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Add panther #11

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merged 6 commits into from
Mar 20, 2024
Merged

Add panther #11

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78a49d5
Add panther description and simplify
rafal-gorecki Feb 28, 2024
91d6dc8
Clean up
rafal-gorecki Feb 29, 2024
a0041b5
Add DepthAI camera
rafal-gorecki Mar 1, 2024
f55d9ea
Suggestions
rafal-gorecki Mar 4, 2024
8c15ef5
Update Dockerfile
rafal-gorecki Mar 7, 2024
a805193
fix
rafal-gorecki Mar 20, 2024
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73 changes: 31 additions & 42 deletions Dockerfile
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Original file line number Diff line number Diff line change
Expand Up @@ -2,59 +2,48 @@ 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

WORKDIR /ros2_ws

RUN apt update && apt install -y \
ros-$ROS_DISTRO-cv-bridge
WORKDIR /ros2_ws/src

# install everything needed
# 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 && \
# 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/husarion/ros_components_description.git && \
# 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 {} + && \
# 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 \
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
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 && \
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 \
Expand All @@ -68,7 +57,9 @@ 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 && \
Expand All @@ -79,10 +70,8 @@ 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 /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

CMD ["ros2", "run", "rviz2", "rviz2"]
CMD ["ros2", "run", "rviz2", "rviz2"]
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