Additions of examples

.gitmodules

@@ -1,3 +1,6 @@
 [submodule "resource/cmake/rticonnextdds-cmake-utils"]
 	path = resource/cmake/rticonnextdds-cmake-utils
 	url = https://github.com/rticommunity/rticonnextdds-cmake-utils
+[submodule "examples/lss_robot/LSS_Library_Python"]
+	path = examples/lss_robot/LSS_Library_Python
+	url = https://github.com/Lynxmotion/LSS_Library_Python.git

README.md

@@ -257,6 +257,8 @@ Security Artifacts Structure in [security](./system_arch/security/):
 
 Check out the the [system_arch](./system_arch/) folder, where the system architecture artifacts live and are covered in more depth!
 
+Also see the [examples](./examples/README.md) folder for runnable, hands-on examples (Joystick, Xbox, LSS Robot, Telemetry Bridge, and WIS) that demonstrate devices and services acting as first-class citizens in the reference architecture.
+
 ## Additional References
 
 - [RTI XML-Based Application Creation](https://community.rti.com/static/documentation/connext-dds/7.3.0/doc/manuals/connext_dds_professional/xml_application_creation/xml_based_app_creation_guide/XMLAppCreationGSG_title.htm#)

containers/base/Dockerfile

@@ -0,0 +1,121 @@
+# The Dockerfile is based on the official Ubuntu image for the jammy release. 
+# The CONNEXT_VERSION argument is used to specify the version of RTI Connext to install. 
+# The RTI_LICENSE_AGREEMENT_ACCEPTED argument is used to accept the RTI license agreement during installation.
+# The NDDSHOME environment variable is set to the installation directory of RTI Connext.
+#
+# The Dockerfile installs the RTI Connext Debian Package from the official RTI repository. It also installs some build tools and the license file.
+#
+# The CMD instruction specifies the default command to run when the container starts. In this case, it runs the /bin/bash shell.
+#
+# To build the Docker image, run the following command from the root repository folder:
+#   docker build -t connext:medtech_ra -f containers/base/Dockerfile --build-arg RTI_LICENSE_AGREEMENT_ACCEPTED=accepted --build-arg CONNEXT_VERSION=7.3.0 .
+#
+# To run the Docker container, run the following command:
+#   
+#   docker run --rm -it --network host -e DISPLAY --privileged --hostname rtimedtech -v $XAUTHORITY:/root/.Xauthority -v /tmp/.X11-unix:/tmp/.X11-unix -v $RTI_LICENSE_FILE:/root/rti_license.dat connext:medtech_ra bash
+#
+# Explanation of the options used in the docker run command:
+#   The -it option is used to run the container in interactive mode.
+#   The --rm option is used to remove the container when it exits.
+#   The --network host option is used to share the host's network stack with the container
+#   The -e DISPLAY option is used to set the DISPLAY environment variable in the container to the host's DISPLAY variable.
+#   The --privileged option is used to give the container additional privileges.
+#   The --hostname option is used to set the hostname of the container to rtimedtech.
+#   The -v $XAUTHORITY:/root/.Xauthority option is used to mount the X11 authentication file from the host to the container.
+#   The -v /tmp/.X11-unix:/tmp/.X11-unix option is used to mount the X11 socket from the host to the container.
+#   The -v $RTI_LICENSE_FILE:/root/rti_license.dat option is used to mount the RTI license file from the host to the container.
+#
+# The container will start and run the /bin/bash shell.
+
+
+FROM ubuntu:jammy AS install-stage
+
+ARG CONNEXT_VERSION=7.3.0
+ARG RTI_LICENSE_AGREEMENT_ACCEPTED
+
+ENV DISPLAY=:0
+ENV SHELL=/bin/bash
+ENV TZ=Europe/Madrid
+ENV NDDSHOME=/opt/rti.com/rti_connext_dds-${CONNEXT_VERSION}
+SHELL ["/bin/bash", "-c"]
+
+# Install the required packages
+RUN export DEBIAN_FRONTEND=noninteractive \
+    && apt-get update \
+    && apt-get install -y \
+    ca-certificates \
+    dash \
+    tzdata \
+    git \
+    build-essential \
+    cmake \
+    libgtk-3-dev \
+    libgtksourceviewmm-3.0-dev \
+    python3 \
+    python3-gi \
+    python3-gi-cairo \
+    python3-numpy \
+    python3-matplotlib \
+    python3-pip \
+    gir1.2-gtk-4.0 \
+    libgtk2.0-0 \
+    libxxf86vm1 \
+    libsm6 \
+    libcanberra-gtk-module \
+    iproute2 \
+    iputils-ping \
+    curl \
+    nano \
+    && apt-get clean \
+    && rm -rf /var/lib/apt/lists
+
+# Install the RTI Connext Python API
+RUN pip install rti.connext
+
+# Install the RTI Connext Debian Package
+RUN curl -sSL -o /usr/share/keyrings/rti-official-archive.gpg \
+    https://packages.rti.com/deb/official/repo.key
+
+RUN printf -- "deb [arch=%s, signed-by=%s] %s %s main\n" \
+    $(dpkg --print-architecture) \
+    /usr/share/keyrings/rti-official-archive.gpg \
+    https://packages.rti.com/deb/official \
+    $(. /etc/os-release && echo ${VERSION_CODENAME}) | tee /etc/apt/sources.list.d/rti-official.list >/dev/null
+
+RUN export DEBIAN_FRONTEND=noninteractive \
+    RTI_LICENSE_AGREEMENT_ACCEPTED=${RTI_LICENSE_AGREEMENT_ACCEPTED} \
+    && apt-get update \
+    && apt-get install -y \
+    rti-connext-dds-${CONNEXT_VERSION} \
+    && apt-get clean \
+    && rm -rf /var/lib/apt/lists
+
+RUN echo "source ${NDDSHOME}/resource/scripts/rtisetenv_*.bash" >> /root/.bashrc
+
+WORKDIR /root
+
+RUN git clone --recurse-submodule https://github.com/rticommunity/rticonnextdds-medtech-reference-architecture.git medtech_ra 
+WORKDIR /root/medtech_ra/modules/01-operating-room
+
+# Create a script to build the sources
+RUN echo "#!/bin/bash" > build_module_01.sh
+RUN echo "source ${NDDSHOME}/resource/scripts/rtisetenv_*.bash" >> build_module_01.sh
+RUN echo "mkdir build && cd build && cmake .. && cmake --build ." >> build_module_01.sh
+RUN chmod +x build_module_01.sh
+
+# Configure licence file
+RUN echo "export RTI_LICENSE_FILE=/root/rti_license.dat" >> /root/.bashrc
+RUN rm ${NDDSHOME}/rti_license.dat
+RUN ln -s /root/rti_licence.dat ${NDDSHOME}/rti_license.dat
+
+FROM scratch AS final-stage
+
+WORKDIR /root
+
+COPY --from=install-stage / /
+
+WORKDIR /root/medtech_ra/modules/01-operating-room
+RUN ./build_module_01.sh
+
+WORKDIR /root
+CMD ["/bin/bash"]

containers/examples/Dockerfile

@@ -0,0 +1,141 @@
+# The Dockerfile is based on the official Ubuntu image for the jammy release. 
+# The CONNEXT_VERSION argument is used to specify the version of RTI Connext to install. 
+# The RTI_LICENSE_AGREEMENT_ACCEPTED argument is used to accept the RTI license agreement during installation.
+# The NDDSHOME environment variable is set to the installation directory of RTI Connext.
+#
+# The Dockerfile installs the RTI Connext Debian Package from the official RTI repository. It also installs some build tools and the license file.
+#
+# The CMD instruction specifies the default command to run when the container starts. In this case, it runs the /bin/bash shell.
+#
+# To build the Docker image, run the following command from the root repository folder:
+#   docker build -t connext:medtech_ra -f containers/examples/Dockerfile --build-arg RTI_LICENSE_AGREEMENT_ACCEPTED=accepted --build-arg CONNEXT_VERSION=7.3.0 .
+#
+# To run the Docker container, run the following command:
+#
+#   docker run --rm -it --network host -e DISPLAY -e SDL_AUDIODRIVER=dummy --device=/dev/ttyUSB0 --privileged --hostname rtimedtech -v $XAUTHORITY:/root/.Xauthority -v /tmp/.X11-unix:/tmp/.X11-unix -v $RTI_LICENSE_FILE:/root/rti_license.dat connext:medtech_ra bash
+#
+# Explanation of the options used in the docker run command:
+#   The -it option is used to run the container in interactive mode.
+#   The --rm option is used to remove the container when it exits.
+#   The --network host option is used to share the host's network stack with the container
+#   The -e DISPLAY option is used to set the DISPLAY environment variable in the container to the host's DISPLAY variable.
+#   The -e SDL_AUDIODRIVER=dummy option is used to set the SDL_AUDIODRIVER environment variable to dummy to avoid audio issues.
+#   The --device=/dev/ttyUSB0 option is used to give the container access to the USB device (e.g., joystick or xbox controller).
+#   The --privileged option is used to give the container additional privileges.
+#   The --hostname option is used to set the hostname of the container to rtimedtech.
+#   The -v $XAUTHORITY:/root/.Xauthority option is used to mount the X11 authentication file from the host to the container.
+#   The -v /tmp/.X11-unix:/tmp/.X11-unix option is used to mount the X11 socket from the host to the container.
+#   The -v $RTI_LICENSE_FILE:/root/rti_license.dat option is used to mount the RTI license file from the host to the container.
+#
+# The container will start and run the /bin/bash shell.
+
+
+FROM ubuntu:jammy AS install-stage
+
+ARG CONNEXT_VERSION=7.3.0
+ARG RTI_LICENSE_AGREEMENT_ACCEPTED
+
+ENV DISPLAY=:0
+ENV SHELL=/bin/bash
+ENV TZ=Europe/Madrid
+ENV NDDSHOME=/opt/rti.com/rti_connext_dds-${CONNEXT_VERSION}
+SHELL ["/bin/bash", "-c"]
+
+# Install the required packages
+RUN export DEBIAN_FRONTEND=noninteractive \
+    && apt-get update \
+    && apt-get install -y \
+    ca-certificates \
+    dash \
+    tzdata \
+    git \
+    build-essential \
+    cmake \
+    libgtk-3-dev \
+    libgtksourceviewmm-3.0-dev \
+    python3 \
+    python3-gi \
+    python3-gi-cairo \
+    python3-numpy \
+    python3-matplotlib \
+    python3-pip \
+    python3-pygame \
+    python3-serial \
+    gir1.2-gtk-4.0 \
+    libgtk2.0-0 \
+    libxxf86vm1 \
+    libsm6 \
+    libcanberra-gtk-module \
+    iproute2 \
+    iputils-ping \
+    curl \
+    nano \
+    && apt-get clean \
+    && rm -rf /var/lib/apt/lists
+
+# Install the RTI Connext Python API
+RUN pip install rti.connext
+
+# Install the RTI Connext Debian Package
+RUN curl -sSL -o /usr/share/keyrings/rti-official-archive.gpg \
+    https://packages.rti.com/deb/official/repo.key
+
+RUN printf -- "deb [arch=%s, signed-by=%s] %s %s main\n" \
+    $(dpkg --print-architecture) \
+    /usr/share/keyrings/rti-official-archive.gpg \
+    https://packages.rti.com/deb/official \
+    $(. /etc/os-release && echo ${VERSION_CODENAME}) | tee /etc/apt/sources.list.d/rti-official.list >/dev/null
+
+RUN export DEBIAN_FRONTEND=noninteractive \
+    RTI_LICENSE_AGREEMENT_ACCEPTED=${RTI_LICENSE_AGREEMENT_ACCEPTED} \
+    && apt-get update \
+    && apt-get install -y \
+    rti-connext-dds-${CONNEXT_VERSION} \
+    && apt-get clean \
+    && rm -rf /var/lib/apt/lists
+
+RUN echo "source ${NDDSHOME}/resource/scripts/rtisetenv_*.bash" >> /root/.bashrc
+
+WORKDIR /root
+
+RUN git clone --recurse-submodule https://github.com/rticommunity/rticonnextdds-medtech-reference-architecture.git medtech_ra 
+WORKDIR /root/medtech_ra/modules/01-operating-room
+
+# Copy additional source files
+COPY ./examples/joystick_controller/joystick_controller.py \
+     ./examples/lss_robot/lss_robot_app.py \
+     ./examples/lss_robot/LSS_Library_Python/src/lss.py \
+     ./examples/lss_robot/LSS_Library_Python/src/lss_const.py \
+     ./examples/telemetry_bridge/telemetry_app.py \
+     ./examples/xbox_controller/xbox_controller.py \
+     /root/medtech_ra/modules/01-operating-room/src/
+
+# Copy launch scripts
+COPY ./examples/joystick_controller/launch_arm_joystick.sh \
+     ./examples/lss_robot/launch_robot_app.sh \
+     ./examples/telemetry_bridge/launch_telemetry_app.sh \
+     ./examples/xbox_controller/launch_arm_xbox.sh \
+     /root/medtech_ra/modules/01-operating-room/scripts/
+
+# Create a script to build the sources
+RUN echo "#!/bin/bash" > build_module_01.sh
+RUN echo "source ${NDDSHOME}/resource/scripts/rtisetenv_*.bash" >> build_module_01.sh
+RUN echo "mkdir build && cd build && cmake .. && cmake --build ." >> build_module_01.sh
+RUN chmod +x build_module_01.sh
+
+# Configure licence file
+RUN echo "export RTI_LICENSE_FILE=/root/rti_license.dat" >> /root/.bashrc
+RUN rm ${NDDSHOME}/rti_license.dat
+RUN ln -s /root/rti_licence.dat ${NDDSHOME}/rti_license.dat
+
+FROM scratch AS final-stage
+
+WORKDIR /root
+
+COPY --from=install-stage / /
+
+WORKDIR /root/medtech_ra/modules/01-operating-room
+RUN ./build_module_01.sh
+
+WORKDIR /root
+CMD ["/bin/bash"]