fix urdfs

snap/hooks/configure

@@ -9,61 +9,40 @@ source $SNAP/usr/bin/utils.sh
 
 $SNAP/usr/bin/configure_hook_ros.sh
 
-# Check and validate the camera model
-OPT="camera-model"
-VALUE="$(snapctl get driver.${OPT})"
+# Function to validate the option values
+validate_option() {
+  local OPT=$1
+  local VALID_OPTIONS=("${!2}")
 
-# Define the valid options for camera model
-VALID_CAMERA_OPTIONS=("None" "intel_realsense_d435" "orbbec_astra" "stereolabs_zed" "stereolabs_zedm" "stereolabs_zed2" "stereolabs_zed2i" "stereolabs_zedx" "stereolabs_zedxm")
-
-# Join the valid camera options with newlines
-JOINED_CAMERA_OPTIONS=$(printf "%s\n" "${VALID_CAMERA_OPTIONS[@]}")
-
-if [ -n "${VALUE}" ]; then
-  case "${VALUE}" in
-    "${VALID_CAMERA_OPTIONS[@]}") ;;
-    *)
-      log_and_echo "'${VALUE}' is not a supported value for '${OPT}'. Possible values are:\n${JOINED_CAMERA_OPTIONS}"
-      exit 1
-      ;;
-  esac
-fi
-
-# Make sure correct the camera-model is selected
-OPT="lidar-model"
-VALUE="$(snapctl get driver.${OPT})"
-
-# Define the valid options as an array
-VALID_OPTIONS=("None" "slamtec_rplidar_a2" "slamtec_rplidar_a3" "slamtec_rplidar_s1" "slamtec_rplidar_s2" "slamtec_rplidar_s3" "velodyne_puck")
+  VALUE="$(snapctl get driver.${OPT})"
 
-# Join the valid options with a semicolon and space
-JOINED_OPTIONS=$(printf "%s\n" "${VALID_OPTIONS[@]}")
+  # Create an associative array to check valid options
+  declare -A valid_options_map
+  for option in "${VALID_OPTIONS[@]}"; do
+    valid_options_map["$option"]=1
+  done
 
-if [ -n "${VALUE}" ]; then
-  case "${VALUE}" in
-    "${VALID_OPTIONS[@]}") ;;
-    *)
-      log_and_echo "'${VALUE}' is not a supported value for '${OPT}'. Possible values are:\n${JOINED_OPTIONS[*]}"
-      exit 1
-      ;;
-  esac
-fi
+  # Join the valid options with newlines
+  JOINED_OPTIONS=$(printf "%s\n" "${VALID_OPTIONS[@]}")
 
-# Make sure ROS 2 nodes parameters value is a boolean
-OPTS="mecanum include-camera-mount"
-for OPT in ${OPTS}; do
-  VALUE="$(snapctl get driver.${OPT})"
   if [ -n "${VALUE}" ]; then
-    case "${VALUE}" in
-    "True") ;;
-    "False") ;;
-    *)
-      log_and_echo "configure hook: '${VALUE}' is not a supported value for ${OPT}. Possible values are True or False."
+    if [[ -z "${valid_options_map[$VALUE]}" ]]; then
+      log_and_echo "'${VALUE}' is not a supported value for '${OPT}'. Possible values are:\n${JOINED_OPTIONS}"
       exit 1
-      ;;
-    esac
+    fi
   fi
-done
+}
+
+# Define the valid options for camera model and lidar model
+VALID_CAMERA_OPTIONS=("None" "intel_realsense_d435" "orbbec_astra" "stereolabs_zed" "stereolabs_zedm" "stereolabs_zed2" "stereolabs_zed2i" "stereolabs_zedx" "stereolabs_zedxm")
+VALID_LIDAR_OPTIONS=("None" "slamtec_rplidar_a2" "slamtec_rplidar_a3" "slamtec_rplidar_s1" "slamtec_rplidar_s2" "slamtec_rplidar_s3" "velodyne_puck")
+VALID_BOOLEAN_OPTIONS=("True" "False")
+
+# Validate parameters with array of possible values
+validate_option "camera-model" VALID_CAMERA_OPTIONS[@]
+validate_option "lidar-model" VALID_LIDAR_OPTIONS[@]
+validate_option "mecanum" VALID_BOOLEAN_OPTIONS[@]
+validate_option "include-camera-mount" VALID_BOOLEAN_OPTIONS[@]
 
 # Make sure the serial-port value is valid
 OPT="serial-port"

snap/local/ros_common/configure_hook_ros.sh

@@ -72,6 +72,12 @@ fi
 OPT="transport"
 TRANSPORT_SETTING="$(snapctl get ${OPT})"
 
+# Check if TRANSPORT_SETTING is "builtin"
+if [ "$TRANSPORT_SETTING" == "builtin" ]; then
+  # Change the value to "rmw_fastrtps_cpp"
+  TRANSPORT_SETTING="rmw_fastrtps_cpp"
+fi
+
 # Only exit with status 1 if conditions are not met
 if [ "$TRANSPORT_SETTING" != "rmw_fastrtps_cpp" ] && [ "$TRANSPORT_SETTING" != "rmw_cyclonedds_cpp" ] && [ ! -f "${SNAP_COMMON}/${TRANSPORT_SETTING}.xml" ]; then
   log_and_echo "'${SNAP_COMMON}/${TRANSPORT_SETTING}.xml' does not exist."

snap/local/ros_common/utils.sh

@@ -7,7 +7,7 @@ log_and_echo() {
     # Log the message with logger
     logger -t "${SNAP_NAME}" "${script_name}: $message"
     # Echo the message to standard error
-    echo >&2 "$message"
+    echo -e >&2 "$message"
 }
 
 log() {

snap/snapcraft.yaml

@@ -24,7 +24,7 @@ description: |
   * `ros-domain-id`: `0` - Sets the `ROS_DOMAIN_ID` environment variable for the ROS driver.
   * `ros-localhost-only`: `0` - Sets the `ROS_LOCALHOST_ONLY` environment variable for the ROS driver.
   * `serial-port`: `auto` - Configures the serial port for firmware updates (e.g., `/dev/ttyUSB0`), or set it to `auto`.
-  * `transport`: `udp` - Configures DDS transport. Options are `udp`, `shm`, `builtin`. Corresponding DDS XML files can be found in the `/var/snap/rosbot-xl/common` directory (custom FastDDS setups can also be created here).
+  * `transport`: `udp` - Configures DDS transport. Options are `udp`, `shm`, `builtin` (or `rmw_fastrtps_cpp`), `rmw_cyclonedds_cpp`. Corresponding DDS XML files can be found in the `/var/snap/rosbot-xl/common` directory (custom FastDDS setups can also be created here).
   * `webui`: `{...}`
 
   The `driver` parameter is a dictionary containing the following keys for a ROS 2 driver:
@@ -77,7 +77,6 @@ description: |
 
      # Install configurations with
      /var/snap/rosbot-xl/common/manage_ros_env.sh
-     # After changing rosbot-xl parameters, open a new terminal, or run:
      source ~/.bashrc
 
      ros2 run teleop_twist_keyboard teleop_twist_keyboard --ros-args --remap __ns:=/${ROS_NAMESPACE}
@@ -210,7 +209,8 @@ parts:
   rosbot-xl:
     plugin: colcon
     source: https://github.com/husarion/rosbot_xl_ros.git
-    source-branch: "0.11.4"
+    # source-branch: "0.11.4"
+    source-commit: "fca8704edeb6166474b65b317aed3cf455f63ab9"
     build-packages: 
       - python3-vcstool
     stage-packages: