Feature/robot status bridge

app/robot_status_bridge/.bashrc

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+# ==================== ROS ==================== #
+# ==== Description: ROS environment setup ===== #
+# =================== BEGIN =================== #
+
+source_ros_environment() {
+    if [ "$ROS_DISTRO" = "humble" ]; then
+        # Custom Alias
+        alias rosdep-check='rosdep install -i --from-path src --rosdistro humble -y'
+        alias build='colcon build --symlink-install'
+
+        # Source ROS environment
+        source /opt/ros/humble/setup.bash
+
+        # Source workspace environment
+        # latest_setup_bash: Find the latest setup.bash over user's root directory based on the last modified time
+        latest_setup_bash=$(find $(pwd) -type f -name "setup.bash" -wholename "*/install/setup.bash" -printf "%T@ %p\n" | sort -nr | awk '{print $2}' | head -n 1)
+        if [ -n "$latest_setup_bash" ]; then
+            source $latest_setup_bash
+            # Source colcon environment
+            source /usr/share/colcon_argcomplete/hook/colcon-argcomplete.bash
+            source /usr/share/colcon_cd/function/colcon_cd.sh
+            export _colcon_cd_root="${latest_setup_bash%/install/setup.bash}"
+        else
+            echo "No setup.bash file found for humble"
+        fi
+    elif [ "$ROS_DISTRO" = "noetic" ]; then
+        source /opt/ros/noetic/setup.bash
+        # Source workspace environment
+        if [ -n "$ROS_WS" ]; then
+            source $ROS_WS/devel/setup.bash
+        else
+            echo "ROS_WS variable is not set for noetic"
+        fi
+    else
+        echo "Unsupported ROS_DISTRO: $ROS_DISTRO"
+    fi
+}
+
+# ==================== END ==================== #
+
+
+
+# ================= Functions ================= #
+# Note: If you want to use the custom function, #
+#        you need to uncomment the line below.  #
+# =================== BEGIN =================== #
+
+source_ros_environment
+
+# ==================== END ==================== #

app/robot_status_bridge/.env

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+
+# COMPOSE_BUILDER=bake
+COMPOSE_BAKE=true
+
+ROS_DISTRO=humble
+# ROS_DOMAIN_ID=25

app/robot_status_bridge/Dockerfile

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+######################################################################
+# - Base stage
+#   - This stage serves as the base image for the following stages.
+######################################################################
+
+ARG ROS_DISTRO=humble
+FROM osrf/ros:${ROS_DISTRO}-desktop AS base
+
+LABEL org.opencontainers.image.title="Robot Status Bridge"
+LABEL org.opencontainers.image.authors="scx@gapp.nthu.edu.tw"
+LABEL org.opencontainers.image.licenses="MIT"
+
+ARG USERNAME=ros
+# Use the same UID and GID as the host user
+ARG USER_UID=1000
+ARG USER_GID=1000
+
+######################################################################
+# - User setup stage
+#   - Create a non-root user with default bash shell.
+######################################################################
+
+FROM base AS user-setup
+
+RUN groupadd --gid $USER_GID $USERNAME \
+    && useradd --uid $USER_UID --gid $USER_GID -m $USERNAME \
+    && apt-get update \
+    && apt-get install -y sudo \
+    && echo $USERNAME ALL=\(root\) NOPASSWD:ALL > /etc/sudoers.d/$USERNAME \
+    && chmod 0440 /etc/sudoers.d/$USERNAME \
+    && rm -rf /var/lib/apt/lists/*
+
+######################################################################
+# - Tools Installation stage
+#   - Install common tools for development.
+######################################################################
+
+FROM user-setup AS tools
+
+RUN apt-get update && apt-get install -y \
+    tree \
+    vim \
+    wget \
+    unzip \
+    python3-pip \
+    bash-completion \
+    wireless-tools \
+    ros-humble-rmw-cyclonedds-cpp \
+    ros-humble-foxglove-bridge
+
+RUN apt-get update && apt-get dist-upgrade -y \
+    && apt-get autoremove -y \
+    && apt-get autoclean -y \
+    && apt-get clean -y \
+    && rm -rf /var/lib/apt/lists/*
+
+######################################################################
+# - Final stage
+#   - Install the main packages and set the entrypoint.
+######################################################################
+
+FROM tools AS final
+
+# Set up the user environment
+ENV TZ=Asia/Taipei
+ENV SHELL=/bin/bash
+USER $USERNAME
+WORKDIR /robot_status_br
+
+# Set up bashrc
+COPY .bashrc /home/$USERNAME/.bashrc.conf
+RUN cat /home/$USERNAME/.bashrc.conf >> /home/$USERNAME/.bashrc
+
+# Set up python environment
+# RUN pip install --upgrade pip
+# RUN pip install --no-cache-dir
+
+CMD ["/bin/bash"]

app/robot_status_bridge/docker-compose.yaml

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+services:
+  voice_nav:
+    build: 
+      context: .
+      dockerfile: Dockerfile
+      target: final
+      args:
+        ROS_DISTRO: ${ROS_DISTRO}
+        USERNAME: ros
+    image: scx/robot-status-bridge:${ROS_DISTRO}
+    container_name: robot-status-bridge
+    stdin_open: true
+    tty: true
+    privileged: true
+    network_mode: "host"
+    restart: unless-stopped
+
+    working_dir: /home/ros
+
+    environment:
+      - DISPLAY=${DISPLAY}
+      - ROS_DOMAIN_ID=${ROS_DOMAIN_ID}
+      - RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
+
+    volumes:
+      - ./entrypoint.sh:/entrypoint.sh
+      # Mount app resources into container.
+      - ./robot_status_br/:/home/ros/robot_status_br/   # ros2 workspace
+      - /sys/class:/sys/class:ro                        # for system status monitoring
+
+      # Mount local timezone into container.
+      - /etc/timezone:/etc/timezone:ro
+      - /etc/localtime:/etc/localtime:ro
+      # Mount X11 server
+      - /tmp/.X11-unix:/tmp/.X11-unix
+
+    entrypoint: ["/bin/bash", "-c", "/entrypoint.sh"]
+    command: ["/bin/bash"]

app/robot_status_bridge/entrypoint.sh

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+#!/bin/bash
+
+cd ~/robot_status_br
+# . /opt/ros/humble/setup.sh && colcon build --symlink-install
+
+source ~/robot_status_br/install/setup.bash
+ros2 run robot_status_monitor robot_status_node
+
+while true; do
+    sleep 60
+done
+
+exec "$@"

app/robot_status_bridge/robot_status_br/src/battery_monitor/CMakeLists.txt

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+cmake_minimum_required(VERSION 3.8)
+project(battery_monitor)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(std_msgs REQUIRED)
+
+# add executable
+add_executable(battery_publisher src/battery_publisher.cpp)
+ament_target_dependencies(battery_publisher rclcpp std_msgs)
+add_executable(battery_subscriber src/battery_subscriber.cpp)
+ament_target_dependencies(battery_subscriber rclcpp std_msgs)
+
+# install executable
+install(TARGETS battery_publisher battery_subscriber
+DESTINATION lib/${PROJECT_NAME})
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  # the following line skips the linter which checks for copyrights
+  # comment the line when a copyright and license is added to all source files
+  set(ament_cmake_copyright_FOUND TRUE)
+  # the following line skips cpplint (only works in a git repo)
+  # comment the line when this package is in a git repo and when
+  # a copyright and license is added to all source files
+  set(ament_cmake_cpplint_FOUND TRUE)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_package()

app/robot_status_bridge/robot_status_br/src/battery_monitor/package.xml

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+<?xml version="1.0"?>
+<package format="3">
+  <name>battery_monitor</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="ros@todo.todo">ros</maintainer>
+  <license>TODO: License declaration</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <depend>rclcpp</depend>
+  <depend>std_msgs</depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>

app/robot_status_bridge/robot_status_br/src/battery_monitor/src/battery_publisher.cpp

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+#include "rclcpp/rclcpp.hpp"
+#include "std_msgs/msg/float32.hpp"
+#include <fstream>
+#include <string>
+
+class BatteryMonitor : public rclcpp::Node {
+public:
+    BatteryMonitor() : Node("battery_monitor") {
+        publisher_ = this->create_publisher<std_msgs::msg::Float32>("battery_percentage", 10);
+        timer_ = this->create_wall_timer(std::chrono::seconds(10), std::bind(&BatteryMonitor::publish_battery_status, this));
+    }
+
+private:
+    void publish_battery_status() {
+        float battery_percentage = get_battery_percentage();
+        if (battery_percentage < 0.0) {
+            RCLCPP_WARN(this->get_logger(), "Failed to read battery percentage!");
+            return;
+        }
+
+        auto msg = std_msgs::msg::Float32();
+        msg.data = battery_percentage;
+        publisher_->publish(msg);
+
+        RCLCPP_INFO(this->get_logger(), "Published Battery Percentage: %.2f%%", battery_percentage);
+    }
+
+    float get_battery_percentage() {
+
+        std::ifstream file("/sys/class/power_supply/BAT0/capacity");
+        if (!file.is_open()) {
+            file.open("/sys/class/power_supply/BAT1/capacity");
+        }
+        if (!file.is_open()) {
+            return -1.0;
+        }
+
+        std::string line;
+        std::getline(file, line);
+        file.close();
+
+        try {
+            return std::stof(line);
+        } catch (...) {
+            return -1.0;
+        }
+    }
+
+    rclcpp::Publisher<std_msgs::msg::Float32>::SharedPtr publisher_;
+    rclcpp::TimerBase::SharedPtr timer_;
+};
+
+int main(int argc, char** argv) {
+    rclcpp::init(argc, argv);
+    auto node = std::make_shared<BatteryMonitor>();
+    rclcpp::spin(node);
+    rclcpp::shutdown();
+    return 0;
+}

app/robot_status_bridge/robot_status_br/src/battery_monitor/src/battery_subscriber.cpp

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+#include "rclcpp/rclcpp.hpp"
+#include "std_msgs/msg/float32.hpp"
+
+class BatterySubscriber : public rclcpp::Node {
+public:
+    BatterySubscriber() : Node("battery_subscriber") {
+        subscription_ = this->create_subscription<std_msgs::msg::Float32>(
+            "battery_percentage", 10, std::bind(&BatterySubscriber::topic_callback, this, std::placeholders::_1));
+    }
+
+private:
+    void topic_callback(const std_msgs::msg::Float32::SharedPtr msg) {
+        RCLCPP_INFO(this->get_logger(), "Received Battery Percentage: %.2f%%", msg->data);
+    }
+
+    rclcpp::Subscription<std_msgs::msg::Float32>::SharedPtr subscription_;
+};
+
+int main(int argc, char** argv) {
+    rclcpp::init(argc, argv);
+    auto node = std::make_shared<BatterySubscriber>();
+    rclcpp::spin(node);
+    rclcpp::shutdown();
+    return 0;
+}

app/robot_status_bridge/robot_status_br/src/robot_status_monitor.bak/CMakeLists.txt

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+cmake_minimum_required(VERSION 3.5)
+project(robot_status_monitor)
+
+find_package(ament_cmake REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(std_msgs REQUIRED)
+find_package(rosidl_default_generators REQUIRED)
+
+# Set msg files
+set(msg_files
+  "msg/RobotStatus.msg"
+)
+
+# Generate ROS 2 interfaces (msg)
+rosidl_generate_interfaces(${PROJECT_NAME}
+  ${msg_files}
+  DEPENDENCIES std_msgs
+)
+
+# Set include directories
+include_directories(${CMAKE_CURRENT_BINARY_DIR}/rosidl_generator_cpp)
+
+add_executable(robot_status_publisher src/robot_status_publisher.cpp)
+ament_target_dependencies(robot_status_publisher rclcpp std_msgs)
+add_executable(robot_status_subscriber src/robot_status_subscriber.cpp)
+ament_target_dependencies(robot_status_subscriber rclcpp std_msgs)
+
+rosidl_get_typesupport_target(cpp_typesupport_target ${PROJECT_NAME} rosidl_typesupport_cpp)
+target_link_libraries(robot_status_publisher ${cpp_typesupport_target})
+target_link_libraries(robot_status_subscriber ${cpp_typesupport_target})
+
+install(TARGETS
+  robot_status_publisher
+  robot_status_subscriber
+  DESTINATION lib/${PROJECT_NAME}
+)
+
+ament_package()

app/robot_status_bridge/robot_status_br/src/robot_status_monitor.bak/msg/RobotStatus.msg

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+int32   battery_percentage
+bool    charging
+float32 cpu_usage
+float32 cpu_temperature
+float32 ram_usage
+int32   wifi_signal_strength
+bool    wifi_connected
+string  wifi_ssid
+int32   disk_usage
+string  robot_ip
+float32 uptime