husarion · rafal-gorecki · Jun 23, 2025 · Jun 23, 2025
diff --git a/.github/workflows/backport.yaml b/.github/workflows/backport.yaml
@@ -0,0 +1,29 @@
+---
+name: Backport
+
+on:
+  pull_request_target:
+    types: [closed]
+  workflow_dispatch:
+    inputs:
+      pr_number:
+        description: Pull request number to backport. Please add backport labels to the PR before running
+          this workflow.
+        required: true
+
+jobs:
+  backport:
+    name: Backport
+    runs-on: ubuntu-latest
+    if: >
+      (github.event_name == 'workflow_dispatch') ||
+      (
+        github.event_name == 'pull_request_target' &&
+        github.event.pull_request.merged
+      )
+    steps:
+      - uses: actions/checkout@v4
+      - uses: korthout/backport-action@v3
+        with:
+          github_token: ${{ secrets.GH_PAT }}
+          source_pr_number: ${{ inputs.pr_number || github.event.pull_request.number }}
diff --git a/.github/workflows/release-project.yaml b/.github/workflows/release-project.yaml
@@ -38,6 +38,7 @@ jobs:
 
   release_repository:
     name: Release repository
+    needs: variables
     uses: ./.github/workflows/release-repository.yaml
     with:
       release_candidate: ${{ needs.variables.outputs.RC_BRANCH_NAME }}
@@ -114,5 +115,5 @@ jobs:
           owner: husarion
           repo: docs_new
           github_token: ${{ secrets.GH_PAT }}
-          workflow_file_name: build.yml
+          workflow_file_name: build.yaml
           ref: master
diff --git a/.github/workflows/release-repository.yaml b/.github/workflows/release-repository.yaml
@@ -118,5 +118,6 @@ jobs:
       - name: Update devel branch
         if: ${{ env.DEVEL_BRANCH != env.MAIN_BRANCH && inputs.automatic_mode }}
         run: |
+          git config pull.rebase false
           git pull origin ${{ env.MAIN_BRANCH }}
           git push origin ${{ env.DEVEL_BRANCH }}
diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
@@ -81,7 +81,6 @@ repos:
       - id: ament_copyright
         name: ament_copyright
         description: Check if copyright notice is available in all files.
-        stages: [commit]
         entry: ament_copyright
         language: system
 

diff --git a/ROS_API.md b/ROS_API.md
@@ -58,7 +58,7 @@ Below is information about the physical robot API. For the simulation, topics an
 | ✅   | ✅   | `lights_controller`       | This node is responsible for processing animations and publishing frames to `light_driver` node. <br/> [*husarion_ugv_lights/LightsControllerNode*](./husarion_ugv_lights/include/husarion_ugv_lights/lights_controller_node.hpp)                                                                                                                                                                                                                                                                                                     |
 | ✅   | ❌   | `lights_driver`           | This node is responsible for displaying frames on the robot's lights. <br/> [*husarion_ugv_lights/LightsDriverNode*](./husarion_ugv_lights/include/husarion_ugv_lights/lights_driver_node.hpp)                                                                                                                                                                                                                                                                                                                                        |
 | ✅   | ✅   | `lights_manager`          | Node responsible for managing lights animation scheduling. <br/> [husarion_ugv_manager/lights_manager](./husarion_ugv_manager/include/husarion_ugv_manager/lights_manager_node.hpp)                                                                                                                                                                                                                                                                                                                                                   |
-| ✅   | ✅   | ⚙️ `navsat_transform`  ⚙️   | It converts raw GPS data into odometry data and publishes corrected GPS positions based on sensor data at a higher frequency. <br/> *[robot_localization/navsat_transform](https://github.com/cra-ros-pkg/robot_localization)*                                                                                                                                                                                                                                                                                                        |
+| ✅   | ✅   | ⚙️ `navsat_transform` ⚙️   | It converts raw GPS data into odometry data and publishes corrected GPS positions based on sensor data at a higher frequency. <br/> *[robot_localization/navsat_transform](https://github.com/cra-ros-pkg/robot_localization)*                                                                                                                                                                                                                                                                                                        |
 | ✅   | ✅   | `robot_state_publisher`   | Broadcasts a robot's state to tf2 using a provided URDF model and joint states. It updates the model and broadcasts poses for fixed and movable joints to tf2 topics. <br/> *[robot_state_publisher/robot_state_publisher](https://github.com/ros/robot_state_publisher)*                                                                                                                                                                                                                                                             |
 | ✅   | ❌   | `safety_manager`          | Node responsible for managing safety features, and software shutdown of components. <br/> *[husarion_ugv_manager/safety_manager_node](./husarion_ugv_manager/include/husarion_ugv_manager/safety_manager_node.hpp)*                                                                                                                                                                                                                                                                                                                   |
 | ✅   | ❌   | `system_monitor`          | Publishes system state of the Built-in Computer such as CPU usage, RAM memory usage, disk usage and  CPU temperature. <br/> *[husarion_ugv_diagnostics/system_monitor_node](./husarion_ugv_diagnostics/include/husarion_ugv_diagnostics/system_monitor_node.hpp)*                                                                                                                                                                                                                                                                     |

diff --git a/husarion_ugv/CMakeLists.txt b/husarion_ugv/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.10.2)
+cmake_minimum_required(VERSION 3.11)
 project(husarion_ugv)
 
 find_package(ament_cmake REQUIRED)

diff --git a/husarion_ugv_battery/CMakeLists.txt b/husarion_ugv_battery/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.10.2)
+cmake_minimum_required(VERSION 3.11)
 project(husarion_ugv_battery)
 
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")

diff --git a/husarion_ugv_bringup/CMakeLists.txt b/husarion_ugv_bringup/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.10.2)
+cmake_minimum_required(VERSION 3.11)
 project(husarion_ugv_bringup)
 
 find_package(ament_cmake REQUIRED)

diff --git a/husarion_ugv_controller/CMakeLists.txt b/husarion_ugv_controller/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.10.2)
+cmake_minimum_required(VERSION 3.11)
 project(husarion_ugv_controller)
 
 find_package(ament_cmake REQUIRED)

diff --git a/husarion_ugv_description/CMakeLists.txt b/husarion_ugv_description/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.10.2)
+cmake_minimum_required(VERSION 3.11)
 project(husarion_ugv_description)
 
 find_package(ament_cmake REQUIRED)

diff --git a/husarion_ugv_description/launch/load_urdf.launch.py b/husarion_ugv_description/launch/load_urdf.launch.py
@@ -33,6 +33,27 @@
 
 
 def generate_launch_description():
+    common_dir_path = LaunchConfiguration("common_dir_path")
+    declare_common_dir_path_arg = DeclareLaunchArgument(
+        "common_dir_path",
+        default_value="",
+        description="Path to the common configuration directory.",
+    )
+
+    description_pkg = FindPackageShare("husarion_ugv_description")
+    description_common_dir = PythonExpression(
+        [
+            "'",
+            common_dir_path,
+            "/husarion_ugv_description",
+            "' if '",
+            common_dir_path,
+            "' else '",
+            description_pkg,
+            "'",
+        ]
+    )
+
     battery_config_path = LaunchConfiguration("battery_config_path")
     declare_battery_config_path_arg = DeclareLaunchArgument(
         "battery_config_path",
@@ -46,9 +67,7 @@ def generate_launch_description():
     components_config_path = LaunchConfiguration("components_config_path")
     declare_components_config_path_arg = DeclareLaunchArgument(
         "components_config_path",
-        default_value=PathJoinSubstitution(
-            [FindPackageShare("husarion_ugv_description"), "config", "components.yaml"]
-        ),
+        default_value=PathJoinSubstitution([description_common_dir, "config", "components.yaml"]),
         description=(
             "Specify file which contains components. These components will be included in URDF."
             "Available options can be found in manuals: https://husarion.com/manuals"
@@ -176,6 +195,7 @@ def generate_launch_description():
     )
 
     actions = [
+        declare_common_dir_path_arg,
         declare_battery_config_path_arg,
         declare_components_config_path_arg,
         declare_robot_model_arg,  # robot_model is used by wheel_type

diff --git a/husarion_ugv_description/urdf/common/gazebo.urdf.xacro b/husarion_ugv_description/urdf/common/gazebo.urdf.xacro
@@ -40,9 +40,6 @@
           <remapping>drive_controller/cmd_vel_unstamped:=cmd_vel</remapping>
           <remapping>drive_controller/odom:=odometry/wheels</remapping>
           <remapping>drive_controller/transition_event:=drive_controller/_transition_event</remapping>
-          <remapping>gz_ros2_control/e_stop:=hardware/e_stop</remapping>
-          <remapping>gz_ros2_control/e_stop_reset:=hardware/e_stop_reset</remapping>
-          <remapping>gz_ros2_control/e_stop_trigger:=hardware/e_stop_trigger</remapping>
           <remapping>imu_broadcaster/imu:=imu/data</remapping>
           <remapping>imu_broadcaster/transition_event:=imu_broadcaster/_transition_event</remapping>
           <remapping>joint_state_broadcaster/transition_event:=joint_state_broadcaster/_transition_event</remapping>

diff --git a/husarion_ugv_diagnostics/CMakeLists.txt b/husarion_ugv_diagnostics/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.8)
+cmake_minimum_required(VERSION 3.11)
 
 # Handle superbuild first
 option(USE_SUPERBUILD "Whether or not a superbuild should be invoked" ON)

diff --git a/husarion_ugv_diagnostics/cmake/SuperBuild.cmake b/husarion_ugv_diagnostics/cmake/SuperBuild.cmake
@@ -26,7 +26,10 @@ ExternalProject_Add(
   PREFIX ${CMAKE_CURRENT_BINARY_DIR}/ep_cppuprofile
   BUILD_COMMAND $(MAKE) -C <BINARY_DIR>
   INSTALL_COMMAND make install INSTALL_PREFIX=<INSTALL_DIR>
+  # DCMAKE_POLICY_VERSION_MINIMUM is required because of using external
+  # `cppuprofile` repo in the diagnostics pkg
   CMAKE_ARGS -DCMAKE_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX}
+             -DCMAKE_POLICY_VERSION_MINIMUM=3.5
   BUILD_IN_SOURCE 1)
 
 ExternalProject_Add(

diff --git a/husarion_ugv_gazebo/CMakeLists.txt b/husarion_ugv_gazebo/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.10.2)
+cmake_minimum_required(VERSION 3.11)
 project(husarion_ugv_gazebo)
 
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")

diff --git a/husarion_ugv_gazebo/config/gz_bridge.yaml b/husarion_ugv_gazebo/config/gz_bridge.yaml
@@ -5,26 +5,3 @@
   ros_type_name: rosgraph_msgs/msg/Clock
   gz_type_name: gz.msgs.Clock
   direction: GZ_TO_ROS
-
-- ros_topic_name: battery/battery_status
-  gz_topic_name: /model/<model_name>/battery/<namespace>/battery/state
-  ros_type_name: sensor_msgs/msg/BatteryState
-  gz_type_name: gz.msgs.BatteryState
-  direction: GZ_TO_ROS
-
-- topic_name: cmd_vel
-  ros_type_name: geometry_msgs/msg/Twist
-  gz_type_name: gz.msgs.Twist
-  direction: GZ_TO_ROS
-
-- ros_topic_name: lights/channel_1_frame
-  gz_topic_name: <namespace>/lights/channel_1_frame
-  ros_type_name: sensor_msgs/msg/Image
-  gz_type_name: gz.msgs.Image
-  direction: ROS_TO_GZ
-
-- ros_topic_name: lights/channel_2_frame
-  gz_topic_name: <namespace>/lights/channel_2_frame
-  ros_type_name: sensor_msgs/msg/Image
-  gz_type_name: gz.msgs.Image
-  direction: ROS_TO_GZ
diff --git a/husarion_ugv_gazebo/config/robot_bridge.yaml b/husarion_ugv_gazebo/config/robot_bridge.yaml
@@ -0,0 +1,23 @@
+# For detailed information on configuring the parameter_bridge, please refer to:
+# https://github.com/gazebosim/ros_gz/tree/ros2/ros_gz_bridge#example-5-configuring-the-bridge-via-yaml
+
+- ros_topic_name: /<namespace>/battery/battery_status
+  gz_topic_name: /model/<model_name>/battery/<namespace>/battery/state
+  ros_type_name: sensor_msgs/msg/BatteryState
+  gz_type_name: gz.msgs.BatteryState
+  direction: GZ_TO_ROS
+
+- topic_name: /<namespace>/cmd_vel
+  ros_type_name: geometry_msgs/msg/TwistStamped
+  gz_type_name: gz.msgs.Twist
+  direction: GZ_TO_ROS
+
+- topic_name: /<namespace>/lights/channel_1_frame
+  ros_type_name: sensor_msgs/msg/Image
+  gz_type_name: gz.msgs.Image
+  direction: ROS_TO_GZ
+
+- topic_name: /<namespace>/lights/channel_2_frame
+  ros_type_name: sensor_msgs/msg/Image
+  gz_type_name: gz.msgs.Image
+  direction: ROS_TO_GZ
diff --git a/husarion_ugv_gazebo/include/husarion_ugv_gazebo/estop_system.hpp b/husarion_ugv_gazebo/include/husarion_ugv_gazebo/estop_system.hpp
@@ -35,7 +35,7 @@ using TriggerSrv = std_srvs::srv::Trigger;
 
 /**
  * @brief Main class for the Husarion UGV which implements a simulated `ros2_control`
- * `hardware_interface::SystemInterface`. This class inherits `gz_ros2_control::GazeboSystem`
+ * `hardware_interface::SystemInterface`. This class inherits `gz_ros2_control::GazeboSimSystem`
  * and implements additional functionalities like E-stop handling.
  */
 class EStopSystem : public gz_ros2_control::GazeboSimSystem

diff --git a/husarion_ugv_gazebo/launch/simulate_robot.launch.py b/husarion_ugv_gazebo/launch/simulate_robot.launch.py
@@ -80,7 +80,7 @@ def generate_launch_description():
     declare_gz_bridge_config_path_arg = DeclareLaunchArgument(
         "gz_bridge_config_path",
         default_value=PathJoinSubstitution(
-            [FindPackageShare("husarion_ugv_gazebo"), "config", "gz_bridge.yaml"]
+            [FindPackageShare("husarion_ugv_gazebo"), "config", "robot_bridge.yaml"]
         ),
         description="Path to the parameter_bridge configuration file.",
     )
@@ -204,10 +204,10 @@ def generate_launch_description():
     )
 
     model_name = PythonExpression(["'", namespace, "' if '", namespace, "' else 'panther'"])
-
+    ns = PythonExpression(["'", namespace, "' + '/' if '", namespace, "' else ''"])
     namespaced_gz_bridge_config_path = ReplaceString(
         source_file=gz_bridge_config_path,
-        replacements={"<model_name>": model_name, "<namespace>": namespace, "//": "/"},
+        replacements={"<model_name>": model_name, "<namespace>/": ns},
     )
 
     gz_bridge = Node(

diff --git a/husarion_ugv_gazebo/launch/simulation.launch.py b/husarion_ugv_gazebo/launch/simulation.launch.py
@@ -23,7 +23,7 @@
     LaunchConfiguration,
     PathJoinSubstitution,
 )
-from launch_ros.actions import SetUseSimTime
+from launch_ros.actions import Node, SetUseSimTime
 from launch_ros.substitutions import FindPackageShare
 from nav2_common.launch import ReplaceString
 
@@ -76,42 +76,52 @@ def generate_launch_description():
         launch_arguments={"gz_gui": namespaced_gz_gui, "gz_log_level": "1"}.items(),
     )
 
-    rviz_launch = IncludeLaunchDescription(
+    gz_bridge_config = PathJoinSubstitution(
+        [FindPackageShare("husarion_ugv_gazebo"), "config", "gz_bridge.yaml"]
+    )
+    gz_bridge = Node(
+        package="ros_gz_bridge",
+        executable="parameter_bridge",
+        name="gz_bridge",
+        parameters=[{"config_file": gz_bridge_config}],
+    )
+
+    simulate_robots = IncludeLaunchDescription(
         PythonLaunchDescriptionSource(
             PathJoinSubstitution(
                 [
-                    FindPackageShare("husarion_ugv_description"),
+                    FindPackageShare("husarion_ugv_gazebo"),
                     "launch",
-                    "rviz.launch.py",
+                    "simulate_robot.launch.py",
                 ]
             )
         ),
-        condition=IfCondition(use_rviz),
+        launch_arguments={"log_level": log_level}.items(),
     )
 
-    simulate_robots = IncludeLaunchDescription(
+    rviz_launch = IncludeLaunchDescription(
         PythonLaunchDescriptionSource(
             PathJoinSubstitution(
                 [
-                    FindPackageShare("husarion_ugv_gazebo"),
+                    FindPackageShare("husarion_ugv_description"),
                     "launch",
-                    "simulate_robot.launch.py",
+                    "rviz.launch.py",
                 ]
             )
         ),
-        launch_arguments={"log_level": log_level}.items(),
+        condition=IfCondition(use_rviz),
     )
 
     actions = [
         declare_gz_gui,
         declare_log_level_arg,
         declare_namespace_arg,
         declare_use_rviz_arg,
-        # Sets use_sim_time for all nodes started below (doesn't work for nodes started from ignition gazebo)
         SetUseSimTime(True),
         gz_sim,
-        rviz_launch,
+        gz_bridge,
         simulate_robots,
+        rviz_launch,
     ]
 
     return LaunchDescription(actions)