Humble docker

README.md

@@ -58,7 +58,7 @@ git clone https://github.com/husarion/rosbot_ros src/rosbot_ros
 Building:
 
 ```bash
-export HUSARION_ROS_BUILD=hardware
+export HUSARION_ROS_BUILD_TYPE=hardware
 
 source /opt/ros/$ROS_DISTRO/setup.bash
 
@@ -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:
@@ -93,7 +93,7 @@ ros2 launch rosbot_bringup combined.launch.py
 Building:
 
 ```bash
-export HUSARION_ROS_BUILD=simulation
+export HUSARION_ROS_BUILD_TYPE=simulation
 
 source /opt/ros/$ROS_DISTRO/setup.bash
 
@@ -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 +1,34 @@
+ARG ROS_DISTRO=humble
+
+FROM husarnet/ros:${ROS_DISTRO}-ros-core
+
+WORKDIR /ros2_ws
+
+ENV HUSARION_ROS_BUILD_TYPE=hardware
+
+COPY .. src/rosbot_ros
+
+RUN apt-get update && apt-get install -y \
+        python3-pip \
+        ros-dev-tools \
+        stm32flash \
+        ros-${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 +1,35 @@
+ARG ROS_DISTRO=humble
+
+FROM husarnet/ros:${ROS_DISTRO}-ros-core
+
+WORKDIR /ros2_ws
+
+ENV HUSARION_ROS_BUILD_TYPE=simulation
+
+COPY .. src/rosbot_ros
+
+RUN apt-get update && apt-get install -y \
+        python3-pip \
+        ros-dev-tools \
+        stm32flash \
+        ros-${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 && \
+    cp -r src/ros2_controllers/imu_sensor_broadcaster src && 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

@@ -18,9 +18,8 @@
   <depend>rosbot_bringup</depend>
   <depend>rosbot_controller</depend>
   <depend>rosbot_description</depend>
-  <depend>rosbot_utils</depend>
-
-  <depend condition="($HUSARION_ROS_BUILD == simulation)">rosbot_gazebo</depend>
+  <depend condition="($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>