nav2 docker updated
This commit is contained in:
Rooholla-KhorramBakht
parent
549381fcc8
commit
73a5f57c8b
|
|
@ -8,12 +8,12 @@ RUN apt-get update && apt-get install -y \
|
|||
ros-humble-realsense2-camera \
|
||||
ros-humble-pointcloud-to-laserscan \
|
||||
libyaml-cpp-dev \
|
||||
# ros-humble-isaac-ros-visual-slam \
|
||||
# ros-humble-isaac-ros-occupancy-grid-localizer\
|
||||
libboost-all-dev\
|
||||
build-essential \
|
||||
cmake \
|
||||
git \
|
||||
ros-humble-navigation2 \
|
||||
ros-humble-nav2-bringup \
|
||||
&& rm -rf /var/lib/apt/lists/*
|
||||
|
||||
# Cheange the ROS2 RMW to CycloneDDS as instructed by Unitree
|
||||
|
|
@ -21,23 +21,13 @@ 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 /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 touch /workspace-entrypoint.sh
|
||||
RUN echo "source /opt/ros/humble/setup.bash" > /workspace-entrypoint.sh
|
||||
RUN echo "source /unitree_ros2/cyclonedds_ws/install/setup.bash" >> /workspace-entrypoint.sh
|
||||
RUN echo "export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp" >> /workspace-entrypoint.sh
|
||||
RUN echo "/bin/bash" >> /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
|
||||
COPY deploy/dock_ws/src /nav2_ws/src
|
||||
# RUN cd /dock_ws && source /opt/ros/humble/setup.bash && colcon build --symlink-install
|
||||
|
||||
# Compile the C++ hypervisor bridge
|
||||
COPY deploy/dds_bridge /dds_bridge
|
||||
WORKDIR /dds_bridge
|
||||
# RUN ./install.sh && mkdir build && cd build && cmake .. && make
|
||||
|
||||
# Copy the script to start the nodes
|
||||
COPY deploy/scripts /root/scripts
|
||||
COPY deploy/launch /root/launch
|
||||
# set the entrypoint to bash
|
||||
ENTRYPOINT ["/bin/bash"]
|
||||
# ENTRYPOINT ["/bin/bash", "/root/scripts/dock_hw_start.sh"]
|
||||
# ENTRYPOINT ["/bin/bash"]
|
||||
ENTRYPOINT ["/bin/bash", "/workspace-entrypoint.sh"]
|
||||
|
|
|
|||
3
Makefile
3
Makefile
|
|
@ -5,7 +5,8 @@ docker_robot:
|
|||
@docker build --no-cache --tag go2py_robot_hw:latest -f Dockerfile.robot .
|
||||
|
||||
docker_nav:
|
||||
@docker build --no-cache --tag go2py_nav:latest -f Dockerfile.nav2 .
|
||||
# @docker build --no-cache --tag go2py_nav:latest -f Dockerfile.nav2 .
|
||||
@docker build --tag go2py_nav:latest -f Dockerfile.nav2 .
|
||||
|
||||
docker_dock_install:
|
||||
@cp deploy/scripts/go2py-dock-hw-nodes.service /etc/systemd/system/
|
||||
|
|
|
|||
|
|
@ -0,0 +1,324 @@
|
|||
# Copyright (c) 2018 Intel Corporation
|
||||
#
|
||||
# Licensed under the Apache License, Version 2.0 (the "License");
|
||||
# you may not use this file except in compliance with the License.
|
||||
# You may obtain a copy of the License at
|
||||
#
|
||||
# http://www.apache.org/licenses/LICENSE-2.0
|
||||
#
|
||||
# Unless required by applicable law or agreed to in writing, software
|
||||
# distributed under the License is distributed on an "AS IS" BASIS,
|
||||
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
||||
# See the License for the specific language governing permissions and
|
||||
# limitations under the License.
|
||||
|
||||
import os
|
||||
|
||||
from ament_index_python.packages import get_package_share_directory
|
||||
|
||||
from launch import LaunchDescription
|
||||
from launch.actions import DeclareLaunchArgument, GroupAction, SetEnvironmentVariable
|
||||
from launch.conditions import IfCondition
|
||||
from launch.substitutions import LaunchConfiguration, PythonExpression
|
||||
from launch_ros.actions import LoadComposableNodes, SetParameter
|
||||
from launch_ros.actions import Node
|
||||
from launch_ros.descriptions import ComposableNode, ParameterFile
|
||||
from nav2_common.launch import RewrittenYaml
|
||||
|
||||
|
||||
def generate_launch_description():
|
||||
# Get the launch directory
|
||||
bringup_dir = get_package_share_directory('nav2_bringup')
|
||||
|
||||
namespace = LaunchConfiguration('namespace')
|
||||
use_sim_time = LaunchConfiguration('use_sim_time')
|
||||
autostart = LaunchConfiguration('autostart')
|
||||
params_file = LaunchConfiguration('params_file')
|
||||
use_composition = LaunchConfiguration('use_composition')
|
||||
container_name = LaunchConfiguration('container_name')
|
||||
container_name_full = (namespace, '/', container_name)
|
||||
use_respawn = LaunchConfiguration('use_respawn')
|
||||
log_level = LaunchConfiguration('log_level')
|
||||
|
||||
lifecycle_nodes = [
|
||||
'controller_server',
|
||||
'smoother_server',
|
||||
'planner_server',
|
||||
'behavior_server',
|
||||
'velocity_smoother',
|
||||
'collision_monitor',
|
||||
'bt_navigator',
|
||||
'waypoint_follower',
|
||||
]
|
||||
|
||||
# Map fully qualified names to relative ones so the node's namespace can be prepended.
|
||||
# In case of the transforms (tf), currently, there doesn't seem to be a better alternative
|
||||
# https://github.com/ros/geometry2/issues/32
|
||||
# https://github.com/ros/robot_state_publisher/pull/30
|
||||
# TODO(orduno) Substitute with `PushNodeRemapping`
|
||||
# https://github.com/ros2/launch_ros/issues/56
|
||||
remappings = [('/tf', '/tf'),
|
||||
('/tf_static', '/tf_static'),
|
||||
('/cmd_vel', '/go2/cmd_vel')]
|
||||
|
||||
# Create our own temporary YAML files that include substitutions
|
||||
param_substitutions = {'autostart': autostart}
|
||||
|
||||
configured_params = ParameterFile(
|
||||
RewrittenYaml(
|
||||
source_file=params_file,
|
||||
root_key=namespace,
|
||||
param_rewrites=param_substitutions,
|
||||
convert_types=True,
|
||||
),
|
||||
allow_substs=True,
|
||||
)
|
||||
|
||||
stdout_linebuf_envvar = SetEnvironmentVariable(
|
||||
'RCUTILS_LOGGING_BUFFERED_STREAM', '1'
|
||||
)
|
||||
|
||||
declare_namespace_cmd = DeclareLaunchArgument(
|
||||
'namespace', default_value='', description='Top-level namespace'
|
||||
)
|
||||
|
||||
declare_use_sim_time_cmd = DeclareLaunchArgument(
|
||||
'use_sim_time',
|
||||
default_value='false',
|
||||
description='Use simulation (Gazebo) clock if true',
|
||||
)
|
||||
|
||||
declare_params_file_cmd = DeclareLaunchArgument(
|
||||
'params_file',
|
||||
default_value=os.path.join(bringup_dir, 'params', 'nav2_params.yaml'),
|
||||
description='Full path to the ROS2 parameters file to use for all launched nodes',
|
||||
)
|
||||
|
||||
declare_autostart_cmd = DeclareLaunchArgument(
|
||||
'autostart',
|
||||
default_value='true',
|
||||
description='Automatically startup the nav2 stack',
|
||||
)
|
||||
|
||||
declare_use_composition_cmd = DeclareLaunchArgument(
|
||||
'use_composition',
|
||||
default_value='False',
|
||||
description='Use composed bringup if True',
|
||||
)
|
||||
|
||||
declare_container_name_cmd = DeclareLaunchArgument(
|
||||
'container_name',
|
||||
default_value='nav2_container',
|
||||
description='the name of conatiner that nodes will load in if use composition',
|
||||
)
|
||||
|
||||
declare_use_respawn_cmd = DeclareLaunchArgument(
|
||||
'use_respawn',
|
||||
default_value='False',
|
||||
description='Whether to respawn if a node crashes. Applied when composition is disabled.',
|
||||
)
|
||||
|
||||
declare_log_level_cmd = DeclareLaunchArgument(
|
||||
'log_level', default_value='info', description='log level'
|
||||
)
|
||||
|
||||
load_nodes = GroupAction(
|
||||
condition=IfCondition(PythonExpression(['not ', use_composition])),
|
||||
actions=[
|
||||
SetParameter('use_sim_time', use_sim_time),
|
||||
Node(
|
||||
package='nav2_controller',
|
||||
executable='controller_server',
|
||||
output='screen',
|
||||
respawn=use_respawn,
|
||||
respawn_delay=2.0,
|
||||
parameters=[configured_params],
|
||||
arguments=['--ros-args', '--log-level', log_level],
|
||||
remappings=remappings + [('cmd_vel', 'cmd_vel_nav')],
|
||||
),
|
||||
Node(
|
||||
package='nav2_smoother',
|
||||
executable='smoother_server',
|
||||
name='smoother_server',
|
||||
output='screen',
|
||||
respawn=use_respawn,
|
||||
respawn_delay=2.0,
|
||||
parameters=[configured_params],
|
||||
arguments=['--ros-args', '--log-level', log_level],
|
||||
remappings=remappings,
|
||||
),
|
||||
Node(
|
||||
package='nav2_planner',
|
||||
executable='planner_server',
|
||||
name='planner_server',
|
||||
output='screen',
|
||||
respawn=use_respawn,
|
||||
respawn_delay=2.0,
|
||||
parameters=[configured_params],
|
||||
arguments=['--ros-args', '--log-level', log_level],
|
||||
remappings=remappings,
|
||||
),
|
||||
Node(
|
||||
package='nav2_behaviors',
|
||||
executable='behavior_server',
|
||||
name='behavior_server',
|
||||
output='screen',
|
||||
respawn=use_respawn,
|
||||
respawn_delay=2.0,
|
||||
parameters=[configured_params],
|
||||
arguments=['--ros-args', '--log-level', log_level],
|
||||
remappings=remappings + [('cmd_vel', 'cmd_vel_nav')],
|
||||
),
|
||||
Node(
|
||||
package='nav2_bt_navigator',
|
||||
executable='bt_navigator',
|
||||
name='bt_navigator',
|
||||
output='screen',
|
||||
respawn=use_respawn,
|
||||
respawn_delay=2.0,
|
||||
parameters=[configured_params],
|
||||
arguments=['--ros-args', '--log-level', log_level],
|
||||
remappings=remappings,
|
||||
),
|
||||
Node(
|
||||
package='nav2_waypoint_follower',
|
||||
executable='waypoint_follower',
|
||||
name='waypoint_follower',
|
||||
output='screen',
|
||||
respawn=use_respawn,
|
||||
respawn_delay=2.0,
|
||||
parameters=[configured_params],
|
||||
arguments=['--ros-args', '--log-level', log_level],
|
||||
remappings=remappings,
|
||||
),
|
||||
Node(
|
||||
package='nav2_velocity_smoother',
|
||||
executable='velocity_smoother',
|
||||
name='velocity_smoother',
|
||||
output='screen',
|
||||
respawn=use_respawn,
|
||||
respawn_delay=2.0,
|
||||
parameters=[configured_params],
|
||||
arguments=['--ros-args', '--log-level', log_level],
|
||||
remappings=remappings
|
||||
+ [('cmd_vel', 'cmd_vel_nav')],
|
||||
),
|
||||
Node(
|
||||
package='nav2_collision_monitor',
|
||||
executable='collision_monitor',
|
||||
name='collision_monitor',
|
||||
output='screen',
|
||||
respawn=use_respawn,
|
||||
respawn_delay=2.0,
|
||||
parameters=[configured_params],
|
||||
arguments=['--ros-args', '--log-level', log_level],
|
||||
remappings=remappings,
|
||||
),
|
||||
Node(
|
||||
package='nav2_lifecycle_manager',
|
||||
executable='lifecycle_manager',
|
||||
name='lifecycle_manager_navigation',
|
||||
output='screen',
|
||||
arguments=['--ros-args', '--log-level', log_level],
|
||||
parameters=[{'autostart': autostart}, {'node_names': lifecycle_nodes}],
|
||||
),
|
||||
],
|
||||
)
|
||||
|
||||
load_composable_nodes = GroupAction(
|
||||
condition=IfCondition(use_composition),
|
||||
actions=[
|
||||
SetParameter('use_sim_time', use_sim_time),
|
||||
LoadComposableNodes(
|
||||
target_container=container_name_full,
|
||||
composable_node_descriptions=[
|
||||
ComposableNode(
|
||||
package='nav2_controller',
|
||||
plugin='nav2_controller::ControllerServer',
|
||||
name='controller_server',
|
||||
parameters=[configured_params],
|
||||
remappings=remappings + [('cmd_vel', 'cmd_vel_nav')],
|
||||
),
|
||||
ComposableNode(
|
||||
package='nav2_smoother',
|
||||
plugin='nav2_smoother::SmootherServer',
|
||||
name='smoother_server',
|
||||
parameters=[configured_params],
|
||||
remappings=remappings,
|
||||
),
|
||||
ComposableNode(
|
||||
package='nav2_planner',
|
||||
plugin='nav2_planner::PlannerServer',
|
||||
name='planner_server',
|
||||
parameters=[configured_params],
|
||||
remappings=remappings,
|
||||
),
|
||||
ComposableNode(
|
||||
package='nav2_behaviors',
|
||||
plugin='behavior_server::BehaviorServer',
|
||||
name='behavior_server',
|
||||
parameters=[configured_params],
|
||||
remappings=remappings + [('cmd_vel', 'cmd_vel_nav')],
|
||||
),
|
||||
ComposableNode(
|
||||
package='nav2_bt_navigator',
|
||||
plugin='nav2_bt_navigator::BtNavigator',
|
||||
name='bt_navigator',
|
||||
parameters=[configured_params],
|
||||
remappings=remappings,
|
||||
),
|
||||
ComposableNode(
|
||||
package='nav2_waypoint_follower',
|
||||
plugin='nav2_waypoint_follower::WaypointFollower',
|
||||
name='waypoint_follower',
|
||||
parameters=[configured_params],
|
||||
remappings=remappings,
|
||||
),
|
||||
ComposableNode(
|
||||
package='nav2_velocity_smoother',
|
||||
plugin='nav2_velocity_smoother::VelocitySmoother',
|
||||
name='velocity_smoother',
|
||||
parameters=[configured_params],
|
||||
remappings=remappings
|
||||
+ [('cmd_vel', 'cmd_vel_nav')],
|
||||
),
|
||||
ComposableNode(
|
||||
package='nav2_collision_monitor',
|
||||
plugin='nav2_collision_monitor::CollisionMonitor',
|
||||
name='collision_monitor',
|
||||
parameters=[configured_params],
|
||||
remappings=remappings,
|
||||
),
|
||||
ComposableNode(
|
||||
package='nav2_lifecycle_manager',
|
||||
plugin='nav2_lifecycle_manager::LifecycleManager',
|
||||
name='lifecycle_manager_navigation',
|
||||
parameters=[
|
||||
{'autostart': autostart, 'node_names': lifecycle_nodes}
|
||||
],
|
||||
),
|
||||
],
|
||||
),
|
||||
],
|
||||
)
|
||||
|
||||
# Create the launch description and populate
|
||||
ld = LaunchDescription()
|
||||
|
||||
# Set environment variables
|
||||
ld.add_action(stdout_linebuf_envvar)
|
||||
|
||||
# Declare the launch options
|
||||
ld.add_action(declare_namespace_cmd)
|
||||
ld.add_action(declare_use_sim_time_cmd)
|
||||
ld.add_action(declare_params_file_cmd)
|
||||
ld.add_action(declare_autostart_cmd)
|
||||
ld.add_action(declare_use_composition_cmd)
|
||||
ld.add_action(declare_container_name_cmd)
|
||||
ld.add_action(declare_use_respawn_cmd)
|
||||
ld.add_action(declare_log_level_cmd)
|
||||
# Add the actions to launch all of the navigation nodes
|
||||
ld.add_action(load_nodes)
|
||||
ld.add_action(load_composable_nodes)
|
||||
|
||||
return ld
|
||||
|
|
@ -0,0 +1 @@
|
|||
docker run --rm -it --privileged --network host -v $(pwd)/deploy/nav2_ws:/home/ -v /dev/*:/dev/* -v /etc/localtime:/etc/localtime:ro --runtime nvidia go2py_nav:latest
|
||||
Loading…
Reference in New Issue