Merge pull request #30 from YuZhong-Chen/gazebo_world_ws

Workspace with the Gazebo World

gazebo_world_ws/.devcontainer/devcontainer.json

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+/* Reference: https://aka.ms/devcontainer.json */
+{
+    "name": "gazebo-world-ws",
+    "dockerComposeFile": "../docker/compose.yaml",
+    "service": "gazebo-world-ws",
+    // workspace settings
+    "workspaceFolder": "/home/ros2-essentials/gazebo_world_ws",
+    // Vscode extensions
+    "customizations": {
+        "vscode": {
+            "extensions": [
+                "ms-vscode.cpptools",
+                "ms-vscode.cpptools-themes",
+                "twxs.cmake",
+                "donjayamanne.python-extension-pack",
+                "eamodio.gitlens",
+                "mhutchie.git-graph",
+                "streetsidesoftware.code-spell-checker",
+                "ms-iot.vscode-ros"
+            ]
+        }
+    },
+}

gazebo_world_ws/.gitignore

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+.vscode
+
+# ROS2 basic directories
+/build
+/install
+/log

gazebo_world_ws/README.md

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+# gazebo_world_ws
+
+This repository contains several Gazebo worlds, which are valuable for testing robots or agents in both indoor and outdoor environments.
+
+## 🌱 Structure 🌱
+
+```
+ros2-essentials
+├── gazebo_world_ws
+|   ├── .devcontainer
+|   ├── docker
+|   ├── figure
+|   ├── src
+|   |   ├── aws-robomaker-hospital-world
+|   |   ├── aws-robomaker-small-house-world
+|   |   ├── aws-robomaker-small-warehouse-world
+|   |   ├── citysim
+|   |   ├── clearpath_playpen
+|   |   ├── gazebo_launch
+|   |   └── turtlebot3_gazebo
+|   ├── .gitignore
+|   └── README.md
+└── ...
+```
+
+## 🚩 How to use 🚩
+
+Available target worlds:
+- aws_hospital
+- aws_small_house
+- aws_warehouse
+- citysim
+- clearpath_playpen
+- turtlebot3
+
+The turtlebot3 offers multiple worlds to choose from. For more information, you can refer to the launch file located at `turtlebot3.launch.py` in the `gazebo_launch` package.
+
+### Use in `gazebo_world_ws` container
+
+Normally, you wouldn’t want to use it inside the `gazebo_world_ws` container, since this workspace doesn’t include any robots by default. However, we still provide the Dockerfile for this workspace, you can use it if you have specific requirements.
+
+```bash
+# Build the workspace
+cd /home/ros2-essentials/gazebo_world_ws
+colcon build --symlink-install
+source /home/ros2-essentials/gazebo_world_ws/install/setup.bash
+
+# Launch the world
+# Replace <target world> with the name of the world you wish to launch.
+ros2 launch gazebo_launch <target world>.launch.py
+# or launch turtlebot3 worlds, such as:
+ros2 launch gazebo_launch turtlebot3.launch.py gazebo_world:=turtlebot3_dqn_stage3.world
+```
+
+### Use in other container/workspace
+
+#### 1. Compile packages
+
+To use it in other containers, remember to compile `gazebo_world_ws` first. Generally, you can compile it using other containers directly, as the required dependencies for these packages should already be installed in all workspaces. You should only use the Docker environment provided by `gazebo_world_ws` if you encounter issues with compilation or path settings.
+
+```bash
+# Build the workspace
+cd /home/ros2-essentials/gazebo_world_ws
+colcon build --symlink-install
+```
+
+#### 2. Source the `local_setup.bash`
+
+Add the following lines into `.bashrc` file.
+
+```bash
+# Source gazebo_world_ws environment
+GAZEBO_WORLD_WS_DIR="${ROS2_WS}/../gazebo_world_ws"
+if [ ! -d "${GAZEBO_WORLD_WS_DIR}/install" ]; then
+    echo "gazebo_world_ws has not been built yet. Building workspace..."
+    cd ${GAZEBO_WORLD_WS_DIR}
+    colcon build --symlink-install
+    cd -
+    echo "gazebo_world_ws built successfully!"
+fi
+source ${GAZEBO_WORLD_WS_DIR}/install/local_setup.bash
+```
+
+#### 3. Launch gazebo in the launch file
+
+ Add the code into your launch file.
+
+> Remember to replace the `<target world>` with the one you want.
+
+```python
+from launch import LaunchDescription
+from launch.actions import IncludeLaunchDescription, DeclareLaunchArgument
+from launch.substitutions import PathJoinSubstitution, LaunchConfiguration
+from launch_ros.substitutions import FindPackageShare
+
+ARGUMENTS = [
+    DeclareLaunchArgument(
+        "launch_gzclient",
+        default_value="True",
+        description="Launch gzclient, by default is True, which shows the gazebo GUI",
+    ),
+]
+
+
+def generate_launch_description():
+
+    ...
+
+    # Launch Gazebo
+    launch_gazebo = IncludeLaunchDescription(
+        PathJoinSubstitution(
+            [
+                FindPackageShare("gazebo_launch"), 
+                "launch",
+                "<target world>.launch.py",
+            ],
+        ),
+        launch_arguments={
+            "launch_gzclient": LaunchConfiguration("launch_gzclient"),
+        }.items(),
+    )
+
+    ...
+
+    ld = LaunchDescription(ARGUMENTS)
+    ld.add_action(launch_gazebo)
+
+    ...
+
+    return ld
+```
+
+## ✨ Snapshot ✨
+
+|       World       |                        Snapshot                         |
+|:-----------------:|:-------------------------------------------------------:|
+|   aws_hospital    |   <img src="./figure/aws_hospital.png" width="50%"/>    |
+|  aws_small_house  |  <img src="./figure/aws_small_house.png" width="50%"/>  |
+|   aws_warehouse   |   <img src="./figure/aws_warehouse.png" width="50%"/>   |
+|      citysim      |      <img src="./figure/citysim.png" width="50%"/>      |
+| turtlebot3_stage3 | <img src="./figure/turtlebot3_stage3.png" width="50%"/> |
+| turtlebot3_house  | <img src="./figure/turtlebot3_house.png" width="50%"/>  |
+| turtlebot3_world  | <img src="./figure/turtlebot3_world.png" width="50%"/>  |
+| clearpath_playpen | <img src="./figure/clearpath_playpen.png" width="50%"/> |
+
+## 🔍 Troubleshooting 🔍
+
+### Getting stuck when launching Gazebo
+
+The first time you launch a Gazebo world might take longer because Gazebo needs to download models from the cloud to your local machine. Please be patient while it downloads. If it takes too long, like more than an hour, you can check the `gzserver` logs in `~/.gazebo` to see where it’s getting stuck. The most common issue is using a duplicate port, which prevents Gazebo from starting. You can use `lsof -i:11345` to identify which process is using the port and then use `kill -9` to terminate it.
+
+### Unable to find `gazebo_launch`
+
+Please make sure you have sourced the `local_setup.bash` and compiled `gazebo_world_ws`. If you encounter a path issue, try removing the `install`, `build`, and `log` folders in `gazebo_world_ws` and compile the workspace in your container again.

gazebo_world_ws/docker/.bashrc

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+# Check if the architecture is aarch64
+if [ $(arch) == "aarch64" ]; then
+    echo "Architecture is aarch64, which is not supported by Gazebo. Exiting..."
+    exit
+fi
+# Source global ROS2 environment
+source /opt/ros/$ROS_DISTRO/setup.bash
+# Optionally perform apt update if it has not been executed yet
+if [ -z "$( ls -A '/var/lib/apt/lists' )" ]; then
+    echo "apt-get update has not been executed yet. Running sudo apt-get update..."
+    sudo apt-get update
+fi
+# Optionally perform rosdep update if it has not been executed yet
+if [ ! -d $HOME/.ros/rosdep/sources.cache ]; then
+    echo "rosdep update has not been executed yet. Running rosdep update..."
+    rosdep update
+fi
+# Optionally build the workspace if it has not been built yet
+if [ ! -f $ROS2_WS/install/setup.bash ]; then
+    echo "Workspace has not been built yet. Building workspace..."
+    cd $ROS2_WS
+    # Ref: https://docs.ros.org/en/humble/Tutorials/Intermediate/Rosdep.html
+    rosdep install --from-paths src --ignore-src -y -r
+    colcon build --symlink-install
+    echo "Workspace built."
+fi
+# Source workspace environment
+source $ROS2_WS/install/setup.bash

gazebo_world_ws/docker/.dockerignore

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+*
+!.bashrc

gazebo_world_ws/docker/Dockerfile

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+# Base Image : https://hub.docker.com/r/osrf/ros/tags?page=1&name=humble
+FROM osrf/ros:humble-desktop-full AS amd64
+# Base Image : https://hub.docker.com/r/arm64v8/ros/tags?page=1&name=humble
+FROM arm64v8/ros:humble AS arm64
+
+# Use docker automatic platform args to select the base image.
+# It may be `arm64` or `amd64` depending on the platform.
+# Ref: https://docs.docker.com/reference/dockerfile/#automatic-platform-args-in-the-global-scope
+FROM $TARGETARCH
+ARG TARGETARCH
+
+# Arguments for the default user
+ARG USERNAME=user
+ARG USER_UID=1000
+
+# Keep downloaded packages for caching purposes
+# Ref: https://github.com/moby/buildkit/blob/master/frontend/dockerfile/docs/reference.md#example-cache-apt-packages
+RUN rm -f /etc/apt/apt.conf.d/docker-clean; echo 'Binary::apt::APT::Keep-Downloaded-Packages "true";' > /etc/apt/apt.conf.d/keep-cache
+
+# Upgrade packages
+# Ref: https://pythonspeed.com/articles/security-updates-in-docker/
+# Ref: https://github.com/moby/buildkit/blob/master/frontend/dockerfile/docs/reference.md#example-cache-apt-packages
+# Ref: https://github.com/moby/buildkit/issues/1673#issuecomment-1264502398
+# Ref: https://github.com/moby/buildkit/issues/1673#issuecomment-1987107404
+RUN --mount=type=cache,target=/var/cache/apt,sharing=private \
+    apt-get update && apt-get upgrade -y \
+    && rm -rf /var/lib/apt/lists/*
+
+# Install sudo and create a user with sudo privileges
+# Ref: https://stackoverflow.com/a/65434659
+RUN --mount=type=cache,target=/var/cache/apt,sharing=private \
+    apt-get update && apt-get install -y sudo \
+    && useradd -m -s /bin/bash -u $USER_UID -G sudo $USERNAME \
+    && echo '%sudo ALL=(ALL) NOPASSWD:ALL' >> /etc/sudoers \
+    && rm -rf /var/lib/apt/lists/*
+
+# Install common tools
+RUN --mount=type=cache,target=/var/cache/apt,sharing=private \
+    apt-get update && apt-get install -y \
+    curl \
+    git \
+    htop \
+    iputils-ping \
+    nano \
+    net-tools \
+    tmux \
+    tree \
+    unzip \
+    vim \
+    wget \
+    zip \
+    && rm -rf /var/lib/apt/lists/*
+
+# Install Python pip
+RUN --mount=type=cache,target=/var/cache/apt,sharing=private \
+    apt-get update && apt-get install -y \
+    python3-pip \
+    && rm -rf /var/lib/apt/lists/*
+
+# Install custom tools
+RUN --mount=type=cache,target=/var/cache/apt,sharing=private \
+    apt-get update && apt-get install -y \
+    git-extras \
+    && rm -rf /var/lib/apt/lists/*
+
+# Install ROS2 Gazebo packages for amd64
+RUN --mount=type=cache,target=/var/cache/apt,sharing=private \
+    if [ "$TARGETARCH" = "amd64" ]; then \
+        apt-get update && apt-get install -y \
+        ros-$ROS_DISTRO-gazebo-ros-pkgs \
+        ros-$ROS_DISTRO-gazebo-ros2-control \
+        && rm -rf /var/lib/apt/lists/*; \
+    fi
+
+# Install ROS2 RVIZ and other custom ROS2 packages
+RUN --mount=type=cache,target=/var/cache/apt,sharing=private \
+    apt-get update && apt-get install -y \
+    ros-$ROS_DISTRO-rviz2 \
+    && rm -rf /var/lib/apt/lists/*
+
+# TODO: Add more commands here
+# For example, to install additional packages, uncomment the following lines and add the package names
+# RUN --mount=type=cache,target=/var/cache/apt,sharing=private \
+#     apt-get update && apt-get install -y \
+#     $OTHER_PACKAGES \
+#     && rm -rf /var/lib/apt/lists/*
+
+USER $USERNAME
+COPY .bashrc /home/$USERNAME/.bashrc
+# Create Gazebo cache directory with correct ownership to avoid permission issues after volume mount
+RUN mkdir /home/$USERNAME/.gazebo
+ENTRYPOINT []
+CMD ["/bin/bash"]

gazebo_world_ws/docker/compose.yaml

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+version: '3'
+services:
+  gazebo-world-ws:
+    build:
+      context: .
+      dockerfile: Dockerfile
+    image: j3soon/ros2-gazebo-world-ws
+    container_name: ros2-gazebo-world-ws
+    stdin_open: true
+    tty: true
+    # TODO: Comment the line below if the workspace don't need to communicate through `/dev/*` devices.
+    privileged: true
+    command: /bin/bash
+    network_mode: host
+    working_dir: /home/ros2-essentials/gazebo_world_ws
+    environment:
+      # Set X11 server environment variable for existing display.
+      - DISPLAY=$DISPLAY
+      # TODO: 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=0
+        # Localhost only is disabled by default to allow communication with external devices.
+      - ROS_DOMAIN_ID=0
+        # Domain ID is set to 0 to allow communication through ros1_bridge.
+      - RCUTILS_COLORIZED_OUTPUT=1
+      - ROS2_WS=/home/ros2-essentials/gazebo_world_ws
+    # TODO: Uncomment the lines below to enable GPU support.
+    # deploy:
+    # # Reference : https://docs.docker.com/compose/gpu-support/
+    #   resources:
+    #     reservations:
+    #       devices:
+    #         - driver: nvidia
+    #           count: all
+    #           capabilities: [ gpu ]
+    volumes:
+      # Mount local timezone into container.
+      # 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
+        # X11-unix is mounted to allow GUI applications to display on host.
+      - $HOME/.Xauthority:/home/user/.Xauthority
+        # Xauthority is mounted to allow X11 forwarding for remote display.
+      # Mount Direct Rendering Infrastructure (DRI) for hardware acceleration support such as OpenGL.
+      - /dev/dri:/dev/dri
+      # Mount sound card to prevent Gazebo warning.
+      - /dev/snd:/dev/snd
+      # Uncomment the line below and comment out the two entries above to enable USB support.
+      # - /dev:/dev
+      # Mount Gazebo models directory to reuse models downloaded during first launch.
+      # Reference: https://answers.ros.org/question/365658
+      # Note that this volume is shared among all workspaces.
+      - gazebo-cache:/home/user/.gazebo
+      # Mount root workspace to allow easy access to all workspaces.
+      - ../..:/home/ros2-essentials
+volumes:
+  gazebo-cache:
+    name: ros2-gazebo-cache

gazebo_world_ws/src/aws-robomaker-hospital-world/.gitignore

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+deps
+downloads
+.DS_Store