From 8e91b551d11b7ae01b4b2773acaf992b882a889e Mon Sep 17 00:00:00 2001 From: Kenta Okamoto Date: Tue, 31 Oct 2023 20:38:12 +0900 Subject: [PATCH 01/28] change Docker file --- .github/workflows/docker/vrx/Dockerfile | 30 ++++++++++++------------- 1 file changed, 15 insertions(+), 15 deletions(-) diff --git a/.github/workflows/docker/vrx/Dockerfile b/.github/workflows/docker/vrx/Dockerfile index 374e6a8d..47f2121c 100644 --- a/.github/workflows/docker/vrx/Dockerfile +++ b/.github/workflows/docker/vrx/Dockerfile @@ -22,21 +22,21 @@ RUN /bin/sh -c 'echo ". /opt/ros/${ROSDIST}/setup.bash" >> ~/.bashrc' \ ## END OF SECTION BASED ON vrx/docker/Dockerfile # Cache fuel resources -# RUN /bin/bash -c 'gz fuel download -u https://fuel.gazebosim.org/1.0/openrobotics/models/sydney_regatta \ -# && gz fuel download -u https://fuel.gazebosim.org/1.0/openrobotics/models/post \ -# && gz fuel download -u https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station \ -# && gz fuel download -u https://fuel.gazebosim.org/1.0/openrobotics/models/antenna \ -# && gz fuel download -u https://fuel.gazebosim.org/1.0/openrobotics/models/mb_marker_buoy_red \ -# && gz fuel download -u https://fuel.gazebosim.org/1.0/openrobotics/models/mb_marker_buoy_black \ -# && gz fuel download -u https://fuel.gazebosim.org/1.0/openrobotics/models/mb_marker_buoy_green \ -# && gz fuel download -u https://fuel.gazebosim.org/1.0/openrobotics/models/mb_marker_buoy_white \ -# && gz fuel download -u https://fuel.gazebosim.org/1.0/openrobotics/models/mb_round_buoy_orange \ -# && gz fuel download -u https://fuel.gazebosim.org/1.0/openrobotics/models/mb_round_buoy_black \ -# && gz fuel download -u https://fuel.gazebosim.org/1.0/openrobotics/models/platypus \ -# && gz fuel download -u https://fuel.gazebosim.org/1.0/openrobotics/models/crocodile \ -# && gz fuel download -u https://fuel.gazebosim.org/1.0/openrobotics/models/turtle \ -# && gz fuel download -u https://fuel.gazebosim.org/1.0/openrobotics/models/wam-v' -ADD fuel.gazebosim.org /root/.gz/fuel/fuel.gazebosim.org +RUN /bin/bash -c 'gz fuel download -u https://fuel.gazebosim.org/1.0/openrobotics/models/sydney_regatta \ + && gz fuel download -u https://fuel.gazebosim.org/1.0/openrobotics/models/post \ + && gz fuel download -u https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station \ + && gz fuel download -u https://fuel.gazebosim.org/1.0/openrobotics/models/antenna \ + && gz fuel download -u https://fuel.gazebosim.org/1.0/openrobotics/models/mb_marker_buoy_red \ + && gz fuel download -u https://fuel.gazebosim.org/1.0/openrobotics/models/mb_marker_buoy_black \ + && gz fuel download -u https://fuel.gazebosim.org/1.0/openrobotics/models/mb_marker_buoy_green \ + && gz fuel download -u https://fuel.gazebosim.org/1.0/openrobotics/models/mb_marker_buoy_white \ + && gz fuel download -u https://fuel.gazebosim.org/1.0/openrobotics/models/mb_round_buoy_orange \ + && gz fuel download -u https://fuel.gazebosim.org/1.0/openrobotics/models/mb_round_buoy_black \ + && gz fuel download -u https://fuel.gazebosim.org/1.0/openrobotics/models/platypus \ + && gz fuel download -u https://fuel.gazebosim.org/1.0/openrobotics/models/crocodile \ + && gz fuel download -u https://fuel.gazebosim.org/1.0/openrobotics/models/turtle \ + && gz fuel download -u https://fuel.gazebosim.org/1.0/openrobotics/models/wam-v' +# ADD fuel.gazebosim.org /root/.gz/fuel/fuel.gazebosim.org # read wam-v sensors and thruster config COPY config /home/config From 42f1cb68b79855ba70ad6950f31d5d66824b920d Mon Sep 17 00:00:00 2001 From: Kenta Okamoto Date: Tue, 31 Oct 2023 23:12:14 +0900 Subject: [PATCH 02/28] fix dockerfiles --- .github/workflows/docker/vrx/Dockerfile | 32 +++++++++---------- .github/workflows/docker/vrx/README.md | 3 +- .../workflows/docker/vrx/run_vrx_gazebo.bash | 2 +- 3 files changed, 19 insertions(+), 18 deletions(-) diff --git a/.github/workflows/docker/vrx/Dockerfile b/.github/workflows/docker/vrx/Dockerfile index 47f2121c..0df17765 100644 --- a/.github/workflows/docker/vrx/Dockerfile +++ b/.github/workflows/docker/vrx/Dockerfile @@ -10,7 +10,7 @@ ARG ROSDIST=humble RUN mkdir -p ~/vrx_ws/src # TODO: restore version tag -RUN git clone --depth 1 -b 2.3.1 https://github.com/osrf/vrx.git \ +RUN git clone --depth 1 -b 2.3.3 https://github.com/osrf/vrx.git \ && mv ./vrx ~/vrx_ws/src # Compile the VRX project. @@ -22,21 +22,21 @@ RUN /bin/sh -c 'echo ". /opt/ros/${ROSDIST}/setup.bash" >> ~/.bashrc' \ ## END OF SECTION BASED ON vrx/docker/Dockerfile # Cache fuel resources -RUN /bin/bash -c 'gz fuel download -u https://fuel.gazebosim.org/1.0/openrobotics/models/sydney_regatta \ - && gz fuel download -u https://fuel.gazebosim.org/1.0/openrobotics/models/post \ - && gz fuel download -u https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station \ - && gz fuel download -u https://fuel.gazebosim.org/1.0/openrobotics/models/antenna \ - && gz fuel download -u https://fuel.gazebosim.org/1.0/openrobotics/models/mb_marker_buoy_red \ - && gz fuel download -u https://fuel.gazebosim.org/1.0/openrobotics/models/mb_marker_buoy_black \ - && gz fuel download -u https://fuel.gazebosim.org/1.0/openrobotics/models/mb_marker_buoy_green \ - && gz fuel download -u https://fuel.gazebosim.org/1.0/openrobotics/models/mb_marker_buoy_white \ - && gz fuel download -u https://fuel.gazebosim.org/1.0/openrobotics/models/mb_round_buoy_orange \ - && gz fuel download -u https://fuel.gazebosim.org/1.0/openrobotics/models/mb_round_buoy_black \ - && gz fuel download -u https://fuel.gazebosim.org/1.0/openrobotics/models/platypus \ - && gz fuel download -u https://fuel.gazebosim.org/1.0/openrobotics/models/crocodile \ - && gz fuel download -u https://fuel.gazebosim.org/1.0/openrobotics/models/turtle \ - && gz fuel download -u https://fuel.gazebosim.org/1.0/openrobotics/models/wam-v' -# ADD fuel.gazebosim.org /root/.gz/fuel/fuel.gazebosim.org +# RUN /bin/bash -c 'gz fuel download -u https://fuel.gazebosim.org/1.0/openrobotics/models/sydney_regatta \ +# && gz fuel download -u https://fuel.gazebosim.org/1.0/openrobotics/models/post \ +# && gz fuel download -u https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station \ +# && gz fuel download -u https://fuel.gazebosim.org/1.0/openrobotics/models/antenna \ +# && gz fuel download -u https://fuel.gazebosim.org/1.0/openrobotics/models/mb_marker_buoy_red \ +# && gz fuel download -u https://fuel.gazebosim.org/1.0/openrobotics/models/mb_marker_buoy_black \ +# && gz fuel download -u https://fuel.gazebosim.org/1.0/openrobotics/models/mb_marker_buoy_green \ +# && gz fuel download -u https://fuel.gazebosim.org/1.0/openrobotics/models/mb_marker_buoy_white \ +# && gz fuel download -u https://fuel.gazebosim.org/1.0/openrobotics/models/mb_round_buoy_orange \ +# && gz fuel download -u https://fuel.gazebosim.org/1.0/openrobotics/models/mb_round_buoy_black \ +# && gz fuel download -u https://fuel.gazebosim.org/1.0/openrobotics/models/platypus \ +# && gz fuel download -u https://fuel.gazebosim.org/1.0/openrobotics/models/crocodile \ +# && gz fuel download -u https://fuel.gazebosim.org/1.0/openrobotics/models/turtle \ +# && gz fuel download -u https://fuel.gazebosim.org/1.0/openrobotics/models/wam-v' +ADD fuel.gazebosim.org /root/.gz/fuel/fuel.gazebosim.org # read wam-v sensors and thruster config COPY config /home/config diff --git a/.github/workflows/docker/vrx/README.md b/.github/workflows/docker/vrx/README.md index 2978411e..63609ecf 100644 --- a/.github/workflows/docker/vrx/README.md +++ b/.github/workflows/docker/vrx/README.md @@ -3,7 +3,8 @@ ## How to use ```bash -docker run wamvtan/vrx +docker run -it wamvtan/vrx /bin/bash +ros2 launch vrx_gz competition.launch.py world:=stationkeeping_task headless:=true urdf:=/home/config/wamv_target.urdf ``` In default setting, you can publish/subscribe these topics. diff --git a/.github/workflows/docker/vrx/run_vrx_gazebo.bash b/.github/workflows/docker/vrx/run_vrx_gazebo.bash index 071b8f3c..6512ac1e 100755 --- a/.github/workflows/docker/vrx/run_vrx_gazebo.bash +++ b/.github/workflows/docker/vrx/run_vrx_gazebo.bash @@ -2,4 +2,4 @@ ros2 launch vrx_gazebo generate_wamv.launch.py component_yaml:=/home/config/component_config.yaml thruster_yaml:=/home/config/thruster_config.yaml wamv_target:=/home/config/wamv_target.urdf wamv_locked:=False # launch vrx gazebo -ros2 launch vrx_gz competition.launch.py world:=sydney_regatta headless:=true urdf:=/home/config/wamv_target.urdf \ No newline at end of file +# ros2 launch vrx_gz competition.launch.py world:=stationkeeping_task headless:=true urdf:=/home/config/wamv_target.urdf \ No newline at end of file From f61a8e5f200ee33a66732720d9eaf860752562fd Mon Sep 17 00:00:00 2001 From: NaNnaru <63537140+kentaokamoto@users.noreply.github.com> Date: Thu, 2 Nov 2023 00:02:18 +0900 Subject: [PATCH 03/28] Update main.yml add cloning vrx_bridge package into utility --- ansible/roles/clone_packages/tasks/main.yml | 7 +++++++ 1 file changed, 7 insertions(+) diff --git a/ansible/roles/clone_packages/tasks/main.yml b/ansible/roles/clone_packages/tasks/main.yml index 8cd82544..16da01ee 100644 --- a/ansible/roles/clone_packages/tasks/main.yml +++ b/ansible/roles/clone_packages/tasks/main.yml @@ -136,6 +136,13 @@ version: main accept_hostkey: yes tags: [utility] +- name: clone vrx_bridge + git: + repo: https://github.com/OUXT-Polaris/vrx_bridge.git + dest: "{{workspace_path}}/src/utils/vrx_bridge" + version: main + accept_hostkey: yes + tags: [utility] # Description Packages - name: clone wamv_description From 4d88a2754fc0d5bffec223b498b3629ff9d0ba7e Mon Sep 17 00:00:00 2001 From: NaNnaru <63537140+kentaokamoto@users.noreply.github.com> Date: Thu, 2 Nov 2023 00:09:08 +0900 Subject: [PATCH 04/28] Update run_vrx_gazebo.bash add command to run vrx_bridge # run vrx_bridge node to exchange sensor info with nav_sim ros2 run vrx_bridge vrx_bridge_node& --- .github/workflows/docker/vrx/run_vrx_gazebo.bash | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) diff --git a/.github/workflows/docker/vrx/run_vrx_gazebo.bash b/.github/workflows/docker/vrx/run_vrx_gazebo.bash index 6512ac1e..0686a5f3 100755 --- a/.github/workflows/docker/vrx/run_vrx_gazebo.bash +++ b/.github/workflows/docker/vrx/run_vrx_gazebo.bash @@ -1,5 +1,8 @@ # generate wamv_target.urdf ros2 launch vrx_gazebo generate_wamv.launch.py component_yaml:=/home/config/component_config.yaml thruster_yaml:=/home/config/thruster_config.yaml wamv_target:=/home/config/wamv_target.urdf wamv_locked:=False +# run vrx_bridge node to exchange sensor info with nav_sim +ros2 run vrx_bridge vrx_bridge_node& + # launch vrx gazebo -# ros2 launch vrx_gz competition.launch.py world:=stationkeeping_task headless:=true urdf:=/home/config/wamv_target.urdf \ No newline at end of file +# ros2 launch vrx_gz competition.launch.py world:=stationkeeping_task headless:=true urdf:=/home/config/wamv_target.urdf From c1594e946c5259c73d7f9809516df1885364b262 Mon Sep 17 00:00:00 2001 From: NaNnaru <63537140+kentaokamoto@users.noreply.github.com> Date: Thu, 2 Nov 2023 00:33:00 +0900 Subject: [PATCH 05/28] Update main.yml version: main -> master --- ansible/roles/clone_packages/tasks/main.yml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/ansible/roles/clone_packages/tasks/main.yml b/ansible/roles/clone_packages/tasks/main.yml index 16da01ee..c311817a 100644 --- a/ansible/roles/clone_packages/tasks/main.yml +++ b/ansible/roles/clone_packages/tasks/main.yml @@ -140,7 +140,7 @@ git: repo: https://github.com/OUXT-Polaris/vrx_bridge.git dest: "{{workspace_path}}/src/utils/vrx_bridge" - version: main + version: master accept_hostkey: yes tags: [utility] From c273dff3d92098a75467bd663b7aa0562fc10fca Mon Sep 17 00:00:00 2001 From: NaNnaru <63537140+kentaokamoto@users.noreply.github.com> Date: Thu, 2 Nov 2023 00:58:23 +0900 Subject: [PATCH 06/28] Update run_vrx_gazebo.bash --- .github/workflows/docker/vrx/run_vrx_gazebo.bash | 3 +++ 1 file changed, 3 insertions(+) diff --git a/.github/workflows/docker/vrx/run_vrx_gazebo.bash b/.github/workflows/docker/vrx/run_vrx_gazebo.bash index 0686a5f3..c1cc6aaf 100755 --- a/.github/workflows/docker/vrx/run_vrx_gazebo.bash +++ b/.github/workflows/docker/vrx/run_vrx_gazebo.bash @@ -1,6 +1,9 @@ # generate wamv_target.urdf ros2 launch vrx_gazebo generate_wamv.launch.py component_yaml:=/home/config/component_config.yaml thruster_yaml:=/home/config/thruster_config.yaml wamv_target:=/home/config/wamv_target.urdf wamv_locked:=False +# launch nav_sim +ros2 launch navi_sim navi_sim.launch.py& + # run vrx_bridge node to exchange sensor info with nav_sim ros2 run vrx_bridge vrx_bridge_node& From 6835a171411d977d821e93f31aea3ac0a01ac8b9 Mon Sep 17 00:00:00 2001 From: NaNnaru <63537140+kentaokamoto@users.noreply.github.com> Date: Fri, 3 Nov 2023 15:19:00 +0900 Subject: [PATCH 07/28] Update vrx_entrypoint.sh --- .github/workflows/docker/vrx/vrx_entrypoint.sh | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/.github/workflows/docker/vrx/vrx_entrypoint.sh b/.github/workflows/docker/vrx/vrx_entrypoint.sh index 31eb1cf8..a66bfc1c 100755 --- a/.github/workflows/docker/vrx/vrx_entrypoint.sh +++ b/.github/workflows/docker/vrx/vrx_entrypoint.sh @@ -6,6 +6,7 @@ source "/opt/ros/humble/setup.bash" > /dev/null # setup vrx environment source ~/vrx_ws/install/setup.sh +source /home/ouxt_automation/robotx_ws/install/local_setup.bash echo "vrx entrypoint executed" # TODO: optionally disable this so a gzclient can be run on the host for development. @@ -13,4 +14,4 @@ export GAZEBO_IP=127.0.0.1 export GAZEBO_IP_WHITE_LIST=127.0.0.1 /run_vrx_gazebo.bash -exec "$@" \ No newline at end of file +exec "$@" From b5c7cf5d2df58b6e19c85bff7583d7fc6d537669 Mon Sep 17 00:00:00 2001 From: NaNnaru <63537140+kentaokamoto@users.noreply.github.com> Date: Fri, 3 Nov 2023 15:32:52 +0900 Subject: [PATCH 08/28] Update Dockerfile --- .github/workflows/docker/vrx/Dockerfile | 7 ++++++- 1 file changed, 6 insertions(+), 1 deletion(-) diff --git a/.github/workflows/docker/vrx/Dockerfile b/.github/workflows/docker/vrx/Dockerfile index 0df17765..dd685090 100644 --- a/.github/workflows/docker/vrx/Dockerfile +++ b/.github/workflows/docker/vrx/Dockerfile @@ -44,9 +44,14 @@ COPY config /home/config # Expose port used to communiate with gzserver EXPOSE 11345 +WORKDIR /home +COPY tmp/ouxt_automation /home/ouxt_automation +WORKDIR /home/ouxt_automation +RUN ansible-playbook -i ansible/hosts/localhost.ini ansible/setup_dev_environment.yml --connection local --ask-become-pass -e ansible_user=root + # setup entrypoint COPY ./vrx_entrypoint.sh / COPY ./run_vrx_gazebo.bash / -ENTRYPOINT ["/vrx_entrypoint.sh"] \ No newline at end of file +ENTRYPOINT ["/vrx_entrypoint.sh"] From 32713fe099d53af6cfb7b8a4095aeb68dd50cc42 Mon Sep 17 00:00:00 2001 From: NaNnaru <63537140+kentaokamoto@users.noreply.github.com> Date: Fri, 3 Nov 2023 15:33:36 +0900 Subject: [PATCH 09/28] Update Dockerfile --- .github/workflows/docker/vrx/Dockerfile | 1 + 1 file changed, 1 insertion(+) diff --git a/.github/workflows/docker/vrx/Dockerfile b/.github/workflows/docker/vrx/Dockerfile index dd685090..195588c9 100644 --- a/.github/workflows/docker/vrx/Dockerfile +++ b/.github/workflows/docker/vrx/Dockerfile @@ -49,6 +49,7 @@ COPY tmp/ouxt_automation /home/ouxt_automation WORKDIR /home/ouxt_automation RUN ansible-playbook -i ansible/hosts/localhost.ini ansible/setup_dev_environment.yml --connection local --ask-become-pass -e ansible_user=root +WORKDIR / # setup entrypoint COPY ./vrx_entrypoint.sh / From 1785135b3e4ccc7bd8f8fe52234366de8513b3db Mon Sep 17 00:00:00 2001 From: NaNnaru <63537140+kentaokamoto@users.noreply.github.com> Date: Fri, 3 Nov 2023 16:09:40 +0900 Subject: [PATCH 10/28] Update Dockerfile --- .github/workflows/docker/vrx/Dockerfile | 9 ++++----- 1 file changed, 4 insertions(+), 5 deletions(-) diff --git a/.github/workflows/docker/vrx/Dockerfile b/.github/workflows/docker/vrx/Dockerfile index 195588c9..f99cb66a 100644 --- a/.github/workflows/docker/vrx/Dockerfile +++ b/.github/workflows/docker/vrx/Dockerfile @@ -44,12 +44,11 @@ COPY config /home/config # Expose port used to communiate with gzserver EXPOSE 11345 -WORKDIR /home -COPY tmp/ouxt_automation /home/ouxt_automation -WORKDIR /home/ouxt_automation -RUN ansible-playbook -i ansible/hosts/localhost.ini ansible/setup_dev_environment.yml --connection local --ask-become-pass -e ansible_user=root +RUN git clone https://github.com/OUXT-Polaris/ouxt_automation.git \ +&& mv ./ouxt_automation ~/ouxt_automation +RUN ansible-playbook -i ansible/hosts/localhost.ini ~/ouxt_automation/ansible/setup_dev_environment.yml --connection local --ask-become-pass -e ansible_user=root -WORKDIR / +RUN /bin/sh -c 'echo ". ~/ouxt_automation/install/local_setup.sh" >> ~/.bashrc' # setup entrypoint COPY ./vrx_entrypoint.sh / From 964e03c9797d68042b3196be98d1270173668838 Mon Sep 17 00:00:00 2001 From: NaNnaru <63537140+kentaokamoto@users.noreply.github.com> Date: Fri, 3 Nov 2023 16:10:55 +0900 Subject: [PATCH 11/28] Update vrx_entrypoint.sh --- .github/workflows/docker/vrx/vrx_entrypoint.sh | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/workflows/docker/vrx/vrx_entrypoint.sh b/.github/workflows/docker/vrx/vrx_entrypoint.sh index a66bfc1c..264f7f1a 100755 --- a/.github/workflows/docker/vrx/vrx_entrypoint.sh +++ b/.github/workflows/docker/vrx/vrx_entrypoint.sh @@ -6,7 +6,7 @@ source "/opt/ros/humble/setup.bash" > /dev/null # setup vrx environment source ~/vrx_ws/install/setup.sh -source /home/ouxt_automation/robotx_ws/install/local_setup.bash +source ~/ouxt_automation/robotx_ws/install/local_setup.bash echo "vrx entrypoint executed" # TODO: optionally disable this so a gzclient can be run on the host for development. From d26e0f13ebf073f87667bf8489ec158555cc533e Mon Sep 17 00:00:00 2001 From: NaNnaru <63537140+kentaokamoto@users.noreply.github.com> Date: Fri, 3 Nov 2023 16:13:44 +0900 Subject: [PATCH 12/28] Update Dockerfile --- .github/workflows/docker/vrx/Dockerfile | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/.github/workflows/docker/vrx/Dockerfile b/.github/workflows/docker/vrx/Dockerfile index f99cb66a..880e1494 100644 --- a/.github/workflows/docker/vrx/Dockerfile +++ b/.github/workflows/docker/vrx/Dockerfile @@ -48,7 +48,9 @@ RUN git clone https://github.com/OUXT-Polaris/ouxt_automation.git \ && mv ./ouxt_automation ~/ouxt_automation RUN ansible-playbook -i ansible/hosts/localhost.ini ~/ouxt_automation/ansible/setup_dev_environment.yml --connection local --ask-become-pass -e ansible_user=root -RUN /bin/sh -c 'echo ". ~/ouxt_automation/install/local_setup.sh" >> ~/.bashrc' +RUN sh ~/ouxt_automation/setup.sh + +RUN /bin/sh -c 'echo ". ~/ouxt_automation/install/local_setup.bash" >> ~/.bashrc' # setup entrypoint COPY ./vrx_entrypoint.sh / From fc250e700bfbc5ebf0c74c69f0f2a8e9f5acbfb2 Mon Sep 17 00:00:00 2001 From: NaNnaru <63537140+kentaokamoto@users.noreply.github.com> Date: Fri, 3 Nov 2023 16:21:35 +0900 Subject: [PATCH 13/28] Update Dockerfile --- .github/workflows/docker/vrx/Dockerfile | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/.github/workflows/docker/vrx/Dockerfile b/.github/workflows/docker/vrx/Dockerfile index 880e1494..bc534122 100644 --- a/.github/workflows/docker/vrx/Dockerfile +++ b/.github/workflows/docker/vrx/Dockerfile @@ -46,7 +46,8 @@ EXPOSE 11345 RUN git clone https://github.com/OUXT-Polaris/ouxt_automation.git \ && mv ./ouxt_automation ~/ouxt_automation -RUN ansible-playbook -i ansible/hosts/localhost.ini ~/ouxt_automation/ansible/setup_dev_environment.yml --connection local --ask-become-pass -e ansible_user=root +WORKDIR ~/ouxt_automation +RUN ansible-playbook -i ansible/hosts/localhost.ini ansible/setup_dev_environment.yml --connection local --ask-become-pass -e ansible_user=root RUN sh ~/ouxt_automation/setup.sh From 7820e3652ad04dfca0f1d62c02e7af4f4f9baed2 Mon Sep 17 00:00:00 2001 From: NaNnaru <63537140+kentaokamoto@users.noreply.github.com> Date: Fri, 3 Nov 2023 16:40:30 +0900 Subject: [PATCH 14/28] Update Dockerfile --- .github/workflows/docker/vrx/Dockerfile | 3 +++ 1 file changed, 3 insertions(+) diff --git a/.github/workflows/docker/vrx/Dockerfile b/.github/workflows/docker/vrx/Dockerfile index bc534122..17220a7a 100644 --- a/.github/workflows/docker/vrx/Dockerfile +++ b/.github/workflows/docker/vrx/Dockerfile @@ -44,6 +44,7 @@ COPY config /home/config # Expose port used to communiate with gzserver EXPOSE 11345 +RUN pip3 install ansible\==2.9.8 RUN git clone https://github.com/OUXT-Polaris/ouxt_automation.git \ && mv ./ouxt_automation ~/ouxt_automation WORKDIR ~/ouxt_automation @@ -52,6 +53,8 @@ RUN ansible-playbook -i ansible/hosts/localhost.ini ansible/setup_dev_environmen RUN sh ~/ouxt_automation/setup.sh RUN /bin/sh -c 'echo ". ~/ouxt_automation/install/local_setup.bash" >> ~/.bashrc' + +WORKDIR / # setup entrypoint COPY ./vrx_entrypoint.sh / From 12d2787d854a1bbf742e0daa0866697ac30719ed Mon Sep 17 00:00:00 2001 From: NaNnaru <63537140+kentaokamoto@users.noreply.github.com> Date: Fri, 3 Nov 2023 17:24:40 +0900 Subject: [PATCH 15/28] Update Dockerfile --- .github/workflows/docker/vrx/Dockerfile | 5 +---- 1 file changed, 1 insertion(+), 4 deletions(-) diff --git a/.github/workflows/docker/vrx/Dockerfile b/.github/workflows/docker/vrx/Dockerfile index 17220a7a..1eee9540 100644 --- a/.github/workflows/docker/vrx/Dockerfile +++ b/.github/workflows/docker/vrx/Dockerfile @@ -44,13 +44,10 @@ COPY config /home/config # Expose port used to communiate with gzserver EXPOSE 11345 -RUN pip3 install ansible\==2.9.8 RUN git clone https://github.com/OUXT-Polaris/ouxt_automation.git \ && mv ./ouxt_automation ~/ouxt_automation WORKDIR ~/ouxt_automation -RUN ansible-playbook -i ansible/hosts/localhost.ini ansible/setup_dev_environment.yml --connection local --ask-become-pass -e ansible_user=root - -RUN sh ~/ouxt_automation/setup.sh +RUN sh setup.sh RUN /bin/sh -c 'echo ". ~/ouxt_automation/install/local_setup.bash" >> ~/.bashrc' From 31fe991fdd73c77d4bd0f62fd6e1cc8f8a334770 Mon Sep 17 00:00:00 2001 From: NaNnaru <63537140+kentaokamoto@users.noreply.github.com> Date: Fri, 3 Nov 2023 17:56:04 +0900 Subject: [PATCH 16/28] Update Dockerfile --- .github/workflows/docker/vrx/Dockerfile | 1 + 1 file changed, 1 insertion(+) diff --git a/.github/workflows/docker/vrx/Dockerfile b/.github/workflows/docker/vrx/Dockerfile index 1eee9540..04913bb0 100644 --- a/.github/workflows/docker/vrx/Dockerfile +++ b/.github/workflows/docker/vrx/Dockerfile @@ -44,6 +44,7 @@ COPY config /home/config # Expose port used to communiate with gzserver EXPOSE 11345 +RUN mkdir -p ~/ouxt_automation RUN git clone https://github.com/OUXT-Polaris/ouxt_automation.git \ && mv ./ouxt_automation ~/ouxt_automation WORKDIR ~/ouxt_automation From 5dda4fc985c6b96416c3c925a31f7685b46a0df2 Mon Sep 17 00:00:00 2001 From: NaNnaru <63537140+kentaokamoto@users.noreply.github.com> Date: Fri, 3 Nov 2023 18:11:41 +0900 Subject: [PATCH 17/28] Update Dockerfile --- .github/workflows/docker/vrx/Dockerfile | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/.github/workflows/docker/vrx/Dockerfile b/.github/workflows/docker/vrx/Dockerfile index 04913bb0..74739db4 100644 --- a/.github/workflows/docker/vrx/Dockerfile +++ b/.github/workflows/docker/vrx/Dockerfile @@ -47,12 +47,12 @@ EXPOSE 11345 RUN mkdir -p ~/ouxt_automation RUN git clone https://github.com/OUXT-Polaris/ouxt_automation.git \ && mv ./ouxt_automation ~/ouxt_automation -WORKDIR ~/ouxt_automation +RUN cd ~/ouxt_automation RUN sh setup.sh RUN /bin/sh -c 'echo ". ~/ouxt_automation/install/local_setup.bash" >> ~/.bashrc' -WORKDIR / +RUN cd / # setup entrypoint COPY ./vrx_entrypoint.sh / From 542f3dec2efc6a2446cb7e409049ceb014ea7c62 Mon Sep 17 00:00:00 2001 From: NaNnaru <63537140+kentaokamoto@users.noreply.github.com> Date: Fri, 3 Nov 2023 18:31:51 +0900 Subject: [PATCH 18/28] Update Dockerfile --- .github/workflows/docker/vrx/Dockerfile | 4 +--- 1 file changed, 1 insertion(+), 3 deletions(-) diff --git a/.github/workflows/docker/vrx/Dockerfile b/.github/workflows/docker/vrx/Dockerfile index 74739db4..c27c4d9c 100644 --- a/.github/workflows/docker/vrx/Dockerfile +++ b/.github/workflows/docker/vrx/Dockerfile @@ -44,9 +44,7 @@ COPY config /home/config # Expose port used to communiate with gzserver EXPOSE 11345 -RUN mkdir -p ~/ouxt_automation -RUN git clone https://github.com/OUXT-Polaris/ouxt_automation.git \ -&& mv ./ouxt_automation ~/ouxt_automation +RUN git clone https://github.com/OUXT-Polaris/ouxt_automation.git RUN cd ~/ouxt_automation RUN sh setup.sh From fad9e7687636b663358f2794549ccc1f67ecb9b9 Mon Sep 17 00:00:00 2001 From: NaNnaru <63537140+kentaokamoto@users.noreply.github.com> Date: Fri, 3 Nov 2023 18:48:26 +0900 Subject: [PATCH 19/28] Update Dockerfile --- .github/workflows/docker/vrx/Dockerfile | 6 ++++-- 1 file changed, 4 insertions(+), 2 deletions(-) diff --git a/.github/workflows/docker/vrx/Dockerfile b/.github/workflows/docker/vrx/Dockerfile index c27c4d9c..48dbcc29 100644 --- a/.github/workflows/docker/vrx/Dockerfile +++ b/.github/workflows/docker/vrx/Dockerfile @@ -44,8 +44,10 @@ COPY config /home/config # Expose port used to communiate with gzserver EXPOSE 11345 -RUN git clone https://github.com/OUXT-Polaris/ouxt_automation.git -RUN cd ~/ouxt_automation +RUN mkdir -p ~/home/ouxt_automation +RUN git clone https://github.com/OUXT-Polaris/ouxt_automation.git \ +&& mv ./ouxt_automation ~/home/ouxt_automation +RUN cd ~/home/ouxt_automation RUN sh setup.sh RUN /bin/sh -c 'echo ". ~/ouxt_automation/install/local_setup.bash" >> ~/.bashrc' From 518c6cc444a928dc6baa21510bcb87fba1a0a884 Mon Sep 17 00:00:00 2001 From: NaNnaru <63537140+kentaokamoto@users.noreply.github.com> Date: Fri, 3 Nov 2023 18:49:06 +0900 Subject: [PATCH 20/28] Update vrx_entrypoint.sh --- .github/workflows/docker/vrx/vrx_entrypoint.sh | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/workflows/docker/vrx/vrx_entrypoint.sh b/.github/workflows/docker/vrx/vrx_entrypoint.sh index 264f7f1a..a761316f 100755 --- a/.github/workflows/docker/vrx/vrx_entrypoint.sh +++ b/.github/workflows/docker/vrx/vrx_entrypoint.sh @@ -6,7 +6,7 @@ source "/opt/ros/humble/setup.bash" > /dev/null # setup vrx environment source ~/vrx_ws/install/setup.sh -source ~/ouxt_automation/robotx_ws/install/local_setup.bash +source ~/home/ouxt_automation/robotx_ws/install/local_setup.bash echo "vrx entrypoint executed" # TODO: optionally disable this so a gzclient can be run on the host for development. From 06fb8c6bd3fd16e7de977558dfd1059406a38b7f Mon Sep 17 00:00:00 2001 From: NaNnaru <63537140+kentaokamoto@users.noreply.github.com> Date: Fri, 3 Nov 2023 18:51:25 +0900 Subject: [PATCH 21/28] Update Dockerfile --- .github/workflows/docker/vrx/Dockerfile | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/workflows/docker/vrx/Dockerfile b/.github/workflows/docker/vrx/Dockerfile index 48dbcc29..2efe0683 100644 --- a/.github/workflows/docker/vrx/Dockerfile +++ b/.github/workflows/docker/vrx/Dockerfile @@ -50,7 +50,7 @@ RUN git clone https://github.com/OUXT-Polaris/ouxt_automation.git \ RUN cd ~/home/ouxt_automation RUN sh setup.sh -RUN /bin/sh -c 'echo ". ~/ouxt_automation/install/local_setup.bash" >> ~/.bashrc' +RUN /bin/sh -c 'echo ". ~/home/ouxt_automation/install/local_setup.bash" >> ~/.bashrc' RUN cd / # setup entrypoint From 28f663afbcf23f743899d5019d719099af51ca03 Mon Sep 17 00:00:00 2001 From: NaNnaru <63537140+kentaokamoto@users.noreply.github.com> Date: Fri, 3 Nov 2023 19:14:24 +0900 Subject: [PATCH 22/28] Update Dockerfile --- .github/workflows/docker/vrx/Dockerfile | 1 + 1 file changed, 1 insertion(+) diff --git a/.github/workflows/docker/vrx/Dockerfile b/.github/workflows/docker/vrx/Dockerfile index 2efe0683..f84d6c02 100644 --- a/.github/workflows/docker/vrx/Dockerfile +++ b/.github/workflows/docker/vrx/Dockerfile @@ -44,6 +44,7 @@ COPY config /home/config # Expose port used to communiate with gzserver EXPOSE 11345 +RUN pip3 install ansible\==2.9.8 RUN mkdir -p ~/home/ouxt_automation RUN git clone https://github.com/OUXT-Polaris/ouxt_automation.git \ && mv ./ouxt_automation ~/home/ouxt_automation From 3bee9506c4fcdeaf971f11584b18a56d53fb3849 Mon Sep 17 00:00:00 2001 From: NaNnaru <63537140+kentaokamoto@users.noreply.github.com> Date: Fri, 3 Nov 2023 19:29:19 +0900 Subject: [PATCH 23/28] Update Dockerfile --- .github/workflows/docker/vrx/Dockerfile | 6 +++++- 1 file changed, 5 insertions(+), 1 deletion(-) diff --git a/.github/workflows/docker/vrx/Dockerfile b/.github/workflows/docker/vrx/Dockerfile index f84d6c02..08523d88 100644 --- a/.github/workflows/docker/vrx/Dockerfile +++ b/.github/workflows/docker/vrx/Dockerfile @@ -49,7 +49,11 @@ RUN mkdir -p ~/home/ouxt_automation RUN git clone https://github.com/OUXT-Polaris/ouxt_automation.git \ && mv ./ouxt_automation ~/home/ouxt_automation RUN cd ~/home/ouxt_automation -RUN sh setup.sh +RUN cd ansible +RUN sh setup_ansible.sh +RUN cd ../ +RUN ansible-playbook -i ansible/hosts/localhost.ini ansible/setup_dev_environment.yml --connection local --ask-become-pass -e ansible_user=${USER} + RUN /bin/sh -c 'echo ". ~/home/ouxt_automation/install/local_setup.bash" >> ~/.bashrc' From 8cfc49b7bf7c11036868e7da3aa5983a351e14bf Mon Sep 17 00:00:00 2001 From: NaNnaru <63537140+kentaokamoto@users.noreply.github.com> Date: Fri, 3 Nov 2023 21:59:50 +0900 Subject: [PATCH 24/28] Update Dockerfile --- .github/workflows/docker/vrx/Dockerfile | 14 -------------- 1 file changed, 14 deletions(-) diff --git a/.github/workflows/docker/vrx/Dockerfile b/.github/workflows/docker/vrx/Dockerfile index 08523d88..fc313390 100644 --- a/.github/workflows/docker/vrx/Dockerfile +++ b/.github/workflows/docker/vrx/Dockerfile @@ -44,20 +44,6 @@ COPY config /home/config # Expose port used to communiate with gzserver EXPOSE 11345 -RUN pip3 install ansible\==2.9.8 -RUN mkdir -p ~/home/ouxt_automation -RUN git clone https://github.com/OUXT-Polaris/ouxt_automation.git \ -&& mv ./ouxt_automation ~/home/ouxt_automation -RUN cd ~/home/ouxt_automation -RUN cd ansible -RUN sh setup_ansible.sh -RUN cd ../ -RUN ansible-playbook -i ansible/hosts/localhost.ini ansible/setup_dev_environment.yml --connection local --ask-become-pass -e ansible_user=${USER} - - -RUN /bin/sh -c 'echo ". ~/home/ouxt_automation/install/local_setup.bash" >> ~/.bashrc' - -RUN cd / # setup entrypoint COPY ./vrx_entrypoint.sh / From 5a9d3b4ee5867fca31f9248e48092af62f6b2edb Mon Sep 17 00:00:00 2001 From: NaNnaru <63537140+kentaokamoto@users.noreply.github.com> Date: Fri, 3 Nov 2023 22:00:20 +0900 Subject: [PATCH 25/28] Update vrx_entrypoint.sh --- .github/workflows/docker/vrx/vrx_entrypoint.sh | 1 - 1 file changed, 1 deletion(-) diff --git a/.github/workflows/docker/vrx/vrx_entrypoint.sh b/.github/workflows/docker/vrx/vrx_entrypoint.sh index a761316f..a27d708a 100755 --- a/.github/workflows/docker/vrx/vrx_entrypoint.sh +++ b/.github/workflows/docker/vrx/vrx_entrypoint.sh @@ -6,7 +6,6 @@ source "/opt/ros/humble/setup.bash" > /dev/null # setup vrx environment source ~/vrx_ws/install/setup.sh -source ~/home/ouxt_automation/robotx_ws/install/local_setup.bash echo "vrx entrypoint executed" # TODO: optionally disable this so a gzclient can be run on the host for development. From 2594a0c8786b8da3a54a541403fc8b067458e1cd Mon Sep 17 00:00:00 2001 From: NaNnaru <63537140+kentaokamoto@users.noreply.github.com> Date: Fri, 3 Nov 2023 22:05:52 +0900 Subject: [PATCH 26/28] Update run_vrx_gazebo.bash --- .github/workflows/docker/vrx/run_vrx_gazebo.bash | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/.github/workflows/docker/vrx/run_vrx_gazebo.bash b/.github/workflows/docker/vrx/run_vrx_gazebo.bash index c1cc6aaf..a59ef614 100755 --- a/.github/workflows/docker/vrx/run_vrx_gazebo.bash +++ b/.github/workflows/docker/vrx/run_vrx_gazebo.bash @@ -2,10 +2,10 @@ ros2 launch vrx_gazebo generate_wamv.launch.py component_yaml:=/home/config/component_config.yaml thruster_yaml:=/home/config/thruster_config.yaml wamv_target:=/home/config/wamv_target.urdf wamv_locked:=False # launch nav_sim -ros2 launch navi_sim navi_sim.launch.py& +#ros2 launch navi_sim navi_sim.launch.py& # run vrx_bridge node to exchange sensor info with nav_sim -ros2 run vrx_bridge vrx_bridge_node& +#ros2 run vrx_bridge vrx_bridge_node& # launch vrx gazebo # ros2 launch vrx_gz competition.launch.py world:=stationkeeping_task headless:=true urdf:=/home/config/wamv_target.urdf From 166f05b2fce886533c70ea8b63bd6b4ad0ac9dc8 Mon Sep 17 00:00:00 2001 From: NaNnaru <63537140+kentaokamoto@users.noreply.github.com> Date: Fri, 3 Nov 2023 22:07:15 +0900 Subject: [PATCH 27/28] Update README.md --- .github/workflows/docker/vrx/README.md | 8 +++++++- 1 file changed, 7 insertions(+), 1 deletion(-) diff --git a/.github/workflows/docker/vrx/README.md b/.github/workflows/docker/vrx/README.md index 63609ecf..bb8ea71c 100644 --- a/.github/workflows/docker/vrx/README.md +++ b/.github/workflows/docker/vrx/README.md @@ -1,11 +1,17 @@ # Docker Image for Virtual RobotX ## How to use - +Firstly, run wamvtan/vrx ```bash docker run -it wamvtan/vrx /bin/bash ros2 launch vrx_gz competition.launch.py world:=stationkeeping_task headless:=true urdf:=/home/config/wamv_target.urdf ``` +Next, run another docker_image wamvtan/dev_container which includes our autonomous system. +```bash +docker run -it wamvtan/dev_container /bin/bash +ros2 run vrx_bridge vrx_bridge_node& +ros2 launch navi_sim navi_sim.launch.py& +``` In default setting, you can publish/subscribe these topics. From 1163cc1928452765b8b0bb60b374803f7fe644b0 Mon Sep 17 00:00:00 2001 From: Masaya Kataoka Date: Mon, 20 Nov 2023 23:02:37 +0900 Subject: [PATCH 28/28] add install colcon mixin line (#326) * add install colcon mixin line Signed-off-by: Masaya Kataoka * update role Signed-off-by: Masaya Kataoka * remove redandant line Signed-off-by: Masaya Kataoka * install colcon via pip Signed-off-by: Masaya Kataoka * install via apt Signed-off-by: Masaya Kataoka --------- Signed-off-by: Masaya Kataoka --- ansible/roles/build/tasks/main.yml | 7 +++++++ ansible/roles/ros2/tasks/main.yml | 4 ++-- 2 files changed, 9 insertions(+), 2 deletions(-) diff --git a/ansible/roles/build/tasks/main.yml b/ansible/roles/build/tasks/main.yml index 408dd83b..ea03e47e 100644 --- a/ansible/roles/build/tasks/main.yml +++ b/ansible/roles/build/tasks/main.yml @@ -45,6 +45,13 @@ command: rosdep install -y -r -i --from-paths {{ workspace_path }}/src --ignore-src --rosdistro humble become: yes +- name: add colcon mixin + command: colcon mixin add default https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml + ignore_errors: true + +- name: update colcon mixin + command: colcon mixin update default + - name: load env variable & build shell: |- cd {{ workspace_path }} diff --git a/ansible/roles/ros2/tasks/main.yml b/ansible/roles/ros2/tasks/main.yml index c2c36c2f..aecd00c1 100644 --- a/ansible/roles/ros2/tasks/main.yml +++ b/ansible/roles/ros2/tasks/main.yml @@ -60,7 +60,7 @@ # shell: apt-get -y update && apt-get -y upgrade && apt-get --with-new-pkgs -y upgrade && aptitude -y full-upgrade && apt-get -y update && apt-get -y upgrade # become: yes -- name: install ros2 humble/colcon/vcs +- name: install ros2 humble/vcs become: yes apt: name: "{{ packages }}" @@ -70,8 +70,8 @@ packages: - "{{ ros_package_name }}" - python3-colcon-common-extensions + - python3-colcon-mixin - python3-vcstool - - python3-colcon-common-extensions - python3-rospkg - python3-catkin-pkg - python3-rosdep