NASA_Challenge_[@RBinson]_[Lunar Pole Exploration Rover & Plugins]

lunar_pole_exploration_rover/CMakeLists.txt

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+cmake_minimum_required(VERSION 3.8)
+project(lunar_pole_exploration_rover)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+find_package(ament_cmake_python REQUIRED)
+find_package(control_msgs REQUIRED)
+find_package(geometry_msgs REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(rclcpp_action REQUIRED)
+find_package(rclpy REQUIRED)
+find_package(simulation REQUIRED)
+find_package(std_msgs REQUIRED)
+# uncomment the following section in order to fill in
+# further dependencies manually.
+# find_package(<dependency> REQUIRED)
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  # the following line skips the linter which checks for copyrights
+  # comment the line when a copyright and license is added to all source files
+  set(ament_cmake_copyright_FOUND TRUE)
+  # the following line skips cpplint (only works in a git repo)
+  # comment the line when this package is in a git repo and when
+  # a copyright and license is added to all source files
+  set(ament_cmake_cpplint_FOUND TRUE)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+install(DIRECTORY
+  config
+  launch
+  worlds
+  DESTINATION share/${PROJECT_NAME}
+)
+
+ament_python_install_package(${PROJECT_NAME})
+
+install(PROGRAMS
+  nodes/move_mast
+  nodes/move_wheel
+  nodes/run_demo
+  nodes/odom_tf_publisher
+  DESTINATION lib/${PROJECT_NAME}
+)
+
+ament_package()

lunar_pole_exploration_rover/Dockerfile

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+# Copyright 2021 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+#
+# A Docker configuration script to build the Space ROS image.
+#
+# The script provides the following build arguments:
+#
+#   VCS_REF     - The git revision of the Space ROS source code (no default value).
+#   VERSION     - The version of Space ROS (default: "preview")
+
+FROM osrf/space-ros:latest
+
+# Define arguments used in the metadata definition
+ARG VCS_REF
+ARG VERSION="preview"
+
+# Specify the docker image metadata
+LABEL org.label-schema.schema-version="1.0"
+LABEL org.label-schema.name="Lunar Pole Exploration Rover"
+LABEL org.label-schema.description="Lunar Pole Exploration Rover entry for the NASA Space ROS Sim Summer Sprint Challenge"
+LABEL org.label-schema.vendor="Open Robotics"
+LABEL org.label-schema.version=${VERSION}
+LABEL org.label-schema.url="https://github.com/space-ros"
+LABEL org.label-schema.vcs-url="https://github.com/space-ros/demos"
+LABEL org.label-schema.vcs-ref=${VCS_REF}
+
+# Disable prompting during package installation
+ARG DEBIAN_FRONTEND=noninteractive
+
+# Define a few key variables
+ENV DEMO_DIR=${HOME_DIR}/demos_ws
+ENV IGNITION_VERSION=fortress
+ENV GZ_VERSION=fortress
+
+# Clone all space-ros sources
+RUN mkdir ${SPACEROS_DIR}/src \
+  && vcs import ${SPACEROS_DIR}/src < ${SPACEROS_DIR}/exact.repos
+
+# Define key locations
+RUN mkdir -p ${DEMO_DIR}/src
+WORKDIR ${DEMO_DIR}
+
+
+# Make sure the latest versions of packages are installed
+# Using Docker BuildKit cache mounts for /var/cache/apt and /var/lib/apt ensures that
+# the cache won't make it into the built image but will be maintained between steps.
+RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
+  --mount=type=cache,target=/var/lib/apt,sharing=locked \
+  sudo apt-get update
+RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
+  --mount=type=cache,target=/var/lib/apt,sharing=locked \
+  sudo apt-get dist-upgrade -y
+RUN rosdep update
+
+# Install the various build and test tools
+RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
+  --mount=type=cache,target=/var/lib/apt,sharing=locked \
+  sudo apt install -y \
+  build-essential \
+  clang-format \
+  cmake \
+  git \
+  libbullet-dev \
+  python3-colcon-common-extensions \
+  python3-flake8 \
+  python3-pip \
+  python3-pytest-cov \
+  python3-rosdep \
+  python3-setuptools \
+  python3-vcstool \
+  wget
+
+# Install some pip packages needed for testing
+RUN python3 -m pip install -U \
+  argcomplete \
+  flake8-blind-except \
+  flake8-builtins \
+  flake8-class-newline \
+  flake8-comprehensions \
+  flake8-deprecated \
+  flake8-docstrings \
+  flake8-import-order \
+  flake8-quotes \
+  pytest-repeat \
+  pytest-rerunfailures \
+  pytest
+
+# Get rosinstall_generator
+RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
+  --mount=type=cache,target=/var/lib/apt,sharing=locked \
+  sudo apt-get update -y && sudo apt-get install -y python3-rosinstall-generator
+
+
+# Generate repos file for  dependencies, excluding packages from Space ROS core.
+COPY --chown=${USERNAME}:${USERNAME} demo-pkgs.txt /tmp/
+COPY --chown=${USERNAME}:${USERNAME} excluded-pkgs.txt /tmp/
+RUN rosinstall_generator \
+  --upstream \
+  --rosdistro ${ROSDISTRO} \
+  --deps \
+  --exclude-path ${SPACEROS_DIR}/src \
+  --exclude $(cat /tmp/excluded-pkgs.txt) -- \
+  -- $(cat /tmp/demo-pkgs.txt) \
+  > /tmp/demo_generated_pkgs.repos
+
+RUN vcs import src < /tmp/demo_generated_pkgs.repos
+
+# Get the source for the dependencies
+COPY --chown=${USERNAME}:${USERNAME} demo_manual_pkgs.repos /tmp/
+RUN vcs import src < /tmp/demo_manual_pkgs.repos && /bin/bash -c 'source "${SPACEROS_DIR}/install/setup.bash"' 
+
+RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
+  --mount=type=cache,target=/var/lib/apt,sharing=locked \
+  sudo apt-get update -y \
+&& /bin/bash -c 'source "${SPACEROS_DIR}/install/setup.bash"' \
+&& rosdep install --from-paths src --ignore-src -r -y --rosdistro ${ROSDISTRO}
+
+ENV MAKEFLAGS="-j1"
+
+# build demo
+RUN /bin/bash -c 'source ${SPACEROS_DIR}/install/setup.bash \
+  && colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release -DCMAKE_EXPORT_COMPILE_COMMANDS=ON --event-handlers desktop_notification- status-'
+
+
+# Add the user to the render group so that the user can access /dev/dri/renderD128
+RUN sudo usermod -aG render $USERNAME
+
+# Add a couple sample GUI apps for testing
+RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
+  --mount=type=cache,target=/var/lib/apt,sharing=locked \
+  sudo apt-get install -y \
+  firefox \
+  glmark2 \
+  libcanberra-gtk3-0 \
+  libpci-dev \
+  xauth \
+  xterm
+
+# Setup the entrypoint
+COPY ./entrypoint.sh /
+ENTRYPOINT ["/entrypoint.sh"]
+CMD ["bash"]