Melodic devel

.dockerignore

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+.dockerignore
+.git/
+CHANGELOG.md
+doc/
+docker/docker-compose.yml
+docker/Dockerfile
+LICENSE
+README.md
+docker/simulation-in-container-run.*

CHANGELOG.md

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+# Changelog
+
+## 2021-03-21
+
+### Added
+- Added Docker image build for nvidia
+- Added test script

README.md

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-<h1>summit_xl_sim</h1>
+# summit_xl_sim
 
 Packages for the simulation of the Summit XL
 
 <p align="center">
-  <img src="https://github.com/RobotnikAutomation/summit_xl_sim/blob/melodic-master/doc/summit_xl.jpeg" height="275" />
-  <img src="https://github.com/RobotnikAutomation/summit_xl_sim/blob/melodic-master/doc/summit_xl_steel.jpeg" height="275" />
-  <img src="https://github.com/RobotnikAutomation/summit_xl_sim/blob/melodic-master/doc/summit_xl_gazebo.png" height="275" />
-  <img src="https://github.com/RobotnikAutomation/summit_xl_sim/blob/melodic-master/doc/summit_xl_steel_gazebo.png" height="275" />
-
+  <img src="doc/summit_xl.jpeg" height="275" />
+  <img src="doc/summit_xl_steel.jpeg" height="275" />
+  <img src="doc/summit_xl_gazebo.png" height="275" />
+  <img src="doc/summit_xl_steel_gazebo.png" height="275" />
 </p>
 
 This packages contains: 
 
-<h1>summit_xl_gazebo</h1>
+## summit_xl_gazebo
 
 Launch files and world files to start the models in gazebo
 
-<h1>summit_xl_sim_bringup</h1>
+## summit_xl_sim_bringup
 
 Launch files that launch the complete simulation of the robot/s
 
-<h1>Simulating Summit XL</h1>
+## Simulating Summit XL
 
 This simulation has been tested using Gazebo 9 version.
 
-<h2>1. Install the following dependencies:</h2>
+## Installation and run instruccions
+
+### 1. Install the following dependencies:
 
  To facilitate the installation you can use the vcstool:
 
 ```bash
 sudo apt-get install -y python3-vcstool
 ```
 
-<h2>2. Create a workspace and clone the repository:</h2>
+### 2. Create a workspace and clone the repository:
 
 ```bash
 mkdir catkin_ws
 cd catkin_ws
-vcs import --input https://raw.githubusercontent.com/RobotnikAutomation/summit_xl_sim/melodic-master/doc/summit_xl_sim.repos
-rosdep install --from-paths src --ignore-src -y
 ```
 
-<h2>3. Compile:</h2>
+Install the latest version of the simulation:
+
+```bash
+vcs import --input https://raw.githubusercontent.com/RobotnikAutomation/summit_xl_sim/melodic-devel/repos/summit_xl_sim_devel.repos
+```
+
+**Install the ROS dependencies**
+
+```bash
+rosdep install --from-paths src --ignore-src --skip-keys="summit_xl_robot_control marker_mapping robotnik_locator robotnik_pose_filter robotnik_gazebo_elevator" -y -r
+```
+
+<!--
+For the stable version (some latest features may be not available):
+
+```bash
+vcs import --input \
+  https://raw.githubusercontent.com/RobotnikAutomation/summit_xl_sim/melodic-master/doc/summit_xl_sim.repos
+rosdep install --from-paths src --ignore-src --skip-keys="summit_xl_robot_control" -y
+``` -->
+
+### 3. Compile:
 
 ```bash
 catkin build
 source devel/setup.bash
 ```
 
 **ONLY: if catkin build doesn't work:** The package catkin-tools is need to compile with catkin build:
+
 ```bash
 sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu `lsb_release -sc` main" > /etc/apt/sources.list.d/ros-latest.list'
 wget http://packages.ros.org/ros.key -O - | sudo apt-key add -
 sudo apt-get update
 sudo apt-get install python-catkin-tools
 ```
 
-<h2>4. Launch Summit XL simulation (1 robot by default, up to 3 robots): </h2>
+### 4. Launch Summit XL simulation (1 robot by default, up to 3 robots):
 
-<h3> Summit XL:</h3>
+#### Summit XL:
 
-  ```
-  roslaunch summit_xl_sim_bringup summit_xl_complete.launch
-  ```
+```bash
+roslaunch summit_xl_sim_bringup summit_xl_complete.launch
+```
 
-<h3> or Summit XL Steel: </h3>
+#### Summit XL with Trossen Arm
 
-  ```
-  roslaunch summit_xl_sim_bringup summit_xls_complete.launch
-  ```
-<h3>  Optional general arguments: </h3>
+```bash
+roslaunch summit_xl_sim_bringup summit_xl_complete.launch default_xacro:=summit_xl_tix_std.urdf.xacro launch_arm_a:=true arm_manufacturer_a:=trossen arm_model_a:=vx300s
+```
 
-  ```
-  <arg name="launch_rviz" default="true"/>
-  <arg name="gazebo_world" default="$(find summit_xl_gazebo)/worlds/summit_xl_office.world"/>
-  <arg name="omni_drive" default="false"/> (only for Summit XL)
-  <arg name="use_gpu_for_simulation" default="false"/>
-  ```
+Launch moveit to plan trajectories:
 
-  By default the Gazebo plugin [Planar Move](http://gazebosim.org/tutorials?tut=ros_gzplugins) to ignore the physics of the wheels + the skid steering kinematics. In case you want to disable this plugin, set the following arguments:
+```bash
+ROS_NAMESPACE=robot roslaunch summit_xl_vx300s_moveit_config demo.launch
+```
 
-  ```
-  roslaunch summit_xl_sim_bringup summit_xl_complete.launch ros_planar_move_plugin:=false omni_drive:=false
-  ```
+#### Summit XL with Kinova Arm
+
+```bash
+roslaunch summit_xl_sim_bringup summit_xl_complete.launch default_xacro:=summit_xl_gen_std.urdf.xacro launch_arm_a:=true arm_manufacturer_a:=kinova arm_model_a:=j2s7s300 amcl_and_mapserver_a:=false move_base_robot_a:=false
+```
 
- <h3> Optional robot arguments: </h3>
+**Note:** in this configuration the robot has not laser, therefore the amcl is turned off. When Rviz is opened, change robot_map to robot_odom in ```fixed_frame```  in order to visualize the robot.
 
-  ```
-  <!--arguments for each robot (example for robot A)-->
-  <arg name="id_robot_a" default="robot"/>
-  <arg name="launch_robot_a" default="true"/>
-  <arg name="map_file_a" default="willow_garage/willow_garage.yaml"/>
-  <arg name="localization_robot_a" default="false"/>
-  <arg name="gmapping_robot_a" default="false"/>
-  <arg name="amcl_and_mapserver_a" default="true"/>
-  <arg name="x_init_pose_robot_a" default="0" />
-  <arg name="y_init_pose_robot_a" default="0" />
-  <arg name="z_init_pose_robot_a" default="0" />
-  <arg name="xacro_robot_a" default="summit_xl_std.urdf.xacro"/>
-  ```
+#### or Summit XL Steel:
+
+```bash
+roslaunch summit_xl_sim_bringup summit_xls_complete.launch
+```
+
+#### Optional general arguments:
+
+```xml
+<arg name="launch_rviz" default="true"/>
+<arg name="gazebo_world" default="$(find summit_xl_gazebo)/worlds/summit_xl_office.world"/>
+<arg name="omni_drive" default="false"/> (only for Summit XL)
+<arg name="use_gpu_for_simulation" default="false"/>
+```
+
+By default the Gazebo plugin [Planar Move](http://gazebosim.org/tutorials?tut=ros_gzplugins) to ignore the physics of the wheels + the skid steering kinematics. In case you want to disable this plugin, set the following arguments:
+
+```bash
+roslaunch summit_xl_sim_bringup summit_xl_complete.launch \
+  ros_planar_move_plugin:=false \
+  omni_drive:=false
+```
+
+#### Optional robot arguments:
+
+```xml
+<!--arguments for each robot (example for robot A)-->
+<arg name="id_robot_a" default="robot"/>
+<arg name="launch_robot_a" default="true"/>
+<arg name="map_file_a" default="willow_garage/willow_garage.yaml"/>
+<arg name="localization_robot_a" default="false"/>
+<arg name="gmapping_robot_a" default="false"/>
+<arg name="amcl_and_mapserver_a" default="true"/>
+<arg name="x_init_pose_robot_a" default="0" />
+<arg name="y_init_pose_robot_a" default="0" />
+<arg name="z_init_pose_robot_a" default="0" />
+<arg name="xacro_robot_a" default="summit_xl_std.urdf.xacro"/>
+```
 
 - Example to launch simulation with 3 Summit XL robots:
-
-  ```
-  roslaunch summit_xl_sim_bringup summit_xl_complete.launch launch_robot_b:=true launch_robot_c:=true
-  ```
+
+```bash
+roslaunch summit_xl_sim_bringup summit_xl_complete.launch \
+  launch_robot_b:=true \
+  launch_robot_c:=true
+```
 
 - Example to launch simulation with 1 Summit XL robot with navigation:
 
-  ```
+```bash
+roslaunch summit_xl_sim_bringup summit_xl_complete.launch \
+  move_base_robot_a:=true \
+  amcl_and_mapserver_a:=true
+```
+
+Enjoy! You can use the topic `${id_robot}/robotnik_base_control/cmd_vel` to control the Summit XL robot or send simple goals using `/${id_robot}/move_base_simple/goal`
+
+## Docker usage
+
+### Installation of required files
+
+#### Intel GPU
+
+- [docker engine](https://docs.docker.com/engine/install/ubuntu/)
+- [docker compose plugin](https://docs.docker.com/compose/install/linux/)
+
+#### Nvidia GPU
+
+- [docker engine](https://docs.docker.com/engine/install/ubuntu/)
+
+- [docker compose plugin](https://docs.docker.com/compose/install/linux/)
+
+- nvidia-drivers
+
+- [nvidia-docker](https://docs.nvidia.com/datacenter/cloud-native/container-toolkit/install-guide.html#docker)
+
+### Usage
+
+```bash
+git clone https://github.com/RobotnikAutomation/summit_xl_sim.git
+cd summit_xl_sim
+git checkout melodic-devel
+export ROS_BU_PKG="summit_xl_sim_bringup"
+export ROS_BU_LAUNCH="summit_xl_complete.launch"
+nvidia-smi &>/dev/null \
+&& ln -sf docker-compose-nvidia.yml docker-compose.yml \
+|| ln -sf docker-compose-intel.yml docker-compose.yml
+docker compose up
+```
+
+#### Selecting the robot model
+
+You can select the robot, the launch file of package using the optional arguments on launch
+By default the selected robot is `summit_xl`
+
+**Summit XL GEN**
+
+```bash
+export ROS_BU_PKG="summit_xl_sim_bringup"
+export ROS_BU_LAUNCH="summit_xl_gen_complete.launch"
+docker compose up
+```
+
+**Summit XLS**
+
+```bash
+export ROS_BU_PKG="summit_xl_sim_bringup"
+export ROS_BU_LAUNCH="summit_xls_complete.launch"
+docker compose up
+```
+
+#### Manual Build
+
+If you wish to build the image without launching the simulation use the following commands:
+
+```bash
+cd docker
+docker compose build
+```
+
+#### Notes
 
-  roslaunch summit_xl_sim_bringup summit_xl_complete.launch move_base_robot_a:=true amcl_and_mapserver_a:=true
+This is docker requires a graphical interface
+
+- In order to exit you have to 2 options
+
+- The `ROS_MASTER_URI` is accessible outside the container, so in the host any ros command should work
+
+- You could also run a `roscore` previous to launch the simulation in order to have some processes on the host running
+
+- if you want to enter on the container use the following command in another terminal
+1. Close `gazebo` and `rviz` and wait a bit
+
+2. execute in another terminal:
+
+   ```bash
+   docker container rm --force summit_xl_sim_instance
+   ```
+
+#### Notes
+
+- This is docker requires a graphical interface
+
+- The `ROS_MASTER_URI` is accessible outside the container, so in the host any ros command should work
+
+- You could also run a `roscore` previous to launch the simulation in order to have some processes on the host running
+
+- if you want to enter on the container use the following command in another terminal
+
+  ```bash
+  docker container exec -it docker-base-1 bash
   ```
 
-Enjoy! You can use the topic "${id_robot}/robotnik_base_control/cmd_vel" to control the Summit XL robot or send simple goals using "/${id_robot}/move_base_simple/goal"
+- In order to exit you have to 2 options
+1. Close `gazebo` and `rviz` and wait a bit
+
+2. execute in another terminal in the same folder than the `docker-compose.yml`:
+
+   ```bash
+   docker compose down
+   ```