some cleanup

2023-11-13 16:48:59 +01:00 · 2023-11-13 16:48:59 +01:00 · b014d836a7
commit b014d836a7
parent 48b267bb54
2 changed files with 72 additions and 157 deletions
--- a/customize/entrypoint.sh
+++ b/customize/entrypoint.sh
@ -0,0 +1,64 @@
+#!/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
+  vcs pull ${UNDERLAY_WS}/src
+  echo "Sourced CPS RMP 220 base workspace"
+fi
+
+# Source the overlay workspace, if built
+if [ -f /overlay_ws/install/setup.bash ]
+then
+  source /overlay_ws/install/setup.bash
+  vcs pull /overlay_ws/src
+  echo "Sourced CPS RMP 220 Overlay workspace"
+fi
+
+# Source the bridge workspace, if built
+if [ -f ~/ros2_humble/install/setup.bash ]
+then
+  source ~/ros2_humbleinstall/setup.bash
+  #export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:$(ros2 pkg prefix turtlebot3_gazebo)/share/turtlebot3_gazebo/models
+  echo "Sourced CPS RMP 220 base workspace"
+fi
+
+# Implement updating all repositories at launch
+if [ -f ${UNDERLAY_WS}/]
+then
+  cd ${UNDERLAY_WS}
+  vcs pull src
+  echo "Updated base workspace"
+fi
+
+if [ -f /overlay_ws/]
+then
+  cd /overlay_ws
+  vcs pull src
+  echo "Updated overlay workspace"
+fi
+
+# configure container networking to use zerotier interface as standard gateway
+# this might be for later
+# if [ -f /zerotier-one/zerotier-cli ]
+# then
+#   /zerotier-one/zerotier-cli join 8056c2e21c000001
+#   echo "Joined zerotier network"
+# fi
+# set standard gateway to zerotier interface
+ip route del default
+ip route add default via $(ip addr show zt0 | grep -Po 'inet \K[\d.]+')
+echo "Set zerotier interface as standard gateway"
+# this should now route the ros2 traffic through zerotier?
+
+
+# Execute the command passed into this entrypoint
+exec "$@"
--- a/docker-compose.yaml
+++ b/docker-compose.yaml
@ -20,6 +20,9 @@ networks:
    #   config:
    #       - subnet:

+# add this mountpoint to all services: ./customize/entrypoint.sh:/entrypoint.sh
+# Attention: child services will inherit settings from their parents. So if you set a network_mode: host in the base service, all child services will also use host networking. This is not always what you want. So be careful with this.
+
 services:
  # Base image containing dependencies.
  base:
@ -36,7 +39,6 @@ services:
        platforms:
          - linux/arm64
          - linux/amd64
-
    # Interactive shell
    stdin_open: true
    tty: true
@ -44,16 +46,19 @@ services:
    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
+      # set correct ros2 parameters: domain id and rmw implementation
+      - 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
+      - ./customize/entrypoint.sh:/entrypoint.sh

    # 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:
@ -92,7 +97,6 @@ services:
        platforms:
          - linux/arm64
          - linux/amd64
-    #entrypoint: /bin/bash
    command: >
      /bin/bash

@ -101,14 +105,6 @@ services:
    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:
@ -118,19 +114,6 @@ services:
    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:
@ -141,17 +124,6 @@ services:
      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:
@ -160,16 +132,6 @@ services:
      - lidar_filter
    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"
@ -180,14 +142,6 @@ services:
    extends: overlay
    command: >
      ros2 launch cps_rmp220_support robot_scan_filter.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

  # localiaztion by ekf node
  ekf:
@ -197,15 +151,6 @@ services:
      - 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:
@ -216,15 +161,6 @@ services:
      - 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:
@ -235,15 +171,6 @@ services:
      - 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:
@ -254,15 +181,6 @@ services:
      - 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:
@ -274,52 +192,23 @@ services:
      - 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
    command: >
      ros2 launch nav2_bringup bringup_launch.py slam:=False map:=/repo/maps/map_openlabday.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
+    privileged: true # really necessary?
    environment:
      # Allows graphical programs in the container.
      - DISPLAY=${DISPLAY}
@ -337,18 +226,6 @@ services:
    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:
@ -369,14 +246,6 @@ services:
    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

@ -393,14 +262,6 @@ services:
      - 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
@ -446,15 +307,6 @@ services:
    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"
@ -463,7 +315,6 @@ services:
      - 'c 189:* rmw'
    volumes:
      - /dev/bus/usb:/dev/bus/usb
-    

  # for testing the oak-d-lite camera -> works now with cgroup rules
  depthai: