Update for Foxy

Dockerfile

@@ -1,79 +1,134 @@
-FROM osrf/ros:dashing-desktop
-# FROM osrf/ros2:nightly
+ARG FROM_IMAGE=osrf/ros2:nightly
+
+# multi-stage for caching
+FROM $FROM_IMAGE AS cache
+
+# clone underlay source
+ENV UNDERLAY_WS /opt/underlay_ws
+RUN mkdir -p $UNDERLAY_WS/src
+WORKDIR $UNDERLAY_WS
+COPY ./install/underlay.repos ./
+RUN vcs import src < underlay.repos
+# # RUN vcs import src < src/ros-planning/navigation2/tools/ros2_dependencies.repos
+
+# copy overlay source
+ENV OVERLAY_WS /opt/overlay_ws
+RUN mkdir -p $OVERLAY_WS/src
+WORKDIR $OVERLAY_WS
+COPY ./install/overlay.repos ./
+RUN vcs import src < overlay.repos
+
+# copy manifests for caching
+WORKDIR /opt
+RUN find ./ -name "package.xml" | \
+      xargs cp --parents -t /tmp \
+    && find ./ -name "COLCON_IGNORE" | \
+      xargs cp --parents -t /tmp
+
+# multi-stage for building
+FROM $FROM_IMAGE AS build
 
 # install helpful developer tools
 RUN apt-get update && apt-get install -y \
       bash-completion \
       byobu \
+      ccache \
       fish \
       glances \
+      micro \
       nano \
       python3-argcomplete \
       tree \
       vim \
-    && cd /usr/bin && curl https://getmic.ro | bash \
     && rm -rf /var/lib/apt/lists/*
 
-# install turtlebot external packages
-RUN apt-get update && apt-get install -y \
-      ros-$ROS_DISTRO-rqt* \
-      ros-$ROS_DISTRO-turtlebot3-cartographer \
-      ros-$ROS_DISTRO-turtlebot3-navigation2 \
-      ros-$ROS_DISTRO-turtlebot3-simulations \
-      ros-$ROS_DISTRO-turtlebot3-teleop \
+# setup keys
+RUN apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-keys D2486D2DD83DB69272AFE98867170598AF249743
+# setup sources.list
+RUN . /etc/os-release \
+    && echo "deb http://packages.osrfoundation.org/gazebo/$ID-stable `lsb_release -sc` main" > /etc/apt/sources.list.d/gazebo-latest.list
+# install gazebo packages
+RUN apt-get update && apt-get install -q -y --no-install-recommends \
+      libgazebo11-dev \
     && rm -rf /var/lib/apt/lists/*
 
-# clone overlay package repos
-ENV TB3_OVERLAY_WS /opt/tb3_overlay_ws
-RUN mkdir -p $TB3_OVERLAY_WS/src
-WORKDIR $TB3_OVERLAY_WS
-COPY .docker/overlay.repos ./
-RUN vcs import src < overlay.repos
-# Install extra sources from this repo
-COPY example_nodes/ src/example_nodes
-# RUN vcs import src < src/ros-planning/navigation2/tools/ros2_dependencies.repos
-
-# install overlay package dependencies
-RUN . /opt/ros/$ROS_DISTRO/setup.sh \
-    && rosdep update \
-    && rosdep install -y \
+# copy underlay manifests
+ENV UNDERLAY_WS /opt/underlay_ws
+COPY --from=cache /tmp/underlay_ws $UNDERLAY_WS
+WORKDIR $UNDERLAY_WS
+
+# install underlay dependencies
+RUN . /opt/ros/$ROS_DISTRO/setup.sh && \
+    apt-get update && rosdep install -q -y \
       --from-paths src \
       --ignore-src \
       --skip-keys " \
-            ament_mypy \
-            libopensplice69 \
-            rti-connext-dds-5.3.1 \
-        " \
+        gazebo11 \
+        libgazebo11-dev \
+      " \
     && rm -rf /var/lib/apt/lists/*
 
-# build overlay package source
-# RUN touch $TB3_OVERLAY_WS/src/turtlebot3/turtlebot3_node/COLCON_IGNORE
+# copy underlay source
+COPY --from=cache $UNDERLAY_WS ./
+
+# build underlay source
+ARG UNDERLAY_MIXINS="ccache release"
 RUN . /opt/ros/$ROS_DISTRO/setup.sh && \
     colcon build \
-      --symlink-install
-
-# fetch and install tools for reconnaissance
-WORKDIR /tmp
-RUN apt-get -qq update && DEBIAN_FRONTEND=noninteractive apt-get -y install \
-      libgmp3-dev gengetopt \
-      libpcap-dev flex byacc \
-      libjson-c-dev unzip \
-      libunistring-dev wget \
-      libxml2-dev libxslt1-dev \
-      libffi-dev libssl-dev  \
-      tshark && \
-      rm -rf /var/lib/apt/lists/*
-RUN git clone https://github.com/aliasrobotics/aztarna && \
-      cd aztarna && python3 setup.py install
+      --symlink-install \
+      --mixin $UNDERLAY_MIXINS \
+      --cmake-args \
+        --no-warn-unused-cli \
+        -DCMAKE_CXX_FLAGS=" \
+          -Wno-deprecated-declarations \
+        "
+
+# copy overlay manifests
+ENV OVERLAY_WS /opt/overlay_ws
+COPY --from=cache /tmp/overlay_ws $OVERLAY_WS
+WORKDIR $OVERLAY_WS
+
+# install overlay dependencies
+RUN . $UNDERLAY_WS/install/setup.sh && \
+    apt-get update && rosdep install -q -y \
+      --from-paths \
+        src \
+        $UNDERLAY_WS/src \
+      --ignore-src \
+      --skip-keys " \
+        gazebo11 \
+        libgazebo11-dev \
+        cartographer_ros \
+        hls_lfcd_lds_driver \
+        dynamixel_sdk \
+      " \
+    && rm -rf /var/lib/apt/lists/*
+
+# copy overlay source
+COPY --from=cache $OVERLAY_WS ./
+
+# build overlay source
+ARG OVERLAY_MIXINS="release ccache"
+RUN . $UNDERLAY_WS/install/setup.sh && \
+    colcon build \
+      --symlink-install \
+      --mixin $OVERLAY_MIXINS \
+      --packages-up-to \
+        "turtlebot3_simulations" \
+        "turtlebot3_navigation2" \
+        "turtlebot3_teleop" \
+      --packages-skip \
+        "turtlebot3_node" \
+        "turtlebot3"
 
 # generate artifacts for keystore
-ENV TB3_DEMO_DIR $TB3_OVERLAY_WS/..
+ENV TB3_DEMO_DIR $OVERLAY_WS/..
 WORKDIR $TB3_DEMO_DIR
 COPY policies policies
-RUN . $TB3_OVERLAY_WS/install/setup.sh && \
-    ros2 security generate_artifacts -k keystore \
-      -p policies/tb3_gazebo_policy.xml \
-      -n /_ros2cli
+# RUN . $OVERLAY_WS/install/setup.sh && \
+#     ros2 security generate_artifacts -k keystore \
+#       -p policies/tb3_gazebo_policy.xml \
+#       -n /_ros2cli
 
 # copy demo files
 COPY maps maps
@@ -82,10 +137,10 @@ COPY .gazebo /root/.gazebo
 
 # source overlay workspace from entrypoint
 RUN sed --in-place \
-      's|^source .*|source "$TB3_OVERLAY_WS/install/setup.bash"|' \
+      's|^source .*|source "$OVERLAY_WS/install/setup.bash"|' \
       /ros_entrypoint.sh && \
     cp /etc/skel/.bashrc ~/ && \
-    echo 'source "$TB3_OVERLAY_WS/install/setup.bash"' >> ~/.bashrc
+    echo 'source "$OVERLAY_WS/install/setup.bash"' >> ~/.bashrc
 
 ENV TURTLEBOT3_MODEL='burger' \
-    GAZEBO_MODEL_PATH=/opt/ros/$ROS_DISTRO/share/turtlebot3_gazebo/models:$GAZEBO_MODEL_PATH
+    GAZEBO_MODEL_PATH=$OVERLAY_WS/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models:$GAZEBO_MODEL_PATH

README.md

@@ -59,46 +59,6 @@ Feel free to poke around, open a new window and list or echo topics and services
 
 [![](media/localize.png)](media/localize.mp4)
 
-## Running the reconnaissance demo:
-
-Reconnaissance is the act of gathering preliminary data or intelligence on your target. The data is gathered in order to better plan for your attack. Reconnaissance can be performed actively (meaning that you are directly touching/connecting-to the target) or passively (meaning that your reconnaissance is being performed through an intermediary).
-
-The purpose of reconnaissance is to accumulate as much information as possible about a robot or robot component, including the available ROS abstractions (topics, services, etc.), the version of ROS, the target’s hardware platform and more.
-
-In this short tutorial we'll demonstrate the use of [`aztarna`](https://github.com/aliasrobotics/aztarna/), a tool for performing reconnaissance in a variety of robotic systems. Particularly, we'll look at the information we can obtain by performing active reconnaissance in an unsecure robot acting both as an attacker with direct access to the robot ("host/container" insider) and as an attacker with access to the local internal network where ROS 2 operates.
-
-### Host/container insider attacker
-``` bash
-rocker --x11 --nvidia rosswg/turtlebot3_demo:roscon19 "byobu -f configs/unsecure.conf attach"
-```
-
-### Internal network attacker
-``` bash
-# in Terminal (terminal 1), initialize first a swarm
-docker swarm init
-# in Terminal (terminal 1), create the network overlay
-docker network create -d overlay \
-  --subnet=10.0.0.0/24 \
-  --gateway=10.0.0.1 \
-	--ip-range 10.0.0.192/27 \
-  --attachable \
-  overlay
-
-# in another Terminal (terminal 2), launch demo
-rocker  --x11 --nvidia --network overlay rosswg/turtlebot3_demo:roscon19 "byobu -f configs/unsecure.conf attach"
-
-# in another Terminal (terminal 3), launch another container
-docker run -it --rm --network overlay --name aztarna rosswg/turtlebot3_demo:roscon19 /bin/bash
-# then perform a scan
-$ aztarna -t ros2
-```
-
-Cleanup afterwards:
-```bash
-docker network rm overlay
-```
-
-
 ## Running the secure demo:
 
 So far we've simply launched the turtlebot3 without using SROS2. To enable security, simply exit the previous byobu session and start a new one now using the secure config:
@@ -120,7 +80,6 @@ These variables simply enable as well as enforce security for all ros2 nodes whi
 
 * https://design.ros2.org/articles/ros2_dds_security.html
 
-
 ## Re-generate security artifacts
 
 Using the same attached session above, now lets try and generate security artifacts for ourselves, rather than simply using the same artifacts that came bundled in the demo docker image. We can start by switching over to the sros window and clearing out the existing keystore:
@@ -188,51 +147,11 @@ export ROS_SECURITY_ENABLE=true
 
 Now try starting another teleop node with security disabled and check that only the secure teleop node can drive the robot.
 
-## Sandboxed Nodes Demo
-
-The [ROSCon 2019](https://ros-swg.github.io/ROSCon19_Security_Workshop/) [ROS2 Security Workshop](https://ros-swg.github.io/ROSCon19_Security_Workshop/)
-will present the opportunity to run the Turtlebot3 demo using the [launch-ros-sandbox](https://github.com/aws-robotics/launch-ros-sandbox)
-package. Specifically, the demo uses this package to launch the Turtlebot3 navigation nodes in a docker container. See the
-configs/sandbox_demo/navigation_sandbox.launch.py launch file for details.
-
-### Running the Security Workshop Sandbox Node Demo
-
-``` bash
-rocker --x11 --nvidia rosswg/turtlebot3_demo "byobu -f configs/sandbox_demo/unsecure.conf attach"
-```
-
-Omit the `--nvidia` arg if you don't have dedicated GPU for hardware acceleration of 3D OpenGL views.
-
-Likewise, the following command is used to run the demo using the secure config:
-
-``` bash
-rocker --x11 --nvidia  rosswg/turtlebot3_demo "byobu -f configs/sandbox_demo/secure.conf attach"
-```
-
-### Demonstrating Sandbox Resource Limits
-
-This demo shows how robot code, acting improperly, can negatively affect the entire robotic system.
-
-``` bash
-rocker --x11 --nvidia rosswg/turtlebot3_demo "byobu -f configs/sandbox_demo/bad_actor.conf attach" --oyr-run-arg " -v /var/run/docker.sock:/var/run/docker.sock "
-```
-
-After launching with the above config, there are two commands ready in the `bad_actor` byobu window.
-They are ready to run a cpu hog that will fork many busy processes.
-This is a contrived example - but it illustrates what could happen if a node that you are using hits an untested code path and goes into an infinite loop.
-
-If you run the top command (`ros2 run...`), you can see the CPU of your system jump to 100% usage (check the `diagnostic` byobu window), grinding everything else to a halt.
-
-However, if you kill that and run the bottom command (`ros2 launch ...`), it will launch inside a container that has a CPU resource limit set.
-This launch will be able to use at most 2 CPUs worth of processing, allowing the rest of the demo to still run at a normal speed.
-See `example_nodes/launch/sandboxed_cpu_hog.launch.py` for some more info on the arguments that make this happen.
-
-
 ## Developing
 To rebuild this demo locally if you are working on it, you can rebuild the Docker image with the same tag, so all above demo commands will work correctly.
 
 ``` bash
 git clone [email protected]:ros-swg/turtlebot3_demo.git
 cd turtlebot3_demo
-docker build . -t rosswg/turtlebot3_demo
+docker build --tag rosswg/turtlebot3_demo .
 ```