Merge pull request #42 from husarion/ros2-robot-utils

Ros2 robot utils

Dockerfile.gazebo

@@ -1,6 +1,36 @@
 ARG ROS_DISTRO=humble
 ARG PREFIX=
 
+## =========================== Healthcheck builder ===============================
+
+FROM husarnet/ros:${PREFIX}${ROS_DISTRO}-ros-base AS healthcheck_builder
+
+ARG ROS_DISTRO
+ARG PREFIX
+
+SHELL ["/bin/bash", "-c"]
+
+WORKDIR /ros2_ws
+
+RUN mkdir src && \
+    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 \
+        ament_target_dependencies(healthcheck_node rclcpp nav_msgs)\n \
+        install(TARGETS healthcheck_node DESTINATION lib/${PROJECT_NAME})' \
+        /ros2_ws/src/healthcheck_pkg/CMakeLists.txt
+
+COPY healthcheck.cpp src/healthcheck_pkg/src/    
+
+RUN MYDISTRO=${PREFIX:-ros}; MYDISTRO=${MYDISTRO//-/} && \
+    source /opt/$MYDISTRO/$ROS_DISTRO/setup.bash && \
+    colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release && \
+    rm -rf build log src
+
 ## =========================== ROS builder ===============================
 FROM husarnet/ros:${PREFIX}${ROS_DISTRO}-ros-base AS ros_builder
 
@@ -22,28 +52,20 @@ RUN apt-get update --fix-missing && apt-get install -y \
         ros-dev-tools && \
     apt-get upgrade -y && \
     # Clone source
-    git clone --depth 1 https://github.com/husarion/rosbot_ros.git src && \
+    git clone --depth 1 -b humble https://github.com/husarion/rosbot_ros.git src && \
     vcs import src < src/rosbot/rosbot_hardware.repos && \
     vcs import src < src/rosbot/rosbot_simulation.repos && \
+    cp -r src/ros2_controllers/diff_drive_controller src/ && \
+    cp -r src/ros2_controllers/imu_sensor_broadcaster src/ && \
+    rm -rf src/ros2_controllers && \
     # Install dependencies
     rm -rf /etc/ros/rosdep/sources.list.d/20-default.list && \
     rosdep init && \
     rosdep update --rosdistro $ROS_DISTRO && \
     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 \
-            ament_target_dependencies(healthcheck_node rclcpp nav_msgs)\n \
-            install(TARGETS healthcheck_node DESTINATION lib/${PROJECT_NAME})' \
-            /ros2_ws/src/healthcheck_pkg/CMakeLists.txt && \
-    mv /healthcheck.cpp /ros2_ws/src/healthcheck_pkg/src/ && \
-    cd .. && \
-    # Build
+RUN MYDISTRO=${PREFIX:-ros}; MYDISTRO=${MYDISTRO//-/} && \
+    source /opt/$MYDISTRO/$ROS_DISTRO/setup.bash && \
     colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release && \
     rm -rf build log
 
@@ -62,6 +84,7 @@ ENV HUSARION_ROS_BUILD simulation
 WORKDIR /ros2_ws
 
 COPY --from=ros_builder /ros2_ws /ros2_ws
+COPY --from=healthcheck_builder /ros2_ws /ros2_ws_healthcheck
 
 RUN apt-get update && apt-get install -y \
         python3-rosdep \
@@ -74,6 +97,9 @@ RUN apt-get update && apt-get install -y \
     # Save version
     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 && \
     # Size optimalization
+    apt-get remove -y \
+        python3-rosdep \
+        python3-pip && \
     apt-get clean && \
     rm -rf src && \
     rm -rf /var/lib/apt/lists/*
@@ -83,4 +109,4 @@ COPY vulcanexus_entrypoint.sh /
 COPY healthcheck.sh /
 
 HEALTHCHECK --interval=5s --timeout=2s  --start-period=5s --retries=4 \
-    CMD ["/healthcheck.sh"]
+    CMD ["/healthcheck.sh"]

Dockerfile.hardware

@@ -1,36 +1,10 @@
 ARG ROS_DISTRO=humble
 ARG PREFIX=
-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
-
-ARG ROS_DISTRO
-ARG ROSBOT_FW_RELEASE
-ARG TARGETARCH
-
-SHELL ["/bin/bash", "-c"]
-
-# official releases are only for intel archs, so we need to build stm32flash from sources
-RUN apt-get update && apt-get install -y \
-        curl
-
-RUN echo ros_distro=$ROS_DISTRO firmware_release=$ROSBOT_FW_RELEASE
-
-# Copy firmware binaries
-RUN curl -L https://github.com/husarion/stm32flash/releases/download/2023-12-05/stm32flash-$TARGETARCH -o /stm32flash && \
-    chmod +x /stm32flash
-
-# Copy firmware binaries
-RUN curl -L https://github.com/husarion/rosbot_ros2_firmware/releases/download/$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
 
 ## =========================== Firmware CPU ID ================================
 
 FROM ubuntu:20.04 AS cpu_id_builder
 
-ARG ROSBOT_FW_RELEASE
-
 SHELL ["/bin/bash", "-c"]
 
 # official releases are only for intel archs, so we need to build stm32flash from sources
@@ -91,13 +65,9 @@ RUN mkdir src
 COPY ./healthcheck.cpp /
 
 RUN apt-get update && apt-get install -y \
-        git \
-        python3-pip \
-        python3-sh \
-        python3-periphery && \
-    pip3 install pyserial
+        python3-pip
 
-RUN git clone --depth 1 https://github.com/husarion/rosbot_ros.git src -b humble && \
+RUN git clone --depth 1 -b humble https://github.com/husarion/rosbot_ros.git src && \
     vcs import src < src/rosbot/rosbot_hardware.repos && \
     cp -r src/ros2_controllers/diff_drive_controller src/ && \
     cp -r src/ros2_controllers/imu_sensor_broadcaster src/ && \
@@ -127,41 +97,40 @@ WORKDIR /ros2_ws
 COPY --from=ros_builder /ros2_ws /ros2_ws
 COPY --from=healthcheck_builder /ros2_ws /ros2_ws_healthcheck
 
+# for backward compatibility
+RUN cp src/rosbot_utils/rosbot_utils/flash-firmware.py /usr/bin/ && \
+    cp src/rosbot_utils/rosbot_utils/flash-firmware.py / && \
+    cp install/rosbot_utils/share/rosbot_utils/firmware/firmware-*.bin /root/firmware.bin
+
 RUN apt-get update && apt-get install -y \
         python3-pip \
         python3-rosdep \
-        usbutils \
+        stm32flash \
         ros-$ROS_DISTRO-teleop-twist-keyboard && \
-    pip3 install pyftdi sh && \
+    pip3 install pyftdi && \
     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 && \
     # Save version
     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 && \
     # Size optimalization
+    apt-get remove -y \
+        python3-rosdep \
+        python3-pip && \
     apt-get clean && \
     rm -rf src && \
     rm -rf /var/lib/apt/lists/*
 
-# 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 /usr/bin/stm32flash
-
 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 /
 
-HEALTHCHECK --interval=5s --timeout=2s  --start-period=10s --retries=4 \
-    CMD ["/healthcheck.sh"]
+COPY print-serial-number.py /usr/bin/
 
-COPY microros_localhost_only.xml /
+ENV ROS_NAMESPACE=
 
-# copy scripts
-COPY flash-firmware.py /
-COPY flash-firmware.py /usr/bin/
-COPY flash-firmware-usb.py /usr/bin/
-COPY print-serial-number.py /usr/bin/
+HEALTHCHECK --interval=5s --timeout=2s  --start-period=10s --retries=6 \
+    CMD ["/healthcheck.sh"]

README.md

@@ -7,6 +7,26 @@ Docker Image for ROS Humble Node providing interface for STM32 firmware over [Mi
 
 With *docker-compose* configuration shown in [demo](./demo) it can communicate with hardware of ROSbot 2R, ROSbot 2 PRO and ROSbot 2.0.
 
+## Quick Start
+
+```yaml
+services:
+
+  rosbot:
+    image: husarion/rosbot:humble
+    devices:
+      - ${SERIAL_PORT:?err}
+      - /dev/bus/usb/ # FTDI (if connecting over USB port with STM32)
+    environment:
+      - ROS_DOMAIN_ID=30
+    command: >
+      ros2 launch rosbot_bringup combined.launch.py 
+        mecanum:=${MECANUM:-False}
+        serial_port:=$SERIAL_PORT 
+        serial_baudrate:=576000
+        namespace:=robot1
+```
+
 ## Flashing the firmware
 
 Firmware if flashed from inside of the container running on the ROSbot:

demo/namespace/compose.yaml

@@ -12,26 +12,25 @@
 services:
 
   rosbot:
-    # image: husarion/rosbot:humble-ros2-combined-microros
     build:
       context: ../..
       dockerfile: Dockerfile.hardware
+    # image: husarion/rosbot:humble-ros2-robot-utils
     network_mode: host
     ipc: host
     devices:
       - ${SERIAL_PORT:?err}
-      - /dev/bus/usb/
-    volumes:
-      - ../../flash-firmware-usb.py:/usr/bin/flash-firmware-usb.py
+      - /dev/bus/usb/ # FTDI
     environment:
       - FASTRTPS_DEFAULT_PROFILES_FILE=/shm-only.xml
-    command: tail -f /dev/null
-    # command: >
-    #   ros2 launch rosbot_bringup combined.launch.py 
-    #     mecanum:=${MECANUM:-False}
-    #     serial_port:=$SERIAL_PORT 
-    #     serial_baudrate:=576000
-    #     namespace:=robot1
+      - ROS_DOMAIN_ID=30
+      - ROS_NAMESPACE=robot1 # For healthckeck node
+    command: >
+      ros2 launch rosbot_bringup combined.launch.py 
+        mecanum:=${MECANUM:-False}
+        serial_port:=$SERIAL_PORT 
+        serial_baudrate:=576000
+        namespace:=robot1
 
   ros2router:
     image: husarnet/ros2router:1.4.0