diff --git a/.gitignore b/.gitignore
new file mode 100755
index 0000000..8b4cebe
--- /dev/null
+++ b/.gitignore
@@ -0,0 +1,3 @@
+build
+install
+log
diff --git a/LICENSE b/LICENSE
old mode 100644
new mode 100755
diff --git a/Makefile b/Makefile
old mode 100644
new mode 100755
index 83950e1..b2c0972
--- a/Makefile
+++ b/Makefile
@@ -2,34 +2,52 @@ DOCKER_COMPOSE := $(shell if command -v docker-compose > /dev/null 2>&1; then ec
help:
@echo "Available commands:"
- @echo " help: Show this help message"
- @echo " up: Create and start containers"
- @echo " down: Stop and remove containers"
- @echo " restart: Restart containers"
- @echo " start: Start containers"
- @echo " stop: Stop containers"
- @echo " term: Open a terminal in the container"
- @echo " logs: View output from containers"
-
-start:
+ @echo " help: Show this help message"
+ @echo " dc-up: Create and start containers"
+ @echo " dc-down: Stop and remove containers"
+ @echo " dc-reup: Recreate containers"
+ @echo " dc-start: Start containers"
+ @echo " dc-stop: Stop containers"
+ @echo " dc-restart: Restart containers"
+ @echo " dc-term: Open a terminal in the container"
+ @echo " dc-logs: View output from containers"
+ @echo " ros-build: Build ROS2 workspace"
+ @echo " ros-run: Run ROS2 launch file"
+ @echo " ros-clean: Clean ROS2 workspace"
+
+dc-up:
+ $(DOCKER_COMPOSE) up -d
+
+dc-down:
+ $(DOCKER_COMPOSE) down
+
+dc-reup:
+ $(DOCKER_COMPOSE) down
+ $(DOCKER_COMPOSE) up -d
+
+dc-start:
$(DOCKER_COMPOSE) start
-stop:
+dc-stop:
$(DOCKER_COMPOSE) stop
-restart:
+dc-restart:
$(DOCKER_COMPOSE) restart
-up:
- $(DOCKER_COMPOSE) up -d
+dc-term:
+ $(DOCKER_COMPOSE) exec --user rosdev:rosdev ros_ws bash
-down:
- $(DOCKER_COMPOSE) down
+dc-logs:
+ $(DOCKER_COMPOSE) logs -f
-term:
- $(DOCKER_COMPOSE) exec ros_ws zsh
+ros-build:
+ colcon build --cmake-args -DCMAKE_EXPORT_COMPILE_COMMANDS:BOOL=ON
-logs:
- $(DOCKER_COMPOSE) logs -f
+ros-run:
+ ros2 launch inmoov_ros_sim main.launch.py
+
+ros-clean:
+ rm -rf build install log
-.PHONY: help start stop restart up down term
+.PHONY: help dc-up dc-down dc-start dc-stop dc-restart dc-term dc-logs \
+ ros-build ros-run ros-clean
diff --git a/README.md b/README.md
old mode 100644
new mode 100755
index cdc1969..a09fed3
--- a/README.md
+++ b/README.md
@@ -24,133 +24,96 @@ The simulator is shipped in a ROS 2 - ready to use - package
---
-## 📥 Installation
+## Requirements
-### Setup workspace
+- Ubuntu 22.04 or docker
+- WSL (on windows)
+- VNC Client
+- Make (not mandatory but strongly recommended)
-Create a workspace (here `inmoov_ws`) with an `src` folder and clone the repository in it
+---
-```bash
-git clone git@github.com:Sentience-Robotics/inmoov_ros_sim.git inmoov_ws/src/inmoov_ros_sim
-```
+## 📥 Installation
-Go to `inmoov_ws/src/inmoov_ros_sim/`
+Execute the installation script
```bash
-cd inmoov_ws/src/inmoov_ros_sim/
+curl -fsSL https://raw.githubusercontent.com/Sentience-Robotics/inmoov_ros_sim/refs/heads/mbo/%232/inmoov-ros-sim-repo/scripts/install.sh | bash
```
-### Install dependencies
+### On docker
-To install dependencies, you can either use the provided docker image (**A**) or install ROS 2 Humble locally (**B**):
-
-A - Local Installation (Only if you're on Ubuntu 22.04)
-
-For a local installation, you have to install the following dependencies:
-- ROS 2 Humble
-- rviz2 : visualisator
-- Gazebo Fortress (launch script not available yet) : simulator
-- Colcon, CMake : build system
-
-First ensure that the Ubuntu Universe repository is enabled
+When your installation is complete, execute the following commands
```bash
-sudo apt install software-properties-common
-sudo add-apt-repository universe
+chmod -R 777 inmoov_ros_sim && \
+ cd inmoov_ros_sim && \
+ make dc-term
```
-Now add the ROS 2 GPG key with apt.
-
-```bash
-curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
-```
+---
-Then add the repository to your sources list
+## Usage
-```bash
-echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | tee /etc/apt/sources.list.d/ros2.list > /dev/null
-```
+### Makefile
-Update your apt repository caches after setting up the repositories.
+Available commands:
+- help: Show this help message
+- dc-up: Create and start containers
+- dc-down: Stop and remove containers
+- dc-reup: Recreate containers
+- dc-start: Start containers
+- dc-stop: Stop containers
+- dc-restart: Restart containers
+- dc-term: Open a terminal in the container
+- dc-logs: View output from containers
+- ros-build: Build ROS2 workspace
+- ros-run: Run ROS2 launch file
+- ros-clean: Clean ROS2 workspace
-```bash
-apt update -q
-apt upgrade -q -y
-```
+### ⚙️ Compilation
-Finally, install ros 2
+Build the package
```bash
-apt install -y ros-humble-desktop ros-humble-ros-gz ros-dev-tools ros-humble-joint-state-publisher ros-humble-joint-state-publisher-gui
-```
+make ros-build
-Source ros
-> On bash
-```bash
-source /opt/ros/humble/setup.bash
```
-> On zsh
-```zsh
-source /opt/ros/humble/setup.zsh
-```
-
-
-
-B -Docker Installation
-
-Authorize the docker to access the X server
+Source your workspace
```bash
-xhost +
+source ./install/local_setup.bash
```
-Start the docker container
+### 🖥️ Display (for docker)
-```bash
-make up
-```
+Install a vnc client (you can use remmina, vncviewer, etc)
-Connect to the container
+Vnc server use :1 by default.
+
+Export your display from the container
```bash
-make term
+export DISPLAY=:1
```
-
-
-You will also need to have a running X server to display the simulation
+Connect the vnc client to the container
-On windows, you can use [VcXsrv](https://sourceforge.net/projects/vcxsrv/)
+Host: `127.0.0.1:1`
-On linux, you can either use X11 or XWayland
+Password: `abc123`
----
-
-## ⚙️ Compilation
-
-Build the package
+### 🚀 Launch the package
```bash
-colcon build
-
-```
-Source your workspace
-> On bash
-```bash
-source ./install/local_setup.bash
-```
-> On zsh
-```zsh
-source ./install/local_setup.zsh
+make ros-run
```
---
-## 🚀 Launch the package
+## 📖 Documentation
-```bash
-ros2 launch inmoov_ros_sim main.launch.py
-```
+For more details on creation processes, troubleshooting, and other guidance, visit the [Sentience Robotics documentation](https://docs.sentience-robotics.fr).
---
@@ -174,7 +137,7 @@ To find out more on how you can contribute to the project, please check our [CON
## 📜 License
-This project is licensed under the GNU GPL V3 License. See the LICENSE file for details.
+This project is licensed under the **GNU GPL V3 License**. See the [LICENSE](LICENSE) file for details.
---
diff --git a/docker-compose.yml b/docker-compose.yml
old mode 100644
new mode 100755
index b811147..707363d
--- a/docker-compose.yml
+++ b/docker-compose.yml
@@ -1,10 +1,7 @@
services:
ros_ws:
- image: ghcr.io/sentience-robotics/ros_ws:humble
- restart: no
- command: tail -f /dev/null
- environment:
- - DISPLAY=$DISPLAY
+ image: ghcr.io/sentience-robotics/ros2_base:humble
+ restart: unless-stopped
volumes:
- - .:/home/rosdev/ros2_ws/src/inmoov_ros_sim
- - /tmp/.X11-unix:/tmp/.X11-unix:rw
+ - .:/home/rosdev/ros2_ws/:rw
+ network_mode: host
diff --git a/scripts/docker_install.sh b/scripts/docker_install.sh
new file mode 100755
index 0000000..7d121fb
--- /dev/null
+++ b/scripts/docker_install.sh
@@ -0,0 +1,17 @@
+#!/bin/bash
+
+if $(command -v docker) compose &> /dev/null; then
+ DOCKER_COMPOSE="$(command -v docker) compose"
+elif command -v docker-compose &> /dev/null; then
+ DOCKER_COMPOSE="$(command -v docker-compose)"
+else
+ echo -e "\033[31m\033[1mdocker-compose is not installed\033[0m"
+ exit 1
+fi
+
+$DOCKER_COMPOSE -f docker-compose.yml up -d
+
+echo -e "\033[32m\033[1mInstallation complete\033[0m, you can now access the container with the following command:"
+echo "chmod -R 777 inmoov_ros_sim && \\"
+echo " cd inmoov_ros_sim && \\"
+echo " make dc-term"
diff --git a/scripts/install.sh b/scripts/install.sh
new file mode 100755
index 0000000..52d7328
--- /dev/null
+++ b/scripts/install.sh
@@ -0,0 +1,38 @@
+#!/bin/bash
+
+mkdir inmoov_ros_sim
+cd inmoov_ros_sim
+
+base_url="$(pwd)/scripts"
+
+GIT=$(type -p git)
+if [[ ! -x "$GIT" ]]; then
+ echo -e "\033[31m\033[1mgit is not installed\033[0m"
+ exit 1
+fi
+
+if [[ "$(ls -A)" ]]; then
+ echo -e "\033[31m\033[1mdirectory must be empty\033[0m"
+ exit 1
+fi
+
+read -p "Enter the branch name [master]: " branch < /dev/tty
+branch=${branch:-master}
+
+echo -e "\033[32m\033[1mCloning repository...\033[0m"
+$GIT clone --branch $branch https://github.com/Sentience-Robotics/inmoov_ros_sim.git . 2> /dev/null
+
+echo "Do you prefer to use a local or a docker installation?"
+read -p "Select installation mode (local/docker) [docker] :" choice < /dev/tty
+choice=$(echo $choice | tr '[:upper:]' '[:lower:]')
+
+if [[ -z "$choice" || "$choice" == "d" || "$choice" == "docker" ]]; then
+ cat $base_url/docker_install.sh | bash
+ exit 0
+elif [[ "$choice" == "l" || "$choice" == "local" ]]; then
+ cat $base_url/local_install.sh | bash
+ exit 0
+else
+ echo -e "\033[31m\033[1mInvalid choice\033[0m"
+ exit 1
+fi
diff --git a/scripts/local_install.sh b/scripts/local_install.sh
new file mode 100755
index 0000000..61f1d21
--- /dev/null
+++ b/scripts/local_install.sh
@@ -0,0 +1,20 @@
+#!/bin/bash
+
+sudo apt install -q -y software-properties-common
+
+sudo add-apt-repository universe && \
+ curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg && \
+ echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | tee /etc/apt/sources.list.d/ros2.list > /dev/null && \
+ apt update -q && \
+ apt upgrade -q -y
+
+sudo apt install -y ros-humble-desktop ros-humble-ros-gz ros-dev-tools
+
+sudo apt install -y ros-humble-joint-state-publisher ros-humble-joint-state-publisher-gui
+
+echo 'source /opt/ros/'$ROS_DISTRO'/setup.bash' >> /home/$USERNAME/.bashrc && \
+ echo 'source /home/'$USERNAME'/ros2_ws/install/local_setup.bash' >> /home/$USERNAME/.bashrc
+
+echo 'source /opt/ros/'$ROS_DISTRO'/setup.zsh' >> /home/$USERNAME/.zshrc && \
+ echo 'source /home/'$USERNAME'/ros2_ws/install/local_setup.zsh' >> /home/$USERNAME/.zshrc
+
diff --git a/CMakeLists.txt b/src/inmoov_ros_sim/CMakeLists.txt
old mode 100644
new mode 100755
similarity index 100%
rename from CMakeLists.txt
rename to src/inmoov_ros_sim/CMakeLists.txt
diff --git a/config/.gitkeep b/src/inmoov_ros_sim/config/.gitkeep
old mode 100644
new mode 100755
similarity index 100%
rename from config/.gitkeep
rename to src/inmoov_ros_sim/config/.gitkeep
diff --git a/launch/main.launch.py b/src/inmoov_ros_sim/launch/main.launch.py
old mode 100644
new mode 100755
similarity index 96%
rename from launch/main.launch.py
rename to src/inmoov_ros_sim/launch/main.launch.py
index 8ab6749..b2d20f4
--- a/launch/main.launch.py
+++ b/src/inmoov_ros_sim/launch/main.launch.py
@@ -9,13 +9,13 @@
def generate_launch_description():
# Set the path to this package.
- pkg_share = FindPackageShare(package='sentience_gz').find('sentience_gz')
+ pkg_share = FindPackageShare(package='inmoov_ros_sim').find('inmoov_ros_sim')
# Set the path to the RViz configuration settings
default_rviz_config_path = os.path.join(pkg_share, 'rviz/rviz_basic_settings.rviz')
# Set the path to the URDF file
- default_urdf_model_path = os.path.join(pkg_share, 'urdf/sentience_gz.urdf')
+ default_urdf_model_path = os.path.join(pkg_share, 'urdf/inmoov.urdf')
########### YOU DO NOT NEED TO CHANGE ANYTHING BELOW THIS LINE ##############
# Launch configuration variables specific to simulation
diff --git a/maps/.config b/src/inmoov_ros_sim/maps/.config
old mode 100644
new mode 100755
similarity index 100%
rename from maps/.config
rename to src/inmoov_ros_sim/maps/.config
diff --git a/meshes/stl/G-__564753.001.stl b/src/inmoov_ros_sim/meshes/stl/G-__564753.001.stl
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