Replacing telnet with libaria library for communication

.gitmodules

@@ -0,0 +1,3 @@
+[submodule "libaria"]
+	path = libaria
+	url = https://github.com/CollaborativeRoboticsLab/libaria.git

README.md

@@ -1,11 +1,11 @@
 # Omron AMR package
 
-To view the original Readme.md [click here](./docs/original_readme.md)
+To view the original Readme.md [click here](./docs/old/original_readme.md)
 
-This package is a restructuring of [OmronAPAC/Omron_AMR_ROS2](https://github.com/OmronAPAC/Omron_AMR_ROS2)
+This package is a restructuring of [OmronAPAC/Omron_AMR_ROS2](https://github.com/OmronAPAC/Omron_AMR_ROS2) with a libaria-backed `amr_core` hardware interface.
 
-View [New Developer's Guide](https://github.com/CollaborativeRoboticsLab/omron_amr/blob/master/docs/old/DeveloperGuide_updated.adoc).
-View [Old Developer's Guide](https://github.com/CollaborativeRoboticsLab/omron_amr/blob/master/docs/old/DeveloperGuide.adoc).
+View [New Developer's Guide](./docs/old/DeveloperGuide_updated.adoc).
+View [Old Developer's Guide](./docs/old/DeveloperGuide.adoc).
 
 More information
 - [amr_core parameters](./docs/parameters.md)
@@ -29,7 +29,7 @@ sudo apt install ros-humble-navigation2 ros-humble-nav2-bringup ros-humble-slam-
 Clone the repositories into the `src` folder by
 
 ```sh
-git clone https://github.com/CollaborativeRoboticsLab/omron_amr.git
+git clone --recursive https://github.com/CollaborativeRoboticsLab/omron_amr.git
 ```
 
 Build by
@@ -39,26 +39,47 @@ cd ..
 colcon build
 ```
 
-## Usage 
+## Usage
 
 ### Initialization
 
-1. [Establish Remote connection to AMR Robot](https://github.com/CollaborativeRoboticsLab/omron_amr/blob/main/docs/DeveloperGuide.adoc#231-set-up-user-ethernet)
+1. [Establish Remote connection to AMR Robot](./docs/old/DeveloperGuide.adoc)
 
-2. [Configure AMR robot via Mobile Planner](https://github.com/CollaborativeRoboticsLab/omron_amr/blob/main/docs/DeveloperGuide_updated.adoc#332-set-up-arcl)
+2. [Configure AMR robot via Mobile Planner](./docs/old/DeveloperGuide_updated.adoc)
 
+### Start only the hardware interface
 
-### Connect with the robot base
+```sh
+source install/setup.bash
+ros2 launch amr_ros amr_core.launch.py
+```
+
+### Start the LD250 wrapper
 
-Run the following command to connect to the robot.
+This launches the LD250 hardware parameters and can optionally include Nav2 and RViz.
 
 ```sh
 source install/setup.bash
-ros2 launch amr_ros amr_core.launch.py
+ros2 launch amr_ros ld250.launch.py
 ```
-### Start visualization
 
-Run the following command to visualize robot. Swap `ld250` with `ld90` or `amr_platform` for other robot models.
+Example with Nav2 and RViz:
+
+```sh
+source install/setup.bash
+ros2 launch amr_ros ld250.launch.py use_nav2:=true use_slam:=true rviz:=true
+```
+
+Digital twin overlay example:
+
+```sh
+source install/setup.bash
+ros2 launch amr_ros ld250.launch.py extra_params_file:=/absolute/path/to/override.yaml
+```
+
+### Start visualization only
+
+Run the following command to visualize the robot. Swap `ld250` with `ld90` or `amr_platform` for other robot models.
 
 ```sh
 source install/setup.bash
@@ -72,10 +93,3 @@ source install/setup.bash
 ros2 launch amr_teleop amr_joyop.launch.py
 ```
 
-## To Do List
-
-- [x] Replace AMR_Core with a cpp package with support for standard ros2 interface (/cmd_vel, /tf and /odom)
-- [ ] Extend the interface with standard ros2 messages for battery and other optional data
-- [x] Add support for NAV2
-- [x] Create cascadeing launch files for AMR core and RVIz
-

amr_core/CMakeLists.txt

@@ -22,12 +22,16 @@ find_package(control_msgs REQUIRED)
 find_package(visualization_msgs REQUIRED)
 find_package(ament_index_cpp REQUIRED)
 find_package(tf2_ros REQUIRED)
+find_package(libaria CONFIG REQUIRED)
+
+set(AMR_CORE_ARIA_DIR "${CMAKE_CURRENT_SOURCE_DIR}/../../libaria")
 
 include_directories(
   include
 )
 
 add_executable(${PROJECT_NAME} src/core_node.cpp)
+target_compile_definitions(${PROJECT_NAME} PRIVATE AMR_CORE_ARIA_DIR="${AMR_CORE_ARIA_DIR}")
 ament_target_dependencies(${PROJECT_NAME} 
   rclcpp
   rclcpp_action
@@ -42,19 +46,12 @@ ament_target_dependencies(${PROJECT_NAME}
   ament_index_cpp
 
 )
-
-add_executable(client src/client_node.cpp)
-ament_target_dependencies(client
-  rclcpp
-  rclcpp_action
-  std_msgs
-  amr_msgs
-  geometry_msgs
+target_link_libraries(${PROJECT_NAME}
+  libaria::ArNetworking
 )
 
 install(TARGETS
   ${PROJECT_NAME}
-  client
   DESTINATION lib/${PROJECT_NAME}
 )