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Go2Py_SIM
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docker updated.

This commit is contained in:
Rooholla-KhorramBakht 2025-01-13 08:28:24 +08:00
parent 0d7708ddbd
commit a5749756c4
7 changed files with 90 additions and 80 deletions
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70
.devcontainer/Dockerfile
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@ -1,70 +0,0 @@
FROM ros:humble
ENV DEBIAN_FRONTEND noninteractive
ARG CONDA_VER=latest
ARG OS_TYPE=x86_64
RUN apt-get update && apt-get install -y -qq --no-install-recommends \
libglvnd-dev \
libgl1-mesa-dev \
libegl1-mesa-dev \
libgles2-mesa-dev \
libxext6 \
libx11-6 \
freeglut3-dev \
git \
python3-pip \
python3-tk \
curl \
vim \
libcgal-dev \
libcgal-demo \
ros-humble-rmw-cyclonedds-cpp ros-humble-rosidl-generator-dds-idl \
libyaml-cpp-dev \
ros-humble-xacro \
libboost-all-dev\
build-essential \
cmake \
git \
wget \
&& rm -rf /var/lib/apt/lists/*
RUN curl -s https://packagecloud.io/install/repositories/github/git-lfs/script.deb.sh | bash
RUN apt-get install git-lfs
# Install Miniconda
RUN wget https://github.com/conda-forge/miniforge/releases/${CONDA_VER}/download/Miniforge3-Linux-${OS_TYPE}.sh -O ~/miniconda.sh \
&& /bin/bash ~/miniconda.sh -b -p /opt/conda \
&& rm ~/miniconda.sh \
&& ln -s /opt/conda/etc/profile.d/conda.sh /etc/profile.d/conda.sh \
&& echo ". /opt/conda/etc/profile.d/conda.sh" >> ~/.bashrc \
&& echo "conda activate base" >> ~/.bashrc
ENV PATH /opt/conda/bin:$PATH
SHELL ["conda", "run", "-n", "base", "/bin/bash", "-c"]
ENV CONDA_PREFIX /opt/conda
# Cheange the ROS2 RMW to CycloneDDS as instructed by Unitree
# RUN cd / && git clone https://github.com/unitreerobotics/unitree_ros2 && cd /unitree_ros2/cyclonedds_ws/src && \
# 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
# Install Python dependencies
RUN pip install torch torchvision torchaudio --index-url https://download.pytorch.org/whl/cu118
RUN pip install matplotlib opencv-python proxsuite scipy isort black
RUN pip install warp-lang scikit-learn casadi
RUN pip install onnx onnxruntime
# RUN pip install cyclonedds pygame pynput jupyter ipykernel
RUN pip install meshcat mujoco
RUN conda install -y -c conda-forge \
pinocchio \
crocoddyl \
mim-solvers
# Set environmental variables required for using ROS
RUN echo 'source /opt/ros/humble/setup.bash' >> ~/.bashrc
RUN echo 'source /unitree_ros2/cyclonedds_ws/install/setup.bash' >> ~/.bashrc
RUN echo 'export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp' >> ~/.bashrc
RUN echo 'export CYCLONEDDS_URI=file:///home/Go2py/Go2Py/assets/cyclonedds.xml' >> ~/.bashrc
# Env vars for the nvidia-container-runtime.
ENV NVIDIA_VISIBLE_DEVICES all
ENV NVIDIA_DRIVER_CAPABILITIES graphics,utility,compute

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.devcontainer/Dockerfile Symbolic link
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Dockerfile.go2

15
.devcontainer/Dockerfile.go2
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@ -3,9 +3,10 @@ ENV DEBIAN_FRONTEND noninteractive
ARG CONDA_VER=latest
ARG OS_TYPE=aarch64
RUN apt-get update && apt-get install -y -qq --no-install-recommends \ cuda \
RUN apt-get update && apt-get install -y -qq --no-install-recommends cuda \
wget \
ros-humble-rmw-cyclonedds-cpp ros-humble-rosidl-generator-dds-idl \
ros-humble-pcl-ros \
&& rm -rf /var/lib/apt/lists/*
# MID360 Lidar Drivers
@ -20,18 +21,22 @@ cd .. && colcon build --packages-select cyclonedds && source /opt/ros/humble/set
RUN echo "export CYCLONEDDS_HOME=/unitree_ros2/cyclonedds_ws/install/cyclonedds/" >> ~/.bashrc
ENV CYCLONEDDS_HOME "/unitree_ros2/cyclonedds_ws/install/cyclonedds"
RUN cd /root && git clone https://github.com/eclipse-cyclonedds/cyclonedds-python -b releases/0.10.x && cd cyclonedds-python && pip install .
# CycloneDDS-cxx
RUN cd /root && git clone https://github.com/eclipse-cyclonedds/cyclonedds-cxx -b releases/0.10.x &&\
cd cyclonedds-cxx && mkdir build install && cd build && cmake .. && \
cmake --build . --target install
# RUN cd /root && git clone https://github.com/eclipse-cyclonedds/cyclonedds-cxx -b releases/0.10.x &&\
# cd cyclonedds-cxx && mkdir build install && cd build && cmake .. && \
# cmake --build . --target install
# Install Python dependencies
RUN pip install matplotlib opencv-python scipy isort black onnx onnxruntime
RUN pip install https://github.com/NVIDIA/warp/releases/download/v1.5.1/warp_lang-1.5.1+cu11-py3-none-manylinux2014_aarch64.whl
RUN pip install cyclonedds pygame pynput jupyter ipykernel meshcat
RUN pip install pygame pynput jupyter ipykernel meshcat
RUN echo "export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp" >> ~/.bashrc
# RUN echo "export CYCLONEDDS_URI='<CycloneDDS><Domain><General><Interfaces><NetworkInterface name="eth0" priority="default" multicast="default" /></Interfaces></General></Domain></CycloneDDS>'" >> ~/.bashrc
# RUN echo 'source /unitree_ros2/cyclonedds_ws/install/setup.bash' >> ~/.bashrc
# RUN echo 'export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp' >> ~/.bashrc
# RUN echo 'export CYCLONEDDS_URI=file:///home/Go2py/Go2Py/assets/cyclonedds.xml' >> ~/.bashrc

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.devcontainer/Dockerfile.x86 Normal file
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FROM ros:humble
ENV DEBIAN_FRONTEND noninteractive
ARG CONDA_VER=latest
ARG OS_TYPE=x86_64
RUN apt-get update && apt-get install -y -qq --no-install-recommends \
libglvnd-dev \
libgl1-mesa-dev \
libegl1-mesa-dev \
libgles2-mesa-dev \
libxext6 \
libx11-6 \
freeglut3-dev \
git \
python3-pip \
python3-tk \
curl \
vim \
libcgal-dev \
libcgal-demo \
ros-humble-rmw-cyclonedds-cpp ros-humble-rosidl-generator-dds-idl \
libyaml-cpp-dev \
ros-humble-xacro \
libboost-all-dev\
build-essential \
cmake \
git \
wget \
&& rm -rf /var/lib/apt/lists/*
RUN curl -s https://packagecloud.io/install/repositories/github/git-lfs/script.deb.sh | bash
RUN apt-get install git-lfs
# Install Miniconda
RUN wget https://github.com/conda-forge/miniforge/releases/${CONDA_VER}/download/Miniforge3-Linux-${OS_TYPE}.sh -O ~/miniconda.sh \
&& /bin/bash ~/miniconda.sh -b -p /opt/conda \
&& rm ~/miniconda.sh \
&& ln -s /opt/conda/etc/profile.d/conda.sh /etc/profile.d/conda.sh \
&& echo ". /opt/conda/etc/profile.d/conda.sh" >> ~/.bashrc \
&& echo "conda activate base" >> ~/.bashrc
ENV PATH /opt/conda/bin:$PATH
SHELL ["conda", "run", "-n", "base", "/bin/bash", "-c"]
ENV CONDA_PREFIX /opt/conda
# Cheange the ROS2 RMW to CycloneDDS as instructed by Unitree
# RUN cd / && git clone https://github.com/unitreerobotics/unitree_ros2 && cd /unitree_ros2/cyclonedds_ws/src && \
# 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
# Install Python dependencies
RUN pip install torch torchvision torchaudio --index-url https://download.pytorch.org/whl/cu118
RUN pip install matplotlib opencv-python proxsuite scipy isort black
RUN pip install warp-lang scikit-learn casadi
RUN pip install onnx onnxruntime
# RUN pip install cyclonedds pygame pynput jupyter ipykernel
RUN pip install meshcat mujoco
RUN conda install -y -c conda-forge \
pinocchio \
crocoddyl \
mim-solvers
# Set environmental variables required for using ROS
RUN echo 'source /opt/ros/humble/setup.bash' >> ~/.bashrc
RUN echo 'source /unitree_ros2/cyclonedds_ws/install/setup.bash' >> ~/.bashrc
RUN echo 'export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp' >> ~/.bashrc
RUN echo 'export CYCLONEDDS_URI=file:///home/Go2py/Go2Py/assets/cyclonedds.xml' >> ~/.bashrc
# Env vars for the nvidia-container-runtime.
ENV NVIDIA_VISIBLE_DEVICES all
ENV NVIDIA_DRIVER_CAPABILITIES graphics,utility,compute

5
.devcontainer/docker-compose.yaml
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@ -10,9 +10,12 @@ services:
- /tmp/.X11-unix:/tmp/.X11-unix
- ../:/home/Go2py
- /dev/input:/dev/input
- /dev/shm:/dev/shm
- /dev:/dev
environment:
- DISPLAY=${DISPLAY}
- QT_X11_NO_MITSHM=1
runtime: nvidia
stdin_open: true
tty: true
tty: true
ipc: host

3
deploy/docker/Dockerfile.mid360
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@ -27,7 +27,8 @@ SHELL ["/bin/bash", "-c"]
COPY docker/scripts/MID360_config.json /root/ws_livox/src/livox_ros_driver2/config/MID360_config.json
COPY launch_files/msg_MID360_launch.py /root/ws_livox/src/livox_ros_driver2/launch_ROS2/msg_MID360_launch.py
RUN cd /root/ws_livox/src/livox_ros_driver2 && source /opt/ros/humble/setup.sh && /bin/bash build.sh humble
# Clone and compile FAST-LIO
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
# Copy the script to start the nodes
COPY docker/scripts/mid360_start.sh /root/mid360_start.sh
# set the entrypoint to bash

2
deploy/docker/scripts/bridge_start.sh
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@ -2,6 +2,6 @@ source /opt/ros/humble/setup.bash
source /unitree_ros2/cyclonedds_ws/install/setup.bash
export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
export CYCLONEDDS_URI='<CycloneDDS><Domain><General><Interfaces>
<NetworkInterface name="enx00e04c006390" priority="default" multicast="default" />
<NetworkInterface name="eth0" priority="default" multicast="default" />
</Interfaces></General></Domain></CycloneDDS>'
source /bridge_ws/install/setup.bash && ros2 launch /root/launch/bridge.launch.py

4
deploy/services/go2py-robot-description.service
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@ -1,7 +1,7 @@
[Unit]
Description=ROS2 device driver container
Requires=multi-user.target
After=multi-user.target
Requires=go2py-robot-description.service
After=go2py-robot-description.service
[Service]
Restart=always