From 48429fdbc65f2b020bf463093f9a13aa7a175dda Mon Sep 17 00:00:00 2001
From: rafal-gorecki <rafal.gorecki@husarion.com>
Date: Mon, 4 Mar 2024 16:20:01 +0100
Subject: [PATCH] Fix Realtime

---
 .github/workflows/ros-docker-image.yaml |  2 +-
 Dockerfile.hardware                     |  4 ++--
 demo/compose.rviz.yaml                  | 23 +++++++++++++++++++++++
 demo/compose.simulation.yaml            | 13 ++-----------
 demo/compose.yaml                       | 25 ++++++++++++-------------
 ros_entrypoint.sh                       | 14 --------------
 6 files changed, 40 insertions(+), 41 deletions(-)
 create mode 100644 demo/compose.rviz.yaml
 delete mode 100755 ros_entrypoint.sh

diff --git a/.github/workflows/ros-docker-image.yaml b/.github/workflows/ros-docker-image.yaml
index 8d46ff7..ac85297 100644
--- a/.github/workflows/ros-docker-image.yaml
+++ b/.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 }}
diff --git a/Dockerfile.hardware b/Dockerfile.hardware
index 0e6625e..72f2640 100644
--- a/Dockerfile.hardware
+++ b/Dockerfile.hardware
@@ -31,7 +31,6 @@ 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 && \
@@ -39,5 +38,6 @@ RUN apt-get update  && \
     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"]
diff --git a/demo/compose.rviz.yaml b/demo/compose.rviz.yaml
new file mode 100644
index 0000000..308f7f5
--- /dev/null
+++ b/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
diff --git a/demo/compose.simulation.yaml b/demo/compose.simulation.yaml
index 2c81ecc..0a4912f 100644
--- a/demo/compose.simulation.yaml
+++ b/demo/compose.simulation.yaml
@@ -17,8 +17,8 @@ services:
   panther:
     image: husarion/panther-gazebo:humble
     # build:
-      # context: ..
-      # dockerfile: Dockerfile.simulation
+    #   context: ..
+    #   dockerfile: Dockerfile.simulation
     <<:
       - *common-config
       - *cpu-config
@@ -26,12 +26,3 @@ services:
       - /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
diff --git a/demo/compose.yaml b/demo/compose.yaml
index 87bab60..ce1a558 100644
--- a/demo/compose.yaml
+++ b/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:=$(ros2 pkg prefix joy2twist)/share/joy2twist/config/joy2twist_panther.yaml"
-
-  rviz:
-    image: husarion/rviz2:humble-11.2.8-20231122
-    <<:
-      - *common-config
-      - *cpu-config
-    volumes:
-      - /tmp/.X11-unix:/tmp/.X11-unix:rw
-      - ./panther.rviz:/root/.rviz2/default.rviz
diff --git a/ros_entrypoint.sh b/ros_entrypoint.sh
deleted file mode 100755
index 825e9f5..0000000
--- a/ros_entrypoint.sh
+++ /dev/null
@@ -1,14 +0,0 @@
-#!/bin/bash
-set -e
-
-# setup ros environment
-source "/opt/ros/$ROS_DISTRO/setup.bash"
-source "/ros2_ws/install/setup.bash"
-
-if [ "$HUSARION_ROS_BUILD_TYPE" = "hardware" ]; then
-  # source eeprom environment variables
-  set -a
-  source "/run/husarion/panther_config.env"
-fi
-
-exec "$@"