some cleanup

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 $(ip addr show zt0 | grep -Po 'inet \K[\d.]+')
+echo "Set zerotier interface as standard gateway"
+# this should now route the ros2 traffic through zerotier?
+
+
+# Execute the command passed into this entrypoint
+exec "$@"

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"
@@ -464,7 +316,6 @@ services:
     volumes:
       - /dev/bus/usb:/dev/bus/usb
 
-
   # for testing the oak-d-lite camera -> works now with cgroup rules
   depthai:
     image: luxonis/depthai:latest