Add amcl3 demo #9
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| .vscode | ||
| *.db3 | ||
| *.vdb |
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| @@ -1,31 +1,43 @@ | ||
| 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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| @@ -0,0 +1,107 @@ | ||
| 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 \ | ||
| libopenvdb-dev \ | ||
| python3-pip \ | ||
| mc \ | ||
| ros-jazzy-pcl-ros \ | ||
|
There was a problem hiding this comment. @pvela2017 why adding this here instead of in the corresponding |
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| 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" | ||
| ) | ||
|
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. |
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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.