From 78a49d5c334a4af5d6769e99a8e52d00d78e276a Mon Sep 17 00:00:00 2001 From: rafal-gorecki Date: Wed, 28 Feb 2024 18:07:21 +0100 Subject: [PATCH 1/6] Add panther description and simplify --- Dockerfile | 53 +++++++++++++++++++++-------------------------------- 1 file changed, 21 insertions(+), 32 deletions(-) diff --git a/Dockerfile b/Dockerfile index 978a9e9..618ef47 100644 --- a/Dockerfile +++ b/Dockerfile @@ -9,45 +9,34 @@ SHELL ["/bin/bash", "-c"] ARG ROS_DISTRO ARG PREFIX -WORKDIR /ros2_ws - RUN apt update && apt install -y \ ros-$ROS_DISTRO-cv-bridge -# install everything needed +WORKDIR /ros2_ws/src + +# Clone packages with descriptions # ROSbot 2 -RUN mkdir -p src/rosbot_ros && \ - pushd src/rosbot_ros && \ - git init && \ - git remote add -f origin https://github.com/husarion/rosbot_ros.git && \ - git sparse-checkout init && \ - git sparse-checkout set "rosbot_description" && \ - git pull origin humble && \ - popd && \ +RUN git clone https://github.com/husarion/rosbot_ros.git && \ + find rosbot_ros -mindepth 1 -maxdepth 1 ! -name 'rosbot_description' -exec rm -r {} + && \ # ROSbot XL - mkdir -p src/rosbot_xl_ros && \ - pushd src/rosbot_xl_ros && \ - git init && \ - git remote add -f origin https://github.com/husarion/rosbot_xl_ros.git && \ - git sparse-checkout init && \ - git sparse-checkout set "rosbot_xl_description" && \ - git pull origin master && \ - popd && \ + git clone https://github.com/husarion/rosbot_xl_ros.git && \ + find rosbot_xl_ros -mindepth 1 -maxdepth 1 ! -name 'rosbot_xl_description' -exec rm -r {} + && \ + # Panther + git clone -b ros2-devel https://github.com/husarion/panther_ros.git && \ + find panther_ros -mindepth 1 -maxdepth 1 ! -name 'panther_description' -exec rm -r {} + && \ # ros components - git clone https://github.com/husarion/ros_components_description.git src/ros_components_description -b ros2 && \ + git clone https://github.com/husarion/ros_components_description.git && \ # ffmpeg image transport plugin - git clone https://github.com/ros-misc-utilities/ffmpeg_image_transport.git src/ffmpeg_image_transport && \ - vcs import src < src/ffmpeg_image_transport/ffmpeg_image_transport.repos && \ + git clone https://github.com/ros-misc-utilities/ffmpeg_image_transport.git && \ + vcs import . < ./ffmpeg_image_transport/ffmpeg_image_transport.repos && \ # OpenManipulatorX - mkdir -p src/open_manipulator_x && \ - pushd src/open_manipulator_x && \ - git init && \ - git remote add -f origin https://github.com/husarion/open_manipulator_x.git && \ - git sparse-checkout init && \ - git sparse-checkout set "open_manipulator_x_description" && \ - git pull origin main && \ - popd && \ - rosdep update --rosdistro $ROS_DISTRO && \ + git clone https://github.com/husarion/open_manipulator_x.git && \ + find open_manipulator_x -mindepth 1 -maxdepth 1 ! -name 'open_manipulator_x_description' -exec rm -r {} + + +WORKDIR /ros2_ws + +# Build packages +RUN rosdep update --rosdistro $ROS_DISTRO && \ rosdep install --from-paths src --ignore-src -y && \ MYDISTRO=${PREFIX:-ros}; MYDISTRO=${MYDISTRO//-/} && \ source /opt/$MYDISTRO/$ROS_DISTRO/setup.bash && \ @@ -85,4 +74,4 @@ COPY --from=robot-models-builder /ros2_ws /ros2_ws RUN echo $(dpkg -s ros-$ROS_DISTRO-rviz2 | grep 'Version' | sed -r 's/Version:\s([0-9]+.[0-9]+.[0-9]+).*/\1/g') >> /version.txt -CMD ["ros2", "run", "rviz2", "rviz2"] \ No newline at end of file +CMD ["ros2", "run", "rviz2", "rviz2"] From 91d6dc8033259d71840a73ec47d02d0bd1ea7dca Mon Sep 17 00:00:00 2001 From: rafal-gorecki Date: Thu, 29 Feb 2024 11:53:01 +0100 Subject: [PATCH 2/6] Clean up --- Dockerfile | 17 +++++++---------- 1 file changed, 7 insertions(+), 10 deletions(-) diff --git a/Dockerfile b/Dockerfile index 618ef47..a86b152 100644 --- a/Dockerfile +++ b/Dockerfile @@ -2,16 +2,11 @@ ARG ROS_DISTRO=humble ARG PREFIX= FROM husarnet/ros:${PREFIX}${ROS_DISTRO}-ros-base AS robot-models-builder - -# select bash as default shell SHELL ["/bin/bash", "-c"] ARG ROS_DISTRO ARG PREFIX -RUN apt update && apt install -y \ - ros-$ROS_DISTRO-cv-bridge - WORKDIR /ros2_ws/src # Clone packages with descriptions @@ -26,13 +21,16 @@ RUN git clone https://github.com/husarion/rosbot_ros.git && \ find panther_ros -mindepth 1 -maxdepth 1 ! -name 'panther_description' -exec rm -r {} + && \ # ros components git clone https://github.com/husarion/ros_components_description.git && \ - # ffmpeg image transport plugin - git clone https://github.com/ros-misc-utilities/ffmpeg_image_transport.git && \ - vcs import . < ./ffmpeg_image_transport/ffmpeg_image_transport.repos && \ # OpenManipulatorX git clone https://github.com/husarion/open_manipulator_x.git && \ find open_manipulator_x -mindepth 1 -maxdepth 1 ! -name 'open_manipulator_x_description' -exec rm -r {} + + # ffmpeg image transport plugin +RUN apt update && apt install -y \ + ros-$ROS_DISTRO-cv-bridge && \ + git clone https://github.com/ros-misc-utilities/ffmpeg_image_transport.git && \ + vcs import . < ./ffmpeg_image_transport/ffmpeg_image_transport.repos + WORKDIR /ros2_ws # Build packages @@ -43,7 +41,6 @@ RUN rosdep update --rosdistro $ROS_DISTRO && \ colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release FROM husarnet/ros:${PREFIX}${ROS_DISTRO}-ros-core - SHELL ["/bin/bash", "-c"] RUN apt-get update && apt-get upgrade -y && apt-get install -y \ @@ -70,7 +67,7 @@ ENV NVIDIA_DRIVER_CAPABILITIES \ COPY ./settings /settings -COPY --from=robot-models-builder /ros2_ws /ros2_ws +COPY --from=robot-models-builder /ros2_ws/install /ros2_ws/install RUN echo $(dpkg -s ros-$ROS_DISTRO-rviz2 | grep 'Version' | sed -r 's/Version:\s([0-9]+.[0-9]+.[0-9]+).*/\1/g') >> /version.txt From a0041b586d5a46b0b794778854963b87bd00fee8 Mon Sep 17 00:00:00 2001 From: rafal-gorecki Date: Fri, 1 Mar 2024 17:12:32 +0100 Subject: [PATCH 3/6] Add DepthAI camera --- Dockerfile | 7 +- settings/rosbot2-nav2-demo.rviz | 446 -------------------------------- 2 files changed, 4 insertions(+), 449 deletions(-) delete mode 100644 settings/rosbot2-nav2-demo.rviz diff --git a/Dockerfile b/Dockerfile index a86b152..599f39a 100644 --- a/Dockerfile +++ b/Dockerfile @@ -23,7 +23,10 @@ RUN git clone https://github.com/husarion/rosbot_ros.git && \ git clone https://github.com/husarion/ros_components_description.git && \ # OpenManipulatorX git clone https://github.com/husarion/open_manipulator_x.git && \ - find open_manipulator_x -mindepth 1 -maxdepth 1 ! -name 'open_manipulator_x_description' -exec rm -r {} + + find open_manipulator_x -mindepth 1 -maxdepth 1 ! -name 'open_manipulator_x_description' -exec rm -r {} + && \ + # DepthAI + git clone https://github.com/luxonis/depthai-ros.git && \ + find depthai-ros -mindepth 1 -maxdepth 1 ! -name 'depthai_descriptions' -exec rm -r {} + # ffmpeg image transport plugin RUN apt update && apt install -y \ @@ -65,8 +68,6 @@ ENV NVIDIA_VISIBLE_DEVICES \ ENV NVIDIA_DRIVER_CAPABILITIES \ ${NVIDIA_DRIVER_CAPABILITIES:+$NVIDIA_DRIVER_CAPABILITIES,}graphics -COPY ./settings /settings - COPY --from=robot-models-builder /ros2_ws/install /ros2_ws/install RUN echo $(dpkg -s ros-$ROS_DISTRO-rviz2 | grep 'Version' | sed -r 's/Version:\s([0-9]+.[0-9]+.[0-9]+).*/\1/g') >> /version.txt diff --git a/settings/rosbot2-nav2-demo.rviz b/settings/rosbot2-nav2-demo.rviz deleted file mode 100644 index c61d9ad..0000000 --- a/settings/rosbot2-nav2-demo.rviz +++ /dev/null @@ -1,446 +0,0 @@ -Panels: - - Class: rviz_common/Displays - Help Height: 0 - Name: Displays - Property Tree Widget: - Expanded: ~ - Splitter Ratio: 0.5792452692985535 - Tree Height: 470 - - Class: rviz_common/Selection - Name: Selection - - Class: rviz_common/Tool Properties - Expanded: - - /Publish Point1 - Name: Tool Properties - Splitter Ratio: 0.5886790156364441 - - Class: rviz_common/Views - Expanded: - - /Current View1 - Name: Views - Splitter Ratio: 0.5 - - Class: nav2_rviz_plugins/Navigation 2 - Name: Navigation 2 -Visualization Manager: - Class: "" - Displays: - - Alpha: 0.5 - Cell Size: 1 - Class: rviz_default_plugins/Grid - Color: 160; 160; 164 - Enabled: true - Line Style: - Line Width: 0.029999999329447746 - Value: Lines - Name: Grid - Normal Cell Count: 0 - Offset: - X: 0 - Y: 0 - Z: 0 - Plane: XY - Plane Cell Count: 10 - Reference Frame: - Value: true - - Alpha: 1 - Class: rviz_default_plugins/Map - Color Scheme: map - Draw Behind: true - Enabled: true - Name: Map - Topic: - Depth: 5 - Durability Policy: Volatile - Filter size: 10 - History Policy: Keep Last - Reliability Policy: Reliable - Value: /map - Update Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /map_updates - Use Timestamp: false - Value: true - - Alpha: 0.699999988079071 - Class: rviz_default_plugins/Map - Color Scheme: map - Draw Behind: false - Enabled: true - Name: Global Costmap - Topic: - Depth: 5 - Durability Policy: Volatile - Filter size: 10 - History Policy: Keep Last - Reliability Policy: Reliable - Value: /global_costmap/costmap - Update Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /global_costmap/costmap_updates - Use Timestamp: false - Value: true - - Alpha: 0.4000000059604645 - Class: rviz_default_plugins/Map - Color Scheme: costmap - Draw Behind: true - Enabled: true - Name: Local Costmap - Topic: - Depth: 5 - Durability Policy: Volatile - Filter size: 10 - History Policy: Keep Last - Reliability Policy: Reliable - Value: /local_costmap/costmap - Update Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /local_costmap/costmap_updates - Use Timestamp: false - Value: true - - Alpha: 1 - Buffer Length: 1 - Class: rviz_default_plugins/Path - Color: 0; 255; 0 - Enabled: true - Head Diameter: 0.009999999776482582 - Head Length: 0.20000000298023224 - Length: 0.30000001192092896 - Line Style: Billboards - Line Width: 0.009999999776482582 - Name: Path Global - Offset: - X: 0 - Y: 0 - Z: 0 - Pose Color: 255; 85; 255 - Pose Style: None - Radius: 0.029999999329447746 - Shaft Diameter: 0.009999999776482582 - Shaft Length: 0.10000000149011612 - Topic: - Depth: 5 - Durability Policy: Volatile - Filter size: 10 - History Policy: Keep Last - Reliability Policy: Reliable - Value: /received_global_plan - Value: true - - Alpha: 1 - Buffer Length: 1 - Class: rviz_default_plugins/Path - Color: 25; 255; 0 - Enabled: true - Head Diameter: 0.30000001192092896 - Head Length: 0.20000000298023224 - Length: 0.30000001192092896 - Line Style: Lines - Line Width: 0.029999999329447746 - Name: Path Local - Offset: - X: 0 - Y: 0 - Z: 0 - Pose Color: 255; 85; 255 - Pose Style: None - Radius: 0.029999999329447746 - Shaft Diameter: 0.10000000149011612 - Shaft Length: 0.10000000149011612 - Topic: - Depth: 5 - Durability Policy: Volatile - Filter size: 10 - History Policy: Keep Last - Reliability Policy: Reliable - Value: /local_plan - Value: true - - Class: rviz_default_plugins/TF - Enabled: false - Frame Timeout: 15 - Frames: - All Enabled: false - Marker Scale: 0.699999988079071 - Name: TF - Show Arrows: true - Show Axes: true - Show Names: false - Tree: - {} - Update Interval: 0 - Value: false - - Alpha: 1 - Autocompute Intensity Bounds: true - Autocompute Value Bounds: - Max Value: 10 - Min Value: -10 - Value: true - Axis: Z - Channel Name: intensity - Class: rviz_default_plugins/LaserScan - Color: 255; 255; 255 - Color Transformer: Intensity - Decay Time: 0 - Enabled: true - Invert Rainbow: false - Max Color: 255; 255; 255 - Max Intensity: 47 - Min Color: 0; 0; 0 - Min Intensity: 47 - Name: LaserScan - Position Transformer: XYZ - Selectable: true - Size (Pixels): 3 - Size (m): 0.009999999776482582 - Style: Flat Squares - Topic: - Depth: 5 - Durability Policy: Volatile - Filter size: 10 - History Policy: Keep Last - Reliability Policy: Best Effort - Value: /scan - Use Fixed Frame: true - Use rainbow: true - Value: true - - Alpha: 1 - Class: rviz_default_plugins/Polygon - Color: 25; 255; 0 - Enabled: true - Name: Polygon - Topic: - Depth: 5 - Durability Policy: Volatile - Filter size: 10 - History Policy: Keep Last - Reliability Policy: Reliable - Value: /global_costmap/published_footprint - Value: true - - Alpha: 1 - Class: rviz_default_plugins/RobotModel - Collision Enabled: false - Description File: /robot_models/rosbot2/rosbot2.urdf - Description Source: File - Description Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: "" - Enabled: true - Links: - All Links Enabled: true - Expand Joint Details: false - Expand Link Details: false - Expand Tree: false - Link Tree Style: Links in Alphabetic Order - base_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - camera_depth_frame: - Alpha: 1 - Show Axes: false - Show Trail: false - camera_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - camera_rgb_frame: - Alpha: 1 - Show Axes: false - Show Trail: false - front_left_wheel: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - front_right_wheel: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - laser: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - range_fl: - Alpha: 1 - Show Axes: false - Show Trail: false - range_fr: - Alpha: 1 - Show Axes: false - Show Trail: false - range_rl: - Alpha: 1 - Show Axes: false - Show Trail: false - range_rr: - Alpha: 1 - Show Axes: false - Show Trail: false - rear_left_wheel: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - rear_right_wheel: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - top: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - Name: RobotModel - TF Prefix: "" - Update Interval: 0 - Value: true - Visual Enabled: true - - Class: rviz_common/Group - Displays: - - Alpha: 1 - Arrow Length: 0.019999999552965164 - Axes Length: 0.30000001192092896 - Axes Radius: 0.009999999776482582 - Class: rviz_default_plugins/PoseArray - Color: 0; 180; 0 - Enabled: true - Head Length: 0.07000000029802322 - Head Radius: 0.029999999329447746 - Name: Amcl Particle Swarm - Shaft Length: 0.23000000417232513 - Shaft Radius: 0.009999999776482582 - Shape: Arrow (Flat) - Topic: - Depth: 5 - Durability Policy: Volatile - Filter size: 10 - History Policy: Keep Last - Reliability Policy: Best Effort - Value: /particlecloud - Value: true - - Alpha: 1 - Axes Length: 1 - Axes Radius: 0.10000000149011612 - Class: rviz_default_plugins/PoseWithCovariance - Color: 255; 25; 0 - Covariance: - Orientation: - Alpha: 0.5 - Color: 255; 255; 127 - Color Style: Unique - Frame: Local - Offset: 1 - Scale: 1 - Value: true - Position: - Alpha: 0.30000001192092896 - Color: 204; 51; 204 - Scale: 1 - Value: true - Value: true - Enabled: true - Head Length: 0.30000001192092896 - Head Radius: 0.10000000149011612 - Name: Amcl PoseWithCovariance - Shaft Length: 1 - Shaft Radius: 0.05000000074505806 - Shape: Arrow - Topic: - Depth: 5 - Durability Policy: Volatile - Filter size: 10 - History Policy: Keep Last - Reliability Policy: Reliable - Value: /amcl_pose - Value: true - Enabled: true - Name: AMCL - Enabled: true - Global Options: - Background Color: 48; 48; 48 - Fixed Frame: map - Frame Rate: 30 - Name: root - Tools: - - Class: rviz_default_plugins/MoveCamera - - Class: rviz_default_plugins/Select - - Class: rviz_default_plugins/FocusCamera - - Class: rviz_default_plugins/Measure - Line color: 128; 128; 0 - - Class: rviz_default_plugins/SetInitialPose - Covariance x: 0.25 - Covariance y: 0.25 - Covariance yaw: 0.06853891909122467 - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /initialpose - - Class: rviz_default_plugins/PublishPoint - Single click: true - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /clicked_point - - Class: nav2_rviz_plugins/GoalTool - Transformation: - Current: - Class: rviz_default_plugins/TF - Value: true - Views: - Current: - Class: rviz_default_plugins/ThirdPersonFollower - Distance: 6.1913347244262695 - Enable Stereo Rendering: - Stereo Eye Separation: 0.05999999865889549 - Stereo Focal Distance: 1 - Swap Stereo Eyes: false - Value: false - Focal Point: - X: 0.8188362121582031 - Y: -0.17047584056854248 - Z: -8.585981959186029e-06 - Focal Shape Fixed Size: true - Focal Shape Size: 0.05000000074505806 - Invert Z Axis: false - Name: Current View - Near Clip Distance: 0.009999999776482582 - Pitch: 0.7647968530654907 - Target Frame: - Value: ThirdPersonFollower (rviz_default_plugins) - Yaw: 5.602384567260742 - Saved: ~ -Window Geometry: - Displays: - collapsed: false - Height: 1016 - Hide Left Dock: false - Hide Right Dock: false - Navigation 2: - collapsed: false - QMainWindow State: 000000ff00000000fd000000040000000000000167000003a2fc020000000afb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003b00000211000000c700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb00000018004e0061007600690067006100740069006f006e0020003201000002520000018b0000012300fffffffb0000001e005200650061006c00730065006e0073006500430061006d00650072006100000002c6000000c100000000000000000000000100000100000003a2fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003b000003a2000000a000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d00650100000000000004500000000000000000000004c3000003a200000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 - Selection: - collapsed: false - Tool Properties: - collapsed: false - Views: - collapsed: false - Width: 1846 - X: 74 - Y: 27 From f55d9eacc69389ea320634ca710f4230e316c027 Mon Sep 17 00:00:00 2001 From: rafal-gorecki Date: Mon, 4 Mar 2024 10:44:21 +0100 Subject: [PATCH 4/6] Suggestions --- Dockerfile | 11 +++++------ 1 file changed, 5 insertions(+), 6 deletions(-) diff --git a/Dockerfile b/Dockerfile index 599f39a..40d9ec9 100644 --- a/Dockerfile +++ b/Dockerfile @@ -23,12 +23,9 @@ RUN git clone https://github.com/husarion/rosbot_ros.git && \ git clone https://github.com/husarion/ros_components_description.git && \ # OpenManipulatorX git clone https://github.com/husarion/open_manipulator_x.git && \ - find open_manipulator_x -mindepth 1 -maxdepth 1 ! -name 'open_manipulator_x_description' -exec rm -r {} + && \ - # DepthAI - git clone https://github.com/luxonis/depthai-ros.git && \ - find depthai-ros -mindepth 1 -maxdepth 1 ! -name 'depthai_descriptions' -exec rm -r {} + + find open_manipulator_x -mindepth 1 -maxdepth 1 ! -name 'open_manipulator_x_description' -exec rm -r {} + - # ffmpeg image transport plugin +# ffmpeg image transport plugin RUN apt update && apt install -y \ ros-$ROS_DISTRO-cv-bridge && \ git clone https://github.com/ros-misc-utilities/ffmpeg_image_transport.git && \ @@ -57,7 +54,9 @@ RUN apt-get update && apt-get upgrade -y && apt-get install -y \ # for ffmpeg image transport ros-$ROS_DISTRO-cv-bridge \ # allows compressed and theora encoded streams to be received over image_transport - ros-$ROS_DISTRO-image-transport-plugins && \ + ros-$ROS_DISTRO-image-transport-plugins \ + # DepthAI + ros-$ROS_DISTRO-depthai-descriptions && \ apt-get upgrade -y && \ apt-get autoremove -y && \ apt-get clean && \ From 8c15ef5126a4a3ea98da79176e92397dd9fd5dfa Mon Sep 17 00:00:00 2001 From: rafal-gorecki <126687345+rafal-gorecki@users.noreply.github.com> Date: Thu, 7 Mar 2024 15:51:46 +0100 Subject: [PATCH 5/6] Update Dockerfile --- Dockerfile | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) diff --git a/Dockerfile b/Dockerfile index 40d9ec9..427a3d8 100644 --- a/Dockerfile +++ b/Dockerfile @@ -23,7 +23,10 @@ RUN git clone https://github.com/husarion/rosbot_ros.git && \ git clone https://github.com/husarion/ros_components_description.git && \ # OpenManipulatorX git clone https://github.com/husarion/open_manipulator_x.git && \ - find open_manipulator_x -mindepth 1 -maxdepth 1 ! -name 'open_manipulator_x_description' -exec rm -r {} + + find open_manipulator_x -mindepth 1 -maxdepth 1 ! -name 'open_manipulator_x_description' -exec rm -r {} + && \ + # ROSbot XL + manipulator setup + git clone https://github.com/husarion/rosbot_xl_manipulation_ros && \ + find open_manipulator_x -mindepth 1 -maxdepth 1 ! -name 'rosbot_xl_manipulation_description' -exec rm -r {} + # ffmpeg image transport plugin RUN apt update && apt install -y \ From a8051930fd35962c596e34870a4ca0670b9dfc8f Mon Sep 17 00:00:00 2001 From: rafal-gorecki Date: Wed, 20 Mar 2024 10:08:45 +0100 Subject: [PATCH 6/6] fix --- Dockerfile | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/Dockerfile b/Dockerfile index 427a3d8..ace0a9c 100644 --- a/Dockerfile +++ b/Dockerfile @@ -26,7 +26,7 @@ RUN git clone https://github.com/husarion/rosbot_ros.git && \ find open_manipulator_x -mindepth 1 -maxdepth 1 ! -name 'open_manipulator_x_description' -exec rm -r {} + && \ # ROSbot XL + manipulator setup git clone https://github.com/husarion/rosbot_xl_manipulation_ros && \ - find open_manipulator_x -mindepth 1 -maxdepth 1 ! -name 'rosbot_xl_manipulation_description' -exec rm -r {} + + find rosbot_xl_manipulation_ros -mindepth 1 -maxdepth 1 ! -name 'rosbot_xl_manipulation_description' -exec rm -r {} + # ffmpeg image transport plugin RUN apt update && apt install -y \