From 2a0b0fe4ce9019f4b0ca7728d315d7dfce6c74ca Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Bj=C3=B6rn=20Ellensohn?= Date: Mon, 24 Jul 2023 12:28:21 +0200 Subject: [PATCH] update --- dependencies.repos | 13 +++++++++ docker-compose.yaml | 66 ++++++++++++++++++++++++++++++++++++++++++++ docker/Dockerfile | 53 +++++++++++++++++++++++++++++++++++ docker/entrypoint.sh | 25 +++++++++++++++++ overlay.repos | 21 ++++++++++++++ 5 files changed, 178 insertions(+) create mode 100644 dependencies.repos create mode 100644 docker-compose.yaml create mode 100644 docker/Dockerfile create mode 100644 docker/entrypoint.sh create mode 100644 overlay.repos diff --git a/dependencies.repos b/dependencies.repos new file mode 100644 index 0000000..2e412e1 --- /dev/null +++ b/dependencies.repos @@ -0,0 +1,13 @@ +repositories: + + # CPS Bot Mini Dependencies + + odrive_ros2_control: + type: git + url: https://github.com/bjoernellens1/odrive_ros2_control.git + version: humble-fw-v0.5.1 + + Lslidar_ROS2: + type: git + url: https://github.com/bjoernellens1/Lslidar_ROS2_driver + version: N10_V1.0 \ No newline at end of file diff --git a/docker-compose.yaml b/docker-compose.yaml new file mode 100644 index 0000000..1bffcd9 --- /dev/null +++ b/docker-compose.yaml @@ -0,0 +1,66 @@ +version: "3.9" +services: + # Base image containing dependencies. + base: + image: bot_mini:base + build: + context: . + dockerfile: docker/Dockerfile + args: + ROS_DISTRO: humble + target: base + # Interactive shell + stdin_open: true + tty: true + # Networking and IPC for ROS 2 + network_mode: host + ipc: host + # Needed to display graphical applications + privileged: true + environment: + # Allows graphical programs in the container. + - DISPLAY=${DISPLAY} + - QT_X11_NO_MITSHM=1 + - NVIDIA_DRIVER_CAPABILITIES=all + volumes: + # Allows graphical programs in the container. + - /tmp/.X11-unix:/tmp/.X11-unix:rw + - ${XAUTHORITY:-$HOME/.Xauthority}:/root/.Xauthority + + # Overlay image containing the example source code. + overlay: + extends: base + image: bot_mini:overlay + build: + context: . + dockerfile: docker/Dockerfile + target: overlay + + # Controller and teleop + controller: + extends: overlay + command: > + ros2 launch bot_mini_bringup robot_controller.launch.py + priority:=80 cpu-affinity:=4 lock-memory-size:=100 config-child-threads:=True + && + ros2 launch bot_mini_bringup robot_twist_mux.launch.py + && + ros2 launch bot_mini_bringup robot_joy_teleop.launch.py + + # # Behavior demo using Python and py_trees + # demo-behavior-py: + # extends: overlay + # command: > + # ros2 launch tb3_autonomy tb3_demo_behavior_py.launch.py + # tree_type:=${BT_TYPE:?} + # enable_vision:=${ENABLE_VISION:?} + # target_color:=${TARGET_COLOR:?} + + # # Behavior demo using C++ and BehaviorTree.CPP + # demo-behavior-cpp: + # extends: overlay + # command: > + # ros2 launch tb3_autonomy tb3_demo_behavior_cpp.launch.py + # tree_type:=${BT_TYPE:?} + # enable_vision:=${ENABLE_VISION:?} + # target_color:=${TARGET_COLOR:?} \ No newline at end of file diff --git a/docker/Dockerfile b/docker/Dockerfile new file mode 100644 index 0000000..400dd1f --- /dev/null +++ b/docker/Dockerfile @@ -0,0 +1,53 @@ +ARG ROS_DISTRO=humble +ARG UNDERLAY_WS=/bot_mini_ws + +######################################## +# Base Image for Bot Mini Control # +######################################## +FROM osrf/ros:${ROS_DISTRO}-desktop as base +ENV ROS_DISTRO=${ROS_DISTRO} +SHELL ["/bin/bash", "-c"] + +# Create Colcon workspace with external dependencies +RUN mkdir -p /bot_mini_ws/src +WORKDIR /bot_mini_ws/src +COPY dependencies.repos . +RUN vcs import < dependencies.repos + +# Build the base Colcon workspace, installing dependencies first. +WORKDIR /bot_mini_ws +RUN source /opt/ros/${ROS_DISTRO}/setup.bash \ + && apt-get update -y \ + && rosdep install --from-paths src --ignore-src --rosdistro ${ROS_DISTRO} -y \ + && colcon build --symlink-install + +# Use Cyclone DDS as middleware +RUN apt-get update && apt-get install -y --no-install-recommends \ + ros-${ROS_DISTRO}-rmw-cyclonedds-cpp +ENV RMW_IMPLEMENTATION=rmw_cyclonedds_cpp + +ENV UNDERLAY_WS=${UNDERLAY_WS} + +########################################### +# Overlay Image for Bot Mini Control # +########################################### +FROM base AS overlay + +# Create an overlay Colcon workspace +RUN mkdir -p /overlay_ws/src +WORKDIR /overlay_ws/src +COPY overlay.repos . +RUN vcs import < overlay.repos + +WORKDIR /overlay_ws +# COPY ./tb3_autonomy/ ./src/tb3_autonomy/ +# COPY ./tb3_worlds/ ./src/tb3_worlds/ +RUN source /bot_mini_ws/install/setup.bash \ + && colcon build --symlink-install \ + && rosdep install --from-paths src --ignore-src --rosdistro ${ROS_DISTRO} -y + +# Set up the entrypoint +COPY ./docker/entrypoint.sh / +RUN chmod +x /entrypoint.sh + +ENTRYPOINT [ "/entrypoint.sh" ] \ No newline at end of file diff --git a/docker/entrypoint.sh b/docker/entrypoint.sh new file mode 100644 index 0000000..14fbec7 --- /dev/null +++ b/docker/entrypoint.sh @@ -0,0 +1,25 @@ +#!/bin/bash +# Basic entrypoint for ROS / Colcon Docker containers + +# Source ROS 2 +source /opt/ros/${ROS_DISTRO}/setup.bash +echo "Sourced ROS 2 ${ROS_DISTRO}" + +# Source the base workspace, if built +if [ -f ${UNDERLAY_WS}/install/setup.bash ] +then + source ${UNDERLAY_WS}/install/setup.bash + #export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:$(ros2 pkg prefix turtlebot3_gazebo)/share/turtlebot3_gazebo/models + echo "Sourced Bot Mini base workspace" +fi + +# Source the overlay workspace, if built +if [ -f /overlay_ws/install/setup.bash ] +then + source /overlay_ws/install/setup.bash + #export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:$(ros2 pkg prefix tb3_worlds)/share/tb3_worlds/models + echo "Sourced Bot Mini overlay workspace" +fi + +# Execute the command passed into this entrypoint +exec "$@" \ No newline at end of file diff --git a/overlay.repos b/overlay.repos new file mode 100644 index 0000000..05cf594 --- /dev/null +++ b/overlay.repos @@ -0,0 +1,21 @@ +repositories: + + bot_mini_description: + type: git + url: https://github.com/bjoernellens1/bot_mini_description.git + version: main + + bot_mini_bringup: + type: git + url: https://github.com/bjoernellens1/bot_mini_bringup.git + version: imu + + rmp220_teleop: + type: git + url: https://github.com/bjoernellens1/rmp220_teleop.git + version: bot_mini + + cam_openCV: + type: git + url: https://github.com/bjoernellens1/ros2_cam_openCV.git + version: main \ No newline at end of file