Added dockerfile and instructions (#29)

* Added dockerfile and instructions

Signed-off-by: ahcorde <[email protected]>

* Added rocker instructions

Signed-off-by: ahcorde <[email protected]>

* Update Dockerfile and instructions

Signed-off-by: ahcorde <[email protected]>

* Install realtime-tools and xacro from packages

Signed-off-by: ahcorde <[email protected]>

* Fixed Dockerfile

Signed-off-by: ahcorde <[email protected]>

* Added Docker instructions

Signed-off-by: ahcorde <[email protected]>

Co-authored-by: Louise Poubel <[email protected]>

Author: ahcorde

Docker/Dockerfile

@@ -0,0 +1,38 @@
+FROM osrf/ros:foxy-desktop
+
+# Make sure everything is up to date before building from source
+RUN apt-get update \
+  && apt-get upgrade -y \
+  && apt-get clean
+
+RUN apt-get update && apt-get install -q -y --no-install-recommends \
+    dirmngr \
+    gnupg2 \
+    lsb-release \
+    python3-colcon-ros \
+    && apt-get clean
+
+RUN mkdir -p /home/ros2_ws/src \
+    && cd /home/ros2_ws/src/ \
+    && git clone https://github.com/ros-simulation/gazebo_ros2_control \
+    && git clone https://github.com/ros-controls/ros2_control \
+    && git clone https://github.com/ros-controls/control_toolbox -b ros2-master \
+    && git clone https://github.com/ros-controls/ros2_controllers \
+    && git clone https://github.com/ddengster/ros2_control/ -b coffeebot_deps ros2_control_ddengster \
+    && touch ros2_control_ddengster/COLCON_IGNORE \
+    && cp -r ros2_control_ddengster/joint_limits_interface ros2_control_ddengster/transmission_interface ros2_control \
+    && sed -i '/rclcpp/d' ros2_control/joint_limits_interface/CMakeLists.txt \
+    && sed -i '/rclcpp/d' ros2_control/joint_limits_interface/package.xml \
+    && rosdep update \
+    && rosdep install --from-paths ./ -i -y --rosdistro foxy \
+      --ignore-src
+
+RUN cd /home/ros2_ws/ \
+  && . /opt/ros/foxy/setup.sh \
+  && export CMAKE_PREFIX_PATH=$AMENT_PREFIX_PATH:$CMAKE_PREFIX_PATH \
+  && colcon build
+
+COPY entrypoint.sh /entrypoint.sh
+ENTRYPOINT ["/entrypoint.sh"]
+
+CMD ros2 launch gazebo_ros2_control_demos cart_example_position.launch.py

Docker/entrypoint.sh

@@ -0,0 +1,5 @@
+#!/bin/sh
+
+. /opt/ros/foxy/setup.sh
+. /home/ros2_ws/install/setup.sh
+exec "$@"

README.md

@@ -1,11 +1,66 @@
 # gazebo_ros2_control
 
+
 This is a ROS 2 package for integrating the `ros2_control` controller architecture with the [Gazebo](http://gazebosim.org/) simulator.
 
 This package provides a Gazebo plugin which instantiates a `ros2_control` controller manager and connects it to a Gazebo model.
 
 # Usage
 
+This repository contains the contents for testing gazebo_ros2_control
+
+It is running Gazebo and some other ROS 2 nodes.
+
+## Video + Pictures
+
+![](img/gazebo_ros2_control_position_pid.gif)
+
+## Running
+
+### Modifying or building your own
+
+```bash
+cd Docker
+docker build -t gazebo_ros2_control .
+```
+
+### To run the demo
+
+#### Using Docker
+
+Docker allows us to run the demo without GUI if we don't configure it properly. The following command runs the demo without GUI:
+
+```bash
+docker run -it --rm --name gazebo_ros2_control_demo --net host gazebo_ros2_control ros2 launch gazebo_ros2_control_demos cart_example_position.launch.py gui:=false
+```
+
+The in your local machine you can run the Gazebo client:
+
+```bash
+gzclient
+```
+
+#### Using Rocker
+
+To run the demo with GUI we are going to use [rocker](https://github.com/osrf/rocker/) which is a tool to run docker
+images with customized local support injected for things like nvidia support. And user id specific files for cleaner
+mounting file permissions. You can install this tool with the following [instructions](https://github.com/osrf/rocker/#installation).
+
+The following command will launch Gazebo:
+
+```bash
+rocker --x11 --nvidia --name gazebo_ros2_control_demo gazebo_ros2_control:latest
+```
+
+The following commands allow to move the cart in the rail:
+
+```bash
+docker exec -it gazebo_ros2_control_demo bash
+source /home/ros2_ws/install/setup.bash
+ros2 run gazebo_ros2_control_demos example_position
+```
+
+
 ## Add transmission elements to a URDF
 
 To use `ros2_control` with your robot, you need to add some additional elements to your URDF. The `<transmission>` element is used to link actuators to joints, see the `<transmission>` spec for exact XML format.