docker updated.

.devcontainer/Dockerfile

@@ -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

.devcontainer/Dockerfile

@@ -0,0 +1 @@
+Dockerfile.go2

.devcontainer/Dockerfile.go2

@@ -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 &&\
+# 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 .. && \
+#     cd cyclonedds-cxx && mkdir build install && cd build && cmake .. && \
-    cmake --build . --target install
+#     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

.devcontainer/Dockerfile.x86

@@ -0,0 +1,70 @@
+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

.devcontainer/docker-compose.yaml

@@ -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

deploy/docker/Dockerfile.mid360

@@ -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

deploy/docker/scripts/bridge_start.sh

@@ -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

deploy/services/go2py-robot-description.service

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