Create ros2 migration branch

ros2/Dockerfile

@@ -0,0 +1,53 @@
+FROM osrf/ros:humble-desktop-full
+
+WORKDIR /root/humble_dev_ws
+
+RUN sudo apt-get update && apt-get install -y \
+    cmake \
+    curl \
+    ros-humble-imu-tools \
+    iputils-ping\
+    libglu1-mesa-dev \
+    nano \
+    python3-pip \
+    python3-pydantic \
+    ros-dev-tools \
+    ruby-dev \
+    rviz \
+    tmux \
+    wget \
+    xorg-dev \ 
+    vim 
+
+RUN pip3 install setuptools==58.2.0
+RUN pip3 install python-statemachine pyserial
+
+RUN wget https://github.com/openrr/urdf-viz/releases/download/v0.38.2/urdf-viz-x86_64-unknown-linux-gnu.tar.gz && \
+    tar -xvzf urdf-viz-x86_64-unknown-linux-gnu.tar.gz -C /usr/local/bin/ && \
+    chmod +x /usr/local/bin/urdf-viz && \
+    rm -f urdf-viz-x86_64-unknown-linux-gnu.tar.gz
+
+RUN apt-get autoremove -y \
+    && apt-get clean -y \
+    && rm -rf /var/lib/apt/lists/*
+
+RUN echo "export DISABLE_AUTO_TITLE=true" >> /root/.bashrc
+RUN echo 'LC_NUMERIC="en_US.UTF-8"' >> /root/.bashrc
+RUN echo "source /opt/ros/humble/setup.bash" >> /root/.bashrc
+
+RUN echo 'alias rosdi="rosdep install --from-paths src --ignore-src --rosdistro=${ROS_DISTRO} -y"' >> /root/.bashrc
+RUN echo 'alias cbuild="colcon build --symlink-install"' >> /root/.bashrc
+RUN echo 'alias ssetup="source ./install/local_setup.bash"' >> /root/.bashrc
+
+# RUN echo "autoload -U bashcompinit" >> /root/.bashrc 
+# RUN echo "bashcompinit" >> /root/.bashrc
+RUN echo 'eval "$(register-python-argcomplete3 ros2)"' >> /root/.bashrc
+RUN echo 'eval "$(register-python-argcomplete3 colcon)"' >> /root/.bashrc
+
+RUN echo 'source /opt/ros/humble/setup.bash' >> /root/.bashrc 
+RUN echo 'export RMW_IMPLEMENTATION=rmw_fastrtps_cpp' >> /root/.bashrc
+RUN echo 'export ROS_DOMAIN_ID=0' >> /root/.bashrc
+
+RUN apt update && apt upgrade -y
+
+CMD ["bash"]

ros2/docker-compose.yml

@@ -0,0 +1,16 @@
+version: '3'
+
+services: 
+  ros2_master:
+    build: ./
+    container_name: ros2_master
+    tty: true
+    privileged: true
+    environment:
+        - DISPLAY=$DISPLAY
+        - QT_X11_NO_MITSHM=1
+    network_mode: host
+    volumes:
+        - /tmp/.X11-unix:/tmp/.X11-unix
+        - ./:/root/humble_dev_ws/
+        - /dev/ttyACM0:/dev/ttyACM0