Add amcl3 demo #9
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| .vscode | ||
| *.db3 | ||
| *.vdb |
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| if [ "${ROSDISTRO}" == "humble" ]; then | ||
| alias demo_build='cd ~/ws \ | ||
| && colcon build --symlink-install \ | ||
| && source install/setup.bash' | ||
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| alias lidar_beam_model_hallway_demo='cd ~/ws \ | ||
| && source install/setup.bash \ | ||
| && ros2 launch beluga_demo_lidar_localization demo_hallway_beam_localization.launch.py' | ||
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| alias lidar_likelihood_model_hallway_demo='cd ~/ws \ | ||
| && source install/setup.bash \ | ||
| && ros2 launch beluga_demo_lidar_localization demo_hallway_likelihood_localization.launch.py' | ||
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| alias lidar_beam_model_office_demo='cd ~/ws \ | ||
| && source install/setup.bash \ | ||
| && ros2 launch beluga_demo_lidar_localization demo_office_beam_localization.launch.py' | ||
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| alias lidar_likelihood_model_office_demo='cd ~/ws \ | ||
| && source install/setup.bash \ | ||
| && ros2 launch beluga_demo_lidar_localization demo_office_likelihood_localization.launch.py' | ||
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| alias apriltags_localization_demo='cd ~/ws \ | ||
| && source install/setup.bash \ | ||
| && ros2 launch beluga_demo_fiducial_localization demo_apriltags_based_localization.launch.py' | ||
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| alias light_beacons_localization_demo='cd ~/ws \ | ||
| && source install/setup.bash \ | ||
| && ros2 launch beluga_demo_bearing_localization demo_light_beacons_based_localization.launch.py' | ||
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| alias nav2_integration_demo='cd ~/ws \ | ||
| && source install/setup.bash \ | ||
| && ros2 launch beluga_demo_nav2_integration demo_office_navigation.launch.py' | ||
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| else | ||
| alias demo_build='cd ~/ws \ | ||
| && colcon build --symlink-install --packages-up-to beluga_demo_amcl3_localization --cmake-args -DCMAKE_BUILD_TYPE=Release -DUSE_OPENVDB=ON \ | ||
| && source install/setup.bash' | ||
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| alias amcl3_localization_demo='cd ~/ws \ | ||
| && source install/setup.bash \ | ||
| && ros2 launch beluga_demo_amcl3_localization demo_botanic_garden_amcl3_localization.launch.py' | ||
| fi |
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| repositories: | ||
| beluga: | ||
| type: git | ||
| url: https://github.com/pvela2017/beluga.git | ||
| version: likelihood_field_3d_model | ||
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| FROM ros:jazzy-ros-base AS cacher | ||
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| WORKDIR /ws/src | ||
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| COPY localization/beluga_demo_amcl3_localization beluga_demo/localization/ | ||
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| RUN mkdir -p /tmp/ws/src \ | ||
| && find ./ -name "package.xml" | xargs cp --parents -t /tmp/ws/src \ | ||
| && find ./ -name "COLCON_IGNORE" | xargs cp --parents -t /tmp/ws/src \ | ||
| || true | ||
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| FROM ros:jazzy-ros-base AS builder | ||
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| ENV DEBIAN_FRONTEND noninteractive | ||
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| RUN apt-get update \ | ||
| && apt-get install --no-install-recommends -y \ | ||
| ccache \ | ||
| curl \ | ||
| gdb \ | ||
| git \ | ||
| python3-pip \ | ||
| mc \ | ||
| tmux \ | ||
| && rm -rf /var/lib/apt/lists/* | ||
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| ENV PIP_BREAK_SYSTEM_PACKAGES 1 | ||
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| RUN pip install \ | ||
| pre-commit==2.20.0 | ||
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| ARG USER=developer | ||
| ARG GROUP=ekumen | ||
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| # Drop ubuntu user to avoid fixuid clashes. | ||
| RUN deluser ubuntu | ||
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| RUN addgroup --gid 1000 $GROUP \ | ||
| && adduser --uid 1000 --ingroup $GROUP --home /home/$USER --shell /bin/sh --disabled-password --gecos "" $USER \ | ||
| && adduser $USER sudo \ | ||
| && adduser $USER dialout \ | ||
| && echo "$USER ALL=NOPASSWD: ALL" >> /etc/sudoers.d/$USER | ||
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| COPY docker/files/fixuid_config.yml /etc/fixuid/config.yml | ||
| RUN curl -SsL https://github.com/boxboat/fixuid/releases/download/v0.4/fixuid-0.4-linux-amd64.tar.gz | tar -C /usr/local/bin -xzf - \ | ||
| && chmod 4755 /usr/local/bin/fixuid \ | ||
| && cd /etc/fixuid \ | ||
| && sed -i "s/_USER_/$USER/" config.yml \ | ||
| && sed -i "s/_GROUP_/$GROUP/" config.yml | ||
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| USER $USER:$GROUP | ||
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| ENV USER_WS /home/$USER/ws | ||
| RUN mkdir -p /$USER_WS | ||
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| WORKDIR /tmp | ||
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| WORKDIR $USER_WS | ||
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| RUN colcon mixin add default https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml \ | ||
| && colcon mixin update default | ||
| COPY --chown=$USER:$GROUP docker/files/colcon_defaults.yaml /home/$USER/.colcon/defaults.yaml | ||
| RUN mkdir -p /home/$USER/.ccache $USER_WS/src | ||
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| # | ||
| # Install base system external dependencies | ||
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| COPY docker/files/jazzy_base.repos /tmp/jazzy_base.repos | ||
| RUN cd src/ \ | ||
| && mkdir -p external-deps \ | ||
| && cd external-deps \ | ||
| && vcs import < /tmp/jazzy_base.repos | ||
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| RUN sudo apt-get update \ | ||
| && . /opt/ros/jazzy/setup.sh \ | ||
| && rosdep update \ | ||
| && rosdep install -i -y --from-path src \ | ||
| && sudo rm -rf /var/lib/apt/lists/* | ||
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| # | ||
| # Install project dependencies | ||
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| USER root | ||
| ENV PIP_BREAK_SYSTEM_PACKAGES 1 | ||
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| COPY --from=cacher --chown=$USER:$GROUP /tmp/ws/ $USER_WS/ | ||
| RUN sudo apt-get update \ | ||
| && . /opt/ros/jazzy/setup.sh \ | ||
| && rosdep update \ | ||
| && rosdep install -i -y --from-path src \ | ||
| && sudo rm -rf /var/lib/apt/lists/* | ||
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| # | ||
| # Install aliases and setup environment | ||
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| COPY --chown=$USER:$GROUP docker/files/DOTaliases /home/$USER/.bash_aliases | ||
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| RUN bash -c "echo '. /opt/ros/jazzy/setup.bash' >> /home/$USER/.bashrc" | ||
| RUN bash -c "echo 'ros2 daemon start' >> /home/$USER/.bashrc" | ||
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| ENV WITHIN_DEV 1 | ||
| ENV MAKEFLAGS "-j 2" | ||
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| ENV SHELL /bin/bash | ||
| ENTRYPOINT ["fixuid", "-q", "/ros_entrypoint.sh", "/bin/bash"] |
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@@ -66,10 +66,31 @@ while [[ "$1" != "" ]]; do | |
| esac | ||
| done | ||
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| DOCKER_EXTRA_ARGS="" | ||
| BASE_PATH="$(cd .. && pwd)" | ||
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| if [ "${ROSDISTRO}" == "humble" ]; then | ||
| DOCKER_EXTRA_ARGS="${DOCKER_EXTRA_ARGS} -v /home/developer/ws/src/beluga_demo/localization/beluga_demo_amcl3_localization" | ||
| fi | ||
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| if [ "${ROSDISTRO}" == "jazzy" ]; then | ||
| EXCLUDE_FOLDERS=("common" | ||
| "integration" | ||
| "misc" | ||
| "localization/beluga_demo_bearing_localization" | ||
| "localization/beluga_demo_fiducial_localization" | ||
| "localization/beluga_demo_lidar_localization" | ||
| ) | ||
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There was a problem hiding this comment. @pvela2017 I'm a bit ambivalent about this, but I can't think of a better solution. CC @glpuga for thoughts. There was a problem hiding this comment. I don't like it. I'm assuming these don't build or have missing dependencies in Jazzy. Why supporting anything other than Humble, if this is a demos repository and we provide a docker to run it? There was a problem hiding this comment.
Because OpenVDB packaging is broken in Ubuntu 22.04, see https://bugs.launchpad.net/ubuntu/+source/openvdb/+bug/1970108. Nav2 folks realized about this and vendored it (see
Thinking out loud, and this is out of scope for this PR but, Humble is the old LTS distro. Jazzy is new LTS distro. Having some our demos be incompatible with the latest LTS distro of ROS 2 is not good. There was a problem hiding this comment. Oh, I remember now.
I'm not so absolute. People are still by far mostly using Humble, while Jazzy is at best "up-and-coming" right now. Core stuff should support both already, but leaf-stuff -like this self-contained demos repo- does not need to. In any case, there's no reason I can think off the top of my head why these would not build in Jazzy. Is there any external dependency not available? Looking at the package.xml files, everything seems either standard packages or packages with code we wrote ourselves. Indirect dependencies might be gazebo (classic?) and apriltag_ros which we use the "foxy-devel" branch (because there's no other). There was a problem hiding this comment. So, https://github.com/ROBOTIS-GIT/turtlebot3_simulations has not seen a release since Humble and it doesn't look like it will ever do. Nav2 folks spinned up https://github.com/ros-navigation/nav2_minimal_turtlebot_simulation in place for it. Some of our demos already depend on Nav2 code, so I'll go ahead and use this for both Humble and Jazzy. It's source distributed anyways. There was a problem hiding this comment.
I dont remember if I reached that step were Gazebo was an issue.
I remember this was one of the issues. Also, I removed a lot of dependencies so the rosdep wouldn't pop errors. So, Should we update everything to Gazebo ignition? There was a problem hiding this comment.
@pvela2017 indeed. I'm on it. There was a problem hiding this comment.
Can I help? There was a problem hiding this comment. Sure! I'll tag you on the PR as soon as it is up for review. If you can then adjust this PR for it, that'd be amazing. |
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| for dir in ${EXCLUDE_FOLDERS[@]}; do | ||
| DOCKER_EXTRA_ARGS="${DOCKER_EXTRA_ARGS} -v /home/developer/ws/src/beluga_demo/${dir}" | ||
| done | ||
| fi | ||
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| # Note: The `--build` flag was added to docker compose run after | ||
| # https://github.com/docker/compose/releases/tag/v2.13.0. | ||
| # We have this for convenience and compatibility with previous versions. | ||
| # Otherwise, we could just forward the script arguments to the run verb. | ||
| [[ "$BUILD" = true ]] && docker compose build beluga-demo-dev | ||
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| PRIVILEGED_CONTAINER=$PRIVILEGED_CONTAINER USERID=$(id -u) GROUPID=dialout docker compose run -v ${BASE_PATH}:/home/developer/ws/src/beluga_demo ${DOCKER_EXTRA_ARGS} --rm beluga-demo-dev | ||
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@pvela2017 this needs to change before merging.
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This can now point to the main repository.
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Changed in 623f842