Delivery_bridge

:rocket This is a ROS2 package. It is a bridge between the web interface and the ROS 2 environment.

This package have a node that start a HTTP server that provides a REST API, also start a Socket.IO server to provide a real-time communication between the web interface and the ROS 2 environment.

Tech Stack:

• ROS2 Humble
• Python SocketIO 5.7.2
• FastAPI 0.105.0
• Sphinx 7.2.6
• pre-commit 3.7.1

Installation

To install the package, you need to have ROS2 installed in your machine. You can follow the instructions in the ROS2 official website.

After you have ROS2 installed, you can clone this repository in your workspace and build the package.

cd ~/colcon_ws/src
git clone https://github.com/cmauricioae8/delivery_bridge.git
cd delivery_bridge
pip install -r requirements.txt
cd ~/colcon_ws/
colcon build --packages-select delivery_bridge --symlink-install --allow-overriding delivery_bridge
source install/setup.bash

After of above configurations, test the project:

ros2 run delivery_bridge server_node

Go to local url http://127.0.0.1:9009 and check that all is going well

For code quality

For code quality, we use pre-commit. To install it, run the following command:

pip install pre-commit

For new projects or every time you change the .pre-commit-config.yaml file, you need to run the following command:

pre-commit install # This will install the pre-commit hooks in your .git/hooks folder

Every time you will commit something, the pre-commit hooks will run. If you want to run them manually, you can run the following command:

pre-commit run --all-files

Generate documentation

To generate the documentation with sphinx, run the following command:

cd docs
make html

If you want to generate a pdf, you first need to install latexmk

sudo apt-get -y install latexmk texlive-latex-recommended texlive-latex-extra \
    texlive-fonts-recommended texlive-fonts-extra

Then run the following command:

make latexpdf

pip install setuptools==58.2.0