mid360 lidar drive, fastlio, and go2 docker added.
This commit is contained in:
Rooholla-KhorramBakht
parent
497d0c17d4
commit
226c255285
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@ -0,0 +1,37 @@
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FROM nvcr.io/nvidia/isaac/ros:aarch64-ros2_humble_42f50fd45227c63eb74af1d69ddc2970
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ENV DEBIAN_FRONTEND noninteractive
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ARG CONDA_VER=latest
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ARG OS_TYPE=aarch64
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RUN apt-get update && apt-get install -y -qq --no-install-recommends \ cuda \
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wget \
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ros-humble-rmw-cyclonedds-cpp ros-humble-rosidl-generator-dds-idl \
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&& rm -rf /var/lib/apt/lists/*
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# MID360 Lidar Drivers
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RUN cd /root && git clone https://github.com/Livox-SDK/Livox-SDK2.git && cd ./Livox-SDK2/ && mkdir build && cd build && cmake .. && make -j4 && make install
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RUN cd /root && git clone https://github.com/Livox-SDK/livox_ros_driver2.git ws_livox/src/livox_ros_driver2 && cd ws_livox/src/livox_ros_driver2 && source /opt/ros/humble/setup.bash && cd /root/ws_livox/src/livox_ros_driver2 && /bin/bash build.sh humble
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# FAST-LIO Install
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RUN cd /root && mkdir -p fastlio-ws/src && cd fastlio-ws/src && git clone https://github.com/Ericsii/FAST_LIO.git --recursive && cd FAST_LIO && git checkout ros2 && cd /root/fastlio-ws && source /root/ws_livox/install/setup.bash && colcon build --symlink-install
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RUN cd / && git clone https://github.com/unitreerobotics/unitree_ros2 && cd /unitree_ros2/cyclonedds_ws/src && \
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git clone https://github.com/ros2/rmw_cyclonedds -b humble && git clone https://github.com/eclipse-cyclonedds/cyclonedds -b releases/0.10.x &&\
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cd .. && colcon build --packages-select cyclonedds && source /opt/ros/humble/setup.bash && colcon build
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RUN echo "export CYCLONEDDS_HOME=/unitree_ros2/cyclonedds_ws/install/cyclonedds/" >> ~/.bashrc
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RUN cd /root && git clone https://github.com/eclipse-cyclonedds/cyclonedds-python -b releases/0.10.x && cd cyclonedds-python && pip install .
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# CycloneDDS-cxx
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RUN cd /root && git clone https://github.com/eclipse-cyclonedds/cyclonedds-cxx -b releases/0.10.x &&\
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cd cyclonedds-cxx && mkdir build install && cd build && cmake .. && \
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cmake --build . --target install
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# Install Python dependencies
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RUN pip install matplotlib opencv-python scipy isort black onnx onnxruntime
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RUN pip install https://github.com/NVIDIA/warp/releases/download/v1.5.1/warp_lang-1.5.1+cu11-py3-none-manylinux2014_aarch64.whl
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RUN pip install cyclonedds pygame pynput jupyter ipykernel meshcat
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# RUN echo 'source /unitree_ros2/cyclonedds_ws/install/setup.bash' >> ~/.bashrc
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# RUN echo 'export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp' >> ~/.bashrc
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# RUN echo 'export CYCLONEDDS_URI=file:///home/Go2py/Go2Py/assets/cyclonedds.xml' >> ~/.bashrc
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3
Makefile
3
Makefile
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@ -38,7 +38,8 @@ hesai:
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@cd deploy && docker build --no-cache --tag go2py_hesai:latest -f docker/Dockerfile.hesai .
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mid360:
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@cd deploy && docker build --no-cache --tag go2py_mid360:latest -f docker/Dockerfile.mid360 .
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@cd deploy && docker build --tag go2py_mid360:latest -f docker/Dockerfile.mid360 .
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# @cd deploy && docker build --no-cache --tag go2py_mid360:latest -f docker/Dockerfile.mid360 .
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bridge:
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@cd deploy && docker build --no-cache --tag go2py_bridge:latest -f docker/Dockerfile.bridge .
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@ -1,31 +1,32 @@
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# FROM isaac_ros_dev-aarch64
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FROM ros:humble
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FROM robocaster/mid360:go2
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# FROM ros:humble
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ENV DEBIAN_FRONTEND=noninteractive
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SHELL ["/bin/bash", "-c"]
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# uodate and install dependencies
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RUN apt-get update && apt-get install -y \
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ros-humble-rmw-cyclonedds-cpp ros-humble-rosidl-generator-dds-idl \
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# ros-humble-realsense2-camera \
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ros-humble-pointcloud-to-laserscan \
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libyaml-cpp-dev \
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libboost-all-dev\
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build-essential \
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cmake \
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git \
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ros-humble-pcl-ros \
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&& rm -rf /var/lib/apt/lists/*
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# RUN apt-get update && apt-get install -y \
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# # ros-humble-rmw-cyclonedds-cpp ros-humble-rosidl-generator-dds-idl \
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# # ros-humble-realsense2-camera \
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# ros-humble-pointcloud-to-laserscan \
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# # libyaml-cpp-dev \
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# # libboost-all-dev\
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# build-essential \
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# cmake \
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# git \
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# ros-humble-pcl-ros \
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# && rm -rf /var/lib/apt/lists/*
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# Cheange the ROS2 RMW to CycloneDDS as instructed by Unitree
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RUN cd / && git clone https://github.com/unitreerobotics/unitree_ros2 && cd /unitree_ros2/cyclonedds_ws/src && \
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git clone https://github.com/ros2/rmw_cyclonedds -b humble && git clone https://github.com/eclipse-cyclonedds/cyclonedds -b releases/0.10.x &&\
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cd .. && colcon build --packages-select cyclonedds && source /opt/ros/humble/setup.bash && colcon build
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# # Cheange the ROS2 RMW to CycloneDDS as instructed by Unitree
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# RUN cd / && git clone https://github.com/unitreerobotics/unitree_ros2 && cd /unitree_ros2/cyclonedds_ws/src && \
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# git clone https://github.com/ros2/rmw_cyclonedds -b humble && git clone https://github.com/eclipse-cyclonedds/cyclonedds -b releases/0.10.x &&\
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# cd .. && colcon build --packages-select cyclonedds && source /opt/ros/humble/setup.bash && colcon build
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RUN cd /root && git clone https://github.com/Livox-SDK/Livox-SDK2.git && cd cd ./Livox-SDK2/ && mkdir build && cd build && cmake .. && make -j4 && make install
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RUN cd /root && git clone git clone https://github.com/Livox-SDK/livox_ros_driver2.git ws_livox/src/livox_ros_driver2 && cd ws_livox/src/livox_ros_driver2
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# RUN cd /root && git clone https://github.com/Livox-SDK/Livox-SDK2.git && cd ./Livox-SDK2/ && mkdir build && cd build && cmake .. && make -j4 && make install
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# RUN cd /root && git clone https://github.com/Livox-SDK/livox_ros_driver2.git ws_livox/src/livox_ros_driver2 && cd ws_livox/src/livox_ros_driver2
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COPY docker/scripts/MID360_config.json /root/ws_livox/src/livox_ros_driver2/config/MID360_config.json
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COPY launch_files/msg_MID360_launch.py /root/ws_livox/src/livox_ros_driver2/launch_ROS2/msg_MID360_launch.py
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RUN cd /root/ws_livox/src/livox_ros_driver2 && && source /opt/ros/humble/setup.sh && ./build.sh humble
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RUN cd /root/ws_livox/src/livox_ros_driver2 && source /opt/ros/humble/setup.sh && /bin/bash build.sh humble
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# Copy the script to start the nodes
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COPY docker/scripts/mid360_start.sh /root/mid360_start.sh
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@ -0,0 +1,48 @@
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import os.path
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from ament_index_python.packages import get_package_share_directory
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from launch import LaunchDescription
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from launch.actions import DeclareLaunchArgument
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from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
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from launch.conditions import IfCondition
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from launch_ros.actions import Node
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def generate_launch_description():
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package_path = get_package_share_directory('fast_lio')
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default_config_path = os.path.join(package_path, 'config')
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use_sim_time = LaunchConfiguration('use_sim_time')
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config_path = LaunchConfiguration('config_path')
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config_file = LaunchConfiguration('config_file')
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declare_use_sim_time_cmd = DeclareLaunchArgument(
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'use_sim_time', default_value='false',
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description='Use simulation (Gazebo) clock if true'
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)
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declare_config_path_cmd = DeclareLaunchArgument(
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'config_path', default_value=default_config_path,
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description='Yaml config file path'
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)
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decalre_config_file_cmd = DeclareLaunchArgument(
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'config_file', default_value='mid360.yaml',
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description='Config file'
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)
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fast_lio_node = Node(
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package='fast_lio',
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executable='fastlio_mapping',
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parameters=[PathJoinSubstitution([config_path, config_file]),
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{'use_sim_time': use_sim_time}],
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output='screen'
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)
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ld = LaunchDescription()
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ld.add_action(declare_use_sim_time_cmd)
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ld.add_action(declare_config_path_cmd)
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ld.add_action(decalre_config_file_cmd)
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ld.add_action(fast_lio_node)
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return ld
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@ -5,7 +5,7 @@ from launch_ros.actions import Node
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import launch
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################### user configure parameters for ros2 start ###################
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xfer_format = 0 # 0-Pointcloud2(PointXYZRTL), 1-customized pointcloud format
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xfer_format = 1 # 0-Pointcloud2(PointXYZRTL), 1-customized pointcloud format
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multi_topic = 0 # 0-All LiDARs share the same topic, 1-One LiDAR one topic
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data_src = 0 # 0-lidar, others-Invalid data src
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publish_freq = 10.0 # freqency of publish, 5.0, 10.0, 20.0, 50.0, etc.
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<child link="hesai"/>
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<axis xyz="0 0 0"/>
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</joint>
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<link name="mid360">
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<inertial>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<mass value="0"/>
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<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
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</inertial>
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</link>
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<joint name="mid360_joint" type="fixed">
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<origin rpy="0. 0.22689284 0." xyz="0.1870 0 0.0803"/>
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<parent link="base_link"/>
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<child link="mid360"/>
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<axis xyz="0 0 0"/>
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</joint>
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<xacro:leg name="FR" mirror="-1" mirror_dae= "False" front_hind="1" front_hind_dae="True" />
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<xacro:leg name="FL" mirror="1" mirror_dae="True" front_hind="1" front_hind_dae="True" />
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