add texture plugin and panther urdf

Dockerfile

@@ -4,16 +4,41 @@ FROM ros:$ROS_DISTRO-ros-core
 
 SHELL ["/bin/bash", "-c"]
 
-RUN apt-get update && apt-get install -y \
-        ros-$ROS_DISTRO-rviz && \
+WORKDIR /ros_ws
+
+RUN apt update && apt install -y \
+        git \
+        python3-dev \
+        python3-pip \
+        qtbase5-dev \
+        qtdeclarative5-dev \
+        ros-$ROS_DISTRO-rviz \
+        ros-$ROS_DISTRO-rviz-visual-tools && \
+    pip3 install \
+        rosdep && \
+    # rviz_textured_quads pkg
+    git clone https://github.com/husarion/rviz_textured_quads.git ./src/rviz_textured_quads && \
+    # panther_description pkg
+    mkdir -p src/panther_ros && \
+    pushd src/panther_ros && \
+    git init && \
+    git remote add -f origin https://github.com/husarion/panther_ros.git && \
+    git sparse-checkout init && \
+    git sparse-checkout set "panther_description" && \
+    git pull origin ros1 && \
+    popd && \
+    source /opt/ros/$ROS_DISTRO/setup.bash && \
+    rosdep init && \
+    rosdep update --rosdistro $ROS_DISTRO && \
+    rosdep install --from-paths src -y -i && \
+    catkin_make -DCATKIN_ENABLE_TESTING=0 -DCMAKE_BUILD_TYPE=Release && \
+    apt-get upgrade -y && \
+    apt-get autoremove -y && \
     apt-get clean && \
     rm -rf /var/lib/apt/lists/*
 
-# ENV NVIDIA_VISIBLE_DEVICES \
-#     ${NVIDIA_VISIBLE_DEVICES:-all}
-# ENV NVIDIA_DRIVER_CAPABILITIES \
-#     ${NVIDIA_DRIVER_CAPABILITIES:+$NVIDIA_DRIVER_CAPABILITIES,}graphics
+COPY ./ros_entrypoint.sh / 
 
-RUN echo ". /opt/ros/$ROS_DISTRO/setup.bash" >> ~/.bashrc
+ENTRYPOINT ["/ros_entrypoint.sh"]
 
 CMD ["rosrun", "rviz", "rviz"]

demo/compose.panther.yaml

@@ -0,0 +1,12 @@
+services:
+
+  rviz:
+    image: husarion/rviz:noetic
+    volumes:
+      - /tmp/.X11-unix:/tmp/.X11-unix:rw
+      - ./panther.rviz:/root/.rviz/default.rviz
+    environment: 
+      - DISPLAY=${DISPLAY:?You need to define display env}
+      - ROS_MASTER_URI=${ROS_MASTER_URI:-http://10.15.20.2:11311}
+      - ROS_IP=${ROS_IP:-10.15.20.3}
+      - LIBGL_ALWAYS_SOFTWARE=1

demo/compose.host.yaml → demo/compose.rosbot-host.yaml

@@ -39,7 +39,7 @@ services:
     network_mode: host
     volumes:
       - /tmp/.X11-unix:/tmp/.X11-unix:rw
-      - ./default.rviz:/root/.rviz/default.rviz
+      - ./rosbot.rviz:/root/.rviz/default.rviz
     environment: 
       - DISPLAY=${DISPLAY:?You need to define display env}
       - ROS_MASTER_URI=${ROS_MASTER_URI:-http://127.0.0.1:11311}

demo/compose.yaml → demo/compose.rosbot.yaml

@@ -32,7 +32,7 @@ services:
     restart: unless-stopped
     volumes:
       - /tmp/.X11-unix:/tmp/.X11-unix:rw
-      - ./default.rviz:/root/.rviz/default.rviz
+      - ./rosbot.rviz:/root/.rviz/default.rviz
     environment: 
       - DISPLAY=${DISPLAY:?You need to define display env}
       - ROS_MASTER_URI=http://ros-master:11311

demo/panther.rviz

@@ -0,0 +1,246 @@
+Panels:
+  - Class: rviz/Displays
+    Help Height: 78
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /TF1/Frames1
+      Splitter Ratio: 0.5
+    Tree Height: 544
+  - Class: rviz/Selection
+    Name: Selection
+  - Class: rviz/Tool Properties
+    Expanded:
+      - /2D Pose Estimate1
+      - /2D Nav Goal1
+      - /Publish Point1
+    Name: Tool Properties
+    Splitter Ratio: 0.5886790156364441
+  - Class: rviz/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+  - Class: rviz/Time
+    Name: Time
+    SyncMode: 0
+    SyncSource: Image
+Preferences:
+  PromptSaveOnExit: true
+Toolbars:
+  toolButtonStyle: 2
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz/Grid
+      Color: 160; 160; 164
+      Enabled: true
+      Line Style:
+        Line Width: 0.029999999329447746
+        Value: Lines
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 10
+      Reference Frame: <Fixed Frame>
+      Value: true
+    - Alpha: 1
+      Class: rviz/RobotModel
+      Collision Enabled: false
+      Enabled: true
+      Links:
+        All Links Enabled: true
+        Expand Joint Details: false
+        Expand Link Details: false
+        Expand Tree: false
+        Link Tree Style: Links in Alphabetic Order
+        base_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        body_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        cover_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        fl_wheel_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        fr_wheel_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        front_animation_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        front_light_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        imu_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        rear_animation_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        rear_light_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        rl_wheel_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        rr_wheel_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+      Name: RobotModel
+      Robot Description: robot_description
+      TF Prefix: ""
+      Update Interval: 0
+      Value: true
+      Visual Enabled: true
+    - Class: rviz/TF
+      Enabled: false
+      Filter (blacklist): ""
+      Filter (whitelist): ""
+      Frame Timeout: 15
+      Frames:
+        All Enabled: true
+      Marker Alpha: 1
+      Marker Scale: 1
+      Name: TF
+      Show Arrows: true
+      Show Axes: true
+      Show Names: true
+      Tree:
+        {}
+      Update Interval: 0
+      Value: false
+    - Class: rviz/Image
+      Enabled: true
+      Image Topic: /panther/lights/driver/rear_panel_frame
+      Max Value: 1
+      Median window: 5
+      Min Value: 0
+      Name: Image
+      Normalize Range: true
+      Queue Size: 2
+      Transport Hint: raw
+      Unreliable: false
+      Value: true
+    - Class: rviz/Image
+      Enabled: true
+      Image Topic: /panther/lights/driver/rear_panel_frame
+      Max Value: 1
+      Median window: 5
+      Min Value: 0
+      Name: Image
+      Normalize Range: true
+      Queue Size: 2
+      Transport Hint: raw
+      Unreliable: false
+      Value: true
+    - Canvas mesh high: 0.014999999664723873
+      Class: rviz_textured_quads/MeshDisplayCustom
+      Enabled: true
+      Image Topic: /panther/lights/driver/front_panel_frame
+      Meters per pixel: 0.010900000110268593
+      Name: MeshDisplayCustom
+      Quad Frame: front_animation_link
+      Value: true
+    - Canvas mesh high: 0.014999999664723873
+      Class: rviz_textured_quads/MeshDisplayCustom
+      Enabled: true
+      Image Topic: /panther/lights/driver/rear_panel_frame
+      Meters per pixel: 0.010900000110268593
+      Name: MeshDisplayCustom
+      Quad Frame: rear_animation_link
+      Value: true
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Default Light: true
+    Fixed Frame: base_link
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz/Interact
+      Hide Inactive Objects: true
+    - Class: rviz/MoveCamera
+    - Class: rviz/Select
+    - Class: rviz/FocusCamera
+    - Class: rviz/Measure
+    - Class: rviz/SetInitialPose
+      Theta std deviation: 0.2617993950843811
+      Topic: /initialpose
+      X std deviation: 0.5
+      Y std deviation: 0.5
+    - Class: rviz/SetGoal
+      Topic: /move_base_simple/goal
+    - Class: rviz/PublishPoint
+      Single click: true
+      Topic: /clicked_point
+  Value: true
+  Views:
+    Current:
+      Class: rviz/Orbit
+      Distance: 1.7334181070327759
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.05999999865889549
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Field of View: 0.7853981852531433
+      Focal Point:
+        X: -0.18467888236045837
+        Y: -0.08083157986402512
+        Z: -0.020288554951548576
+      Focal Shape Fixed Size: true
+      Focal Shape Size: 0.05000000074505806
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.009999999776482582
+      Pitch: 0.6053981184959412
+      Target Frame: <Fixed Frame>
+      Yaw: 0.655398428440094
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 1016
+  Hide Left Dock: false
+  Hide Right Dock: false
+  Image:
+    collapsed: false
+  QMainWindow State: 000000ff00000000fd0000000400000000000001c30000035efc020000000bfb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003b000002a9000000c700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000c00430061006d00650072006100000003e7000001960000000000000000fb0000000a0049006d00610067006501000002ea000000550000001600fffffffb0000000a0049006d0061006700650100000345000000540000001600ffffff000000010000010f00000542fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003b00000542000000a000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007360000003efc0100000002fb0000000800540069006d00650100000000000007360000030700fffffffb0000000800540069006d006501000000000000045000000000000000000000056d0000035e00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Time:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: false
+  Width: 1846
+  X: 74
+  Y: 27

ros_entrypoint.sh

@@ -0,0 +1,8 @@
+#!/bin/bash
+set -e
+
+# setup ros environment
+source "/opt/ros/$ROS_DISTRO/setup.bash"
+source "/ros_ws/devel/setup.bash"
+
+exec "$@"