Merge pull request #40 from husarion/ros2-combined-microros

MicroROS Agent combined bringup

.github/workflows/ros-docker-image.yaml

@@ -43,15 +43,15 @@ jobs:
                       repo_name: ''
                       platforms: linux/amd64, linux/arm64
                       ros_distro: humble
-                    - dockerfile: Dockerfile.simulation
+                    - dockerfile: Dockerfile.gazebo
                       repo_name: rosbot-gazebo
                       platforms: linux/amd64
                       ros_distro: humble
                     - dockerfile: Dockerfile.hardware
                       repo_name: ''
                       platforms: linux/amd64, linux/arm64
                       ros_distro: iron
-                    # - dockerfile: Dockerfile.simulation
+                    # - dockerfile: Dockerfile.gazebo
                     #   repo_name: rosbot-gazebo
                     #   platforms: linux/amd64
                     #   ros_distro: iron

.github/workflows/vulcanexus-docker-image.yaml

@@ -43,7 +43,7 @@ jobs:
                       repo_name: ''
                       platforms: linux/amd64, linux/arm64
                       ros_distro: humble
-                    - dockerfile: Dockerfile.simulation
+                    - dockerfile: Dockerfile.gazebo
                       repo_name: rosbot-gazebo
                       platforms: linux/amd64
                       ros_distro: humble

Dockerfile.simulation → Dockerfile.gazebo

@@ -1,7 +1,8 @@
 ARG ROS_DISTRO=humble
 ARG PREFIX=
 
-FROM husarnet/ros:${PREFIX}${ROS_DISTRO}-ros-core
+## =========================== ROS builder ===============================
+FROM husarnet/ros:${PREFIX}${ROS_DISTRO}-ros-base AS ros_builder
 
 ARG PREFIX
 
@@ -16,24 +17,24 @@ WORKDIR /ros2_ws
 COPY ./healthcheck.cpp /
 
 # install everything needed
-RUN MYDISTRO=${PREFIX:-ros}; MYDISTRO=${MYDISTRO//-/} && \
-    apt-get update --fix-missing && apt-get install -y \
+RUN apt-get update --fix-missing && apt-get install -y \
         python3-pip \
         ros-dev-tools && \
     apt-get upgrade -y && \
     # Clone source
-    source "/opt/$MYDISTRO/$ROS_DISTRO/setup.bash" && \
-    git clone https://github.com/husarion/rosbot_ros.git /ros2_ws/src && \
+    git clone --depth 1 https://github.com/husarion/rosbot_ros.git src && \
     vcs import src < src/rosbot/rosbot_hardware.repos && \
     vcs import src < src/rosbot/rosbot_simulation.repos && \
     # Install dependencies
     rm -rf /etc/ros/rosdep/sources.list.d/20-default.list && \
     rosdep init && \
     rosdep update --rosdistro $ROS_DISTRO && \
-    rosdep install -i --from-path src --rosdistro $ROS_DISTRO -y && \
-    # Create healthcheck package
-    cd src/ && \
+    rosdep install --from-paths src --ignore-src -y
+
+RUN cd src/ && \
+    MYDISTRO=${PREFIX:-ros}; MYDISTRO=${MYDISTRO//-/} && \
 	source /opt/$MYDISTRO/$ROS_DISTRO/setup.bash && \
+    # Create healthcheck package
     ros2 pkg create healthcheck_pkg --build-type ament_cmake --dependencies rclcpp nav_msgs && \
     sed -i '/find_package(nav_msgs REQUIRED)/a \
             add_executable(healthcheck_node src/healthcheck.cpp)\n \
@@ -44,27 +45,40 @@ RUN MYDISTRO=${PREFIX:-ros}; MYDISTRO=${MYDISTRO//-/} && \
     cd .. && \
     # Build
     colcon build && \
-    # make the image smaller
-    export SUDO_FORCE_REMOVE=yes && \
-    apt-get remove -y \
+    rm -rf build log
+
+## =========================== Final Stage ===============================
+FROM husarnet/ros:${PREFIX}${ROS_DISTRO}-ros-core
+
+ARG ROS_DISTRO
+ARG PREFIX
+
+# select bash as default shell
+SHELL ["/bin/bash", "-c"]
+
+ENV IGNITION_VERSION fortress
+ENV HUSARION_ROS_BUILD simulation
+
+WORKDIR /ros2_ws
+
+COPY --from=ros_builder /ros2_ws /ros2_ws
+
+RUN apt-get update && apt-get install -y \
+        python3-rosdep \
         python3-pip \
-        ros-dev-tools && \
-    apt-get autoremove -y && \
-    apt-get clean && \
-    rm -rf /var/lib/apt/lists/*
-
-RUN echo $(cat /ros2_ws/src/rosbot_gazebo/package.xml | grep '<version>' | sed -r 's/.*<version>([0-9]+.[0-9]+.[0-9]+)<\/version>/\1/g') > /version.txt
-
-RUN if [ -f "/ros_entrypoint.sh" ]; then \
-        sed -i '/test -f "\/ros2_ws\/install\/setup.bash" && source "\/ros2_ws\/install\/setup.bash"/a \
-        ros2 run healthcheck_pkg healthcheck_node &' \
-        /ros_entrypoint.sh; \
-    else \
-        sed -i '/test -f "\/ros2_ws\/install\/setup.bash" && source "\/ros2_ws\/install\/setup.bash"/a \
-        ros2 run healthcheck_pkg healthcheck_node &' \
-        /vulcanexus_entrypoint.sh; \
-    fi
-
-COPY ./healthcheck.sh /
+        ros-$ROS_DISTRO-teleop-twist-keyboard && \
+    rm -rf /etc/ros/rosdep/sources.list.d/20-default.list && \
+	rosdep init && \
+    rosdep update --rosdistro $ROS_DISTRO && \
+    rosdep install -i --from-path src --rosdistro $ROS_DISTRO -y && \
+	apt-get clean && \
+    echo $(cat /ros2_ws/src/rosbot_gazebo/package.xml | grep '<version>' | sed -r 's/.*<version>([0-9]+.[0-9]+.[0-9]+)<\/version>/\1/g') > /version.txt && \
+    rm -rf src && \
+	rm -rf /var/lib/apt/lists/*
+
+COPY ros_entrypoint.sh /
+COPY vulcanexus_entrypoint.sh /
+COPY healthcheck.sh /
+
 HEALTHCHECK --interval=7s --timeout=2s  --start-period=5s --retries=5 \
-    CMD ["/healthcheck.sh"]
+    CMD ["/healthcheck.sh"]

Dockerfile.hardware

@@ -1,9 +1,9 @@
 ARG ROS_DISTRO=humble
 ARG PREFIX=
-ARG ROSBOT_FW_RELEASE=0.7.0
+ARG ROSBOT_FW_RELEASE=0.8.0
 ## ============================ STM32FLASH =================================
 # stm32flash needs an older version of glibc (2.28), which is why ubuntu 18.04 was used
-FROM ubuntu:18.04 AS stm32flash_builder_and_downloader
+FROM ubuntu:18.04 AS stm32flash_builder
 
 ARG ROS_DISTRO
 ARG ROSBOT_FW_RELEASE
@@ -26,8 +26,6 @@ RUN echo ros_distro=$ROS_DISTRO firmware_release=$ROSBOT_FW_RELEASE
 RUN curl -L https://github.com/husarion/rosbot_ros2_firmware/releases/download/$ROSBOT_FW_RELEASE/firmware.bin -o /firmware.bin && \
     curl -L https://github.com/husarion/rosbot_ros2_firmware/releases/download/$ROSBOT_FW_RELEASE/firmware.hex -o /firmware.hex
 
-RUN git clone https://github.com/husarion/rosbot_ros.git /ros2_ws/src
-
 ## =========================== Firmware CPU ID ================================
 
 FROM ubuntu:20.04 AS cpu_id_builder
@@ -50,48 +48,41 @@ RUN pip3 install -U platformio && \
     pio run && \
     chmod -x .pio/build/olimex_e407/firmware.bin
 
-## =========================== ROS image ===============================
-FROM husarnet/ros:${PREFIX}${ROS_DISTRO}-ros-core
+
+## =========================== ROS builder ===============================
+FROM husarnet/ros:${PREFIX}${ROS_DISTRO}-ros-base AS ros_builder
 
 ARG ROS_DISTRO
 ARG PREFIX
 
 SHELL ["/bin/bash", "-c"]
 
-RUN mkdir -p /ros2_ws/src && cd /ros2_ws/src
 WORKDIR /ros2_ws
+RUN mkdir src
 
-# copy firmware built in previous stage and downloaded repository
-COPY --from=stm32flash_builder_and_downloader /firmware.bin /root/firmware.bin
-COPY --from=stm32flash_builder_and_downloader /firmware.hex /root/firmware.hex
-COPY --from=stm32flash_builder_and_downloader /stm32flash/stm32flash /usr/bin/stm32flash
-COPY --from=stm32flash_builder_and_downloader /ros2_ws /ros2_ws
-COPY --from=cpu_id_builder /read_cpu_id/.pio/build/olimex_e407/firmware.bin /firmware_read_cpu_id.bin
 COPY ./healthcheck.cpp /
 
 RUN apt-get update && apt-get install -y \
 		git \
 		python3-pip \
-        python3-colcon-common-extensions \
-        python3-rosdep \
-        python3-vcstool \
 		python3-sh \
-		python3-periphery \
-		build-essential \
-		ros-$ROS_DISTRO-teleop-twist-keyboard && \
+		python3-periphery && \
 	pip3 install pyserial && \
-	MYDISTRO=${PREFIX:-ros}; MYDISTRO=${MYDISTRO//-/} && \
+    git clone --depth 1 https://github.com/husarion/rosbot_ros.git src -b humble && \
 	vcs import src < src/rosbot/rosbot_hardware.repos && \
 	# it is necessary to remove simulation - otherwise rosdep tries to install dependencies
     rm -r src/rosbot_gazebo && \
     # without this line (using vulcanexus base image) rosdep init throws error: "ERROR: default sources list file already exists:"
     rm -rf /etc/ros/rosdep/sources.list.d/20-default.list && \
 	rosdep init && \
     rosdep update --rosdistro $ROS_DISTRO && \
-    rosdep install -i --from-path src --rosdistro $ROS_DISTRO -y && \
-	# Create health check package
-    cd src/ && \
+    rosdep install --from-paths src --ignore-src -y
+
+
+RUN cd src/ && \
+	MYDISTRO=${PREFIX:-ros}; MYDISTRO=${MYDISTRO//-/} && \
 	source /opt/$MYDISTRO/$ROS_DISTRO/setup.bash && \
+    # Create health check package
     ros2 pkg create healthcheck_pkg --build-type ament_cmake --dependencies rclcpp nav_msgs && \
     sed -i '/find_package(nav_msgs REQUIRED)/a \
             add_executable(healthcheck_node src/healthcheck.cpp)\n \
@@ -101,34 +92,66 @@ RUN apt-get update && apt-get install -y \
     mv /healthcheck.cpp /ros2_ws/src/healthcheck_pkg/src/ && \
     cd .. && \
     # Build
-	colcon build && \
-	# clear ubuntu packages
+	colcon build --packages-skip \
+        ackermann_steering_controller \
+        admittance_controller \
+        bicycle_steering_controller \
+        tricycle_steering_controller \
+        effort_controllers \
+        force_torque_sensor_broadcaster \
+        forward_command_controller \
+        gripper_controllers \
+        joint_trajectory_controller \
+        position_controllers \
+        range_sensor_broadcaster \
+        ros2_controllers \
+        ros2_controllers_test_nodes \
+        rqt_joint_trajectory_controller \
+        tricycle_controller \
+        tricycle_steering_controller \
+        velocity_controllers && \
+    rm -rf build log
+
+## =========================== Final Stage ===============================
+FROM husarnet/ros:${PREFIX}${ROS_DISTRO}-ros-core 
+
+ARG ROS_DISTRO
+ARG PREFIX
+
+SHELL ["/bin/bash", "-c"]
+
+WORKDIR /ros2_ws
+
+COPY --from=ros_builder /ros2_ws /ros2_ws
+
+RUN apt-get update && apt-get install -y \
+        python3-rosdep \
+        ros-$ROS_DISTRO-teleop-twist-keyboard && \
+    rm -rf /etc/ros/rosdep/sources.list.d/20-default.list && \
+	rosdep init && \
+    rosdep update --rosdistro $ROS_DISTRO && \
+    rosdep install -i --from-path src --rosdistro $ROS_DISTRO -y && \
 	apt-get clean && \
-	apt-get remove -y \
-		git \
-		python3-colcon-common-extensions \
-		python3-rosdep \
-		python3-vcstool \
-		python3-pip \
-		build-essential && \
+    echo $(cat /ros2_ws/src/rosbot/package.xml | grep '<version>' | sed -r 's/.*<version>([0-9]+.[0-9]+.[0-9]+)<\/version>/\1/g') >> /version.txt && \
+    rm -rf src && \
 	rm -rf /var/lib/apt/lists/*
 
-RUN echo $(cat /ros2_ws/src/rosbot/package.xml | grep '<version>' | sed -r 's/.*<version>([0-9]+.[0-9]+.[0-9]+)<\/version>/\1/g') >> /version.txt
+# copy firmware built in previous stage and downloaded repository
+COPY --from=stm32flash_builder /firmware.bin /root/firmware.bin
+COPY --from=stm32flash_builder /firmware.hex /root/firmware.hex
+COPY --from=stm32flash_builder /stm32flash/stm32flash /usr/bin/stm32flash
 
-RUN if [ -f "/ros_entrypoint.sh" ]; then \
-        sed -i '/test -f "\/ros2_ws\/install\/setup.bash" && source "\/ros2_ws\/install\/setup.bash"/a \
-        ros2 run healthcheck_pkg healthcheck_node &' \
-        /ros_entrypoint.sh; \
-    else \
-        sed -i '/test -f "\/ros2_ws\/install\/setup.bash" && source "\/ros2_ws\/install\/setup.bash"/a \
-        ros2 run healthcheck_pkg healthcheck_node &' \
-        /vulcanexus_entrypoint.sh; \
-    fi
+COPY --from=cpu_id_builder /read_cpu_id/.pio/build/olimex_e407/firmware.bin /firmware_read_cpu_id.bin
+
+COPY ros_entrypoint.sh /
+COPY vulcanexus_entrypoint.sh /
+COPY healthcheck.sh /
 
-COPY ./healthcheck.sh /
 HEALTHCHECK --interval=7s --timeout=2s  --start-period=5s --retries=5 \
     CMD ["/healthcheck.sh"]
 
+COPY microros_localhost_only.xml /
+
 # copy scripts
 COPY flash-firmware.py /
 COPY flash-firmware.py /usr/bin/

demo/compose.simulation.yaml → demo/compose.gazebo.yaml

@@ -1,8 +1,8 @@
-x-net-config:
-  &net-config
-  network_mode: host
-  ipc: host
-  env_file: net.env
+# Quick Start
+# 
+# 1. run `xhost +local:docker && docker compose -f compose.gazebo.yaml up` on the laptop
+# 2. open a shell inside a docker container `docker compose -f compose.gazebo.yaml exec -it rosbot bash`
+# 2. run `ros2 run teleop_twist_keyboard teleop_twist_keyboard` inside the container
 
 x-gpu-config:
   &gpu-config
@@ -20,9 +20,11 @@ x-cpu-config:
 
 services:
   rosbot:
-    image: husarion/rosbot-gazebo:humble
-    <<: [ *net-config, *gpu-config]
+    # image: husarion/rosbot-gazebo:humble
+    build:
+      context: ../
+      dockerfile: Dockerfile.gazebo
+    <<: [ *cpu-config]
     volumes:
       - /tmp/.X11-unix:/tmp/.X11-unix:rw
-      - /dev:/dev
     command: ros2 launch rosbot_gazebo simulation.launch.py mecanum:=${MECANUM:-False}

demo/compose.yaml

@@ -1,25 +1,20 @@
-x-net-config:
-  &net-config
-  network_mode: host
-  ipc: host
-  env_file: net.env
+# Quick Start
+# 
+# 1. run `docker compose up` on the robot
+# 2. run `ROS_DOMAIN_ID=10 ros2 run teleop_twist_keyboard teleop_twist_keyboard` in the robot termianl
 
 services:
 
   rosbot:
-    image: husarion/rosbot:humble
-    <<: *net-config
+    image: husarion/rosbot:humble-0.10.3-20231128
     environment:
-      - ROS_DOMAIN_ID
+      - ROS_DOMAIN_ID=10
     command: ros2 launch rosbot_bringup bringup.launch.py mecanum:=${MECANUM:-False}
 
-
-  micro-xrce-agent:
-    image: husarion/micro-xrce-agent:v2.4.1
-    <<: *net-config
+  micro-ros-agent:
+    image: husarion/micro-ros-agent:humble-3.1.3-20231122
     devices:
       - ${SERIAL_PORT:?err}
     environment:
-      - XRCE_DOMAIN_ID_OVERRIDE=${ROS_DOMAIN_ID}  # ***
-      - SERIAL_PORT
-    command: MicroXRCEAgent serial -D $SERIAL_PORT serial -b 576000 # -v6
+      - ROS_DOMAIN_ID=10
+    command: ros2 run micro_ros_agent micro_ros_agent serial -D $SERIAL_PORT serial -b 576000 # -v6