Merge pull request #1 from pariaspe/main

Update dockerfile

Dockerfile

@@ -1,100 +1,141 @@
 FROM osrf/ros:humble-desktop
 
-RUN sudo apt update && apt install -y \
+# install initial docker dependencies
+RUN apt-get update && apt-get install -y \
+    apt-utils \
+    software-properties-common \
+    git \
+    tmux \
+    tmuxinator \
     vim \
+    python-is-python3 \
+    python3-rosdep \
     python3-pip \
+    python3-colcon-common-extensions \
+    python3-wheel \
+    ca-certificates \
+		gnupg \
+		lsb-core \
+		sudo \
+		wget \
+  && rm -rf /var/lib/apt/lists/* 
+
+RUN sudo apt update && apt install -y \
     libgazebo11 \
-    python3-wheel \  
+    libgazebo-dev \
     ros-humble-geographic-msgs \
     ros-humble-xacro \
     gnome-terminal \
-    tmux \
-    tmuxinator \
     ros-humble-gazebo-dev \ 
     ros-humble-gazebo-ros\
     ros-humble-ament-cmake-clang-format \
-    build-essential cmake git libeigen3-dev libyaml-cpp-dev libopencv-dev \
-    python3-pip python3-colcon-common-extensions python3-rosdep \
-    && rm -rf /var/lib/apt/lists/*
+    build-essential \
+    cmake \
+    libeigen3-dev \
+    libyaml-cpp-dev \
+    libopencv-dev \
+&& rm -rf /var/lib/apt/lists/*
+
+# Install Gazebo 11
+RUN sudo rosdep fix-permissions \
+  && rosdep update \
+  && apt-get update && apt-get install -q -y \
+    ros-humble-gazebo* \
+    ros-humble-ros-gz-* \
+    gstreamer1.0-plugins-bad \
+    gstreamer1.0-plugins-good \
+    gstreamer1.0-plugins-ugly \
+    gstreamer1.0-libav \
+    libgstreamer-plugins-base1.0-dev \
+    libimage-exiftool-perl \
+  && apt-get -y autoremove \
+  && apt-get clean autoclean \
+  && rm -rf /var/lib/apt/lists/* /tmp/* /var/tmp/*
+
+# PX4 general dependencies
+RUN apt-get update && apt-get -y --quiet --no-install-recommends install \
+    astyle \
+    build-essential \
+    cmake \
+    cppcheck \
+    file \
+    g++ \
+    gcc \
+    gdb \
+    git \
+    lcov \
+    libfuse2 \
+    libxml2-dev \
+    libxml2-utils \
+    make \
+    ninja-build \
+    python3 \
+    python3-dev \
+    python3-pip \
+    python3-setuptools \
+    python3-wheel \
+    rsync \
+    shellcheck \
+    unzip \
+    zip \
+  && apt-get -y autoremove \
+  && apt-get clean autoclean \
+  && rm -rf /var/lib/apt/lists/{apt,dpkg,cache,log} /tmp/* /var/tmp/*
+
+# Install Python 3 pip build dependencies first
+RUN python3.10 -m pip install --upgrade pip==23.3.1 wheel==0.41.3 setuptools==69.0.2
+RUN python3.10 -m pip install evdev
 
 # Install setuptools, rosdep, and colcon
-RUN sudo pip install setuptools==58.2 \
-    && pip install rosdep  future \
-    && pip install colcon-common-extensions \
-    && pip install torch matplotlib albumentations torchvision Pillow numpy
-
-
-RUN sudo pip3 install kconfiglib jsonschema
-
-# Install Gazebo
-RUN curl -sSL http://get.gazebosim.org | sh
-
-ENTRYPOINT ["/ros_entrypoint.sh"]
-
-RUN mkdir -p root/workspace/src/px4
-WORKDIR /root/workspace
-
-# Clone the required repositorys 
-RUN git clone https://github.com/RoboticsLabURJC/2023-tfg-adrian-madinabeitia.git src/tfg
+RUN python3.10 -m pip install \
+    # setuptools==58.2 \
+    rosdep \
+    future \
+    colcon-common-extensions \
+    torch==2.4.1 matplotlib albumentations torchvision Pillow numpy
+RUN sudo pip3 install jsonschema==4.18.0
+
+# Installing PX4 Python3 dependencies
+RUN python3.10 -m pip install argparse==1.4.0 argcomplete==3.1.2 coverage==7.3.2 cerberus==1.3.5 \
+    empy==3.3.4 jinja2==3.1.2 kconfiglib==14.1.0 matplotlib>=3.0 numpy==1.23.4 nunavut==1.1.0 \
+    packaging==23.2 pkgconfig==1.5.5 pyros-genmsg==0.5.8 pyulog==1.0.1 pyyaml==6.0.1 \
+    requests==2.22.0 serial==0.0.97 six==1.14.0 toml==0.10.2 sympy>=1.10.1 \
+    psutil==5.9.0 utm==0.7.0 psycopg2
+
+# Install PX4
+RUN git clone -b v1.14.3 https://github.com/PX4/PX4-Autopilot.git --recursive \
+  && cd /PX4-Autopilot \
+  && DONT_RUN=1 make px4_sitl gazebo
+
+RUN mkdir -p root/ws/src/px4
+WORKDIR /root/ws
 
-#* Aerostack 2
-RUN git clone https://github.com/aerostack2/aerostack2.git src/aerostack2
-
-#* Other dependencies
 RUN git clone https://github.com/JdeRobot/RoboticsInfrastructure.git --branch humble-devel src/RoboticsInfrastructure
-
-#* px4
-RUN git clone https://github.com/aerostack2/as2_platform_pixhawk.git -- src/px4/as2_platform_pixhawk
-RUN git clone https://github.com/eProsima/Micro-XRCE-DDS-Agent.git --branch v2.4.1 src/px4/Micro-XRCE-DDS-Agent
-RUN git clone https://github.com/aerostack2/project_px4_vision src/px4/project_px4_vision
-RUN git clone https://github.com/PX4/PX4-Autopilot.git --branch v1.14.0 src/px4/PX4-Autopilot
-RUN git clone https://github.com/PX4/px4_msgs.git src/px4/px4_msgs
-
 RUN git clone https://github.com/naoki-mizuno/ds4_driver.git src/ds4_driver
+RUN git clone https://github.com/aerostack2/as2_platform_pixhawk.git -b 1.0.9 src/px4/as2_platform_pixhawk
+RUN git clone https://github.com/eProsima/Micro-XRCE-DDS-Agent.git --branch v2.4.1 src/px4/Micro-XRCE-DDS-Agent
 
-# Bash configuration
-RUN echo source /usr/share/gazebo-11/setup.bash >> /root/.bashrc
-RUN echo source /opt/ros/humble/setup.bash >> /root/.bashrc
-RUN echo export GAZEBO_HOME=/usr/share/gazebo >> /root/.bashrc
-RUN echo export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:/usr/share/gazebo-11/models >> /root/.bashrc
-RUN echo export GAZEBO_PLUGIN_PATH=$GAZEBO_PLUGIN_PATH:/usr/lib/x86_64-linux-gnu/gazebo-11/plugins >> /root/.bashrc
-RUN echo export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/usr/lib/x86_64-linux-gnu/gazebo-11/plugins >> /root/.bashrc
-RUN echo source /root/workspace/install/setup.bash >> /root/.bashrc
-
-RUN echo export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:/src/aerostack2/as2_simulation_assets/as2_ign_gazebo_assets/models >> /root/.bashrc
-RUN echo export PX4_FOLDER=/src/px4/PX4-Autopilot >> /root/.bashrc
-RUN echo export AEROSTACK2_PATH=/src/aerostack2 >> /root/.bashrc
-RUN echo source $AEROSTACK2_PATH/as2_cli/setup_env.bash >> /root/.bashrc
-RUN echo AEROSTACK2_SIMULATION_DRONE_ID=drone0 >> /root/.bashrc
-RUN echo export AS2_GZ_ASSETS_SCRIPT_PATH=/root/workspace/install/as2_gazebo_classic_assets/share/as2_gazebo_classic_assets/scripts >> /root/.bashrc
-
-
-# Changes to specific commits some repositorys 
-WORKDIR /root/workspace/src/px4/px4_msgs
-RUN git checkout 7203046
-
-WORKDIR /root/workspace/src/px4/as2_platform_pixhawk
-RUN git checkout 7c55374
-
-WORKDIR /root/workspace/src/aerostack2
-RUN git checkout 96fdc4b
-
-#* Rosdep dependencies 
-WORKDIR /root/workspace
-RUN rosdep update
-
-WORKDIR /root/workspace/src/px4/PX4-Autopilot
-RUN git submodule update --init --recursive
+##
+RUN git clone https://github.com/PX4/px4_msgs.git src/px4/px4_msgs -b release/1.14
 
-RUN chmod +x /root/workspace/install/as2_gazebo_classic_assets/share/as2_gazebo_classic_assets/scripts/default_run.sh
-RUN chmod +x /root/workspace/install/as2_gazebo_classic_assets/share/as2_gazebo_classic_assets/scripts/run_sitl.sh
-RUN chmod +x /root/workspace/install/as2_gazebo_classic_assets/share/as2_gazebo_classic_assets/scripts/parse_json.py
-RUN chmod +x /root/workspace/install/as2_gazebo_classic_assets/share/as2_gazebo_classic_assets/scripts/*.sh
+RUN git clone https://github.com/aerostack2/aerostack2.git -b 1.0.9 src/aerostack2
+RUN git clone https://github.com/pariaspe/2023-tfg-adrian-madinabeitia.git src/2023-tfg-adrian-madinabeitia
+RUN apt update && rosdep update && rosdep install --from-paths src --ignore-src -r -y
 
+RUN /bin/bash -c "source /opt/ros/$ROS_DISTRO/setup.bash && colcon build"
 
-RUN rosdep install --from-paths src --ignore-src -r -y
+WORKDIR /
+# used?
+RUN git clone https://github.com/Adrimapo/project_crazyflie_gates.git
+RUN git clone https://github.com/aerostack2/project_px4_vision src/px4/project_px4_vision
 
-#RUN colcon build 
+RUN pip3 install PySimpleGUI-4-foss
+RUN echo "set -g mouse on" > ~/.tmux.conf 
 
+RUN echo "source /opt/ros/$ROS_DISTRO/setup.bash" >> ~/.bashrc
+RUN echo "source /root/ws/install/setup.bash" >> ~/.bashrc
+# RUN echo "source /opt/ros/$ROS_DISTRO/setup.bash" >> ~/.bashrc
 
-CMD ["bash"]
+COPY ./entrypoint.bash /
+ENTRYPOINT [ "/entrypoint.bash" ]
+CMD [ "/bin/bash" ]

HOWTODOCKER

@@ -0,0 +1,40 @@
+# HOWTODOCKER
+
+# Build and run (using docker-compose)
+```
+xhost +
+docker compose up -d # use the -d for keep the container alive in background
+docker exec -it imitation_learning /bin/bash
+```
+
+## Manual build container
+
+```bash
+docker build -t imitation_learning .
+```
+
+## Manual run docker container
+```bash
+xhost +
+docker run -it --rm -v /tmp/.X11-unix:/tmp/.X11-unix -e DISPLAY=$DISPLAY imitation_learning
+```
+
+### Launch PX4 and Gazebo11 only
+
+```bash
+cd /path/to/PX4-Autopilot
+make px4_sitl gazebo-classic
+```
+
+---
+
+```
+chmod +x $AS2_GZ_ASSETS_SCRIPT_PATH/default_run.sh $AS2_GZ_ASSETS_SCRIPT_PATH/run_sitl.sh $AS2_GZ_ASSETS_SCRIPT_PATH/parse_json.py $AS2_GZ_ASSETS_SCRIPT_PATH/jinja_gen.py
+cd /root/ws/src/2023-tfg-adrian-madinabeitia/drone_platforms
+$AS2_GZ_ASSETS_SCRIPT_PATH/default_run.sh config/world.json
+```
+
+```
+cd /root/ws/src/2023-tfg-adrian-madinabeitia/drone_platforms
+tmuxinator start -n drone0 -p config/tmuxLaunch.yml drone_namespace=drone0 simulation_time=true config_path=config/
+```

docker-compose.yaml

@@ -0,0 +1,21 @@
+services:
+  aerostack2:
+    image: imitation_learning
+    build:
+      context: ./
+      dockerfile: Dockerfile
+    container_name: imitation_learning
+    environment:
+      DISPLAY: $DISPLAY
+      PX4_FOLDER: /PX4-Autopilot
+      ROS_LOCALHOST_ONLY: 0
+      ROS_DOMAIN_ID: 0
+    privileged: true
+    volumes:
+      # X11
+      - ~/.Xauthority:/root/.Xauthority
+      # 
+      - /dev/:/dev
+      - .:/root/ws/src/2023-tfg-adrian-madinabeitia
+    network_mode: "host"
+    command: tail -f /dev/null

drone_platforms/launch/as2_sim_circuit.launch.py

@@ -6,16 +6,18 @@
 from launch.substitutions import LaunchConfiguration
 from launch_ros.actions import Node
 
-namespace= "drone0"
+namespace = "drone0"
 sim_time = "true"
 
 env_vars = {
     'AEROSTACK2_SIMULATION_DRONE_ID': namespace
 }
 
+
 def exit_process_function(_launch_context, route, ns):
     subprocess.run(["bash", route, ns], check=True)
 
+
 def generate_launch_description():
     sim_config = os.path.join(get_package_share_directory('drone_platforms'), 'config')
     utils_path = os.path.join(get_package_share_directory('drone_platforms'), 'utils')
@@ -45,13 +47,13 @@ def generate_launch_description():
                 args=[utils_path + '/end_tmux.sh', namespace]
             ),
             LogInfo(msg='Tmux session closed')
-            ]
+        ]
     )
 
     # Prepares the tmux session
     tmuxLauncher = ExecuteProcess(
-        cmd=['tmuxinator', 'start', '-n', namespace, '-p', sim_config + '/tmuxLaunch.yml', 
-             "drone_namespace=" + namespace, 
+        cmd=['tmuxinator', 'start', '-n', namespace, '-p', sim_config + '/tmuxLaunch.yml',
+             "drone_namespace=" + namespace,
              "simulation_time=" + sim_time,
              "config_path=" + sim_config],
 
@@ -64,27 +66,26 @@ def generate_launch_description():
         cmd=['gnome-terminal', '--', 'tmux', 'attach-session', '-t', namespace],
 
         # No additional window
-        #cmd=['tmux', 'attach-session', '-t', namespace],
+        # cmd=['tmux', 'attach-session', '-t', namespace],
         name="attach",
     )
 
-
     parseYaml = Node(
         package='drone_platforms',
         executable='parseWorld.py',
         output='screen',
         arguments=[
             sim_config + '/world.json',
             LaunchConfiguration('world'),
-            '0.0', '0.0', '0.0', LaunchConfiguration('yaw') #3.14 # 3.54
+            '0.0', '0.0', '0.0', LaunchConfiguration('yaw')  # 3.14 # 3.54
         ],
-    )  
+    )
 
     return LaunchDescription([
         world,
         yaw,
         parseYaml,
         gazeboPx4,
         tmuxLauncher,
-        tmuxAttach,
-    ])
+        # tmuxAttach,
+    ])

entrypoint.bash

@@ -0,0 +1,23 @@
+#!/bin/bash
+
+if [[ -f /opt/ros/$ROS_DISTRO/setup.bash ]]; then
+    source /opt/ros/$ROS_DISTRO/setup.bash
+fi
+
+if [[ -f /root/ws/install/setup.bash ]]; then
+    source /root/ws/install/setup.bash
+fi
+
+source /usr/share/gazebo-11/setup.bash
+export GAZEBO_HOME=/usr/share/gazebo
+export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:/usr/share/gazebo-11/models
+export GAZEBO_PLUGIN_PATH=$GAZEBO_PLUGIN_PATH:/usr/lib/x86_64-linux-gnu/gazebo-11/plugins
+export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/usr/lib/x86_64-linux-gnu/gazebo-11/plugins
+export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:/root/ws/src/aerostack2/as2_simulation_assets/as2_gazebo_assets/models
+export PX4_FOLDER=/root/ws/src/px4/PX4-Autopilot
+export AEROSTACK2_PATH=/root/ws/src/aerostack2
+source $AEROSTACK2_PATH/as2_cli/setup_env.bash
+AEROSTACK2_SIMULATION_DRONE_ID=drone0
+export AS2_GZ_ASSETS_SCRIPT_PATH=/root/ws/install/as2_gazebo_classic_assets/share/as2_gazebo_classic_assets/scripts
+
+exec "$@"