add new ros pkg for launching workshop and add dockerfiles for images

3c6dc51d · Kelter Christopher - Studierendenaccount · 7e7d17ce · 3c6dc51d · 3c6dc51d · 3c6dc51d
Commit 3c6dc51d authored 2 years ago by Kelter Christopher - Studierendenaccount
--- a/.docker/Dockerfile
+++ b/.docker/Dockerfile
+#
+# this dockerfile roughly follows the 'Installing from source' from:
+#   http://wiki.ros.org/noetic/Installation/Source
+#
+#ARG BASE_IMAGE=nvcr.io/nvidia/l4t-tensorflow:r32.7.1-tf2.7-py3
+ARG BASE_IMAGE=nvcr.io/nvidia/l4t-ml:r32.7.1-py3
+FROM ${BASE_IMAGE}
+
+ARG ROS_PKG=ros_base
+ENV ROS_DISTRO=noetic
+ENV ROS_ROOT=/opt/ros/${ROS_DISTRO}
+ENV ROS_PYTHON_VERSION=3
+
+ENV DEBIAN_FRONTEND=noninteractive
+
+WORKDIR /workspace
+
+
+#
+# add the ROS deb repo to the apt sources list
+#
+RUN apt-get update && \
+    apt-get install -y --no-install-recommends \
+          git \
+		cmake \
+		build-essential \
+		curl \
+		wget \
+		gnupg2 \
+		lsb-release \
+		ca-certificates \
+    && rm -rf /var/lib/apt/lists/*
+
+RUN sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
+RUN curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | apt-key add -
+
+
+#
+# install bootstrap dependencies
+#
+RUN apt-get update && \
+    apt-get install -y --no-install-recommends \
+          libpython3-dev \
+          python3-rosdep \
+          python3-rosinstall-generator \
+          python3-vcstool \
+          build-essential && \
+    rosdep init && \
+    rosdep update && \
+    rm -rf /var/lib/apt/lists/*
+
+
+#
+# download/build the ROS source
+#
+RUN mkdir ros_catkin_ws && \
+    cd ros_catkin_ws && \
+    rosinstall_generator ${ROS_PKG} vision_msgs --rosdistro ${ROS_DISTRO} --deps --tar > ${ROS_DISTRO}-${ROS_PKG}.rosinstall && \
+    mkdir src && \
+    vcs import --input ${ROS_DISTRO}-${ROS_PKG}.rosinstall ./src && \
+    apt-get update && \
+    rosdep install --from-paths ./src --ignore-packages-from-source --rosdistro ${ROS_DISTRO} --skip-keys python3-pykdl -y && \
+    python3 ./src/catkin/bin/catkin_make_isolated --install --install-space ${ROS_ROOT} -DCMAKE_BUILD_TYPE=Release && \
+    rm -rf /var/lib/apt/lists/*
+
+
+
+
+#
+# setup entrypoint
+#
+#COPY ./packages/ros_entrypoint.sh /ros_entrypoint.sh
+#RUN echo 'source /opt/ros/${ROS_DISTRO}/setup.bash' >> /root/.bashrc
+#ENTRYPOINT ["/ros_entrypoint.sh"]
+
+# install some required software
+RUN apt update
+RUN apt install -y python3-catkin-tools
+
+CMD ["bash"]
+WORKDIR /
--- a/Dockerfile
+++ b/Dockerfile
+FROM docker.uibk.ac.at:443/informatik/stair/minibot-vision/ros/arm
+
+
+RUN apt update
+# python3-opencv
+#RUN apt install -y python3-catkin-tools
+
+EXPOSE 11311
+#EXPOSE 9090
+
+SHELL ["/bin/bash", "-c"]	# set bash to default shell
+
+RUN mkdir -p /root/.ssh/
+
+
+# create catkin workspace for cvbridge
+RUN mkdir -p /app/cvbridge_build_ws/src
+WORKDIR /app/cvbridge_build_ws/src
+RUN git clone -b noetic https://github.com/ros-perception/vision_opencv.git
+RUN sed -i "s/python37/python3/g" vision_opencv/cv_bridge/CMakeLists.txt
+WORKDIR /app/cvbridge_build_ws
+#RUN catkin config -DPYTHON_EXECUTABLE=/usr/bin/python3 -DPYTHON_INCLUDE_DIR=/usr/include/python3.6m -DPYTHON_LIBRARY=/usr/lib/aarch64-linux-gnu/libpython3.6m.so && catkin config --install && catkin build cv_bridge
+RUN source /opt/ros/noetic/setup.bash && catkin config -DPYTHON_EXECUTABLE=/usr/bin/python3 -DPYTHON_INCLUDE_DIR=/usr/include/python3.6m -DPYTHON_LIBRARY=/usr/lib/aarch64-linux-gnu/libpython3.6m.so && catkin config --install && catkin build cv_bridge
+RUN echo "source /app/cvbridge_build_ws/install/setup.bash --extend" >> ~/.bashrc
+
+
+# create catkin workspace dir
+RUN mkdir -p /app/catkin_ws/src
+#copy minibot sources into workspace
+COPY ./ /app/catkin_ws/src
+RUN chmod +x -R /app/catkin_ws/src
+
+# build workspace
+WORKDIR /app/catkin_ws
+RUN source /opt/ros/noetic/setup.bash && catkin build
+
+WORKDIR /app/catkin_ws
+ENTRYPOINT ["bash"]
+
--- a/minibot_workshop/CMakeLists.txt
+++ b/minibot_workshop/CMakeLists.txt
+cmake_minimum_required(VERSION 3.0.2)
+project(minibot_workshop)
+
+## Compile as C++11, supported in ROS Kinetic and newer
+# add_compile_options(-std=c++11)
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED)
+
+## System dependencies are found with CMake's conventions
+# find_package(Boost REQUIRED COMPONENTS system)
+
+
+## Uncomment this if the package has a setup.py. This macro ensures
+## modules and global scripts declared therein get installed
+## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
+# catkin_python_setup()
+
+################################################
+## Declare ROS messages, services and actions ##
+################################################
+
+## To declare and build messages, services or actions from within this
+## package, follow these steps:
+## * Let MSG_DEP_SET be the set of packages whose message types you use in
+##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
+## * In the file package.xml:
+##   * add a build_depend tag for "message_generation"
+##   * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
+##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
+##     but can be declared for certainty nonetheless:
+##     * add a exec_depend tag for "message_runtime"
+## * In this file (CMakeLists.txt):
+##   * add "message_generation" and every package in MSG_DEP_SET to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * add "message_runtime" and every package in MSG_DEP_SET to
+##     catkin_package(CATKIN_DEPENDS ...)
+##   * uncomment the add_*_files sections below as needed
+##     and list every .msg/.srv/.action file to be processed
+##   * uncomment the generate_messages entry below
+##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
+
+## Generate messages in the 'msg' folder
+# add_message_files(
+#   FILES
+#   Message1.msg
+#   Message2.msg
+# )
+
+## Generate services in the 'srv' folder
+# add_service_files(
+#   FILES
+#   Service1.srv
+#   Service2.srv
+# )
+
+## Generate actions in the 'action' folder
+# add_action_files(
+#   FILES
+#   Action1.action
+#   Action2.action
+# )
+
+## Generate added messages and services with any dependencies listed here
+# generate_messages(
+#   DEPENDENCIES
+#   std_msgs  # Or other packages containing msgs
+# )
+
+################################################
+## Declare ROS dynamic reconfigure parameters ##
+################################################
+
+## To declare and build dynamic reconfigure parameters within this
+## package, follow these steps:
+## * In the file package.xml:
+##   * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
+## * In this file (CMakeLists.txt):
+##   * add "dynamic_reconfigure" to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * uncomment the "generate_dynamic_reconfigure_options" section below
+##     and list every .cfg file to be processed
+
+## Generate dynamic reconfigure parameters in the 'cfg' folder
+# generate_dynamic_reconfigure_options(
+#   cfg/DynReconf1.cfg
+#   cfg/DynReconf2.cfg
+# )
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## INCLUDE_DIRS: uncomment this if your package contains header files
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+catkin_package(
+#  INCLUDE_DIRS include
+#  LIBRARIES minibot_workshop
+#  CATKIN_DEPENDS other_catkin_pkg
+#  DEPENDS system_lib
+)
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+include_directories(
+# include
+# ${catkin_INCLUDE_DIRS}
+)
+
+## Declare a C++ library
+# add_library(${PROJECT_NAME}
+#   src/${PROJECT_NAME}/minibot_workshop.cpp
+# )
+
+## Add cmake target dependencies of the library
+## as an example, code may need to be generated before libraries
+## either from message generation or dynamic reconfigure
+# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Declare a C++ executable
+## With catkin_make all packages are built within a single CMake context
+## The recommended prefix ensures that target names across packages don't collide
+# add_executable(${PROJECT_NAME}_node src/minibot_workshop_node.cpp)
+
+## Rename C++ executable without prefix
+## The above recommended prefix causes long target names, the following renames the
+## target back to the shorter version for ease of user use
+## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
+# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
+
+## Add cmake target dependencies of the executable
+## same as for the library above
+# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Specify libraries to link a library or executable target against
+# target_link_libraries(${PROJECT_NAME}_node
+#   ${catkin_LIBRARIES}
+# )
+
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+## Mark executable scripts (Python etc.) for installation
+## in contrast to setup.py, you can choose the destination
+# catkin_install_python(PROGRAMS
+#   scripts/my_python_script
+#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark executables for installation
+## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
+# install(TARGETS ${PROJECT_NAME}_node
+#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark libraries for installation
+## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
+# install(TARGETS ${PROJECT_NAME}
+#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
+# )
+
+## Mark cpp header files for installation
+# install(DIRECTORY include/${PROJECT_NAME}/
+#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+#   FILES_MATCHING PATTERN "*.h"
+#   PATTERN ".svn" EXCLUDE
+# )
+
+## Mark other files for installation (e.g. launch and bag files, etc.)
+# install(FILES
+#   # myfile1
+#   # myfile2
+#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+# )
+
+#############
+## Testing ##
+#############
+
+## Add gtest based cpp test target and link libraries
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_minibot_workshop.cpp)
+# if(TARGET ${PROJECT_NAME}-test)
+#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
+# endif()
+
+## Add folders to be run by python nosetests
+# catkin_add_nosetests(test)
--- a/minibot_workshop/launch/traffic_sign_workshop.launch
+++ b/minibot_workshop/launch/traffic_sign_workshop.launch
+<?xml version="1.0"?>
+<launch>
+    <include file="$(find minibot_vision)/launch/capture_imgs.launch" >
+        <arg name="remote_node" value="true" />
+    </include>
+
+    <group ns="$(env ROBOT)" >
+        <node name="sign_detector" pkg="minibot_vision" type="SignDetector.py" output="screen" />
+        <rosparam file="$(find minibot_vision)/config/sign_detector.yaml" />
+    </group>
+</launch>
+
--- a/minibot_workshop/package.xml
+++ b/minibot_workshop/package.xml
+<?xml version="1.0"?>
+<package format="2">
+  <name>minibot_workshop</name>
+  <version>0.0.0</version>
+  <description>The minibot_workshop package</description>
+
+  <!-- One maintainer tag required, multiple allowed, one person per tag -->
+  <!-- Example:  -->
+  <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
+  <maintainer email="chris@todo.todo">chris</maintainer>
+
+
+  <!-- One license tag required, multiple allowed, one license per tag -->
+  <!-- Commonly used license strings: -->
+  <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
+  <license>TODO</license>
+
+
+  <!-- Url tags are optional, but multiple are allowed, one per tag -->
+  <!-- Optional attribute type can be: website, bugtracker, or repository -->
+  <!-- Example: -->
+  <!-- <url type="website">http://wiki.ros.org/minibot_workshop</url> -->
+
+
+  <!-- Author tags are optional, multiple are allowed, one per tag -->
+  <!-- Authors do not have to be maintainers, but could be -->
+  <!-- Example: -->
+  <!-- <author email="jane.doe@example.com">Jane Doe</author> -->
+
+
+  <!-- The *depend tags are used to specify dependencies -->
+  <!-- Dependencies can be catkin packages or system dependencies -->
+  <!-- Examples: -->
+  <!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
+  <!--   <depend>roscpp</depend> -->
+  <!--   Note that this is equivalent to the following: -->
+  <!--   <build_depend>roscpp</build_depend> -->
+  <!--   <exec_depend>roscpp</exec_depend> -->
+  <!-- Use build_depend for packages you need at compile time: -->
+  <!--   <build_depend>message_generation</build_depend> -->
+  <!-- Use build_export_depend for packages you need in order to build against this package: -->
+  <!--   <build_export_depend>message_generation</build_export_depend> -->
+  <!-- Use buildtool_depend for build tool packages: -->
+  <!--   <buildtool_depend>catkin</buildtool_depend> -->
+  <!-- Use exec_depend for packages you need at runtime: -->
+  <!--   <exec_depend>message_runtime</exec_depend> -->
+  <!-- Use test_depend for packages you need only for testing: -->
+  <!--   <test_depend>gtest</test_depend> -->
+  <!-- Use doc_depend for packages you need only for building documentation: -->
+  <!--   <doc_depend>doxygen</doc_depend> -->
+  <buildtool_depend>catkin</buildtool_depend>
+
+
+  <!-- The export tag contains other, unspecified, tags -->
+  <export>
+    <!-- Other tools can request additional information be placed here -->
+
+  </export>
+</package>