Fix Realtime

.github/workflows/ros-docker-image.yaml

@@ -60,7 +60,7 @@ jobs:
         with:
           dockerhub_username: ${{ secrets.DOCKERHUB_USERNAME }}
           dockerhub_token: ${{ secrets.DOCKERHUB_TOKEN }}
-          main_branch_name: ros2-devel
+          main_branch_name: ros2
           dockerfile: ${{ matrix.dockerfile }}
           repo_name: ${{ matrix.repo_name }}
           build_type: ${{ inputs.build_type }}

Dockerfile.hardware

@@ -31,13 +31,13 @@ RUN apt-get update  && \
     # 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 src && \
     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/*
 
-COPY ./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
 ENTRYPOINT ["/ros_entrypoint.sh"]

demo/compose.rviz.yaml

@@ -0,0 +1,23 @@
+x-common-config:
+  &common-config
+  network_mode: host
+  ipc: host
+  restart: always
+
+x-cpu-config:
+  &cpu-config
+  env_file: .env.cpu
+
+x-gpu-config:
+  &gpu-config
+  runtime: nvidia
+  env_file: .env.gpu
+
+  rviz:
+    image: husarion/rviz2:humble
+    <<:
+      - *common-config
+      - *cpu-config
+    volumes:
+      - /tmp/.X11-unix:/tmp/.X11-unix:rw
+      - ./panther.rviz:/root/.rviz2/default.rviz

demo/compose.simulation.yaml

@@ -17,21 +17,12 @@ services:
   panther:
     image: husarion/panther-gazebo:humble
     # build:
-      # context: ..
-      # dockerfile: Dockerfile.simulation
+    #   context: ..
+    #   dockerfile: Dockerfile.simulation
     <<:
       - *common-config
       - *cpu-config
     volumes:
       - /tmp/.X11-unix:/tmp/.X11-unix:rw
     command: >
       ros2 launch panther_gazebo simulation.launch.py
-
-  rviz:
-    image: husarion/rviz2:humble
-    <<:
-      - *common-config
-      - *cpu-config
-    volumes:
-      - /tmp/.X11-unix:/tmp/.X11-unix:rw
-      - ./panther.rviz:/root/.rviz2/default.rviz

demo/compose.yaml

@@ -15,10 +15,10 @@ x-gpu-config:
 
 services:
   panther:
-    image: husarion/panther:humble
-    # build:
-    #   context: ..
-    #   dockerfile: Dockerfile.hardware
+    # image: husarion/panther:humble
+    build:
+      context: ..
+      dockerfile: Dockerfile.hardware
     <<: *common-config
     devices:
       - /dev/bus/usb
@@ -30,6 +30,14 @@ 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
 
@@ -43,12 +51,3 @@ services:
       "ros2 launch
       joy2twist gamepad_controller.launch.py
       joy2twist_params_file:=$(ros2 pkg prefix joy2twist)/share/joy2twist/config/joy2twist_panther.yaml"
-
-  rviz:
-    image: husarion/rviz2:humble-11.2.8-20231122
-    <<:
-      - *common-config
-      - *cpu-config
-    volumes:
-      - /tmp/.X11-unix:/tmp/.X11-unix:rw
-      - ./panther.rviz:/root/.rviz2/default.rviz