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13
dependencies.repos
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13
dependencies.repos
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repositories:
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# CPS Bot Mini Dependencies
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odrive_ros2_control:
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type: git
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url: https://github.com/bjoernellens1/odrive_ros2_control
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version: humble-fw-v0.5.1
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Lslidar_ROS2_driver:
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type: git
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url: https://github.com/bjoernellens1/Lslidar_ROS2_driver
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version: N10_V1.0
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191
docker-compose.yaml
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docker-compose.yaml
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version: "3.9"
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services:
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# Base image containing dependencies.
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base:
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image: ghcr.io/bjoernellens1/ros2_rmp/rmp:base
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build:
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context: .
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dockerfile: docker/Dockerfile
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args:
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ROS_DISTRO: humble
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target: base
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x-bake:
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platforms:
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- linux/arm64
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- linux/amd64
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# Interactive shell
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stdin_open: true
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tty: true
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# Networking and IPC for ROS 2
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network_mode: host
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ipc: host
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# Needed to display graphical applications
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privileged: true
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environment:
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# Allows graphical programs in the container.
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- DISPLAY=${DISPLAY}
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- QT_X11_NO_MITSHM=1
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- NVIDIA_DRIVER_CAPABILITIES=all
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volumes:
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# Allows graphical programs in the container.
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- /tmp/.X11-unix:/tmp/.X11-unix:rw
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- ${XAUTHORITY:-$HOME/.Xauthority}:/root/.Xauthority
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# Overlay image containing the project specific source code.
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overlay:
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extends: base
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image: ghcr.io/bjoernellens1/ros2_rmp/rmp:overlay
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build:
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context: .
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dockerfile: docker/Dockerfile
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tags:
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- ghcr.io/bjoernellens1/ros2_rmp/rmp:overlay
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target: overlay
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x-bake:
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platforms:
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- linux/arm64
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- linux/amd64
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volumes:
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- .:/repo
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# Additional dependencies for GUI applications
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guis:
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extends: overlay
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image: ghcr.io/bjoernellens1/ros2_rmp/rmp:guis
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build:
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context: .
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dockerfile: docker/Dockerfile
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tags:
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- ghcr.io/bjoernellens1/ros2_rmp/rmp:guis
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target: guis
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x-bake:
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platforms:
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- linux/arm64
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- linux/amd64
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#entrypoint: /bin/bash
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command: >
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/bin/bash
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# Robot State Publisher
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robot_state_publisher:
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extends: overlay
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command: >
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ros2 launch cps_rmp220_support rsp.launch.py --ros-args -r __ns:=/probeNamespace
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stdin_open: true
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tty: true
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# Networking and IPC for ROS 2
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network_mode: host
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ipc: host
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# Controller
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controller:
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extends: overlay
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command: >
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ros2 launch cps_rmp220_support robot_controller.launch.py __ns:=/probeNamespace
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devices:
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- /dev/ttyUSB0:/dev/ttyUSB0
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- /dev/ttyACM0:/dev/ttyACM0
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- /dev/input/js0:/dev/input/js0
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# Interactive shell
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stdin_open: true
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tty: true
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# Networking and IPC for ROS 2
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network_mode: host
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ipc: host
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# Needed to display graphical applications
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privileged: true
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# depends_on:
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# - robot_state_publisher
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# teleop
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teleop:
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extends: overlay
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command: >
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ros2 launch cps_rmp220_support robot_joystick.launch.py
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devices:
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- /dev/ttyUSB0:/dev/ttyUSB0
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- /dev/ttyACM0:/dev/ttyACM0
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- /dev/input/js0:/dev/input/js0
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# Interactive shell
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stdin_open: true
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tty: true
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# Networking and IPC for ROS 2
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network_mode: host
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ipc: host
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# Needed to display graphical applications
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privileged: true
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# lidar
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lidar:
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extends: overlay
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command: >
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ros2 launch cps_rmp220_support robot_lidar.launch.py
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stdin_open: true
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tty: true
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# Networking and IPC for ROS 2
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network_mode: host
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ipc: host
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depends_on:
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- robot_state_publisher
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# mapping
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mapping:
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extends: overlay
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command: >
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ros2 launch cps_rmp220_support robot_mapping.launch.py
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# Interactive shell
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stdin_open: true
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tty: true
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# Networking and IPC for ROS 2
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network_mode: host
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ipc: host
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# navigation
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navigation:
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extends: overlay
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command: >
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ros2 launch cps_rmp220_support robot_navigation.launch.py
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map_subscribe_transient_local:=true
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stdin_open: true
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tty: true
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# Networking and IPC for ROS 2
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network_mode: host
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ipc: host
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# bash
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bash:
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extends: overlay
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command: >
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/bin/bash
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stdin_open: true
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tty: true
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# Networking and IPC for ROS 2
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network_mode: host
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ipc: host
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# rviz2
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rviz2:
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extends: guis
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# command: >
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# ros2 launch cps_rmp220_support robot_rviz2.launch.py
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command: >
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rviz2
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# Interactive shell
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stdin_open: true
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tty: true
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# Networking and IPC for ROS 2
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network_mode: host
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ipc: host
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# Needed to display graphical applications
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privileged: true
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environment:
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# Allows graphical programs in the container.
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- DISPLAY=${DISPLAY}
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- QT_X11_NO_MITSHM=1
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- NVIDIA_DRIVER_CAPABILITIES=all
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volumes:
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# Allows graphical programs in the container.
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- /tmp/.X11-unix:/tmp/.X11-unix:rw
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- ${XAUTHORITY:-$HOME/.Xauthority}:/root/.Xauthority
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89
docker/Dockerfile
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docker/Dockerfile
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ARG ROS_DISTRO=humble
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ARG UNDERLAY_WS=/bot_mini_ws
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ARG OVERLAY_WS=/bot_mini_ws
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# This file should work for both amd64 and arm64 builds.
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########################################
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# Base Image for Bot Mini Control #
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########################################
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FROM ros:${ROS_DISTRO} as base
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ENV ROS_DISTRO=${ROS_DISTRO}
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ENV UNDERLAY_WS=${UNDERLAY_WS}
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SHELL ["/bin/bash", "-c"]
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# Create Colcon workspace with external dependencies
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RUN mkdir -p /${UNDERLAY_WS}/src
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WORKDIR /${UNDERLAY_WS}/src
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COPY dependencies.repos .
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#RUN vcs import < dependencies.repos
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RUN vcs import < dependencies.repos;
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# Build the base Colcon workspace, installing dependencies first.
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WORKDIR /${UNDERLAY_WS}
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RUN source /opt/ros/${ROS_DISTRO}/setup.bash \
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&& apt-get update -y \
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&& rosdep install --from-paths src --ignore-src --rosdistro ${ROS_DISTRO} -y \
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&& colcon build --symlink-install \
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&& rm -rf /var/lib/apt/lists/*
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# Use Cyclone DDS as middleware
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RUN apt-get update && apt-get install -y --no-install-recommends \
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ros-${ROS_DISTRO}-rmw-cyclonedds-cpp \
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ros-${ROS_DISTRO}-xacro \
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&& rm -rf /var/lib/apt/lists/*
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ENV RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
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###########################################
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# Overlay Image for Bot Mini Control #
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###########################################
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FROM base AS overlay
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ENV OVERLAY_WS=${OVERLAY_WS}
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# Create an overlay Colcon workspace
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RUN mkdir -p /${OVERLAY_WS}/src
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WORKDIR /${OVERLAY_WS}/src
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COPY overlay.repos .
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RUN vcs import < overlay.repos
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WORKDIR /${OVERLAY_WS}
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RUN source /${UNDERLAY_WS}/install/setup.bash \
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&& colcon build --symlink-install \
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&& apt-get update \
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&& rosdep install --from-paths src --ignore-src --rosdistro ${ROS_DISTRO} -y \
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&& rm -rf /var/lib/apt/lists/*
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# Set up the entrypoint
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COPY ./docker/entrypoint.sh /
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RUN chmod +x /entrypoint.sh
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COPY ./controller_startup.sh /
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RUN chmod +x /controller_startup.sh
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COPY ./localization_startup.sh /
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RUN chmod +x /localization_startup.sh
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ENTRYPOINT [ "/entrypoint.sh" ]
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###########################################
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# GUI Additions for Ros2 #
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###########################################
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FROM overlay AS guis
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# Install additional GUI tools
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RUN source /${UNDERLAY_WS}/install/setup.bash \
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&& colcon build --symlink-install \
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&& apt-get update \
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&& apt-get install -y --no-install-recommends ros-${ROS_DISTRO}-rviz2 \
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&& rosdep install --from-paths src --ignore-src --rosdistro ${ROS_DISTRO} -y \
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&& rm -rf /var/lib/apt/lists/*
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# Set up the entrypoint
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ENTRYPOINT [ "/entrypoint.sh" ]
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LABEL org.opencontainers.image.source=https://github.com/bjoernellens1/ros2_rmp
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