From 727d338a3eba41c0c6e02793979967ce8518445b Mon Sep 17 00:00:00 2001 From: Mechazo11 Date: Thu, 29 Aug 2024 15:27:14 -0500 Subject: [PATCH 01/54] added Ruff linting, removed unused imports --- mars_rover/README.md | 9 ++++++++ mars_rover/launch/mars_rover.launch.py | 32 ++++++++++++-------------- mars_rover/pyproject.toml | 29 +++++++++++++++++++++++ 3 files changed, 53 insertions(+), 17 deletions(-) create mode 100644 mars_rover/README.md create mode 100644 mars_rover/pyproject.toml diff --git a/mars_rover/README.md b/mars_rover/README.md new file mode 100644 index 00000000..ccee9248 --- /dev/null +++ b/mars_rover/README.md @@ -0,0 +1,9 @@ +# Curiosity Mars Rover ROS2 package + +This packge launches the curiositry mars rover simulation in Gazebo ignition. It is part of the Space ROS demonstration examples. + +**TODO** + + * [ ] Description of fixing the .dae file for the ```chassis``` + * [ ] How I configured it to work with the O3DE project. + * [ ] How to instructions \ No newline at end of file diff --git a/mars_rover/launch/mars_rover.launch.py b/mars_rover/launch/mars_rover.launch.py index 91e3c99f..3310656a 100644 --- a/mars_rover/launch/mars_rover.launch.py +++ b/mars_rover/launch/mars_rover.launch.py @@ -1,34 +1,32 @@ -from http.server import executable +""" +TODO + +Author: +Space ROS + +Date: TODO +Version: N/A +""" + +# Imports +from ament_index_python.packages import get_package_share_directory from launch import LaunchDescription -from launch.actions import DeclareLaunchArgument, ExecuteProcess, RegisterEventHandler, IncludeLaunchDescription -from launch.substitutions import TextSubstitution, PathJoinSubstitution, LaunchConfiguration, Command +from launch.actions import ExecuteProcess, RegisterEventHandler from launch_ros.actions import Node, SetParameter -from launch_ros.substitutions import FindPackageShare -from launch.launch_description_sources import PythonLaunchDescriptionSource -from launch.event_handlers import OnProcessExit, OnExecutionComplete import os from os import environ - -from ament_index_python.packages import get_package_share_directory - import xacro - - -# . ../spaceros_ws/install/setup.bash && . ../depends_ws/install/setup.bash -# rm -rf build install log && colcon build && . install/setup.bash - def generate_launch_description(): - + # Define paths to mars_rover and simulation packages mars_rover_demos_path = get_package_share_directory('mars_rover') mars_rover_models_path = get_package_share_directory('simulation') - + # Define env = {'IGN_GAZEBO_SYSTEM_PLUGIN_PATH': ':'.join([environ.get('IGN_GAZEBO_SYSTEM_PLUGIN_PATH', default=''), environ.get('LD_LIBRARY_PATH', default='')]), 'IGN_GAZEBO_RESOURCE_PATH': ':'.join([environ.get('IGN_GAZEBO_RESOURCE_PATH', default=''), mars_rover_demos_path])} - urdf_model_path = os.path.join(mars_rover_models_path, 'models', 'curiosity_path', 'urdf', 'curiosity_mars_rover.xacro') mars_world_model = os.path.join(mars_rover_demos_path, 'worlds', 'mars_curiosity.world') diff --git a/mars_rover/pyproject.toml b/mars_rover/pyproject.toml new file mode 100644 index 00000000..1cb8da60 --- /dev/null +++ b/mars_rover/pyproject.toml @@ -0,0 +1,29 @@ +[tool.flake8] +max-line-length = 120 +show-source = true + +[tool.pylint.'MAIN'] +persistent = "no" +[tool.pylint.'VARIABLES'] +ignored-argument-names = "args|kwargs" + +[tool.pydocstyle] +inherit = false +ignore = "D105,D107,D203,D212,D413,D407" + +[tool.ruff] +line-length = 120 +target-version = "py38" +fixable = [] +unfixable = ["ALL"] +select = ["F", "E", "W", "N", "D", "UP", "BLE", "B", "A", "COM", "EM", "PTH", "C4", "ISC"] +ignore = ["D105", "D107", "D203", "D212", "D413", "D407"] +# select = [ +# "A", # prevent using keywords that clobber python builtins +# "B", # bugbear: security warnings +# "E", # pycodestyle +# "F", # pyflakes +# "ISC", # implicit string concatenation +# "UP", # alert you when better syntax is available in your python version +# "RUF", # the ruff developer's own rules +# ] \ No newline at end of file From 99adad5675c4d5ba5811c6b69bd9bee9318be120 Mon Sep 17 00:00:00 2001 From: Mechazo11 Date: Thu, 29 Aug 2024 15:55:33 -0500 Subject: [PATCH 02/54] commented and cleaned up mars_rover.launch.py --- mars_rover/launch/mars_rover.launch.py | 53 ++++++++++++++------------ 1 file changed, 29 insertions(+), 24 deletions(-) diff --git a/mars_rover/launch/mars_rover.launch.py b/mars_rover/launch/mars_rover.launch.py index 3310656a..6f71b60c 100644 --- a/mars_rover/launch/mars_rover.launch.py +++ b/mars_rover/launch/mars_rover.launch.py @@ -1,11 +1,14 @@ """ -TODO +Bring up nodes, hardware interfaces and spaw curiosity rover in a Gazebo world. Author: Space ROS Date: TODO Version: N/A + +A.I Tool: ChatGPT 4.o + """ # Imports @@ -13,11 +16,13 @@ from launch import LaunchDescription from launch.actions import ExecuteProcess, RegisterEventHandler from launch_ros.actions import Node, SetParameter +from launch.event_handlers import OnProcessExit import os from os import environ import xacro def generate_launch_description(): + """Generate launch description to bringup curiosity rover simulation.""" # Define paths to mars_rover and simulation packages mars_rover_demos_path = get_package_share_directory('mars_rover') mars_rover_models_path = get_package_share_directory('simulation') @@ -30,54 +35,53 @@ def generate_launch_description(): urdf_model_path = os.path.join(mars_rover_models_path, 'models', 'curiosity_path', 'urdf', 'curiosity_mars_rover.xacro') mars_world_model = os.path.join(mars_rover_demos_path, 'worlds', 'mars_curiosity.world') - doc = xacro.process_file(urdf_model_path) robot_description = {'robot_description': doc.toxml()} - + # Arm arm_node = Node( package="mars_rover", executable="move_arm", output='screen' ) - + # Sensor mast mast_node = Node( package="mars_rover", executable="move_mast", output='screen' ) - + # Wheel groups wheel_node = Node( package="mars_rover", executable="move_wheel", output='screen' ) - + # Start demo run_node = Node( package="mars_rover", executable="run_demo", output='screen' ) - + # Publish odometry odom_node = Node( package="mars_rover", executable="odom_tf_publisher", output='screen' ) - + # Fire up Gazebo ignition model start_world = ExecuteProcess( cmd=['ign gazebo', mars_world_model, '-r'], output='screen', additional_env=env, shell=True ) - + # Publish various joint positions and link orientation robot_state_publisher = Node( package='robot_state_publisher', executable='robot_state_publisher', name='robot_state_publisher', output='screen', parameters=[robot_description]) - + # Bridge communication between ROS 2 and the Ignition Gazebo simulation ros_gz_bridge = Node( package='ros_gz_bridge', executable='parameter_bridge', @@ -87,13 +91,13 @@ def generate_launch_description(): '/scan@sensor_msgs/msg/LaserScan@ignition.msgs.LaserScan', ], output='screen') - + # Connect image messages from Gazebo to ROS2 image_bridge = Node( package='ros_gz_image', executable='image_bridge', arguments=['/image_raw', '/image_raw'], output='screen') - + # Spawn curiosity rover into the world. spawn = Node( package='ros_ign_gazebo', executable='create', arguments=[ @@ -102,52 +106,49 @@ def generate_launch_description(): '-z', '-7.5' ], output='screen' - ) - - ## Control Components - + # Control Components component_state_msg = '{name: "IgnitionSystem", target_state: {id: 3, label: ""}}' - - ## a hack to resolve current bug + # TODO what bug was resolved with this hack? + # Set hardware_interface state to active set_hardware_interface_active = ExecuteProcess( cmd=['ros2', 'service', 'call', 'controller_manager/set_hardware_component_state', 'controller_manager_msgs/srv/SetHardwareComponentState', component_state_msg] ) - + # Controller to broadcast all joint states load_joint_state_broadcaster = ExecuteProcess( cmd=['ros2', 'control', 'load_controller', '--set-state', 'active', 'joint_state_broadcaster'], output='screen' ) - + # Controller for arm load_arm_joint_traj_controller = ExecuteProcess( cmd=['ros2', 'control', 'load_controller', '--set-state', 'active', 'arm_joint_trajectory_controller'], output='screen' ) - + # Controller for sensor mast load_mast_joint_traj_controller = ExecuteProcess( cmd=['ros2', 'control', 'load_controller', '--set-state', 'active', 'mast_joint_trajectory_controller'], output='screen' ) - + # Controller for wheel load_wheel_joint_traj_controller = ExecuteProcess( cmd=['ros2', 'control', 'load_controller', '--set-state', 'active', 'wheel_velocity_controller'], output='screen' ) - + # Controller for steering load_steer_joint_traj_controller = ExecuteProcess( cmd=['ros2', 'control', 'load_controller', '--set-state', 'active', 'steer_position_controller'], output='screen' ) - + # Controller for suspension joints load_suspension_joint_traj_controller = ExecuteProcess( cmd=['ros2', 'control', 'load_controller', '--set-state', 'active', 'wheel_tree_position_controller'], @@ -173,12 +174,16 @@ def generate_launch_description(): on_exit=[set_hardware_interface_active], ) ), + # After the hardware interface is activated, + # the joint state broadcaster is loaded. RegisterEventHandler( OnProcessExit( target_action=set_hardware_interface_active, on_exit=[load_joint_state_broadcaster], ) ), + # After the joint state broadcaster is loaded, + # all trajectory controllers (arm, mast, wheel, steer, suspension) are loaded and activated. RegisterEventHandler( OnProcessExit( target_action=load_joint_state_broadcaster, From 5d583b0fd7ef117df2bc5493cc5d58029119a6f7 Mon Sep 17 00:00:00 2001 From: Mechazo11 Date: Thu, 29 Aug 2024 16:10:44 -0500 Subject: [PATCH 03/54] added mars_rover_o3de.launch.py --- mars_rover/launch/mars_rover_o3de.launch.py | 200 ++++++++++++++++++++ 1 file changed, 200 insertions(+) create mode 100644 mars_rover/launch/mars_rover_o3de.launch.py diff --git a/mars_rover/launch/mars_rover_o3de.launch.py b/mars_rover/launch/mars_rover_o3de.launch.py new file mode 100644 index 00000000..c148d967 --- /dev/null +++ b/mars_rover/launch/mars_rover_o3de.launch.py @@ -0,0 +1,200 @@ +""" +Bring up nodes, hardware interfaces to control a Curiosity Rover in Open 3D Engine. + +Author: +Azmyin Md. Kamal, +Ph.D. student in MIE, +Louisiana State University, +Louisiana, USA + +Date: August 29th, 2024 +Version: 1.0 + +AI: ChatGPT 4.o + +""" + +# Imports +from ament_index_python.packages import get_package_share_directory +from launch import LaunchDescription +from launch.actions import ExecuteProcess, RegisterEventHandler +from launch_ros.actions import Node, SetParameter +from launch.event_handlers import OnProcessExit +import os +from os import environ +import xacro + +def generate_launch_description(): + """Generate launch description to bringup curiosity rover simulation.""" + # Define paths to mars_rover and simulation packages + mars_rover_demos_path = get_package_share_directory('mars_rover') + mars_rover_models_path = get_package_share_directory('simulation') + # Define + env = {'IGN_GAZEBO_SYSTEM_PLUGIN_PATH': + ':'.join([environ.get('IGN_GAZEBO_SYSTEM_PLUGIN_PATH', default=''), + environ.get('LD_LIBRARY_PATH', default='')]), + 'IGN_GAZEBO_RESOURCE_PATH': + ':'.join([environ.get('IGN_GAZEBO_RESOURCE_PATH', default=''), mars_rover_demos_path])} + urdf_model_path = os.path.join(mars_rover_models_path, 'models', 'curiosity_path', + 'urdf', 'curiosity_mars_rover.xacro') + mars_world_model = os.path.join(mars_rover_demos_path, 'worlds', 'mars_curiosity.world') + doc = xacro.process_file(urdf_model_path) + robot_description = {'robot_description': doc.toxml()} + # Arm + arm_node = Node( + package="mars_rover", + executable="move_arm", + output='screen' + ) + # Sensor mast + mast_node = Node( + package="mars_rover", + executable="move_mast", + output='screen' + ) + # Wheel groups + wheel_node = Node( + package="mars_rover", + executable="move_wheel", + output='screen' + ) + # Start demo + run_node = Node( + package="mars_rover", + executable="run_demo", + output='screen' + ) + # Publish odometry + odom_node = Node( + package="mars_rover", + executable="odom_tf_publisher", + output='screen' + ) + # Fire up Gazebo ignition model + start_world = ExecuteProcess( + cmd=['ign gazebo', mars_world_model, '-r'], + output='screen', + additional_env=env, + shell=True + ) + # Publish various joint positions and link orientation + robot_state_publisher = Node( + package='robot_state_publisher', + executable='robot_state_publisher', + name='robot_state_publisher', + output='screen', + parameters=[robot_description]) + # Bridge communication between ROS 2 and the Ignition Gazebo simulation + ros_gz_bridge = Node( + package='ros_gz_bridge', + executable='parameter_bridge', + arguments=[ + '/clock@rosgraph_msgs/msg/Clock[ignition.msgs.Clock', + '/model/curiosity_mars_rover/odometry@nav_msgs/msg/Odometry@ignition.msgs.Odometry', + '/scan@sensor_msgs/msg/LaserScan@ignition.msgs.LaserScan', + ], + output='screen') + # Connect image messages from Gazebo to ROS2 + image_bridge = Node( + package='ros_gz_image', + executable='image_bridge', + arguments=['/image_raw', '/image_raw'], + output='screen') + # Spawn curiosity rover into the world. + spawn = Node( + package='ros_ign_gazebo', executable='create', + arguments=[ + '-name', 'curiosity_mars_rover', + '-topic', robot_description, + '-z', '-7.5' + ], + output='screen' + ) + + # Control Components + component_state_msg = '{name: "IgnitionSystem", target_state: {id: 3, label: ""}}' + # TODO what bug was resolved with this hack? + # Set hardware_interface state to active + set_hardware_interface_active = ExecuteProcess( + cmd=['ros2', 'service', 'call', + 'controller_manager/set_hardware_component_state', + 'controller_manager_msgs/srv/SetHardwareComponentState', + component_state_msg] + ) + # Controller to broadcast all joint states + load_joint_state_broadcaster = ExecuteProcess( + cmd=['ros2', 'control', 'load_controller', '--set-state', 'active', + 'joint_state_broadcaster'], + output='screen' + ) + # Controller for arm + load_arm_joint_traj_controller = ExecuteProcess( + cmd=['ros2', 'control', 'load_controller', '--set-state', 'active', + 'arm_joint_trajectory_controller'], + output='screen' + ) + # Controller for sensor mast + load_mast_joint_traj_controller = ExecuteProcess( + cmd=['ros2', 'control', 'load_controller', '--set-state', 'active', + 'mast_joint_trajectory_controller'], + output='screen' + ) + # Controller for wheel + load_wheel_joint_traj_controller = ExecuteProcess( + cmd=['ros2', 'control', 'load_controller', '--set-state', 'active', + 'wheel_velocity_controller'], + output='screen' + ) + # Controller for steering + load_steer_joint_traj_controller = ExecuteProcess( + cmd=['ros2', 'control', 'load_controller', '--set-state', 'active', + 'steer_position_controller'], + output='screen' + ) + # Controller for suspension joints + load_suspension_joint_traj_controller = ExecuteProcess( + cmd=['ros2', 'control', 'load_controller', '--set-state', 'active', + 'wheel_tree_position_controller'], + output='screen' + ) + + return LaunchDescription([ + SetParameter(name='use_sim_time', value=True), + start_world, + robot_state_publisher, + spawn, + arm_node, + mast_node, + wheel_node, + run_node, + odom_node, + ros_gz_bridge, + image_bridge, + + RegisterEventHandler( + OnProcessExit( + target_action=spawn, + on_exit=[set_hardware_interface_active], + ) + ), + # After the hardware interface is activated, + # the joint state broadcaster is loaded. + RegisterEventHandler( + OnProcessExit( + target_action=set_hardware_interface_active, + on_exit=[load_joint_state_broadcaster], + ) + ), + # After the joint state broadcaster is loaded, + # all trajectory controllers (arm, mast, wheel, steer, suspension) are loaded and activated. + RegisterEventHandler( + OnProcessExit( + target_action=load_joint_state_broadcaster, + on_exit=[load_arm_joint_traj_controller, + load_mast_joint_traj_controller, + load_wheel_joint_traj_controller, + load_steer_joint_traj_controller, + load_suspension_joint_traj_controller], + ) + ), + ]) From d002a5980dd7960addc95ae1d009a2b36c518028 Mon Sep 17 00:00:00 2001 From: Mechazo11 Date: Thu, 29 Aug 2024 16:18:15 -0500 Subject: [PATCH 04/54] simulation works without arm and mast controllers --- mars_rover/launch/mars_rover_o3de.launch.py | 50 +++++++++++---------- 1 file changed, 26 insertions(+), 24 deletions(-) diff --git a/mars_rover/launch/mars_rover_o3de.launch.py b/mars_rover/launch/mars_rover_o3de.launch.py index c148d967..0641823d 100644 --- a/mars_rover/launch/mars_rover_o3de.launch.py +++ b/mars_rover/launch/mars_rover_o3de.launch.py @@ -41,17 +41,17 @@ def generate_launch_description(): doc = xacro.process_file(urdf_model_path) robot_description = {'robot_description': doc.toxml()} # Arm - arm_node = Node( - package="mars_rover", - executable="move_arm", - output='screen' - ) + # arm_node = Node( + # package="mars_rover", + # executable="move_arm", + # output='screen' + # ) # Sensor mast - mast_node = Node( - package="mars_rover", - executable="move_mast", - output='screen' - ) + # mast_node = Node( + # package="mars_rover", + # executable="move_mast", + # output='screen' + # ) # Wheel groups wheel_node = Node( package="mars_rover", @@ -59,6 +59,7 @@ def generate_launch_description(): output='screen' ) # Start demo + # TODO more data needed run_node = Node( package="mars_rover", executable="run_demo", @@ -128,17 +129,17 @@ def generate_launch_description(): output='screen' ) # Controller for arm - load_arm_joint_traj_controller = ExecuteProcess( - cmd=['ros2', 'control', 'load_controller', '--set-state', 'active', - 'arm_joint_trajectory_controller'], - output='screen' - ) + # load_arm_joint_traj_controller = ExecuteProcess( + # cmd=['ros2', 'control', 'load_controller', '--set-state', 'active', + # 'arm_joint_trajectory_controller'], + # output='screen' + # ) # Controller for sensor mast - load_mast_joint_traj_controller = ExecuteProcess( - cmd=['ros2', 'control', 'load_controller', '--set-state', 'active', - 'mast_joint_trajectory_controller'], - output='screen' - ) + # load_mast_joint_traj_controller = ExecuteProcess( + # cmd=['ros2', 'control', 'load_controller', '--set-state', 'active', + # 'mast_joint_trajectory_controller'], + # output='screen' + # ) # Controller for wheel load_wheel_joint_traj_controller = ExecuteProcess( cmd=['ros2', 'control', 'load_controller', '--set-state', 'active', @@ -163,8 +164,8 @@ def generate_launch_description(): start_world, robot_state_publisher, spawn, - arm_node, - mast_node, + # arm_node, + # mast_node, wheel_node, run_node, odom_node, @@ -190,8 +191,9 @@ def generate_launch_description(): RegisterEventHandler( OnProcessExit( target_action=load_joint_state_broadcaster, - on_exit=[load_arm_joint_traj_controller, - load_mast_joint_traj_controller, + on_exit=[ + # load_arm_joint_traj_controller, + # load_mast_joint_traj_controller, load_wheel_joint_traj_controller, load_steer_joint_traj_controller, load_suspension_joint_traj_controller], From bedd01ff852a91b974c655d5d3546b5473da9beb Mon Sep 17 00:00:00 2001 From: Mechazo11 Date: Thu, 29 Aug 2024 16:57:56 -0500 Subject: [PATCH 05/54] added doctring in move_wheel.py --- mars_rover/nodes/{move_arm => move_arm.py} | 0 mars_rover/nodes/{move_mast => move_mast.py} | 0 .../nodes/{move_wheel => move_wheel.py} | 71 +++++++++---------- ...odom_tf_publisher => odom_tf_publisher.py} | 0 mars_rover/nodes/{run_demo => run_demo.py} | 0 mars_rover/nodes/{test_node => test_node.py} | 0 6 files changed, 35 insertions(+), 36 deletions(-) rename mars_rover/nodes/{move_arm => move_arm.py} (100%) rename mars_rover/nodes/{move_mast => move_mast.py} (100%) rename mars_rover/nodes/{move_wheel => move_wheel.py} (74%) rename mars_rover/nodes/{odom_tf_publisher => odom_tf_publisher.py} (100%) rename mars_rover/nodes/{run_demo => run_demo.py} (100%) rename mars_rover/nodes/{test_node => test_node.py} (100%) diff --git a/mars_rover/nodes/move_arm b/mars_rover/nodes/move_arm.py similarity index 100% rename from mars_rover/nodes/move_arm rename to mars_rover/nodes/move_arm.py diff --git a/mars_rover/nodes/move_mast b/mars_rover/nodes/move_mast.py similarity index 100% rename from mars_rover/nodes/move_mast rename to mars_rover/nodes/move_mast.py diff --git a/mars_rover/nodes/move_wheel b/mars_rover/nodes/move_wheel.py similarity index 74% rename from mars_rover/nodes/move_wheel rename to mars_rover/nodes/move_wheel.py index c016ad00..4f66ff29 100644 --- a/mars_rover/nodes/move_wheel +++ b/mars_rover/nodes/move_wheel.py @@ -1,32 +1,52 @@ #!/usr/bin/env python3 -from pickle import FALSE +""" +Implementation of the MoveWheel class. + +Primary author: +Space-ROS + +Docstrings and comments added by: +Azmyin Md. Kamal, +Ph.D. student in MIE, iCORE Lab, +Louisiana State University, Louisiana, USA + +Date: August 29th, 2024 +Version: 1.0 +AI: ChatGPT 4.o + +""" + +# Imports +# from pickle import FALSE import rclpy from rclpy.node import Node from builtin_interfaces.msg import Duration - -from std_msgs.msg import String, Float64MultiArray +from std_msgs.msg import Float64MultiArray from trajectory_msgs.msg import JointTrajectory, JointTrajectoryPoint from geometry_msgs.msg import Twist import math class MoveWheel(Node): + """Node to control the wheel velocity, steering, and suspension.""" def __init__(self): super().__init__('wheel_node') + # Setup publishers self.wheel_publisher_ = self.create_publisher(Float64MultiArray, '/wheel_velocity_controller/commands', 10) self.steer_publisher_ = self.create_publisher(JointTrajectory, '/steer_position_controller/joint_trajectory', 10) self.suspension_publisher_ = self.create_publisher(Float64MultiArray, '/wheel_tree_position_controller/commands',10) - timer_period = 0.1 # seconds + timer_period = 0.1 # seconds, 100ms to update once? self.timer = self.create_timer(timer_period, self.timer_callback) - - + # Setup subscribers + # NOTE, ROS 2 Gem creates this subscriber via Components in prefab self.vel_sub = self.create_subscription(Twist, '/cmd_vel', self.vel_callback, 10) self.curr_vel = Twist() self.last_vel = Twist() self.should_steer = False def vel_callback(self, msg): + """Handle incoming velocity messages and updates steering state.""" if abs(self.last_vel.angular.z - self.curr_vel.angular.z) > 0.01 and self.should_steer is False: self.last_vel = Twist() self.last_vel.linear.x = self.curr_vel.linear.x @@ -36,95 +56,74 @@ def vel_callback(self, msg): self.curr_vel = msg def set_wheel_common_speed(self, vel): - + """Set the common speed for all wheels and publishes the command.""" target_vel = Float64MultiArray() target_vel.data = [vel, vel*1.5, vel, -vel, -vel*1.5, -vel] - # self.get_logger().info(f'Publishing: "{target_vel.data}"') self.wheel_publisher_.publish(target_vel) - def map_angular_to_steering(self, angular_speed) -> float: + """Map angular speed to a corresponding steering angle.""" if abs(angular_speed) < 1e-3: return 0.0 - - #max 0.6 min -0.6 - angular_speed = min(0.6, max(angular_speed, -0.6)) + angular_speed = min(0.6, max(angular_speed, -0.6)) #max 0.6 min -0.6 return (angular_speed/abs(angular_speed))*(-25 * abs(angular_speed) + 17.5) - def set_steering(self, turn_rad): - #Ideal Ackerman Steering + """Set the steering angles for the wheels using Ideal Ackerman Steering model.""" target_steer = JointTrajectory() # target_steer.header.stamp = self.get_clock().now().to_msg() target_steer.joint_names = ["suspension_steer_F_L_joint", "suspension_steer_B_L_joint", "suspension_steer_F_R_joint", "suspension_steer_B_R_joint"] steer_point = JointTrajectoryPoint() - if abs(turn_rad) < 1e-3: steer_point.positions = [0.0, 0.0, 0.0, 0.0] else: - R = abs(turn_rad) #Turning radius - + R = abs(turn_rad) #Turning radius L = 2.08157 #Chassis Length T = 1.53774 #Chassis Width - alpha_i = math.atan(L/(R - (T/2))) alpha_o = math.atan(L/(R + (T/2))) - if alpha_i > 0.6: alpha_i = 0.6 - if alpha_o > 0.6: alpha_o = 0.6 - alpha_i = round(alpha_i, 2) alpha_o = round(alpha_o, 2) - if turn_rad > 0.0: steer_point.positions = [alpha_i, -alpha_i, alpha_o, -alpha_o] else: steer_point.positions = [-alpha_o, alpha_o, -alpha_i, alpha_i] - - steer_point.time_from_start = Duration(sec=1) - target_steer.points.append(steer_point) - self.steer_publisher_.publish(target_steer) - def set_suspension(self, sus_val=None): - + """Set and publish the suspension values for the rover.""" target_val = Float64MultiArray() if sus_val is None: - target_val.data = [0.3,-0.1,0.3,-0.1] + target_val.data = [0.3,-0.1,0.3,-0.1] # TODO where are these values coming from? self.suspension_publisher_.publish(target_val) - def timer_callback(self): + """Periodic callback to update wheel speed, suspension, and steering.""" self.set_wheel_common_speed(self.curr_vel.linear.x) self.set_suspension() - if self.should_steer: steering_val = self.map_angular_to_steering(self.curr_vel.angular.z) self.set_steering(steering_val) self.should_steer = False - def main(args=None): + """Run main.""" rclpy.init(args=args) - wheel_node = MoveWheel() - rclpy.spin(wheel_node) - # Destroy the node explicitly # (optional - otherwise it will be done automatically # when the garbage collector destroys the node object) wheel_node.destroy_node() rclpy.shutdown() - if __name__ == '__main__': main() \ No newline at end of file diff --git a/mars_rover/nodes/odom_tf_publisher b/mars_rover/nodes/odom_tf_publisher.py similarity index 100% rename from mars_rover/nodes/odom_tf_publisher rename to mars_rover/nodes/odom_tf_publisher.py diff --git a/mars_rover/nodes/run_demo b/mars_rover/nodes/run_demo.py similarity index 100% rename from mars_rover/nodes/run_demo rename to mars_rover/nodes/run_demo.py diff --git a/mars_rover/nodes/test_node b/mars_rover/nodes/test_node.py similarity index 100% rename from mars_rover/nodes/test_node rename to mars_rover/nodes/test_node.py From d4327cd53d8522623063aa9c21340672b9b56a8b Mon Sep 17 00:00:00 2001 From: Mechazo11 Date: Thu, 29 Aug 2024 17:27:58 -0500 Subject: [PATCH 06/54] added comments to RunDemo() --- mars_rover/nodes/move_wheel.py | 6 +++-- mars_rover/nodes/run_demo.py | 46 +++++++++++++++++++++++++--------- mars_rover/pyproject.toml | 2 +- 3 files changed, 39 insertions(+), 15 deletions(-) diff --git a/mars_rover/nodes/move_wheel.py b/mars_rover/nodes/move_wheel.py index 4f66ff29..83aab4dd 100644 --- a/mars_rover/nodes/move_wheel.py +++ b/mars_rover/nodes/move_wheel.py @@ -39,8 +39,10 @@ def __init__(self): timer_period = 0.1 # seconds, 100ms to update once? self.timer = self.create_timer(timer_period, self.timer_callback) # Setup subscribers - # NOTE, ROS 2 Gem creates this subscriber via Components in prefab - self.vel_sub = self.create_subscription(Twist, '/cmd_vel', self.vel_callback, 10) + # Not used anywhere in this file, + # TODO depricate and delete this subscriberm it is not used anywhere + # self.vel_sub = self.create_subscription(Twist, '/cmd_vel', self.vel_callback, 10) + # Important instance variables self.curr_vel = Twist() self.last_vel = Twist() self.should_steer = False diff --git a/mars_rover/nodes/run_demo.py b/mars_rover/nodes/run_demo.py index 6df8d17a..e81a8e55 100644 --- a/mars_rover/nodes/run_demo.py +++ b/mars_rover/nodes/run_demo.py @@ -1,37 +1,60 @@ #!/usr/bin/env python3 +""" +Implementation of the RunDemo class. +This node acts as an interface between user sent service call to publishing +twist message that is then subscribed too by the controller + +Primary author: +Space-ROS + +Docstrings and comments added by: +Azmyin Md. Kamal, +Ph.D. student in MIE, iCORE Lab, +Louisiana State University, Louisiana, USA + +Date: August 29th, 2024 +Version: 1.0 +AI: ChatGPT 4.o + +""" + +# Imports import rclpy from rclpy.node import Node -from std_msgs.msg import String, Float64MultiArray +# from std_msgs.msg import String, Float64MultiArray from geometry_msgs.msg import Twist -import math -from random import randint -from std_srvs.srv import Empty +# import math +# from random import randint +from std_srvs.srv import Empty -# A node for performing combination of motions from different moving parts of the Curiosity rover. class RunDemo(Node): + """Node for performing combination of motions from different moving parts of the Curiosity rover.""" + def __init__(self) -> None: super().__init__('run_node') + # Setup publishers self.motion_publisher_ = self.create_publisher(Twist, '/cmd_vel', 10) + # Setup services self.forward_srv = self.create_service(Empty, 'move_forward', self.move_forward_callback) self.stop_srv = self.create_service(Empty, 'move_stop', self.move_stop_callback) self.left_srv = self.create_service(Empty, 'turn_left', self.turn_left_callback) self.right_srv = self.create_service(Empty, 'turn_right', self.turn_right_callback) self.stopped = True - timer_period = 0.1 self.timer = self.create_timer(timer_period, self.timer_callback) - self.curr_action = Twist() def timer_callback(self): + """Periodically publish velocity of rover in 3D space as Twist messages.""" if (not self.stopped): self.motion_publisher_.publish(self.curr_action) def move_forward_callback(self, request, response): + """Print message when moving forward.""" self.get_logger().info("Moving forward") action = Twist() action.linear.x = 2.0 @@ -40,6 +63,7 @@ def move_forward_callback(self, request, response): return response def move_stop_callback(self, request, response): + """Print message when stopped.""" # stop timer from publishing self.stopped = True self.get_logger().info("Stopping") @@ -49,6 +73,7 @@ def move_stop_callback(self, request, response): return response def turn_left_callback(self, request, response): + """Print message when turning left.""" self.get_logger().info("Turning left") action = Twist() action.linear.x = 1.0 @@ -58,6 +83,7 @@ def turn_left_callback(self, request, response): return response def turn_right_callback(self, request, response): + """Print message when turning right.""" self.get_logger().info("Turning right") self.stopped = False action = Twist() @@ -67,20 +93,16 @@ def turn_right_callback(self, request, response): self.stopped = False return response - def main(args=None): + """Run main.""" rclpy.init(args=args) - run_demo = RunDemo() - rclpy.spin(run_demo) - # Destroy the node explicitly # (optional - otherwise it will be done automatically # when the garbage collector destroys the node object) run_demo.destroy_node() rclpy.shutdown() - if __name__ == '__main__': main() \ No newline at end of file diff --git a/mars_rover/pyproject.toml b/mars_rover/pyproject.toml index 1cb8da60..89a386f7 100644 --- a/mars_rover/pyproject.toml +++ b/mars_rover/pyproject.toml @@ -17,7 +17,7 @@ target-version = "py38" fixable = [] unfixable = ["ALL"] select = ["F", "E", "W", "N", "D", "UP", "BLE", "B", "A", "COM", "EM", "PTH", "C4", "ISC"] -ignore = ["D105", "D107", "D203", "D212", "D413", "D407"] +ignore = ["D105", "D107", "D203", "D212", "D413", "D407", "COM812"] # select = [ # "A", # prevent using keywords that clobber python builtins # "B", # bugbear: security warnings From 6a0af2cfc8eebcd325b13c584ec7c323279766ed Mon Sep 17 00:00:00 2001 From: Mechazo11 Date: Thu, 29 Aug 2024 17:30:41 -0500 Subject: [PATCH 07/54] update --- mars_rover/README.md | 6 +++++- mars_rover/nodes/run_demo.py | 2 +- 2 files changed, 6 insertions(+), 2 deletions(-) diff --git a/mars_rover/README.md b/mars_rover/README.md index ccee9248..12b9c88f 100644 --- a/mars_rover/README.md +++ b/mars_rover/README.md @@ -6,4 +6,8 @@ This packge launches the curiositry mars rover simulation in Gazebo ignition. It * [ ] Description of fixing the .dae file for the ```chassis``` * [ ] How I configured it to work with the O3DE project. - * [ ] How to instructions \ No newline at end of file + * [ ] How to instructions + +**Changelogs** + + * Changed RunDemo() class name to ???? \ No newline at end of file diff --git a/mars_rover/nodes/run_demo.py b/mars_rover/nodes/run_demo.py index e81a8e55..08140c9a 100644 --- a/mars_rover/nodes/run_demo.py +++ b/mars_rover/nodes/run_demo.py @@ -32,7 +32,7 @@ from std_srvs.srv import Empty class RunDemo(Node): - """Node for performing combination of motions from different moving parts of the Curiosity rover.""" + """Node that converts user's service / input device commands to Twist messages.""" def __init__(self) -> None: super().__init__('run_node') From 6d5745e16e75d008713f69996e49ebb7a6e76aba Mon Sep 17 00:00:00 2001 From: Mechazo11 Date: Thu, 29 Aug 2024 17:55:34 -0500 Subject: [PATCH 08/54] RunDemo successfully refactored to TeleOpRover class --- mars_rover/README.md | 2 +- mars_rover/launch/mars_rover_o3de.launch.py | 9 ++++----- mars_rover/nodes/{run_demo.py => teleop_rover.py} | 14 +++++++------- 3 files changed, 12 insertions(+), 13 deletions(-) rename mars_rover/nodes/{run_demo.py => teleop_rover.py} (91%) diff --git a/mars_rover/README.md b/mars_rover/README.md index 12b9c88f..01f8b167 100644 --- a/mars_rover/README.md +++ b/mars_rover/README.md @@ -10,4 +10,4 @@ This packge launches the curiositry mars rover simulation in Gazebo ignition. It **Changelogs** - * Changed RunDemo() class name to ???? \ No newline at end of file + * Changed RunDemo class name to TeleOpRover as this class's primary function is to publish Twist message based on user/teleop input \ No newline at end of file diff --git a/mars_rover/launch/mars_rover_o3de.launch.py b/mars_rover/launch/mars_rover_o3de.launch.py index 0641823d..0bbb52a8 100644 --- a/mars_rover/launch/mars_rover_o3de.launch.py +++ b/mars_rover/launch/mars_rover_o3de.launch.py @@ -58,11 +58,10 @@ def generate_launch_description(): executable="move_wheel", output='screen' ) - # Start demo - # TODO more data needed - run_node = Node( + # Node to take teleop / + teleop_rover_node = Node( package="mars_rover", - executable="run_demo", + executable="teleop_rover", output='screen' ) # Publish odometry @@ -167,7 +166,7 @@ def generate_launch_description(): # arm_node, # mast_node, wheel_node, - run_node, + teleop_rover_node, # Renamed from run_node odom_node, ros_gz_bridge, image_bridge, diff --git a/mars_rover/nodes/run_demo.py b/mars_rover/nodes/teleop_rover.py similarity index 91% rename from mars_rover/nodes/run_demo.py rename to mars_rover/nodes/teleop_rover.py index 08140c9a..63620efe 100644 --- a/mars_rover/nodes/run_demo.py +++ b/mars_rover/nodes/teleop_rover.py @@ -1,7 +1,7 @@ #!/usr/bin/env python3 """ -Implementation of the RunDemo class. +Implementation of the TeleOpRover class. This node acts as an interface between user sent service call to publishing twist message that is then subscribed too by the controller @@ -31,11 +31,11 @@ # from random import randint from std_srvs.srv import Empty -class RunDemo(Node): - """Node that converts user's service / input device commands to Twist messages.""" +class TeleOpRover(Node): + """Node that converts user's service request / input device commands to Twist messages.""" def __init__(self) -> None: - super().__init__('run_node') + super().__init__('teleop_node') # Setup publishers self.motion_publisher_ = self.create_publisher(Twist, '/cmd_vel', 10) # Setup services @@ -96,12 +96,12 @@ def turn_right_callback(self, request, response): def main(args=None): """Run main.""" rclpy.init(args=args) - run_demo = RunDemo() - rclpy.spin(run_demo) + teleop_node = TeleOpRover() + rclpy.spin(teleop_node) # Destroy the node explicitly # (optional - otherwise it will be done automatically # when the garbage collector destroys the node object) - run_demo.destroy_node() + teleop_node.destroy_node() rclpy.shutdown() if __name__ == '__main__': From b7de63d789bd22369c4885f44fd24eda47797e78 Mon Sep 17 00:00:00 2001 From: Mechazo11 Date: Thu, 29 Aug 2024 18:36:34 -0500 Subject: [PATCH 09/54] before turning off odom_tf --- mars_rover/README.md | 3 +- mars_rover/nodes/odom_tf_publisher.py | 48 +++++++++++++++++---------- 2 files changed, 33 insertions(+), 18 deletions(-) diff --git a/mars_rover/README.md b/mars_rover/README.md index 01f8b167..2204fc68 100644 --- a/mars_rover/README.md +++ b/mars_rover/README.md @@ -10,4 +10,5 @@ This packge launches the curiositry mars rover simulation in Gazebo ignition. It **Changelogs** - * Changed RunDemo class name to TeleOpRover as this class's primary function is to publish Twist message based on user/teleop input \ No newline at end of file + * Changed RunDemo class name to TeleOpRover as this class's primary function is to publish Twist message based on user/teleop input. + * odom_tf_broadcaster may need to be turned off??? \ No newline at end of file diff --git a/mars_rover/nodes/odom_tf_publisher.py b/mars_rover/nodes/odom_tf_publisher.py index ca5c95f1..7e452a4a 100644 --- a/mars_rover/nodes/odom_tf_publisher.py +++ b/mars_rover/nodes/odom_tf_publisher.py @@ -1,16 +1,33 @@ #!/usr/bin/env python3 -# adapted from ROS 2 tutorial -# https://docs.ros.org/en/rolling/Tutorials/Intermediate/Tf2/Writing-A-Tf2-Broadcaster-Py.html +""" +Implementation of the OdomTFBroadcaster class. -import rclpy +Adapted from ROS 2 tutorial https://docs.ros.org/en/rolling/Tutorials/Intermediate/Tf2/Writing-A-Tf2-Broadcaster-Py.html + +Primary author: +Space-ROS + +Docstrings and comments added by: +Azmyin Md. Kamal, +Ph.D. student in MIE, iCORE Lab, +Louisiana State University, Louisiana, USA + +Date: August 29th, 2024 +Version: 1.0 +AI: ChatGPT 4.o + +""" +#imports +import rclpy from nav_msgs.msg import Odometry from geometry_msgs.msg import TransformStamped from rclpy.node import Node from tf2_ros import TransformBroadcaster class OdomTFBroadcaster(Node): + """Publish the coordinate transforms between different frames of the rover.""" def __init__(self): super().__init__('odom_tf_publisher') @@ -18,40 +35,37 @@ def __init__(self): # Initialize the transform broadcaster self.tf_broadcaster = TransformBroadcaster(self) + # Setup subscribers + # Gazebo Ignition publishes [odometry data](https://gazebosim.org/api/sim/8/classgz_1_1sim_1_1systems_1_1OdometryPublisher.html#details) + # ! Name changed from /model/curiosity_mars_rover/odometry to ??? # Subscribe to Odometry topic - # TODO: make the topic name a parameter instead of hard-coded - self.subscription = self.create_subscription( - Odometry, - f'/model/curiosity_mars_rover/odometry', - self.handle_odometry, - 1) + sim_odom_topic_name = "/model/curiosity_mars_rover/odometry" # TODO: make the topic name a parameter instead of hardcoded + self.subscription = self.create_subscription(Odometry,sim_odom_topic_name, + self.handle_odometry,1) self.subscription # prevent unused variable warning def handle_odometry(self, msg): + """Process odometry message from simulated world.""" tf = TransformStamped() - # Read message content and assign it to - # corresponding tf variables + # Corresponding tf variables tf.header.stamp = msg.header.stamp tf.header.frame_id = msg.header.frame_id tf.child_frame_id = msg.child_frame_id - - # get translation coordinates from the message pose + # Get translation coordinates from the message pose tf.transform.translation.x = msg.pose.pose.position.x tf.transform.translation.y = msg.pose.pose.position.y tf.transform.translation.z = msg.pose.pose.position.z - - # get rotation from the message pose + # Get rotation from the message pose tf.transform.rotation.x = msg.pose.pose.orientation.x tf.transform.rotation.y = msg.pose.pose.orientation.y tf.transform.rotation.z = msg.pose.pose.orientation.z tf.transform.rotation.w = msg.pose.pose.orientation.w - # Send the transformation self.tf_broadcaster.sendTransform(tf) - def main(): + """Run main.""" rclpy.init() node = OdomTFBroadcaster() node.get_logger().info('Starting odometry_tf_publisher node') From 42cb35b6b6b59c6f5d72d9f4953745c21decc577 Mon Sep 17 00:00:00 2001 From: Mechazo11 Date: Thu, 29 Aug 2024 18:58:54 -0500 Subject: [PATCH 10/54] deactivated odom_tf, it does not affect movement --- mars_rover/launch/mars_rover_o3de.launch.py | 13 +++++++------ 1 file changed, 7 insertions(+), 6 deletions(-) diff --git a/mars_rover/launch/mars_rover_o3de.launch.py b/mars_rover/launch/mars_rover_o3de.launch.py index 0bbb52a8..ed8d82f3 100644 --- a/mars_rover/launch/mars_rover_o3de.launch.py +++ b/mars_rover/launch/mars_rover_o3de.launch.py @@ -65,11 +65,12 @@ def generate_launch_description(): output='screen' ) # Publish odometry - odom_node = Node( - package="mars_rover", - executable="odom_tf_publisher", - output='screen' - ) + # odom_node = Node( + # package="mars_rover", + # executable="odom_tf_publisher", + # output='screen' + # ) + # Fire up Gazebo ignition model start_world = ExecuteProcess( cmd=['ign gazebo', mars_world_model, '-r'], @@ -167,7 +168,7 @@ def generate_launch_description(): # mast_node, wheel_node, teleop_rover_node, # Renamed from run_node - odom_node, + # odom_node, ros_gz_bridge, image_bridge, From c5b6b0654e2a653416645f1125e298994050489e Mon Sep 17 00:00:00 2001 From: Mechazo11 Date: Thu, 29 Aug 2024 19:00:56 -0500 Subject: [PATCH 11/54] update --- mars_rover/launch/mars_rover_o3de.launch.py | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/mars_rover/launch/mars_rover_o3de.launch.py b/mars_rover/launch/mars_rover_o3de.launch.py index ed8d82f3..67f2ec80 100644 --- a/mars_rover/launch/mars_rover_o3de.launch.py +++ b/mars_rover/launch/mars_rover_o3de.launch.py @@ -40,6 +40,7 @@ def generate_launch_description(): mars_world_model = os.path.join(mars_rover_demos_path, 'worlds', 'mars_curiosity.world') doc = xacro.process_file(urdf_model_path) robot_description = {'robot_description': doc.toxml()} + # Arm # arm_node = Node( # package="mars_rover", @@ -128,18 +129,21 @@ def generate_launch_description(): 'joint_state_broadcaster'], output='screen' ) + # Controller for arm # load_arm_joint_traj_controller = ExecuteProcess( # cmd=['ros2', 'control', 'load_controller', '--set-state', 'active', # 'arm_joint_trajectory_controller'], # output='screen' # ) + # Controller for sensor mast # load_mast_joint_traj_controller = ExecuteProcess( # cmd=['ros2', 'control', 'load_controller', '--set-state', 'active', # 'mast_joint_trajectory_controller'], # output='screen' # ) + # Controller for wheel load_wheel_joint_traj_controller = ExecuteProcess( cmd=['ros2', 'control', 'load_controller', '--set-state', 'active', From 8587126923fefe5b140c5f14bfba0588796f89a1 Mon Sep 17 00:00:00 2001 From: Mechazo11 Date: Thu, 29 Aug 2024 19:10:25 -0500 Subject: [PATCH 12/54] update --- mars_rover/launch/mars_rover_o3de.launch.py | 2 ++ 1 file changed, 2 insertions(+) diff --git a/mars_rover/launch/mars_rover_o3de.launch.py b/mars_rover/launch/mars_rover_o3de.launch.py index 67f2ec80..754e67af 100644 --- a/mars_rover/launch/mars_rover_o3de.launch.py +++ b/mars_rover/launch/mars_rover_o3de.launch.py @@ -115,6 +115,7 @@ def generate_launch_description(): # Control Components component_state_msg = '{name: "IgnitionSystem", target_state: {id: 3, label: ""}}' + # TODO what bug was resolved with this hack? # Set hardware_interface state to active set_hardware_interface_active = ExecuteProcess( @@ -123,6 +124,7 @@ def generate_launch_description(): 'controller_manager_msgs/srv/SetHardwareComponentState', component_state_msg] ) + # Controller to broadcast all joint states load_joint_state_broadcaster = ExecuteProcess( cmd=['ros2', 'control', 'load_controller', '--set-state', 'active', From 16f125392d6c77e4885c6f4b3e6a86c165584bf0 Mon Sep 17 00:00:00 2001 From: Mechazo11 Date: Thu, 29 Aug 2024 20:47:20 -0500 Subject: [PATCH 13/54] updated Cmake --- mars_rover/CMakeLists.txt | 11 ++++++----- mars_rover/launch/mars_rover_o3de.launch.py | 2 +- mars_rover/nodes/teleop_rover.py | 9 +++++++-- 3 files changed, 14 insertions(+), 8 deletions(-) diff --git a/mars_rover/CMakeLists.txt b/mars_rover/CMakeLists.txt index c2c90051..91448042 100644 --- a/mars_rover/CMakeLists.txt +++ b/mars_rover/CMakeLists.txt @@ -41,11 +41,12 @@ install(DIRECTORY ament_python_install_package(${PROJECT_NAME}) install(PROGRAMS - nodes/move_arm - nodes/move_mast - nodes/move_wheel - nodes/run_demo - nodes/odom_tf_publisher + #nodes/move_arm.py + #nodes/move_mast.py + nodes/move_wheel.py + #nodes/run_demo.py + nodes/teleop_rover.py + nodes/odom_tf_publisher.py DESTINATION lib/${PROJECT_NAME} ) diff --git a/mars_rover/launch/mars_rover_o3de.launch.py b/mars_rover/launch/mars_rover_o3de.launch.py index 754e67af..7760be8f 100644 --- a/mars_rover/launch/mars_rover_o3de.launch.py +++ b/mars_rover/launch/mars_rover_o3de.launch.py @@ -59,7 +59,7 @@ def generate_launch_description(): executable="move_wheel", output='screen' ) - # Node to take teleop / + # Node to take teleop teleop_rover_node = Node( package="mars_rover", executable="teleop_rover", diff --git a/mars_rover/nodes/teleop_rover.py b/mars_rover/nodes/teleop_rover.py index 63620efe..9fe72d4a 100644 --- a/mars_rover/nodes/teleop_rover.py +++ b/mars_rover/nodes/teleop_rover.py @@ -38,6 +38,7 @@ def __init__(self) -> None: super().__init__('teleop_node') # Setup publishers self.motion_publisher_ = self.create_publisher(Twist, '/cmd_vel', 10) + self.o3de_motion_publisher_ = self.create_publisher(Twist, '/base_footprint/cmd_vel', 10) # Setup services self.forward_srv = self.create_service(Empty, 'move_forward', self.move_forward_callback) self.stop_srv = self.create_service(Empty, 'move_stop', self.move_stop_callback) @@ -51,7 +52,10 @@ def __init__(self) -> None: def timer_callback(self): """Periodically publish velocity of rover in 3D space as Twist messages.""" if (not self.stopped): - self.motion_publisher_.publish(self.curr_action) + self.o3de_motion_publisher_.publish(self.curr_action) + # self.motion_publisher_.publish(self.curr_action) + # Experimental + def move_forward_callback(self, request, response): """Print message when moving forward.""" @@ -69,7 +73,8 @@ def move_stop_callback(self, request, response): self.get_logger().info("Stopping") self.curr_action = Twist() # publish once to ensure we stop - self.motion_publisher_.publish(self.curr_action) + # self.motion_publisher_.publish(self.curr_action) + self.o3de_motion_publisher_.publish(self.curr_action) return response def turn_left_callback(self, request, response): From 28ee7a3561c57b672d4eee2c8a496f3b6f5977a2 Mon Sep 17 00:00:00 2001 From: Mechazo11 Date: Thu, 29 Aug 2024 21:45:44 -0500 Subject: [PATCH 14/54] fixed files builds and runs simulation --- mars_rover/CMakeLists.txt | 12 ++++++------ mars_rover/nodes/{move_arm.py => move_arm} | 0 mars_rover/nodes/{move_mast.py => move_mast} | 0 mars_rover/nodes/{move_wheel.py => move_wheel} | 0 .../{odom_tf_publisher.py => odom_tf_publisher} | 0 mars_rover/nodes/{teleop_rover.py => teleop_rover} | 0 6 files changed, 6 insertions(+), 6 deletions(-) rename mars_rover/nodes/{move_arm.py => move_arm} (100%) mode change 100644 => 100755 rename mars_rover/nodes/{move_mast.py => move_mast} (100%) mode change 100644 => 100755 rename mars_rover/nodes/{move_wheel.py => move_wheel} (100%) mode change 100644 => 100755 rename mars_rover/nodes/{odom_tf_publisher.py => odom_tf_publisher} (100%) mode change 100644 => 100755 rename mars_rover/nodes/{teleop_rover.py => teleop_rover} (100%) mode change 100644 => 100755 diff --git a/mars_rover/CMakeLists.txt b/mars_rover/CMakeLists.txt index 91448042..bdfe74ac 100644 --- a/mars_rover/CMakeLists.txt +++ b/mars_rover/CMakeLists.txt @@ -41,12 +41,12 @@ install(DIRECTORY ament_python_install_package(${PROJECT_NAME}) install(PROGRAMS - #nodes/move_arm.py - #nodes/move_mast.py - nodes/move_wheel.py - #nodes/run_demo.py - nodes/teleop_rover.py - nodes/odom_tf_publisher.py + nodes/move_arm + nodes/move_mast + nodes/move_wheel + #nodes/run_demo + nodes/teleop_rover + nodes/odom_tf_publisher DESTINATION lib/${PROJECT_NAME} ) diff --git a/mars_rover/nodes/move_arm.py b/mars_rover/nodes/move_arm old mode 100644 new mode 100755 similarity index 100% rename from mars_rover/nodes/move_arm.py rename to mars_rover/nodes/move_arm diff --git a/mars_rover/nodes/move_mast.py b/mars_rover/nodes/move_mast old mode 100644 new mode 100755 similarity index 100% rename from mars_rover/nodes/move_mast.py rename to mars_rover/nodes/move_mast diff --git a/mars_rover/nodes/move_wheel.py b/mars_rover/nodes/move_wheel old mode 100644 new mode 100755 similarity index 100% rename from mars_rover/nodes/move_wheel.py rename to mars_rover/nodes/move_wheel diff --git a/mars_rover/nodes/odom_tf_publisher.py b/mars_rover/nodes/odom_tf_publisher old mode 100644 new mode 100755 similarity index 100% rename from mars_rover/nodes/odom_tf_publisher.py rename to mars_rover/nodes/odom_tf_publisher diff --git a/mars_rover/nodes/teleop_rover.py b/mars_rover/nodes/teleop_rover old mode 100644 new mode 100755 similarity index 100% rename from mars_rover/nodes/teleop_rover.py rename to mars_rover/nodes/teleop_rover From 1e289416bb27bb5119244097550652f72fb7b799 Mon Sep 17 00:00:00 2001 From: Mechazo11 Date: Fri, 30 Aug 2024 20:23:53 -0500 Subject: [PATCH 15/54] update --- mars_rover/launch/mars_rover_o3de.launch.py | 6 +++++- 1 file changed, 5 insertions(+), 1 deletion(-) diff --git a/mars_rover/launch/mars_rover_o3de.launch.py b/mars_rover/launch/mars_rover_o3de.launch.py index 7760be8f..95f1c83d 100644 --- a/mars_rover/launch/mars_rover_o3de.launch.py +++ b/mars_rover/launch/mars_rover_o3de.launch.py @@ -35,9 +35,12 @@ def generate_launch_description(): environ.get('LD_LIBRARY_PATH', default='')]), 'IGN_GAZEBO_RESOURCE_PATH': ':'.join([environ.get('IGN_GAZEBO_RESOURCE_PATH', default=''), mars_rover_demos_path])} + urdf_model_path = os.path.join(mars_rover_models_path, 'models', 'curiosity_path', 'urdf', 'curiosity_mars_rover.xacro') + mars_world_model = os.path.join(mars_rover_demos_path, 'worlds', 'mars_curiosity.world') + doc = xacro.process_file(urdf_model_path) robot_description = {'robot_description': doc.toxml()} @@ -72,7 +75,7 @@ def generate_launch_description(): # output='screen' # ) - # Fire up Gazebo ignition model + # Fire up Gazebo Ignition start_world = ExecuteProcess( cmd=['ign gazebo', mars_world_model, '-r'], output='screen', @@ -80,6 +83,7 @@ def generate_launch_description(): shell=True ) # Publish various joint positions and link orientation + # This is crucial for simulation robot_state_publisher = Node( package='robot_state_publisher', executable='robot_state_publisher', From a502ccdce419fb6f88e3dc9345a16e34635b08e0 Mon Sep 17 00:00:00 2001 From: Mechazo11 Date: Mon, 2 Sep 2024 15:13:03 -0500 Subject: [PATCH 16/54] update --- mars_rover/launch/mars_rover_o3de.launch.py | 30 ++++++++++---------- mars_rover/nodes/teleop_rover | 10 +++---- mars_rover/nodes/{test_node.py => test_node} | 0 3 files changed, 20 insertions(+), 20 deletions(-) rename mars_rover/nodes/{test_node.py => test_node} (100%) diff --git a/mars_rover/launch/mars_rover_o3de.launch.py b/mars_rover/launch/mars_rover_o3de.launch.py index 95f1c83d..e465867d 100644 --- a/mars_rover/launch/mars_rover_o3de.launch.py +++ b/mars_rover/launch/mars_rover_o3de.launch.py @@ -137,18 +137,18 @@ def generate_launch_description(): ) # Controller for arm - # load_arm_joint_traj_controller = ExecuteProcess( - # cmd=['ros2', 'control', 'load_controller', '--set-state', 'active', - # 'arm_joint_trajectory_controller'], - # output='screen' - # ) + load_arm_joint_traj_controller = ExecuteProcess( + cmd=['ros2', 'control', 'load_controller', '--set-state', 'active', + 'arm_joint_trajectory_controller'], + output='screen' + ) # Controller for sensor mast - # load_mast_joint_traj_controller = ExecuteProcess( - # cmd=['ros2', 'control', 'load_controller', '--set-state', 'active', - # 'mast_joint_trajectory_controller'], - # output='screen' - # ) + load_mast_joint_traj_controller = ExecuteProcess( + cmd=['ros2', 'control', 'load_controller', '--set-state', 'active', + 'mast_joint_trajectory_controller'], + output='screen' + ) # Controller for wheel load_wheel_joint_traj_controller = ExecuteProcess( @@ -171,16 +171,16 @@ def generate_launch_description(): return LaunchDescription([ SetParameter(name='use_sim_time', value=True), - start_world, - robot_state_publisher, - spawn, + #start_world, + #robot_state_publisher, + #spawn, # arm_node, # mast_node, wheel_node, teleop_rover_node, # Renamed from run_node # odom_node, - ros_gz_bridge, - image_bridge, + #ros_gz_bridge, + #image_bridge, RegisterEventHandler( OnProcessExit( diff --git a/mars_rover/nodes/teleop_rover b/mars_rover/nodes/teleop_rover index 9fe72d4a..7042df6c 100755 --- a/mars_rover/nodes/teleop_rover +++ b/mars_rover/nodes/teleop_rover @@ -38,7 +38,7 @@ class TeleOpRover(Node): super().__init__('teleop_node') # Setup publishers self.motion_publisher_ = self.create_publisher(Twist, '/cmd_vel', 10) - self.o3de_motion_publisher_ = self.create_publisher(Twist, '/base_footprint/cmd_vel', 10) + self.o3de_motion_publisher_ = self.create_publisher(Twist, '/curiosity/cmd_vel', 10) # Setup services self.forward_srv = self.create_service(Empty, 'move_forward', self.move_forward_callback) self.stop_srv = self.create_service(Empty, 'move_stop', self.move_stop_callback) @@ -53,15 +53,15 @@ class TeleOpRover(Node): """Periodically publish velocity of rover in 3D space as Twist messages.""" if (not self.stopped): self.o3de_motion_publisher_.publish(self.curr_action) - # self.motion_publisher_.publish(self.curr_action) + self.motion_publisher_.publish(self.curr_action) # Experimental - def move_forward_callback(self, request, response): """Print message when moving forward.""" self.get_logger().info("Moving forward") action = Twist() - action.linear.x = 2.0 + # action.linear.x = 2.0 + action.linear.x = 0.5 self.curr_action = action self.stopped = False return response @@ -73,7 +73,7 @@ class TeleOpRover(Node): self.get_logger().info("Stopping") self.curr_action = Twist() # publish once to ensure we stop - # self.motion_publisher_.publish(self.curr_action) + self.motion_publisher_.publish(self.curr_action) self.o3de_motion_publisher_.publish(self.curr_action) return response diff --git a/mars_rover/nodes/test_node.py b/mars_rover/nodes/test_node similarity index 100% rename from mars_rover/nodes/test_node.py rename to mars_rover/nodes/test_node From aa2fef70d4d2ee7d27bd7d656542a0453b17463b Mon Sep 17 00:00:00 2001 From: Mechazo11 Date: Fri, 6 Sep 2024 23:34:41 -0500 Subject: [PATCH 17/54] fixed erroneous code for sending stop signal --- mars_rover/nodes/teleop_rover | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/mars_rover/nodes/teleop_rover b/mars_rover/nodes/teleop_rover index 7042df6c..24c964f4 100755 --- a/mars_rover/nodes/teleop_rover +++ b/mars_rover/nodes/teleop_rover @@ -38,7 +38,7 @@ class TeleOpRover(Node): super().__init__('teleop_node') # Setup publishers self.motion_publisher_ = self.create_publisher(Twist, '/cmd_vel', 10) - self.o3de_motion_publisher_ = self.create_publisher(Twist, '/curiosity/cmd_vel', 10) + self.o3de_motion_publisher_ = self.create_publisher(Twist, '/rover/cmd_vel', 10) # Setup services self.forward_srv = self.create_service(Empty, 'move_forward', self.move_forward_callback) self.stop_srv = self.create_service(Empty, 'move_stop', self.move_stop_callback) @@ -61,7 +61,7 @@ class TeleOpRover(Node): self.get_logger().info("Moving forward") action = Twist() # action.linear.x = 2.0 - action.linear.x = 0.5 + action.linear.x = 1.5 # Not sure but negative value makes it move forward self.curr_action = action self.stopped = False return response From 1d27a3d47df2d33b7a56b7b9db9bcf824ed59a9d Mon Sep 17 00:00:00 2001 From: Mechazo11 Date: Sun, 8 Sep 2024 11:23:58 -0500 Subject: [PATCH 18/54] updated teleop_rover for submission --- mars_rover/nodes/teleop_rover | 12 +++++++----- 1 file changed, 7 insertions(+), 5 deletions(-) diff --git a/mars_rover/nodes/teleop_rover b/mars_rover/nodes/teleop_rover index 24c964f4..b1d25531 100755 --- a/mars_rover/nodes/teleop_rover +++ b/mars_rover/nodes/teleop_rover @@ -52,16 +52,17 @@ class TeleOpRover(Node): def timer_callback(self): """Periodically publish velocity of rover in 3D space as Twist messages.""" if (not self.stopped): - self.o3de_motion_publisher_.publish(self.curr_action) - self.motion_publisher_.publish(self.curr_action) # Experimental + self.o3de_motion_publisher_.publish(self.curr_action) + # self.motion_publisher_.publish(self.curr_action) + def move_forward_callback(self, request, response): """Print message when moving forward.""" self.get_logger().info("Moving forward") action = Twist() # action.linear.x = 2.0 - action.linear.x = 1.5 # Not sure but negative value makes it move forward + action.linear.x = 1.0 # Not sure but negative value makes it move forward self.curr_action = action self.stopped = False return response @@ -92,8 +93,9 @@ class TeleOpRover(Node): self.get_logger().info("Turning right") self.stopped = False action = Twist() - action.linear.x = 1.0 - action.angular.z = -0.4 + #action.linear.x = 1.0 + action.linear.x = 0.5 + action.angular.z = -1.5 self.curr_action = action self.stopped = False return response From 8a0a59b647124aaa7aa18e1cf3e03b608313b3f0 Mon Sep 17 00:00:00 2001 From: Mechazo11 Date: Tue, 10 Sep 2024 19:52:34 -0500 Subject: [PATCH 19/54] added o3de_mars_rover directory --- o3de_mars_rover/DockerFile_O3DE_sample.txt | 149 ++++++++++ o3de_mars_rover/Dockerfile | 320 +++++++++++++++++++++ o3de_mars_rover/build.sh | 23 ++ 3 files changed, 492 insertions(+) create mode 100644 o3de_mars_rover/DockerFile_O3DE_sample.txt create mode 100644 o3de_mars_rover/Dockerfile create mode 100755 o3de_mars_rover/build.sh diff --git a/o3de_mars_rover/DockerFile_O3DE_sample.txt b/o3de_mars_rover/DockerFile_O3DE_sample.txt new file mode 100644 index 00000000..eb8db8f5 --- /dev/null +++ b/o3de_mars_rover/DockerFile_O3DE_sample.txt @@ -0,0 +1,149 @@ +# Dockerfile based on https://gist.github.com/michalpelka/a571f914bf5c9822935f2654e45811ec + +ARG ROS_DISTRO=humble + +FROM husarnet/ros:${ROS_DISTRO}-ros-core + +ENV O3DE_HASH=52084aee31172c0202a1de120714e811c29dd3b7 +ENV O3DE_EXTRAS_HASH=3464657cd21c324ed90332a98a140e65e25fd942 +ENV PROJECT_NAME=ROSbotXLDemo + +ENV WORKDIR=/data/workspace +WORKDIR $WORKDIR + +ARG DEBIAN_FRONTEND=noninteractive + +# Setup time zone and locale data (necessary for SSL and HTTPS packages) +RUN apt-get update && DEBIAN_FRONTEND="noninteractive" apt-get -y \ + install \ + tzdata \ + locales \ + keyboard-configuration \ + && rm -rf /var/lib/apt/lists/* + +RUN sed -i -e 's/# en_US.UTF-8 UTF-8/en_US.UTF-8 UTF-8/' /etc/locale.gen \ + && dpkg-reconfigure --frontend=noninteractive locales \ + && update-locale LANG=en_US.UTF-8 + +ENV LANG=en_US.UTF-8 + +# Install common tools +# deps in https://github.com/o3de/o3de/blob/development/scripts/build/build_node/Platform/Linux/package-list.ubuntu-jammy.txt +RUN apt-get update && apt-get install -y \ + bc \ + bind9-utils \ + binutils \ + ca-certificates \ + clang \ + cmake \ + file \ + firewalld \ + git \ + git-lfs \ + jq \ + kbd \ + kmod \ + less \ + lsb-release \ + libglu1-mesa-dev \ + libxcb-xinerama0 \ + libfontconfig1-dev \ + libcurl4-openssl-dev \ + libnvidia-gl-470 \ + libssl-dev \ + libxcb-xkb-dev \ + libxkbcommon-x11-dev \ + libxkbcommon-dev \ + libxcb-xfixes0-dev \ + libxcb-xinput-dev \ + libxcb-xinput0 \ + libpcre2-16-0 \ + lsof \ + net-tools \ + ninja-build \ + pciutils \ + python3-pip \ + software-properties-common \ + sudo \ + tar \ + unzip \ + vim \ + wget \ + xz-utils \ + && rm -rf /var/lib/apt/lists/* + +# Gem + ROS pacakges +RUN apt-get update && apt-get install -y \ + ros-$ROS_DISTRO-ackermann-msgs \ + ros-$ROS_DISTRO-control-toolbox \ + ros-$ROS_DISTRO-gazebo-msgs \ + ros-$ROS_DISTRO-joy \ + ros-$ROS_DISTRO-navigation2 \ + ros-$ROS_DISTRO-rviz2 \ + ros-$ROS_DISTRO-tf2-ros \ + ros-$ROS_DISTRO-urdfdom \ + ros-$ROS_DISTRO-vision-msgs \ + && rm -rf /var/lib/apt/lists/* + +## Symlink clang version to non-versioned clang and set cc to clang +RUN update-alternatives --install /usr/bin/cc cc /usr/bin/clang 100 \ + && update-alternatives --install /usr/bin/c++ c++ /usr/bin/clang++ 100 + +# Install o3de +RUN git clone https://github.com/o3de/o3de.git \ + && cd o3de \ + && git checkout ${O3DE_HASH} \ + && git lfs install \ + && git lfs pull \ + && python/get_python.sh + +# Install o3de-extras +RUN git clone https://github.com/o3de/o3de-extras.git \ + && cd o3de-extras \ + && git checkout ${O3DE_EXTRAS_HASH} \ + && git lfs install \ + && git lfs pull + +# regiester engine and Gems from o3de-extras +RUN ./o3de/scripts/o3de.sh register --this-engine \ + && ./o3de/scripts/o3de.sh register --gem-path ./o3de-extras/Gems/ROS2 \ + && ./o3de/scripts/o3de.sh register --gem-path ./o3de-extras/Gems/RosRobotSample \ + && ./o3de/scripts/o3de.sh register --gem-path ./o3de-extras/Gems/WarehouseSample + +# create in project from template in o3de-extras +RUN ./o3de/scripts/o3de.sh create-project \ + --project-path ${WORKDIR}/${PROJECT_NAME} \ + --template-path ./o3de-extras/Templates/Ros2ProjectTemplate/ -f + +WORKDIR ${WORKDIR}/${PROJECT_NAME} + +RUN . /opt/ros/$ROS_DISTRO/setup.sh \ + && cmake -B build/linux -S . -G "Ninja Multi-Config" -DLY_STRIP_DEBUG_SYMBOLS=ON + +RUN . /opt/ros/$ROS_DISTRO/setup.sh \ + && cmake --build build/linux --config profile --target ${PROJECT_NAME} Editor AssetProcessor + +# This final step takes long since they Assets will be downloading +RUN . /opt/ros/$ROS_DISTRO/setup.sh \ + && echo "This final step can take more than 1 hour. Good time for going for a coffee :)" \ + && cmake --build build/linux --config profile --target ${PROJECT_NAME}.Assets + +# Installing some ros2 for navigation +RUN apt-get update && apt-get install -y \ + python3-colcon-common-extensions \ + ros-$ROS_DISTRO-cyclonedds \ + ros-$ROS_DISTRO-rmw-cyclonedds-cpp \ + ros-$ROS_DISTRO-slam-toolbox \ + ros-$ROS_DISTRO-navigation2 \ + ros-$ROS_DISTRO-nav2-bringup \ + ros-$ROS_DISTRO-pointcloud-to-laserscan \ + ros-$ROS_DISTRO-teleop-twist-keyboard \ + ros-$ROS_DISTRO-ackermann-msgs \ + ros-$ROS_DISTRO-topic-tools \ + && rm -rf /var/lib/apt/lists/* + +RUN pip install python-statemachine + +WORKDIR $WORKDIR + +ENV RMW_IMPLEMENTATION=rmw_cyclonedds_cpp \ No newline at end of file diff --git a/o3de_mars_rover/Dockerfile b/o3de_mars_rover/Dockerfile new file mode 100644 index 00000000..2d13dc08 --- /dev/null +++ b/o3de_mars_rover/Dockerfile @@ -0,0 +1,320 @@ +# Copyright 2024 Azmyin Md. Kamal +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. +# +# A Docker configuration script to build the o3de_curiosit_docker image that showcases Open 3D Engine +# in simulating a Curiositry rover traversing through a test ground inspired by the NASA JPL Mars Yard +# O3DE docker file based on https://github.com/husarion/o3de-docker/blob/main/Dockerfile +# +# +# The script provides the following build arguments: +# +# VCS_REF - The git revision of the Space ROS source code (no default value). +# VERSION - The version of Space ROS (default: "preview") + +FROM openrobotics/moveit2:latest + +# Define arguments used in the metadata definition +ARG VCS_REF +ARG VERSION="preview" +ARG ROS_DISTRO=humble + +# Specify the docker image metadata +LABEL org.label-schema.schema-version="1.0" +LABEL org.label-schema.name="O3DE Curiosity Rover" +LABEL org.label-schema.description="Curiosity rover demo on a new test enviornment on the Space ROS platform and Open 3D Engine" +LABEL org.label-schema.vendor="Nasa Space ROS Sim Summer Spring Challenge 2024" +LABEL org.label-schema.version=${VERSION} +LABEL org.label-schema.url="https://github.com/space-ros" +LABEL org.label-schema.vcs-url="https://github.com/Mechazo11/space-ros-docker" +LABEL org.label-schema.vcs-ref=${VCS_REF} + +# Define a key enviornment variables +ENV DEMO_DIR=${HOME_DIR}/demos_ws +ENV IGNITION_VERSION fortress +ENV GZ_VERSION fortress +ENV PROJECT_NAME=RobotSim +ENV O3DE_ENGINE=${HOME_DIR}/o3de +ENV O3DE_DIR=${HOME_DIR}/O3DE +ENV O3DE_EXTRAS=${HOME_DIR}/o3de-extras +ENV PROJECT_PATH=${O3DE_DIR}/Projects/${PROJECT_NAME} + +# Disable prompting during package installation +ARG DEBIAN_FRONTEND=noninteractive +ENV DEBIAN_FRONTEND=noninteractive +ENV TZ=Etc/UTC + +#### Install DEMO_WS #### + +# Get rosinstall_generator +# 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 -y && sudo DEBIAN_FRONTEND=noninteractive apt-get install -y \ + python3-rosinstall-generator \ + libboost-python-dev build-essential cmake libboost-all-dev libois-dev \ + libzzip-dev libfreeimage-dev libfreetype6-dev libx11-dev libxt-dev libxaw7-dev \ + libsdl2-dev libpugixml-dev libglew-dev qtbase5-dev libspdlog-dev libfmt-dev \ + libignition-gazebo6-dev libssl-dev devscripts debian-keyring fakeroot debhelper \ + libboost-dev libsasl2-dev libicu-dev libzstd-dev doxygen libtinyxml-dev \ + libtinyxml2-dev python3-pyqt5 tzdata locales keyboard-configuration + +# RUN apt-get install -y tzdata +# RUN apt-get install -y locales +# RUN apt-get install -y keyboard-configuration + +RUN sudo sed -i -e 's/# en_US.UTF-8 UTF-8/en_US.UTF-8 UTF-8/' /etc/locale.gen \ + && sudo dpkg-reconfigure --frontend=noninteractive locales \ + && sudo update-locale LANG=en_US.UTF-8 + +# RUN sed -i -e 's/# en_US.UTF-8 UTF-8/en_US.UTF-8 UTF-8/' /etc/locale.gen \ +# && dpkg-reconfigure --frontend=noninteractive locales \ +# && update-locale LANG=en_US.UTF-8 + +ENV LANG=en_US.UTF-8 + +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 \ + bc \ + bind9-utils \ + binutils \ + ca-certificates \ + clang \ + cmake \ + file \ + firewalld \ + git \ + git-lfs \ + jq \ + kbd \ + kmod \ + less \ + lsb-release \ + libglu1-mesa-dev \ + libxcb-xinerama0 \ + libfontconfig1-dev \ + libcurl4-openssl-dev \ + libnvidia-gl-470 \ + libssl-dev \ + libxcb-xkb-dev \ + libxkbcommon-x11-dev \ + libxkbcommon-dev \ + libxcb-xfixes0-dev \ + libxcb-xinput-dev \ + libxcb-xinput0 \ + libpcre2-16-0 \ + lsof \ + net-tools \ + ninja-build \ + pciutils \ + python3-pip \ + software-properties-common \ + sudo \ + tar \ + unzip \ + vim \ + wget \ + xz-utils + # && rm -rf /var/lib/apt/lists/* # TODO need to figure out how to use this correctly + + +RUN mkdir -p ${DEMO_DIR}/src +WORKDIR ${DEMO_DIR} + +# Install libmongoc for development +RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \ + --mount=type=cache,target=/var/lib/apt,sharing=locked \ + sudo apt-get install libmongoc-dev -y + +# Compile mongo cxx driver https://mongocxx.org/mongocxx-v3/installation/linux/ +RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \ + --mount=type=cache,target=/var/lib/apt,sharing=locked \ + sudo apt-get install libssl-dev build-essential devscripts debian-keyring fakeroot debhelper cmake libboost-dev libsasl2-dev libicu-dev libzstd-dev doxygen -y +RUN wget https://github.com/mongodb/mongo-cxx-driver/releases/download/r3.6.7/mongo-cxx-driver-r3.6.7.tar.gz +RUN tar -xzf mongo-cxx-driver-r3.6.7.tar.gz +RUN cd mongo-cxx-driver-r3.6.7/build && cmake .. -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=/usr/local && sudo cmake --build . --target EP_mnmlstc_core && cmake --build . && sudo cmake --build . --target install + +# Get the source for the dependencies +# RUN vcs import src < /tmp/demo_generated_pkgs.repos +COPY --chown=${USERNAME}:${USERNAME} o3de-robot-sim.repos /tmp/ +RUN vcs import src < /tmp/o3de-robot-sim.repos && /bin/bash -c 'source "${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 "${SPACEROS_DIR}/install/setup.bash"' \ +&& /bin/bash -c 'source "${MOVEIT2_DIR}/install/setup.bash"' \ +&& rosdep install --from-paths src --ignore-src -r -y --rosdistro ${ROSDISTRO} + +# Build the demo_ws +RUN /bin/bash -c 'source ${SPACEROS_DIR}/install/setup.bash && source ${MOVEIT2_DIR}/install/setup.bash \ + && colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release' + +# Create O3DE/Projects and O3DE/Gems directory +RUN if [ -d "${O3DE_DIR}/Projects" ]; then rm -rf ${O3DE_DIR}/Gems; fi +RUN mkdir -p ${O3DE_DIR}/Projects + +RUN if [ -d "${O3DE_DIR}/Gems" ]; then rm -rf ${O3DE_DIR}/Gems; fi +RUN mkdir -p ${O3DE_DIR}/Gems + +# Git clone RobotSim, NasaMarsRoverGem and MarsYardGem +WORKDIR ${O3DE_DIR}/Projects +RUN git clone --branch nasa_submission https://github.com/Mechazo11/RobotSim.git + +WORKDIR ${O3DE_DIR}/Gems +RUN git clone --branch nasa_submission https://github.com/Mechazo11/NasaCuriosityRoverGem.git +RUN git clone --branch nasa_submission https://github.com/Mechazo11/MarsYardGem.git + +## Symlink clang version to non-versioned clang and set cc to clang +# RUN update-alternatives --install /usr/bin/cc cc /usr/bin/clang 100 \ +# && update-alternatives --install /usr/bin/c++ c++ /usr/bin/clang++ 100 + +#### Install Open 3D Engine #### +# Install dependencies +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 \ + bc \ + bind9-utils \ + binutils \ + ca-certificates \ + clang \ + cmake \ + file \ + firewalld \ + git \ + git-lfs \ + jq \ + kbd \ + kmod \ + less \ + lsb-release \ + libglu1-mesa-dev \ + libxcb-xinerama0 \ + libfontconfig1-dev \ + libcurl4-openssl-dev \ + libnvidia-gl-470 \ + libssl-dev \ + libxcb-xkb-dev \ + libxkbcommon-x11-dev \ + libxkbcommon-dev \ + libxcb-xfixes0-dev \ + libxcb-xinput-dev \ + libxcb-xinput0 \ + libpcre2-16-0 \ + lsof \ + net-tools \ + ninja-build \ + pciutils \ + python3-pip \ + software-properties-common \ + sudo \ + tar \ + unzip \ + vim \ + wget \ + xz-utils + # && rm -rf /var/lib/apt/lists/* # TODO need to figure out how to use this correctly + +# Pull latest commit from development and build o3de. Note this does't build the whole engine +WORKDIR ${HOME_DIR} + +# Install o3de engine (automatically pulls last commit from "development" branch) +RUN git clone --single-branch -b development https://github.com/o3de/o3de.git \ + && cd o3de \ + && git lfs install \ + && git lfs pull \ + && python/get_python.sh + +# Install o3de-extras (automatically pulls last commit from "development" branch) +# Contains ROS 2 Gem and other relevant assets + +WORKDIR ${HOME_DIR} +RUN git clone --single-branch -b development https://github.com/o3de/o3de-extras.git \ + && cd o3de-extras \ + && git lfs install \ + && git lfs pull + +WORKDIR ${HOME_DIR}/o3de + +# Register RobotSim with this engine +#RUN ${O3DE_ENGINE}/scripts/o3de.sh register --this-engine +RUN ./scripts/o3de.sh register --this-engine +# Register ROS 2 Gem, Husarion robot, Curiosity rover and Mars Yard gem +# RUN ${O3DE_ENGINE}/scripts/o3de.sh register --gem-path ${O3DE_EXTRAS}/Gems/ROS2 \ +# && ${O3DE_ENGINE}/scripts/o3de.sh register --gem-path ${O3DE_EXTRAS}/Gems/RosRobotSample \ +# && ${O3DE_ENGINE}/scripts/o3de.sh register --gem-path ${O3DE_DIR}/Gems/NasaCuriosityRoverGem \ +# && ${O3DE_ENGINE}/scripts/o3de.sh register --gem-path ${O3DE_DIR}/Gems/MarsYardGem + +RUN ./scripts/o3de.sh register --gem-path ${O3DE_EXTRAS}/Gems/ROS2 \ + && ./scripts/o3de.sh register --gem-path ${O3DE_EXTRAS}/Gems/RosRobotSample \ + && ./scripts/o3de.sh register --gem-path ${O3DE_EXTRAS}/Gems/WarehouseSample \ + && ./scripts/o3de.sh register --gem-path ${O3DE_DIR}/Gems/NasaCuriosityRoverGem \ + && ./scripts/o3de.sh register --gem-path ${O3DE_DIR}/Gems/MarsYardGem + +# Register the Terrian gem which is located in o3de folder +RUN ./scripts/o3de.sh register --gem-path ${HOME_DIR}/o3de/Gems/Terrain + +# Register RobotSim project. +# Project must be registered at the very end after all dependent gems are registered +#RUN {O3DE_ENGINE}/scripts/o3de.sh register --project-path ${O3DE_DIR}/Projects/${PROJECT_NAME} +RUN ./scripts/o3de.sh register --project-path ${O3DE_DIR}/Projects/${PROJECT_NAME} + +# Move to project directory +WORKDIR ${HOME_DIR} +# Run cmake and build project (Warning takes about 10-15 mins) + +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 \ + libunwind-dev + +# Testing build by manually building out a ROS 2 Humble core +# RUN sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg + +# 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 \ +# ros-humble-ros-base + +# # Move to project directory +WORKDIR ${PROJECT_PATH} + +# Activate Cyclone DDS +# ENV RMW_IMPLEMENTATION=rmw_cyclonedds_cpp + +# Source space_ros, movit2 and demo_ws +RUN /bin/bash -c 'source "${SPACEROS_DIR}/install/setup.bash"' \ + && /bin/bash -c 'source "${MOVEIT2_DIR}/install/setup.bash"' \ + && /bin/bash -c 'source "${DEMO_DIR}/install/setup.bash"' + #&& cmake -B build/linux -G "Ninja Multi-Config" -DLY_DISABLE_TEST_MODULES=ON -DCMAKE_EXPORT_COMPILE_COMMANDS=ON -DLY_STRIP_DEBUG_SYMBOLS=ON -DAZ_USE_PHYSX5:BOOL=ON \ + #&& cmake --build build/linux --config profile --target ${PROJECT_NAME} Editor ${PROJECT_NAME}.Assets + +#RUN /bin/bash -c 'source "/opt/ros/humble/setup.bash"' + +RUN cmake -B build/linux -G "Ninja Multi-Config" -DLY_DISABLE_TEST_MODULES=ON -DCMAKE_EXPORT_COMPILE_COMMANDS=ON -DLY_STRIP_DEBUG_SYMBOLS=ON -DAZ_USE_PHYSX5:BOOL=ON \ + && cmake --build build/linux --config profile --target ${PROJECT_NAME} Editor ${PROJECT_NAME}.Assets + + + + +# # Add the user to the render group so that the user can access /dev/dri/renderD128 +# # /dev/dri/renderD128 gives access to hardware-accelerated rendering tool such as GPU +# RUN sudo usermod -aG render $USERNAME + +# # Setup the entrypoint +# COPY ./entrypoint.sh / +# ENTRYPOINT ["/entrypoint.sh"] +# CMD ["bash"] diff --git a/o3de_mars_rover/build.sh b/o3de_mars_rover/build.sh new file mode 100755 index 00000000..6f8e47df --- /dev/null +++ b/o3de_mars_rover/build.sh @@ -0,0 +1,23 @@ +#!/usr/bin/env bash + +ORG=openrobotics +IMAGE=o3de_curiosity_docker +TAG=latest + +VCS_REF="" +VERSION=preview + +# Exit script with failure if build fails +set -eo pipefail + +echo "" +echo "##### Building O3DE + Space ROS Demo Docker Image #####" +echo "" + +docker build -t $ORG/$IMAGE:$TAG \ + --build-arg VCS_REF="$VCS_REF" \ + --build-arg VERSION="$VERSION" . + +echo "" +echo "##### Done! #####" + From 8c70a0d161c4d0e430fdbace963fa52d76266671 Mon Sep 17 00:00:00 2001 From: Mechazo11 Date: Tue, 10 Sep 2024 19:53:37 -0500 Subject: [PATCH 20/54] updated mars_rover demo package to allow control of o3de rover --- mars_rover/CMakeLists.txt | 3 +- mars_rover/launch/mars_rover_o3de.launch.py | 212 ++++++++++++++++++++ mars_rover/nodes/teleop_rover | 115 +++++++++++ 3 files changed, 329 insertions(+), 1 deletion(-) create mode 100644 mars_rover/launch/mars_rover_o3de.launch.py create mode 100755 mars_rover/nodes/teleop_rover diff --git a/mars_rover/CMakeLists.txt b/mars_rover/CMakeLists.txt index c2c90051..cf80b88b 100644 --- a/mars_rover/CMakeLists.txt +++ b/mars_rover/CMakeLists.txt @@ -44,7 +44,8 @@ install(PROGRAMS nodes/move_arm nodes/move_mast nodes/move_wheel - nodes/run_demo + nodes/run_demo # To run the Gazebo rover demo + nodes/teleop_rover # To run O3DE rover demo nodes/odom_tf_publisher DESTINATION lib/${PROJECT_NAME} ) diff --git a/mars_rover/launch/mars_rover_o3de.launch.py b/mars_rover/launch/mars_rover_o3de.launch.py new file mode 100644 index 00000000..e465867d --- /dev/null +++ b/mars_rover/launch/mars_rover_o3de.launch.py @@ -0,0 +1,212 @@ +""" +Bring up nodes, hardware interfaces to control a Curiosity Rover in Open 3D Engine. + +Author: +Azmyin Md. Kamal, +Ph.D. student in MIE, +Louisiana State University, +Louisiana, USA + +Date: August 29th, 2024 +Version: 1.0 + +AI: ChatGPT 4.o + +""" + +# Imports +from ament_index_python.packages import get_package_share_directory +from launch import LaunchDescription +from launch.actions import ExecuteProcess, RegisterEventHandler +from launch_ros.actions import Node, SetParameter +from launch.event_handlers import OnProcessExit +import os +from os import environ +import xacro + +def generate_launch_description(): + """Generate launch description to bringup curiosity rover simulation.""" + # Define paths to mars_rover and simulation packages + mars_rover_demos_path = get_package_share_directory('mars_rover') + mars_rover_models_path = get_package_share_directory('simulation') + # Define + env = {'IGN_GAZEBO_SYSTEM_PLUGIN_PATH': + ':'.join([environ.get('IGN_GAZEBO_SYSTEM_PLUGIN_PATH', default=''), + environ.get('LD_LIBRARY_PATH', default='')]), + 'IGN_GAZEBO_RESOURCE_PATH': + ':'.join([environ.get('IGN_GAZEBO_RESOURCE_PATH', default=''), mars_rover_demos_path])} + + urdf_model_path = os.path.join(mars_rover_models_path, 'models', 'curiosity_path', + 'urdf', 'curiosity_mars_rover.xacro') + + mars_world_model = os.path.join(mars_rover_demos_path, 'worlds', 'mars_curiosity.world') + + doc = xacro.process_file(urdf_model_path) + robot_description = {'robot_description': doc.toxml()} + + # Arm + # arm_node = Node( + # package="mars_rover", + # executable="move_arm", + # output='screen' + # ) + # Sensor mast + # mast_node = Node( + # package="mars_rover", + # executable="move_mast", + # output='screen' + # ) + # Wheel groups + wheel_node = Node( + package="mars_rover", + executable="move_wheel", + output='screen' + ) + # Node to take teleop + teleop_rover_node = Node( + package="mars_rover", + executable="teleop_rover", + output='screen' + ) + # Publish odometry + # odom_node = Node( + # package="mars_rover", + # executable="odom_tf_publisher", + # output='screen' + # ) + + # Fire up Gazebo Ignition + start_world = ExecuteProcess( + cmd=['ign gazebo', mars_world_model, '-r'], + output='screen', + additional_env=env, + shell=True + ) + # Publish various joint positions and link orientation + # This is crucial for simulation + robot_state_publisher = Node( + package='robot_state_publisher', + executable='robot_state_publisher', + name='robot_state_publisher', + output='screen', + parameters=[robot_description]) + # Bridge communication between ROS 2 and the Ignition Gazebo simulation + ros_gz_bridge = Node( + package='ros_gz_bridge', + executable='parameter_bridge', + arguments=[ + '/clock@rosgraph_msgs/msg/Clock[ignition.msgs.Clock', + '/model/curiosity_mars_rover/odometry@nav_msgs/msg/Odometry@ignition.msgs.Odometry', + '/scan@sensor_msgs/msg/LaserScan@ignition.msgs.LaserScan', + ], + output='screen') + # Connect image messages from Gazebo to ROS2 + image_bridge = Node( + package='ros_gz_image', + executable='image_bridge', + arguments=['/image_raw', '/image_raw'], + output='screen') + # Spawn curiosity rover into the world. + spawn = Node( + package='ros_ign_gazebo', executable='create', + arguments=[ + '-name', 'curiosity_mars_rover', + '-topic', robot_description, + '-z', '-7.5' + ], + output='screen' + ) + + # Control Components + component_state_msg = '{name: "IgnitionSystem", target_state: {id: 3, label: ""}}' + + # TODO what bug was resolved with this hack? + # Set hardware_interface state to active + set_hardware_interface_active = ExecuteProcess( + cmd=['ros2', 'service', 'call', + 'controller_manager/set_hardware_component_state', + 'controller_manager_msgs/srv/SetHardwareComponentState', + component_state_msg] + ) + + # Controller to broadcast all joint states + load_joint_state_broadcaster = ExecuteProcess( + cmd=['ros2', 'control', 'load_controller', '--set-state', 'active', + 'joint_state_broadcaster'], + output='screen' + ) + + # Controller for arm + load_arm_joint_traj_controller = ExecuteProcess( + cmd=['ros2', 'control', 'load_controller', '--set-state', 'active', + 'arm_joint_trajectory_controller'], + output='screen' + ) + + # Controller for sensor mast + load_mast_joint_traj_controller = ExecuteProcess( + cmd=['ros2', 'control', 'load_controller', '--set-state', 'active', + 'mast_joint_trajectory_controller'], + output='screen' + ) + + # Controller for wheel + load_wheel_joint_traj_controller = ExecuteProcess( + cmd=['ros2', 'control', 'load_controller', '--set-state', 'active', + 'wheel_velocity_controller'], + output='screen' + ) + # Controller for steering + load_steer_joint_traj_controller = ExecuteProcess( + cmd=['ros2', 'control', 'load_controller', '--set-state', 'active', + 'steer_position_controller'], + output='screen' + ) + # Controller for suspension joints + load_suspension_joint_traj_controller = ExecuteProcess( + cmd=['ros2', 'control', 'load_controller', '--set-state', 'active', + 'wheel_tree_position_controller'], + output='screen' + ) + + return LaunchDescription([ + SetParameter(name='use_sim_time', value=True), + #start_world, + #robot_state_publisher, + #spawn, + # arm_node, + # mast_node, + wheel_node, + teleop_rover_node, # Renamed from run_node + # odom_node, + #ros_gz_bridge, + #image_bridge, + + RegisterEventHandler( + OnProcessExit( + target_action=spawn, + on_exit=[set_hardware_interface_active], + ) + ), + # After the hardware interface is activated, + # the joint state broadcaster is loaded. + RegisterEventHandler( + OnProcessExit( + target_action=set_hardware_interface_active, + on_exit=[load_joint_state_broadcaster], + ) + ), + # After the joint state broadcaster is loaded, + # all trajectory controllers (arm, mast, wheel, steer, suspension) are loaded and activated. + RegisterEventHandler( + OnProcessExit( + target_action=load_joint_state_broadcaster, + on_exit=[ + # load_arm_joint_traj_controller, + # load_mast_joint_traj_controller, + load_wheel_joint_traj_controller, + load_steer_joint_traj_controller, + load_suspension_joint_traj_controller], + ) + ), + ]) diff --git a/mars_rover/nodes/teleop_rover b/mars_rover/nodes/teleop_rover new file mode 100755 index 00000000..e5c6d2d1 --- /dev/null +++ b/mars_rover/nodes/teleop_rover @@ -0,0 +1,115 @@ +#!/usr/bin/env python3 + +""" +Implementation of the TeleOpRover class. + +This node acts as an interface between user sent service call to publishing +twist message that is then subscribed too by the controller + +Primary author: +Space-ROS + +Docstrings and comments added by: +Azmyin Md. Kamal, +Ph.D. student in MIE, iCORE Lab, +Louisiana State University, Louisiana, USA + +Date: August 29th, 2024 +Version: 1.0 +AI: ChatGPT 4.o + +""" + +# Imports +import rclpy +from rclpy.node import Node + +# from std_msgs.msg import String, Float64MultiArray +from geometry_msgs.msg import Twist + +# import math +# from random import randint +from std_srvs.srv import Empty + +class TeleOpRover(Node): + """Node that converts user's service request / input device commands to Twist messages.""" + + def __init__(self) -> None: + super().__init__('teleop_node') + # Setup publishers + self.motion_publisher_ = self.create_publisher(Twist, '/cmd_vel', 10) + self.o3de_motion_publisher_ = self.create_publisher(Twist, '/rover/cmd_vel', 10) + # Setup services + self.forward_srv = self.create_service(Empty, 'move_forward', self.move_forward_callback) + self.stop_srv = self.create_service(Empty, 'move_stop', self.move_stop_callback) + self.left_srv = self.create_service(Empty, 'turn_left', self.turn_left_callback) + self.right_srv = self.create_service(Empty, 'turn_right', self.turn_right_callback) + self.stopped = True + timer_period = 0.1 + self.timer = self.create_timer(timer_period, self.timer_callback) + self.curr_action = Twist() + + def timer_callback(self): + """Periodically publish velocity of rover in 3D space as Twist messages.""" + if (not self.stopped): + # Experimental + self.o3de_motion_publisher_.publish(self.curr_action) + # self.motion_publisher_.publish(self.curr_action) + + + def move_forward_callback(self, request, response): + """Print message when moving forward.""" + self.get_logger().info("Moving forward") + action = Twist() + # action.linear.x = 2.0 + action.linear.x = 2.0 # Not sure but negative value makes it move forward + self.curr_action = action + self.stopped = False + return response + + def move_stop_callback(self, request, response): + """Print message when stopped.""" + # stop timer from publishing + self.stopped = True + self.get_logger().info("Stopping") + self.curr_action = Twist() + # publish once to ensure we stop + self.motion_publisher_.publish(self.curr_action) + self.o3de_motion_publisher_.publish(self.curr_action) + return response + + def turn_left_callback(self, request, response): + """Print message when turning left.""" + self.get_logger().info("Turning left") + action = Twist() + action.linear.x = 1.0 + action.angular.z = 0.4 + self.curr_action = action + self.stopped = False + return response + + def turn_right_callback(self, request, response): + """Print message when turning right.""" + self.get_logger().info("Turning right") + self.stopped = False + action = Twist() + #action.linear.x = 1.0 + action.linear.x = 0.5 + action.angular.z = -1.5 + self.curr_action = action + self.stopped = False + return response + +def main(args=None): + """Run main.""" + rclpy.init(args=args) + teleop_node = TeleOpRover() + rclpy.spin(teleop_node) + # Destroy the node explicitly + # (optional - otherwise it will be done automatically + # when the garbage collector destroys the node object) + teleop_node.destroy_node() + rclpy.shutdown() + +if __name__ == '__main__': + main() \ No newline at end of file From 9f8d9a944cdd9020aee2c590e17f5e5d57cd527a Mon Sep 17 00:00:00 2001 From: Mechazo11 Date: Tue, 10 Sep 2024 20:40:09 -0500 Subject: [PATCH 21/54] recovered run_demo node --- mars_rover/nodes/run_demo | 86 +++++++++++++++++++++++++++++++++++++++ 1 file changed, 86 insertions(+) create mode 100644 mars_rover/nodes/run_demo diff --git a/mars_rover/nodes/run_demo b/mars_rover/nodes/run_demo new file mode 100644 index 00000000..6df8d17a --- /dev/null +++ b/mars_rover/nodes/run_demo @@ -0,0 +1,86 @@ +#!/usr/bin/env python3 + + +import rclpy +from rclpy.node import Node + +from std_msgs.msg import String, Float64MultiArray +from geometry_msgs.msg import Twist +import math +from random import randint +from std_srvs.srv import Empty + + +# A node for performing combination of motions from different moving parts of the Curiosity rover. +class RunDemo(Node): + def __init__(self) -> None: + super().__init__('run_node') + self.motion_publisher_ = self.create_publisher(Twist, '/cmd_vel', 10) + self.forward_srv = self.create_service(Empty, 'move_forward', self.move_forward_callback) + self.stop_srv = self.create_service(Empty, 'move_stop', self.move_stop_callback) + self.left_srv = self.create_service(Empty, 'turn_left', self.turn_left_callback) + self.right_srv = self.create_service(Empty, 'turn_right', self.turn_right_callback) + self.stopped = True + + timer_period = 0.1 + self.timer = self.create_timer(timer_period, self.timer_callback) + + self.curr_action = Twist() + + def timer_callback(self): + if (not self.stopped): + self.motion_publisher_.publish(self.curr_action) + + def move_forward_callback(self, request, response): + self.get_logger().info("Moving forward") + action = Twist() + action.linear.x = 2.0 + self.curr_action = action + self.stopped = False + return response + + def move_stop_callback(self, request, response): + # stop timer from publishing + self.stopped = True + self.get_logger().info("Stopping") + self.curr_action = Twist() + # publish once to ensure we stop + self.motion_publisher_.publish(self.curr_action) + return response + + def turn_left_callback(self, request, response): + self.get_logger().info("Turning left") + action = Twist() + action.linear.x = 1.0 + action.angular.z = 0.4 + self.curr_action = action + self.stopped = False + return response + + def turn_right_callback(self, request, response): + self.get_logger().info("Turning right") + self.stopped = False + action = Twist() + action.linear.x = 1.0 + action.angular.z = -0.4 + self.curr_action = action + self.stopped = False + return response + + +def main(args=None): + rclpy.init(args=args) + + run_demo = RunDemo() + + rclpy.spin(run_demo) + + # Destroy the node explicitly + # (optional - otherwise it will be done automatically + # when the garbage collector destroys the node object) + run_demo.destroy_node() + rclpy.shutdown() + + +if __name__ == '__main__': + main() \ No newline at end of file From 9fcffa430b71495f8522f13542f7413b80a6b94d Mon Sep 17 00:00:00 2001 From: Mechazo11 Date: Tue, 10 Sep 2024 21:33:21 -0500 Subject: [PATCH 22/54] recovered functionality of gazebo rover demo --- mars_rover/launch/mars_rover_o3de.launch.py | 266 +++++----- o3de_mars_rover/Dockerfile | 550 +++++++++++--------- o3de_mars_rover/Dockerfile_bck | 320 ++++++++++++ o3de_mars_rover/Dockerfile_movit2 | 156 ++++++ o3de_mars_rover/Dockerfile_rwm_conflict_bug | 338 ++++++++++++ o3de_mars_rover/entrypoint.sh | 8 + o3de_mars_rover/excluded-pkgs.txt | 10 + o3de_mars_rover/moveit2-pkgs.txt | 38 ++ o3de_mars_rover/moveit2_tutorials.repos | 17 + o3de_mars_rover/o3de-robot-sim.repos | 107 ++++ o3de_mars_rover/run.sh | 29 ++ 11 files changed, 1464 insertions(+), 375 deletions(-) create mode 100644 o3de_mars_rover/Dockerfile_bck create mode 100644 o3de_mars_rover/Dockerfile_movit2 create mode 100644 o3de_mars_rover/Dockerfile_rwm_conflict_bug create mode 100755 o3de_mars_rover/entrypoint.sh create mode 100644 o3de_mars_rover/excluded-pkgs.txt create mode 100644 o3de_mars_rover/moveit2-pkgs.txt create mode 100644 o3de_mars_rover/moveit2_tutorials.repos create mode 100644 o3de_mars_rover/o3de-robot-sim.repos create mode 100755 o3de_mars_rover/run.sh diff --git a/mars_rover/launch/mars_rover_o3de.launch.py b/mars_rover/launch/mars_rover_o3de.launch.py index e465867d..36201422 100644 --- a/mars_rover/launch/mars_rover_o3de.launch.py +++ b/mars_rover/launch/mars_rover_o3de.launch.py @@ -1,5 +1,5 @@ """ -Bring up nodes, hardware interfaces to control a Curiosity Rover in Open 3D Engine. +Basic control node for the Curiosity rover in O3DE. Author: Azmyin Md. Kamal, @@ -27,22 +27,22 @@ def generate_launch_description(): """Generate launch description to bringup curiosity rover simulation.""" # Define paths to mars_rover and simulation packages - mars_rover_demos_path = get_package_share_directory('mars_rover') - mars_rover_models_path = get_package_share_directory('simulation') - # Define - env = {'IGN_GAZEBO_SYSTEM_PLUGIN_PATH': - ':'.join([environ.get('IGN_GAZEBO_SYSTEM_PLUGIN_PATH', default=''), - environ.get('LD_LIBRARY_PATH', default='')]), - 'IGN_GAZEBO_RESOURCE_PATH': - ':'.join([environ.get('IGN_GAZEBO_RESOURCE_PATH', default=''), mars_rover_demos_path])} + # mars_rover_demos_path = get_package_share_directory('mars_rover') + # mars_rover_models_path = get_package_share_directory('simulation') + # # Define + # env = {'IGN_GAZEBO_SYSTEM_PLUGIN_PATH': + # ':'.join([environ.get('IGN_GAZEBO_SYSTEM_PLUGIN_PATH', default=''), + # environ.get('LD_LIBRARY_PATH', default='')]), + # 'IGN_GAZEBO_RESOURCE_PATH': + # ':'.join([environ.get('IGN_GAZEBO_RESOURCE_PATH', default=''), mars_rover_demos_path])} - urdf_model_path = os.path.join(mars_rover_models_path, 'models', 'curiosity_path', - 'urdf', 'curiosity_mars_rover.xacro') + # urdf_model_path = os.path.join(mars_rover_models_path, 'models', 'curiosity_path', + # 'urdf', 'curiosity_mars_rover.xacro') - mars_world_model = os.path.join(mars_rover_demos_path, 'worlds', 'mars_curiosity.world') + # mars_world_model = os.path.join(mars_rover_demos_path, 'worlds', 'mars_curiosity.world') - doc = xacro.process_file(urdf_model_path) - robot_description = {'robot_description': doc.toxml()} + # doc = xacro.process_file(urdf_model_path) + # robot_description = {'robot_description': doc.toxml()} # Arm # arm_node = Node( @@ -57,11 +57,11 @@ def generate_launch_description(): # output='screen' # ) # Wheel groups - wheel_node = Node( - package="mars_rover", - executable="move_wheel", - output='screen' - ) + # wheel_node = Node( + # package="mars_rover", + # executable="move_wheel", + # output='screen' + # ) # Node to take teleop teleop_rover_node = Node( package="mars_rover", @@ -76,98 +76,98 @@ def generate_launch_description(): # ) # Fire up Gazebo Ignition - start_world = ExecuteProcess( - cmd=['ign gazebo', mars_world_model, '-r'], - output='screen', - additional_env=env, - shell=True - ) - # Publish various joint positions and link orientation - # This is crucial for simulation - robot_state_publisher = Node( - package='robot_state_publisher', - executable='robot_state_publisher', - name='robot_state_publisher', - output='screen', - parameters=[robot_description]) - # Bridge communication between ROS 2 and the Ignition Gazebo simulation - ros_gz_bridge = Node( - package='ros_gz_bridge', - executable='parameter_bridge', - arguments=[ - '/clock@rosgraph_msgs/msg/Clock[ignition.msgs.Clock', - '/model/curiosity_mars_rover/odometry@nav_msgs/msg/Odometry@ignition.msgs.Odometry', - '/scan@sensor_msgs/msg/LaserScan@ignition.msgs.LaserScan', - ], - output='screen') - # Connect image messages from Gazebo to ROS2 - image_bridge = Node( - package='ros_gz_image', - executable='image_bridge', - arguments=['/image_raw', '/image_raw'], - output='screen') - # Spawn curiosity rover into the world. - spawn = Node( - package='ros_ign_gazebo', executable='create', - arguments=[ - '-name', 'curiosity_mars_rover', - '-topic', robot_description, - '-z', '-7.5' - ], - output='screen' - ) + # start_world = ExecuteProcess( + # cmd=['ign gazebo', mars_world_model, '-r'], + # output='screen', + # additional_env=env, + # shell=True + # ) + # # Publish various joint positions and link orientation + # # This is crucial for simulation + # robot_state_publisher = Node( + # package='robot_state_publisher', + # executable='robot_state_publisher', + # name='robot_state_publisher', + # output='screen', + # parameters=[robot_description]) + # # Bridge communication between ROS 2 and the Ignition Gazebo simulation + # ros_gz_bridge = Node( + # package='ros_gz_bridge', + # executable='parameter_bridge', + # arguments=[ + # '/clock@rosgraph_msgs/msg/Clock[ignition.msgs.Clock', + # '/model/curiosity_mars_rover/odometry@nav_msgs/msg/Odometry@ignition.msgs.Odometry', + # '/scan@sensor_msgs/msg/LaserScan@ignition.msgs.LaserScan', + # ], + # output='screen') + # # Connect image messages from Gazebo to ROS2 + # image_bridge = Node( + # package='ros_gz_image', + # executable='image_bridge', + # arguments=['/image_raw', '/image_raw'], + # output='screen') + # # Spawn curiosity rover into the world. + # spawn = Node( + # package='ros_ign_gazebo', executable='create', + # arguments=[ + # '-name', 'curiosity_mars_rover', + # '-topic', robot_description, + # '-z', '-7.5' + # ], + # output='screen' + # ) - # Control Components - component_state_msg = '{name: "IgnitionSystem", target_state: {id: 3, label: ""}}' + # # Control Components + # component_state_msg = '{name: "IgnitionSystem", target_state: {id: 3, label: ""}}' - # TODO what bug was resolved with this hack? - # Set hardware_interface state to active - set_hardware_interface_active = ExecuteProcess( - cmd=['ros2', 'service', 'call', - 'controller_manager/set_hardware_component_state', - 'controller_manager_msgs/srv/SetHardwareComponentState', - component_state_msg] - ) + # # TODO what bug was resolved with this hack? + # # Set hardware_interface state to active + # set_hardware_interface_active = ExecuteProcess( + # cmd=['ros2', 'service', 'call', + # 'controller_manager/set_hardware_component_state', + # 'controller_manager_msgs/srv/SetHardwareComponentState', + # component_state_msg] + # ) - # Controller to broadcast all joint states - load_joint_state_broadcaster = ExecuteProcess( - cmd=['ros2', 'control', 'load_controller', '--set-state', 'active', - 'joint_state_broadcaster'], - output='screen' - ) + # # Controller to broadcast all joint states + # load_joint_state_broadcaster = ExecuteProcess( + # cmd=['ros2', 'control', 'load_controller', '--set-state', 'active', + # 'joint_state_broadcaster'], + # output='screen' + # ) - # Controller for arm - load_arm_joint_traj_controller = ExecuteProcess( - cmd=['ros2', 'control', 'load_controller', '--set-state', 'active', - 'arm_joint_trajectory_controller'], - output='screen' - ) + # # Controller for arm + # load_arm_joint_traj_controller = ExecuteProcess( + # cmd=['ros2', 'control', 'load_controller', '--set-state', 'active', + # 'arm_joint_trajectory_controller'], + # output='screen' + # ) - # Controller for sensor mast - load_mast_joint_traj_controller = ExecuteProcess( - cmd=['ros2', 'control', 'load_controller', '--set-state', 'active', - 'mast_joint_trajectory_controller'], - output='screen' - ) + # # Controller for sensor mast + # load_mast_joint_traj_controller = ExecuteProcess( + # cmd=['ros2', 'control', 'load_controller', '--set-state', 'active', + # 'mast_joint_trajectory_controller'], + # output='screen' + # ) - # Controller for wheel - load_wheel_joint_traj_controller = ExecuteProcess( - cmd=['ros2', 'control', 'load_controller', '--set-state', 'active', - 'wheel_velocity_controller'], - output='screen' - ) - # Controller for steering - load_steer_joint_traj_controller = ExecuteProcess( - cmd=['ros2', 'control', 'load_controller', '--set-state', 'active', - 'steer_position_controller'], - output='screen' - ) - # Controller for suspension joints - load_suspension_joint_traj_controller = ExecuteProcess( - cmd=['ros2', 'control', 'load_controller', '--set-state', 'active', - 'wheel_tree_position_controller'], - output='screen' - ) + # # Controller for wheel + # load_wheel_joint_traj_controller = ExecuteProcess( + # cmd=['ros2', 'control', 'load_controller', '--set-state', 'active', + # 'wheel_velocity_controller'], + # output='screen' + # ) + # # Controller for steering + # load_steer_joint_traj_controller = ExecuteProcess( + # cmd=['ros2', 'control', 'load_controller', '--set-state', 'active', + # 'steer_position_controller'], + # output='screen' + # ) + # # Controller for suspension joints + # load_suspension_joint_traj_controller = ExecuteProcess( + # cmd=['ros2', 'control', 'load_controller', '--set-state', 'active', + # 'wheel_tree_position_controller'], + # output='screen' + # ) return LaunchDescription([ SetParameter(name='use_sim_time', value=True), @@ -176,37 +176,37 @@ def generate_launch_description(): #spawn, # arm_node, # mast_node, - wheel_node, + # wheel_node, teleop_rover_node, # Renamed from run_node # odom_node, #ros_gz_bridge, #image_bridge, - RegisterEventHandler( - OnProcessExit( - target_action=spawn, - on_exit=[set_hardware_interface_active], - ) - ), - # After the hardware interface is activated, - # the joint state broadcaster is loaded. - RegisterEventHandler( - OnProcessExit( - target_action=set_hardware_interface_active, - on_exit=[load_joint_state_broadcaster], - ) - ), - # After the joint state broadcaster is loaded, - # all trajectory controllers (arm, mast, wheel, steer, suspension) are loaded and activated. - RegisterEventHandler( - OnProcessExit( - target_action=load_joint_state_broadcaster, - on_exit=[ - # load_arm_joint_traj_controller, - # load_mast_joint_traj_controller, - load_wheel_joint_traj_controller, - load_steer_joint_traj_controller, - load_suspension_joint_traj_controller], - ) - ), + # RegisterEventHandler( + # OnProcessExit( + # target_action=spawn, + # on_exit=[set_hardware_interface_active], + # ) + # ), + # # After the hardware interface is activated, + # # the joint state broadcaster is loaded. + # RegisterEventHandler( + # OnProcessExit( + # target_action=set_hardware_interface_active, + # on_exit=[load_joint_state_broadcaster], + # ) + # ), + # # After the joint state broadcaster is loaded, + # # all trajectory controllers (arm, mast, wheel, steer, suspension) are loaded and activated. + # RegisterEventHandler( + # OnProcessExit( + # target_action=load_joint_state_broadcaster, + # on_exit=[ + # # load_arm_joint_traj_controller, + # # load_mast_joint_traj_controller, + # load_wheel_joint_traj_controller, + # load_steer_joint_traj_controller, + # load_suspension_joint_traj_controller], + # ) + # ), ]) diff --git a/o3de_mars_rover/Dockerfile b/o3de_mars_rover/Dockerfile index 2d13dc08..eeb4bb67 100644 --- a/o3de_mars_rover/Dockerfile +++ b/o3de_mars_rover/Dockerfile @@ -22,7 +22,7 @@ # VCS_REF - The git revision of the Space ROS source code (no default value). # VERSION - The version of Space ROS (default: "preview") -FROM openrobotics/moveit2:latest +FROM osrf/space-ros:latest # Define arguments used in the metadata definition ARG VCS_REF @@ -40,6 +40,7 @@ LABEL org.label-schema.vcs-url="https://github.com/Mechazo11/space-ros-docker" LABEL org.label-schema.vcs-ref=${VCS_REF} # Define a key enviornment variables +ENV MOVEIT2_DIR=${HOME_DIR}/moveit2 ENV DEMO_DIR=${HOME_DIR}/demos_ws ENV IGNITION_VERSION fortress ENV GZ_VERSION fortress @@ -54,261 +55,326 @@ ARG DEBIAN_FRONTEND=noninteractive ENV DEBIAN_FRONTEND=noninteractive ENV TZ=Etc/UTC -#### Install DEMO_WS #### -# Get rosinstall_generator + +# Clone all space-ros sources +RUN mkdir ${SPACEROS_DIR}/src \ + && vcs import ${SPACEROS_DIR}/src < ${SPACEROS_DIR}/exact.repos + +### Delete CycloneDDS and install from apt to resolve cmake conflict ### + + + +### Delete CycloneDDS and install from apt to resolve cmake conflict ### + + +#### Install MOVEIT2_WS #### + +# 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 -y && sudo DEBIAN_FRONTEND=noninteractive apt-get install -y \ - python3-rosinstall-generator \ - libboost-python-dev build-essential cmake libboost-all-dev libois-dev \ - libzzip-dev libfreeimage-dev libfreetype6-dev libx11-dev libxt-dev libxaw7-dev \ - libsdl2-dev libpugixml-dev libglew-dev qtbase5-dev libspdlog-dev libfmt-dev \ - libignition-gazebo6-dev libssl-dev devscripts debian-keyring fakeroot debhelper \ - libboost-dev libsasl2-dev libicu-dev libzstd-dev doxygen libtinyxml-dev \ - libtinyxml2-dev python3-pyqt5 tzdata locales keyboard-configuration - -# RUN apt-get install -y tzdata -# RUN apt-get install -y locales -# RUN apt-get install -y keyboard-configuration - -RUN sudo sed -i -e 's/# en_US.UTF-8 UTF-8/en_US.UTF-8 UTF-8/' /etc/locale.gen \ - && sudo dpkg-reconfigure --frontend=noninteractive locales \ - && sudo update-locale LANG=en_US.UTF-8 - -# RUN sed -i -e 's/# en_US.UTF-8 UTF-8/en_US.UTF-8 UTF-8/' /etc/locale.gen \ -# && dpkg-reconfigure --frontend=noninteractive locales \ -# && update-locale LANG=en_US.UTF-8 - -ENV LANG=en_US.UTF-8 - -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 \ - bc \ - bind9-utils \ - binutils \ - ca-certificates \ - clang \ - cmake \ - file \ - firewalld \ - git \ - git-lfs \ - jq \ - kbd \ - kmod \ - less \ - lsb-release \ - libglu1-mesa-dev \ - libxcb-xinerama0 \ - libfontconfig1-dev \ - libcurl4-openssl-dev \ - libnvidia-gl-470 \ - libssl-dev \ - libxcb-xkb-dev \ - libxkbcommon-x11-dev \ - libxkbcommon-dev \ - libxcb-xfixes0-dev \ - libxcb-xinput-dev \ - libxcb-xinput0 \ - libpcre2-16-0 \ - lsof \ - net-tools \ - ninja-build \ - pciutils \ - python3-pip \ - software-properties-common \ - sudo \ - tar \ - unzip \ - vim \ - wget \ - xz-utils - # && rm -rf /var/lib/apt/lists/* # TODO need to figure out how to use this correctly - - -RUN mkdir -p ${DEMO_DIR}/src -WORKDIR ${DEMO_DIR} - -# Install libmongoc for development -RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \ - --mount=type=cache,target=/var/lib/apt,sharing=locked \ - sudo apt-get install libmongoc-dev -y - -# Compile mongo cxx driver https://mongocxx.org/mongocxx-v3/installation/linux/ -RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \ - --mount=type=cache,target=/var/lib/apt,sharing=locked \ - sudo apt-get install libssl-dev build-essential devscripts debian-keyring fakeroot debhelper cmake libboost-dev libsasl2-dev libicu-dev libzstd-dev doxygen -y -RUN wget https://github.com/mongodb/mongo-cxx-driver/releases/download/r3.6.7/mongo-cxx-driver-r3.6.7.tar.gz -RUN tar -xzf mongo-cxx-driver-r3.6.7.tar.gz -RUN cd mongo-cxx-driver-r3.6.7/build && cmake .. -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=/usr/local && sudo cmake --build . --target EP_mnmlstc_core && cmake --build . && sudo cmake --build . --target install - -# Get the source for the dependencies -# RUN vcs import src < /tmp/demo_generated_pkgs.repos -COPY --chown=${USERNAME}:${USERNAME} o3de-robot-sim.repos /tmp/ -RUN vcs import src < /tmp/o3de-robot-sim.repos && /bin/bash -c 'source "${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 "${SPACEROS_DIR}/install/setup.bash"' \ -&& /bin/bash -c 'source "${MOVEIT2_DIR}/install/setup.bash"' \ -&& rosdep install --from-paths src --ignore-src -r -y --rosdistro ${ROSDISTRO} - -# Build the demo_ws -RUN /bin/bash -c 'source ${SPACEROS_DIR}/install/setup.bash && source ${MOVEIT2_DIR}/install/setup.bash \ - && colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release' - -# Create O3DE/Projects and O3DE/Gems directory -RUN if [ -d "${O3DE_DIR}/Projects" ]; then rm -rf ${O3DE_DIR}/Gems; fi -RUN mkdir -p ${O3DE_DIR}/Projects - -RUN if [ -d "${O3DE_DIR}/Gems" ]; then rm -rf ${O3DE_DIR}/Gems; fi -RUN mkdir -p ${O3DE_DIR}/Gems - -# Git clone RobotSim, NasaMarsRoverGem and MarsYardGem -WORKDIR ${O3DE_DIR}/Projects -RUN git clone --branch nasa_submission https://github.com/Mechazo11/RobotSim.git - -WORKDIR ${O3DE_DIR}/Gems -RUN git clone --branch nasa_submission https://github.com/Mechazo11/NasaCuriosityRoverGem.git -RUN git clone --branch nasa_submission https://github.com/Mechazo11/MarsYardGem.git - -## Symlink clang version to non-versioned clang and set cc to clang -# RUN update-alternatives --install /usr/bin/cc cc /usr/bin/clang 100 \ -# && update-alternatives --install /usr/bin/c++ c++ /usr/bin/clang++ 100 - -#### Install Open 3D Engine #### -# Install dependencies -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 \ - bc \ - bind9-utils \ - binutils \ - ca-certificates \ - clang \ - cmake \ - file \ - firewalld \ - git \ - git-lfs \ - jq \ - kbd \ - kmod \ - less \ - lsb-release \ - libglu1-mesa-dev \ - libxcb-xinerama0 \ - libfontconfig1-dev \ - libcurl4-openssl-dev \ - libnvidia-gl-470 \ - libssl-dev \ - libxcb-xkb-dev \ - libxkbcommon-x11-dev \ - libxkbcommon-dev \ - libxcb-xfixes0-dev \ - libxcb-xinput-dev \ - libxcb-xinput0 \ - libpcre2-16-0 \ - lsof \ - net-tools \ - ninja-build \ - pciutils \ - python3-pip \ - software-properties-common \ - sudo \ - tar \ - unzip \ - vim \ - wget \ - xz-utils - # && rm -rf /var/lib/apt/lists/* # TODO need to figure out how to use this correctly - -# Pull latest commit from development and build o3de. Note this does't build the whole engine -WORKDIR ${HOME_DIR} - -# Install o3de engine (automatically pulls last commit from "development" branch) -RUN git clone --single-branch -b development https://github.com/o3de/o3de.git \ - && cd o3de \ - && git lfs install \ - && git lfs pull \ - && python/get_python.sh - -# Install o3de-extras (automatically pulls last commit from "development" branch) -# Contains ROS 2 Gem and other relevant assets - -WORKDIR ${HOME_DIR} -RUN git clone --single-branch -b development https://github.com/o3de/o3de-extras.git \ - && cd o3de-extras \ - && git lfs install \ - && git lfs pull - -WORKDIR ${HOME_DIR}/o3de - -# Register RobotSim with this engine -#RUN ${O3DE_ENGINE}/scripts/o3de.sh register --this-engine -RUN ./scripts/o3de.sh register --this-engine -# Register ROS 2 Gem, Husarion robot, Curiosity rover and Mars Yard gem -# RUN ${O3DE_ENGINE}/scripts/o3de.sh register --gem-path ${O3DE_EXTRAS}/Gems/ROS2 \ -# && ${O3DE_ENGINE}/scripts/o3de.sh register --gem-path ${O3DE_EXTRAS}/Gems/RosRobotSample \ -# && ${O3DE_ENGINE}/scripts/o3de.sh register --gem-path ${O3DE_DIR}/Gems/NasaCuriosityRoverGem \ -# && ${O3DE_ENGINE}/scripts/o3de.sh register --gem-path ${O3DE_DIR}/Gems/MarsYardGem - -RUN ./scripts/o3de.sh register --gem-path ${O3DE_EXTRAS}/Gems/ROS2 \ - && ./scripts/o3de.sh register --gem-path ${O3DE_EXTRAS}/Gems/RosRobotSample \ - && ./scripts/o3de.sh register --gem-path ${O3DE_EXTRAS}/Gems/WarehouseSample \ - && ./scripts/o3de.sh register --gem-path ${O3DE_DIR}/Gems/NasaCuriosityRoverGem \ - && ./scripts/o3de.sh register --gem-path ${O3DE_DIR}/Gems/MarsYardGem - -# Register the Terrian gem which is located in o3de folder -RUN ./scripts/o3de.sh register --gem-path ${HOME_DIR}/o3de/Gems/Terrain - -# Register RobotSim project. -# Project must be registered at the very end after all dependent gems are registered -#RUN {O3DE_ENGINE}/scripts/o3de.sh register --project-path ${O3DE_DIR}/Projects/${PROJECT_NAME} -RUN ./scripts/o3de.sh register --project-path ${O3DE_DIR}/Projects/${PROJECT_NAME} - -# Move to project directory -WORKDIR ${HOME_DIR} -# Run cmake and build project (Warning takes about 10-15 mins) - -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 \ - libunwind-dev - -# Testing build by manually building out a ROS 2 Humble core -# RUN sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg +# 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-get update -y && sudo apt-get install -y \ -# ros-humble-ros-base +# --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 the MoveIt2 source code +# WORKDIR ${HOME_DIR} +# RUN sudo git clone https://github.com/moveit/moveit2.git -b ${ROSDISTRO} moveit2/src +# RUN cd ${MOVEIT2_DIR}/src \ +# && sudo git clone https://github.com/moveit/moveit2_tutorials.git -b ${ROSDISTRO} + +# # Update the ownership of the source files (had to use sudo above to work around +# # a possible inherited 'insteadof' from the host that forces use of ssh +# RUN sudo chown -R ${USERNAME}:${USERNAME} ${MOVEIT2_DIR} + +# # Get rosinstall_generator +# RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \ +# --mount=type=cache,target=/var/lib/apt,sharing=locked \ +# sudo apt-get update -y && sudo apt-get install -y python3-rosinstall-generator + +# # Generate repos file for moveit2 dependencies, excluding packages from Space ROS core. +# COPY --chown=${USERNAME}:${USERNAME} moveit2-pkgs.txt /tmp/ +# COPY --chown=${USERNAME}:${USERNAME} excluded-pkgs.txt /tmp/ +# RUN rosinstall_generator \ +# --rosdistro ${ROSDISTRO} \ +# --deps \ +# --exclude-path ${SPACEROS_DIR}/src \ +# --exclude $(cat /tmp/excluded-pkgs.txt) -- \ +# -- $(cat /tmp/moveit2-pkgs.txt) \ +# > /tmp/moveit2_generated_pkgs.repos + +# # Get the repositories required by MoveIt2, but not included in Space ROS +# WORKDIR ${MOVEIT2_DIR} +# RUN vcs import src < /tmp/moveit2_generated_pkgs.repos +# COPY --chown=${USERNAME}:${USERNAME} moveit2_tutorials.repos /tmp/ +# RUN vcs import src < /tmp/moveit2_tutorials.repos + +# # Update the ownership of the source files (had to use sudo above to work around +# # a possible inherited 'insteadof' from the host that forces use of ssh +# RUN sudo chown -R ${USERNAME}:${USERNAME} ${MOVEIT2_DIR} + +# # Install system dependencies +# RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \ +# --mount=type=cache,target=/var/lib/apt,sharing=locked \ +# /bin/bash -c 'source ${SPACEROS_DIR}/install/setup.bash' \ +# && rosdep install --from-paths ../spaceros/src src --ignore-src --rosdistro ${ROSDISTRO} -r -y --skip-keys "console_bridge generate_parameter_library fastcdr fastrtps rti-connext-dds-5.3.1 urdfdom_headers rmw_connextdds ros_testing rmw_connextdds rmw_fastrtps_cpp rmw_fastrtps_dynamic_cpp composition demo_nodes_py lifecycle rosidl_typesupport_fastrtps_cpp rosidl_typesupport_fastrtps_c ikos diagnostic_aggregator diagnostic_updater joy qt_gui rqt_gui rqt_gui_py" + +# # Apply a patch to octomap_msgs to work around a build issue +# COPY --chown=${USERNAME}:${USERNAME} octomap_fix.diff ./src/octomap_msgs +# RUN cd src/octomap_msgs && git apply octomap_fix.diff + +# # Build MoveIt2 +# 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-' + +#### Install MOVEIT2_WS #### + + + + +#### Install DEMO_WS #### + +# # Get rosinstall_generator +# # 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 -y && sudo DEBIAN_FRONTEND=noninteractive apt-get install -y \ +# python3-rosinstall-generator \ +# libboost-python-dev build-essential cmake libboost-all-dev libois-dev \ +# libzzip-dev libfreeimage-dev libfreetype6-dev libx11-dev libxt-dev libxaw7-dev \ +# libsdl2-dev libpugixml-dev libglew-dev qtbase5-dev libspdlog-dev libfmt-dev \ +# libignition-gazebo6-dev libssl-dev devscripts debian-keyring fakeroot debhelper \ +# libboost-dev libsasl2-dev libicu-dev libzstd-dev doxygen libtinyxml-dev \ +# libtinyxml2-dev python3-pyqt5 tzdata locales keyboard-configuration + +# # RUN apt-get install -y tzdata +# # RUN apt-get install -y locales +# # RUN apt-get install -y keyboard-configuration + +# RUN sudo sed -i -e 's/# en_US.UTF-8 UTF-8/en_US.UTF-8 UTF-8/' /etc/locale.gen \ +# && sudo dpkg-reconfigure --frontend=noninteractive locales \ +# && sudo update-locale LANG=en_US.UTF-8 + +# # RUN sed -i -e 's/# en_US.UTF-8 UTF-8/en_US.UTF-8 UTF-8/' /etc/locale.gen \ +# # && dpkg-reconfigure --frontend=noninteractive locales \ +# # && update-locale LANG=en_US.UTF-8 + +# ENV LANG=en_US.UTF-8 + +# 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 \ +# bc \ +# bind9-utils \ +# binutils \ +# ca-certificates \ +# clang \ +# cmake \ +# file \ +# firewalld \ +# git \ +# git-lfs \ +# jq \ +# kbd \ +# kmod \ +# less \ +# lsb-release \ +# libglu1-mesa-dev \ +# libxcb-xinerama0 \ +# libfontconfig1-dev \ +# libcurl4-openssl-dev \ +# libnvidia-gl-470 \ +# libssl-dev \ +# libxcb-xkb-dev \ +# libxkbcommon-x11-dev \ +# libxkbcommon-dev \ +# libxcb-xfixes0-dev \ +# libxcb-xinput-dev \ +# libxcb-xinput0 \ +# libpcre2-16-0 \ +# lsof \ +# net-tools \ +# ninja-build \ +# pciutils \ +# python3-pip \ +# software-properties-common \ +# sudo \ +# tar \ +# unzip \ +# vim \ +# wget \ +# xz-utils +# # && rm -rf /var/lib/apt/lists/* # TODO need to figure out how to use this correctly + +# RUN mkdir -p ${DEMO_DIR}/src +# WORKDIR ${DEMO_DIR} + +# # Install libmongoc for development +# RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \ +# --mount=type=cache,target=/var/lib/apt,sharing=locked \ +# sudo apt-get install libmongoc-dev -y + +# # Compile mongo cxx driver https://mongocxx.org/mongocxx-v3/installation/linux/ +# RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \ +# --mount=type=cache,target=/var/lib/apt,sharing=locked \ +# sudo apt-get install libssl-dev build-essential devscripts debian-keyring fakeroot debhelper cmake libboost-dev libsasl2-dev libicu-dev libzstd-dev doxygen -y +# RUN wget https://github.com/mongodb/mongo-cxx-driver/releases/download/r3.6.7/mongo-cxx-driver-r3.6.7.tar.gz +# RUN tar -xzf mongo-cxx-driver-r3.6.7.tar.gz +# RUN cd mongo-cxx-driver-r3.6.7/build && cmake .. -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=/usr/local && sudo cmake --build . --target EP_mnmlstc_core && cmake --build . && sudo cmake --build . --target install + +# # Get the source for the dependencies +# # RUN vcs import src < /tmp/demo_generated_pkgs.repos +# COPY --chown=${USERNAME}:${USERNAME} o3de-robot-sim.repos /tmp/ +# RUN vcs import src < /tmp/o3de-robot-sim.repos && /bin/bash -c 'source "${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 "${SPACEROS_DIR}/install/setup.bash"' \ +# && /bin/bash -c 'source "${MOVEIT2_DIR}/install/setup.bash"' \ +# && rosdep install --from-paths src --ignore-src -r -y --rosdistro ${ROSDISTRO} + +# # Build the demo_ws +# RUN /bin/bash -c 'source ${SPACEROS_DIR}/install/setup.bash && source ${MOVEIT2_DIR}/install/setup.bash \ +# && colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release' + +# # Create O3DE/Projects and O3DE/Gems directory +# RUN if [ -d "${O3DE_DIR}/Projects" ]; then rm -rf ${O3DE_DIR}/Gems; fi +# RUN mkdir -p ${O3DE_DIR}/Projects + +# RUN if [ -d "${O3DE_DIR}/Gems" ]; then rm -rf ${O3DE_DIR}/Gems; fi +# RUN mkdir -p ${O3DE_DIR}/Gems + +# # Git clone RobotSim, NasaMarsRoverGem and MarsYardGem +# WORKDIR ${O3DE_DIR}/Projects +# RUN git clone --branch nasa_submission https://github.com/Mechazo11/RobotSim.git + +# WORKDIR ${O3DE_DIR}/Gems +# RUN git clone --branch nasa_submission https://github.com/Mechazo11/NasaCuriosityRoverGem.git +# RUN git clone --branch nasa_submission https://github.com/Mechazo11/MarsYardGem.git + +# ## Symlink clang version to non-versioned clang and set cc to clang +# # RUN update-alternatives --install /usr/bin/cc cc /usr/bin/clang 100 \ +# # && update-alternatives --install /usr/bin/c++ c++ /usr/bin/clang++ 100 + +# #### Install Open 3D Engine #### + +# # Pull latest commit from development and build o3de. Note this does't build the whole engine +# WORKDIR ${HOME_DIR} + +# # Install o3de engine (automatically pulls last commit from "development" branch) +# RUN git clone --single-branch -b development https://github.com/o3de/o3de.git \ +# && cd o3de \ +# && git lfs install \ +# && git lfs pull \ +# && python/get_python.sh + +# # Install o3de-extras (automatically pulls last commit from "development" branch) +# # Contains ROS 2 Gem and other relevant assets + +# WORKDIR ${HOME_DIR} +# RUN git clone --single-branch -b development https://github.com/o3de/o3de-extras.git \ +# && cd o3de-extras \ +# && git lfs install \ +# && git lfs pull + +# WORKDIR ${HOME_DIR}/o3de + +# # Register RobotSim with this engine +# #RUN ${O3DE_ENGINE}/scripts/o3de.sh register --this-engine +# RUN ./scripts/o3de.sh register --this-engine +# # Register ROS 2 Gem, Husarion robot, Curiosity rover and Mars Yard gem +# # RUN ${O3DE_ENGINE}/scripts/o3de.sh register --gem-path ${O3DE_EXTRAS}/Gems/ROS2 \ +# # && ${O3DE_ENGINE}/scripts/o3de.sh register --gem-path ${O3DE_EXTRAS}/Gems/RosRobotSample \ +# # && ${O3DE_ENGINE}/scripts/o3de.sh register --gem-path ${O3DE_DIR}/Gems/NasaCuriosityRoverGem \ +# # && ${O3DE_ENGINE}/scripts/o3de.sh register --gem-path ${O3DE_DIR}/Gems/MarsYardGem + +# RUN ./scripts/o3de.sh register --gem-path ${O3DE_EXTRAS}/Gems/ROS2 \ +# && ./scripts/o3de.sh register --gem-path ${O3DE_EXTRAS}/Gems/RosRobotSample \ +# && ./scripts/o3de.sh register --gem-path ${O3DE_EXTRAS}/Gems/WarehouseSample \ +# && ./scripts/o3de.sh register --gem-path ${O3DE_DIR}/Gems/NasaCuriosityRoverGem \ +# && ./scripts/o3de.sh register --gem-path ${O3DE_DIR}/Gems/MarsYardGem + +# # Register the Terrian gem which is located in o3de folder +# RUN ./scripts/o3de.sh register --gem-path ${HOME_DIR}/o3de/Gems/Terrain + +# # Register RobotSim project. +# # Project must be registered at the very end after all dependent gems are registered +# #RUN {O3DE_ENGINE}/scripts/o3de.sh register --project-path ${O3DE_DIR}/Projects/${PROJECT_NAME} +# RUN ./scripts/o3de.sh register --project-path ${O3DE_DIR}/Projects/${PROJECT_NAME} # # Move to project directory -WORKDIR ${PROJECT_PATH} +# WORKDIR ${HOME_DIR} +# # Run cmake and build project (Warning takes about 10-15 mins) + +# RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \ +# --mount=type=cache,target=/var/lib/apt,sharing=locked \ +# sudo apt-get update -y && sudo apt-get install -y \ +# libunwind-dev -# Activate Cyclone DDS -# ENV RMW_IMPLEMENTATION=rmw_cyclonedds_cpp +# # Testing build by manually building out a ROS 2 Humble core +# # RUN sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg -# Source space_ros, movit2 and demo_ws -RUN /bin/bash -c 'source "${SPACEROS_DIR}/install/setup.bash"' \ - && /bin/bash -c 'source "${MOVEIT2_DIR}/install/setup.bash"' \ - && /bin/bash -c 'source "${DEMO_DIR}/install/setup.bash"' - #&& cmake -B build/linux -G "Ninja Multi-Config" -DLY_DISABLE_TEST_MODULES=ON -DCMAKE_EXPORT_COMPILE_COMMANDS=ON -DLY_STRIP_DEBUG_SYMBOLS=ON -DAZ_USE_PHYSX5:BOOL=ON \ - #&& cmake --build build/linux --config profile --target ${PROJECT_NAME} Editor ${PROJECT_NAME}.Assets +# # 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 \ +# # ros-humble-ros-base -#RUN /bin/bash -c 'source "/opt/ros/humble/setup.bash"' +# # # Move to project directory +# WORKDIR ${PROJECT_PATH} -RUN cmake -B build/linux -G "Ninja Multi-Config" -DLY_DISABLE_TEST_MODULES=ON -DCMAKE_EXPORT_COMPILE_COMMANDS=ON -DLY_STRIP_DEBUG_SYMBOLS=ON -DAZ_USE_PHYSX5:BOOL=ON \ - && cmake --build build/linux --config profile --target ${PROJECT_NAME} Editor ${PROJECT_NAME}.Assets +# # Activate Cyclone DDS +# # ENV RMW_IMPLEMENTATION=rmw_cyclonedds_cpp +# # Source space_ros, movit2 and demo_ws +# RUN /bin/bash -c 'source "${SPACEROS_DIR}/install/setup.bash"' \ +# && /bin/bash -c 'source "${MOVEIT2_DIR}/install/setup.bash"' \ +# && /bin/bash -c 'source "${DEMO_DIR}/install/setup.bash"' +# #&& cmake -B build/linux -G "Ninja Multi-Config" -DLY_DISABLE_TEST_MODULES=ON -DCMAKE_EXPORT_COMPILE_COMMANDS=ON -DLY_STRIP_DEBUG_SYMBOLS=ON -DAZ_USE_PHYSX5:BOOL=ON \ +# #&& cmake --build build/linux --config profile --target ${PROJECT_NAME} Editor ${PROJECT_NAME}.Assets +# #RUN /bin/bash -c 'source "/opt/ros/humble/setup.bash"' +# RUN cmake -B build/linux -G "Ninja Multi-Config" -DLY_DISABLE_TEST_MODULES=ON -DCMAKE_EXPORT_COMPILE_COMMANDS=ON -DLY_STRIP_DEBUG_SYMBOLS=ON -DAZ_USE_PHYSX5:BOOL=ON \ +# && cmake --build build/linux --config profile --target ${PROJECT_NAME} Editor ${PROJECT_NAME}.Assets # # Add the user to the render group so that the user can access /dev/dri/renderD128 # # /dev/dri/renderD128 gives access to hardware-accelerated rendering tool such as GPU diff --git a/o3de_mars_rover/Dockerfile_bck b/o3de_mars_rover/Dockerfile_bck new file mode 100644 index 00000000..2d13dc08 --- /dev/null +++ b/o3de_mars_rover/Dockerfile_bck @@ -0,0 +1,320 @@ +# Copyright 2024 Azmyin Md. Kamal +# +# 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 o3de_curiosit_docker image that showcases Open 3D Engine +# in simulating a Curiositry rover traversing through a test ground inspired by the NASA JPL Mars Yard +# O3DE docker file based on https://github.com/husarion/o3de-docker/blob/main/Dockerfile +# +# +# 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 openrobotics/moveit2:latest + +# Define arguments used in the metadata definition +ARG VCS_REF +ARG VERSION="preview" +ARG ROS_DISTRO=humble + +# Specify the docker image metadata +LABEL org.label-schema.schema-version="1.0" +LABEL org.label-schema.name="O3DE Curiosity Rover" +LABEL org.label-schema.description="Curiosity rover demo on a new test enviornment on the Space ROS platform and Open 3D Engine" +LABEL org.label-schema.vendor="Nasa Space ROS Sim Summer Spring Challenge 2024" +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/Mechazo11/space-ros-docker" +LABEL org.label-schema.vcs-ref=${VCS_REF} + +# Define a key enviornment variables +ENV DEMO_DIR=${HOME_DIR}/demos_ws +ENV IGNITION_VERSION fortress +ENV GZ_VERSION fortress +ENV PROJECT_NAME=RobotSim +ENV O3DE_ENGINE=${HOME_DIR}/o3de +ENV O3DE_DIR=${HOME_DIR}/O3DE +ENV O3DE_EXTRAS=${HOME_DIR}/o3de-extras +ENV PROJECT_PATH=${O3DE_DIR}/Projects/${PROJECT_NAME} + +# Disable prompting during package installation +ARG DEBIAN_FRONTEND=noninteractive +ENV DEBIAN_FRONTEND=noninteractive +ENV TZ=Etc/UTC + +#### Install DEMO_WS #### + +# Get rosinstall_generator +# 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 -y && sudo DEBIAN_FRONTEND=noninteractive apt-get install -y \ + python3-rosinstall-generator \ + libboost-python-dev build-essential cmake libboost-all-dev libois-dev \ + libzzip-dev libfreeimage-dev libfreetype6-dev libx11-dev libxt-dev libxaw7-dev \ + libsdl2-dev libpugixml-dev libglew-dev qtbase5-dev libspdlog-dev libfmt-dev \ + libignition-gazebo6-dev libssl-dev devscripts debian-keyring fakeroot debhelper \ + libboost-dev libsasl2-dev libicu-dev libzstd-dev doxygen libtinyxml-dev \ + libtinyxml2-dev python3-pyqt5 tzdata locales keyboard-configuration + +# RUN apt-get install -y tzdata +# RUN apt-get install -y locales +# RUN apt-get install -y keyboard-configuration + +RUN sudo sed -i -e 's/# en_US.UTF-8 UTF-8/en_US.UTF-8 UTF-8/' /etc/locale.gen \ + && sudo dpkg-reconfigure --frontend=noninteractive locales \ + && sudo update-locale LANG=en_US.UTF-8 + +# RUN sed -i -e 's/# en_US.UTF-8 UTF-8/en_US.UTF-8 UTF-8/' /etc/locale.gen \ +# && dpkg-reconfigure --frontend=noninteractive locales \ +# && update-locale LANG=en_US.UTF-8 + +ENV LANG=en_US.UTF-8 + +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 \ + bc \ + bind9-utils \ + binutils \ + ca-certificates \ + clang \ + cmake \ + file \ + firewalld \ + git \ + git-lfs \ + jq \ + kbd \ + kmod \ + less \ + lsb-release \ + libglu1-mesa-dev \ + libxcb-xinerama0 \ + libfontconfig1-dev \ + libcurl4-openssl-dev \ + libnvidia-gl-470 \ + libssl-dev \ + libxcb-xkb-dev \ + libxkbcommon-x11-dev \ + libxkbcommon-dev \ + libxcb-xfixes0-dev \ + libxcb-xinput-dev \ + libxcb-xinput0 \ + libpcre2-16-0 \ + lsof \ + net-tools \ + ninja-build \ + pciutils \ + python3-pip \ + software-properties-common \ + sudo \ + tar \ + unzip \ + vim \ + wget \ + xz-utils + # && rm -rf /var/lib/apt/lists/* # TODO need to figure out how to use this correctly + + +RUN mkdir -p ${DEMO_DIR}/src +WORKDIR ${DEMO_DIR} + +# Install libmongoc for development +RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \ + --mount=type=cache,target=/var/lib/apt,sharing=locked \ + sudo apt-get install libmongoc-dev -y + +# Compile mongo cxx driver https://mongocxx.org/mongocxx-v3/installation/linux/ +RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \ + --mount=type=cache,target=/var/lib/apt,sharing=locked \ + sudo apt-get install libssl-dev build-essential devscripts debian-keyring fakeroot debhelper cmake libboost-dev libsasl2-dev libicu-dev libzstd-dev doxygen -y +RUN wget https://github.com/mongodb/mongo-cxx-driver/releases/download/r3.6.7/mongo-cxx-driver-r3.6.7.tar.gz +RUN tar -xzf mongo-cxx-driver-r3.6.7.tar.gz +RUN cd mongo-cxx-driver-r3.6.7/build && cmake .. -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=/usr/local && sudo cmake --build . --target EP_mnmlstc_core && cmake --build . && sudo cmake --build . --target install + +# Get the source for the dependencies +# RUN vcs import src < /tmp/demo_generated_pkgs.repos +COPY --chown=${USERNAME}:${USERNAME} o3de-robot-sim.repos /tmp/ +RUN vcs import src < /tmp/o3de-robot-sim.repos && /bin/bash -c 'source "${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 "${SPACEROS_DIR}/install/setup.bash"' \ +&& /bin/bash -c 'source "${MOVEIT2_DIR}/install/setup.bash"' \ +&& rosdep install --from-paths src --ignore-src -r -y --rosdistro ${ROSDISTRO} + +# Build the demo_ws +RUN /bin/bash -c 'source ${SPACEROS_DIR}/install/setup.bash && source ${MOVEIT2_DIR}/install/setup.bash \ + && colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release' + +# Create O3DE/Projects and O3DE/Gems directory +RUN if [ -d "${O3DE_DIR}/Projects" ]; then rm -rf ${O3DE_DIR}/Gems; fi +RUN mkdir -p ${O3DE_DIR}/Projects + +RUN if [ -d "${O3DE_DIR}/Gems" ]; then rm -rf ${O3DE_DIR}/Gems; fi +RUN mkdir -p ${O3DE_DIR}/Gems + +# Git clone RobotSim, NasaMarsRoverGem and MarsYardGem +WORKDIR ${O3DE_DIR}/Projects +RUN git clone --branch nasa_submission https://github.com/Mechazo11/RobotSim.git + +WORKDIR ${O3DE_DIR}/Gems +RUN git clone --branch nasa_submission https://github.com/Mechazo11/NasaCuriosityRoverGem.git +RUN git clone --branch nasa_submission https://github.com/Mechazo11/MarsYardGem.git + +## Symlink clang version to non-versioned clang and set cc to clang +# RUN update-alternatives --install /usr/bin/cc cc /usr/bin/clang 100 \ +# && update-alternatives --install /usr/bin/c++ c++ /usr/bin/clang++ 100 + +#### Install Open 3D Engine #### +# Install dependencies +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 \ + bc \ + bind9-utils \ + binutils \ + ca-certificates \ + clang \ + cmake \ + file \ + firewalld \ + git \ + git-lfs \ + jq \ + kbd \ + kmod \ + less \ + lsb-release \ + libglu1-mesa-dev \ + libxcb-xinerama0 \ + libfontconfig1-dev \ + libcurl4-openssl-dev \ + libnvidia-gl-470 \ + libssl-dev \ + libxcb-xkb-dev \ + libxkbcommon-x11-dev \ + libxkbcommon-dev \ + libxcb-xfixes0-dev \ + libxcb-xinput-dev \ + libxcb-xinput0 \ + libpcre2-16-0 \ + lsof \ + net-tools \ + ninja-build \ + pciutils \ + python3-pip \ + software-properties-common \ + sudo \ + tar \ + unzip \ + vim \ + wget \ + xz-utils + # && rm -rf /var/lib/apt/lists/* # TODO need to figure out how to use this correctly + +# Pull latest commit from development and build o3de. Note this does't build the whole engine +WORKDIR ${HOME_DIR} + +# Install o3de engine (automatically pulls last commit from "development" branch) +RUN git clone --single-branch -b development https://github.com/o3de/o3de.git \ + && cd o3de \ + && git lfs install \ + && git lfs pull \ + && python/get_python.sh + +# Install o3de-extras (automatically pulls last commit from "development" branch) +# Contains ROS 2 Gem and other relevant assets + +WORKDIR ${HOME_DIR} +RUN git clone --single-branch -b development https://github.com/o3de/o3de-extras.git \ + && cd o3de-extras \ + && git lfs install \ + && git lfs pull + +WORKDIR ${HOME_DIR}/o3de + +# Register RobotSim with this engine +#RUN ${O3DE_ENGINE}/scripts/o3de.sh register --this-engine +RUN ./scripts/o3de.sh register --this-engine +# Register ROS 2 Gem, Husarion robot, Curiosity rover and Mars Yard gem +# RUN ${O3DE_ENGINE}/scripts/o3de.sh register --gem-path ${O3DE_EXTRAS}/Gems/ROS2 \ +# && ${O3DE_ENGINE}/scripts/o3de.sh register --gem-path ${O3DE_EXTRAS}/Gems/RosRobotSample \ +# && ${O3DE_ENGINE}/scripts/o3de.sh register --gem-path ${O3DE_DIR}/Gems/NasaCuriosityRoverGem \ +# && ${O3DE_ENGINE}/scripts/o3de.sh register --gem-path ${O3DE_DIR}/Gems/MarsYardGem + +RUN ./scripts/o3de.sh register --gem-path ${O3DE_EXTRAS}/Gems/ROS2 \ + && ./scripts/o3de.sh register --gem-path ${O3DE_EXTRAS}/Gems/RosRobotSample \ + && ./scripts/o3de.sh register --gem-path ${O3DE_EXTRAS}/Gems/WarehouseSample \ + && ./scripts/o3de.sh register --gem-path ${O3DE_DIR}/Gems/NasaCuriosityRoverGem \ + && ./scripts/o3de.sh register --gem-path ${O3DE_DIR}/Gems/MarsYardGem + +# Register the Terrian gem which is located in o3de folder +RUN ./scripts/o3de.sh register --gem-path ${HOME_DIR}/o3de/Gems/Terrain + +# Register RobotSim project. +# Project must be registered at the very end after all dependent gems are registered +#RUN {O3DE_ENGINE}/scripts/o3de.sh register --project-path ${O3DE_DIR}/Projects/${PROJECT_NAME} +RUN ./scripts/o3de.sh register --project-path ${O3DE_DIR}/Projects/${PROJECT_NAME} + +# Move to project directory +WORKDIR ${HOME_DIR} +# Run cmake and build project (Warning takes about 10-15 mins) + +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 \ + libunwind-dev + +# Testing build by manually building out a ROS 2 Humble core +# RUN sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg + +# 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 \ +# ros-humble-ros-base + +# # Move to project directory +WORKDIR ${PROJECT_PATH} + +# Activate Cyclone DDS +# ENV RMW_IMPLEMENTATION=rmw_cyclonedds_cpp + +# Source space_ros, movit2 and demo_ws +RUN /bin/bash -c 'source "${SPACEROS_DIR}/install/setup.bash"' \ + && /bin/bash -c 'source "${MOVEIT2_DIR}/install/setup.bash"' \ + && /bin/bash -c 'source "${DEMO_DIR}/install/setup.bash"' + #&& cmake -B build/linux -G "Ninja Multi-Config" -DLY_DISABLE_TEST_MODULES=ON -DCMAKE_EXPORT_COMPILE_COMMANDS=ON -DLY_STRIP_DEBUG_SYMBOLS=ON -DAZ_USE_PHYSX5:BOOL=ON \ + #&& cmake --build build/linux --config profile --target ${PROJECT_NAME} Editor ${PROJECT_NAME}.Assets + +#RUN /bin/bash -c 'source "/opt/ros/humble/setup.bash"' + +RUN cmake -B build/linux -G "Ninja Multi-Config" -DLY_DISABLE_TEST_MODULES=ON -DCMAKE_EXPORT_COMPILE_COMMANDS=ON -DLY_STRIP_DEBUG_SYMBOLS=ON -DAZ_USE_PHYSX5:BOOL=ON \ + && cmake --build build/linux --config profile --target ${PROJECT_NAME} Editor ${PROJECT_NAME}.Assets + + + + +# # Add the user to the render group so that the user can access /dev/dri/renderD128 +# # /dev/dri/renderD128 gives access to hardware-accelerated rendering tool such as GPU +# RUN sudo usermod -aG render $USERNAME + +# # Setup the entrypoint +# COPY ./entrypoint.sh / +# ENTRYPOINT ["/entrypoint.sh"] +# CMD ["bash"] diff --git a/o3de_mars_rover/Dockerfile_movit2 b/o3de_mars_rover/Dockerfile_movit2 new file mode 100644 index 00000000..11ff9160 --- /dev/null +++ b/o3de_mars_rover/Dockerfile_movit2 @@ -0,0 +1,156 @@ +# Copyright 2021 Open Source Robotics Foundation, Inc. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. +# +# A Docker configuration script to build the MoveIt2/Space ROS image. +# +# The script provides the following build arguments: +# +# VCS_REF - The git revision of the Space ROS source code (no default value). +# VERSION - The version of Space ROS (default: "preview") + +FROM osrf/space-ros:latest + +# Define arguments used in the metadata definition +ARG VCS_REF +ARG VERSION="preview" + +# Specify the docker image metadata +LABEL org.label-schema.schema-version="1.0" +LABEL org.label-schema.name="MoveIt2" +LABEL org.label-schema.description="Preview version of the MoveIt2/Space ROS platform" +LABEL org.label-schema.vendor="Open Robotics" +LABEL org.label-schema.version=${VERSION} +LABEL org.label-schema.url="https://github.com/space-ros" +LABEL org.label-schema.vcs-url="https://github.com/space-ros/docker-images" +LABEL org.label-schema.vcs-ref=${VCS_REF} + +# Disable prompting during package installation +ARG DEBIAN_FRONTEND=noninteractive + +# Clone all space-ros sources +RUN mkdir ${SPACEROS_DIR}/src \ + && vcs import ${SPACEROS_DIR}/src < ${SPACEROS_DIR}/exact.repos + +# Define key locations +ENV MOVEIT2_DIR=${HOME_DIR}/moveit2 + +# 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 the MoveIt2 source code +WORKDIR ${HOME_DIR} +RUN sudo git clone https://github.com/moveit/moveit2.git -b ${ROSDISTRO} moveit2/src +RUN cd ${MOVEIT2_DIR}/src \ + && sudo git clone https://github.com/moveit/moveit2_tutorials.git -b ${ROSDISTRO} + +# Update the ownership of the source files (had to use sudo above to work around +# a possible inherited 'insteadof' from the host that forces use of ssh +RUN sudo chown -R ${USERNAME}:${USERNAME} ${MOVEIT2_DIR} + +# Get rosinstall_generator +RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \ + --mount=type=cache,target=/var/lib/apt,sharing=locked \ + sudo apt-get update -y && sudo apt-get install -y python3-rosinstall-generator + +# Generate repos file for moveit2 dependencies, excluding packages from Space ROS core. +COPY --chown=${USERNAME}:${USERNAME} moveit2-pkgs.txt /tmp/ +COPY --chown=${USERNAME}:${USERNAME} excluded-pkgs.txt /tmp/ +RUN rosinstall_generator \ + --rosdistro ${ROSDISTRO} \ + --deps \ + --exclude-path ${SPACEROS_DIR}/src \ + --exclude $(cat /tmp/excluded-pkgs.txt) -- \ + -- $(cat /tmp/moveit2-pkgs.txt) \ + > /tmp/moveit2_generated_pkgs.repos + +# Get the repositories required by MoveIt2, but not included in Space ROS +WORKDIR ${MOVEIT2_DIR} +RUN vcs import src < /tmp/moveit2_generated_pkgs.repos +COPY --chown=${USERNAME}:${USERNAME} moveit2_tutorials.repos /tmp/ +RUN vcs import src < /tmp/moveit2_tutorials.repos + +# Update the ownership of the source files (had to use sudo above to work around +# a possible inherited 'insteadof' from the host that forces use of ssh +RUN sudo chown -R ${USERNAME}:${USERNAME} ${MOVEIT2_DIR} + +# Install system dependencies +RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \ + --mount=type=cache,target=/var/lib/apt,sharing=locked \ + /bin/bash -c 'source ${SPACEROS_DIR}/install/setup.bash' \ + && rosdep install --from-paths ../spaceros/src src --ignore-src --rosdistro ${ROSDISTRO} -r -y --skip-keys "console_bridge generate_parameter_library fastcdr fastrtps rti-connext-dds-5.3.1 urdfdom_headers rmw_connextdds ros_testing rmw_connextdds rmw_fastrtps_cpp rmw_fastrtps_dynamic_cpp composition demo_nodes_py lifecycle rosidl_typesupport_fastrtps_cpp rosidl_typesupport_fastrtps_c ikos diagnostic_aggregator diagnostic_updater joy qt_gui rqt_gui rqt_gui_py" + +# Apply a patch to octomap_msgs to work around a build issue +COPY --chown=${USERNAME}:${USERNAME} octomap_fix.diff ./src/octomap_msgs +RUN cd src/octomap_msgs && git apply octomap_fix.diff + +# Build MoveIt2 +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 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 + +# Set up the entrypoint +COPY ./entrypoint.sh / +ENTRYPOINT ["/entrypoint.sh"] +CMD ["bash"] diff --git a/o3de_mars_rover/Dockerfile_rwm_conflict_bug b/o3de_mars_rover/Dockerfile_rwm_conflict_bug new file mode 100644 index 00000000..50cc7304 --- /dev/null +++ b/o3de_mars_rover/Dockerfile_rwm_conflict_bug @@ -0,0 +1,338 @@ +# Copyright 2024 Azmyin Md. Kamal +# +# 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 o3de_curiosit_docker image that showcases Open 3D Engine +# in simulating a Curiositry rover traversing through a test ground inspired by the NASA JPL Mars Yard +# O3DE docker file based on https://github.com/husarion/o3de-docker/blob/main/Dockerfile +# +# +# 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 + +# Note, the above image begins with user in the spaceros ws. + +# Define arguments used in the metadata definition +ARG VCS_REF +ARG VERSION="preview" +ARG ROS_DISTRO=humble + +# Specify the docker image metadata +LABEL org.label-schema.schema-version="1.0" +LABEL org.label-schema.name="O3DE Curiosity Rover" +LABEL org.label-schema.description="Curiosity rover demo on a new test enviornment on the Space ROS platform and Open 3D Engine" +LABEL org.label-schema.vendor="Nasa Space ROS Sim Summer Spring Challenge 2024" +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/Mechazo11/space-ros-docker" +LABEL org.label-schema.vcs-ref=${VCS_REF} + +# Define a key enviornment variables +ENV DEMO_DIR=${HOME_DIR}/demos_ws +ENV IGNITION_VERSION fortress +ENV GZ_VERSION fortress +ENV PROJECT_NAME=RobotSim +ENV O3DE_ENGINE=${HOME_DIR}/o3de +ENV O3DE_DIR=${HOME_DIR}/O3DE +ENV O3DE_EXTRAS=${HOME_DIR}/o3de-extras +ENV PROJECT_PATH=${O3DE_DIR}/Projects/${PROJECT_NAME} + +# Disable prompting during package installation +ARG DEBIAN_FRONTEND=noninteractive +ENV TZ Etc/UTC + +#### Dependencies #### + +# Install dependencies +# 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 -y && sudo DEBIAN_FRONTEND=noninteractive apt-get install -y \ + python3-rosinstall-generator \ + libboost-python-dev build-essential cmake libboost-all-dev libois-dev \ + libzzip-dev libfreeimage-dev libfreetype6-dev libx11-dev libxt-dev libxaw7-dev \ + libsdl2-dev libpugixml-dev libglew-dev qtbase5-dev libspdlog-dev libfmt-dev \ + libignition-gazebo6-dev libssl-dev devscripts debian-keyring fakeroot debhelper \ + libboost-dev libsasl2-dev libicu-dev libzstd-dev doxygen libtinyxml-dev \ + libtinyxml2-dev python3-pyqt5 tzdata locales keyboard-configuration + +RUN sudo sed -i -e 's/# en_US.UTF-8 UTF-8/en_US.UTF-8 UTF-8/' /etc/locale.gen \ + && sudo dpkg-reconfigure --frontend=noninteractive locales \ + && sudo update-locale LANG=en_US.UTF-8 + +ENV LANG=en_US.UTF-8 + +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 \ + bc \ + bind9-utils \ + binutils \ + ca-certificates \ + clang \ + file \ + firewalld \ + git \ + git-lfs \ + jq \ + kbd \ + kmod \ + less \ + lsb-release \ + libglu1-mesa-dev \ + libxcb-xinerama0 \ + libfontconfig1-dev \ + libcurl4-openssl-dev \ + libnvidia-gl-470 \ + libssl-dev \ + libxcb-xkb-dev \ + libxkbcommon-x11-dev \ + libxkbcommon-dev \ + libxcb-xfixes0-dev \ + libxcb-xinput-dev \ + libxcb-xinput0 \ + libpcre2-16-0 \ + lsof \ + net-tools \ + ninja-build \ + pciutils \ + python3-pip \ + software-properties-common \ + sudo \ + tar \ + unzip \ + vim \ + wget \ + xz-utils + # && rm -rf /var/lib/apt/lists/* # TODO need to figure out how to use this correctly + +# Install libmongoc for development +RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \ + --mount=type=cache,target=/var/lib/apt,sharing=locked \ + sudo apt-get install libmongoc-dev -y + +# Experimental fix +# RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \ +# --mount=type=cache,target=/var/lib/apt,sharing=locked \ +# sudo apt-get install -y --no-install-recommends ros-${ROS_DISTRO}-rmw-cyclonedds-cpp +# ENV RMW_IMPLEMENTATION=rmw_cyclonedds_cpp + +# Compile mongo cxx driver https://mongocxx.org/mongocxx-v3/installation/linux/ +RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \ + --mount=type=cache,target=/var/lib/apt,sharing=locked \ + sudo apt-get install libssl-dev build-essential devscripts debian-keyring fakeroot debhelper cmake libboost-dev libsasl2-dev libicu-dev libzstd-dev doxygen -y +RUN wget https://github.com/mongodb/mongo-cxx-driver/releases/download/r3.6.7/mongo-cxx-driver-r3.6.7.tar.gz +RUN tar -xzf mongo-cxx-driver-r3.6.7.tar.gz +RUN cd mongo-cxx-driver-r3.6.7/build && cmake .. -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=/usr/local && sudo cmake --build . --target EP_mnmlstc_core && cmake --build . && sudo cmake --build . --target install + +#### Space ROS workspace with additional packages #### +# 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 sudo DEBIAN_FRONTEND=noninteractive add-apt-repository ppa:ubuntuhandbook1/ppa +RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \ + --mount=type=cache,target=/var/lib/apt,sharing=locked \ + sudo apt-get 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 \ + libqt4-dev \ + libqt4-opengl-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 + +# 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 + +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 + +# TODO remove Install folder +# TODO remove realtime_tools from src, install it from apt +# TODO remove cyclone_dds from src and install it from apt +# TODO add colcon ignore for test_rmw_implementation + +# colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release -DCMAKE_EXPORT_COMPILE_COMMANDS=ON --packages-ignore test_rmw_implementation --event-handlers desktop_notification- status- + +# Clone all space-ros sources +# In the earthly build, after building the packages, the src file was deleted +RUN mkdir ${SPACEROS_DIR}/src \ + && vcs import ${SPACEROS_DIR}/src < ${SPACEROS_DIR}/exact.repos + +# Copy the o3de-robot-sim repos +COPY --chown=${USERNAME}:${USERNAME} o3de-robot-sim.repos /tmp/ +COPY --chown=${USERNAME}:${USERNAME} excluded-pkgs.txt /tmp/ +RUN vcs import ${SPACEROS_DIR}/src < /tmp/o3de-robot-sim.repos + +# Generate the repos file for o3de-robot-sim dependencies, excluding packages from Space ROS core +RUN rosinstall_generator \ + --rosdistro ${ROSDISTRO} \ + --deps \ + # --exclude-path ${SPACEROS_DIR}/src \ + --exclude $(cat /tmp/excluded-pkgs.txt) -- \ + -- $(cat /tmp/o3de-robot-sim.repos) \ + > /tmp/o3de_robot_sim_generated_pkgs.repos + +WORKDIR ${SPACEROS_DIR}/src +RUN git clone --branch main --single-branch https://github.com/PickNikRobotics/generate_parameter_library.git + +# Install system dependencies +WORKDIR ${SPACEROS_DIR} +RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \ + --mount=type=cache,target=/var/lib/apt,sharing=locked \ + /bin/bash -c 'source ${SPACEROS_DIR}/install/setup.bash' \ + && rosdep install --from-paths src --ignore-src --rosdistro ${ROSDISTRO} -r -y --skip-keys "console_bridge generate_parameter_library fastcdr fastrtps rti-connext-dds-5.3.1 urdfdom_headers rmw_connextdds ros_testing rmw_connextdds rmw_fastrtps_cpp rmw_fastrtps_dynamic_cpp composition demo_nodes_py lifecycle rosidl_typesupport_fastrtps_cpp rosidl_typesupport_fastrtps_c ikos diagnostic_aggregator diagnostic_updater joy qt_gui rqt_gui rqt_gui_py" + + +# Build the demo_ws +WORKDIR ${SPACEROS_DIR} +RUN /bin/bash -c 'source ${SPACEROS_DIR}/install/setup.bash \ + && colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release -DCMAKE_EXPORT_COMPILE_COMMANDS=ON --event-handlers desktop_notification- status-' + +# Create O3DE/Projects +RUN if [ -d "${O3DE_DIR}/Projects" ]; then rm -rf ${O3DE_DIR}/Gems; fi +RUN mkdir -p ${O3DE_DIR}/Projects + +# O3DE/Gems directory +RUN if [ -d "${O3DE_DIR}/Gems" ]; then rm -rf ${O3DE_DIR}/Gems; fi +RUN mkdir -p ${O3DE_DIR}/Gems + +# Git clone RobotSim, NasaMarsRoverGem and MarsYardGem +WORKDIR ${O3DE_DIR}/Projects +RUN git clone --branch nasa_submission https://github.com/Mechazo11/RobotSim.git + +WORKDIR ${O3DE_DIR}/Gems +RUN git clone --branch nasa_submission https://github.com/Mechazo11/NasaCuriosityRoverGem.git +RUN git clone --branch nasa_submission https://github.com/Mechazo11/MarsYardGem.git + +# ## Symlink clang version to non-versioned clang and set cc to clang +RUN sudo DEBIAN_FRONTEND=noninteractive update-alternatives --install /usr/bin/cc cc /usr/bin/clang 100 \ + && sudo DEBIAN_FRONTEND=noninteractive update-alternatives --install /usr/bin/c++ c++ /usr/bin/clang++ 100 + +# #### Install Open 3D Engine #### + +# # Pull latest commit from development and build o3de. Note this does't build the whole engine +WORKDIR ${HOME_DIR} + +# # Install o3de engine (automatically pulls last commit from "development" branch) +RUN git clone --single-branch -b development https://github.com/o3de/o3de.git \ + && cd o3de \ + && git lfs install \ + && git lfs pull \ + && python/get_python.sh + +# # Install o3de-extras (automatically pulls last commit from "development" branch) +# # Contains ROS 2 Gem and other relevant assets + +WORKDIR ${HOME_DIR} +RUN git clone --single-branch -b development https://github.com/o3de/o3de-extras.git \ + && cd o3de-extras \ + && git lfs install \ + && git lfs pull + +WORKDIR ${HOME_DIR}/o3de + +# # Register RobotSim with this engine +RUN ./scripts/o3de.sh register --this-engine + +# Register ROS 2 Gem, Husarion robot, Curiosity rover and Mars Yard gem +RUN ./scripts/o3de.sh register --gem-path ${O3DE_EXTRAS}/Gems/ROS2 \ + && ./scripts/o3de.sh register --gem-path ${O3DE_EXTRAS}/Gems/RosRobotSample \ + && ./scripts/o3de.sh register --gem-path ${O3DE_EXTRAS}/Gems/WarehouseSample \ + && ./scripts/o3de.sh register --gem-path ${O3DE_DIR}/Gems/NasaCuriosityRoverGem \ + && ./scripts/o3de.sh register --gem-path ${O3DE_DIR}/Gems/MarsYardGem + +# # Register the Terrian gem which is located in o3de folder +RUN ./scripts/o3de.sh register --gem-path ${HOME_DIR}/o3de/Gems/Terrain + +# # Register RobotSim project. +# # Project must be registered at the very end after all dependent gems are registered +RUN ./scripts/o3de.sh register --project-path ${O3DE_DIR}/Projects/${PROJECT_NAME} + +# TODO move this dependency up +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 \ + libunwind-dev + +# # Testing build by manually building out a ROS 2 Humble core +# # RUN sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg + +# # 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 \ +# # ros-humble-ros-base + +# # # Move to project directory +WORKDIR ${PROJECT_PATH} + +RUN /bin/bash -c 'source ${SPACEROS_DIR}/install/setup.bash \ + && cmake -B build/linux -G "Ninja Multi-Config" -DLY_DISABLE_TEST_MODULES=ON -DCMAKE_EXPORT_COMPILE_COMMANDS=ON -DLY_STRIP_DEBUG_SYMBOLS=ON -DAZ_USE_PHYSX5:BOOL=ON' + + +# # Source space_ros workspace and build +# RUN /bin/bash -c 'source "${SPACEROS_DIR}/install/setup.bash"' \ +# && /bin/bash -c 'source "${MOVEIT2_DIR}/install/setup.bash"' \ +# && /bin/bash -c 'source "${DEMO_DIR}/install/setup.bash"' +# #&& cmake -B build/linux -G "Ninja Multi-Config" -DLY_DISABLE_TEST_MODULES=ON -DCMAKE_EXPORT_COMPILE_COMMANDS=ON -DLY_STRIP_DEBUG_SYMBOLS=ON -DAZ_USE_PHYSX5:BOOL=ON \ +# #&& cmake --build build/linux --config profile --target ${PROJECT_NAME} Editor ${PROJECT_NAME}.Assets + +# #RUN /bin/bash -c 'source "/opt/ros/humble/setup.bash"' + +# RUN cmake -B build/linux -G "Ninja Multi-Config" -DLY_DISABLE_TEST_MODULES=ON -DCMAKE_EXPORT_COMPILE_COMMANDS=ON -DLY_STRIP_DEBUG_SYMBOLS=ON -DAZ_USE_PHYSX5:BOOL=ON \ +# && cmake --build build/linux --config profile --target ${PROJECT_NAME} Editor ${PROJECT_NAME}.Assets + +# # Add the user to the render group so that the user can access /dev/dri/renderD128 +# # /dev/dri/renderD128 gives access to hardware-accelerated rendering tool such as GPU +# RUN sudo usermod -aG render $USERNAME + +# # Setup the entrypoint +# COPY ./entrypoint.sh / +# ENTRYPOINT ["/entrypoint.sh"] +# CMD ["bash"] diff --git a/o3de_mars_rover/entrypoint.sh b/o3de_mars_rover/entrypoint.sh new file mode 100755 index 00000000..71dc2bc3 --- /dev/null +++ b/o3de_mars_rover/entrypoint.sh @@ -0,0 +1,8 @@ +#!/bin/bash +set -e + +# Source all relevant worksapces +source "${SPACEROS_DIR}/install/setup.bash" +source "${MOVEIT2_DIR}/install/setup.bash" +source "${DEMO_DIR}/install/setup.bash" +exec "$@" diff --git a/o3de_mars_rover/excluded-pkgs.txt b/o3de_mars_rover/excluded-pkgs.txt new file mode 100644 index 00000000..7a57a8ae --- /dev/null +++ b/o3de_mars_rover/excluded-pkgs.txt @@ -0,0 +1,10 @@ +fastrtps +fastcdr +generate_parameter_library +rmw_fastrtps_cpp +rmw_fastrtps_dynamic_cpp +rmw_fastrtps_shared_cpp +rmw_connextdds +rosidl_typesupport_fastrtps_c +rosidl_typesupport_fastrtps_cpp +fastrtps_cmake_module diff --git a/o3de_mars_rover/moveit2-pkgs.txt b/o3de_mars_rover/moveit2-pkgs.txt new file mode 100644 index 00000000..7aa8a566 --- /dev/null +++ b/o3de_mars_rover/moveit2-pkgs.txt @@ -0,0 +1,38 @@ +ackermann_msgs +angles +backward_ros +control_msgs +control_toolbox +eigen_stl_containers +geometric_shapes +graph_msgs +ignition/ignition_cmake2_vendor +ignition/ignition_math6_vendor +image_common +interactive_markers +joint_state_publisher +laser_geometry +launch_param_builder +moveit_msgs +moveit_resources +moveit_task_constructor +navigation_msgs +object_recognition_msgs +octomap +ompl +orocos_kinematics_dynamics +py_binding_tools +python_qt_binding +random_numbers +realtime_tools +resource_retriever +ros2_control +ros2_controllers +ruckig +rviz2 +srdfdom +urdf_parser_py +vision_opencv +warehouse_ros +xacro +yaml_cpp_vendor diff --git a/o3de_mars_rover/moveit2_tutorials.repos b/o3de_mars_rover/moveit2_tutorials.repos new file mode 100644 index 00000000..41d4774b --- /dev/null +++ b/o3de_mars_rover/moveit2_tutorials.repos @@ -0,0 +1,17 @@ +repositories: + moveit_task_constructor: + type: git + url: https://github.com/moveit/moveit_task_constructor.git + version: humble + moveit_visual_tools: + type: git + url: https://github.com/moveit/moveit_visual_tools + version: ros2 + rosparam_shortcuts: + type: git + url: https://github.com/PickNikRobotics/rosparam_shortcuts + version: ros2 + rviz_visual_tools: + type: git + url: https://github.com/PickNikRobotics/rviz_visual_tools.git + version: ros2 diff --git a/o3de_mars_rover/o3de-robot-sim.repos b/o3de_mars_rover/o3de-robot-sim.repos new file mode 100644 index 00000000..6fb3863d --- /dev/null +++ b/o3de_mars_rover/o3de-robot-sim.repos @@ -0,0 +1,107 @@ +repositories: + demos: + type: git + url: https://github.com/Mechazo11/space-ros-demos.git + version: nasa_submission + gz_ros2_control: + type: git + url: https://github.com/ros-controls/gz_ros2_control.git + version: humble + qt_gui_core: + type: git + url: https://github.com/ros-visualization/qt_gui_core.git + version: humble + ros2_controllers: + type: git + url: https://github.com/tonylitianyu/ros2_controllers.git + version: effort_group_position_controller_2 + actuator_msgs: + type: git + url: https://github.com/rudislabs/actuator_msgs.git + version: main + ros-humble-warehouse-ros-mongo: + type: git + url: https://github.com/ros-planning/warehouse_ros_mongo.git + version: ros2 + vision_msgs: + type: git + url: https://github.com/ros-perception/vision_msgs.git + version: ros2 + gps_msgs: + type: git + url: https://github.com/swri-robotics/gps_umd.git + path: gps_msgs + version: 113782d + simulation: + type: git + url: https://github.com/Mechazo11/space-ros-simulation.git + version: fix_chassis_dae + gazebo_ros_pkgs: + type: git + url: https://github.com/ros-simulation/gazebo_ros_pkgs.git + version: ros2 + image_common: + type: git + url: https://github.com/ros-perception/image_common.git + version: humble + warehouse_ros: + type: git + url: https://github.com/ros-planning/warehouse_ros.git + version: ros2 + angles: + type: git + url: https://github.com/ros/angles.git + version: ros2 + yaml_cpp_vendor: + type: git + url: https://github.com/ros2/yaml_cpp_vendor.git + version: humble + rviz: + type: git + url: https://github.com/ros2/rviz + version: humble + resource_retriever: + type: git + url: https://github.com/ros/resource_retriever.git + version: humble + control_toolbox: + type: git + url: https://github.com/ros-controls/control_toolbox.git + version: ros2-master + filters: + type: git + url: https://github.com/ros/filters.git + version: ros2 + realtime_tools: + type: git + url: https://github.com/ros-controls/realtime_tools.git + version: master + geometric_shapes: + type: git + url: https://github.com/moveit/geometric_shapes.git + version: ros2 + RSL: + type: git + url: https://github.com/PickNikRobotics/RSL.git + version: main + ros2_control: + type: git + url: https://github.com/ros-controls/ros2_control + version: humble + srdfdom: + type: git + url: https://github.com/moveit/srdfdom + version: ros2 + interactive_markers: + type: git + url: https://github.com/ros-visualization/interactive_markers + version: humble + laser_geometry: + type: git + url: https://github.com/ros-perception/laser_geometry.git + version: humble + ros_gz: + type: git + url: https://github.com/gazebosim/ros_gz.git + version: humble + diff --git a/o3de_mars_rover/run.sh b/o3de_mars_rover/run.sh new file mode 100755 index 00000000..c7732449 --- /dev/null +++ b/o3de_mars_rover/run.sh @@ -0,0 +1,29 @@ +#!/usr/bin/env bash + +# Runs a docker container with the image created by build.bash +# Requires: +# docker +# an X server + +IMG_NAME=openrobotics/o3de_curiosity_docker + +# Replace `/` with `_` to comply with docker container naming +# And append `_runtime` +CONTAINER_NAME="$(tr '/' '_' <<< "$IMG_NAME")" + +# TODO this needs to be updated with +# Start the container +docker run --rm -it --name $CONTAINER_NAME --network host \ + -e DISPLAY -e TERM -e QT_X11_NO_MITSHM=1 $IMG_NAME + +# xhost +local:docker + +# docker run -d \ +# --name=o3de_rosbot_xl \ +# --runtime=nvidia \ +# -v /tmp/.X11-unix:/tmp/.X11-unix:rw \ +# -e DISPLAY=${DISPLAY} \ +# -e NVIDIA_VISIBLE_DEVICES=all \ +# -e NVIDIA_DRIVER_CAPABILITIES=all \ +# o3de-husarion /data/workspace/ROSbotXLDemo/build/linux/bin/profile/Editor + From 7d73ea20dd6047a1019dad217206dd5d328b366c Mon Sep 17 00:00:00 2001 From: Mechazo11 Date: Tue, 10 Sep 2024 22:12:58 -0500 Subject: [PATCH 23/54] can install ros-humble-cyclonedds-cpp and realtime-tools --- o3de_mars_rover/Dockerfile | 27 +++++++++++++++++++++++++-- 1 file changed, 25 insertions(+), 2 deletions(-) diff --git a/o3de_mars_rover/Dockerfile b/o3de_mars_rover/Dockerfile index eeb4bb67..595d8626 100644 --- a/o3de_mars_rover/Dockerfile +++ b/o3de_mars_rover/Dockerfile @@ -63,7 +63,30 @@ RUN mkdir ${SPACEROS_DIR}/src \ ### Delete CycloneDDS and install from apt to resolve cmake conflict ### - +# Update rosdep +RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \ + --mount=type=cache,target=/var/lib/apt,sharing=locked \ + sudo apt-get update -y +RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \ + --mount=type=cache,target=/var/lib/apt,sharing=locked \ + sudo apt-get dist-upgrade -y +RUN rosdep update + +RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \ + --mount=type=cache,target=/var/lib/apt,sharing=locked \ + sudo apt install -y ros-${ROS_DISTRO}-rmw-cyclonedds-cpp ros-${ROS_DISTRO}-rmw-cyclonedds-cpp + + +# Clear Install folder, we will need to rebuild the workspace again +# WORKDIR ${SPACEROS_DIR} +# RUN sudo rm -rf install/ + +# WORKDIR ${SPACEROS_DIR}/src +# RUN sudo rm -rf rmw_cyclonedds_cpp +# RUN sudo rm -rf realtime_tools + +#WORKDIR ${SPACEROS_DIR} +#RUN colcon build --packages-ignore test_rmw_implementation ### Delete CycloneDDS and install from apt to resolve cmake conflict ### @@ -362,7 +385,7 @@ RUN mkdir ${SPACEROS_DIR}/src \ # WORKDIR ${PROJECT_PATH} # # Activate Cyclone DDS -# # ENV RMW_IMPLEMENTATION=rmw_cyclonedds_cpp +# ## ENV RMW_IMPLEMENTATION=rmw_cyclonedds_cpp # # Source space_ros, movit2 and demo_ws # RUN /bin/bash -c 'source "${SPACEROS_DIR}/install/setup.bash"' \ From 31b4e9a9d172a69508d0cec7a93754a3c08404f5 Mon Sep 17 00:00:00 2001 From: Mechazo11 Date: Tue, 10 Sep 2024 22:27:41 -0500 Subject: [PATCH 24/54] space ros ws rebuilt --- o3de_mars_rover/Dockerfile | 23 +++++++++++++---------- 1 file changed, 13 insertions(+), 10 deletions(-) diff --git a/o3de_mars_rover/Dockerfile b/o3de_mars_rover/Dockerfile index 595d8626..7ad3775a 100644 --- a/o3de_mars_rover/Dockerfile +++ b/o3de_mars_rover/Dockerfile @@ -55,7 +55,8 @@ ARG DEBIAN_FRONTEND=noninteractive ENV DEBIAN_FRONTEND=noninteractive ENV TZ=Etc/UTC - +RUN sudo sh -c 'echo "deb http://packages.ros.org/ros2/ubuntu $(lsb_release -cs) main" > /etc/apt/sources.list.d/ros2-latest.list' +RUN curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add - # Clone all space-ros sources RUN mkdir ${SPACEROS_DIR}/src \ @@ -74,19 +75,21 @@ RUN rosdep update RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \ --mount=type=cache,target=/var/lib/apt,sharing=locked \ - sudo apt install -y ros-${ROS_DISTRO}-rmw-cyclonedds-cpp ros-${ROS_DISTRO}-rmw-cyclonedds-cpp + sudo apt install -y \ + ros-${ROS_DISTRO}-rmw-cyclonedds-cpp \ + ros-${ROS_DISTRO}-realtime-tools - # Clear Install folder, we will need to rebuild the workspace again -# WORKDIR ${SPACEROS_DIR} -# RUN sudo rm -rf install/ +WORKDIR ${SPACEROS_DIR} +RUN sudo rm -rf install/ -# WORKDIR ${SPACEROS_DIR}/src -# RUN sudo rm -rf rmw_cyclonedds_cpp -# RUN sudo rm -rf realtime_tools +WORKDIR ${SPACEROS_DIR}/src +RUN sudo rm -rf rmw_cyclonedds_cpp +RUN sudo rm -rf realtime_tools -#WORKDIR ${SPACEROS_DIR} -#RUN colcon build --packages-ignore test_rmw_implementation +# Rebuild Space ROS workspace +WORKDIR ${SPACEROS_DIR} +RUN colcon build --packages-ignore test_rmw_implementation ### Delete CycloneDDS and install from apt to resolve cmake conflict ### From a2e43cc946ba4eaefcb3eefb27462bea997bcfd2 Mon Sep 17 00:00:00 2001 From: Mechazo11 Date: Tue, 10 Sep 2024 23:08:03 -0500 Subject: [PATCH 25/54] movit2 permission issue fixed, building moveit2 ws --- o3de_mars_rover/Dockerfile | 169 ++++++++++++++++--------------- o3de_mars_rover/octomap_fix.diff | 13 +++ 2 files changed, 101 insertions(+), 81 deletions(-) create mode 100644 o3de_mars_rover/octomap_fix.diff diff --git a/o3de_mars_rover/Dockerfile b/o3de_mars_rover/Dockerfile index 7ad3775a..4b4c1564 100644 --- a/o3de_mars_rover/Dockerfile +++ b/o3de_mars_rover/Dockerfile @@ -93,105 +93,112 @@ RUN colcon build --packages-ignore test_rmw_implementation ### Delete CycloneDDS and install from apt to resolve cmake conflict ### - #### Install MOVEIT2_WS #### -# 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 +# 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 the MoveIt2 source code -# WORKDIR ${HOME_DIR} -# RUN sudo git clone https://github.com/moveit/moveit2.git -b ${ROSDISTRO} moveit2/src -# RUN cd ${MOVEIT2_DIR}/src \ -# && sudo git clone https://github.com/moveit/moveit2_tutorials.git -b ${ROSDISTRO} +WORKDIR ${HOME_DIR} +RUN sudo git clone https://github.com/moveit/moveit2.git -b ${ROSDISTRO} moveit2/src +RUN cd ${MOVEIT2_DIR}/src \ + && sudo git clone https://github.com/moveit/moveit2_tutorials.git -b ${ROSDISTRO} -# # Update the ownership of the source files (had to use sudo above to work around -# # a possible inherited 'insteadof' from the host that forces use of ssh -# RUN sudo chown -R ${USERNAME}:${USERNAME} ${MOVEIT2_DIR} +# Update the ownership of the source files (had to use sudo above to work around +# a possible inherited 'insteadof' from the host that forces use of ssh +RUN sudo chown -R ${USERNAME}:${USERNAME} ${MOVEIT2_DIR} # # Get rosinstall_generator -# RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \ -# --mount=type=cache,target=/var/lib/apt,sharing=locked \ -# sudo apt-get update -y && sudo apt-get install -y python3-rosinstall-generator +RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \ + --mount=type=cache,target=/var/lib/apt,sharing=locked \ + sudo apt-get update -y && sudo apt-get install -y python3-rosinstall-generator # # Generate repos file for moveit2 dependencies, excluding packages from Space ROS core. -# COPY --chown=${USERNAME}:${USERNAME} moveit2-pkgs.txt /tmp/ -# COPY --chown=${USERNAME}:${USERNAME} excluded-pkgs.txt /tmp/ -# RUN rosinstall_generator \ -# --rosdistro ${ROSDISTRO} \ -# --deps \ -# --exclude-path ${SPACEROS_DIR}/src \ -# --exclude $(cat /tmp/excluded-pkgs.txt) -- \ -# -- $(cat /tmp/moveit2-pkgs.txt) \ -# > /tmp/moveit2_generated_pkgs.repos +COPY --chown=${USERNAME}:${USERNAME} moveit2-pkgs.txt /tmp/ +COPY --chown=${USERNAME}:${USERNAME} excluded-pkgs.txt /tmp/ +RUN rosinstall_generator \ + --rosdistro ${ROSDISTRO} \ + --deps \ + --exclude-path ${SPACEROS_DIR}/src \ + --exclude $(cat /tmp/excluded-pkgs.txt) -- \ + -- $(cat /tmp/moveit2-pkgs.txt) \ + > /tmp/moveit2_generated_pkgs.repos # # Get the repositories required by MoveIt2, but not included in Space ROS -# WORKDIR ${MOVEIT2_DIR} -# RUN vcs import src < /tmp/moveit2_generated_pkgs.repos -# COPY --chown=${USERNAME}:${USERNAME} moveit2_tutorials.repos /tmp/ -# RUN vcs import src < /tmp/moveit2_tutorials.repos +WORKDIR ${MOVEIT2_DIR} +RUN vcs import src < /tmp/moveit2_generated_pkgs.repos +COPY --chown=${USERNAME}:${USERNAME} moveit2_tutorials.repos /tmp/ +RUN vcs import src < /tmp/moveit2_tutorials.repos -# # Update the ownership of the source files (had to use sudo above to work around -# # a possible inherited 'insteadof' from the host that forces use of ssh -# RUN sudo chown -R ${USERNAME}:${USERNAME} ${MOVEIT2_DIR} +# TODO open PR this library is missing? +#WORKDIR ${MOVEIT2_DIR}/src +#RUN git clone --branch main --single-branch https://github.com/PickNikRobotics/generate_parameter_library.git -# # Install system dependencies -# RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \ -# --mount=type=cache,target=/var/lib/apt,sharing=locked \ -# /bin/bash -c 'source ${SPACEROS_DIR}/install/setup.bash' \ -# && rosdep install --from-paths ../spaceros/src src --ignore-src --rosdistro ${ROSDISTRO} -r -y --skip-keys "console_bridge generate_parameter_library fastcdr fastrtps rti-connext-dds-5.3.1 urdfdom_headers rmw_connextdds ros_testing rmw_connextdds rmw_fastrtps_cpp rmw_fastrtps_dynamic_cpp composition demo_nodes_py lifecycle rosidl_typesupport_fastrtps_cpp rosidl_typesupport_fastrtps_c ikos diagnostic_aggregator diagnostic_updater joy qt_gui rqt_gui rqt_gui_py" +# Update the ownership of the source files (had to use sudo above to work around +# a possible inherited 'insteadof' from the host that forces use of ssh +WORKDIR ${MOVEIT2_DIR} +RUN sudo chown -R ${USERNAME}:${USERNAME} ${MOVEIT2_DIR} -# # Apply a patch to octomap_msgs to work around a build issue -# COPY --chown=${USERNAME}:${USERNAME} octomap_fix.diff ./src/octomap_msgs -# RUN cd src/octomap_msgs && git apply octomap_fix.diff +# Install system dependencies +RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \ + --mount=type=cache,target=/var/lib/apt,sharing=locked \ + /bin/bash -c 'source ${SPACEROS_DIR}/install/setup.bash' \ + && rosdep install --from-paths ../spaceros/src src --ignore-src --rosdistro ${ROSDISTRO} -r -y --skip-keys "console_bridge generate_parameter_library fastcdr fastrtps rti-connext-dds-5.3.1 urdfdom_headers rmw_connextdds ros_testing rmw_connextdds rmw_fastrtps_cpp rmw_fastrtps_dynamic_cpp composition demo_nodes_py lifecycle rosidl_typesupport_fastrtps_cpp rosidl_typesupport_fastrtps_c ikos diagnostic_aggregator diagnostic_updater joy qt_gui rqt_gui rqt_gui_py" -# # Build MoveIt2 +# Apply a patch to octomap_msgs to work around a build issue +COPY --chown=${USERNAME}:${USERNAME} octomap_fix.diff ./src/octomap_msgs +RUN cd src/octomap_msgs && git apply octomap_fix.diff + +# Unknown issue with generate_parameter_library delete and reinstall +WORKDIR ${MOVEIT2_DIR}/src +RUN sudo rm -rf generate_parameter_library +RUN git clone --branch main --single-branch https://github.com/PickNikRobotics/generate_parameter_library.git + +# Build MoveIt2 # 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-' +# && colcon build --packages-select generate_parameter_library --cmake-args -DCMAKE_BUILD_TYPE=Release -DCMAKE_EXPORT_COMPILE_COMMANDS=ON --event-handlers desktop_notification- status' -#### Install MOVEIT2_WS #### +# Manually fix for permission denined error +RUN sudo chown -R ${USERNAME}:${USERNAME} ${SPACEROS_DIR} + +WORKDIR ${MOVEIT2_DIR} +# Build MoveIt2 +RUN /bin/bash -c 'source ${SPACEROS_DIR}/install/setup.bash \ + && colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release -DCMAKE_EXPORT_COMPILE_COMMANDS=ON --event-handlers desktop_notification- status-' + + +#### Install MOVEIT2_WS #### diff --git a/o3de_mars_rover/octomap_fix.diff b/o3de_mars_rover/octomap_fix.diff new file mode 100644 index 00000000..ea500e04 --- /dev/null +++ b/o3de_mars_rover/octomap_fix.diff @@ -0,0 +1,13 @@ +diff --git a/CMakeLists.txt b/CMakeLists.txt +index cd3112a..72403c5 100644 +--- a/CMakeLists.txt ++++ b/CMakeLists.txt +@@ -36,7 +36,7 @@ rosidl_generate_interfaces(${PROJECT_NAME} + ) + + install(DIRECTORY include/ +- DESTINATION include ++ DESTINATION include/${PROJECT_NAME} + FILES_MATCHING PATTERN "*.h" + PATTERN ".svn" EXCLUDE) + From 1a5fd68ee11724509d349d11b55e2bbacc5a4af1 Mon Sep 17 00:00:00 2001 From: Mechazo11 Date: Tue, 10 Sep 2024 23:58:04 -0500 Subject: [PATCH 26/54] mongo-cxx built, custom packages imported --- o3de_mars_rover/Dockerfile | 187 ++++++++++++++------------- o3de_mars_rover/o3de-robot-sim.repos | 2 +- 2 files changed, 97 insertions(+), 92 deletions(-) diff --git a/o3de_mars_rover/Dockerfile b/o3de_mars_rover/Dockerfile index 4b4c1564..3b7d50ac 100644 --- a/o3de_mars_rover/Dockerfile +++ b/o3de_mars_rover/Dockerfile @@ -197,106 +197,111 @@ WORKDIR ${MOVEIT2_DIR} 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-' - #### Install MOVEIT2_WS #### #### Install DEMO_WS #### +WORKDIR ${HOME_DIR} -# # Get rosinstall_generator -# # 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 -y && sudo DEBIAN_FRONTEND=noninteractive apt-get install -y \ -# python3-rosinstall-generator \ -# libboost-python-dev build-essential cmake libboost-all-dev libois-dev \ -# libzzip-dev libfreeimage-dev libfreetype6-dev libx11-dev libxt-dev libxaw7-dev \ -# libsdl2-dev libpugixml-dev libglew-dev qtbase5-dev libspdlog-dev libfmt-dev \ -# libignition-gazebo6-dev libssl-dev devscripts debian-keyring fakeroot debhelper \ -# libboost-dev libsasl2-dev libicu-dev libzstd-dev doxygen libtinyxml-dev \ -# libtinyxml2-dev python3-pyqt5 tzdata locales keyboard-configuration - -# # RUN apt-get install -y tzdata -# # RUN apt-get install -y locales -# # RUN apt-get install -y keyboard-configuration - -# RUN sudo sed -i -e 's/# en_US.UTF-8 UTF-8/en_US.UTF-8 UTF-8/' /etc/locale.gen \ -# && sudo dpkg-reconfigure --frontend=noninteractive locales \ -# && sudo update-locale LANG=en_US.UTF-8 - -# # RUN sed -i -e 's/# en_US.UTF-8 UTF-8/en_US.UTF-8 UTF-8/' /etc/locale.gen \ -# # && dpkg-reconfigure --frontend=noninteractive locales \ -# # && update-locale LANG=en_US.UTF-8 - +# Install dependencies +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 DEBIAN_FRONTEND=noninteractive apt-get install -y \ + python3-rosinstall-generator \ + libboost-python-dev build-essential cmake libboost-all-dev libois-dev \ + libzzip-dev libfreeimage-dev libfreetype6-dev libx11-dev libxt-dev libxaw7-dev \ + libsdl2-dev libpugixml-dev libglew-dev qtbase5-dev libspdlog-dev libfmt-dev \ + libignition-gazebo6-dev libssl-dev devscripts debian-keyring fakeroot debhelper \ + libboost-dev libsasl2-dev libicu-dev libzstd-dev doxygen libtinyxml-dev \ + libtinyxml2-dev python3-pyqt5 tzdata locales keyboard-configuration + +RUN sudo sed -i -e 's/# en_US.UTF-8 UTF-8/en_US.UTF-8 UTF-8/' /etc/locale.gen \ + && sudo dpkg-reconfigure --frontend=noninteractive locales \ + && sudo update-locale LANG=en_US.UTF-8 + +# TODO delete +# RUN sed -i -e 's/# en_US.UTF-8 UTF-8/en_US.UTF-8 UTF-8/' /etc/locale.gen \ +# && dpkg-reconfigure --frontend=noninteractive locales \ +# && update-locale LANG=en_US.UTF-8 # ENV LANG=en_US.UTF-8 -# 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 \ -# bc \ -# bind9-utils \ -# binutils \ -# ca-certificates \ -# clang \ -# cmake \ -# file \ -# firewalld \ -# git \ -# git-lfs \ -# jq \ -# kbd \ -# kmod \ -# less \ -# lsb-release \ -# libglu1-mesa-dev \ -# libxcb-xinerama0 \ -# libfontconfig1-dev \ -# libcurl4-openssl-dev \ -# libnvidia-gl-470 \ -# libssl-dev \ -# libxcb-xkb-dev \ -# libxkbcommon-x11-dev \ -# libxkbcommon-dev \ -# libxcb-xfixes0-dev \ -# libxcb-xinput-dev \ -# libxcb-xinput0 \ -# libpcre2-16-0 \ -# lsof \ -# net-tools \ -# ninja-build \ -# pciutils \ -# python3-pip \ -# software-properties-common \ -# sudo \ -# tar \ -# unzip \ -# vim \ -# wget \ -# xz-utils -# # && rm -rf /var/lib/apt/lists/* # TODO need to figure out how to use this correctly - -# RUN mkdir -p ${DEMO_DIR}/src -# WORKDIR ${DEMO_DIR} - -# # Install libmongoc for development -# RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \ -# --mount=type=cache,target=/var/lib/apt,sharing=locked \ -# sudo apt-get install libmongoc-dev -y +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 \ + bc \ + bind9-utils \ + binutils \ + ca-certificates \ + clang \ + cmake \ + file \ + firewalld \ + git \ + git-lfs \ + jq \ + kbd \ + kmod \ + less \ + lsb-release \ + libglu1-mesa-dev \ + libxcb-xinerama0 \ + libfontconfig1-dev \ + libcurl4-openssl-dev \ + libnvidia-gl-470 \ + libssl-dev \ + libxcb-xkb-dev \ + libxkbcommon-x11-dev \ + libxkbcommon-dev \ + libxcb-xfixes0-dev \ + libxcb-xinput-dev \ + libxcb-xinput0 \ + libpcre2-16-0 \ + lsof \ + net-tools \ + ninja-build \ + pciutils \ + python3-pip \ + software-properties-common \ + sudo \ + tar \ + unzip \ + vim \ + wget \ + xz-utils + # && rm -rf /var/lib/apt/lists/* # TODO need to figure out how to use this correctly + +# Install libmongoc for development +RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \ + --mount=type=cache,target=/var/lib/apt,sharing=locked \ + sudo apt-get install libmongoc-dev -y -# # Compile mongo cxx driver https://mongocxx.org/mongocxx-v3/installation/linux/ -# RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \ -# --mount=type=cache,target=/var/lib/apt,sharing=locked \ -# sudo apt-get install libssl-dev build-essential devscripts debian-keyring fakeroot debhelper cmake libboost-dev libsasl2-dev libicu-dev libzstd-dev doxygen -y -# RUN wget https://github.com/mongodb/mongo-cxx-driver/releases/download/r3.6.7/mongo-cxx-driver-r3.6.7.tar.gz -# RUN tar -xzf mongo-cxx-driver-r3.6.7.tar.gz -# RUN cd mongo-cxx-driver-r3.6.7/build && cmake .. -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=/usr/local && sudo cmake --build . --target EP_mnmlstc_core && cmake --build . && sudo cmake --build . --target install - -# # Get the source for the dependencies -# # RUN vcs import src < /tmp/demo_generated_pkgs.repos -# COPY --chown=${USERNAME}:${USERNAME} o3de-robot-sim.repos /tmp/ -# RUN vcs import src < /tmp/o3de-robot-sim.repos && /bin/bash -c 'source "${SPACEROS_DIR}/install/setup.bash"' +# Compile mongo cxx driver https://mongocxx.org/mongocxx-v3/installation/linux/ +RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \ + --mount=type=cache,target=/var/lib/apt,sharing=locked \ + sudo apt-get install libssl-dev build-essential devscripts debian-keyring fakeroot debhelper cmake libboost-dev libsasl2-dev libicu-dev libzstd-dev doxygen -y +RUN wget https://github.com/mongodb/mongo-cxx-driver/releases/download/r3.6.7/mongo-cxx-driver-r3.6.7.tar.gz +RUN tar -xzf mongo-cxx-driver-r3.6.7.tar.gz +RUN cd mongo-cxx-driver-r3.6.7/build && cmake .. -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=/usr/local && sudo cmake --build . --target EP_mnmlstc_core && cmake --build . && sudo cmake --build . --target install + +# Create demo_ws, setup packages, generate dependencies +RUN mkdir -p ${DEMO_DIR}/src +COPY --chown=${USERNAME}:${USERNAME} o3de-robot-sim.repos /tmp/ +COPY --chown=${USERNAME}:${USERNAME} excluded-pkgs.txt /tmp/ +RUN vcs import ${DEMO_DIR}/src < /tmp/o3de-robot-sim.repos + +# # Generate the repos file for o3de-robot-sim dependencies, excluding packages from Space ROS core +RUN rosinstall_generator \ + --rosdistro ${ROSDISTRO} \ + --deps \ + --exclude-path ${SPACEROS_DIR}/src \ + --exclude $(cat /tmp/excluded-pkgs.txt) -- \ + -- $(cat /tmp/o3de-robot-sim.repos) \ + > /tmp/o3de_robot_sim_generated_pkgs.repos + +# Update the ownership of the source files (had to use sudo above to work around +# a possible inherited 'insteadof' from the host that forces use of ssh +RUN sudo chown -R ${USERNAME}:${USERNAME} ${DEMO_DIR} # RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \ # --mount=type=cache,target=/var/lib/apt,sharing=locked \ diff --git a/o3de_mars_rover/o3de-robot-sim.repos b/o3de_mars_rover/o3de-robot-sim.repos index 6fb3863d..a7249fe6 100644 --- a/o3de_mars_rover/o3de-robot-sim.repos +++ b/o3de_mars_rover/o3de-robot-sim.repos @@ -2,7 +2,7 @@ repositories: demos: type: git url: https://github.com/Mechazo11/space-ros-demos.git - version: nasa_submission + version: main gz_ros2_control: type: git url: https://github.com/ros-controls/gz_ros2_control.git From 4ace3e51b666d5d7e9c42df3e0bde5263a5f2d6f Mon Sep 17 00:00:00 2001 From: Mechazo11 Date: Wed, 11 Sep 2024 00:07:01 -0500 Subject: [PATCH 27/54] another milestone --- o3de_mars_rover/Dockerfile | 14 ++++++++------ 1 file changed, 8 insertions(+), 6 deletions(-) diff --git a/o3de_mars_rover/Dockerfile b/o3de_mars_rover/Dockerfile index 3b7d50ac..f3897510 100644 --- a/o3de_mars_rover/Dockerfile +++ b/o3de_mars_rover/Dockerfile @@ -286,6 +286,7 @@ RUN cd mongo-cxx-driver-r3.6.7/build && cmake .. -DCMAKE_BUILD_TYPE=Release -DCM # Create demo_ws, setup packages, generate dependencies RUN mkdir -p ${DEMO_DIR}/src +WORKDIR ${DEMO_DIR} COPY --chown=${USERNAME}:${USERNAME} o3de-robot-sim.repos /tmp/ COPY --chown=${USERNAME}:${USERNAME} excluded-pkgs.txt /tmp/ RUN vcs import ${DEMO_DIR}/src < /tmp/o3de-robot-sim.repos @@ -303,12 +304,13 @@ RUN rosinstall_generator \ # a possible inherited 'insteadof' from the host that forces use of ssh RUN sudo chown -R ${USERNAME}:${USERNAME} ${DEMO_DIR} -# RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \ -# --mount=type=cache,target=/var/lib/apt,sharing=locked \ -# sudo apt-get update -y \ -# && /bin/bash -c 'source "${SPACEROS_DIR}/install/setup.bash"' \ -# && /bin/bash -c 'source "${MOVEIT2_DIR}/install/setup.bash"' \ -# && rosdep install --from-paths src --ignore-src -r -y --rosdistro ${ROSDISTRO} +RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \ + --mount=type=cache,target=/var/lib/apt,sharing=locked \ + sudo apt-get update -y \ +&& /bin/bash -c 'source "/opt/ros/humble/setup.bash"' \ +&& /bin/bash -c 'source "${SPACEROS_DIR}/install/setup.bash"' \ +&& /bin/bash -c 'source "${MOVEIT2_DIR}/install/setup.bash"' \ +&& rosdep install --from-paths src --ignore-src -r -y --rosdistro ${ROSDISTRO} # # Build the demo_ws # RUN /bin/bash -c 'source ${SPACEROS_DIR}/install/setup.bash && source ${MOVEIT2_DIR}/install/setup.bash \ From f572dd41fa4c52c8ee09325397b3513ffdffb101 Mon Sep 17 00:00:00 2001 From: Mechazo11 Date: Wed, 11 Sep 2024 00:10:04 -0500 Subject: [PATCH 28/54] before cmake to configure o3de project --- o3de_mars_rover/Dockerfile | 133 ++++++++++++++++++------------------- 1 file changed, 63 insertions(+), 70 deletions(-) diff --git a/o3de_mars_rover/Dockerfile b/o3de_mars_rover/Dockerfile index f3897510..14a5f8ed 100644 --- a/o3de_mars_rover/Dockerfile +++ b/o3de_mars_rover/Dockerfile @@ -313,96 +313,80 @@ RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \ && rosdep install --from-paths src --ignore-src -r -y --rosdistro ${ROSDISTRO} # # Build the demo_ws -# RUN /bin/bash -c 'source ${SPACEROS_DIR}/install/setup.bash && source ${MOVEIT2_DIR}/install/setup.bash \ -# && colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release' +RUN /bin/bash -c 'source ${SPACEROS_DIR}/install/setup.bash && source ${MOVEIT2_DIR}/install/setup.bash \ + && colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release' # # Create O3DE/Projects and O3DE/Gems directory -# RUN if [ -d "${O3DE_DIR}/Projects" ]; then rm -rf ${O3DE_DIR}/Gems; fi -# RUN mkdir -p ${O3DE_DIR}/Projects +RUN if [ -d "${O3DE_DIR}/Projects" ]; then rm -rf ${O3DE_DIR}/Gems; fi +RUN mkdir -p ${O3DE_DIR}/Projects -# RUN if [ -d "${O3DE_DIR}/Gems" ]; then rm -rf ${O3DE_DIR}/Gems; fi -# RUN mkdir -p ${O3DE_DIR}/Gems +RUN if [ -d "${O3DE_DIR}/Gems" ]; then rm -rf ${O3DE_DIR}/Gems; fi +RUN mkdir -p ${O3DE_DIR}/Gems -# # Git clone RobotSim, NasaMarsRoverGem and MarsYardGem -# WORKDIR ${O3DE_DIR}/Projects -# RUN git clone --branch nasa_submission https://github.com/Mechazo11/RobotSim.git +# Git clone RobotSim, NasaMarsRoverGem and MarsYardGem +WORKDIR ${O3DE_DIR}/Projects +RUN git clone --branch nasa_submission https://github.com/Mechazo11/RobotSim.git -# WORKDIR ${O3DE_DIR}/Gems -# RUN git clone --branch nasa_submission https://github.com/Mechazo11/NasaCuriosityRoverGem.git -# RUN git clone --branch nasa_submission https://github.com/Mechazo11/MarsYardGem.git +WORKDIR ${O3DE_DIR}/Gems +RUN git clone --branch nasa_submission https://github.com/Mechazo11/NasaCuriosityRoverGem.git +RUN git clone --branch nasa_submission https://github.com/Mechazo11/MarsYardGem.git -# ## Symlink clang version to non-versioned clang and set cc to clang -# # RUN update-alternatives --install /usr/bin/cc cc /usr/bin/clang 100 \ -# # && update-alternatives --install /usr/bin/c++ c++ /usr/bin/clang++ 100 +## Symlink clang version to non-versioned clang and set cc to clang +RUN update-alternatives --install /usr/bin/cc cc /usr/bin/clang 100 \ + && update-alternatives --install /usr/bin/c++ c++ /usr/bin/clang++ 100 # #### Install Open 3D Engine #### # # Pull latest commit from development and build o3de. Note this does't build the whole engine -# WORKDIR ${HOME_DIR} +WORKDIR ${HOME_DIR} # # Install o3de engine (automatically pulls last commit from "development" branch) -# RUN git clone --single-branch -b development https://github.com/o3de/o3de.git \ -# && cd o3de \ -# && git lfs install \ -# && git lfs pull \ -# && python/get_python.sh +RUN git clone --single-branch -b development https://github.com/o3de/o3de.git \ + && cd o3de \ + && git lfs install \ + && git lfs pull \ + && python/get_python.sh # # Install o3de-extras (automatically pulls last commit from "development" branch) # # Contains ROS 2 Gem and other relevant assets # WORKDIR ${HOME_DIR} -# RUN git clone --single-branch -b development https://github.com/o3de/o3de-extras.git \ -# && cd o3de-extras \ -# && git lfs install \ -# && git lfs pull - -# WORKDIR ${HOME_DIR}/o3de - -# # Register RobotSim with this engine -# #RUN ${O3DE_ENGINE}/scripts/o3de.sh register --this-engine -# RUN ./scripts/o3de.sh register --this-engine -# # Register ROS 2 Gem, Husarion robot, Curiosity rover and Mars Yard gem -# # RUN ${O3DE_ENGINE}/scripts/o3de.sh register --gem-path ${O3DE_EXTRAS}/Gems/ROS2 \ -# # && ${O3DE_ENGINE}/scripts/o3de.sh register --gem-path ${O3DE_EXTRAS}/Gems/RosRobotSample \ -# # && ${O3DE_ENGINE}/scripts/o3de.sh register --gem-path ${O3DE_DIR}/Gems/NasaCuriosityRoverGem \ -# # && ${O3DE_ENGINE}/scripts/o3de.sh register --gem-path ${O3DE_DIR}/Gems/MarsYardGem - -# RUN ./scripts/o3de.sh register --gem-path ${O3DE_EXTRAS}/Gems/ROS2 \ -# && ./scripts/o3de.sh register --gem-path ${O3DE_EXTRAS}/Gems/RosRobotSample \ -# && ./scripts/o3de.sh register --gem-path ${O3DE_EXTRAS}/Gems/WarehouseSample \ -# && ./scripts/o3de.sh register --gem-path ${O3DE_DIR}/Gems/NasaCuriosityRoverGem \ -# && ./scripts/o3de.sh register --gem-path ${O3DE_DIR}/Gems/MarsYardGem - -# # Register the Terrian gem which is located in o3de folder -# RUN ./scripts/o3de.sh register --gem-path ${HOME_DIR}/o3de/Gems/Terrain - -# # Register RobotSim project. -# # Project must be registered at the very end after all dependent gems are registered -# #RUN {O3DE_ENGINE}/scripts/o3de.sh register --project-path ${O3DE_DIR}/Projects/${PROJECT_NAME} -# RUN ./scripts/o3de.sh register --project-path ${O3DE_DIR}/Projects/${PROJECT_NAME} - -# # Move to project directory -# WORKDIR ${HOME_DIR} -# # Run cmake and build project (Warning takes about 10-15 mins) - -# 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 \ -# libunwind-dev - -# # Testing build by manually building out a ROS 2 Humble core -# # RUN sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg +RUN git clone --single-branch -b development https://github.com/o3de/o3de-extras.git \ + && cd o3de-extras \ + && git lfs install \ + && git lfs pull + +WORKDIR ${HOME_DIR}/o3de + +# Register RobotSim with this engine +#RUN ${O3DE_ENGINE}/scripts/o3de.sh register --this-engine +RUN ./scripts/o3de.sh register --this-engine +RUN ./scripts/o3de.sh register --gem-path ${O3DE_EXTRAS}/Gems/ROS2 \ + && ./scripts/o3de.sh register --gem-path ${O3DE_EXTRAS}/Gems/RosRobotSample \ + && ./scripts/o3de.sh register --gem-path ${O3DE_EXTRAS}/Gems/WarehouseSample \ + && ./scripts/o3de.sh register --gem-path ${O3DE_DIR}/Gems/NasaCuriosityRoverGem \ + && ./scripts/o3de.sh register --gem-path ${O3DE_DIR}/Gems/MarsYardGem + +# Register the Terrian gem which is located in o3de folder +RUN ./scripts/o3de.sh register --gem-path ${HOME_DIR}/o3de/Gems/Terrain + +# Register RobotSim project. +# Project must be registered at the very end after all dependent gems are registered +RUN ./scripts/o3de.sh register --project-path ${O3DE_DIR}/Projects/${PROJECT_NAME} + +# # Move to project directory and run cmake and build project (Warning takes about 10-15 mins) +WORKDIR ${HOME_DIR} -# # 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 \ -# # ros-humble-ros-base +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 \ + libunwind-dev -# # # Move to project directory -# WORKDIR ${PROJECT_PATH} +# Move to project directory +WORKDIR ${PROJECT_PATH} -# # Activate Cyclone DDS -# ## ENV RMW_IMPLEMENTATION=rmw_cyclonedds_cpp +#Activate Cyclone DDS (not necessary with Space ROS) +#ENV RMW_IMPLEMENTATION=rmw_cyclonedds_cpp # # Source space_ros, movit2 and demo_ws # RUN /bin/bash -c 'source "${SPACEROS_DIR}/install/setup.bash"' \ @@ -424,3 +408,12 @@ RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \ # COPY ./entrypoint.sh / # ENTRYPOINT ["/entrypoint.sh"] # CMD ["bash"] + + +# # Testing build by manually building out a ROS 2 Humble core +# # RUN sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg + +# # 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 \ +# # ros-humble-ros-base From b60969a1cbe00c959c0dd3ff716947cde25be58d Mon Sep 17 00:00:00 2001 From: Mechazo11 Date: Wed, 11 Sep 2024 00:42:49 -0500 Subject: [PATCH 29/54] before cmake test, all other steps okay --- o3de_mars_rover/Dockerfile | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/o3de_mars_rover/Dockerfile b/o3de_mars_rover/Dockerfile index 14a5f8ed..c73f9dbf 100644 --- a/o3de_mars_rover/Dockerfile +++ b/o3de_mars_rover/Dockerfile @@ -331,9 +331,9 @@ WORKDIR ${O3DE_DIR}/Gems RUN git clone --branch nasa_submission https://github.com/Mechazo11/NasaCuriosityRoverGem.git RUN git clone --branch nasa_submission https://github.com/Mechazo11/MarsYardGem.git -## Symlink clang version to non-versioned clang and set cc to clang -RUN update-alternatives --install /usr/bin/cc cc /usr/bin/clang 100 \ - && update-alternatives --install /usr/bin/c++ c++ /usr/bin/clang++ 100 +# ## Symlink clang version to non-versioned clang and set cc to clang +RUN sudo DEBIAN_FRONTEND=noninteractive update-alternatives --install /usr/bin/cc cc /usr/bin/clang 100 \ + && sudo DEBIAN_FRONTEND=noninteractive update-alternatives --install /usr/bin/c++ c++ /usr/bin/clang++ 100 # #### Install Open 3D Engine #### From 60480a01373d25c45fffa21596485470ec7c8778 Mon Sep 17 00:00:00 2001 From: Mechazo11 Date: Wed, 11 Sep 2024 01:25:35 -0500 Subject: [PATCH 30/54] found tentative fix, testing in docker --- o3de_mars_rover/Dockerfile | 31 +++++++++++++------------------ 1 file changed, 13 insertions(+), 18 deletions(-) diff --git a/o3de_mars_rover/Dockerfile b/o3de_mars_rover/Dockerfile index c73f9dbf..8e788307 100644 --- a/o3de_mars_rover/Dockerfile +++ b/o3de_mars_rover/Dockerfile @@ -73,10 +73,14 @@ RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \ sudo apt-get dist-upgrade -y RUN rosdep update +# rmw-cyclonedds and rmw-implementation later causes a fatal bug. +# I have removed them in favor of having another top level workspace +# which appears to solve this problem RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \ --mount=type=cache,target=/var/lib/apt,sharing=locked \ sudo apt install -y \ ros-${ROS_DISTRO}-rmw-cyclonedds-cpp \ + ros-${ROS_DISTRO}-rmw-implementation \ ros-${ROS_DISTRO}-realtime-tools # Clear Install folder, we will need to rebuild the workspace again @@ -84,7 +88,8 @@ WORKDIR ${SPACEROS_DIR} RUN sudo rm -rf install/ WORKDIR ${SPACEROS_DIR}/src -RUN sudo rm -rf rmw_cyclonedds_cpp +RUN sudo rm -rf rmw_cyclonedds_cpp +RUN sudo rm -rf rmw_cyclonedds RUN sudo rm -rf realtime_tools # Rebuild Space ROS workspace @@ -386,16 +391,15 @@ RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \ WORKDIR ${PROJECT_PATH} #Activate Cyclone DDS (not necessary with Space ROS) -#ENV RMW_IMPLEMENTATION=rmw_cyclonedds_cpp +#ENV RMW_IMPLEMENTATION=rmw_cyclonedds_cpp cd # # Source space_ros, movit2 and demo_ws -# RUN /bin/bash -c 'source "${SPACEROS_DIR}/install/setup.bash"' \ -# && /bin/bash -c 'source "${MOVEIT2_DIR}/install/setup.bash"' \ -# && /bin/bash -c 'source "${DEMO_DIR}/install/setup.bash"' -# #&& cmake -B build/linux -G "Ninja Multi-Config" -DLY_DISABLE_TEST_MODULES=ON -DCMAKE_EXPORT_COMPILE_COMMANDS=ON -DLY_STRIP_DEBUG_SYMBOLS=ON -DAZ_USE_PHYSX5:BOOL=ON \ -# #&& cmake --build build/linux --config profile --target ${PROJECT_NAME} Editor ${PROJECT_NAME}.Assets - -# #RUN /bin/bash -c 'source "/opt/ros/humble/setup.bash"' +RUN /bin/bash -c 'source "/opt/ros/humble/setup.bash"' \ + && /bin/bash -c 'source "${SPACEROS_DIR}/install/setup.bash"' \ + && /bin/bash -c 'source "${MOVEIT2_DIR}/install/setup.bash"' \ + && /bin/bash -c 'source "${DEMO_DIR}/install/setup.bash"' \ + && cmake -B build/linux -G "Ninja Multi-Config" -DLY_DISABLE_TEST_MODULES=ON -DCMAKE_EXPORT_COMPILE_COMMANDS=ON -DLY_STRIP_DEBUG_SYMBOLS=ON -DAZ_USE_PHYSX5:BOOL=ON \ + # && cmake --build build/linux --config profile --target ${PROJECT_NAME} Editor ${PROJECT_NAME}.Assets # RUN cmake -B build/linux -G "Ninja Multi-Config" -DLY_DISABLE_TEST_MODULES=ON -DCMAKE_EXPORT_COMPILE_COMMANDS=ON -DLY_STRIP_DEBUG_SYMBOLS=ON -DAZ_USE_PHYSX5:BOOL=ON \ # && cmake --build build/linux --config profile --target ${PROJECT_NAME} Editor ${PROJECT_NAME}.Assets @@ -408,12 +412,3 @@ WORKDIR ${PROJECT_PATH} # COPY ./entrypoint.sh / # ENTRYPOINT ["/entrypoint.sh"] # CMD ["bash"] - - -# # Testing build by manually building out a ROS 2 Humble core -# # RUN sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg - -# # 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 \ -# # ros-humble-ros-base From 790c44b9b057dca97325aa17345327d88816b1e5 Mon Sep 17 00:00:00 2001 From: Mechazo11 Date: Wed, 11 Sep 2024 01:27:40 -0500 Subject: [PATCH 31/54] before crazy build test --- o3de_mars_rover/Dockerfile | 8 +++++--- 1 file changed, 5 insertions(+), 3 deletions(-) diff --git a/o3de_mars_rover/Dockerfile b/o3de_mars_rover/Dockerfile index 8e788307..c9b11fb9 100644 --- a/o3de_mars_rover/Dockerfile +++ b/o3de_mars_rover/Dockerfile @@ -396,9 +396,11 @@ WORKDIR ${PROJECT_PATH} # # Source space_ros, movit2 and demo_ws RUN /bin/bash -c 'source "/opt/ros/humble/setup.bash"' \ && /bin/bash -c 'source "${SPACEROS_DIR}/install/setup.bash"' \ - && /bin/bash -c 'source "${MOVEIT2_DIR}/install/setup.bash"' \ - && /bin/bash -c 'source "${DEMO_DIR}/install/setup.bash"' \ - && cmake -B build/linux -G "Ninja Multi-Config" -DLY_DISABLE_TEST_MODULES=ON -DCMAKE_EXPORT_COMPILE_COMMANDS=ON -DLY_STRIP_DEBUG_SYMBOLS=ON -DAZ_USE_PHYSX5:BOOL=ON \ + && /bin/bash -c 'source "${MOVEIT2_DIR}/install/setup.bash"' + +RUN /bin/bash -c 'source ${DEMO_DIR}/install/setup.bash \ + && cmake -B build/linux -G "Ninja Multi-Config" -DLY_DISABLE_TEST_MODULES=ON -DCMAKE_EXPORT_COMPILE_COMMANDS=ON -DLY_STRIP_DEBUG_SYMBOLS=ON -DAZ_USE_PHYSX5:BOOL=ON' + # && cmake --build build/linux --config profile --target ${PROJECT_NAME} Editor ${PROJECT_NAME}.Assets # RUN cmake -B build/linux -G "Ninja Multi-Config" -DLY_DISABLE_TEST_MODULES=ON -DCMAKE_EXPORT_COMPILE_COMMANDS=ON -DLY_STRIP_DEBUG_SYMBOLS=ON -DAZ_USE_PHYSX5:BOOL=ON \ From eb5cf61a092d23d05e82f5835b97a613ca0faced Mon Sep 17 00:00:00 2001 From: Mechazo11 Date: Wed, 11 Sep 2024 01:52:15 -0500 Subject: [PATCH 32/54] progress spaceros ws now look to ros-humble-rmw-cyclonedds and ros-humble-rmw-implementations --- o3de_mars_rover/Dockerfile | 610 ++++++++++++------------ o3de_mars_rover/Dockerfile_bck | 320 ------------- o3de_mars_rover/Dockerfile_works_mostly | 416 ++++++++++++++++ 3 files changed, 722 insertions(+), 624 deletions(-) delete mode 100644 o3de_mars_rover/Dockerfile_bck create mode 100644 o3de_mars_rover/Dockerfile_works_mostly diff --git a/o3de_mars_rover/Dockerfile b/o3de_mars_rover/Dockerfile index c9b11fb9..a1c8165a 100644 --- a/o3de_mars_rover/Dockerfile +++ b/o3de_mars_rover/Dockerfile @@ -88,329 +88,331 @@ WORKDIR ${SPACEROS_DIR} RUN sudo rm -rf install/ WORKDIR ${SPACEROS_DIR}/src -RUN sudo rm -rf rmw_cyclonedds_cpp +RUN sudo rm -rf rmw_cyclonedds_cpp +RUN sudo rm -rf rmw_implementation RUN sudo rm -rf rmw_cyclonedds RUN sudo rm -rf realtime_tools # Rebuild Space ROS workspace WORKDIR ${SPACEROS_DIR} -RUN colcon build --packages-ignore test_rmw_implementation - -### Delete CycloneDDS and install from apt to resolve cmake conflict ### - -#### Install MOVEIT2_WS #### - -# 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 the MoveIt2 source code -WORKDIR ${HOME_DIR} -RUN sudo git clone https://github.com/moveit/moveit2.git -b ${ROSDISTRO} moveit2/src -RUN cd ${MOVEIT2_DIR}/src \ - && sudo git clone https://github.com/moveit/moveit2_tutorials.git -b ${ROSDISTRO} - -# Update the ownership of the source files (had to use sudo above to work around -# a possible inherited 'insteadof' from the host that forces use of ssh -RUN sudo chown -R ${USERNAME}:${USERNAME} ${MOVEIT2_DIR} - -# # Get rosinstall_generator -RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \ - --mount=type=cache,target=/var/lib/apt,sharing=locked \ - sudo apt-get update -y && sudo apt-get install -y python3-rosinstall-generator - -# # Generate repos file for moveit2 dependencies, excluding packages from Space ROS core. -COPY --chown=${USERNAME}:${USERNAME} moveit2-pkgs.txt /tmp/ -COPY --chown=${USERNAME}:${USERNAME} excluded-pkgs.txt /tmp/ -RUN rosinstall_generator \ - --rosdistro ${ROSDISTRO} \ - --deps \ - --exclude-path ${SPACEROS_DIR}/src \ - --exclude $(cat /tmp/excluded-pkgs.txt) -- \ - -- $(cat /tmp/moveit2-pkgs.txt) \ - > /tmp/moveit2_generated_pkgs.repos - -# # Get the repositories required by MoveIt2, but not included in Space ROS -WORKDIR ${MOVEIT2_DIR} -RUN vcs import src < /tmp/moveit2_generated_pkgs.repos -COPY --chown=${USERNAME}:${USERNAME} moveit2_tutorials.repos /tmp/ -RUN vcs import src < /tmp/moveit2_tutorials.repos - -# TODO open PR this library is missing? -#WORKDIR ${MOVEIT2_DIR}/src -#RUN git clone --branch main --single-branch https://github.com/PickNikRobotics/generate_parameter_library.git - -# Update the ownership of the source files (had to use sudo above to work around -# a possible inherited 'insteadof' from the host that forces use of ssh -WORKDIR ${MOVEIT2_DIR} -RUN sudo chown -R ${USERNAME}:${USERNAME} ${MOVEIT2_DIR} - -# Install system dependencies -RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \ - --mount=type=cache,target=/var/lib/apt,sharing=locked \ - /bin/bash -c 'source ${SPACEROS_DIR}/install/setup.bash' \ - && rosdep install --from-paths ../spaceros/src src --ignore-src --rosdistro ${ROSDISTRO} -r -y --skip-keys "console_bridge generate_parameter_library fastcdr fastrtps rti-connext-dds-5.3.1 urdfdom_headers rmw_connextdds ros_testing rmw_connextdds rmw_fastrtps_cpp rmw_fastrtps_dynamic_cpp composition demo_nodes_py lifecycle rosidl_typesupport_fastrtps_cpp rosidl_typesupport_fastrtps_c ikos diagnostic_aggregator diagnostic_updater joy qt_gui rqt_gui rqt_gui_py" - -# Apply a patch to octomap_msgs to work around a build issue -COPY --chown=${USERNAME}:${USERNAME} octomap_fix.diff ./src/octomap_msgs -RUN cd src/octomap_msgs && git apply octomap_fix.diff - -# Unknown issue with generate_parameter_library delete and reinstall -WORKDIR ${MOVEIT2_DIR}/src -RUN sudo rm -rf generate_parameter_library -RUN git clone --branch main --single-branch https://github.com/PickNikRobotics/generate_parameter_library.git - -# Build MoveIt2 +RUN /bin/bash -c 'source /opt/ros/humble/setup.bash \ + && colcon build --packages-ignore test_rmw_implementation' + +# ### Delete CycloneDDS and install from apt to resolve cmake conflict ### + +# #### Install MOVEIT2_WS #### + +# # 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 the MoveIt2 source code +# WORKDIR ${HOME_DIR} +# RUN sudo git clone https://github.com/moveit/moveit2.git -b ${ROSDISTRO} moveit2/src +# RUN cd ${MOVEIT2_DIR}/src \ +# && sudo git clone https://github.com/moveit/moveit2_tutorials.git -b ${ROSDISTRO} + +# # Update the ownership of the source files (had to use sudo above to work around +# # a possible inherited 'insteadof' from the host that forces use of ssh +# RUN sudo chown -R ${USERNAME}:${USERNAME} ${MOVEIT2_DIR} + +# # # Get rosinstall_generator +# RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \ +# --mount=type=cache,target=/var/lib/apt,sharing=locked \ +# sudo apt-get update -y && sudo apt-get install -y python3-rosinstall-generator + +# # # Generate repos file for moveit2 dependencies, excluding packages from Space ROS core. +# COPY --chown=${USERNAME}:${USERNAME} moveit2-pkgs.txt /tmp/ +# COPY --chown=${USERNAME}:${USERNAME} excluded-pkgs.txt /tmp/ +# RUN rosinstall_generator \ +# --rosdistro ${ROSDISTRO} \ +# --deps \ +# --exclude-path ${SPACEROS_DIR}/src \ +# --exclude $(cat /tmp/excluded-pkgs.txt) -- \ +# -- $(cat /tmp/moveit2-pkgs.txt) \ +# > /tmp/moveit2_generated_pkgs.repos + +# # # Get the repositories required by MoveIt2, but not included in Space ROS +# WORKDIR ${MOVEIT2_DIR} +# RUN vcs import src < /tmp/moveit2_generated_pkgs.repos +# COPY --chown=${USERNAME}:${USERNAME} moveit2_tutorials.repos /tmp/ +# RUN vcs import src < /tmp/moveit2_tutorials.repos + +# # TODO open PR this library is missing? +# #WORKDIR ${MOVEIT2_DIR}/src +# #RUN git clone --branch main --single-branch https://github.com/PickNikRobotics/generate_parameter_library.git + +# # Update the ownership of the source files (had to use sudo above to work around +# # a possible inherited 'insteadof' from the host that forces use of ssh +# WORKDIR ${MOVEIT2_DIR} +# RUN sudo chown -R ${USERNAME}:${USERNAME} ${MOVEIT2_DIR} + +# # Install system dependencies +# RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \ +# --mount=type=cache,target=/var/lib/apt,sharing=locked \ +# /bin/bash -c 'source ${SPACEROS_DIR}/install/setup.bash' \ +# && rosdep install --from-paths ../spaceros/src src --ignore-src --rosdistro ${ROSDISTRO} -r -y --skip-keys "console_bridge generate_parameter_library fastcdr fastrtps rti-connext-dds-5.3.1 urdfdom_headers rmw_connextdds ros_testing rmw_connextdds rmw_fastrtps_cpp rmw_fastrtps_dynamic_cpp composition demo_nodes_py lifecycle rosidl_typesupport_fastrtps_cpp rosidl_typesupport_fastrtps_c ikos diagnostic_aggregator diagnostic_updater joy qt_gui rqt_gui rqt_gui_py" + +# # Apply a patch to octomap_msgs to work around a build issue +# COPY --chown=${USERNAME}:${USERNAME} octomap_fix.diff ./src/octomap_msgs +# RUN cd src/octomap_msgs && git apply octomap_fix.diff + +# # Unknown issue with generate_parameter_library delete and reinstall +# WORKDIR ${MOVEIT2_DIR}/src +# RUN sudo rm -rf generate_parameter_library +# RUN git clone --branch main --single-branch https://github.com/PickNikRobotics/generate_parameter_library.git + +# # Build MoveIt2 +# # RUN /bin/bash -c 'source ${SPACEROS_DIR}/install/setup.bash \ +# # && colcon build --packages-select generate_parameter_library --cmake-args -DCMAKE_BUILD_TYPE=Release -DCMAKE_EXPORT_COMPILE_COMMANDS=ON --event-handlers desktop_notification- status' + +# # Manually fix for permission denined error +# RUN sudo chown -R ${USERNAME}:${USERNAME} ${SPACEROS_DIR} + +# WORKDIR ${MOVEIT2_DIR} + +# # Build MoveIt2 # RUN /bin/bash -c 'source ${SPACEROS_DIR}/install/setup.bash \ -# && colcon build --packages-select generate_parameter_library --cmake-args -DCMAKE_BUILD_TYPE=Release -DCMAKE_EXPORT_COMPILE_COMMANDS=ON --event-handlers desktop_notification- status' - -# Manually fix for permission denined error -RUN sudo chown -R ${USERNAME}:${USERNAME} ${SPACEROS_DIR} - -WORKDIR ${MOVEIT2_DIR} - -# Build MoveIt2 -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-' - -#### Install MOVEIT2_WS #### +# && colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release -DCMAKE_EXPORT_COMPILE_COMMANDS=ON --event-handlers desktop_notification- status-' +# #### Install MOVEIT2_WS #### -#### Install DEMO_WS #### -WORKDIR ${HOME_DIR} - -# Install dependencies -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 DEBIAN_FRONTEND=noninteractive apt-get install -y \ - python3-rosinstall-generator \ - libboost-python-dev build-essential cmake libboost-all-dev libois-dev \ - libzzip-dev libfreeimage-dev libfreetype6-dev libx11-dev libxt-dev libxaw7-dev \ - libsdl2-dev libpugixml-dev libglew-dev qtbase5-dev libspdlog-dev libfmt-dev \ - libignition-gazebo6-dev libssl-dev devscripts debian-keyring fakeroot debhelper \ - libboost-dev libsasl2-dev libicu-dev libzstd-dev doxygen libtinyxml-dev \ - libtinyxml2-dev python3-pyqt5 tzdata locales keyboard-configuration - -RUN sudo sed -i -e 's/# en_US.UTF-8 UTF-8/en_US.UTF-8 UTF-8/' /etc/locale.gen \ - && sudo dpkg-reconfigure --frontend=noninteractive locales \ - && sudo update-locale LANG=en_US.UTF-8 - -# TODO delete -# RUN sed -i -e 's/# en_US.UTF-8 UTF-8/en_US.UTF-8 UTF-8/' /etc/locale.gen \ -# && dpkg-reconfigure --frontend=noninteractive locales \ -# && update-locale LANG=en_US.UTF-8 -# ENV LANG=en_US.UTF-8 - -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 \ - bc \ - bind9-utils \ - binutils \ - ca-certificates \ - clang \ - cmake \ - file \ - firewalld \ - git \ - git-lfs \ - jq \ - kbd \ - kmod \ - less \ - lsb-release \ - libglu1-mesa-dev \ - libxcb-xinerama0 \ - libfontconfig1-dev \ - libcurl4-openssl-dev \ - libnvidia-gl-470 \ - libssl-dev \ - libxcb-xkb-dev \ - libxkbcommon-x11-dev \ - libxkbcommon-dev \ - libxcb-xfixes0-dev \ - libxcb-xinput-dev \ - libxcb-xinput0 \ - libpcre2-16-0 \ - lsof \ - net-tools \ - ninja-build \ - pciutils \ - python3-pip \ - software-properties-common \ - sudo \ - tar \ - unzip \ - vim \ - wget \ - xz-utils - # && rm -rf /var/lib/apt/lists/* # TODO need to figure out how to use this correctly - -# Install libmongoc for development -RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \ - --mount=type=cache,target=/var/lib/apt,sharing=locked \ - sudo apt-get install libmongoc-dev -y - -# Compile mongo cxx driver https://mongocxx.org/mongocxx-v3/installation/linux/ -RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \ - --mount=type=cache,target=/var/lib/apt,sharing=locked \ - sudo apt-get install libssl-dev build-essential devscripts debian-keyring fakeroot debhelper cmake libboost-dev libsasl2-dev libicu-dev libzstd-dev doxygen -y -RUN wget https://github.com/mongodb/mongo-cxx-driver/releases/download/r3.6.7/mongo-cxx-driver-r3.6.7.tar.gz -RUN tar -xzf mongo-cxx-driver-r3.6.7.tar.gz -RUN cd mongo-cxx-driver-r3.6.7/build && cmake .. -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=/usr/local && sudo cmake --build . --target EP_mnmlstc_core && cmake --build . && sudo cmake --build . --target install - -# Create demo_ws, setup packages, generate dependencies -RUN mkdir -p ${DEMO_DIR}/src -WORKDIR ${DEMO_DIR} -COPY --chown=${USERNAME}:${USERNAME} o3de-robot-sim.repos /tmp/ -COPY --chown=${USERNAME}:${USERNAME} excluded-pkgs.txt /tmp/ -RUN vcs import ${DEMO_DIR}/src < /tmp/o3de-robot-sim.repos - -# # Generate the repos file for o3de-robot-sim dependencies, excluding packages from Space ROS core -RUN rosinstall_generator \ - --rosdistro ${ROSDISTRO} \ - --deps \ - --exclude-path ${SPACEROS_DIR}/src \ - --exclude $(cat /tmp/excluded-pkgs.txt) -- \ - -- $(cat /tmp/o3de-robot-sim.repos) \ - > /tmp/o3de_robot_sim_generated_pkgs.repos - -# Update the ownership of the source files (had to use sudo above to work around -# a possible inherited 'insteadof' from the host that forces use of ssh -RUN sudo chown -R ${USERNAME}:${USERNAME} ${DEMO_DIR} - -RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \ - --mount=type=cache,target=/var/lib/apt,sharing=locked \ - sudo apt-get update -y \ -&& /bin/bash -c 'source "/opt/ros/humble/setup.bash"' \ -&& /bin/bash -c 'source "${SPACEROS_DIR}/install/setup.bash"' \ -&& /bin/bash -c 'source "${MOVEIT2_DIR}/install/setup.bash"' \ -&& rosdep install --from-paths src --ignore-src -r -y --rosdistro ${ROSDISTRO} - -# # Build the demo_ws -RUN /bin/bash -c 'source ${SPACEROS_DIR}/install/setup.bash && source ${MOVEIT2_DIR}/install/setup.bash \ - && colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release' - -# # Create O3DE/Projects and O3DE/Gems directory -RUN if [ -d "${O3DE_DIR}/Projects" ]; then rm -rf ${O3DE_DIR}/Gems; fi -RUN mkdir -p ${O3DE_DIR}/Projects - -RUN if [ -d "${O3DE_DIR}/Gems" ]; then rm -rf ${O3DE_DIR}/Gems; fi -RUN mkdir -p ${O3DE_DIR}/Gems - -# Git clone RobotSim, NasaMarsRoverGem and MarsYardGem -WORKDIR ${O3DE_DIR}/Projects -RUN git clone --branch nasa_submission https://github.com/Mechazo11/RobotSim.git - -WORKDIR ${O3DE_DIR}/Gems -RUN git clone --branch nasa_submission https://github.com/Mechazo11/NasaCuriosityRoverGem.git -RUN git clone --branch nasa_submission https://github.com/Mechazo11/MarsYardGem.git - -# ## Symlink clang version to non-versioned clang and set cc to clang -RUN sudo DEBIAN_FRONTEND=noninteractive update-alternatives --install /usr/bin/cc cc /usr/bin/clang 100 \ - && sudo DEBIAN_FRONTEND=noninteractive update-alternatives --install /usr/bin/c++ c++ /usr/bin/clang++ 100 - -# #### Install Open 3D Engine #### - -# # Pull latest commit from development and build o3de. Note this does't build the whole engine -WORKDIR ${HOME_DIR} - -# # Install o3de engine (automatically pulls last commit from "development" branch) -RUN git clone --single-branch -b development https://github.com/o3de/o3de.git \ - && cd o3de \ - && git lfs install \ - && git lfs pull \ - && python/get_python.sh - -# # Install o3de-extras (automatically pulls last commit from "development" branch) -# # Contains ROS 2 Gem and other relevant assets +# #### Install DEMO_WS #### # WORKDIR ${HOME_DIR} -RUN git clone --single-branch -b development https://github.com/o3de/o3de-extras.git \ - && cd o3de-extras \ - && git lfs install \ - && git lfs pull -WORKDIR ${HOME_DIR}/o3de - -# Register RobotSim with this engine -#RUN ${O3DE_ENGINE}/scripts/o3de.sh register --this-engine -RUN ./scripts/o3de.sh register --this-engine -RUN ./scripts/o3de.sh register --gem-path ${O3DE_EXTRAS}/Gems/ROS2 \ - && ./scripts/o3de.sh register --gem-path ${O3DE_EXTRAS}/Gems/RosRobotSample \ - && ./scripts/o3de.sh register --gem-path ${O3DE_EXTRAS}/Gems/WarehouseSample \ - && ./scripts/o3de.sh register --gem-path ${O3DE_DIR}/Gems/NasaCuriosityRoverGem \ - && ./scripts/o3de.sh register --gem-path ${O3DE_DIR}/Gems/MarsYardGem - -# Register the Terrian gem which is located in o3de folder -RUN ./scripts/o3de.sh register --gem-path ${HOME_DIR}/o3de/Gems/Terrain - -# Register RobotSim project. -# Project must be registered at the very end after all dependent gems are registered -RUN ./scripts/o3de.sh register --project-path ${O3DE_DIR}/Projects/${PROJECT_NAME} +# # Install dependencies +# 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 DEBIAN_FRONTEND=noninteractive apt-get install -y \ +# python3-rosinstall-generator \ +# libboost-python-dev build-essential cmake libboost-all-dev libois-dev \ +# libzzip-dev libfreeimage-dev libfreetype6-dev libx11-dev libxt-dev libxaw7-dev \ +# libsdl2-dev libpugixml-dev libglew-dev qtbase5-dev libspdlog-dev libfmt-dev \ +# libignition-gazebo6-dev libssl-dev devscripts debian-keyring fakeroot debhelper \ +# libboost-dev libsasl2-dev libicu-dev libzstd-dev doxygen libtinyxml-dev \ +# libtinyxml2-dev python3-pyqt5 tzdata locales keyboard-configuration + +# RUN sudo sed -i -e 's/# en_US.UTF-8 UTF-8/en_US.UTF-8 UTF-8/' /etc/locale.gen \ +# && sudo dpkg-reconfigure --frontend=noninteractive locales \ +# && sudo update-locale LANG=en_US.UTF-8 + +# # TODO delete +# # RUN sed -i -e 's/# en_US.UTF-8 UTF-8/en_US.UTF-8 UTF-8/' /etc/locale.gen \ +# # && dpkg-reconfigure --frontend=noninteractive locales \ +# # && update-locale LANG=en_US.UTF-8 +# # ENV LANG=en_US.UTF-8 + +# 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 \ +# bc \ +# bind9-utils \ +# binutils \ +# ca-certificates \ +# clang \ +# cmake \ +# file \ +# firewalld \ +# git \ +# git-lfs \ +# jq \ +# kbd \ +# kmod \ +# less \ +# lsb-release \ +# libglu1-mesa-dev \ +# libxcb-xinerama0 \ +# libfontconfig1-dev \ +# libcurl4-openssl-dev \ +# libnvidia-gl-470 \ +# libssl-dev \ +# libxcb-xkb-dev \ +# libxkbcommon-x11-dev \ +# libxkbcommon-dev \ +# libxcb-xfixes0-dev \ +# libxcb-xinput-dev \ +# libxcb-xinput0 \ +# libpcre2-16-0 \ +# lsof \ +# net-tools \ +# ninja-build \ +# pciutils \ +# python3-pip \ +# software-properties-common \ +# sudo \ +# tar \ +# unzip \ +# vim \ +# wget \ +# xz-utils +# # && rm -rf /var/lib/apt/lists/* # TODO need to figure out how to use this correctly + +# # Install libmongoc for development +# RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \ +# --mount=type=cache,target=/var/lib/apt,sharing=locked \ +# sudo apt-get install libmongoc-dev -y + +# # Compile mongo cxx driver https://mongocxx.org/mongocxx-v3/installation/linux/ +# RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \ +# --mount=type=cache,target=/var/lib/apt,sharing=locked \ +# sudo apt-get install libssl-dev build-essential devscripts debian-keyring fakeroot debhelper cmake libboost-dev libsasl2-dev libicu-dev libzstd-dev doxygen -y +# RUN wget https://github.com/mongodb/mongo-cxx-driver/releases/download/r3.6.7/mongo-cxx-driver-r3.6.7.tar.gz +# RUN tar -xzf mongo-cxx-driver-r3.6.7.tar.gz +# RUN cd mongo-cxx-driver-r3.6.7/build && cmake .. -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=/usr/local && sudo cmake --build . --target EP_mnmlstc_core && cmake --build . && sudo cmake --build . --target install + +# # Create demo_ws, setup packages, generate dependencies +# RUN mkdir -p ${DEMO_DIR}/src +# WORKDIR ${DEMO_DIR} +# COPY --chown=${USERNAME}:${USERNAME} o3de-robot-sim.repos /tmp/ +# COPY --chown=${USERNAME}:${USERNAME} excluded-pkgs.txt /tmp/ +# RUN vcs import ${DEMO_DIR}/src < /tmp/o3de-robot-sim.repos + +# # # Generate the repos file for o3de-robot-sim dependencies, excluding packages from Space ROS core +# RUN rosinstall_generator \ +# --rosdistro ${ROSDISTRO} \ +# --deps \ +# --exclude-path ${SPACEROS_DIR}/src \ +# --exclude $(cat /tmp/excluded-pkgs.txt) -- \ +# -- $(cat /tmp/o3de-robot-sim.repos) \ +# > /tmp/o3de_robot_sim_generated_pkgs.repos + +# # Update the ownership of the source files (had to use sudo above to work around +# # a possible inherited 'insteadof' from the host that forces use of ssh +# RUN sudo chown -R ${USERNAME}:${USERNAME} ${DEMO_DIR} + +# RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \ +# --mount=type=cache,target=/var/lib/apt,sharing=locked \ +# sudo apt-get update -y \ +# && /bin/bash -c 'source "/opt/ros/humble/setup.bash"' \ +# && /bin/bash -c 'source "${SPACEROS_DIR}/install/setup.bash"' \ +# && /bin/bash -c 'source "${MOVEIT2_DIR}/install/setup.bash"' \ +# && rosdep install --from-paths src --ignore-src -r -y --rosdistro ${ROSDISTRO} + +# # # Build the demo_ws +# RUN /bin/bash -c 'source ${SPACEROS_DIR}/install/setup.bash && source ${MOVEIT2_DIR}/install/setup.bash \ +# && colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release' + +# # # Create O3DE/Projects and O3DE/Gems directory +# RUN if [ -d "${O3DE_DIR}/Projects" ]; then rm -rf ${O3DE_DIR}/Gems; fi +# RUN mkdir -p ${O3DE_DIR}/Projects + +# RUN if [ -d "${O3DE_DIR}/Gems" ]; then rm -rf ${O3DE_DIR}/Gems; fi +# RUN mkdir -p ${O3DE_DIR}/Gems + +# # Git clone RobotSim, NasaMarsRoverGem and MarsYardGem +# WORKDIR ${O3DE_DIR}/Projects +# RUN git clone --branch nasa_submission https://github.com/Mechazo11/RobotSim.git + +# WORKDIR ${O3DE_DIR}/Gems +# RUN git clone --branch nasa_submission https://github.com/Mechazo11/NasaCuriosityRoverGem.git +# RUN git clone --branch nasa_submission https://github.com/Mechazo11/MarsYardGem.git + +# # ## Symlink clang version to non-versioned clang and set cc to clang +# RUN sudo DEBIAN_FRONTEND=noninteractive update-alternatives --install /usr/bin/cc cc /usr/bin/clang 100 \ +# && sudo DEBIAN_FRONTEND=noninteractive update-alternatives --install /usr/bin/c++ c++ /usr/bin/clang++ 100 + +# # #### Install Open 3D Engine #### + +# # # Pull latest commit from development and build o3de. Note this does't build the whole engine +# WORKDIR ${HOME_DIR} -# # Move to project directory and run cmake and build project (Warning takes about 10-15 mins) -WORKDIR ${HOME_DIR} +# # # Install o3de engine (automatically pulls last commit from "development" branch) +# RUN git clone --single-branch -b development https://github.com/o3de/o3de.git \ +# && cd o3de \ +# && git lfs install \ +# && git lfs pull \ +# && python/get_python.sh + +# # # Install o3de-extras (automatically pulls last commit from "development" branch) +# # # Contains ROS 2 Gem and other relevant assets + +# # WORKDIR ${HOME_DIR} +# RUN git clone --single-branch -b development https://github.com/o3de/o3de-extras.git \ +# && cd o3de-extras \ +# && git lfs install \ +# && git lfs pull + +# WORKDIR ${HOME_DIR}/o3de + +# # Register RobotSim with this engine +# #RUN ${O3DE_ENGINE}/scripts/o3de.sh register --this-engine +# RUN ./scripts/o3de.sh register --this-engine +# RUN ./scripts/o3de.sh register --gem-path ${O3DE_EXTRAS}/Gems/ROS2 \ +# && ./scripts/o3de.sh register --gem-path ${O3DE_EXTRAS}/Gems/RosRobotSample \ +# && ./scripts/o3de.sh register --gem-path ${O3DE_EXTRAS}/Gems/WarehouseSample \ +# && ./scripts/o3de.sh register --gem-path ${O3DE_DIR}/Gems/NasaCuriosityRoverGem \ +# && ./scripts/o3de.sh register --gem-path ${O3DE_DIR}/Gems/MarsYardGem + +# # Register the Terrian gem which is located in o3de folder +# RUN ./scripts/o3de.sh register --gem-path ${HOME_DIR}/o3de/Gems/Terrain + +# # Register RobotSim project. +# # Project must be registered at the very end after all dependent gems are registered +# RUN ./scripts/o3de.sh register --project-path ${O3DE_DIR}/Projects/${PROJECT_NAME} + +# # # Move to project directory and run cmake and build project (Warning takes about 10-15 mins) +# WORKDIR ${HOME_DIR} -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 \ - libunwind-dev +# 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 \ +# libunwind-dev -# Move to project directory -WORKDIR ${PROJECT_PATH} +# # Move to project directory +# WORKDIR ${PROJECT_PATH} -#Activate Cyclone DDS (not necessary with Space ROS) -#ENV RMW_IMPLEMENTATION=rmw_cyclonedds_cpp cd +# #Activate Cyclone DDS (not necessary with Space ROS) +# #ENV RMW_IMPLEMENTATION=rmw_cyclonedds_cpp cd -# # Source space_ros, movit2 and demo_ws -RUN /bin/bash -c 'source "/opt/ros/humble/setup.bash"' \ - && /bin/bash -c 'source "${SPACEROS_DIR}/install/setup.bash"' \ - && /bin/bash -c 'source "${MOVEIT2_DIR}/install/setup.bash"' +# # # Source space_ros, movit2 and demo_ws +# RUN /bin/bash -c 'source "/opt/ros/humble/setup.bash"' \ +# && /bin/bash -c 'source "${SPACEROS_DIR}/install/setup.bash"' \ +# && /bin/bash -c 'source "${MOVEIT2_DIR}/install/setup.bash"' -RUN /bin/bash -c 'source ${DEMO_DIR}/install/setup.bash \ - && cmake -B build/linux -G "Ninja Multi-Config" -DLY_DISABLE_TEST_MODULES=ON -DCMAKE_EXPORT_COMPILE_COMMANDS=ON -DLY_STRIP_DEBUG_SYMBOLS=ON -DAZ_USE_PHYSX5:BOOL=ON' +# RUN /bin/bash -c 'source ${DEMO_DIR}/install/setup.bash \ +# && cmake -B build/linux -G "Ninja Multi-Config" -DLY_DISABLE_TEST_MODULES=ON -DCMAKE_EXPORT_COMPILE_COMMANDS=ON -DLY_STRIP_DEBUG_SYMBOLS=ON -DAZ_USE_PHYSX5:BOOL=ON' - # && cmake --build build/linux --config profile --target ${PROJECT_NAME} Editor ${PROJECT_NAME}.Assets +# # && cmake --build build/linux --config profile --target ${PROJECT_NAME} Editor ${PROJECT_NAME}.Assets -# RUN cmake -B build/linux -G "Ninja Multi-Config" -DLY_DISABLE_TEST_MODULES=ON -DCMAKE_EXPORT_COMPILE_COMMANDS=ON -DLY_STRIP_DEBUG_SYMBOLS=ON -DAZ_USE_PHYSX5:BOOL=ON \ -# && cmake --build build/linux --config profile --target ${PROJECT_NAME} Editor ${PROJECT_NAME}.Assets +# # RUN cmake -B build/linux -G "Ninja Multi-Config" -DLY_DISABLE_TEST_MODULES=ON -DCMAKE_EXPORT_COMPILE_COMMANDS=ON -DLY_STRIP_DEBUG_SYMBOLS=ON -DAZ_USE_PHYSX5:BOOL=ON \ +# # && cmake --build build/linux --config profile --target ${PROJECT_NAME} Editor ${PROJECT_NAME}.Assets -# # Add the user to the render group so that the user can access /dev/dri/renderD128 -# # /dev/dri/renderD128 gives access to hardware-accelerated rendering tool such as GPU -# RUN sudo usermod -aG render $USERNAME +# # # Add the user to the render group so that the user can access /dev/dri/renderD128 +# # # /dev/dri/renderD128 gives access to hardware-accelerated rendering tool such as GPU +# # RUN sudo usermod -aG render $USERNAME -# # Setup the entrypoint -# COPY ./entrypoint.sh / -# ENTRYPOINT ["/entrypoint.sh"] -# CMD ["bash"] +# # # Setup the entrypoint +# # COPY ./entrypoint.sh / +# # ENTRYPOINT ["/entrypoint.sh"] +# # CMD ["bash"] diff --git a/o3de_mars_rover/Dockerfile_bck b/o3de_mars_rover/Dockerfile_bck deleted file mode 100644 index 2d13dc08..00000000 --- a/o3de_mars_rover/Dockerfile_bck +++ /dev/null @@ -1,320 +0,0 @@ -# Copyright 2024 Azmyin Md. Kamal -# -# 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 o3de_curiosit_docker image that showcases Open 3D Engine -# in simulating a Curiositry rover traversing through a test ground inspired by the NASA JPL Mars Yard -# O3DE docker file based on https://github.com/husarion/o3de-docker/blob/main/Dockerfile -# -# -# 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 openrobotics/moveit2:latest - -# Define arguments used in the metadata definition -ARG VCS_REF -ARG VERSION="preview" -ARG ROS_DISTRO=humble - -# Specify the docker image metadata -LABEL org.label-schema.schema-version="1.0" -LABEL org.label-schema.name="O3DE Curiosity Rover" -LABEL org.label-schema.description="Curiosity rover demo on a new test enviornment on the Space ROS platform and Open 3D Engine" -LABEL org.label-schema.vendor="Nasa Space ROS Sim Summer Spring Challenge 2024" -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/Mechazo11/space-ros-docker" -LABEL org.label-schema.vcs-ref=${VCS_REF} - -# Define a key enviornment variables -ENV DEMO_DIR=${HOME_DIR}/demos_ws -ENV IGNITION_VERSION fortress -ENV GZ_VERSION fortress -ENV PROJECT_NAME=RobotSim -ENV O3DE_ENGINE=${HOME_DIR}/o3de -ENV O3DE_DIR=${HOME_DIR}/O3DE -ENV O3DE_EXTRAS=${HOME_DIR}/o3de-extras -ENV PROJECT_PATH=${O3DE_DIR}/Projects/${PROJECT_NAME} - -# Disable prompting during package installation -ARG DEBIAN_FRONTEND=noninteractive -ENV DEBIAN_FRONTEND=noninteractive -ENV TZ=Etc/UTC - -#### Install DEMO_WS #### - -# Get rosinstall_generator -# 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 -y && sudo DEBIAN_FRONTEND=noninteractive apt-get install -y \ - python3-rosinstall-generator \ - libboost-python-dev build-essential cmake libboost-all-dev libois-dev \ - libzzip-dev libfreeimage-dev libfreetype6-dev libx11-dev libxt-dev libxaw7-dev \ - libsdl2-dev libpugixml-dev libglew-dev qtbase5-dev libspdlog-dev libfmt-dev \ - libignition-gazebo6-dev libssl-dev devscripts debian-keyring fakeroot debhelper \ - libboost-dev libsasl2-dev libicu-dev libzstd-dev doxygen libtinyxml-dev \ - libtinyxml2-dev python3-pyqt5 tzdata locales keyboard-configuration - -# RUN apt-get install -y tzdata -# RUN apt-get install -y locales -# RUN apt-get install -y keyboard-configuration - -RUN sudo sed -i -e 's/# en_US.UTF-8 UTF-8/en_US.UTF-8 UTF-8/' /etc/locale.gen \ - && sudo dpkg-reconfigure --frontend=noninteractive locales \ - && sudo update-locale LANG=en_US.UTF-8 - -# RUN sed -i -e 's/# en_US.UTF-8 UTF-8/en_US.UTF-8 UTF-8/' /etc/locale.gen \ -# && dpkg-reconfigure --frontend=noninteractive locales \ -# && update-locale LANG=en_US.UTF-8 - -ENV LANG=en_US.UTF-8 - -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 \ - bc \ - bind9-utils \ - binutils \ - ca-certificates \ - clang \ - cmake \ - file \ - firewalld \ - git \ - git-lfs \ - jq \ - kbd \ - kmod \ - less \ - lsb-release \ - libglu1-mesa-dev \ - libxcb-xinerama0 \ - libfontconfig1-dev \ - libcurl4-openssl-dev \ - libnvidia-gl-470 \ - libssl-dev \ - libxcb-xkb-dev \ - libxkbcommon-x11-dev \ - libxkbcommon-dev \ - libxcb-xfixes0-dev \ - libxcb-xinput-dev \ - libxcb-xinput0 \ - libpcre2-16-0 \ - lsof \ - net-tools \ - ninja-build \ - pciutils \ - python3-pip \ - software-properties-common \ - sudo \ - tar \ - unzip \ - vim \ - wget \ - xz-utils - # && rm -rf /var/lib/apt/lists/* # TODO need to figure out how to use this correctly - - -RUN mkdir -p ${DEMO_DIR}/src -WORKDIR ${DEMO_DIR} - -# Install libmongoc for development -RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \ - --mount=type=cache,target=/var/lib/apt,sharing=locked \ - sudo apt-get install libmongoc-dev -y - -# Compile mongo cxx driver https://mongocxx.org/mongocxx-v3/installation/linux/ -RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \ - --mount=type=cache,target=/var/lib/apt,sharing=locked \ - sudo apt-get install libssl-dev build-essential devscripts debian-keyring fakeroot debhelper cmake libboost-dev libsasl2-dev libicu-dev libzstd-dev doxygen -y -RUN wget https://github.com/mongodb/mongo-cxx-driver/releases/download/r3.6.7/mongo-cxx-driver-r3.6.7.tar.gz -RUN tar -xzf mongo-cxx-driver-r3.6.7.tar.gz -RUN cd mongo-cxx-driver-r3.6.7/build && cmake .. -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=/usr/local && sudo cmake --build . --target EP_mnmlstc_core && cmake --build . && sudo cmake --build . --target install - -# Get the source for the dependencies -# RUN vcs import src < /tmp/demo_generated_pkgs.repos -COPY --chown=${USERNAME}:${USERNAME} o3de-robot-sim.repos /tmp/ -RUN vcs import src < /tmp/o3de-robot-sim.repos && /bin/bash -c 'source "${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 "${SPACEROS_DIR}/install/setup.bash"' \ -&& /bin/bash -c 'source "${MOVEIT2_DIR}/install/setup.bash"' \ -&& rosdep install --from-paths src --ignore-src -r -y --rosdistro ${ROSDISTRO} - -# Build the demo_ws -RUN /bin/bash -c 'source ${SPACEROS_DIR}/install/setup.bash && source ${MOVEIT2_DIR}/install/setup.bash \ - && colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release' - -# Create O3DE/Projects and O3DE/Gems directory -RUN if [ -d "${O3DE_DIR}/Projects" ]; then rm -rf ${O3DE_DIR}/Gems; fi -RUN mkdir -p ${O3DE_DIR}/Projects - -RUN if [ -d "${O3DE_DIR}/Gems" ]; then rm -rf ${O3DE_DIR}/Gems; fi -RUN mkdir -p ${O3DE_DIR}/Gems - -# Git clone RobotSim, NasaMarsRoverGem and MarsYardGem -WORKDIR ${O3DE_DIR}/Projects -RUN git clone --branch nasa_submission https://github.com/Mechazo11/RobotSim.git - -WORKDIR ${O3DE_DIR}/Gems -RUN git clone --branch nasa_submission https://github.com/Mechazo11/NasaCuriosityRoverGem.git -RUN git clone --branch nasa_submission https://github.com/Mechazo11/MarsYardGem.git - -## Symlink clang version to non-versioned clang and set cc to clang -# RUN update-alternatives --install /usr/bin/cc cc /usr/bin/clang 100 \ -# && update-alternatives --install /usr/bin/c++ c++ /usr/bin/clang++ 100 - -#### Install Open 3D Engine #### -# Install dependencies -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 \ - bc \ - bind9-utils \ - binutils \ - ca-certificates \ - clang \ - cmake \ - file \ - firewalld \ - git \ - git-lfs \ - jq \ - kbd \ - kmod \ - less \ - lsb-release \ - libglu1-mesa-dev \ - libxcb-xinerama0 \ - libfontconfig1-dev \ - libcurl4-openssl-dev \ - libnvidia-gl-470 \ - libssl-dev \ - libxcb-xkb-dev \ - libxkbcommon-x11-dev \ - libxkbcommon-dev \ - libxcb-xfixes0-dev \ - libxcb-xinput-dev \ - libxcb-xinput0 \ - libpcre2-16-0 \ - lsof \ - net-tools \ - ninja-build \ - pciutils \ - python3-pip \ - software-properties-common \ - sudo \ - tar \ - unzip \ - vim \ - wget \ - xz-utils - # && rm -rf /var/lib/apt/lists/* # TODO need to figure out how to use this correctly - -# Pull latest commit from development and build o3de. Note this does't build the whole engine -WORKDIR ${HOME_DIR} - -# Install o3de engine (automatically pulls last commit from "development" branch) -RUN git clone --single-branch -b development https://github.com/o3de/o3de.git \ - && cd o3de \ - && git lfs install \ - && git lfs pull \ - && python/get_python.sh - -# Install o3de-extras (automatically pulls last commit from "development" branch) -# Contains ROS 2 Gem and other relevant assets - -WORKDIR ${HOME_DIR} -RUN git clone --single-branch -b development https://github.com/o3de/o3de-extras.git \ - && cd o3de-extras \ - && git lfs install \ - && git lfs pull - -WORKDIR ${HOME_DIR}/o3de - -# Register RobotSim with this engine -#RUN ${O3DE_ENGINE}/scripts/o3de.sh register --this-engine -RUN ./scripts/o3de.sh register --this-engine -# Register ROS 2 Gem, Husarion robot, Curiosity rover and Mars Yard gem -# RUN ${O3DE_ENGINE}/scripts/o3de.sh register --gem-path ${O3DE_EXTRAS}/Gems/ROS2 \ -# && ${O3DE_ENGINE}/scripts/o3de.sh register --gem-path ${O3DE_EXTRAS}/Gems/RosRobotSample \ -# && ${O3DE_ENGINE}/scripts/o3de.sh register --gem-path ${O3DE_DIR}/Gems/NasaCuriosityRoverGem \ -# && ${O3DE_ENGINE}/scripts/o3de.sh register --gem-path ${O3DE_DIR}/Gems/MarsYardGem - -RUN ./scripts/o3de.sh register --gem-path ${O3DE_EXTRAS}/Gems/ROS2 \ - && ./scripts/o3de.sh register --gem-path ${O3DE_EXTRAS}/Gems/RosRobotSample \ - && ./scripts/o3de.sh register --gem-path ${O3DE_EXTRAS}/Gems/WarehouseSample \ - && ./scripts/o3de.sh register --gem-path ${O3DE_DIR}/Gems/NasaCuriosityRoverGem \ - && ./scripts/o3de.sh register --gem-path ${O3DE_DIR}/Gems/MarsYardGem - -# Register the Terrian gem which is located in o3de folder -RUN ./scripts/o3de.sh register --gem-path ${HOME_DIR}/o3de/Gems/Terrain - -# Register RobotSim project. -# Project must be registered at the very end after all dependent gems are registered -#RUN {O3DE_ENGINE}/scripts/o3de.sh register --project-path ${O3DE_DIR}/Projects/${PROJECT_NAME} -RUN ./scripts/o3de.sh register --project-path ${O3DE_DIR}/Projects/${PROJECT_NAME} - -# Move to project directory -WORKDIR ${HOME_DIR} -# Run cmake and build project (Warning takes about 10-15 mins) - -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 \ - libunwind-dev - -# Testing build by manually building out a ROS 2 Humble core -# RUN sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg - -# 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 \ -# ros-humble-ros-base - -# # Move to project directory -WORKDIR ${PROJECT_PATH} - -# Activate Cyclone DDS -# ENV RMW_IMPLEMENTATION=rmw_cyclonedds_cpp - -# Source space_ros, movit2 and demo_ws -RUN /bin/bash -c 'source "${SPACEROS_DIR}/install/setup.bash"' \ - && /bin/bash -c 'source "${MOVEIT2_DIR}/install/setup.bash"' \ - && /bin/bash -c 'source "${DEMO_DIR}/install/setup.bash"' - #&& cmake -B build/linux -G "Ninja Multi-Config" -DLY_DISABLE_TEST_MODULES=ON -DCMAKE_EXPORT_COMPILE_COMMANDS=ON -DLY_STRIP_DEBUG_SYMBOLS=ON -DAZ_USE_PHYSX5:BOOL=ON \ - #&& cmake --build build/linux --config profile --target ${PROJECT_NAME} Editor ${PROJECT_NAME}.Assets - -#RUN /bin/bash -c 'source "/opt/ros/humble/setup.bash"' - -RUN cmake -B build/linux -G "Ninja Multi-Config" -DLY_DISABLE_TEST_MODULES=ON -DCMAKE_EXPORT_COMPILE_COMMANDS=ON -DLY_STRIP_DEBUG_SYMBOLS=ON -DAZ_USE_PHYSX5:BOOL=ON \ - && cmake --build build/linux --config profile --target ${PROJECT_NAME} Editor ${PROJECT_NAME}.Assets - - - - -# # Add the user to the render group so that the user can access /dev/dri/renderD128 -# # /dev/dri/renderD128 gives access to hardware-accelerated rendering tool such as GPU -# RUN sudo usermod -aG render $USERNAME - -# # Setup the entrypoint -# COPY ./entrypoint.sh / -# ENTRYPOINT ["/entrypoint.sh"] -# CMD ["bash"] diff --git a/o3de_mars_rover/Dockerfile_works_mostly b/o3de_mars_rover/Dockerfile_works_mostly new file mode 100644 index 00000000..c9b11fb9 --- /dev/null +++ b/o3de_mars_rover/Dockerfile_works_mostly @@ -0,0 +1,416 @@ +# Copyright 2024 Azmyin Md. Kamal +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. +# +# A Docker configuration script to build the o3de_curiosit_docker image that showcases Open 3D Engine +# in simulating a Curiositry rover traversing through a test ground inspired by the NASA JPL Mars Yard +# O3DE docker file based on https://github.com/husarion/o3de-docker/blob/main/Dockerfile +# +# +# The script provides the following build arguments: +# +# VCS_REF - The git revision of the Space ROS source code (no default value). +# VERSION - The version of Space ROS (default: "preview") + +FROM osrf/space-ros:latest + +# Define arguments used in the metadata definition +ARG VCS_REF +ARG VERSION="preview" +ARG ROS_DISTRO=humble + +# Specify the docker image metadata +LABEL org.label-schema.schema-version="1.0" +LABEL org.label-schema.name="O3DE Curiosity Rover" +LABEL org.label-schema.description="Curiosity rover demo on a new test enviornment on the Space ROS platform and Open 3D Engine" +LABEL org.label-schema.vendor="Nasa Space ROS Sim Summer Spring Challenge 2024" +LABEL org.label-schema.version=${VERSION} +LABEL org.label-schema.url="https://github.com/space-ros" +LABEL org.label-schema.vcs-url="https://github.com/Mechazo11/space-ros-docker" +LABEL org.label-schema.vcs-ref=${VCS_REF} + +# Define a key enviornment variables +ENV MOVEIT2_DIR=${HOME_DIR}/moveit2 +ENV DEMO_DIR=${HOME_DIR}/demos_ws +ENV IGNITION_VERSION fortress +ENV GZ_VERSION fortress +ENV PROJECT_NAME=RobotSim +ENV O3DE_ENGINE=${HOME_DIR}/o3de +ENV O3DE_DIR=${HOME_DIR}/O3DE +ENV O3DE_EXTRAS=${HOME_DIR}/o3de-extras +ENV PROJECT_PATH=${O3DE_DIR}/Projects/${PROJECT_NAME} + +# Disable prompting during package installation +ARG DEBIAN_FRONTEND=noninteractive +ENV DEBIAN_FRONTEND=noninteractive +ENV TZ=Etc/UTC + +RUN sudo sh -c 'echo "deb http://packages.ros.org/ros2/ubuntu $(lsb_release -cs) main" > /etc/apt/sources.list.d/ros2-latest.list' +RUN curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add - + +# Clone all space-ros sources +RUN mkdir ${SPACEROS_DIR}/src \ + && vcs import ${SPACEROS_DIR}/src < ${SPACEROS_DIR}/exact.repos + +### Delete CycloneDDS and install from apt to resolve cmake conflict ### + +# Update rosdep +RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \ + --mount=type=cache,target=/var/lib/apt,sharing=locked \ + sudo apt-get update -y +RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \ + --mount=type=cache,target=/var/lib/apt,sharing=locked \ + sudo apt-get dist-upgrade -y +RUN rosdep update + +# rmw-cyclonedds and rmw-implementation later causes a fatal bug. +# I have removed them in favor of having another top level workspace +# which appears to solve this problem +RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \ + --mount=type=cache,target=/var/lib/apt,sharing=locked \ + sudo apt install -y \ + ros-${ROS_DISTRO}-rmw-cyclonedds-cpp \ + ros-${ROS_DISTRO}-rmw-implementation \ + ros-${ROS_DISTRO}-realtime-tools + +# Clear Install folder, we will need to rebuild the workspace again +WORKDIR ${SPACEROS_DIR} +RUN sudo rm -rf install/ + +WORKDIR ${SPACEROS_DIR}/src +RUN sudo rm -rf rmw_cyclonedds_cpp +RUN sudo rm -rf rmw_cyclonedds +RUN sudo rm -rf realtime_tools + +# Rebuild Space ROS workspace +WORKDIR ${SPACEROS_DIR} +RUN colcon build --packages-ignore test_rmw_implementation + +### Delete CycloneDDS and install from apt to resolve cmake conflict ### + +#### Install MOVEIT2_WS #### + +# 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 the MoveIt2 source code +WORKDIR ${HOME_DIR} +RUN sudo git clone https://github.com/moveit/moveit2.git -b ${ROSDISTRO} moveit2/src +RUN cd ${MOVEIT2_DIR}/src \ + && sudo git clone https://github.com/moveit/moveit2_tutorials.git -b ${ROSDISTRO} + +# Update the ownership of the source files (had to use sudo above to work around +# a possible inherited 'insteadof' from the host that forces use of ssh +RUN sudo chown -R ${USERNAME}:${USERNAME} ${MOVEIT2_DIR} + +# # Get rosinstall_generator +RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \ + --mount=type=cache,target=/var/lib/apt,sharing=locked \ + sudo apt-get update -y && sudo apt-get install -y python3-rosinstall-generator + +# # Generate repos file for moveit2 dependencies, excluding packages from Space ROS core. +COPY --chown=${USERNAME}:${USERNAME} moveit2-pkgs.txt /tmp/ +COPY --chown=${USERNAME}:${USERNAME} excluded-pkgs.txt /tmp/ +RUN rosinstall_generator \ + --rosdistro ${ROSDISTRO} \ + --deps \ + --exclude-path ${SPACEROS_DIR}/src \ + --exclude $(cat /tmp/excluded-pkgs.txt) -- \ + -- $(cat /tmp/moveit2-pkgs.txt) \ + > /tmp/moveit2_generated_pkgs.repos + +# # Get the repositories required by MoveIt2, but not included in Space ROS +WORKDIR ${MOVEIT2_DIR} +RUN vcs import src < /tmp/moveit2_generated_pkgs.repos +COPY --chown=${USERNAME}:${USERNAME} moveit2_tutorials.repos /tmp/ +RUN vcs import src < /tmp/moveit2_tutorials.repos + +# TODO open PR this library is missing? +#WORKDIR ${MOVEIT2_DIR}/src +#RUN git clone --branch main --single-branch https://github.com/PickNikRobotics/generate_parameter_library.git + +# Update the ownership of the source files (had to use sudo above to work around +# a possible inherited 'insteadof' from the host that forces use of ssh +WORKDIR ${MOVEIT2_DIR} +RUN sudo chown -R ${USERNAME}:${USERNAME} ${MOVEIT2_DIR} + +# Install system dependencies +RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \ + --mount=type=cache,target=/var/lib/apt,sharing=locked \ + /bin/bash -c 'source ${SPACEROS_DIR}/install/setup.bash' \ + && rosdep install --from-paths ../spaceros/src src --ignore-src --rosdistro ${ROSDISTRO} -r -y --skip-keys "console_bridge generate_parameter_library fastcdr fastrtps rti-connext-dds-5.3.1 urdfdom_headers rmw_connextdds ros_testing rmw_connextdds rmw_fastrtps_cpp rmw_fastrtps_dynamic_cpp composition demo_nodes_py lifecycle rosidl_typesupport_fastrtps_cpp rosidl_typesupport_fastrtps_c ikos diagnostic_aggregator diagnostic_updater joy qt_gui rqt_gui rqt_gui_py" + +# Apply a patch to octomap_msgs to work around a build issue +COPY --chown=${USERNAME}:${USERNAME} octomap_fix.diff ./src/octomap_msgs +RUN cd src/octomap_msgs && git apply octomap_fix.diff + +# Unknown issue with generate_parameter_library delete and reinstall +WORKDIR ${MOVEIT2_DIR}/src +RUN sudo rm -rf generate_parameter_library +RUN git clone --branch main --single-branch https://github.com/PickNikRobotics/generate_parameter_library.git + +# Build MoveIt2 +# RUN /bin/bash -c 'source ${SPACEROS_DIR}/install/setup.bash \ +# && colcon build --packages-select generate_parameter_library --cmake-args -DCMAKE_BUILD_TYPE=Release -DCMAKE_EXPORT_COMPILE_COMMANDS=ON --event-handlers desktop_notification- status' + +# Manually fix for permission denined error +RUN sudo chown -R ${USERNAME}:${USERNAME} ${SPACEROS_DIR} + +WORKDIR ${MOVEIT2_DIR} + +# Build MoveIt2 +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-' + +#### Install MOVEIT2_WS #### + + + +#### Install DEMO_WS #### +WORKDIR ${HOME_DIR} + +# Install dependencies +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 DEBIAN_FRONTEND=noninteractive apt-get install -y \ + python3-rosinstall-generator \ + libboost-python-dev build-essential cmake libboost-all-dev libois-dev \ + libzzip-dev libfreeimage-dev libfreetype6-dev libx11-dev libxt-dev libxaw7-dev \ + libsdl2-dev libpugixml-dev libglew-dev qtbase5-dev libspdlog-dev libfmt-dev \ + libignition-gazebo6-dev libssl-dev devscripts debian-keyring fakeroot debhelper \ + libboost-dev libsasl2-dev libicu-dev libzstd-dev doxygen libtinyxml-dev \ + libtinyxml2-dev python3-pyqt5 tzdata locales keyboard-configuration + +RUN sudo sed -i -e 's/# en_US.UTF-8 UTF-8/en_US.UTF-8 UTF-8/' /etc/locale.gen \ + && sudo dpkg-reconfigure --frontend=noninteractive locales \ + && sudo update-locale LANG=en_US.UTF-8 + +# TODO delete +# RUN sed -i -e 's/# en_US.UTF-8 UTF-8/en_US.UTF-8 UTF-8/' /etc/locale.gen \ +# && dpkg-reconfigure --frontend=noninteractive locales \ +# && update-locale LANG=en_US.UTF-8 +# ENV LANG=en_US.UTF-8 + +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 \ + bc \ + bind9-utils \ + binutils \ + ca-certificates \ + clang \ + cmake \ + file \ + firewalld \ + git \ + git-lfs \ + jq \ + kbd \ + kmod \ + less \ + lsb-release \ + libglu1-mesa-dev \ + libxcb-xinerama0 \ + libfontconfig1-dev \ + libcurl4-openssl-dev \ + libnvidia-gl-470 \ + libssl-dev \ + libxcb-xkb-dev \ + libxkbcommon-x11-dev \ + libxkbcommon-dev \ + libxcb-xfixes0-dev \ + libxcb-xinput-dev \ + libxcb-xinput0 \ + libpcre2-16-0 \ + lsof \ + net-tools \ + ninja-build \ + pciutils \ + python3-pip \ + software-properties-common \ + sudo \ + tar \ + unzip \ + vim \ + wget \ + xz-utils + # && rm -rf /var/lib/apt/lists/* # TODO need to figure out how to use this correctly + +# Install libmongoc for development +RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \ + --mount=type=cache,target=/var/lib/apt,sharing=locked \ + sudo apt-get install libmongoc-dev -y + +# Compile mongo cxx driver https://mongocxx.org/mongocxx-v3/installation/linux/ +RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \ + --mount=type=cache,target=/var/lib/apt,sharing=locked \ + sudo apt-get install libssl-dev build-essential devscripts debian-keyring fakeroot debhelper cmake libboost-dev libsasl2-dev libicu-dev libzstd-dev doxygen -y +RUN wget https://github.com/mongodb/mongo-cxx-driver/releases/download/r3.6.7/mongo-cxx-driver-r3.6.7.tar.gz +RUN tar -xzf mongo-cxx-driver-r3.6.7.tar.gz +RUN cd mongo-cxx-driver-r3.6.7/build && cmake .. -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=/usr/local && sudo cmake --build . --target EP_mnmlstc_core && cmake --build . && sudo cmake --build . --target install + +# Create demo_ws, setup packages, generate dependencies +RUN mkdir -p ${DEMO_DIR}/src +WORKDIR ${DEMO_DIR} +COPY --chown=${USERNAME}:${USERNAME} o3de-robot-sim.repos /tmp/ +COPY --chown=${USERNAME}:${USERNAME} excluded-pkgs.txt /tmp/ +RUN vcs import ${DEMO_DIR}/src < /tmp/o3de-robot-sim.repos + +# # Generate the repos file for o3de-robot-sim dependencies, excluding packages from Space ROS core +RUN rosinstall_generator \ + --rosdistro ${ROSDISTRO} \ + --deps \ + --exclude-path ${SPACEROS_DIR}/src \ + --exclude $(cat /tmp/excluded-pkgs.txt) -- \ + -- $(cat /tmp/o3de-robot-sim.repos) \ + > /tmp/o3de_robot_sim_generated_pkgs.repos + +# Update the ownership of the source files (had to use sudo above to work around +# a possible inherited 'insteadof' from the host that forces use of ssh +RUN sudo chown -R ${USERNAME}:${USERNAME} ${DEMO_DIR} + +RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \ + --mount=type=cache,target=/var/lib/apt,sharing=locked \ + sudo apt-get update -y \ +&& /bin/bash -c 'source "/opt/ros/humble/setup.bash"' \ +&& /bin/bash -c 'source "${SPACEROS_DIR}/install/setup.bash"' \ +&& /bin/bash -c 'source "${MOVEIT2_DIR}/install/setup.bash"' \ +&& rosdep install --from-paths src --ignore-src -r -y --rosdistro ${ROSDISTRO} + +# # Build the demo_ws +RUN /bin/bash -c 'source ${SPACEROS_DIR}/install/setup.bash && source ${MOVEIT2_DIR}/install/setup.bash \ + && colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release' + +# # Create O3DE/Projects and O3DE/Gems directory +RUN if [ -d "${O3DE_DIR}/Projects" ]; then rm -rf ${O3DE_DIR}/Gems; fi +RUN mkdir -p ${O3DE_DIR}/Projects + +RUN if [ -d "${O3DE_DIR}/Gems" ]; then rm -rf ${O3DE_DIR}/Gems; fi +RUN mkdir -p ${O3DE_DIR}/Gems + +# Git clone RobotSim, NasaMarsRoverGem and MarsYardGem +WORKDIR ${O3DE_DIR}/Projects +RUN git clone --branch nasa_submission https://github.com/Mechazo11/RobotSim.git + +WORKDIR ${O3DE_DIR}/Gems +RUN git clone --branch nasa_submission https://github.com/Mechazo11/NasaCuriosityRoverGem.git +RUN git clone --branch nasa_submission https://github.com/Mechazo11/MarsYardGem.git + +# ## Symlink clang version to non-versioned clang and set cc to clang +RUN sudo DEBIAN_FRONTEND=noninteractive update-alternatives --install /usr/bin/cc cc /usr/bin/clang 100 \ + && sudo DEBIAN_FRONTEND=noninteractive update-alternatives --install /usr/bin/c++ c++ /usr/bin/clang++ 100 + +# #### Install Open 3D Engine #### + +# # Pull latest commit from development and build o3de. Note this does't build the whole engine +WORKDIR ${HOME_DIR} + +# # Install o3de engine (automatically pulls last commit from "development" branch) +RUN git clone --single-branch -b development https://github.com/o3de/o3de.git \ + && cd o3de \ + && git lfs install \ + && git lfs pull \ + && python/get_python.sh + +# # Install o3de-extras (automatically pulls last commit from "development" branch) +# # Contains ROS 2 Gem and other relevant assets + +# WORKDIR ${HOME_DIR} +RUN git clone --single-branch -b development https://github.com/o3de/o3de-extras.git \ + && cd o3de-extras \ + && git lfs install \ + && git lfs pull + +WORKDIR ${HOME_DIR}/o3de + +# Register RobotSim with this engine +#RUN ${O3DE_ENGINE}/scripts/o3de.sh register --this-engine +RUN ./scripts/o3de.sh register --this-engine +RUN ./scripts/o3de.sh register --gem-path ${O3DE_EXTRAS}/Gems/ROS2 \ + && ./scripts/o3de.sh register --gem-path ${O3DE_EXTRAS}/Gems/RosRobotSample \ + && ./scripts/o3de.sh register --gem-path ${O3DE_EXTRAS}/Gems/WarehouseSample \ + && ./scripts/o3de.sh register --gem-path ${O3DE_DIR}/Gems/NasaCuriosityRoverGem \ + && ./scripts/o3de.sh register --gem-path ${O3DE_DIR}/Gems/MarsYardGem + +# Register the Terrian gem which is located in o3de folder +RUN ./scripts/o3de.sh register --gem-path ${HOME_DIR}/o3de/Gems/Terrain + +# Register RobotSim project. +# Project must be registered at the very end after all dependent gems are registered +RUN ./scripts/o3de.sh register --project-path ${O3DE_DIR}/Projects/${PROJECT_NAME} + +# # Move to project directory and run cmake and build project (Warning takes about 10-15 mins) +WORKDIR ${HOME_DIR} + +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 \ + libunwind-dev + +# Move to project directory +WORKDIR ${PROJECT_PATH} + +#Activate Cyclone DDS (not necessary with Space ROS) +#ENV RMW_IMPLEMENTATION=rmw_cyclonedds_cpp cd + +# # Source space_ros, movit2 and demo_ws +RUN /bin/bash -c 'source "/opt/ros/humble/setup.bash"' \ + && /bin/bash -c 'source "${SPACEROS_DIR}/install/setup.bash"' \ + && /bin/bash -c 'source "${MOVEIT2_DIR}/install/setup.bash"' + +RUN /bin/bash -c 'source ${DEMO_DIR}/install/setup.bash \ + && cmake -B build/linux -G "Ninja Multi-Config" -DLY_DISABLE_TEST_MODULES=ON -DCMAKE_EXPORT_COMPILE_COMMANDS=ON -DLY_STRIP_DEBUG_SYMBOLS=ON -DAZ_USE_PHYSX5:BOOL=ON' + + # && cmake --build build/linux --config profile --target ${PROJECT_NAME} Editor ${PROJECT_NAME}.Assets + +# RUN cmake -B build/linux -G "Ninja Multi-Config" -DLY_DISABLE_TEST_MODULES=ON -DCMAKE_EXPORT_COMPILE_COMMANDS=ON -DLY_STRIP_DEBUG_SYMBOLS=ON -DAZ_USE_PHYSX5:BOOL=ON \ +# && cmake --build build/linux --config profile --target ${PROJECT_NAME} Editor ${PROJECT_NAME}.Assets + +# # Add the user to the render group so that the user can access /dev/dri/renderD128 +# # /dev/dri/renderD128 gives access to hardware-accelerated rendering tool such as GPU +# RUN sudo usermod -aG render $USERNAME + +# # Setup the entrypoint +# COPY ./entrypoint.sh / +# ENTRYPOINT ["/entrypoint.sh"] +# CMD ["bash"] From 20e33949d4b526bf22bad7156dde634cb7a9a9c2 Mon Sep 17 00:00:00 2001 From: Mechazo11 Date: Wed, 11 Sep 2024 07:14:11 -0500 Subject: [PATCH 33/54] activating final build --- o3de_mars_rover/Dockerfile | 597 ++++++++++++++++++------------------- 1 file changed, 297 insertions(+), 300 deletions(-) diff --git a/o3de_mars_rover/Dockerfile b/o3de_mars_rover/Dockerfile index a1c8165a..87864cff 100644 --- a/o3de_mars_rover/Dockerfile +++ b/o3de_mars_rover/Dockerfile @@ -98,321 +98,318 @@ WORKDIR ${SPACEROS_DIR} RUN /bin/bash -c 'source /opt/ros/humble/setup.bash \ && colcon build --packages-ignore test_rmw_implementation' -# ### Delete CycloneDDS and install from apt to resolve cmake conflict ### - -# #### Install MOVEIT2_WS #### - -# # 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 the MoveIt2 source code -# WORKDIR ${HOME_DIR} -# RUN sudo git clone https://github.com/moveit/moveit2.git -b ${ROSDISTRO} moveit2/src -# RUN cd ${MOVEIT2_DIR}/src \ -# && sudo git clone https://github.com/moveit/moveit2_tutorials.git -b ${ROSDISTRO} - -# # Update the ownership of the source files (had to use sudo above to work around -# # a possible inherited 'insteadof' from the host that forces use of ssh -# RUN sudo chown -R ${USERNAME}:${USERNAME} ${MOVEIT2_DIR} - -# # # Get rosinstall_generator -# RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \ -# --mount=type=cache,target=/var/lib/apt,sharing=locked \ -# sudo apt-get update -y && sudo apt-get install -y python3-rosinstall-generator - -# # # Generate repos file for moveit2 dependencies, excluding packages from Space ROS core. -# COPY --chown=${USERNAME}:${USERNAME} moveit2-pkgs.txt /tmp/ -# COPY --chown=${USERNAME}:${USERNAME} excluded-pkgs.txt /tmp/ -# RUN rosinstall_generator \ -# --rosdistro ${ROSDISTRO} \ -# --deps \ -# --exclude-path ${SPACEROS_DIR}/src \ -# --exclude $(cat /tmp/excluded-pkgs.txt) -- \ -# -- $(cat /tmp/moveit2-pkgs.txt) \ -# > /tmp/moveit2_generated_pkgs.repos - -# # # Get the repositories required by MoveIt2, but not included in Space ROS -# WORKDIR ${MOVEIT2_DIR} -# RUN vcs import src < /tmp/moveit2_generated_pkgs.repos -# COPY --chown=${USERNAME}:${USERNAME} moveit2_tutorials.repos /tmp/ -# RUN vcs import src < /tmp/moveit2_tutorials.repos - -# # TODO open PR this library is missing? -# #WORKDIR ${MOVEIT2_DIR}/src -# #RUN git clone --branch main --single-branch https://github.com/PickNikRobotics/generate_parameter_library.git - -# # Update the ownership of the source files (had to use sudo above to work around -# # a possible inherited 'insteadof' from the host that forces use of ssh -# WORKDIR ${MOVEIT2_DIR} -# RUN sudo chown -R ${USERNAME}:${USERNAME} ${MOVEIT2_DIR} - -# # Install system dependencies -# RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \ -# --mount=type=cache,target=/var/lib/apt,sharing=locked \ -# /bin/bash -c 'source ${SPACEROS_DIR}/install/setup.bash' \ -# && rosdep install --from-paths ../spaceros/src src --ignore-src --rosdistro ${ROSDISTRO} -r -y --skip-keys "console_bridge generate_parameter_library fastcdr fastrtps rti-connext-dds-5.3.1 urdfdom_headers rmw_connextdds ros_testing rmw_connextdds rmw_fastrtps_cpp rmw_fastrtps_dynamic_cpp composition demo_nodes_py lifecycle rosidl_typesupport_fastrtps_cpp rosidl_typesupport_fastrtps_c ikos diagnostic_aggregator diagnostic_updater joy qt_gui rqt_gui rqt_gui_py" - -# # Apply a patch to octomap_msgs to work around a build issue -# COPY --chown=${USERNAME}:${USERNAME} octomap_fix.diff ./src/octomap_msgs -# RUN cd src/octomap_msgs && git apply octomap_fix.diff - -# # Unknown issue with generate_parameter_library delete and reinstall -# WORKDIR ${MOVEIT2_DIR}/src -# RUN sudo rm -rf generate_parameter_library -# RUN git clone --branch main --single-branch https://github.com/PickNikRobotics/generate_parameter_library.git - -# # Build MoveIt2 -# # RUN /bin/bash -c 'source ${SPACEROS_DIR}/install/setup.bash \ -# # && colcon build --packages-select generate_parameter_library --cmake-args -DCMAKE_BUILD_TYPE=Release -DCMAKE_EXPORT_COMPILE_COMMANDS=ON --event-handlers desktop_notification- status' - -# # Manually fix for permission denined error -# RUN sudo chown -R ${USERNAME}:${USERNAME} ${SPACEROS_DIR} - -# WORKDIR ${MOVEIT2_DIR} - -# # Build MoveIt2 +### Delete CycloneDDS and install from apt to resolve cmake conflict ### + +#### Install MOVEIT2_WS #### + +# 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 the MoveIt2 source code +WORKDIR ${HOME_DIR} +RUN sudo git clone https://github.com/moveit/moveit2.git -b ${ROSDISTRO} moveit2/src +RUN cd ${MOVEIT2_DIR}/src \ + && sudo git clone https://github.com/moveit/moveit2_tutorials.git -b ${ROSDISTRO} + +# Update the ownership of the source files (had to use sudo above to work around +# a possible inherited 'insteadof' from the host that forces use of ssh +RUN sudo chown -R ${USERNAME}:${USERNAME} ${MOVEIT2_DIR} + +# # Get rosinstall_generator +RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \ + --mount=type=cache,target=/var/lib/apt,sharing=locked \ + sudo apt-get update -y && sudo apt-get install -y python3-rosinstall-generator + +# # Generate repos file for moveit2 dependencies, excluding packages from Space ROS core. +COPY --chown=${USERNAME}:${USERNAME} moveit2-pkgs.txt /tmp/ +COPY --chown=${USERNAME}:${USERNAME} excluded-pkgs.txt /tmp/ +RUN rosinstall_generator \ + --rosdistro ${ROSDISTRO} \ + --deps \ + --exclude-path ${SPACEROS_DIR}/src \ + --exclude $(cat /tmp/excluded-pkgs.txt) -- \ + -- $(cat /tmp/moveit2-pkgs.txt) \ + > /tmp/moveit2_generated_pkgs.repos + +# # Get the repositories required by MoveIt2, but not included in Space ROS +WORKDIR ${MOVEIT2_DIR} +RUN vcs import src < /tmp/moveit2_generated_pkgs.repos +COPY --chown=${USERNAME}:${USERNAME} moveit2_tutorials.repos /tmp/ +RUN vcs import src < /tmp/moveit2_tutorials.repos + +# TODO open PR this library is missing? +#WORKDIR ${MOVEIT2_DIR}/src +#RUN git clone --branch main --single-branch https://github.com/PickNikRobotics/generate_parameter_library.git + +# Update the ownership of the source files (had to use sudo above to work around +# a possible inherited 'insteadof' from the host that forces use of ssh +WORKDIR ${MOVEIT2_DIR} +RUN sudo chown -R ${USERNAME}:${USERNAME} ${MOVEIT2_DIR} + +# Install system dependencies +RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \ + --mount=type=cache,target=/var/lib/apt,sharing=locked \ + /bin/bash -c 'source ${SPACEROS_DIR}/install/setup.bash' \ + && rosdep install --from-paths ../spaceros/src src --ignore-src --rosdistro ${ROSDISTRO} -r -y --skip-keys "console_bridge generate_parameter_library fastcdr fastrtps rti-connext-dds-5.3.1 urdfdom_headers rmw_connextdds ros_testing rmw_connextdds rmw_fastrtps_cpp rmw_fastrtps_dynamic_cpp composition demo_nodes_py lifecycle rosidl_typesupport_fastrtps_cpp rosidl_typesupport_fastrtps_c ikos diagnostic_aggregator diagnostic_updater joy qt_gui rqt_gui rqt_gui_py" + +# Apply a patch to octomap_msgs to work around a build issue +COPY --chown=${USERNAME}:${USERNAME} octomap_fix.diff ./src/octomap_msgs +RUN cd src/octomap_msgs && git apply octomap_fix.diff + +# Unknown issue with generate_parameter_library delete and reinstall +WORKDIR ${MOVEIT2_DIR}/src +RUN sudo rm -rf generate_parameter_library +RUN git clone --branch main --single-branch https://github.com/PickNikRobotics/generate_parameter_library.git + +# Build MoveIt2 # 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-' +# && colcon build --packages-select generate_parameter_library --cmake-args -DCMAKE_BUILD_TYPE=Release -DCMAKE_EXPORT_COMPILE_COMMANDS=ON --event-handlers desktop_notification- status' -# #### Install MOVEIT2_WS #### +# Manually fix for permission denined error +RUN sudo chown -R ${USERNAME}:${USERNAME} ${SPACEROS_DIR} +WORKDIR ${MOVEIT2_DIR} +# Build MoveIt2 +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-' -# #### Install DEMO_WS #### -# WORKDIR ${HOME_DIR} +#### Install MOVEIT2_WS #### -# # Install dependencies -# 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 DEBIAN_FRONTEND=noninteractive apt-get install -y \ -# python3-rosinstall-generator \ -# libboost-python-dev build-essential cmake libboost-all-dev libois-dev \ -# libzzip-dev libfreeimage-dev libfreetype6-dev libx11-dev libxt-dev libxaw7-dev \ -# libsdl2-dev libpugixml-dev libglew-dev qtbase5-dev libspdlog-dev libfmt-dev \ -# libignition-gazebo6-dev libssl-dev devscripts debian-keyring fakeroot debhelper \ -# libboost-dev libsasl2-dev libicu-dev libzstd-dev doxygen libtinyxml-dev \ -# libtinyxml2-dev python3-pyqt5 tzdata locales keyboard-configuration - -# RUN sudo sed -i -e 's/# en_US.UTF-8 UTF-8/en_US.UTF-8 UTF-8/' /etc/locale.gen \ -# && sudo dpkg-reconfigure --frontend=noninteractive locales \ -# && sudo update-locale LANG=en_US.UTF-8 - -# # TODO delete -# # RUN sed -i -e 's/# en_US.UTF-8 UTF-8/en_US.UTF-8 UTF-8/' /etc/locale.gen \ -# # && dpkg-reconfigure --frontend=noninteractive locales \ -# # && update-locale LANG=en_US.UTF-8 -# # ENV LANG=en_US.UTF-8 - -# 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 \ -# bc \ -# bind9-utils \ -# binutils \ -# ca-certificates \ -# clang \ -# cmake \ -# file \ -# firewalld \ -# git \ -# git-lfs \ -# jq \ -# kbd \ -# kmod \ -# less \ -# lsb-release \ -# libglu1-mesa-dev \ -# libxcb-xinerama0 \ -# libfontconfig1-dev \ -# libcurl4-openssl-dev \ -# libnvidia-gl-470 \ -# libssl-dev \ -# libxcb-xkb-dev \ -# libxkbcommon-x11-dev \ -# libxkbcommon-dev \ -# libxcb-xfixes0-dev \ -# libxcb-xinput-dev \ -# libxcb-xinput0 \ -# libpcre2-16-0 \ -# lsof \ -# net-tools \ -# ninja-build \ -# pciutils \ -# python3-pip \ -# software-properties-common \ -# sudo \ -# tar \ -# unzip \ -# vim \ -# wget \ -# xz-utils -# # && rm -rf /var/lib/apt/lists/* # TODO need to figure out how to use this correctly - -# # Install libmongoc for development -# RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \ -# --mount=type=cache,target=/var/lib/apt,sharing=locked \ -# sudo apt-get install libmongoc-dev -y - -# # Compile mongo cxx driver https://mongocxx.org/mongocxx-v3/installation/linux/ -# RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \ -# --mount=type=cache,target=/var/lib/apt,sharing=locked \ -# sudo apt-get install libssl-dev build-essential devscripts debian-keyring fakeroot debhelper cmake libboost-dev libsasl2-dev libicu-dev libzstd-dev doxygen -y -# RUN wget https://github.com/mongodb/mongo-cxx-driver/releases/download/r3.6.7/mongo-cxx-driver-r3.6.7.tar.gz -# RUN tar -xzf mongo-cxx-driver-r3.6.7.tar.gz -# RUN cd mongo-cxx-driver-r3.6.7/build && cmake .. -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=/usr/local && sudo cmake --build . --target EP_mnmlstc_core && cmake --build . && sudo cmake --build . --target install - -# # Create demo_ws, setup packages, generate dependencies -# RUN mkdir -p ${DEMO_DIR}/src -# WORKDIR ${DEMO_DIR} -# COPY --chown=${USERNAME}:${USERNAME} o3de-robot-sim.repos /tmp/ -# COPY --chown=${USERNAME}:${USERNAME} excluded-pkgs.txt /tmp/ -# RUN vcs import ${DEMO_DIR}/src < /tmp/o3de-robot-sim.repos - -# # # Generate the repos file for o3de-robot-sim dependencies, excluding packages from Space ROS core -# RUN rosinstall_generator \ -# --rosdistro ${ROSDISTRO} \ -# --deps \ -# --exclude-path ${SPACEROS_DIR}/src \ -# --exclude $(cat /tmp/excluded-pkgs.txt) -- \ -# -- $(cat /tmp/o3de-robot-sim.repos) \ -# > /tmp/o3de_robot_sim_generated_pkgs.repos - -# # Update the ownership of the source files (had to use sudo above to work around -# # a possible inherited 'insteadof' from the host that forces use of ssh -# RUN sudo chown -R ${USERNAME}:${USERNAME} ${DEMO_DIR} - -# RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \ -# --mount=type=cache,target=/var/lib/apt,sharing=locked \ -# sudo apt-get update -y \ -# && /bin/bash -c 'source "/opt/ros/humble/setup.bash"' \ -# && /bin/bash -c 'source "${SPACEROS_DIR}/install/setup.bash"' \ -# && /bin/bash -c 'source "${MOVEIT2_DIR}/install/setup.bash"' \ -# && rosdep install --from-paths src --ignore-src -r -y --rosdistro ${ROSDISTRO} - -# # # Build the demo_ws -# RUN /bin/bash -c 'source ${SPACEROS_DIR}/install/setup.bash && source ${MOVEIT2_DIR}/install/setup.bash \ -# && colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release' - -# # # Create O3DE/Projects and O3DE/Gems directory -# RUN if [ -d "${O3DE_DIR}/Projects" ]; then rm -rf ${O3DE_DIR}/Gems; fi -# RUN mkdir -p ${O3DE_DIR}/Projects - -# RUN if [ -d "${O3DE_DIR}/Gems" ]; then rm -rf ${O3DE_DIR}/Gems; fi -# RUN mkdir -p ${O3DE_DIR}/Gems - -# # Git clone RobotSim, NasaMarsRoverGem and MarsYardGem -# WORKDIR ${O3DE_DIR}/Projects -# RUN git clone --branch nasa_submission https://github.com/Mechazo11/RobotSim.git - -# WORKDIR ${O3DE_DIR}/Gems -# RUN git clone --branch nasa_submission https://github.com/Mechazo11/NasaCuriosityRoverGem.git -# RUN git clone --branch nasa_submission https://github.com/Mechazo11/MarsYardGem.git - -# # ## Symlink clang version to non-versioned clang and set cc to clang -# RUN sudo DEBIAN_FRONTEND=noninteractive update-alternatives --install /usr/bin/cc cc /usr/bin/clang 100 \ -# && sudo DEBIAN_FRONTEND=noninteractive update-alternatives --install /usr/bin/c++ c++ /usr/bin/clang++ 100 - -# # #### Install Open 3D Engine #### - -# # # Pull latest commit from development and build o3de. Note this does't build the whole engine -# WORKDIR ${HOME_DIR} -# # # Install o3de engine (automatically pulls last commit from "development" branch) -# RUN git clone --single-branch -b development https://github.com/o3de/o3de.git \ -# && cd o3de \ -# && git lfs install \ -# && git lfs pull \ -# && python/get_python.sh - -# # # Install o3de-extras (automatically pulls last commit from "development" branch) -# # # Contains ROS 2 Gem and other relevant assets - -# # WORKDIR ${HOME_DIR} -# RUN git clone --single-branch -b development https://github.com/o3de/o3de-extras.git \ -# && cd o3de-extras \ -# && git lfs install \ -# && git lfs pull - -# WORKDIR ${HOME_DIR}/o3de - -# # Register RobotSim with this engine -# #RUN ${O3DE_ENGINE}/scripts/o3de.sh register --this-engine -# RUN ./scripts/o3de.sh register --this-engine -# RUN ./scripts/o3de.sh register --gem-path ${O3DE_EXTRAS}/Gems/ROS2 \ -# && ./scripts/o3de.sh register --gem-path ${O3DE_EXTRAS}/Gems/RosRobotSample \ -# && ./scripts/o3de.sh register --gem-path ${O3DE_EXTRAS}/Gems/WarehouseSample \ -# && ./scripts/o3de.sh register --gem-path ${O3DE_DIR}/Gems/NasaCuriosityRoverGem \ -# && ./scripts/o3de.sh register --gem-path ${O3DE_DIR}/Gems/MarsYardGem - -# # Register the Terrian gem which is located in o3de folder -# RUN ./scripts/o3de.sh register --gem-path ${HOME_DIR}/o3de/Gems/Terrain - -# # Register RobotSim project. -# # Project must be registered at the very end after all dependent gems are registered -# RUN ./scripts/o3de.sh register --project-path ${O3DE_DIR}/Projects/${PROJECT_NAME} - -# # # Move to project directory and run cmake and build project (Warning takes about 10-15 mins) + +#### Install DEMO_WS #### +WORKDIR ${HOME_DIR} + +# Install dependencies +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 DEBIAN_FRONTEND=noninteractive apt-get install -y \ + python3-rosinstall-generator \ + libboost-python-dev build-essential cmake libboost-all-dev libois-dev \ + libzzip-dev libfreeimage-dev libfreetype6-dev libx11-dev libxt-dev libxaw7-dev \ + libsdl2-dev libpugixml-dev libglew-dev qtbase5-dev libspdlog-dev libfmt-dev \ + libignition-gazebo6-dev libssl-dev devscripts debian-keyring fakeroot debhelper \ + libboost-dev libsasl2-dev libicu-dev libzstd-dev doxygen libtinyxml-dev \ + libtinyxml2-dev python3-pyqt5 tzdata locales keyboard-configuration + +RUN sudo sed -i -e 's/# en_US.UTF-8 UTF-8/en_US.UTF-8 UTF-8/' /etc/locale.gen \ + && sudo dpkg-reconfigure --frontend=noninteractive locales \ + && sudo update-locale LANG=en_US.UTF-8 + +# TODO delete +# RUN sed -i -e 's/# en_US.UTF-8 UTF-8/en_US.UTF-8 UTF-8/' /etc/locale.gen \ +# && dpkg-reconfigure --frontend=noninteractive locales \ +# && update-locale LANG=en_US.UTF-8 +# ENV LANG=en_US.UTF-8 + +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 \ + bc \ + bind9-utils \ + binutils \ + ca-certificates \ + clang \ + cmake \ + file \ + firewalld \ + git \ + git-lfs \ + jq \ + kbd \ + kmod \ + less \ + lsb-release \ + libglu1-mesa-dev \ + libxcb-xinerama0 \ + libfontconfig1-dev \ + libcurl4-openssl-dev \ + libnvidia-gl-470 \ + libssl-dev \ + libxcb-xkb-dev \ + libxkbcommon-x11-dev \ + libxkbcommon-dev \ + libxcb-xfixes0-dev \ + libxcb-xinput-dev \ + libxcb-xinput0 \ + libpcre2-16-0 \ + lsof \ + net-tools \ + ninja-build \ + pciutils \ + python3-pip \ + software-properties-common \ + sudo \ + tar \ + unzip \ + vim \ + wget \ + xz-utils + # && rm -rf /var/lib/apt/lists/* # TODO need to figure out how to use this correctly + +# Install libmongoc for development +RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \ + --mount=type=cache,target=/var/lib/apt,sharing=locked \ + sudo apt-get install libmongoc-dev -y + +# Compile mongo cxx driver https://mongocxx.org/mongocxx-v3/installation/linux/ +RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \ + --mount=type=cache,target=/var/lib/apt,sharing=locked \ + sudo apt-get install libssl-dev build-essential devscripts debian-keyring fakeroot debhelper cmake libboost-dev libsasl2-dev libicu-dev libzstd-dev doxygen -y +RUN wget https://github.com/mongodb/mongo-cxx-driver/releases/download/r3.6.7/mongo-cxx-driver-r3.6.7.tar.gz +RUN tar -xzf mongo-cxx-driver-r3.6.7.tar.gz +RUN cd mongo-cxx-driver-r3.6.7/build && cmake .. -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=/usr/local && sudo cmake --build . --target EP_mnmlstc_core && cmake --build . && sudo cmake --build . --target install + +# Create demo_ws, setup packages, generate dependencies +RUN mkdir -p ${DEMO_DIR}/src +WORKDIR ${DEMO_DIR} +COPY --chown=${USERNAME}:${USERNAME} o3de-robot-sim.repos /tmp/ +COPY --chown=${USERNAME}:${USERNAME} excluded-pkgs.txt /tmp/ +RUN vcs import ${DEMO_DIR}/src < /tmp/o3de-robot-sim.repos + +# # Generate the repos file for o3de-robot-sim dependencies, excluding packages from Space ROS core +RUN rosinstall_generator \ + --rosdistro ${ROSDISTRO} \ + --deps \ + --exclude-path ${SPACEROS_DIR}/src \ + --exclude $(cat /tmp/excluded-pkgs.txt) -- \ + -- $(cat /tmp/o3de-robot-sim.repos) \ + > /tmp/o3de_robot_sim_generated_pkgs.repos + +# Update the ownership of the source files (had to use sudo above to work around +# a possible inherited 'insteadof' from the host that forces use of ssh +RUN sudo chown -R ${USERNAME}:${USERNAME} ${DEMO_DIR} + +RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \ + --mount=type=cache,target=/var/lib/apt,sharing=locked \ + sudo apt-get update -y \ +&& /bin/bash -c 'source "/opt/ros/humble/setup.bash"' \ +&& /bin/bash -c 'source "${SPACEROS_DIR}/install/setup.bash"' \ +&& /bin/bash -c 'source "${MOVEIT2_DIR}/install/setup.bash"' \ +&& rosdep install --from-paths src --ignore-src -r -y --rosdistro ${ROSDISTRO} + +# # Build the demo_ws +RUN /bin/bash -c 'source ${SPACEROS_DIR}/install/setup.bash && source ${MOVEIT2_DIR}/install/setup.bash \ + && colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release' + +# # Create O3DE/Projects and O3DE/Gems directory +RUN if [ -d "${O3DE_DIR}/Projects" ]; then rm -rf ${O3DE_DIR}/Gems; fi +RUN mkdir -p ${O3DE_DIR}/Projects + +RUN if [ -d "${O3DE_DIR}/Gems" ]; then rm -rf ${O3DE_DIR}/Gems; fi +RUN mkdir -p ${O3DE_DIR}/Gems + +# Git clone RobotSim, NasaMarsRoverGem and MarsYardGem +WORKDIR ${O3DE_DIR}/Projects +RUN git clone --branch nasa_submission https://github.com/Mechazo11/RobotSim.git + +WORKDIR ${O3DE_DIR}/Gems +RUN git clone --branch nasa_submission https://github.com/Mechazo11/NasaCuriosityRoverGem.git +RUN git clone --branch nasa_submission https://github.com/Mechazo11/MarsYardGem.git + +# ## Symlink clang version to non-versioned clang and set cc to clang +RUN sudo DEBIAN_FRONTEND=noninteractive update-alternatives --install /usr/bin/cc cc /usr/bin/clang 100 \ + && sudo DEBIAN_FRONTEND=noninteractive update-alternatives --install /usr/bin/c++ c++ /usr/bin/clang++ 100 + +# #### Install Open 3D Engine #### + +# # Pull latest commit from development and build o3de. Note this does't build the whole engine +WORKDIR ${HOME_DIR} + +# # Install o3de engine (automatically pulls last commit from "development" branch) +RUN git clone --single-branch -b development https://github.com/o3de/o3de.git \ + && cd o3de \ + && git lfs install \ + && git lfs pull \ + && python/get_python.sh + +# # Install o3de-extras (automatically pulls last commit from "development" branch) +# # Contains ROS 2 Gem and other relevant assets + # WORKDIR ${HOME_DIR} +RUN git clone --single-branch -b development https://github.com/o3de/o3de-extras.git \ + && cd o3de-extras \ + && git lfs install \ + && git lfs pull -# 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 \ -# libunwind-dev +WORKDIR ${HOME_DIR}/o3de + +# Register RobotSim with this engine +#RUN ${O3DE_ENGINE}/scripts/o3de.sh register --this-engine +RUN ./scripts/o3de.sh register --this-engine +RUN ./scripts/o3de.sh register --gem-path ${O3DE_EXTRAS}/Gems/ROS2 \ + && ./scripts/o3de.sh register --gem-path ${O3DE_EXTRAS}/Gems/RosRobotSample \ + && ./scripts/o3de.sh register --gem-path ${O3DE_EXTRAS}/Gems/WarehouseSample \ + && ./scripts/o3de.sh register --gem-path ${O3DE_DIR}/Gems/NasaCuriosityRoverGem \ + && ./scripts/o3de.sh register --gem-path ${O3DE_DIR}/Gems/MarsYardGem + +# Register the Terrian gem which is located in o3de folder +RUN ./scripts/o3de.sh register --gem-path ${HOME_DIR}/o3de/Gems/Terrain + +# Register RobotSim project. +# Project must be registered at the very end after all dependent gems are registered +RUN ./scripts/o3de.sh register --project-path ${O3DE_DIR}/Projects/${PROJECT_NAME} + +# # Move to project directory and run cmake and build project (Warning takes about 10-15 mins) +WORKDIR ${HOME_DIR} + +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 \ + libunwind-dev -# # Move to project directory -# WORKDIR ${PROJECT_PATH} +# Move to project directory +WORKDIR ${PROJECT_PATH} -# #Activate Cyclone DDS (not necessary with Space ROS) -# #ENV RMW_IMPLEMENTATION=rmw_cyclonedds_cpp cd +# # Source space_ros, movit2 and demo_ws +RUN /bin/bash -c 'source "/opt/ros/humble/setup.bash"' \ + && /bin/bash -c 'source "${SPACEROS_DIR}/install/setup.bash"' \ + && /bin/bash -c 'source "${MOVEIT2_DIR}/install/setup.bash"' -# # # Source space_ros, movit2 and demo_ws -# RUN /bin/bash -c 'source "/opt/ros/humble/setup.bash"' \ -# && /bin/bash -c 'source "${SPACEROS_DIR}/install/setup.bash"' \ -# && /bin/bash -c 'source "${MOVEIT2_DIR}/install/setup.bash"' +RUN /bin/bash -c 'source ${DEMO_DIR}/install/setup.bash \ + && cmake -B build/linux -G "Ninja Multi-Config" -DLY_DISABLE_TEST_MODULES=ON -DCMAKE_EXPORT_COMPILE_COMMANDS=ON -DLY_STRIP_DEBUG_SYMBOLS=ON -DAZ_USE_PHYSX5:BOOL=ON' -# RUN /bin/bash -c 'source ${DEMO_DIR}/install/setup.bash \ -# && cmake -B build/linux -G "Ninja Multi-Config" -DLY_DISABLE_TEST_MODULES=ON -DCMAKE_EXPORT_COMPILE_COMMANDS=ON -DLY_STRIP_DEBUG_SYMBOLS=ON -DAZ_USE_PHYSX5:BOOL=ON' - -# # && cmake --build build/linux --config profile --target ${PROJECT_NAME} Editor ${PROJECT_NAME}.Assets +RUN cmake --build build/linux --config profile --target ${PROJECT_NAME} Editor ${PROJECT_NAME}.Assets # # RUN cmake -B build/linux -G "Ninja Multi-Config" -DLY_DISABLE_TEST_MODULES=ON -DCMAKE_EXPORT_COMPILE_COMMANDS=ON -DLY_STRIP_DEBUG_SYMBOLS=ON -DAZ_USE_PHYSX5:BOOL=ON \ # # && cmake --build build/linux --config profile --target ${PROJECT_NAME} Editor ${PROJECT_NAME}.Assets -# # # Add the user to the render group so that the user can access /dev/dri/renderD128 -# # # /dev/dri/renderD128 gives access to hardware-accelerated rendering tool such as GPU -# # RUN sudo usermod -aG render $USERNAME +# Add the user to the render group so that the user can access /dev/dri/renderD128 +# /dev/dri/renderD128 gives access to hardware-accelerated rendering tool such as GPU +RUN sudo usermod -aG render $USERNAME -# # # Setup the entrypoint -# # COPY ./entrypoint.sh / -# # ENTRYPOINT ["/entrypoint.sh"] -# # CMD ["bash"] +# Setup the entrypoint +COPY ./entrypoint.sh / +ENTRYPOINT ["/entrypoint.sh"] +CMD ["bash"] From fb7d5dbcca7b0d96e68198543fa7d46e9921a901 Mon Sep 17 00:00:00 2001 From: Mechazo11 Date: Wed, 11 Sep 2024 08:27:32 -0500 Subject: [PATCH 34/54] image built successfully, finalizing run script, testing --- o3de_mars_rover/Dockerfile | 3 --- o3de_mars_rover/README.md | 35 +++++++++++++++++++++++++++++++++++ o3de_mars_rover/entrypoint.sh | 1 + o3de_mars_rover/run.sh | 24 +++++++++++++++++------- 4 files changed, 53 insertions(+), 10 deletions(-) create mode 100644 o3de_mars_rover/README.md diff --git a/o3de_mars_rover/Dockerfile b/o3de_mars_rover/Dockerfile index 87864cff..494a51b6 100644 --- a/o3de_mars_rover/Dockerfile +++ b/o3de_mars_rover/Dockerfile @@ -402,9 +402,6 @@ RUN /bin/bash -c 'source ${DEMO_DIR}/install/setup.bash \ RUN cmake --build build/linux --config profile --target ${PROJECT_NAME} Editor ${PROJECT_NAME}.Assets -# # RUN cmake -B build/linux -G "Ninja Multi-Config" -DLY_DISABLE_TEST_MODULES=ON -DCMAKE_EXPORT_COMPILE_COMMANDS=ON -DLY_STRIP_DEBUG_SYMBOLS=ON -DAZ_USE_PHYSX5:BOOL=ON \ -# # && cmake --build build/linux --config profile --target ${PROJECT_NAME} Editor ${PROJECT_NAME}.Assets - # Add the user to the render group so that the user can access /dev/dri/renderD128 # /dev/dri/renderD128 gives access to hardware-accelerated rendering tool such as GPU RUN sudo usermod -aG render $USERNAME diff --git a/o3de_mars_rover/README.md b/o3de_mars_rover/README.md new file mode 100644 index 00000000..000fd2c1 --- /dev/null +++ b/o3de_mars_rover/README.md @@ -0,0 +1,35 @@ +# o3de_mars_rover + +This directory contains the Dockerfile instructions for creating the ```TODO``` image that showcases Curiosity rover navigating through a clutterd test environment inspired by JPL's Mars Yard testing ground. + +This project was created as a submission to the NASA Space ROS Sim Summer Sprint Challenge 2024. A short review on O3DE, a small video showing the system in action and other related discussion can be found in this [PR](https://github.com/space-ros/demos/pull/64) + +## Prerequisits + +* ```osrf/space-ros```. I will eventually upgrade the Dockerfile to use the ```openrobotics/moveit2::latest``` from [space-ros/docker/movit2](https://github.com/space-ros/docker/tree/main/moveit2) image + +## Build instruction + +**WARNING** At least have 60 GB of free disk space and since it builds Moveit2 and Demo_ws before building the whole O3DE project, expect at least 3 - 4 hours for the build process to complete. + +* Git clone the top level ```demos``` repository and ```change directory``` into it. If you are just interested in the image, you don't need to clone this repo. Then from a terminal + +```bash +cd /o3de_mars_rover +./build.sh +``` + +* Install Nvidia Container toolkit and run configuration as discussed here: https://docs.nvidia.com/datacenter/cloud-native/container-toolkit/latest/install-guide.html. If you don't have it open a terminal and do the following + +* Make sure you have --runtime nvidia configured. If not this sample example will do it: ```sudo docker run --rm --runtime=nvidia --gpus all ubuntu nvidia-smi``` + +## Run the demo + +* In the terminal where you would launch the O3DE, run the following + +```bash +xhost +local:docker +./run.sh +``` + +* Open another terminal and find the diff --git a/o3de_mars_rover/entrypoint.sh b/o3de_mars_rover/entrypoint.sh index 71dc2bc3..5eeb5475 100755 --- a/o3de_mars_rover/entrypoint.sh +++ b/o3de_mars_rover/entrypoint.sh @@ -2,6 +2,7 @@ set -e # Source all relevant worksapces +source "/opt/ros/humble/setup.bash" source "${SPACEROS_DIR}/install/setup.bash" source "${MOVEIT2_DIR}/install/setup.bash" source "${DEMO_DIR}/install/setup.bash" diff --git a/o3de_mars_rover/run.sh b/o3de_mars_rover/run.sh index c7732449..52553718 100755 --- a/o3de_mars_rover/run.sh +++ b/o3de_mars_rover/run.sh @@ -13,17 +13,27 @@ CONTAINER_NAME="$(tr '/' '_' <<< "$IMG_NAME")" # TODO this needs to be updated with # Start the container -docker run --rm -it --name $CONTAINER_NAME --network host \ - -e DISPLAY -e TERM -e QT_X11_NO_MITSHM=1 $IMG_NAME +# docker run --rm -it --name $CONTAINER_NAME --network host \ +# -e DISPLAY -e TERM -e QT_X11_NO_MITSHM=1 $IMG_NAME -# xhost +local:docker - -# docker run -d \ -# --name=o3de_rosbot_xl \ +# Will automatically remove the container once exi +# docker run --rm -it \ +# --name=$CONTAINER_NAME \ # --runtime=nvidia \ +# --network host \ # -v /tmp/.X11-unix:/tmp/.X11-unix:rw \ # -e DISPLAY=${DISPLAY} \ # -e NVIDIA_VISIBLE_DEVICES=all \ # -e NVIDIA_DRIVER_CAPABILITIES=all \ -# o3de-husarion /data/workspace/ROSbotXLDemo/build/linux/bin/profile/Editor +# -e DISPLAY -e TERM -e QT_X11_NO_MITSHM=1 $IMG_NAME + + +docker run --rm -it --name $CONTAINER_NAME \ +--runtime nvidia \ +--network host \ +-v /tmp/.X11-unix:/tmp/.X11-unix:rw \ +-e DISPLAY=${DISPLAY} \ +-e NVIDIA_VISIBLE_DEVICES=all \ +-e NVIDIA_DRIVER_CAPABILITIES=all \ +-e DISPLAY -e TERM -e QT_X11_NO_MITSHM=1 $IMG_NAME From 11f5bb00f2e62c2227125f3009fe08ccdae84a01 Mon Sep 17 00:00:00 2001 From: Mechazo11 Date: Wed, 11 Sep 2024 08:56:56 -0500 Subject: [PATCH 35/54] Docker tested successfully, GPU acceleration works, ros2 std message control works, ready for submission --- o3de_mars_rover/README.md | 46 +++++++++++++++++++++++++++-- o3de_mars_rover/docs/output.png | Bin 0 -> 3924347 bytes o3de_mars_rover/docs/terminals.png | Bin 0 -> 204162 bytes o3de_mars_rover/run.sh | 13 +------- 4 files changed, 44 insertions(+), 15 deletions(-) create mode 100644 o3de_mars_rover/docs/output.png create mode 100644 o3de_mars_rover/docs/terminals.png diff --git a/o3de_mars_rover/README.md b/o3de_mars_rover/README.md index 000fd2c1..041fef41 100644 --- a/o3de_mars_rover/README.md +++ b/o3de_mars_rover/README.md @@ -2,7 +2,12 @@ This directory contains the Dockerfile instructions for creating the ```TODO``` image that showcases Curiosity rover navigating through a clutterd test environment inspired by JPL's Mars Yard testing ground. -This project was created as a submission to the NASA Space ROS Sim Summer Sprint Challenge 2024. A short review on O3DE, a small video showing the system in action and other related discussion can be found in this [PR](https://github.com/space-ros/demos/pull/64) +Author: Azmyin Md. Kamal +Version: 1.0 +Date: 09/09/2024 +Landing page: **TODO** after submission. This page will always have the most updated information. + +Version 1: This project was created as a submission to the NASA Space ROS Sim Summer Sprint Challenge 2024. A short review on O3DE, a small video showing the system in action and other related discussion can be found in this [PR](https://github.com/space-ros/demos/pull/64). In this submission only forward movement is supported. ## Prerequisits @@ -25,11 +30,46 @@ cd /o3de_mars_rover ## Run the demo -* In the terminal where you would launch the O3DE, run the following +* Use ```docker ps -a``` to check if you have a container running ```openrobotics/o3de_curiosity_docker``` running. A useful command that stops and removes all containers is ```docker rm $(docker ps -aq)``` + +We will need three terminals. Lets call them Termianls A, B and C respectively. + +* Terminal A, run the following ```bash xhost +local:docker ./run.sh ``` -* Open another terminal and find the +* Terminal B, find container id and then attach it + +```bash +docker ps -a +docker exec -it /bin/bash +``` + +* Terminal C, attach it to container + +```bash +docker exec -it /bin/bash +``` + +You should see the following setup + +description + +* In Terminal A, launch the O3DE app: ```./build/linux/bin/profile/Editor``` + +* Hit the play button (right arrow symbol top right) + +* **IMOPRTANT** in Game mode, the mouse dissappears. To get it back , hit ```Ctrl+TAB``` keys. + +* In Terminal B and C, first source DEMO_WS: ```source $DEMO_DIR/install/setup.bash``` +* In Terminal B: ```ros2 launch mars_rover mars_rover_o3de.launch``` +* In Terminal C: ```ros2 service call /move_forward std_srvs/srv/Empty``` + +If you did eveything correclty, you should see the following + +description + +Now the rover will move forward. diff --git a/o3de_mars_rover/docs/output.png b/o3de_mars_rover/docs/output.png new file mode 100644 index 0000000000000000000000000000000000000000..1d86c6d549c86454d23d4f4109dc6d7f8a782c15 GIT binary patch literal 3924347 zcmZsD1z1$=);5TWv~;I*cZVp_p>%h5cZet*(hUj-NOyM)jdXX3bT|CZob$f#`Of$K zb6qeSn3=uz^Q?8Rd);d-Lf*?updb<;!oa|wNJ)w*!oZ+b!oa-1eeoRph8%{_5@abeQ zQevXY?rD3AZfTRw4Ul7n7^Pe^4(F%Q^q&l2+dol|WhsiiS7r=0LBA}ip#M`{Wb&># zp_(~(=KWJThEJcyu*7s;qKk>X_GDpaJ)fYwj53JiVBJJkIlIkJGaZrgz21}>W|82I zrHP7;j$WnsKM%G(K4F;f8KUf&-IFb1p%0zi)x@&67~x`y_kB56N|F^AM=3bIiuO9V 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HcmV?d00001

diff --git a/o3de_mars_rover/run.sh b/o3de_mars_rover/run.sh
index 52553718..309f70b3 100755
--- a/o3de_mars_rover/run.sh
+++ b/o3de_mars_rover/run.sh
@@ -16,18 +16,7 @@ CONTAINER_NAME="$(tr '/' '_' <<< "$IMG_NAME")"
 # docker run --rm -it --name $CONTAINER_NAME  --network host \
 #     -e DISPLAY -e TERM   -e QT_X11_NO_MITSHM=1 $IMG_NAME
 
-# Will automatically remove the container once exi
-# docker run --rm -it \
-# --name=$CONTAINER_NAME \
-# --runtime=nvidia \
-# --network host \
-# -v /tmp/.X11-unix:/tmp/.X11-unix:rw \
-# -e DISPLAY=${DISPLAY} \
-# -e NVIDIA_VISIBLE_DEVICES=all \
-# -e NVIDIA_DRIVER_CAPABILITIES=all \
-# -e DISPLAY -e TERM  -e QT_X11_NO_MITSHM=1 $IMG_NAME
-
-
+# Will automatically remove the container once exited
 docker run --rm -it --name $CONTAINER_NAME \
 --runtime nvidia \
 --network host \

From cac609f351b1bceed6d63861ad0e031f70ffe052 Mon Sep 17 00:00:00 2001
From: Mechazo11 
Date: Fri, 13 Sep 2024 18:04:41 -0500
Subject: [PATCH 36/54] before rmw and cyclonedds conflict patch

---
 o3de_mars_rover/DockerFile_O3DE_sample.txt    | 149 --------
 o3de_mars_rover/Dockerfile                    | 319 +-----------------
 o3de_mars_rover/Dockerfile_movit2             | 156 ---------
 ...works_mostly => Dockerfile_one_shot_build} |  28 +-
 4 files changed, 15 insertions(+), 637 deletions(-)
 delete mode 100644 o3de_mars_rover/DockerFile_O3DE_sample.txt
 delete mode 100644 o3de_mars_rover/Dockerfile_movit2
 rename o3de_mars_rover/{Dockerfile_works_mostly => Dockerfile_one_shot_build} (94%)

diff --git a/o3de_mars_rover/DockerFile_O3DE_sample.txt b/o3de_mars_rover/DockerFile_O3DE_sample.txt
deleted file mode 100644
index eb8db8f5..00000000
--- a/o3de_mars_rover/DockerFile_O3DE_sample.txt
+++ /dev/null
@@ -1,149 +0,0 @@
-# Dockerfile based on https://gist.github.com/michalpelka/a571f914bf5c9822935f2654e45811ec
-
-ARG ROS_DISTRO=humble
-
-FROM husarnet/ros:${ROS_DISTRO}-ros-core
-
-ENV O3DE_HASH=52084aee31172c0202a1de120714e811c29dd3b7
-ENV O3DE_EXTRAS_HASH=3464657cd21c324ed90332a98a140e65e25fd942
-ENV PROJECT_NAME=ROSbotXLDemo
-
-ENV WORKDIR=/data/workspace
-WORKDIR $WORKDIR
-
-ARG DEBIAN_FRONTEND=noninteractive
-
-# Setup time zone and locale data (necessary for SSL and HTTPS packages)
-RUN apt-get update && DEBIAN_FRONTEND="noninteractive" apt-get -y \
-    install \
-    tzdata \
-    locales \
-    keyboard-configuration \
-    && rm -rf /var/lib/apt/lists/*
-
-RUN sed -i -e 's/# en_US.UTF-8 UTF-8/en_US.UTF-8 UTF-8/' /etc/locale.gen \
-    && dpkg-reconfigure --frontend=noninteractive locales \
-    && update-locale LANG=en_US.UTF-8
-
-ENV LANG=en_US.UTF-8
-
-# Install common tools
-# deps in https://github.com/o3de/o3de/blob/development/scripts/build/build_node/Platform/Linux/package-list.ubuntu-jammy.txt
-RUN apt-get update && apt-get install -y \
-    bc \
-    bind9-utils \
-    binutils \
-    ca-certificates \
-    clang \
-    cmake \
-    file \
-    firewalld \
-    git \
-    git-lfs \
-    jq \
-    kbd \
-    kmod \
-    less \
-    lsb-release \
-    libglu1-mesa-dev \
-    libxcb-xinerama0 \
-    libfontconfig1-dev \
-    libcurl4-openssl-dev \
-    libnvidia-gl-470 \
-    libssl-dev \
-    libxcb-xkb-dev \
-    libxkbcommon-x11-dev \
-    libxkbcommon-dev \
-    libxcb-xfixes0-dev \
-    libxcb-xinput-dev \
-    libxcb-xinput0 \
-    libpcre2-16-0 \
-    lsof \
-    net-tools \
-    ninja-build \
-    pciutils \
-    python3-pip \
-    software-properties-common \
-    sudo \
-    tar \
-    unzip \
-    vim \
-    wget \
-    xz-utils \
-    && rm -rf /var/lib/apt/lists/*
-
-# Gem + ROS pacakges
-RUN apt-get update && apt-get install -y \
-    ros-$ROS_DISTRO-ackermann-msgs \
-    ros-$ROS_DISTRO-control-toolbox \
-    ros-$ROS_DISTRO-gazebo-msgs \
-    ros-$ROS_DISTRO-joy \
-    ros-$ROS_DISTRO-navigation2 \
-    ros-$ROS_DISTRO-rviz2 \
-    ros-$ROS_DISTRO-tf2-ros \
-    ros-$ROS_DISTRO-urdfdom \
-    ros-$ROS_DISTRO-vision-msgs \
-    && rm -rf /var/lib/apt/lists/*
-
-## Symlink clang version to non-versioned clang and set cc to clang
-RUN update-alternatives --install /usr/bin/cc cc /usr/bin/clang 100 \
-    && update-alternatives --install /usr/bin/c++ c++ /usr/bin/clang++ 100
-
-# Install o3de
-RUN git clone https://github.com/o3de/o3de.git \
-    && cd o3de \
-    && git checkout ${O3DE_HASH} \
-    && git lfs install \
-    && git lfs pull \
-    && python/get_python.sh
-
-# Install o3de-extras
-RUN git clone https://github.com/o3de/o3de-extras.git \
-    && cd o3de-extras \
-    && git checkout ${O3DE_EXTRAS_HASH} \
-    && git lfs install \
-    && git lfs pull
-
-# regiester engine and Gems from o3de-extras
-RUN ./o3de/scripts/o3de.sh register --this-engine \
-    && ./o3de/scripts/o3de.sh register --gem-path ./o3de-extras/Gems/ROS2 \
-    && ./o3de/scripts/o3de.sh register --gem-path ./o3de-extras/Gems/RosRobotSample \
-    && ./o3de/scripts/o3de.sh register --gem-path ./o3de-extras/Gems/WarehouseSample 
-
-# create in project from template in o3de-extras
-RUN ./o3de/scripts/o3de.sh create-project \
-    --project-path ${WORKDIR}/${PROJECT_NAME} \
-    --template-path ./o3de-extras/Templates/Ros2ProjectTemplate/ -f
-
-WORKDIR ${WORKDIR}/${PROJECT_NAME}
-
-RUN . /opt/ros/$ROS_DISTRO/setup.sh \
-    && cmake -B build/linux -S . -G "Ninja Multi-Config" -DLY_STRIP_DEBUG_SYMBOLS=ON
-
-RUN . /opt/ros/$ROS_DISTRO/setup.sh \
-    && cmake --build build/linux --config profile --target ${PROJECT_NAME} Editor AssetProcessor
-
-# This final step takes long since they Assets will be downloading
-RUN . /opt/ros/$ROS_DISTRO/setup.sh \
-    && echo "This final step can take more than 1 hour. Good time for going for a coffee :)" \
-    && cmake --build build/linux --config profile --target ${PROJECT_NAME}.Assets
-
-# Installing some ros2 for navigation
-RUN apt-get update && apt-get install -y \
-    python3-colcon-common-extensions \
-    ros-$ROS_DISTRO-cyclonedds \
-    ros-$ROS_DISTRO-rmw-cyclonedds-cpp \
-    ros-$ROS_DISTRO-slam-toolbox \
-    ros-$ROS_DISTRO-navigation2 \
-    ros-$ROS_DISTRO-nav2-bringup \
-    ros-$ROS_DISTRO-pointcloud-to-laserscan \
-    ros-$ROS_DISTRO-teleop-twist-keyboard \
-    ros-$ROS_DISTRO-ackermann-msgs \
-    ros-$ROS_DISTRO-topic-tools \
-    && rm -rf /var/lib/apt/lists/*
-
-RUN pip install python-statemachine
-
-WORKDIR $WORKDIR
-
-ENV RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
\ No newline at end of file
diff --git a/o3de_mars_rover/Dockerfile b/o3de_mars_rover/Dockerfile
index 494a51b6..5769a1a0 100644
--- a/o3de_mars_rover/Dockerfile
+++ b/o3de_mars_rover/Dockerfile
@@ -22,7 +22,7 @@
 #   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
+FROM openrobotics/space_robots_demo
 
 # Define arguments used in the metadata definition
 ARG VCS_REF
@@ -32,7 +32,7 @@ ARG ROS_DISTRO=humble
 # Specify the docker image metadata
 LABEL org.label-schema.schema-version="1.0"
 LABEL org.label-schema.name="O3DE Curiosity Rover"
-LABEL org.label-schema.description="Curiosity rover demo on a new test enviornment on the Space ROS platform and Open 3D Engine"
+LABEL org.label-schema.description="O3DE Curiosity rover demo image"
 LABEL org.label-schema.vendor="Nasa Space ROS Sim Summer Spring Challenge 2024"
 LABEL org.label-schema.version=${VERSION}
 LABEL org.label-schema.url="https://github.com/space-ros"
@@ -58,21 +58,8 @@ ENV TZ=Etc/UTC
 RUN sudo sh -c 'echo "deb http://packages.ros.org/ros2/ubuntu $(lsb_release -cs) main" > /etc/apt/sources.list.d/ros2-latest.list'
 RUN curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -
 
-# Clone all space-ros sources
-RUN mkdir ${SPACEROS_DIR}/src \
-  && vcs import ${SPACEROS_DIR}/src < ${SPACEROS_DIR}/exact.repos
-
 ### Delete CycloneDDS and install from apt to resolve cmake conflict ###
 
-# Update rosdep
-RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
-  --mount=type=cache,target=/var/lib/apt,sharing=locked \
-  sudo apt-get update -y
-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
-
 # rmw-cyclonedds and rmw-implementation later causes a fatal bug.
 # I have removed them in favor of having another top level workspace
 # which appears to solve this problem
@@ -100,307 +87,7 @@ RUN /bin/bash -c 'source /opt/ros/humble/setup.bash \
 
 ### Delete CycloneDDS and install from apt to resolve cmake conflict ###
 
-####  Install MOVEIT2_WS   ####
-
-# 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 the MoveIt2 source code
-WORKDIR ${HOME_DIR}
-RUN sudo git clone https://github.com/moveit/moveit2.git -b ${ROSDISTRO} moveit2/src
-RUN cd ${MOVEIT2_DIR}/src \
-  && sudo git clone https://github.com/moveit/moveit2_tutorials.git -b ${ROSDISTRO}
-
-# Update the ownership of the source files (had to use sudo above to work around
-# a possible inherited 'insteadof' from the host that forces use of ssh
-RUN sudo chown -R ${USERNAME}:${USERNAME} ${MOVEIT2_DIR}
-
-# # Get rosinstall_generator
-RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
-  --mount=type=cache,target=/var/lib/apt,sharing=locked \
-  sudo apt-get update -y && sudo apt-get install -y python3-rosinstall-generator
-
-# # Generate repos file for moveit2 dependencies, excluding packages from Space ROS core.
-COPY --chown=${USERNAME}:${USERNAME} moveit2-pkgs.txt /tmp/
-COPY --chown=${USERNAME}:${USERNAME} excluded-pkgs.txt /tmp/
-RUN rosinstall_generator \
-  --rosdistro ${ROSDISTRO} \
-  --deps \
-  --exclude-path ${SPACEROS_DIR}/src \
-  --exclude $(cat /tmp/excluded-pkgs.txt) -- \
-  -- $(cat /tmp/moveit2-pkgs.txt) \
-  > /tmp/moveit2_generated_pkgs.repos
-
-# # Get the repositories required by MoveIt2, but not included in Space ROS
-WORKDIR ${MOVEIT2_DIR}
-RUN vcs import src < /tmp/moveit2_generated_pkgs.repos
-COPY --chown=${USERNAME}:${USERNAME} moveit2_tutorials.repos /tmp/
-RUN vcs import src < /tmp/moveit2_tutorials.repos
-
-# TODO open PR this library is missing?
-#WORKDIR ${MOVEIT2_DIR}/src
-#RUN git clone --branch main --single-branch https://github.com/PickNikRobotics/generate_parameter_library.git
-
-# Update the ownership of the source files (had to use sudo above to work around
-# a possible inherited 'insteadof' from the host that forces use of ssh
-WORKDIR ${MOVEIT2_DIR}
-RUN sudo chown -R ${USERNAME}:${USERNAME} ${MOVEIT2_DIR}
-
-# Install system dependencies
-RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
-  --mount=type=cache,target=/var/lib/apt,sharing=locked \
-  /bin/bash -c 'source ${SPACEROS_DIR}/install/setup.bash' \
- && rosdep install --from-paths ../spaceros/src src --ignore-src --rosdistro ${ROSDISTRO} -r -y --skip-keys "console_bridge generate_parameter_library fastcdr fastrtps rti-connext-dds-5.3.1 urdfdom_headers rmw_connextdds ros_testing rmw_connextdds rmw_fastrtps_cpp rmw_fastrtps_dynamic_cpp composition demo_nodes_py lifecycle rosidl_typesupport_fastrtps_cpp rosidl_typesupport_fastrtps_c ikos diagnostic_aggregator diagnostic_updater joy qt_gui rqt_gui rqt_gui_py"
-
-# Apply a patch to octomap_msgs to work around a build issue
-COPY --chown=${USERNAME}:${USERNAME} octomap_fix.diff ./src/octomap_msgs
-RUN cd src/octomap_msgs && git apply octomap_fix.diff
-
-# Unknown issue with generate_parameter_library delete and reinstall
-WORKDIR ${MOVEIT2_DIR}/src
-RUN sudo rm -rf generate_parameter_library
-RUN git clone --branch main --single-branch https://github.com/PickNikRobotics/generate_parameter_library.git
-
-# Build MoveIt2
-# RUN /bin/bash -c 'source ${SPACEROS_DIR}/install/setup.bash \
-#   && colcon build --packages-select generate_parameter_library --cmake-args -DCMAKE_BUILD_TYPE=Release -DCMAKE_EXPORT_COMPILE_COMMANDS=ON --event-handlers desktop_notification- status'
-
-# Manually fix for permission denined error 
-RUN sudo chown -R ${USERNAME}:${USERNAME} ${SPACEROS_DIR}
-
-WORKDIR ${MOVEIT2_DIR}
-
-# Build MoveIt2
-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-'
-
-####  Install MOVEIT2_WS   ####
-
-
-
-####  Install DEMO_WS   ####
-WORKDIR ${HOME_DIR}
-
-# Install dependencies
-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 DEBIAN_FRONTEND=noninteractive apt-get install -y \
-  python3-rosinstall-generator \
-  libboost-python-dev build-essential cmake libboost-all-dev libois-dev \
-  libzzip-dev libfreeimage-dev libfreetype6-dev libx11-dev libxt-dev libxaw7-dev \
-  libsdl2-dev libpugixml-dev libglew-dev qtbase5-dev libspdlog-dev libfmt-dev \
-  libignition-gazebo6-dev libssl-dev devscripts debian-keyring fakeroot debhelper \
-  libboost-dev libsasl2-dev libicu-dev libzstd-dev doxygen libtinyxml-dev \
-  libtinyxml2-dev python3-pyqt5 tzdata locales keyboard-configuration
-
-RUN sudo sed -i -e 's/# en_US.UTF-8 UTF-8/en_US.UTF-8 UTF-8/' /etc/locale.gen \
-    && sudo dpkg-reconfigure --frontend=noninteractive locales \
-    && sudo update-locale LANG=en_US.UTF-8
-
-# TODO delete
-# RUN sed -i -e 's/# en_US.UTF-8 UTF-8/en_US.UTF-8 UTF-8/' /etc/locale.gen \
-# && dpkg-reconfigure --frontend=noninteractive locales \
-# && update-locale LANG=en_US.UTF-8
-# ENV LANG=en_US.UTF-8
-
-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 \
-  bc \
-  bind9-utils \
-  binutils \
-  ca-certificates \
-  clang \
-  cmake \
-  file \
-  firewalld \
-  git \
-  git-lfs \
-  jq \
-  kbd \
-  kmod \
-  less \
-  lsb-release \
-  libglu1-mesa-dev \
-  libxcb-xinerama0 \
-  libfontconfig1-dev \
-  libcurl4-openssl-dev \
-  libnvidia-gl-470 \
-  libssl-dev \
-  libxcb-xkb-dev \
-  libxkbcommon-x11-dev \
-  libxkbcommon-dev \
-  libxcb-xfixes0-dev \
-  libxcb-xinput-dev \
-  libxcb-xinput0 \
-  libpcre2-16-0 \
-  lsof \
-  net-tools \
-  ninja-build \
-  pciutils \
-  python3-pip \
-  software-properties-common \
-  sudo \
-  tar \
-  unzip \
-  vim \
-  wget \
-  xz-utils
-  # && rm -rf /var/lib/apt/lists/* #  TODO need to figure out how to use this correctly
-
-# Install libmongoc for development
-RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
-  --mount=type=cache,target=/var/lib/apt,sharing=locked \
-  sudo apt-get install libmongoc-dev -y
-
-# Compile mongo cxx driver https://mongocxx.org/mongocxx-v3/installation/linux/
-RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
-  --mount=type=cache,target=/var/lib/apt,sharing=locked \
-  sudo apt-get install libssl-dev build-essential devscripts debian-keyring fakeroot debhelper cmake libboost-dev libsasl2-dev libicu-dev libzstd-dev doxygen -y
-RUN wget https://github.com/mongodb/mongo-cxx-driver/releases/download/r3.6.7/mongo-cxx-driver-r3.6.7.tar.gz
-RUN tar -xzf mongo-cxx-driver-r3.6.7.tar.gz
-RUN cd mongo-cxx-driver-r3.6.7/build && cmake .. -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=/usr/local && sudo cmake --build . --target EP_mnmlstc_core && cmake --build . && sudo cmake --build . --target install
-
-# Create demo_ws, setup packages, generate dependencies
-RUN mkdir -p ${DEMO_DIR}/src
-WORKDIR ${DEMO_DIR}
-COPY --chown=${USERNAME}:${USERNAME} o3de-robot-sim.repos /tmp/
-COPY --chown=${USERNAME}:${USERNAME} excluded-pkgs.txt /tmp/
-RUN vcs import ${DEMO_DIR}/src < /tmp/o3de-robot-sim.repos 
-
-# # Generate the repos file for o3de-robot-sim dependencies, excluding packages from Space ROS core
-RUN rosinstall_generator \
-  --rosdistro ${ROSDISTRO} \
-  --deps \
-  --exclude-path ${SPACEROS_DIR}/src \
-  --exclude $(cat /tmp/excluded-pkgs.txt) -- \
-  -- $(cat /tmp/o3de-robot-sim.repos) \
-  > /tmp/o3de_robot_sim_generated_pkgs.repos
-
-# Update the ownership of the source files (had to use sudo above to work around
-# a possible inherited 'insteadof' from the host that forces use of ssh
-RUN sudo chown -R ${USERNAME}:${USERNAME} ${DEMO_DIR}
-
-RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
-  --mount=type=cache,target=/var/lib/apt,sharing=locked \
-  sudo apt-get update -y \
-&& /bin/bash -c 'source "/opt/ros/humble/setup.bash"' \
-&& /bin/bash -c 'source "${SPACEROS_DIR}/install/setup.bash"' \
-&& /bin/bash -c 'source "${MOVEIT2_DIR}/install/setup.bash"' \
-&& rosdep install --from-paths src --ignore-src -r -y --rosdistro ${ROSDISTRO}
-
-# # Build the demo_ws
-RUN /bin/bash -c 'source ${SPACEROS_DIR}/install/setup.bash && source ${MOVEIT2_DIR}/install/setup.bash \
-  && colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release'
-
-# # Create O3DE/Projects and O3DE/Gems directory
-RUN if [ -d "${O3DE_DIR}/Projects" ]; then rm -rf ${O3DE_DIR}/Gems; fi
-RUN mkdir -p ${O3DE_DIR}/Projects
-
-RUN if [ -d "${O3DE_DIR}/Gems" ]; then rm -rf ${O3DE_DIR}/Gems; fi
-RUN mkdir -p ${O3DE_DIR}/Gems
-
-# Git clone RobotSim, NasaMarsRoverGem and MarsYardGem
-WORKDIR ${O3DE_DIR}/Projects
-RUN git clone --branch nasa_submission https://github.com/Mechazo11/RobotSim.git
-
-WORKDIR ${O3DE_DIR}/Gems
-RUN git clone --branch nasa_submission https://github.com/Mechazo11/NasaCuriosityRoverGem.git
-RUN git clone --branch nasa_submission https://github.com/Mechazo11/MarsYardGem.git
-
-# ## Symlink clang version to non-versioned clang and set cc to clang
-RUN sudo DEBIAN_FRONTEND=noninteractive update-alternatives --install /usr/bin/cc cc /usr/bin/clang 100 \
-    && sudo DEBIAN_FRONTEND=noninteractive update-alternatives --install /usr/bin/c++ c++ /usr/bin/clang++ 100
-
-# ####  Install Open 3D Engine   ####  
-
-# # Pull latest commit from development and build o3de. Note this does't build the whole engine
-WORKDIR ${HOME_DIR}
-
-# # Install o3de engine (automatically pulls last commit from "development" branch)
-RUN git clone --single-branch -b development https://github.com/o3de/o3de.git \
-    && cd o3de \
-    && git lfs install \
-    && git lfs pull \
-    && python/get_python.sh
-
-# # Install o3de-extras (automatically pulls last commit from "development" branch)
-# # Contains ROS 2 Gem and other relevant assets
-
-# WORKDIR ${HOME_DIR}
-RUN git clone --single-branch -b development https://github.com/o3de/o3de-extras.git \
-    && cd o3de-extras \
-    && git lfs install \
-    && git lfs pull
-
-WORKDIR ${HOME_DIR}/o3de
-
-# Register RobotSim with this engine
-#RUN ${O3DE_ENGINE}/scripts/o3de.sh register --this-engine 
-RUN ./scripts/o3de.sh register --this-engine 
-RUN ./scripts/o3de.sh register --gem-path ${O3DE_EXTRAS}/Gems/ROS2 \
-    && ./scripts/o3de.sh register --gem-path ${O3DE_EXTRAS}/Gems/RosRobotSample \
-    && ./scripts/o3de.sh register --gem-path ${O3DE_EXTRAS}/Gems/WarehouseSample \
-    && ./scripts/o3de.sh register --gem-path ${O3DE_DIR}/Gems/NasaCuriosityRoverGem \
-    && ./scripts/o3de.sh register --gem-path ${O3DE_DIR}/Gems/MarsYardGem
-
-# Register the Terrian gem which is located in o3de folder
-RUN ./scripts/o3de.sh register --gem-path ${HOME_DIR}/o3de/Gems/Terrain
-
-# Register RobotSim project.
-# Project must be registered at the very end after all dependent gems are registered
-RUN ./scripts/o3de.sh register --project-path ${O3DE_DIR}/Projects/${PROJECT_NAME}
-
-# # Move to project directory and run cmake and build project (Warning takes about 10-15 mins)
-WORKDIR ${HOME_DIR}
-
-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 \
-    libunwind-dev
-
-# Move to project directory
-WORKDIR ${PROJECT_PATH}
-
-# # Source space_ros, movit2 and demo_ws
-RUN /bin/bash -c 'source "/opt/ros/humble/setup.bash"' \
-    && /bin/bash -c 'source "${SPACEROS_DIR}/install/setup.bash"' \
-    && /bin/bash -c 'source "${MOVEIT2_DIR}/install/setup.bash"'
-
-RUN /bin/bash -c 'source ${DEMO_DIR}/install/setup.bash \
-    && cmake -B build/linux -G "Ninja Multi-Config" -DLY_DISABLE_TEST_MODULES=ON -DCMAKE_EXPORT_COMPILE_COMMANDS=ON -DLY_STRIP_DEBUG_SYMBOLS=ON -DAZ_USE_PHYSX5:BOOL=ON'
-
-RUN cmake --build build/linux --config profile --target ${PROJECT_NAME} Editor ${PROJECT_NAME}.Assets
+### Delete demo repo, redownload correct one build the DEMO_WS again ###
 
 # Add the user to the render group so that the user can access /dev/dri/renderD128
 # /dev/dri/renderD128 gives access to hardware-accelerated rendering tool such as GPU
diff --git a/o3de_mars_rover/Dockerfile_movit2 b/o3de_mars_rover/Dockerfile_movit2
deleted file mode 100644
index 11ff9160..00000000
--- a/o3de_mars_rover/Dockerfile_movit2
+++ /dev/null
@@ -1,156 +0,0 @@
-# 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 MoveIt2/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="MoveIt2"
-LABEL org.label-schema.description="Preview version of the MoveIt2/Space ROS platform"
-LABEL org.label-schema.vendor="Open Robotics"
-LABEL org.label-schema.version=${VERSION}
-LABEL org.label-schema.url="https://github.com/space-ros"
-LABEL org.label-schema.vcs-url="https://github.com/space-ros/docker-images"
-LABEL org.label-schema.vcs-ref=${VCS_REF}
-
-# Disable prompting during package installation
-ARG DEBIAN_FRONTEND=noninteractive
-
-# Clone all space-ros sources
-RUN mkdir ${SPACEROS_DIR}/src \
-  && vcs import ${SPACEROS_DIR}/src < ${SPACEROS_DIR}/exact.repos
-
-# Define key locations
-ENV MOVEIT2_DIR=${HOME_DIR}/moveit2
-
-# 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 the MoveIt2 source code
-WORKDIR ${HOME_DIR}
-RUN sudo git clone https://github.com/moveit/moveit2.git -b ${ROSDISTRO} moveit2/src
-RUN cd ${MOVEIT2_DIR}/src \
-  && sudo git clone https://github.com/moveit/moveit2_tutorials.git -b ${ROSDISTRO}
-
-# Update the ownership of the source files (had to use sudo above to work around
-# a possible inherited 'insteadof' from the host that forces use of ssh
-RUN sudo chown -R ${USERNAME}:${USERNAME} ${MOVEIT2_DIR}
-
-# Get rosinstall_generator
-RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
-  --mount=type=cache,target=/var/lib/apt,sharing=locked \
-  sudo apt-get update -y && sudo apt-get install -y python3-rosinstall-generator
-
-# Generate repos file for moveit2 dependencies, excluding packages from Space ROS core.
-COPY --chown=${USERNAME}:${USERNAME} moveit2-pkgs.txt /tmp/
-COPY --chown=${USERNAME}:${USERNAME} excluded-pkgs.txt /tmp/
-RUN rosinstall_generator \
-  --rosdistro ${ROSDISTRO} \
-  --deps \
-  --exclude-path ${SPACEROS_DIR}/src \
-  --exclude $(cat /tmp/excluded-pkgs.txt) -- \
-  -- $(cat /tmp/moveit2-pkgs.txt) \
-  > /tmp/moveit2_generated_pkgs.repos
-
-# Get the repositories required by MoveIt2, but not included in Space ROS
-WORKDIR ${MOVEIT2_DIR}
-RUN vcs import src < /tmp/moveit2_generated_pkgs.repos
-COPY --chown=${USERNAME}:${USERNAME} moveit2_tutorials.repos /tmp/
-RUN vcs import src < /tmp/moveit2_tutorials.repos
-
-# Update the ownership of the source files (had to use sudo above to work around
-# a possible inherited 'insteadof' from the host that forces use of ssh
-RUN sudo chown -R ${USERNAME}:${USERNAME} ${MOVEIT2_DIR}
-
-# Install system dependencies
-RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
-  --mount=type=cache,target=/var/lib/apt,sharing=locked \
-  /bin/bash -c 'source ${SPACEROS_DIR}/install/setup.bash' \
- && rosdep install --from-paths ../spaceros/src src --ignore-src --rosdistro ${ROSDISTRO} -r -y --skip-keys "console_bridge generate_parameter_library fastcdr fastrtps rti-connext-dds-5.3.1 urdfdom_headers rmw_connextdds ros_testing rmw_connextdds rmw_fastrtps_cpp rmw_fastrtps_dynamic_cpp composition demo_nodes_py lifecycle rosidl_typesupport_fastrtps_cpp rosidl_typesupport_fastrtps_c ikos diagnostic_aggregator diagnostic_updater joy qt_gui rqt_gui rqt_gui_py"
-
-# Apply a patch to octomap_msgs to work around a build issue
-COPY --chown=${USERNAME}:${USERNAME} octomap_fix.diff ./src/octomap_msgs
-RUN cd src/octomap_msgs && git apply octomap_fix.diff
-
-# Build MoveIt2
-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 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
-
-# Set up the entrypoint
-COPY ./entrypoint.sh /
-ENTRYPOINT ["/entrypoint.sh"]
-CMD ["bash"]
diff --git a/o3de_mars_rover/Dockerfile_works_mostly b/o3de_mars_rover/Dockerfile_one_shot_build
similarity index 94%
rename from o3de_mars_rover/Dockerfile_works_mostly
rename to o3de_mars_rover/Dockerfile_one_shot_build
index c9b11fb9..494a51b6 100644
--- a/o3de_mars_rover/Dockerfile_works_mostly
+++ b/o3de_mars_rover/Dockerfile_one_shot_build
@@ -88,13 +88,15 @@ WORKDIR ${SPACEROS_DIR}
 RUN sudo rm -rf install/
 
 WORKDIR ${SPACEROS_DIR}/src
-RUN sudo rm -rf rmw_cyclonedds_cpp 
+RUN sudo rm -rf rmw_cyclonedds_cpp
+RUN sudo rm -rf rmw_implementation  
 RUN sudo rm -rf rmw_cyclonedds
 RUN sudo rm -rf realtime_tools
 
 # Rebuild Space ROS workspace
 WORKDIR ${SPACEROS_DIR}
-RUN colcon build --packages-ignore test_rmw_implementation
+RUN /bin/bash -c 'source /opt/ros/humble/setup.bash \ 
+    && colcon build --packages-ignore test_rmw_implementation'
 
 ### Delete CycloneDDS and install from apt to resolve cmake conflict ###
 
@@ -390,9 +392,6 @@ RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
 # Move to project directory
 WORKDIR ${PROJECT_PATH}
 
-#Activate Cyclone DDS (not necessary with Space ROS)
-#ENV RMW_IMPLEMENTATION=rmw_cyclonedds_cpp cd
-
 # # Source space_ros, movit2 and demo_ws
 RUN /bin/bash -c 'source "/opt/ros/humble/setup.bash"' \
     && /bin/bash -c 'source "${SPACEROS_DIR}/install/setup.bash"' \
@@ -400,17 +399,14 @@ RUN /bin/bash -c 'source "/opt/ros/humble/setup.bash"' \
 
 RUN /bin/bash -c 'source ${DEMO_DIR}/install/setup.bash \
     && cmake -B build/linux -G "Ninja Multi-Config" -DLY_DISABLE_TEST_MODULES=ON -DCMAKE_EXPORT_COMPILE_COMMANDS=ON -DLY_STRIP_DEBUG_SYMBOLS=ON -DAZ_USE_PHYSX5:BOOL=ON'
-  
-  # && cmake --build build/linux --config profile --target ${PROJECT_NAME} Editor ${PROJECT_NAME}.Assets
 
-# RUN cmake -B build/linux -G "Ninja Multi-Config" -DLY_DISABLE_TEST_MODULES=ON -DCMAKE_EXPORT_COMPILE_COMMANDS=ON -DLY_STRIP_DEBUG_SYMBOLS=ON -DAZ_USE_PHYSX5:BOOL=ON \
-#   && cmake --build build/linux --config profile --target ${PROJECT_NAME} Editor ${PROJECT_NAME}.Assets
+RUN cmake --build build/linux --config profile --target ${PROJECT_NAME} Editor ${PROJECT_NAME}.Assets
 
-# # Add the user to the render group so that the user can access /dev/dri/renderD128
-# # /dev/dri/renderD128 gives access to hardware-accelerated rendering tool such as GPU
-# RUN sudo usermod -aG render $USERNAME
+# Add the user to the render group so that the user can access /dev/dri/renderD128
+# /dev/dri/renderD128 gives access to hardware-accelerated rendering tool such as GPU
+RUN sudo usermod -aG render $USERNAME
 
-# # Setup the entrypoint
-# COPY ./entrypoint.sh /
-# ENTRYPOINT ["/entrypoint.sh"]
-# CMD ["bash"]
+# Setup the entrypoint
+COPY ./entrypoint.sh /
+ENTRYPOINT ["/entrypoint.sh"]
+CMD ["bash"]

From 3bb7f89586edc82d194bcb4b34ca5f4dee40243a Mon Sep 17 00:00:00 2001
From: Mechazo11 
Date: Fri, 13 Sep 2024 18:53:34 -0500
Subject: [PATCH 37/54] Space ros directory fixed, cleaning up dependency for
 demo_ws rebuild

---
 o3de_mars_rover/Dockerfile | 92 +++++++++++++++++++++++++++++++++-----
 1 file changed, 80 insertions(+), 12 deletions(-)

diff --git a/o3de_mars_rover/Dockerfile b/o3de_mars_rover/Dockerfile
index 5769a1a0..a07b676c 100644
--- a/o3de_mars_rover/Dockerfile
+++ b/o3de_mars_rover/Dockerfile
@@ -60,34 +60,102 @@ RUN curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sud
 
 ### Delete CycloneDDS and install from apt to resolve cmake conflict ###
 
-# rmw-cyclonedds and rmw-implementation later causes a fatal bug.
-# I have removed them in favor of having another top level workspace
-# which appears to solve this problem
-RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
-  --mount=type=cache,target=/var/lib/apt,sharing=locked \
-  sudo apt install -y \
-  ros-${ROS_DISTRO}-rmw-cyclonedds-cpp \
-  ros-${ROS_DISTRO}-rmw-implementation \
-  ros-${ROS_DISTRO}-realtime-tools
-
 # Clear Install folder, we will need to rebuild the workspace again
 WORKDIR ${SPACEROS_DIR}
 RUN sudo rm -rf install/
 
+# Delete problematic packages
 WORKDIR ${SPACEROS_DIR}/src
 RUN sudo rm -rf rmw_cyclonedds_cpp
 RUN sudo rm -rf rmw_implementation  
 RUN sudo rm -rf rmw_cyclonedds
 RUN sudo rm -rf realtime_tools
 
-# Rebuild Space ROS workspace
 WORKDIR ${SPACEROS_DIR}
+
+# Update rosdep
+RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
+  --mount=type=cache,target=/var/lib/apt,sharing=locked \
+  sudo apt-get update -y
+RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
+  --mount=type=cache,target=/var/lib/apt,sharing=locked \
+  sudo apt-get dist-upgrade -y
+RUN rosdep update
+
+# TODO open a PR to resolve rmw-cyclonedds and rmw-implementation causing .
+# Install them back from apt
+RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
+  --mount=type=cache,target=/var/lib/apt,sharing=locked \
+  sudo apt install -y \
+  ros-${ROS_DISTRO}-rmw-cyclonedds-cpp \
+  ros-${ROS_DISTRO}-rmw-implementation \
+  ros-${ROS_DISTRO}-realtime-tools
+
+# Rebuild Space ROS workspace
 RUN /bin/bash -c 'source /opt/ros/humble/setup.bash \ 
     && colcon build --packages-ignore test_rmw_implementation'
 
+# Ensure proper permission for all files in SPACEROS_DIR
+RUN sudo chown -R ${USERNAME}:${USERNAME} ${SPACEROS_DIR}
+
 ### Delete CycloneDDS and install from apt to resolve cmake conflict ###
 
-### Delete demo repo, redownload correct one build the DEMO_WS again ###
+### Delete DEMO_WS repo, redownload correct one build the DEMO_WS again ###
+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 DEBIAN_FRONTEND=noninteractive apt-get install -y \
+  python3-rosinstall-generator \
+  libboost-python-dev build-essential cmake libboost-all-dev libois-dev \
+  libzzip-dev libfreeimage-dev libfreetype6-dev libx11-dev libxt-dev libxaw7-dev \
+  libsdl2-dev libpugixml-dev libglew-dev qtbase5-dev libspdlog-dev libfmt-dev \
+  libignition-gazebo6-dev libssl-dev devscripts debian-keyring fakeroot debhelper \
+  libboost-dev libsasl2-dev libicu-dev libzstd-dev doxygen libtinyxml-dev \
+  libtinyxml2-dev python3-pyqt5 tzdata locales keyboard-configuration
+
+RUN sudo sed -i -e 's/# en_US.UTF-8 UTF-8/en_US.UTF-8 UTF-8/' /etc/locale.gen \
+    && sudo dpkg-reconfigure --frontend=noninteractive locales \
+    && sudo update-locale LANG=en_US.UTF-8
+
+    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 \
+    bc bind9-utils binutils ca-certificates clang cmake \
+    file firewalld git git-lfs jq kbd kmod less \
+    lsb-release \
+    libglu1-mesa-dev \
+    libxcb-xinerama0 \
+    libfontconfig1-dev \
+    libcurl4-openssl-dev \
+    libnvidia-gl-470 \
+    libssl-dev \
+    libxcb-xkb-dev \
+    libxkbcommon-x11-dev \
+    libxkbcommon-dev \
+    libxcb-xfixes0-dev \
+    libxcb-xinput-dev \
+    libxcb-xinput0 \
+    libpcre2-16-0 \
+    lsof \
+    net-tools \
+    ninja-build \
+    pciutils \
+    python3-pip \
+    software-properties-common \
+    sudo \
+    tar \
+    unzip \
+    vim \
+    wget \
+    xz-utils
+    # && rm -rf /var/lib/apt/lists/* #  TODO need to figure out how to use this correctly
+  
+
+WORKDIR ${DEMO_DIR}
+RUN sudo rm -rf install/
+RUN sudo rm -rf build/
+RUN sudo rm -rf log/
+
+
 
 # Add the user to the render group so that the user can access /dev/dri/renderD128
 # /dev/dri/renderD128 gives access to hardware-accelerated rendering tool such as GPU

From 9f1f62b774992fd1dd1f720aeb38d953cbff6267 Mon Sep 17 00:00:00 2001
From: Mechazo11 
Date: Fri, 13 Sep 2024 19:43:53 -0500
Subject: [PATCH 38/54] demo_ws rebuilt with ros2 command codes for o3de rover

---
 o3de_mars_rover/Dockerfile                    |  82 +++++++++-----
 o3de_mars_rover/o3de-robot-sim-one-shot.repos | 107 ++++++++++++++++++
 o3de_mars_rover/o3de-robot-sim.repos          | 103 +----------------
 3 files changed, 159 insertions(+), 133 deletions(-)
 create mode 100644 o3de_mars_rover/o3de-robot-sim-one-shot.repos

diff --git a/o3de_mars_rover/Dockerfile b/o3de_mars_rover/Dockerfile
index a07b676c..b87f61d5 100644
--- a/o3de_mars_rover/Dockerfile
+++ b/o3de_mars_rover/Dockerfile
@@ -100,7 +100,8 @@ RUN sudo chown -R ${USERNAME}:${USERNAME} ${SPACEROS_DIR}
 
 ### Delete CycloneDDS and install from apt to resolve cmake conflict ###
 
-### Delete DEMO_WS repo, redownload correct one build the DEMO_WS again ###
+### Install all dependencies for demo_ws and O3DE ###
+
 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 DEBIAN_FRONTEND=noninteractive apt-get install -y \
@@ -116,46 +117,65 @@ RUN sudo sed -i -e 's/# en_US.UTF-8 UTF-8/en_US.UTF-8 UTF-8/' /etc/locale.gen \
     && sudo dpkg-reconfigure --frontend=noninteractive locales \
     && sudo update-locale LANG=en_US.UTF-8
 
-    RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
+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 \
-    bc bind9-utils binutils ca-certificates clang cmake \
+    sudo apt-get update -y && sudo DEBIAN_FRONTEND=noninteractive apt-get install -y \
+    bc \
+    bind9-utils binutils ca-certificates clang cmake \
     file firewalld git git-lfs jq kbd kmod less \
-    lsb-release \
-    libglu1-mesa-dev \
-    libxcb-xinerama0 \
-    libfontconfig1-dev \
-    libcurl4-openssl-dev \
-    libnvidia-gl-470 \
-    libssl-dev \
-    libxcb-xkb-dev \
-    libxkbcommon-x11-dev \
-    libxkbcommon-dev \
-    libxcb-xfixes0-dev \
-    libxcb-xinput-dev \
-    libxcb-xinput0 \
-    libpcre2-16-0 \
-    lsof \
-    net-tools \
-    ninja-build \
-    pciutils \
-    python3-pip \
-    software-properties-common \
-    sudo \
-    tar \
-    unzip \
-    vim \
-    wget \
-    xz-utils
+    lsb-release libglu1-mesa-dev libxcb-xinerama0 libfontconfig1-dev \
+    libcurl4-openssl-dev libnvidia-gl-470 libssl-dev libxcb-xkb-dev \
+    libxkbcommon-x11-dev libxkbcommon-dev libxcb-xfixes0-dev \
+    libxcb-xinput-dev libxcb-xinput0 \
+    libpcre2-16-0 lsof net-tools ninja-build pciutils \
+    python3-pip software-properties-common \
+    sudo tar unzip vim wget xz-utils
     # && rm -rf /var/lib/apt/lists/* #  TODO need to figure out how to use this correctly
-  
 
+### Install all dependencies for demo_ws and O3DE ###
+
+## Delete DEMO_WS repo, redownload correct one build the DEMO_WS again ###
 WORKDIR ${DEMO_DIR}
 RUN sudo rm -rf install/
 RUN sudo rm -rf build/
 RUN sudo rm -rf log/
 
+# WORKDIR ${DEMO_DIR}
+# Override what is necessary
+COPY --chown=${USERNAME}:${USERNAME} o3de-robot-sim.repos /tmp/
+COPY --chown=${USERNAME}:${USERNAME} excluded-pkgs.txt /tmp/
+
+# Delete space-ros/demo repo and replace it with Mechazo11/demo repo
+# that contains the modified mars_rover launch file to drive rover
+# TODO come up with a better solution so as not to disturb other projects in space-ros/demo repo
+WORKDIR ${DEMO_DIR}/src
+RUN sudo rm -rf demos/
+WORKDIR ${DEMO_DIR}
 
+# RUN vcs import ${DEMO_DIR}/src < /tmp/o3de-robot-sim.repos 
+# RUN rosinstall_generator \
+#   --rosdistro ${ROSDISTRO} \
+#   --deps \
+#   --exclude-path ${SPACEROS_DIR}/src \
+#   --exclude $(cat /tmp/excluded-pkgs.txt) -- \
+#   -- $(cat /tmp/o3de-robot-sim.repos) \
+#   > /tmp/o3de_robot_sim_generated_pkgs.repos
+
+# Update the ownership of the source files (had to use sudo above to work around
+# a possible inherited 'insteadof' from the host that forces use of ssh
+RUN sudo chown -R ${USERNAME}:${USERNAME} ${DEMO_DIR}
+
+RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
+  --mount=type=cache,target=/var/lib/apt,sharing=locked \
+  sudo apt-get update -y \
+&& /bin/bash -c 'source "/opt/ros/humble/setup.bash"' \
+&& /bin/bash -c 'source "${SPACEROS_DIR}/install/setup.bash"' \
+&& /bin/bash -c 'source "${MOVEIT2_DIR}/install/setup.bash"' \
+&& rosdep install --from-paths src --ignore-src -r -y --rosdistro ${ROSDISTRO}
+
+# # Build the demo_ws
+RUN /bin/bash -c 'source ${SPACEROS_DIR}/install/setup.bash && source ${MOVEIT2_DIR}/install/setup.bash \
+  && colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release'
 
 # Add the user to the render group so that the user can access /dev/dri/renderD128
 # /dev/dri/renderD128 gives access to hardware-accelerated rendering tool such as GPU
diff --git a/o3de_mars_rover/o3de-robot-sim-one-shot.repos b/o3de_mars_rover/o3de-robot-sim-one-shot.repos
new file mode 100644
index 00000000..a7249fe6
--- /dev/null
+++ b/o3de_mars_rover/o3de-robot-sim-one-shot.repos
@@ -0,0 +1,107 @@
+repositories:
+  demos:
+    type: git
+    url: https://github.com/Mechazo11/space-ros-demos.git
+    version: main
+  gz_ros2_control:
+    type: git
+    url: https://github.com/ros-controls/gz_ros2_control.git
+    version: humble
+  qt_gui_core:
+    type: git
+    url: https://github.com/ros-visualization/qt_gui_core.git
+    version: humble
+  ros2_controllers:
+    type: git
+    url: https://github.com/tonylitianyu/ros2_controllers.git
+    version: effort_group_position_controller_2
+  actuator_msgs:
+    type: git
+    url: https://github.com/rudislabs/actuator_msgs.git
+    version: main
+  ros-humble-warehouse-ros-mongo:
+    type: git
+    url: https://github.com/ros-planning/warehouse_ros_mongo.git
+    version: ros2
+  vision_msgs:
+    type: git
+    url: https://github.com/ros-perception/vision_msgs.git
+    version: ros2
+  gps_msgs:
+    type: git
+    url: https://github.com/swri-robotics/gps_umd.git
+    path: gps_msgs
+    version: 113782d
+  simulation:
+    type: git
+    url: https://github.com/Mechazo11/space-ros-simulation.git
+    version: fix_chassis_dae
+  gazebo_ros_pkgs:
+    type: git
+    url: https://github.com/ros-simulation/gazebo_ros_pkgs.git
+    version: ros2
+  image_common:
+    type: git
+    url: https://github.com/ros-perception/image_common.git
+    version: humble
+  warehouse_ros:
+    type: git
+    url: https://github.com/ros-planning/warehouse_ros.git
+    version: ros2
+  angles:
+    type: git
+    url: https://github.com/ros/angles.git
+    version: ros2
+  yaml_cpp_vendor:
+    type: git
+    url: https://github.com/ros2/yaml_cpp_vendor.git
+    version: humble
+  rviz:
+    type: git
+    url: https://github.com/ros2/rviz
+    version: humble
+  resource_retriever:
+    type: git
+    url: https://github.com/ros/resource_retriever.git
+    version: humble
+  control_toolbox:
+    type: git
+    url: https://github.com/ros-controls/control_toolbox.git
+    version: ros2-master
+  filters:
+    type: git
+    url: https://github.com/ros/filters.git
+    version: ros2
+  realtime_tools:
+    type: git
+    url: https://github.com/ros-controls/realtime_tools.git
+    version: master
+  geometric_shapes:
+    type: git
+    url: https://github.com/moveit/geometric_shapes.git
+    version: ros2
+  RSL:
+    type: git
+    url: https://github.com/PickNikRobotics/RSL.git
+    version: main
+  ros2_control:
+    type: git
+    url: https://github.com/ros-controls/ros2_control
+    version: humble
+  srdfdom:
+    type: git
+    url: https://github.com/moveit/srdfdom
+    version: ros2
+  interactive_markers:
+    type: git
+    url: https://github.com/ros-visualization/interactive_markers
+    version: humble
+  laser_geometry:
+    type: git
+    url: https://github.com/ros-perception/laser_geometry.git
+    version: humble
+  ros_gz:
+    type: git
+    url: https://github.com/gazebosim/ros_gz.git
+    version: humble
+  
diff --git a/o3de_mars_rover/o3de-robot-sim.repos b/o3de_mars_rover/o3de-robot-sim.repos
index a7249fe6..ce00ced6 100644
--- a/o3de_mars_rover/o3de-robot-sim.repos
+++ b/o3de_mars_rover/o3de-robot-sim.repos
@@ -3,105 +3,4 @@ repositories:
     type: git
     url: https://github.com/Mechazo11/space-ros-demos.git
     version: main
-  gz_ros2_control:
-    type: git
-    url: https://github.com/ros-controls/gz_ros2_control.git
-    version: humble
-  qt_gui_core:
-    type: git
-    url: https://github.com/ros-visualization/qt_gui_core.git
-    version: humble
-  ros2_controllers:
-    type: git
-    url: https://github.com/tonylitianyu/ros2_controllers.git
-    version: effort_group_position_controller_2
-  actuator_msgs:
-    type: git
-    url: https://github.com/rudislabs/actuator_msgs.git
-    version: main
-  ros-humble-warehouse-ros-mongo:
-    type: git
-    url: https://github.com/ros-planning/warehouse_ros_mongo.git
-    version: ros2
-  vision_msgs:
-    type: git
-    url: https://github.com/ros-perception/vision_msgs.git
-    version: ros2
-  gps_msgs:
-    type: git
-    url: https://github.com/swri-robotics/gps_umd.git
-    path: gps_msgs
-    version: 113782d
-  simulation:
-    type: git
-    url: https://github.com/Mechazo11/space-ros-simulation.git
-    version: fix_chassis_dae
-  gazebo_ros_pkgs:
-    type: git
-    url: https://github.com/ros-simulation/gazebo_ros_pkgs.git
-    version: ros2
-  image_common:
-    type: git
-    url: https://github.com/ros-perception/image_common.git
-    version: humble
-  warehouse_ros:
-    type: git
-    url: https://github.com/ros-planning/warehouse_ros.git
-    version: ros2
-  angles:
-    type: git
-    url: https://github.com/ros/angles.git
-    version: ros2
-  yaml_cpp_vendor:
-    type: git
-    url: https://github.com/ros2/yaml_cpp_vendor.git
-    version: humble
-  rviz:
-    type: git
-    url: https://github.com/ros2/rviz
-    version: humble
-  resource_retriever:
-    type: git
-    url: https://github.com/ros/resource_retriever.git
-    version: humble
-  control_toolbox:
-    type: git
-    url: https://github.com/ros-controls/control_toolbox.git
-    version: ros2-master
-  filters:
-    type: git
-    url: https://github.com/ros/filters.git
-    version: ros2
-  realtime_tools:
-    type: git
-    url: https://github.com/ros-controls/realtime_tools.git
-    version: master
-  geometric_shapes:
-    type: git
-    url: https://github.com/moveit/geometric_shapes.git
-    version: ros2
-  RSL:
-    type: git
-    url: https://github.com/PickNikRobotics/RSL.git
-    version: main
-  ros2_control:
-    type: git
-    url: https://github.com/ros-controls/ros2_control
-    version: humble
-  srdfdom:
-    type: git
-    url: https://github.com/moveit/srdfdom
-    version: ros2
-  interactive_markers:
-    type: git
-    url: https://github.com/ros-visualization/interactive_markers
-    version: humble
-  laser_geometry:
-    type: git
-    url: https://github.com/ros-perception/laser_geometry.git
-    version: humble
-  ros_gz:
-    type: git
-    url: https://github.com/gazebosim/ros_gz.git
-    version: humble
-  
+  
\ No newline at end of file

From fd9a4677dcd7e4a82c812ae6590890bd0061ccc9 Mon Sep 17 00:00:00 2001
From: Mechazo11 
Date: Fri, 13 Sep 2024 19:52:38 -0500
Subject: [PATCH 39/54] before testing o3de project cmake, looking out for
 rmw_implementation and cyclonedds bug

---
 o3de_mars_rover/Dockerfile | 68 ++++++++++++++++++++++++++++++++++++++
 1 file changed, 68 insertions(+)

diff --git a/o3de_mars_rover/Dockerfile b/o3de_mars_rover/Dockerfile
index b87f61d5..642c3d91 100644
--- a/o3de_mars_rover/Dockerfile
+++ b/o3de_mars_rover/Dockerfile
@@ -177,6 +177,74 @@ RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
 RUN /bin/bash -c 'source ${SPACEROS_DIR}/install/setup.bash && source ${MOVEIT2_DIR}/install/setup.bash \
   && colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release'
 
+# Git clone RobotSim, NasaMarsRoverGem and MarsYardGem
+WORKDIR ${O3DE_DIR}/Projects
+RUN git clone --branch nasa_submission https://github.com/Mechazo11/RobotSim.git
+
+WORKDIR ${O3DE_DIR}/Gems
+RUN git clone --branch nasa_submission https://github.com/Mechazo11/NasaCuriosityRoverGem.git
+RUN git clone --branch nasa_submission https://github.com/Mechazo11/MarsYardGem.git
+
+# ## Symlink clang version to non-versioned clang and set cc to clang
+RUN sudo DEBIAN_FRONTEND=noninteractive update-alternatives --install /usr/bin/cc cc /usr/bin/clang 100 \
+    && sudo DEBIAN_FRONTEND=noninteractive update-alternatives --install /usr/bin/c++ c++ /usr/bin/clang++ 100
+
+# ####  Install Open 3D Engine   ####  
+
+# # Pull latest commit from development and build o3de. Note this does't build the whole engine
+WORKDIR ${HOME_DIR}
+
+# # Install o3de engine (automatically pulls last commit from "development" branch)
+RUN git clone --single-branch -b development https://github.com/o3de/o3de.git \
+    && cd o3de \
+    && git lfs install \
+    && git lfs pull \
+    && python/get_python.sh
+
+# # Install o3de-extras (automatically pulls last commit from "development" branch)
+# # Contains ROS 2 Gem and other relevant assets
+
+# WORKDIR ${HOME_DIR}
+RUN git clone --single-branch -b development https://github.com/o3de/o3de-extras.git \
+    && cd o3de-extras \
+    && git lfs install \
+    && git lfs pull
+
+WORKDIR ${HOME_DIR}/o3de
+
+# Register RobotSim with this engine
+#RUN ${O3DE_ENGINE}/scripts/o3de.sh register --this-engine 
+RUN ./scripts/o3de.sh register --this-engine 
+RUN ./scripts/o3de.sh register --gem-path ${O3DE_EXTRAS}/Gems/ROS2 \
+    && ./scripts/o3de.sh register --gem-path ${O3DE_EXTRAS}/Gems/RosRobotSample \
+    && ./scripts/o3de.sh register --gem-path ${O3DE_EXTRAS}/Gems/WarehouseSample \
+    && ./scripts/o3de.sh register --gem-path ${O3DE_DIR}/Gems/NasaCuriosityRoverGem \
+    && ./scripts/o3de.sh register --gem-path ${O3DE_DIR}/Gems/MarsYardGem
+
+# Register the Terrian gem which is located in o3de folder
+RUN ./scripts/o3de.sh register --gem-path ${HOME_DIR}/o3de/Gems/Terrain
+
+# Register RobotSim project.
+# Project must be registered at the very end after all dependent gems are registered
+RUN ./scripts/o3de.sh register --project-path ${O3DE_DIR}/Projects/${PROJECT_NAME}
+
+# # Move to project directory and run cmake and build project (Warning takes about 10-15 mins)
+WORKDIR ${HOME_DIR}
+
+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 \
+    libunwind-dev
+
+# Move to project directory
+WORKDIR ${PROJECT_PATH}
+
+# # Source space_ros, movit2 and demo_ws
+RUN /bin/bash -c 'source "/opt/ros/humble/setup.bash"' \
+    && /bin/bash -c 'source "${SPACEROS_DIR}/install/setup.bash"' \
+    && /bin/bash -c 'source "${MOVEIT2_DIR}/install/setup.bash"'
+
+
 # Add the user to the render group so that the user can access /dev/dri/renderD128
 # /dev/dri/renderD128 gives access to hardware-accelerated rendering tool such as GPU
 RUN sudo usermod -aG render $USERNAME

From 697ce13e1301b5f0e8fbce7e56c290b5263e197b Mon Sep 17 00:00:00 2001
From: Mechazo11 
Date: Fri, 13 Sep 2024 20:13:04 -0500
Subject: [PATCH 40/54] fixed gazebo-msgs not found issue, rmw_implementation
 and cycloedds does not throw error

---
 o3de_mars_rover/Dockerfile | 10 ++++++++--
 1 file changed, 8 insertions(+), 2 deletions(-)

diff --git a/o3de_mars_rover/Dockerfile b/o3de_mars_rover/Dockerfile
index 642c3d91..a8a2c6b5 100644
--- a/o3de_mars_rover/Dockerfile
+++ b/o3de_mars_rover/Dockerfile
@@ -231,20 +231,26 @@ RUN ./scripts/o3de.sh register --project-path ${O3DE_DIR}/Projects/${PROJECT_NAM
 # # Move to project directory and run cmake and build project (Warning takes about 10-15 mins)
 WORKDIR ${HOME_DIR}
 
+# Install more essential binaries gazebo-msgs from binary
 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 \
-    libunwind-dev
+    libunwind-dev ros-${ROS_DISTRO}-gazebo-ros-pkgs
 
 # Move to project directory
 WORKDIR ${PROJECT_PATH}
 
-# # Source space_ros, movit2 and demo_ws
+# Source ROS2, Space Ros, Movit2 and Demo_ws
 RUN /bin/bash -c 'source "/opt/ros/humble/setup.bash"' \
     && /bin/bash -c 'source "${SPACEROS_DIR}/install/setup.bash"' \
     && /bin/bash -c 'source "${MOVEIT2_DIR}/install/setup.bash"'
 
 
+
+RUN /bin/bash -c 'source ${DEMO_DIR}/install/setup.bash \
+    && cmake -B build/linux -G "Ninja Multi-Config" -DLY_DISABLE_TEST_MODULES=ON -DCMAKE_EXPORT_COMPILE_COMMANDS=ON -DLY_STRIP_DEBUG_SYMBOLS=ON -DAZ_USE_PHYSX5:BOOL=ON'
+
+
 # Add the user to the render group so that the user can access /dev/dri/renderD128
 # /dev/dri/renderD128 gives access to hardware-accelerated rendering tool such as GPU
 RUN sudo usermod -aG render $USERNAME

From af6234b503ca90545c86ce0302288b84cdb260f4 Mon Sep 17 00:00:00 2001
From: Mechazo11 
Date: Fri, 13 Sep 2024 20:19:56 -0500
Subject: [PATCH 41/54] testing build upto demo_ws with correct demos repo

---
 o3de_mars_rover/Dockerfile | 154 +++++++++++++++++--------------------
 1 file changed, 70 insertions(+), 84 deletions(-)

diff --git a/o3de_mars_rover/Dockerfile b/o3de_mars_rover/Dockerfile
index a8a2c6b5..98ea1b1c 100644
--- a/o3de_mars_rover/Dockerfile
+++ b/o3de_mars_rover/Dockerfile
@@ -136,31 +136,20 @@ RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
 
 ## Delete DEMO_WS repo, redownload correct one build the DEMO_WS again ###
 WORKDIR ${DEMO_DIR}
-RUN sudo rm -rf install/
-RUN sudo rm -rf build/
-RUN sudo rm -rf log/
+RUN sudo rm -rf install/ build/ log/
 
 # WORKDIR ${DEMO_DIR}
 # Override what is necessary
-COPY --chown=${USERNAME}:${USERNAME} o3de-robot-sim.repos /tmp/
-COPY --chown=${USERNAME}:${USERNAME} excluded-pkgs.txt /tmp/
+# COPY --chown=${USERNAME}:${USERNAME} o3de-robot-sim.repos /tmp/
+# COPY --chown=${USERNAME}:${USERNAME} excluded-pkgs.txt /tmp/
 
 # Delete space-ros/demo repo and replace it with Mechazo11/demo repo
 # that contains the modified mars_rover launch file to drive rover
 # TODO come up with a better solution so as not to disturb other projects in space-ros/demo repo
 WORKDIR ${DEMO_DIR}/src
-RUN sudo rm -rf demos/
+RUN sudo rm -rf demos/ && git clone --branch main --single-branch https://github.com/Mechazo11/space-ros-demos.git
 WORKDIR ${DEMO_DIR}
 
-# RUN vcs import ${DEMO_DIR}/src < /tmp/o3de-robot-sim.repos 
-# RUN rosinstall_generator \
-#   --rosdistro ${ROSDISTRO} \
-#   --deps \
-#   --exclude-path ${SPACEROS_DIR}/src \
-#   --exclude $(cat /tmp/excluded-pkgs.txt) -- \
-#   -- $(cat /tmp/o3de-robot-sim.repos) \
-#   > /tmp/o3de_robot_sim_generated_pkgs.repos
-
 # Update the ownership of the source files (had to use sudo above to work around
 # a possible inherited 'insteadof' from the host that forces use of ssh
 RUN sudo chown -R ${USERNAME}:${USERNAME} ${DEMO_DIR}
@@ -177,85 +166,82 @@ RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
 RUN /bin/bash -c 'source ${SPACEROS_DIR}/install/setup.bash && source ${MOVEIT2_DIR}/install/setup.bash \
   && colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release'
 
-# Git clone RobotSim, NasaMarsRoverGem and MarsYardGem
-WORKDIR ${O3DE_DIR}/Projects
-RUN git clone --branch nasa_submission https://github.com/Mechazo11/RobotSim.git
-
-WORKDIR ${O3DE_DIR}/Gems
-RUN git clone --branch nasa_submission https://github.com/Mechazo11/NasaCuriosityRoverGem.git
-RUN git clone --branch nasa_submission https://github.com/Mechazo11/MarsYardGem.git
-
-# ## Symlink clang version to non-versioned clang and set cc to clang
-RUN sudo DEBIAN_FRONTEND=noninteractive update-alternatives --install /usr/bin/cc cc /usr/bin/clang 100 \
-    && sudo DEBIAN_FRONTEND=noninteractive update-alternatives --install /usr/bin/c++ c++ /usr/bin/clang++ 100
+# # Git clone RobotSim, NasaMarsRoverGem and MarsYardGem
+# WORKDIR ${O3DE_DIR}/Projects
+# RUN git clone --branch nasa_submission https://github.com/Mechazo11/RobotSim.git
 
-# ####  Install Open 3D Engine   ####  
+# WORKDIR ${O3DE_DIR}/Gems
+# RUN git clone --branch nasa_submission https://github.com/Mechazo11/NasaCuriosityRoverGem.git
+# RUN git clone --branch nasa_submission https://github.com/Mechazo11/MarsYardGem.git
 
-# # Pull latest commit from development and build o3de. Note this does't build the whole engine
-WORKDIR ${HOME_DIR}
+# # ## Symlink clang version to non-versioned clang and set cc to clang
+# RUN sudo DEBIAN_FRONTEND=noninteractive update-alternatives --install /usr/bin/cc cc /usr/bin/clang 100 \
+#     && sudo DEBIAN_FRONTEND=noninteractive update-alternatives --install /usr/bin/c++ c++ /usr/bin/clang++ 100
 
-# # Install o3de engine (automatically pulls last commit from "development" branch)
-RUN git clone --single-branch -b development https://github.com/o3de/o3de.git \
-    && cd o3de \
-    && git lfs install \
-    && git lfs pull \
-    && python/get_python.sh
-
-# # Install o3de-extras (automatically pulls last commit from "development" branch)
-# # Contains ROS 2 Gem and other relevant assets
+# # ####  Install Open 3D Engine   ####  
 
+# # # Pull latest commit from development and build o3de. Note this does't build the whole engine
 # WORKDIR ${HOME_DIR}
-RUN git clone --single-branch -b development https://github.com/o3de/o3de-extras.git \
-    && cd o3de-extras \
-    && git lfs install \
-    && git lfs pull
-
-WORKDIR ${HOME_DIR}/o3de
-
-# Register RobotSim with this engine
-#RUN ${O3DE_ENGINE}/scripts/o3de.sh register --this-engine 
-RUN ./scripts/o3de.sh register --this-engine 
-RUN ./scripts/o3de.sh register --gem-path ${O3DE_EXTRAS}/Gems/ROS2 \
-    && ./scripts/o3de.sh register --gem-path ${O3DE_EXTRAS}/Gems/RosRobotSample \
-    && ./scripts/o3de.sh register --gem-path ${O3DE_EXTRAS}/Gems/WarehouseSample \
-    && ./scripts/o3de.sh register --gem-path ${O3DE_DIR}/Gems/NasaCuriosityRoverGem \
-    && ./scripts/o3de.sh register --gem-path ${O3DE_DIR}/Gems/MarsYardGem
 
-# Register the Terrian gem which is located in o3de folder
-RUN ./scripts/o3de.sh register --gem-path ${HOME_DIR}/o3de/Gems/Terrain
-
-# Register RobotSim project.
-# Project must be registered at the very end after all dependent gems are registered
-RUN ./scripts/o3de.sh register --project-path ${O3DE_DIR}/Projects/${PROJECT_NAME}
-
-# # Move to project directory and run cmake and build project (Warning takes about 10-15 mins)
-WORKDIR ${HOME_DIR}
-
-# Install more essential binaries gazebo-msgs from binary
-RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
-    --mount=type=cache,target=/var/lib/apt,sharing=locked \
-    sudo apt-get update -y && sudo apt-get install -y \
-    libunwind-dev ros-${ROS_DISTRO}-gazebo-ros-pkgs
-
-# Move to project directory
-WORKDIR ${PROJECT_PATH}
+# # # Install o3de engine (automatically pulls last commit from "development" branch)
+# RUN git clone --single-branch -b development https://github.com/o3de/o3de.git \
+#     && cd o3de \
+#     && git lfs install \
+#     && git lfs pull \
+#     && python/get_python.sh
+
+# # # Install o3de-extras (automatically pulls last commit from "development" branch)
+# # # Contains ROS 2 Gem and other relevant assets
+
+# # WORKDIR ${HOME_DIR}
+# RUN git clone --single-branch -b development https://github.com/o3de/o3de-extras.git \
+#     && cd o3de-extras \
+#     && git lfs install \
+#     && git lfs pull
+
+# WORKDIR ${HOME_DIR}/o3de
+
+# # Register RobotSim with this engine
+# #RUN ${O3DE_ENGINE}/scripts/o3de.sh register --this-engine 
+# RUN ./scripts/o3de.sh register --this-engine \
+#     && ./scripts/o3de.sh register --gem-path ${O3DE_EXTRAS}/Gems/ROS2 \
+#     && ./scripts/o3de.sh register --gem-path ${O3DE_EXTRAS}/Gems/RosRobotSample \
+#     && ./scripts/o3de.sh register --gem-path ${O3DE_EXTRAS}/Gems/WarehouseSample \
+#     && ./scripts/o3de.sh register --gem-path ${O3DE_DIR}/Gems/NasaCuriosityRoverGem \
+#     && ./scripts/o3de.sh register --gem-path ${O3DE_DIR}/Gems/MarsYardGem \
+#     && ./scripts/o3de.sh register --gem-path ${HOME_DIR}/o3de/Gems/Terrain
+
+# # Register RobotSim project.
+# # Project must be registered at the very end after all dependent gems are registered
+# RUN ./scripts/o3de.sh register --project-path ${O3DE_DIR}/Projects/${PROJECT_NAME}
+
+# # # Move to project directory and run cmake and build project (Warning takes about 10-15 mins)
+# WORKDIR ${HOME_DIR}
 
-# Source ROS2, Space Ros, Movit2 and Demo_ws
-RUN /bin/bash -c 'source "/opt/ros/humble/setup.bash"' \
-    && /bin/bash -c 'source "${SPACEROS_DIR}/install/setup.bash"' \
-    && /bin/bash -c 'source "${MOVEIT2_DIR}/install/setup.bash"'
+# # Install more essential binaries gazebo-msgs from binary
+# 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 \
+#     libunwind-dev ros-${ROS_DISTRO}-gazebo-ros-pkgs
 
+# # Move to project directory
+# WORKDIR ${PROJECT_PATH}
 
+# # Source ROS2, Space Ros, Movit2 and Demo_ws
+# RUN /bin/bash -c 'source "/opt/ros/humble/setup.bash"' \
+#     && /bin/bash -c 'source "${SPACEROS_DIR}/install/setup.bash"' \
+#     && /bin/bash -c 'source "${MOVEIT2_DIR}/install/setup.bash"'
 
-RUN /bin/bash -c 'source ${DEMO_DIR}/install/setup.bash \
-    && cmake -B build/linux -G "Ninja Multi-Config" -DLY_DISABLE_TEST_MODULES=ON -DCMAKE_EXPORT_COMPILE_COMMANDS=ON -DLY_STRIP_DEBUG_SYMBOLS=ON -DAZ_USE_PHYSX5:BOOL=ON'
+# RUN /bin/bash -c 'source ${DEMO_DIR}/install/setup.bash \
+#     && cmake -B build/linux -G "Ninja Multi-Config" -DLY_DISABLE_TEST_MODULES=ON -DCMAKE_EXPORT_COMPILE_COMMANDS=ON -DLY_STRIP_DEBUG_SYMBOLS=ON -DAZ_USE_PHYSX5:BOOL=ON'
 
+# RUN cmake --build build/linux --config profile --target ${PROJECT_NAME} Editor ${PROJECT_NAME}.Assets
 
-# Add the user to the render group so that the user can access /dev/dri/renderD128
-# /dev/dri/renderD128 gives access to hardware-accelerated rendering tool such as GPU
-RUN sudo usermod -aG render $USERNAME
+# # Add the user to the render group so that the user can access /dev/dri/renderD128
+# # /dev/dri/renderD128 gives access to hardware-accelerated rendering tool such as GPU
+# RUN sudo usermod -aG render $USERNAME
 
-# Setup the entrypoint
-COPY ./entrypoint.sh /
-ENTRYPOINT ["/entrypoint.sh"]
-CMD ["bash"]
+# # Setup the entrypoint
+# COPY ./entrypoint.sh /
+# ENTRYPOINT ["/entrypoint.sh"]
+# CMD ["bash"]

From 6cae88f14646898023c2a8125ca0cc5442ceb7b1 Mon Sep 17 00:00:00 2001
From: Mechazo11 
Date: Fri, 13 Sep 2024 21:49:24 -0500
Subject: [PATCH 42/54] build passed, ready for CI test

---
 o3de_mars_rover/Dockerfile | 137 +++++++++++++++++++------------------
 1 file changed, 69 insertions(+), 68 deletions(-)

diff --git a/o3de_mars_rover/Dockerfile b/o3de_mars_rover/Dockerfile
index 98ea1b1c..5bf9f95b 100644
--- a/o3de_mars_rover/Dockerfile
+++ b/o3de_mars_rover/Dockerfile
@@ -13,8 +13,9 @@
 # limitations under the License.
 #
 # A Docker configuration script to build the o3de_curiosit_docker image that showcases Open 3D Engine
-# in simulating a Curiositry rover traversing through a test ground inspired by the NASA JPL Mars Yard
+# in simulating a Curiosity rover traversing through a test ground inspired by the NASA JPL Mars Yard
 # O3DE docker file based on https://github.com/husarion/o3de-docker/blob/main/Dockerfile
+# Requirements: openrobotics/space_robots_demo image
 #
 #
 # The script provides the following build arguments:
@@ -166,82 +167,82 @@ RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
 RUN /bin/bash -c 'source ${SPACEROS_DIR}/install/setup.bash && source ${MOVEIT2_DIR}/install/setup.bash \
   && colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release'
 
-# # Git clone RobotSim, NasaMarsRoverGem and MarsYardGem
-# WORKDIR ${O3DE_DIR}/Projects
-# RUN git clone --branch nasa_submission https://github.com/Mechazo11/RobotSim.git
+# Git clone RobotSim, NasaMarsRoverGem and MarsYardGem
+WORKDIR ${O3DE_DIR}/Projects
+RUN git clone --branch nasa_submission https://github.com/Mechazo11/RobotSim.git
 
-# WORKDIR ${O3DE_DIR}/Gems
-# RUN git clone --branch nasa_submission https://github.com/Mechazo11/NasaCuriosityRoverGem.git
-# RUN git clone --branch nasa_submission https://github.com/Mechazo11/MarsYardGem.git
+WORKDIR ${O3DE_DIR}/Gems
+RUN git clone --branch nasa_submission https://github.com/Mechazo11/NasaCuriosityRoverGem.git
+RUN git clone --branch nasa_submission https://github.com/Mechazo11/MarsYardGem.git
 
-# # ## Symlink clang version to non-versioned clang and set cc to clang
-# RUN sudo DEBIAN_FRONTEND=noninteractive update-alternatives --install /usr/bin/cc cc /usr/bin/clang 100 \
-#     && sudo DEBIAN_FRONTEND=noninteractive update-alternatives --install /usr/bin/c++ c++ /usr/bin/clang++ 100
+# ## Symlink clang version to non-versioned clang and set cc to clang
+RUN sudo DEBIAN_FRONTEND=noninteractive update-alternatives --install /usr/bin/cc cc /usr/bin/clang 100 \
+    && sudo DEBIAN_FRONTEND=noninteractive update-alternatives --install /usr/bin/c++ c++ /usr/bin/clang++ 100
 
-# # ####  Install Open 3D Engine   ####  
+# ####  Install Open 3D Engine   ####  
 
-# # # Pull latest commit from development and build o3de. Note this does't build the whole engine
-# WORKDIR ${HOME_DIR}
+# # Pull latest commit from development and build o3de. Note this does't build the whole engine
+WORKDIR ${HOME_DIR}
 
-# # # Install o3de engine (automatically pulls last commit from "development" branch)
-# RUN git clone --single-branch -b development https://github.com/o3de/o3de.git \
-#     && cd o3de \
-#     && git lfs install \
-#     && git lfs pull \
-#     && python/get_python.sh
-
-# # # Install o3de-extras (automatically pulls last commit from "development" branch)
-# # # Contains ROS 2 Gem and other relevant assets
-
-# # WORKDIR ${HOME_DIR}
-# RUN git clone --single-branch -b development https://github.com/o3de/o3de-extras.git \
-#     && cd o3de-extras \
-#     && git lfs install \
-#     && git lfs pull
-
-# WORKDIR ${HOME_DIR}/o3de
-
-# # Register RobotSim with this engine
-# #RUN ${O3DE_ENGINE}/scripts/o3de.sh register --this-engine 
-# RUN ./scripts/o3de.sh register --this-engine \
-#     && ./scripts/o3de.sh register --gem-path ${O3DE_EXTRAS}/Gems/ROS2 \
-#     && ./scripts/o3de.sh register --gem-path ${O3DE_EXTRAS}/Gems/RosRobotSample \
-#     && ./scripts/o3de.sh register --gem-path ${O3DE_EXTRAS}/Gems/WarehouseSample \
-#     && ./scripts/o3de.sh register --gem-path ${O3DE_DIR}/Gems/NasaCuriosityRoverGem \
-#     && ./scripts/o3de.sh register --gem-path ${O3DE_DIR}/Gems/MarsYardGem \
-#     && ./scripts/o3de.sh register --gem-path ${HOME_DIR}/o3de/Gems/Terrain
-
-# # Register RobotSim project.
-# # Project must be registered at the very end after all dependent gems are registered
-# RUN ./scripts/o3de.sh register --project-path ${O3DE_DIR}/Projects/${PROJECT_NAME}
-
-# # # Move to project directory and run cmake and build project (Warning takes about 10-15 mins)
-# WORKDIR ${HOME_DIR}
+# # Install o3de engine (automatically pulls last commit from "development" branch)
+RUN git clone --single-branch -b development https://github.com/o3de/o3de.git \
+    && cd o3de \
+    && git lfs install \
+    && git lfs pull \
+    && python/get_python.sh
+
+# # Install o3de-extras (automatically pulls last commit from "development" branch)
+# # Contains ROS 2 Gem and other relevant assets
 
-# # Install more essential binaries gazebo-msgs from binary
-# 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 \
-#     libunwind-dev ros-${ROS_DISTRO}-gazebo-ros-pkgs
+# WORKDIR ${HOME_DIR}
+RUN git clone --single-branch -b development https://github.com/o3de/o3de-extras.git \
+    && cd o3de-extras \
+    && git lfs install \
+    && git lfs pull
+
+WORKDIR ${HOME_DIR}/o3de
+
+# Register RobotSim with this engine
+#RUN ${O3DE_ENGINE}/scripts/o3de.sh register --this-engine 
+RUN ./scripts/o3de.sh register --this-engine \
+    && ./scripts/o3de.sh register --gem-path ${O3DE_EXTRAS}/Gems/ROS2 \
+    && ./scripts/o3de.sh register --gem-path ${O3DE_EXTRAS}/Gems/RosRobotSample \
+    && ./scripts/o3de.sh register --gem-path ${O3DE_EXTRAS}/Gems/WarehouseSample \
+    && ./scripts/o3de.sh register --gem-path ${O3DE_DIR}/Gems/NasaCuriosityRoverGem \
+    && ./scripts/o3de.sh register --gem-path ${O3DE_DIR}/Gems/MarsYardGem \
+    && ./scripts/o3de.sh register --gem-path ${HOME_DIR}/o3de/Gems/Terrain
+
+# Register RobotSim project.
+# Project must be registered at the very end after all dependent gems are registered
+RUN ./scripts/o3de.sh register --project-path ${O3DE_DIR}/Projects/${PROJECT_NAME}
+
+# # Move to project directory and run cmake and build project (Warning takes about 10-15 mins)
+WORKDIR ${HOME_DIR}
+
+# Install more essential binaries gazebo-msgs from binary
+RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
+    --mount=type=cache,target=/var/lib/apt,sharing=locked \
+    sudo apt-get update -y && sudo apt-get install -y \
+    libunwind-dev ros-${ROS_DISTRO}-gazebo-ros-pkgs
 
-# # Move to project directory
-# WORKDIR ${PROJECT_PATH}
+# Move to project directory
+WORKDIR ${PROJECT_PATH}
 
-# # Source ROS2, Space Ros, Movit2 and Demo_ws
-# RUN /bin/bash -c 'source "/opt/ros/humble/setup.bash"' \
-#     && /bin/bash -c 'source "${SPACEROS_DIR}/install/setup.bash"' \
-#     && /bin/bash -c 'source "${MOVEIT2_DIR}/install/setup.bash"'
+# Source ROS2, Space Ros, Movit2 and Demo_ws
+RUN /bin/bash -c 'source "/opt/ros/humble/setup.bash"' \
+    && /bin/bash -c 'source "${SPACEROS_DIR}/install/setup.bash"' \
+    && /bin/bash -c 'source "${MOVEIT2_DIR}/install/setup.bash"'
 
-# RUN /bin/bash -c 'source ${DEMO_DIR}/install/setup.bash \
-#     && cmake -B build/linux -G "Ninja Multi-Config" -DLY_DISABLE_TEST_MODULES=ON -DCMAKE_EXPORT_COMPILE_COMMANDS=ON -DLY_STRIP_DEBUG_SYMBOLS=ON -DAZ_USE_PHYSX5:BOOL=ON'
+RUN /bin/bash -c 'source ${DEMO_DIR}/install/setup.bash \
+    && cmake -B build/linux -G "Ninja Multi-Config" -DLY_DISABLE_TEST_MODULES=ON -DCMAKE_EXPORT_COMPILE_COMMANDS=ON -DLY_STRIP_DEBUG_SYMBOLS=ON -DAZ_USE_PHYSX5:BOOL=ON'
 
-# RUN cmake --build build/linux --config profile --target ${PROJECT_NAME} Editor ${PROJECT_NAME}.Assets
+RUN cmake --build build/linux --config profile --target ${PROJECT_NAME} Editor ${PROJECT_NAME}.Assets
 
-# # Add the user to the render group so that the user can access /dev/dri/renderD128
-# # /dev/dri/renderD128 gives access to hardware-accelerated rendering tool such as GPU
-# RUN sudo usermod -aG render $USERNAME
+# Add the user to the render group so that the user can access /dev/dri/renderD128
+# /dev/dri/renderD128 gives access to hardware-accelerated rendering tool such as GPU
+RUN sudo usermod -aG render $USERNAME
 
-# # Setup the entrypoint
-# COPY ./entrypoint.sh /
-# ENTRYPOINT ["/entrypoint.sh"]
-# CMD ["bash"]
+# Setup the entrypoint
+COPY ./entrypoint.sh /
+ENTRYPOINT ["/entrypoint.sh"]
+CMD ["bash"]

From 48e9b7a5d82b2221d7f8f06d5ea70dbed89b33cd Mon Sep 17 00:00:00 2001
From: Mechazo11 
Date: Fri, 13 Sep 2024 22:45:39 -0500
Subject: [PATCH 43/54] added three docker files into docker/ dir, testing if
 they can be chain built

---
 ...file => Dockerfile_build_from_space_robot} |   0
 o3de_mars_rover/build.sh                      |  27 +-
 o3de_mars_rover/build_bck_works.sh            |  23 ++
 o3de_mars_rover/demo-pkgs.txt                 |   3 +
 o3de_mars_rover/docker/Dockerfile_moveit2     | 156 +++++++++++
 o3de_mars_rover/docker/Dockerfile_o3de        | 248 ++++++++++++++++++
 .../docker/Dockerfile_space_robots            | 105 ++++++++
 7 files changed, 558 insertions(+), 4 deletions(-)
 rename o3de_mars_rover/{Dockerfile => Dockerfile_build_from_space_robot} (100%)
 create mode 100755 o3de_mars_rover/build_bck_works.sh
 create mode 100644 o3de_mars_rover/demo-pkgs.txt
 create mode 100644 o3de_mars_rover/docker/Dockerfile_moveit2
 create mode 100644 o3de_mars_rover/docker/Dockerfile_o3de
 create mode 100644 o3de_mars_rover/docker/Dockerfile_space_robots

diff --git a/o3de_mars_rover/Dockerfile b/o3de_mars_rover/Dockerfile_build_from_space_robot
similarity index 100%
rename from o3de_mars_rover/Dockerfile
rename to o3de_mars_rover/Dockerfile_build_from_space_robot
diff --git a/o3de_mars_rover/build.sh b/o3de_mars_rover/build.sh
index 6f8e47df..ab0556fd 100755
--- a/o3de_mars_rover/build.sh
+++ b/o3de_mars_rover/build.sh
@@ -1,23 +1,42 @@
 #!/usr/bin/env bash
 
+# This shell script will build openrobotics/moveit2, openrobotics/space_robot_demo and then
+
 ORG=openrobotics
-IMAGE=o3de_curiosity_docker
+IMAGE1=moveit2
+IMAGE2=space_robot_demo
+IMAGE3=o3de_curiosity_docker
 TAG=latest
 
 VCS_REF=""
 VERSION=preview
 
+# Directory where Dockerfiles are stored
+DOCKER_DIR="./docker"
+
 # Exit script with failure if build fails
 set -eo pipefail
 
+
 echo ""
-echo "##### Building O3DE + Space ROS Demo Docker Image #####"
-echo ""
+echo "##### Building moviet2 image #####"
 
-docker build -t $ORG/$IMAGE:$TAG \
+docker build -t $ORG/$IMAGE1:$TAG \
+    -f $DOCKER_DIR/Dockerfile_moveit2 \
     --build-arg VCS_REF="$VCS_REF" \
     --build-arg VERSION="$VERSION" .
 
 echo ""
 echo "##### Done! #####"
 
+# echo ""
+# echo "##### Building O3DE + Space ROS Demo Docker Image #####"
+# echo ""
+
+# docker build -t $ORG/$IMAGE:$TAG \
+#     --build-arg VCS_REF="$VCS_REF" \
+#     --build-arg VERSION="$VERSION" .
+
+# echo ""
+# echo "##### Done! #####"
+
diff --git a/o3de_mars_rover/build_bck_works.sh b/o3de_mars_rover/build_bck_works.sh
new file mode 100755
index 00000000..6f8e47df
--- /dev/null
+++ b/o3de_mars_rover/build_bck_works.sh
@@ -0,0 +1,23 @@
+#!/usr/bin/env bash
+
+ORG=openrobotics
+IMAGE=o3de_curiosity_docker
+TAG=latest
+
+VCS_REF=""
+VERSION=preview
+
+# Exit script with failure if build fails
+set -eo pipefail
+
+echo ""
+echo "##### Building O3DE + Space ROS Demo Docker Image #####"
+echo ""
+
+docker build -t $ORG/$IMAGE:$TAG \
+    --build-arg VCS_REF="$VCS_REF" \
+    --build-arg VERSION="$VERSION" .
+
+echo ""
+echo "##### Done! #####"
+
diff --git a/o3de_mars_rover/demo-pkgs.txt b/o3de_mars_rover/demo-pkgs.txt
new file mode 100644
index 00000000..76e6719a
--- /dev/null
+++ b/o3de_mars_rover/demo-pkgs.txt
@@ -0,0 +1,3 @@
+ros-controls/control_msgs
+ros2_control
+xacro
diff --git a/o3de_mars_rover/docker/Dockerfile_moveit2 b/o3de_mars_rover/docker/Dockerfile_moveit2
new file mode 100644
index 00000000..11ff9160
--- /dev/null
+++ b/o3de_mars_rover/docker/Dockerfile_moveit2
@@ -0,0 +1,156 @@
+# Copyright 2021 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+#
+# A Docker configuration script to build the MoveIt2/Space ROS image.
+#
+# The script provides the following build arguments:
+#
+#   VCS_REF     - The git revision of the Space ROS source code (no default value).
+#   VERSION     - The version of Space ROS (default: "preview")
+
+FROM osrf/space-ros:latest
+
+# Define arguments used in the metadata definition
+ARG VCS_REF
+ARG VERSION="preview"
+
+# Specify the docker image metadata
+LABEL org.label-schema.schema-version="1.0"
+LABEL org.label-schema.name="MoveIt2"
+LABEL org.label-schema.description="Preview version of the MoveIt2/Space ROS platform"
+LABEL org.label-schema.vendor="Open Robotics"
+LABEL org.label-schema.version=${VERSION}
+LABEL org.label-schema.url="https://github.com/space-ros"
+LABEL org.label-schema.vcs-url="https://github.com/space-ros/docker-images"
+LABEL org.label-schema.vcs-ref=${VCS_REF}
+
+# Disable prompting during package installation
+ARG DEBIAN_FRONTEND=noninteractive
+
+# Clone all space-ros sources
+RUN mkdir ${SPACEROS_DIR}/src \
+  && vcs import ${SPACEROS_DIR}/src < ${SPACEROS_DIR}/exact.repos
+
+# Define key locations
+ENV MOVEIT2_DIR=${HOME_DIR}/moveit2
+
+# 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 the MoveIt2 source code
+WORKDIR ${HOME_DIR}
+RUN sudo git clone https://github.com/moveit/moveit2.git -b ${ROSDISTRO} moveit2/src
+RUN cd ${MOVEIT2_DIR}/src \
+  && sudo git clone https://github.com/moveit/moveit2_tutorials.git -b ${ROSDISTRO}
+
+# Update the ownership of the source files (had to use sudo above to work around
+# a possible inherited 'insteadof' from the host that forces use of ssh
+RUN sudo chown -R ${USERNAME}:${USERNAME} ${MOVEIT2_DIR}
+
+# Get rosinstall_generator
+RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
+  --mount=type=cache,target=/var/lib/apt,sharing=locked \
+  sudo apt-get update -y && sudo apt-get install -y python3-rosinstall-generator
+
+# Generate repos file for moveit2 dependencies, excluding packages from Space ROS core.
+COPY --chown=${USERNAME}:${USERNAME} moveit2-pkgs.txt /tmp/
+COPY --chown=${USERNAME}:${USERNAME} excluded-pkgs.txt /tmp/
+RUN rosinstall_generator \
+  --rosdistro ${ROSDISTRO} \
+  --deps \
+  --exclude-path ${SPACEROS_DIR}/src \
+  --exclude $(cat /tmp/excluded-pkgs.txt) -- \
+  -- $(cat /tmp/moveit2-pkgs.txt) \
+  > /tmp/moveit2_generated_pkgs.repos
+
+# Get the repositories required by MoveIt2, but not included in Space ROS
+WORKDIR ${MOVEIT2_DIR}
+RUN vcs import src < /tmp/moveit2_generated_pkgs.repos
+COPY --chown=${USERNAME}:${USERNAME} moveit2_tutorials.repos /tmp/
+RUN vcs import src < /tmp/moveit2_tutorials.repos
+
+# Update the ownership of the source files (had to use sudo above to work around
+# a possible inherited 'insteadof' from the host that forces use of ssh
+RUN sudo chown -R ${USERNAME}:${USERNAME} ${MOVEIT2_DIR}
+
+# Install system dependencies
+RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
+  --mount=type=cache,target=/var/lib/apt,sharing=locked \
+  /bin/bash -c 'source ${SPACEROS_DIR}/install/setup.bash' \
+ && rosdep install --from-paths ../spaceros/src src --ignore-src --rosdistro ${ROSDISTRO} -r -y --skip-keys "console_bridge generate_parameter_library fastcdr fastrtps rti-connext-dds-5.3.1 urdfdom_headers rmw_connextdds ros_testing rmw_connextdds rmw_fastrtps_cpp rmw_fastrtps_dynamic_cpp composition demo_nodes_py lifecycle rosidl_typesupport_fastrtps_cpp rosidl_typesupport_fastrtps_c ikos diagnostic_aggregator diagnostic_updater joy qt_gui rqt_gui rqt_gui_py"
+
+# Apply a patch to octomap_msgs to work around a build issue
+COPY --chown=${USERNAME}:${USERNAME} octomap_fix.diff ./src/octomap_msgs
+RUN cd src/octomap_msgs && git apply octomap_fix.diff
+
+# Build MoveIt2
+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 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
+
+# Set up the entrypoint
+COPY ./entrypoint.sh /
+ENTRYPOINT ["/entrypoint.sh"]
+CMD ["bash"]
diff --git a/o3de_mars_rover/docker/Dockerfile_o3de b/o3de_mars_rover/docker/Dockerfile_o3de
new file mode 100644
index 00000000..5bf9f95b
--- /dev/null
+++ b/o3de_mars_rover/docker/Dockerfile_o3de
@@ -0,0 +1,248 @@
+# Copyright 2024 Azmyin Md. Kamal
+#
+# 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 o3de_curiosit_docker image that showcases Open 3D Engine
+# in simulating a Curiosity rover traversing through a test ground inspired by the NASA JPL Mars Yard
+# O3DE docker file based on https://github.com/husarion/o3de-docker/blob/main/Dockerfile
+# Requirements: openrobotics/space_robots_demo 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 openrobotics/space_robots_demo
+
+# Define arguments used in the metadata definition
+ARG VCS_REF
+ARG VERSION="preview"
+ARG ROS_DISTRO=humble 
+
+# Specify the docker image metadata
+LABEL org.label-schema.schema-version="1.0"
+LABEL org.label-schema.name="O3DE Curiosity Rover"
+LABEL org.label-schema.description="O3DE Curiosity rover demo image"
+LABEL org.label-schema.vendor="Nasa Space ROS Sim Summer Spring Challenge 2024"
+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/Mechazo11/space-ros-docker"
+LABEL org.label-schema.vcs-ref=${VCS_REF}
+
+# Define a key enviornment variables
+ENV MOVEIT2_DIR=${HOME_DIR}/moveit2
+ENV DEMO_DIR=${HOME_DIR}/demos_ws
+ENV IGNITION_VERSION fortress
+ENV GZ_VERSION fortress
+ENV PROJECT_NAME=RobotSim
+ENV O3DE_ENGINE=${HOME_DIR}/o3de
+ENV O3DE_DIR=${HOME_DIR}/O3DE
+ENV O3DE_EXTRAS=${HOME_DIR}/o3de-extras
+ENV PROJECT_PATH=${O3DE_DIR}/Projects/${PROJECT_NAME}
+
+# Disable prompting during package installation
+ARG DEBIAN_FRONTEND=noninteractive
+ENV DEBIAN_FRONTEND=noninteractive
+ENV TZ=Etc/UTC
+
+RUN sudo sh -c 'echo "deb http://packages.ros.org/ros2/ubuntu $(lsb_release -cs) main" > /etc/apt/sources.list.d/ros2-latest.list'
+RUN curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -
+
+### Delete CycloneDDS and install from apt to resolve cmake conflict ###
+
+# Clear Install folder, we will need to rebuild the workspace again
+WORKDIR ${SPACEROS_DIR}
+RUN sudo rm -rf install/
+
+# Delete problematic packages
+WORKDIR ${SPACEROS_DIR}/src
+RUN sudo rm -rf rmw_cyclonedds_cpp
+RUN sudo rm -rf rmw_implementation  
+RUN sudo rm -rf rmw_cyclonedds
+RUN sudo rm -rf realtime_tools
+
+WORKDIR ${SPACEROS_DIR}
+
+# Update rosdep
+RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
+  --mount=type=cache,target=/var/lib/apt,sharing=locked \
+  sudo apt-get update -y
+RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
+  --mount=type=cache,target=/var/lib/apt,sharing=locked \
+  sudo apt-get dist-upgrade -y
+RUN rosdep update
+
+# TODO open a PR to resolve rmw-cyclonedds and rmw-implementation causing .
+# Install them back from apt
+RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
+  --mount=type=cache,target=/var/lib/apt,sharing=locked \
+  sudo apt install -y \
+  ros-${ROS_DISTRO}-rmw-cyclonedds-cpp \
+  ros-${ROS_DISTRO}-rmw-implementation \
+  ros-${ROS_DISTRO}-realtime-tools
+
+# Rebuild Space ROS workspace
+RUN /bin/bash -c 'source /opt/ros/humble/setup.bash \ 
+    && colcon build --packages-ignore test_rmw_implementation'
+
+# Ensure proper permission for all files in SPACEROS_DIR
+RUN sudo chown -R ${USERNAME}:${USERNAME} ${SPACEROS_DIR}
+
+### Delete CycloneDDS and install from apt to resolve cmake conflict ###
+
+### Install all dependencies for demo_ws and O3DE ###
+
+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 DEBIAN_FRONTEND=noninteractive apt-get install -y \
+  python3-rosinstall-generator \
+  libboost-python-dev build-essential cmake libboost-all-dev libois-dev \
+  libzzip-dev libfreeimage-dev libfreetype6-dev libx11-dev libxt-dev libxaw7-dev \
+  libsdl2-dev libpugixml-dev libglew-dev qtbase5-dev libspdlog-dev libfmt-dev \
+  libignition-gazebo6-dev libssl-dev devscripts debian-keyring fakeroot debhelper \
+  libboost-dev libsasl2-dev libicu-dev libzstd-dev doxygen libtinyxml-dev \
+  libtinyxml2-dev python3-pyqt5 tzdata locales keyboard-configuration
+
+RUN sudo sed -i -e 's/# en_US.UTF-8 UTF-8/en_US.UTF-8 UTF-8/' /etc/locale.gen \
+    && sudo dpkg-reconfigure --frontend=noninteractive locales \
+    && sudo update-locale LANG=en_US.UTF-8
+
+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 DEBIAN_FRONTEND=noninteractive apt-get install -y \
+    bc \
+    bind9-utils binutils ca-certificates clang cmake \
+    file firewalld git git-lfs jq kbd kmod less \
+    lsb-release libglu1-mesa-dev libxcb-xinerama0 libfontconfig1-dev \
+    libcurl4-openssl-dev libnvidia-gl-470 libssl-dev libxcb-xkb-dev \
+    libxkbcommon-x11-dev libxkbcommon-dev libxcb-xfixes0-dev \
+    libxcb-xinput-dev libxcb-xinput0 \
+    libpcre2-16-0 lsof net-tools ninja-build pciutils \
+    python3-pip software-properties-common \
+    sudo tar unzip vim wget xz-utils
+    # && rm -rf /var/lib/apt/lists/* #  TODO need to figure out how to use this correctly
+
+### Install all dependencies for demo_ws and O3DE ###
+
+## Delete DEMO_WS repo, redownload correct one build the DEMO_WS again ###
+WORKDIR ${DEMO_DIR}
+RUN sudo rm -rf install/ build/ log/
+
+# WORKDIR ${DEMO_DIR}
+# Override what is necessary
+# COPY --chown=${USERNAME}:${USERNAME} o3de-robot-sim.repos /tmp/
+# COPY --chown=${USERNAME}:${USERNAME} excluded-pkgs.txt /tmp/
+
+# Delete space-ros/demo repo and replace it with Mechazo11/demo repo
+# that contains the modified mars_rover launch file to drive rover
+# TODO come up with a better solution so as not to disturb other projects in space-ros/demo repo
+WORKDIR ${DEMO_DIR}/src
+RUN sudo rm -rf demos/ && git clone --branch main --single-branch https://github.com/Mechazo11/space-ros-demos.git
+WORKDIR ${DEMO_DIR}
+
+# Update the ownership of the source files (had to use sudo above to work around
+# a possible inherited 'insteadof' from the host that forces use of ssh
+RUN sudo chown -R ${USERNAME}:${USERNAME} ${DEMO_DIR}
+
+RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
+  --mount=type=cache,target=/var/lib/apt,sharing=locked \
+  sudo apt-get update -y \
+&& /bin/bash -c 'source "/opt/ros/humble/setup.bash"' \
+&& /bin/bash -c 'source "${SPACEROS_DIR}/install/setup.bash"' \
+&& /bin/bash -c 'source "${MOVEIT2_DIR}/install/setup.bash"' \
+&& rosdep install --from-paths src --ignore-src -r -y --rosdistro ${ROSDISTRO}
+
+# # Build the demo_ws
+RUN /bin/bash -c 'source ${SPACEROS_DIR}/install/setup.bash && source ${MOVEIT2_DIR}/install/setup.bash \
+  && colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release'
+
+# Git clone RobotSim, NasaMarsRoverGem and MarsYardGem
+WORKDIR ${O3DE_DIR}/Projects
+RUN git clone --branch nasa_submission https://github.com/Mechazo11/RobotSim.git
+
+WORKDIR ${O3DE_DIR}/Gems
+RUN git clone --branch nasa_submission https://github.com/Mechazo11/NasaCuriosityRoverGem.git
+RUN git clone --branch nasa_submission https://github.com/Mechazo11/MarsYardGem.git
+
+# ## Symlink clang version to non-versioned clang and set cc to clang
+RUN sudo DEBIAN_FRONTEND=noninteractive update-alternatives --install /usr/bin/cc cc /usr/bin/clang 100 \
+    && sudo DEBIAN_FRONTEND=noninteractive update-alternatives --install /usr/bin/c++ c++ /usr/bin/clang++ 100
+
+# ####  Install Open 3D Engine   ####  
+
+# # Pull latest commit from development and build o3de. Note this does't build the whole engine
+WORKDIR ${HOME_DIR}
+
+# # Install o3de engine (automatically pulls last commit from "development" branch)
+RUN git clone --single-branch -b development https://github.com/o3de/o3de.git \
+    && cd o3de \
+    && git lfs install \
+    && git lfs pull \
+    && python/get_python.sh
+
+# # Install o3de-extras (automatically pulls last commit from "development" branch)
+# # Contains ROS 2 Gem and other relevant assets
+
+# WORKDIR ${HOME_DIR}
+RUN git clone --single-branch -b development https://github.com/o3de/o3de-extras.git \
+    && cd o3de-extras \
+    && git lfs install \
+    && git lfs pull
+
+WORKDIR ${HOME_DIR}/o3de
+
+# Register RobotSim with this engine
+#RUN ${O3DE_ENGINE}/scripts/o3de.sh register --this-engine 
+RUN ./scripts/o3de.sh register --this-engine \
+    && ./scripts/o3de.sh register --gem-path ${O3DE_EXTRAS}/Gems/ROS2 \
+    && ./scripts/o3de.sh register --gem-path ${O3DE_EXTRAS}/Gems/RosRobotSample \
+    && ./scripts/o3de.sh register --gem-path ${O3DE_EXTRAS}/Gems/WarehouseSample \
+    && ./scripts/o3de.sh register --gem-path ${O3DE_DIR}/Gems/NasaCuriosityRoverGem \
+    && ./scripts/o3de.sh register --gem-path ${O3DE_DIR}/Gems/MarsYardGem \
+    && ./scripts/o3de.sh register --gem-path ${HOME_DIR}/o3de/Gems/Terrain
+
+# Register RobotSim project.
+# Project must be registered at the very end after all dependent gems are registered
+RUN ./scripts/o3de.sh register --project-path ${O3DE_DIR}/Projects/${PROJECT_NAME}
+
+# # Move to project directory and run cmake and build project (Warning takes about 10-15 mins)
+WORKDIR ${HOME_DIR}
+
+# Install more essential binaries gazebo-msgs from binary
+RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
+    --mount=type=cache,target=/var/lib/apt,sharing=locked \
+    sudo apt-get update -y && sudo apt-get install -y \
+    libunwind-dev ros-${ROS_DISTRO}-gazebo-ros-pkgs
+
+# Move to project directory
+WORKDIR ${PROJECT_PATH}
+
+# Source ROS2, Space Ros, Movit2 and Demo_ws
+RUN /bin/bash -c 'source "/opt/ros/humble/setup.bash"' \
+    && /bin/bash -c 'source "${SPACEROS_DIR}/install/setup.bash"' \
+    && /bin/bash -c 'source "${MOVEIT2_DIR}/install/setup.bash"'
+
+RUN /bin/bash -c 'source ${DEMO_DIR}/install/setup.bash \
+    && cmake -B build/linux -G "Ninja Multi-Config" -DLY_DISABLE_TEST_MODULES=ON -DCMAKE_EXPORT_COMPILE_COMMANDS=ON -DLY_STRIP_DEBUG_SYMBOLS=ON -DAZ_USE_PHYSX5:BOOL=ON'
+
+RUN cmake --build build/linux --config profile --target ${PROJECT_NAME} Editor ${PROJECT_NAME}.Assets
+
+# Add the user to the render group so that the user can access /dev/dri/renderD128
+# /dev/dri/renderD128 gives access to hardware-accelerated rendering tool such as GPU
+RUN sudo usermod -aG render $USERNAME
+
+# Setup the entrypoint
+COPY ./entrypoint.sh /
+ENTRYPOINT ["/entrypoint.sh"]
+CMD ["bash"]
diff --git a/o3de_mars_rover/docker/Dockerfile_space_robots b/o3de_mars_rover/docker/Dockerfile_space_robots
new file mode 100644
index 00000000..561802cc
--- /dev/null
+++ b/o3de_mars_rover/docker/Dockerfile_space_robots
@@ -0,0 +1,105 @@
+# Copyright 2021 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+#
+# A Docker configuration script to build the Space ROS image.
+#
+# The script provides the following build arguments:
+#
+#   VCS_REF     - The git revision of the Space ROS source code (no default value).
+#   VERSION     - The version of Space ROS (default: "preview")
+
+FROM openrobotics/moveit2:latest
+
+# Define arguments used in the metadata definition
+ARG VCS_REF
+ARG VERSION="preview"
+
+# Specify the docker image metadata
+LABEL org.label-schema.schema-version="1.0"
+LABEL org.label-schema.name="Curiosity Rover"
+LABEL org.label-schema.description="Curiosity rover demo on the Space ROS platform"
+LABEL org.label-schema.vendor="Open Robotics"
+LABEL org.label-schema.version=${VERSION}
+LABEL org.label-schema.url="https://github.com/space-ros"
+LABEL org.label-schema.vcs-url="https://github.com/space-ros/docker"
+LABEL org.label-schema.vcs-ref=${VCS_REF}
+
+# Define a few key variables
+ENV DEMO_DIR=${HOME_DIR}/demos_ws
+ENV IGNITION_VERSION fortress
+ENV GZ_VERSION fortress
+
+# Disable prompting during package installation
+ARG DEBIAN_FRONTEND=noninteractive
+
+# Get rosinstall_generator
+# 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 -y && sudo apt-get install -y python3-rosinstall-generator
+
+# TODO(anyone): remove demo-pkgs.txt, no packages left after exclusions
+# Generate repos file for demo 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 \
+#   --rosdistro ${ROSDISTRO} \
+#   --deps \
+#   --exclude-path ${SPACEROS_DIR}/src \
+#   --exclude-path ${MOVEIT2_DIR}/src \
+#   --exclude $(cat /tmp/excluded-pkgs.txt) -- \
+#   -- $(cat /tmp/demo-pkgs.txt) \
+#   > /tmp/demo_generated_pkgs.repos
+
+RUN mkdir -p ${DEMO_DIR}/src
+WORKDIR ${DEMO_DIR}
+
+
+# Install libmongoc for development
+RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
+  --mount=type=cache,target=/var/lib/apt,sharing=locked \
+  sudo apt-get install libmongoc-dev -y
+
+# Compile mongo cxx driver https://mongocxx.org/mongocxx-v3/installation/linux/
+RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
+  --mount=type=cache,target=/var/lib/apt,sharing=locked \
+  sudo apt-get install libssl-dev build-essential devscripts debian-keyring fakeroot debhelper cmake libboost-dev libsasl2-dev libicu-dev libzstd-dev doxygen -y
+RUN wget https://github.com/mongodb/mongo-cxx-driver/releases/download/r3.6.7/mongo-cxx-driver-r3.6.7.tar.gz
+RUN tar -xzf mongo-cxx-driver-r3.6.7.tar.gz
+RUN cd mongo-cxx-driver-r3.6.7/build && cmake .. -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=/usr/local && sudo cmake --build . --target EP_mnmlstc_core && cmake --build . && sudo cmake --build . --target install
+
+# Get the source for the dependencies
+# RUN vcs import src < /tmp/demo_generated_pkgs.repos
+COPY --chown=${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 "${SPACEROS_DIR}/install/setup.bash"' \
+&& /bin/bash -c 'source "${MOVEIT2_DIR}/install/setup.bash"' \
+&& rosdep install --from-paths src --ignore-src -r -y --rosdistro ${ROSDISTRO}
+
+# Build the demo
+RUN /bin/bash -c 'source ${SPACEROS_DIR}/install/setup.bash && source ${MOVEIT2_DIR}/install/setup.bash \
+  && colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release'
+
+# Add the user to the render group so that the user can access /dev/dri/renderD128
+RUN sudo usermod -aG render $USERNAME
+
+# Setup the entrypoint
+COPY ./entrypoint.sh /
+ENTRYPOINT ["/entrypoint.sh"]
+CMD ["bash"]

From a656743969e1d41a835c0bb8a85045c6989906e2 Mon Sep 17 00:00:00 2001
From: Mechazo11 
Date: Fri, 13 Sep 2024 22:54:49 -0500
Subject: [PATCH 44/54] build script modified to build three docker images,
 testing in local machine

---
 .../Dockerfile_build_from_space_robot         |  0
 .../{ => bcks}/Dockerfile_one_shot_build      |  0
 .../{ => bcks}/Dockerfile_rwm_conflict_bug    |  0
 o3de_mars_rover/{ => bcks}/build_bck_works.sh |  0
 o3de_mars_rover/build.sh                      | 30 ++++++++++++-------
 5 files changed, 19 insertions(+), 11 deletions(-)
 rename o3de_mars_rover/{ => bcks}/Dockerfile_build_from_space_robot (100%)
 rename o3de_mars_rover/{ => bcks}/Dockerfile_one_shot_build (100%)
 rename o3de_mars_rover/{ => bcks}/Dockerfile_rwm_conflict_bug (100%)
 rename o3de_mars_rover/{ => bcks}/build_bck_works.sh (100%)

diff --git a/o3de_mars_rover/Dockerfile_build_from_space_robot b/o3de_mars_rover/bcks/Dockerfile_build_from_space_robot
similarity index 100%
rename from o3de_mars_rover/Dockerfile_build_from_space_robot
rename to o3de_mars_rover/bcks/Dockerfile_build_from_space_robot
diff --git a/o3de_mars_rover/Dockerfile_one_shot_build b/o3de_mars_rover/bcks/Dockerfile_one_shot_build
similarity index 100%
rename from o3de_mars_rover/Dockerfile_one_shot_build
rename to o3de_mars_rover/bcks/Dockerfile_one_shot_build
diff --git a/o3de_mars_rover/Dockerfile_rwm_conflict_bug b/o3de_mars_rover/bcks/Dockerfile_rwm_conflict_bug
similarity index 100%
rename from o3de_mars_rover/Dockerfile_rwm_conflict_bug
rename to o3de_mars_rover/bcks/Dockerfile_rwm_conflict_bug
diff --git a/o3de_mars_rover/build_bck_works.sh b/o3de_mars_rover/bcks/build_bck_works.sh
similarity index 100%
rename from o3de_mars_rover/build_bck_works.sh
rename to o3de_mars_rover/bcks/build_bck_works.sh
diff --git a/o3de_mars_rover/build.sh b/o3de_mars_rover/build.sh
index ab0556fd..615ed12d 100755
--- a/o3de_mars_rover/build.sh
+++ b/o3de_mars_rover/build.sh
@@ -17,26 +17,34 @@ DOCKER_DIR="./docker"
 # Exit script with failure if build fails
 set -eo pipefail
 
-
 echo ""
 echo "##### Building moviet2 image #####"
 
-docker build -t $ORG/$IMAGE1:$TAG \
-    -f $DOCKER_DIR/Dockerfile_moveit2 \
+docker build -t $ORG/$IMAGE1:$TAG -f $DOCKER_DIR/Dockerfile_moveit2 \
     --build-arg VCS_REF="$VCS_REF" \
     --build-arg VERSION="$VERSION" .
 
 echo ""
 echo "##### Done! #####"
 
-# echo ""
-# echo "##### Building O3DE + Space ROS Demo Docker Image #####"
-# echo ""
+echo ""
+echo "##### Building space_robots_demo image #####"
+
+docker build -t $ORG/$IMAGE2:$TAG -f $DOCKER_DIR/Dockerfile_space_robots \
+    --build-arg VCS_REF="$VCS_REF" \
+    --build-arg VERSION="$VERSION" .
 
-# docker build -t $ORG/$IMAGE:$TAG \
-#     --build-arg VCS_REF="$VCS_REF" \
-#     --build-arg VERSION="$VERSION" .
+echo ""
+echo "##### Done! #####"
 
-# echo ""
-# echo "##### Done! #####"
+echo ""
+echo "##### Building o3de curiosity rover demo docker image #####"
+echo ""
+
+docker build -t $ORG/$IMAGE3:$TAG -f $DOCKER_DIR/Dockerfile_o3de \
+    --build-arg VCS_REF="$VCS_REF" \
+    --build-arg VERSION="$VERSION" .
+
+echo ""
+echo "##### Done! #####"
 

From 1bcb92c37256039ae8c2fe08bdbd82ca6f60738f Mon Sep 17 00:00:00 2001
From: Mechazo11 
Date: Fri, 13 Sep 2024 23:47:42 -0500
Subject: [PATCH 45/54] why control_toolbox fails in moveit2?

---
 o3de_mars_rover/build.sh                  | 30 +++++++++++------------
 o3de_mars_rover/docker/Dockerfile_moveit2 | 11 +++++++++
 o3de_mars_rover/entrypoint.sh             |  6 ++---
 3 files changed, 29 insertions(+), 18 deletions(-)

diff --git a/o3de_mars_rover/build.sh b/o3de_mars_rover/build.sh
index 615ed12d..1548cd16 100755
--- a/o3de_mars_rover/build.sh
+++ b/o3de_mars_rover/build.sh
@@ -27,24 +27,24 @@ docker build -t $ORG/$IMAGE1:$TAG -f $DOCKER_DIR/Dockerfile_moveit2 \
 echo ""
 echo "##### Done! #####"
 
-echo ""
-echo "##### Building space_robots_demo image #####"
+# echo ""
+# echo "##### Building space_robots_demo image #####"
 
-docker build -t $ORG/$IMAGE2:$TAG -f $DOCKER_DIR/Dockerfile_space_robots \
-    --build-arg VCS_REF="$VCS_REF" \
-    --build-arg VERSION="$VERSION" .
+# docker build -t $ORG/$IMAGE2:$TAG -f $DOCKER_DIR/Dockerfile_space_robots \
+#     --build-arg VCS_REF="$VCS_REF" \
+#     --build-arg VERSION="$VERSION" .
 
-echo ""
-echo "##### Done! #####"
+# echo ""
+# echo "##### Done! #####"
 
-echo ""
-echo "##### Building o3de curiosity rover demo docker image #####"
-echo ""
+# echo ""
+# echo "##### Building o3de curiosity rover demo docker image #####"
+# echo ""
 
-docker build -t $ORG/$IMAGE3:$TAG -f $DOCKER_DIR/Dockerfile_o3de \
-    --build-arg VCS_REF="$VCS_REF" \
-    --build-arg VERSION="$VERSION" .
+# docker build -t $ORG/$IMAGE3:$TAG -f $DOCKER_DIR/Dockerfile_o3de \
+#     --build-arg VCS_REF="$VCS_REF" \
+#     --build-arg VERSION="$VERSION" .
 
-echo ""
-echo "##### Done! #####"
+# echo ""
+# echo "##### Done! #####"
 
diff --git a/o3de_mars_rover/docker/Dockerfile_moveit2 b/o3de_mars_rover/docker/Dockerfile_moveit2
index 11ff9160..7b95c65d 100644
--- a/o3de_mars_rover/docker/Dockerfile_moveit2
+++ b/o3de_mars_rover/docker/Dockerfile_moveit2
@@ -42,6 +42,17 @@ ARG DEBIAN_FRONTEND=noninteractive
 RUN mkdir ${SPACEROS_DIR}/src \
   && vcs import ${SPACEROS_DIR}/src < ${SPACEROS_DIR}/exact.repos
 
+# Need to rebuild Space ros source here to solve this issue 
+
+WORKDIR ${SPACEROS_DIR}
+RUN sudo rm -rf install/
+# Copied from Earthfile in space-ros/space-ros
+RUN colcon build \
+        --cmake-args \
+        -DCMAKE_BUILD_TYPE=Release \
+        -DCMAKE_EXPORT_COMPILE_COMMANDS=ON \
+        --no-warn-unused-cli
+
 # Define key locations
 ENV MOVEIT2_DIR=${HOME_DIR}/moveit2
 
diff --git a/o3de_mars_rover/entrypoint.sh b/o3de_mars_rover/entrypoint.sh
index 5eeb5475..1195f7ef 100755
--- a/o3de_mars_rover/entrypoint.sh
+++ b/o3de_mars_rover/entrypoint.sh
@@ -3,7 +3,7 @@ set -e
 
 # Source all relevant worksapces
 source "/opt/ros/humble/setup.bash"
-source "${SPACEROS_DIR}/install/setup.bash"
-source "${MOVEIT2_DIR}/install/setup.bash"
-source "${DEMO_DIR}/install/setup.bash"
+# source "${SPACEROS_DIR}/install/setup.bash"
+# source "${MOVEIT2_DIR}/install/setup.bash"
+# source "${DEMO_DIR}/install/setup.bash"
 exec "$@"

From dfcf50e8ca285e4956a649f9f5a08cc265c0c67d Mon Sep 17 00:00:00 2001
From: Mechazo11 
Date: Sat, 14 Sep 2024 00:14:54 -0500
Subject: [PATCH 46/54] rmw conflict affecting moveit2 image, found temporary
 fix, ready for another CI build test

---
 o3de_mars_rover/docker/Dockerfile_moveit2 | 67 ++++++++++++++++++++---
 o3de_mars_rover/entrypoint.sh             |  6 +-
 2 files changed, 62 insertions(+), 11 deletions(-)

diff --git a/o3de_mars_rover/docker/Dockerfile_moveit2 b/o3de_mars_rover/docker/Dockerfile_moveit2
index 7b95c65d..7a65c63b 100644
--- a/o3de_mars_rover/docker/Dockerfile_moveit2
+++ b/o3de_mars_rover/docker/Dockerfile_moveit2
@@ -38,20 +38,67 @@ LABEL org.label-schema.vcs-ref=${VCS_REF}
 # Disable prompting during package installation
 ARG DEBIAN_FRONTEND=noninteractive
 
+# TODO temporary solution, move these away from moveit2 after fix is done to base image
 # Clone all space-ros sources
 RUN mkdir ${SPACEROS_DIR}/src \
   && vcs import ${SPACEROS_DIR}/src < ${SPACEROS_DIR}/exact.repos
 
-# Need to rebuild Space ros source here to solve this issue 
+# Clear Install folder, we will need to rebuild the workspace again
+RUN sudo sh -c 'echo "deb http://packages.ros.org/ros2/ubuntu $(lsb_release -cs) main" > /etc/apt/sources.list.d/ros2-latest.list'
+RUN curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -
 
 WORKDIR ${SPACEROS_DIR}
 RUN sudo rm -rf install/
-# Copied from Earthfile in space-ros/space-ros
-RUN colcon build \
-        --cmake-args \
-        -DCMAKE_BUILD_TYPE=Release \
-        -DCMAKE_EXPORT_COMPILE_COMMANDS=ON \
-        --no-warn-unused-cli
+
+# Delete problematic packages
+WORKDIR ${SPACEROS_DIR}/src
+RUN sudo rm -rf rmw_cyclonedds_cpp
+RUN sudo rm -rf rmw_implementation  
+RUN sudo rm -rf rmw_cyclonedds
+RUN sudo rm -rf realtime_tools
+
+WORKDIR ${SPACEROS_DIR}
+
+# Update rosdep
+RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
+  --mount=type=cache,target=/var/lib/apt,sharing=locked \
+  sudo apt-get update -y
+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
+
+# TODO open a PR to resolve rmw-cyclonedds and rmw-implementation causing .
+# Install them back from apt
+RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
+  --mount=type=cache,target=/var/lib/apt,sharing=locked \
+  sudo apt install -y \
+  ros-humble-rmw-cyclonedds-cpp \
+  ros-humble-rmw-implementation \
+  ros-humble-realtime-tools
+
+# Rebuild Space ROS workspace
+RUN /bin/bash -c 'source /opt/ros/humble/setup.bash \ 
+    && colcon build --packages-ignore test_rmw_implementation'
+
+# Ensure proper permission for all files in SPACEROS_DIR
+RUN sudo chown -R ${USERNAME}:${USERNAME} ${SPACEROS_DIR}
+
+
+# TODO raise Issue, why fastrtps-cpp is available?
+# RUN sudo apt-get remove ros-$ROS_DISTRO-rmw-fastrtps-cpp
+# RUN source /opt/ros/humble/setup.bash
+
+# Need to rebuild Space ros source here to solve this issue 
+
+# WORKDIR ${SPACEROS_DIR}
+# RUN sudo rm -rf install/
+# # Copied from Earthfile in space-ros/space-ros
+# RUN colcon build \
+#         --cmake-args \
+#         -DCMAKE_BUILD_TYPE=Release \
+#         -DCMAKE_EXPORT_COMPILE_COMMANDS=ON \
+#         --no-warn-unused-cli
 
 # Define key locations
 ENV MOVEIT2_DIR=${HOME_DIR}/moveit2
@@ -146,11 +193,15 @@ RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
 COPY --chown=${USERNAME}:${USERNAME} octomap_fix.diff ./src/octomap_msgs
 RUN cd src/octomap_msgs && git apply octomap_fix.diff
 
+# Build MoveIt2
+# RUN /bin/bash -c 'source ${SPACEROS_DIR}/install/setup.bash \
+#   && colcon build --packages-select control_msgs control_toolbox'
+
 # Build MoveIt2
 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 a couple sample GUI apps for testing
+# # 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 \
diff --git a/o3de_mars_rover/entrypoint.sh b/o3de_mars_rover/entrypoint.sh
index 1195f7ef..5eeb5475 100755
--- a/o3de_mars_rover/entrypoint.sh
+++ b/o3de_mars_rover/entrypoint.sh
@@ -3,7 +3,7 @@ set -e
 
 # Source all relevant worksapces
 source "/opt/ros/humble/setup.bash"
-# source "${SPACEROS_DIR}/install/setup.bash"
-# source "${MOVEIT2_DIR}/install/setup.bash"
-# source "${DEMO_DIR}/install/setup.bash"
+source "${SPACEROS_DIR}/install/setup.bash"
+source "${MOVEIT2_DIR}/install/setup.bash"
+source "${DEMO_DIR}/install/setup.bash"
 exec "$@"

From 861045dee62c8f51d649c1d230153fbbe5b36768 Mon Sep 17 00:00:00 2001
From: Mechazo11 
Date: Sat, 14 Sep 2024 00:15:18 -0500
Subject: [PATCH 47/54] ready for ci test

---
 o3de_mars_rover/build.sh | 30 +++++++++++++++---------------
 1 file changed, 15 insertions(+), 15 deletions(-)

diff --git a/o3de_mars_rover/build.sh b/o3de_mars_rover/build.sh
index 1548cd16..615ed12d 100755
--- a/o3de_mars_rover/build.sh
+++ b/o3de_mars_rover/build.sh
@@ -27,24 +27,24 @@ docker build -t $ORG/$IMAGE1:$TAG -f $DOCKER_DIR/Dockerfile_moveit2 \
 echo ""
 echo "##### Done! #####"
 
-# echo ""
-# echo "##### Building space_robots_demo image #####"
+echo ""
+echo "##### Building space_robots_demo image #####"
 
-# docker build -t $ORG/$IMAGE2:$TAG -f $DOCKER_DIR/Dockerfile_space_robots \
-#     --build-arg VCS_REF="$VCS_REF" \
-#     --build-arg VERSION="$VERSION" .
+docker build -t $ORG/$IMAGE2:$TAG -f $DOCKER_DIR/Dockerfile_space_robots \
+    --build-arg VCS_REF="$VCS_REF" \
+    --build-arg VERSION="$VERSION" .
 
-# echo ""
-# echo "##### Done! #####"
+echo ""
+echo "##### Done! #####"
 
-# echo ""
-# echo "##### Building o3de curiosity rover demo docker image #####"
-# echo ""
+echo ""
+echo "##### Building o3de curiosity rover demo docker image #####"
+echo ""
 
-# docker build -t $ORG/$IMAGE3:$TAG -f $DOCKER_DIR/Dockerfile_o3de \
-#     --build-arg VCS_REF="$VCS_REF" \
-#     --build-arg VERSION="$VERSION" .
+docker build -t $ORG/$IMAGE3:$TAG -f $DOCKER_DIR/Dockerfile_o3de \
+    --build-arg VCS_REF="$VCS_REF" \
+    --build-arg VERSION="$VERSION" .
 
-# echo ""
-# echo "##### Done! #####"
+echo ""
+echo "##### Done! #####"
 

From cdbba819a67f117782c18dfa47c5949a9dadc002 Mon Sep 17 00:00:00 2001
From: Mechazo11 
Date: Sat, 14 Sep 2024 00:18:45 -0500
Subject: [PATCH 48/54] correct .repos for space_robot, pushing for ci

---
 o3de_mars_rover/demo-pkgs.txt          |  3 --
 o3de_mars_rover/demo_manual_pkgs.repos | 42 ++++++++++++++++++++++++++
 2 files changed, 42 insertions(+), 3 deletions(-)
 delete mode 100644 o3de_mars_rover/demo-pkgs.txt
 create mode 100644 o3de_mars_rover/demo_manual_pkgs.repos

diff --git a/o3de_mars_rover/demo-pkgs.txt b/o3de_mars_rover/demo-pkgs.txt
deleted file mode 100644
index 76e6719a..00000000
--- a/o3de_mars_rover/demo-pkgs.txt
+++ /dev/null
@@ -1,3 +0,0 @@
-ros-controls/control_msgs
-ros2_control
-xacro
diff --git a/o3de_mars_rover/demo_manual_pkgs.repos b/o3de_mars_rover/demo_manual_pkgs.repos
new file mode 100644
index 00000000..cd06e7e7
--- /dev/null
+++ b/o3de_mars_rover/demo_manual_pkgs.repos
@@ -0,0 +1,42 @@
+repositories:
+  demos:
+    type: git
+    url: https://github.com/space-ros/demos.git
+    version: main
+  gz_ros2_control:
+    type: git
+    url: https://github.com/ros-controls/gz_ros2_control.git
+    version: humble
+  qt_gui_core:
+    type: git
+    url: https://github.com/ros-visualization/qt_gui_core.git
+    version: humble
+  ros2_controllers:
+    type: git
+    url: https://github.com/tonylitianyu/ros2_controllers.git
+    version: effort_group_position_controller_2
+  actuator_msgs:
+    type: git
+    url: https://github.com/rudislabs/actuator_msgs.git
+    version: main
+  ros_gz:
+    type: git
+    url: https://github.com/gazebosim/ros_gz.git
+    version: humble
+  simulation:
+    type: git
+    url: https://github.com/space-ros/simulation.git
+    version: main
+  ros-humble-warehouse-ros-mongo:
+    type: git
+    url: https://github.com/moveit/warehouse_ros_mongo.git
+    version: ros2
+  vision_msgs:
+    type: git
+    url: https://github.com/ros-perception/vision_msgs.git
+    version: ros2
+  gps_msgs:
+    type: git
+    url: https://github.com/swri-robotics/gps_umd.git
+    path: gps_msgs
+    version: 113782d

From 1037bf4897b95dfbb09a8f079fc7b66f5ec36fac Mon Sep 17 00:00:00 2001
From: Mechazo11 
Date: Sat, 14 Sep 2024 08:09:25 -0500
Subject: [PATCH 49/54] missed :latest tag when defining source file for o3de
 image, attempting CI now

---
 o3de_mars_rover/docker/Dockerfile_o3de | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/o3de_mars_rover/docker/Dockerfile_o3de b/o3de_mars_rover/docker/Dockerfile_o3de
index 5bf9f95b..82ed26f4 100644
--- a/o3de_mars_rover/docker/Dockerfile_o3de
+++ b/o3de_mars_rover/docker/Dockerfile_o3de
@@ -23,7 +23,7 @@
 #   VCS_REF     - The git revision of the Space ROS source code (no default value).
 #   VERSION     - The version of Space ROS (default: "preview")
 
-FROM openrobotics/space_robots_demo
+FROM openrobotics/space_robots_demo:latest
 
 # Define arguments used in the metadata definition
 ARG VCS_REF

From 2522d1fd8445806c50a82616ddacb543e410c538 Mon Sep 17 00:00:00 2001
From: Mechazo11 
Date: Sat, 14 Sep 2024 12:28:25 -0500
Subject: [PATCH 50/54] o3de_docker image was looking for an image with wrong
 name, fixed. Attempting CI

---
 o3de_mars_rover/docker/Dockerfile_o3de | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/o3de_mars_rover/docker/Dockerfile_o3de b/o3de_mars_rover/docker/Dockerfile_o3de
index 82ed26f4..c1a2fdf3 100644
--- a/o3de_mars_rover/docker/Dockerfile_o3de
+++ b/o3de_mars_rover/docker/Dockerfile_o3de
@@ -23,7 +23,7 @@
 #   VCS_REF     - The git revision of the Space ROS source code (no default value).
 #   VERSION     - The version of Space ROS (default: "preview")
 
-FROM openrobotics/space_robots_demo:latest
+FROM openrobotics/space_robot_demo:latest
 
 # Define arguments used in the metadata definition
 ARG VCS_REF

From e33cebe17cd32fb54466d1f1c2c1d2c967ddd890 Mon Sep 17 00:00:00 2001
From: Mechazo11 
Date: Sun, 15 Sep 2024 13:41:01 -0500
Subject: [PATCH 51/54] removed duplicate commands in moveit2, space_robot_demo
 and o3de_curiosity_docker Dockerfiles

---
 o3de_mars_rover/demo_manual_pkgs.repos        |  2 +-
 o3de_mars_rover/docker/Dockerfile_o3de        | 45 ------------------
 .../docker/Dockerfile_space_robots            | 46 +++++++++++++++++++
 3 files changed, 47 insertions(+), 46 deletions(-)

diff --git a/o3de_mars_rover/demo_manual_pkgs.repos b/o3de_mars_rover/demo_manual_pkgs.repos
index cd06e7e7..bd11f4b5 100644
--- a/o3de_mars_rover/demo_manual_pkgs.repos
+++ b/o3de_mars_rover/demo_manual_pkgs.repos
@@ -1,7 +1,7 @@
 repositories:
   demos:
     type: git
-    url: https://github.com/space-ros/demos.git
+    url: https://github.com/Mechazo11/space-ros-demos.git
     version: main
   gz_ros2_control:
     type: git
diff --git a/o3de_mars_rover/docker/Dockerfile_o3de b/o3de_mars_rover/docker/Dockerfile_o3de
index c1a2fdf3..277c1538 100644
--- a/o3de_mars_rover/docker/Dockerfile_o3de
+++ b/o3de_mars_rover/docker/Dockerfile_o3de
@@ -56,51 +56,6 @@ ARG DEBIAN_FRONTEND=noninteractive
 ENV DEBIAN_FRONTEND=noninteractive
 ENV TZ=Etc/UTC
 
-RUN sudo sh -c 'echo "deb http://packages.ros.org/ros2/ubuntu $(lsb_release -cs) main" > /etc/apt/sources.list.d/ros2-latest.list'
-RUN curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -
-
-### Delete CycloneDDS and install from apt to resolve cmake conflict ###
-
-# Clear Install folder, we will need to rebuild the workspace again
-WORKDIR ${SPACEROS_DIR}
-RUN sudo rm -rf install/
-
-# Delete problematic packages
-WORKDIR ${SPACEROS_DIR}/src
-RUN sudo rm -rf rmw_cyclonedds_cpp
-RUN sudo rm -rf rmw_implementation  
-RUN sudo rm -rf rmw_cyclonedds
-RUN sudo rm -rf realtime_tools
-
-WORKDIR ${SPACEROS_DIR}
-
-# Update rosdep
-RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
-  --mount=type=cache,target=/var/lib/apt,sharing=locked \
-  sudo apt-get update -y
-RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
-  --mount=type=cache,target=/var/lib/apt,sharing=locked \
-  sudo apt-get dist-upgrade -y
-RUN rosdep update
-
-# TODO open a PR to resolve rmw-cyclonedds and rmw-implementation causing .
-# Install them back from apt
-RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
-  --mount=type=cache,target=/var/lib/apt,sharing=locked \
-  sudo apt install -y \
-  ros-${ROS_DISTRO}-rmw-cyclonedds-cpp \
-  ros-${ROS_DISTRO}-rmw-implementation \
-  ros-${ROS_DISTRO}-realtime-tools
-
-# Rebuild Space ROS workspace
-RUN /bin/bash -c 'source /opt/ros/humble/setup.bash \ 
-    && colcon build --packages-ignore test_rmw_implementation'
-
-# Ensure proper permission for all files in SPACEROS_DIR
-RUN sudo chown -R ${USERNAME}:${USERNAME} ${SPACEROS_DIR}
-
-### Delete CycloneDDS and install from apt to resolve cmake conflict ###
-
 ### Install all dependencies for demo_ws and O3DE ###
 
 RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
diff --git a/o3de_mars_rover/docker/Dockerfile_space_robots b/o3de_mars_rover/docker/Dockerfile_space_robots
index 561802cc..858f4bc8 100644
--- a/o3de_mars_rover/docker/Dockerfile_space_robots
+++ b/o3de_mars_rover/docker/Dockerfile_space_robots
@@ -42,6 +42,50 @@ ENV GZ_VERSION fortress
 
 # Disable prompting during package installation
 ARG DEBIAN_FRONTEND=noninteractive
+ENV DEBIAN_FRONTEND=noninteractive
+
+### Delete CycloneDDS and install from apt to resolve cmake conflict ###
+RUN sudo sh -c 'echo "deb http://packages.ros.org/ros2/ubuntu $(lsb_release -cs) main" > /etc/apt/sources.list.d/ros2-latest.list'
+RUN curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -
+
+# Clear Install folder, we will need to rebuild the workspace again
+# WORKDIR ${SPACEROS_DIR}
+# RUN sudo rm -rf install/
+
+# # Delete problematic packages
+# WORKDIR ${SPACEROS_DIR}/src
+# RUN sudo rm -rf rmw_cyclonedds_cpp
+# RUN sudo rm -rf rmw_implementation  
+# RUN sudo rm -rf rmw_cyclonedds
+# RUN sudo rm -rf realtime_tools
+
+# WORKDIR ${SPACEROS_DIR}
+
+# # Update rosdep
+# RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
+#   --mount=type=cache,target=/var/lib/apt,sharing=locked \
+#   sudo apt-get update -y
+# RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
+#   --mount=type=cache,target=/var/lib/apt,sharing=locked \
+#   sudo apt-get dist-upgrade -y
+# RUN rosdep update
+
+# # TODO open a PR to resolve rmw-cyclonedds and rmw-implementation causing .
+# # Install them back from apt
+# RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
+#   --mount=type=cache,target=/var/lib/apt,sharing=locked \
+#   sudo apt install -y \
+#   ros-${ROS_DISTRO}-rmw-cyclonedds-cpp \
+#   ros-${ROS_DISTRO}-rmw-implementation \
+#   ros-${ROS_DISTRO}-realtime-tools
+
+# # Rebuild Space ROS workspace
+# RUN /bin/bash -c 'source /opt/ros/humble/setup.bash \ 
+#     && colcon build --packages-ignore test_rmw_implementation'
+
+# # Ensure proper permission for all files in SPACEROS_DIR
+# RUN sudo chown -R ${USERNAME}:${USERNAME} ${SPACEROS_DIR}
+# 09/15 This patch has been already added into moveit2 image
 
 # Get rosinstall_generator
 # Using Docker BuildKit cache mounts for /var/cache/apt and /var/lib/apt ensures that
@@ -83,11 +127,13 @@ RUN cd mongo-cxx-driver-r3.6.7/build && cmake .. -DCMAKE_BUILD_TYPE=Release -DCM
 # Get the source for the dependencies
 # RUN vcs import src < /tmp/demo_generated_pkgs.repos
 COPY --chown=${USERNAME}:${USERNAME} demo_manual_pkgs.repos /tmp/
+# NOTE! the "demo" repo is referring Mechazo11/space-ros-demos not space-ros/demos
 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 "/opt/ros/humble/setup.bash"' \
 && /bin/bash -c 'source "${SPACEROS_DIR}/install/setup.bash"' \
 && /bin/bash -c 'source "${MOVEIT2_DIR}/install/setup.bash"' \
 && rosdep install --from-paths src --ignore-src -r -y --rosdistro ${ROSDISTRO}

From a02400ff6928a23982ae91f48110f943a33cfad0 Mon Sep 17 00:00:00 2001
From: Mechazo11 
Date: Sun, 15 Sep 2024 14:13:10 -0500
Subject: [PATCH 52/54] doing a master build test

---
 o3de_mars_rover/build.sh                      | 16 ++---
 o3de_mars_rover/docker/Dockerfile_moveit2     | 21 ++-----
 o3de_mars_rover/docker/Dockerfile_o3de        | 34 +---------
 .../docker/Dockerfile_space_robots            | 63 ++-----------------
 4 files changed, 20 insertions(+), 114 deletions(-)

diff --git a/o3de_mars_rover/build.sh b/o3de_mars_rover/build.sh
index 615ed12d..c8a52b13 100755
--- a/o3de_mars_rover/build.sh
+++ b/o3de_mars_rover/build.sh
@@ -37,14 +37,14 @@ docker build -t $ORG/$IMAGE2:$TAG -f $DOCKER_DIR/Dockerfile_space_robots \
 echo ""
 echo "##### Done! #####"
 
-echo ""
-echo "##### Building o3de curiosity rover demo docker image #####"
-echo ""
+# echo ""
+# echo "##### Building o3de curiosity rover demo docker image #####"
+# echo ""
 
-docker build -t $ORG/$IMAGE3:$TAG -f $DOCKER_DIR/Dockerfile_o3de \
-    --build-arg VCS_REF="$VCS_REF" \
-    --build-arg VERSION="$VERSION" .
+# docker build -t $ORG/$IMAGE3:$TAG -f $DOCKER_DIR/Dockerfile_o3de \
+#     --build-arg VCS_REF="$VCS_REF" \
+#     --build-arg VERSION="$VERSION" .
 
-echo ""
-echo "##### Done! #####"
+# echo ""
+# echo "##### Done! #####"
 
diff --git a/o3de_mars_rover/docker/Dockerfile_moveit2 b/o3de_mars_rover/docker/Dockerfile_moveit2
index 7a65c63b..bd311757 100644
--- a/o3de_mars_rover/docker/Dockerfile_moveit2
+++ b/o3de_mars_rover/docker/Dockerfile_moveit2
@@ -38,6 +38,11 @@ LABEL org.label-schema.vcs-ref=${VCS_REF}
 # Disable prompting during package installation
 ARG DEBIAN_FRONTEND=noninteractive
 
+# Patch to solve rmw_cyclone_dds and rmw_implementation bug and control_toolbox finding fastrtps-cpp
+# TODO raise Issue, why fastrtps-cpp is available?
+RUN sudo apt-get remove ros-$ROS_DISTRO-rmw-fastrtps-cpp
+RUN source /opt/ros/humble/setup.bash
+
 # TODO temporary solution, move these away from moveit2 after fix is done to base image
 # Clone all space-ros sources
 RUN mkdir ${SPACEROS_DIR}/src \
@@ -84,22 +89,6 @@ RUN /bin/bash -c 'source /opt/ros/humble/setup.bash \
 # Ensure proper permission for all files in SPACEROS_DIR
 RUN sudo chown -R ${USERNAME}:${USERNAME} ${SPACEROS_DIR}
 
-
-# TODO raise Issue, why fastrtps-cpp is available?
-# RUN sudo apt-get remove ros-$ROS_DISTRO-rmw-fastrtps-cpp
-# RUN source /opt/ros/humble/setup.bash
-
-# Need to rebuild Space ros source here to solve this issue 
-
-# WORKDIR ${SPACEROS_DIR}
-# RUN sudo rm -rf install/
-# # Copied from Earthfile in space-ros/space-ros
-# RUN colcon build \
-#         --cmake-args \
-#         -DCMAKE_BUILD_TYPE=Release \
-#         -DCMAKE_EXPORT_COMPILE_COMMANDS=ON \
-#         --no-warn-unused-cli
-
 # Define key locations
 ENV MOVEIT2_DIR=${HOME_DIR}/moveit2
 
diff --git a/o3de_mars_rover/docker/Dockerfile_o3de b/o3de_mars_rover/docker/Dockerfile_o3de
index 277c1538..2cfba472 100644
--- a/o3de_mars_rover/docker/Dockerfile_o3de
+++ b/o3de_mars_rover/docker/Dockerfile_o3de
@@ -88,39 +88,7 @@ RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
     sudo tar unzip vim wget xz-utils
     # && rm -rf /var/lib/apt/lists/* #  TODO need to figure out how to use this correctly
 
-### Install all dependencies for demo_ws and O3DE ###
-
-## Delete DEMO_WS repo, redownload correct one build the DEMO_WS again ###
-WORKDIR ${DEMO_DIR}
-RUN sudo rm -rf install/ build/ log/
-
-# WORKDIR ${DEMO_DIR}
-# Override what is necessary
-# COPY --chown=${USERNAME}:${USERNAME} o3de-robot-sim.repos /tmp/
-# COPY --chown=${USERNAME}:${USERNAME} excluded-pkgs.txt /tmp/
-
-# Delete space-ros/demo repo and replace it with Mechazo11/demo repo
-# that contains the modified mars_rover launch file to drive rover
-# TODO come up with a better solution so as not to disturb other projects in space-ros/demo repo
-WORKDIR ${DEMO_DIR}/src
-RUN sudo rm -rf demos/ && git clone --branch main --single-branch https://github.com/Mechazo11/space-ros-demos.git
-WORKDIR ${DEMO_DIR}
-
-# Update the ownership of the source files (had to use sudo above to work around
-# a possible inherited 'insteadof' from the host that forces use of ssh
-RUN sudo chown -R ${USERNAME}:${USERNAME} ${DEMO_DIR}
-
-RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
-  --mount=type=cache,target=/var/lib/apt,sharing=locked \
-  sudo apt-get update -y \
-&& /bin/bash -c 'source "/opt/ros/humble/setup.bash"' \
-&& /bin/bash -c 'source "${SPACEROS_DIR}/install/setup.bash"' \
-&& /bin/bash -c 'source "${MOVEIT2_DIR}/install/setup.bash"' \
-&& rosdep install --from-paths src --ignore-src -r -y --rosdistro ${ROSDISTRO}
-
-# # Build the demo_ws
-RUN /bin/bash -c 'source ${SPACEROS_DIR}/install/setup.bash && source ${MOVEIT2_DIR}/install/setup.bash \
-  && colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release'
+### Install all dependencies for O3DE ###
 
 # Git clone RobotSim, NasaMarsRoverGem and MarsYardGem
 WORKDIR ${O3DE_DIR}/Projects
diff --git a/o3de_mars_rover/docker/Dockerfile_space_robots b/o3de_mars_rover/docker/Dockerfile_space_robots
index 858f4bc8..9dedcbf4 100644
--- a/o3de_mars_rover/docker/Dockerfile_space_robots
+++ b/o3de_mars_rover/docker/Dockerfile_space_robots
@@ -44,48 +44,7 @@ ENV GZ_VERSION fortress
 ARG DEBIAN_FRONTEND=noninteractive
 ENV DEBIAN_FRONTEND=noninteractive
 
-### Delete CycloneDDS and install from apt to resolve cmake conflict ###
-RUN sudo sh -c 'echo "deb http://packages.ros.org/ros2/ubuntu $(lsb_release -cs) main" > /etc/apt/sources.list.d/ros2-latest.list'
-RUN curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -
-
-# Clear Install folder, we will need to rebuild the workspace again
-# WORKDIR ${SPACEROS_DIR}
-# RUN sudo rm -rf install/
-
-# # Delete problematic packages
-# WORKDIR ${SPACEROS_DIR}/src
-# RUN sudo rm -rf rmw_cyclonedds_cpp
-# RUN sudo rm -rf rmw_implementation  
-# RUN sudo rm -rf rmw_cyclonedds
-# RUN sudo rm -rf realtime_tools
-
-# WORKDIR ${SPACEROS_DIR}
-
-# # Update rosdep
-# RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
-#   --mount=type=cache,target=/var/lib/apt,sharing=locked \
-#   sudo apt-get update -y
-# RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
-#   --mount=type=cache,target=/var/lib/apt,sharing=locked \
-#   sudo apt-get dist-upgrade -y
-# RUN rosdep update
-
-# # TODO open a PR to resolve rmw-cyclonedds and rmw-implementation causing .
-# # Install them back from apt
-# RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
-#   --mount=type=cache,target=/var/lib/apt,sharing=locked \
-#   sudo apt install -y \
-#   ros-${ROS_DISTRO}-rmw-cyclonedds-cpp \
-#   ros-${ROS_DISTRO}-rmw-implementation \
-#   ros-${ROS_DISTRO}-realtime-tools
-
-# # Rebuild Space ROS workspace
-# RUN /bin/bash -c 'source /opt/ros/humble/setup.bash \ 
-#     && colcon build --packages-ignore test_rmw_implementation'
-
-# # Ensure proper permission for all files in SPACEROS_DIR
-# RUN sudo chown -R ${USERNAME}:${USERNAME} ${SPACEROS_DIR}
-# 09/15 This patch has been already added into moveit2 image
+# 09/15 The patch to fix rmw conflict and control_toolbox added to moveit2 image
 
 # Get rosinstall_generator
 # Using Docker BuildKit cache mounts for /var/cache/apt and /var/lib/apt ensures that
@@ -94,23 +53,9 @@ 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
 
-# TODO(anyone): remove demo-pkgs.txt, no packages left after exclusions
-# Generate repos file for demo 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 \
-#   --rosdistro ${ROSDISTRO} \
-#   --deps \
-#   --exclude-path ${SPACEROS_DIR}/src \
-#   --exclude-path ${MOVEIT2_DIR}/src \
-#   --exclude $(cat /tmp/excluded-pkgs.txt) -- \
-#   -- $(cat /tmp/demo-pkgs.txt) \
-#   > /tmp/demo_generated_pkgs.repos
-
 RUN mkdir -p ${DEMO_DIR}/src
 WORKDIR ${DEMO_DIR}
 
-
 # Install libmongoc for development
 RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
   --mount=type=cache,target=/var/lib/apt,sharing=locked \
@@ -127,9 +72,13 @@ RUN cd mongo-cxx-driver-r3.6.7/build && cmake .. -DCMAKE_BUILD_TYPE=Release -DCM
 # Get the source for the dependencies
 # RUN vcs import src < /tmp/demo_generated_pkgs.repos
 COPY --chown=${USERNAME}:${USERNAME} demo_manual_pkgs.repos /tmp/
-# NOTE! the "demo" repo is referring Mechazo11/space-ros-demos not space-ros/demos
+# WARNING the "demo" repo is referring Mechazo11/space-ros-demos not space-ros/demos
 RUN vcs import src < /tmp/demo_manual_pkgs.repos && /bin/bash -c 'source "${SPACEROS_DIR}/install/setup.bash"' 
 
+# Update the ownership of the source files (had to use sudo above to work around
+# a possible inherited 'insteadof' from the host that forces use of ssh
+RUN sudo chown -R ${USERNAME}:${USERNAME} ${DEMO_DIR}
+
 RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
   --mount=type=cache,target=/var/lib/apt,sharing=locked \
   sudo apt-get update -y \

From 9ec5bf2752095471e2dc6d8542735ca964622f6b Mon Sep 17 00:00:00 2001
From: Mechazo11 
Date: Sun, 15 Sep 2024 14:13:48 -0500
Subject: [PATCH 53/54] master build test

---
 o3de_mars_rover/build.sh | 16 ++++++++--------
 1 file changed, 8 insertions(+), 8 deletions(-)

diff --git a/o3de_mars_rover/build.sh b/o3de_mars_rover/build.sh
index c8a52b13..615ed12d 100755
--- a/o3de_mars_rover/build.sh
+++ b/o3de_mars_rover/build.sh
@@ -37,14 +37,14 @@ docker build -t $ORG/$IMAGE2:$TAG -f $DOCKER_DIR/Dockerfile_space_robots \
 echo ""
 echo "##### Done! #####"
 
-# echo ""
-# echo "##### Building o3de curiosity rover demo docker image #####"
-# echo ""
+echo ""
+echo "##### Building o3de curiosity rover demo docker image #####"
+echo ""
 
-# docker build -t $ORG/$IMAGE3:$TAG -f $DOCKER_DIR/Dockerfile_o3de \
-#     --build-arg VCS_REF="$VCS_REF" \
-#     --build-arg VERSION="$VERSION" .
+docker build -t $ORG/$IMAGE3:$TAG -f $DOCKER_DIR/Dockerfile_o3de \
+    --build-arg VCS_REF="$VCS_REF" \
+    --build-arg VERSION="$VERSION" .
 
-# echo ""
-# echo "##### Done! #####"
+echo ""
+echo "##### Done! #####"
 

From 6e67f57ea388e9fe9909eb8cf2d684a537416e60 Mon Sep 17 00:00:00 2001
From: Mechazo11 
Date: Sun, 15 Sep 2024 16:31:38 -0500
Subject: [PATCH 54/54] o3de separated completely, ready for CI test

---
 o3de_mars_rover/docker/Dockerfile_moveit2 | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/o3de_mars_rover/docker/Dockerfile_moveit2 b/o3de_mars_rover/docker/Dockerfile_moveit2
index bd311757..6b7db941 100644
--- a/o3de_mars_rover/docker/Dockerfile_moveit2
+++ b/o3de_mars_rover/docker/Dockerfile_moveit2
@@ -40,8 +40,8 @@ ARG DEBIAN_FRONTEND=noninteractive
 
 # Patch to solve rmw_cyclone_dds and rmw_implementation bug and control_toolbox finding fastrtps-cpp
 # TODO raise Issue, why fastrtps-cpp is available?
-RUN sudo apt-get remove ros-$ROS_DISTRO-rmw-fastrtps-cpp
-RUN source /opt/ros/humble/setup.bash
+# RUN source /opt/ros/humble/setup.bash
+# RUN sudo apt-get remove ros-$ROS_DISTRO-rmw-fastrtps-cpp
 
 # TODO temporary solution, move these away from moveit2 after fix is done to base image
 # Clone all space-ros sources

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