Jazzy docker (#125)

* Add hardware and sim Docker

* Fix hardware docker

* Fixes

* Fixes

* Simulation gz_gui fixes + use TwistStamped

* Use packages-up-to

.github/workflows/tests.yaml

@@ -1,55 +1,56 @@
 ---
-name: Run Tests
+  name: Run Tests
 
-on:
-  workflow_call:
-  workflow_dispatch:
+  on:
+    workflow_call:
+    workflow_dispatch:
 
-jobs:
-  black:
-    name: Black
-    runs-on: ubuntu-24.04
-    steps:
-      - name: Checkout
-        uses: actions/checkout@v3
-      - name: Black
-        uses: psf/[email protected]
-        with:
-          options: --line-length=99
+  jobs:
+    black:
+      name: Black
+      runs-on: ubuntu-24.04
+      steps:
+        - name: Checkout
+          uses: actions/checkout@v3
+        - name: Black
+          uses: psf/[email protected]
+          with:
+            options: --line-length=99
 
-  industrial_ci:
-    name: Industrial CI
-    runs-on: ubuntu-24.04
-    timeout-minutes: 30
-    strategy:
-      fail-fast: false
-      matrix:
-        ROS_DISTRO: [jazzy]
-    steps:
-      - name: Checkout
-        uses: actions/checkout@v3
+    industrial_ci:
+      name: Industrial CI
+      runs-on: ubuntu-24.04
+      timeout-minutes: 30
+      strategy:
+        fail-fast: false
+        matrix:
+          ROS_DISTRO: [jazzy]
+      steps:
+        - name: Checkout
+          uses: actions/checkout@v3
 
-      - name: Setup ROS2 Workspace and Clone Repositories
-        run: |
-          mkdir -p src
-          find . -maxdepth 1 -not -name src -not -name . -exec mv {} src/ \;
-          python3 -m pip install -U vcstool
-          vcs import src < src/rosbot/rosbot_hardware.repos
-          vcs import src < src/rosbot/rosbot_simulation.repos
-          cp -r src/ros2_controllers/imu_sensor_broadcaster src/
-          rm -rf src/ros2_controllers
+        - name: Setup ROS2 Workspace and Clone Repositories
+          run: |
+            mkdir -p src
+            find . -maxdepth 1 -not -name src -not -name . -exec mv {} src/ \;
+            python3 -m pip install -U vcstool
+            vcs import src < src/rosbot/rosbot_hardware.repos
+            vcs import src < src/rosbot/rosbot_simulation.repos
+            cp -r src/ros2_controllers/imu_sensor_broadcaster src/
+            rm -rf src/ros2_controllers
 
-        # Package micro_ros_msgs does not have industrial ci and tests does not pass.
-        # For more information see https://github.com/micro-ROS/micro_ros_msgs/issues/7
-      - name: Leave only ROSbot tests
-        shell: bash
-        run: |
-          sed '/if(BUILD_TESTING)/,/endif()/d' src/imu_sensor_broadcaster/CMakeLists.txt -i
-          sed '/if(BUILD_TESTING)/,/endif()/d' src/micro_ros_msgs/CMakeLists.txt -i
+          # Package micro_ros_msgs does not have industrial ci and tests does not pass.
+          # For more information see https://github.com/micro-ROS/micro_ros_msgs/issues/7
+        - name: Leave only ROSbot tests
+          shell: bash
+          run: |
+            sed '/if(BUILD_TESTING)/,/endif()/d' src/imu_sensor_broadcaster/CMakeLists.txt -i
+            sed '/if(BUILD_TESTING)/,/endif()/d' src/micro_ros_msgs/CMakeLists.txt -i
 
-      - name: Running ROS Industrial CI
-        uses: ros-industrial/industrial_ci@master
-        env:
-          ROS_DISTRO: ${{matrix.ROS_DISTRO}}
-          DOCKER_IMAGE: ros:${{matrix.ROS_DISTRO}}-ros-base
-          IMMEDIATE_TEST_OUTPUT: true
+        - name: Running ROS Industrial CI
+          uses: ros-industrial/industrial_ci@master
+          env:
+            PIP_BREAK_SYSTEM_PACKAGES: 1
+            ROS_DISTRO: ${{matrix.ROS_DISTRO}}
+            DOCKER_IMAGE: ros:${{matrix.ROS_DISTRO}}-ros-base
+            IMMEDIATE_TEST_OUTPUT: true

README.md

@@ -69,7 +69,7 @@ rm -r src/rosbot_ros/rosbot_gazebo
 sudo rosdep init
 rosdep update --rosdistro $ROS_DISTRO
 rosdep install -i --from-path src --rosdistro $ROS_DISTRO -y
-colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release
+colcon build --symlink-install --packages-up-to rosbot --cmake-args -DCMAKE_BUILD_TYPE=Release
 ```
 
 Flash firmware:
@@ -106,7 +106,7 @@ cp -r src/ros2_controllers/imu_sensor_broadcaster src && rm -rf src/ros2_control
 sudo rosdep init
 rosdep update --rosdistro $ROS_DISTRO
 rosdep install -i --from-path src --rosdistro $ROS_DISTRO -y
-colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release
+colcon build --symlink-install --packages-up-to rosbot --cmake-args -DCMAKE_BUILD_TYPE=Release
 ```
 
 Running:

docker/.env

@@ -1,2 +1 @@
-SERIAL_PORT=/dev/ttyUSB0
-ROS_NAMESPACE=robot1
+ROBOT_NAMESPACE=rosbot

docker/Dockerfile.hardware

@@ -0,0 +1,35 @@
+ARG ROS_DISTRO=jazzy
+
+FROM husarnet/ros:${ROS_DISTRO}-ros-core
+
+WORKDIR /ros2_ws
+
+ENV HUSARION_ROS_BUILD_TYPE=hardware
+ENV PIP_BREAK_SYSTEM_PACKAGES=1
+
+COPY .. src/rosbot_ros
+
+RUN apt-get update && apt-get install -y \
+        python3-pip \
+        ros-dev-tools \
+        stm32flash \
+        ros-${ROS_DISTRO}-teleop-twist-keyboard && \
+    # Setup workspace
+    vcs import src < src/rosbot_ros/rosbot/rosbot_hardware.repos && \
+    rm -r src/rosbot_ros/rosbot_gazebo && \
+    # Install dependencies
+    rosdep init && \
+    rosdep update --rosdistro $ROS_DISTRO && \
+    rosdep install --from-paths src -y -i && \
+    # Build
+    source /opt/ros/$ROS_DISTRO/setup.bash && \
+    colcon build --symlink-install --packages-up-to rosbot --cmake-args -DCMAKE_BUILD_TYPE=Release && \
+    # Get version
+    echo $(cat /ros2_ws/src/rosbot/package.xml | grep '<version>' | sed -r 's/.*<version>([0-9]+.[0-9]+.[0-9]+)<\/version>/\1/g') >> /version.txt && \
+    # Size optimization
+    export SUDO_FORCE_REMOVE=yes && \
+    apt-get remove -y \
+        ros-dev-tools && \
+    apt-get autoremove -y && \
+    apt-get clean && \
+    rm -rf /var/lib/apt/lists/*

docker/Dockerfile.simulation

@@ -0,0 +1,36 @@
+ARG ROS_DISTRO=jazzy
+
+FROM husarnet/ros:${ROS_DISTRO}-ros-core
+
+WORKDIR /ros2_ws
+
+ENV HUSARION_ROS_BUILD_TYPE=simulation
+ENV PIP_BREAK_SYSTEM_PACKAGES=1
+
+COPY .. src/rosbot_ros
+
+RUN apt-get update && apt-get install -y \
+        python3-pip \
+        ros-dev-tools \
+        stm32flash \
+        ros-${ROS_DISTRO}-teleop-twist-keyboard && \
+    # Setup workspace
+    vcs import src < src/rosbot_ros/rosbot/rosbot_hardware.repos && \
+    vcs import src < src/rosbot_ros/rosbot/rosbot_simulation.repos && \
+    rm -rf src/ros2_controllers && \
+    # Install dependencies
+    rosdep init && \
+    rosdep update --rosdistro $ROS_DISTRO && \
+    rosdep install --from-paths src -y -i && \
+    # Build
+    source /opt/ros/$ROS_DISTRO/setup.bash && \
+    colcon build --symlink-install --packages-up-to rosbot --cmake-args -DCMAKE_BUILD_TYPE=Release && \
+    # Get version
+    echo $(cat /ros2_ws/src/rosbot/package.xml | grep '<version>' | sed -r 's/.*<version>([0-9]+.[0-9]+.[0-9]+)<\/version>/\1/g') >> /version.txt && \
+    # Size optimization
+    export SUDO_FORCE_REMOVE=yes && \
+    apt-get remove -y \
+        ros-dev-tools && \
+    apt-get autoremove -y && \
+    apt-get clean && \
+    rm -rf /var/lib/apt/lists/*

docker/compose.hardware.yaml

@@ -0,0 +1,22 @@
+# Quick Start
+#
+# 1. Run `docker compose -f compose.hardware.yaml up` on the ROSbot
+# 2. Open a shell inside a docker container `docker compose -f compose.hardware.yaml exec -it rosbot bash`
+# 3. Run `ros2 run teleop_twist_keyboard teleop_twist_keyboard` inside the container
+
+services:
+  rosbot:
+    build:
+      context: ..
+      dockerfile: docker/Dockerfile.hardware
+    network_mode: host
+    ipc: host
+    restart: unless-stopped
+    devices:
+      - ${SERIAL_PORT:-/dev/ttyUSB0}
+      - /dev/bus/usb/ # FTDI
+    command: >
+      ros2 launch rosbot_bringup combined.launch.py
+        mecanum:=${MECANUM:-False}
+        namespace:=${ROBOT_NAMESPACE:-rosbot}
+        serial_port:=${SERIAL_PORT:-/dev/ttyUSB0}

docker/compose.simulation.yaml

@@ -0,0 +1,32 @@
+# Quick Start
+#
+# 1. Run `xhost +local:docker && docker compose -f compose.simulation.yaml up` on the laptop
+#    (optionally you can chang `gpu-config` -> `cpu config`).
+# 2. Open a shell inside a docker container `docker compose -f compose.simulation.yaml exec -it rosbot bash`
+# 3. Run `ros2 run teleop_twist_keyboard teleop_twist_keyboard` inside the container
+
+x-gpu-config:
+  &gpu-config
+  runtime: nvidia
+  environment:
+    - DISPLAY=${DISPLAY:?err}
+    - NVIDIA_VISIBLE_DEVICES=all
+    - NVIDIA_DRIVER_CAPABILITIES=all
+
+x-cpu-config:
+  &cpu-config
+  environment:
+    - DISPLAY=${DISPLAY:?err}
+
+services:
+  rosbot:
+    build:
+      context: ..
+      dockerfile: docker/Dockerfile.simulation
+    network_mode: host
+    ipc: host
+    <<: [ *gpu-config]
+    command: >
+      ros2 launch rosbot_gazebo simulation.launch.py
+        mecanum:=${MECANUM:-False}
+        namespace:=${ROBOT_NAMESPACE:-rosbot}

docker/justfile

@@ -13,7 +13,7 @@ alias teleop := run-teleop-docker
 # run teleop_twist_keybaord (inside rviz2 container)
 run-teleop-docker: _run-as-user
     #!/bin/bash
-    docker compose exec rosbot /bin/bash -c "/ros_entrypoint.sh ros2 run teleop_twist_keyboard teleop_twist_keyboard --ros-args -r __ns:=/${ROS_NAMESPACE}"
+    docker compose exec rosbot /bin/bash -c "/ros_entrypoint.sh ros2 run teleop_twist_keyboard teleop_twist_keyboard --ros-args -r __ns:=/${ROBOT_NAMESPACE}"
 
 flash-firmware: _install-yq _run-as-user
     #!/bin/bash
@@ -29,9 +29,9 @@ flash-firmware: _install-yq _run-as-user
         gpio_chip=/dev/gpiochip4
         serial_port=/dev/ttyS4
     else
-        echo "Probably user laptop"
+        echo "Probably user computer"
         gpio_chip=/dev/bus/usb
-        serial_port=$SERIAL_PORT
+        serial_port=/dev/ttyUSB0
         enable_usb="--usb"
     fi
 
@@ -42,13 +42,13 @@ flash-firmware: _install-yq _run-as-user
         docker-rosbot \
         ros2 run rosbot_utils flash_firmware ${enable_usb}
 
-run:
+run_hardware:
     #/bin/bash
-    docker compose up
+    docker compose -f compose.hardware.yaml up
 
-build:
+build_hardware:
     #/bin/bash
-    docker compose build
+    docker compose -f compose.hardware.yaml build
 
 _run-as-root:
     #!/bin/bash

rosbot/package.xml

@@ -20,10 +20,8 @@
   <depend>rosbot_bringup</depend>
   <depend>rosbot_controller</depend>
   <depend>rosbot_description</depend>
-
-  <depend condition="($HUSARION_ROS_BUILD_TYPE == hardware)">rosbot_utils</depend>
-
   <depend condition="($HUSARION_ROS_BUILD_TYPE == simulation)">rosbot_gazebo</depend>
+  <depend condition="($HUSARION_ROS_BUILD_TYPE == hardware)">rosbot_utils</depend>
 
   <export>
     <build_type>ament_cmake</build_type>

rosbot/rosbot_simulation.repos

@@ -2,7 +2,7 @@ repositories:
   husarion_gz_worlds:
     type: git
     url: https://github.com/husarion/husarion_gz_worlds
-    version: c0ff83a476f6e0bc250c763a806bf1769a00f515
+    version: 7237a7d67a476a480a74ccd3a510b76a581288c3
   ros2_controllers: # Bug: There is no nice way to change `sensor_name` imu_bradcaster param when spawning multiple robots -> ros2_control refer only to single imu entity
     type: git
     url: https://github.com/husarion/ros2_controllers/