NASA_Challenge_[@xfiderek] Add dockerfile for SSRMS moveit2 working w…

…ith trick (space-ros#42).

Adds dockerfile with ROS part of the end-to-end demo.
It includes moveit2_docker_deps folder with dependent files taken from spaceros docker repo.
Large portion of the dockerfile could be simplified in the future, when moveit2 stack gets introduced into spaceros.

ros_trick/canadarm_ros_trick_demo.Dockerfile

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+# Copyright 2024 Blazej Fiderek (xfiderek)
+# 
+# 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
+# 
+#     https://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.
+
+
+# The vast portion of this dockerfile's code is based on spaceros moveit2 demo from spaceros docker repository
+FROM osrf/space-ros:latest
+
+ARG DEBIAN_FRONTEND=noninteractive
+
+#############################################################################################################
+#############################################################################################################
+# START BUILD MOVEIT2 DEPENDENCY                                                                            #
+# THE CODE BELOW IS TAKEN FROM https://github.com/space-ros/docker/blob/humble-2024.07.0/moveit2/Dockerfile #
+# IN FUTURE, IT SHOULD BE REPLACED WITH SPACEROS/MOVEIT2 STACK                                              #
+#############################################################################################################
+#############################################################################################################
+
+# 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/ros-planning/moveit2.git -b ${ROSDISTRO} moveit2/src
+RUN cd ${MOVEIT2_DIR}/src \
+  && sudo git clone https://github.com/ros-planning/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}:${USERNAME} moveit2_docker_deps/moveit2-pkgs.txt /tmp/
+COPY --chown=${USERNAME}:${USERNAME} moveit2_docker_deps/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_docker_deps/moveit2_deps.repos /tmp/
+RUN vcs import src < /tmp/moveit2_deps.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} moveit2_docker_deps/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
+
+
+# Setup the entrypoint
+COPY ./moveit2_docker_deps/entrypoint.sh /
+ENTRYPOINT ["/entrypoint.sh"]
+
+#############################################################################################################
+#############################################################################################################
+# FINISHED BUILDING MOVEIT2 DEPENDENCY                                                                      #
+#############################################################################################################
+#############################################################################################################
+
+#############################################################################################################
+#############################################################################################################
+# NOW ADD WORKSPACE WITH CANADARM MOVEIT2 CODE AND TRICK PLUGIN                                             #
+#############################################################################################################
+#############################################################################################################
+
+# upgrade the following packages to make RVIZ work.
+RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
+    --mount=type=cache,target=/var/lib/apt,sharing=locked \ 
+    sudo apt-get update && sudo apt-get install -y \
+    mesa-libgallium \
+    libdrm-amdgpu1 \
+    libdrm-common \
+    libdrm-intel1 \
+    libdrm-radeon1 \
+    libdrm2 \
+    libegl-mesa0 \
+    libgbm1 \
+    libgl1-mesa-dev \
+    libglapi-mesa \
+    libglx-mesa0 \
+    liborc-0.4-0 \
+    libpq5 \
+    linux-libc-dev \
+    mesa-va-drivers \
+    mesa-vdpau-drivers \
+    mesa-vulkan-drivers
+
+ENV TRICK_DEMO_WS=/opt/ros_trick_demo_ws
+
+WORKDIR ${TRICK_DEMO_WS}
+COPY --chown=spaceros-user:space-ros-user ros_src ${TRICK_DEMO_WS}/src
+
+RUN /bin/bash -c 'source ${MOVEIT2_DIR}/install/setup.bash \
+   && colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release -DCMAKE_EXPORT_COMPILE_COMMANDS=ON --event-handlers desktop_notification- status-'
+RUN rm -rf build log src

ros_trick/moveit2_docker_deps/entrypoint.sh

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+#!/bin/bash
+set -e
+
+# Setup the MoveIt2 environment
+source "/home/spaceros-user/moveit2/install/setup.bash"
+exec "$@"

ros_trick/moveit2_docker_deps/excluded-pkgs.txt

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+fastcdr
+fastrtps
+fastrtps_cmake_module
+rmw_fastrtps_cpp
+rmw_fastrtps_dynamic_cpp
+rmw_fastrtps_shared_cpp
+rmw_connextdds
+rosidl_typesupport_fastrtps_c
+rosidl_typesupport_fastrtps_cpp
+urdfdom_headers

ros_trick/moveit2_docker_deps/moveit2-pkgs.txt

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+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

ros_trick/moveit2_docker_deps/moveit2_deps.repos

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+repositories:
+  moveit_task_constructor:
+    type: git
+    url: https://github.com/ros-planning/moveit_task_constructor.git
+    version: humble
+  moveit_visual_tools:
+    type: git
+    url: https://github.com/ros-planning/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
+  simulation:
+    type: git
+    url: https://github.com/space-ros/simulation.git
+    version: main

ros_trick/moveit2_docker_deps/octomap_fix.diff

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+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)
+