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Merge pull request #116 from space-ros/space_robots
Move space_robots from docker repo (space-ros/docker#256)
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‎space_robots/Dockerfile‎

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# Copyright 2021 Open Source Robotics Foundation, Inc.
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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#
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# A Docker configuration script to build the Space ROS image.
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#
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# The script provides the following build arguments:
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#
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# VCS_REF - The git revision of the Space ROS source code (no default value).
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# VERSION - The version of Space ROS (default: "preview")
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FROM osrf/space-ros-moveit2:main
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# Define arguments used in the metadata definition
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ARG VCS_REF
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ARG VERSION="preview"
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ARG USERNAME="spaceros-user"
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# Specify the docker image metadata
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LABEL org.label-schema.schema-version="1.0"
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LABEL org.label-schema.name="Curiosity Rover"
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LABEL org.label-schema.description="Curiosity rover demo on the Space ROS platform"
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LABEL org.label-schema.vendor="Open Robotics"
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LABEL org.label-schema.version=${VERSION}
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LABEL org.label-schema.url="https://github.com/space-ros"
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LABEL org.label-schema.vcs-url="https://github.com/space-ros/docker"
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LABEL org.label-schema.vcs-ref=${VCS_REF}
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# Define a few key variables
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ENV DEMO_DIR=${HOME}/demos_ws
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WORKDIR ${DEMO_DIR}
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# Disable prompting during package installation
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ARG DEBIAN_FRONTEND=noninteractive
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# Update the ROS package keys
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ADD --chmod=644 https://raw.githubusercontent.com/ros/rosdistro/master/ros.key /usr/share/keyrings/ros-archive-keyring.gpg
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# Install base image dependencies
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RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
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--mount=type=cache,target=/var/lib/apt,sharing=locked \
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sudo apt-get update -y && \
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sudo -E apt-get install -y \
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git-lfs \
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python3-rosinstall-generator
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RUN git clone https://github.com/space-ros/demos.git ${DEMO_DIR}/src/demos
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RUN git clone https://github.com/space-ros/simulation.git ${DEMO_DIR}/src/simulation
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# Get a list of all installed ros2 packges
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RUN source "${SPACEROS_DIR}/setup.bash" && \
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source "${MOVEIT2_DIR}/install/setup.bash" && \
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ros2 pkg list > /tmp/installed-pkgs.txt
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# Generate repos file for demo dependencies, excluding previously installed packages
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COPY --chown=${USERNAME}:${USERNAME} demo-pkgs.txt /tmp/
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COPY --chown=${USERNAME}:${USERNAME} excluded-pkgs.txt /tmp/
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RUN rosinstall_generator \
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--rosdistro ${ROS_DISTRO} \
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--deps \
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--exclude $(cat /tmp/excluded-pkgs.txt /tmp/installed-pkgs.txt) -- \
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$(cat /tmp/demo-pkgs.txt) \
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> demo_generated_pkgs.repos
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RUN vcs import --shallow src < demo_generated_pkgs.repos
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RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
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--mount=type=cache,target=/var/lib/apt,sharing=locked \
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sudo apt-get update -y && \
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source "${SPACEROS_DIR}/setup.bash" && \
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source "${MOVEIT2_DIR}/install/setup.bash" && \
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rosdep install --from-paths src --ignore-src -r -y --rosdistro ${ROS_DISTRO}
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# Build the demo
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RUN source ${SPACEROS_DIR}/setup.bash && \
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source ${MOVEIT2_DIR}/install/setup.bash && \
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colcon build \
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--cmake-args \
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-DCMAKE_BUILD_TYPE=Release
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# Setup the entrypoint
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COPY ./entrypoint.sh /
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ENTRYPOINT ["/entrypoint.sh"]
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CMD ["bash"]

‎space_robots/README.md‎

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# Space Robots Demo Docker Image
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This folder contains the Dockerfile and scripts required to build the Curiosity Mars rover and Canadarm demos into an image called `space_robots_demo`.
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The Dockerfile installs all of the prerequisite system dependencies along with the demos source code, then builds the demo code.
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The image uses [osrf/space-ros-moveit2:latest](https://hub.docker.com/r/osrf/space-ros-moveit2/tags) as its base image.
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**Note:** This demo was moved from the [space-ros/docker](https:/github.com/space-ros/docker) repository. For history prior to the move, search that repo.
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## Building the Demo Image
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Use the build script provided to build the docker image.
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```
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./build.sh
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```
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## Running the image container
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Run the following to allow GUI passthrough:
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```bash
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xhost +local:docker
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```
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Then run:
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```bash
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./run.sh
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```
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## Running the Demos
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### Curiosity Mars rover demo
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1. Launch the demo in Gazebo:
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```bash
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ros2 launch curiosity_gazebo curiosity_gazebo.launch.py
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```
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On the top left corner, click on the refresh button to show camera feed.
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2. Launch the ROS 2 control nodes
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Open a new terminal and attach to the currently running container:
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```bash
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docker exec -it openrobotics_space_robots_demo bash
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```
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Within the container, launch the control nodes:
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```
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ros2 launch curiosity_rover_demo mars_rover.launch.py
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```
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3. Send commands to the rover
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Open a new terminal and attach to the currently running container:
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```bash
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docker exec -it openrobotics_space_robots_demo bash
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```
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Within the container, you can now move the rover using the commands in [demos/curiosity_rover/README.md](../curiosity_rover/README.md)
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#### Canadarm demo
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Run the demo container as shown above:
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```bash
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./run.sh
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```
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1. Launch the canadarm demo in Gazebo
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```bash
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ros2 launch canadarm_gazebo canadarm.launch.py
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```
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2. Launch the ROS 2 control node
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Open a new terminal and attach to the currently running container:
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```bash
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docker exec -it openrobotics_space_robots_demo bash
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```
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Within the container, launch the control node:
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```bash
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ros2 launch canadarm_demo canadarm.launch.py
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```
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Within the container, you can now move the arm using the commands in [demos/canadarm2/README.md](../canadarm2/README.md)

‎space_robots/build.sh‎

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#!/usr/bin/env bash
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ORG=openrobotics
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IMAGE=space_robots_demo
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TAG=latest
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VCS_REF=""
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VERSION=preview
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# Exit script with failure if build fails
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set -eo pipefail
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echo ""
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echo "##### Building Space ROS Demo Docker Image #####"
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echo ""
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docker build -t $ORG/$IMAGE:$TAG \
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--build-arg VCS_REF="$VCS_REF" \
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--build-arg VERSION="$VERSION" .
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echo ""
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echo "##### Done! #####"
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‎space_robots/demo-pkgs.txt‎

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gz_ros2_control
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qt_gui_core
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actuator_msgs
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ros_gz
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vision_msgs
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gps_msgs

‎space_robots/entrypoint.sh‎

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#!/bin/bash
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set -e
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# Setup the Demo environment
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source "${DEMO_DIR}/install/setup.bash"
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exec "$@"

‎space_robots/excluded-pkgs.txt‎

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fastrtps
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fastcdr
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generate_parameter_library
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rmw_fastrtps_cpp
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rmw_fastrtps_dynamic_cpp
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rmw_fastrtps_shared_cpp
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rmw_connextdds
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rosidl_typesupport_fastrtps_c
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rosidl_typesupport_fastrtps_cpp
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fastrtps_cmake_module

‎space_robots/run.sh‎

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#!/usr/bin/env bash
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# Runs a docker container with the image created by build.bash
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# Requires:
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# docker
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# an X server
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IMG_NAME=openrobotics/space_robots_demo
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IMG_TAG=latest
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# Replace `/` with `_` to comply with docker container naming
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CONTAINER_NAME="$(tr '/' '_' <<< "$IMG_NAME")"
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# Start the container
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docker run \
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--rm \
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-it \
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--name "${CONTAINER_NAME}" \
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--network host \
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-e DISPLAY \
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-e TERM \
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-e QT_X11_NO_MITSHM=1 \
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"${IMG_NAME}:${IMG_TAG}"

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