nav2 docker updated

This commit is contained in:
Rooholla-KhorramBakht 2024-04-23 17:36:41 -04:00
parent 549381fcc8
commit 73a5f57c8b
4 changed files with 336 additions and 20 deletions

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@ -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"]

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@ -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/

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@ -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

1
nav2_docker_run.sh Normal file
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@ -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