Ros2 update (#36)

* Simplify * fix * docker build pass * Fix Realtime * Formatting * Fix build * Readme, last fixes * Typos * rename * Without lib lely * Dawid Suggestions * pre-commit suggestions * remove odom * Build Release * undo rm * Update compose.yaml * Update compose.rviz.yaml * Add suggestions * Build Type and Test * revert panther_lights * Use build up-to * typo * Update README.md Co-authored-by: Dawid Kmak <73443304+KmakD@users.noreply.github.com> * Update demo/compose.rviz.yaml Co-authored-by: Dawid Kmak <73443304+KmakD@users.noreply.github.com> --------- Co-authored-by: Dawid Kmak <73443304+KmakD@users.noreply.github.com>
husarion · Mar 18, 2024 · 0156b69 · 0156b69
1 parent 658057f
commit 0156b69
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diff --git a/.dockerignore b/.dockerignore
@@ -5,4 +5,4 @@
 .dockerignore
 .gitignore
 Dockerfile.*
-README.md
+README.md
diff --git a/.github/workflows/ros-docker-image.yaml b/.github/workflows/ros-docker-image.yaml
@@ -1,28 +1,32 @@
-name: Build/Publish ROS Docker Image 
+---
+name: Build/Publish ROS Docker Image
 
-on: 
+on:
   workflow_dispatch:
     inputs:
       build_type:
-        description: "Is it a \"development\" or a \"stable\" release?"
+        description: Is it a "development" or a "stable" release?
         required: true
-        default: 'development'
+        default: development
         type: choice
         options:
           - development
           - stable
       target_distro:
-        description: "In case of \"stable\" release specify the ROS distro of the existing docker image (eg. humble)"
+        description: In case of "stable" release specify the ROS distro of the existing docker image (eg.
+          humble)
         type: string
-        default: "ardent"
+        default: ardent
       target_release:
-        description: "In case of \"stable\" release specify the version of the existing docker image (eg. 1.0.12)"
+        description: In case of "stable" release specify the version of the existing docker image (eg.
+          1.0.12)
         type: string
-        default: "0.0.0"
+        default: 0.0.0
       target_date:
-        description: "In case of \"stable\" release specify the date of the existing docker image in format YYYYMMDD (eg. 20220124)"
+        description: In case of "stable" release specify the date of the existing docker image in format
+          YYYYMMDD (eg. 20220124)
         type: string
-        default: "20131206"
+        default: '20131206'
   repository_dispatch:
     types: [rebuild, ros-package-update]
   pull_request:
@@ -39,12 +43,12 @@ jobs:
 
         include:
           - dockerfile: Dockerfile.hardware
-            platforms: "linux/arm64"
-            ros_distro: "humble"
+            platforms: linux/arm64
+            ros_distro: humble
           - dockerfile: Dockerfile.simulation
-            repo_name: "panther-gazebo"
-            platforms: "linux/amd64"
-            ros_distro: "humble"
+            repo_name: panther-gazebo
+            platforms: linux/amd64
+            ros_distro: humble
 
     steps:
 
@@ -55,8 +59,8 @@ jobs:
         uses: husarion-ci/ros-docker-img-action@v0.5
         with:
           dockerhub_username: ${{ secrets.DOCKERHUB_USERNAME }}
-          dockerhub_token:  ${{ secrets.DOCKERHUB_TOKEN }}
-          main_branch_name: ros2-devel
+          dockerhub_token: ${{ secrets.DOCKERHUB_TOKEN }}
+          main_branch_name: ros2
           dockerfile: ${{ matrix.dockerfile }}
           repo_name: ${{ matrix.repo_name }}
           build_type: ${{ inputs.build_type }}

diff --git a/.gitignore b/.gitignore
@@ -25,4 +25,4 @@ pyenv
 Vagrantfile
 
 .vscode
-__pycache__/
+__pycache__/
diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
@@ -0,0 +1,37 @@
+---
+repos:
+  - repo: https://github.com/pre-commit/pre-commit-hooks
+    rev: v4.5.0
+    hooks:
+      - id: check-merge-conflict
+      - id: trailing-whitespace
+      - id: end-of-file-fixer
+      - id: check-yaml
+      - id: check-xml
+      - id: check-added-large-files
+      - id: check-ast
+      - id: check-json
+      - id: name-tests-test
+        files: ^.*\/test\/.*$
+        args: [--pytest-test-first]
+
+  - repo: https://github.com/codespell-project/codespell
+    rev: v2.2.6
+    hooks:
+      - id: codespell
+        entry: codespell
+
+  - repo: https://github.com/jumanjihouse/pre-commit-hook-yamlfmt
+    rev: 0.2.3
+    hooks:
+      - id: yamlfmt
+        files: ^(?!.*compose).*$
+        args: [--mapping, '2', --sequence, '4', --offset, '2', --width, '100']
+
+    # Docs - RestructuredText hooks
+  - repo: https://github.com/PyCQA/doc8
+    rev: v1.1.1
+    hooks:
+      - id: doc8
+        args: [--max-line-length=100, --ignore=D001]
+        exclude: ^.*\/CHANGELOG\.rst/.*$
diff --git a/Dockerfile.hardware b/Dockerfile.hardware
@@ -1,47 +1,35 @@
-FROM ros:humble-ros-core
+ARG ROS_DISTRO=humble
+ARG BUILD_TEST=OFF
 
-SHELL ["/bin/bash", "-c"]
+FROM husarnet/ros:${ROS_DISTRO}-ros-core
 
 ENV HUSARION_ROS_BUILD_TYPE=hardware
 
 WORKDIR /ros2_ws
 
 RUN apt-get update  && \
     apt-get install -y \
-        git \
-        python3-dev \
-        python3-pip \
-        python3-colcon-common-extensions \
-        # required for lely instalation
-        software-properties-common && \
-    pip3 install \
-        rosdep \
-        vcstool && \
-    # ----------------------------------
-    # Install Lely CANOpen - later to be removed
-    add-apt-repository ppa:lely/ppa && \
-    apt-get update  && \
-    apt-get install -y \
-        liblely-coapp-dev \ 
-        liblely-co-tools \ 
-        python3-dcf-tools && \
-    # ----------------------------------
-    git clone https://github.com/husarion/panther_ros.git src/panther_ros -b ros2-control && \
+        ros-dev-tools && \
+    # Setup workspace
+    git clone -b ros2-devel https://github.com/husarion/panther_ros.git src/panther_ros && \
     vcs import src < src/panther_ros/panther/panther_hardware.repos && \
-    rm -r src/panther_ros/panther_gazebo && \
-    cd src/panther_msgs && \
-    git checkout origin/ros2-control && \
-    cd /ros2_ws && \
+    # Install dependencies
     rosdep init && \
     rosdep update --rosdistro $ROS_DISTRO && \
-    rosdep install --from-paths src -y -i --skip-keys mecanum_drive_controller && \
+    rosdep install --from-paths src -y -i && \
+    # Build
     source /opt/ros/$ROS_DISTRO/setup.bash && \
-    colcon build --symlink-install --cmake-args "-DCMAKE_BUILD_TYPE=$BUILD_TYPE" "-DCMAKE_EXPORT_COMPILE_COMMANDS=On" -Wall -Wextra -Wpedantic && \
+    colcon build --symlink-install --packages-up-to panther --cmake-args -DCMAKE_BUILD_TYPE=Release -DBUILD_TESTING=$BUILD_TEST && \
+    # Get version
+    echo $(cat /ros2_ws/src/panther_ros/panther/package.xml | grep '<version>' | sed -r 's/.*<version>([0-9]+.[0-9]+.[0-9]+)<\/version>/\1/g') >> /version.txt && \
+    # Size optimalization
+    rm -rf build log && \
+    export SUDO_FORCE_REMOVE=yes && \
+    apt-get remove -y \
+        ros-dev-tools && \
     apt-get autoremove -y && \
     apt-get clean && \
     rm -rf /var/lib/apt/lists/*
 
-RUN echo $(cat /ros2_ws/src/panther_ros/panther/package.xml | grep '<version>' | sed -r 's/.*<version>([0-9]+.[0-9]+.[0-9]+)<\/version>/\1/g') >> /version.txt
-
-COPY ./ros_entrypoint.sh / 
-ENTRYPOINT ["/ros_entrypoint.sh"]
+# Setup envs from eeprom
+RUN sed -i "/# <additional-user-commands>/i set -e -a && source /run/husarion/panther_config.env" /*_entrypoint.sh
diff --git a/Dockerfile.simulation b/Dockerfile.simulation
@@ -1,38 +1,33 @@
-FROM ros:humble-ros-core
+ARG ROS_DISTRO=humble
+ARG BUILD_TEST=OFF
 
-SHELL ["/bin/bash", "-c"]
+FROM husarnet/ros:${ROS_DISTRO}-ros-core
 
 ENV HUSARION_ROS_BUILD_TYPE=simulation
 
 WORKDIR /ros2_ws
 
 RUN apt-get update  && \
     apt-get install -y \
-        git \
-        python3-dev \
-        python3-pip \
-        python3-colcon-common-extensions && \
-    pip3 install \
-        rosdep \
-        vcstool  && \
-    git clone https://github.com/husarion/ros_components_description.git src/ros_components_description && \
-    git clone https://github.com/husarion/panther_ros.git -b ros2-devel && \
-    vcs import src < panther_ros/panther/panther_simulation.repos && \
-    mv panther_ros/panther_description/ src/panther_description && \
-    mv panther_ros/panther_controller/ src/panther_controller && \
-    mv panther_ros/panther_bringup/ src/panther_bringup && \
-    mv panther_ros/panther_gazebo/ src/panther_gazebo && \
-    rm -rf panther_ros && \
+        ros-dev-tools && \
+    # Setup workspace
+    git clone -b ros2-devel https://github.com/husarion/panther_ros.git src/panther_ros && \
+    vcs import src < src/panther_ros/panther/panther_hardware.repos && \
+    vcs import src < src/panther_ros/panther/panther_simulation.repos && \
+    # Install dependencies
     rosdep init && \
     rosdep update --rosdistro $ROS_DISTRO && \
     rosdep install --from-paths src -y -i && \
+    # Build
     source /opt/ros/$ROS_DISTRO/setup.bash && \
-    colcon build --symlink-install --cmake-args "-DCMAKE_BUILD_TYPE=$BUILD_TYPE" "-DCMAKE_EXPORT_COMPILE_COMMANDS=On" -Wall -Wextra -Wpedantic && \
+    colcon build --symlink-install --packages-up-to panther --cmake-args -DCMAKE_BUILD_TYPE=Release -DBUILD_TESTING=$BUILD_TEST && \
+    # Get version
+    echo $(cat /ros2_ws/src/panther_ros/panther/package.xml | grep '<version>' | sed -r 's/.*<version>([0-9]+.[0-9]+.[0-9]+)<\/version>/\1/g') >> /version.txt && \
+    # Size optimalization
+    rm -rf build log && \
+    export SUDO_FORCE_REMOVE=yes && \
+    apt-get remove -y \
+        ros-dev-tools && \
     apt-get autoremove -y && \
     apt-get clean && \
     rm -rf /var/lib/apt/lists/*
-
-RUN echo $(cat /ros2_ws/src/panther_gazebo/package.xml | grep '<version>' | sed -r 's/.*<version>([0-9]+.[0-9]+.[0-9]+)<\/version>/\1/g') >> /version.txt
-
-COPY ./ros_entrypoint.sh / 
-ENTRYPOINT ["/ros_entrypoint.sh"]
diff --git a/README.md b/README.md
@@ -1,55 +1,60 @@
 # panther-docker
+
 Docker images dedicated to Husarion Panther ROS system and simulation.
 
 ## Docker Images
 
-Docker images are automatically deployed to Docker Hub. Image tag includes information about the ROS distribution, the version of the [panther_ros](https://github.com/husarion/panther_ros/tree/ros2-devel) repository, and the date of release. Additionally stable image versions are  tagged with `stable` and recommended for production use.
+Docker images are automatically deployed to Docker Hub. Image tag includes information about the ROS distribution, the version of the [panther_ros](https://github.com/husarion/panther_ros/tree/ros2-devel) repository, and the date of release. Additionally stable image versions are tagged with `stable` and recommended for production use.
 Below, you can find a list of available Docker images. To access the latest tag, simply follow provided links:
 
-- [husarion/panther](https://hub.docker.com/r/husarion/panther) - ROS packages for Panther robot, 
+- [husarion/panther](https://hub.docker.com/r/husarion/panther) - ROS packages for Panther robot,
 - [husarion/panther-gazebo](https://hub.docker.com/r/husarion/panther-gazebo) - Simulation for Panther robot in Gazebo-classic.
 
 ## Updating Panther Software
 
-> **Note**
-> Latest Panther Docker images are compatible with Built-in Computer OS version 2.0.0 and newer. If your operating system is older, please ensure you update it before proceeding. **[COMMING SOON]** Follow [operating system reinstallation](ros2-os-instalation-link) for more info. 
- 
+> [!Note] Latest Panther Docker images are compatible with Built-in Computer OS version 2.0.0 and newer. If your operating system is older, please ensure you update it before proceeding. **[COMING SOON]** Follow [operating system reinstallation](ros2-os-instalation-link) for more info.
+
 Connect to Panther's Built-in Computer:
+
 ```bash
 ssh husarion@10.15.20.2
 ```
 
-Edit Docker compose file:
-```bash
-nano compose.yaml
-```
+## Quick Start
 
-Update Docker image tag:
-```yaml
-  panther_ros:
-    image: husarion/panther:<newest-stable-tag> # example tag: humble-2.0.0-20231208-stable
-```
+Depending on your needs, you can run Docker to quickly launch the physical robot or run a simulation. To do this, clone this repository to your robot or computer.
 
-Restart Docker containers:
 ```bash
-docker compose up -d --force-recreate
+git clone -b ros2 https://github.com/husarion/panther-docker.git
+cd panther-docker/demo
 ```
 
-## Running Simulation
+### 🤖 Robot
+
+1. Activate Panther
+
+   ```bash
+   docker compose -f compose.minimal-setup.yaml up
+   ```
+
+2. Launch Visualization on PC
+
+   ```bash
+   xhost local:root
+   docker compose -f compose.rviz.yaml up
+   ```
+
+> [!NOTE]
+> To use the latest version of the image, run the `docker compose pull` command and rerun above commands.
+
+### 💻 Gazebo Simulation
 
 To give Docker access to your screen run:
-```bash
-xhost local:docker
-```
 
-Depending on your hardware configuration your `compose.yaml` file may differ. For Intel and AMD users you will need the following configuration: [compose.simulation.yaml](./demo/simulation/compose.simulation.yaml).
-To launch the simulation, from the directory containing Docker compose file run:
 ```bash
-  docker compose -f compose.simulation.yaml up
+xhost local:docker
+docker compose -f compose.simulation.yaml up
 ```
 
-Nvidia users have to install NVIDIA Container Toolkit. Installation steps can be found [here](https://docs.nvidia.com/datacenter/cloud-native/container-toolkit/latest/install-guide.html). With NVIDIA Container Toolkit installed following Docker compose file will be needed: [compose.simulation-gpu.yaml](./demo/simulation/compose.simulation-gpu.yaml).
-To launch the simulation, from the directory containing Docker compose file run:
-```bash
-docker compose -f compose.simulation-gpu.yaml up
-```
+> [!NOTE]
+> If you have an NVIDIA GPU, it is worth changing the compose configuration from cpu-config to gpu-config. For this purpose, it is necessary to install [NVIDIA Container Toolkit](https://docs.nvidia.com/datacenter/cloud-native/container-toolkit/latest/install-guide.html). With NVIDIA Container Toolkit installed, modify following Docker compose file by replacing `*cpu-config` with `*gpu-config`: [compose.simulation.yaml](./demo/compose.simulation.yaml).
diff --git a/demo/.env.cpu b/demo/.env.cpu
@@ -0,0 +1,3 @@
+DISPLAY=${DISPLAY:?You need to define display env}
+LIBGL_ALWAYS_SOFTWARE=1
+QT_X11_NO_MITSHM=1
diff --git a/demo/.env.gpu b/demo/.env.gpu
@@ -0,0 +1,3 @@
+DISPLAY=${DISPLAY:?You need to define display env}
+NVIDIA_VISIBLE_DEVICES=all
+NVIDIA_DRIVER_CAPABILITIES=all
diff --git a/demo/compose.minimal-setup.yaml b/demo/compose.minimal-setup.yaml
@@ -1,15 +1,15 @@
 x-common-config:
   &common-config
   network_mode: host
-  restart: always
   ipc: host
-  tty: true
+  restart: always
   environment:
+    - RMW_IMPLEMENTATION=rmw_cyclonedds_cpp # Default FastDDS do not work
     - ROS_DOMAIN_ID=${ROS_DOMAIN_ID:-0}
 
 services:
   panther_ros:
-    image: husarion/panther:humble-nightly
+    image: husarion/panther:humble
     container_name: panther_ros
     <<: *common-config
     devices:
@@ -22,6 +22,14 @@ services:
       - /sys/bus/iio/devices:/sys/bus/iio/devices
       - /run/husarion/panther_config.env:/run/husarion/panther_config.env
       - /run/husarion/panther_config.yaml:/run/husarion/panther_config.yaml
+    # Realtime hardware (https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html#determinism)
+    ulimits:
+      rtprio:
+        soft: 99
+        hard: 99
+      memlock:
+        soft: 102400
+        hard: 102400
     command: >
       ros2 launch panther_bringup bringup.launch.py
 
@@ -33,6 +41,6 @@ services:
       - /dev/input/js0
     command: >
       bash -c
-      "ros2 launch 
+      "ros2 launch
       joy2twist gamepad_controller.launch.py
       joy2twist_params_file:=$(ros2 pkg prefix joy2twist)/share/joy2twist/config/joy2twist_panther.yaml"