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eholumeholum
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Merge pull request #152 from xfiderek/issue/142
Pin navigation2 repos and simplify docker build (#142).
2 parents 09ec444 + 5c8467d commit 045f144

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‎nav2_demo/README.md

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@@ -22,23 +22,23 @@ Start the space_nav2 container and launch the navigation2 nodes:
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```
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./run.sh
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ros2 launch nav2_bringup navigation_launch.py use_sim_time:=True params_file:=nav2_params.yaml
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ros2 launch space_nav2_bringup navigation_launch.py use_sim_time:=True params_file:=nav2_params.yaml
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```
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## Terminal 3 - launch localization with map
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```
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docker exec -it osrf_space_nav2_demo bash
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source install/setup.bash
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ros2 launch nav2_bringup localization_launch.py use_sim_time:=True map:=mars_map.yaml
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ros2 launch space_nav2_bringup localization_launch.py use_sim_time:=True map:=mars_map.yaml params_file:=nav2_params.yaml
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```
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## Terminal 4 - launch Rviz
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Exec into the same space_nav2 container and launch Rviz2:
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```
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docker exec -it -e DISPLAY=:0 osrf_space_nav2_demo bash
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docker exec -it -e DISPLAY osrf_space_nav2_demo bash
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source /opt/ros/humble/setup.bash
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source install/setup.bash
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ros2 launch nav2_bringup rviz_launch.py

‎navigation2/Dockerfile

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@@ -41,69 +41,36 @@ LABEL org.label-schema.vcs-ref=${VCS_REF}
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# Disable prompting during package installation
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ARG DEBIAN_FRONTEND=noninteractive
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SHELL ["/bin/bash", "-c"]
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# Define workspace locations
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ENV NAVIGATION2_WS=${HOME_DIR}/nav2_ws
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ENV NAV2_DEPS_WS=${HOME_DIR}/nav2_deps_ws
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# Get the Navigation2 source code
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RUN mkdir -p ${NAVIGATION2_WS}/src
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WORKDIR ${NAVIGATION2_WS}/src
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ARG NAV2_BRANCH=humble
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RUN sudo git clone --branch $NAV2_BRANCH https://github.com/ros-navigation/navigation2.git
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# Get keys for Nav2 dependencies
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WORKDIR ${NAVIGATION2_WS}/
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SHELL ["/bin/bash", "-c"]
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RUN source ${SPACEROS_DIR}/install/setup.bash && sudo apt update && rosdep keys --from-paths src --ignore-src --rosdistro humble -y > ${NAVIGATION2_WS}/nav2_dep_keys.txt
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# Get rosinstall_generator
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RUN sudo apt-get update -y && sudo apt-get install -y python3-rosinstall-generator
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# Clone Space ROS sources temporarily as input to rosinstall_generator
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RUN mkdir ${SPACEROS_DIR}/src \
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&& vcs import ${SPACEROS_DIR}/src < ${SPACEROS_DIR}/exact.repos
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# Generate repos file for nav2 dependencies, exclude packages from Space ROS src
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RUN rosinstall_generator \
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--rosdistro ${ROS_DISTRO} \
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--deps \
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--exclude-path ${SPACEROS_DIR}/src -- \
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-- $(cat ${NAVIGATION2_WS}/nav2_dep_keys.txt) \
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> ${NAVIGATION2_WS}/nav2_deps.repos
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# Remove unneeded src files now that repos are generated
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RUN rm -rf ${SPACEROS_DIR}/src
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# Get the repositories required by Nav2
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RUN mkdir -p ${NAV2_DEPS_WS}/src
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WORKDIR ${NAV2_DEPS_WS}
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RUN sudo vcs import src < ${NAVIGATION2_WS}/nav2_deps.repos
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# Update the ownership of the source files
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RUN sudo chown -R ${USERNAME}:${USERNAME} ${NAV2_DEPS_WS}
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# Install nav2_deps_ws dependencies
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SHELL ["/bin/bash", "-c"]
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RUN source ${SPACEROS_DIR}/install/setup.bash && sudo apt update && rosdep install --from-paths src --ignore-src --rosdistro humble -y \
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--skip-keys "composition demo_nodes_py ikos lifecycle rmw_connextdds rmw_fastrtps_dynamic_cpp rmw_fastrtps_cpp \
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rosidl_typesupport_fastrtps_c rosidl_typesupport_fastrtps_cpp urdfdom_headers"
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# Build dependencies
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RUN source ${SPACEROS_DIR}/install/setup.bash && colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release -DCMAKE_EXPORT_COMPILE_COMMANDS=ON
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# Install remaining nav2 dependencies (not in rosdistro)
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WORKDIR ${NAVIGATION2_WS}
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SHELL ["/bin/bash", "-c"]
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RUN source ${NAV2_DEPS_WS}/install/setup.bash && sudo apt update && rosdep install --from-paths src --ignore-src --rosdistro humble -y \
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--skip-keys "composition demo_nodes_py ikos lifecycle rmw_connextdds rmw_fastrtps_dynamic_cpp rmw_fastrtps_cpp \
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rosidl_typesupport_fastrtps_c rosidl_typesupport_fastrtps_cpp urdfdom_headers"
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# Build Navigation2
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SHELL ["/bin/bash", "-c"]
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RUN source ${NAV2_DEPS_WS}/install/setup.bash && colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release -DCMAKE_EXPORT_COMPILE_COMMANDS=ON
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# Install rviz2 to send goals to Nav2
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RUN sudo apt update && sudo apt install -y ros-humble-rviz2
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COPY navigation2.repos .
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COPY excluded-pkgs.txt .
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RUN vcs import --shallow src < navigation2.repos
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COPY --chown=spaceros-user:spaceros-user src/ src
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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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source ${SPACEROS_DIR}/install/setup.bash && \
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sudo apt update && \
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rosdep install -i --from-path src --skip-keys $(cat excluded-pkgs.txt) -y
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RUN source ${SPACEROS_DIR}/install/setup.bash && \
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colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release -DCMAKE_EXPORT_COMPILE_COMMANDS=ON --no-warn-unused-cli
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RUN rm -rf src build log
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# Install rviz2 to send goals to Nav2.
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# TODO(xfiderek): Remove rviz2 and humble-nav2 froms this image
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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 update && \
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sudo apt install -y ros-humble-rviz2 ros-humble-nav2-bringup
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# Set up the entrypoint
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COPY ./entrypoint.sh /

‎navigation2/README.md

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# Navigation2 Docker Image
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The Navigation2 Docker image uses the Space ROS docker image (*osrf/space-ros:latest*) as its base image.
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The Navigation2 Dockerfile installs all of the prerequisite system dependencies to build Navigation2
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The Navigation2 Dockerfile installs all of the prerequisite system dependencies to build Navigation2.
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All the required nav2 packages are cloned and built from sources using the `navigation2.repos` file. The `nav2_rviz_plugins` and `nav2_bringup` packages together with their dependencies (Rviz, Gazebo, etc) are excluded to reduce package dependencies. The image also contains a custom `space_nav2_bringup` package that can be used as a starting point for creating mission-specific nav2 launch files.
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## Building the Navigation2 Image
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To build the docker image, run:
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```
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REPOSITORY TAG IMAGE ID CREATED SIZE
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osrf/space_nav2 latest 6edb2edc9643 10 hours ago 15.5GB
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openrobotics/spaceros latest 629b13cf7b74 12 hours ago 7.8GB
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nvidia/cudagl 11.4.1-devel-ubuntu20.04 336416dfcbba 1 week ago 5.35GB
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osrf/space-ros latest 629b13cf7b74 12 hours ago 7.8GB
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```
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The new image is named **osrf/space_nav2:latest**.
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./run.sh
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```
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Upon startup, the container automatically runs the entrypoint.sh script, which sources the MoveIt2 and Space ROS environment files.
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Upon startup, the container automatically runs the entrypoint.sh script, which sources the Nav2 and Space ROS environment files.
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You'll now be running inside the container and should see a prompt similar to this:
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```
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root@ip-your-ip-address:/home/spaceros-user/nav2_ws#
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spaceros-user@ip-your-ip-address:/home/spaceros-user/nav2_ws#
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```
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## Running Navigation2 Demo
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To run the latest demo, see the README in the nav2_demos folder
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To run the latest demo, see the README in the [nav2_demo](../nav2_demo/README.md) folder.
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## Updating navigation2 packages
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The `navigation2.repos` file available in this repository provides a list of repos that are required to build the nav2 stack. ROS packages already included in the SpaceROS base image are omited from this file.
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To update navigation2 packages used to build the space nav2 image, run the `docker_update_nav2_repos.sh` script:
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```
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./docker_update_nav2_repos.sh
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```
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This will update the `navigation2.repos` file with the newest versions of nav2 packages. The script resolves missing packages in base spaceros image and creates a list with their latest versions. The `navigation2.repos` file is then copied during build to the docker image with space nav2, and packages specified in the file are cloned and installed.
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By default, this update nav2 repositories using the latest released version of the Space ROS base image (typically `osrf/space-ros:latest`).
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If building locally, the underlying base image can be set in the through the environment with:
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```
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SPACE_ROS_IMAGE=osrf/space-ros:main ./docker_update_nav2_repos.sh
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```
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To generate a list of required packages for any other ROS workspace (e.g. your custom workspace built on top of SpaceROS that already has some nav2 dependencies installed), consider using the `update_nav2_repos.sh` as your starting point. You may also need to clone `generate-repos.sh` script from the main spaceros repository.

‎navigation2/docker_update_nav2_repos.sh

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#!/bin/bash
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SPACE_ROS_IMAGE="${SPACE_ROS_IMAGE:-osrf/space-ros:latest}"
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docker run --rm \
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-v ./:/home/spaceros-user/mount/ \
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-w /home/spaceros-user/mount/ \
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$SPACE_ROS_IMAGE \
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bash -c './update_nav2_repos.sh'

‎navigation2/excluded-pkgs.txt

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nav2_rviz_plugins

‎navigation2/navigation2-pkgs.txt

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navigation2

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