fix vrx image and document (#330)

.github/workflows/docker/vrx/Dockerfile

@@ -3,8 +3,10 @@
 ARG BASEIMG=npslearninglab/watery_robots:vrx_base
 FROM $BASEIMG
 
+SHELL ["/bin/bash", "-c"]
+
 # Set ROS distribution
-ARG ROSDIST=humble
+ARG ROS_DISTRO=humble
 
 # Create workspace
 RUN mkdir -p ~/vrx_ws/src
@@ -14,11 +16,8 @@ RUN git clone --depth 1 -b 2.3.3 https://github.com/osrf/vrx.git \
 && mv ./vrx ~/vrx_ws/src
 
 # Compile the VRX project.
-RUN /bin/bash -c ". /opt/ros/${ROSDIST}/setup.bash && cd ~/vrx_ws && colcon build --merge-install"
+RUN source /opt/ros/${ROS_DISTRO}/setup.bash && cd ~/vrx_ws && colcon build
 
-# Source all the needed environment files.
-RUN /bin/sh -c 'echo ". /opt/ros/${ROSDIST}/setup.bash" >> ~/.bashrc' \
- && /bin/sh -c 'echo ". ~/vrx_ws/install/setup.sh" >> ~/.bashrc'
 ## END OF SECTION BASED ON vrx/docker/Dockerfile
 
 # Cache fuel resources
@@ -45,8 +44,11 @@ COPY config /home/config
 EXPOSE 11345
 
 # setup entrypoint
-COPY ./vrx_entrypoint.sh /
+RUN source /opt/ros/${ROS_DISTRO}/setup.bash && \
+    source ~/vrx_ws/install/local_setup.bash && \
+    ros2 launch vrx_gazebo generate_wamv.launch.py component_yaml:=/home/config/component_config.yaml thruster_yaml:=/home/config/thruster_config.yaml wamv_target:=/home/config/wamv_target.urdf wamv_locked:=False
 
-COPY ./run_vrx_gazebo.bash /
+ADD entrypoint.sh /
+RUN chmod +x entrypoint.sh
 
-ENTRYPOINT ["/vrx_entrypoint.sh"]
+ENTRYPOINT ["/entrypoint.sh"]

.github/workflows/docker/vrx/vrx_entrypoint.sh → .github/workflows/docker/vrx/entrypoint.sh

@@ -2,15 +2,13 @@
 set -e
 
 # setup ros environment.
-source "/opt/ros/humble/setup.bash" > /dev/null
-
+source "/opt/ros/humble/setup.bash"
 # setup vrx environment
 source ~/vrx_ws/install/setup.sh
 echo "vrx entrypoint executed"
 
 # TODO: optionally disable this so a gzclient can be run on the host for development.
-export GAZEBO_IP=127.0.0.1
-export GAZEBO_IP_WHITE_LIST=127.0.0.1
+# export GAZEBO_IP=127.0.0.1
+# export GAZEBO_IP_WHITE_LIST=127.0.0.1
 
-/run_vrx_gazebo.bash
 exec "$@"

ansible/roles/clone_packages/tasks/main.yml

@@ -286,11 +286,3 @@
     version: master
     accept_hostkey: yes
   tags: [simulation]
-
-- name: clone vrx_bringup
-  git:
-    repo: https://github.com/OUXT-Polaris/vrx_bringup.git
-    dest: "{{workspace_path}}/src/simulation/vrx_bringup"
-    version: master
-    accept_hostkey: yes
-  tags: [simulation]

docs/docs/tutorials/vrx_instruction.md

@@ -1,4 +1,4 @@
-# VRX Documents
+# Run with VRX
 [Documents](https://github.com/osrf/vrx/wiki/tutorials)
 
 ## How to run demo
@@ -9,7 +9,7 @@
 
 ### Run the vrx simulator and lauch vrx simulation
 ```
-docker run -it wamvtan/vrx:latest ros2 launch vrx_gz competition.launch.py world:=stationkeeping_task headless:=true urdf:=/home/config/wamv_target.urdf
+docker run -it wamvtan/vrx:latest --net=host --ipc=host --pid=host ros2 launch vrx_gz competition.launch.py world:=stationkeeping_task headless:=true urdf:=/home/config/wamv_target.urdf
 ```
 you can change ```world:=``` for your purpose.
 
@@ -19,8 +19,5 @@ Also, vrx recieves [thruster and pose of thruster command](https://github.com/os
 - The ekf.lauch commands [geographic_conversion](https://github.com/OUXT-Polaris/geographic_conversion)(geopose_converter_component) and [robotx_ekf_component](https://github.com/OUXT-Polaris/robotx_ekf).   
 
 ```
-ros2 launch vrx_bringup vrx_bringup.launch.xml
+ros2 launch vrx_bridge vrx_bringup.launch.xml
 ```
-
-
-