dock docker updated

Dockerfile.dock

@@ -1,12 +1,16 @@
-FROM isaac_ros_dev-aarch64
+# FROM isaac_ros_dev-aarch64
+FROM ros:humble
 ENV DEBIAN_FRONTEND=noninteractive
+SHELL ["/bin/bash", "-c"]
 # uodate and install dependencies 
 RUN apt-get update && apt-get install -y \
     ros-humble-rmw-cyclonedds-cpp ros-humble-rosidl-generator-dds-idl \
     ros-humble-realsense2-camera \
     ros-humble-pointcloud-to-laserscan \
-    ros-humble-isaac-ros-visual-slam \
+    libyaml-cpp-dev \
-    ros-humble-isaac-ros-occupancy-grid-localizer\
+    # ros-humble-isaac-ros-visual-slam \
+    # ros-humble-isaac-ros-occupancy-grid-localizer\
+    libboost-all-dev\
     build-essential \
     cmake \
     git \
@@ -17,9 +21,9 @@ RUN cd / && git clone https://github.com/unitreerobotics/unitree_ros2 && cd /uni
 git clone https://github.com/ros2/rmw_cyclonedds -b humble && git clone https://github.com/eclipse-cyclonedds/cyclonedds -b releases/0.10.x &&\
 cd .. && colcon build --packages-select cyclonedds && source /opt/ros/humble/setup.bash && colcon build
 
-RUN echo "source /opt/ros/humble/setup.bash" >>  /usr/local/bin/scripts/workspace-entrypoint.sh
+# RUN echo "source /opt/ros/humble/setup.bash" >>  /usr/local/bin/scripts/workspace-entrypoint.sh
-RUN echo "source /unitree_ros2/cyclonedds_ws/install/setup.bash" >>  /usr/local/bin/scripts/workspace-entrypoint.sh
+# RUN echo "source /unitree_ros2/cyclonedds_ws/install/setup.bash" >>  /usr/local/bin/scripts/workspace-entrypoint.sh
-RUN echo "export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp" >>  /usr/local/bin/scripts/workspace-entrypoint.sh
+# RUN echo "export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp" >>  /usr/local/bin/scripts/workspace-entrypoint.sh
 # RUN echo "export CYCLONEDDS_URI='<CycloneDDS><Domain><General><Interfaces> <NetworkInterface name="eth0" priority="default" multicast="default" />  </Interfaces></General></Domain></CycloneDDS>'" >>  /usr/local/bin/scripts/workspace-entrypoint.sh
 
 # copy the go2py ros2 nodes
@@ -36,4 +40,4 @@ COPY deploy/scripts /root/scripts
 COPY deploy/launch /root/launch
 # set the entrypoint to bash
 # ENTRYPOINT ["/bin/bash"]
-ENTRYPOINT ["/bin/bash", "/root/scripts/hw_start.sh"]
+ENTRYPOINT ["/bin/bash", "/root/scripts/dock_hw_start.sh"]

Makefile

@@ -1,12 +1,12 @@
-docker:
+docker_dock:
 	@docker build --no-cache --tag go2py:latest -f Dockerfile.dock .
 
-docker_install:
+docker_dock_install:
 	@cp deploy/scripts/go2py-hw-nodes.service /etc/systemd/system/
 	@systemctl enable go2py-hw-nodes.service
 	@systemctl start go2py-hw-nodes.service
 
-docker_uninstall:
+docker_dock_uninstall:
 	@systemctl disable go2py-hw-nodes.service
 	@systemctl stop go2py-hw-nodes.service
 	@rm /etc/systemd/system/go2py-hw-nodes.service

deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/CMakeLists.txt

@@ -86,7 +86,8 @@ target_link_libraries(sample
 # )
 
 find_package(CUDA )
-if(${CUDA_FOUND})
+if(OFF)
+# if(${CUDA_FOUND})
 	set(CUDA_SOURCE_PROPERTY_FORMAT OBJ)
 	set(CUDA_SEPARABLE_COMPILATION ON)
 	include_directories(${CUDA_INCLUDE_DIRS})

deploy/dock_ws/src/lidar_node/src/manager/source_driver_ros2.hpp

@@ -229,6 +229,8 @@ inline sensor_msgs::msg::PointCloud2 SourceDriver::ToRosMsg(const LidarDecodedFr
   
   for (size_t i = 0; i < frame.points_num; i++)
   {
+    // if(i%2==0) //downsample the number of points by two
+    // {
       LidarPointXYZIRT point = frame.points[i];
       *iter_x_ = point.x;
       *iter_y_ = point.y;
@@ -242,6 +244,7 @@ inline sensor_msgs::msg::PointCloud2 SourceDriver::ToRosMsg(const LidarDecodedFr
       ++iter_intensity_;
       ++iter_ring_;
       ++iter_timestamp_;   
+    // }
   }
   printf("frame:%d points:%u packet:%d start time:%lf end time:%lf\n",frame.frame_index, frame.points_num, frame.packet_num, frame.points[0].timestamp, frame.points[frame.points_num - 1].timestamp) ;
 

deploy/launch/dock.launch.py

@@ -0,0 +1,37 @@
+from launch import LaunchDescription
+from launch.actions import IncludeLaunchDescription
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.substitutions import ThisLaunchFileDir
+from launch_ros.actions import Node
+
+
+def generate_launch_description():
+    return LaunchDescription([
+        # launch the pointcloud to laser scan converter
+        Node(
+            package='pointcloud_to_laserscan', executable='pointcloud_to_laserscan_node',
+            remappings=[('cloud_in', '/go2/lidar_points'),
+                        ('scan', '/go2/lidar_scans')],
+            parameters=[{
+                'target_frame': 'go2/hesai_lidar',
+                'transform_tolerance': 0.01,
+                'min_height': 0.0,
+                'max_height': 1.0,
+                'angle_min': -1.5708,  # -M_PI/2
+                'angle_max': 1.5708,  # M_PI/2
+                'angle_increment': 0.0087,  # M_PI/360.0
+                'scan_time': 0.3333,
+                'range_min': 0.45,
+                'range_max': 100.0,
+                'use_inf': True,
+                'inf_epsilon': 1.0
+            }],
+            name='pointcloud_to_laserscan'
+        ),
+
+        Node(
+            package='hesai_ros_driver',
+            executable='hesai_ros_driver_node',
+            name='go2_hesai_ros_driver_node'
+        ),
+    ])

deploy/launch/robot.launch.py

@@ -35,26 +35,26 @@ def generate_launch_description():
             name='b1_hesai_ros_driver_node'
         ),
 
-        Node(
+        # Node(
-            name='go2_d455_cam',
+        #     name='go2_d455_cam',
-            namespace='go2/d435i_cam',
+        #     namespace='go2/d435i_cam',
-            package='realsense2_camera',
+        #     package='realsense2_camera',
-            executable='realsense2_camera_node',
+        #     executable='realsense2_camera_node',
-            parameters=[{
+        #     parameters=[{
-                    'enable_infra1': True,
+        #             'enable_infra1': True,
-                    'enable_infra2': True,
+        #             'enable_infra2': True,
-                    'enable_color': False,
+        #             'enable_color': False,
-                    'enable_depth': False,
+        #             'enable_depth': False,
-                    'depth_module.emitter_enabled': 0,
+        #             'depth_module.emitter_enabled': 0,
-                    'depth_module.profile': '640x480x60',
+        #             'depth_module.profile': '640x480x60',
-                    'enable_gyro': True,
+        #             'enable_gyro': True,
-                    'enable_accel': True,
+        #             'enable_accel': True,
-                    'gyro_fps': 400,
+        #             'gyro_fps': 400,
-                    'accel_fps': 200,
+        #             'accel_fps': 200,
-                    'unite_imu_method': 2,
+        #             'unite_imu_method': 2,
-                    # 'tf_publish_rate': 0.0
+        #             # 'tf_publish_rate': 0.0
-            }]
+        #     }]
-        ),
+        # ),
 
         # Launch the front looking D455 camera
         # IncludeLaunchDescription(

deploy/scripts/dock_hw_start.sh

@@ -0,0 +1,4 @@
+source /opt/ros/humble/setup.bash
+source /unitree_ros2/cyclonedds_ws/install/setup.bash
+export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
+source /dock_ws/install/setup.bash && ros2 launch /root/launch/dock.launch.py

deploy/scripts/hw_start.sh

@@ -1 +0,0 @@
-source /dock_ws/install/setup.bash && ros2 launch /root/launch/hw.launch.py