mbo/#2/inmoov-ros-sim-repo

.gitignore

@@ -0,0 +1,3 @@
+build
+install
+log

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

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 [email protected]: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**):
-<details>
-<summary>A - Local Installation (Only if you're on Ubuntu 22.04)</summary>
-
-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
-```
-</details>
-
-<details>
-<summary>B -Docker Installation</summary>
-
-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
 ```
 
-</details>
-
-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.
 
 ---
 

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

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"

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

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
+

launch/main.launch.py → 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