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fixing ci

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This commit is contained in:
Ruixiang Du
2020-12-21 11:50:23 +08:00
parent 5c695eccfc
commit 194ca5a1f2
2 changed files with 32 additions and 6 deletions
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12
.gitlab-ci.yml
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@@ -6,7 +6,7 @@ kinetic-catkin-build:
- apt update && apt -y install ros-$ROS_DISTRO-teleop-twist-keyboard
script:
- mkdir -p /catkin_ws/src && cd /catkin_ws/src && /bin/bash -c "source /opt/ros/${ROS_DISTRO}/setup.bash; catkin_init_workspace"
- cd /catkin_ws/src && git clone --recursive https://gitlab-ci-token:${CI_JOB_TOKEN}@gitlab.com/westonrobot/core/wrp_sdk.git
- cd /catkin_ws/src && git clone --recursive https://gitlab-ci-token:${CI_JOB_TOKEN}@gitlab.com/westonrobot/public/ugv_sdk.git
- cp -r /builds/$CI_PROJECT_PATH /catkin_ws/src/scout_base
- cd /catkin_ws && /bin/bash -c "source /opt/ros/${ROS_DISTRO}/setup.bash; catkin_make"
@@ -17,7 +17,7 @@ kinetic-catkin-isolated-build:
- apt update && apt -y install ros-$ROS_DISTRO-teleop-twist-keyboard
script:
- mkdir -p /catkin_ws/src && cd /catkin_ws/src && /bin/bash -c "source /opt/ros/${ROS_DISTRO}/setup.bash; catkin_init_workspace"
- cd /catkin_ws/src && git clone --recursive https://gitlab-ci-token:${CI_JOB_TOKEN}@gitlab.com/westonrobot/core/wrp_sdk.git
- cd /catkin_ws/src && git clone --recursive https://gitlab-ci-token:${CI_JOB_TOKEN}@gitlab.com/westonrobot/public/ugv_sdk.git
- cp -r /builds/$CI_PROJECT_PATH /catkin_ws/src/scout_base
- cd /catkin_ws && /bin/bash -c "source /opt/ros/${ROS_DISTRO}/setup.bash; catkin_make_isolated --install"
@@ -28,7 +28,7 @@ melodic-catkin-build:
- apt update && apt -y install ros-$ROS_DISTRO-teleop-twist-keyboard
script:
- mkdir -p /catkin_ws/src && cd /catkin_ws/src && /bin/bash -c "source /opt/ros/${ROS_DISTRO}/setup.bash; catkin_init_workspace"
- cd /catkin_ws/src && git clone --recursive https://gitlab-ci-token:${CI_JOB_TOKEN}@gitlab.com/westonrobot/core/wrp_sdk.git
- cd /catkin_ws/src && git clone --recursive https://gitlab-ci-token:${CI_JOB_TOKEN}@gitlab.com/westonrobot/public/ugv_sdk.git
- cp -r /builds/$CI_PROJECT_PATH /catkin_ws/src/scout_base
- cd /catkin_ws && /bin/bash -c "source /opt/ros/${ROS_DISTRO}/setup.bash; catkin_make"
@@ -39,7 +39,7 @@ melodic-catkin-isolated-build:
- apt update && apt -y install ros-$ROS_DISTRO-teleop-twist-keyboard
script:
- mkdir -p /catkin_ws/src && cd /catkin_ws/src && /bin/bash -c "source /opt/ros/${ROS_DISTRO}/setup.bash; catkin_init_workspace"
- cd /catkin_ws/src && git clone --recursive https://gitlab-ci-token:${CI_JOB_TOKEN}@gitlab.com/westonrobot/core/wrp_sdk.git
- cd /catkin_ws/src && git clone --recursive https://gitlab-ci-token:${CI_JOB_TOKEN}@gitlab.com/westonrobot/public/ugv_sdk.git
- cp -r /builds/$CI_PROJECT_PATH /catkin_ws/src/scout_base
- cd /catkin_ws && /bin/bash -c "source /opt/ros/${ROS_DISTRO}/setup.bash; catkin_make_isolated --install"
@@ -50,7 +50,7 @@ noetic-catkin-build:
- apt update && apt -y install ros-$ROS_DISTRO-teleop-twist-keyboard
script:
- mkdir -p /catkin_ws/src && cd /catkin_ws/src && /bin/bash -c "source /opt/ros/${ROS_DISTRO}/setup.bash; catkin_init_workspace"
- cd /catkin_ws/src && git clone --recursive https://gitlab-ci-token:${CI_JOB_TOKEN}@gitlab.com/westonrobot/core/wrp_sdk.git
- cd /catkin_ws/src && git clone --recursive https://gitlab-ci-token:${CI_JOB_TOKEN}@gitlab.com/westonrobot/public/ugv_sdk.git
- cp -r /builds/$CI_PROJECT_PATH /catkin_ws/src/scout_base
- cd /catkin_ws && /bin/bash -c "source /opt/ros/${ROS_DISTRO}/setup.bash; catkin_make"
@@ -61,6 +61,6 @@ noetic-catkin-isolated-build:
- apt update && apt -y install ros-$ROS_DISTRO-teleop-twist-keyboard
script:
- mkdir -p /catkin_ws/src && cd /catkin_ws/src && /bin/bash -c "source /opt/ros/${ROS_DISTRO}/setup.bash; catkin_init_workspace"
- cd /catkin_ws/src && git clone --recursive https://gitlab-ci-token:${CI_JOB_TOKEN}@gitlab.com/westonrobot/core/wrp_sdk.git
- cd /catkin_ws/src && git clone --recursive https://gitlab-ci-token:${CI_JOB_TOKEN}@gitlab.com/westonrobot/public/ugv_sdk.git
- cp -r /builds/$CI_PROJECT_PATH /catkin_ws/src/scout_base
- cd /catkin_ws && /bin/bash -c "source /opt/ros/${ROS_DISTRO}/setup.bash; catkin_make_isolated --install"

26
scout_base/launch/scout_mini_base.launch Normal file
View File

@@ -0,0 +1,26 @@
<launch>
<!--
The robot can be controlled either through CAN bus or UART port. Make sure the hardware
interface is set up correctly before attempting to connect to the robot.
You only need to specify the port name, such as "can0", "/dev/ttyUSB0". The port should
operate with the following configuration:
* CAN bus: 500k
* UART: 115200, Parity None, 8-bit Data, 1 Stop Bit
-->
<arg name="port_name" default="can0" />
<arg name="is_scout_mini" default="true" />
<arg name="simulated_robot" default="false" />
<arg name="odom_topic_name" default="odom" />
<node name="scout_base_node" pkg="scout_base" type="scout_base_node" output="screen">
<param name="is_scout_mini" type="bool" value="$(arg is_scout_mini)" />
<param name="port_name" type="string" value="$(arg port_name)" />
<param name="simulated_robot" type="bool" value="$(arg simulated_robot)" />
<param name="odom_frame" type="string" value="odom" />
<param name="base_frame" type="string" value="base_link" />
<param name="odom_topic_name" type="string" value="$(arg odom_topic_name)" />
</node>
</launch>