starting ros2 port

Dockerfile

@@ -1,76 +1,57 @@
-FROM ros:melodic-robot-bionic
+# MIT License
 
-ENV IM_IN_DOCKER Yes
-
-RUN apt-get update --fix-missing && \
-    apt-get install -y \
-    python-pip
-
-RUN apt-get install -y libzmq3-dev \
-                       git \
-                       build-essential \
-                       autoconf \
-                       libtool \
-                       libeigen3-dev \
-                       cmake \
-                       vim \
-                       ros-melodic-ackermann-msgs \
-                       ros-melodic-map-server \
-                       ros-melodic-genpy
+# Copyright (c) 2020 Hongrui Zheng
 
+# Permission is hereby granted, free of charge, to any person obtaining a copy
+# of this software and associated documentation files (the "Software"), to deal
+# in the Software without restriction, including without limitation the rights
+# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+# copies of the Software, and to permit persons to whom the Software is
+# furnished to do so, subject to the following conditions:
 
-RUN cp -r /usr/include/eigen3/Eigen /usr/include
+# The above copyright notice and this permission notice shall be included in all
+# copies or substantial portions of the Software.
 
-RUN git clone https://github.com/protocolbuffers/protobuf.git && \
-    cd protobuf && \
-    git checkout tags/v3.8.0 && \
-    git submodule update --init --recursive && \
-    ./autogen.sh && \
-    ./configure && \
-    make -j8 && \
-    make install && \
-    ldconfig && \
-    make clean && \
-    cd .. && \
-    rm -r protobuf
+# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+# SOFTWARE.
 
-RUN pip install --upgrade pip
+FROM osrf/ros:foxy-desktop
 
-RUN pip install numpy==1.16.0 \
-                scipy==1.2.0 \
-                zmq \
-                pyzmq \
-                Pillow \
-                gym \
-                protobuf==3.8.0 \
-                pyyaml \
-                llvmlite==0.31.0 \
-                numba==0.47.0
-
-
-# RUN git clone https://github.com/f1tenth/f1tenth_gym
-RUN mkdir /f1tenth_gym
-COPY ./f1tenth_gym /f1tenth_gym
-
-RUN cd f1tenth_gym && \
-    mkdir build && \
-    cd build && \
-    cmake .. && \
-    make
+SHELL ["/bin/bash", "-c"]
 
+# dependencies
+RUN apt-get update --fix-missing && \
+    apt-get install -y git \
+                       nano \
+                       vim \
+                       python3-pip
+
+RUN pip3 install --upgrade pip
+RUN pip3 install numpy \
+                 scipy \
+                 Pillow \
+                 gym \
+                 pyyaml \
+                 llvmlite \
+                 numba \
+                 pyglet
+
+# f1tenth gym
+RUN git clone https://github.com/f1tenth/f1tenth_gym
 RUN cd f1tenth_gym && \
-    cp ./build/sim_requests_pb2.py ./gym/ && \
-    pip install -e gym/
-
-RUN /bin/bash -c "source /opt/ros/melodic/setup.bash; mkdir -p catkin_ws/src; cd catkin_ws; catkin_make"
-
-RUN mkdir /catkin_ws/src/f1tenth_gym_ros
-
-COPY . /catkin_ws/src/f1tenth_gym_ros
-
-RUN /bin/bash -c "source /opt/ros/melodic/setup.bash; cd catkin_ws; catkin_make; source devel/setup.bash"
-
+    pip3 install -e gym/
 
-CMD ["/catkin_ws/src/f1tenth_gym_ros/start.sh"]
+# ros2 gym bridge
+RUN mkdir -p sim_ws/src/f1tenth_gym_ros
+COPY . /sim_ws/src/f1tenth_gym_ros
+RUN source /opt/ros/foxy/setup.bash && \
+    cd sim_ws/ && \
+    rosdep install -i --from-path src --rosdistro foxy -y && \
+    colcon build
 
-# CMD ["roslaunch", "package file.launch"]
+ENTRYPOINT ["/bin/bash"]

LICENSE

@@ -1,6 +1,6 @@
 MIT License
 
-Copyright (c) 2020 Hongrui Zheng, Matthew O'Kelly
+Copyright (c) 2020 Hongrui Zheng
 
 Permission is hereby granted, free of charge, to any person obtaining a copy
 of this software and associated documentation files (the "Software"), to deal

deprecated/package.xml

@@ -0,0 +1,46 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>f1tenth_gym_ros</name>
+  <version>0.0.0</version>
+  <description>The f1tenth_gym_ros package</description>
+
+  <maintainer email="[email protected]">Hongrui Zheng</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>
+
+  <buildtool_depend>catkin</buildtool_depend>
+  <build_depend>message_filters</build_depend>
+  <build_depend>nav_msgs</build_depend>
+  <build_depend>roscpp</build_depend>
+  <build_depend>rospy</build_depend>
+  <build_depend>sensor_msgs</build_depend>
+  <build_depend>std_msgs</build_depend>
+  <build_depend>visualization_msgs</build_depend>
+  <build_depend>message_generation</build_depend>
+  <build_export_depend>message_filters</build_export_depend>
+  <build_export_depend>nav_msgs</build_export_depend>
+  <build_export_depend>roscpp</build_export_depend>
+  <build_export_depend>rospy</build_export_depend>
+  <build_export_depend>sensor_msgs</build_export_depend>
+  <build_export_depend>std_msgs</build_export_depend>
+  <build_export_depend>visualization_msgs</build_export_depend>
+  <exec_depend>message_filters</exec_depend>
+  <exec_depend>nav_msgs</exec_depend>
+  <exec_depend>roscpp</exec_depend>
+  <exec_depend>rospy</exec_depend>
+  <exec_depend>sensor_msgs</exec_depend>
+  <exec_depend>std_msgs</exec_depend>
+  <exec_depend>visualization_msgs</exec_depend>
+  <exec_depend>message_runtime</exec_depend>
+
+
+  <!-- The export tag contains other, unspecified, tags -->
+  <export>
+    <!-- Other tools can request additional information be placed here -->
+
+  </export>
+</package>

f1tenth_gym_ros/gym_bridge.py

@@ -0,0 +1,83 @@
+# MIT License
+
+# Copyright (c) 2020 Hongrui Zheng
+
+# Permission is hereby granted, free of charge, to any person obtaining a copy
+# of this software and associated documentation files (the "Software"), to deal
+# in the Software without restriction, including without limitation the rights
+# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+# copies of the Software, and to permit persons to whom the Software is
+# furnished to do so, subject to the following conditions:
+
+# The above copyright notice and this permission notice shall be included in all
+# copies or substantial portions of the Software.
+
+# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+# SOFTWARE.
+
+import rclpy
+from rclpy.node import Node
+
+from sensor_msgs.msg import LaserScan
+from nav_msgs.msg import Odometry
+from geometry_msgs.msg import PoseStamped
+from geometry_msgs.msg import TransformStamped
+from geometry_msgs.msg import Transform
+from geometry_msgs.msg import Quaternion
+from ackermann_msgs.msg import AckermannDriveStamped
+
+import gym
+
+class GymBridge(Node):
+    def __init__(self):
+        super().__init__('gym_bridge')
+
+        # env backend
+        self.env = gym.make('f110_gym:f110_v0',
+            map=self.get_parameter('map_path').get_parameter_value(),
+            map_ext=self.get_parameter('map_img_ext').get_parameter_value(),
+            num_agents=self.get_parameter('num_agent').get_parameter_value())
+
+        # params
+        ego_scan_topic = self.get_parameter('ego_scan_topic').get_parameter_value().string_value
+        ego_odom_topic = self.get_parameter('ego_odom_topic').get_parameter_value().string_value
+        ego_drive_topic = self.get_parameter('ego_drive_topic').get_parameter_value().string_value
+        opp_scan_topic = self.get_parameter('opp_scan_topic').get_parameter_value().string_value
+        opp_odom_topic = self.get_parameter('opp_odom_topic').get_parameter_value().string_value
+        opp_drive_topic = self.get_parameter('opp_drive_topic').get_parameter_value().string_value
+
+        # sim physical step timer
+        self.timer = self.create_timer(0.01, self.timer_callback)
+
+        # publishers
+        self.ego_scan_pub = self.create_publisher(LaserScan, ego_scan_topic, 10)
+        self.ego_odom_pub = self.create_publisher(Odometry, ego_odom_topic, 10)
+
+        # subscribers
+        self.ego_drive_sub = self.create_subscription(
+            AckermannDriveStamped,
+            ego_drive_topic,
+            self.drive_callback,
+            10)
+
+    def drive_callback(self, drive_msg):
+        pass
+
+    def pose_callback(self, pose_msg):
+        pass
+
+    def timer_callback(self):
+        pass
+
+def main(args=None):
+    rclpy.init(args=args)
+    gym_bridge = GymBridge()
+    rclpy.spin(gym_bridge)
+
+if __name__ == '__main__':
+    main()

launch/gym_bridge_launch.py

@@ -0,0 +1,52 @@
+# MIT License
+
+# Copyright (c) 2020 Hongrui Zheng
+
+# Permission is hereby granted, free of charge, to any person obtaining a copy
+# of this software and associated documentation files (the "Software"), to deal
+# in the Software without restriction, including without limitation the rights
+# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+# copies of the Software, and to permit persons to whom the Software is
+# furnished to do so, subject to the following conditions:
+
+# The above copyright notice and this permission notice shall be included in all
+# copies or substantial portions of the Software.
+
+# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+# SOFTWARE.
+
+from launch import LaunchDescription
+from launch_ros.actions import Node
+
+def generate_launch_description():
+    return LaunchDescription([
+        Node(
+            package='f1tenth_gym_ros',
+            executable='gym_bridge',
+            name='bridge',
+            parameters=[{
+                'ego_scan_topic': 'scan',
+                'ego_odom_topic': 'odom',
+                'ego_drive_topic': 'drive',
+                'opp_scan_topic': 'opp_scan',
+                'opp_odom_topic': 'opp_odom',
+                'opp_drive_topic': 'opp_drive',
+                'scan_distance_to_base_link': 0.275,
+                'scan_fov': 4.7,
+                'scan_beams': 1080,
+                'map_path': '/f1tenth_gym/maps/berlin.yaml',
+                'map_img_ext': '.png',
+                'num_agent': 1
+            }]
+        ),
+        Node(
+            package='rviz2',
+            executable='rviz2',
+            name='rviz'
+        )
+    ])

maps/levine.yaml

@@ -0,0 +1,6 @@
+image: levine.png
+resolution: 0.050000
+origin: [-51.224998, -51.224998, 0.000000]
+negate: 0
+occupied_thresh: 0.65
+free_thresh: 0.196

package.xml

@@ -1,46 +1,24 @@
 <?xml version="1.0"?>
-<package format="2">
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
   <name>f1tenth_gym_ros</name>
   <version>0.0.0</version>
-  <description>The f1tenth_gym_ros package</description>
+  <description>Bridge for using f1tenth_gym in ROS2</description>
+  <maintainer email="[email protected]">Billy Zheng</maintainer>
+  <license>MIT</license>
 
-  <maintainer email="[email protected]">Hongrui Zheng</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>
-
-  <buildtool_depend>catkin</buildtool_depend>
-  <build_depend>message_filters</build_depend>
-  <build_depend>nav_msgs</build_depend>
-  <build_depend>roscpp</build_depend>
-  <build_depend>rospy</build_depend>
-  <build_depend>sensor_msgs</build_depend>
-  <build_depend>std_msgs</build_depend>
-  <build_depend>visualization_msgs</build_depend>
-  <build_depend>message_generation</build_depend>
-  <build_export_depend>message_filters</build_export_depend>
-  <build_export_depend>nav_msgs</build_export_depend>
-  <build_export_depend>roscpp</build_export_depend>
-  <build_export_depend>rospy</build_export_depend>
-  <build_export_depend>sensor_msgs</build_export_depend>
-  <build_export_depend>std_msgs</build_export_depend>
-  <build_export_depend>visualization_msgs</build_export_depend>
-  <exec_depend>message_filters</exec_depend>
+  <exec_depend>geometry_msgs</exec_depend>
   <exec_depend>nav_msgs</exec_depend>
-  <exec_depend>roscpp</exec_depend>
-  <exec_depend>rospy</exec_depend>
   <exec_depend>sensor_msgs</exec_depend>
-  <exec_depend>std_msgs</exec_depend>
-  <exec_depend>visualization_msgs</exec_depend>
-  <exec_depend>message_runtime</exec_depend>
+  <exec_depend>ackermann_msgs</exec_depend>
+  <exec_depend>rclpy</exec_depend>
 
+  <test_depend>ament_copyright</test_depend>
+  <test_depend>ament_flake8</test_depend>
+  <test_depend>ament_pep257</test_depend>
+  <test_depend>python3-pytest</test_depend>
 
-  <!-- The export tag contains other, unspecified, tags -->
   <export>
-    <!-- Other tools can request additional information be placed here -->
-
+    <build_type>ament_python</build_type>
   </export>
 </package>