
2.2.3 (2026-08-12)
612
------------------
713
* None

‎ffw_bringup/config/ffw_f2_follower/pack_position.yaml‎

Lines changed: 81 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,81 @@
1+
/**:
2+
arm_l_joint_trajectory_executor:
3+
ros__parameters:
4+
joint_names:
5+
- arm_l_joint1
6+
- arm_l_joint2
7+
- arm_l_joint3
8+
- arm_l_joint4
9+
- arm_l_joint5
10+
- arm_l_joint6
11+
- arm_l_joint7
12+
- gripper_l_joint1
13+
step_names: [step0]
14+
step0: [0.0, 0.0, -1.57, 0.0, 0.0, 0.0, 0.0, 0.0]
15+
duration: 5.0
16+
position_tolerance: 0.1
17+
velocity_tolerance: 0.01
18+
action_topic: '/arm_l_controller/follow_joint_trajectory'
19+
joint_states_topic: '/joint_states'
20+
21+
/**:
22+
arm_r_joint_trajectory_executor:
23+
ros__parameters:
24+
joint_names:
25+
- arm_r_joint1
26+
- arm_r_joint2
27+
- arm_r_joint3
28+
- arm_r_joint4
29+
- arm_r_joint5
30+
- arm_r_joint6
31+
- arm_r_joint7
32+
- gripper_r_joint1
33+
step_names: [step0]
34+
step0: [0.0, 0.0, 1.57, 0.0, 0.0, 0.0, 0.0, 0.0]
35+
duration: 5.0
36+
position_tolerance: 0.1
37+
velocity_tolerance: 0.01
38+
action_topic: '/arm_r_controller/follow_joint_trajectory'
39+
joint_states_topic: '/joint_states'
40+
41+
/**:
42+
head_joint_trajectory_executor:
43+
ros__parameters:
44+
joint_names:
45+
- head_joint1
46+
- head_joint2
47+
step_names: [step0]
48+
step0: [0.0, 0.0]
49+
duration: 5.0
50+
position_tolerance: 0.1
51+
velocity_tolerance: 0.01
52+
action_topic: '/head_controller/follow_joint_trajectory'
53+
joint_states_topic: '/joint_states'
54+
55+
/**:
56+
lift_joint_trajectory_executor:
57+
ros__parameters:
58+
joint_names:
59+
- lift_joint
60+
step_names: [step0]
61+
step0: [-0.145]
62+
duration: 10.0
63+
position_tolerance: 0.1
64+
velocity_tolerance: 0.01
65+
action_topic: '/lift_controller/follow_joint_trajectory'
66+
joint_states_topic: '/joint_states'
67+
68+
/**:
69+
swerve_steering_joint_trajectory_executor:
70+
ros__parameters:
71+
joint_names:
72+
- left_wheel_steer
73+
- right_wheel_steer
74+
- rear_wheel_steer
75+
step_names: [home]
76+
home: [0.0, 0.0, 0.0]
77+
duration: 10.0
78+
position_tolerance: 0.1
79+
velocity_tolerance: 0.01
80+
action_topic: '/swerve_steering_initial_position_controller/follow_joint_trajectory'
81+
joint_states_topic: '/joint_states'

‎ffw_bringup/launch/f1_pack.launch.py‎

Lines changed: 0 additions & 47 deletions
This file was deleted.

ffw_bringup/launch/f1_ai.launch.py renamed to ffw_bringup/launch/ffw_f1_ai.launch.py

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -34,7 +34,7 @@ def generate_launch_description():
3434

3535
follower = IncludeLaunchDescription(
3636
PythonLaunchDescriptionSource(os.path.join(bringup_launch_dir,
37-
'f1_follower_ai.launch.py')),
37+
'ffw_f1_follower_ai.launch.py')),
3838
launch_arguments={
3939
'launch_cameras': 'true',
4040
'init_position': 'true',

0 commit comments

Comments
 (0)