update

bak/docker-bake.hcl

@@ -1,26 +0,0 @@
-# docker-bake.hcl
-group "default" {
-  targets = ["base", "overlay_arm64", "overlay_amd64"]
-}
-
-target "base" {
-  dockerfile = "docker/Dockerfile"
-  tags = ["ghcr.io/bjoernellens1/ros2_rmp/rmp:base"]
-}
-
-target "overlay_arm64" {
-  inherits = ["base"]
-  dockerfile = "docker/Dockerfile.arm64"
-  platforms = ["linux/arm64"]
-}
-
-target "overlay_amd64" {
-  inherits = ["base"]
-  dockerfile = "docker/Dockerfile.amd64"
-  platforms = ["linux/amd64"]
-}
-
-target "db" {
-  dockerfile = "Dockerfile.db"
-  tags = ["docker.io/username/db"]
-}

docker-compose.yaml

@@ -7,6 +7,8 @@ services:
     build:
       context: .
       dockerfile: docker/Dockerfile
+      tags:
+        - ghcr.io/bjoernellens1/ros2_rmp/rmp:base
       args:
         ROS_DISTRO: humble
       target: base
@@ -286,8 +288,6 @@ services:
     # Networking
     ports:
       - 8080:8080
-    profiles:
-      - robot
 
   # USB Camera Stream
   cam:
@@ -304,4 +304,41 @@ services:
       - RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
     devices:
       - /dev/video0:/dev/video0
-  
+
+
+  #ROS1 Bridge
+  ros1bridge:
+    image: ghcr.io/bjoernellens1/ros2_rmp/ros1bridge
+    command: >
+      ros2 run ros1_bridge dynamic_bridge --bridge-all-2to1-topics
+    build:
+      context: .
+      dockerfile: docker/Dockerfile
+      tags:
+        - ghcr.io/bjoernellens1/ros2_rmp/ros1bridge
+      args:
+        ROS_DISTRO: humble
+      target: bridge
+      x-bake:
+        platforms:
+          #- linux/arm64
+          - linux/amd64
+      # Networking and IPC for ROS 2
+    network_mode: host
+    ipc: host
+    environment:
+      - ROS_DOMAIN_ID=5
+      - RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
+      - ROS_MASTER_URI=http://localhost:11311 # is configured to run roscore on the robot but could change to local ros1 machine here
+  
+  #ROS1 roscore
+  roscore:
+    command: >
+      roscore
+    extends: ros1bridge
+    network_mode: host
+    ipc: host
+    environment:
+      - ROS_DOMAIN_ID=5
+      - RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
+      - ROS_MASTER_URI=http://localhost:11311 # is configured to run roscore on the robot but could change to local ros1 machine here

docker/Dockerfile

@@ -112,4 +112,139 @@ RUN source /rmp_ws/install/setup.bash \
 # Set up the entrypoint
 ENTRYPOINT [ "/entrypoint.sh" ]
 
-LABEL org.opencontainers.image.source=https://github.com/bjoernellens1/ros2_rmp
+LABEL org.opencontainers.image.source=https://github.com/bjoernellens1/ros2_rmp
+
+
+### Added for bridging
+# FROM ubuntu:focal as bridge
+
+# SHELL ["/bin/bash", "-c"]
+
+# ENV DEBIAN_FRONTEND noninteractive
+# ENV ROS_DISTRO=foxy
+
+# RUN locale
+# RUN apt-get update && apt-get install -y locales
+# RUN locale-gen en_US en_US.UTF-8
+# RUN update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8
+
+# ENV LANG=en_US.UTF-8
+
+# RUN locale 
+
+# RUN apt-get update && apt-get install -y --no-install-recommends \
+#   curl \
+#   gnupg2 \
+#   lsb-release \
+#   software-properties-common \
+#   && add-apt-repository universe
+
+# RUN curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
+# RUN echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | tee /etc/apt/sources.list.d/ros2.list > /dev/null
+
+# # Install common packages
+# RUN apt-get update && apt-get install -y \
+#   python3-flake8-docstrings \
+#   python3-pip \
+#   python3-pytest-cov \
+#   ros-dev-tools
+
+# RUN mkdir -p /root/ros2_foxy/src
+# WORKDIR /root/ros2_foxy
+# RUN vcs import --input https://raw.githubusercontent.com/ros2/ros2/${ROS_DISTRO}/ros2.repos src 
+#   #&& vcs import --input https://raw.githubusercontent.com/ros2/rmw_fastrtps/${ROS_DISTRO}/rmw_fastrtps.repos ~/ros2_humble/src \
+#   #&& vcs import --input https://raw.githubusercontent.com/ros2/rmw_cyclonedds/${ROS_DISTRO}/rmw_cyclonedds.repos ~/ros2_humble/src
+
+# ARG RTI_NC_LICENSE_ACCEPTED=yes # must accept license agreement for RTI Connext DDS
+
+# RUN apt-get update && apt-get upgrade -y \
+#   && rosdep init \
+#   && rosdep update \
+#   && rosdep install --from-paths src --ignore-src --rosdistro ${ROS_DISTRO} -y --skip-keys "console_bridge fastcdr fastrtps rti-connext-dds-5.3.1 urdfdom_headers"
+
+# RUN colcon build --symlink-install
+
+# # 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: $(uname -m)"
+# RUN uname -a
+
+# RUN if [ "$(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 /home/root/ros2_foxy/install/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
+
+# ENV RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
+
+# # Set up the entrypoint
+# COPY ./docker/entrypoint.sh /
+# RUN chmod +x /entrypoint.sh
+
+# ENTRYPOINT [ "/entrypoint.sh" ]
+
+# This is an auto generated Dockerfile for ros:ros1-bridge
+# generated from docker_images_ros2/ros1_bridge/create_ros_ros1_bridge_image.Dockerfile.em
+FROM ros:eloquent-ros-base-bionic AS bridge
+
+RUN apt update && apt install -y curl gnupg2 lsb-release
+
+# setup sources.list
+RUN echo "deb http://packages.ros.org/ros/ubuntu bionic main" > /etc/apt/sources.list.d/ros1-latest.list
+
+# setup keys
+# RUN apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-keys C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
+RUN curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | apt-key add -
+
+ENV ROS1_DISTRO melodic
+ENV ROS2_DISTRO eloquent
+
+# install ros packages
+RUN apt-get update && apt-get install -y --no-install-recommends \
+    ros-${ROS1_DISTRO}-ros-comm \
+    ros-${ROS1_DISTRO}-roscpp-tutorials \
+    ros-${ROS1_DISTRO}-rospy-tutorials \
+    && rm -rf /var/lib/apt/lists/*
+
+# install ros2 packages
+RUN apt-get update && apt-get install -y --no-install-recommends \
+    ros-${ROS2_DISTRO}-ros1-bridge \
+    ros-${ROS2_DISTRO}-demo-nodes-cpp \
+    ros-${ROS2_DISTRO}-demo-nodes-py \
+    ros-${ROS2_DISTRO}-rmw-cyclonedds-cpp \
+    && rm -rf /var/lib/apt/lists/*
+
+# install downstream packages
+RUN apt-get update && apt-get install -y --no-install-recommends \
+    python-rosdep \
+    && rm -rf /var/lib/apt/lists/*
+
+RUN echo "update 04.09.2023-2"
+# setup entrypoint
+COPY ./docker/bridge_entrypoint.sh /
+RUN chmod +x /bridge_entrypoint.sh
+
+# Set up the entrypoint
+ENTRYPOINT [ "/bridge_entrypoint.sh" ]

docker/bridge_entrypoint.sh

@@ -0,0 +1,39 @@
+#!/bin/bash
+# Basic entrypoint for ROS / Colcon Docker containers
+
+UNDERLAY_WS=/rmp_ws
+
+# 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:$(ros2 pkg prefix turtlebot3_gazebo)/share/turtlebot3_gazebo/models
+  echo "Sourced CPS RMP 220 base workspace"
+fi
+
+# Source the overlay workspace, if built
+if [ -f /overlay_ws/install/setup.bash ]
+then
+  source /overlay_ws/install/setup.bash
+  echo "Sourced CPS RMP 220 Overlay workspace"
+fi
+
+# Source the bridge workspace, if built
+if [ -f /opt/ros/melodic/local_setup.bash ]
+then
+  source /opt/ros/melodic/local_setup.bash
+  echo "Sourced melodic distribution"
+fi
+
+if [ -f /opt/ros/eloquent/local_setup.bash ]
+then
+  source /opt/ros/eloquent/local_setup.bash
+  echo "Sourced eloquent distribution"
+fi
+
+# Execute the command passed into this entrypoint
+exec "$@"

docker/entrypoint.sh

@@ -23,5 +23,13 @@ then
   echo "Sourced CPS RMP 220 Overlay workspace"
 fi
 
+# Source the bridge workspace, if built
+if [ -f ~/ros2_humble/install/setup.bash ]
+then
+  source ~/ros2_humbleinstall/setup.bash
+  #export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:$(ros2 pkg prefix turtlebot3_gazebo)/share/turtlebot3_gazebo/models
+  echo "Sourced CPS RMP 220 base workspace"
+fi
+
 # Execute the command passed into this entrypoint
 exec "$@"

maps/map.yaml

@@ -0,0 +1,7 @@
+image: map_floor_mainb_full_save.pgm
+mode: trinary
+resolution: 0.05
+origin: [-66.2, -24.5, 0]
+negate: 0
+occupied_thresh: 0.65
+free_thresh: 0.25

maps/map.yaml.bak

@@ -0,0 +1,7 @@
+image: map_floor_mainb_save.pgm
+mode: trinary
+resolution: 0.05
+origin: [-20.9, -7.03, 0]
+negate: 0
+occupied_thresh: 0.65
+free_thresh: 0.25

maps/map_floor_save.yaml

@@ -0,0 +1,7 @@
+image: map_floor_save.pgm
+mode: trinary
+resolution: 0.05
+origin: [-13.7, -5.57, 0]
+negate: 0
+occupied_thresh: 0.65
+free_thresh: 0.25