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Your Name 2024-03-28 09:46:50 +01:00
parent b6b70dde04
commit 5b5c0ca098
28 changed files with 3274 additions and 461 deletions
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27
config/box_filter.yaml Normal file
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scan_to_scan_filter_chain:
ros__parameters:
filter1:
name: box_filter
type: laser_filters/LaserScanBoxFilter
params:
box_frame: laser_frame
max_x: 0.80 #was 0.16
max_y: 0.18 #was 0.17
max_z: 0.1
min_x: -0.41 #was -0.41
min_y: -0.18 # was -0.17
min_z: -0.2
invert: false # activate to remove all points outside of the box
name: shadows
type: laser_filters/ScanShadowsFilter
params:
min_angle: 10
max_angle: 170
neighbors: 20
window: 1
name: dark_shadows
type: laser_filters/LaserScanIntensityFilter
params:
lower_threshold: 100
upper_threshold: 10000
disp_histogram: 0

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config/caddy/Caddyfile Normal file
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# {
# debug
# }
http://loki {
root * /usr/share/caddy
file_server browse
handle_path /config* {
reverse_proxy http://olivetin:1337
}
handle_path /viz* {
reverse_proxy http://foxglove:8080
}
# this is not working right now
handle_path /joy* {
reverse_proxy http://host.docker.internal:8000
}
}
http://loki.local {
root * /usr/share/caddy
file_server browse
handle_path /config {
reverse_proxy http://olivetin:1337
}
handle_path /viz* {
reverse_proxy http://foxglove:8080
}
}

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config/caddy/content/overview/index.html Normal file
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<!DOCTYPE html>
<html>
<!-- ersetze die Links + QR Codes unter den Kommentaren -->
<head>
<title>CPS Bot Overview</title>
<meta charset="UTF-8">
<meta name="viewport" content="width=device-width, initial-scale=1.0">
<link rel="stylesheet" href="style.css">
</head>
<header>
<h1 id="HEADLINE">Loki Overview<img src="CPS_Logo_White_square_TRANSP.png" id="LOGO"></h1>
</header>
<body>
<div class="box" id="RIGHT">
<div id="BLOCK_ONE">
<p class="mini-heads">Teleop:</p>
<!-- again -->
<!-- Replace link at href -->
<!-- hier Link zu Joystick -->
<a href="http://loki:8000/">
<img src="joystick.png" class="qr qr_2"></a>
<br>
</div>
<div id="BLOCK_ONE">
<p class="mini-heads">Robot Configuration:</p>
<!-- again -->
<!-- Replace link at href -->
<!-- hier Link zu WebGui -->
<a href="http://loki/config/">
<img src="wrench.svg" class="qr qr_2"></a>
<br>
</div>
<p id="SPACE"> </p>
<div id="BLOCK_TWO">
<p class="mini-heads">Data View:</p>
<!-- again -->
<!-- hier Link zu Manual -->
<a href="http://loki/viz/">
<img src="safety-glasses.svg" class="qr qr_2">
</a>
<br>
</div>
<p id="SPACE"> </p>
<div id="BLOCK_THREE">
<p class="mini-heads">Manual:</p>
<!-- again -->
<!-- hier Link zu Manual -->
<a href="https://cps.unileoben.ac.at">
<img src="blueprint.svg" class="qr qr_2">
</a>
<br>
</div>
</div>
<div class="box" id="LEFT">
<p class="mini-heads">Connect to Wi-Fi:</p>
<!-- replace mit relativen Link!!!, bei mir spinnts und es wird das gebrochene Bild symbol angezeigt. Anders geht
es allerdings, falls nicht bei dir sags mir -->
<img src="qr-loki.wifi.svg" class="qr">
<div id="NORM_SET">
<table>
<tr>
<td>SSID:</td>
<td>cps-loki</td>
</tr>
<tr>
<td>Password: </td>
<td>cps-loki</td>
</tr>
</table>
</div>
</div>
<div class="info">
<!-- Link zum Lehrstuhl, einfach den ganzen Div Block rausnehmen falls du das nicht willst -->
<a href="https://cps.unileoben.ac.at/">Check us out!</a>
</div>
</body>
</html>

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html
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background-color: rgb(51, 51, 51);
font-family: sans-serif;
padding-bottom: 50px;
}
#HEADLINE
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font-family:'Gill Sans', 'Gill Sans MT', Calibri, 'Trebuchet MS', sans-serif;
text-align: center;
color: white;
background-color: rgb(1, 115, 126);
box-shadow: 0px 15px 0px -5px rgb(1, 89, 97);
margin-top: 2px;
}
#LOGO
{
height: 1em;
width: auto;
float: right;
margin-top: 2px;
padding-left: 12px;
padding-right: 12px;
background-color: inherit;
}
.mini-heads
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color: white;
font-weight: 700;
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float: left;
max-width: 49.5%;
text-align: center;
}
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float: right;
max-width: 49.5%;
flex-direction: row;
text-align: center;
}
.qr
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max-width: 59.5%;
height: auto;
object-fit: cover;
border-color: black;
border: 3px solid;
border-radius: 10%;
}
.qr_2
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width: 35%;
height: auto;
}
table, td
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color: white;
width: 70%;
line-height: 190%;
border: 1px solid rgb(76, 76, 76);
background-color: rgb(34, 34, 34);
border-collapse: collapse;
margin-left: auto;
margin-right: auto;
}
#SPACE
{
padding: 3px;
}
#NORM_SET
{
padding-top: 6px;
}
.link
{
color: white;
background-color: rgb(1, 115, 126);
padding-left: 10px;
padding-right: 10px;
border-radius: 3px;
text-decoration: none;
}
.link:hover
{
color: rgb(206, 206, 206);
}
.link:visited
{
color: rgb(75, 75, 75);
background-color: rgb(1, 89, 97);
}
.info
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color: white;
background-color: rgb(34, 34, 34);
padding-top: 3px;
padding-right: 6px;
text-indent: 6px;
position: fixed;
bottom: 0px;
right: 6px;
border: 1px solid rgb(76, 76, 76);
}
.info:hover
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cursor: pointer;
}
.info:visited
{
color: rgb(206, 206, 206);
}
a, a:visited, a:hover, a:active {
text-decoration: none;
color: inherit;
}
/* Phone */ /* pract. ab 400% zoom (inludkiert) am pc */
@media only screen and (max-width : 480px)
{
#LEFT
{
width: 100%;
max-width: none;
clear: both;
text-align: center;
}
#RIGHT
{
max-width: none;
padding-top: 10px;
}
.qr
{
max-width: 43.9%;
}
.qr_2
{
width: 29%;
}
}
/* Tablet / Ipad */ /* pract. ab 200% Zoom (nicht inkludiert) am pc */
@media only screen and (max-width : 767px) and (min-width: 481px)
{
#LEFT
{
max-width: none;
width: 100%;
clear: both;
text-align: center;
}
.qr
{
max-width: 35%;
}
table td
{
font-size: large;
}
.mini-heads
{
font-size: x-large;
}
#RIGHT
{
max-width: none;
}
#SPACE
{
padding: none;
display: none;
}
#BLOCK_ONE
{
max-width: 49.5%;
float: left;
}
#BLOCK_TWO
{
max-width: 49.5%;
float: right;
}
#BLOCK_THREE
{
max-width: 49.5%;
float: right;
}
.qr_2
{
max-width: 80%;
width: 50%;
}
.link
{
font-size: larger;
}
.info
{
font-size: larger;
}
}

1
config/caddy/content/overview/wrench.svg Normal file
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@ -0,0 +1 @@
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showNavigation: false
logLevel: "INFO"
showNewVersions: false
showFooter: false
actions:
- title: "Start Navigation Stack"
shell: docker start cps_loki-navigation-1
icon: '<img src = "customIcons/nav2_start.png" width = "48px"/>'
- title: "Stop Navigation Stack"
shell: docker stop cps_loki-navigation-1
icon: '<img src = "customIcons/nav2_stop.png" width = "48px"/>'
- title: "Start Mapping"
shell: docker start cps_loki-mapping-1
icon: '<img src = "customIcons/mapping_start.gif" width = "48px"/>'
- title: "Stop Mapping"
shell: docker stop cps_loki-mapping-1
icon: '<img src = "customIcons/mapping_stop.gif" width = "48px"/>'
- title: "Restart Teleop"
icon: '<img src = "customIcons/gamepad.png" width = "48px"/>'
shell: docker restart cps_loki-teleop-1
- title: Restart or Shutdown System
icon: restart
shell: systemctl {{ choice }}
arguments:
- name: choice
title: Pick one
choices:
- value: reboot
- value: shutdown
# This will SSH into a server an run the command 'service httpd restart'
# - title: Restart httpd on Server 1
# shell: ssh bjorn@loki.local 'echo "it works"'
# icon: ping
# timeout: 5

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ba1fa920-2863-4600-994f-23559acfcab2

2
docker-compose.yaml
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@ -246,7 +246,7 @@ services:
depends_on: depends_on:
- foxglove_bridge - foxglove_bridge
volumes: volumes:
- ./foxglove/default.json:/foxglove/default-layout.json - ./config/foxglove/default.json:/foxglove/default-layout.json
# USB Camera Stream # USB Camera Stream
cam: cam:

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docker-compose.yaml.bak
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@ -1,460 +0,0 @@
version: "3.9"
# First network configuration. Change this to the network interface you want to use primarily. (Better configuration for multiple Network interfaces needed).
networks:
rmp:
driver: macvlan
driver_opts:
parent: eno1 # robot network interface
ipam:
config:
- subnet: 192.168.0.0/24
gateway: 192.168.0.1
ip_range: 192.168.0.200/25
aux_addresses:
net-address: 192.168.0.100 #? what is this for --> to exclude addresses from buing used.
services:
# Base image containing dependencies.
base:
image: ghcr.io/bjoernellens1/ros2_rmp/rmp:base
build:
context: .
dockerfile: docker/Dockerfile
tags:
- ghcr.io/bjoernellens1/ros2_rmp/rmp:base
args:
ROS_DISTRO: humble
target: base
x-bake:
platforms:
- linux/arm64
- linux/amd64
# 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
networks: # not using bridging anymore, instead try using all services on macvlan? let's see... shoudl word for now. Bridging does definitely not work because multicast is not supported here.
rmp:
#ipv4_address: 192.168.0.101 #actually don't need to set ips. they are set automatically by docker-compose. SHould be inherited by all child services.
# Overlay image containing the project specific source code.
overlay:
extends: base
image: ghcr.io/bjoernellens1/ros2_rmp/rmp:overlay
build:
context: .
dockerfile: docker/Dockerfile
tags:
- ghcr.io/bjoernellens1/ros2_rmp/rmp:overlay
target: overlay
x-bake:
platforms:
- linux/arm64
- linux/amd64
volumes:
- .:/repo
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
rsp:
extends: overlay
command: >
ros2 launch cps_rmp220_support rsp.launch.py
stdin_open: true
tty: true
# Networking and IPC for ROS 2
#network_mode: host
ipc: host
environment:
- ROS_DOMAIN_ID=5
- RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
# Controller
controller:
extends: base
command: >
ros2 run segwayrmp SmartCar --ros-args -r cmd_vel:=cmd_vel_out -p serial_full_name:=/dev/segway
devices:
- /dev/segway:/dev/segway
- /dev/ttyUSB0:/dev/ttyUSB0
# Interactive shell
stdin_open: true
tty: true
# Networking and IPC for ROS 2
#network_mode: host
ipc: host
# Needed to display graphical applications
privileged: false
# depends_on:
# - robot_state_publisher
environment:
- ROS_DOMAIN_ID=5
- RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
# teleop
teleop:
extends: base
depends_on:
- controller
command: >
ros2 launch rmp220_teleop robot_joystick.launch.py
devices:
- /dev/input/js0:/dev/input/js0
# 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:
- ROS_DOMAIN_ID=5
- RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
# lidar
lidar:
extends: overlay
command: >
ros2 launch cps_rmp220_support robot_lidar.launch.py serial_port:=/dev/rplidarA1
stdin_open: true
tty: true
# Networking and IPC for ROS 2
#network_mode: host
ipc: host
# depends_on:
# - robot_state_publisher
environment:
- ROS_DOMAIN_ID=5
- RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
devices:
- /dev/rplidarA1:/dev/rplidarA1 #udevrules needed for this to work:
# SUBSYSTEM=="tty", ATTRS{serial}=="0001", SYMLINK+="segway"
# SUBSYSTEM=="tty", ATTRS{serial}=="3453995662b3af4f81f4a69eba5f3f29", SYMLINK+="rplidarA1"
# localiaztion by ekf node
ekf:
extends: overlay
depends_on:
- controller
- rsp
command: >
ros2 launch cps_rmp220_support robot_localization.launch.py
# Interactive shell
stdin_open: true
tty: true
# Networking and IPC for ROS 2
#network_mode: host
ipc: host
environment:
- ROS_DOMAIN_ID=5
- RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
# mapping
mapping:
extends: overlay
depends_on:
- ekf
- rsp
- lidar
command: >
ros2 launch cps_rmp220_support robot_mapping.launch.py
# Interactive shell
stdin_open: true
tty: true
# Networking and IPC for ROS 2
#network_mode: host
ipc: host
environment:
- ROS_DOMAIN_ID=5
- RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
# slam-toolbox-localization
localization:
extends: overlay
depends_on:
- ekf
- rsp
- lidar
command: >
ros2 launch cps_rmp220_support robot_mapping_localization.launch.py map_file_name:=/repo/maps/map.yaml
# Interactive shell
stdin_open: true
tty: true
# Networking and IPC for ROS 2
#network_mode: host
ipc: host
environment:
- ROS_DOMAIN_ID=5
- RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
# amcl_localization
amcl:
extends: overlay
depends_on:
- ekf
- rsp
- lidar
command: >
ros2 launch cps_rmp220_support robot_amcl.launch.py map:=/repo/maps/map.yaml
# Interactive shell
stdin_open: true
tty: true
# Networking and IPC for ROS 2
#network_mode: host
ipc: host
environment:
- ROS_DOMAIN_ID=5
- RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
# navigation
navigation:
extends: overlay
depends_on:
- controller
- teleop
- rsp
- lidar
- ekf
- oakd
# command: >
# ros2 launch cps_rmp220_support robot_navigation.launch.py
# map_subscribe_transient_local:=true
command: >
ros2 launch nav2_bringup bringup_launch.py slam:=True map:=/repo/maps/map_current.sav.yaml use_sim_time:=False use_composition:=True params_file:=/overlay_ws/src/cps_rmp220_support/config/nav2_params.yaml
stdin_open: true
tty: true
# Networking and IPC for ROS 2
#network_mode: host
ipc: host
environment:
- ROS_DOMAIN_ID=5
- RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
# bash
bash:
extends: overlay
command: >
/bin/bash
stdin_open: true
tty: true
# Networking and IPC for ROS 2
#network_mode: host
ipc: host
environment:
- ROS_DOMAIN_ID=5
- RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
# rviz2
rviz2:
#extends: guis
image: ghcr.io/bjoernellens1/ros2_rmp/rmp:guis
# command: >
# ros2 launch cps_rmp220_support robot_rviz2.launch.py
command: >
ros2 launch cps_rmp220_support rviz.launch.py
# 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
- ROS_DOMAIN_ID=5
- RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
volumes:
# Allows graphical programs in the container.
- /tmp/.X11-unix:/tmp/.X11-unix:rw
- ${XAUTHORITY:-$HOME/.Xauthority}:/root/.Xauthority
# Foxglove Studio Bridge
foxglove_bridge:
extends: overlay
command: >
ros2 launch foxglove_bridge foxglove_bridge_launch.xml port:=8765
stdin_open: true
tty: true
# Networking and IPC for ROS 2
#network_mode: host
ipc: host
environment:
- ROS_DOMAIN_ID=5
- RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
networks: # not using bridging anymore, instead try using all services on macvlan? let's see... shoudl word for now. Bridging does definitely not work because multicast is not supported here.
rmp:
ipv4_address: 192.168.0.201 #actually don't need to set ips. they are set automatically by docker-compose. SHould be inherited by all child services.
# Foxglove Studio Webserver
foxglove_webserver:
image: ghcr.io/foxglove/studio:latest
stdin_open: true
tty: true
# Networking
network_mode: bridge
ports:
- 8080:8080
depends_on:
- foxglove_bridge
volumes:
- ./foxglove/default.json:/foxglove/default-layout.json
# USB Camera Stream
cam:
extends: overlay
command: >
ros2 run ros2_cam_openCV cam_node
stdin_open: true
tty: true
# Networking and IPC for ROS 2
#network_mode: host
ipc: host
environment:
- ROS_DOMAIN_ID=5
- RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
devices:
- /dev/video0:/dev/video0
# ROS2 Frontier exploration
explorer:
extends: overlay
depends_on:
- controller
- teleop
- rsp
- lidar
- ekf
- navigation
command: >
ros2 launch cps_rmp220_support robot_exploration.launch.py
stdin_open: true
tty: true
# Networking and IPC for ROS 2
#network_mode: host
ipc: host
environment:
- ROS_DOMAIN_ID=5
- RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
### Images for ROS1 Interactions
#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
# ROS2 oak-d-lite camera
oakd:
extends: overlay
command: >
ros2 launch depthai_examples stereo.launch.py
stdin_open: true
tty: true
# Networking and IPC for ROS 2
#network_mode: host
ipc: host
environment:
- ROS_DOMAIN_ID=5
- RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
#privileged: true
#devices:
#- /dev/oakd-lite:/dev/oakd-lite # need corresponding udevrules for this to work:
# SUBSYSTEM=="usb", ATTRS{idVendor}=="03e7", MODE="0666", SYMLINK+="oakd-lite"
#- /dev/:/dev/
device_cgroup_rules:
- 'c 189:* rmw'
volumes:
- /dev/bus/usb:/dev/bus/usb
# for testing the oak-d-lite camera -> works now with cgroup rules
depthai:
image: luxonis/depthai:latest
command: >
python3 /depthai/depthai_demo.py
stdin_open: true
tty: true
device_cgroup_rules:
- 'c 189:* rmw'
volumes:
- /dev/bus/usb:/dev/bus/usb
environment:
- DISPLAY=${DISPLAY}
- QT_X11_NO_MITSHM=1
- NVIDIA_DRIVER_CAPABILITIES=all

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