Merge pull request #8 from Assume-Zhan/rtabmap-humble-docker

Dockerfile with ROS2 humble and RTAB-MAP

rtabmap_ws/.devcontainer/devcontainer.json

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+/* Reference: https://aka.ms/devcontainer.json */
+{
+    "name": "ROS2 and RTAB-Map Container",
+    "dockerComposeFile": "../docker/docker-compose.yaml",
+    "service": "ros2-rtabmap",
+
+    // workspace settings
+    "workspaceFolder": "/home/ros2-agv-essentials/rtabmap_ws",
+
+    // Vscode extensions
+    "customizations": {
+        "vscode": {
+            "extensions": [
+                "ms-vscode.cpptools",
+                "ms-vscode.cpptools-themes",
+                "twxs.cmake",
+                "donjayamanne.python-extension-pack",
+                "eamodio.gitlens",
+                "ms-iot.vscode-ros"
+            ]
+        }
+    },
+
+    // Lifecycle scripts
+    "postCreateCommand": "${containerWorkspaceFolder}/.devcontainer/postCreateCommand.sh"
+}

rtabmap_ws/.devcontainer/postCreateCommand.sh

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+sudo apt-get update
+sudo rosdep update
+# Note: The following commands are commented out to prevent unintended install/builds.
+# sudo rosdep install --from-paths src --ignore-src -y
+# sudo chown -R user /home/ros2-agv-essentials/
+# colcon build

rtabmap_ws/.gitignore

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+.vscode
+/build
+/install
+/log
+docker/cache/*
+!docker/cache/.gazebo
+docker/cache/.gazebo/*
+!docker/cache/.gazebo/.gitkeep

rtabmap_ws/README.md

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+# ROS2 RTAB-Map
+
+### Run with docker
+
+```bash
+git clone https://github.com/j3soon/ros2-agv-essentials.git
+```
+
+```bash
+cd ros2-agv-essentials/rtabmap_ws/docker
+docker-compose pull
+docker-compose up -d --build
+```
+
+- Attach to the container
+  ```sh
+  docker attach ros2-rtabmap-ws
+  cd /home/ros2-agv-essentials/rtabmap_ws
+  colcon build --symlink-install
+  ```
+
+### LiDAR test with gazebo
+
+- Launch Gazebo with turtlebot3 in `tmux`
+  ```bash
+  ros2 launch rtabmap_sim sim_robot.launch.py
+  ```
+- Run rtabmap LiDAR demo in a new `tmux` window
+  ```bash
+  ros2 launch rtabmap_demos turtlebot3_scan.launch.py
+  ```
+
+### RGBD test with gazebo
+
+- Launch Gazebo with turtlebot3 in `tmux`
+  ```bash
+  ros2 launch rtabmap_sim sim_robot.launch.py
+  ```
+- Run rtabmap LiDAR demo in a new `tmux` window
+  ```bash
+  ros2 launch rtabmap_demos turtlebot3_rgbd.launch.py
+  ```
+
+### Dual sensor test with gazebo
+
+- Launch Gazebo with turtlebot3 in `tmux`
+  ```bash
+  ros2 launch rtabmap_sim sim_robot.launch.py
+  ```
+- Run dual sensor demo in a new `tmux` window
+  ```bash
+  ros2 launch rtabmap_sim dual_sensor.launch.py
+  ```
+
+### Run with rqt
+
+- Running in a new `tmux` window
+  ```bash
+  rqt_robot_steering
+  ```
+
+### Result
+
+- After you've run the demo, you could find the following result directly.
+
+1. LiDAR test
+<center>
+  <img src="./assets/lidar_test.png" width="75%"/>
+</center>
+2. RGBD test
+<center>
+  <img src="./assets/rgbd_test.png" width="75%"/>
+</center>
+3. Dual sensor test
+<center>
+  <img src="./assets/dual_test.png" width="75%"/>
+</center>
+
+### Reference
+
+- [RTAB-Map wiki](https://github.com/introlab/rtabmap/wiki)
+
+### Existing issues
+
+- `VTK` warning
+  ```bash
+  QVTKOpenGLWidget: Warning: In /build/vtk6-6.3.0+dfsg1/Rendering/OpenGL2/vtkOpenGLRenderWindow.cxx, line 781
+  ...
+  ```
+  - It seems that the warning isn't a big deal. But it will interrupt debugging in the future.
+  - Possible solution : set `VTK_LEGACY_REMOVE`, but it required to build from source.
+      - Still not tested yet.
+  - [Issue Reference](https://discourse.vtk.org/t/vtk-9-0-rc1/2916)

rtabmap_ws/docker/.bashrc

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+# Source global ROS2 environment
+source /opt/ros/$ROS_DISTRO/setup.bash
+# Source workspace environment
+# Note: If you have not built your workspace yet, the following command will fail
+source $ROS2_WS/install/setup.bash

rtabmap_ws/docker/Dockerfile

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+FROM introlab3it/rtabmap:jammy
+
+LABEL org.opencontainers.image.authors="assume0701@gmail.com"
+LABEL description = \
+        "A image for ROS2 humble and RTAB-Map develop environment."
+
+ARG USERNAME=user
+
+RUN apt-get update && apt-get upgrade -y \
+    && rm -rf /var/lib/apt/lists/*
+
+#############################################
+# --- Basic setup ---
+RUN apt-get update && \
+    apt-get install -y \
+                sudo \
+                vim \
+                curl \
+                tree \
+                tmux \
+                # ---
+                # Simulation required packages
+                ros-humble-turtlebot3 \
+                ros-humble-turtlebot3-gazebo \
+                ros-humble-gazebo-ros-pkgs \
+                ros-humble-joint-state-publisher-gui \
+                ros-humble-rqt-robot-steering \
+                # ---
+                # RTAB-MAP required packages
+                ros-humble-rtabmap-ros && \
+                rm -rf /var/lib/apt/lists/*
+
+# Install Gazebo
+RUN curl -sSL http://get.gazebosim.org | sh
+
+# add user with default bash
+RUN adduser --disabled-password --gecos '' --shell /bin/bash ${USERNAME} && \
+    adduser ${USERNAME} sudo && \
+    echo "${USERNAME} ALL=(ALL) NOPASSWD:ALL" >> /etc/sudoers
+
+COPY .bashrc /home/$USERNAME/.bashrc
+
+# Login with user
+USER ${USERNAME}
+
+CMD ["bash"]

rtabmap_ws/docker/compose.yaml

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+version: '3.0'
+services:
+  # Container for ROS2 rtabmap
+  rtabmap-ws:
+    # Build or Reference the image
+    build: .
+    image: j3soon/ros2-rtabmap-ws
+    container_name: ros2-rtabmap-ws
+    stdin_open: true
+    tty: true
+    privileged: true
+    command: bash
+    network_mode: host
+    working_dir: /home/ros2-agv-essentials/rtabmap_ws
+
+    # Container Settings    
+    environment:
+      - DISPLAY=${DISPLAY}
+      # Set ros2 environment variables.
+      # References:
+      # - https://docs.ros.org/en/humble/Concepts/Intermediate/About-Domain-ID.html
+      # - https://docs.ros.org/en/humble/Tutorials/Beginner-CLI-Tools/Configuring-ROS2-Environment.html
+      # - https://docs.ros.org/en/humble/Tutorials/Demos/Logging-and-logger-configuration.html#console-output-colorizing
+      - ROS_LOCALHOST_ONLY=1
+      - ROS_DOMAIN_ID=42
+      - ROS2_WS=/home/ros2-agv-essentials/rtabmap_ws
+      - RCUTILS_COLORIZED_OUTPUT=1
+      # If you want to access GPU, please uncomment the lines below.
+      # Reference : https://docs.docker.com/compose/gpu-support/
+      # deploy:
+      #   resources:
+      #     reservations:
+      #       devices:
+      #         - driver: nvidia
+      #           count: all
+      #           capabilities: [ gpu ]
+    volumes:
+      # Mount local timezone into container. ( Readonly )
+      # Reference: https://stackoverflow.com/questions/57607381/how-do-i-change-timezone-in-a-docker-container
+      - /etc/timezone:/etc/timezone:ro
+      - /etc/localtime:/etc/localtime:ro
+      # Mount X11 server
+      - /tmp/.X11-unix:/tmp/.X11-unix
+      # Direct Rendering Infrastructure
+      - /dev/dri:/dev/dri
+      # Mount sound card to prevent Gazebo warning.
+      - /dev/snd:/dev/snd
+      # Mount Gazebo models directory to reuse models downloaded during first launch.
+      # Reference: https://answers.ros.org/question/365658
+      - ./cache/.gazebo:/home/user/.gazebo
+      # Mounting the following directories will forbid direct deletion.
+      # Consider mount these directories only if the build process is slow.
+      # "source=${localWorkspaceFolder}/../cache/humble/build,target=/home/ws/build,type=bind",
+      # "source=${localWorkspaceFolder}/../cache/humble/install,target=/home/ws/install,type=bind",
+      # "source=${localWorkspaceFolder}/../cache/humble/log,target=/home/ws/log,type=bind"
+      # Mount workspace
+      - ../..:/home/ros2-agv-essentials

rtabmap_ws/src/rtabmap_sim/CMakeLists.txt

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+cmake_minimum_required(VERSION 3.8)
+project(rtabmap_sim)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+# uncomment the following section in order to fill in
+# further dependencies manually.
+# find_package(<dependency> REQUIRED)
+
+install(DIRECTORY launch config models urdf
+  DESTINATION share/${PROJECT_NAME}/
+)
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  # the following line skips the linter which checks for copyrights
+  # comment the line when a copyright and license is added to all source files
+  set(ament_cmake_copyright_FOUND TRUE)
+  # the following line skips cpplint (only works in a git repo)
+  # comment the line when this package is in a git repo and when
+  # a copyright and license is added to all source files
+  set(ament_cmake_cpplint_FOUND TRUE)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_package()

rtabmap_ws/src/rtabmap_sim/config/dual_sensor.yaml

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+rtabmap: 
+  ros__parameters: 
+    frame_id: 'base_footprint'
+    use_sim_time: True
+    use_action_for_goal: True
+    qos_image: 2
+    qos_imu: 2
+    Reg/Force3DoF: 'true'
+    Optimizer/GravitySigma: '0'
+
+    # For LiDAR data subscription
+    subscribe_scan: True
+
+    # For RGB-D data subscription
+    subscribe_depth: True
+    subscribe_rgb: True
+
+    # Data synchronization
+    approx_sync: True

rtabmap_ws/src/rtabmap_sim/launch/dual_sensor.launch.py

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+from launch import LaunchDescription
+
+from launch.substitutions import PathJoinSubstitution
+
+from launch_ros.actions import Node
+from launch_ros.substitutions import FindPackageShare
+
+def generate_launch_description():
+
+    # Load the rtabmap settings file
+    rtabmap_settings = PathJoinSubstitution([
+        FindPackageShare("rtabmap_sim"), 
+        "config/dual_sensor.yaml"
+    ])
+
+    # Setup the remaps for camera topics
+    remappings = [
+        ('rgb/image', '/camera/image_raw'),
+        ('rgb/camera_info', '/camera/camera_info'),
+        ('depth/image', '/camera/depth/image_raw')
+    ]
+
+    rtabmap_slam = Node(
+        package = 'rtabmap_slam', 
+        executable = 'rtabmap',
+        parameters = [rtabmap_settings],
+        remappings = remappings,
+        arguments = ['-d']
+    )
+
+    rtabmapviz = Node(
+        package = 'rtabmap_viz',
+        executable = 'rtabmap_viz',
+        parameters = [rtabmap_settings],
+        remappings = remappings
+    )
+
+    return LaunchDescription([
+
+        # Nodes to launch
+        rtabmap_slam, rtabmapviz
+    ])