modify for f1tenth sim

docker/sim/sim.Dockerfile

@@ -0,0 +1,57 @@
+# MIT License
+
+# Copyright (c) 2020 Hongrui Zheng
+
+# Permission is hereby granted, free of charge, to any person obtaining a copy
+# of this software and associated documentation files (the "Software"), to deal
+# in the Software without restriction, including without limitation the rights
+# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+# copies of the Software, and to permit persons to whom the Software is
+# furnished to do so, subject to the following conditions:
+
+# The above copyright notice and this permission notice shall be included in all
+# copies or substantial portions of the Software.
+
+# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+# SOFTWARE.
+
+FROM ros:foxy
+
+SHELL ["/bin/bash", "-c"]
+
+# dependencies
+RUN apt-get update --fix-missing && \
+    apt-get install -y git \
+                       nano \
+                       vim \
+                       python3-pip \
+                       libeigen3-dev \
+                       tmux \
+                       ros-foxy-rviz2
+RUN apt-get -y dist-upgrade
+RUN pip3 install transforms3d
+
+# f1tenth gym
+RUN git clone https://github.com/f1tenth/f1tenth_gym
+RUN cd f1tenth_gym && \
+    pip3 install -e .
+
+# Clone source code
+WORKDIR /sim_ws/src
+RUN git clone https://github.com/f1tenth/f1tenth_gym_ros.git
+WORKDIR /sim_ws/src/f1tenth_gym_ros
+RUN source /opt/ros/foxy/setup.bash && \
+    cd /sim_ws/ && \
+    apt-get update --fix-missing && \
+    rosdep install -i --from-path src --rosdistro foxy -y && \
+    colcon build
+
+WORKDIR /sim_ws
+# Entrypoint will run before any CMD on launch. Sources ~/opt/<ROS_DISTRO>/setup.bash and ~/ament_ws/install/setup.bash
+COPY docker/sim/sim_ros_entrypoint.sh /sim_ws/sim_ros_entrypoint.sh
+ENTRYPOINT ["./sim_ros_entrypoint.sh"]

docker/sim/sim_ros_entrypoint.sh

@@ -0,0 +1,7 @@
+#!/bin/bash
+set -e
+
+# setup ROS2 environment
+source /opt/ros/foxy/setup.bash
+source install/local_setup.bash
+exec "$@"

modules/docker-compose.sim.yaml

@@ -0,0 +1,18 @@
+services:
+  sim:
+    build:
+      context: ..
+      dockerfile: docker/sim/sim.Dockerfile
+      # cache_from:
+      #   - "${GAZEBO_SERVER_IMAGE:?}:${TAG}"
+      #   - "${GAZEBO_SERVER_IMAGE:?}:main"
+      # args:
+      #   BASE_IMAGE: ${BASE_IMAGE_OVERRIDE-}
+    # image: "${GAZEBO_SERVER_IMAGE:?}:${TAG}"
+    image: f1tenth:latest
+    # ports:
+    #   - "${GAZEBO_PORT:?}:9002"
+    profiles: [deploy, develop]
+    command: /bin/bash -c "ros2 launch f1tenth_gym_ros gym_bridge_launch.py"
+    # tty: true
+    # command: /bin/bash