go2py bridge docker added
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Rooholla-KhorramBakht
parent
7aeee886c6
commit
249f12ba24
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# FROM isaac_ros_dev-aarch64
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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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libyaml-cpp-dev \
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# ros-humble-isaac-ros-visual-slam \
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# ros-humble-isaac-ros-occupancy-grid-localizer\
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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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&& 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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# RUN echo "source /opt/ros/humble/setup.bash" >> /usr/local/bin/scripts/workspace-entrypoint.sh
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# RUN echo "source /unitree_ros2/cyclonedds_ws/install/setup.bash" >> /usr/local/bin/scripts/workspace-entrypoint.sh
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# RUN echo "export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp" >> /usr/local/bin/scripts/workspace-entrypoint.sh
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# 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
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# copy the go2py ros2 nodes
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COPY deploy/robot_ws/src /robot_ws/src
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RUN cd /robot_ws && source /opt/ros/humble/setup.bash && colcon build --symlink-install
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# Compile the C++ hypervisor bridge
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COPY deploy/dds_bridge /dds_bridge
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WORKDIR /dds_bridge
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RUN ./install.sh && mkdir build && cd build && cmake .. && make
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# Copy the script to start the nodes
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COPY deploy/scripts /root/scripts
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COPY deploy/launch /root/launch
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# set the entrypoint to bash
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# ENTRYPOINT ["/bin/bash"]
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ENTRYPOINT ["/bin/bash", "/root/scripts/robot_hw_start.sh"]
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17
Makefile
17
Makefile
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@ -1,12 +1,15 @@
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docker_dock:
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@docker build --no-cache --tag go2py:latest -f Dockerfile.dock .
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@docker build --no-cache --tag go2py_dock_hw:latest -f Dockerfile.dock .
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docker_robot:
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@docker build --no-cache --tag go2py_robot_hw:latest -f Dockerfile.robot .
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docker_dock_install:
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@cp deploy/scripts/go2py-hw-nodes.service /etc/systemd/system/
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@systemctl enable go2py-hw-nodes.service
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@systemctl start go2py-hw-nodes.service
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@cp deploy/scripts/go2py-dock-hw-nodes.service /etc/systemd/system/
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@systemctl enable go2py-dock-hw-nodes.service
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@systemctl start go2py-dock-hw-nodes.service
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docker_dock_uninstall:
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@systemctl disable go2py-hw-nodes.service
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@systemctl stop go2py-hw-nodes.service
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@rm /etc/systemd/system/go2py-hw-nodes.service
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@systemctl disable go2py-dock-hw-nodes.service
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@systemctl stop go2py-dock-hw-nodes.service
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@rm /etc/systemd/system/go2py-dock-hw-nodes.service
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@ -4,81 +4,12 @@ from launch.launch_description_sources import PythonLaunchDescriptionSource
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from launch.substitutions import ThisLaunchFileDir
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from launch_ros.actions import Node
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def generate_launch_description():
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return LaunchDescription([
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# launch the pointcloud to laser scan converter
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Node(
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package='pointcloud_to_laserscan', executable='pointcloud_to_laserscan_node',
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remappings=[('cloud_in', '/go2/lidar_points'),
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('scan', '/go2/lidar_scans')],
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parameters=[{
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'target_frame': 'go2/hesai_lidar',
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'transform_tolerance': 0.01,
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'min_height': 0.0,
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'max_height': 1.0,
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'angle_min': -1.5708, # -M_PI/2
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'angle_max': 1.5708, # M_PI/2
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'angle_increment': 0.0087, # M_PI/360.0
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'scan_time': 0.3333,
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'range_min': 0.45,
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'range_max': 100.0,
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'use_inf': True,
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'inf_epsilon': 1.0
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}],
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name='pointcloud_to_laserscan'
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package='go2py_node',
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executable='bridge',
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name='go2py_bridge'
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),
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Node(
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package='hesai_ros_driver',
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executable='hesai_ros_driver_node',
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name='b1_hesai_ros_driver_node'
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),
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# Node(
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# name='go2_d455_cam',
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# namespace='go2/d435i_cam',
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# package='realsense2_camera',
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# executable='realsense2_camera_node',
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# parameters=[{
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# 'enable_infra1': True,
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# 'enable_infra2': True,
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# 'enable_color': False,
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# 'enable_depth': False,
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# 'depth_module.emitter_enabled': 0,
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# 'depth_module.profile': '640x480x60',
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# 'enable_gyro': True,
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# 'enable_accel': True,
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# 'gyro_fps': 400,
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# 'accel_fps': 200,
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# 'unite_imu_method': 2,
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# # 'tf_publish_rate': 0.0
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# }]
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# ),
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# Launch the front looking D455 camera
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# IncludeLaunchDescription(
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# PythonLaunchDescriptionSource([ThisLaunchFileDir(), '/d455.launch.py'])
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# ),
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# Run the B1py node
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# Node(
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# package='b1py_node',
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# executable='highlevel',
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# name='b1_highlevel_node'
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# ),
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# Run the B1py calibration TF broadcaster
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# Node(
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# package='b1py_calib',
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# executable='calib_broadcaster',
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# name='b1_calib_broadcaster_node'
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# ),
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# Launch the LiDAR sensor
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# IncludeLaunchDescription(
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# PythonLaunchDescriptionSource([ThisLaunchFileDir(), '/rslidar.launch.py'])
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# ),
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# Launch the LiDAR sensor
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# IncludeLaunchDescription(
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# PythonLaunchDescriptionSource(['/B1Py/deploy/docker/launch/state_estimation/ekf.launch.py'])
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# ),
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])
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@ -6,7 +6,7 @@ After=docker.service
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[Service]
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Restart=always
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ExecStartPre=/usr/bin/docker rm -f go2py_docker || true
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ExecStart=/bin/bash -c '/usr/bin/docker run --rm --name go2py_docker --privileged --network host -v /home/unitree/locomotion:/home/locomotion -v /dev/*:/dev/* -v /etc/localtime:/etc/localtime:ro --runtime nvidia go2py:latest'
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ExecStart=/bin/bash -c '/usr/bin/docker run --rm --name go2py_docker --privileged --network host -v /home/unitree/locomotion:/home/locomotion -v /dev/*:/dev/* -v /etc/localtime:/etc/localtime:ro --runtime nvidia go2py_dock_hw:latest'
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ExecStop=/usr/bin/docker stop -t 2 go2py_docker
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[Install]
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@ -0,0 +1,13 @@
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[Unit]
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Description=ROS2 device driver container
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Requires=docker.service
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After=docker.service
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[Service]
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Restart=always
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ExecStartPre=/usr/bin/docker rm -f go2py_robot_docker || true
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ExecStart=/bin/bash -c '/usr/bin/docker run --rm --name go2py_robot_docker --privileged --network host -v /home/unitree/locomotion:/home/locomotion -v /dev/*:/dev/* -v /etc/localtime:/etc/localtime:ro --runtime nvidia go2py_robot_hw:latest'
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ExecStop=/usr/bin/docker stop -t 2 go2py_robot_docker
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[Install]
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WantedBy=default.target
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@ -0,0 +1,4 @@
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source /opt/ros/humble/setup.bash
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source /unitree_ros2/cyclonedds_ws/install/setup.bash
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export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
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source /robot_ws/install/setup.bash && ros2 launch /root/launch/robot.launch.py
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