Move space_robots from docker repo (space-ros/docker#256)

space_robots/Dockerfile

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

space_robots/README.md

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+# Space Robots Demo Docker Image
+
+This folder contains the Dockerfile and scripts required to build the Curiosity Mars rover and Canadarm demos into an image called `space_robots_demo`.
+
+The Dockerfile installs all of the prerequisite system dependencies along with the demos source code, then builds the demo code.
+
+The image uses [osrf/space-ros-moveit2:latest](https://hub.docker.com/r/osrf/space-ros-moveit2/tags) as its base image.
+
+**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.
+
+## Building the Demo Image
+
+Use the build script provided to build the docker image.
+
+```
+./build.sh
+```
+
+## Running the image container
+
+Run the following to allow GUI passthrough:
+
+```bash
+xhost +local:docker
+```
+
+Then run:
+
+```bash
+./run.sh
+```
+
+## Running the Demos
+
+### Curiosity Mars rover demo
+
+1. Launch the demo in Gazebo:
+
+```bash
+ros2 launch curiosity_gazebo curiosity_gazebo.launch.py
+```
+
+On the top left corner, click on the refresh button to show camera feed.
+
+2. Launch the ROS 2 control nodes
+Open a new terminal and attach to the currently running container:
+
+```bash
+docker exec -it openrobotics_space_robots_demo bash
+```
+Within the container, launch the control nodes:
+```
+ros2 launch curiosity_rover_demo mars_rover.launch.py
+```
+
+3. Send commands to the rover
+Open a new terminal and attach to the currently running container:
+
+```bash
+docker exec -it openrobotics_space_robots_demo bash
+```
+Within the container, you can now move the rover using the commands in [demos/curiosity_rover/README.md](../curiosity_rover/README.md)
+
+#### Canadarm demo
+Run the demo container as shown above:
+```bash
+./run.sh
+```
+
+1. Launch the canadarm demo in Gazebo
+```bash
+ros2 launch canadarm_gazebo canadarm.launch.py
+```
+2. Launch the ROS 2 control node
+Open a new terminal and attach to the currently running container:
+
+```bash
+docker exec -it openrobotics_space_robots_demo bash
+```
+Within the container, launch the control node:
+
+```bash
+ros2 launch canadarm_demo canadarm.launch.py
+```
+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
+
+ORG=openrobotics
+IMAGE=space_robots_demo
+TAG=latest
+
+VCS_REF=""
+VERSION=preview
+
+# Exit script with failure if build fails
+set -eo pipefail
+
+echo ""
+echo "##### Building Space ROS Demo Docker Image #####"
+echo ""
+
+docker build -t $ORG/$IMAGE:$TAG \
+    --build-arg VCS_REF="$VCS_REF" \
+    --build-arg VERSION="$VERSION" .
+
+echo ""
+echo "##### Done! #####"
+

space_robots/demo-pkgs.txt

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+gz_ros2_control
+qt_gui_core
+actuator_msgs
+ros_gz
+vision_msgs
+gps_msgs

space_robots/entrypoint.sh

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

space_robots/excluded-pkgs.txt

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+fastrtps
+fastcdr
+generate_parameter_library
+rmw_fastrtps_cpp
+rmw_fastrtps_dynamic_cpp
+rmw_fastrtps_shared_cpp
+rmw_connextdds
+rosidl_typesupport_fastrtps_c
+rosidl_typesupport_fastrtps_cpp
+fastrtps_cmake_module

space_robots/run.sh

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