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Merge branch 'o3de_curiosity_docker'
PR to solve space-ros#181 by Azmyin Md. Kamal. Part of submission to the NASA Space ROS Sim Summer Sprint Challenge 2024. Freelancer id: azmyin12 Description: Integrates Open 3D Engine natively with Space ROS via the ROS 2 Gem and showcases photorealistic, physics-defined simulation of Curiosity rover in a new test environment inpsired by the NASA JPL's Mars Yard testing ground
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‎.vscode/settings.json

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{
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"cmake.configureOnOpen": true
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}

‎o3de_curiosity_demo/DockerFile_O3DE_sample.txt

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FROM ros:humble-ros-core-jammy
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ENV O3DE_HASH=5b344a0be6
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ENV O3DE_EXTRAS_HASH=ros2_project_template
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ENV PROJECT_NAME=WarehouseTest
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ENV WORKDIR=/data/workspace
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WORKDIR $WORKDIR
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ARG DEBIAN_FRONTEND=noninteractive
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# Setup time zone and locale data (necessary for SSL and HTTPS packages)
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RUN apt-get update && DEBIAN_FRONTEND="noninteractive" apt-get -y \
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install \
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tzdata \
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locales \
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keyboard-configuration \
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&& rm -rf /var/lib/apt/lists/*
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RUN sed -i -e 's/# en_US.UTF-8 UTF-8/en_US.UTF-8 UTF-8/' /etc/locale.gen \
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&& dpkg-reconfigure --frontend=noninteractive locales \
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&& update-locale LANG=en_US.UTF-8
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ENV LANG=en_US.UTF-8
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# Install common tools
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# deps in https://github.com/o3de/o3de/blob/development/scripts/build/build_node/Platform/Linux/package-list.ubuntu-jammy.txt
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RUN apt-get update && apt-get install -y \
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bc \
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bind9-utils \
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binutils \
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ca-certificates \
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clang \
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cmake \
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file \
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firewalld \
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git \
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git-lfs \
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jq \
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kbd \
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kmod \
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less \
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lsb-release \
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libglu1-mesa-dev \
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libxcb-xinerama0 \
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libfontconfig1-dev \
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libcurl4-openssl-dev \
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libnvidia-gl-470 \
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libssl-dev \
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libxcb-xkb-dev \
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libxkbcommon-x11-dev \
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libxkbcommon-dev \
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libxcb-xfixes0-dev \
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libxcb-xinput-dev \
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libxcb-xinput0 \
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libpcre2-16-0 \
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lsof \
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net-tools \
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ninja-build \
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pciutils \
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python3-pip \
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software-properties-common \
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sudo \
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tar \
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unzip \
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vim \
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wget \
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xz-utils \
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&& rm -rf /var/lib/apt/lists/*
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# Gem + ROS pacakges
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RUN apt-get update && apt-get install -y \
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ros-humble-ackermann-msgs \
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ros-humble-control-toolbox \
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ros-humble-gazebo-msgs \
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ros-humble-joy \
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ros-humble-navigation2 \
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ros-humble-rviz2 \
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ros-humble-tf2-ros \
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ros-humble-urdfdom \
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ros-humble-vision-msgs \
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&& rm -rf /var/lib/apt/lists/*
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## Symlink clang version to non-versioned clang and set cc to clang
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RUN update-alternatives --install /usr/bin/cc cc /usr/bin/clang 100 \
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&& update-alternatives --install /usr/bin/c++ c++ /usr/bin/clang++ 100
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# Install o3de
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RUN git clone https://github.com/o3de/o3de.git \
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&& cd o3de \
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&& git checkout ${O3DE_HASH} \
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&& git lfs install \
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&& git lfs pull \
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&& python/get_python.sh
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# Install o3de-extras
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RUN git clone https://github.com/RobotecAI/o3de-extras.git \
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&& cd o3de-extras \
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&& git checkout ${O3DE_EXTRAS_HASH} \
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&& git lfs install \
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&& git lfs pull
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# regiester engine and Gems from o3de-extras
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RUN ./o3de/scripts/o3de.sh register --this-engine \
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&& ./o3de/scripts/o3de.sh register --gem-path ./o3de-extras/Gems/ROS2 \
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&& ./o3de/scripts/o3de.sh register --gem-path ./o3de-extras/Gems/RosRobotSample \
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&& ./o3de/scripts/o3de.sh register --gem-path ./o3de-extras/Gems/WarehouseSample
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# create in project from template in o3de-extras
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RUN ./o3de/scripts/o3de.sh create-project \
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--project-path ${WORKDIR}/${PROJECT_NAME} \
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--template-path ./o3de-extras/Templates/Ros2ProjectTemplate/ -f
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WORKDIR ${WORKDIR}/${PROJECT_NAME}
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RUN . /opt/ros/humble/setup.sh \
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&& cmake -B build/linux -S . -G "Ninja Multi-Config" -DLY_STRIP_DEBUG_SYMBOLS=ON
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RUN . /opt/ros/humble/setup.sh \
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&& cmake --build build/linux --config profile --target ${PROJECT_NAME} Editor AssetProcessor
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# This final step takes long since they Assets will be downloading
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RUN . /opt/ros/humble/setup.sh \
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&& echo "This final step can take more than 1 hour. Good time for going for a coffee :)" \
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&& cmake --build build/linux --config profile --target ${PROJECT_NAME}.Assets
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# Installing some ros2 for navigation
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RUN apt-get update && apt-get install -y \
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python3-colcon-common-extensions \
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ros-humble-cyclonedds \
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ros-humble-rmw-cyclonedds-cpp \
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ros-humble-slam-toolbox \
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ros-humble-navigation2 \
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ros-humble-nav2-bringup \
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ros-humble-pointcloud-to-laserscan \
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ros-humble-teleop-twist-keyboard \
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ros-humble-ackermann-msgs \
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ros-humble-topic-tools \
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&& rm -rf /var/lib/apt/lists/*
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RUN pip install python-statemachine
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WORKDIR $WORKDIR
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ENV RMW_IMPLEMENTATION=rmw_cyclonedds_cpp

‎o3de_curiosity_demo/Dockerfile

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# Copyright 2024 Azmyin Md. Kamal
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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#
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# A Docker configuration script to build the o3de_curiosit_docker image that showcases Open 3D Engine
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# in simulating a Curiositry rover traversing through a test ground inspired by the NASA JPL Mars Yard
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#
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# The script provides the following build arguments:
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#
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# VCS_REF - The git revision of the Space ROS source code (no default value).
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# VERSION - The version of Space ROS (default: "preview")
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FROM openrobotics/moveit2:latest
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# Define arguments used in the metadata definition
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ARG VCS_REF
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ARG VERSION="preview"
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# Specify the docker image metadata
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LABEL org.label-schema.schema-version="1.0"
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LABEL org.label-schema.name="Curiosity Rover"
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LABEL org.label-schema.description="Curiosity rover demo on a new test enviornment on the Space ROS platform and Open 3D Engine"
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LABEL org.label-schema.vendor="Nasa Space ROS Sim Summer Spring Challenge 2024"
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LABEL org.label-schema.version=${VERSION}
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LABEL org.label-schema.url="https://github.com/space-ros"
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LABEL org.label-schema.vcs-url="https://github.com/Mechazo11/space-ros-docker"
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LABEL org.label-schema.vcs-ref=${VCS_REF}
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# Define a few key variables
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ENV DEMO_DIR=${HOME_DIR}/demos_ws
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ENV IGNITION_VERSION fortress
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ENV GZ_VERSION fortress
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# Disable prompting during package installation
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ARG DEBIAN_FRONTEND=noninteractive
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# Get rosinstall_generator
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# Using Docker BuildKit cache mounts for /var/cache/apt and /var/lib/apt ensures that
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# the cache won't make it into the built image but will be maintained between steps.
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RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
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--mount=type=cache,target=/var/lib/apt,sharing=locked \
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sudo apt-get update -y && sudo apt-get install -y python3-rosinstall-generator
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# TODO(anyone): remove demo-pkgs.txt, no packages left after exclusions
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# Generate repos file for demo dependencies, excluding packages from Space ROS core.
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# COPY --chown=${USERNAME}:${USERNAME} demo-pkgs.txt /tmp/
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# COPY --chown=${USERNAME}:${USERNAME} excluded-pkgs.txt /tmp/
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# RUN rosinstall_generator \
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# --rosdistro ${ROSDISTRO} \
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# --deps \
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# --exclude-path ${SPACEROS_DIR}/src \
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# --exclude-path ${MOVEIT2_DIR}/src \
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# --exclude $(cat /tmp/excluded-pkgs.txt) -- \
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# -- $(cat /tmp/demo-pkgs.txt) \
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# > /tmp/demo_generated_pkgs.repos
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RUN mkdir -p ${DEMO_DIR}/src
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WORKDIR ${DEMO_DIR}
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# Install libmongoc for development
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RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
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--mount=type=cache,target=/var/lib/apt,sharing=locked \
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sudo apt-get install libmongoc-dev -y
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# Compile mongo cxx driver https://mongocxx.org/mongocxx-v3/installation/linux/
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RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
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--mount=type=cache,target=/var/lib/apt,sharing=locked \
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sudo apt-get install libssl-dev build-essential devscripts debian-keyring fakeroot debhelper cmake libboost-dev libsasl2-dev libicu-dev libzstd-dev doxygen -y
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RUN wget https://github.com/mongodb/mongo-cxx-driver/releases/download/r3.6.7/mongo-cxx-driver-r3.6.7.tar.gz
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RUN tar -xzf mongo-cxx-driver-r3.6.7.tar.gz
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RUN cd mongo-cxx-driver-r3.6.7/build && cmake .. -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=/usr/local && sudo cmake --build . --target EP_mnmlstc_core && cmake --build . && sudo cmake --build . --target install
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# Get the source for the dependencies
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# RUN vcs import src < /tmp/demo_generated_pkgs.repos
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COPY --chown=${USERNAME}:${USERNAME} demo_manual_pkgs.repos /tmp/
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RUN vcs import src < /tmp/demo_manual_pkgs.repos && /bin/bash -c 'source "${SPACEROS_DIR}/install/setup.bash"'
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RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
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--mount=type=cache,target=/var/lib/apt,sharing=locked \
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sudo apt-get update -y \
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&& /bin/bash -c 'source "${SPACEROS_DIR}/install/setup.bash"' \
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&& /bin/bash -c 'source "${MOVEIT2_DIR}/install/setup.bash"' \
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&& rosdep install --from-paths src --ignore-src -r -y --rosdistro ${ROSDISTRO}
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# Build the demo
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RUN /bin/bash -c 'source ${SPACEROS_DIR}/install/setup.bash && source ${MOVEIT2_DIR}/install/setup.bash \
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&& colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release'
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# Add the user to the render group so that the user can access /dev/dri/renderD128
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RUN sudo usermod -aG render $USERNAME
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# Setup the entrypoint
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COPY ./entrypoint.sh /
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ENTRYPOINT ["/entrypoint.sh"]
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CMD ["bash"]

‎o3de_curiosity_demo/README.md

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# Integrating Open 3D Engine with Space ROS for an Accurate Physics Simulation of the Curiosity Rover: A Case Study
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This docker image is part of a submission to the NASA Space ROS Sim Summer Spring Challenge 2024.
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Related Issue: [#181](https://github.com/space-ros/docker/issues/181)
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Author: Azmyin Md. Kamal,
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Ph.D. student, iCORE Lab, MIE
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Louisiana State University,
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Baton Rounge, LA-70803
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Date: 09/08/2024
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**TODO** a preview image once Bulding 336 asset is complete.
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## Description
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This README.md contains the build and usage instructions for **o3de_curiosity_demo**, a docker image that demonstrates the Curiosity rover traversing through a new test enviornment modelled after NASA JPL's Mars Yard testing ground. It is meant to showcase the integration of the Open 3D Engine with Space ROS via the [ROS 2 Gem](). All textures used are CC0, all models built are either from CC0 sources or made by me which, I hereby declare as also CC0. Open 3D Engine, ROS 2 Gem are all Apache 2.0 licensed. Space ROS and all other releated dependecies are also Apache 2.0 licensed. Please look into the attached url for seeing the demo in action.
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**TODO** link to the 5 min video that will be submitted as part of the competition.
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The Dockerfile installs all of the prerequisite system dependencies for building the ros2 workspace, installs the Open 3D Engine, registers the engine and then downloads, and registers in order, the ```RobotSim``` O3DE project, the ```NasaCuriosityRover``` Gem and the ```MarsYard``` Gem. Finally, the docker file will build the entire project (takes 5 - 10 mins).
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## Prerequisits
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* Ensure Docker and then Earthly are installed correctly.
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* Git clone this fork of ```space-ros/docker``` and change directory
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```bash
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cd ~
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git clone --branch o3de_curiosity_docker --single-branch https://github.com/Mechazo11/space-ros-docker.git
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cd space-ros-docker
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```
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* This docker image reqiures **space-ros** base image ```osrf/spaceros:latest```. Pull the latest build from docker hub
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```bash
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docker pull osrf/space-ros
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```
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* Buld moveit2 docker image
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```bash
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cd moveit2
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./build.sh
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```
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## Build the o3de_docker image
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```bash
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cd ..
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cd o3de_curiosity_demo
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./build.sh
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```
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* Checklist
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* Install
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* Install rosintall-generator: ```sudo apt-get update -y && sudo apt-get install -y python3-rosinstall-generator```
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* Install the lark library: ```pip3 install lark```
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* Clone repositories into ```src``` folder: ```vcs import src < space-ros.repos```
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* Clone simulation related packages: ```vcs import src < space-robot-sim.repos```
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* Install all dependencies ```rosdep update && rosdep install --from-paths src --ignore-src -r -y --rosdistro humble --skip-keys urdfom_headers ikos```
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‎o3de_curiosity_demo/build.sh

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#!/usr/bin/env bash
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ORG=openrobotics
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IMAGE=o3de_curiosity_docker
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TAG=latest
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VCS_REF=""
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VERSION=preview
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# Exit script with failure if build fails
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set -eo pipefail
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echo ""
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echo "##### Building O3DE + Space ROS Demo Docker Image #####"
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echo ""
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docker build -t $ORG/$IMAGE:$TAG \
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--build-arg VCS_REF="$VCS_REF" \
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--build-arg VERSION="$VERSION" .
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echo ""
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echo "##### Done! #####"
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‎o3de_curiosity_demo/entrypoint.sh

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#!/bin/bash
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set -e
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# Setup the Demo environment
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source "${DEMO_DIR}/install/setup.bash"
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exec "$@"

‎o3de_curiosity_demo/excluded-pkgs.txt

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fastrtps
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fastcdr
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generate_parameter_library
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rmw_fastrtps_cpp
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rmw_fastrtps_dynamic_cpp
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rmw_fastrtps_shared_cpp
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rmw_connextdds
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rosidl_typesupport_fastrtps_c
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rosidl_typesupport_fastrtps_cpp
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fastrtps_cmake_module

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