husarion · rafal-gorecki · Jan 23, 2024 · Jan 23, 2024 · Jan 23, 2024 · Jan 26, 2024
diff --git a/Dockerfile.gazebo b/Dockerfile.gazebo
@@ -1,9 +1,8 @@
 ARG ROS_DISTRO=humble
 ARG PREFIX=
 
-## =========================== Healthcheck builder ===============================
-
-FROM husarnet/ros:${PREFIX}${ROS_DISTRO}-ros-base AS healthcheck_builder
+## =========================== Install all ROS dependencies  ===============================
+FROM husarnet/ros:${PREFIX}${ROS_DISTRO}-ros-core AS ros-core-with-dependencies
 
 ARG ROS_DISTRO
 ARG PREFIX
@@ -12,103 +11,99 @@ 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
+RUN apt-get update && apt-get install -y \
+        python3-pip \
+        python3-rosdep \
+        ros-dev-tools && \
+    # Clone source
+    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 && \
+    apt-get remove -y \
+        python3-pip \
+        python3-rosdep \
+        ros-dev-tools && \
+    apt-get clean && \
+    rm -rf /var/lib/apt/lists/*
+
+
+## =========================== Healthcheck builder ===============================
+
+FROM ros-core-with-dependencies AS healthcheck_builder
+
+ARG ROS_DISTRO
+ARG PREFIX
 
-COPY healthcheck.cpp src/healthcheck_pkg/src/
+WORKDIR /healthcheck_ws/src
+
+COPY husarion_utils/healthcheck.cpp /healthcheck.cpp
 
 RUN 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 sensor_msgs && \
+    sed -i '/find_package(sensor_msgs REQUIRED)/a \
+        add_executable(healthcheck_node src/healthcheck.cpp)\n \
+        ament_target_dependencies(healthcheck_node rclcpp nav_msgs sensor_msgs)\n \
+        install(TARGETS healthcheck_node DESTINATION lib/${PROJECT_NAME})' \
+        ./healthcheck_pkg/CMakeLists.txt && \
+    mv /healthcheck.cpp ./healthcheck_pkg/src/ && \
+    cd .. && \
     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
+FROM ros-core-with-dependencies AS ros_builder
 
 ARG PREFIX
 
-# select bash as default shell
-SHELL ["/bin/bash", "-c"]
-
 ENV IGNITION_VERSION fortress
 ENV HUSARION_ROS_BUILD simulation
 
 WORKDIR /ros2_ws
 
-COPY ./healthcheck.cpp /
-
 # install everything needed
-RUN apt-get update --fix-missing && apt-get install -y \
-        python3-pip \
-        ros-dev-tools && \
-    apt-get upgrade -y && \
-    # Clone source
-    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 apt-get update && apt-get install -y \
+        ros-dev-tools
 
 RUN MYDISTRO=${PREFIX:-ros}; MYDISTRO=${MYDISTRO//-/} && \
     source /opt/$MYDISTRO/$ROS_DISTRO/setup.bash && \
-    colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release && \
+    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 ===============================
-FROM husarnet/ros:${PREFIX}${ROS_DISTRO}-ros-core
+FROM ros-core-with-dependencies
 
 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
-COPY --from=healthcheck_builder /ros2_ws /ros2_ws_healthcheck
+COPY --from=ros_builder /version.txt /version.txt
+COPY husarion_utils /husarion_utils
 
 RUN apt-get update && apt-get install -y \
-        python3-rosdep \
-        python3-pip \
         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 && \
-    # 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/*
 
-COPY healthcheck.sh /
-COPY run_healthcheck_node.sh /
-
+# Run healthcheck in background
+COPY --from=healthcheck_builder /healthcheck_ws /healthcheck_ws
+RUN sed -i "/# <additional-user-commands>/i /husarion_utils/run_healthcheck_node.sh" /*_entrypoint.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
+    CMD ["/husarion_utils/healthcheck.sh"]
diff --git a/Dockerfile.hardware b/Dockerfile.hardware
@@ -1,9 +1,8 @@
 ARG ROS_DISTRO=humble
 ARG PREFIX=
 
-## =========================== Healthcheck builder ===============================
-
-FROM husarnet/ros:${PREFIX}${ROS_DISTRO}-ros-base AS healthcheck_builder
+## =========================== Install all ROS dependencies  ===============================
+FROM husarnet/ros:${PREFIX}${ROS_DISTRO}-ros-core AS ros-core-with-dependencies
 
 ARG ROS_DISTRO
 ARG PREFIX
@@ -12,106 +11,106 @@ 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
+RUN apt-get update && apt-get install -y \
+        python3-pip \
+        python3-rosdep \
+        ros-dev-tools && \
+    # Clone source
+    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/ && \
+    rm -rf src/ros2_controllers && \
+    rm -r src/rosbot_gazebo && \
+    # 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 && \
+    apt-get remove -y \
+        python3-pip \
+        python3-rosdep \
+        ros-dev-tools && \
+    apt-get clean && \
+    rm -rf /var/lib/apt/lists/*
+
+## =========================== Healthcheck builder ===============================
 
-COPY healthcheck.cpp src/healthcheck_pkg/src/
+FROM ros-core-with-dependencies AS healthcheck_builder
+
+ARG ROS_DISTRO
+ARG PREFIX
+
+WORKDIR /healthcheck_ws/src
+
+COPY husarion_utils/healthcheck.cpp /healthcheck.cpp
 
 RUN 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 sensor_msgs && \
+    sed -i '/find_package(sensor_msgs REQUIRED)/a \
+        add_executable(healthcheck_node src/healthcheck.cpp)\n \
+        ament_target_dependencies(healthcheck_node rclcpp nav_msgs sensor_msgs)\n \
+        install(TARGETS healthcheck_node DESTINATION lib/${PROJECT_NAME})' \
+        ./healthcheck_pkg/CMakeLists.txt && \
+    mv /healthcheck.cpp ./healthcheck_pkg/src/ && \
+    cd .. && \
     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
+FROM ros-core-with-dependencies AS ros_builder
 
 ARG ROS_DISTRO
 ARG PREFIX
 
 SHELL ["/bin/bash", "-c"]
 
 WORKDIR /ros2_ws
-RUN mkdir src
-
-COPY ./healthcheck.cpp /
 
 RUN apt-get update && apt-get install -y \
-        python3-pip
+        ros-dev-tools
 
-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/ && \
-    rm -rf src/ros2_controllers && \
-    # 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 $ROS_DISTRO && \
-    rosdep install --from-paths src --ignore-src -y && \
-    MYDISTRO=${PREFIX:-ros}; MYDISTRO=${MYDISTRO//-/} && \
+RUN MYDISTRO=${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 ===============================
-FROM husarnet/ros:${PREFIX}${ROS_DISTRO}-ros-core
+FROM ros-core-with-dependencies
 
 ARG ROS_DISTRO
 ARG PREFIX
 
-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
+COPY husarion_utils /husarion_utils
 
-# for backward compatibility
-RUN cp src/rosbot_utils/rosbot_utils/flash-firmware.py /usr/bin/ && \
+RUN mv /husarion_utils/print-serial-number.py /usr/bin/ && \
+    # for backward compatibility
+    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 \
         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 && \
     # Size optimalization
     apt-get remove -y \
-        python3-rosdep \
         python3-pip && \
     apt-get clean && \
     rm -rf src && \
     rm -rf /var/lib/apt/lists/*
 
-COPY healthcheck.sh /
-COPY run_healthcheck_node.sh /
-
-COPY print-serial-number.py /usr/bin/
-
-ENV ROBOT_NAMESPACE=
-
+# Run healthcheck in background
+COPY --from=healthcheck_builder /healthcheck_ws /healthcheck_ws
+RUN sed -i "/# <additional-user-commands>/i /husarion_utils/run_healthcheck_node.sh" /*_entrypoint.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
+    CMD ["/husarion_utils/healthcheck.sh"]
diff --git a/demo/compose.build.yaml b/demo/compose.build.yaml
@@ -1,7 +1,7 @@
 # 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
+# 2. run `ROS_DOMAIN_ID=10 ros2 run teleop_twist_keyboard teleop_twist_keyboard` in the robot terminal
 
 x-common-config:
   &common-config
@@ -27,8 +27,8 @@ services:
     # command: tail -f /dev/null
     # command: ros2 run rosbot_utils flash_firmware --usb
     command: >
-      ros2 launch rosbot_bringup combined.launch.py 
+      ros2 launch rosbot_bringup combined.launch.py
         mecanum:=${MECANUM:-False}
-        serial_port:=$SERIAL_PORT 
+        serial_port:=$SERIAL_PORT
         serial_baudrate:=576000
 # namespace:=rosbot
diff --git a/demo/shm-only.xml b/demo/shm-only.xml
@@ -14,4 +14,4 @@
             <useBuiltinTransports>false</useBuiltinTransports>
         </rtps>
     </participant>
-</profiles>
+</profiles>