cleanup

"$(pwd)"/.slim-state/images/4ee583f00f009fe60394d9ff162890d0bb082054d992acb5494b73f47f752754/artifacts/Dockerfile.fat

@@ -0,0 +1,136 @@
+FROM scratch
+# new image
+
+# instruction set group 1
+
+ARG RELEASE
+ARG LAUNCHPAD_BUILD_ARCH
+LABEL org.opencontainers.image.ref.name=ubuntu
+LABEL org.opencontainers.image.version=22.04
+ADD file:63d5ab3ef0aab308c0e71cb67292c5467f60deafa9b0418cbb220affcd078444 /
+CMD ["/bin/bash"]
+
+
+# instruction set group 2
+
+RUN echo 'Etc/UTC' > /etc/timezone && \
+	ln -s /usr/share/zoneinfo/Etc/UTC /etc/localtime && \
+	apt-get update && \
+	apt-get install -q -y --no-install-recommends tzdata && \
+	rm -rf /var/lib/apt/lists/*
+RUN apt-get update && \
+	apt-get install -q -y --no-install-recommends     dirmngr     gnupg2 && \
+	rm -rf /var/lib/apt/lists/*
+RUN echo "deb http://packages.ros.org/ros2/ubuntu jammy main" > /etc/apt/sources.list.d/ros2-latest.list
+RUN apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-keys C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
+ENV LANG=C.UTF-8
+ENV LC_ALL=C.UTF-8
+ENV ROS_DISTRO=humble
+RUN apt-get update && \
+	apt-get install -y --no-install-recommends     ros-humble-ros-core=0.10.0-1* && \
+	rm -rf /var/lib/apt/lists/*
+COPY file:ec5b16a0e777d7d7d041a72ffc817bf5f7b375662afa0c404f3ca36fad1afb90 /
+ENTRYPOINT ["/ros_entrypoint.sh"]
+
+CMD ["bash"]
+
+RUN apt-get update && \
+	apt-get install --no-install-recommends -y     build-essential     git     python3-colcon-common-extensions     python3-colcon-mixin     python3-rosdep     python3-vcstool && \
+	rm -rf /var/lib/apt/lists/*
+RUN rosdep init && \
+	rosdep update --rosdistro $ROS_DISTRO
+RUN colcon mixin add default       https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml && \
+	colcon mixin update && \
+	colcon metadata add default       https://raw.githubusercontent.com/colcon/colcon-metadata-repository/master/index.yaml && \
+	colcon metadata update
+RUN apt-get update && \
+	apt-get install -y --no-install-recommends     ros-humble-ros-base=0.10.0-1* && \
+	rm -rf /var/lib/apt/lists/*
+
+# instruction set group 3
+
+# buildkit.dockerfile.v0 (a buildkit instruction)
+ENV ROS_DISTRO=humble
+# buildkit.dockerfile.v0 (a buildkit instruction)
+SHELL [/bin/bash -c]
+# buildkit.dockerfile.v0 (a buildkit instruction)
+RUN ["/bin/bash","-c","echo","update base 26.09.2023 - test"]
+# buildkit.dockerfile.v0 (a buildkit instruction)
+RUN ["/bin/bash","-c","mkdir","-p","/rmp_ws/src"]
+# buildkit.dockerfile.v0 (a buildkit instruction)
+WORKDIR /rmp_ws/src
+# buildkit.dockerfile.v0 (a buildkit instruction)
+COPY dependencies.arm64.repos .
+# buildkit.dockerfile.v0 (a buildkit instruction)
+COPY dependencies.amd64.repos .
+# buildkit.dockerfile.v0 (a buildkit instruction)
+RUN ["/bin/bash","-c","echo","Hardware platform is: $(uname -m)"]
+# buildkit.dockerfile.v0 (a buildkit instruction)
+RUN ["/bin/bash","-c","uname","-a"]
+# buildkit.dockerfile.v0 (a buildkit instruction)
+RUN ["/bin/bash","-c","echo","update base 29.08.2023"]
+# buildkit.dockerfile.v0 (a buildkit instruction)
+RUN ["/bin/bash","-c","if","[","$(uname -m)","=","x86_64","];","then","echo","Copying files for linux/amd64;","mv","dependencies.amd64.repos","dependencies.repos;","else","echo","Copying files for linux/arm64;","mv","dependencies.arm64.repos","dependencies.repos;","fi"]
+# buildkit.dockerfile.v0 (a buildkit instruction)
+RUN ["/bin/bash","-c","vcs","import","<","dependencies.repos"]
+# buildkit.dockerfile.v0 (a buildkit instruction)
+WORKDIR /rmp_ws
+# buildkit.dockerfile.v0 (a buildkit instruction)
+RUN ["/bin/bash","-c","source","/opt/ros/${ROS_DISTRO}/setup.bash","&&","apt-get","update","-y","&&","apt-get","install","-y","--no-install-recommends","ros-${ROS_DISTRO}-foxglove-bridge","&&","rosdep","install","--from-paths","src","--ignore-src","--rosdistro","${ROS_DISTRO}","-y"]
+# buildkit.dockerfile.v0 (a buildkit instruction)
+RUN ["/bin/bash","-c","source","/opt/ros/${ROS_DISTRO}/setup.bash","&&","colcon","build","--symlink-install"]
+# buildkit.dockerfile.v0 (a buildkit instruction)
+RUN ["/bin/bash","-c","apt-get","install","-y","--no-install-recommends","ros-${ROS_DISTRO}-rmw-cyclonedds-cpp","ros-${ROS_DISTRO}-xacro","&&","rm","-rf","/var/lib/apt/lists/*"]
+# buildkit.dockerfile.v0 (a buildkit instruction)
+ENV RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
+# buildkit.dockerfile.v0 (a buildkit instruction)
+ENV UNDERLAY_WS=
+# buildkit.dockerfile.v0 (a buildkit instruction)
+COPY ./docker/entrypoint.sh /
+# buildkit.dockerfile.v0 (a buildkit instruction)
+RUN ["/bin/bash","-c","chmod","+x","/entrypoint.sh"]
+# buildkit.dockerfile.v0 (a buildkit instruction)
+RUN ["/bin/bash","-c","vcs","pull","src"]
+# buildkit.dockerfile.v0 (a buildkit instruction)
+ENTRYPOINT ["/entrypoint.sh"]
+
+# buildkit.dockerfile.v0 (a buildkit instruction)
+RUN ["/bin/bash","-c","echo","update overlay 26.09.2023-take-2"]
+# buildkit.dockerfile.v0 (a buildkit instruction)
+RUN ["/bin/bash","-c","mkdir","-p","/overlay_ws/src"]
+# buildkit.dockerfile.v0 (a buildkit instruction)
+WORKDIR /overlay_ws/src
+# buildkit.dockerfile.v0 (a buildkit instruction)
+COPY overlay.repos .
+# buildkit.dockerfile.v0 (a buildkit instruction)
+RUN ["/bin/bash","-c","vcs","import","<","overlay.repos"]
+# buildkit.dockerfile.v0 (a buildkit instruction)
+WORKDIR /overlay_ws
+# buildkit.dockerfile.v0 (a buildkit instruction)
+ENV DEBIAN_FRONTEND=noninteractive
+# buildkit.dockerfile.v0 (a buildkit instruction)
+RUN ["/bin/bash","-c","source","/rmp_ws/install/setup.bash","&&","apt-get","update","&&","DEBIAN_FRONTEND=noninteractive","apt-get","install","nano","ros-humble-robot-localization","ros-humble-joint-state-publisher","ros-humble-laser-filters","-y","&&","rosdep","install","--from-paths","src","--ignore-src","--rosdistro","${ROS_DISTRO}","-y","&&","rm","-rf","/var/lib/apt/lists/*"]
+
+# instruction set group 4
+
+# buildkit.dockerfile.v0 (a buildkit instruction)
+RUN ["/bin/bash","-c","source","/rmp_ws/install/setup.bash","&&","colcon","build","--symlink-install"]
+# buildkit.dockerfile.v0 (a buildkit instruction)
+COPY ./docker/entrypoint.sh /
+# buildkit.dockerfile.v0 (a buildkit instruction)
+RUN ["/bin/bash","-c","chmod","+x","/entrypoint.sh"]
+# buildkit.dockerfile.v0 (a buildkit instruction)
+RUN ["/bin/bash","-c","vcs","pull","src"]
+# buildkit.dockerfile.v0 (a buildkit instruction)
+ENTRYPOINT ["/entrypoint.sh"]
+
+# buildkit.dockerfile.v0 (a buildkit instruction)
+RUN ["/bin/bash","-c","source","/rmp_ws/install/setup.bash","&&","apt-get","update","&&","apt-get","install","-y","--no-install-recommends","ros-${ROS_DISTRO}-rviz2","&&","rm","-rf","/var/lib/apt/lists/*"]
+# buildkit.dockerfile.v0 (a buildkit instruction)
+RUN ["/bin/bash","-c","vcs","pull","src"]
+# buildkit.dockerfile.v0 (a buildkit instruction)
+ENTRYPOINT ["/entrypoint.sh"]
+
+# buildkit.dockerfile.v0 (a buildkit instruction)
+LABEL org.opencontainers.image.source=https://github.com/bjoernellens1/ros2_rmp
+# end of image: ghcr.io/bjoernellens1/ros2_rmp/rmp:guis (id:  tags: ghcr.io/bjoernellens1/ros2_rmp/rmp:guis)

"$(pwd)"/.slim-state/images/4ee583f00f009fe60394d9ff162890d0bb082054d992acb5494b73f47f752754/artifacts/Dockerfile.reversed

@@ -0,0 +1,136 @@
+FROM scratch
+# new image
+
+# instruction set group 1
+
+ARG RELEASE
+ARG LAUNCHPAD_BUILD_ARCH
+LABEL org.opencontainers.image.ref.name=ubuntu
+LABEL org.opencontainers.image.version=22.04
+ADD file:63d5ab3ef0aab308c0e71cb67292c5467f60deafa9b0418cbb220affcd078444 /
+CMD ["/bin/bash"]
+
+
+# instruction set group 2
+
+RUN echo 'Etc/UTC' > /etc/timezone && \
+	ln -s /usr/share/zoneinfo/Etc/UTC /etc/localtime && \
+	apt-get update && \
+	apt-get install -q -y --no-install-recommends tzdata && \
+	rm -rf /var/lib/apt/lists/*
+RUN apt-get update && \
+	apt-get install -q -y --no-install-recommends     dirmngr     gnupg2 && \
+	rm -rf /var/lib/apt/lists/*
+RUN echo "deb http://packages.ros.org/ros2/ubuntu jammy main" > /etc/apt/sources.list.d/ros2-latest.list
+RUN apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-keys C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
+ENV LANG=C.UTF-8
+ENV LC_ALL=C.UTF-8
+ENV ROS_DISTRO=humble
+RUN apt-get update && \
+	apt-get install -y --no-install-recommends     ros-humble-ros-core=0.10.0-1* && \
+	rm -rf /var/lib/apt/lists/*
+COPY file:ec5b16a0e777d7d7d041a72ffc817bf5f7b375662afa0c404f3ca36fad1afb90 /
+ENTRYPOINT ["/ros_entrypoint.sh"]
+
+CMD ["bash"]
+
+RUN apt-get update && \
+	apt-get install --no-install-recommends -y     build-essential     git     python3-colcon-common-extensions     python3-colcon-mixin     python3-rosdep     python3-vcstool && \
+	rm -rf /var/lib/apt/lists/*
+RUN rosdep init && \
+	rosdep update --rosdistro $ROS_DISTRO
+RUN colcon mixin add default       https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml && \
+	colcon mixin update && \
+	colcon metadata add default       https://raw.githubusercontent.com/colcon/colcon-metadata-repository/master/index.yaml && \
+	colcon metadata update
+RUN apt-get update && \
+	apt-get install -y --no-install-recommends     ros-humble-ros-base=0.10.0-1* && \
+	rm -rf /var/lib/apt/lists/*
+
+# instruction set group 3
+
+# buildkit.dockerfile.v0 (a buildkit instruction)
+ENV ROS_DISTRO=humble
+# buildkit.dockerfile.v0 (a buildkit instruction)
+SHELL [/bin/bash -c]
+# buildkit.dockerfile.v0 (a buildkit instruction)
+RUN ["/bin/bash","-c","echo","update base 26.09.2023 - test"]
+# buildkit.dockerfile.v0 (a buildkit instruction)
+RUN ["/bin/bash","-c","mkdir","-p","/rmp_ws/src"]
+# buildkit.dockerfile.v0 (a buildkit instruction)
+WORKDIR /rmp_ws/src
+# buildkit.dockerfile.v0 (a buildkit instruction)
+COPY dependencies.arm64.repos .
+# buildkit.dockerfile.v0 (a buildkit instruction)
+COPY dependencies.amd64.repos .
+# buildkit.dockerfile.v0 (a buildkit instruction)
+RUN ["/bin/bash","-c","echo","Hardware platform is: $(uname -m)"]
+# buildkit.dockerfile.v0 (a buildkit instruction)
+RUN ["/bin/bash","-c","uname","-a"]
+# buildkit.dockerfile.v0 (a buildkit instruction)
+RUN ["/bin/bash","-c","echo","update base 29.08.2023"]
+# buildkit.dockerfile.v0 (a buildkit instruction)
+RUN ["/bin/bash","-c","if","[","$(uname -m)","=","x86_64","];","then","echo","Copying files for linux/amd64;","mv","dependencies.amd64.repos","dependencies.repos;","else","echo","Copying files for linux/arm64;","mv","dependencies.arm64.repos","dependencies.repos;","fi"]
+# buildkit.dockerfile.v0 (a buildkit instruction)
+RUN ["/bin/bash","-c","vcs","import","<","dependencies.repos"]
+# buildkit.dockerfile.v0 (a buildkit instruction)
+WORKDIR /rmp_ws
+# buildkit.dockerfile.v0 (a buildkit instruction)
+RUN ["/bin/bash","-c","source","/opt/ros/${ROS_DISTRO}/setup.bash","&&","apt-get","update","-y","&&","apt-get","install","-y","--no-install-recommends","ros-${ROS_DISTRO}-foxglove-bridge","&&","rosdep","install","--from-paths","src","--ignore-src","--rosdistro","${ROS_DISTRO}","-y"]
+# buildkit.dockerfile.v0 (a buildkit instruction)
+RUN ["/bin/bash","-c","source","/opt/ros/${ROS_DISTRO}/setup.bash","&&","colcon","build","--symlink-install"]
+# buildkit.dockerfile.v0 (a buildkit instruction)
+RUN ["/bin/bash","-c","apt-get","install","-y","--no-install-recommends","ros-${ROS_DISTRO}-rmw-cyclonedds-cpp","ros-${ROS_DISTRO}-xacro","&&","rm","-rf","/var/lib/apt/lists/*"]
+# buildkit.dockerfile.v0 (a buildkit instruction)
+ENV RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
+# buildkit.dockerfile.v0 (a buildkit instruction)
+ENV UNDERLAY_WS=
+# buildkit.dockerfile.v0 (a buildkit instruction)
+COPY ./docker/entrypoint.sh /
+# buildkit.dockerfile.v0 (a buildkit instruction)
+RUN ["/bin/bash","-c","chmod","+x","/entrypoint.sh"]
+# buildkit.dockerfile.v0 (a buildkit instruction)
+RUN ["/bin/bash","-c","vcs","pull","src"]
+# buildkit.dockerfile.v0 (a buildkit instruction)
+ENTRYPOINT ["/entrypoint.sh"]
+
+# buildkit.dockerfile.v0 (a buildkit instruction)
+RUN ["/bin/bash","-c","echo","update overlay 26.09.2023-take-2"]
+# buildkit.dockerfile.v0 (a buildkit instruction)
+RUN ["/bin/bash","-c","mkdir","-p","/overlay_ws/src"]
+# buildkit.dockerfile.v0 (a buildkit instruction)
+WORKDIR /overlay_ws/src
+# buildkit.dockerfile.v0 (a buildkit instruction)
+COPY overlay.repos .
+# buildkit.dockerfile.v0 (a buildkit instruction)
+RUN ["/bin/bash","-c","vcs","import","<","overlay.repos"]
+# buildkit.dockerfile.v0 (a buildkit instruction)
+WORKDIR /overlay_ws
+# buildkit.dockerfile.v0 (a buildkit instruction)
+ENV DEBIAN_FRONTEND=noninteractive
+# buildkit.dockerfile.v0 (a buildkit instruction)
+RUN ["/bin/bash","-c","source","/rmp_ws/install/setup.bash","&&","apt-get","update","&&","DEBIAN_FRONTEND=noninteractive","apt-get","install","nano","ros-humble-robot-localization","ros-humble-joint-state-publisher","ros-humble-laser-filters","-y","&&","rosdep","install","--from-paths","src","--ignore-src","--rosdistro","${ROS_DISTRO}","-y","&&","rm","-rf","/var/lib/apt/lists/*"]
+
+# instruction set group 4
+
+# buildkit.dockerfile.v0 (a buildkit instruction)
+RUN ["/bin/bash","-c","source","/rmp_ws/install/setup.bash","&&","colcon","build","--symlink-install"]
+# buildkit.dockerfile.v0 (a buildkit instruction)
+COPY ./docker/entrypoint.sh /
+# buildkit.dockerfile.v0 (a buildkit instruction)
+RUN ["/bin/bash","-c","chmod","+x","/entrypoint.sh"]
+# buildkit.dockerfile.v0 (a buildkit instruction)
+RUN ["/bin/bash","-c","vcs","pull","src"]
+# buildkit.dockerfile.v0 (a buildkit instruction)
+ENTRYPOINT ["/entrypoint.sh"]
+
+# buildkit.dockerfile.v0 (a buildkit instruction)
+RUN ["/bin/bash","-c","source","/rmp_ws/install/setup.bash","&&","apt-get","update","&&","apt-get","install","-y","--no-install-recommends","ros-${ROS_DISTRO}-rviz2","&&","rm","-rf","/var/lib/apt/lists/*"]
+# buildkit.dockerfile.v0 (a buildkit instruction)
+RUN ["/bin/bash","-c","vcs","pull","src"]
+# buildkit.dockerfile.v0 (a buildkit instruction)
+ENTRYPOINT ["/entrypoint.sh"]
+
+# buildkit.dockerfile.v0 (a buildkit instruction)
+LABEL org.opencontainers.image.source=https://github.com/bjoernellens1/ros2_rmp
+# end of image: ghcr.io/bjoernellens1/ros2_rmp/rmp:guis (id:  tags: ghcr.io/bjoernellens1/ros2_rmp/rmp:guis)

"$(pwd)"/.slim-state/images/b6548eacb0639263e9d8abfee48f8ac8b327102a05335b67572f715c580a968e/artifacts/Dockerfile.fat

@@ -0,0 +1,13 @@
+FROM scratch
+# new image
+
+# instruction set group 1
+
+ARG RELEASE
+ARG LAUNCHPAD_BUILD_ARCH
+LABEL org.opencontainers.image.ref.name=ubuntu
+LABEL org.opencontainers.image.version=22.04
+ADD file:36d444e2cede3abe58191dcf28890b874c0908f5259bf7e8855338555701c4c5 /
+CMD ["/bin/bash"]
+
+# end of image: ubuntu:latest (id:  tags: ubuntu:latest)

"$(pwd)"/.slim-state/images/b6548eacb0639263e9d8abfee48f8ac8b327102a05335b67572f715c580a968e/artifacts/Dockerfile.reversed

@@ -0,0 +1,13 @@
+FROM scratch
+# new image
+
+# instruction set group 1
+
+ARG RELEASE
+ARG LAUNCHPAD_BUILD_ARCH
+LABEL org.opencontainers.image.ref.name=ubuntu
+LABEL org.opencontainers.image.version=22.04
+ADD file:36d444e2cede3abe58191dcf28890b874c0908f5259bf7e8855338555701c4c5 /
+CMD ["/bin/bash"]
+
+# end of image: ubuntu:latest (id:  tags: ubuntu:latest)

cert.pem

@@ -0,0 +1,29 @@
+-----BEGIN CERTIFICATE-----
+MIIFCTCCAvGgAwIBAgIUSToN1sKvyyEHUX43N0x2pJ2tozYwDQYJKoZIhvcNAQEL
+BQAwFDESMBAGA1UEAwwJbG9jYWxob3N0MB4XDTIzMDgyMzE0NDgwMFoXDTI0MDgy
+MjE0NDgwMFowFDESMBAGA1UEAwwJbG9jYWxob3N0MIICIjANBgkqhkiG9w0BAQEF
+AAOCAg8AMIICCgKCAgEAuz16ToP/oe0GlHELnOxXVMbQ4ygDhAoJRDW+h3AN01QP
+GD8hKByM5QKUd1bnUa40jKeENerJLVpwvYW+wksIw8OEoU+XKLQav59LkumMx94Y
+92vhfYPEdjJGfBSemf4GALw0GmeizeglGKQAomBN2fV0Wege77T6aE3GSafzmgWk
+WKIXLzYd0C+fzMUnf7TtbpacG71D1VAryedq2/srR6ZnrP92SyWB6vJt9kdFxhie
+V0zdrmiLhKbj4QBHn2ZfBzBe33eLHEJc7DlQ7fkQr58PVnF35h0lIYC2YdZjGSIe
+1r12HGCvjDlDX3ygznsnMIIOGPd78vzpiVUlIk1MLqS4FeAMqyTFuljZ7UjG2+Yf
+p+9gJ/3vfbCiWmtwJOuZvCeXvCwUGlvJH7aFan9UKG0OCuIOBY+8ZqkbgKQ8lCNv
+hk5HD8z49pa2u9Tzau68KMLOIhJ000sPW17RrWTrQK0izLeNmxlUvNFtg65pCpE7
+yUinlKVfBjPraK1htuZL/E0MZ1sq9YV/VbjFQnrhad1bZ+DvLRuX2Ehd8gsUt6UL
+hQW3vq7GmXo0u+xT1XIkCEYdNUGo4xXKr925MmcRVa6gR5dsAuAoQ5cN/5z4wnJt
+eNonakERtPomAC/ACTsbr3RjpG6h0jPHXta5XC+PKydV9riuk/LAIRIF0dKGfHUC
+AwEAAaNTMFEwHQYDVR0OBBYEFKL/qoyl0fc1f6VBhW5GJDpae5a7MB8GA1UdIwQY
+MBaAFKL/qoyl0fc1f6VBhW5GJDpae5a7MA8GA1UdEwEB/wQFMAMBAf8wDQYJKoZI
+hvcNAQELBQADggIBADoEzbUqOiTbTOppCRP3q+l8Z3mlymtZgz/BcyGms+8B2LMC
+xSJ88+lkg23XG8KQ+oIOHDaLBsVUePeSLLt3MAtDMbBEDUsUf2nWK+l3IbNlMxTn
+1beb/FM1QRwLfbqGvVi7afpZvLH7wJc2SCv+996eW/Hau5yDxntqupjAd1G7pDrJ
+PQMJhmWg1VQHxBC1MyMVdz8r4nqBSIKN5XMxdrZitXOa6c2b2/SvolGN6UEUD1at
+LAbS1nXloBNVuOrmTCxRxCKxec8+2qs4QOc/Ux7jF9Q65TkW1IkucnDaOluDcufY
+n4GQXaRFyQJInoGpWlOM3hJ2ZlhlQj+tjuvTyu7uWCINC4r0bYqpIpY4mWzXKRFT
+e5M4nVy8YukjsM82zZRvXdD8Mlfuxb8xkpQBdqVClO24TSjZOCAw4qsizpV/N7S9
+NmQ5+2CI4l3KvhH1gAjtXvNOOicn7laXDtz5wc1fZxmUptQQp5JXFtSguLpJpGli
+r7s8wRPnVJW3HhjNIzYIzOm3J4dtl1+ZqHGfeFes+8ty2HAJK1AmnRvt8UQK3VjR
+YrlzbM6+cjzmJQ3S3LTXOi0Zssf6SQspCaAMP8hUXhZyi8y7PMNHpp/LuUEFox03
+/L8X5DB9SXofdFp+1jVh6WZCV8wt39Fxo+l+5afpeIc138XOkgvsrBFNzTi9
+-----END CERTIFICATE-----

customize/cyclonedds.xml

@@ -5,13 +5,10 @@
             <Interfaces>
                 <NetworkInterface name="tailscale0"/>
             </Interfaces>
-            <AllowMulticast>false</AllowMulticast>
+            <AllowMulticast>true</AllowMulticast>
         </General>      
         <Discovery>
             <Peers>
-                <Peer address="100.122.167.177"/>
-                <Peer address="100.73.99.155"/>
-                <Peer address="10.241.125.101"/>
             </Peers>
             <ParticipantIndex>auto</ParticipantIndex>
             <MaxAutoParticipantIndex>40</MaxAutoParticipantIndex>
@@ -21,4 +18,4 @@
             <OutputFile>stdout</OutputFile>
         </Tracing>
     </Domain>
-</CycloneDDS>
+</CycloneDDS>

docker-compose.yaml

@@ -101,6 +101,8 @@ services:
           - linux/amd64
     command: >
       /bin/bash
+    devices:
+          - /dev/dri:/dev/dri
 
   # Robot State Publisher
   rsp:

husarnet.yaml

@@ -0,0 +1,62 @@
+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)

husarnet/.env

@@ -0,0 +1,2 @@
+JOINCODE=fc94:b01d:1803:8dd8:b293:5c7d:7639:932a/6fYqR5qmsrn3DjvK5KcQQL 
+HOSTNAME=zenbook-test-1

husarnet/Dockerfile

@@ -0,0 +1,17 @@
+FROM osrf/ros:galactic-desktop
+
+SHELL ["/bin/bash", "-c"]
+
+WORKDIR /app
+
+# build custom ROS 2 nodes
+COPY ./husarnet/ros2_ws ros2_ws/
+RUN cd ros2_ws && \
+    source /opt/ros/galactic/setup.bash && \
+    colcon build
+
+COPY ./husarnet/ros_entrypoint.sh /
+RUN chmod +x /ros_entrypoint.sh
+
+ENTRYPOINT ["/ros_entrypoint.sh"]
+CMD ["bash"]

husarnet/cyclonedds.xml

@@ -0,0 +1,27 @@
+<?xml version="1.0" encoding="UTF-8" ?>
+<CycloneDDS xmlns="https://cdds.io/config" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:schemaLocation="https://cdds.io/config https://raw.githubusercontent.com/eclipse-cyclonedds/cyclonedds/master/etc/cyclonedds.xsd">
+    <Domain id="any">
+        <General>
+            <NetworkInterfaceAddress>hnet0</NetworkInterfaceAddress>
+            <AllowMulticast>false</AllowMulticast>
+            <MaxMessageSize>65500B</MaxMessageSize>
+            <FragmentSize>4000B</FragmentSize>
+            <Transport>udp6</Transport>
+        </General>
+        <Discovery>
+            <Peers>
+                <Peer address="turtlesim"/>
+            </Peers>
+            <ParticipantIndex>auto</ParticipantIndex>
+        </Discovery>
+        <Internal>
+            <Watermarks>
+                <WhcHigh>500kB</WhcHigh>
+            </Watermarks>
+        </Internal>
+        <Tracing>
+            <Verbosity>severe</Verbosity>
+            <OutputFile>stdout</OutputFile>
+        </Tracing>
+    </Domain>
+</CycloneDDS>

husarnet/ros2_ws/src/my_demo_pkg/my_demo_pkg/color_controller.py

@@ -0,0 +1,53 @@
+#!/usr/bin/env python3
+
+import rclpy
+from rclpy.node import Node
+from functools import partial
+
+from turtlesim.srv import SetPen
+import random
+
+class ColorControllerNode(Node):
+    def __init__(self):
+        super().__init__("color_controller")
+        self.r_ = 100
+        self.g_ = 100
+        self.b_ = 100
+        self.control_loop_timer_ = self.create_timer(1.0, self.control_loop)
+
+    def control_loop(self):
+        self.r_ = random.randint(0, 255)
+        self.g_ = random.randint(0, 255)
+        self.b_ = random.randint(0, 255)
+        self.call_set_pen_server(self.r_, self.g_, self.b_)
+
+    def call_set_pen_server(self, r, g, b):
+        client = self.create_client(SetPen, "/turtle1/set_pen")
+        while not client.wait_for_service(1.0):
+            self.get_logger().warn("Waiting for server Set Pen....")
+
+        request = SetPen.Request()
+        request.r = r
+        request.g = g
+        request.b = b
+        request.width = 10
+
+        future = client.call_async(request)
+        future.add_done_callback(partial(self.callback_set_pen, r=r, g=g, b=b))
+        
+    def callback_set_pen(self, future, r, g, b):
+        try:
+            response = future.result()
+            self.get_logger().info("[" +str(r) + ", " + str(g) + ", " + str(b) + "] SetPen srv response: " + str(response))
+        
+        except Exception as e:
+            self.get_logger().error("Service call failed %r" % (e,))
+
+def main(args=None):
+    rclpy.init(args=args)
+    node = ColorControllerNode()
+    rclpy.spin(node)
+    rclpy.shutdonw()
+
+if __name__ == "__main__":
+    main()

husarnet/ros2_ws/src/my_demo_pkg/my_demo_pkg/move_controller.py

@@ -0,0 +1,32 @@
+#!/usr/bin/env python3
+
+import rclpy
+from rclpy.node import Node
+from geometry_msgs.msg import Twist
+import math
+
+class MoveControllerNode(Node): 
+    def __init__(self):
+        super().__init__("move_controller") 
+
+        self.cmd_vel_publisher_ = self.create_publisher(
+        Twist, "turtle1/cmd_vel", 10)
+
+        self.control_loop_timer_ = self.create_timer(0.01, self.control_loop)
+
+    def control_loop(self):
+        msg = Twist()
+        msg.linear.x = 2.0
+        msg.angular.z =0.3*math.pi
+
+        # self.get_logger().info("publishing to turtle1/cmd_vel")
+        self.cmd_vel_publisher_.publish(msg)
+
+def main(args=None):
+    rclpy.init(args=args)
+    node = MoveControllerNode() 
+    rclpy.spin(node)
+    rclpy.shutdonw()
+
+if __name__ == "__main__":
+    main()

husarnet/ros2_ws/src/my_demo_pkg/package.xml

@@ -0,0 +1,22 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>my_demo_pkg</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="dominik.nwk@gmail.com">dominik</maintainer>
+  <license>TODO: License declaration</license>
+
+  <depend>rclpy</depend>
+  <depend>geometry_msgs</depend>
+  <depend>turtlesim</depend>
+
+  <test_depend>ament_copyright</test_depend>
+  <test_depend>ament_flake8</test_depend>
+  <test_depend>ament_pep257</test_depend>
+  <test_depend>python3-pytest</test_depend>
+
+  <export>
+    <build_type>ament_python</build_type>
+  </export>
+</package>

husarnet/ros2_ws/src/my_demo_pkg/setup.cfg

@@ -0,0 +1,4 @@
+[develop]
+script-dir=$base/lib/my_demo_pkg
+[install]
+install-scripts=$base/lib/my_demo_pkg

husarnet/ros2_ws/src/my_demo_pkg/setup.py

@@ -0,0 +1,27 @@
+from setuptools import setup
+
+package_name = 'my_demo_pkg'
+
+setup(
+    name=package_name,
+    version='0.0.0',
+    packages=[package_name],
+    data_files=[
+        ('share/ament_index/resource_index/packages',
+            ['resource/' + package_name]),
+        ('share/' + package_name, ['package.xml']),
+    ],
+    install_requires=['setuptools'],
+    zip_safe=True,
+    maintainer='dominik',
+    maintainer_email='dominik.nwk@gmail.com',
+    description='TODO: Package description',
+    license='TODO: License declaration',
+    tests_require=['pytest'],
+    entry_points={
+        'console_scripts': [
+            "move_controller = my_demo_pkg.move_controller:main",
+            "color_controller = my_demo_pkg.color_controller:main",
+        ],
+    },
+)

husarnet/ros2_ws/src/my_demo_pkg/test/test_copyright.py

@@ -0,0 +1,23 @@
+# Copyright 2015 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_copyright.main import main
+import pytest
+
+
+@pytest.mark.copyright
+@pytest.mark.linter
+def test_copyright():
+    rc = main(argv=['.', 'test'])
+    assert rc == 0, 'Found errors'

husarnet/ros2_ws/src/my_demo_pkg/test/test_flake8.py

@@ -0,0 +1,25 @@
+# Copyright 2017 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_flake8.main import main_with_errors
+import pytest
+
+
+@pytest.mark.flake8
+@pytest.mark.linter
+def test_flake8():
+    rc, errors = main_with_errors(argv=[])
+    assert rc == 0, \
+        'Found %d code style errors / warnings:\n' % len(errors) + \
+        '\n'.join(errors)

husarnet/ros2_ws/src/my_demo_pkg/test/test_pep257.py

@@ -0,0 +1,23 @@
+# Copyright 2015 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_pep257.main import main
+import pytest
+
+
+@pytest.mark.linter
+@pytest.mark.pep257
+def test_pep257():
+    rc = main(argv=['.', 'test'])
+    assert rc == 0, 'Found code style errors / warnings'

husarnet/ros2_ws/src/my_turtle_bringup/CMakeLists.txt

@@ -0,0 +1,21 @@
+cmake_minimum_required(VERSION 3.5)
+project(my_turtle_bringup)
+
+# Default to C++14
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 14)
+endif()
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+
+install(DIRECTORY
+  launch
+  DESTINATION share/${PROJECT_NAME}
+)
+
+ament_package()

husarnet/ros2_ws/src/my_turtle_bringup/launch/only_controller.launch.py

@@ -0,0 +1,19 @@
+from launch import LaunchDescription
+from launch_ros.actions import Node
+
+def generate_launch_description():
+    ld = LaunchDescription()
+
+    move_controller_node = Node(
+        package="my_demo_pkg",
+        executable="move_controller"
+    )
+
+    color_controller_node = Node(
+        package="my_demo_pkg",
+        executable="color_controller"
+    )
+
+    ld.add_action(move_controller_node)
+    ld.add_action(color_controller_node)
+    return ld

husarnet/ros2_ws/src/my_turtle_bringup/launch/turtlesim_demo.launch.py

@@ -0,0 +1,25 @@
+from launch import LaunchDescription
+from launch_ros.actions import Node
+
+def generate_launch_description():
+    ld = LaunchDescription()
+
+    turtlesim_node = Node(
+        package="turtlesim",
+        executable="turtlesim_node"
+    )
+
+    move_controller_node = Node(
+        package="my_demo_pkg",
+        executable="move_controller"
+    )
+
+    color_controller_node = Node(
+        package="my_demo_pkg",
+        executable="color_controller"
+    )
+
+    ld.add_action(turtlesim_node)
+    ld.add_action(move_controller_node)
+    ld.add_action(color_controller_node)
+    return ld

husarnet/ros2_ws/src/my_turtle_bringup/package.xml

@@ -0,0 +1,20 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>my_turtle_bringup</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="dominik.nwk@gmail.com">dominik</maintainer>
+  <license>TODO: License declaration</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <exec_depend>my_demo_pkg</exec_depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>

husarnet/ros_entrypoint.sh

@@ -0,0 +1,7 @@
+#!/bin/bash
+set -e
+
+source /opt/ros/galactic/setup.bash
+source /app/ros2_ws/install/setup.bash
+
+exec "$@"

key.pem

@@ -0,0 +1,52 @@
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+O61K2Igm/AywqweBe9cWRgB7lOXwIA==
+-----END PRIVATE KEY-----

maps/map_floor_mainb_save.yaml

@@ -0,0 +1,7 @@
+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

slim.report.json

@@ -0,0 +1,47 @@
+{
+  "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": ""
+}