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Commit 6b56437

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shakuevda
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wip. Update: docker, add new launch for stingray communication,
1 parent fc7a110 commit 6b56437

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‎docker/Dockerfile‎

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Original file line numberDiff line numberDiff line change
@@ -1,30 +1,20 @@
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FROM ros:humble-ros-base
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# Установим нужные пакеты
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RUN apt-get update && apt-get install -y \
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python3-pip \
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python3-smbus \
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python3-smbus2 \
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libi2c-dev \
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i2c-tools \
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ros-humble-rclcpp \
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ros-humble-std-msgs \
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ros-humble-sensor-msgs \
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ros-humble-udp-msgs \
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libasio-dev \
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netcat \
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socat \
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python3-pip python3-colcon-common-extensions \
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python3-smbus python3-smbus2 libi2c-dev i2c-tools \
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libasio-dev netcat socat \
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ros-humble-rclcpp ros-humble-std-msgs ros-humble-sensor-msgs ros-humble-udp-msgs \
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&& rm -rf /var/lib/apt/lists/*
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# Рабочая директория
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WORKDIR /stingray_core
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COPY . /stingray_core
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RUN /bin/bash -c "source /opt/ros/humble/setup.bash && colcon build"
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RUN usermod -aG i2c root
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RUN groupadd -f i2c && usermod -aG i2c root
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COPY /docker/entrypoint.sh /entrypoint.sh
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RUN chmod +x /entrypoint.sh
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ENTRYPOINT ["/entrypoint.sh"]
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RUN echo 'source /stingray_core/install/setup.bash' >> /root/.bashrc
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COPY docker/entrypoint.sh /entrypoint.sh
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RUN chmod +x /entrypoint.sh
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CMD ["bash"]
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ENTRYPOINT ["/entrypoint.sh"]
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CMD ["bash"]

‎docker/build.sh‎

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#!/bin/bash
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set -e
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IMAGE_NAME=stingray_core
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echo "[INFO] Сборка Docker-образа: $IMAGE_NAME"
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docker build -t $IMAGE_NAME -f docker/Dockerfile .
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echo "[INFO] Образ успешно собран."

‎docker/entrypoint.sh‎

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Original file line numberDiff line numberDiff line change
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#!/bin/bash
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set -e
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# Проверяем, существует ли файл setup.bash
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if [ -f /stingray_core/install/setup.bash ]; then
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echo "[INFO] Код уже сбилжен"
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source /opt/ros/humble/setup.bash
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# Если проект уже собран
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if [ -f /stingray_core/install/setup.bash ]; then
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echo "[INFO] Используем существующую сборку."
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source /stingray_core/install/setup.bash
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else
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echo "[INFO] Файл install/setup.bash не найден. Запускаем сборку..."
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# Выполняем сборку, при ошибке удаляем build, install, log и выходим
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source "/opt/ros/humble/setup.bash"
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source "/additional_packages/install/setup.bash"
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if ! colcon build --packages-select stingray_core_launch stingray_core_interfaces stingray_core_communication; then
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echo "[ERROR] Сборка завершилась с ошибкой. Удаляем build, install, log..."
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rm -rf build install log
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exit 1
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fi
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echo "[INFO] Сборка завершена успешно. Выполняем source install/setup.bash..."
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source /stingray_core/install/setup.bash
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echo "[INFO] Локальная сборка не найдена (install/setup.bash отсутствует)"
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fi
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exec "$@"

‎docker/run.sh‎

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#!/bin/bash
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set -e
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IMAGE_NAME=stingray_core
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CONTAINER_NAME=stingray_core
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echo "[INFO] Запуск контейнера $CONTAINER_NAME..."
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docker run -it --rm \
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--user $(id -u):$(id -g) \
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--name $CONTAINER_NAME \
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--network host \
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-v $(pwd):/stingray_core \
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-v /tmp/.X11-unix:/tmp/.X11-unix \
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-e DISPLAY=$DISPLAY \
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--device /dev/i2c-0 \
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--device /dev/i2c-1 \
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$IMAGE_NAME

src/stingray_core_communication/serial_driver/CMakeLists.txt renamed to src/serial_driver/CMakeLists.txt

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src/stingray_core_communication/serial_driver/README.md renamed to src/serial_driver/README.md

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src/stingray_core_communication/serial_driver/include/serial_driver/serial_bridge_node.hpp renamed to src/serial_driver/include/serial_driver/serial_bridge_node.hpp

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src/stingray_core_communication/serial_driver/include/serial_driver/serial_driver.hpp renamed to src/serial_driver/include/serial_driver/serial_driver.hpp

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src/stingray_core_communication/serial_driver/include/serial_driver/serial_port.hpp renamed to src/serial_driver/include/serial_driver/serial_port.hpp

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src/stingray_core_communication/serial_driver/include/serial_driver/visibility_control.hpp renamed to src/serial_driver/include/serial_driver/visibility_control.hpp

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