update

2023-08-02 13:56:21 +00:00 · 2023-08-02 13:56:21 +00:00 · 30a5bb0505
commit 30a5bb0505
parent a5e2583459
4 changed files with 207 additions and 37 deletions
--- a/README.md
+++ b/README.md
@ -1,8 +1,17 @@
 # ros2_rmp

+For the build with docker buildx bake you will need binfmt dependencies for arm64 architecture, as we are doing a multiplatform build (Works on PCs as well as Jetson Nano, Raspberry Pi, Apple Silicon Devices).

+For Robot:
+docker buildx bake overlay --load
+docker buildx bake overlay --push
+e.g.:
+docker compose up -d controller

-
-docker buildx bake -f docker-compose.yaml overlay --load
-
-docker buildx bake -f docker-compose.yaml overlay --push
+For PC:
+docker buildx bake guis --load
+docker buildx bake guis --push
+--> get into container shell:
+docker compose run guis
+or
+docker compose up rviz2
--- a/docker-compose.yaml
+++ b/docker-compose.yaml
@ -1,4 +1,5 @@
 version: "3.9"
+
 services:
  # Base image containing dependencies.
  base:
@ -46,22 +47,26 @@ services:
        platforms:
          - linux/arm64
          - linux/amd64
+    volumes:
+      - .:/repo

-  # # Overlay image containing the project specific source code.
-  # final:
-  #   extends: overlay
-  #   image: ghcr.io/bjoernellens1/ros2_rmp/rmp:final
-  #   build:
-  #     context: .
-  #     dockerfile: docker/Dockerfile
-  #     tags:
-  #       - ghcr.io/bjoernellens1/ros2_rmp/rmp:final
-  #     target: final
-  #     x-bake:
-  #       platforms:
-  #         - linux/arm64
-  #         - linux/amd64
-  #   command: /bin/bash
+  # Additional dependencies for GUI applications
+  guis:
+    extends: overlay
+    image: ghcr.io/bjoernellens1/ros2_rmp/rmp:guis
+    build:
+      context: .
+      dockerfile: docker/Dockerfile
+      tags:
+        - ghcr.io/bjoernellens1/ros2_rmp/rmp:guis
+      target: guis
+      x-bake:
+        platforms:
+          - linux/arm64
+          - linux/amd64
+    #entrypoint: /bin/bash
+    command: >
+      /bin/bash

  # Robot State Publisher
  robot_state_publisher:
@ -98,7 +103,7 @@ services:
  teleop:
    extends: overlay 
    command: >
-      ros2 launch cps_rmp220_support robot_joystick.launch.py --ros-args -r __ns:=/probeNamespace 
+      ros2 launch cps_rmp220_support robot_joystick.launch.py 
    devices:
      - /dev/ttyUSB0:/dev/ttyUSB0
      - /dev/ttyACM0:/dev/ttyACM0
@ -160,20 +165,27 @@ services:
    network_mode: host
    ipc: host

-    # # Behavior demo using Python and py_trees
-    # demo-behavior-py:
-    #   extends: overlay
+  # rviz2
+  rviz2:
+    extends: guis
    # 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:?}
+    #   ros2 launch cps_rmp220_support robot_rviz2.launch.py
+    command: >
+      rviz2
+    # 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
--- a/docker/Dockerfile
+++ b/docker/Dockerfile
@ -89,4 +89,20 @@ RUN chmod +x /localization_startup.sh

 ENTRYPOINT [ "/entrypoint.sh" ]

+###########################################
+# GUI Additions for Ros2 #
+###########################################
+FROM overlay AS guis
+
+# Install additional GUI tools
+RUN source /rmp_ws/install/setup.bash \
+ && colcon build --symlink-install \
+ && apt-get update \
+ && apt-get install -y --no-install-recommends ros-${ROS_DISTRO}-rviz2 \
+ && rosdep install --from-paths src --ignore-src --rosdistro ${ROS_DISTRO} -y \
+ && rm -rf /var/lib/apt/lists/*
+
+# Set up the entrypoint
+ENTRYPOINT [ "/entrypoint.sh" ]
+
 LABEL org.opencontainers.image.source=https://github.com/bjoernellens1/ros2_rmp
--- a/test.rviz
+++ b/test.rviz
@ -0,0 +1,133 @@
+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