Fix warnings

.gitignore

@@ -0,0 +1,301 @@
+.history
+*.user*
+CMakeLists.txt.user*
+[Bb]uild
+[Ll]og
+[Ii]nstall
+[Bb]in
+bin/*
+devel
+a
+version.cc
+logs
+.vscode
+
+####################################################### qt
+# C++ objects and libs
+*.slo
+*.lo
+*.o
+*.a
+*.la
+*.lai
+*.so
+*.so.*
+*.dll
+*.dylib
+
+# Qt-es
+object_script.*.Release
+object_script.*.Debug
+*_plugin_import.cpp
+/.qmake.cache
+/.qmake.stash
+*.pro.user
+*.pro.user.*
+*.qbs.user
+*.qbs.user.*
+*.moc
+moc_*.cpp
+moc_*.h
+qrc_*.cpp
+ui_*.h
+*.qmlc
+*.jsc
+Makefile*
+*build-*
+*.qm
+*.prl
+
+# Qt unit tests
+target_wrapper.*
+
+# QtCreator
+*.autosave
+
+# QtCreator Qml
+*.qmlproject.user
+*.qmlproject.user.*
+
+# QtCreator CMake
+CMakeLists.txt.user*
+
+# QtCreator 4.8< compilation database
+compile_commands.json
+
+# QtCreator local machine specific files for imported projects
+*creator.user*
+
+*_qmlcache.qrc
+
+####################################################### c
+# Prerequisites
+*.d
+
+# Object files
+*.o
+*.ko
+*.obj
+*.elf
+
+# Linker output
+*.ilk
+*.map
+*.exp
+
+# Precompiled Headers
+*.gch
+*.pch
+
+# Libraries
+*.lib
+*.a
+*.la
+*.lo
+
+# Shared objects (inc. Windows DLLs)
+*.dll
+*.so
+*.so.*
+*.dylib
+
+# Executables
+*.exe
+*.out
+*.app
+*.i*86
+*.x86_64
+*.hex
+
+# Debug files
+*.dSYM/
+*.su
+*.idb
+*.pdb
+
+# Kernel Module Compile Results
+*.mod*
+*.cmd
+.tmp_versions/
+modules.order
+Module.symvers
+Mkfile.old
+dkms.conf
+
+####################################################### c++
+
+# Prerequisites
+*.d
+
+# Compiled Object files
+*.slo
+*.lo
+*.o
+*.obj
+
+# Precompiled Headers
+*.gch
+*.pch
+
+# Compiled Dynamic libraries
+*.so
+*.dylib
+*.dll
+
+# Fortran module files
+*.mod
+*.smod
+
+# Compiled Static libraries
+*.lai
+*.la
+*.a
+*.lib
+
+# Executables
+*.exe
+*.out
+*.app
+
+####################################################### python
+
+# Byte-compiled / optimized / DLL files
+__pycache__/
+*.py[cod]
+*$py.class
+
+# C extensions
+*.so
+
+# Distribution / packaging
+.Python
+build/
+develop-eggs/
+dist/
+downloads/
+eggs/
+.eggs/
+lib/
+lib64/
+parts/
+sdist/
+var/
+wheels/
+share/python-wheels/
+*.egg-info/
+.installed.cfg
+*.egg
+MANIFEST
+
+# PyInstaller
+#  Usually these files are written by a python script from a template
+#  before PyInstaller builds the exe, so as to inject date/other infos into it.
+*.manifest
+*.spec
+
+# Installer logs
+pip-log.txt
+pip-delete-this-directory.txt
+
+# Unit test / coverage reports
+htmlcov/
+.tox/
+.nox/
+.coverage
+.coverage.*
+.cache
+nosetests.xml
+coverage.xml
+*.cover
+*.py,cover
+.hypothesis/
+.pytest_cache/
+cover/
+
+# Translations
+*.mo
+*.pot
+
+# Django stuff:
+*.log
+local_settings.py
+db.sqlite3
+db.sqlite3-journal
+
+# Flask stuff:
+instance/
+.webassets-cache
+
+# Scrapy stuff:
+.scrapy
+
+# Sphinx documentation
+docs/_build/
+
+# PyBuilder
+.pybuilder/
+target/
+
+# Jupyter Notebook
+.ipynb_checkpoints
+
+# IPython
+profile_default/
+ipython_config.py
+
+# pyenv
+#   For a library or package, you might want to ignore these files since the code is
+#   intended to run in multiple environments; otherwise, check them in:
+# .python-version
+
+# pipenv
+#   According to pypa/pipenv#598, it is recommended to include Pipfile.lock in version control.
+#   However, in case of collaboration, if having platform-specific dependencies or dependencies
+#   having no cross-platform support, pipenv may install dependencies that don't work, or not
+#   install all needed dependencies.
+#Pipfile.lock
+
+# PEP 582; used by e.g. github.com/David-OConnor/pyflow
+__pypackages__/
+
+# Celery stuff
+celerybeat-schedule
+celerybeat.pid
+
+# SageMath parsed files
+*.sage.py
+
+# Environments
+.env
+.venv
+env/
+venv/
+ENV/
+env.bak/
+venv.bak/
+
+# Spyder project settings
+.spyderproject
+.spyproject
+
+# Rope project settings
+.ropeproject
+
+# mkdocs documentation
+/site
+
+# mypy
+.mypy_cache/
+.dmypy.json
+dmypy.json
+
+# Pyre type checker
+.pyre/
+
+# pytype static type analyzer
+.pytype/
+
+# Cython debug symbols
+cython_debug/
+
+!src/**

README.md

@@ -15,22 +15,23 @@ This repository contains ROS2 support packages for the Ranger robot bases to pro
 
 ## Build the package
 
-1. Install dependencies
+* Install dependencies
 
 ```bash
 $ sudo apt install libasio-dev libboost-all-dev
 ```
 
-2. Clone and build the packages in a workspace
+* Clone and build the packages in a colcon workspace
 
 ```
-$ cd ~/agilex_ws/src
-$ git clone https://github.com/agilexrobotics/ugv_sdk.git
-$ git clone https://github.com/agilexrobotics/ranger_ros2.git
+$ cd ~/ros2_ws/src
+$ git clone https://github.com/westonrobot/ugv_sdk.git
+$ git clone https://github.com/westonrobot/ranger_ros2.git
 $ cd ..
-$ colcon build
+$ colcon build --symlink-install
 ```
-3. Setup CAN-To-USB adapter
+
+## Setup CAN-To-USB adapter
 
 * Enable gs_usb kernel module(If you have already added this module, you do not need to add it)
     ```
@@ -52,8 +53,8 @@ $ colcon build
     # receiving data from can0
     $ candump can0
     ```
-
-4. Launch ROS2 nodes
+    
+## Launch ROS2 nodes
 
 * Start the base node for ranger
 
@@ -72,14 +73,19 @@ $ colcon build
     ```bash
     $ ros2 launch ranger_bringup ranger_mini_v2.launch #for ranger_mini 2.0
     ```
+* Start the base node for ranger_mini_v3
+
+    ```bash
+    $ ros2 launch ranger_bringup ranger_mini_v3.launch #for ranger_mini 3.0
+    ```
 
 
 ## ROS interface
 
 ### Parameters
 
 * can_device (string): **can0**
-* robot_model (string): **ranger**/ranger_mini_v1/ranger_mini_v2
+* robot_model (string): **ranger**/ranger_mini_v1/ranger_mini_v2/ranger_mini_v3
 * update_rate (int): **50**
 * base_frame (string): **base_link**
 * odom_frame (string): **odom**
@@ -99,3 +105,5 @@ $ colcon build
 * /cmd_vel (geometry_msgs::Twist)
 
 ### Services
+
+* /ranger_base_node/parking_service (ranger_msgs::srv:TriggerParkMode)