Replace Makefiles with shell scripts for building and running the demos

Related to space-ros/space-ros#178

 - Remove makefiles for canadarm2 and curiosity rover demo
 - Add build.sh for building canadarm2 and curiosity rover demo
 - Add run.sh for running the demos
 - Update README.md of demos to the new process

canadarm2/README.md

@@ -1,4 +1,4 @@
-# Curiosity Rover - Demo
+# SSRMS CanadArm2 - Demo
 
 This is a simple demo of controlling the canadarm using spaceROS.
 
@@ -18,19 +18,29 @@ To start the demo, there are few dependencies that need to be installed. The fol
 
 1. Clone the demo repository
     ```bash
-    git clone http://github.com/space-ros/demo.git
+    git clone https://github.com/space-ros/demos.git
     ```
 2. cd into the `canadarm2` directory
     ```bash
     cd canadarm2
     ```
-3. To build and run the demo, we use `Makefile`. Run the following command to build the docker image and run the container.
+3. To build the demo, we use `./build.sh`. You can do the following to build the demo.
     ```bash
     # To see the list of available commands
-    make help
+    ./build.sh help
+    ```
+4. To build the demo, you can use the following command.
+    ```bash
+    # To build the demos for the canadarm2
+    ./build.sh
 
-    # To build and run the demo
-    make run
+    # Cleanup the build
+    ./build.sh clean
+    ```
+5. To run the demo, you can use the following command.
+    ```bash
+    # To run the demo
+    ./run.sh
     ```
 
 This will start the demo in one terminal and gazebo in another terminal. To control the canadarm2, we provide ros2 services for the demo. You can control the rover using the following services.

canadarm2/build.sh

@@ -0,0 +1,104 @@
+#!/bin/bash
+
+set -e
+
+# Define variables
+DOCKER_IMAGE="osrf/space-ros:canadarm_demo"
+LOCAL_WORKSPACE=$(pwd)
+SHELL="/bin/bash"
+
+# Define packages
+SIM_PACKAGES="canadarm_description canadarm_gazebo"
+CONTROL_PACKAGE="canadarm_moveit_config canadarm_demo"
+DEMO_PACKAGES="$CONTROL_PACKAGE $SIM_PACKAGES"
+
+####################################################################################################
+# High-level functions
+####################################################################################################
+# Help function to describe each target
+help() {
+    echo "CanadArm2 Build Script"
+    echo "Usage: ./build.sh [subcommand] [demo]"
+    echo "Available subcommands:"
+    echo "  ./build.sh help                   - Show this help message"
+    echo "  ./build.sh clean                - Clean the local workspace"
+    echo "  ./build.sh                        - Build the demos"
+    exit 0
+}
+
+# Build all
+build() {
+    build-control-demo
+}
+
+# Clean the local workspace
+clean() {
+    rm -rf "$LOCAL_WORKSPACE"/install "$LOCAL_WORKSPACE"/log "$LOCAL_WORKSPACE"/build
+}
+
+check_docker() {
+    if ! command -v docker &>/dev/null; then
+        echo "Docker is not installed. Please install Docker to continue."
+        exit 1
+    fi
+}
+
+check_xterm() {
+    if ! command -v xterm &>/dev/null; then
+        echo "xterm is not installed. Please install xterm to continue."
+        echo "On Ubuntu, you can install xterm with 'sudo apt install xterm'."
+        exit 1
+    fi
+}
+
+check_ros2() {
+    if ! command -v ros2 &>/dev/null; then
+        echo "ROS 2 is not installed. Please install ROS 2 to continue."
+        exit 1
+    fi
+}
+
+####################################################################################################
+# Low-level functions
+####################################################################################################
+# Build the Docker image
+build-docker() {
+    docker build -t "$DOCKER_IMAGE" .
+}
+
+# Build the Gazebo workspace locally
+build-gazebo() {
+    # shellcheck source=/opt/ros/${ROS_DISTRO}/setup.bash
+    # shellcheck disable=SC1091
+    source /opt/ros/"${ROS_DISTRO}"/setup.bash &&
+        rosdep install --from-paths . -r -y --skip-keys "$DEMO_PACKAGES" &&
+        colcon build --symlink-install --base-paths "$LOCAL_WORKSPACE" --install-base "$LOCAL_WORKSPACE"/install \
+            --cmake-args -DCMAKE_BUILD_TYPE=Release -DCMAKE_EXPORT_COMPILE_COMMANDS=ON \
+            --packages-select $SIM_PACKAGES
+}
+
+####################################################################################################
+# Control demo
+####################################################################################################
+build-control-demo() {
+    build-docker
+    build-gazebo
+}
+
+####################################################################################################
+# Main script logic to call the appropriate function
+####################################################################################################
+case "$1" in
+help)
+    help
+    ;;
+clean)
+    clean
+    ;;
+*)
+    check_docker
+    check_ros2
+
+    build
+    ;;
+esac

canadarm2/canadarm_moveit_config/package.xml

@@ -34,15 +34,13 @@
   <exec_depend>moveit_configs_utils</exec_depend>
   <exec_depend>moveit_ros_move_group</exec_depend>
   <exec_depend>moveit_ros_visualization</exec_depend>
-  <exec_depend>moveit_ros_warehouse</exec_depend>
   <exec_depend>moveit_setup_assistant</exec_depend>
   <exec_depend>robot_state_publisher</exec_depend>
   <exec_depend>rviz2</exec_depend>
   <exec_depend>rviz_common</exec_depend>
   <exec_depend>rviz_default_plugins</exec_depend>
   <exec_depend>simulation</exec_depend>
   <exec_depend>tf2_ros</exec_depend>
-  <exec_depend>warehouse_ros_mongo</exec_depend>
   <exec_depend>xacro</exec_depend>
 
 

canadarm2/run.sh

@@ -0,0 +1,58 @@
+#!/bin/bash
+
+# shellcheck disable=SC2089
+XTERM_CONFIG="-bg black -fg white -fa 'Monospace' -fs 11"
+DOCKER_IMAGE="osrf/space-ros:canadarm_demo"
+LOCAL_WORKSPACE=$(pwd)
+
+# Run the CanadArm Gazebo simulation locally
+run-gazebo() {
+    # shellcheck disable=SC2090
+    # shellcheck disable=SC2086
+    xterm $XTERM_CONFIG -T 'CanadArm2 Gazebo' -e "source /opt/ros/\${ROS_DISTRO}/setup.bash \
+        && source $LOCAL_WORKSPACE/install/setup.bash \
+        && ros2 launch canadarm_gazebo canadarm.launch.py" &
+}
+
+run-control-demo() {
+    # shellcheck disable=SC2090
+    # shellcheck disable=SC2086
+    xterm $XTERM_CONFIG -T 'CanadArm2 Demo' -e "docker run -it --rm \
+        -e RMW_IMPLEMENTATION=rmw_cyclonedds_cpp \
+        $DOCKER_IMAGE \
+        bash -c 'source ~/.bashrc && ros2 launch canadarm_demo canadarm.launch.py'" &
+}
+
+check_docker() {
+    if ! command -v docker &>/dev/null; then
+        echo "Docker is not installed. Please install Docker to continue."
+        exit 1
+    fi
+}
+
+check_xterm() {
+    if ! command -v xterm &>/dev/null; then
+        echo "xterm is not installed. Please install xterm to continue."
+        echo "On Ubuntu, you can install xterm with 'sudo apt install xterm'."
+        exit 1
+    fi
+}
+
+check_ros2() {
+    if ! command -v ros2 &>/dev/null; then
+        echo "ROS 2 is not installed. Please install ROS 2 to continue."
+        exit 1
+    fi
+}
+
+run() {
+
+    check_docker
+    check_xterm
+    check_ros2
+
+    run-gazebo
+    run-control-demo
+}
+
+run