started changes for rmp: need to finish
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29
controller_startup.sh
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29
controller_startup.sh
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#!/bin/bash
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# Basic entrypoint for ROS / Colcon Docker containers
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# Source ROS 2
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source /opt/ros/${ROS_DISTRO}/setup.bash
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echo "Sourced ROS 2 ${ROS_DISTRO}"
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# Source the base workspace, if built
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if [ -f ${UNDERLAY_WS}/install/setup.bash ]
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then
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source ${UNDERLAY_WS}/install/setup.bash
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#export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:$(ros2 pkg prefix turtlebot3_gazebo)/share/turtlebot3_gazebo/models
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echo "Sourced Bot Mini base workspace"
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fi
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# Source the overlay workspace, if built
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if [ -f /overlay_ws/install/setup.bash ]
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then
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source /overlay_ws/install/setup.bash
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#export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:$(ros2 pkg prefix tb3_worlds)/share/tb3_worlds/models
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echo "Sourced Bot Mini overlay workspace"
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fi
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# Start Robot ROS2 Nodes
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ros2 launch bot_mini_bringup robot_controller.launch.py priority:=80 cpu-affinity:=4 lock-memory-size:=100 config-child-threads:=True &
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ros2 launch bot_mini_bringup robot_twist_mux.launch.py &
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ros2 launch bot_mini_bringup robot_joy_teleop.launch.py
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wait
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13
dependencies.repos
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dependencies.repos
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repositories:
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# CPS Bot Mini Dependencies
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odrive_ros2_control:
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type: git
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url: https://github.com/bjoernellens1/odrive_ros2_control.git
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version: humble-fw-v0.5.1
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Lslidar_ROS2:
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type: git
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url: https://github.com/bjoernellens1/Lslidar_ROS2_driver
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version: N10_V1.0
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166
docker-compose.yaml
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166
docker-compose.yaml
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version: "3.9"
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services:
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# Base image containing dependencies.
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base:
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image: ghcr.io/bjoernellens1/ros2_rmp/rmp:base
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build:
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context: .
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dockerfile: docker/Dockerfile_arm64
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args:
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ROS_DISTRO: humble
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target: base
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# Interactive shell
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stdin_open: true
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tty: true
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# Networking and IPC for ROS 2
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network_mode: host
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ipc: host
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# Needed to display graphical applications
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privileged: true
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environment:
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# Allows graphical programs in the container.
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- DISPLAY=${DISPLAY}
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- QT_X11_NO_MITSHM=1
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- NVIDIA_DRIVER_CAPABILITIES=all
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volumes:
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# Allows graphical programs in the container.
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- /tmp/.X11-unix:/tmp/.X11-unix:rw
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- ${XAUTHORITY:-$HOME/.Xauthority}:/root/.Xauthority
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# Overlay image containing the example source code.
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overlay:
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extends: base
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image: ghcr.io/bjoernellens1/ros2_rmp/rmp:overlay
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build:
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context: .
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dockerfile: docker/Dockerfile_arm64
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target: overlay
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# Robot State Publisher
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robot_state_publisher:
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extends: overlay
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command: >
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ros2 launch rmp_bringup rsp.launch.py
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stdin_open: true
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tty: true
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# Networking and IPC for ROS 2
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network_mode: host
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ipc: host
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# Controller and teleop
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controller:
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extends: overlay
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command: >
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/controller_startup.sh
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devices:
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- /dev/ttyUSB0:/dev/ttyUSB0
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- /dev/ttyACM0:/dev/ttyACM0
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- /dev/input/js0:/dev/input/js0
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# Interactive shell
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stdin_open: true
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tty: true
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# Networking and IPC for ROS 2
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network_mode: host
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ipc: host
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# Needed to display graphical applications
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privileged: true
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depends_on:
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- robot_state_publisher
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# MicroRos Agent
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microros_agent:
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image: microros/micro-ros-agent:humble
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command: >
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serial --dev /dev/ttyUSB1 -v6
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devices:
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- /dev/ttyUSB1:/dev/ttyUSB1
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# Interactive shell
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stdin_open: true
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tty: true
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# Networking and IPC for ROS 2
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network_mode: host
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ipc: host
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# Needed to display graphical applications
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privileged: true
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# sensors
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sensors:
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extends: overlay
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command: >
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ros2 launch bot_mini_bringup robot_lidar.launch.py
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stdin_open: true
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tty: true
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# Networking and IPC for ROS 2
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network_mode: host
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ipc: host
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depends_on:
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- robot_state_publisher
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# Localization
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localization:
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extends: overlay
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command: >
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ros2 launch bot_mini_bringup robot_localization.launch.py
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devices:
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- /dev/ttyUSB0:/dev/ttyUSB0
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- /dev/ttyUSB1:/dev/ttyUSB1
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- /dev/ttyACM0:/dev/ttyACM0
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- /dev/input/js0:/dev/input/js0
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# Interactive shell
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stdin_open: true
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tty: true
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# Networking and IPC for ROS 2
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network_mode: host
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ipc: host
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# Needed to display graphical applications
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privileged: true
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depends_on:
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- controller
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- microros_agent
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# mapping
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mapping:
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extends: overlay
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command: >
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ros2 launch bot_mini_bringup robot_mapper.launch.py
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# Interactive shell
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stdin_open: true
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tty: true
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# Networking and IPC for ROS 2
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network_mode: host
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ipc: host
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depends_on:
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- localization
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# navigation
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navigation:
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extends: overlay
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command: >
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ros2 launch bot_mini_bringup robot_navigation.launch.py
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map_subscribe_transient_local:=true
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stdin_open: true
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tty: true
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# Networking and IPC for ROS 2
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network_mode: host
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ipc: host
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depends_on:
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- localization
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# # Behavior demo using Python and py_trees
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# demo-behavior-py:
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# extends: overlay
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# command: >
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# ros2 launch tb3_autonomy tb3_demo_behavior_py.launch.py
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# tree_type:=${BT_TYPE:?}
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# enable_vision:=${ENABLE_VISION:?}
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# target_color:=${TARGET_COLOR:?}
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# # Behavior demo using C++ and BehaviorTree.CPP
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# demo-behavior-cpp:
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# extends: overlay
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# command: >
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# ros2 launch tb3_autonomy tb3_demo_behavior_cpp.launch.py
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# tree_type:=${BT_TYPE:?}
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# enable_vision:=${ENABLE_VISION:?}
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# target_color:=${TARGET_COLOR:?}
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59
docker/Dockerfile
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59
docker/Dockerfile
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ARG ROS_DISTRO=humble
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ARG UNDERLAY_WS=/bot_mini_ws
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########################################
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# Base Image for Bot Mini Control #
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########################################
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FROM osrf/ros:${ROS_DISTRO}-desktop as base
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ENV ROS_DISTRO=${ROS_DISTRO}
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SHELL ["/bin/bash", "-c"]
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# Create Colcon workspace with external dependencies
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RUN mkdir -p /bot_mini_ws/src
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WORKDIR /bot_mini_ws/src
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COPY dependencies.repos .
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RUN vcs import < dependencies.repos
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# Build the base Colcon workspace, installing dependencies first.
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WORKDIR /bot_mini_ws
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RUN source /opt/ros/${ROS_DISTRO}/setup.bash \
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&& apt-get update -y \
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&& rosdep install --from-paths src --ignore-src --rosdistro ${ROS_DISTRO} -y \
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&& colcon build --symlink-install
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# Use Cyclone DDS as middleware
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RUN apt-get update && apt-get install -y --no-install-recommends \
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ros-${ROS_DISTRO}-rmw-cyclonedds-cpp
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ENV RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
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ENV UNDERLAY_WS=${UNDERLAY_WS}
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###########################################
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# Overlay Image for Bot Mini Control #
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###########################################
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FROM base AS overlay
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# Create an overlay Colcon workspace
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RUN mkdir -p /overlay_ws/src
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WORKDIR /overlay_ws/src
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COPY overlay.repos .
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RUN vcs import < overlay.repos
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WORKDIR /overlay_ws
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# COPY ./tb3_autonomy/ ./src/tb3_autonomy/
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# COPY ./tb3_worlds/ ./src/tb3_worlds/
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RUN source /bot_mini_ws/install/setup.bash \
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&& colcon build --symlink-install \
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&& rosdep install --from-paths src --ignore-src --rosdistro ${ROS_DISTRO} -y
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# Set up the entrypoint
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COPY ./docker/entrypoint.sh /
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RUN chmod +x /entrypoint.sh
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COPY ./controller_startup.sh /
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RUN chmod +x /controller_startup.sh
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COPY ./localization_startup.sh /
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RUN chmod +x /localization_startup.sh
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ENTRYPOINT [ "/entrypoint.sh" ]
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25
docker/entrypoint.sh
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25
docker/entrypoint.sh
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#!/bin/bash
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# Basic entrypoint for ROS / Colcon Docker containers
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# Source ROS 2
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source /opt/ros/${ROS_DISTRO}/setup.bash
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echo "Sourced ROS 2 ${ROS_DISTRO}"
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# Source the base workspace, if built
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if [ -f ${UNDERLAY_WS}/install/setup.bash ]
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then
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source ${UNDERLAY_WS}/install/setup.bash
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#export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:$(ros2 pkg prefix turtlebot3_gazebo)/share/turtlebot3_gazebo/models
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echo "Sourced Bot Mini base workspace"
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fi
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# Source the overlay workspace, if built
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if [ -f /overlay_ws/install/setup.bash ]
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then
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source /overlay_ws/install/setup.bash
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#export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:$(ros2 pkg prefix tb3_worlds)/share/tb3_worlds/models
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echo "Sourced Bot Mini overlay workspace"
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fi
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# Execute the command passed into this entrypoint
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exec "$@"
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28
localization_startup.sh
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28
localization_startup.sh
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#!/bin/bash
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# Basic entrypoint for ROS / Colcon Docker containers
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# Source ROS 2
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source /opt/ros/${ROS_DISTRO}/setup.bash
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echo "Sourced ROS 2 ${ROS_DISTRO}"
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# Source the base workspace, if built
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if [ -f ${UNDERLAY_WS}/install/setup.bash ]
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then
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source ${UNDERLAY_WS}/install/setup.bash
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#export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:$(ros2 pkg prefix turtlebot3_gazebo)/share/turtlebot3_gazebo/models
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echo "Sourced Bot Mini base workspace"
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fi
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# Source the overlay workspace, if built
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if [ -f /overlay_ws/install/setup.bash ]
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then
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source /overlay_ws/install/setup.bash
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#export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:$(ros2 pkg prefix tb3_worlds)/share/tb3_worlds/models
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echo "Sourced Bot Mini overlay workspace"
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fi
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# Start Robot ROS2 Nodes
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ros2 launch bot_mini_bringup robot_lidar.launch.py &
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ros2 launch bot_mini_bringup robot_localization.launch.py
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wait
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26
overlay.repos
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26
overlay.repos
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repositories:
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cps_rmp220_support:
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type: git
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url: https://github.com/bjoernellens1/cps_rmp220_support.git
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version: main
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rmp220_teleop:
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type: git
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url: https://github.com/bjoernellens1/rmp220_teleop.git
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version: main
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cam_openCV:
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type: git
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url: https://github.com/bjoernellens1/ros2_cam_openCV.git
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version: main
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segwayrmp:
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type: git
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url: https://github.com/bjoernellens1/segwayrmp.git
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version: humble-arm64
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segway_msgs:
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type: git
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url: https://github.com/bjoernellens1/segway_msgs.git
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version: main
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