Add gazebo docker image for canadarm_demo

Related to space-ros/space-ros#178

canadarm2/Dockerfile

@@ -5,7 +5,7 @@ ENV ROS_DISTRO=humble
 ENV HOME=/home/spaceros-user
 
 # Install dependencies
-# Related to space-ros/space-ros#195
+# Related to space-ros/space-ros#195 and space-ros/space-ros#196
 RUN sudo apt update && sudo apt install -y ros-${ROS_DISTRO}-control-msgs \
     ros-${ROS_DISTRO}-rmw-cyclonedds-cpp
 

canadarm2/Dockerfile.GUI

@@ -0,0 +1,76 @@
+FROM ros:humble-ros-core-jammy
+
+ARG DEBIAN_FRONTEND=noninteractive
+
+ENV RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
+ENV ROS_DISTRO=humble
+ENV USERNAME=spaceros-user
+ENV HOME=/home/spaceros-user
+ENV IGNITION_VERSION=fortress
+ENV GZ_VERSION=fortress
+
+# Install dependencies
+RUN apt update && apt install -y ros-${ROS_DISTRO}-rmw-cyclonedds-cpp \
+    wget \
+    curl \
+    && apt clean  \
+    && rm -rf /var/lib/apt/lists/*
+
+RUN wget https://packages.osrfoundation.org/gazebo.gpg -O /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg\
+    && echo "deb [arch=amd64 signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" | tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null
+
+# Install Gazebo
+RUN apt-get update -qq \
+    && apt-get install -y \
+    gz-${GZ_VERSION} \
+    libgz-sim7 \
+    libgz-transport12 \
+    libgz-gui7 \
+    build-essential\
+    ros-${ROS_DISTRO}-rcl-interfaces\
+    ros-${ROS_DISTRO}-rclcpp\
+    ros-${ROS_DISTRO}-builtin-interfaces\
+    ros-${ROS_DISTRO}-ros-gz\
+    ros-${ROS_DISTRO}-sdformat-urdf\
+    ros-${ROS_DISTRO}-vision-msgs\
+    ros-${ROS_DISTRO}-actuator-msgs\
+    ros-${ROS_DISTRO}-image-transport\
+    ros-${ROS_DISTRO}-xacro\
+    && rm -rf /var/lib/apt/lists/*
+
+
+# Install Rviz2
+RUN apt-get update -qq \
+    && apt-get install -y \
+    ros-${ROS_DISTRO}-rviz2 \
+    ros-${ROS_DISTRO}-moveit-ros-visualization \
+    ros-${ROS_DISTRO}-nav2-rviz-plugins \
+    && rm -rf /var/lib/apt/lists/*
+
+# Demo package
+RUN mkdir -p ${HOME}/canadarm2_ws/src
+WORKDIR ${HOME}/canadarm2_ws/src
+COPY ./canadarm_description ./canadarm_description
+COPY ./canadarm_gazebo ./canadarm_gazebo
+COPY .defaults.yaml ${HOME}/canadarm2_ws/.defaults.yaml
+
+RUN apt update \
+    && apt install -y python3-rosdep python3-colcon-common-extensions \
+    && apt clean \
+    && rm -rf /var/lib/apt/lists/* \
+    && rosdep init \
+    && rosdep update
+
+RUN . /opt/ros/humble/setup.sh \
+    && cd ${HOME}/canadarm2_ws \
+    && apt update \
+    && rosdep install --from-paths src --ignore-src -r -y \
+    && colcon build
+
+WORKDIR ${HOME}/canadarm2_ws
+
+RUN apt update && apt install -y ros-humble-ros-ign-gazebo
+RUN echo "source /opt/ros/humble/setup.bash" >> ${HOME}/.bashrc
+RUN echo "source ${HOME}/canadarm2_ws/install/setup.bash" >> ${HOME}/.bashrc
+
+CMD ign gazebo

canadarm2/build.sh

@@ -2,103 +2,4 @@
 
 set -e
 
-# Define variables
-DOCKER_IMAGE="osrf/space-ros:canadarm_demo"
-LOCAL_WORKSPACE=$(pwd)
-SHELL="/bin/bash"
-
-# Define packages
-SIM_PACKAGES="canadarm_description canadarm_gazebo"
-CONTROL_PACKAGE="canadarm_moveit_config canadarm_demo"
-DEMO_PACKAGES="$CONTROL_PACKAGE $SIM_PACKAGES"
-
-####################################################################################################
-# High-level functions
-####################################################################################################
-# Help function to describe each target
-help() {
-    echo "CanadArm2 Build Script"
-    echo "Usage: ./build.sh [subcommand] [demo]"
-    echo "Available subcommands:"
-    echo "  ./build.sh help                   - Show this help message"
-    echo "  ./build.sh clean                - Clean the local workspace"
-    echo "  ./build.sh                        - Build the demos"
-    exit 0
-}
-
-# Build all
-build() {
-    build-control-demo
-}
-
-# Clean the local workspace
-clean() {
-    rm -rf "$LOCAL_WORKSPACE"/install "$LOCAL_WORKSPACE"/log "$LOCAL_WORKSPACE"/build
-}
-
-check_docker() {
-    if ! command -v docker &>/dev/null; then
-        echo "Docker is not installed. Please install Docker to continue."
-        exit 1
-    fi
-}
-
-check_xterm() {
-    if ! command -v xterm &>/dev/null; then
-        echo "xterm is not installed. Please install xterm to continue."
-        echo "On Ubuntu, you can install xterm with 'sudo apt install xterm'."
-        exit 1
-    fi
-}
-
-check_ros2() {
-    if ! command -v ros2 &>/dev/null; then
-        echo "ROS 2 is not installed. Please install ROS 2 to continue."
-        exit 1
-    fi
-}
-
-####################################################################################################
-# Low-level functions
-####################################################################################################
-# Build the Docker image
-build-docker() {
-    docker build -t "$DOCKER_IMAGE" .
-}
-
-# Build the Gazebo workspace locally
-build-gazebo() {
-    # shellcheck source=/opt/ros/${ROS_DISTRO}/setup.bash
-    # shellcheck disable=SC1091
-    source /opt/ros/"${ROS_DISTRO}"/setup.bash &&
-        rosdep install --from-paths . -r -y --skip-keys "$DEMO_PACKAGES" &&
-        colcon build --symlink-install --base-paths "$LOCAL_WORKSPACE" --install-base "$LOCAL_WORKSPACE"/install \
-            --cmake-args -DCMAKE_BUILD_TYPE=Release -DCMAKE_EXPORT_COMPILE_COMMANDS=ON \
-            --packages-select $SIM_PACKAGES
-}
-
-####################################################################################################
-# Control demo
-####################################################################################################
-build-control-demo() {
-    build-docker
-    build-gazebo
-}
-
-####################################################################################################
-# Main script logic to call the appropriate function
-####################################################################################################
-case "$1" in
-help)
-    help
-    ;;
-clean)
-    clean
-    ;;
-*)
-    check_docker
-    check_ros2
-
-    build
-    ;;
-esac
+docker-compose build

canadarm2/docker-compose.yml

@@ -0,0 +1,53 @@
+version: "3"
+
+services:
+  canadarm_gui:
+    image: osrf/space-ros:gui
+    build:
+      context: ./
+      dockerfile: ./Dockerfile.GUI
+    # runtime: nvidia
+    environment:
+      - PYTHONUNBUFFERED=1 # important to show error messages if a ros service crashes!
+      - DISPLAY # for UI
+      - QT_X11_NO_MITSHM=1 #fix some QT bugs
+      - NVIDIA_VISIBLE_DEVICES=all # for docker-nvidia2
+      - NVIDIA_DRIVER_CAPABILITIES=all # for docker-nvidia2
+      - XDG_RUNTIME_DIR
+      - __NV_PRIME_RENDER_OFFLOAD=1
+      - __GLX_VENDOR_LIBRARY_NAME=nvidia
+      - XAUTHORITY=$XAUTHORITY
+      - RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
+    volumes:
+      - /tmp/.X11-unix:/tmp/.X11-unix:rw # for UI
+      - /run/user:/run/user:ro # for UI
+    command:
+      [
+        "bash",
+        "-c",
+        "source /opt/ros/$ROS_DISTRO/setup.bash && source ~/canadarm2_ws/install/setup.bash && ros2 launch canadarm_gazebo canadarm.launch.py",
+      ]
+    network_mode: host
+    privileged: true # for UI
+    deploy:
+      resources:
+        reservations:
+          devices:
+            - driver: nvidia
+              count: 1
+              capabilities: [gpu]
+  canadarm_demo:
+    image: osrf/space-ros:canadarm_demo
+    build:
+      context: ./
+      dockerfile: ./Dockerfile
+    environment:
+      - PYTHONUNBUFFERED=1 # important to show error messages if a ros service crashes!
+      - RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
+    network_mode: host
+    command:
+      [
+        "bash",
+        "-c",
+        "source /home/spaceros-user/canadarm_ws/install/setup.bash && ros2 launch canadarm_demo canadarm.launch.py",
+      ]

canadarm2/run.sh

@@ -1,58 +1,4 @@
 #!/bin/bash
 
-# shellcheck disable=SC2089
-XTERM_CONFIG="-bg black -fg white -fa 'Monospace' -fs 11"
-DOCKER_IMAGE="osrf/space-ros:canadarm_demo"
-LOCAL_WORKSPACE=$(pwd)
-
-# Run the CanadArm Gazebo simulation locally
-run-gazebo() {
-    # shellcheck disable=SC2090
-    # shellcheck disable=SC2086
-    xterm $XTERM_CONFIG -T 'CanadArm2 Gazebo' -e "source /opt/ros/\${ROS_DISTRO}/setup.bash \
-        && source $LOCAL_WORKSPACE/install/setup.bash \
-        && ros2 launch canadarm_gazebo canadarm.launch.py" &
-}
-
-run-control-demo() {
-    # shellcheck disable=SC2090
-    # shellcheck disable=SC2086
-    xterm $XTERM_CONFIG -T 'CanadArm2 Demo' -e "docker run -it --rm \
-        -e RMW_IMPLEMENTATION=rmw_cyclonedds_cpp \
-        $DOCKER_IMAGE \
-        bash -c 'source /home/spaceros-user/canadarm_ws/install/setup.bash && ros2 launch canadarm_demo canadarm.launch.py'" &
-}
-
-check_docker() {
-    if ! command -v docker &>/dev/null; then
-        echo "Docker is not installed. Please install Docker to continue."
-        exit 1
-    fi
-}
-
-check_xterm() {
-    if ! command -v xterm &>/dev/null; then
-        echo "xterm is not installed. Please install xterm to continue."
-        echo "On Ubuntu, you can install xterm with 'sudo apt install xterm'."
-        exit 1
-    fi
-}
-
-check_ros2() {
-    if ! command -v ros2 &>/dev/null; then
-        echo "ROS 2 is not installed. Please install ROS 2 to continue."
-        exit 1
-    fi
-}
-
-run() {
-
-    check_docker
-    check_xterm
-    check_ros2
-
-    run-gazebo
-    run-control-demo
-}
-
-run
+docker-comppose down
+docker-compose up -d