From f4353834474253d020469dff7f9ece1bd44d393c Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Bj=C3=B6rn=20Ellensohn?= Date: Mon, 23 Oct 2023 14:53:43 +0200 Subject: [PATCH] update --- dependencies.amd64.repos | 28 --------- dependencies.arm64.repos | 28 --------- docker/Dockerfile | 113 --------------------------------- docker/Dockerfile.amd64 | 61 ------------------ docker/Dockerfile.arm64 | 62 ------------------ init_repo.sh | 27 -------- install_portainer.sh | 3 - overlay.repos | 11 ---- test.rviz | 133 --------------------------------------- 9 files changed, 466 deletions(-) delete mode 100644 dependencies.amd64.repos delete mode 100644 dependencies.arm64.repos delete mode 100644 docker/Dockerfile delete mode 100644 docker/Dockerfile.amd64 delete mode 100644 docker/Dockerfile.arm64 delete mode 100644 init_repo.sh delete mode 100644 install_portainer.sh delete mode 100644 overlay.repos delete mode 100644 test.rviz diff --git a/dependencies.amd64.repos b/dependencies.amd64.repos deleted file mode 100644 index 6c8b7ad..0000000 --- a/dependencies.amd64.repos +++ /dev/null @@ -1,28 +0,0 @@ -repositories: - - # CPS RMP lite 220 Dependencies - - segwayrmp: - type: git - url: https://github.com/bjoernellens1/segwayrmp - version: humble - - segway_msgs: - type: git - url: https://github.com/bjoernellens1/segway_msgs - version: main - - RPlidar_ROS2: - type: git - url: https://github.com/bjoernellens1/sllidar_ros2 - version: main - - rmp220_teleop: - type: git - url: https://github.com/bjoernellens1/rmp220_teleop.git - version: main - - rmp220_middleware: - type: git - url: https://github.com/bjoernellens1/rmp220_middleware.git - version: main \ No newline at end of file diff --git a/dependencies.arm64.repos b/dependencies.arm64.repos deleted file mode 100644 index d763652..0000000 --- a/dependencies.arm64.repos +++ /dev/null @@ -1,28 +0,0 @@ -repositories: - - # CPS RMP lite 220 Dependencies - - segwayrmp: - type: git - url: https://github.com/bjoernellens1/segwayrmp - version: humble-arm64 - - segway_msgs: - type: git - url: https://github.com/bjoernellens1/segway_msgs - version: main - - RPlidar_ROS2: - type: git - url: https://github.com/bjoernellens1/sllidar_ros2 - version: main - - rmp220_teleop: - type: git - url: https://github.com/bjoernellens1/rmp220_teleop.git - version: main - - rmp220_middleware: - type: git - url: https://github.com/bjoernellens1/rmp220_middleware.git - version: main \ No newline at end of file diff --git a/docker/Dockerfile b/docker/Dockerfile deleted file mode 100644 index 7681702..0000000 --- a/docker/Dockerfile +++ /dev/null @@ -1,113 +0,0 @@ -ARG ROS_DISTRO=humble -ARG UNDERLAY_WS=/rmp_ws -ARG TARGETPLATFORM - - -# This file should work for both amd64 and arm64 builds. Because segway did not release some source code we must copy some binaries for the specific architectures. -# That is why we must use some conditional statements to copy over the correct files during build process. -# Variable TARGETPLATFORM should be auomatically created during build process by docker. - -######################################## -# Base Image for Bot Mini Control # -######################################## -FROM ros:${ROS_DISTRO} as base -ENV ROS_DISTRO=${ROS_DISTRO} -#ENV TARGETPLATFORM=$TARGETPLATFORM - -SHELL ["/bin/bash", "-c"] - -# Create Colcon workspace with external dependencies -RUN mkdir -p /rmp_ws/src -WORKDIR /rmp_ws/src -COPY dependencies.arm64.repos . -COPY dependencies.amd64.repos . - -# Choose correct sources for architecture: -# Copy platform-specific files -# Use if condition to copy different files for different platforms -#RUN echo "TARGETPLATFORM is $TARGETPLATFORM" -RUN echo "Hardware platform is: $(uname -m)" -RUN uname -a - -RUN echo "update base 23.08.2023" - -RUN if [ "$(uname -m)" = "x86_64" ]; then \ - echo "Copying files for linux/amd64"; \ - mv dependencies.amd64.repos dependencies.repos; \ - else \ - echo "Copying files for linux/arm64"; \ - mv dependencies.arm64.repos dependencies.repos; \ - fi - -#RUN vcs import < dependencies.repos -RUN vcs import < dependencies.repos; - -# Build the base Colcon workspace, installing dependencies first. -WORKDIR /rmp_ws -RUN source /opt/ros/${ROS_DISTRO}/setup.bash \ - && apt-get update -y \ - && rosdep install --from-paths src --ignore-src --rosdistro ${ROS_DISTRO} -y - -RUN source /opt/ros/${ROS_DISTRO}/setup.bash \ - && colcon build --symlink-install - -# Use Cyclone DDS as middleware and install xacro -RUN apt-get update && apt-get install -y --no-install-recommends \ - ros-${ROS_DISTRO}-rmw-cyclonedds-cpp \ - ros-${ROS_DISTRO}-xacro \ - && rm -rf /var/lib/apt/lists/* - -ENV RMW_IMPLEMENTATION=rmw_cyclonedds_cpp - -ENV UNDERLAY_WS=${UNDERLAY_WS} - -# Set up the entrypoint -COPY ./docker/entrypoint.sh / -RUN chmod +x /entrypoint.sh - -ENTRYPOINT [ "/entrypoint.sh" ] - -########################################### -# Overlay Image for RMP 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 - -RUN echo "update overlay 22.08.2023" - -RUN source /rmp_ws/install/setup.bash \ - && apt-get update \ - && rosdep install --from-paths src --ignore-src --rosdistro ${ROS_DISTRO} -y \ - && rm -rf /var/lib/apt/lists/* - -RUN source /rmp_ws/install/setup.bash \ - && colcon build --symlink-install - -# Set up the entrypoint -COPY ./docker/entrypoint.sh / -RUN chmod +x /entrypoint.sh - -ENTRYPOINT [ "/entrypoint.sh" ] - -########################################### -# GUI Additions for Ros2 # -########################################### -FROM overlay AS guis - -# Install additional GUI tools -RUN source /rmp_ws/install/setup.bash \ - && apt-get update \ - && apt-get install -y --no-install-recommends ros-${ROS_DISTRO}-rviz2 \ - && rm -rf /var/lib/apt/lists/* - -# Set up the entrypoint -ENTRYPOINT [ "/entrypoint.sh" ] - -LABEL org.opencontainers.image.source=https://github.com/bjoernellens1/ros2_rmp \ No newline at end of file diff --git a/docker/Dockerfile.amd64 b/docker/Dockerfile.amd64 deleted file mode 100644 index ed65b77..0000000 --- a/docker/Dockerfile.amd64 +++ /dev/null @@ -1,61 +0,0 @@ -ARG ROS_DISTRO=humble -ARG UNDERLAY_WS=/rmp_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 /rmp_ws/src -WORKDIR /rmp_ws/src -COPY dependencies.repos . -RUN vcs import < dependencies.amd64.repos - -# Build the base Colcon workspace, installing dependencies first. -WORKDIR /rmp_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 - -RUN echo "Dummy step" -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 /rmp_ws/install/setup.bash \ - && colcon build --symlink-install \ - && rosdep install --from-paths src --ignore-src --rosdistro ${ROS_DISTRO} -y - -# Set up the entrypoint -COPY ./docker/entrypoint.sh / -RUN chmod +x /entrypoint.sh - -COPY ./controller_startup.sh / -RUN chmod +x /controller_startup.sh - -COPY ./localization_startup.sh / -RUN chmod +x /localization_startup.sh - -ENTRYPOINT [ "/entrypoint.sh" ] \ No newline at end of file diff --git a/docker/Dockerfile.arm64 b/docker/Dockerfile.arm64 deleted file mode 100644 index ae96e74..0000000 --- a/docker/Dockerfile.arm64 +++ /dev/null @@ -1,62 +0,0 @@ -ARG ROS_DISTRO=humble -ARG UNDERLAY_WS=/rmp_ws - -######################################## -# Base Image for Bot Mini Control # -######################################## -#FROM --platform=linux/arm64 ros:${ROS_DISTRO} as base -FROM ros:${ROS_DISTRO} as base -ENV ROS_DISTRO=${ROS_DISTRO} -SHELL ["/bin/bash", "-c"] - -# Create Colcon workspace with external dependencies -RUN mkdir -p /rmp_ws/src -WORKDIR /rmp_ws/src -COPY dependencies.repos . -RUN vcs import < dependencies.arm64.repos - -# Build the base Colcon workspace, installing dependencies first. -WORKDIR /rmp_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 - -RUN echo "Dummy step" -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 /rmp_ws/install/setup.bash \ - && colcon build --symlink-install \ - && rosdep install --from-paths src --ignore-src --rosdistro ${ROS_DISTRO} -y - -# Set up the entrypoint -COPY ./docker/entrypoint.sh / -RUN chmod +x /entrypoint.sh - -COPY ./controller_startup.sh / -RUN chmod +x /controller_startup.sh - -COPY ./localization_startup.sh / -RUN chmod +x /localization_startup.sh - -ENTRYPOINT [ "/entrypoint.sh" ] \ No newline at end of file diff --git a/init_repo.sh b/init_repo.sh deleted file mode 100644 index 66544a2..0000000 --- a/init_repo.sh +++ /dev/null @@ -1,27 +0,0 @@ -#!/bin/bash -# Basic entrypoint for ROS / Colcon Docker containers - -# Source ROS 2 -source /opt/ros/${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 - -# Copy over files -cp -r /overlay_ws/src/* /repo/src/ - -wait \ No newline at end of file diff --git a/install_portainer.sh b/install_portainer.sh deleted file mode 100644 index ee5af37..0000000 --- a/install_portainer.sh +++ /dev/null @@ -1,3 +0,0 @@ -#!/bin/bash -docker volume create portainer_data -docker run -d -p 8000:8000 -p 9443:9443 --name portainer --restart=always -v /var/run/docker.sock:/var/run/docker.sock -v portainer_data:/data portainer/portainer-ce:latest \ No newline at end of file diff --git a/overlay.repos b/overlay.repos deleted file mode 100644 index 22fcc92..0000000 --- a/overlay.repos +++ /dev/null @@ -1,11 +0,0 @@ -repositories: - - cps_rmp220_support: - type: git - url: https://github.com/bjoernellens1/cps_rmp220_support.git - version: main - - cam_openCV: - type: git - url: https://github.com/bjoernellens1/ros2_cam_openCV.git - version: main \ No newline at end of file diff --git a/test.rviz b/test.rviz deleted file mode 100644 index ec86523..0000000 --- a/test.rviz +++ /dev/null @@ -1,133 +0,0 @@ -Panels: - - Class: rviz_common/Displays - Help Height: 85 - Name: Displays - Property Tree Widget: - Expanded: - - /Global Options1 - - /Status1 - Splitter Ratio: 0.5 - Tree Height: 528 - - Class: rviz_common/Selection - Name: Selection - - Class: rviz_common/Tool Properties - Expanded: - - /2D Goal Pose1 - - /Publish Point1 - Name: Tool Properties - Splitter Ratio: 0.5886790156364441 - - Class: rviz_common/Views - Expanded: - - /Current View1 - Name: Views - Splitter Ratio: 0.5 - - Class: rviz_common/Time - Experimental: false - Name: Time - SyncMode: 0 - SyncSource: "" -Visualization Manager: - Class: "" - Displays: - - Alpha: 0.5 - Cell Size: 1 - Class: rviz_default_plugins/Grid - Color: 160; 160; 164 - Enabled: true - Line Style: - Line Width: 0.029999999329447746 - Value: Lines - Name: Grid - Normal Cell Count: 0 - Offset: - X: 0 - Y: 0 - Z: 0 - Plane: XY - Plane Cell Count: 10 - Reference Frame: - Value: true - Enabled: true - Global Options: - Background Color: 48; 48; 48 - Fixed Frame: map - Frame Rate: 30 - Name: root - Tools: - - Class: rviz_default_plugins/Interact - Hide Inactive Objects: true - - Class: rviz_default_plugins/MoveCamera - - Class: rviz_default_plugins/Select - - Class: rviz_default_plugins/FocusCamera - - Class: rviz_default_plugins/Measure - Line color: 128; 128; 0 - - Class: rviz_default_plugins/SetInitialPose - Covariance x: 0.25 - Covariance y: 0.25 - Covariance yaw: 0.06853891909122467 - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /initialpose - - Class: rviz_default_plugins/SetGoal - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /goal_pose - - Class: rviz_default_plugins/PublishPoint - Single click: true - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /clicked_point - Transformation: - Current: - Class: rviz_default_plugins/TF - Value: true - Views: - Current: - Class: rviz_default_plugins/Orbit - Distance: 10 - Enable Stereo Rendering: - Stereo Eye Separation: 0.05999999865889549 - Stereo Focal Distance: 1 - Swap Stereo Eyes: false - Value: false - Focal Point: - X: 0 - Y: 0 - Z: 0 - Focal Shape Fixed Size: true - Focal Shape Size: 0.05000000074505806 - Invert Z Axis: false - Name: Current View - Near Clip Distance: 0.009999999776482582 - Pitch: 0.785398006439209 - Target Frame: - Value: Orbit (rviz) - Yaw: 0.785398006439209 - Saved: ~ -Window Geometry: - Displays: - collapsed: false - Height: 845 - Hide Left Dock: false - Hide Right Dock: false - QMainWindow State: 000000ff00000000fd00000004000000000000015a000002a6fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006b00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000044000002a6000000eb00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002a6fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730100000044000002a6000000b900fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004af0000003efc0100000002fb0000000800540069006d00650100000000000004af000002d200fffffffb0000000800540069006d0065010000000000000450000000000000000000000238000002a600000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 - Selection: - collapsed: false - Time: - collapsed: false - Tool Properties: - collapsed: false - Views: - collapsed: false - Width: 1199 - X: 199 - Y: 115