Merge commit '33d78d891f05452bffc2d8a2509cd2dd70dae6c7'

Pet-Series · Aug 23, 2024 · 29d62b7 · 29d62b7
2 parents 4fe47f7 + 33d78d8
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diff --git a/pet-mk-iv-simulation/.bash_history b/pet-mk-iv-simulation/.bash_history
@@ -0,0 +1,13 @@
+source ~/ws_ros1/devel/setup.bash
+roslaunch pet_mk_iv_simulation pet_play_yard-01.launch
+roslaunch pet_mk_iv_simulation pet_play_yard-02.launch
+roslaunch pet_mk_iv_simulation pet_play_yard-02.launch
+roslaunch pet_mk_iv_simulation testrun_01_avoid-wall-line-stop.launch
+roslaunch pet_mk_iv_simulation spawn_pet_mk_iv.launch
+rosrun pet_mk_iv_mission_control testrun_00_line-stop.py
+rosrun pet_mk_iv_mission_control testrun_01_avoid-wall-line-stop.py
+rosrun pet_mk_iv_mission_control rosrun pet_mk_iv_mission_control 
+roslaunch pet_mk_iv_description rviz.launch
+rqt_graph
+env|grep ROS
+env|grep GAZEBO
diff --git a/pet-mk-iv-simulation/Dockerfile b/pet-mk-iv-simulation/Dockerfile
@@ -66,14 +66,17 @@ RUN apt-get update &&\
     apt-get install -y python3-catkin-tools &&\
     apt-get install -y ros-noetic-teleop-twist-keyboard &&\
     apt-get install -y ros-noetic-xacro &&\
+    apt-get install -y python3-osrf-pycommon &&\
     rm -rf /var/lib/apt/lists/*
-RUN pip3 install osrf-pycommon
+# RUN pip3 install osrf-pycommon
 
 # Lets make a Python/Python2 name-compatible executable of Python3
+USER root
 RUN ln -s /usr/bin/python3.8 /usr/bin/python
 
 # Install Neofetch (not neccesary but fancy :-)
-RUN sudo apt update -y &&\
+USER root
+RUN apt update -y &&\
     apt -y install neofetch &&\
     echo 'neofetch' >> ${HOMEDIR}/.bashrc &&\
     rm -rf /var/lib/apt/lists/*
@@ -88,7 +91,8 @@ WORKDIR ${HOMEDIR}/ws_ros1/src
 RUN git clone https://github.com/Pet-Series/Pet-Mk-IV.git &&\
     git clone https://github.com/Pet-Series/pet_mk_iv_simulation.git
 WORKDIR ${HOMEDIR}/ws_ros1
-RUN catkin_make
+RUN source /opt/ros/noetic/setup.bash && catkin init
+    # catkin_make
 
 # Build the ROS1 workspace
 WORKDIR ${HOMEDIR}/ws_ros1
@@ -103,20 +107,33 @@ RUN source /opt/ros/noetic/setup.bash &&\
 RUN mkdir ${HOMEDIR}/.gazebo
 COPY gui.ini ${HOMEDIR}/.gazebo/gui.ini
 
+# Recreate/Pre-load the '.bash_history' for commands
+USER ${DOCKERUSER}
+WORKDIR ${HOMEDIR}
+COPY .bash_history ${HOMEDIR}/.bash_history
+USER root
+RUN  chmod 600 ${HOMEDIR}/.bash_history && chown ${DOCKERUSER} ${HOMEDIR}/.bash_history  && sudo chgrp ${DOCKERUSER} ${HOMEDIR}/.bash_history 
+
 # Adding stuff to >> $~/.bashrc
+USER ${DOCKERUSER}
 RUN echo '# Setting up my own fancy Terminal Prompt :-)' >> ${HOMEDIR}/.bashrc &&\
     echo 'export PS1="${debian_chroot:+($debian_chroot)}\[\033[01;37;44m\]🐳${DOCKERPROMPT}\[\033[00m\]_\[\033[01;32m\]\u@\h\[\033[00m\]:\[\033[01;34m\]\w\[\033[00m\]\\$ "' >> ${HOMEDIR}/.bashrc 
 
 # Setting up ROS1/Noetic and Gazebo, by adding stuff to >> $~/.bashrc
 USER ${DOCKERUSER}
 RUN echo "# Setting up ROS1/Noetic and Gazebo" >> ${HOMEDIR}/.bashrc &&\
+    echo 'source /opt/ros/noetic/setup.bash'          >> ${HOMEDIR}/.bashrc &&\
     echo 'source ${HOMEDIR}/ws_ros1/devel/setup.bash' >> ${HOMEDIR}/.bashrc &&\
-    echo "alias source_noetic='source /opt/ros/noetic/setup.bash'" >> ${HOMEDIR}/.bashrc &&\
+    echo "alias source_noetic='source /opt/ros/noetic/setup.bash'"       >> ${HOMEDIR}/.bashrc &&\
     echo "alias source_pet='source ${HOMEDIR}/ws_ros1/devel/setup.bash'" >> ${HOMEDIR}/.bashrc &&\
-    echo "export GAZEBO_RESOURCE_PATH=$HOME/ws_ros1/src/pet_mk_iv_simulation/worlds/:$GAZEBO_RESOURCE_PATH" >> ${HOMEDIR}/.bashrc &&\
-    echo "export GAZEBO_MODEL_PATH=$HOME/ws_ros1/src/pet_mk_iv_simulation/models:$GAZEBO_MODEL_PATH" >> ${HOMEDIR}/.bashrc
+    echo "export GAZEBO_RESOURCE_PATH=$HOME/ws_ros1/src/pet_mk_iv_simulation/worlds/:\${GAZEBO_RESOURCE_PATH}" >> ${HOMEDIR}/.bashrc &&\
+    echo "export GAZEBO_MODEL_PATH=/usr/share/gazebo-11/models"                                                >> ${HOMEDIR}/.bashrc &&\
+    echo "export GAZEBO_MODEL_PATH=$HOME/ws_ros1/src/pet_mk_iv_simulation/models:\${GAZEBO_MODEL_PATH}"        >> ${HOMEDIR}/.bashrc
 
 # Setup exit condtions
+USER root
+RUN  chmod 700 ${HOMEDIR}/.bashrc
+USER ${DOCKERUSER}
 WORKDIR ${HOMEDIR}/ws_ros1
-CMD ["/bin/bash"]
-ENTRYPOINT ["/bin/bash", "-c"]
+# CMD bash
+# ENTRYPOINT /ros_entrypoint.sh
diff --git a/pet-mk-iv-simulation/README.md b/pet-mk-iv-simulation/README.md
@@ -7,14 +7,15 @@ ROS1 repository in the https://github.com/Pet-Series Git-Organizations.</br>
 
 Containing a Pet-Mk.IV ROS1-package / data for Gazebo & RViz
 - FROM osrf/ros:noetic-desktop-full-focal (amd64)
-   - Ubuntu 20.04.6 LTS
-   - ROS1 Noetic full desktop
+   - Ubuntu 20.04.6 LTS (aka. "Focal Fossa")
+   - ROS1 Noetic full desktop (aka. "Noetic Ninjemys")
 
 ## **What is this folder for?** ##
 Docker stuff neccesary to be able to build & run robot simulation of Pet-Mk.IV, using Gazebo.</br>
 - https://github.com/Pet-Series/Pet-Mk-IV.git
-- https://github.com/Pet-Series/pet_mk_iv_simulation.git   <-This repo.
-- https://hub.docker.com/repository/docker/kullken/ros1_amd64   < Look for tag `pet-mk-iv-simulation`
+- https://github.com/Pet-Series/pet_mk_iv_simulation.git
+- https://github.com/Pet-Series/pet_docker `<- This Repo.`
+- https://hub.docker.com/repository/docker/kullken/ros1_amd64   `<- Look for tag 'pet-mk-iv-simulation'`
 <table>
     <tr>
         <td>
@@ -31,12 +32,13 @@ Docker stuff neccesary to be able to build & run robot simulation of Pet-Mk.IV,
 
 
 # Setup
-## **How do I get set up?** ##
-```console
-ubuntu@host:~$ docker pull kullken/ros1_amd64:pet-mk-iv-simulation
+## **How do I set up?** ##
+```bash
+user@host:~$ docker pull kullken/ros1_amd64:pet-mk-iv-simulation
 ```
-```console
-ubuntu@host:~$ docker run \
+```bash
+user@host:~$ xhost local:docker
+user@host:~$ docker run \
     -it \
     --rm \
     --network=host \
@@ -46,3 +48,12 @@ ubuntu@host:~$ docker run \
     --name pet-mk-iv-simulation_container \
     kullken/ros1_amd64:pet-mk-iv-simulation
 ```
+```bash
+🐳pet@docker:~$ roslaunch pet_mk_iv_simulation testrun_01_avoid-wall-line-stop.launch
+```
+```bash
+user@host:~$ docker exec -it pet-mk-iv-simulation_container bash
+```
+```bash
+🐳pet@docker:~$ roslaunch pet_mk_iv_description rviz.launch
+```
diff --git a/pet-mk-iv-simulation/docker-compose.yml b/pet-mk-iv-simulation/docker-compose.yml
@@ -1,48 +1,57 @@
-# Launch [Builds, (re)creates, starts] with: 
-# $ docker compose build
-# $ docker compose build --no-cache
-# $ docker compose up -d
-
-# Connect shell/bash by: 
-# $ docker exec -it pet-mk-iv-simulation_container bash
-
-# Remove
-# $ docker compose down
-
-version: "3"
+# Launch [Builds, (re)creates, starts] using $ docker compose
+#
+# Prerequisite - On docker host: 
+#       I) That '$ xhost local:docker' is run before container is started - To enable GUI/X11 applications inside container
+#----------------------
+# Commands:
+#   1)  Enable X11 from inside the Docker Image/Container
+#       $ xhost local:docker
+#
+#   2a) Create/Start Container from Image : 
+#       $ docker compose up --detach --build
+#   2b) List running/active/paused
+#       $ docker compose ps -all
+#
+#   3)  Connect bash to existing/new container: 
+#       $ docker exec -it jazzy-full-pico-container bash
+#          OR
+#       $ ./docker_exec.sh
+#
+#   4)  Stop, or remove, your container once you've finished with them.
+#       $ docker conpose pause / unpause
+#       $ docker compose stop / start
+#       $ docker compose down    (stop & remove container)
+#       $ docker container kill pet-mk-iv-simulation_container
+#       $ docker container prune
+#----------------------
+# Maintainer: stefan.kull@gmail.com
+# Licens: MIT
+# https://github.com/Pet-Series
+#
+# "noetic" = ROS1
+# "focal"  = Ubuntu 20.04 
+#----------------------
+# More info: https://github.com/Pet-Series/pet_docker
+# More info: https://hub.docker.com/repositories/kullken
+# More info: https://hub.docker.com/repository/docker/kullken/ros1_amd64
 services:
   ros1:
+    build: .
     image: kullken/ros1_amd64:pet-mk-iv-simulation
     container_name: pet-mk-iv-simulation_container
     labels:
       - "se.pet-series.description=ROS1 Noetic for Pet-Mk.IV(label)"
     deploy:
       labels:
         - "se.pet-series.description=ROS1 Noetic for Pet-Mk.IV(service)"
-    build: .
     environment:
       - DISPLAY=${DISPLAY}
     privileged: true
-    # devices:
-    # - "/dev/ttyUSB0:/dev/ttyUSB0"     # USB
-    # - "/dev/gpiomem:/dev/gpiomem"     # GPIO
-    # - "/dev/i2c-1:/dev/i2c-1"         # I2C-1
-    # - "/dev/i2c-2:/dev/i2c-2"         # I2C-2
-    # - "/dev/spidev0.0:/dev/spidev0.0" # SPI.0
-    # - "/dev/spidev0.1:/dev/spidev0.1" # SPI.1
     network_mode: "host"
-    # networks:
-    # - hostnet
     volumes:
       - /tmp/.X11-unix:/tmp/.X11-unix
-    # - /home/pi/ws_ros2:/home/pet/ws_ros2:rw
     stdin_open: true # docker run -i
     tty: true        # docker run -t
     # restart: always
     # restart: unless-stopped
-    # command: [ "roscore" ]
-
-#networks:
-#  hostnet:
-#    external: true
-#    name: host    
+    # command: [ "roscore" ] 
diff --git a/pet-mk-iv-simulation/docker-compose_testrun.yml b/pet-mk-iv-simulation/docker-compose_testrun.yml
@@ -0,0 +1,49 @@
+# Launch [Builds, (re)creates, starts] with: 
+# $ docker compose --file docker-compose_testrun.yml up
+#
+# Connect shell/bash by:
+# $ xhost local:docker
+# $ docker exec -it pet-mk-iv-simulation_container bash
+#
+# Remove
+# $ docker compose down
+#----------------------
+# Maintainer: stefan.kull@gmail.com
+# Licens: MIT
+# https://github.com/Pet-Series
+
+# "noetic" = ROS1
+# "focal"  = Ubuntu 20.04 
+
+# More info: https://github.com/Pet-Series/pet_docker
+# More info: https://hub.docker.com/repositories/kullken
+# More info: https://hub.docker.com/repository/docker/kullken/ros1_amd64
+services:
+  spawn-world:
+    user: pet
+    build: .
+    image: kullken/ros1_amd64:pet-mk-iv-simulation
+    container_name: pet-mk-iv-simulation_world_container
+    labels:
+      - "se.pet-series.description=ROS1 Noetic for Pet-Mk.IV(label)"
+    deploy:
+      labels:
+        - "se.pet-series.description=ROS1 Noetic for Pet-Mk.IV(service)"
+    environment:
+      - DISPLAY=${DISPLAY}
+    privileged: true
+    network_mode: "host"
+    volumes:
+      - /tmp/.X11-unix:/tmp/.X11-unix
+    stdin_open: true # docker run -i
+    tty: true        # docker run -t
+    #command: bash -c "ls -l && pwd && whoami"
+    #command: bash
+    #command: roslaunch pet_mk_iv_simulation spawn_pet_mk_iv.launch
+    #command: source ~/.bashrc && roslaunch pet_mk_iv_description rviz.launch
+    #command: rosrun pet_mk_iv_mission_control testrun_01_avoid-wall-line-stop.py
+    #entrypoint: bash -c "~/.bashrc && roslaunch pet_mk_iv_simulation pet_play_yard-02.launch"
+    #entrypoint: bash -c "source ~/ws_ros1/devel/setup.bash && roslaunch pet_mk_iv_simulation pet_play_yard-02.launch"
+    #entrypoint: bash -c "source /home/pet/ws_ros1/devel/setup.bash && roslaunch pet_mk_iv_simulation pet_play_yard-03.launch"
+    #entrypoint: bash -c "../.bashrc && roslaunch pet_mk_iv_description rviz.launch"
+    entrypoint: bash
diff --git a/pet-mk-iv-simulation/docker_build.sh b/pet-mk-iv-simulation/docker_build.sh
@@ -1,4 +1,14 @@
 #!/bin/bash
 # Build Dockerfile in the same directory
-# https://hub.docker.com/repository/docker/kullken/ros1_amd64
+#----------------------
+# Maintainer: stefan.kull@gmail.com
+# Licens: MIT
+# https://github.com/Pet-Series
+
+# "noetic" = ROS1
+# "focal"  = Ubuntu 20.04 
+
+# More info: https://github.com/Pet-Series/pet_docker
+# More info: https://hub.docker.com/repositories/kullken
+# More info: https://hub.docker.com/repository/docker/kullken/ros1_amd64
 docker build --tag kullken/ros1_amd64:pet-mk-iv-simulation .
diff --git a/pet-mk-iv-simulation/docker_exec.sh b/pet-mk-iv-simulation/docker_exec.sh
@@ -0,0 +1,14 @@
+#!/bin/bash
+# Start bash in existing container (Status Up/Paused).
+#----------------------
+# Maintainer: stefan.kull@gmail.com
+# Licens: MIT
+# https://github.com/Pet-Series
+
+# "noetic" = ROS1
+# "focal"  = Ubuntu 20.04 
+
+# More info: https://github.com/Pet-Series/pet_docker
+# More info: https://hub.docker.com/repositories/kullken
+# More info: https://hub.docker.com/repository/docker/kullken/ros1_amd64
+docker exec -it pet-mk-iv-simulation_container bash
diff --git a/pet-mk-iv-simulation/docker_execs.sh b/pet-mk-iv-simulation/docker_execs.sh
@@ -0,0 +1,17 @@
+#!/bin/bash
+# Start bash in existing container (Status Up/Paused).
+#----------------------
+# Maintainer: stefan.kull@gmail.com
+# Licens: MIT
+# https://github.com/Pet-Series
+
+# "noetic" = ROS1
+# "focal"  = Ubuntu 20.04 
+
+# More info: https://github.com/Pet-Series/pet_docker
+# More info: https://hub.docker.com/repositories/kullken
+# More info: https://hub.docker.com/repository/docker/kullken/ros1_amd64
+docker exec -it pet-mk-iv-simulation_container bash -c "source /home/pet/ws_ros1/devel/setup.bash && roslaunch pet_mk_iv_simulation pet_play_yard-02.launch"
+docker exec -it pet-mk-iv-simulation_container bash -c "source /home/pet/ws_ros1/devel/setup.bash && roslaunch pet_mk_iv_simulation spawn_pet_mk_iv.launch"
+docker exec -it pet-mk-iv-simulation_container bash -c "source /home/pet/ws_ros1/devel/setup.bash && roslaunch pet_mk_iv_description rviz.launch"
+docker exec -it pet-mk-iv-simulation_container bash -c "source /home/pet/ws_ros1/devel/setup.bash && rosrun pet_mk_iv_mission_control testrun_01_avoid-wall-line-stop.py"
diff --git a/pet-mk-iv-simulation/docker_kill.sh b/pet-mk-iv-simulation/docker_kill.sh
@@ -0,0 +1,16 @@
+#!/bin/bash
+# Stop and remove Docker-container
+#----------------------
+# Maintainer: stefan.kull@gmail.com
+# Licens: MIT
+# https://github.com/Pet-Series
+
+# "noetic" = ROS1
+# "focal"  = Ubuntu 20.04 
+
+# More info: https://github.com/Pet-Series/pet_docker
+# More info: https://hub.docker.com/repositories/kullken
+# More info: https://hub.docker.com/repository/docker/kullken/ros1_amd64
+docker container stop   pet-mk-iv-simulation_container 
+docker container kill pet-mk-iv-simulation_container
+docker container rm   pet-mk-iv-simulation_container 
diff --git a/pet-mk-iv-simulation/docker_push.sh b/pet-mk-iv-simulation/docker_push.sh
@@ -1,6 +1,12 @@
 #!/bin/bash
 # Push a Docker Image to DockerHub repository.
-# https://hub.docker.com/repositories/kullken
-# https://hub.docker.com/repository/docker/kullken/ros1_amd64
+#----------------------
+# Maintainer: stefan.kull@gmail.com
+# Licens: MIT
+# https://github.com/Pet-Series
+
+# "noetic" = ROS1
+# "focal"  = Ubuntu 20.04 
+
 # docker login -u "kullken" -p "@@@@@@@@" docker.io
 docker push kullken/ros1_amd64:pet-mk-iv-simulation
diff --git a/pet-mk-iv-simulation/docker_run.sh b/pet-mk-iv-simulation/docker_run.sh
@@ -1,11 +1,22 @@
 #!/bin/bash
 # Run docker image from https://hub.docker.com/repository/docker/kullken/ros1_amd64
-
+#
 # Connect to, an running, container using shell/bash by: 
-# $ docker exec -it pet-mk-iv-simulation_container bash
+#   $ docker exec -it pet-mk-iv-simulation_container bash
+#----------------------
+# Maintainer: stefan.kull@gmail.com
+# Licens: MIT
+# https://github.com/Pet-Series
+
+# "noetic" = ROS1
+# "focal"  = Ubuntu 20.04
+
+# More info: https://github.com/Pet-Series/pet_docker
+# More info: https://hub.docker.com/repositories/kullken
+xhost local:docker
 docker run \
  -it \
- --rm \
+ --detach \
  --network=host \
  --privileged \
  --volume="/tmp/.X11-unix:/tmp/.X11-unix" \