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Your Name 2024-03-28 09:43:59 +01:00
parent 90639412ef
commit b6b70dde04
35 changed files with 2 additions and 640 deletions
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3
.gitignore vendored
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@ -1 +1,2 @@
*.pgm
*.pgm
maps/

29
cert.pem
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@ -1,29 +0,0 @@
-----BEGIN CERTIFICATE-----
MIIFCTCCAvGgAwIBAgIUSToN1sKvyyEHUX43N0x2pJ2tozYwDQYJKoZIhvcNAQEL
BQAwFDESMBAGA1UEAwwJbG9jYWxob3N0MB4XDTIzMDgyMzE0NDgwMFoXDTI0MDgy
MjE0NDgwMFowFDESMBAGA1UEAwwJbG9jYWxob3N0MIICIjANBgkqhkiG9w0BAQEF
AAOCAg8AMIICCgKCAgEAuz16ToP/oe0GlHELnOxXVMbQ4ygDhAoJRDW+h3AN01QP
GD8hKByM5QKUd1bnUa40jKeENerJLVpwvYW+wksIw8OEoU+XKLQav59LkumMx94Y
92vhfYPEdjJGfBSemf4GALw0GmeizeglGKQAomBN2fV0Wege77T6aE3GSafzmgWk
WKIXLzYd0C+fzMUnf7TtbpacG71D1VAryedq2/srR6ZnrP92SyWB6vJt9kdFxhie
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1r12HGCvjDlDX3ygznsnMIIOGPd78vzpiVUlIk1MLqS4FeAMqyTFuljZ7UjG2+Yf
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hQW3vq7GmXo0u+xT1XIkCEYdNUGo4xXKr925MmcRVa6gR5dsAuAoQ5cN/5z4wnJt
eNonakERtPomAC/ACTsbr3RjpG6h0jPHXta5XC+PKydV9riuk/LAIRIF0dKGfHUC
AwEAAaNTMFEwHQYDVR0OBBYEFKL/qoyl0fc1f6VBhW5GJDpae5a7MB8GA1UdIwQY
MBaAFKL/qoyl0fc1f6VBhW5GJDpae5a7MA8GA1UdEwEB/wQFMAMBAf8wDQYJKoZI
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/L8X5DB9SXofdFp+1jVh6WZCV8wt39Fxo+l+5afpeIc138XOkgvsrBFNzTi9
-----END CERTIFICATE-----

62
husarnet.yaml
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services:
### Husarnet VPN Container for remote access
husarnet:
image: husarnet/husarnet
restart: unless-stopped
volumes:
- /var/lib/husarnet # This will persist your Husarnet Client keys, thus IP of the container will be stable/the same between (re)boots
sysctls:
- net.ipv6.conf.all.disable_ipv6=0 # Husarnet is using IPv6 for the internal connections
cap_add:
- NET_ADMIN
devices:
- /dev/net/tun
env_file:
- ./husarnet/.env # create .env file in the same folder as Dockerfile and specify HOSTNAME and JOINCODE there
color_controller:
build:
dockerfile: husarnet/Dockerfile
volumes:
- ./husarnet/cyclonedds.xml:/cyclonedds.xml
command:
- bash
- -c
- |
export CYCLONEDDS_URI=file:///cyclonedds.xml
ros2 run my_demo_pkg color_controller
network_mode: service:husarnet
move_controller:
build:
dockerfile: husarnet/Dockerfile
volumes:
- ./husarnet/cyclonedds.xml:/cyclonedds.xml
command:
- bash
- -c
- |
export CYCLONEDDS_URI=file:///cyclonedds.xml
ros2 run my_demo_pkg move_controller
network_mode: service:husarnet
turtle_sim:
image: osrf/ros:galactic-desktop
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
- ./husarnet/cyclonedds.xml:/cyclonedds.xml
command:
- bash
- -c
- |
export CYCLONEDDS_URI=file:///cyclonedds.xml
ros2 run turtlesim turtlesim_node
network_mode: service:husarnet # This is the most important line in this setup. This will put the Husarnet Client in the same network namespace as your app (in this example: turtle_sim)

27
init_repo.sh
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#!/bin/bash
# Basic entrypoint for ROS / Colcon Docker containers
# 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:$(ros2 pkg prefix turtlebot3_gazebo)/share/turtlebot3_gazebo/models
echo "Sourced Bot Mini base workspace"
fi
# Source the overlay workspace, if built
if [ -f /overlay_ws/install/setup.bash ]
then
source /overlay_ws/install/setup.bash
#export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:$(ros2 pkg prefix tb3_worlds)/share/tb3_worlds/models
echo "Sourced Bot Mini overlay workspace"
fi
# Copy over files
cp -r /overlay_ws/src/* /repo/src/
wait

19
install.sh
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#!/bin/bash
# Specify the name of your Python script
SCRIPT_NAME="robot_config.py"
# Check if the script exists in the current directory
if [ -f "$SCRIPT_NAME" ]; then
# Check if /usr/local/bin is writable
if [ -w "/usr/local/bin" ]; then
# Copy the script to /usr/local/bin
sudo cp "$SCRIPT_NAME" "/usr/local/bin"
sudo chmod +x "/usr/local/bin/$SCRIPT_NAME"
echo "Script '$SCRIPT_NAME' has been installed in /usr/local/bin."
else
echo "Error: /usr/local/bin is not writable. You may need to use 'sudo' to install the script."
fi
else
echo "Error: Script '$SCRIPT_NAME' not found in the current directory."
fi

52
key.pem
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@ -1,52 +0,0 @@
-----BEGIN PRIVATE KEY-----
MIIJQgIBADANBgkqhkiG9w0BAQEFAASCCSwwggkoAgEAAoICAQC7PXpOg/+h7QaU
cQuc7FdUxtDjKAOECglENb6HcA3TVA8YPyEoHIzlApR3VudRrjSMp4Q16sktWnC9
hb7CSwjDw4ShT5cotBq/n0uS6YzH3hj3a+F9g8R2MkZ8FJ6Z/gYAvDQaZ6LN6CUY
pACiYE3Z9XRZ6B7vtPpoTcZJp/OaBaRYohcvNh3QL5/MxSd/tO1ulpwbvUPVUCvJ
52rb+ytHpmes/3ZLJYHq8m32R0XGGJ5XTN2uaIuEpuPhAEefZl8HMF7fd4scQlzs
OVDt+RCvnw9WcXfmHSUhgLZh1mMZIh7WvXYcYK+MOUNffKDOeycwgg4Y93vy/OmJ
VSUiTUwupLgV4AyrJMW6WNntSMbb5h+n72An/e99sKJaa3Ak65m8J5e8LBQaW8kf
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uMVCeuFp3Vtn4O8tG5fYSF3yCxS3pQuFBbe+rsaZejS77FPVciQIRh01QajjFcqv
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1rlcL48rJ1X2uK6T8sAhEgXR0oZ8dQIDAQABAoICABwvlX1DRpSQEzj+SXK+aykS
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On0CggEAEk6pzS5OX7DSWqrTnYd9T83lr7RzFQpWpbeK7OOidMUYm/MHx7I2UyLN
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hj3xCOT8D+qfx12wVqo6c0jRXnNUsd5V9DPtMkn7YFYuq56gSqwlLvIpuhfU8dJM
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PenJGHMSac7xOU/hdljj6FSpwu03aA0HklCQhwpfNDd+KPR7ntNE1DBEn93/bScb
O61K2Igm/AywqweBe9cWRgB7lOXwIA==
-----END PRIVATE KEY-----

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map_floor_save.pgm
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map_floor_save.yaml
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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

7
maps/map.yaml
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image: map_floor_mainb_save_retouched.pgm
mode: trinary
resolution: 0.05
origin: [-66.2, -24.5, 0]
negate: 0
occupied_thresh: 0.65
free_thresh: 0.25

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maps/map.yaml.bak
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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

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maps/map_floor_03-10-23.sav.pgm
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maps/map_floor_03-10-23.sav.yaml
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image: map_floor_03-10-23.sav.pgm
mode: trinary
resolution: 0.05
origin: [-27.2, -0.0189, 0]
negate: 0
occupied_thresh: 0.65
free_thresh: 0.25

BIN
maps/map_floor_03-10-23.ser.data
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maps/map_floor_03-10-23.ser.posegraph
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maps/map_floor_mainb_full_save.pgm
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maps/map_floor_mainb_save.pgm
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7
maps/map_floor_mainb_save.yaml
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image: map_floor_mainb_save_retouched.pgm
mode: trinary
resolution: 0.05
origin: [-20.9, -7.03, 0]
negate: 0
occupied_thresh: 0.65
free_thresh: 0.25

5
maps/map_floor_mainb_save_retouched.pgm
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maps/map_floor_save.pgm
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maps/map_floor_save.yaml
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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

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maps/map_openlabday.pgm
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maps/map_openlabday.yaml
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image: map_openlabday.pgm
mode: trinary
resolution: 0.05
origin: [-13.5, -20.9, 0]
negate: 0
occupied_thresh: 0.65
free_thresh: 0.25

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maps/map_save_16.10..pgm
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7
maps/map_save_16.10..yaml
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image: map_save_16.10..pgm
mode: trinary
resolution: 0.05
origin: [-25.7, -17, 0]
negate: 0
occupied_thresh: 0.65
free_thresh: 0.25

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maps/map_ser_16.10..data
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maps/map_ser_16.10..posegraph
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robot_config.py
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#!/usr/bin/env python3
import os
import subprocess
# Function to get the path to the docker-compose.yaml file
def get_compose_file_path():
path = input("Enter the path to the docker-compose.yaml file (press Enter for current directory): ").strip()
return path if path else "docker-compose.yaml"
# Initialize the path to the docker-compose.yaml file
compose_file_path = get_compose_file_path()
# Define a list to keep track of running services
running_services = []
# Function to check if a service is already running
def is_service_running(service_name):
return service_name in running_services
# Function to start a service
def start_service(service_name):
if not is_service_running(service_name):
print(f"Starting {service_name}...")
subprocess.run(["docker", "compose", "-f", compose_file_path, "up", "-d", service_name])
running_services.append(service_name)
else:
print(f"{service_name} is already running.")
# Function to stop a service
def stop_service(service_name):
if is_service_running(service_name):
print(f"Stopping {service_name}...")
subprocess.run(["docker", "compose", "-f", compose_file_path, "down", "-v", "--remove-orphans", service_name])
running_services.remove(service_name)
else:
print(f"{service_name} is not running.")
# Main program
if __name__ == "__main__":
while True:
print("Options:")
print("1. Start Controller, Teleop, RSP, Lidar")
print("2. Start AMCL and Navigation")
print("3. Start Mapping and Navigation")
print("4. Stop AMCL and Mapping")
print("5. Change docker-compose.yaml file path")
print("6. Quit")
choice = input("Enter your choice: ")
if choice == "1":
start_service("controller")
start_service("teleop")
start_service("rsp")
start_service("lidar")
elif choice == "2":
start_service("amcl")
start_service("navigation")
elif choice == "3":
start_service("mapping")
start_service("navigation")
elif choice == "4":
stop_service("amcl")
stop_service("mapping")
elif choice == "5":
compose_file_path = get_compose_file_path()
elif choice == "6":
break
else:
print("Invalid choice. Please try again.")

70
rviz2.yaml
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networks:
pc: # config for this pc. Only required for running the containers locally on the pc. For instance rviz2 or guis with gazebo.
driver: macvlan
driver_opts:
parent: wlx00e04c5513fc # pc network interface: here my wifi card. Can be found with ifconfig.
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:
# rviz2
rviz2:
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
# 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.
# pc:
# ipv4_address: 192.168.0.201 #here need to set fixed ip to avoid collissions with other containers on robot.
rviz2-depthai:
image: luxonis/depthai-ros:humble-latest
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
# 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.
# pc:
# ipv4_address: 192.168.0.201 #here need to set fixed ip to avoid collissions with other containers on robot.

47
slim.report.json
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{
"version": "1.1",
"engine": "linux|Transformer|1.40.6|1.40.6|latest",
"containerized": false,
"host_distro": {
"name": "NixOS",
"version": "23.11",
"display_name": "NixOS 23.11 (Tapir)"
},
"type": "build",
"state": "error",
"target_reference": "ubuntu",
"system": {
"type": "",
"release": "",
"distro": {
"name": "",
"version": "",
"display_name": ""
}
},
"source_image": {
"identity": {
"id": ""
},
"size": 0,
"size_human": "",
"create_time": "",
"docker_version": "",
"architecture": "",
"container_entry": {
"exe_path": ""
}
},
"minified_image_size": 0,
"minified_image_size_human": "",
"minified_image": "",
"minified_image_has_data": false,
"minified_by": 0,
"artifact_location": "",
"container_report_name": "",
"seccomp_profile_name": "",
"apparmor_profile_name": "",
"image_stack": null,
"image_created": false,
"image_build_engine": ""
}

52
stack_manager.py
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@ -1,52 +0,0 @@
#!/usr/bin/env python3
import subprocess
# Define the stacks
stack1 = ["controller", "teleop", "rsp", "lidar"]
stack2 = stack1 + ["mapping", "navigation"]
stack3 = stack1 + ["amcl", "navigation"]
# Function to start a stack
def start_stack(stack):
print(f"Starting {', '.join(stack)}...")
subprocess.run(["docker", "compose", "up", "-d"] + stack)
# Function to stop a stack
def stop_stack(stack):
print(f"Stopping {', '.join(stack)}...")
subprocess.run(["docker", "compose", "down", "-v", "--remove-orphans"] + stack)
# Main program
if __name__ == "__main__":
while True:
print("Options:")
print("1. Start Stack 1")
print("2. Start Stack 2")
print("3. Start Stack 3")
print("4. Stop Stack 1")
print("5. Stop Stack 2")
print("6. Stop Stack 3")
print("7. Quit")
choice = input("Enter your choice: ")
if choice == "1":
stop_stack(stack2 + stack3) # Stop stack2 and stack3 to avoid interference
start_stack(stack1)
elif choice == "2":
stop_stack(stack1 + stack3) # Stop stack1 and stack3 to avoid interference
start_stack(stack2)
elif choice == "3":
stop_stack(stack1 + stack2) # Stop stack1 and stack2 to avoid interference
start_stack(stack3)
elif choice == "4":
stop_stack(stack1)
elif choice == "5":
stop_stack(stack2)
elif choice == "6":
stop_stack(stack3)
elif choice == "7":
break
else:
print("Invalid choice. Please try again.")

1
start_mapping.sh
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@ -1 +0,0 @@
docker compose up -d controller teleop rsp lidar mapping navigation

1
start_navigation.sh
View File

@ -1 +0,0 @@
docker compose up -d controller teleop rsp lidar amcl navigation

1
start_robot.sh
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@ -1 +0,0 @@
docker compose up -d controller teleop rsp lidar

133
test.rviz
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@ -1,133 +0,0 @@
Panels:
- Class: rviz_common/Displays
Help Height: 85
Name: Displays
Property Tree Widget:
Expanded:
- /Global Options1
- /Status1
Splitter Ratio: 0.5
Tree Height: 528
- Class: rviz_common/Selection
Name: Selection
- Class: rviz_common/Tool Properties
Expanded:
- /2D Goal Pose1
- /Publish Point1
Name: Tool Properties
Splitter Ratio: 0.5886790156364441
- Class: rviz_common/Views
Expanded:
- /Current View1
Name: Views
Splitter Ratio: 0.5
- Class: rviz_common/Time
Experimental: false
Name: Time
SyncMode: 0
SyncSource: ""
Visualization Manager:
Class: ""
Displays:
- Alpha: 0.5
Cell Size: 1
Class: rviz_default_plugins/Grid
Color: 160; 160; 164
Enabled: true
Line Style:
Line Width: 0.029999999329447746
Value: Lines
Name: Grid
Normal Cell Count: 0
Offset:
X: 0
Y: 0
Z: 0
Plane: XY
Plane Cell Count: 10
Reference Frame: <Fixed Frame>
Value: true
Enabled: true
Global Options:
Background Color: 48; 48; 48
Fixed Frame: map
Frame Rate: 30
Name: root
Tools:
- Class: rviz_default_plugins/Interact
Hide Inactive Objects: true
- Class: rviz_default_plugins/MoveCamera
- Class: rviz_default_plugins/Select
- Class: rviz_default_plugins/FocusCamera
- Class: rviz_default_plugins/Measure
Line color: 128; 128; 0
- Class: rviz_default_plugins/SetInitialPose
Covariance x: 0.25
Covariance y: 0.25
Covariance yaw: 0.06853891909122467
Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /initialpose
- Class: rviz_default_plugins/SetGoal
Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /goal_pose
- Class: rviz_default_plugins/PublishPoint
Single click: true
Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /clicked_point
Transformation:
Current:
Class: rviz_default_plugins/TF
Value: true
Views:
Current:
Class: rviz_default_plugins/Orbit
Distance: 10
Enable Stereo Rendering:
Stereo Eye Separation: 0.05999999865889549
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Focal Point:
X: 0
Y: 0
Z: 0
Focal Shape Fixed Size: true
Focal Shape Size: 0.05000000074505806
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.009999999776482582
Pitch: 0.785398006439209
Target Frame: <Fixed Frame>
Value: Orbit (rviz)
Yaw: 0.785398006439209
Saved: ~
Window Geometry:
Displays:
collapsed: false
Height: 845
Hide Left Dock: false
Hide Right Dock: false
QMainWindow State: 000000ff00000000fd00000004000000000000015a000002a6fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006b00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000044000002a6000000eb00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002a6fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730100000044000002a6000000b900fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004af0000003efc0100000002fb0000000800540069006d00650100000000000004af000002d200fffffffb0000000800540069006d0065010000000000000450000000000000000000000238000002a600000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection:
collapsed: false
Time:
collapsed: false
Tool Properties:
collapsed: false
Views:
collapsed: false
Width: 1199
X: 199
Y: 115

0
update_20.10.2023
View File