Feature/use fork vrx

.github/workflows/docker/vrx/Dockerfile

@@ -11,8 +11,15 @@ ARG ROS_DISTRO=humble
 # Create workspace
 RUN mkdir -p ~/vrx_ws/src
 
+# RUN apt-get update && \
+#     apt-get upgrade -y && \
+#     apt-get install -y libgz-rendering7-ogre2-dev && \
+#     apt-get clean && \
+#     rm -rf /var/lib/apt/lists/*
+
 # TODO: restore version tag
-RUN git clone --depth 1 -b 2.3.3 https://github.com/osrf/vrx.git \
+ADD https://api.github.com/repos/OUXT-Polaris/vrx/git/refs/heads/feature/laser_refrection version.json
+RUN git clone --depth 1 -b feature/laser_refrection https://github.com/OUXT-Polaris/vrx.git \
 && mv ./vrx ~/vrx_ws/src
 
 # Compile the VRX project.
@@ -51,4 +58,6 @@ RUN source /opt/ros/${ROS_DISTRO}/setup.bash && \
 ADD entrypoint.sh /
 RUN chmod +x entrypoint.sh
 
+ENV GZ_SIM_RESOURCE_PATH=${GZ_SIM_RESOURCE_PATH}:/root/vrx_ws/install/wamv_description/share:/root/vrx_ws/install/wamv_gazebo/share
+
 ENTRYPOINT ["/entrypoint.sh"]

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

@@ -5,7 +5,6 @@ set -e
 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

.github/workflows/docker/vrx/fuel.gazebosim.org/openrobotics/models/antenna/2/model.sdf

@@ -4,6 +4,7 @@
         <static>true</static>
         <link name="base_link">
             <visual name="visual">
+                <laser_retro>1000.0</laser_retro>
                 <geometry>
                     <mesh>
                         <uri>meshes/antenna.dae</uri>

.github/workflows/docker/vrx/fuel.gazebosim.org/openrobotics/models/foldable_chair/1/model.sdf

@@ -4,6 +4,7 @@
         <static>true</static>
         <link name="base_link">
             <visual name="visual">
+                <laser_retro>1000.0</laser_retro>
                 <geometry>
                     <mesh>
                         <scale>0.1 0.1 0.1</scale>

.github/workflows/docker/vrx/fuel.gazebosim.org/openrobotics/models/foldable_table/2/model.sdf

@@ -4,6 +4,7 @@
         <static>true</static>
         <link name="base_link">
             <visual name="visual">
+                <laser_retro>1000.0</laser_retro>
                 <geometry>
                     <mesh>
                         <uri>mesh/foldable_table.dae</uri>

.github/workflows/docker/vrx/fuel.gazebosim.org/openrobotics/models/mb_marker_buoy_black/5/model.sdf

@@ -33,6 +33,7 @@
                 </geometry>
             </collision>
             <visual name="visual">
+                <laser_retro>1000.0</laser_retro>
                 <pose>0 0 0 1.57079 0 0</pose>
                 <geometry>
                     <mesh>

.github/workflows/docker/vrx/fuel.gazebosim.org/openrobotics/models/mb_marker_buoy_green/2/model.sdf

@@ -33,6 +33,7 @@
                 </geometry>
             </collision>
             <visual name="visual">
+                <laser_retro>1000.0</laser_retro>
                 <pose>0 0 0 1.57079 0 0</pose>
                 <geometry>
                     <mesh>

.github/workflows/docker/vrx/fuel.gazebosim.org/openrobotics/models/mb_marker_buoy_red/3/model.sdf

@@ -33,6 +33,7 @@
                 </geometry>
             </collision>
             <visual name="visual">
+                <laser_retro>1000.0</laser_retro>
                 <pose>0 0 0 1.57079 0 0</pose>
                 <geometry>
                     <mesh>

.github/workflows/docker/vrx/fuel.gazebosim.org/openrobotics/models/mb_marker_buoy_white/2/model.sdf

@@ -33,6 +33,7 @@
                 </geometry>
             </collision>
             <visual name="visual">
+                <laser_retro>1000.0</laser_retro>
                 <pose>0 0 0 1.57079 0 0</pose>
                 <geometry>
                     <mesh>

.github/workflows/docker/vrx/fuel.gazebosim.org/openrobotics/models/mb_round_buoy_black/2/model.sdf

@@ -22,6 +22,7 @@
                 </geometry>
             </collision>
             <visual name="visual">
+                <laser_retro>1000.0</laser_retro>
                 <geometry>
                     <mesh>
                         <uri>https://fuel.gazebosim.org/1.0/openrobotics/models/mb_round_buoy_orange/tip/files/meshes/mb_round_buoy.dae</uri>

.github/workflows/docker/vrx/fuel.gazebosim.org/openrobotics/models/mb_round_buoy_orange/3/model.sdf

@@ -22,6 +22,7 @@
                 </geometry>
             </collision>
             <visual name="visual">
+                <laser_retro>1000.0</laser_retro>
                 <geometry>
                     <mesh>
                         <uri>meshes/mb_round_buoy.dae</uri>

.github/workflows/docker/vrx/fuel.gazebosim.org/openrobotics/models/post/2/model.sdf

@@ -5,6 +5,7 @@
         <pose>0 0 0 0 0 0</pose>
         <link name="base_link">
             <visual name="visual">
+                <laser_retro>1000.0</laser_retro>
                 <geometry>
                     <mesh>
                         <uri>meshes/post.dae</uri>

.github/workflows/docker/vrx/fuel.gazebosim.org/openrobotics/models/sydney_regatta/2/model.sdf

@@ -5,6 +5,7 @@
         <static>true</static>
         <link name="link">
             <visual name="visual_terrain">
+                <laser_retro>1000.0</laser_retro>
                 <geometry>
                     <mesh>
                         <uri>meshes/sydney_regatta.dae</uri>
@@ -15,6 +16,7 @@
                 </geometry>
             </visual>
             <visual name="visual_dock_dark">
+                <laser_retro>1000.0</laser_retro>
                 <geometry>
                     <mesh>
                         <uri>meshes/sydney_regatta.dae</uri>
@@ -25,6 +27,7 @@
                 </geometry>
             </visual>
             <visual name="visual_metal_galvanized">
+                <laser_retro>1000.0</laser_retro>
                 <geometry>
                     <mesh>
                         <uri>meshes/sydney_regatta.dae</uri>
@@ -35,6 +38,7 @@
                 </geometry>
             </visual>
             <visual name="visual_dock">
+                <laser_retro>1000.0</laser_retro>
                 <geometry>
                     <mesh>
                         <uri>meshes/sydney_regatta.dae</uri>
@@ -45,6 +49,7 @@
                 </geometry>
             </visual>
             <visual name="visual_windows_dark">
+                <laser_retro>1000.0</laser_retro>
                 <geometry>
                     <mesh>
                         <uri>meshes/sydney_regatta.dae</uri>
@@ -55,6 +60,7 @@
                 </geometry>
             </visual>
             <visual name="visual_roof">
+                <laser_retro>1000.0</laser_retro>
                 <geometry>
                     <mesh>
                         <uri>meshes/sydney_regatta.dae</uri>
@@ -65,6 +71,7 @@
                 </geometry>
             </visual>
             <visual name="visual_wall">
+                <laser_retro>1000.0</laser_retro>
                 <geometry>
                     <mesh>
                         <uri>meshes/sydney_regatta.dae</uri>
@@ -75,6 +82,7 @@
                 </geometry>
             </visual>
             <visual name="visual_branches">
+                <laser_retro>1000.0</laser_retro>
                 <geometry>
                     <mesh>
                         <uri>meshes/sydney_regatta.dae</uri>

.github/workflows/docker/vrx/fuel.gazebosim.org/openrobotics/models/tent/2/model.sdf

@@ -4,6 +4,7 @@
         <static>true</static>
         <link name="base_link">
             <visual name="visual">
+                <laser_retro>1000.0</laser_retro>
                 <geometry>
                     <mesh>
                         <uri>mesh/tent.dae</uri>

.github/workflows/docker_push.yaml

@@ -34,16 +34,17 @@ jobs:
       fail-fast: false
       max-parallel: 8
       matrix:
-        gui: [novnc, vnc]
+        # gui: [novnc, vnc]
+        gui: [novnc]
         include:
           - docker_image: wamvtan/dev_container
             base_image: ubuntu:22.04
             gui: novnc
             entrypoint: entrypoint.sh
-          - docker_image: wamvtan/dev_container_vnc
-            base_image: tiryoh/ros2-desktop-vnc:humble-amd64-20230115T1406
-            gui: vnc
-            entrypoint: entrypoint_vnc.sh
+          # - docker_image: wamvtan/dev_container_vnc
+          #   base_image: tiryoh/ros2-desktop-vnc:humble-amd64-20230115T1406
+          #   gui: vnc
+          #   entrypoint: entrypoint_vnc.sh
     steps:
       - uses: actions/checkout@v2
       - uses: ./.github/workflows/actions/cleanup_runner

.github/workflows/document.yaml

@@ -18,7 +18,7 @@ jobs:
       - name: Set up Python
         uses: actions/setup-python@v1
         with:
-          python-version: "3.10.13"
+          python-version: "3.10.14"
       - name: Install
         run: pip3 install mkdocs mkdocs-material fontawesome_markdown mkdocs-mermaid2-plugin pymdown-extensions plantuml-markdown python-markdown-math python-github-api mkdocs-github-dashboard pandas markdown==3.3.0
       - name: Set env

docs/docs/tutorials/vrx_instruction.md

@@ -9,7 +9,7 @@
 
 ### Run the vrx simulator and lauch vrx simulation
 ```
-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
+docker run --pull always -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.