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Cionix90Cionix90
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first build with ignition
1 parent 8c7b6e8 commit 5f059a1

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‎.gitignore

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/build
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/install
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/log

‎.gitmodules

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[submodule "src/mulinex_gazebo"]
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path = src/mulinex_gazebo
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url = https://github.com/CentroEPiaggio/mulinex_gazebo.git
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[submodule "src/mulinex_description"]
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path = src/mulinex_description
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url = https://github.com/CentroEPiaggio/mulinex_description.git

‎Dockerfile

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# base image osrf/ros tag humble-desktop-full
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ARG BASE_IMAGE=osrf/ros
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ARG BASE_TAG=humble-desktop-full
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FROM ${BASE_IMAGE}:${BASE_TAG}
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# set the environment variable with the command ENV <key>=<value>, it can be replaced online
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ENV DEBIAN_FRONTEND=noninteractive
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# RUN is used to execute and add new layer on top of the base immage
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RUN apt-get update \
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&& apt-get install -y \
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ros-humble-gazebo-ros-pkgs \
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ros-humble-gazebo-ros2-control \
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ros-humble-joint-state-publisher \
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ros-humble-joint-state-publisher-gui \
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ros-humble-ros-ign-bridge \
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ros-humble-ign-ros2-control \
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ros-humble-ign-ros2-control-demos \
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ros-humble-teleop-twist-joy \
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ros-humble-joy \
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ros-humble-pinocchio \
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ros-humble-ros2-control \
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ros-humble-ros2-controllers \
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ros-humble-xacro \
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ros-humble-rosbag2-storage-mcap \
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ros-humble-plotjuggler-ros \
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chrony \
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tmux python3-pip\
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xterm \
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libeigen3-dev \
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nano \
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ros-humble-rviz2 \
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nautilus \
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iputils-ping \
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iproute2 \
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python3-rosdep \
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&& apt-get clean
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# install
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# Adapt your desired python version here
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# ENV PATH=/opt/openrobots/bin:$PATH
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# ENV PKG_CONFIG_PATH=/opt/openrobots/lib/pkgconfig:$PKG_CONFIG_PATH
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# ENV LD_LIBRARY_PATH=/opt/openrobots/lib:$LD_LIBRARY_PATH
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# ENV PYTHONPATH=/opt/openrobots/lib/python3.10/site-packages:$PYTHONPATH
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# ENV CMAKE_PREFIX_PATH=/opt/openrobots:$CMAKE_PREFIX_PATH
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# ENV TERM=xterm-256color
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ENV DEBIAN_FRONTEND=dialog
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# Create a new user
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ARG USERNAME=ros
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ARG USER_UID=1000
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ARG USER_GID=${USER_UID}
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RUN groupadd --gid ${USER_GID} ${USERNAME} \
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&& useradd --uid ${USER_UID} --gid ${USER_GID} -m ${USERNAME} \
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&& apt-get update \
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&& apt-get install -y sudo \
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&& echo ${USERNAME} ALL=\(root\) NOPASSWD:ALL > /etc/sudoers.d/${USERNAME} \
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&& chmod 0440 /etc/sudoers.d/${USERNAME}
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#Change HOME environment variable
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ENV HOME /home/${USERNAME}
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# Choose to run as user
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ENV USER ${USERNAME}
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USER ${USERNAME}
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# ********************************************************
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# * Anything else you want to do like clean up goes here *
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# ********************************************************
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# Install the python packages cosi non vengono installati da root
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RUN pip3 install \
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numpy \
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numpy-quaternion \
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quadprog \
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scipy \
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--upgrade
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# Set up auto-source of workspace for ros user
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ARG WORKSPACE=docker_navigation
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RUN echo "source /opt/ros/humble/setup.bash" >> ~/.bashrc
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RUN echo 'source /usr/share/gazebo/setup.bash' >> ~/.bashrc
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RUN echo "if [ -f ~/${WORKSPACE}/install/setup.bash ]; then source ~/${WORKSPACE}/install/setup.bash; fi" >> /home/ros/.bashrc
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ENTRYPOINT ["/ros_entrypoint.sh"]

‎build.bash

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#!/bin/bash
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# ================================= Edit Here ================================ #
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# Change these values to use different versions of ROS or different base images. The rest of the script should be left unchanged.
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BASE_IMAGE=osrf/ros
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BASE_TAG=humble-desktop-full
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IMAGE_NAME=docker_control_simulation
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IMAGE_TAG=0.1
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USERNAME=ros
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USER_UID="$(id -u $USER)"
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USER_GID="$(id -g $USER)"
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WORKSPACE=docker_simulation_ws
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# =============================== Help Function ============================== #
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helpFunction()
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{
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echo ""
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echo -e "\t-h --help Script used to build the image."
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exit 1 # Exit script after printing help
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}
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# =============================== BUILD ============================== #
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# Auxiliary functions
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die() { echo "$*" >&2; exit 2; } # complain to STDERR and exit with error
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needs_arg() { if [ -z "$OPTARG" ]; then die "No arg for --$OPT option"; fi; }
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no_arg() { if [ -n "$OPTARG" ]; then die "No arg allowed for --$OPT option"; fi; }
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# Get the script options. This accepts both single dash (e.g. -a) and double dash options (e.g. --all)
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while getopts h-: OPT; do
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# support long options: https://stackoverflow.com/a/28466267/519360
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if [ "$OPT" = "-" ]; then # long option: reformulate OPT and OPTARG
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OPT="${OPTARG%%=*}" # extract long option name
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OPTARG="${OPTARG#$OPT}" # extract long option argument (may be empty)
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OPTARG="${OPTARG#=}" # if long option argument, remove assigning `=`
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fi
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case "$OPT" in
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h | help ) no_arg; helpFunction ;;
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esac
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done
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docker build \
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--build-arg BASE_IMAGE=$BASE_IMAGE \
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--build-arg BASE_TAG=$BASE_TAG \
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--build-arg IMAGE_NAME=$IMAGE_NAME \
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--build-arg IMAGE_TAG=$IMAGE_TAG \
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--build-arg USERNAME=$USERNAME \
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--build-arg USER_UID=$USER_UID \
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--build-arg USER_GID=$USER_GID \
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--build-arg WORKSPACE=$WORKSPACE \
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-t $IMAGE_NAME:$IMAGE_TAG .

‎entrypoint.sh

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#!/bin/sh
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. /opt/ros/humble/setup.sh
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echo "PASS HERE"
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. /home/${WORKSPACE}/install/setup.sh
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exec "$@

‎run.bash

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#!/bin/bash
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IMAGE_NAME=docker_control_simulation
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IMAGE_TAG=0.1
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chmod +rw ~/.bash_history
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chmod o+w ~/.bash_history
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WORKSPACE=sim_framework
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# Create /tmp/.docker.xauth if it does not already exist.
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XAUTH=/tmp/.docker.xauth
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if [ ! -f $XAUTH ]
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then
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touch $XAUTH
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xauth nlist $DISPLAY | sed -e 's/^..../ffff/' | xauth -f $XAUTH nmerge -
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fi
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xhost +
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docker run \
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--net=host \
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-it \
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-v $(pwd):/home/ros/$WORKSPACE \
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--env="HISTFILE=/home/ros/.bash_history" \
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--env="HISTFILESIZE=2000" \
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-v ~/.bash_history:/home/ros/.bash_history \
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--device=/dev/dri:/dev/dri \
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--privileged -v /dev/input:/dev/input \
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--rm \
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--env="DISPLAY=$DISPLAY" \
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-v /tmp/.X11-unix:/tmp/.X11-unix \
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--env="XAUTHORITY=$XAUTH" \
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--volume="$XAUTH:$XAUTH" \
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--name docker_simulation \
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-w /home/ros/$WORKSPACE \
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$IMAGE_NAME:$IMAGE_TAG \
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/bin/bash

‎src/mulinex_description

Submodule mulinex_description added at ff79c24

‎src/mulinex_gazebo

Submodule mulinex_gazebo added at 6670c25

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