ellensohn/ros2_docker_template
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Björn Ellensohn 2023-10-23 14:53:43 +02:00
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28
dependencies.amd64.repos
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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

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dependencies.arm64.repos
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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

113
docker/Dockerfile
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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

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docker/Dockerfile.amd64
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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" ]

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docker/Dockerfile.arm64
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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" ]

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init_repo.sh
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#!/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

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install_portainer.sh
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#!/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

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overlay.repos
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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

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test.rviz
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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: <Fixed 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: <Fixed 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