Merge branch 'main' into spaceros_comp

Author: xfiderek

README.md

@@ -11,3 +11,8 @@ Submissions to this repo should include:
     - - See example here: https://github.com/space-ros/docker/blob/main/space_robots/run.sh
 
 Please refer to the [dockerfile repo](https://github.com/space-ros/docker/tree/main/space_robots) for instructions on running the existing demos
+
+## Demos
+
+1. [Canadarm2](canadarm2/README.md)
+2. [Curiosity Rover](curiosity_rover/README.md)

canadarm/README.md

@@ -0,0 +1,7 @@
+{
+  "build":
+    {
+      "symlink-install": true,
+      "cmake_args": "-DCMAKE_BUILD_TYPE=Release -Wno-dev",
+    },
+}

canadarm/launch/canadarm.launch.py

@@ -0,0 +1,3 @@
+build/
+install/
+log/

canadarm/nodes/hello_moveit.cpp

@@ -0,0 +1,26 @@
+FROM osrf/space-ros:latest
+
+ENV RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
+ENV ROS_DISTRO=humble
+ENV HOME=/home/spaceros-user
+
+# Install dependencies
+# Related to space-ros/space-ros#195 and space-ros/space-ros#196
+RUN sudo apt update && sudo apt install -y ros-${ROS_DISTRO}-control-msgs \
+    ros-${ROS_DISTRO}-rmw-cyclonedds-cpp
+
+# Prepare the workspace
+SHELL ["bash", "-c"]
+RUN mkdir -p ${HOME}/canadarm_ws/src
+WORKDIR ${HOME}/canadarm_ws
+
+COPY ./canadarm_demo src/canadarm_demo
+COPY .defaults.yaml .defaults.yaml
+
+# Build the workspace
+RUN source /opt/ros/${ROS_DISTRO}/setup.bash \
+    && source $HOME/spaceros/install/setup.bash \
+    && colcon build
+
+# Source the workspace
+RUN echo "source ${HOME}/canadarm_ws/install/setup.bash" >> ${HOME}/.bashrc

canadarm/nodes/move_arm

@@ -0,0 +1,76 @@
+FROM ros:humble-ros-core-jammy
+
+ARG DEBIAN_FRONTEND=noninteractive
+
+ENV RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
+ENV ROS_DISTRO=humble
+ENV USERNAME=spaceros-user
+ENV HOME=/home/spaceros-user
+ENV IGNITION_VERSION=fortress
+ENV GZ_VERSION=fortress
+
+# Install dependencies
+RUN apt update && apt install -y ros-${ROS_DISTRO}-rmw-cyclonedds-cpp \
+    wget \
+    curl \
+    && apt clean  \
+    && rm -rf /var/lib/apt/lists/*
+
+RUN wget https://packages.osrfoundation.org/gazebo.gpg -O /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg\
+    && echo "deb [arch=amd64 signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" | tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null
+
+# Install Gazebo
+RUN apt-get update -qq \
+    && apt-get install -y \
+    gz-${GZ_VERSION} \
+    libgz-sim7 \
+    libgz-transport12 \
+    libgz-gui7 \
+    build-essential\
+    ros-${ROS_DISTRO}-rcl-interfaces\
+    ros-${ROS_DISTRO}-rclcpp\
+    ros-${ROS_DISTRO}-builtin-interfaces\
+    ros-${ROS_DISTRO}-ros-gz\
+    ros-${ROS_DISTRO}-sdformat-urdf\
+    ros-${ROS_DISTRO}-vision-msgs\
+    ros-${ROS_DISTRO}-actuator-msgs\
+    ros-${ROS_DISTRO}-image-transport\
+    ros-${ROS_DISTRO}-xacro\
+    && rm -rf /var/lib/apt/lists/*
+
+
+# Install Rviz2
+RUN apt-get update -qq \
+    && apt-get install -y \
+    ros-${ROS_DISTRO}-rviz2 \
+    ros-${ROS_DISTRO}-moveit-ros-visualization \
+    ros-${ROS_DISTRO}-nav2-rviz-plugins \
+    && rm -rf /var/lib/apt/lists/*
+
+# Demo package
+RUN mkdir -p ${HOME}/canadarm2_ws/src
+WORKDIR ${HOME}/canadarm2_ws/src
+COPY ./canadarm_description ./canadarm_description
+COPY ./canadarm_gazebo ./canadarm_gazebo
+COPY .defaults.yaml ${HOME}/canadarm2_ws/.defaults.yaml
+
+RUN apt update \
+    && apt install -y python3-rosdep python3-colcon-common-extensions \
+    && apt clean \
+    && rm -rf /var/lib/apt/lists/* \
+    && rosdep init \
+    && rosdep update
+
+RUN . /opt/ros/humble/setup.sh \
+    && cd ${HOME}/canadarm2_ws \
+    && apt update \
+    && rosdep install --from-paths src --ignore-src -r -y \
+    && colcon build
+
+WORKDIR ${HOME}/canadarm2_ws
+
+RUN apt update && apt install -y ros-humble-ros-ign-gazebo
+RUN echo "source /opt/ros/humble/setup.bash" >> ${HOME}/.bashrc
+RUN echo "source ${HOME}/canadarm2_ws/install/setup.bash" >> ${HOME}/.bashrc
+
+CMD ign gazebo