Merge pull request #2069 from JdeRobot/issue-2068-b

Added ROS2 miniRADI dockerfile

scripts/ROS2/Dockerfile.academy

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+##################################################################################
+# Create a miniRADI with RoboticsAcademy and some usefull scripts for developers #
+##################################################################################
+
+FROM jderobot/robotics-applications:base-2
+
+# copy scripts for vnc displays
+COPY ./start_vnc.sh /
+COPY ./kill_all.sh /
+COPY ./entrypoint.sh /
+COPY ./start_vnc_gpu.sh /
+COPY ./test/check_device.py /
+# give execution permissions
+RUN chmod +x /start_vnc.sh /kill_all.sh /entrypoint.sh /start_vnc_gpu.sh
+
+# environment
+COPY ./.env /.env
+
+
+# RoboticsAcademy
+RUN git clone --depth 10 https://github.com/JdeRobot/RoboticsAcademy.git -b master /RoboticsAcademy/
+
+# Relocate RAM
+RUN mkdir /RoboticsAcademy/src && mv /RoboticsApplicationManager/* /RoboticsAcademy/src
+
+# build react_fronted
+RUN cd /RoboticsAcademy/react_frontend/ && yarn install && yarn run build
+
+# Django server
+EXPOSE 8000
+# Manager websocket
+EXPOSE 7163
+
+# Exercise websocket
+EXPOSE 1905
+# GUI websockets
+EXPOSE 2303
+
+# noVNC Console
+EXPOSE 1108
+# noVNC Gazebo
+EXPOSE 6080
+# noVNC Rviz
+EXPOSE 6081
+# noVNC GUI
+EXPOSE 6082
+
+# WebRtc
+EXPOSE 1831
+
+WORKDIR /
+ENTRYPOINT ["./entrypoint.sh"]

scripts/ROS2/build.sh

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+#!/bin/bash
+
+############################################################
+# Help                                                     #
+############################################################
+Help()
+{
+   # Display Help
+   echo "Syntax: build.sh [-h] [-f]"
+   echo "options:"
+   echo "-h   Print this Help."
+   echo "-f   Force creation of base image. If ommited, the base image is created only if "
+   echo "     it doestn exist."
+   echo
+}
+
+force_build=false
+while getopts ":hf" option; do
+   case $option in
+      h) # display Help
+         echo "Generates RoboticsAcademy RADI image"
+         echo
+         Help
+         exit 0
+         ;;
+      f)
+        force_build=true
+        ;;
+      \?)
+        echo "Invalid Option: -$OPTARG" 1>&2
+        Help
+        exit 1
+        ;;
+   esac
+done
+shift $(($OPTIND - 1))
+
+if $force_build || [[ "$(docker images -q jderobot/robotics-applications:pre-base 2> /dev/null)" == "" ]]; then
+  echo "BUILDING Jderobot PRE-BASE IMAGE ====================="
+  echo
+  docker build -f Dockerfile.pre-base -t jderobot/robotics-applications:pre-base .
+fi
+
+echo "BUILDING RoboticsAcademy BASE IMAGE ====================="
+echo
+docker build -f Dockerfile.base -t jderobot/robotics-applications:base .

scripts/ROS2/entrypoint.sh

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+#!/bin/bash
+
+usage="$(basename "$0") [-h] [--debug] [--logs] [--no-server]\n\n
+
+optional arguments:\n
+\t  -h  show this help message and exit\n
+\t  --debug run bash inside RADI\n
+\t  --logs record logs and run RADI\n
+\t  --no-server run RADI without webserver"
+
+debug=false
+log=false
+webserver=true
+
+while [[ "$1" =~ ^- && ! "$1" == "--" ]]; do case $1 in
+  -h | --help )
+    echo -e $usage
+    exit
+    ;;
+  -d | --debug )
+    shift; debug=true
+    ;;
+  -l | --logs )
+    shift; log=true
+    ;;
+  -ns | --no-server )
+    webserver=false
+    ;;
+esac; shift; done
+if [[ "$1" == '--' ]]; then shift; fi
+
+if [ $webserver == true ]; then
+    runserver="python3 /RoboticsAcademy/manage.py runserver 0.0.0.0:8000"
+else
+    runserver=""
+fi
+ros_setup=" source /.env && source ~/.bashrc && source /home/ws/install/setup.bash; "
+runmanager="python3 RoboticsAcademy/manager/manager.py"
+runram="python3 RoboticsAcademy/src/manager/manager/manager.py 0.0.0.0 7163"
+root="cd /"
+
+# TEST LOGS
+if [ $log == true ]; then
+    DATE_TIME=$(date +%F-%H-%M) # FORMAT year-month-date-hours-mins
+    mkdir -p /root/.roboticsacademy/log/$DATE_TIME/
+    eval ${ros_setup}
+    script -q -c "$root & $runserver & $runram ;" /root/.roboticsacademy/log/$DATE_TIME/manager.log
+    cp -r /root/.ros/log/* /root/.roboticsacademy/log/$DATE_TIME
+else
+    eval ${ros_setup}
+    if [ $debug == true ]; then
+      { bash ; }
+    else
+      { $root & $runserver & $runram ; }
+    fi
+fi

scripts/ROS2/kill_all.sh

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+#!/bin/bash
+
+pkill -9 -f gzserver
+pkill -9 -f gzclient
+pkill -9 -f xterm
+pkill -9 -f rviz
+pkill -9 -f rosmaster
+pkill -9 -f xorg
+pkill -9 -f websockify
+pkill -9 -f python

scripts/ROS2/run.sh

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+#!/bin/bash
+
+usage() {
+    echo "usage: run.sh : tag must be specified
+            -t | --tag : docker image tag (required)
+            -v | --volume : path to a shared directory (optional)
+            -n | --name : name of container (optional)
+            -d | --debug : open a terminal inside container (optional)
+            --dev : use device inside container (optional) [specify device name]
+            -l | --logs : record logs and run RADI
+            -ns | --no-server : run RADI without webserver
+            
+            example of usage:
+                ./run.sh -t 4.3.0 -v /home/user/dir -n my_container -d --dev card0
+            "
+}
+
+unset logs server tag path device device_name volume name debug
+serverport="-p 8000:8000"
+
+while [[ "$1" =~ ^- && ! "$1" == "--" ]]; do case $1 in
+    -v | --volume )
+        shift;
+        path=$1
+        volume=true
+        ;;
+    -n | --name )
+        shift; 
+        name=$1
+        ;;
+    -d | --debug )
+        debug=--debug
+        ;;
+    --dev )
+        shift;
+        device="--device /dev/dri"
+        device_name=$1
+        ;;
+    -t | --tag )
+        shift;
+        tag=$1
+        ;;
+    -l | --logs )
+        logs="--logs"
+        ;;
+    -ns | --no-server )
+        server="--no-server"
+        serverport=""
+        ;;
+esac; shift; done
+if [[ "$1" == '--' ]]; then shift; fi
+
+if [ -z $tag ]; then
+    usage
+    exit 1
+fi
+
+if [ -z $name ]; then
+    name=dockerRam_container
+    echo name not specified, container name will be: dockerRam_container
+fi
+
+if $volume && [ ! -z $path ] && [ -d $path ] ; then
+    docker run --name $name $device -e DRI_NAME=$device_name -v $path:/home/shared_dir --rm -it $serverport -p 2303:2303 -p 1905:1905 -p 8765:8765 -p 6080:6080 -p 6081:6081 -p 1108:1108 -p 6082:6082 -p 7163:7163 jderobot/robotics-academy:$tag $debug $logs $server
+else
+    docker run --name $name $device -e DRI_NAME=$device_name --rm -it $serverport -p 2303:2303 -p 1905:1905 -p 8765:8765 -p 6080:6080 -p 6081:6081 -p 1108:1108 -p 6082:6082 -p 7163:7163 jderobot/robotics-academy:$tag $debug $logs $server
+fi

scripts/ROS2/run_cam.sh

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+#!/bin/bash
+
+usage() {
+    echo "usage: run.sh : tag must be specified
+            -t | --tag : docker image tag (required)
+            -v | --volume : route to a shared directory (optional)
+            -n | --name : name of container (optional)
+            -d | --debug : open a terminal inside container (optional)
+            --dev : use device inside container (optional) [specify device name]
+            
+            example of usage:
+                ./run.sh -t 4.3.0 -v /home/user/dir -n my_container -d --dev card0
+            "
+}
+
+
+volume=false
+name=""
+tag=""
+unset route
+unset debug
+unset device
+unset device_name
+
+while [[ "$1" =~ ^- && ! "$1" == "--" ]]; do case $1 in
+    -v | --volume )
+        shift;
+        route=$1
+        volume=true
+        ;;
+    -n | --name )
+        shift; 
+        name=$1
+        ;;
+    -d | --debug )
+        debug=bash
+        ;;
+    --dev )
+        shift;
+        device="--device /dev/dri"
+        device_name=$1
+        ;;
+    -t | --tag )
+        shift;
+        tag=$1
+        ;;
+esac; shift; done
+if [[ "$1" == '--' ]]; then shift; fi
+
+if [ -z $tag ]; then
+    usage
+    exit 1
+fi
+
+if [ -z $name ]; then
+    name=dockerRam_container
+    echo name not specified, container name will be: dockerRam_container
+fi
+
+if $volume && [ ! -z $route ] && [ -d $route ] ; then
+    docker run --name $name $device -e DRI_NAME=$device_name -v $route:/home/shared_dir --rm -it -p 2303:2303 -p 1905:1905 -p 8765:8765 -p 6080:6080 -p 6081:6081 -p 1108:1108 -p 6082:6082 -p 7163:7163 --device /dev/video0:/dev/video0 jderobot/robotics-academy:$tag $debug
+else
+    docker run --name $name $device -e DRI_NAME=$device_name --rm -it -p 2303:2303 -p 1905:1905 -p 8765:8765 -p 6080:6080 -p 6081:6081 -p 1108:1108 -p 6082:6082 -p 7163:7163 --device /dev/video0:/dev/video0 jderobot/robotics-academy:$tag $debug
+fi

scripts/ROS2/start_vnc.sh

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+#!/bin/bash
+
+usage() {
+    echo 'usage: /start_vnc.sh <display> <internal_port> <external_port> 
+        example: >> /start_vnc.sh 0 5900 6080'
+}
+
+if [ $# -ne 3 ] ; then
+    usage
+    exit 1
+fi
+
+display=$1
+internal_port=$2
+external_port=$3
+
+cd /
+## xserver:
+/usr/bin/Xorg -noreset -quiet +extension GLX +extension RANDR +extension RENDER -logfile ./xdummy.log -config ./xorg.conf :$display &
+sleep 1
+## lanzar servidor vnc
+x11vnc -display :$display -quiet -nopw -forever -xkb -bg -rfbport $internal_port &
+sleep 1
+## lanzar cliente noVNC
+/noVNC/utils/novnc_proxy --listen $external_port --vnc localhost:$internal_port &
+
+export DISPLAY=:$display

scripts/ROS2/start_vnc_gpu.sh

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+#!/bin/bash
+
+usage() {
+    echo 'usage: /start_vnc.sh <display> <internal_port> <external_port> 
+        example: >> /start_vnc.sh 0 5900 6080'
+}
+
+if [ $# -ne 3 ] ; then
+    usage
+    exit 1
+fi
+
+display=$1
+internal_port=$2
+external_port=$3
+
+cd /
+# TurvoVNC (xserver + vncserver)
+export VGL_DISPLAY=/dev/dri/card0 && export TVNC_WM=startlxde && /opt/TurboVNC/bin/vncserver :$display -geometry '1920x1080' -vgl -noreset -SecurityTypes None -rfbport $internal_port & 
+sleep 1
+# lanzar cliente noVNC
+/noVNC/utils/novnc_proxy --listen $external_port --vnc localhost:$internal_port &