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Merge pull request #320 from OUXT-Polaris/feature/vrx
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| FROM npslearninglab/watery_robots:humble_current | ||
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| ENV DEBIAN_FRONTEND noninteractive | ||
| RUN apt-get update && \ | ||
| apt-get install -y git wget && \ | ||
| rm -rf /var/lib/apt/lists/* | ||
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| RUN wget https://packages.osrfoundation.org/gazebo.gpg -O /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg | ||
| RUN echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" | tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null | ||
| RUN apt-get update && apt-get install -y \ | ||
| python3-sdformat13 \ | ||
| gz-garden \ | ||
| && rm -rf /var/lib/apt/lists/* | ||
| RUN mkdir -p /home/vrx_ws/src | ||
| WORKDIR /home/vrx_ws/src | ||
| ADD https://api.github.com/repos/osrf/vrx/git/refs/heads/main vrx_version.json | ||
| RUN git clone https://github.com/osrf/vrx.git | ||
| ADD https://api.github.com/repos/gazebosim/ros_gz/git/refs/heads/humble ros_gz_version.json | ||
| RUN git clone https://github.com/gazebosim/ros_gz.git -b humble | ||
| ENV GZ_VERSION garden | ||
| WORKDIR /home/vrx_ws | ||
| RUN ["/bin/bash", "-c", "source /opt/ros/humble/setup.sh && apt-get update && rosdep update && rosdep install -iry --from-paths src && rm -rf /var/lib/apt/lists/*"] | ||
| RUN ["/bin/bash", "-c", "source /opt/ros/humble/setup.sh && colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release"] | ||
| ADD fuel.gazebosim.org /root/.gz/fuel/fuel.gazebosim.org | ||
| COPY config /home/config | ||
| ENV GZ_SIM_RESOURCE_PATH /home/vrx_ws/src/vrx/vrx_urdf:${GZ_SIM_RESOURCE_PATH} | ||
| RUN ["/bin/bash", "-c", "source /opt/ros/humble/setup.bash && source /home/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"] | ||
| ENTRYPOINT ["/bin/bash", "-c", "source /opt/ros/humble/setup.bash && source /home/vrx_ws/install/local_setup.bash && ros2 launch vrx_gz competition.launch.py world:=sydney_regatta headless:=true urdf:=/home/config/wamv_target.urdf"] |
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| FROM npslearninglab/watery_robots:humble_current | ||
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| ENV DEBIAN_FRONTEND noninteractive | ||
| RUN apt-get update && \ | ||
| apt-get install -y git wget && \ | ||
| rm -rf /var/lib/apt/lists/* | ||
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| RUN wget https://packages.osrfoundation.org/gazebo.gpg -O /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg | ||
| RUN echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" | tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null | ||
| RUN apt-get update && apt-get install -y \ | ||
| python3-sdformat13 \ | ||
| gz-garden \ | ||
| && rm -rf /var/lib/apt/lists/* | ||
| RUN mkdir -p /home/vrx_ws/src | ||
| WORKDIR /home/vrx_ws/src | ||
| ADD https://api.github.com/repos/osrf/vrx/git/refs/heads/main vrx_version.json | ||
| RUN git clone https://github.com/osrf/vrx.git | ||
| ADD https://api.github.com/repos/gazebosim/ros_gz/git/refs/heads/humble ros_gz_version.json | ||
| RUN git clone https://github.com/gazebosim/ros_gz.git -b humble | ||
| ENV GZ_VERSION garden | ||
| WORKDIR /home/vrx_ws | ||
| RUN ["/bin/bash", "-c", "source /opt/ros/humble/setup.sh && apt-get update && rosdep update && rosdep install -iry --from-paths src && rm -rf /var/lib/apt/lists/*"] | ||
| RUN ["/bin/bash", "-c", "source /opt/ros/humble/setup.sh && colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release"] | ||
| # reference : https://github.com/osrf/vrx-docker/blob/master/vrx_server/vrx-server/Dockerfile | ||
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| ARG BASEIMG=npslearninglab/watery_robots:vrx_base | ||
| FROM $BASEIMG | ||
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| # Set ROS distribution | ||
| ARG ROSDIST=humble | ||
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| # Create workspace | ||
| RUN mkdir -p ~/vrx_ws/src | ||
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| # TODO: restore version tag | ||
| RUN git clone --depth 1 -b 2.3.1 https://github.com/osrf/vrx.git \ | ||
| && mv ./vrx ~/vrx_ws/src | ||
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| # Compile the VRX project. | ||
| RUN /bin/bash -c ". /opt/ros/${ROSDIST}/setup.bash && cd ~/vrx_ws && colcon build --merge-install" | ||
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| # Source all the needed environment files. | ||
| RUN /bin/sh -c 'echo ". /opt/ros/${ROSDIST}/setup.bash" >> ~/.bashrc' \ | ||
| && /bin/sh -c 'echo ". ~/vrx_ws/install/setup.sh" >> ~/.bashrc' | ||
| ## END OF SECTION BASED ON vrx/docker/Dockerfile | ||
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| # Cache fuel resources | ||
| # RUN /bin/bash -c 'gz fuel download -u https://fuel.gazebosim.org/1.0/openrobotics/models/sydney_regatta \ | ||
| # && gz fuel download -u https://fuel.gazebosim.org/1.0/openrobotics/models/post \ | ||
| # && gz fuel download -u https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station \ | ||
| # && gz fuel download -u https://fuel.gazebosim.org/1.0/openrobotics/models/antenna \ | ||
| # && gz fuel download -u https://fuel.gazebosim.org/1.0/openrobotics/models/mb_marker_buoy_red \ | ||
| # && gz fuel download -u https://fuel.gazebosim.org/1.0/openrobotics/models/mb_marker_buoy_black \ | ||
| # && gz fuel download -u https://fuel.gazebosim.org/1.0/openrobotics/models/mb_marker_buoy_green \ | ||
| # && gz fuel download -u https://fuel.gazebosim.org/1.0/openrobotics/models/mb_marker_buoy_white \ | ||
| # && gz fuel download -u https://fuel.gazebosim.org/1.0/openrobotics/models/mb_round_buoy_orange \ | ||
| # && gz fuel download -u https://fuel.gazebosim.org/1.0/openrobotics/models/mb_round_buoy_black \ | ||
| # && gz fuel download -u https://fuel.gazebosim.org/1.0/openrobotics/models/platypus \ | ||
| # && gz fuel download -u https://fuel.gazebosim.org/1.0/openrobotics/models/crocodile \ | ||
| # && gz fuel download -u https://fuel.gazebosim.org/1.0/openrobotics/models/turtle \ | ||
| # && gz fuel download -u https://fuel.gazebosim.org/1.0/openrobotics/models/wam-v' | ||
| ADD fuel.gazebosim.org /root/.gz/fuel/fuel.gazebosim.org | ||
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| # read wam-v sensors and thruster config | ||
| COPY config /home/config | ||
| ENV GZ_SIM_RESOURCE_PATH /home/vrx_ws/src/vrx/vrx_urdf:${GZ_SIM_RESOURCE_PATH} | ||
| RUN ["/bin/bash", "-c", "source /opt/ros/humble/setup.bash && source /home/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"] | ||
| ENTRYPOINT ["/bin/bash", "-c", "source /opt/ros/humble/setup.bash && source /home/vrx_ws/install/local_setup.bash && ros2 launch vrx_gz competition.launch.py world:=sydney_regatta headless:=true urdf:=/home/config/wamv_target.urdf"] | ||
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| # Expose port used to communiate with gzserver | ||
| EXPOSE 11345 | ||
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| # setup entrypoint | ||
| COPY ./vrx_entrypoint.sh / | ||
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| COPY ./run_vrx_gazebo.bash / | ||
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| ENTRYPOINT ["/vrx_entrypoint.sh"] |
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| # generate wamv_target.urdf | ||
| 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 | ||
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| # launch vrx gazebo | ||
| ros2 launch vrx_gz competition.launch.py world:=sydney_regatta headless:=true urdf:=/home/config/wamv_target.urdf |
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| #!/bin/bash | ||
| set -e | ||
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| # setup ros environment. | ||
| source "/opt/ros/humble/setup.bash" > /dev/null | ||
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| # setup vrx environment | ||
| source ~/vrx_ws/install/setup.sh | ||
| echo "vrx entrypoint executed" | ||
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| # 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 | ||
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| /run_vrx_gazebo.bash | ||
| exec "$@" |