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Add basis for beamagine.
Signed-off-by: Jelmer de Wolde <jelmer.de.wolde@alliander.com>
1 parent e77cd22 commit becaaad

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‎.devcontainer/dev/devcontainer.json‎

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"kylinideteam.cmake-intellisence",
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"redhat.vscode-yaml",
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"github.vscode-pull-request-github",
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"davidanson.vscode-markdownlint"
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"davidanson.vscode-markdownlint",
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"redhat.vscode-xml"
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]
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}
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}

‎alliander_robotics/alliander_beamagine/alliander_beamagine.Dockerfile‎

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# SPDX-FileCopyrightText: Alliander N. V.
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#
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# SPDX-License-Identifier: Apache-2.0
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ARG BASE_IMAGE=ubuntu:latest
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FROM $BASE_IMAGE
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ARG COLCON_BUILD_SEQUENTIAL
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ENV ROS_DISTRO=jazzy
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# Install L3Cam SDK:
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ARG TEMP_DIR="/tmp/beamagine_install"
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ARG RUN_FILE="$TEMP_DIR/l3cam_sdk.run"
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RUN mkdir -p "$TEMP_DIR"
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RUN if [ $(dpkg --print-architecture) = "amd64" ]; \
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then wget -O "$RUN_FILE" "https://github.com/beamaginelidar/libl3cam/releases/download/0.2.1R/libl3cam_0.2.1-1_amd64.deb"; \
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elif [ $(dpkg --print-architecture) = "arm64" ]; \
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then wget -O "$RUN_FILE" "https://github.com/beamaginelidar/libl3cam/releases/download/0.2.1R/libl3cam_0.2.1-1_arm64.deb"; \
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else echo "Unsupported architecture: $(dpkg --print-architecture)"; exit 1; fi
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RUN dpkg -i "${RUN_FILE}"
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# Install ROS driver:
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WORKDIR /$WORKDIR/external
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RUN apt update \
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&& git clone -b humble https://github.com/beamaginelidar/l3cam_ros2.git src/l3cam_ros2 \
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&& cd /$WORKDIR/external \
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&& rosdep update --rosdistro $ROS_DISTRO \
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&& rosdep install --from-paths src -y -i
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RUN /$WORKDIR/colcon_build.sh
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# Install repo package:
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WORKDIR /$WORKDIR/ros
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COPY alliander_robotics/alliander_core/src/ /$WORKDIR/ros/src
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COPY alliander_robotics/alliander_beamagine/src/ /$WORKDIR/ros/src
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RUN /$WORKDIR/colcon_build.sh
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# Install python dependencies:
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WORKDIR $WORKDIR
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COPY pyproject.toml /$WORKDIR/pyproject.toml
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RUN uv sync \
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&& echo "export PYTHONPATH=\"$(dirname $(dirname $(uv python find)))/lib/python3.12/site-packages:\$PYTHONPATH\"" >> /root/.bashrc \
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&& echo "export PATH=\"$(dirname $(dirname $(uv python find)))/bin:\$PATH\"" >> /root/.bashrc
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# Finalize
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WORKDIR /$WORKDIR
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ENTRYPOINT ["/entrypoint.sh"]
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CMD ["sleep", "infinity"]

‎alliander_robotics/alliander_beamagine/docker-compose.yml‎

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# SPDX-FileCopyrightText: Alliander N. V.
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#
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# SPDX-License-Identifier: Apache-2.0
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services:
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alliander_beamagine:
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image: allianderrobotics/beamagine
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container_name: alliander_beamagine
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runtime: nvidia
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network_mode: host
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privileged: true
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mem_limit: 6gb
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tty: true
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env_file:
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- .env
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volumes:
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- "/tmp/.X11-unix:/tmp/.X11-unix"
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- "/dev:/dev"
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command:
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["/bin/bash", "-c", "ros2 launch alliander_beamagine beamagine.launch.py"]

‎alliander_robotics/alliander_beamagine/src/alliander_beamagine/CMakeLists.txt‎

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# SPDX-FileCopyrightText: Alliander N. V.
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#
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# SPDX-License-Identifier: Apache-2.0
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cmake_minimum_required(VERSION 3.5)
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project(alliander_beamagine)
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# CMake dependencies:
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find_package(ament_cmake REQUIRED)
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find_package(ament_cmake_python REQUIRED)
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# Shared folders:
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install(
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DIRECTORY launch
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DESTINATION share/${PROJECT_NAME}
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)
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# Default test:
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if(BUILD_TESTING)
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find_package(ament_lint_auto REQUIRED)
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ament_lint_auto_find_test_dependencies()
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endif()
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ament_package()

‎alliander_robotics/alliander_beamagine/src/alliander_beamagine/launch/beamagine.launch.py‎

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# SPDX-FileCopyrightText: Alliander N. V.
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#
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# SPDX-License-Identifier: Apache-2.0
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from alliander_utilities.config_objects import Beamagine
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from alliander_utilities.launch_argument import LaunchArgument
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from alliander_utilities.launch_utils import SKIP, state_publisher_node, static_tf_node
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from alliander_utilities.register import Register, RegisteredLaunchDescription
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from alliander_utilities.ros_utils import get_file_path
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from launch import LaunchContext, LaunchDescription
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from launch.actions import OpaqueFunction
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from launch_ros.actions import Node
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platform_arg = LaunchArgument("platform_config", "")
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def launch_setup(context: LaunchContext) -> list:
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"""The launch setup.
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Args:
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context (LaunchContext): The launch context.
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Returns:
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list: The actions to start.
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"""
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beamagine_config = Beamagine.from_str(platform_arg.string_value(context))
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state_publisher = state_publisher_node(
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namespace=beamagine_config.namespace,
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platform="beamagine",
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xacro="l3cam.urdf.xacro",
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xacro_arguments={
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"namespace": beamagine_config.namespace,
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"parent": "" if beamagine_config.parent.link else "world",
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"use_sim": str(beamagine_config.simulation),
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},
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)
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parent = beamagine_config.parent
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static_tf = static_tf_node(
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parent_frame=f"{parent.namespace}/{parent.link}" if parent.link else "map",
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child_frame=f"{beamagine_config.namespace}/{parent.connects_to}",
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position=beamagine_config.position,
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orientation=beamagine_config.orientation,
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)
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hardware = RegisteredLaunchDescription(
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get_file_path("alliander_beamagine", ["launch"], "hardware.launch.py"),
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{"platform_config": beamagine_config.to_str()},
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)
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convert_32FC1_to_16UC1 = Node( # noqa: N806
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package="alliander_utilities",
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executable="convert_32FC1_to_16UC1",
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namespace=beamagine_config.namespace,
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)
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return [
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Register.on_start(state_publisher, context),
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Register.on_start(static_tf, context),
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Register.on_start(convert_32FC1_to_16UC1, context)
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if beamagine_config.simulation
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else SKIP,
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Register.group(hardware, context) if not beamagine_config.simulation else SKIP,
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]
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def generate_launch_description() -> LaunchDescription:
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"""Generate the launch description.
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Returns:
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LaunchDescription: The launch description.
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"""
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return LaunchDescription(
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[
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platform_arg.declaration,
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OpaqueFunction(function=launch_setup),
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]
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)

‎alliander_robotics/alliander_beamagine/src/alliander_beamagine/launch/hardware.launch.py‎

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# SPDX-FileCopyrightText: Alliander N. V.
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#
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# SPDX-License-Identifier: Apache-2.0
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from alliander_utilities.config_objects import Beamagine
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from alliander_utilities.launch_argument import LaunchArgument
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from alliander_utilities.register import Register
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from launch import LaunchContext, LaunchDescription
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from launch.actions import OpaqueFunction
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from launch_ros.actions import Node
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platform_arg = LaunchArgument("platform_config", "")
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def launch_setup(context: LaunchContext) -> list:
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"""The launch setup.
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Args:
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context (LaunchContext): The launch context.
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Returns:
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list: The actions to start.
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"""
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beamagine_config = Beamagine.from_str(platform_arg.string_value(context))
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l3cam_node = Node(
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package="l3cam_ros2",
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executable="l3cam_ros2_node",
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namespace=beamagine_config.namespace,
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)
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return [
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Register.on_start(l3cam_node, context),
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]
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def generate_launch_description() -> LaunchDescription:
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"""Generate the launch description.
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Returns:
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LaunchDescription: The launch description.
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"""
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return LaunchDescription(
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[
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platform_arg.declaration,
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OpaqueFunction(function=launch_setup),
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]
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)

‎alliander_robotics/alliander_beamagine/src/alliander_beamagine/package.xml‎

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<?xml version="1.0"?>
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<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
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<!--
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SPDX-FileCopyrightText: Alliander N. V.
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SPDX-License-Identifier: Apache-2.0
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-->
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<package format="3">
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<name>alliander_beamagine</name>
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<version>0.1.0</version>
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<description>Contains the integration for Beamagine L3Cam.</description>
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<maintainer email="robots@alliander.com">Alliander Robotics</maintainer>
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<license>Apache 2.0</license>
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<buildtool_depend>ament_cmake</buildtool_depend>
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<buildtool_depend>ament_cmake_python</buildtool_depend>
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<test_depend>ament_lint_auto</test_depend>
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<export>
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<build_type>ament_cmake</build_type>
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</export>
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</package>

‎alliander_robotics/alliander_core/src/alliander_description/CMakeLists.txt‎

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# Shared folders:
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install(
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DIRECTORY ewellix franka husarion nmea_gps ouster realsense seekthermal velodyne xsens zed
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DIRECTORY beamagine ewellix franka husarion nmea_gps ouster realsense seekthermal velodyne xsens zed
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DESTINATION share/${PROJECT_NAME}
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)
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