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NASA Challenge_[franklinselva]_[Restructure the contents of demos to be modular and scalable] #31

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NASA Challenge_[franklinselva]_[Restructure the contents of demos to be modular and scalable] #31

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@franklinselva franklinselva commented Aug 14, 2024 •
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Fixes space-ros/space-ros#178

Merge queue no. 1

This PR restructures the contents of the demo (from space-ros/simulations, space-ros/docker, space-ros/demos) under a single tree. The main changes include

  • Add canadarm_description package for simulation assets of canadarm2
  • Add curiosity_description package for simulation assets of curiosity mars rover
  • Add gazebo packages for canadarm and curiosity rover demos
  • Add docker based entrypoints for canadarm and curiosity rover demos
  • Add shell scripts for easier building and running of candarm and curiosity demos

This PR also restructure the workflow of the past demo in such a way the GUI apps are ran outside the docker. The reason for this change is to adapt different simulation tools and have a reproducible demo across the simulation tools.

@franklinselva franklinselva marked this pull request as ready for review August 15, 2024 07:02
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Note for reviewers: This is a large refactoring related to the referenced issue. I think it would be easier to review the work from clear slate. If there is any information needed, please let me know.

@franklinselva franklinselva changed the title Update demos to be modular and scalable NASA Challenge_[franklinselva]_[Restructure the contents of demos to be modular and scalable] Aug 15, 2024
This was referenced Aug 23, 2024
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Overall I like the changes, but I do have some concern about using a Makefile to build the Docker images. We're not doing that elsewhere. We've already got both Docker and Earthly in Space ROS, so adding a 3rd build method seems unnecessary. Would you consider moving to either a docker-compose or Earthly build instead?

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Also, I'm planning to add a GH action build flow, see issue #35. If I get that in, I'm going to ask you to add build.sh files to wrap all the builds generically too.

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franklinselva commented Aug 28, 2024 •
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Hi @mkhansenbot, Thanks for your review. I understand the use of Makefile as a runtime dependency is odd that is not in favor. I will make a direct replacement of the makefile with the shell script to build, clean and run the demos.

Would you consider moving to either a docker-compose or Earthly build instead?

I would not go for Earthly builds for demo since this will also be an addtional runtime dependency for working with the demos. At the moment, Earthly builds are only used as internal tool within collaborators and the scope of the build tool doesn't need to be expanded beyond this point. As mentioned here in the issue, using docker-compose for show casing different demos supported by shell scripts would be an good choice in my opinion. This will ensure, we still have the required entrypoints to the demos.

EDIT: I still see the space-ros docker images are expected to be pulled from registry and should not build when running the demos.

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franklinselva commented Aug 28, 2024 •
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I have replaced the Makefiles with the build.sh.
There are still few changes expected in the shell script based on #35. I will need to hold the rebasing on queued PRs until this PR is resolved.

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Thanks for consolidating the simulation assets into one repository! This is a much more straightforward package layout.

franklinselva added a commit to franklinselva/spaceros-simulation that referenced this pull request Aug 31, 2024
@franklinselva
Remove Simulation assets of gazebo enviroment and urdf files
1db6977 
Related to space-ros/space-ros#178
Related to space-ros#18

 - Moved the simulation assets to space-ros/demos#31
 - Repurpose the repository for the simulation assets of Nvidia's
Isaac Sim
franklinselva added a commit to franklinselva/spaceros-simulation that referenced this pull request Sep 9, 2024
@franklinselva
Remove Simulation assets of gazebo enviroment and urdf files
c7078b5 
Related to space-ros/space-ros#178
Related to space-ros#18

 - Moved the simulation assets to space-ros/demos#31
 - Repurpose the repository for the simulation assets of Nvidia's
Isaac Sim
@franklinselva
Restructure demo repository for better readability and scalability
e82ae7b 
resolves #178

- Group demos to its robot content
@franklinselva
Add simulation assets for canadarm2
669f90c 
resolves space-ros/space-ros#178

 - Add canadarm_description
 - Fix model asset paths
 - Reverse control configuration for canadarm model
@franklinselva
Add simulation assets for curiosity rover
688c0b4 
resolves space-ros/space-ros#178
 - Add curiosity_description
 - Strip third party dependencies of mars_rover
@franklinselva
Add curiosity_gazebo package for ignition gazebo integration
195cbd9 
resolves space-ros/space-ros#178

 - Fix control parameters for curiosity_description
 - Move curiosity_path world to curiosity_gazebo
 - Add launch file for spinning of gazebo world
@franklinselva
Update curiosity_rover_demo to the changes
fea91dc 
related to space-ros/space-ros#178
 - Cleaned up rover launch file for the demo
 - Updated comments for demo node
@franklinselva
Add easier entrypoint for curiosity_demo
fe1fe1f 
related to space-ros/space-ros#178

 - Add dockerfile for demo
 - Add makefile for build, run and clean automation
@franklinselva
Add documentation for curiosity_rover demos
b563f74 
related to space-ros/space-ros#178

 - Add README.md for Curiosity Rover demo
 - Update Main README.md of the demos repository
@franklinselva
Add canadarm_gazebo package for ignition gazebo integration
c4b3dec 
resolves space-ros/space-ros#178

 - Add canadarm_description package
 - Move earth and iss  world models to canadarm_gazebo
@franklinselva
Update canadarm_demo to the changes
5a30311 
related to space-ros/space-ros#178
 - Cleaned up canadarm launch file for the demo
 - Updated comments for demo node
 - Strip Moveit Redundant Node
 - Cleanup packages.xml
 - Remove ros control parameters for gazebo
@franklinselva
Add documentation for canadarm2 demos
ae7dce4 
related to space-ros/space-ros#178

 - Add README.md for Canadarm2 demo
 - Update Main README.md of the demos repository
@franklinselva
Update package.xml for gazebo and description packages
df7874d 
Related to space-ros/space-ros#178

 - Update package.xml for canadarm2 packages
 - Update package.xml for curiosity_rover packages
@franklinselva
Replace Makefiles with shell scripts for building and running the demos
7945072 
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
@franklinselva
Revert docker base image to osrf/space-ros:latest
aa27bb5 
Related to space-ros/space-ros#178
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franklinselva commented Sep 10, 2024 •
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@mkhansenbot Can you approve the changes for the CI run?

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Is it possible to include docker-compose for the CI run?

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@franklinselva - according to GitHub, Docker Compose v1 is no longer supported, can you change your script to use v2? https://github.blog/changelog/2024-04-10-github-hosted-runner-images-deprecation-notice-docker-compose-v1/

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@ivanperez-keera ivanperez-keera Awaiting requested review from ivanperez-keera

@EzraBrooks EzraBrooks Awaiting requested review from EzraBrooks

@Bckempa Bckempa Awaiting requested review from Bckempa

@mkhansenbot mkhansenbot Awaiting requested review from mkhansenbot

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Move demo/docker/simulation contents of demo packages within demo repository
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@franklinselva @mkhansenbot @EzraBrooks