Ft.ready signal

.gitignore

@@ -0,0 +1,17 @@
+*.vscode
+bag/
+report/
+
+# ROS #
+#######
+build/
+install/
+log/
+
+# Python #
+##########
+*.pyc
+*.pyo
+__pycache__/
+localization-devel-ws/ydlidar_ros2_driver
+localization-devel-ws/YDLidar-SDK

docker/local-ros2/Dockerfile

@@ -64,6 +64,7 @@ RUN DEBIAN_FRONTEND=noninteractive apt-get update && \
     # ros-humble-laser-geometry \
     libsuitesparse-dev \
     ros-humble-libg2o \
+    ros-humble-rmw-cyclonedds-cpp\
     # ros-humble-imu-tools \
     libusb-1.0-0 libusb-1.0-0-dev -y && \
     rm -rf /var/lib/apt/lists/*

docker/local-ros2/OdomComm/_run.sh

@@ -0,0 +1,14 @@
+#!/bin/bash
+
+## 1. make scripts & library executable
+echo "=== [COMMUNICATION] ==="
+find ../OdomComm -type f -name "*.sh" -exec sudo chmod +x {} \;
+
+## 2. environment setup  
+export DISPLAY=:0
+xhost +local:docker
+cd docker
+
+## 3. deployment
+echo "[COMMUNICATION] Deploying..."
+docker compose -p communication up -d

docker/local-ros2/OdomComm/build_and_run.sh

@@ -0,0 +1,22 @@
+#!/bin/bash
+
+## 0. clean container within same group
+echo "=== [COMMUNICATION] Build & Run ==="
+echo "[COMMUNICATION] Remove Containers ..."
+docker compose -p communication down --volumes --remove-orphans
+
+## 1. make scripts & library executable
+find ../OdomComm -type f -name "*.sh" -exec sudo chmod +x {} \;
+
+## 2. environment setup  
+export DISPLAY=:0
+xhost +local:docker
+cd docker
+
+## 3. build image
+echo "[COMMUNICATION] Building..."
+docker compose -p communication build
+
+## 4. deployment
+echo "[COMMUNICATION] Deploying..."
+docker compose -p communication up -d

docker/local-ros2/OdomComm/docker/Dockerfile

@@ -0,0 +1,151 @@
+################################################################################################
+# - Base stage
+#   - This stage serves as the foundational stage for all other stages.
+#   - Base image: Ubuntu 22.04 Jammy Jellyfish
+#       - https://hub.docker.com/_/ubuntu/tags?page=1&name=22.04
+################################################################################################
+
+FROM ubuntu:22.04 AS base
+
+LABEL org.opencontainers.image.authors="yuzhong1214@gmail.com"
+
+# Reference: https://docs.ros.org/en/humble/Installation/Alternatives/Ubuntu-Development-Setup.html#set-locale
+ENV LC_ALL=en_US.UTF-8
+ENV LANG=en_US.UTF-8
+
+SHELL ["/bin/bash", "-c"]
+
+# Add user
+RUN useradd -ms /bin/bash user
+
+################################################################################################
+# - Build stage
+#   - In this stage, I will build ROS Humble and ros1-bridge from source.
+#   - Reference: 
+#     - https://docs.ros.org/en/humble/How-To-Guides/Using-ros1_bridge-Jammy-upstream.html
+#     - https://docs.ros.org/en/humble/Installation/Alternatives/Ubuntu-Development-Setup.html
+################################################################################################
+
+FROM base AS build
+
+# Install the required packages for the following command.
+RUN apt-get update && \
+    apt-get install -y \
+    curl \
+    locales \
+    software-properties-common \
+    lsb-release
+
+# Set locale.
+# Reference: https://docs.ros.org/en/humble/Installation/Alternatives/Ubuntu-Development-Setup.html#set-locale
+RUN locale-gen en_US en_US.UTF-8 && \
+    update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8
+
+# Add the ROS 2 apt repository.
+# Reference: https://docs.ros.org/en/humble/Installation/Alternatives/Ubuntu-Development-Setup.html#add-the-ros-2-apt-repository
+RUN add-apt-repository universe && \
+    curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg && \
+    echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | tee /etc/apt/sources.list.d/ros2.list > /dev/null
+
+# Install development tools and ROS tools.
+# Note that we declare noninteractive mode to avoid apt asking for user input.
+# Additionally, install colcon from PyPI, rather than using apt packages.
+# Reference: https://docs.ros.org/en/humble/How-To-Guides/Using-ros1_bridge-Jammy-upstream.html#install-development-tools-and-ros-tools
+RUN DEBIAN_FRONTEND=noninteractive apt-get update && \
+    DEBIAN_FRONTEND=noninteractive apt-get install -y \
+    build-essential \
+    cmake \
+    git \
+    python3-flake8 \
+    python3-flake8-blind-except \
+    python3-flake8-builtins \
+    python3-flake8-class-newline \
+    python3-flake8-comprehensions \
+    python3-flake8-deprecated \
+    python3-flake8-docstrings \
+    python3-flake8-import-order \
+    python3-flake8-quotes \
+    python3-pip \
+    python3-pytest \
+    python3-pytest-cov \
+    python3-pytest-repeat \
+    python3-pytest-rerunfailures \
+    python3-rosdep \
+    python3-setuptools \
+    ros-dev-tools
+RUN python3 -m pip install -U colcon-common-extensions vcstool
+
+# Create ros2_humble workspace, and clone all repositories from the list.
+# Reference: https://docs.ros.org/en/humble/Installation/Alternatives/Ubuntu-Development-Setup.html#get-ros-2-code
+RUN mkdir -p /ros2_humble/src
+WORKDIR /ros2_humble
+RUN vcs import --input https://raw.githubusercontent.com/ros2/ros2/humble/ros2.repos src
+
+# Install dependencies.
+# Reference: https://docs.ros.org/en/humble/Installation/Alternatives/Ubuntu-Development-Setup.html#install-dependencies-using-rosdep
+RUN rosdep init && \
+    rosdep update && \
+    rosdep install --from-paths src --ignore-src -y --rosdistro humble --skip-keys "fastcdr rti-connext-dds-6.0.1 urdfdom_headers"
+
+# Build the ros2_humble workspace. (This will take a few minutes)
+# Note that we are using colcon build without the flag --symlink-install.
+# This is because we will copy the built files from the build stage to the release stage.
+# If we use the flag --symlink-install, the release stage will not be able to find the built files.
+# Reference: https://docs.ros.org/en/humble/Installation/Alternatives/Ubuntu-Development-Setup.html#build-the-code-in-the-workspace
+RUN colcon build
+
+# Delete packages.ros.org from sources.list and remove conflicts packages manually.
+# Removing those conflicts packages is necessary for install ros-core-dev.
+# Here is the dicussion about this issue: https://github.com/j3soon/ros2-essentials/pull/9#discussion_r1375303858
+# Reference: 
+# - https://docs.ros.org/en/humble/How-To-Guides/Using-ros1_bridge-Jammy-upstream.html#ros-2-via-debian-packages
+# - https://github.com/osrf/docker_images/issues/635#issuecomment-1217505552
+RUN rm -rf /etc/apt/sources.list.d/ros2.list && \
+    apt-get remove -y \
+    python3-catkin-pkg \
+    python3-catkin-pkg-modules
+
+# Install ROS 1 from Ubuntu packages.
+# Reference: https://docs.ros.org/en/humble/How-To-Guides/Using-ros1_bridge-Jammy-upstream.html#install-ros-1-from-ubuntu-packages
+RUN apt-get update && \
+    apt-get install -y ros-core-dev
+
+# Build ros1_bridge from source.
+# Reference: https://github.com/ros2/ros1_bridge/tree/3d5328dc21564d2130b4ded30afe5cd1c41cf033#building-the-bridge-from-source
+RUN git clone https://github.com/ros2/ros1_bridge src/ros1_bridge
+RUN source install/setup.bash && \
+    colcon build --packages-select ros1_bridge --cmake-force-configure
+
+# Other configurations
+COPY ./start-bridge.sh /start-bridge.sh 
+RUN chmod +x /start-bridge.sh
+
+CMD ["/bin/bash"]
+
+################################################################################################
+# - Release stage
+#   - In this stage, I will copy the built files from the build stage.
+#     This is useful for reducing the size of the image.
+#   - Reference:
+#     - https://docs.docker.com/build/building/multi-stage/
+################################################################################################
+
+FROM base AS release
+
+# Install ROS core and packages with their dependencies. 
+RUN DEBIAN_FRONTEND=noninteractive apt-get update && \
+    DEBIAN_FRONTEND=noninteractive apt-get install -y \
+    libspdlog-dev \
+    python3-packaging \
+    ros-core-dev 
+
+# Copy files from host and build stage
+COPY --from=build /ros2_humble/install /ros2_humble/install
+
+# Other configurations
+COPY ./start-bridge.sh /start-bridge.sh 
+USER user
+RUN  echo "source /opt/ros/$ROS_DISTRO/setup.bash" >> ~/.bashrc
+
+WORKDIR /
+CMD ["./start-bridge.sh"]

docker/local-ros2/OdomComm/docker/Dockerfile-rosserial

@@ -0,0 +1,55 @@
+################################################################################################
+# - Base stage
+#   - This stage serves as the foundational stage for all other stages.
+#   - Base image: OSRF ROS noetic Desktop Full
+#       - https://hub.docker.com/r/osrf/ros/tags?page=1&name=noetic-desktop-full
+################################################################################################
+
+FROM osrf/ros:noetic-desktop-full AS base
+
+LABEL org.opencontainers.image.authors="yoseph.huang@gmail.com"
+
+ARG USERNAME=user
+ARG USER_UID=1000
+ARG USER_GID=$USER_UID
+
+SHELL ["/bin/bash", "-c"]
+
+
+################################################################################################
+# - User Setup stage
+#   - In this stage, create a non-root user and configure passwordless sudo.
+################################################################################################
+
+FROM base AS user-setup
+
+## Create a non-root user
+RUN groupadd --gid $USER_GID $USERNAME && \
+    useradd --uid $USER_UID --gid $USER_GID -m $USERNAME -s /bin/bash && \
+    apt-get update && \
+    apt-get install -y sudo && \
+    echo $USERNAME ALL=\(root\) NOPASSWD:ALL > /etc/sudoers.d/$USERNAME && \
+    chmod 0440 /etc/sudoers.d/$USERNAME && \
+    rm -rf /var/lib/apt/lists/*
+
+FROM user-setup AS catkin
+
+USER ${USERNAME}
+# COPY comm-ws /home/$USERNAME/comm-ws
+RUN mkdir -p /home/$USERNAME/ws/src
+COPY odometry /home/$USERNAME/ws/src/odometry
+
+# catkin_make
+RUN /bin/bash -c "source /opt/ros/noetic/setup.bash && \
+    rosdep update && \
+    cd /home/$USERNAME/ws && \
+    rosdep install -y -r -q --from-paths src --ignore-src --rosdistro noetic && \
+    catkin_make"
+
+FROM catkin AS final
+
+COPY odometry/odometry/launch /home/$USERNAME/ws/src/odometry/launch
+
+## Final configurations
+USER $USERNAME
+CMD ["/bin/bash"]

docker/local-ros2/OdomComm/docker/compose-serial.yaml

@@ -0,0 +1,29 @@
+services:
+  ros1:
+    image: ros1:serial
+    container_name: ros1
+    stdin_open: true
+    tty: true
+    network_mode: host
+    privileged: true
+    volumes:
+      # - ../comm-ws:/root/comm-ws
+      # - /dev/bus/usb:/dev/bus/usb
+      - /dev:/dev
+    stop_grace_period: 1s
+    # depends_on:
+    #   ros-core:
+    #     condition: service_healthy
+    # command: /bin/bash -c "
+    #         chmod +x /root/comm-ws/devel/_setup_util.py &&
+    #         find /root/comm-ws/devel -type f -name '*.sh' -exec chmod +x {} \; &&
+    #         source /opt/ros/noetic/setup.bash && 
+    #         source /root/comm-ws/devel/setup.bash && 
+    #         cd /root/comm-ws &&
+    #         sudo chmod 777 /dev/ttyACM0 &&
+    #         roslaunch rosserial_server stm32.launch"
+    command: /bin/bash -c "
+            source /opt/ros/noetic/setup.bash && 
+            source ~/ws/devel/setup.bash &&
+            sudo chmod 777 /dev/ttyACM0 &&
+            roslaunch odometry odometry_comm.launch"