Adding racs2 /cfs-ros2 bridge demo by JAXA on spaceros

racs2_demos_on_spaceros/CMakeLists.txt

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+cmake_minimum_required(VERSION 3.8)
+project(mars_rover)
+
+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)
+find_package(ament_cmake_python REQUIRED)
+find_package(control_msgs REQUIRED)
+find_package(geometry_msgs REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(rclcpp_action REQUIRED)
+find_package(rclpy REQUIRED)
+find_package(simulation REQUIRED)
+find_package(std_msgs REQUIRED)
+# uncomment the following section in order to fill in
+# further dependencies manually.
+# find_package(<dependency> REQUIRED)
+
+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()
+
+install(DIRECTORY
+  config
+  launch
+  worlds
+  DESTINATION share/${PROJECT_NAME}
+)
+
+ament_python_install_package(${PROJECT_NAME})
+
+install(PROGRAMS
+  nodes/move_arm
+  nodes/move_mast
+  nodes/move_wheel
+  nodes/run_demo
+  nodes/odom_tf_publisher
+  nodes/RACS2Bridge_geometry_msgs_pb2.py
+  DESTINATION lib/${PROJECT_NAME}
+)
+
+ament_package()

racs2_demos_on_spaceros/Dockerfile

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+# Copyright 2021 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+#
+# A Docker configuration script to build the Space ROS image.
+#
+# The script provides the following build arguments:
+#
+#   VCS_REF     - The git revision of the Space ROS source code (no default value).
+#   VERSION     - The version of Space ROS (default: "preview")
+
+FROM openrobotics/space_robots_demo:latest
+
+# Define arguments used in the metadata definition
+ARG VCS_REF
+ARG VERSION="preview"
+
+# Specify the docker image metadata
+LABEL org.label-schema.schema-version="1.0"
+LABEL org.label-schema.name="RACS2 demo on Curiosity Rover"
+LABEL org.label-schema.description="RACS2 demo on the Space ROS platform"
+LABEL org.label-schema.vendor="JAXA"
+LABEL org.label-schema.version=${VERSION}
+LABEL org.label-schema.url="https://github.com/space-ros"
+LABEL org.label-schema.vcs-url="https://github.com/space-ros/docker"
+LABEL org.label-schema.vcs-ref=${VCS_REF}
+
+# Define a few key variables
+ENV RACS2_DEMO_DIR=${HOME_DIR}/racs2_ws
+
+# Disable prompting during package installation
+ARG DEBIAN_FRONTEND=noninteractive
+
+# Get rosinstall_generator
+# Using Docker BuildKit cache mounts for /var/cache/apt and /var/lib/apt ensures that
+# the cache won't make it into the built image but will be maintained between steps.
+RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
+  --mount=type=cache,target=/var/lib/apt,sharing=locked \
+  sudo apt-get update -y && sudo apt-get install -y python3-rosinstall-generator
+
+RUN mkdir -p ${RACS2_DEMO_DIR}
+WORKDIR ${RACS2_DEMO_DIR}
+
+# Install dependencies
+RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
+  --mount=type=cache,target=/var/lib/apt,sharing=locked \
+  sudo apt-get install libwebsockets-dev libwebsockets-dev protobuf-c-compiler libprotobuf-c-dev python3-pip tmux gdb -y
+RUN python3 -m pip install protobuf==3.20.0 websockets==12.0
+
+# Get the cFS source code
+RUN git clone --recursive -b v6.7.0a https://github.com/nasa/cFS/ cfs
+WORKDIR ${RACS2_DEMO_DIR}/cfs
+RUN git submodule init
+RUN git submodule update
+
+# Get the RACS2 source code
+WORKDIR ${RACS2_DEMO_DIR}
+RUN git clone https://github.com/jaxa/racs2_bridge -b v1.1
+
+# Get the demo source code
+# rename old demo directory and exclude from build
+WORKDIR ${DEMO_DIR}/src
+# RUN mv demos demos_old
+RUN cp -r demos demos_old
+RUN touch demos_old/COLCON_IGNORE
+# git clone new demo
+# RUN git clone https://github.com/tt-saito/demos.git -b racs2_demo2
+# RUN git clone https://github.com/space-ros/demos
+
+# Customize cFS to run the bridge
+WORKDIR ${RACS2_DEMO_DIR}/cfs
+RUN cp cfe/cmake/Makefile.sample Makefile
+RUN cp -r cfe/cmake/sample_defs sample_defs
+RUN cp -pr ${RACS2_DEMO_DIR}/racs2_bridge/cFS/Bridge/Client_C/apps/racs2_bridge_client apps/
+
+# Deploy the run_app application and adjust the startup scripts
+# RUN cp -pr ${DEMO_DIR}/src/demos/racs2_demos_on_spaceros/cFS/sample_defs/* ${RACS2_DEMO_DIR}/cfs/sample_defs/
+# RUN cp -pr ${DEMO_DIR}/src/demos/racs2_demos_on_spaceros/cFS/apps/run_app ${RACS2_DEMO_DIR}/cfs/apps/
+COPY cFS/sample_defs/cpu1_cfe_es_startup.scr  ${RACS2_DEMO_DIR}/cfs/sample_defs/cpu1_cfe_es_startup.scr
+COPY cFS/sample_defs/racs2_bridge_config.txt ${RACS2_DEMO_DIR}/cfs/sample_defs/racs2_bridge_config.txt
+COPY cFS/sample_defs/targets.cmake  ${RACS2_DEMO_DIR}/cfs/sample_defs/targets.cmake
+COPY cFS/apps/run_app  ${RACS2_DEMO_DIR}/cfs/apps/run_app
+
+# This is necessary to run cFS inside docker
+RUN sed -i -e 's/^#undef OSAL_DEBUG_PERMISSIVE_MODE/#define OSAL_DEBUG_PERMISSIVE_MODE 1/g' sample_defs/default_osconfig.h
+RUN sed -i -e 's/^#undef OSAL_DEBUG_DISABLE_TASK_PRIORITIES/#define OSAL_DEBUG_DISABLE_TASK_PRIORITIES 1/g' sample_defs/default_osconfig.h
+
+# This is only needed because docker by default starts in IPv4. This setting
+# is specific to the JAXA bridge.
+RUN sed -i -e 's/^wss_uri=.*/wss_uri=127.0.0.1/g' sample_defs/racs2_bridge_config.txt
+
+# Compile cFS
+RUN make SIMULATION=native prep
+RUN make
+RUN make install
+
+# Prepare ROS packages
+WORKDIR ${DEMO_DIR}
+# Copy bridge & racs2_msg node
+RUN cp -pr ${RACS2_DEMO_DIR}/racs2_bridge/ROS2/Bridge/Server_Python/bridge_py_s src/
+RUN cp -pr ${RACS2_DEMO_DIR}/racs2_bridge/Example/Case.1/ROS2/racs2_msg src/
+
+
+COPY  CMakeLists.txt  ${DEMO_DIR}/src/demos/mars_rover/CMakeLists.txt
+COPY  package.xml  ${DEMO_DIR}/src/demos/mars_rover/package.xml
+# COPY  racs2_demos_on_spaceros ${DEMO_DIR}/src/demos/mars_rover/racs2_demos_on_spaceros
+COPY  launch/mars_rover.launch.py ${DEMO_DIR}/src/demos/mars_rover/launch/mars_rover.launch.py
+COPY  nodes/RACS2Bridge_geometry_msgs_pb2.py ${DEMO_DIR}/src/demos/mars_rover/nodes/RACS2Bridge_geometry_msgs_pb2.py
+COPY  nodes/move_wheel ${DEMO_DIR}/src/demos/mars_rover/nodes/move_wheel
+
+
+
+
+# Install dependencies
+RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
+  --mount=type=cache,target=/var/lib/apt,sharing=locked \
+  sudo apt-get update -y \
+&& /bin/bash -c 'source "${SPACEROS_DIR}/install/setup.bash"' \
+&& /bin/bash -c 'source "${MOVEIT2_DIR}/install/setup.bash"' \
+&& rosdep install --from-paths src --ignore-src -r -y --rosdistro ${ROS_DISTRO}
+
+# Build the demo
+RUN /bin/bash -c 'source ${SPACEROS_DIR}/install/setup.bash && source ${MOVEIT2_DIR}/install/setup.bash \
+  && colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release'
+
+# Add the user to the render group so that the user can access /dev/dri/renderD128
+RUN sudo usermod -aG render $USERNAME
+
+# Setup the entrypoint
+COPY ./entrypoint.sh /
+ENTRYPOINT ["/entrypoint.sh"]
+CMD ["bash"]

racs2_demos_on_spaceros/README.md

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+# RACS2 on Space ROS and Space Robots Demo Docker Image
+
+The RACS2 on Space ROS and Space Robots Demo docker image uses the space_robots demo docker image (*openrobotics/space_robots_demo:latest*) as its base image.
+Build instructions for that image can be found in [this README](../space_robots/README.md).
+The Dockerfile installs all of the prerequisite system dependencies along with the demos source code, then builds the Space ROS Space Robots and RACS2 demo.
+
+This is RACS2 Bridge demo for Curiosity Mars rover.
+
+## Building the Demo Docker
+
+The demo image builds on top of the `spaceros`, `moveit2`, `space_robots` images.
+To build the docker image, first ensure the `spaceros` base image is available either by [building it locally](https://github.com/space-ros/space-ros) or pulling it.
+
+Then build the `moveit2`, `space_robots` and `racs2_demos_on_spaceros` demo images: 
+
+```bash
+git clone https://github.com/space-ros/docker.git
+cd docker/moveit2
+./build.sh
+cd ../space_robots
+./build.sh
+cd ../../
+./build.sh
+```
+
+## Running the Demo Docker
+
+(at /path/to/demos/racs2_demos_on_spaceros/docker/racs2_demos_on_spaceros)
+run the following to allow GUI passthrough:
+```bash
+xhost +local:docker
+```
+
+Then run:
+```bash
+./run.sh
+```
+
+Depending on the host computer, you might need to remove the ```--gpus all``` flag in ```run.sh```, which uses your GPUs.
+
+## Running the Demos
+
+### Curiosity Mars rover demo
+Launch the rover demo (calling Terminal 1):
+```bash
+source install/setup.bash
+ros2 launch mars_rover mars_rover.launch.py
+```
+
+#### RACS2 Bridge demo
+
+##### Running racs2 bridge node
+Open a new terminal (calling Terminal 2) and attach to the currently running container:
+
+```bash
+docker exec -it <container-name> bash
+source install/setup.bash
+ros2 run bridge_py_s bridge_py_s_node  --ros-args --params-file ./src/bridge_py_s/config/params.yaml
+```
+
+##### Running cFS bridge app & run_app app
+Open a new terminal (calling Terminal 3) and attach to the currently running container:
+
+```bash
+docker exec -it <container-name> bash
+cd ~/racs2_ws
+cd cfs/build/exe/cpu1/
+./core-cpu1
+```
+
+**Executing commands to the rover must be done with this terminal active.**
+
+
+##### Available Commands
+
+Drive commands to the rover are input via keyboard in Terimnal 3. The keymap is as follows.
+
+* "w": Drive the rover forward
+* "s": Drive the rover backward
+* "a": Turn left
+* "d": Turn right
+* "x": Stop the rover
+
+##### Nodes
+![RACS2 demo on Space ROS Mars rover demo](racs2_demo_on_spaceros_nodes.png)
+
+## Reference
+
+* [RACS2 bridge project by Japan Aerospace Exploration Agency (JAXA)](https://github.com/jaxa/racs2_bridge) 
+
+* [Hiroki Kato and Tatsuhiko Saito, "RACS2: the ROS2 and cFS System - launched" Flight Software Workshop 2023.](https://drive.google.com/drive/folders/1C9fokWGDl2e4NfgX_ZU3f98FfPe9udwQ)
+
+* [Hiroki Kato and Tatsuhiko Saito, "ROS and cFS System (RACS): Easing Space Robotic Development post-opensource activities and ROS2 integration" Flight Software Workshop 2021.](https://drive.google.com/file/d/11L48doT_pRNs7R0hdChPALqJO849TvV2/view?usp=drive_web)

racs2_demos_on_spaceros/build.sh

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+#!/usr/bin/env bash
+
+ORG=jaxa
+IMAGE=racs2_demos_on_spaceros
+TAG=latest
+
+VCS_REF=""
+VERSION=preview
+
+# Exit script with failure if build fails
+set -eo pipefail
+
+echo ""
+echo "##### Building RACS2 Demo on Space ROS Docker Image #####"
+echo ""
+
+docker build -t $ORG/$IMAGE:$TAG \
+    --build-arg VCS_REF="$VCS_REF" \
+    --build-arg VERSION="$VERSION" .
+
+echo ""
+echo "##### Done! #####"
+

racs2_demos_on_spaceros/cFS/apps/run_app/CMakeLists.txt

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+cmake_minimum_required(VERSION 2.6.4)
+project(CFE_RUN_APP C)
+
+include_directories(fsw/mission_inc)
+include_directories(fsw/platform_inc)
+
+aux_source_directory(fsw/src APP_SRC_FILES)
+
+# Create the app module
+add_cfe_app(run_app ${APP_SRC_FILES})
+
+target_link_libraries(run_app
+  ${PROTOBUF_LIBRARY}
+  protobuf-c
+)

racs2_demos_on_spaceros/cFS/apps/run_app/fsw/mission_inc/run_app_perfids.h

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+#ifndef _run_app_perfids_h_
+#define _run_app_perfids_h_
+
+
+#define SAMPLE_APP_PERF_ID              91 
+
+#endif /* _run_app_perfids_h_ */

racs2_demos_on_spaceros/cFS/apps/run_app/fsw/platform_inc/run_app_msgids.h

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+#ifndef _run_app_msgids_h_
+#define _run_app_msgids_h_
+
+#define RUN_APP_CMD_MID            	0x1892
+#define RUN_APP_SEND_HK_MID        	0x1893
+#define RUN_APP_HK_TLM_MID		    0x0893
+#define RACS2_BRIDGE_MID                    0x1EFE
+
+#endif /* _run_app_msgids_h_ */