Added Dockerfile, build.sh & run.sh scripts (space-ros#46)

Signed-off-by: Jasmeet Singh <[email protected]>

custom_gz_plugins/Dockerfile

@@ -0,0 +1,108 @@
+# Copyright 2024 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 osrf/space-ros: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="Real World Extraterrestrial Simulations"
+LABEL org.label-schema.description="Realistic Extraterrestrial Simulations demos using custom GZ plugins & data from NASA PDS"
+LABEL org.label-schema.vendor="Open Robotics"
+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 DEMO_DIR=${HOME_DIR}/demos_ws
+ENV GZ_VERSION=harmonic
+
+# Disable prompting during package installation
+ARG DEBIAN_FRONTEND=noninteractive
+
+# Clone all space-ros sources
+RUN mkdir ${SPACEROS_DIR}/src \
+  && vcs import ${SPACEROS_DIR}/src < ${SPACEROS_DIR}/exact.repos
+
+# Make sure the latest versions of packages are installed
+# 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
+RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
+  --mount=type=cache,target=/var/lib/apt,sharing=locked \
+  sudo apt-get dist-upgrade -y
+RUN rosdep update
+
+# 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 ${DEMO_DIR}/src
+WORKDIR ${DEMO_DIR}
+
+# Install libmongoc for development
+RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
+  --mount=type=cache,target=/var/lib/apt,sharing=locked \
+  sudo apt-get install libmongoc-dev -y
+
+# Compile mongo cxx driver https://mongocxx.org/mongocxx-v3/installation/linux/
+RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
+  --mount=type=cache,target=/var/lib/apt,sharing=locked \
+  sudo apt-get install libssl-dev build-essential devscripts debian-keyring fakeroot debhelper cmake libboost-dev libsasl2-dev libicu-dev libzstd-dev doxygen -y
+RUN wget https://github.com/mongodb/mongo-cxx-driver/releases/download/r3.6.7/mongo-cxx-driver-r3.6.7.tar.gz
+RUN tar -xzf mongo-cxx-driver-r3.6.7.tar.gz
+RUN cd mongo-cxx-driver-r3.6.7/build && cmake .. -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=/usr/local && sudo cmake --build . --target EP_mnmlstc_core && cmake --build . && sudo cmake --build . --target install
+
+# Add osrf packages repository and manually install gz sim harmonic dependecies as they haven't been added to the rosdep index as of yet
+RUN sudo curl https://packages.osrfoundation.org/gazebo.gpg --output /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg
+RUN echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null
+RUN sudo apt-get update && sudo apt-get install -y libgz-math7-dev libgz-transport13-dev libgz-sim8-dev libgz-msgs10-dev libgz-plugin2-dev
+
+# Get the source for the dependencies
+COPY --chown=${USERNAME}:${USERNAME} dependencies_source_pkgs.repos /tmp/
+RUN vcs import src < /tmp/dependencies_source_pkgs.repos && /bin/bash -c 'source "${SPACEROS_DIR}/install/setup.bash"' 
+
+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"' \
+&& rosdep install --from-paths ${SPACEROS_DIR}/src src --ignore-src -r -y --rosdistro ${ROSDISTRO} --skip-keys "console_bridge generate_parameter_library fastcdr fastrtps rti-connext-dds-5.3.1 urdfdom_headers rmw_connextdds ros_testing rmw_connextdds rmw_fastrtps_cpp rmw_fastrtps_dynamic_cpp composition demo_nodes_py lifecycle rosidl_typesupport_fastrtps_cpp rosidl_typesupport_fastrtps_c ikos diagnostic_aggregator diagnostic_updater joy qt_gui rqt_gui rqt_gui_py"
+
+# Build the demo
+RUN /bin/bash -c 'source ${SPACEROS_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"]

custom_gz_plugins/build.sh

@@ -0,0 +1,22 @@
+#!/usr/bin/env bash
+
+ORG=spaceros
+IMAGE=custom_sim_custom_plugins_demo
+TAG=latest
+
+VCS_REF=""
+VERSION=preview
+
+# Exit script with failure if build fails
+set -eo pipefail
+
+echo ""
+echo "##### Building Docker Image #####"
+echo ""
+
+docker build -t $ORG/$IMAGE:$TAG \
+    --build-arg VCS_REF="$VCS_REF" \
+    --build-arg VERSION="$VERSION" .
+
+echo ""
+echo "##### Done! #####"

custom_gz_plugins/dependencies_source_pkgs.repos

@@ -0,0 +1,126 @@
+repositories:
+  demos:
+    type: git
+    url: https://github.com/jasmeet0915/demos
+    version: jasmeet/custom_gz_plugins_pkg
+  realtime_tools:
+    type: git
+    url: https://github.com/ros-controls/realtime_tools.git
+    version: master
+  ros2_control:
+    type: git
+    url: https://github.com/ros-controls/ros2_control.git
+    version: humble
+  ackermann_msgs:
+    type: git
+    url: https://github.com/ros-drivers/ackermann_msgs.git
+    version: ros2
+  resource_retriever:
+    type: git
+    url: https://github.com/ros/resource_retriever.git
+    version: humble
+  angles:
+    type: git
+    url: https://github.com/ros/angles.git
+    version: humble-devel
+  control_toolbox:
+    type: git
+    url: https://github.com/ros-controls/control_toolbox.git
+    version: ros2-master
+  control_msgs:
+    type: git
+    url: https://github.com/ros-controls/control_msgs.git
+    version: humble
+  gz_ros2_control:
+    type: git
+    url: https://github.com/jasmeet0915/gz_ros2_control.git
+    version: jasmeet/humble_harmonic_support
+  backward_ros:
+    type: git
+    url: https://github.com/pal-robotics/backward_ros.git
+    version: foxy-devel
+  qt_gui_core:
+    type: git
+    url: https://github.com/ros-visualization/qt_gui_core.git
+    version: humble
+  python_qt_binding:
+    type: git
+    url: https://github.com/ros-visualization/python_qt_binding.git
+    version: humble
+  ros2_controllers:
+    type: git
+    url: https://github.com/tonylitianyu/ros2_controllers.git
+    version: effort_group_position_controller_2
+  actuator_msgs:
+    type: git
+    url: https://github.com/rudislabs/actuator_msgs.git
+    version: main
+  filters:
+    type: git
+    url: https://github.com/ros/filters.git
+    version: ros2
+  rviz:
+    type: git
+    url: https://github.com/ros2/rviz.git
+    version: humble
+  ros_gz:
+    type: git
+    url: https://github.com/gazebosim/ros_gz.git
+    version: humble
+  generate_parameter_library:
+    type: git
+    url: https://github.com/PickNikRobotics/generate_parameter_library.git
+    version: main
+  joint_state_publisher:
+    type: git
+    url: https://github.com/ros/joint_state_publisher.git
+    version: ros2
+  rsl:
+    type: git
+    url: https://github.com/PickNikRobotics/RSL.git
+    version: main
+  cpp_polyfills:
+    type: git
+    url: https://github.com/PickNikRobotics/cpp_polyfills.git
+    version: main
+  image_transport:
+    type: git
+    url: https://github.com/ros-perception/image_common.git
+    version: humble
+  interactive_markers:
+    type: git
+    url: https://github.com/ros-visualization/interactive_markers.git
+    version: humble
+  laser_geometry:
+    type: git
+    url: https://github.com/ros-perception/laser_geometry.git
+    version: humble
+  simulation:
+    type: git
+    url: https://github.com/jasmeet0915/simulation
+    version: real_data_planet_models
+  warehouse_ros:
+    type: git
+    url: https://github.com/moveit/warehouse_ros.git
+    version: ros2
+  ros-humble-warehouse-ros-mongo:
+    type: git
+    url: https://github.com/ros-planning/warehouse_ros_mongo.git
+    version: ros2
+  vision_msgs:
+    type: git
+    url: https://github.com/ros-perception/vision_msgs.git
+    version: ros2
+  navigation_msgs:
+    type: git
+    url: https://github.com/ros-planning/navigation_msgs.git
+    version: humble
+  gps_msgs:
+    type: git
+    url: https://github.com/swri-robotics/gps_umd.git
+    path: gps_msgs
+    version: 113782d
+  yaml_cpp_vendor:
+    type: git
+    url: https://github.com/ros2/yaml_cpp_vendor.git
+    version: humble

custom_gz_plugins/entrypoint.sh

@@ -0,0 +1,6 @@
+#!/bin/bash
+set -e
+
+# Setup the Demo environment
+source "${SPACEROS_DIR}/install/setup.bash"
+exec "$@"

custom_gz_plugins/run.sh

@@ -0,0 +1,36 @@
+#!/bin/bash
+
+DOCKER_ARGS+=("-e NVIDIA_VISIBLE_DEVICES=all")
+DOCKER_ARGS+=("-e NVIDIA_DRIVER_CAPABILITIES=all")
+
+xhost +local:root
+
+ORG=spaceros
+IMAGE=custom_sim_custom_plugins_demo
+TAG=latest
+
+container_name="space_ros_custom_gz_plugins_demo"
+
+ros_domain_id=$(printenv ROS_DOMAIN_ID)
+
+# Check if a Docker container with "$container_name" is already running.
+# If it is running, open an interactive bash shell inside it.
+# If the container is not running, create and run a new Docker container with specified configurations
+if docker ps --format '{{.Names}}' | grep -q "$container_name"; then
+    docker exec -it "$container_name" /bin/bash
+else
+    docker run -it --rm \
+        ${DOCKER_ARGS[@]} \
+        -e DISPLAY=$DISPLAY \
+        -v $PWD/..:/workspaces/sim_ws/src \
+        -v /var/run/docker.sock:/var/run/docker.sock \
+        --name "$container_name" \
+        --workdir /home/spaceros-user/demos_ws/src \
+        --env ROS_DOMAIN_ID=$ros_domain_id \
+        --runtime nvidia \
+        --network host \
+        -v /dev/input:/dev/input --device-cgroup-rule='c 13:* rmw' \
+        $@ \
+        $ORG/$IMAGE:$TAG \
+        /bin/bash
+fi