Using new husarnet/ros image with a better support for SHM host<>docker communication

Dockerfile.gazebo

@@ -104,9 +104,11 @@ RUN apt-get update && apt-get install -y \
     rm -rf src && \
     rm -rf /var/lib/apt/lists/*
 
-COPY ros_entrypoint.sh /
-COPY vulcanexus_entrypoint.sh /
 COPY healthcheck.sh /
+COPY run_healthcheck_node.sh /
 
 HEALTHCHECK --interval=2s --timeout=1s --start-period=30s --retries=1 \
     CMD ["/healthcheck.sh"]
+
+RUN sed -i "/# <additional-user-commands>/r /run_healthcheck_node.sh" /*_entrypoint.sh && \
+    sed -i "/# <additional-user-commands>/d" /*_entrypoint.sh

Dockerfile.hardware

@@ -1,26 +1,6 @@
 ARG ROS_DISTRO=humble
 ARG PREFIX=
 
-## =========================== Firmware CPU ID ================================
-
-FROM ubuntu:20.04 AS cpu_id_builder
-
-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 \
-        python3 \
-        python3-pip
-
-# build a binary for reading the CPU ID
-COPY read_cpu_id/ /read_cpu_id
-
-RUN pip3 install -U platformio && \
-    cd /read_cpu_id && \
-    pio run && \
-    chmod -x .pio/build/olimex_e407/firmware.bin
-
 ## =========================== Healthcheck builder ===============================
 
 FROM husarnet/ros:${PREFIX}${ROS_DISTRO}-ros-base AS healthcheck_builder
@@ -82,6 +62,7 @@ RUN git clone --depth 1 -b humble https://github.com/husarion/rosbot_ros.git src
     MYDISTRO=${PREFIX:-ros}; MYDISTRO=${MYDISTRO//-/} && \
     source /opt/$MYDISTRO/$ROS_DISTRO/setup.bash && \
     colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release  && \
+    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 build log
 
 ## =========================== Final Stage ===============================
@@ -95,6 +76,7 @@ SHELL ["/bin/bash", "-c"]
 WORKDIR /ros2_ws
 
 COPY --from=ros_builder /ros2_ws /ros2_ws
+COPY --from=ros_builder /version.txt /version.txt
 COPY --from=healthcheck_builder /ros2_ws /ros2_ws_healthcheck
 
 # for backward compatibility
@@ -106,14 +88,13 @@ RUN apt-get update && apt-get install -y \
         python3-pip \
         python3-rosdep \
         stm32flash \
+        gosu \
         ros-$ROS_DISTRO-teleop-twist-keyboard && \
     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 \
@@ -122,15 +103,15 @@ RUN apt-get update && apt-get install -y \
     rm -rf src && \
     rm -rf /var/lib/apt/lists/*
 
-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 run_healthcheck_node.sh /
 
 COPY print-serial-number.py /usr/bin/
 
-ENV ROS_NAMESPACE=
+ENV ROBOT_NAMESPACE=
 
 HEALTHCHECK --interval=2s --timeout=1s --start-period=30s --retries=1 \
     CMD ["/healthcheck.sh"]
+
+RUN sed -i "/# <additional-user-commands>/r /run_healthcheck_node.sh" /*_entrypoint.sh && \
+    sed -i "/# <additional-user-commands>/d" /*_entrypoint.sh

demo/compose.build.yaml

@@ -0,0 +1,34 @@
+# 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
+
+x-common-config:
+  &common-config
+  network_mode: host
+  ipc: host
+  environment:
+    - FASTRTPS_DEFAULT_PROFILES_FILE=/shm-only.xml
+    # - ROS_DOMAIN_ID=10
+    - USER
+
+services:
+
+  rosbot:
+    build:
+      context: ..
+      dockerfile: Dockerfile.hardware
+    <<: *common-config
+    privileged: true
+    devices:
+      - ${SERIAL_PORT:?err}
+    # environment:
+    #   - ROS_NAMESPACE=rosbot
+    # command: tail -f /dev/null
+    # command: ros2 run rosbot_utils flash_firmware --usb
+    command: >
+      ros2 launch rosbot_bringup combined.launch.py 
+        mecanum:=${MECANUM:-False}
+        serial_port:=$SERIAL_PORT 
+        serial_baudrate:=576000
+# namespace:=rosbot

demo/compose.gazebo.yaml

@@ -24,7 +24,7 @@ services:
     build:
       context: ../
       dockerfile: Dockerfile.gazebo
-    <<: [ *cpu-config]
+    <<: [ *gpu-config]
     volumes:
       - /tmp/.X11-unix:/tmp/.X11-unix:rw
     command: ros2 launch rosbot_gazebo simulation.launch.py mecanum:=${MECANUM:-False}

demo/shm-only.xml

@@ -0,0 +1,17 @@
+<?xml version="1.0" encoding="UTF-8" ?>
+<profiles xmlns="http://www.eprosima.com/XMLSchemas/fastRTPS_Profiles">
+    <transport_descriptors>
+        <transport_descriptor>
+            <transport_id>shm_transport</transport_id>
+            <type>SHM</type>
+        </transport_descriptor>
+    </transport_descriptors>
+    <participant profile_name="SHMParticipant" is_default_profile="true">
+        <rtps>
+            <userTransports>
+                <transport_id>shm_transport</transport_id>
+            </userTransports>
+            <useBuiltinTransports>false</useBuiltinTransports>
+        </rtps>
+    </participant>
+</profiles>

healthcheck.cpp

@@ -36,7 +36,8 @@ int main(int argc, char *argv[]) {
   rclcpp::init(argc, argv);
 
   std::string topic = "odometry/filtered";
-  if (const char *ns = std::getenv("ROS_NAMESPACE")) {
+
+  if(const char* ns = std::getenv("ROBOT_NAMESPACE")) {
     topic = std::string(ns) + "/" + topic;
   }
 

healthcheck.sh

@@ -2,7 +2,6 @@
 
 HEALTHCHECK_FILE="/var/tmp/health_status.txt"
 
-
 # Now check the health status
 if [ -f "$HEALTHCHECK_FILE" ]; then
     status=$(cat "$HEALTHCHECK_FILE")