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base: ellensohn:main
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ellensohn:main
ellensohn:webui
ellensohn:bootstrap
ellensohn:devcontainer
ellensohn:meshvpn
ellensohn:alpine
ellensohn:build-action
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compare: ellensohn:webui
Branches Tags
ellensohn:webui
ellensohn:bootstrap
ellensohn:main
ellensohn:devcontainer
ellensohn:meshvpn
ellensohn:alpine
ellensohn:build-action

9 Commits
main ... webui

Author SHA1 Message Date
Your Name
a84ecce9b0 update 2024-05-23 09:18:44 +02:00
Björn Ellensohn
e1de2cbf77 update 2024-04-02 11:13:35 +02:00
Björn Ellensohn
5891da6fa5 update 2024-03-29 11:22:52 +01:00
Björn Ellensohn
83f97a8d65 update 2024-03-29 10:43:00 +01:00
Björn Ellensohn
33eba8fcfb update 2024-03-28 12:43:09 +01:00
Your Name
2f0d08cf0a update 2024-03-28 09:56:53 +01:00
Your Name
cbc84b434b update 2024-03-28 09:53:35 +01:00
Your Name
5b5c0ca098 update 2024-03-28 09:46:50 +01:00
Your Name
b6b70dde04 cleanup 2024-03-28 09:43:59 +01:00
67 changed files with 3562 additions and 1422 deletions
Show Stats Expand all files Collapse all files

4
.gitignore vendored
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@ -1 +1,3 @@
*.pgm
*.pgm
maps/
__pycache__/

29
cert.pem
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@ -1,29 +0,0 @@
-----BEGIN CERTIFICATE-----
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27
config/box_filter.yaml Normal file
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scan_to_scan_filter_chain:
ros__parameters:
filter1:
name: box_filter
type: laser_filters/LaserScanBoxFilter
params:
box_frame: laser_frame
max_x: 0.80 #was 0.16
max_y: 0.18 #was 0.17
max_z: 0.1
min_x: -0.41 #was -0.41
min_y: -0.18 # was -0.17
min_z: -0.2
invert: false # activate to remove all points outside of the box
name: shadows
type: laser_filters/ScanShadowsFilter
params:
min_angle: 10
max_angle: 170
neighbors: 20
window: 1
name: dark_shadows
type: laser_filters/LaserScanIntensityFilter
params:
lower_threshold: 100
upper_threshold: 10000
disp_histogram: 0

34
config/caddy/Caddyfile Normal file
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# {
# debug
# }
http://cps-seggy {
root * /usr/share/caddy
file_server browse
handle_path /config* {
reverse_proxy http://olivetin:1337
}
handle_path /viz* {
reverse_proxy http://foxglove:8080
}
# this is not working right now
handle_path /joy* {
reverse_proxy http://host.docker.internal:8000
}
}
http://cps-seggy.local {
root * /usr/share/caddy
file_server browse
handle_path /config {
reverse_proxy http://olivetin:1337
}
handle_path /viz* {
reverse_proxy http://foxglove:8080
}
}

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config/caddy/content/overview/index.html Normal file
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<!DOCTYPE html>
<html>
<!-- ersetze die Links + QR Codes unter den Kommentaren -->
<head>
<title>CPS Bot Overview</title>
<meta charset="UTF-8">
<meta name="viewport" content="width=device-width, initial-scale=1.0">
<link rel="stylesheet" href="style.css">
</head>
<header>
<h1 id="HEADLINE">CPS Seggy Overview<img src="CPS_Logo_White_square_TRANSP.png" id="LOGO"></h1>
</header>
<body>
<div class="box" id="RIGHT">
<div id="BLOCK_ONE">
<p class="mini-heads">Teleop:</p>
<!-- again -->
<!-- Replace link at href -->
<!-- hier Link zu Joystick -->
<a href="http://cps-seggy.local:8000/">
<img src="joystick.png" class="qr qr_2"></a>
<br>
</div>
<div id="BLOCK_ONE">
<p class="mini-heads">Robot Configuration:</p>
<!-- again -->
<!-- Replace link at href -->
<!-- hier Link zu WebGui -->
<a href="/config/">
<img src="wrench.svg" class="qr qr_2"></a>
<br>
</div>
<p id="SPACE"> </p>
<div id="BLOCK_TWO">
<p class="mini-heads">Data View:</p>
<!-- again -->
<!-- hier Link zu Manual -->
<a href="/viz/">
<img src="safety-glasses.svg" class="qr qr_2">
</a>
<br>
</div>
<p id="SPACE"> </p>
<div id="BLOCK_THREE">
<p class="mini-heads">Manual:</p>
<!-- again -->
<!-- hier Link zu Manual -->
<a href="https://cps.unileoben.ac.at">
<img src="blueprint.svg" class="qr qr_2">
</a>
<br>
</div>
</div>
<div class="box" id="LEFT">
<p class="mini-heads">Connect to Wi-Fi:</p>
<!-- replace mit relativen Link!!!, bei mir spinnts und es wird das gebrochene Bild symbol angezeigt. Anders geht
es allerdings, falls nicht bei dir sags mir -->
<img src="qr-loki.wifi.svg" class="qr">
<div id="NORM_SET">
<table>
<tr>
<td>SSID:</td>
<td>cps-loki</td>
</tr>
<tr>
<td>Password: </td>
<td>cps-loki</td>
</tr>
</table>
</div>
</div>
<div class="info">
<!-- Link zum Lehrstuhl, einfach den ganzen Div Block rausnehmen falls du das nicht willst -->
<a href="https://cps.unileoben.ac.at/">Check us out!</a>
</div>
</body>
</html>

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<svg id="icons" xmlns="http://www.w3.org/2000/svg" viewBox="0 0 128 128"><defs><style>.cls-1{fill:#b7e29c;}.cls-2{fill:#97cc83;}.cls-3{fill:#f4d647;}.cls-4{fill:#f4a742;}.cls-5{fill:#5282ef;}.cls-6{fill:#a2bdf4;}.cls-7{fill:none;stroke:#000;stroke-linecap:round;stroke-linejoin:round;stroke-width:2px;}</style></defs><title>safety-glasses</title><path class="cls-1" d="M48,37a33.319,33.319,0,0,1,8.56,1.083A27.63,27.63,0,0,0,64,39a27.643,27.643,0,0,0,7.44-.917A33.308,33.308,0,0,1,80,37h22.474a1,1,0,0,0,.85-1.536C96.759,24.828,84.651,18,64,18S31.241,24.828,24.675,35.464A1,1,0,0,0,25.526,37Z"/><path class="cls-1" d="M90,91c-15.884,0-19.965-7.631-22.665-12.681C65.561,75,64.656,75,64,75s-1.56,0-3.335,3.319C57.964,83.369,53.883,91,38,91c-5.978,0-10.526-1.4-13.985-3.723a1,1,0,0,0-1.487,1.229C28.428,101.418,40.846,110,64,110s35.572-8.582,41.473-21.495a1,1,0,0,0-1.487-1.229C100.526,89.6,95.978,91,90,91Z"/><path class="cls-2" d="M67.33,78.32a26.676,26.676,0,0,0,4.57,6.64,282.35,282.35,0,0,0-15.14,24.73C38.2,108.07,27.78,100,22.53,88.51a1,1,0,0,1,1.48-1.23C27.47,89.6,32.02,91,38,91c15.88,0,19.96-7.63,22.67-12.68C62.44,75,63.34,75,64,75S65.56,75,67.33,78.32Z"/><path class="cls-2" d="M102.47,37H80a33.7,33.7,0,0,0-8.56,1.08c-.89.21-1.73.41-2.67.57A170.727,170.727,0,0,1,91.95,24.34a32.506,32.506,0,0,1,11.37,11.12A1,1,0,0,1,102.47,37Z"/><g id="_Group_" data-name="&lt;Group&gt;"><path class="cls-3" d="M113,46v4a2.006,2.006,0,0,1-2,2h-4.33c-.23,0-.45-.01-.68-.02a11.881,11.881,0,0,1-2.59-.43l-7.39-2.1A12,12,0,0,0,92.74,49s-10.25,2.86-27.5,2.99h-.01c-.41.01-.82.01-1.23.01-5.4,0-10.14-.27-14.14-.65h-.01A91.913,91.913,0,0,1,35.26,49a12,12,0,0,0-3.27.45l-7.39,2.1a11.881,11.881,0,0,1-2.59.43c-.23.01-.45.02-.68.02H17a2.006,2.006,0,0,1-2-2V46a4,4,0,0,1,4-4H48c7,0,8,2,16,2s9-2,16-2h29A4,4,0,0,1,113,46Z"/><path class="cls-4" d="M106.67,52h3.32c0,17-1.04,34-19.99,34C68,86,75,70,64,70S60,86,38,86C19.05,86,18.01,69,18.01,52h3.32c.23,0,.45-.01.68-.02V52c0,7.02.29,12.77,1.22,17.29a21.68,21.68,0,0,0,2.42,6.75C28.03,80.04,31.88,82,38,82c10.49,0,12.45-3.67,14.73-7.92C54.55,70.67,57.05,66,64,66s9.45,4.67,11.27,8.08C77.55,78.33,79.51,82,90,82c13.6,0,15.99-9.67,15.99-30v-.02C106.22,51.99,106.44,52,106.67,52Z"/><path class="cls-5" d="M105.99,51.98V52c0,20.33-2.39,30-15.99,30-10.49,0-12.45-3.67-14.73-7.92C73.45,70.67,70.95,66,64,66s-9.45,4.67-11.27,8.08C50.45,78.33,48.49,82,38,82c-6.12,0-9.97-1.96-12.35-5.96,6.37-7.39,18.66-18.12,39.58-24.05h.01C82.49,51.86,92.74,49,92.74,49a12,12,0,0,1,3.27.45l7.39,2.1A11.881,11.881,0,0,0,105.99,51.98Z"/><path class="cls-6" d="M64,52c.41,0,.82,0,1.23-.01C44.31,57.92,32.02,68.65,25.65,76.04a21.68,21.68,0,0,1-2.42-6.75A60.754,60.754,0,0,1,49.85,51.35h.01C53.86,51.73,58.6,52,64,52Z"/><path class="cls-5" d="M35.26,49a91.913,91.913,0,0,0,14.59,2.35A60.754,60.754,0,0,0,23.23,69.29C22.3,64.77,22.01,59.02,22.01,52v-.02a11.881,11.881,0,0,0,2.59-.43l7.39-2.1A12,12,0,0,1,35.26,49Z"/><path class="cls-7" d="M18.01,52c0,17,1.04,34,19.99,34,22,0,15-16,26-16s4,16,26,16c18.95,0,19.99-17,19.99-34"/><path class="cls-7" d="M65.24,51.99C82.49,51.86,92.74,49,92.74,49a12,12,0,0,1,3.27.45l7.39,2.1a11.881,11.881,0,0,0,2.59.43c.23.01.45.02.68.02H111a2.006,2.006,0,0,0,2-2V46a4,4,0,0,0-4-4H80c-7,0-8,2-16,2s-9-2-16-2H19a4,4,0,0,0-4,4v4a2.006,2.006,0,0,0,2,2h4.33c.23,0,.45-.01.68-.02a11.881,11.881,0,0,0,2.59-.43l7.39-2.1A12,12,0,0,1,35.26,49a91.913,91.913,0,0,0,14.59,2.35"/><path class="cls-7" d="M49.86,51.35c4,.38,8.74.65,14.14.65.41,0,.82,0,1.23-.01"/><path class="cls-7" d="M105.99,51.98V52c0,20.33-2.39,30-15.99,30-10.49,0-12.45-3.67-14.73-7.92C73.45,70.67,70.95,66,64,66s-9.45,4.67-11.27,8.08C50.45,78.33,48.49,82,38,82c-6.12,0-9.97-1.96-12.35-5.96a21.68,21.68,0,0,1-2.42-6.75C22.3,64.77,22.01,59.02,22.01,52v-.02"/><path class="cls-7" d="M23.23,69.29A60.754,60.754,0,0,1,49.85,51.35h.01"/><path class="cls-7" d="M25.65,76.04c6.37-7.39,18.66-18.12,39.58-24.05h.01"/></g></svg>
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247
config/caddy/content/overview/style.css Normal file
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@ -0,0 +1,247 @@
html
{
background-color: rgb(51, 51, 51);
font-family: sans-serif;
padding-bottom: 50px;
}
#HEADLINE
{
font-family:'Gill Sans', 'Gill Sans MT', Calibri, 'Trebuchet MS', sans-serif;
text-align: center;
color: white;
background-color: rgb(1, 115, 126);
box-shadow: 0px 15px 0px -5px rgb(1, 89, 97);
margin-top: 2px;
}
#LOGO
{
height: 1em;
width: auto;
float: right;
margin-top: 2px;
padding-left: 12px;
padding-right: 12px;
background-color: inherit;
}
.mini-heads
{
color: white;
font-weight: 700;
}
#LEFT
{
float: left;
max-width: 49.5%;
text-align: center;
}
#RIGHT
{
float: right;
max-width: 49.5%;
flex-direction: row;
text-align: center;
}
.qr
{
max-width: 59.5%;
height: auto;
object-fit: cover;
border-color: black;
border: 3px solid;
border-radius: 10%;
}
.qr_2
{
width: 35%;
height: auto;
}
table, td
{
color: white;
width: 70%;
line-height: 190%;
border: 1px solid rgb(76, 76, 76);
background-color: rgb(34, 34, 34);
border-collapse: collapse;
margin-left: auto;
margin-right: auto;
}
#SPACE
{
padding: 3px;
}
#NORM_SET
{
padding-top: 6px;
}
.link
{
color: white;
background-color: rgb(1, 115, 126);
padding-left: 10px;
padding-right: 10px;
border-radius: 3px;
text-decoration: none;
}
.link:hover
{
color: rgb(206, 206, 206);
}
.link:visited
{
color: rgb(75, 75, 75);
background-color: rgb(1, 89, 97);
}
.info
{
color: white;
background-color: rgb(34, 34, 34);
padding-top: 3px;
padding-right: 6px;
text-indent: 6px;
position: fixed;
bottom: 0px;
right: 6px;
border: 1px solid rgb(76, 76, 76);
}
.info:hover
{
cursor: pointer;
}
.info:visited
{
color: rgb(206, 206, 206);
}
a, a:visited, a:hover, a:active {
text-decoration: none;
color: inherit;
}
/* Phone */ /* pract. ab 400% zoom (inludkiert) am pc */
@media only screen and (max-width : 480px)
{
#LEFT
{
width: 100%;
max-width: none;
clear: both;
text-align: center;
}
#RIGHT
{
max-width: none;
padding-top: 10px;
}
.qr
{
max-width: 43.9%;
}
.qr_2
{
width: 29%;
}
}
/* Tablet / Ipad */ /* pract. ab 200% Zoom (nicht inkludiert) am pc */
@media only screen and (max-width : 767px) and (min-width: 481px)
{
#LEFT
{
max-width: none;
width: 100%;
clear: both;
text-align: center;
}
.qr
{
max-width: 35%;
}
table td
{
font-size: large;
}
.mini-heads
{
font-size: x-large;
}
#RIGHT
{
max-width: none;
}
#SPACE
{
padding: none;
display: none;
}
#BLOCK_ONE
{
max-width: 49.5%;
float: left;
}
#BLOCK_TWO
{
max-width: 49.5%;
float: right;
}
#BLOCK_THREE
{
max-width: 49.5%;
float: right;
}
.qr_2
{
max-width: 80%;
width: 50%;
}
.link
{
font-size: larger;
}
.info
{
font-size: larger;
}
}

1
config/caddy/content/overview/wrench.svg Normal file
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@ -0,0 +1 @@
<svg id="icons" xmlns="http://www.w3.org/2000/svg" viewBox="0 0 128 128"><defs><style>.cls-1{fill:#9addf7;}.cls-2{fill:#65c7e5;}.cls-3{fill:#cbccd3;}.cls-4{fill:#a5a7ad;}.cls-5{fill:none;stroke:#000;stroke-linecap:round;stroke-linejoin:round;stroke-width:2px;}.cls-6{opacity:0.16;}</style></defs><title>wrench</title><path class="cls-1" d="M108.91,50.84a1,1,0,0,0-1.57-.62c-5.62,4.09-10.88,5.38-15.64,6.53-3.79.92-7.06,1.71-10.22,3.9a19.456,19.456,0,0,0-3.84,3.7C66.47,78.2,51.65,95.15,42.5,105.22a1,1,0,0,0,.42,1.62A63.082,63.082,0,0,0,64,110a78.244,78.244,0,0,0,8.64-.45,49.668,49.668,0,0,0,17.25-4.75C105.07,97.12,110,81.74,110,64A74.515,74.515,0,0,0,108.91,50.84ZM73.98,18.61A77.519,77.519,0,0,0,64,18c-9.06,0-16.47,1.31-22.5,3.69A33.934,33.934,0,0,0,26.95,32.2C20.39,40.47,18,51.67,18,64a65.914,65.914,0,0,0,2.58,19.37.993.993,0,0,0,1.63.42c4.55-4.21,10.43-9.52,16.74-15.09,2.68-2.37,5.44-4.78,8.21-7.18,5.14-4.45,10.32-8.84,15.12-12.78a19.294,19.294,0,0,0,3.03-3.05c3.47-4.53,3.86-8.9,4.24-13.12.34-3.79.68-7.71,3.6-10.65l1.46-1.66A1,1,0,0,0,73.98,18.61Z"/><path class="cls-2" d="M45.74,30.99l-4.01,7A2,2,0,0,1,39.99,39H32.01a2,2,0,0,1-1.74-1.01L26.95,32.2A33.934,33.934,0,0,1,41.5,21.69a1.858,1.858,0,0,1,.23.32l4.01,7A2,2,0,0,1,45.74,30.99Z"/><path class="cls-2" d="M94.993,70.5H91.007a2,2,0,0,0-1.735,1.006l-2.006,3.5a2,2,0,0,0,0,1.989l2.006,3.5A2,2,0,0,0,91.007,81.5h3.985a2,2,0,0,0,1.735-1.006l2.006-3.5a2,2,0,0,0,0-1.989l-2.006-3.5A2,2,0,0,0,94.993,70.5Z"/><path class="cls-2" d="M47.16,61.52c-2.77,2.4-5.53,4.81-8.21,7.18a1.934,1.934,0,0,1-.68-.71l-2.01-3.5a2,2,0,0,1,0-1.98l2.01-3.5A2,2,0,0,1,40.01,58h3.98a2,2,0,0,1,1.74,1.01Z"/><path class="cls-2" d="M89.89,104.8a49.668,49.668,0,0,1-17.25,4.75l-1.53-5.65a1.991,1.991,0,0,1,.51-1.94l5.65-5.65a2,2,0,0,1,1.94-.52L87,97.9a2.011,2.011,0,0,1,1.4,1.41Z"/><g id="_Group_" data-name="&lt;Group&gt;"><path class="cls-3" d="M92.89,42l-1.76,3.63c-.04.08-.08.16-.13.24a1.986,1.986,0,0,1-1.47.88,1.574,1.574,0,0,1-.53-.01,1.721,1.721,0,0,1-.54-.18l-.85-.42-.61-.3-1.18-.58-1.8-.88L83,43.88l-.78-.38-.97-.48a1.274,1.274,0,0,1-.25-.15,1.869,1.869,0,0,1-.47-.46,2.012,2.012,0,0,1-.2-2.09L81,38.93l1.09-2.25a1.98,1.98,0,0,1,.91-.92,2.107,2.107,0,0,1,.73-.21,1.9,1.9,0,0,1,1.03.2l.24.12.63.31,1.37.67.43.21,1.57.78.23.11,1.77.87.02.01.95.47a2.03,2.03,0,0,1,.92,2.7Z"/><path class="cls-3" d="M94.4,16.02a2,2,0,0,1,1.66,2.86L90.14,31.7,79.35,26.67a15.038,15.038,0,0,1,3.72-6.24A14.881,14.881,0,0,1,94.4,16.02Z"/><path class="cls-4" d="M111.47,22.16c1.8,5.55,3.17,14.29-2.91,20.43-11.01,11.11-20.5,7.4-29.93,13.96a23.949,23.949,0,0,0-4.88,4.66C58.54,80.07,37.58,103.5,32.09,109.04a9.941,9.941,0,0,1-14.16,0,10.171,10.171,0,0,1,0-14.29c5.5-5.55,28.81-26.79,47.52-42.15a24.047,24.047,0,0,0,3.82-3.86c7.55-9.83,3.53-19.36,7.43-23.3l2.65,1.23L90.14,31.7l4.02,1.87a4.013,4.013,0,0,0,1.99.36l5.43-.42a4.014,4.014,0,0,0,3.53-2.86l2.54-8.43A2,2,0,0,1,111.47,22.16ZM92.89,42a2.032,2.032,0,0,0-.92-2.7l-7.21-3.55a1.987,1.987,0,0,0-2.67.93l-1.76,3.64a2.035,2.035,0,0,0,.92,2.7l7.21,3.54a1.979,1.979,0,0,0,2.67-.93ZM25.02,106A3.952,3.952,0,0,0,29,102.02,4.046,4.046,0,0,0,24.98,98,3.952,3.952,0,0,0,21,101.98,4.046,4.046,0,0,0,25.02,106Z"/><path class="cls-5" d="M79.35,26.67,76.7,25.44c-3.9,3.94.12,13.47-7.43,23.3a24.047,24.047,0,0,1-3.82,3.86C46.74,67.96,23.43,89.2,17.93,94.75a10.171,10.171,0,0,0,0,14.29,9.941,9.941,0,0,0,14.16,0c5.49-5.54,26.45-28.97,41.66-47.83a23.949,23.949,0,0,1,4.88-4.66c9.43-6.56,18.92-2.85,29.93-13.96,6.08-6.14,4.71-14.88,2.91-20.43a2,2,0,0,0-3.82.06l-2.54,8.43a4.014,4.014,0,0,1-3.53,2.86l-5.43.42a4.013,4.013,0,0,1-1.99-.36L90.14,31.7Z"/><path class="cls-5" d="M21,101.98A3.952,3.952,0,0,1,24.98,98,4.046,4.046,0,0,1,29,102.02,3.952,3.952,0,0,1,25.02,106,4.046,4.046,0,0,1,21,101.98Z"/><path class="cls-5" d="M79.35,26.67a15.038,15.038,0,0,1,3.72-6.24A14.881,14.881,0,0,1,94.4,16.02a2,2,0,0,1,1.66,2.86L90.14,31.7"/><path class="cls-5" d="M80.33,40.32l1.76-3.64a1.987,1.987,0,0,1,2.67-.93l7.21,3.55a2.032,2.032,0,0,1,.92,2.7l-1.76,3.63a1.979,1.979,0,0,1-2.67.93l-7.21-3.54A2.035,2.035,0,0,1,80.33,40.32Z"/><line class="cls-5" x1="86.72" y1="36.71" x2="83.3" y2="44.03"/><line class="cls-5" x1="90.31" y1="38.48" x2="86.9" y2="45.79"/></g><g class="cls-6"><path d="M30.172,91.172,58.879,63.879a3,3,0,0,1,4.243,4.243L35.828,96.828a4,4,0,0,1-5.8-5.514C30.072,91.269,30.127,91.215,30.172,91.172Z"/></g></svg>
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70
config/entrypoint.sh
View File

@ -11,7 +11,7 @@ echo "Sourced ROS 2 ${ROS_DISTRO}"
if [ -f ${UNDERLAY_WS}/install/setup.bash ]
then
source ${UNDERLAY_WS}/install/setup.bash
# vcs pull ${UNDERLAY_WS}/src
vcs pull ${UNDERLAY_WS}/src
echo "Sourced CPS RMP 220 base workspace"
fi
@ -19,7 +19,7 @@ fi
if [ -f /overlay_ws/install/setup.bash ]
then
source /overlay_ws/install/setup.bash
# vcs pull /overlay_ws/src
vcs pull /overlay_ws/src
echo "Sourced CPS RMP 220 Overlay workspace"
fi
@ -32,19 +32,67 @@ then
fi
# Implement updating all repositories at launch
# if [ -f ${UNDERLAY_WS}/]
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
# cd ${UNDERLAY_WS}
# vcs pull src
# echo "Updated base workspace"
# /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 $(ip addr show zt* | grep -Po 'inet \K[\d.]+')
# echo "Set zerotier interface as standard gateway"
# this should now route the ros2 traffic through zerotier?
# # Find the ZeroTier interface name dynamically
# zerotier_interface=$(ip addr show | awk '/^.*: zt/{print $2}' | cut -d ':' -f 1)
# if [ -z "$zerotier_interface" ]; then
# echo "ZeroTier interface not found."
# exit 1
# fi
# if [ -f /overlay_ws/]
# then
# cd /overlay_ws
# vcs pull src
# echo "Updated overlay workspace"
# # Set the standard gateway to the ZeroTier interface
# ip route del default
# ip route add default via $(ip addr show "$zerotier_interface" | grep -Po 'inet \K[\d.]+')
# echo "Set ZeroTier interface '$zerotier_interface' as the standard gateway."
# Changing apporach to just configure the cyconedds to use the zerotier interface
# For now add respective ip apps to do the stuff below:
apt update && apt install -y iproute2
# Find the ZeroTier interface name dynamically
# zerotier_interface=$(ip addr show | awk '/^.*: zt/{print $2}' | cut -d ':' -f 1)
# if [ -z "$zerotier_interface" ]; then
# echo "ZeroTier interface not found."
# exit 1
# fi
# echo "Using ZeroTier interface: $zerotier_interface"
# # Set the path to your CycloneDDS configuration file
# config_file="/cyclonedds.xml"
# # Replace the content between <NetworkInterfaceAddress> tags
# sed -i "s|<NetworkInterfaceAddress>.*</NetworkInterfaceAddress>|<NetworkInterfaceAddress>$zerotier_interface</NetworkInterfaceAddress>|g" "$config_file"
# Execute the command passed into this entrypoint
exec "$@"

0
foxglove/default.json → config/foxglove/default.json
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0
foxglove/default.json.bak → config/foxglove/default.json.bak
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0
foxglove/default.json.bak2 → config/foxglove/default.json.bak2
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239
config/nav2_params.yaml
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@ -254,139 +254,52 @@ bt_navigator_navigate_to_pose_rclcpp_node:
# RotateToGoal.scale: 32.0
# RotateToGoal.slowing_factor: 5.0
# RotateToGoal.lookahead_time: -1.0
# controller_server:
# ros__parameters:
# use_sim_time: True
# controller_frequency: 100.0 # was 20.0
# min_x_velocity_threshold: 0.001
# min_y_velocity_threshold: 0.5
# min_theta_velocity_threshold: 0.001
# progress_checker_plugins: ["progress_checker"] # progress_checker_plugin: "progress_checker" For Humble and older
# goal_checker_plugins: ["goal_checker"]
# controller_plugins: ["FollowPath"]
# progress_checker:
# plugin: "nav2_controller::SimpleProgressChecker"
# required_movement_radius: 0.5
# movement_time_allowance: 10.0
# goal_checker:
# plugin: "nav2_controller::SimpleGoalChecker"
# xy_goal_tolerance: 0.25 # was 0.25
# yaw_goal_tolerance: 0.25 # was 0.25
# stateful: True
# FollowPath:
# plugin: "nav2_regulated_pure_pursuit_controller::RegulatedPurePursuitController"
# desired_linear_vel: 0.5
# lookahead_dist: 0.6
# min_lookahead_dist: 0.3
# max_lookahead_dist: 0.9
# lookahead_time: 1.5
# rotate_to_heading_angular_vel: 1.8
# transform_tolerance: 0.1
# use_velocity_scaled_lookahead_dist: false
# min_approach_linear_velocity: 0.007 # was 0.05
# approach_velocity_scaling_dist: 0.6
# use_collision_detection: true
# max_allowed_time_to_collision_up_to_carrot: 1.0
# use_regulated_linear_velocity_scaling: true
# use_fixed_curvature_lookahead: false
# curvature_lookahead_dist: 0.25
# use_cost_regulated_linear_velocity_scaling: false
# regulated_linear_scaling_min_radius: 0.9
# regulated_linear_scaling_min_speed: 0.25
# use_rotate_to_heading: false # was true, cannot be set together with allow_reversing
# allow_reversing: true # was false
# rotate_to_heading_min_angle: 0.785
# max_angular_accel: 3.2
# max_robot_pose_search_dist: 10.0
# use_interpolation: true # was false
controller_server:
ros__parameters:
controller_frequency: 50.0 # was 30.0 # ! must be float!
use_sim_time: True
controller_frequency: 100.0 # was 20.0
min_x_velocity_threshold: 0.001
min_y_velocity_threshold: 0.5
min_theta_velocity_threshold: 0.001
progress_checker_plugins: ["progress_checker"] # progress_checker_plugin: "progress_checker" For Humble and older
goal_checker_plugins: ["goal_checker"]
controller_plugins: ["FollowPath"]
progress_checker:
plugin: "nav2_controller::SimpleProgressChecker"
required_movement_radius: 0.5
movement_time_allowance: 10.0
goal_checker:
plugin: "nav2_controller::SimpleGoalChecker"
xy_goal_tolerance: 0.25 # was 0.25
yaw_goal_tolerance: 0.25 # was 0.25
stateful: True
FollowPath:
plugin: "nav2_mppi_controller::MPPIController"
time_steps: 56
model_dt: 0.05
batch_size: 1000 # was 2000
vx_std: 0.2
vy_std: 0.2
wz_std: 0.4
vx_max: 0.5
vx_min: -0.35
vy_max: 0.5
wz_max: 1.9
iteration_count: 1
prune_distance: 1.7
plugin: "nav2_regulated_pure_pursuit_controller::RegulatedPurePursuitController"
desired_linear_vel: 0.5
lookahead_dist: 0.6
min_lookahead_dist: 0.3
max_lookahead_dist: 0.9
lookahead_time: 1.5
rotate_to_heading_angular_vel: 1.8
transform_tolerance: 0.1
temperature: 0.3
gamma: 0.015
motion_model: "DiffDrive"
visualize: false
reset_period: 1.0 # (only in Humble)
regenerate_noises: false
TrajectoryVisualizer:
trajectory_step: 5
time_step: 3
AckermannConstraints:
min_turning_r: 0.1 # was0.2 # only active for ackermann
critics: ["ConstraintCritic", "ObstaclesCritic", "GoalCritic", "GoalAngleCritic", "PathAlignCritic", "PathFollowCritic", "PathAngleCritic", "PreferForwardCritic"]
ConstraintCritic:
enabled: true
cost_power: 1
cost_weight: 4.0
GoalCritic:
enabled: true
cost_power: 1
cost_weight: 5.0
threshold_to_consider: 1.4
GoalAngleCritic:
enabled: true
cost_power: 1
cost_weight: 3.0
threshold_to_consider: 0.5
PreferForwardCritic:
enabled: true
cost_power: 1
cost_weight: 10.0 # was 5.0
threshold_to_consider: 0.5
ObstaclesCritic:
enabled: true
cost_power: 1
repulsion_weight: 1.5
critical_weight: 20.0
consider_footprint: true # was false
collision_cost: 10000.0
collision_margin_distance: 0.1
near_goal_distance: 0.5
inflation_radius: 0.35 #was0.55 # (only in Humble)
cost_scaling_factor: 10.0 # (only in Humble)
PathAlignCritic:
enabled: true
cost_power: 1
cost_weight: 14.0
max_path_occupancy_ratio: 0.05
trajectory_point_step: 3
threshold_to_consider: 0.5
offset_from_furthest: 20
use_path_orientations: true # was false
PathFollowCritic:
enabled: true
cost_power: 1
cost_weight: 5.0
offset_from_furthest: 5
threshold_to_consider: 1.4
PathAngleCritic:
enabled: true
cost_power: 1
cost_weight: 2.0
offset_from_furthest: 4
threshold_to_consider: 0.5
max_angle_to_furthest: 1.0
mode: 0
# TwirlingCritic:
# enabled: true
# twirling_cost_power: 1
# twirling_cost_weight: 10.0
use_velocity_scaled_lookahead_dist: false
min_approach_linear_velocity: 0.007 # was 0.05
approach_velocity_scaling_dist: 0.6
use_collision_detection: true
max_allowed_time_to_collision_up_to_carrot: 1.0
use_regulated_linear_velocity_scaling: true
use_fixed_curvature_lookahead: false
curvature_lookahead_dist: 0.25
use_cost_regulated_linear_velocity_scaling: false
regulated_linear_scaling_min_radius: 0.9
regulated_linear_scaling_min_speed: 0.25
use_rotate_to_heading: false # was true, cannot be set together with allow_reversing
allow_reversing: true # was false
rotate_to_heading_min_angle: 0.785
max_angular_accel: 3.2
max_robot_pose_search_dist: 10.0
use_interpolation: true # was false
local_costmap:
@ -406,8 +319,8 @@ local_costmap:
plugins: ["voxel_layer", "inflation_layer"]
inflation_layer:
plugin: "nav2_costmap_2d::InflationLayer"
cost_scaling_factor: 10.0 # was 3.0 ;exponential rate at which the obstacle cost drops off (default: 10)
inflation_radius: 0.35 # max. distance from an obstacle at which costs are incurred for planning paths.
cost_scaling_factor: 2.0 # was 3.0 ;exponential rate at which the obstacle cost drops off (default: 10)
inflation_radius: 0.70 # max. distance from an obstacle at which costs are incurred for planning paths.
voxel_layer:
plugin: "nav2_costmap_2d::VoxelLayer"
enabled: True
@ -477,7 +390,7 @@ global_costmap:
inflation_layer:
plugin: "nav2_costmap_2d::InflationLayer"
cost_scaling_factor: 10.0 # was 3.0
inflation_radius: 0.35
inflation_radius: 0.55
always_send_full_costmap: True
map_server:
@ -505,67 +418,27 @@ map_saver:
# tolerance: 0.5
# use_astar: false
# allow_unknown: true
# planner_server:
# ros__parameters:
# planner_plugins: ["GridBased"]
# use_sim_time: True
# GridBased:
# plugin: "nav2_smac_planner/SmacPlanner2D"
# tolerance: 0.125 # tolerance for planning if unable to reach exact pose, in meters
# downsample_costmap: false # whether or not to downsample the map
# downsampling_factor: 1 # multiplier for the resolution of the costmap layer (e.g. 2 on a 5cm costmap would be 10cm)
# allow_unknown: true # allow traveling in unknown space
# max_iterations: 1000000 # maximum total iterations to search for before failing (in case unreachable), set to -1 to disable
# max_on_approach_iterations: 1000 # maximum number of iterations to attempt to reach goal once in tolerance
# max_planning_time: 2.0 # max time in s for planner to plan, smooth
# cost_travel_multiplier: 2.0 # Cost multiplier to apply to search to steer away from high cost areas. Larger values will place in the center of aisles more exactly (if non-`FREE` cost potential field exists) but take slightly longer to compute. To optimize for speed, a value of 1.0 is reasonable. A reasonable tradeoff value is 2.0. A value of 0.0 effective disables steering away from obstacles and acts like a naive binary search A*.
# use_final_approach_orientation: true # Whether to set the final path pose at the goal's orientation to the requested orientation (false) or in line with the approach angle so the robot doesn't rotate to heading (true)
# smoother:
# max_iterations: 1000
# w_smooth: 0.3
# w_data: 0.2
# tolerance: 0.1
planner_server:
ros__parameters:
planner_plugins: ["GridBased"]
use_sim_time: True
GridBased:
plugin: "nav2_smac_planner/SmacPlannerHybrid"
downsample_costmap: false # whether or not to downsample the map
downsampling_factor: 1 # multiplier for the resolution of the costmap layer (e.g. 2 on a 5cm costmap would be 10cm)
tolerance: 0.25 # dist-to-goal heuristic cost (distance) for valid tolerance endpoints if exact goal cannot be found.
allow_unknown: true # allow traveling in unknown space
max_iterations: 1000000 # maximum total iterations to search for before failing (in case unreachable), set to -1 to disable
max_on_approach_iterations: 1000 # Maximum number of iterations after within tolerances to continue to try to find exact solution
max_planning_time: 5.0 # max time in s for planner to plan, smooth
motion_model_for_search: "DUBIN" # Hybrid-A* Dubin, Redds-Shepp
angle_quantization_bins: 72 # Number of angle bins for search
analytic_expansion_ratio: 3.5 # The ratio to attempt analytic expansions during search for final approach.
analytic_expansion_max_length: 3.0 # For Hybrid/Lattice nodes: The maximum length of the analytic expansion to be considered valid to prevent unsafe shortcutting
analytic_expansion_max_cost: true # The maximum single cost for any part of an analytic expansion to contain and be valid, except when necessary on approach to goal
analytic_expansion_max_cost_override: false # Whether or not to override the maximum cost setting if within critical distance to goal (ie probably required)
minimum_turning_radius: 0.20 # was 0.40 # minimum turning radius in m of path / vehicle
reverse_penalty: 1.0 #was2.0 # Penalty to apply if motion is reversing, must be => 1
change_penalty: 0.0 # Penalty to apply if motion is changing directions (L to R), must be >= 0
non_straight_penalty: 2.0 #was 1.2 # Penalty to apply if motion is non-straight, must be => 1
cost_penalty: 2.0 # Penalty to apply to higher cost areas when adding into the obstacle map dynamic programming distance expansion heuristic. This drives the robot more towards the center of passages. A value between 1.3 - 3.5 is reasonable.
retrospective_penalty: 0.015
lookup_table_size: 20.0 # Size of the dubin/reeds-sheep distance window to cache, in meters.
cache_obstacle_heuristic: true #was false # Cache the obstacle map dynamic programming distance expansion heuristic between subsiquent replannings of the same goal location. Dramatically speeds up replanning performance (40x) if costmap is largely static.
debug_visualizations: false # For Hybrid nodes: Whether to publish expansions on the /expansions topic as an array of poses (the orientation has no meaning) and the path's footprints on the /planned_footprints topic. WARNING: heavy to compute and to display, for debug only as it degrades the performance.
use_quadratic_cost_penalty: True #was False
downsample_obstacle_heuristic: True
allow_primitive_interpolation: False
smooth_path: True # If true, does a simple and quick smoothing post-processing to the path
plugin: "nav2_smac_planner/SmacPlanner2D"
tolerance: 0.125 # tolerance for planning if unable to reach exact pose, in meters
downsample_costmap: false # whether or not to downsample the map
downsampling_factor: 1 # multiplier for the resolution of the costmap layer (e.g. 2 on a 5cm costmap would be 10cm)
allow_unknown: true # allow traveling in unknown space
max_iterations: 1000000 # maximum total iterations to search for before failing (in case unreachable), set to -1 to disable
max_on_approach_iterations: 1000 # maximum number of iterations to attempt to reach goal once in tolerance
max_planning_time: 2.0 # max time in s for planner to plan, smooth
cost_travel_multiplier: 2.0 # Cost multiplier to apply to search to steer away from high cost areas. Larger values will place in the center of aisles more exactly (if non-`FREE` cost potential field exists) but take slightly longer to compute. To optimize for speed, a value of 1.0 is reasonable. A reasonable tradeoff value is 2.0. A value of 0.0 effective disables steering away from obstacles and acts like a naive binary search A*.
use_final_approach_orientation: true # Whether to set the final path pose at the goal's orientation to the requested orientation (false) or in line with the approach angle so the robot doesn't rotate to heading (true)
smoother:
max_iterations: 1000
w_smooth: 0.3
w_data: 0.2
tolerance: 1.0e-10
do_refinement: true
refinement_num: 2
tolerance: 0.1
smoother_server:
ros__parameters:

35
config/olivetin/config.yaml Normal file
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@ -0,0 +1,35 @@
showNavigation: false
logLevel: "INFO"
showNewVersions: false
showFooter: false
actions:
- title: "Start Navigation Stack"
shell: docker start ros2_rmp-navigation-1
icon: '<img src = "customIcons/nav2_start.png" width = "48px"/>'
- title: "Stop Navigation Stack"
shell: docker stop ros2_rmp-navigation-1
icon: '<img src = "customIcons/nav2_stop.png" width = "48px"/>'
- title: "Start Mapping"
shell: docker start ros2_rmp-mapping-1
icon: '<img src = "customIcons/mapping_start.gif" width = "48px"/>'
- title: "Stop Mapping"
shell: docker stop ros2_rmp-mapping-1
icon: '<img src = "customIcons/mapping_stop.gif" width = "48px"/>'
- title: "Restart Teleop"
icon: '<img src = "customIcons/gamepad.png" width = "48px"/>'
shell: docker restart ros2_rmp-teleop-1
- title: Restart or Shutdown System
icon: restart
shell: systemctl {{ choice }}
arguments:
- name: choice
title: Pick one
choices:
- value: reboot
- value: shutdown
# This will SSH into a server an run the command 'service httpd restart'
# - title: Restart httpd on Server 1
# shell: ssh bjorn@loki.local 'echo "it works"'
# icon: ping
# timeout: 5

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1
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@ -0,0 +1 @@
ba1fa920-2863-4600-994f-23559acfcab2

269
docker-compose.yaml
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@ -1,28 +1,5 @@
version: "3.9"
# First network configuration. Change this to the network interface you want to use primarily. (Better configuration for multiple Network interfaces needed).
networks:
# rmp:
# driver: macvlan
# driver_opts:
# parent: eno1 # robot network interface
# 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.
# make new bridge network for ros
rmp:
driver: bridge
# ipam:
# 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:
@ -61,11 +38,6 @@ services:
- ${XAUTHORITY:-$HOME/.Xauthority}:/root/.Xauthority
- ./config/entrypoint.sh:/entrypoint.sh
- ./config/cyclonedds.xml:/cyclonedds.xml
restart: unless-stopped
# 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: 192.168.0.101 #actually don't need to set ips. they are set automatically by docker-compose. SHould be inherited by all child services.
# Overlay image containing the project specific source code.
overlay:
@ -96,10 +68,6 @@ services:
tags:
- ghcr.io/bjoernellens1/ros2_rmp/rmp:guis
target: guis
x-bake:
platforms:
- linux/arm64
- linux/amd64
command: >
/bin/bash
devices:
@ -142,8 +110,8 @@ services:
ros2 launch cps_rmp220_support robot_lidar.launch.py serial_port:=/dev/rplidarA1
devices:
- /dev/rplidarA1:/dev/rplidarA1 #udevrules needed for this to work:
# SUBSYSTEM=="tty", ATTRS{serial}=="0001", SYMLINK+="segway"
# SUBSYSTEM=="tty", ATTRS{serial}=="3453995662b3af4f81f4a69eba5f3f29", SYMLINK+="rplidarA1"
# SUBSYSTEM=="tty", ATTRS{serial}=="0001", SYMLINK+="segway"
# SUBSYSTEM=="tty", ATTRS{serial}=="3453995662b3af4f81f4a69eba5f3f29", SYMLINK+="rplidarA1"
# Lidar filtering node.
lidar_filter:
@ -151,7 +119,7 @@ services:
command: >
ros2 launch cps_rmp220_support robot_scan_filter.launch.py
# localization by ekf node
# localiaztion by ekf node
ekf:
extends: overlay
depends_on:
@ -201,7 +169,7 @@ services:
- ekf
- oakd
command: >
ros2 launch nav2_bringup bringup_launch.py slam:=False map:=/repo/maps/map_01-26-24.yaml use_sim_time:=False use_composition:=True params_file:=/repo/config/nav2_params.yaml
ros2 launch nav2_bringup bringup_launch.py slam:=True map:=/repo/maps/map.yaml use_sim_time:=False use_composition:=True params_file:=/repo/config/nav2_params.yaml
#maps/map_openlabday.yaml
# bash
bash:
@ -215,28 +183,12 @@ services:
image: ghcr.io/bjoernellens1/ros2_rmp/rmp:guis
command: >
ros2 launch cps_rmp220_support rviz.launch.py
# Needed to display graphical applications
privileged: true # really necessary?
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
# Foxglove Studio Bridge
foxglove_bridge:
extends: overlay
command: >
ros2 launch foxglove_bridge foxglove_bridge_launch.xml port:=8765
#tls:=true certfile:=/certs/foxgloveCert.crt keyfile:=/certs/foxgloveKey.key
volumes:
- /opt/cps/certs:/certs
# Foxglove Studio Webserver
foxglove:
@ -244,22 +196,14 @@ services:
stdin_open: true
tty: true
# Networking
network_mode: bridge
networks:
- caddy_network
ports:
- 8080:8080
depends_on:
- foxglove_bridge
volumes:
- ./foxglove/default.json:/foxglove/default-layout.json
# USB Camera Stream
cam:
extends: overlay
command: >
ros2 run ros2_cam_openCV cam_node
devices:
- /dev/video0:/dev/video0
- ./config/foxglove/default.json:/foxglove/default-layout.json
# ROS2 Frontier exploration
explorer:
@ -276,41 +220,41 @@ services:
### Images for ROS1 Interactions
#ROS1 Bridge
ros1bridge:
image: ghcr.io/bjoernellens1/ros2_rmp/ros1bridge
command: >
ros2 run ros1_bridge dynamic_bridge --bridge-all-2to1-topics
build:
context: .
dockerfile: docker/Dockerfile
tags:
- ghcr.io/bjoernellens1/ros2_rmp/ros1bridge
args:
ROS_DISTRO: humble
target: bridge
x-bake:
platforms:
#- linux/arm64
- linux/amd64
# Networking and IPC for ROS 2
network_mode: host
ipc: host
environment:
- ROS_DOMAIN_ID=5
- RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
- ROS_MASTER_URI=http://localhost:11311 # is configured to run roscore on the robot but could change to local ros1 machine here
# ros1bridge:
# image: ghcr.io/bjoernellens1/ros2_rmp/ros1bridge
# command: >
# ros2 run ros1_bridge dynamic_bridge --bridge-all-2to1-topics
# build:
# context: .
# dockerfile: docker/Dockerfile
# tags:
# - ghcr.io/bjoernellens1/ros2_rmp/ros1bridge
# args:
# ROS_DISTRO: humble
# target: bridge
# x-bake:
# platforms:
# #- linux/arm64
# - linux/amd64
# # Networking and IPC for ROS 2
# network_mode: host
# ipc: host
# environment:
# - ROS_DOMAIN_ID=5
# - RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
# - ROS_MASTER_URI=http://localhost:11311 # is configured to run roscore on the robot but could change to local ros1 machine here
#ROS1 roscore
roscore:
command: >
roscore
extends: ros1bridge
network_mode: host
ipc: host
environment:
- ROS_DOMAIN_ID=5
- RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
- ROS_MASTER_URI=http://localhost:11311 # is configured to run roscore on the robot but could change to local ros1 machine here
# roscore:
# command: >
# roscore
# extends: ros1bridge
# network_mode: host
# ipc: host
# environment:
# - ROS_DOMAIN_ID=5
# - RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
# - ROS_MASTER_URI=http://localhost:11311 # is configured to run roscore on the robot but could change to local ros1 machine here
## Configure on ROS1 Hosts
# seggy 192.168.0.100
@ -331,9 +275,9 @@ services:
# In order to connect to the ROS-master, we execute locally on robot2:
# export ROS_MASTER_URI=http://192.168.0.100:11311
# export ROS_IP=192.168.0.?
# export ROS_HOSTNAME=192.168.1.?
# export ROS_MASTER_URI=http://192.1.1.1:11311
# export ROS_IP=192.168.1.2
# export ROS_HOSTNAME=192.168.1.2
# ROS2 oak-d-lite camera
oakd:
@ -342,7 +286,7 @@ services:
ros2 launch depthai_examples stereo.launch.py
#devices:
#- /dev/oakd-lite:/dev/oakd-lite # need corresponding udevrules for this to work:
# SUBSYSTEM=="usb", ATTRS{idVendor}=="03e7", MODE="0666", SYMLINK+="oakd-lite"
# SUBSYSTEM=="usb", ATTRS{idVendor}=="03e7", MODE="0666", SYMLINK+="oakd-lite"
#- /dev/:/dev/
device_cgroup_rules:
- 'c 189:* rmw'
@ -364,25 +308,108 @@ services:
- DISPLAY=${DISPLAY}
- QT_X11_NO_MITSHM=1
- NVIDIA_DRIVER_CAPABILITIES=all
zerotier:
image: "zyclonite/zerotier:router"
container_name: zerotier-one
devices:
- /dev/net/tun
network_mode: host
################################################################################################################################
# Core Services for Web Management #
################################################################################################################################
caddy:
image: caddy:latest
networks:
- caddy_network
extra_hosts:
- "host.docker.internal:host-gateway"
ports:
- "80:80"
- "443:443"
volumes:
- '/var/lib/zerotier-one:/var/lib/zerotier-one'
cap_add:
- NET_ADMIN
- SYS_ADMIN
- NET_RAW
restart: unless-stopped
- ./config/caddy/Caddyfile:/etc/caddy/Caddyfile
- ./config/caddy/content:/usr/share/caddy/
restart: always
depends_on:
- foxglove
- olivetin
# roscore:
# image: husarion/ros1-bridge:foxy-0.9.6-20230327-stable
# command: |
# bash -c "source /opt/ros/noetic/setup.bash && roscore"
# network_mode: host
# environment:
# - ROS_DOMAIN_ID=5
# restart: always
# Webui Stuff
# need to properly setup ros1bridge initialization
ros1bridge:
image: husarion/ros1-bridge:foxy-0.9.6-20230327-stable
command: |
sh /opt/ros/noetic/setup.sh && ros2 run ros1_bridge dynamic_bridge
network_mode: host
ipc: host
environment:
- TZ=Europe/Amsterdam
- PUID=1000
- PGID=1000
- ZEROTIER_ONE_LOCAL_PHYS=enp5s0 wlx00e04c5513fc # change for actual interfaces
- ZEROTIER_ONE_USE_IPTABLES_NFT=false
- ZEROTIER_ONE_GATEWAY_MODE=inbound # might change to both ways
#- ZEROTIER_ONE_NETWORK_IDS= # does not really do much?
- ROS_DOMAIN_ID=5
- RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
restart: always
webui-joystick:
image: husarion/webui-ros-joystick:noetic-0.0.1-20230510-stable
network_mode: host
ipc: host
environment:
- ROS_DOMAIN_ID=5
restart: always
depends_on:
- ros1bridge
command: roslaunch webui-ros-joystick webui.launch
olivetin:
container_name: olivetin
image: jamesread/olivetin
#image: ghcr.io/bjoernellens1/cps_bot_mini_ws/olivetin
build:
context: .
dockerfile: docker/Dockerfile
tags:
- ghcr.io/bjoernellens1/cps_bot_mini_ws/olivetin
target: olivetin
x-bake:
platforms:
#- linux/arm64
- linux/amd64
user: root
privileged: true
volumes:
- ./config/olivetin/:/config/ # here is config.yaml and icons located
- ./config/olivetin/icons:/var/www/olivetin/customIcons
- .:/repo
- /var/run/docker.sock:/var/run/docker.sock
# - /var/lib/docker:/var/lib/docker
- ~/.ssh/id_rsa:/root/.ssh/id_rsa
networks:
- caddy_network
ports:
- "1337:1337"
restart: always
# Webcam stream with ffmpeg x264 compression
# need to add ros-humble-v4l2-camera
webcam:
#extends: overlay
build: https://github.com/bjoernellens1/image-transport-docker/raw/main/demo/webcam/Dockerfile.webcam
image: husarion/image-transport:humble-4.2.0
devices:
- /dev/video1:/dev/video0
- /dev/dri:/dev/dri
volumes:
- ./:/repo
command: >
ros2 launch /repo/webcam.launch.py
ffmpeg_encoding:=libx264
ffmpeg_preset:=ultrafast
ffmpeg_tune:=zerolatency
################################################################################################################################
# Docker related extra stuff #
################################################################################################################################
networks:
caddy_network:
driver: bridge

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@ -1,460 +0,0 @@
version: "3.9"
# First network configuration. Change this to the network interface you want to use primarily. (Better configuration for multiple Network interfaces needed).
networks:
rmp:
driver: macvlan
driver_opts:
parent: eno1 # robot network interface
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:
# Base image containing dependencies.
base:
image: ghcr.io/bjoernellens1/ros2_rmp/rmp:base
build:
context: .
dockerfile: docker/Dockerfile
tags:
- ghcr.io/bjoernellens1/ros2_rmp/rmp:base
args:
ROS_DISTRO: humble
target: base
x-bake:
platforms:
- linux/arm64
- linux/amd64
# 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
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.
rmp:
#ipv4_address: 192.168.0.101 #actually don't need to set ips. they are set automatically by docker-compose. SHould be inherited by all child services.
# Overlay image containing the project specific source code.
overlay:
extends: base
image: ghcr.io/bjoernellens1/ros2_rmp/rmp:overlay
build:
context: .
dockerfile: docker/Dockerfile
tags:
- ghcr.io/bjoernellens1/ros2_rmp/rmp:overlay
target: overlay
x-bake:
platforms:
- linux/arm64
- linux/amd64
volumes:
- .:/repo
command: >
/bin/bash
# Additional dependencies for GUI applications
guis:
extends: overlay
image: ghcr.io/bjoernellens1/ros2_rmp/rmp:guis
build:
context: .
dockerfile: docker/Dockerfile
tags:
- ghcr.io/bjoernellens1/ros2_rmp/rmp:guis
target: guis
x-bake:
platforms:
- linux/arm64
- linux/amd64
#entrypoint: /bin/bash
command: >
/bin/bash
# Robot State Publisher
rsp:
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:
extends: base
command: >
ros2 run segwayrmp SmartCar --ros-args -r cmd_vel:=cmd_vel_out -p serial_full_name:=/dev/segway
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:
extends: base
depends_on:
- controller
command: >
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:
extends: overlay
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"
# SUBSYSTEM=="tty", ATTRS{serial}=="3453995662b3af4f81f4a69eba5f3f29", SYMLINK+="rplidarA1"
# localiaztion by ekf node
ekf:
extends: overlay
depends_on:
- controller
- 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:
extends: overlay
depends_on:
- ekf
- rsp
- 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:
extends: overlay
depends_on:
- ekf
- rsp
- 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:
extends: overlay
depends_on:
- ekf
- rsp
- 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:
extends: overlay
depends_on:
- controller
- teleop
- rsp
- 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
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
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
# Foxglove Studio Bridge
foxglove_bridge:
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:
image: ghcr.io/foxglove/studio:latest
stdin_open: true
tty: true
# Networking
network_mode: bridge
ports:
- 8080:8080
depends_on:
- foxglove_bridge
volumes:
- ./foxglove/default.json:/foxglove/default-layout.json
# USB Camera Stream
cam:
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
# ROS2 Frontier exploration
explorer:
extends: overlay
depends_on:
- controller
- teleop
- rsp
- lidar
- ekf
- 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
ros1bridge:
image: ghcr.io/bjoernellens1/ros2_rmp/ros1bridge
command: >
ros2 run ros1_bridge dynamic_bridge --bridge-all-2to1-topics
build:
context: .
dockerfile: docker/Dockerfile
tags:
- ghcr.io/bjoernellens1/ros2_rmp/ros1bridge
args:
ROS_DISTRO: humble
target: bridge
x-bake:
platforms:
#- linux/arm64
- linux/amd64
# Networking and IPC for ROS 2
#network_mode: host
ipc: host
environment:
- ROS_DOMAIN_ID=5
- RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
- ROS_MASTER_URI=http://localhost:11311 # is configured to run roscore on the robot but could change to local ros1 machine here
#ROS1 roscore
roscore:
command: >
roscore
extends: ros1bridge
#network_mode: host
ipc: host
environment:
- ROS_DOMAIN_ID=5
- RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
- ROS_MASTER_URI=http://localhost:11311 # is configured to run roscore on the robot but could change to local ros1 machine here
# ROS2 oak-d-lite camera
oakd:
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"
#- /dev/:/dev/
device_cgroup_rules:
- 'c 189:* rmw'
volumes:
- /dev/bus/usb:/dev/bus/usb
# for testing the oak-d-lite camera -> works now with cgroup rules
depthai:
image: luxonis/depthai:latest
command: >
python3 /depthai/depthai_demo.py
stdin_open: true
tty: true
device_cgroup_rules:
- 'c 189:* rmw'
volumes:
- /dev/bus/usb:/dev/bus/usb
environment:
- DISPLAY=${DISPLAY}
- QT_X11_NO_MITSHM=1
- NVIDIA_DRIVER_CAPABILITIES=all

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62
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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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@ -1,27 +0,0 @@
#!/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
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@ -1,19 +0,0 @@
#!/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 @@
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MIIJQgIBADANBgkqhkiG9w0BAQEFAASCCSwwggkoAgEAAoICAQC7PXpOg/+h7QaU
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O61K2Igm/AywqweBe9cWRgB7lOXwIA==
-----END PRIVATE KEY-----

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7
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

7
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

7
maps/map_01-26-24.yaml
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image: map_01-26-24.pgm
mode: trinary
resolution: 0.02
origin: [-4, -14.8, 0]
negate: 0
occupied_thresh: 0.65
free_thresh: 0.25

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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

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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

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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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71
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.

7
scripts/ps4_controller_script.sh Executable file
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#!/bin/bash
# Change directory to where docker-compose.yml is located
cd /home/bjorn/git/cps_loki
# Restart the teleop service using docker-compose
docker compose restart teleop

16
scripts/setup.sh Executable file
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#!/bin/bash
# copy script to a system directory
sudo cp ps4_controller_script.sh /etc/udev/rules.d
# Set execute permissions for the script
sudo chmod +x /etc/udev/rules.d/ps4_controller_script.sh
# Create or append the udev rule
echo 'ACTION=="add", SUBSYSTEM=="input", ATTRS{name}=="Wireless Controller", RUN+="/etc/udev/rules.d/ps4_controller_script.sh"' | sudo tee /etc/udev/rules.d/99-ps4-controller.rules
# Reload udev rules
sudo udevadm control --reload-rules
# Provide user feedback
echo "Setup completed. PS4 controller udev rule installed."

47
slim.report.json
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@ -1,47 +0,0 @@
{
"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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#!/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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docker compose up -d controller teleop rsp lidar mapping navigation

1
start_navigation.sh
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@ -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
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