Merge pull request #4 from K3cks/binder-example

PR: Binder integration

.gitmodules

@@ -1,6 +1,6 @@
 [submodule "pycram/src/macropy"]
 	path = src/macropy
-	url = git@github.com:Tigul/macropy.git
-[submodule "src/neem_interface_python"]
-	path = src/neem_interface_python
-	url = https://github.com/Tigul/neem_interface_python
+	url = https://github.com/Tigul/macropy
+# [submodule "src/neem_interface_python"]
+# 	path = src/neem_interface_python
+# 	url = https://github.com/Tigul/neem_interface_python

binder/Dockerfile

@@ -0,0 +1,38 @@
+FROM intel4coro/base-notebook:20.04-noetic-full-xpra
+
+ENV PATH=$PATH:/home/user/.local/bin
+ENV PYCRAM_WS=/home/${NB_USER}/workspace/ros
+WORKDIR ${PYCRAM_WS}/src/
+COPY --chown=${NB_USER}:users . pycram/
+RUN vcs import --input pycram/binder/pycram-http.rosinstall --recursive
+
+# === Following step should be replace to ===
+RUN cd pycram \
+  && git submodule update --init \
+  && git clone https://github.com/Tigul/neem_interface_python.git src/neem_interface_python \
+  && cd src/neem_interface_python \
+  && git clone https://github.com/benjaminalt/neem-interface.git src/neem-interface
+# === To ===
+# RUN cd pycram
+  # && git submodule update --init --recursive
+# === When all .gitmodules use https urls ===
+
+RUN pip install --requirement ${PYCRAM_WS}/src/pycram/requirements.txt --user 
+RUN pip install --requirement ${PYCRAM_WS}/src/pycram/src/neem_interface_python/requirements.txt --user \
+  && pip cache purge
+
+# Build pycram workspace
+WORKDIR  ${PYCRAM_WS}
+USER root
+RUN rosdep update \
+  && rosdep install -y --ignore-src --from-paths ./ -r \
+  && rosdep fix-permissions
+USER ${NB_USER}
+RUN catkin build
+
+WORKDIR ${PYCRAM_WS}/src/pycram
+RUN git config --global --add safe.directory ${PWD}
+COPY --chown=${NB_USER}:users binder/entrypoint.sh /
+ENTRYPOINT ["/entrypoint.sh"]
+CMD ["start-notebook.sh"]
+RUN pip install https://raw.githubusercontent.com/yxzhan/jupyterlab-rviz/master/dist/jupyterlab_rviz-0.3.1.tar.gz

binder/README.md

@@ -0,0 +1,54 @@
+# Pycram on BinderHub
+
+Files for running Pycram on BinderHub.
+
+## Quick Start
+
+### Option 1: Test Image Locally (Under repo directory)
+
+- Run Docker image
+
+  ```bash
+  docker compose -f ./binder/docker-compose.yml up
+  ```
+
+- Run Docker image with X-forwarding
+
+  ```bash
+  xhost +local:docker && \
+  docker compose -f ./binder/docker-compose.yml up && \
+  xhost -local:docker
+  ```
+
+- Open Web browser and go to http://localhost:8888/
+
+- To stop and remove container:
+
+  ```bash
+  docker compose -f ./binder/docker-compose.yml down
+  ```
+
+- Force image rebuild
+
+  ```bash
+  docker compose -f ./binder/docker-compose.yml up -d --build
+  ```
+
+### Option 2: Run on BinderHub
+
+- intro.ipynb: [![Binder](https://binder.intel4coro.de/badge_logo.svg)](https://binder.intel4coro.de/v2/gh/IntEL4CoRo/pycram.git/binder-xpra?urlpath=lab%2Ftree%2Fexamples%2Fintro.ipynb)
+
+- Passing ROS paramters (robot=pr2, environment=kitchen): [![Binder](https://binder.intel4coro.de/badge_logo.svg)](https://binder.intel4coro.de/v2/gh/IntEL4CoRo/pycram.git/binder-xpra?urlpath=lab%2Ftree%2Fexamples%2Faction_designator.ipynb%3Frobot%3Dpr2%26environment%3Dkitchen)
+
+## Usage
+
+1. Open notebooks in [../examples](../examples)
+
+1. PyCram Docs: https://pycram.readthedocs.io/en/latest/examples.html
+
+## Files Descriptions
+
+1. ***[Dockerfile](./Dockerfile):*** Pycram jupyterlab docker image.
+1. ***[pycram-http.rosinstall](./pycram-http.rosinstall):*** Initiating ros workspace in docker image require https url. (Comparing to [pycram.rosinstall](../pycram.rosinstall): pycram is excluded, repo `orocos_kinematics_dynamics` is PyKDL).
+1. ***[entrypoint.sh](./entrypoint.sh):*** Entrypoint of the docker image, start roscore and robot web tools.
+1. ***[docker-compose.yml](./docker-compose.yml):*** For testing the docker image locally.

binder/docker-compose.yml

@@ -0,0 +1,29 @@
+version: '3'
+services:
+  pycram:
+    image: pycram:binder-xpra
+    build:
+      context: ../
+      dockerfile: ./binder/Dockerfile
+    stdin_open: true
+    tty: true
+    ports: 
+      - 8888:8888
+    privileged: true
+    # user: root
+    command: jupyter lab --allow-root --NotebookApp.token='' --no-browser --ip=0.0.0.0
+    entrypoint: ["/home/jovyan/work/binder/entrypoint.sh"]
+    volumes:
+      - ../:/home/jovyan/work
+      - /tmp/.X11-unix:/tmp/.X11-unix:rw
+    environment:
+      - DISPLAY
+      - QT_X11_NO_MITSHM=1
+      - NVIDIA_DRIVER_CAPABILITIES=all
+    deploy:
+      resources:
+        reservations:
+          devices:
+            - driver: nvidia
+              count: all
+              capabilities: [gpu]

binder/entrypoint.sh

@@ -0,0 +1,10 @@
+#!/bin/bash
+
+source ${PYCRAM_WS}/devel/setup.bash
+roscore &
+roslaunch --wait rvizweb rvizweb.launch config_file:=${PYCRAM_WS}/src/pycram/binder/rvizweb_config.json &
+roslaunch --wait pycram ik_and_description.launch &
+
+cp ${PYCRAM_WS}/src/pycram/binder/webapps.json ${PYCRAM_WS}/src/rvizweb/webapps/app.json 
+
+exec "$@"

binder/pycram-http.rosinstall

@@ -0,0 +1,25 @@
+repositories:
+  iai_maps:
+    type: git
+    url: https://github.com/code-iai/iai_maps.git
+    version: master
+  iai_robots:
+    type: git
+    url: http://github.com/code-iai/iai_robots.git
+    version: master
+  pr2_common:
+    type: git
+    url: https://github.com/PR2/pr2_common.git
+    version: b34703bcca2b07cadbc3777d3c504c232a0c0c28
+  kdl_ik_services:
+    type: git
+    url: https://github.com/cram2/kdl_ik_service.git
+    verison: master
+  pr2_kinematics:
+    type: git
+    url: https://github.com/PR2/pr2_kinematics.git
+    version: kinetic-devel
+  orocos_kinematics_dynamics:
+    type: git
+    url: https://github.com/orocos/orocos_kinematics_dynamics.git
+    version: v1.5.1

binder/rvizweb_config.json

@@ -0,0 +1,34 @@
+{
+  "globalOptions": {
+    "background": "#333333",
+    "fixedFrame": "/simulated/odom"
+  },
+  "sidebarOpened": true,
+  "displays": [
+    {
+      "isShown": true,
+      "name": "Grid",
+      "options": {
+        "cellSize": "1",
+        "color": "#888888",
+        "numCells": "10"
+      },
+      "type": "grid"
+    },
+    {
+      "isShown": true,
+      "name": "TF",
+      "options": {},
+      "type": "tf"
+    },
+    {
+      "isShown": true,
+      "name": "Robot model",
+      "options": {
+        "param": "robot_description",
+        "tfPrefix": "simulated/pr2_2"
+      },
+      "type": "urdf"
+    }
+  ]
+}

binder/webapps.json

@@ -0,0 +1,33 @@
+[
+  {
+    "name": "rvizweb",
+    "title": "Rvizweb",
+    "icon": "proxy/8001/rvizweb/webapps/r.svg",
+    "url": "proxy/8001/rvizweb/webapps/rvizweb/build/www/index.html"
+  },
+  {
+    "name": "XPRA",
+    "title": "Xpra Desktop",
+    "icon": "proxy/8001/rvizweb/webapps/xpra-logo.svg",
+    "url": "xprahtml5/index.html",
+    "start": true
+  },
+  {
+    "name": "rosgraph",
+    "title": "Ros Graph",
+    "icon": "proxy/8001/rvizweb/webapps/o.svg",
+    "url": "proxy/8001/rvizweb/webapps/ros-node-graph/build/index.html"
+  },
+  {
+    "name": "rosboard",
+    "title": "ROSBoard",
+    "icon": "proxy/8001/rvizweb/webapps/s.svg",
+    "url": "proxy/18888/index.html"
+  },
+  {
+    "name": "webviz",
+    "title": "Webviz",
+    "icon": "proxy/8001/rvizweb/webapps/webviz/icon.svg",
+    "url": "proxy/8001/rvizweb/webapps/webviz/index.html"
+  }
+]