diff --git a/.gitmodules b/.gitmodules
deleted file mode 100644
index 533fba0fb72bebf4f5ea73ae5708c50fa607a73a..0000000000000000000000000000000000000000
--- a/.gitmodules
+++ /dev/null
@@ -1,12 +0,0 @@
-[submodule "externals/bash_it"]
- path = externals/bash_it
- url = https://github.com/Bash-it/bash-it.git
-[submodule "externals/ble_sh"]
- path = externals/ble_sh
- url = https://github.com/akinomyoga/ble.sh.git
-[submodule "externals/pcl-docker"]
- path = externals/pcl-docker
- url = https://github.com/DLopezMadrid/pcl-docker.git
-[submodule "externals/ros-melodic-gui-docker"]
- path = externals/ros-melodic-gui-docker
- url = https://github.com/DLopezMadrid/ros-melodic-gui-docker.git
diff --git a/.vscode/settings.json b/.vscode/settings.json
deleted file mode 100644
index 5d7d7306b0e775e149bccb25b53f81f567777893..0000000000000000000000000000000000000000
--- a/.vscode/settings.json
+++ /dev/null
@@ -1,3 +0,0 @@
-{
- "ros.distro": "noetic"
-}
\ No newline at end of file
diff --git a/Eigen/installEigen.sh b/Eigen/installEigen.sh
deleted file mode 100755
index f458d5fcd3d42f6a6d200d71645953755097ea36..0000000000000000000000000000000000000000
--- a/Eigen/installEigen.sh
+++ /dev/null
@@ -1,20 +0,0 @@
-#!/usr/bin/env bash
-
-# Script to download and install Eigen3
-
-set -ex
-
-version="3.4.0" # Release tag on GitLab
-prefix="$HOME/.local"
-
-cd /tmp
-# Download
-git clone --single-branch --depth=1 --branch "$version" \
- https://gitlab.com/libeigen/eigen.git
-mkdir eigen/build && cd $_
-# Configure
-cmake .. \
- -DCMAKE_BUILD_TYPE=Release \
- -DCMAKE_INSTALL_PREFIX="$prefix"
-# Install
-make install
\ No newline at end of file
diff --git a/Pisos Visitas.md b/Pisos Visitas.md
deleted file mode 100644
index a1db6f8ec150b0e230cc20302c492b178c06e126..0000000000000000000000000000000000000000
--- a/Pisos Visitas.md
+++ /dev/null
@@ -1,139 +0,0 @@
-# Visitas
-
-## Hernani
-
-<https://www.idealista.com/inmueble/98916338/>
-Liezaga 10, 1ero sin ascensor
-230K
-
-<https://www.idealista.com/inmueble/98280414/>
-Calle Orkolaga
-200K
-
-<https://www.idealista.com/inmueble/99440162/>
-Izpizua
-230K
-OTAÑO INMOBILIARIA
-99440162
-
-<https://www.idealista.com/inmueble/98755487/>
-plaza Oleta, 8, 1D
-305K
-IBAN
-98755487
-Valorado en Kutxa por 270K
-
-https://www.idealista.com/inmueble/99493725/
-290K --> 1.2K
-SUSANA
-99493725
-DERECHO DE SUPERFICIE (2073)
-
-## Urnieta
-
-<https://www.idealista.com/inmueble/99459653/>
-275K + 22K Raya
-
-<https://www.idealista.com/inmueble/98997633/>
-San Juan
-246K
-OTAÑO INMOBILIARIA
-98997633
-
-## Andoain
-
-<https://www.idealista.com/inmueble/99590177/>
-Calle Plazaola, 11
-170K
-
-<https://www.idealista.com/inmueble/97074474/>
-Plaza Arrate
-170K
-Inmobiliaria Ernio
-ER2708
-
-<https://www.idealista.com/inmueble/94454032/>
-189K
-De particular a particular. Sin comisiones. Llámanos y visita esta vivienda.
-Housell
-118470
-
-<https://www.idealista.com/inmueble/96156060/>
-205K
-IRULEGI SERVICIOS INMOBILIARIOS
-508-19693
-
-<https://www.idealista.com/inmueble/96607031/>
-Frente a Bastero kale Nagusi
-210K
-Xera inmobiliaria
-707
-
-<https://www.idealista.com/inmueble/99448595/>
-Calle Galardi
-210K
-INMOBILIARIA LEIZARAN
-99448595
-
-<https://www.idealista.com/inmueble/39022030/>
-210K
-ULIA Servicios Inmobiliarios
-39022030
-
-<https://www.idealista.com/inmueble/39971641/>
-Calle kaletxiki
-179K
-FOX GESTIÓN INMOBILIARIA
-FX-684
-
-<https://www.idealista.com/inmueble/99571269/>
-Calle Rikardo Arregi
-210K
-Inmobiliaria Ernio
-ER3036
-
-<https://www.idealista.com/inmueble/99402189/>
-calle Pio Baroja, 3 -- Sólo ver zona
-220K
-Yeelen Pellejero
-00054
-<https://www.idealista.com/pro/irulegi-servicios-inmobiliarios/>
-2 Habitaciones a patio
-
-<https://www.idealista.com/inmueble/98250392/>
-Calle Aita Larramendi -- Ver Zona
-Piso de cerámica
-230K
-
-<https://andoainberri.urumeaberri.com/es/promocion/andoainberri/tipologias>
-
-## Añorga
-
-<https://www.idealista.com/inmueble/89080194/>
-360K + 35K Graje
-
-## Lasarte
-
-<https://www.idealista.com/inmueble/99625786/>
-Kale Nagusia
-280K
-Amoblada
-Baños a reformar
-Inmobiliaria Etxaniz
-871
-
-## Errenteria
-
-<https://www.idealista.com/inmueble/97196445/>
-Larzabal, 5
-260K
-Noelia
-97196445
-
-## Astigarraga
-
-<https://www.idealista.com/inmueble/98812580/>
-Galtzaur, 4
-290K
-Leire
-98812580
diff --git a/VS_Code_ROS/.gitignore b/VS_Code_ROS/.gitignore
deleted file mode 100644
index 9406a0c40cc68bd722056351c4674e372e6adfa5..0000000000000000000000000000000000000000
--- a/VS_Code_ROS/.gitignore
+++ /dev/null
@@ -1,6 +0,0 @@
-.vscode/*
-!.vscode/settings.json
-!.vscode/tasks.json
-!.vscode/extensions.json
-!.vscode/launch.json
-!.vscode/c_cpp_properties.json
diff --git a/VS_Code_ROS/.vscode/c_cpp_properties.json b/VS_Code_ROS/.vscode/c_cpp_properties.json
deleted file mode 100644
index c1c7a6e3cd322e3e9a4aa08c346e96c6f3af88b9..0000000000000000000000000000000000000000
--- a/VS_Code_ROS/.vscode/c_cpp_properties.json
+++ /dev/null
@@ -1,22 +0,0 @@
-{
- "configurations": [
- {
- "browse": {
- "databaseFilename": "",
- "limitSymbolsToIncludedHeaders": true
- },
- "includePath": [
- "/opt/ros/kinetic/include",
- "/usr/include/**",
- "${workspaceFolder}/../../devel/include",
- "${workspaceFolder}/**"
- ],
- "name": "Linux",
- "intelliSenseMode": "gcc-x64",
- "compilerPath": "/usr/bin/gcc",
- "cStandard": "c11",
- "cppStandard": "c++17"
- }
- ],
- "version": 4
-}
\ No newline at end of file
diff --git a/VS_Code_ROS/.vscode/launch.json b/VS_Code_ROS/.vscode/launch.json
deleted file mode 100644
index 2b5881909a92562dfe0ab745ad2305b486a258c3..0000000000000000000000000000000000000000
--- a/VS_Code_ROS/.vscode/launch.json
+++ /dev/null
@@ -1,67 +0,0 @@
-{
- // Use IntelliSense to learn about possible attributes.
- // Hover to view descriptions of existing attributes.
- // For more information, visit: https://go.microsoft.com/fwlink/?linkid=830387
- // Use IntelliSense to learn about possible attributes.
- // Hover to view descriptions of existing attributes.
- // For more information, visit: https://go.microsoft.com/fwlink/?linkid=830387
- "configurations": [
- {
- "name": "VS_Talker_Node",
- "type": "cppdbg",
- "request": "launch",
- "program": "${workspaceFolder}/../../devel/lib/hello_vs_code/vs_talker",
- "args": [],
- "stopAtEntry": false,
- "cwd": "${workspaceFolder}/../../",
- "environment": [],
- "externalConsole": false,
- "MIMode": "gdb",
- "setupCommands": [
- {
- "description": "Enable pretty-printing for gdb",
- "text": "-enable-pretty-printing",
- "ignoreFailures": true
- }
- ]
- },
- {
- "name": "VS_Listener_Node",
- "type": "cppdbg",
- "request": "launch",
- "program": "${workspaceFolder}/../../devel/lib/hello_vs_code/vs_listener",
- "args": [],
- "stopAtEntry": false,
- "cwd": "${workspaceFolder}/../../",
- "environment": [],
- "externalConsole": false,
- "MIMode": "gdb",
- "setupCommands": [
- {
- "description": "Enable pretty-printing for gdb",
- "text": "-enable-pretty-printing",
- "ignoreFailures": true
- }
- ]
- },
- {
- "name": "VS_Listener2_Node",
- "type": "cppdbg",
- "request": "launch",
- "program": "${workspaceFolder}/../../devel/lib/hello_vs_code/vs_listener2",
- "args": [],
- "stopAtEntry": false,
- "cwd": "${workspaceFolder}/../../",
- "environment": [],
- "externalConsole": false,
- "MIMode": "gdb",
- "setupCommands": [
- {
- "description": "Enable pretty-printing for gdb",
- "text": "-enable-pretty-printing",
- "ignoreFailures": true
- }
- ]
- }
- ]
-}
\ No newline at end of file
diff --git a/VS_Code_ROS/.vscode/tasks.json b/VS_Code_ROS/.vscode/tasks.json
deleted file mode 100644
index 7827612b5609ef7c83c818f1a9753807def750a4..0000000000000000000000000000000000000000
--- a/VS_Code_ROS/.vscode/tasks.json
+++ /dev/null
@@ -1,29 +0,0 @@
-{
- "version": "2.0.0",
- "tasks": [
- {
- "label": "ROS: Build Hello_VS_CODE",
- "type": "shell",
- "command": "catkin_make",
- "args": [
- "--pkg",
- "hello_vs_code",
- "-j4",
- "-DCMAKE_BUILD_TYPE=Debug"
- ],
- "problemMatcher": "$gcc",
- "options": {
- "cwd": "${workspaceFolder}/../../"
- },
- "group": {
- "kind": "build",
- "isDefault": true
- },
- "presentation": {
- "reveal": "always",
- "revealProblems": "onProblem",
- "panel": "new"
- }
- }
- ]
-}
\ No newline at end of file
diff --git a/VS_Code_ROS/LICENSE b/VS_Code_ROS/LICENSE
deleted file mode 100644
index a3623725c672f03b0f88404d63f6071630049b98..0000000000000000000000000000000000000000
--- a/VS_Code_ROS/LICENSE
+++ /dev/null
@@ -1,22 +0,0 @@
-
-The MIT License (MIT)
-
-Copyright (c) 2019 MrGnomes
-
-Permission is hereby granted, free of charge, to any person obtaining a copy
-of this software and associated documentation files (the "Software"), to deal
-in the Software without restriction, including without limitation the rights
-to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
-copies of the Software, and to permit persons to whom the Software is
-furnished to do so, subject to the following conditions:
-
-The above copyright notice and this permission notice shall be included in all
-copies or substantial portions of the Software.
-
-THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
-IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
-FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
-AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
-LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
-OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
-SOFTWARE.
\ No newline at end of file
diff --git a/VS_Code_ROS/README.md b/VS_Code_ROS/README.md
deleted file mode 100644
index c0efdbc06c6cb40df83c59cfb2f84154c99732f2..0000000000000000000000000000000000000000
--- a/VS_Code_ROS/README.md
+++ /dev/null
@@ -1,700 +0,0 @@
-# Step By Step Integration of ROS in VS Code
-
-This repository provides an example set up that can be used to automate your ROS workflow in the VS Code IDE.
-
-
-## Contents:
-* [1. VS Code Extensions](#1-vs-code-extensions)
-* [2. Set Up your VS Code Workspace](#2-set-up-your-vs-code-workspace)
-* [3. Intellisense](#3-intellisense)
-* [4. Building Your Nodes](#4-building-your-nodes)
-* [5. Debugging Your Nodes](#5-debugging-your-nodes)
-* [6. Multi-Root ROS Workspace](#6-multi-root-ros-workspace)
-
-## 1) VS Code Extensions
-
-I use the following extensions:
-
-- C/C++ (c++ intellisense and configuration help)
-- CMake (Intellisense support in CMakeLists.txt files)
-- CMake Tools (Extended CMake support in Visual Studio Code)
-- GitLens (Git support and additional git tab)
-- Python (If you're using rospy)
-- vscode-icons (Optional, but helps with all the different file types used by ROS)
-- ROS (Adds helper actions for starting the roscore, for creating ROS packages and provides syntax highlighting for .msg, .urdf and other ROS files)
-
-
-### GitLens has a problem with git versions <= 2.7. Update git on Ubuntu 16.04
-
-```
-sudo apt-get install python-software-properties software-properties-common
-sudo add-apt-repository ppa:git-core/ppa -y
-sudo apt-get update
-sudo apt-get upgrade
-sudo apt-get install git -y
-```
-
-Check with `git --version` that the newly installed version is > 2.7.
-
-## 2) Set Up your VS Code Workspace
-
-Assuming your catkin workspace is all set up and running smoothly, we need to tell VS Code where our ROS workspace is.
-This can be accomplished in two ways:
-1) Open the catkin root folder in VS Code and use the complete catkin folder as your workspace.
- This is a centralized ROS package management approach, where you get to see every ROS package and where you have to manage your configurations
- globally for every package. Meaning one launch.json and one task.json for everything.
- This is the most common approach seen on the web.
-2) Use the multi-root option VS Code provides to manage each ROS package as a single project and provide individual
- build, debug and other run tasks that are common on a package level.
- You can then add each ROS package folder to your workspace (each with it's individual configurations) and VS Code
- will find all your launch.json and task.json files.
- When you search for a launch or a build configuration, VS Code will also add the name of the ROS package folder to your label
- as a suffix, so you can find the configuration based on the package name.
- I personally like this approach more, because of the nice clean separation of build and debugging tasks between my packages and because this essentially make every ROS package self contained.
-
-But first let's try the first approach and build/debug a package from a centralized configuration, since it is easier to start with.
-
-Start a VS Code instance, open the catkin_ws workspace folder and go to "File>Save Workspace As" and save the workspace file in your catkin root.
-This should add the {workspaceName}.code-workspace file and a .vscode folder to your catkin_ws root folder.
-You should now have the following (or a similar) folder structure:
-```
-~/catkin_ws
- .vscode/
- build/
- devel/
- src/
- ROS_WS.code-workspace
-```
-
-## 3) Intellisense
-
-To add intellisense support for ROS nodes we need to provide a c_cpp_properties.json in our .vscode folder.
-This is used by the C/C++ Extension to search for all the include folders that are referenced by the node.
-
-c_cpp_properties.json
-```
-{
- "configurations": [
- {
- "name": "Linux",
- "browse": {
- "databaseFilename": "",
- "limitSymbolsToIncludedHeaders": true
- },
- "includePath": [
- "${workspaceFolder}/devel/include",
- "/opt/ros/kinetic/include",
- "/usr/include/**",
- "${workspaceFolder}/**"
- ],
- "intelliSenseMode": "gcc-x64",
- "compilerPath": "/usr/bin/g++",
- "cStandard": "c11",
- "cppStandard": "c++17"
- }
- ],
- "version": 4
-}
-```
-
-The most import option is the `includePath`.
-It points the intellisense tools to the right folders.
-The first line is the path to the catkin devel includes, that include generated headers for your .srv and .msg files.
-You can access them with `#include "<pacakgeName>/<msg_srv_name>.h` in your nodes.
-The second include is the path to the ros headers (ros.h etc.).
-The last line is a recursive pattern that VS Code unterstands.
-It starts at your workspace root folder and then works down to every folder in your workspace folder.
- In the global management environment it's the ~/catkin_ws folder.
- In the multi-root environment it's the ROS package root folder you added as a folder to your workspace.
-
-In a typical package folder structure like in the image below you can include your package headers from `<pacakgeName>/include/<packagename>/<name>.h` with a `#include <packageName>/<name>.h` to your node.
-
-Keep in mind that this is only for intellisense.
-If you set up your build configuration correctly, your packages would still build fine when using catkin_make, regardless of what is configured in this file.
-
-
-
-
-If you're on a Mac you might want to use clang:
-```
-{
- "configurations": [
- {
- "name": "Mac",
- "includePath": [
- "${workspaceFolder}//devel/include",
- "/opt/ros/kinetic/include",
- "/usr/include/**",
- "${workspaceFolder}/**"
- ],
- "intelliSenseMode": "clang-x64",
- "compilerPath": "/usr/bin/clang++",
- "cStandard": "c11",
- "cppStandard": "c++17",
- "compileCommands": "${workspaceFolder}/build/compile_commands.json"
- }
- ],
- "version": 4
-}
-```
-
-
-You can also combine both in the same file, and select your environment.
-Check out the documentation for more info on that.
-
-## 4) Building Your Nodes
-
-You should now have a VS Code workspace set up in your catkin workspace root.
-To build the ROS nodes we need to add a build task configuration.
-Add the following task.json to the folder ~/catkin_ws/.vscode:
-```
-{
- "version": "2.0.0",
- "tasks": [
- {
- "label": "ROS: catkin_make",
- "type": "shell",
- "command": "catkin_make",
- "args": [
- "-j4",
- "-DCMAKE_BUILD_TYPE=Debug"
- ],
- "problemMatcher": [],
- "group": {
- "kind": "build",
- "isDefault": true
- }
- }
- ]
-}
-```
-
-You can now run `CTRL+SHIFT+P`, search for "Tasks: Run Task" and select the "ROS: catkin_make" task we configured. Since we set it to be the default build task with the `group` option you can also run that task with the shortcut `CTRL+SHIFT+B`.
-The build type is set to "Debug", so that the ROS nodes can be debugged later on.
-If you need a "compile_commands.json" for clang, you can add "-DCMAKE_EXPORT_COMPILE_COMMANDS=1" as an additional argument to the `args` option.
-This will generate a compile_commands in the ~/catkin_ws/build folder that you can reference in the c_cpp_properties.json file.
-
-You can add your own additional configurations and run them with the "Run Task" action, or provide your own keybindings for your own build configurations.
-Check out the VS Code documentation for more information on that.
-
-If your ROS workspace contains a lot of packages you may not want to build them all.
-You can add these additional parameters to the catkin_make task for that:
-```
-{
- "version": "2.0.0",
- "tasks": [
- {
- "label": "ROS: catkin_make",
- "type": "shell",
- "command": "catkin_make",
- "args": [
- "--pkg",
- "<your package name, e.g. hello_vs_code>",
- "-j4",
- "-DCMAKE_BUILD_TYPE=Debug"
- ],
- "problemMatcher": [],
- "group": {
- "kind": "build",
- "isDefault": true
- }
- }
- ]
-}
-```
-Note that catkin will still be configuring every package in the catkin-ws, but it will only build the specified one.
-You can check this by inspecting the ~/catkin_ws/devel/lib/**packagename** folder.
-
-## 5) Debugging Your Nodes
-
-Setting up a working debugging session is pretty straight forward with VS Code.
-I'll show you how to debug a single node first and build upon that to configure a multi-node debugging set up.
-
-The following sections assume you have a hello_vs_code package in your ~/catkin_ws/src folder, with three nodes: talker.cpp, listener.cpp, listener2.cpp, and that you built the packages.
-You can also clone this repo and build the package I am providing here.
-
-### Debug a Single ROS Node with VS Code (C++)
-
-Add a launch configuration (launch.json) to the .vscode folder in the catkin_ws and paste this to debug the talker node.
-
-launch.json
-```
-{
- // Use IntelliSense to learn about possible attributes.
- // Hover to view descriptions of existing attributes.
- // For more information, visit: https://go.microsoft.com/fwlink/?linkid=830387
- "version": "0.2.0",
- "configurations": [
- {
- "name": "(gdb) Launch",
- "type": "cppdbg",
- "request": "launch",
- "program": "${workspaceFolder}/devel/lib/hello_vs_code/vs_talker",
- "args": [],
- "stopAtEntry": false,
- "cwd": "${workspaceFolder}",
- "environment": [],
- "externalConsole": false,
- "MIMode": "gdb",
- "setupCommands": [
- {
- "description": "Enable pretty-printing for gdb",
- "text": "-enable-pretty-printing",
- "ignoreFailures": true
- }
- ]
- }
- ]
-}
-```
-If you're using your own package, you have to change the path in the `program` option to point to your executable.
-Unfortunatly I haven't found a way to generate this automatically based on the catkin build system outputs.
-Maybe it's possible by using roslaunch and then attach to the active node.
-The ${worksspaceFolder} is the top level folder of your workspace (in this case it's catkin_ws).
-If your ${workspaceFolder} isn't the catkin root, then you also need to change the `cwd` option to point to your catkin root folder.
-More on that when we're setting up the multi-root workspace.
-
-Set a breakpoint in your node file you want to debug (e.g. talker.cpp).
-Start the roscore by using the ROS extension.
-For that type `CTRL+SHIFT+P` and search for "ROS: Start Core" and check at the status bar that the ROS master is running.
-You can also open up a terminal and type in `roscore`.
-
-Press F5 to launch the debugging session and make sure that you build
-with the `-DCMAKE_BUILD_TYPE=Debug` option.
-If you used the task.json example given in this guide, then you should be fine.
-
-After that you can step through your node like in the example below:
-
-
-
-The "`poll failed with ...`" error message is due to a bug in
-the current ros_comm module. See issue [#1370][i1370] for updates.
-
-### Debug Multiple ROS Nodes with VS Code (C++)
-
-Since ROS uses the publisher/subscriber and request/response models, it's usually more interresting to debug multiple nodes that are interconnected through the ROS master.
-The `configurations` option in the launch.json shown above is actually an array.
-You add multiple debug configurations by adding them to it.
-But how do you use these configurations to actually start multiple debugging sessions?
-
-There are currently three ways (known to me):
-
-1) Open up a new VS Code window and select a configuration to be used by the new window and start the debugger.
-2) Switch to the debug tab and select a configuration from the combo box, and start
-every configuration by hand.
-3) Use an additional `compounds` option and start multiple configuration simultaniously.
-
-So lets get those up and running and see whats possible.
-
-#### The Separate Window Approach (recommended)
-
-The obvious thing to try, would be to just open up a new window and open the workspace we already set up (using the vscode workspace file).
-Unfortunatly this isn't (currently) possible.
-The next thing to try would be to have the **worspace** open in one VS Code instance and than open up another instance and tell VS Code to open the catkin root folder directly and not using the workspace file.
-Both are pointing to same folder, but internally VS Code treats them differently.
-This works, but you can't open the catkin root folder more than once (at least I couldn't).
-So you're left with debugging a maximum of two nodes.
-
-The approach that worked for me, was presented in [#19793](i19793):
-
-- Launch a new VS Code window
-- Use the "Add Workspace Folder" action
-
- 
-
-- Select the catkin root folder (in my case catkin_ws), or in a multi-root setup select the ROS package folder you wan't to debug
-- Switch to the debug tab. VS Code automatically detects all launch configurations inside your new workspace
-- Set your breakpoints, select a configuration and start debugging
-- Repeat for every node you want to debug
-
-Below is an example where I am debugging three different nodes. A talker node that publishes to two subscribed listener nodes.
-You can see that I was stepping through the talker node in the left window and as soon
-as I moved past the `talker_pub.publish(...)` line, the breakpoint hit on
-both of VS Code instances on the right, that had active debugging sessions for the listener nodes.
- 
-
-Combine this with the great intellisense provided and you have an incredibly powerfull tool at your hand for programming ROS nodes, which makes VS Code my go to IDE when I am working on any robotics stuff.
-
-Here are a couple of points I like about the multi-window approach:
-
-- Every window handles just one debugging session, getting a full responsive workflow
-- I can choose which nodes to debug, and the visual separation helps me to keep track of where every node currently is and what it is doing
-- I get a seperate local variable watch window for every node
-- I can leave every window open as long as I want, while all my breakpoints are preserved. I can edit every file from any window and VS Code keeps track of everything
-
-The downside is that this approach is consuming more window space, which can
-get cluttered on a single monitor set up.
-
-Here is the complete launch.json and the tasks.json used for the global set up:
-```
-{
- // Use IntelliSense to learn about possible attributes.
- // Hover to view descriptions of existing attributes.
- // For more information, visit: https://go.microsoft.com/fwlink/?linkid=830387
- // Use IntelliSense to learn about possible attributes.
- // Hover to view descriptions of existing attributes.
- // For more information, visit: https://go.microsoft.com/fwlink/?linkid=830387
- "configurations": [
- {
- "name": "Talker_Node",
- "type": "cppdbg",
- "request": "launch",
- "program": "${workspaceFolder}/devel/lib/hello_vs_code/vs_talker",
- "args": [],
- "stopAtEntry": false,
- "cwd": "${workspaceFolder}",
- "environment": [],
- "externalConsole": false,
- "MIMode": "gdb",
- "setupCommands": [
- {
- "description": "Enable pretty-printing for gdb",
- "text": "-enable-pretty-printing",
- "ignoreFailures": true
- }
- ]
- },
- {
- "name": "Listener_Node",
- "type": "cppdbg",
- "request": "launch",
- "program": "${workspaceFolder}/devel/lib/hello_vs_code/vs_listener",
- "args": [],
- "stopAtEntry": false,
- "cwd": "${workspaceFolder}",
- "environment": [],
- "externalConsole": false,
- "MIMode": "gdb",
- "setupCommands": [
- {
- "description": "Enable pretty-printing for gdb",
- "text": "-enable-pretty-printing",
- "ignoreFailures": true
- }
- ]
- },
- {
- "name": "Listener2_Node",
- "type": "cppdbg",
- "request": "launch",
- "program": "${workspaceFolder}/devel/lib/hello_vs_code/vs_listener2",
- "args": [],
- "stopAtEntry": false,
- "cwd": "${workspaceFolder}",
- "environment": [],
- "externalConsole": false,
- "MIMode": "gdb",
- "setupCommands": [
- {
- "description": "Enable pretty-printing for gdb",
- "text": "-enable-pretty-printing",
- "ignoreFailures": true
- }
- ]
- }
- ],
- "compounds": [
- {
- "name": "Talker/Listener",
- "configurations": ["Talker_Node", "Listener_Node"]
- }
- ]
-}
-```
-task.json
-```
-{
- "version": "2.0.0",
- "tasks": [
- {
- "label": "ROS: catkin_make",
- "type": "shell",
- "command": "catkin_make",
- "args": [
- "--pkg",
- "hello_vs_code",
- "-j4",
- "-DCMAKE_BUILD_TYPE=Debug",
- ],
- "problemMatcher": [],
- "group": {
- "kind": "build",
- "isDefault": true
- }
- }
- ]
-}
-```
-
-#### The Compound Approach
-
-VS Code can launch multiple debug configuration from the same window, you just need to define them (we'll be using the ones defined above).
-Switch to the debug tab, set your breakpoints, select a configuration and start it.
-To start another one, just select another configuration from the combo box and start it. It's pretty much that easy.
-
-By starting more than one debugging session, the debug toolbar changes and it adds a combo box that allows you to select the active session you currently want to view.
-This basically means that you can only view the breakpoints and step through the code of the session that is currently selected in the combo box.
-
-You can also add the `compounds` option to your launch configuration and start as many debug sessions simultaneously as you want, but you can still only view the breakpoints of the one that is selected.
-You also need to close every debugging session individually when you want to stop debugging and you need to do it for every debug configuration you included in the compounds option.
-
-In the example below I started the talker and the listener configuration and stepped through the talker code until I
-passed the `talker_pub.publish(...)` code.
-Notice that I switched the active session to the "Talker_Node" in the debugger tool bar and that I don't see
-the breakpoint beeing hit in the listener window on the right side.
-
-
-
-Now VS Code does a pretty good job switching automatically the session where a breakpoint was hit
-(see the image below).
-This also aplies to the multi-window approach.
-VS-Code automatically switches the window to the one where a breakpoint was hit.
-
-
-The one thing I personally don't like, is that as soon as I step through the listener callback, the program returns to the ROS spin thread and then VS Code stays in the "Listener_Node" debug session, leaving me to manually select the talker node, to be able to step through the original node I debugged.
-
-This is obviously just a matter of personal preference, but I like having the yellow bar as a visual feedback to know where every node is (see the image in the windowed section).
-And I don't like stepping through every configuration to get back to the previous one.
-This gets even worse as the number of nodes in your workspace increases, altough VS Code provides you with means to search for a debug configuration by name.
-But it's still more annoying (to me) than to just have the debug session for a particular node always active in it's own window.
-
-## 6) Multi-Root ROS Workspace
-
-Ok so now we have a global task.json, launch.json and c_cpp_properties.json sitting in our catkin root folder.
-Since it is local, we don't disturbe any settings of other users when publishing the package.
-But it also means we have to write every configuration in this single file.
-This tends to get annoying, as the number of packages and nodes increases.
-
-The first thing one might try, is to add local files in the package itself and hope that VS Code finds it.
-Currently VS Code does not search recursively for *.json files in sub folders.
-But it does find them multi-root workspaces.
-So we could add a local .vscode folder to every package and create a workspace where we add every ROS package as a folder to the workspace.
-As said, VS Code supports that and it is the (currently) recommended way to create a multi-root workspace in VS Code.
-
-It's actually possible to have the catkin_ws folder as a separate folder to your workspace,
-combined with the child folders of your ROS packages.
-So it seems that there would be no drawback to this method, since you get the best of both worlds (self contained ROS packages and the overall view of your build environment).
-But as always in life, there is a catch.
-
-There seems to be bug currently in VS Code.
-When adding a parent folder and it's child folder to a workspace the intellisense engine seems to break.
-
-But there is a solution to that too.
-It only breaks when you first add the parent folder and then it's child.
-Or to be more exact, when the parent folder sits above the child folder in the directoy listing of your workspace folder.
-It seems that the intellisense indexer traverses the folder in the order we add them to the workspace.
-If for example you start a fresh VS Code instance and you add a ROS package (e.g. VS_Code_ROS) as a folder to your workspace and then add the catkin_ws folder as **the last** folder to your workspace, everything works as expected.
-If you do it the other way around, then intellisense breaks in the child folder.
-Actually you can just move the catkin_ws folder to the last position in the explorer tab and most of the time it works again.
-But the most reliable (and fastest way) is to remove the catkin_ws folder and readd it, after you added all your child folders to the workspace.
-
-So here is my working set up:
-
-- First remove the catkin_ws folder, leaving you with an empty workspace
-- Add all the ROS packages you want as additional folders to the workspace, using the context menu when right clicking the explorer tab (see image below). Since the VS Code workspace is only a logical construct, it doesn't create a copy of your files or does something else with them.
-It's more like a direct link to your specific ROS package, without any noise from any parent directory.
-Here is an example workspace with only the VS_Code_ROS package added:
-
-- Add a .vscode folder at the package root folder. This enables VS Code to find the launch configuration for every folder you add to your workspace
-- Add a taks.json, c_cpp_properties.json and launch.json configuration file to the .vscode folder and add your package specific configurations (see the .vscode folder in the VS_CODE_ROS package in the image above)
-- Add your catkin_ws folder last.
- When adding new packages to your workspace, you need the remove and readd your catkin_ws folder
-- Since we now have multiple workspace folders in VS Code we need to tell it where to find our include folders, executables and where the catkin_ws root folder is.
- We can do this using relative paths.
- Remember the ${workspaceFolder} is now different for every folder you add to your workspace, because of the multi-root environment.
- If you need to debug the path for a package, you can add a
- task to your tasks.json where you just set "dir" or "ls" as the command, change the "cwd" option and run the task until you get the right path you need.
- Here are the configrations for the shown package:
-
-c_cpp_properties.json
-```
-{
- "configurations": [
- {
- "name": "Linux",
- "browse": {
- "databaseFilename": "",
- "limitSymbolsToIncludedHeaders": true
- },
- "includePath": [
- "${workspaceFolder}/../../devel/include",
- "/opt/ros/kinetic/include",
- "/usr/include/**",
- "${workspaceFolder}/**"
- ],
- "intelliSenseMode": "gcc-x64",
- "compilerPath": "/usr/bin/g++",
- "cStandard": "c11",
- "cppStandard": "c++17"
- }
- ],
- "version": 4
-}
-```
-
-tasks.json
-```
-{
- "version": "2.0.0",
- "tasks": [
- {
- "label": "ROS: Build Hello_VS_CODE",
- "type": "shell",
- "command": "catkin_make",
- "args": [
- "--pkg",
- "hello_vs_code",
- "-j4",
- "-DCMAKE_BUILD_TYPE=Debug"
- ],
- "problemMatcher": [],
- "options": {
- "cwd": "${workspaceFolder}/../../"
- },
- "group": {
- "kind": "build",
- "isDefault": true
- }
- }
- ]
-}
-```
-
-launch.json
-```
-{
- // Use IntelliSense to learn about possible attributes.
- // Hover to view descriptions of existing attributes.
- // For more information, visit: https://go.microsoft.com/fwlink/?linkid=830387
- // Use IntelliSense to learn about possible attributes.
- // Hover to view descriptions of existing attributes.
- // For more information, visit: https://go.microsoft.com/fwlink/?linkid=830387
- "configurations": [
- {
- "name": "VS_Talker_Node",
- "type": "cppdbg",
- "request": "launch",
- "program": "${workspaceFolder}/../../devel/lib/hello_vs_code/vs_talker",
- "args": [],
- "stopAtEntry": false,
- "cwd": "${workspaceFolder}/../../",
- "environment": [],
- "externalConsole": false,
- "MIMode": "gdb",
- "setupCommands": [
- {
- "description": "Enable pretty-printing for gdb",
- "text": "-enable-pretty-printing",
- "ignoreFailures": true
- }
- ]
- },
- {
- "name": "VS_Listener_Node",
- "type": "cppdbg",
- "request": "launch",
- "program": "${workspaceFolder}/../../devel/lib/hello_vs_code/vs_listener",
- "args": [],
- "stopAtEntry": false,
- "cwd": "${workspaceFolder}/../../",
- "environment": [],
- "externalConsole": false,
- "MIMode": "gdb",
- "setupCommands": [
- {
- "description": "Enable pretty-printing for gdb",
- "text": "-enable-pretty-printing",
- "ignoreFailures": true
- }
- ]
- },
- {
- "name": "VS_Listener2_Node",
- "type": "cppdbg",
- "request": "launch",
- "program": "${workspaceFolder}/../../devel/lib/hello_vs_code/vs_listener2",
- "args": [],
- "stopAtEntry": false,
- "cwd": "${workspaceFolder}/../../",
- "environment": [],
- "externalConsole": false,
- "MIMode": "gdb",
- "setupCommands": [
- {
- "description": "Enable pretty-printing for gdb",
- "text": "-enable-pretty-printing",
- "ignoreFailures": true
- }
- ]
- }
- ],
- "compounds": [
- {
- "name": "Talker/Listener",
- "configurations": ["VS_Talker_Node", "VS_Listener_Node"]
- }
- ]
-}
-```
-Since the packages are subfolders of the catkin_ws/src folder, VS Code keeps highlighting the files in the explorer tab that are also open in the editor. Most of the time it will unfold the complete catkin_ws folder in the explorer tab, to show you the file beeing edited. You can set the "explorer.autoReveal" option to false to tell VS Code to stop messing with the folders.
-
-You now have a multi-root environment where every ROS package is completly self contained and you see the catkin_ws root folder.
-This gives you full intellisense, full build flexbility and the complete debug experience previously explained.
-To debug multiple nodes/packages in a multi window set up, you just need to open a new window and add
-the self-contained ROS packages you want to debug to your new (temporary) workspace (as described in the [Seperate Window Approach](#the-separate-window-approach-(recommended))).
-
-I also use this "trick", when I want to focus on one single package.
-This gives me a clean look on this single folder, while still providing the full build and debugging experience.
-You can always add and remove any package folder from your workspace without losing anything.
-The only difference is the catkin_ws folder with the previuosly mentioned intellisene problem.
-
-
-With this set up you also get a nice little suffix with the name of the package folder to your debugging launch configurations when you are in the debug tab.
-I just copied the launch.json from the VS_CODE_ROS package to catkin_ws/.vscode to get this doubled output:
-
-
-
-You can also add a package specific task.json and enable single package building and overriding the default build task.
-Setting multiple default build tasks in a multi-root environment will force VS Code to show a searchable prompt when using the build shortcut `CTRL+SHIFT+B` and asking for a selection of the
-task that should be run.
-Here is the example shown above of a package specific default build task that only builds the hello_vs_code package:
-```
-{
- "version": "2.0.0",
- "tasks": [
- {
- "label": "ROS: Build Hello_VS_CODE",
- "type": "shell",
- "command": "catkin_make",
- "args": [
- "--pkg",
- "hello_vs_code",
- "-j4",
- "-DCMAKE_BUILD_TYPE=Debug"
- ],
- "problemMatcher": [],
- "options": {
- "cwd": "${workspaceFolder}/../../"
- },
- "group": {
- "kind": "build",
- "isDefault": true
- }
- }
- ]
-}
-```
-
-You can add any other tasks specific to that package, like launching rviz or other plugins.
-And then you can add those tasks as a preLaunchTask in your launch.json to start automatically with your debugging session when you hit F5.
-Or you can add package specific keybindings to your package specific tasks, to enable a really fast workflow.
-
-
-So have fun coding and debugging ROS nodes with VS Code.
-
-
- <!-- Links -->
-
-[i1370]: https://github.com/ros/ros_comm/issues/1370
-[i19793]: https://github.com/Microsoft/vscode/issues/19793
-[idebug]: https://vscode.readthedocs.io/en/latest/editor/debugging/
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deleted file mode 100644
index 2f173422014a05a16f749bd98fc3875876aa4080..0000000000000000000000000000000000000000
--- a/VS_Code_ROS/hello_vs_code/CMakeLists.txt
+++ /dev/null
@@ -1,208 +0,0 @@
-cmake_minimum_required(VERSION 2.8.3)
-project(hello_vs_code)
-
-## Compile as C++11, supported in ROS Kinetic and newer
-# add_compile_options(-std=c++11)
-
-## Find catkin macros and libraries
-## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
-## is used, also find other catkin packages
-find_package(catkin REQUIRED COMPONENTS
- roscpp
- rospy
- std_msgs
-)
-
-## System dependencies are found with CMake's conventions
-# find_package(Boost REQUIRED COMPONENTS system)
-
-
-## Uncomment this if the package has a setup.py. This macro ensures
-## modules and global scripts declared therein get installed
-## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
-# catkin_python_setup()
-
-################################################
-## Declare ROS messages, services and actions ##
-################################################
-
-## To declare and build messages, services or actions from within this
-## package, follow these steps:
-## * Let MSG_DEP_SET be the set of packages whose message types you use in
-## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
-## * In the file package.xml:
-## * add a build_depend tag for "message_generation"
-## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
-## * If MSG_DEP_SET isn't empty the following dependency has been pulled in
-## but can be declared for certainty nonetheless:
-## * add a exec_depend tag for "message_runtime"
-## * In this file (CMakeLists.txt):
-## * add "message_generation" and every package in MSG_DEP_SET to
-## find_package(catkin REQUIRED COMPONENTS ...)
-## * add "message_runtime" and every package in MSG_DEP_SET to
-## catkin_package(CATKIN_DEPENDS ...)
-## * uncomment the add_*_files sections below as needed
-## and list every .msg/.srv/.action file to be processed
-## * uncomment the generate_messages entry below
-## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
-
-## Generate messages in the 'msg' folder
-# add_message_files(
-# FILES
-# Message1.msg
-# Message2.msg
-# )
-
-## Generate services in the 'srv' folder
-# add_service_files(
-# FILES
-# Service1.srv
-# Service2.srv
-# )
-
-## Generate actions in the 'action' folder
-# add_action_files(
-# FILES
-# Action1.action
-# Action2.action
-# )
-
-## Generate added messages and services with any dependencies listed here
-# generate_messages(
-# DEPENDENCIES
-# std_msgs
-# )
-
-################################################
-## Declare ROS dynamic reconfigure parameters ##
-################################################
-
-## To declare and build dynamic reconfigure parameters within this
-## package, follow these steps:
-## * In the file package.xml:
-## * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
-## * In this file (CMakeLists.txt):
-## * add "dynamic_reconfigure" to
-## find_package(catkin REQUIRED COMPONENTS ...)
-## * uncomment the "generate_dynamic_reconfigure_options" section below
-## and list every .cfg file to be processed
-
-## Generate dynamic reconfigure parameters in the 'cfg' folder
-# generate_dynamic_reconfigure_options(
-# cfg/DynReconf1.cfg
-# cfg/DynReconf2.cfg
-# )
-
-###################################
-## catkin specific configuration ##
-###################################
-## The catkin_package macro generates cmake config files for your package
-## Declare things to be passed to dependent projects
-## INCLUDE_DIRS: uncomment this if your package contains header files
-## LIBRARIES: libraries you create in this project that dependent projects also need
-## CATKIN_DEPENDS: catkin_packages dependent projects also need
-## DEPENDS: system dependencies of this project that dependent projects also need
-catkin_package(
-# INCLUDE_DIRS include
-# LIBRARIES hello_vs_code
-# CATKIN_DEPENDS roscpp rospy std_msgs
-# DEPENDS system_lib
-)
-
-###########
-## Build ##
-###########
-
-## Specify additional locations of header files
-## Your package locations should be listed before other locations
-include_directories(
-# include
- ${catkin_INCLUDE_DIRS}
-)
-
-## Declare a C++ library
-# add_library(${PROJECT_NAME}
-# src/${PROJECT_NAME}/hello_vs_code.cpp
-# )
-
-## Add cmake target dependencies of the library
-## as an example, code may need to be generated before libraries
-## either from message generation or dynamic reconfigure
-# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
-
-## Declare a C++ executable
-## With catkin_make all packages are built within a single CMake context
-## The recommended prefix ensures that target names across packages don't collide
-# add_executable(${PROJECT_NAME}_node src/hello_vs_code_node.cpp)
-add_executable(vs_talker src/talker.cpp)
-add_executable(vs_listener src/listener.cpp)
-add_executable(vs_listener2 src/listener2.cpp)
-
-## Rename C++ executable without prefix
-## The above recommended prefix causes long target names, the following renames the
-## target back to the shorter version for ease of user use
-## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
-# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
-
-## Add cmake target dependencies of the executable
-## same as for the library above
-# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
-
-## Specify libraries to link a library or executable target against
-# target_link_libraries(${PROJECT_NAME}_node
-# ${catkin_LIBRARIES}
-# )
-target_link_libraries(vs_talker
- ${catkin_LIBRARIES})
-target_link_libraries(vs_listener
- ${catkin_LIBRARIES})
-target_link_libraries(vs_listener2
- ${catkin_LIBRARIES})
-
-#############
-## Install ##
-#############
-
-# all install targets should use catkin DESTINATION variables
-# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
-
-## Mark executable scripts (Python etc.) for installation
-## in contrast to setup.py, you can choose the destination
-# install(PROGRAMS
-# scripts/my_python_script
-# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-# )
-
-## Mark executables and/or libraries for installation
-# install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_node
-# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-# )
-
-## Mark cpp header files for installation
-# install(DIRECTORY include/${PROJECT_NAME}/
-# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
-# FILES_MATCHING PATTERN "*.h"
-# PATTERN ".svn" EXCLUDE
-# )
-
-## Mark other files for installation (e.g. launch and bag files, etc.)
-# install(FILES
-# # myfile1
-# # myfile2
-# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
-# )
-
-#############
-## Testing ##
-#############
-
-## Add gtest based cpp test target and link libraries
-# catkin_add_gtest(${PROJECT_NAME}-test test/test_hello_vs_code.cpp)
-# if(TARGET ${PROJECT_NAME}-test)
-# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
-# endif()
-
-## Add folders to be run by python nosetests
-# catkin_add_nosetests(test)
diff --git a/VS_Code_ROS/hello_vs_code/package.xml b/VS_Code_ROS/hello_vs_code/package.xml
deleted file mode 100644
index 478f4f01f27f42795b37fa274ea1ef733475cc1e..0000000000000000000000000000000000000000
--- a/VS_Code_ROS/hello_vs_code/package.xml
+++ /dev/null
@@ -1,28 +0,0 @@
-<?xml version="1.0"?>
-<package format="2">
- <name>hello_vs_code</name>
- <version>0.0.0</version>
- <description>Simple hello_vs_code package</description>
-
- <!-- One maintainer tag required, multiple allowed, one person per tag -->
- <!-- Example: -->
- <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
- <maintainer email="MrGonmes@todo.todo">MrGnomes</maintainer>
-
-
- <!-- One license tag required, multiple allowed, one license per tag -->
- <!-- Commonly used license strings: -->
- <!-- BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
- <license>TODO</license>
-
- <buildtool_depend>catkin</buildtool_depend>
- <depend>roscpp</depend>
- <depend>rospy</depend>
- <depend>std_msgs</depend>
-
- <!-- The export tag contains other, unspecified, tags -->
- <export>
- <!-- Other tools can request additional information be placed here -->
-
- </export>
-</package>
diff --git a/VS_Code_ROS/hello_vs_code/src/listener.cpp b/VS_Code_ROS/hello_vs_code/src/listener.cpp
deleted file mode 100644
index 0f19d9dc25b35dd572670683754c0d1582f42860..0000000000000000000000000000000000000000
--- a/VS_Code_ROS/hello_vs_code/src/listener.cpp
+++ /dev/null
@@ -1,18 +0,0 @@
-#include "ros/ros.h"
-#include "std_msgs/String.h"
-
-void talkerCallback(const std_msgs::String::ConstPtr& rosMsg)
-{
- ROS_INFO("I heard: [%s]", rosMsg->data.c_str());
-}
-
-int main(int argc, char** argv)
-{
- ros::init(argc, argv, "listener");
- ros::NodeHandle hanlde;
-
- ros::Subscriber talker_sub = hanlde.subscribe("/talker", 1000, talkerCallback);
- ros::spin();
-
- return 0;
-}
\ No newline at end of file
diff --git a/VS_Code_ROS/hello_vs_code/src/listener2.cpp b/VS_Code_ROS/hello_vs_code/src/listener2.cpp
deleted file mode 100644
index 03897661e275d7004c6607e01d0cfeec45c6b237..0000000000000000000000000000000000000000
--- a/VS_Code_ROS/hello_vs_code/src/listener2.cpp
+++ /dev/null
@@ -1,18 +0,0 @@
-#include "ros/ros.h"
-#include "std_msgs/String.h"
-
-void talkerCallback(const std_msgs::String::ConstPtr& rosMsg)
-{
- ROS_INFO("I heard: [%s]", rosMsg->data.c_str());
-}
-
-int main(int argc, char** argv)
-{
- ros::init(argc, argv, "listener2");
- ros::NodeHandle hanlde;
-
- ros::Subscriber talker_sub = hanlde.subscribe("/talker", 1000, talkerCallback);
- ros::spin();
-
- return 0;
-}
\ No newline at end of file
diff --git a/VS_Code_ROS/hello_vs_code/src/talker.cpp b/VS_Code_ROS/hello_vs_code/src/talker.cpp
deleted file mode 100644
index 6b436ddffc769f6749b957db060965b23fba63f2..0000000000000000000000000000000000000000
--- a/VS_Code_ROS/hello_vs_code/src/talker.cpp
+++ /dev/null
@@ -1,33 +0,0 @@
-#include "ros/ros.h"
-#include "std_msgs/String.h"
-#include <iostream>
-
-int main(int argc, char **argv)
-{
-
- ros::init(argc, argv, "talker");
- ros::NodeHandle hanlde;
-
- ros::Publisher talker_pub = hanlde.advertise<std_msgs::String>("/talker", 1000);
- ros::Rate loop_rate(10);
- int count = 0;
-
- while(ros::ok())
- {
- std_msgs::String rosMsg;
- std::stringstream ss;
-
- ss << "Hello Ros World [" << count << "]";
- rosMsg.data = ss.str();
-
- ROS_INFO("%s", rosMsg.data.c_str());
- talker_pub.publish(rosMsg);
-
- ros::spinOnce();
- loop_rate.sleep();
-
- ++count;
- }
-
- return 0;
-}
\ No newline at end of file
diff --git a/auth.conf b/auth.conf
deleted file mode 100644
index cc085ac374f991d84e30ad9bf330e5f783ee4b3b..0000000000000000000000000000000000000000
--- a/auth.conf
+++ /dev/null
@@ -1,3 +0,0 @@
-machine https://artifact.tecnalia.com/artifactory/tecnalia-robotics-debian
-login andres.montano@tecnalia.com
-password AKCp8jQcqPn8BQrgnqSShfsqvkS4vMbJL5WNYduVAcxaH7kbpVCyQsLnQgEhr4UeQNZoSgwwk
diff --git a/change-gdm-background b/change-gdm-background
deleted file mode 100755
index 0b0f3207bb84ae5413fb7fecc7e6ecdb3f1355b3..0000000000000000000000000000000000000000
--- a/change-gdm-background
+++ /dev/null
@@ -1,215 +0,0 @@
-#!/usr/bin/env bash
-# Autor: Thiago Silva
-# Contact: thiagos.dasilva@gmail.com
-# URL: https://github.com/thiggy01/change-gdm-background
-# =================================================================== #
-
-# Check if script is run by root.
-if [ "$(id -u)" -ne 0 ] ; then
- echo 'This script must be run as root or with the sudo command.'
- exit 1
-fi
-
-# Check what linux distro is being used.
-distro="$(lsb_release -c | cut -f 2)"
-if ! [[ "$distro" =~ (focal|groovy|hirsute) ]]; then
- echo 'Sorry, this script only works with focal, groovy or hirsute distros.'
- exit 1
-fi
-
-# Check if glib 2.0 development libraries are installed.
-if [ ! -x "$(command -v glib-compile-resources)" ]; then
- echo 'Additional glib 2.0 libraries need to be installed.'
- read -p 'Type y or Y to proceed. Any other key to exit: ' -n 1
- if [[ "$REPLY" =~ ^[yY]$ ]]; then
- apt install libglib2.0-dev-bin
- else
- echo "This tool can't run without required libraries"
- echo "Exiting."
- echo
- exit 1
- fi
-fi
-
-# Assign the default gdm theme file path.
-if [ "$(lsb_release -i | awk '{print $3}')" == 'Ubuntu' ]; then
- gdm3Resource=/usr/share/gnome-shell/theme/Yaru/gnome-shell-theme.gresource
-elif [ "$(lsb_release -i | awk '{print $3}')" == 'Pop' ]; then
- gdm3Resource=/usr/share/gnome-shell/theme/Pop/gnome-shell-theme.gresource
-fi
-
-# Create a backup file of the original theme if there isn't one.
-[ ! -f "$gdm3Resource"~ ] && cp "$gdm3Resource" "$gdm3Resource~"
-
-# Restore backup function.
-restore () {
-mv "$gdm3Resource~" "$gdm3Resource"
-if [ "$?" -eq 0 ]; then
- chmod 644 "$gdm3Resource"
- echo 'GDM background sucessfully restored.'
- read -p 'Do you want to restart gdm to apply change? (y/n):' -n 1
- echo
- if [[ "$REPLY" =~ ^[yY]$ ]]; then
- service gdm restart
- else
- echo 'Restart GDM service to apply change.'
- exit 0
- fi
-fi
-}
-
-# Restore the original gdm3 theme.
-[ "$1" == "--restore" ] && restore
-
-#Define main variables.
-gdm3xml=$(basename "$gdm3Resource").xml
-workDir="/tmp/gdm3-theme"
-
-# Create directories from resource list.
-CreateDirs() {
-for resource in `gresource list "$gdm3Resource~"`; do
- resource="${resource#\/org\/gnome\/shell\/}"
- if [ ! -d "$workDir"/"${resource%/*}" ]; then
- mkdir -p "$workDir"/"${resource%/*}"
- fi
-done
-}
-
-# Extract resources from binary file.
-ExtractRes() {
-for resource in `gresource list "$gdm3Resource~"`; do
- gresource extract "$gdm3Resource~" "$resource" > \
- "$workDir"/"${resource#\/org\/gnome\/shell\/}"
-done
-}
-
-# Compile resources into a gresource binary file.
-CompileRes() {
-glib-compile-resources --sourcedir=$workDir/theme/ $workDir/theme/"$gdm3xml"
-}
-
-# Moves the newly created resource to its default place.
-MoveRes() {
-mv $workDir/theme/gnome-shell-theme.gresource $gdm3Resource
-}
-
-# Check if gresource was sucessfuly moved to its default folder.
-Check() {
-if [ "$?" -eq 0 ]; then
-# Solve a permission change issue (thanks to @huepf from github).
- chmod 644 "$gdm3Resource"
- echo 'GDM background sucessfully changed.'
- read -p 'Do you want to restart gdm to apply change? (y/n):' -n 1
- echo
- # If change was successful apply ask for gdm restart.
- if [[ "$REPLY" =~ ^[yY]$ ]]; then
- service gdm restart
- else
- echo "Change will be applied only after restarting gdm"
- echo
- fi
-else
- # If something went wrong, restore backup file.
- echo 'something went wrong.'
- restore
- echo 'No changes were applied.'
-fi
-}
-
-CleanUp() {
- # Remove temporary directories and files.
- rm -r "$workDir"
- exit 0
-}
-
-# Test if argument is an image file.
-if [[ $(file --mime-type -b "$1") == image/*g ]]; then
-
- # Define image variables.
- gdmBgImg=$(realpath "$1")
- imgFile=$(basename "$gdmBgImg")
-
- # Call procedures to create directories and extract resources to them.
- CreateDirs
- ExtractRes
-
- # Copy selected image to the resources directory.
- cp "$gdmBgImg" "$workDir"/theme
-
- # Change gdm background to the image you submited.
- oldBg="#lockDialogGroup \{.*?\}"
- newBg="#lockDialogGroup {
- background: url('resource:\/\/\/org\/gnome\/shell\/theme\/$imgFile');
- background-size: cover; }"
- perl -i -0777 -pe "s/$oldBg/$newBg/s" "$workDir"/theme/gdm3.css
-
- # Generate gresource xml file.
- echo '<?xml version="1.0" encoding="UTF-8"?>
-<gresources>
- <gresource prefix="/org/gnome/shell/theme">' > "$workDir"/theme/"$gdm3xml"
- for file in `gresource list "$gdm3Resource~"`; do
- echo " <file>${file#\/org\/gnome/shell\/theme\/}</file>" \
- >> "$workDir"/theme/"$gdm3xml"
- done
- echo " <file>$imgFile</file>" >> "$workDir"/theme/"$gdm3xml"
- echo ' </gresource>
-</gresources>' >> "$workDir"/theme/"$gdm3xml"
-
- # Compile the new gresource.
- CompileRes
-
- # Move gresource to the default place.
- MoveRes
-
- # Check if everything was successful.
- Check
-
- # Remove temporary files and exit.
- CleanUp
-
-# Change background colors.
-elif [[ "$1" =~ ^#([A-Fa-f0-9]{6}|[A-Fa-f0-9]{3})$ ]]; then
-
- # Store selected background color.
- BgColor="$1"
-
- CreateDirs
- ExtractRes
-
- # Change gdm background to the color you submited.
- oldBg="#lockDialogGroup \{.*?\}"
- newBg="#lockDialogGroup {
- background: $BgColor;
- background-size: cover; }"
- perl -i -0777 -pe "s/$oldBg/$newBg/s" "$workDir"/theme/gdm3.css
-
- # Generate the gresource xml file.
- echo '<?xml version="1.0" encoding="UTF-8"?>
-<gresources>
- <gresource prefix="/org/gnome/shell/theme">' > "$workDir"/theme/"$gdm3xml"
- for file in `gresource list "$gdm3Resource~"`; do
- echo " <file>${file#\/org\/gnome/shell\/theme\/}</file>" \
- >> "$workDir"/theme/"$gdm3xml"
- done
- echo ' </gresource>
-</gresources>' >> "$workDir"/theme/"$gdm3xml"
-
- # Compile the new gresource.
- CompileRes
-
- # Move gresource to the default place.
- MoveRes
-
- # Remove temporary files and exit.
- CleanUp
-
-else
-
- # If no file was submited or file submited isn't an image,
- # show this message.
- echo 'Image file not found or wrong color hex code.'
- echo 'Please, submit a .jpg or .png image file or a valid hex code.'
- echo 'Usage: sudo ./ubuntu-20.04-change-gdm-background /path/to/image.*g'
- echo 'Usage: sudo ./ubuntu-20.04-change-gdm-background \#yourhexcode'
-
-fi
diff --git a/ddeploy/kawada_lab_application.ddeploy.yaml b/ddeploy/kawada_lab_application.ddeploy.yaml
deleted file mode 100644
index 98b504746fc79c92d1463ddc26f654be2ae684f8..0000000000000000000000000000000000000000
--- a/ddeploy/kawada_lab_application.ddeploy.yaml
+++ /dev/null
@@ -1,12 +0,0 @@
-# kawada_lab_application.ddeploy.yaml
-project_name: kawada_lab_application
-ros_distro: melodic
-project_sources:
- - /home/andres/workspace/kawada_ws/src
-image_name: tecnalia/kawada_lab_application
-addon_name: melodic-kawada_lab_application
-oci_source: https://git.code.tecnalia.com/tecnalia_robotics/kawada/kawada_lab_application
-oci_title: kawada_lab_application deployment image
-base_image: osrf/ros:melodic-desktop-full
-
-
diff --git a/ddeploy/robouton_core.ddeploy.yaml b/ddeploy/robouton_core.ddeploy.yaml
deleted file mode 100644
index 379ff1d44b74250fbe16513ee4b8aaee67f6b21f..0000000000000000000000000000000000000000
--- a/ddeploy/robouton_core.ddeploy.yaml
+++ /dev/null
@@ -1,10 +0,0 @@
-# robouton_core.ddeploy.yaml
-project_name: robouton_core
-ros_distro: melodic
-project_sources:
- - .
- - ./rosinstall
-addon_name: robouton_core
-base_image: tecnalia-robotics-docker.artifact.tecnalia.com/flexbotics-base-devel:melodic
-cmd: roslaunch flexbotics_robots_rbrobout_launch flexbotics_robots_rbrobout.launch manipulator_controller:=false
-after_script: bash -c ". /opt/ros/robouton_core/setup.bash"
\ No newline at end of file
diff --git a/deploy_config/ISR.Dockerfile b/deploy_config/ISR.Dockerfile
deleted file mode 100644
index 64c500f4e53a44506de1b46d8c135f7572d66dfd..0000000000000000000000000000000000000000
--- a/deploy_config/ISR.Dockerfile
+++ /dev/null
@@ -1,101 +0,0 @@
-FROM nvidia/cuda:11.3.0-base-ubuntu16.04
-
-WORKDIR /root/ws
-ENV ROS_DISTRO melodic
-
-RUN echo 'debconf debconf/frontend select Noninteractive' | debconf-set-selections
-
-# nvidia-container-runtime
-ENV NVIDIA_VISIBLE_DEVICES \
- ${NVIDIA_VISIBLE_DEVICES:-all}
-ENV NVIDIA_DRIVER_CAPABILITIES \
- ${NVIDIA_DRIVER_CAPABILITIES:+$NVIDIA_DRIVER_CAPABILITIES,}graphics
-
-# install basic packages
-RUN apt-get update && apt-get install -q -y --no-install-recommends \
- dirmngr \
- gnupg2 \
- lsb-release \
- sudo \
- ocl-icd-libopencl1 \
- clinfo \
- && rm -rf /var/lib/apt/lists/*
-
-RUN mkdir -p /etc/OpenCL/vendors && \
- echo "libnvidia-opencl.so.1" > /etc/OpenCL/vendors/nvidia.icd
-
-# Setup environment
-RUN apt-get update && apt-get install -y \
- locales \
- && sed -i '/en_US.UTF-8/s/^# //g' /etc/locale.gen && locale-gen en_US.UTF-8
-ENV LANG en_US.UTF-8
-ENV LANGUAGE en_US:en
-ENV LC_ALL en_US.UTF-8
-
-# Setup sources.list
-RUN sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
-RUN apt-get -y install --no-install-recommends \
- curl
-RUN curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -
-
-RUN apt-get update && apt-get install -y \
- ros-kinetic-desktop-full
-
-# Configure apt and install packages
-RUN apt-get -y install --no-install-recommends \
- apt-transport-https \
- ca-certificates \
- software-properties-common \
- gnupg-agent \
- apt-utils dialog 2>&1 \
- git \
- nano \
- less \
- iproute2 \
- procps \
- lsb-release \
- curl \
- cmake \
- openssh-client \
- python-catkin-tools \
- python-osrf-pycommon \
- python-rosdep \
- python-rosinstall \
- python-rosinstall-generator \
- python-wstool \
- build-essential \
- ros-${ROS_DISTRO}-rosmon \
- xterm \
- wget \
- clinfo \
- && rm -rf /var/lib/apt/lists/*
-
-# Add private sources
-ARG ARTIFACT_CI_USER
-ARG ARTIFACT_CI_TOKEN
-ARG ARTIFACT_DEBIAN_KEY_ID
-RUN \
- apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-keys "${ARTIFACT_DEBIAN_KEY_ID}" && \
- echo "deb https://${ARTIFACT_CI_USER}:${ARTIFACT_CI_TOKEN}@artifact.tecnalia.com/artifactory/tecnalia-robotics-debian $(lsb_release -sc) main" > /etc/apt/sources.list.d/tecnalia.list && \
- # Add the private rosdep mapping yaml
- rosdep init || true && \
- echo "yaml https://git.code.tecnalia.com/tecnalia_robotics-public/gitlab_templates/raw/master/rosdistro/rosdep_tecnalia.yaml" >> /etc/ros/rosdep/sources.list.d/10-tecnalia.list
-
-# Import the key in order to be able to use the packages from the repository
-RUN apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-keys 7E72C5B4111A50084C63C9489E7A9B1D990CF897
-
-# Configure rosdep
-RUN rosdep init || true
-RUN sh -c "echo 'yaml https://git.code.tecnalia.com/tecnalia_robotics-public/gitlab_templates/raw/master/rosdistro/rosdep_tecnalia.yaml' \
- >> /etc/ros/rosdep/sources.list.d/20-default.list"
-RUN rosdep update --include-eol-distros --rosdistro ${ROS_DISTRO}
-
-RUN mkdir -p /ws/src && \
- cd /ws/src
-
-COPY . /ws/src/iiwa_state_recorder/
-
-CMD ["bash"]
-
-# Switch back to dialog for any ad-hoc use of apt-get
-ENV DEBIAN_FRONTEND=
\ No newline at end of file
diff --git a/deploy_config/README.md b/deploy_config/README.md
deleted file mode 100644
index 2a1901feb52e86c7c3296312a69d4d539815eddb..0000000000000000000000000000000000000000
--- a/deploy_config/README.md
+++ /dev/null
@@ -1,56 +0,0 @@
-# IIWA state recorder
-
-* Download the [iiwa_state_recorder package](https://git.code.tecnalia.com/tecnalia_robotics/kuka_sunrise/iiwa_state_recorder.git):
-
- ```bash
- mkdir -p ~/ros/melodic/iiwa_ws/src
- cd ~/ros/melodic/iiwa_ws/src
- git clone git@git.code.tecnalia.com:tecnalia_robotics/kuka_sunrise/iiwa_state_recorder.git
- ```
-
-* Install the additional ros packages using .rosinstall:
-
- ```bash
- cd ~/ros/melodic/iiwa_ws/src
-
- wstool init
- wstool merge iiwa_state_recorder/.rosinstall
- wstool update
- rosdep install -iy --from-paths .
-
- catkin build
- ```
-
-## Docker image
-
-Command to build the docker image to work on a host with Ubuntu 20.04:
-
-```bash
-docker build -t iiwa_simulator --build-arg USER_API_KEY_ARTIFACTS_TECNALIA="$(cat ~/.ssh/user_api_key_artifacts_tecnalia)" -f ISR.Dockerfile .
-```
-
-<!-- Testing ddeploy
-Using [ddeploy](https://git.code.tecnalia.com/tecnalia_robotics/flexbotics/flexbotics_utils/ddeploy)
-
-ddeploy --name scan_and_plan_nvidia --distro kinetic -b tecnalia-robotics-docker.artifact.tecnalia.com/flexbotics-base-nvidia-devel:kinetic -s . --keep-source
-Generates: clinfo error
-
-ddeploy --name scan_and_plan_nvidia_cuda --distro kinetic -b nvidia/cuda:11.3.0-base-ubuntu16.04 -s . --keep-sources
-Generate: Missing sources etc...
--->
-
-Command to launch the docker image using [rocker](https://github.com/osrf/rocker)
-
-```bash
-rocker --privileged --devices /dev/bus/usb --nvidia --x11 --home --git --ssh <docker_image>
-```
-
-<!-- If --user flag is passed as argument when the container is launched with rocker then sudo privileged is required to access to the Zivid camera. -->
-
-Commands to launch the demo:
-
-```bash
-source /opt/ros/melodic/setup.bash
-source ~/ros/melodic/iiwa_ws/devel/setup.bash
-roslaunch iiwa_state_recorder iiwa_simulator.launch
-```
diff --git a/deploy_config/build_docker.bash b/deploy_config/build_docker.bash
deleted file mode 100644
index ff90a76e4a1888e86a50002a97dc6db32ad04673..0000000000000000000000000000000000000000
--- a/deploy_config/build_docker.bash
+++ /dev/null
@@ -1,60 +0,0 @@
-#!/bin/bash
-
-set -e # To fail on errors
-
-DIR_THIS="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )"
-
-deploy_distro=${1:-melodic}
-python_version=${2:-python}
-docker_tag=${3:-untagged}
-project_url=${4:-https://git.code.tecnalia.com}
-image_version=${5:-local_build}
-image_revision=${6:-local_build}
-
-echo "$ARTIFACT_DEBIAN_KEY_ID" > /tmp/additional_apt_keys
-echo "deb https://${ARTIFACT_CI_USER}:${ARTIFACT_CI_TOKEN}@artifact.tecnalia.com/artifactory/tecnalia-robotics-debian xenial main" > /tmp/additional_apt_sources
-echo "yaml https://git.code.tecnalia.com/tecnalia_robotics-public/gitlab_templates/raw/master/rosdistro/rosdep_tecnalia.yaml" > /tmp/additional_rosdeps
-echo "https://$ARTIFACT_CI_USER:$ARTIFACT_CI_TOKEN@artifact.tecnalia.com" > /tmp/git_credentials
-echo "$SSH_PRIVATE_KEY" > /tmp/ssh_key
-echo "$SSH_SERVER_HOSTKEYS" > /tmp/ssh_hostkeys
-
-cd "${DIR_THIS}"/..
-
-# shellcheck disable=SC2046
-DOCKER_BUILDKIT=1 docker build \
- --progress=plain \
- --secret id=additional_apt_keys,src=/tmp/additional_apt_keys \
- --secret id=additional_apt_sources,src=/tmp/additional_apt_sources \
- --secret id=additional_rosdeps,src=/tmp/additional_rosdeps \
- --build-arg BASE_IMAGE="nvidia/cuda:11.3.0-base-ubuntu16.04" \
- --secret id=git_credentials,src=/tmp/git_credentials \
- --build-arg PROJECT_NAME=iiwa_state_recorder \
- --build-arg ROS_DISTRO="$deploy_distro" \
- --secret id=ssh_key,src=/tmp/ssh_key \
- --secret id=ssh_hostkeys,src=/tmp/ssh_hostkeys \
- --build-arg PYTHON_VERSION="$python_version" \
- --build-arg USERNAME=deployuser \
- --build-arg UID=1000 \
- --build-arg GID=1000 \
- --build-arg ENTRY_COMMAND="roslaunch iiwa_state_recorder iiwa_simulator.launch" \
- --label "org.opencontainers.image.created=$(date --rfc-3339=seconds)" \
- --label "org.opencontainers.image.url=$project_url" \
- --label "org.opencontainers.image.version=$image_version" \
- --label "org.opencontainers.image.revision=$image_revision" \
- --label "org.opencontainers.image.vendor=TECNALIA" \
- --label "org.opencontainers.image.licenses=TECNALIA" \
- $(printf "%s" "$deploy_distro") \
- -t "iiwa_state_recorder:$docker_tag" .
-
-ret=$?
-
-rm /tmp/additional_apt_keys
-rm /tmp/additional_apt_sources
-rm /tmp/additional_rosdeps
-rm /tmp/git_credentials
-rm /tmp/ssh_key
-rm /tmp/ssh_hostkeys
-
-cd -
-
-exit $ret
diff --git a/deploy_config/iiwa_state_recorder.ddeploy.yaml b/deploy_config/iiwa_state_recorder.ddeploy.yaml
deleted file mode 100644
index debb36fa563f3bb45366398842c68115c7866b27..0000000000000000000000000000000000000000
--- a/deploy_config/iiwa_state_recorder.ddeploy.yaml
+++ /dev/null
@@ -1,10 +0,0 @@
-project_name: iiwa_state_recorder
-ros_distro: melodic
-project_sources:
- - ./iiwa_state_recorder.rosinstall
-vcs_workers: 1
-cmd: roslaunch iiwa_state_recorder iiwa_simulator_deploy.launch
-after_script: apt-get update && apt-get install -y curl
- && curl -sL https://deb.nodesource.com/setup_14.x | sudo -E bash -
- && apt-get install -y nodejs && npm -g install yarn
- && bash -c "source /ros_entrypoint.sh && find /opt/ros/ -name 'build_ui.bash' -exec bash {} \;"
diff --git a/deploy_config/iiwa_state_recorder.rosinstall b/deploy_config/iiwa_state_recorder.rosinstall
deleted file mode 100644
index 357c911f22af00ed2566c896d1cfe7bf79e3f37c..0000000000000000000000000000000000000000
--- a/deploy_config/iiwa_state_recorder.rosinstall
+++ /dev/null
@@ -1,95 +0,0 @@
-- git:
- local-name: algebra_libraries
- uri: 'git@git.code.tecnalia.com:tecnalia_robotics/algebra_libraries.git'
- version: melodic-devel
-- git:
- local-name: cartesian_trajectory_analyser
- uri: 'git@git.code.tecnalia.com:tecnalia_robotics/kuka_sunrise/cartesian_trajectory_analyser.git'
- version: melodic-devel
-- git:
- local-name: flexbotics_robots_iiwa
- uri: 'git@git.code.tecnalia.com:tecnalia_robotics/flexbotics/flexbotics_robots/flexbotics_robots_iiwa.git'
- version: master
-- git:
- local-name: gl_depth_sim
- uri: https://github.com/Jmeyer1292/gl_depth_sim.git
- version: master
-- git:
- local-name: iiwa_native_controller
- uri: 'git@git.code.tecnalia.com:tecnalia_robotics/kuka_sunrise/iiwa_native_controller.git'
- version: melodic-devel
-- git:
- local-name: iiwa_skill_manager
- uri: 'git@git.code.tecnalia.com:tecnalia_robotics/kuka_sunrise/iiwa_skill_manager.git'
- version: melodic-devel
-- git:
- local-name: iiwa_stack
- uri: 'https://github.com/tecnalia-advancedmanufacturing-robotics/iiwa_stack.git'
- version: master
-- git:
- local-name: iiwa_state_recorder
- uri: 'git@git.code.tecnalia.com:tecnalia_robotics/kuka_sunrise/iiwa_state_recorder.git'
- version: melodic-devel
-- git:
- local-name: manipulation
- uri: 'git@git.code.tecnalia.com:tecnalia_robotics/manipulation.git'
- version: kinetic-devel
-- git:
- local-name: manipulator_commander_compliant
- uri: 'git@git.code.tecnalia.com:tecnalia_robotics/manipulator_commander_compliant.git'
- version: melodic-devel
-- git:
- local-name: manipulator_commander_iiwa
- uri: 'git@git.code.tecnalia.com:tecnalia_robotics/manipulator_commander_iiwa.git'
- version: melodic-devel
-- git:
- local-name: vision_libraries
- uri: git@git.code.tecnalia.com:tecnalia_robotics/flexbotics/vision/vision_libraries.git
- version: melodic-devel
-- git:
- local-name: vision_libraries_additionals_tools
- uri: git@git.code.tecnalia.com:tecnalia_robotics/flexbotics/vision/vision_libraries_additionals_tools.git
- version: melodic-devel
-- git:
- local-name: vision_libraries_external_api
- uri: git@git.code.tecnalia.com:tecnalia_robotics/flexbotics/vision/vision_libraries_external_api.git
- version: melodic-devel
-- git:
- local-name: vision_object_detection_plugins
- uri: git@git.code.tecnalia.com:tecnalia_robotics/flexbotics/vision/vision_object_detection_plugins.git
- version: melodic-devel
-# Packages for intergration with robouton demo
-- git:
- local-name: sherlock_ui
- uri: git@git.code.tecnalia.com:tecnalia_robotics/sherlock/sherlock_ui.git
- version: 8-add-dashboard-option
-- git:
- local-name: dummy_application
- uri: git@git.code.tecnalia.com:tecnalia_robotics/flexbotics/flexbotics_test/dummy_application.git
- version: main
-- git:
- local-name: move_base_navigation_skill
- uri: git@git.code.tecnalia.com:tecnalia_robotics/flexbotics/flexbotics_skill_library/robot_mobility/move_base_navigation_skill.git
- version: master
-# Packages from dummy_application
-- git:
- local-name: flexbotics_action_base_classes
- uri: git@git.code.tecnalia.com:tecnalia_robotics/flexbotics/flexbotics_skill_library/flexbotics_action_base_classes.git
- version: kinetic-devel
-- git:
- local-name: flexbotics_configuration_manager
- uri: git@git.code.tecnalia.com:tecnalia_robotics/flexbotics/flexbotics_configuration_manager.git
- version: kinetic-devel
-- git:
- local-name: flexbotics_execution_manager
- uri: git@git.code.tecnalia.com:tecnalia_robotics/flexbotics_execution_manager.git
- version: noetic-devel
-- git:
- local-name: generic_simple_gui
- uri: git@git.code.tecnalia.com:tecnalia_robotics/flexbotics/generic_simple_gui.git
- version: noetic-devel
-- git:
- local-name: smach_tutorials
- uri: https://github.com/rhaschke/executive_smach_tutorials
- version: indigo-devel
-
diff --git a/deploy_config/ros_entrypoint.sh b/deploy_config/ros_entrypoint.sh
deleted file mode 100644
index 19a52705f0f55dcdb644f301c298ec55c5576806..0000000000000000000000000000000000000000
--- a/deploy_config/ros_entrypoint.sh
+++ /dev/null
@@ -1,7 +0,0 @@
-#!/bin/bash
-set -e
-
-# setup ros environment
-# shellcheck source=/dev/null
-. "/opt/ros/${ROS_DISTRO}-extra/setup.bash"
-exec "$@"
diff --git a/dockerfiles/.devcontainer/Dockerfile b/dockerfiles/.devcontainer/Dockerfile
deleted file mode 100644
index d0c554e527bad17e261a3b45531ec1b43a35747d..0000000000000000000000000000000000000000
--- a/dockerfiles/.devcontainer/Dockerfile
+++ /dev/null
@@ -1,49 +0,0 @@
-#-------------------------------------------------------------------------------------------------------------
-# Copyright (c) Microsoft Corporation. All rights reserved.
-# Licensed under the MIT License. See https://go.microsoft.com/fwlink/?linkid=2090316 for license information.
-#-------------------------------------------------------------------------------------------------------------
-
-FROM tecnalia-robotics-docker.artifact.tecnalia.com/flexbotics-fat-devel:melodic
-
-# Avoid warnings by switching to noninteractive
-ENV DEBIAN_FRONTEND=noninteractive
-
-# This Dockerfile adds a non-root 'vscode' user with sudo access. However, for Linux,
-# this user's GID/UID must match your local user UID/GID to avoid permission issues
-# with bind mounts. Update USER_UID / USER_GID if yours is not 1000. See
-# https://aka.ms/vscode-remote/containers/non-root-user for details.
-ARG USERNAME=vscode
-ARG USER_UID=1000
-ARG USER_GID=$USER_UID
-
-# Configure apt and install packages
-RUN apt-get update \
- && apt-get -y install --no-install-recommends apt-utils dialog 2>&1 \
- #
- # Verify git, process tools, lsb-release (common in install instructions for CLIs) installed
- && apt-get -y install git iproute2 procps lsb-release curl \
- && apt install -y git openssh-client python-catkin-tools \
- #
- # Create a non-root user to use if preferred - see https://aka.ms/vscode-remote/containers/non-root-user.
- && groupadd --gid $USER_GID $USERNAME \
- && useradd -s /bin/bash --uid $USER_UID --gid $USER_GID -m $USERNAME \
- # [Optional] Add sudo support for the non-root user
- && apt-get install -y sudo \
- && echo $USERNAME ALL=\(root\) NOPASSWD:ALL > /etc/sudoers.d/$USERNAME\
- && chmod 0440 /etc/sudoers.d/$USERNAME \
- #
- && rosdep init || true
-
-USER $USERNAME
-RUN rosdep update \
- && mkdir -p /home/${USERNAME}/robot_ws/src/
-
-COPY .devcontainer/catkin_ws_init.sh /tmp/
-
- # Clean up
- # && apt-get autoremove -y \
- # && apt-get clean -y \
- # && rm -rf /var/lib/apt/lists/*
-
-# Switch back to dialog for any ad-hoc use of apt-get
-ENV DEBIAN_FRONTEND=
diff --git a/dockerfiles/.devcontainer/catkin_ws_init.sh b/dockerfiles/.devcontainer/catkin_ws_init.sh
deleted file mode 100644
index 98e230be0efc525a673c426c38d04888094720c2..0000000000000000000000000000000000000000
--- a/dockerfiles/.devcontainer/catkin_ws_init.sh
+++ /dev/null
@@ -1,33 +0,0 @@
-#!/bin/bash
-
-if [[ -z "${ROS_PACKAGE_PATH}" ]]; then
- . $(find /opt/ros/ -name "setup.bash")
-fi
-
-if [[ -z "${ROS_DISTRO}" ]]; then
- export ROS_DISTRO=$(basename $(find /opt/ros/* -maxdepth 0 -type d | head -1))
-fi
-
-pkg_name=$(basename $(find /workspaces/ -maxdepth 1 -mindepth 1 -type d))
-mkdir -p ~/robot_ws/src
-cd ~/robot_ws/src
-ln -s /workspaces/${pkg_name}
-cd ..
-wstool init src
-if [ -f "src/${pkg_name}/.rosinstall" ]; then
- wstool merge "src/${pkg_name}/.rosinstall" -t src
-fi
-
-mkdir -p ~/.ssh/
-cat << EOF >> ~/.ssh/config
-Host *
- StrictHostKeyChecking no
-EOF
-wstool update -t src
-find -L src -name ci_entry_script.bash -exec bash -c 'echo Running entry script from $(basename $(dirname $1)) ; $1 ' _ {} \;
-rosdep update
-rosdep install --from-paths src --ignore-src --rosdistro $ROS_DISTRO -r -y
-catkin init
-catkin config --cmake-args -DCMAKE_CXX_FLAGS=-w --
-
-echo "source $(find /opt/ros/ -name 'setup.bash')" >> ~/.bashrc
diff --git a/dockerfiles/.devcontainer/devcontainer.json b/dockerfiles/.devcontainer/devcontainer.json
deleted file mode 100644
index 3c9f9b620b4783693db6792dfc6c989aab6c2bbb..0000000000000000000000000000000000000000
--- a/dockerfiles/.devcontainer/devcontainer.json
+++ /dev/null
@@ -1,36 +0,0 @@
-// For format details, see https://aka.ms/vscode-remote/devcontainer.json
-{
- "name": "flexbotics base melodic",
- "context": "..",
- "dockerFile": "Dockerfile",
-
- // Use 'settings' to set *default* container specific settings.json values on container create.
- // You can edit these settings after create using File > Preferences > Settings > Remote.
- "settings": {
- "terminal.integrated.shell.linux": "/bin/bash"
- },
-
- // Uncomment the next line if you want to publish any ports.
- // "appPort": [],
-
- // Uncomment the next line to run commands after the container is created.
- "postCreateCommand": "bash /tmp/catkin_ws_init.sh",
-
- "workspaceFolder": "/home/vscode/robot_ws/src/",
-
- // Uncomment the next line to use a non-root user. On Linux, this will prevent
- // new files getting created as root, but you may need to update the USER_UID
- // and USER_GID in .devcontainer/Dockerfile to match your user if not 1000.
- "runArgs": [ "-u", "vscode",
- "-v", "${env:SSH_AUTH_SOCK}:/ssh-agent",
- "-e", "SSH_AUTH_SOCK=/ssh-agent",
- "-e", "DISPLAY=${env:DISPLAY}",
- "-v", "/tmp/.X11-unix:/tmp/.X11-unix"
- ],
-
- // Add the IDs of extensions you want installed when the container is created in the array below.
- "extensions": [
- "ms-python.python",
- "ms-iot.vscode-ros"
- ]
-}
diff --git a/dockerfiles/other/DevenvMelodicFlexbotics.Dockerfile b/dockerfiles/other/DevenvMelodicFlexbotics.Dockerfile
deleted file mode 100644
index 648c46dea42732a74708d59b55b6034896c6f7e3..0000000000000000000000000000000000000000
--- a/dockerfiles/other/DevenvMelodicFlexbotics.Dockerfile
+++ /dev/null
@@ -1,101 +0,0 @@
-ARG FROM_IMAGE_BUILDER=tecnalia-robotics-docker.artifact.tecnalia.com/flexbotics-base-devel:melodic
-ARG FROM_IMAGE_CATCHER=osrf/ros:melodic-desktop-full
-ARG OVERLAY_WS=/opt/ros/remodel_app_ws
-
-FROM $FROM_IMAGE_CATCHER AS cacher
-
-#################################
-# Add ssh private key
-# Setup environment
-RUN apt-get update && apt-get install -y \
- ssh \
- locales \
- && sed -i '/en_US.UTF-8/s/^# //g' /etc/locale.gen && locale-gen en_US.UTF-8
-ENV LANG en_US.UTF-8
-ENV LANGUAGE en_US:en
-ENV LC_ALL en_US.UTF-8
-
-ARG SSH_PRIVATE_KEY
-RUN mkdir ~/.ssh/
-RUN echo "${SSH_PRIVATE_KEY}" > /root/.ssh/id_rsa
-RUN chmod 600 ~/.ssh/id_rsa
-RUN ssh-keyscan git.code.tecnalia.com >> /root/.ssh/known_hosts && chmod 644 /root/.ssh/known_hosts
-
-# Configure system to look for debian packages in the Artifactory repository
-ARG USER_API_KEY_ARTIFACTS_TECNALIA
-RUN sh -c "echo \
- 'deb https://${USER_API_KEY_ARTIFACTS_TECNALIA}@artifact.tecnalia.com/artifactory/tecnalia-robotics-debian xenial main' \
- >> /etc/apt/sources.list.d/tecnalia.list"
-
-# Import the key in order to be able to use the packages from the repository
-RUN apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-keys 7E72C5B4111A50084C63C9489E7A9B1D990CF897
-
-# Configure rosdep
-RUN sh -c "echo 'yaml https://git.code.tecnalia.com/tecnalia_robotics-public/gitlab_templates/raw/master/rosdistro/rosdep_tecnalia.yaml' \
- >> /etc/ros/rosdep/sources.list.d/20-default.list"
-
-# clone overlay source
-ARG OVERLAY_WS
-WORKDIR $OVERLAY_WS/src
-RUN git clone git@git.code.tecnalia.com:tecnalia_robotics/remodel/remodel_app.git
-RUN cd remodel_app && git checkout real-testing
-RUN cp remodel_app/.rosinstall .
-RUN wstool update
-
-# copy manifests for caching
-WORKDIR /opt
-RUN mkdir -p /tmp/opt && \
- find ./ -name "package.xml" | \
- xargs cp --parents -t /tmp/opt && \
- find ./ -name "CATKIN_IGNORE" | \
- xargs cp --parents -t /tmp/opt || true
-
-# multi-stage for building
-FROM $FROM_IMAGE_BUILDER AS builder
-
-ENV ROS_DISTRO melodic
-ENV RUNNING_IN_DOCKER true
-
-# Avoid warnings by switching to noninteractive
-ENV DEBIAN_FRONTEND=noninteractive
-
-# install overlay dependencies
-# finish rosdep command with true because some dependencies are not found
-ARG OVERLAY_WS
-WORKDIR $OVERLAY_WS
-COPY --from=cacher /tmp/$OVERLAY_WS/src ./src
-RUN rosdep update
-RUN . /opt/ros/$ROS_DISTRO/setup.sh && \
- apt-get update && rosdep install -y \
- --from-paths \
- src \
- --ignore-src \
- || true \
- && rm -rf /var/lib/apt/lists/*
-
-# build overlay source
-COPY --from=cacher $OVERLAY_WS/src ./src
-RUN . /opt/ros/$ROS_DISTRO/setup.sh \
- && catkin config \
- --extend /opt/ros/"$ROS_DISTRO" \
- --install \
- --cmake-args -DCMAKE_BUILD_TYPE=Release \
- && catkin build \
- --summarize
-
-# install python3 dependencies
-RUN apt-get update && apt-get install -y \
- python3-pip
-
-RUN pip3 install sqlite_utils
-
-# Set entrypoint
-COPY ./ros_entrypoint.sh /
-RUN chmod a+x /ros_entrypoint.sh
-
-ENTRYPOINT ["/ros_entrypoint.sh"]
-CMD ["zsh"]
-ENV SHELL /usr/bin/zsh
-
-# Switch back to dialog for any ad-hoc use of apt-get
-ENV DEBIAN_FRONTEND=
diff --git a/dockerfiles/other/DevenvPCL.Dockerfile b/dockerfiles/other/DevenvPCL.Dockerfile
deleted file mode 100644
index 9a4c740f24abf281377c62af76cee76f3d377a8c..0000000000000000000000000000000000000000
--- a/dockerfiles/other/DevenvPCL.Dockerfile
+++ /dev/null
@@ -1,224 +0,0 @@
-FROM osrf/ros:noetic-desktop-full
-ENV ROS_DISTRO noetic
-
-# Avoid warnings by switching to noninteractive
-ENV DEBIAN_FRONTEND=noninteractive
-
-# Setup environment
-RUN apt-get update && apt-get install -y \
- locales \
- && sed -i '/en_US.UTF-8/s/^# //g' /etc/locale.gen && locale-gen en_US.UTF-8
-ENV LANG en_US.UTF-8
-ENV LANGUAGE en_US:en
-ENV LC_ALL en_US.UTF-8
-
-# Configure apt and install packages
-RUN apt-get -y install --no-install-recommends \
- apt-transport-https \
- ca-certificates \
- curl \
- gnupg-agent \
- software-properties-common \
- apt-utils dialog 2>&1 \
- #
- # Verify if git, process tools, lsb-release (common in install instructions for CLIs) are installed
- # Install the https transport support package for The Artifactory debian repository
- git \
- git-lfs \
- nano \
- iproute2 \
- procps \
- lsb-release \
- curl \
- cmake \
- openssh-client \
- ros-noetic-catkin \
- python3-catkin-tools \
- python3-osrf-pycommon \
- xterm \
- terminator \
- zsh \
- # && rosdep init || true \
- && rm -rf /var/lib/apt/lists/*
-
-# Install docker-ce
-RUN curl -fsSL https://download.docker.com/linux/ubuntu/gpg | apt-key add -
-RUN add-apt-repository \
- "deb [arch=amd64] https://download.docker.com/linux/ubuntu $(lsb_release -cs) stable"
-RUN apt-get update && apt-get -y install --no-install-recommends \
- docker-ce-cli \
- && rm -rf /var/lib/apt/lists/*
-
-# Configure system to look for debian packages in the Artifactory repository
-ARG USER_API_KEY_ARTIFACTS_TECNALIA
-RUN sh -c "echo \
- 'deb https://${USER_API_KEY_ARTIFACTS_TECNALIA}@artifact.tecnalia.com/artifactory/tecnalia-robotics-debian xenial main' \
- >> /etc/apt/sources.list.d/tecnalia.list"
-
-# Import the key in order to be able to use the packages from the repository
-RUN apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-keys 7E72C5B4111A50084C63C9489E7A9B1D990CF897
-RUN curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | apt-key add -
-
-# Configure rosdep
-RUN sh -c "echo 'yaml https://git.code.tecnalia.com/tecnalia_robotics-public/gitlab_templates/raw/master/rosdistro/rosdep_tecnalia.yaml' \
- >> /etc/ros/rosdep/sources.list.d/20-default.list"
-
-RUN apt-get update && apt-get install -y \
- wget \
- udev
-
-RUN wget https://www.zivid.com/hubfs/softwarefiles/releases/1.8.3+96f35dc6-1/u18/zivid-telicam-driver_3.0.1.1-1_amd64.deb \
- https://www.zivid.com/hubfs/softwarefiles/releases/1.8.3+96f35dc6-1/u18/zivid_1.8.3+96f35dc6-1_amd64.deb \
- https://www.zivid.com/hubfs/softwarefiles/releases/1.8.3+96f35dc6-1/u18/zivid-studio_1.8.3+96f35dc6-1_amd64.deb \
- https://www.zivid.com/hubfs/softwarefiles/releases/1.8.3+96f35dc6-1/u18/zivid-tools_1.8.3+96f35dc6-1_amd64.deb
-
-RUN dpkg -i zivid*.deb
-
-# Update final image
-RUN apt-get update \
- && apt-get -y upgrade \
- && apt-get clean \
- && rm -rf /var/lib/apt/lists/*
-
-RUN apt-get update && apt-get install -y \
- direnv
-
-# Scan and Plan dependencies
-RUN apt-get update && apt-get install -y \
- ros-noetic-industrial-robot-simulator \
- ros-noetic-moveit-fake-controller-manager \
- ros-noetic-moveit-planners-ompl \
- ros-noetic-moveit-ros-move-group \
- ros-noetic-moveit-ros-visualization \
- ros-noetic-moveit-ros-warehouse \
- ros-noetic-moveit-simple-controller-manager \
- ros-noetic-warehouse-ros \
- ros-noetic-industrial-robot-client \
- python-numpy \
- ros-noetic-simple-message \
- liblapack-dev \
- ros-noetic-moveit-core \
- ros-noetic-trac-ik-kinematics-plugin \
- ros-noetic-urdfdom-py \
- ros-noetic-srdfdom \
- ros-noetic-pcl-ros \
- ros-noetic-moveit-kinematics \
- ros-noetic-pcl-msgs \
- ros-noetic-moveit-ros-planning-interface \
- ros-noetic-swri-profiler \
- libqd-dev \
- libpcl-dev \
- libpcl-apps1.10 \
- libpcl-common1.10 \
- libpcl-features1.10 \
- libpcl-filters1.10 \
- libpcl-io1.10 \
- libpcl-kdtree1.10 \
- libpcl-keypoints1.10 \
- libpcl-ml1.10 \
- libpcl-octree1.10 \
- libpcl-outofcore1.10 \
- libpcl-people1.10 \
- libpcl-recognition1.10 \
- libpcl-registration1.10 \
- libpcl-sample-consensus1.10 \
- libpcl-search1.10 \
- libpcl-segmentation1.10 \
- libpcl-stereo1.10 \
- libpcl-surface1.10 \
- libpcl-tracking1.10 \
- libpcl-visualization1.10 \
- ros-noetic-catkin-virtualenv \
- python3-zmq \
- ros-noetic-moveit-ros-planning \
- ros-noetic-moveit-setup-assistant \
- ros-noetic-ompl \
- ros-noetic-moveit-ros-manipulation
-
-RUN sh -c "echo \
- 'deb http://debrob.upc.edu/debian bullseye main contrib non-free' \
- >> /etc/apt/sources.list.d/debian.list"
-
-RUN wget -v0 - http://debrob.upc.edu/debian/dists/Debian11.2/Release.gpg \
- && apt-key add - < Release.gpg
-
-
-RUN apt-get update && apt-get install -y \
-libusb-1.0-0-dev \
-default-jdk \
-libdouble-conversion-dev \
-libutfcpp-dev \
-build-essential
-
-# Set entrypoint
-COPY ./ros_entrypoint.sh /
-RUN chmod a+x /ros_entrypoint.sh
-
-ENTRYPOINT ["/ros_entrypoint.sh"]
-CMD ["zsh"]
-
-# Switch back to dialog for any ad-hoc use of apt-get
-ENV DEBIAN_FRONTEND=
-
-# libvtk9-dev
-# libvtk9-qt-dev
-# libusb-1.0-0-dev
-# http://debrob.upc.edu/debian/pool/main/p/pcl/libpcl-apps1.12_1.12.1+dfsg-3+b2_amd64.deb
-# http://debrob.upc.edu/debian/pool/main/p/pcl/libpcl-common1.12_1.12.1+dfsg-3+b2_amd64.deb
-# http://debrob.upc.edu/debian/pool/main/p/pcl/libpcl-features1.12_1.12.1+dfsg-3+b2_amd64.deb
-# http://debrob.upc.edu/debian/pool/main/p/pcl/libpcl-filters1.12_1.12.1+dfsg-3+b2_amd64.deb
-# http://debrob.upc.edu/debian/pool/main/p/pcl/libpcl-io1.12_1.12.1+dfsg-3+b2_amd64.deb
-# http://debrob.upc.edu/debian/pool/main/p/pcl/libpcl-kdtree1.12_1.12.1+dfsg-3+b2_amd64.deb
-# http://debrob.upc.edu/debian/pool/main/p/pcl/libpcl-keypoints1.12_1.12.1+dfsg-3+b2_amd64.deb
-# http://debrob.upc.edu/debian/pool/main/p/pcl/libpcl-ml1.12_1.12.1+dfsg-3+b2_amd64.deb
-# http://debrob.upc.edu/debian/pool/main/p/pcl/libpcl-octree1.12_1.12.1+dfsg-3+b2_amd64.deb
-# http://debrob.upc.edu/debian/pool/main/p/pcl/libpcl-outofcore1.12_1.12.1+dfsg-3+b2_amd64.deb
-# http://debrob.upc.edu/debian/pool/main/p/pcl/libpcl-people1.12_1.12.1+dfsg-3+b2_amd64.deb
-# http://debrob.upc.edu/debian/pool/main/p/pcl/libpcl-recognition1.12_1.12.1+dfsg-3+b2_amd64.deb
-# http://debrob.upc.edu/debian/pool/main/p/pcl/libpcl-registration1.12_1.12.1+dfsg-3+b2_amd64.deb
-# http://debrob.upc.edu/debian/pool/main/p/pcl/libpcl-sample-consensus1.12_1.12.1+dfsg-3+b2_amd64.deb
-# http://debrob.upc.edu/debian/pool/main/p/pcl/libpcl-search1.12_1.12.1+dfsg-3+b2_amd64.deb
-# http://debrob.upc.edu/debian/pool/main/p/pcl/libpcl-segmentation1.12_1.12.1+dfsg-3+b2_amd64.deb
-# http://debrob.upc.edu/debian/pool/main/p/pcl/libpcl-stereo1.12_1.12.1+dfsg-3+b2_amd64.deb
-# http://debrob.upc.edu/debian/pool/main/p/pcl/libpcl-surface1.12_1.12.1+dfsg-3+b2_amd64.deb
-# http://debrob.upc.edu/debian/pool/main/p/pcl/libpcl-tracking1.12_1.12.1+dfsg-3+b2_amd64.deb
-# http://debrob.upc.edu/debian/pool/main/p/pcl/libpcl-visualization1.12_1.12.1+dfsg-3+b2_amd64.deb
-# http://debrob.upc.edu/debian/pool/main/p/pcl/pcl-tools_1.12.1+dfsg-3+b2_amd64.deb
-
-# http://debrob.upc.edu/debian/pool/main/v/vtk9/libvtk9-dev_9.1.0%2Breally9.1.0%2Bdfsg2-3%2Bb1_amd64.deb
-# http://debrob.upc.edu/debian/pool/main/v/vtk9/libvtk9-qt-dev_9.1.0%2Breally9.1.0%2Bdfsg2-3%2Bb1_amd64.deb
-
-# http://debrob.upc.edu/debian/pool/main/p/pcl/libpcl-apps1.12_1.12.1%2Bdfsg-3%2Bb2_amd64.deb
-
-#libglew2.2 \
-#libhdf5-103-1 \
-#libjpeg62-turbo \
-#libjsoncpp25 \
-#libnetcdf19 \
-# libopenmpi3 \
-# #libproj22 \
-# libstdc++6
-
-# RUN wget http://debrob.upc.edu/debian/pool/main/p/proj/libproj22_8.2.1-1_amd64.deb \
-# http://debrob.upc.edu/debian/pool/main/p/proj/proj-data_8.2.1-1_all.deb \
-# http://debrob.upc.edu/debian/pool/main/g/glibc/libc6-amd64_2.33-6_i386.deb
-
-# RUN dpkg -i libc6-amd64_2.33-6_i386.deb \
-# libproj22_8.2.1-1_amd64.deb \
-# proj-data_8.2.1-1_all.deb
-
-# RUN wget http://debrob.upc.edu/debian/pool/main/v/vtk9/libvtk9.1_9.1.0%2Breally9.1.0%2Bdfsg2-3%2Bb1_amd64.deb \
-# http://debrob.upc.edu/debian/pool/main/v/vtk9/vtk9_9.1.0%2Breally9.1.0%2Bdfsg2-3%2Bb1_amd64.deb \
-# http://debrob.upc.edu/debian/pool/main/v/vtk9/python3-vtk9_9.1.0%2Breally9.1.0%2Bdfsg2-3%2Bb1_amd64.deb \
-# http://debrob.upc.edu/debian/pool/main/v/vtk9/libvtk9-dev_9.1.0%2Breally9.1.0%2Bdfsg2-3%2Bb1_amd64.deb
-
-# # http://debrob.upc.edu/debian/pool/main/p/pcl/libpcl-dev_1.12.1+dfsg-3+b2_amd64.deb \
-# # http://debrob.upc.edu/debian/pool/main/v/vtk9/libvtk9-qt-dev_9.1.0%2Breally9.1.0%2Bdfsg2-3%2Bb1_amd64.deb \
-# # http://debrob.upc.edu/debian/pool/main/v/vtk9/vtk9_9.1.0%2Breally9.1.0%2Bdfsg2-3%2Bb1_amd64.deb \
-# # http://debrob.upc.edu/debian/pool/main/v/vtk9/libvtk9-java_9.1.0%2Breally9.1.0%2Bdfsg2-3%2Bb1_amd64.deb \
-# # http://debrob.upc.edu/debian/pool/main/v/vtk9/libvtk9.1-qt_9.1.0%2Breally9.1.0%2Bdfsg2-3%2Bb1_amd64.deb \
-
-# RUN dpkg -i libvtk9.1_9.1.0+really9.1.0+dfsg2-3+b1_amd64.deb
-# RUN dpkg -i vtk9_9.1.0+really9.1.0+dfsg2-3+b1_amd64.deb
-# RUN dpkg -i python3-vtk9_9.1.0+really9.1.0+dfsg2-3+b1_amd64.deb
-# RUN dpkg -i libvtk9-dev_9.1.0+really9.1.0+dfsg2-3+b1_amd64.deb
\ No newline at end of file
diff --git a/dockerfiles/other/Robouton.Dockerfile b/dockerfiles/other/Robouton.Dockerfile
deleted file mode 100644
index 2cddaeb24071106b1d6b86f0c80d4f903319622f..0000000000000000000000000000000000000000
--- a/dockerfiles/other/Robouton.Dockerfile
+++ /dev/null
@@ -1,144 +0,0 @@
-FROM ubuntu:18.04
-SHELL ["/bin/bash", "-c"]
-
-# Update system
-RUN apt-get update && apt-get install -y apt-transport-https
-RUN apt-get install -y apt-utils
-RUN apt-get -y upgrade
-RUN apt-get update
-RUN apt-get -y --purge autoremove
-
-# Installing necessary packages
-# RUN apt-get install -y gnupg2
-RUN apt-get install -y curl
-RUN apt-get install -y lsb-release
-ARG DEBIAN_FRONTEND=noninteractive
-RUN apt-get install -y nano
-RUN apt-get install -y wget
-RUN apt-get install -y python-pip
-# RUN apt-get install -y libpng16-16
-# RUN apt-get install -y libjpeg-turbo8
-# RUN apt-get install -y libtiff5
-RUN apt-get install -y byobu
-
-# Installing ROS-melodic
-RUN sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
-RUN curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | apt-key add -
-
-RUN apt-get update
-RUN apt-get install -y ros-melodic-desktop-full
-# ----- Parche para subsanar los errores que devuelve el codigo de Robotnik con estos paquetes
-RUN apt-get install -y ros-melodic-navigation
-RUN apt-get install -y ros-melodic-ar-track-alvar
-# -----
-RUN apt-get install -y python-rosdep
-RUN rosdep init
-RUN rosdep update
-RUN echo "source /opt/ros/melodic/setup.bash" >> ~/.bashrc
-RUN apt-get install -y python-rosinstall python-rosinstall-generator python-wstool build-essential
-
-# Installing pyton-catkin
-RUN sh -c 'echo "deb http://packages.ros.org/ros/ubuntu `lsb_release -sc` main" > /etc/apt/sources.list.d/ros-latest.list'
-RUN wget http://packages.ros.org/ros.key -O - | sudo apt-key add -
-RUN apt-get update
-RUN apt-get install -y python-catkin-tools
-RUN apt-get install -y software-properties-common
-
-RUN echo "source /opt/ros/melodic/setup.bash" >> ~/.bash_profile
-
-# Create a ROS Workspace
-RUN source /opt/ros/melodic/setup.bash
-RUN mkdir -p /root/ros/catkin_ws/src
-ENV DIRPATH=/root/ros/catkin_ws
-WORKDIR $DIRPATH
-RUN catkin init
-RUN catkin config --extend /opt/ros/melodic
-RUN catkin build
-
-# Install software
-RUN apt-get install -y git
-# Make ssh dir
-RUN mkdir /root/.ssh/
-# Copy over private key, and set permissions
-# Warning! Anyone who gets their hands on this image will be able
-# to retrieve this private key file from the corresponding image layer
-ADD id_rsa_TecnaliaUB20 /root/.ssh/id_rsa
-# Create known_hosts
-RUN touch /root/.ssh/known_hosts
-# Add github key
-RUN ssh-keyscan github.com >> /root/.ssh/known_hosts
-# Clone the conf files into the docker container
-
-
-
-# PROVISIONAL HASTA QUE ROBOTNIK ACEPTE EL CAMBIO DEL FICHERO .gitmodules
-# ------------------------ BORRAR -------------------------------------
-WORKDIR $DIRPATH/src
-RUN git clone git@github.com:Robotnik-Tecnalia/rbrobout.git
-
-WORKDIR $DIRPATH/src/rbrobout
-# Parches para cambiar el fichero .gitmodules y poder trabajar con la clave ssh
-RUN sed -i 's#https://github.com/#git@github.com:#g' .gitmodules
-RUN sed -i 's#https://www.github.com/#git@github.com:#g' .gitmodules
-RUN sed -i 's#http://github.com/#git@github.com:#g' .gitmodules
-RUN sed -i 's#http://www.github.com/#git@github.com:#g' .gitmodules
-# Parche para intentar que descargue gazebo_ros_pkgs en su version de melodic con libgazebo9
-RUN sed -i 's#gazebo_ros_pkgs.git#gazebo_ros_pkgs.git\n\tbranch = melodic-devel#g' .gitmodules
-
-RUN git submodule init
-RUN git submodule update
-
-# ----------------------------------------------------------------------
-
-# Cloning Robouton repository
-# WORKDIR src/
-# RUN git clone --recurse-submodules git@github.com:Robotnik-Tecnalia/rbrobout.git
-WORKDIR $DIRPATH
-WORKDIR $DIRPATH/src/rbrobout/libraries
-RUN chmod +x install.sh
-RUN ./install.sh
-WORKDIR $DIRPATH
-# RUN apt update
-
-# RUN rosdep install --from-paths src --ignore-src -r -y --rosdistro melodic
-RUN apt-get install -y ros-melodic-libpcan
-RUN apt-get install -y ros-melodic-ueye-cam
-
-# RUN git clone git@github.com:RobotnikAutomation/summit_xl_sim.git
-# RUN git clone git@github.com:RobotnikAutomation/summit_xl_common.git
-# RUN git clone git@github.com:RobotnikAutomation/robotnik_msgs.git
-# RUN git clone git@github.com:RobotnikAutomation/robotnik_sensors.git
-# WORKDIR $DIRPATH
-RUN rosdep install --from-paths src --ignore-src -r -y --rosdistro melodic || true
-# # WORKDIR src/
-# RUN catkin build
-
-# Install PeakCan linux driver from sources
-WORKDIR $DIRPATH/src/rbrobout/libraries/external
-RUN tar xzvf peak-linux-driver-8.10.0.tar.gz
-WORKDIR $DIRPATH/src/rbrobout/libraries/external/peak-linux-driver-8.10.0
-RUN apt-get install -y linux-headers-5.4.0-77-generic
-RUN apt-get install -y libpopt-dev
-
-# Compile and install Pcan
-
-RUN make KERNEL_LOCATION=/usr/src/linux-headers-5.4.0-77-generic clean \
- && make KERNEL_LOCATION=/usr/src/linux-headers-5.4.0-77-generic \
- && make KERNEL_LOCATION=/usr/src/linux-headers-5.4.0-77-generic install || true \
- && sed -i '41d' Makefile \
- && make KERNEL_LOCATION=/usr/src/linux-headers-5.4.0-77-generic install
-
-# RUN make
-# RUN make install
-# Delete line 41 to not install the Pcan driver driver
-# Only the hearders are needed
-# RUN sed -i '41d' Makefile
-# RUN make install
-
-RUN echo "source /root/ros/catkin_ws/devel/setup.bash" >> ~/.bashrc
-WORKDIR $DIRPATH
-RUN source devel/setup.bash
-# ENTRYPOINT ["source", "devel/setup.bash"]
-RUN catkin build
-
-CMD ["tail", "-f", "/dev/null"]
diff --git a/dockerfiles/other/ScanNPlan.Dockerfile b/dockerfiles/other/ScanNPlan.Dockerfile
deleted file mode 100644
index 12e2519c611b16ee2985a533860ff0cdc17d2468..0000000000000000000000000000000000000000
--- a/dockerfiles/other/ScanNPlan.Dockerfile
+++ /dev/null
@@ -1,201 +0,0 @@
-### FIRST LAYER TO DOWNLOAD GIT REPOS
-FROM osrf/ros:kinetic-desktop as intermediate
-
-RUN apt-get update
-
-#################################
-# Add ssh private key
-RUN apt-get install -y ssh
-
-ARG SSH_PRIVATE_KEY
-RUN mkdir ~/.ssh/
-RUN echo "${SSH_PRIVATE_KEY}" > /root/.ssh/id_rsa
-RUN chmod 600 ~/.ssh/id_rsa
-RUN ssh-keyscan git.code.tecnalia.com >> /root/.ssh/known_hosts && chmod 644 /root/.ssh/known_hosts
-
-#Print SSH_PRIVATE_KEY (for test)
-RUN echo "${SSH_PRIVATE_KEY}"
-
-RUN apt-get install -y git
-
-# Create workspace
-RUN mkdir -p /root/dev_ws/src
-WORKDIR /root/dev_ws/src
-
-# Install python-wstools
-RUN apt-get install -y wget
-RUN wget http://packages.ros.org/ros.key -O - | sudo apt-key add -
-RUN apt-get update
-RUN apt-get install -y python-catkin-tools
-# Clone main package
-WORKDIR /root/dev_ws/src
-RUN git clone -b Jon-O-laser-integration git@git.code.tecnalia.com:tecnalia_robotics/rosin/godel_fanuc_config.git
-# Populate dependencies with rosinstall
-RUN mkdir /root/dev_ws/src/dependencies
-WORKDIR /root/dev_ws/src/dependencies
-RUN wstool init && wstool merge ../godel_fanuc_config/.rosinstall && wstool update
-
-# Preparing docker
-FROM nvidia/cuda:11.3.0-base-ubuntu16.04
-
-WORKDIR /root/ws
-ENV ROS_DISTRO kinetic
-
-RUN echo 'debconf debconf/frontend select Noninteractive' | debconf-set-selections
-
-# nvidia-container-runtime
-ENV NVIDIA_VISIBLE_DEVICES \
- ${NVIDIA_VISIBLE_DEVICES:-all}
-ENV NVIDIA_DRIVER_CAPABILITIES \
- ${NVIDIA_DRIVER_CAPABILITIES:+$NVIDIA_DRIVER_CAPABILITIES,}graphics
-
-# install basic packages
-RUN apt-get update && apt-get install -q -y --no-install-recommends \
- dirmngr \
- gnupg2 \
- lsb-release \
- sudo \
- ocl-icd-libopencl1 \
- clinfo \
- && rm -rf /var/lib/apt/lists/*
-
-RUN mkdir -p /etc/OpenCL/vendors && \
- echo "libnvidia-opencl.so.1" > /etc/OpenCL/vendors/nvidia.icd
-
-# Setup environment
-RUN apt-get update && apt-get install -y \
- locales \
- && sed -i '/en_US.UTF-8/s/^# //g' /etc/locale.gen && locale-gen en_US.UTF-8
-ENV LANG en_US.UTF-8
-ENV LANGUAGE en_US:en
-ENV LC_ALL en_US.UTF-8
-
-# Setup sources.list
-RUN sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
-RUN apt-get -y install --no-install-recommends \
- curl
-RUN curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -
-
-RUN apt-get update && apt-get install -y \
- ros-kinetic-desktop-full
-
-# Configure apt and install packages
-RUN apt-get -y install --no-install-recommends \
- apt-transport-https \
- ca-certificates \
- software-properties-common \
- gnupg-agent \
- apt-utils dialog 2>&1 \
- git \
- #git-lfs \
- nano \
- less \
- iproute2 \
- procps \
- lsb-release \
- curl \
- cmake \
- openssh-client \
- python-catkin-tools \
- python-osrf-pycommon \
- python-rosdep \
- python-rosinstall \
- python-rosinstall-generator \
- python-wstool \
- build-essential \
- ros-${ROS_DISTRO}-rosmon \
- xterm \
- wget \
- clinfo \
- && rm -rf /var/lib/apt/lists/*
-
-# Install docker-ce
-RUN curl -fsSL https://download.docker.com/linux/ubuntu/gpg | apt-key add -
-RUN add-apt-repository \
- "deb [arch=amd64] https://download.docker.com/linux/ubuntu $(lsb_release -cs) stable"
-RUN apt-get update && apt-get -y install --no-install-recommends \
- docker-ce-cli \
- && rm -rf /var/lib/apt/lists/*
-
-# Configure system to look for debian packages in the Artifactory repository
-ARG USER_API_KEY_ARTIFACTS_TECNALIA
-RUN sh -c "echo \
- 'deb https://${USER_API_KEY_ARTIFACTS_TECNALIA}@artifact.tecnalia.com/artifactory/tecnalia-robotics-debian xenial main' \
- >> /etc/apt/sources.list.d/tecnalia.list"
-
-# Import the key in order to be able to use the packages from the repository
-RUN apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-keys 7E72C5B4111A50084C63C9489E7A9B1D990CF897
-
-# Configure rosdep
-RUN rosdep init
-RUN sh -c "echo 'yaml https://git.code.tecnalia.com/tecnalia_robotics-public/gitlab_templates/raw/master/rosdistro/rosdep_tecnalia.yaml' \
- >> /etc/ros/rosdep/sources.list.d/20-default.list"
-RUN rosdep update
-
-# Packages installed as dependecies of kawada_lab_aplication
-RUN apt-get update && apt-get install -y \
- cmake \
- ros-kinetic-moveit-planners-ompl \
- ros-kinetic-moveit-ros-planning \
- ros-kinetic-ompl \
- ros-kinetic-moveit-kinematics \
- ros-kinetic-moveit-ros-planning-interface \
- ros-kinetic-moveit-ros-visualization \
- ros-kinetic-catkin-virtualenv \
- ros-kinetic-abb-driver \
- ros-kinetic-industrial-robot-simulator \
- ros-kinetic-moveit-ros-move-group \
- ros-kinetic-moveit-core \
- ros-kinetic-srdfdom \
- ros-kinetic-urdfdom-py \
- ros-kinetic-moveit-ros-manipulation \
- ros-kinetic-moveit-simple-controller-manager \
- ros-kinetic-moveit-fake-controller-manager \
- ros-kinetic-moveit-setup-assistant \
- ros-kinetic-trac-ik-kinematics-plugin \
- ros-kinetic-swri-profiler \
- ros-kinetic-fanuc-cr7ia-support \
- ros-kinetic-fanuc-driver \
- ros-kinetic-fanuc-resources \
- ros-kinetic-zivid-camera \
- libqd-dev \
- python-zmq \
- python3-catkin-pkg-modules \
- && rm -rf /var/lib/apt/lists/*
-
-# Update final image
-RUN apt-get update && apt-get -y upgrade
-
-RUN apt-get update -y && apt-get install -y \
- udev
-
-# RUN wget https://www.zivid.com/hubfs/softwarefiles/releases/1.8.3+96f35dc6-1/u16/zivid-telicam-driver_3.0.1.1-1_amd64.deb
-# RUN wget https://www.zivid.com/hubfs/softwarefiles/releases/1.8.3+96f35dc6-1/u16/zivid_1.8.3+96f35dc6-1_amd64.deb
-# #RUN wget https://www.zivid.com/hubfs/softwarefiles/releases/1.8.1+6967bc1b-1/u16/zivid-studio_1.8.1+6967bc1b-1_amd64.deb
-# RUN wget https://www.zivid.com/hubfs/softwarefiles/releases/1.8.3+96f35dc6-1/u16/zivid-studio_1.8.3+96f35dc6-1_amd64.deb
-# #RUN wget https://www.zivid.com/hubfs/softwarefiles/releases/1.8.1+6967bc1b-1/u16/zivid-tools_1.8.1+6967bc1b-1_amd64.deb
-# RUN wget https://www.zivid.com/hubfs/softwarefiles/releases/1.8.3+96f35dc6-1/u16/zivid-tools_1.8.3+96f35dc6-1_amd64.deb
-# RUN dpkg -i zivid-telicam-driver_3.0.1.1-1_amd64.deb
-# RUN dpkg -i zivid_1.8.3+96f35dc6-1_amd64.deb
-# RUN dpkg -i zivid-studio_1.8.3+96f35dc6-1_amd64.deb
-
-# Set entrypoint
-COPY ./ros_entrypoint.sh /
-RUN chmod a+x /ros_entrypoint.sh
-
-# Copy workspace with dependencies created in the previous layer
-COPY --from=intermediate /root/dev_ws /root/dev_ws
-# WORKDIR /root/dev_ws/src
-# RUN git clone --branch v1.1.0 https://github.com/zivid/zivid-ros.git
-WORKDIR /root/dev_ws
-RUN catkin init && catkin config --extend /opt/ros/kinetic && catkin build
-
-# Add source ros to .bashrc
-RUN echo "#ROS\nsource /opt/ros/kinetic/setup.bash\nsource /root/dev_ws/devel/setup.bash" >> /root/.bashrc
-
-ENTRYPOINT ["/ros_entrypoint.sh"]
-CMD ["bash"]
-
-# Switch back to dialog for any ad-hoc use of apt-get
-ENV DEBIAN_FRONTEND=
-
diff --git a/dockerfiles/other/SherlockAPP.Dockerfile b/dockerfiles/other/SherlockAPP.Dockerfile
deleted file mode 100644
index ab730c02160b3aaa1694a8e88011be2359ee3258..0000000000000000000000000000000000000000
--- a/dockerfiles/other/SherlockAPP.Dockerfile
+++ /dev/null
@@ -1,125 +0,0 @@
-FROM osrf/ros:melodic-desktop-full
-ENV ROS_DISTRO melodic
-
-# Avoid warnings by switching to noninteractive
-ENV DEBIAN_FRONTEND=noninteractive
-
-# Setup environment
-RUN apt-get update && apt-get install -y \
- locales \
- && sed -i '/en_US.UTF-8/s/^# //g' /etc/locale.gen && locale-gen en_US.UTF-8
-ENV LANG en_US.UTF-8
-ENV LANGUAGE en_US:en
-ENV LC_ALL en_US.UTF-8
-
-# Configure apt and install packages
-RUN apt-get -y install --no-install-recommends \
- apt-transport-https \
- ca-certificates \
- software-properties-common \
- curl \
- gnupg-agent \
- apt-utils dialog 2>&1 \
- git \
- git-lfs \
- nano \
- less \
- iproute2 \
- procps \
- lsb-release \
- curl \
- cmake \
- openssh-client \
- python-catkin-tools \
- python-osrf-pycommon \
- ros-${ROS_DISTRO}-rosmon \
- xterm \
- && rm -rf /var/lib/apt/lists/*
-
-# Install docker-ce
-RUN curl -fsSL https://download.docker.com/linux/ubuntu/gpg | apt-key add -
-RUN add-apt-repository \
- "deb [arch=amd64] https://download.docker.com/linux/ubuntu $(lsb_release -cs) stable"
-RUN apt-get update && apt-get -y install --no-install-recommends \
- docker-ce-cli \
- && rm -rf /var/lib/apt/lists/*
-
-# Configure system to look for debian packages in the Artifactory repository
-ARG USER_API_KEY_ARTIFACTS_TECNALIA
-RUN sh -c "echo \
- 'deb https://${USER_API_KEY_ARTIFACTS_TECNALIA}@artifact.tecnalia.com/artifactory/tecnalia-robotics-debian xenial main' \
- >> /etc/apt/sources.list.d/tecnalia.list"
-
-# Import the key in order to be able to use the packages from the repository
-RUN apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-keys 7E72C5B4111A50084C63C9489E7A9B1D990CF897
-
-# Configure rosdep
-RUN sh -c "echo 'yaml https://git.code.tecnalia.com/tecnalia_robotics-public/gitlab_templates/raw/master/rosdistro/rosdep_tecnalia.yaml' \
- >> /etc/ros/rosdep/sources.list.d/20-default.list"
-
-# Packages installed as dependecies of kawada_lab_aplication
-RUN apt-get update && apt-get install -y \
- ros-melodic-ros-control-boilerplate \
- ros-melodic-ur-msgs \
- ros-melodic-eigen-stl-containers \
- ros-melodic-industrial-robot-simulator \
- ros-melodic-srdfdom \
- ros-melodic-joint-state-publisher-gui \
- python-pyside \
- python-lxml \
- python-qt4 \
- python-qt4-dev \
- libshiboken-dev \
- shiboken \
- libpyside-dev \
- libcomedi-dev \
- libmodbus-dev \
- libcanberra-gtk-module \
- libcanberra-gtk0 \
- cmake
-
-# Packages installed as dependecies of sherlock-ui
-RUN apt-get install -y \
- ros-melodic-rosbridge-server \
- ros-melodic-moveit \
- ros-melodic-hector-mapping \
- ros-melodic-hector-gazebo-plugins \
- ros-melodic-amcl \
- ros-melodic-gmapping \
- ros-melodic-twist-mux \
- ros-melodic-map-server \
- ros-melodic-joy \
- ros-melodic-teb-local-planner \
- ros-melodic-move-base \
- ros-melodic-velocity-controllers \
- ros-melodic-ackermann-msgs \
- ros-melodic-robot-localization \
- ros-melodic-imu-complementary-filter \
- ros-melodic-mavros-msgs \
- ros-melodic-joint-trajectory-controller \
- python-sqlalchemy
-
- # Packages installed as dependecies of botarobota
-RUN apt-get install -y \
- ros-melodic-ar-track-alvar-msgs \
- ros-melodic-navigation
-
-RUN apt-get install -y \
- ros-melodic-ar-track-alvar \
- libceres-dev \
- libglfw3-dev \
- sqlite3
-
-# Update final image
-RUN apt-get update && apt-get -y upgrade
-RUN apt-get clean
-
-# Set entrypoint
-COPY ./ros_entrypoint.sh /
-RUN chmod a+x /ros_entrypoint.sh
-
-ENTRYPOINT ["/ros_entrypoint.sh"]
-CMD ["bash"]
-
-# Switch back to dialog for any ad-hoc use of apt-get
-ENV DEBIAN_FRONTEND=
\ No newline at end of file
diff --git a/dockerfiles/other/Sherlock_demo.Dockerfile b/dockerfiles/other/Sherlock_demo.Dockerfile
deleted file mode 100644
index 6bd011d36c5c8e308c2409fb366cca88ecfb71b0..0000000000000000000000000000000000000000
--- a/dockerfiles/other/Sherlock_demo.Dockerfile
+++ /dev/null
@@ -1,110 +0,0 @@
-# syntax = docker/dockerfile:experimental
-ARG BASE_IMAGE
-FROM $BASE_IMAGE
-
-ARG PROJECT_NAME
-ARG PYTHON_VERSION
-ARG ROS_DISTRO
-ARG USERNAME
-ARG UID
-ARG GID
-ARG ENTRY_COMMAND="bash"
-
-# install basic packages
-RUN apt-get update && apt-get install -q -y --no-install-recommends \
- dirmngr \
- gnupg2 \
- lsb-release \
- sudo \
- ocl-icd-libopencl1 \
- clinfo \
- curl \
- build-essential \
- cmake \
- && rm -rf /var/lib/apt/lists/*
-
-# Setup sources.list
-RUN sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list' \
- && apt-get -y install --no-install-recommends curl \
- && curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add - \
- && apt-get update && apt-get install -y -qq --no-install-recommends \
- ros-kinetic-ros-base "$PYTHON_VERSION"-wstool \
- && apt-get clean \
- && rm -rf /var/lib/apt/lists/* \
- /var/cache/apt/archives/*.deb
-
-COPY . /tmpws/src/$PROJECT_NAME/
-
-RUN --mount=type=secret,id=ssh_key --mount=type=secret,id=ssh_hostkeys --mount=type=secret,id=git_credentials \
- if [ -f /tmpws/src/$PROJECT_NAME/.rosinstall ]; then \
- which ssh \
- || apt-get update -qq \
- && apt-get install -y -qq --no-install-recommends openssh-client \
- && apt-get clean \
- && rm -rf /var/lib/apt/lists/* \
- /var/cache/apt/archives/*.deb; \
- if [ -f /run/secrets/ssh_key ]; then \
- export GIT_SSH_COMMAND="${GIT_SSH_COMMAND:-ssh} -o IdentityFile=/run/secrets/ssh_key"; \
- if [ -f /run/secrets/ssh_hostkeys ]; then \
- export GIT_SSH_COMMAND="${GIT_SSH_COMMAND:-ssh} -o UserKnownHostsFile=/run/secrets/ssh_hostkeys"; \
- fi \
- fi; \
- which git \
- || apt-get update -qq \
- && apt-get install -y -qq --no-install-recommends git \
- && apt-get clean \
- && rm -rf /var/lib/apt/lists/* \
- /var/cache/apt/archives/*.deb; \
- if [ -f /run/secrets/git_credentials ]; then \
- git config --global credential.helper 'store --file=/run/secrets/git_credentials'; \
- fi; \
- wstool init /tmpws/src /tmpws/src/$PROJECT_NAME/.rosinstall; \
- if [ -n "$(find /tmpws/src -name '.lfsconfig')" ]; then \
- which curl \
- || apt-get update -qq \
- && apt-get install -y -qq --no-install-recommends curl; \
- curl -s https://packagecloud.io/install/repositories/github/git-lfs/script.deb.sh | bash; \
- apt-get install -y -qq --no-install-recommends git-lfs; \
- apt-get clean; \
- rm -rf /var/lib/apt/lists/* \
- /var/cache/apt/archives/*.deb; \
- find . -type f -name '.lfsconfig' -execdir git lfs pull \; ; \
- fi; \
- fi
-
-RUN rosdep init || true
-
-RUN --mount=type=secret,id=additional_rosdeps --mount=type=secret,id=additional_apt_sources --mount=type=secret,id=additional_apt_keys \
- if [ -f /run/secrets/additional_rosdeps ]; then \
- cp /run/secrets/additional_rosdeps /etc/ros/rosdep/sources.list.d/10-additional-rosdeps.list; \
- fi \
- && if [ -f /run/secrets/additional_apt_sources ]; then \
- apt-get update -qq \
- && apt-get install -y -qq --no-install-recommends apt-transport-https \
- && rm -rf /var/lib/apt/lists/* \
- /var/cache/apt/archives/*.deb; \
- if [ -f /run/secrets/additional_apt_keys ]; then \
- apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-keys "$(cat /run/secrets/additional_apt_keys)"; \
- fi; \
- cp /run/secrets/additional_apt_sources /etc/apt/sources.list.d/additional_apt_sources.list; \
- fi \
- && apt-get update -qq \
- && apt-get install -y -qq --no-install-recommends "$PYTHON_VERSION"-catkin-tools \
- && rosdep update --include-eol-distros \
- && rosdep install -iy --from-paths /tmpws/src --rosdistro $ROS_DISTRO \
- && apt-get clean \
- && rm -rf /var/lib/apt/lists/* \
- /var/cache/apt/archives/*.deb \
- && catkin config -w /tmpws --extend /opt/ros/"$ROS_DISTRO" --install --install-space /opt/ros/"$ROS_DISTRO"-extra --cmake-args -DCMAKE_BUILD_TYPE=Release \
- && catkin build -w /tmpws \
- && rm -rf /tmpws \
- /etc/apt/sources.list.d/additional-apt-sources.list \
- /etc/ros/rosdep/sources.list.d/10-additional-rosdeps.list
-
-COPY deploy_config/ros_entrypoint.sh /ros_entrypoint.sh
-
-ENV ROS_DISTRO=$ROS_DISTRO
-
-ENTRYPOINT ["/ros_entrypoint.sh"]
-ENV ENTRY_COMMAND=${ENTRY_COMMAND}
-CMD ${ENTRY_COMMAND}
diff --git a/dockerfiles/other/builder.Dockerfile b/dockerfiles/other/builder.Dockerfile
deleted file mode 100644
index 12470458ddc6f1244c669db95c504c0e17d63345..0000000000000000000000000000000000000000
--- a/dockerfiles/other/builder.Dockerfile
+++ /dev/null
@@ -1,79 +0,0 @@
-ARG DISTRO
-
-FROM ubuntu:${DISTRO}
-
-# Avoid warnings by switching to noninteractive
-ENV DEBIAN_FRONTEND=noninteractive
-
-# Setup environment
-RUN apt-get update && apt-get install -y apt-utils
-
-RUN apt-get install -y \
- locales \
- && sed -i '/en_US.UTF-8/s/^# //g' /etc/locale.gen && locale-gen en_US.UTF-8
-ENV LANG en_US.UTF-8
-ENV LANGUAGE en_US:en
-ENV LC_ALL en_US.UTF-8
-
-# Configure apt and install base packages
-RUN apt-get update && apt-get -y install --no-install-recommends \
- apt-transport-https \
- build-essential \
- ca-certificates \
- curl \
- gnupg-agent \
- software-properties-common \
- dialog 2>&1 \
- checkinstall \
- # clang
- clang-format clang-tidy clang-tools clang \
- clangd libc++-dev libc++1 libc++abi-dev \
- libc++abi1 libclang-dev libclang1 liblldb-dev \
- libllvm-ocaml-dev libomp-dev libomp5 lld lldb \
- llvm-dev llvm-runtime llvm python3-clang \
- # ccmake
- cmake-curses-gui \
- # AppimageTool
- binutils coreutils desktop-file-utils fakeroot fuse libgdk-pixbuf2.0-dev patchelf python3-pip python3-setuptools squashfs-tools strace util-linux zsync \
- gdb \
- git \
- git-lfs \
- less \
- make \
- nano \
- libnotify-bin notify-osd \
- openssh-client \
- pkg-config \
- terminator \
- trash-cli \
- valgrind \
- xterm \
- wget \
- zsh
-
-# Update this date to re-run the image final update
-LABEL image.date=21-12-2022
-
-# Update final image
-RUN apt-get update \
- && apt-get -y upgrade
-
-# PDF-MIX-TOOL
-RUN apt-get update && apt-get -y install \
- qtbase5-dev qtbase5-dev-tools qttools5-dev qttools5-dev-tools \
- libqt5svg5 libqt5svg5-dev \
- qpdf libqpdf-dev\
- imagemagick \
- libmagick++-dev
-
-# WORKDIR /srcs
-RUN wget https://github.com/AppImage/AppImageKit/releases/download/continuous/appimagetool-x86_64.AppImage -O /usr/local/bin/appimagetool
-RUN chmod +x /usr/local/bin/appimagetool
-RUN pip3 install appimage-builder
-
-CMD ["zsh"]
-ENV SHELL /usr/bin/zsh
-ENV RUNNING_IN_DOCKER true
-
-# Switch back to dialog for any ad-hoc use of apt-get
-ENV DEBIAN_FRONTEND=
\ No newline at end of file
diff --git a/dockerfiles/other/foxy.Dockerfile b/dockerfiles/other/foxy.Dockerfile
deleted file mode 100644
index 9983d21e87a4841b16dad9400daf9b91f3260383..0000000000000000000000000000000000000000
--- a/dockerfiles/other/foxy.Dockerfile
+++ /dev/null
@@ -1,67 +0,0 @@
-FROM osrf/ros:foxy-desktop-focal
-
-ENV ROS_DISTRO foxy
-ENV RUNNING_IN_DOCKER true
-
-# Avoid warnings by switching to noninteractive
-ENV DEBIAN_FRONTEND=noninteractive
-
-# Setup environment
-RUN apt-get update && apt-get install -y \
- locales \
- && sed -i '/en_US.UTF-8/s/^# //g' /etc/locale.gen && locale-gen en_US.UTF-8
-ENV LANG en_US.UTF-8
-ENV LANGUAGE en_US:en
-ENV LC_ALL en_US.UTF-8
-
-# Configure apt and install packages
-RUN apt-get -y install --no-install-recommends \
- apt-transport-https \
- ca-certificates \
- software-properties-common \
- curl \
- gnupg-agent \
- apt-utils dialog 2>&1 \
- git \
- git-lfs \
- nano \
- less \
- xterm \
- zsh \
- && rm -rf /var/lib/apt/lists/*
-
-# Configure system to look for debian packages in the Artifactory repository
-ARG USER_API_KEY_ARTIFACTS_TECNALIA
-RUN sh -c "echo \
- 'deb https://${USER_API_KEY_ARTIFACTS_TECNALIA}@artifact.tecnalia.com/artifactory/tecnalia-robotics-debian xenial main' \
- >> /etc/apt/sources.list.d/tecnalia.list"
-
-# Import the key in order to be able to use the packages from the repository
-RUN apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-keys 7E72C5B4111A50084C63C9489E7A9B1D990CF897
-
-# Configure rosdep
-RUN sh -c "echo 'yaml https://git.code.tecnalia.com/tecnalia_robotics-public/gitlab_templates/raw/master/rosdistro/rosdep_tecnalia.yaml' \
- >> /etc/ros/rosdep/sources.list.d/20-default.list"
-
-RUN add-apt-repository ppa:ros-industrial/ppa
-
-RUN apt-get update && apt-get install -y \
- taskflow
-
-RUN apt-get update \
- && apt-get upgrade ca-certificates -y
-
-# Update final image
-RUN apt-get update && apt-get -y upgrade && apt-get -y autoremove
-RUN apt-get clean
-
-# Set entrypoint
-COPY ./ros_entrypoint.sh /
-RUN chmod a+x /ros_entrypoint.sh
-
-ENTRYPOINT ["/ros_entrypoint.sh"]
-CMD ["zsh"]
-ENV SHELL /usr/bin/zsh
-
-# Switch back to dialog for any ad-hoc use of apt-get
-ENV DEBIAN_FRONTEND=
diff --git a/dockerfiles/other/id_rsa_TecnaliaUB20 b/dockerfiles/other/id_rsa_TecnaliaUB20
deleted file mode 100644
index e36fe9166f963b7f59cb85cba504067b64dcd80e..0000000000000000000000000000000000000000
--- a/dockerfiles/other/id_rsa_TecnaliaUB20
+++ /dev/null
@@ -1,27 +0,0 @@
------BEGIN OPENSSH PRIVATE KEY-----
-b3BlbnNzaC1rZXktdjEAAAAABG5vbmUAAAAEbm9uZQAAAAAAAAABAAABFwAAAAdzc2gtcn
-NhAAAAAwEAAQAAAQEAwZWlebIhINUGIgcjBg38QMfjMOue8odSi8t+6Z+K1G2NCVhvboQb
-doEzyywA68CfxbQhLvx+trHMHXBJsfl/q92CtgLrrMqC766cHQtpJtK4jxb4i8mW6T+T7D
-ezqIKyCq5pbEC2q0fE3pYLbKrF4fLi8cB5j2Qcvo9SbAGTjx9zbCNdNhsTxvFMZXzKcZfv
-/qnw0wdYexFwWU4GGqEs3XR9OesZW1jtT8Mydc8j2gJC5UAxr3TlxzbEr1u+3jRqBmodsn
-dqrpnkjTCUEPHPN1qzus1gqxHwBCdrGzEnJe5iOn3MxKRNpYXHDnf5g5TIkftwsYIsqKmL
-JrO4MMcapQAAA8C839mMvN/ZjAAAAAdzc2gtcnNhAAABAQDBlaV5siEg1QYiByMGDfxAx+
-Mw657yh1KLy37pn4rUbY0JWG9uhBt2gTPLLADrwJ/FtCEu/H62scwdcEmx+X+r3YK2Auus
-yoLvrpwdC2km0riPFviLyZbpP5PsN7OogrIKrmlsQLarR8TelgtsqsXh8uLxwHmPZBy+j1
-JsAZOPH3NsI102GxPG8UxlfMpxl+/+qfDTB1h7EXBZTgYaoSzddH056xlbWO1PwzJ1zyPa
-AkLlQDGvdOXHNsSvW77eNGoGah2yd2qumeSNMJQQ8c83WrO6zWCrEfAEJ2sbMScl7mI6fc
-zEpE2lhccOd/mDlMiR+3CxgiyoqYsms7gwxxqlAAAAAwEAAQAAAQEAuoBUyvjdR8dTwEbF
-7Fhe9X5eGEx4dsn+seXcoHFvjBb7MMy9lmi6GKKDZrM/M+IBS7St35ms7pA+yQHcThXEda
-zT+Ey6B1+XZBkCGE1dAeUzn8+OpwYRWShCd+p2MNuxce70bDGwizV6qsM9wHSKbpPVJvm7
-Y3Uc6E4mJx4hrlj+kYZBSA7PwzjjBq1UAVjTJcTnoZkvB/OT2iC6h2Nhi58AZ0WY2G1am5
-PBFl5fQKA5rTPlarCpKllKr+oJ/z+VsRdKZTFwWFG+Cll2lxCro6mLEMWJT1evqkot6tqm
-/D7a3KtDvDKibd1YuI788k9AVFael5hqvIjKHa/H13g/hQAAAIB1Ws5ZjKA4uofcWCZ7X5
-Ppesp58Ie8UqiTGqgJhKqmZbZDswqCNYaak1EAfX6CQDitokqgZoMmH5x/DkEXBA172az8
-OmeqYDcTVdPztaIfKFxwiV+iiMBE3jXjuuk+OtIxxU6YSw7xGyRnv+AHvjAq2+Dttv3NNw
-kNz7cDxVv8HAAAAIEA4txAIsk+RI6+h7GAbG3hlkA787h3w4JcS7rzj0vbjm6WU1vKeS1m
-QdZsqxVnCLKNWTclqGppi714B1JNJarEDnPsXpp7ix9Y2GhvVhQAYzzd3UlrPN2lLD9nHG
-vUSqbIV7kQvKs4A9X1uQEF17Mk4y2JUOhnd3A3rAR8W/lq/rMAAACBANpzM9EyQwVv0OHs
-AYvS9xZmRXx3mOSFawwIckL5UhrpZN0T2Ju+Y+zh16vpXxYT7ZU/GZru2CjbO8ghrN0sms
-jjXxFauwGnvkIrhyguOZoeK8SjW3UnQeVeYfUND51gO7uAKAx/Oy1XgBoYTAaBcQp5DRwG
-sFTbNVjFrPr/1y1HAAAACFVidW50dTIwAQI=
------END OPENSSH PRIVATE KEY-----
diff --git a/dockerfiles/other/kinetic.Dockerfile b/dockerfiles/other/kinetic.Dockerfile
deleted file mode 100644
index b3999519609fa9201e0748483e299bdb39bb204d..0000000000000000000000000000000000000000
--- a/dockerfiles/other/kinetic.Dockerfile
+++ /dev/null
@@ -1,121 +0,0 @@
-FROM osrf/ros:kinetic-desktop-full
-ENV ROS_DISTRO kinetic
-
-# Avoid warnings by switching to noninteractive
-ENV DEBIAN_FRONTEND=noninteractive
-
-# Setup environment
-RUN apt-get update && apt-get install -y \
- locales \
- && sed -i '/en_US.UTF-8/s/^# //g' /etc/locale.gen && locale-gen en_US.UTF-8
-ENV LANG en_US.UTF-8
-ENV LANGUAGE en_US:en
-ENV LC_ALL en_US.UTF-8
-
-# Configure apt and install packages
-RUN apt-get -y install --no-install-recommends \
- apt-transport-https \
- ca-certificates \
- software-properties-common \
- curl \
- gnupg-agent \
- apt-utils dialog 2>&1 \
- git \
- #git-lfs \
- nano \
- less \
- iproute2 \
- procps \
- lsb-release \
- curl \
- cmake \
- openssh-client \
- python-catkin-tools \
- python-osrf-pycommon \
- python-rosdep \
- ros-${ROS_DISTRO}-rosmon \
- xterm \
- && rm -rf /var/lib/apt/lists/*
-
-# Install docker-ce
-RUN curl -fsSL https://download.docker.com/linux/ubuntu/gpg | apt-key add -
-RUN add-apt-repository \
- "deb [arch=amd64] https://download.docker.com/linux/ubuntu $(lsb_release -cs) stable"
-RUN apt-get update && apt-get -y install --no-install-recommends \
- docker-ce-cli \
- && rm -rf /var/lib/apt/lists/*
-
-# Configure system to look for debian packages in the Artifactory repository
-ARG USER_API_KEY_ARTIFACTS_TECNALIA
-RUN sh -c "echo \
- 'deb https://${USER_API_KEY_ARTIFACTS_TECNALIA}@artifact.tecnalia.com/artifactory/tecnalia-robotics-debian xenial main' \
- >> /etc/apt/sources.list.d/tecnalia.list"
-
-# Import the key in order to be able to use the packages from the repository
-RUN apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-keys 7E72C5B4111A50084C63C9489E7A9B1D990CF897
-
-# Configure rosdep
-RUN sh -c "echo 'yaml https://git.code.tecnalia.com/tecnalia_robotics-public/gitlab_templates/raw/master/rosdistro/rosdep_tecnalia.yaml' \
- >> /etc/ros/rosdep/sources.list.d/20-default.list"
-
-# Packages installed as dependecies of kawada_lab_aplication
-RUN apt-get update && apt-get install -y \
- cmake \
- ros-kinetic-moveit-planners-ompl \
- ros-kinetic-moveit-ros-planning \
- ros-kinetic-ompl \
- ros-kinetic-moveit-kinematics \
- ros-kinetic-moveit-ros-planning-interface \
- ros-kinetic-moveit-ros-visualization \
- ros-kinetic-catkin-virtualenv \
- ros-kinetic-zivid-camera \
- ros-kinetic-abb-driver \
- ros-kinetic-industrial-robot-simulator \
- ros-kinetic-moveit-ros-move-group \
- ros-kinetic-moveit-core \
- ros-kinetic-srdfdom \
- ros-kinetic-urdfdom-py \
- ros-kinetic-moveit-ros-manipulation \
- ros-kinetic-moveit-simple-controller-manager \
- ros-kinetic-moveit-fake-controller-manager \
- ros-kinetic-moveit-setup-assistant \
- ros-kinetic-trac-ik-kinematics-plugin \
- ros-kinetic-swri-profiler \
- ros-kinetic-fanuc-cr7ia-support \
- ros-kinetic-fanuc-driver \
- ros-kinetic-fanuc-resources \
- libqd-dev \
- python-zmq \
- python3-catkin-pkg-modules \
- zsh \
- && rm -rf /var/lib/apt/lists/*
-
-# Update final image
-RUN apt-get update && apt-get -y upgrade
-
-# Install code
-# SHELL ["/bin/bash", "-o", "pipefail", "-c"]
-# RUN curl https://packages.microsoft.com/keys/microsoft.asc | gpg --dearmor > microsoft.gpg \
-# && mv microsoft.gpg /etc/apt/trusted.gpg.d/microsoft.gpg \
-# && sh -c 'echo "deb [arch=amd64] https://packages.microsoft.com/repos/vscode stable main" > /etc/apt/sources.list.d/vscode.list'
-# RUN apt-get update && apt-get install -y --no-install-recommends \
-# code \
-# && rm -rf /var/lib/apt/lists/*
-
-# RUN code --user-data-dir /root \
-# --install-extension ms-iot.vscode-ros \
-# --install-extension joaompinto.asciidoctor-vscode \
-# --install-extension ms-python.python \
-# --install-extension ms-vscode.cpptools \
-# --install-extension ms-azuretools.vscode-docker \
-# --install-extension twxs.cmake
-
-# Set entrypoint
-COPY ./ros_entrypoint.sh /
-RUN chmod a+x /ros_entrypoint.sh
-
-ENTRYPOINT ["/ros_entrypoint.sh"]
-CMD ["bash"]
-
-# Switch back to dialog for any ad-hoc use of apt-get
-ENV DEBIAN_FRONTEND=
diff --git a/dockerfiles/other/melodic.Dockerfile b/dockerfiles/other/melodic.Dockerfile
deleted file mode 100644
index de218a9d2651e4e78190cef925df5afeda05df97..0000000000000000000000000000000000000000
--- a/dockerfiles/other/melodic.Dockerfile
+++ /dev/null
@@ -1,201 +0,0 @@
-FROM osrf/ros:melodic-desktop-full
-ENV ROS_DISTRO melodic
-
-# Avoid warnings by switching to noninteractive
-ENV DEBIAN_FRONTEND=noninteractive
-
-# Setup environment
-RUN apt-get update && apt-get install -y \
- locales \
- && sed -i '/en_US.UTF-8/s/^# //g' /etc/locale.gen && locale-gen en_US.UTF-8
-ENV LANG en_US.UTF-8
-ENV LANGUAGE en_US:en
-ENV LC_ALL en_US.UTF-8
-
-# Configure apt and install packages
-RUN apt-get update && apt-get -y install --no-install-recommends \
- apt-transport-https \
- ca-certificates \
- curl \
- gnupg-agent \
- software-properties-common \
- apt-utils dialog 2>&1 \
- # Verify if git, process tools, lsb-release (common in install instructions for CLIs) are installed
- # Install the https transport support package for The Artifactory debian repository
- git \
- git-lfs \
- nano \
- less \
- clang-format \
- direnv \
- xterm \
- terminator \
- zsh \
- #
- ipython \
- python-catkin-tools \
- python-numpy \
- python-osrf-pycommon \
- ros-${ROS_DISTRO}-catkin \
- ros-${ROS_DISTRO}-plotjuggler \
- ros-${ROS_DISTRO}-plotjuggler-ros \
- ros-${ROS_DISTRO}-rosmon \
- ros-${ROS_DISTRO}-rqt-controller-manager \
- ros-${ROS_DISTRO}-rqt-joint-trajectory-controller
-
-# Install docker-ce
-# RUN curl -fsSL https://download.docker.com/linux/ubuntu/gpg | apt-key add -
-# RUN add-apt-repository \
-# "deb [arch=amd64] https://download.docker.com/linux/ubuntu $(lsb_release -cs) stable"
-# RUN apt-get update && apt-get -y install --no-install-recommends \
-# docker-ce \
-# docker-ce-cli \
-# containerd.io \
-# docker-compose-plugin
-# && rm -rf /var/lib/apt/lists/*
-
-# Configure system to look for debian packages in the Artifactory repository
-# ARG USER_API_KEY_ARTIFACTS_TECNALIA
-# RUN sh -c "echo \
-# 'deb https://${USER_API_KEY_ARTIFACTS_TECNALIA}@artifact.tecnalia.com/artifactory/tecnalia-robotics-debian xenial main' \
-# >> /etc/apt/sources.list.d/tecnalia.list"
-COPY auth.conf /etc/apt/auth.conf.d/tecnalia.conf
-
-# Import the key in order to be able to use the packages from the repository
-RUN apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-keys 7E72C5B4111A50084C63C9489E7A9B1D990CF897
-
-# Configure rosdep
-RUN sh -c "echo 'yaml https://git.code.tecnalia.com/tecnalia_robotics-public/gitlab_templates/raw/master/rosdistro/rosdep_tecnalia.yaml' \
- >> /etc/ros/rosdep/sources.list.d/20-default.list"
-
-# Ros WS dependencies
-RUN apt-get update && apt-get install -y \
- ros-${ROS_DISTRO}-abb-driver \
- ros-${ROS_DISTRO}-ackermann-msgs \
- ros-${ROS_DISTRO}-amcl \
- ros-${ROS_DISTRO}-ar-track-alvar \
- ros-${ROS_DISTRO}-ar-track-alvar-msgs \
- ros-${ROS_DISTRO}-catkin-virtualenv \
- ros-${ROS_DISTRO}-effort-controllers \
- ros-${ROS_DISTRO}-eigen-conversions \
- ros-${ROS_DISTRO}-eigen-stl-containers \
- ros-${ROS_DISTRO}-executive-smach-visualization \
- ros-${ROS_DISTRO}-force-torque-sensor-controller \
- ros-${ROS_DISTRO}-gmapping \
- ros-${ROS_DISTRO}-hector-gazebo-plugins \
- ros-${ROS_DISTRO}-hector-mapping \
- ros-${ROS_DISTRO}-image-view \
- ros-${ROS_DISTRO}-imu-complementary-filter \
- ros-${ROS_DISTRO}-imu-tools \
- ros-${ROS_DISTRO}-industrial-core \
- ros-${ROS_DISTRO}-industrial-robot-simulator \
- ros-${ROS_DISTRO}-interactive-marker-twist-server \
- ros-${ROS_DISTRO}-joint-state-publisher-gui \
- ros-${ROS_DISTRO}-joint-trajectory-controller \
- ros-${ROS_DISTRO}-joy \
- ros-${ROS_DISTRO}-lms1xx \
- ros-${ROS_DISTRO}-map-server \
- ros-${ROS_DISTRO}-mavros-msgs \
- ros-${ROS_DISTRO}-move-base \
- ros-${ROS_DISTRO}-moveit \
- ros-${ROS_DISTRO}-moveit-opw-kinematics-plugin \
- ros-${ROS_DISTRO}-moveit-resources \
- ros-${ROS_DISTRO}-moveit-visual-tools \
- ros-${ROS_DISTRO}-navigation \
- ros-${ROS_DISTRO}-realsense2-camera \
- ros-${ROS_DISTRO}-robot-localization \
- ros-${ROS_DISTRO}-ros-control \
- ros-${ROS_DISTRO}-ros-control-boilerplate \
- ros-${ROS_DISTRO}-ros-controllers \
- ros-${ROS_DISTRO}-rosbridge-server \
- ros-${ROS_DISTRO}-rqt-controller-manager \
- ros-${ROS_DISTRO}-rqt-joint-trajectory-controller \
- ros-${ROS_DISTRO}-rviz-visual-tools \
- ros-${ROS_DISTRO}-serial \
- ros-${ROS_DISTRO}-spacenav-node \
- ros-${ROS_DISTRO}-srdfdom \
- ros-${ROS_DISTRO}-swri-profiler \
- ros-${ROS_DISTRO}-teb-local-planner \
- ros-${ROS_DISTRO}-trac-ik-kinematics-plugin \
- ros-${ROS_DISTRO}-twist-mux \
- ros-${ROS_DISTRO}-ur-msgs \
- ros-${ROS_DISTRO}-usb-cam \
- ros-${ROS_DISTRO}-velocity-controllers \
- #
- python-funcsigs \
- python-lxml \
- python-mock \
- python-pyside \
- python-qt4 \
- python-qt4-dev \
- python-zmq \
- #
- libbluetooth-dev \
- libcanberra-gtk-module \
- libcanberra-gtk0 \
- libcanberra-gtk3-module \
- libceres-dev \
- libcomedi-dev \
- libcwiid-dev \
- libdouble-conversion-dev \
- libglfw3-dev \
- libmodbus-dev \
- libpyside-dev \
- libqd-dev \
- libshiboken-dev \
- libspnav-dev \
- #
- gir1.2-gtk-3.0 \
- graphviz \
- shiboken \
- spacenavd \
- sqlite3 \
- systemd \
- xdot
-
-# Install Zivid packages
-#RUN wget https://www.zivid.com/hubfs/softwarefiles/releases/1.8.3+96f35dc6-1/u18/zivid-telicam-driver_3.0.1.1-1_amd64.deb \
-# https://www.zivid.com/hubfs/softwarefiles/releases/1.8.3+96f35dc6-1/u18/zivid_1.8.3+96f35dc6-1_amd64.deb \
-# https://www.zivid.com/hubfs/softwarefiles/releases/1.8.3+96f35dc6-1/u18/zivid-studio_1.8.3+96f35dc6-1_amd64.deb \
-# https://www.zivid.com/hubfs/softwarefiles/releases/1.8.3+96f35dc6-1/u18/zivid-tools_1.8.3+96f35dc6-1_amd64.deb
-
-#RUN dpkg -i zivid*.deb
-
-# Fix errors
-#RUN mv /usr/include/flann/ext/lz4.h /usr/include/flann/ext/lz4.h.bak
-#RUN mv /usr/include/flann/ext/lz4hc.h /usr/include/flann/ext/lz4.h.bak
-#RUN ln -s /usr/include/lz4.h /usr/include/flann/ext/lz4.h
-#RUN ln -s /usr/include/lz4hc.h /usr/include/flann/ext/lz4hc.h
-
-# Python 3
-RUN apt-get update && apt-get install -y \
- python3-catkin-pkg-modules \
- python3-gi \
- python3-gi-cairo \
- python3-numpy \
- python3-pip \
- ipython3
-RUN pip3 install sqlite-utils
-
-# Install node for UIs
-# RUN curl -fsSLk https://deb.nodesource.com/setup_14.x | bash - \
-# && apt-get install -y -qq nodejs \
-# && npm install -g yarn
-RUN curl -sL https://deb.nodesource.com/setup_14.x | sudo -E bash \
- && apt-get install -y nodejs && npm -g install yarn
-
-# Update final image
-RUN apt-get update && apt-get -y upgrade && apt-get -y autoremove
-RUN apt-get clean
-
-# Set entrypoint
-COPY ./ros_entrypoint.sh /
-RUN chmod a+x /ros_entrypoint.sh
-
-ENTRYPOINT ["/ros_entrypoint.sh"]
-CMD ["zsh"]
-ENV SHELL /usr/bin/zsh
-ENV RUNNING_IN_DOCKER true
-
-# Switch back to dialog for any ad-hoc use of apt-get
-ENV DEBIAN_FRONTEND=
diff --git a/dockerfiles/other/noetic.Dockerfile b/dockerfiles/other/noetic.Dockerfile
deleted file mode 100644
index fd2f5499d75ba7f23279cb28ab9b204a060b359c..0000000000000000000000000000000000000000
--- a/dockerfiles/other/noetic.Dockerfile
+++ /dev/null
@@ -1,163 +0,0 @@
-FROM osrf/ros:noetic-desktop-full
-ENV ROS_DISTRO noetic
-
-# Avoid warnings by switching to noninteractive
-ENV DEBIAN_FRONTEND=noninteractive
-
-# Setup environment
-RUN apt-get update && apt-get install -y \
- locales \
- && sed -i '/en_US.UTF-8/s/^# //g' /etc/locale.gen && locale-gen en_US.UTF-8
-ENV LANG en_US.UTF-8
-ENV LANGUAGE en_US:en
-ENV LC_ALL en_US.UTF-8
-
-# Configure apt and install packages
-RUN apt-get update && apt-get -y install --no-install-recommends \
- apt-transport-https \
- ca-certificates \
- curl \
- gnupg-agent \
- software-properties-common \
- apt-utils dialog 2>&1 \
- # Verify if git, process tools, lsb-release (common in install instructions for CLIs) are installed
- # Install the https transport support package for The Artifactory debian repository
- git \
- git-lfs \
- less \
- nano \
- clang-format \
- direnv \
- xterm \
- terminator \
- zsh \
- #
- ipython3 \
- python-is-python3 \
- python3-catkin-tools \
- python3-click \
- python3-numpy \
- python3-osrf-pycommon \
- ros-${ROS_DISTRO}-catkin \
- ros-${ROS_DISTRO}-plotjuggler \
- ros-${ROS_DISTRO}-plotjuggler-ros \
- ros-${ROS_DISTRO}-rosmon \
- ros-${ROS_DISTRO}-rqt-controller-manager \
- ros-${ROS_DISTRO}-rqt-joint-trajectory-controller
-
-# Install docker-ce
-# RUN curl -fsSL https://download.docker.com/linux/ubuntu/gpg | apt-key add -
-# RUN add-apt-repository \
-# "deb [arch=amd64] https://download.docker.com/linux/ubuntu $(lsb_release -cs) stable"
-# RUN apt-get update && apt-get -y install \
-# docker-ce \
-# docker-ce-cli \
-# containerd.io \
-# docker-compose-plugin
-
-# Configure system to look for debian packages in the Artifactory repository
-# ARG USER_API_KEY_ARTIFACTS_TECNALIA
-# RUN sh -c "echo \
-# 'deb https://${USER_API_KEY_ARTIFACTS_TECNALIA}@artifact.tecnalia.com/artifactory/tecnalia-robotics-debian xenial main' \
-# >> /etc/apt/sources.list.d/tecnalia.list"
-COPY auth.conf /etc/apt/auth.conf.d/tecnalia.conf
-
-# Import the key in order to be able to use the packages from the repository
-RUN apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-keys 7E72C5B4111A50084C63C9489E7A9B1D990CF897
-RUN curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | apt-key add -
-
-# Configure rosdep
-RUN sh -c "echo 'yaml https://git.code.tecnalia.com/tecnalia_robotics-public/gitlab_templates/raw/master/rosdistro/rosdep_tecnalia.yaml' \
- >> /etc/ros/rosdep/sources.list.d/20-default.list"
-
-# Ros WS dependencies
-RUN apt-get update && apt-get install -y \
- libceres-dev \
- libcomedi-dev \
- libglfw3-dev \
- libmodbus-dev \
- python-numpy \
- ros-${ROS_DISTRO}-ackermann-msgs \
- ros-${ROS_DISTRO}-amcl \
- ros-${ROS_DISTRO}-cartesian-trajectory-controller \
- ros-${ROS_DISTRO}-chomp-motion-planner \
- ros-${ROS_DISTRO}-collada-urdf \
- ros-${ROS_DISTRO}-effort-controllers \
- ros-${ROS_DISTRO}-force-torque-sensor-controller \
- ros-${ROS_DISTRO}-gmapping \
- ros-${ROS_DISTRO}-hector-gazebo-plugins \
- ros-${ROS_DISTRO}-hector-mapping \
- ros-${ROS_DISTRO}-imu-complementary-filter \
- ros-${ROS_DISTRO}-imu-tools \
- ros-${ROS_DISTRO}-industrial-core \
- ros-${ROS_DISTRO}-industrial-robot-simulator \
- ros-${ROS_DISTRO}-industrial-robot-status-controller \
- ros-${ROS_DISTRO}-industrial-robot-status-interface \
- ros-${ROS_DISTRO}-interactive-marker-twist-server \
- ros-${ROS_DISTRO}-joint-trajectory-controller \
- ros-${ROS_DISTRO}-joy \
- ros-${ROS_DISTRO}-lms1xx \
- ros-${ROS_DISTRO}-map-server \
- ros-${ROS_DISTRO}-mavros-msgs \
- ros-${ROS_DISTRO}-move-base \
- ros-${ROS_DISTRO}-moveit-commander \
- ros-${ROS_DISTRO}-moveit-fake-controller-manager \
- ros-${ROS_DISTRO}-moveit-planners-chomp \
- ros-${ROS_DISTRO}-moveit-planners-ompl \
- ros-${ROS_DISTRO}-moveit-resources \
- ros-${ROS_DISTRO}-moveit-ros-benchmarks \
- ros-${ROS_DISTRO}-moveit-ros-move-group \
- ros-${ROS_DISTRO}-moveit-ros-planning-interface \
- ros-${ROS_DISTRO}-moveit-ros-visualization \
- ros-${ROS_DISTRO}-moveit-ros-warehouse \
- ros-${ROS_DISTRO}-moveit-setup-assistant\
- ros-${ROS_DISTRO}-moveit-simple-controller-manager \
- ros-${ROS_DISTRO}-moveit-visual-tools \
- ros-${ROS_DISTRO}-navigation \
- ros-${ROS_DISTRO}-pass-through-controllers \
- ros-${ROS_DISTRO}-pilz-industrial-motion \
- ros-${ROS_DISTRO}-realsense2-camera \
- ros-${ROS_DISTRO}-robot-localization \
- ros-${ROS_DISTRO}-ros-control \
- ros-${ROS_DISTRO}-ros-control-boilerplate \
- ros-${ROS_DISTRO}-ros-controllers \
- ros-${ROS_DISTRO}-rosbridge-server \
- ros-${ROS_DISTRO}-scaled-joint-trajectory-controller \
- ros-${ROS_DISTRO}-serial \
- ros-${ROS_DISTRO}-spacenav-node \
- ros-${ROS_DISTRO}-speed-scaling-interface \
- ros-${ROS_DISTRO}-speed-scaling-state-controller \
- ros-${ROS_DISTRO}-teb-local-planner \
- ros-${ROS_DISTRO}-trac-ik-kinematics-plugin \
- ros-${ROS_DISTRO}-twist-controller \
- ros-${ROS_DISTRO}-twist-mux \
- ros-${ROS_DISTRO}-ur-client-library \
- ros-${ROS_DISTRO}-ur-msgs \
- ros-${ROS_DISTRO}-velocity-controllers \
- ros-${ROS_DISTRO}-warehouse-ros-mongo \
- socat
-
-# Install pip3 and packages
-RUN apt-get install -y \
- python3-pip \
- && pip install sqlite_utils
-
-# Install node for UIs
-RUN curl -sL https://deb.nodesource.com/setup_14.x | sudo -E bash \
- && apt-get install -y nodejs && npm -g install yarn
-
-# Update final image
-RUN apt-get update \
- && apt-get -y upgrade
-
-# Set entrypoint
-COPY ./ros_entrypoint.sh /
-RUN chmod a+x /ros_entrypoint.sh
-
-ENTRYPOINT ["/ros_entrypoint.sh"]
-CMD ["zsh"]
-ENV SHELL /usr/bin/zsh
-ENV RUNNING_IN_DOCKER true
-
-# Switch back to dialog for any ad-hoc use of apt-get
-ENV DEBIAN_FRONTEND=
\ No newline at end of file
diff --git a/dockerfiles/other/old_devenv.Dockerfile b/dockerfiles/other/old_devenv.Dockerfile
deleted file mode 100644
index 8d3dde864e2f281809f4a6573b32d244b5b6e3e2..0000000000000000000000000000000000000000
--- a/dockerfiles/other/old_devenv.Dockerfile
+++ /dev/null
@@ -1,266 +0,0 @@
-ARG ROS_DISTRO
-
-FROM osrf/ros:${ROS_DISTRO}-desktop-full
-RUN echo "Building devenv for ROS" $ROS_DISTRO
-
-# Avoid warnings by switching to noninteractive
-ENV DEBIAN_FRONTEND=noninteractive
-
-# Setup environment
-RUN apt-get update && apt-get install -y apt-utils
-
-RUN apt-get install -y \
- locales \
- && sed -i '/en_US.UTF-8/s/^# //g' /etc/locale.gen && locale-gen en_US.UTF-8
-ENV LANG en_US.UTF-8
-ENV LANGUAGE en_US:en
-ENV LC_ALL en_US.UTF-8
-
-# Configure apt and install packages
-RUN apt-get update && apt-get -y install --no-install-recommends \
- apt-transport-https \
- ca-certificates \
- curl \
- dbus-x11 \
- gnupg-agent \
- software-properties-common \
- dialog 2>&1 \
- checkinstall \
- # clang
- clang-format clang-tidy clang-tools clang \
- libc++-dev libc++1 libc++abi-dev \
- libc++abi1 libclang-dev libclang1 \
- libomp-dev libomp5 lld lldb \
- llvm-dev llvm-runtime llvm \
- # ccmake
- cmake-curses-gui \
- direnv \
- gdb \
- git \
- git-lfs \
- less \
- nano \
- net-tools \
- openssh-client \
- terminator \
- trash-cli \
- valgrind \
- xterm \
- wget \
- zsh
-
-RUN if [ "${ROS_DISTRO}" != "humble" ]; \
- then \
- apt-get -y install \
- ros-${ROS_DISTRO}-catkin \
- ros-${ROS_DISTRO}-plotjuggler \
- ros-${ROS_DISTRO}-plotjuggler-ros \
- ros-${ROS_DISTRO}-rosmon \
- ros-${ROS_DISTRO}-rqt-controller-manager \
- ros-${ROS_DISTRO}-rqt-joint-trajectory-controller; \
- fi
-
-RUN if [ "${ROS_DISTRO}" = "noetic" ]; \
- then \
- apt-get -y install \
- ipython3 \
- python-is-python3 \
- python3-catkin-tools \
- python3-click \
- python3-numpy \
- python3-osrf-pycommon \
- python3-vcstool \
- # clang
- clangd liblldb-dev libllvm-ocaml-dev python3-clang; \
- elif [ "${ROS_DISTRO}" = "melodic" ]; \
- then \
- apt-get -y install \
- ipython \
- python-catkin-tools \
- python-pip \
- python-osrf-pycommon\
- python-vcstool; \
- else \
- echo "Not supported version"; \
- fi
-
-# Configure system to look for debian packages in the Artifactory repository
-COPY auth.conf /etc/apt/auth.conf.d/tecnalia.conf
-
-# Import the key in order to be able to use the packages from the repository
-RUN apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-keys 7E72C5B4111A50084C63C9489E7A9B1D990CF897
-RUN curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | apt-key add -
-
-# Configure rosdep
-RUN sh -c "echo 'yaml https://git.code.tecnalia.com/tecnalia_robotics-public/gitlab_templates/raw/master/rosdistro/rosdep_tecnalia.yaml' \
- >> /etc/ros/rosdep/sources.list.d/20-default.list"
-
-# Install docker-ce
-# RUN curl -fsSL https://download.docker.com/linux/ubuntu/gpg | apt-key add -
-# RUN add-apt-repository \
-# "deb [arch=amd64] https://download.docker.com/linux/ubuntu $(lsb_release -cs) stable"
-# RUN apt-get update && apt-get -y install \
-# docker-ce \
-# docker-ce-cli \
-# containerd.io \
-# docker-compose-plugin
-
-# Install pip3 and packages
-RUN apt-get install -y \
- python3-pip \
- && pip3 install sqlite_utils \
- && pip3 install conan==1.59 \
- && conan config set general.revisions_enabled=1 \
- && conan profile new default --detect > /dev/null \
- && conan profile update settings.compiler=gcc default
-
-# Install node for UIs
-RUN curl -sL https://deb.nodesource.com/setup_14.x | sudo -E bash \
- && apt-get install -y nodejs && npm -g install yarn
-
-# ROS 1 WS dependencies
-RUN if [ "${ROS_DISTRO}" != "humble" ]; \
- then \
- apt-get -y install \
- cython \
- libceres-dev \
- libcomedi-dev \
- libglfw3-dev \
- libmodbus-dev \
- python-numpy \
- python3-mock \
- socat \
- ros-${ROS_DISTRO}-ackermann-msgs \
- ros-${ROS_DISTRO}-amcl \
- ros-${ROS_DISTRO}-cartesian-trajectory-controller \
- ros-${ROS_DISTRO}-chomp-motion-planner \
- ros-${ROS_DISTRO}-collada-urdf \
- ros-${ROS_DISTRO}-effort-controllers \
- ros-${ROS_DISTRO}-force-torque-sensor-controller \
- ros-${ROS_DISTRO}-gmapping \
- ros-${ROS_DISTRO}-hector-gazebo-plugins \
- ros-${ROS_DISTRO}-hector-mapping \
- ros-${ROS_DISTRO}-imu-complementary-filter \
- ros-${ROS_DISTRO}-imu-tools \
- ros-${ROS_DISTRO}-industrial-core \
- ros-${ROS_DISTRO}-industrial-robot-simulator \
- ros-${ROS_DISTRO}-industrial-robot-status-controller \
- ros-${ROS_DISTRO}-industrial-robot-status-interface \
- ros-${ROS_DISTRO}-interactive-marker-twist-server \
- ros-${ROS_DISTRO}-joint-trajectory-controller \
- ros-${ROS_DISTRO}-joy \
- ros-${ROS_DISTRO}-lms1xx \
- ros-${ROS_DISTRO}-map-server \
- ros-${ROS_DISTRO}-mavros-msgs \
- ros-${ROS_DISTRO}-move-base \
- ros-${ROS_DISTRO}-moveit-commander \
- ros-${ROS_DISTRO}-moveit-fake-controller-manager \
- ros-${ROS_DISTRO}-moveit-planners-chomp \
- ros-${ROS_DISTRO}-moveit-planners-ompl \
- ros-${ROS_DISTRO}-moveit-resources \
- ros-${ROS_DISTRO}-moveit-ros-benchmarks \
- ros-${ROS_DISTRO}-moveit-ros-control-interface \
- ros-${ROS_DISTRO}-moveit-ros-move-group \
- ros-${ROS_DISTRO}-moveit-ros-planning-interface \
- ros-${ROS_DISTRO}-moveit-ros-visualization \
- ros-${ROS_DISTRO}-moveit-ros-warehouse \
- ros-${ROS_DISTRO}-moveit-setup-assistant \
- ros-${ROS_DISTRO}-moveit-simple-controller-manager \
- ros-${ROS_DISTRO}-moveit-visual-tools \
- ros-${ROS_DISTRO}-navigation \
- ros-${ROS_DISTRO}-pass-through-controllers \
- ros-${ROS_DISTRO}-pilz-industrial-motion \
- ros-${ROS_DISTRO}-rc-visard \
- ros-${ROS_DISTRO}-realsense2-camera \
- ros-${ROS_DISTRO}-realsense2-description \
- ros-${ROS_DISTRO}-robot-localization \
- ros-${ROS_DISTRO}-ros-control \
- ros-${ROS_DISTRO}-ros-control-boilerplate \
- ros-${ROS_DISTRO}-ros-controllers \
- ros-${ROS_DISTRO}-ros-industrial-cmake-boilerplate \
- ros-${ROS_DISTRO}-rosbridge-server \
- ros-${ROS_DISTRO}-scaled-joint-trajectory-controller \
- ros-${ROS_DISTRO}-serial \
- ros-${ROS_DISTRO}-spacenav-node \
- ros-${ROS_DISTRO}-speed-scaling-interface \
- ros-${ROS_DISTRO}-speed-scaling-state-controller \
- ros-${ROS_DISTRO}-teb-local-planner \
- ros-${ROS_DISTRO}-trac-ik-kinematics-plugin \
- ros-${ROS_DISTRO}-twist-controller \
- ros-${ROS_DISTRO}-twist-mux \
- ros-${ROS_DISTRO}-ur-client-library \
- ros-${ROS_DISTRO}-ur-msgs \
- ros-${ROS_DISTRO}-usb-cam \
- ros-${ROS_DISTRO}-velocity-controllers \
- ros-${ROS_DISTRO}-warehouse-ros-mongo; \
- # ROS2 Humble dpendencies
- else \
- apt-get -y install \
- ros-${ROS_DISTRO}-moveit \
- ros-${ROS_DISTRO}-ros2-control; \
- fi
-
-RUN if [ "${ROS_DISTRO}" = "noetic" ]; \
- then \
- apt-get -y install \
- ipython3 \
- python-is-python3 \
- python3-catkin-tools \
- python3-click \
- ros-${ROS_DISTRO}-libpcan \
- python3-numpy \
- python3-tk \
- python3-osrf-pycommon; \
- elif [ "${ROS_DISTRO}" = "melodic" ]; \
- then \
- apt-get -y install \
- ros-${ROS_DISTRO}-ar-track-alvar \
- python-mock \
- python-funcsigs \
- python-sqlalchemy \
- python3-rospkg-modules \
- python3-yaml; \
- else \
- echo "Not supported version"; \
- fi
-
-WORKDIR /tmp/srcs/
-COPY /extra_libs/* ./
-
-RUN if [ "${ROS_DISTRO}" = "noetic" ]; \
- then \
- dpkg -i bat*.deb; \
- dpkg -i lsd*.deb; \
- dpkg -i ripgrep*.deb; \
- elif [ "${ROS_DISTRO}" = "melodic" ]; \
- then \
- dpkg -i *.deb; \
- else \
- echo "Not supported version"; \
- fi
-
-RUN rm -rf *
-
-RUN apt-get --reinstall install -y libnotify-bin notify-osd
-
-# Update this date to re-run the image final update
-LABEL image.date=24-08-2023
-
-# Update final image
-RUN apt-get update \
- && apt-get -y upgrade \
- && apt-get -y autoremove \
- && apt-get -y autoclean
-
-# Set entrypoint
-COPY ./ros_entrypoint.sh /
-RUN chmod a+x /ros_entrypoint.sh
-
-ENTRYPOINT ["/ros_entrypoint.sh"]
-CMD ["zsh"]
-ENV ROS_DISTRO "${ROS_DISTRO}"
-ENV SHELL /usr/bin/zsh
-ENV RUNNING_IN_DOCKER true
-
-# Switch back to dialog for any ad-hoc use of apt-get
-ENV DEBIAN_FRONTEND=
diff --git a/dockerfiles/other/snp_workshop.Dockerfile b/dockerfiles/other/snp_workshop.Dockerfile
deleted file mode 100644
index 964013e80065b90b0beabae7c086f7196df0b1f1..0000000000000000000000000000000000000000
--- a/dockerfiles/other/snp_workshop.Dockerfile
+++ /dev/null
@@ -1,90 +0,0 @@
-ARG FROM_IMAGE=osrf/ros:foxy-desktop
-ARG OVERLAY_WS=/opt/ros/snpd_ws
-
-# multi-stage for caching
-FROM $FROM_IMAGE AS cacher
-
-# clone overlay source
-ARG OVERLAY_WS
-WORKDIR $OVERLAY_WS/src
-RUN git clone https://github.com/tecnalia-advancedmanufacturing-robotics/scan_n_plan_workshop.git
-RUN vcs import ./ < scan_n_plan_workshop/dependencies_tesseract.repos
-RUN vcs import ./ < scan_n_plan_workshop/dependencies.repos
-RUN vcs import ./ < scan_n_plan_workshop/snp_automate_2022/dependencies.repos
-
-# copy manifests for caching
-WORKDIR /opt
-RUN mkdir -p /tmp/opt && \
- find ./ -name "package.xml" | \
- xargs cp --parents -t /tmp/opt && \
- find ./ -name "COLCON_IGNORE" | \
- xargs cp --parents -t /tmp/opt || true
-
-# multi-stage for building
-FROM $FROM_IMAGE AS builder
-
-# Configure apt and install packages
-RUN apt-get update && apt-get -y install --no-install-recommends \
- apt-transport-https \
- apt-utils dialog 2>&1 \
- software-properties-common \
- git \
- nano \
- less \
- xterm \
- zsh \
- && rm -rf /var/lib/apt/lists/*
-
-# Install taskflow dependency from the ROS-I PPA
-RUN add-apt-repository ppa:ros-industrial/ppa
-
-RUN apt-get update && apt-get install -y \
- taskflow
-
-# Install missing dependencies
-RUN apt-get update && apt-get install -y \
- ros-foxy-control-msgs \
- ros-foxy-diagnostic-updater \
- ros-foxy-ifopt \
- ros-foxy-joint-state-publisher \
- ros-foxy-joint-state-publisher-gui \
- ros-foxy-librealsense2 \
- ros-foxy-octomap \
- ros-foxy-octomap-msgs \
- ros-foxy-ompl \
- ros-foxy-xacro \
- lcov \
- libxmlrpcpp-dev \
- libyaml-cpp-dev \
- libbullet-dev libbullet-extras-dev libbullet2.88 libbulletml-dev
-
-# install overlay dependencies
-# finish rosdep command with true because some dependencies are not found
-ARG OVERLAY_WS
-WORKDIR $OVERLAY_WS
-COPY --from=cacher /tmp/$OVERLAY_WS/src ./src
-RUN . /opt/ros/$ROS_DISTRO/setup.sh && \
- apt-get update && rosdep install -y \
- --from-paths \
- src \
- --ignore-src \
- || true \
- && rm -rf /var/lib/apt/lists/*
-
-# build overlay source
-COPY --from=cacher $OVERLAY_WS/src ./src
-ARG OVERLAY_MIXINS="release"
-RUN . /opt/ros/$ROS_DISTRO/setup.sh && \
- colcon build \
- --cmake-args \
- -DTESSERACT_BUILD_FCL=OFF \
- --mixin $OVERLAY_MIXINS
-
-# source entrypoint setup
-ENV OVERLAY_WS $OVERLAY_WS
-RUN sed --in-place --expression \
- '$isource "$OVERLAY_WS/install/setup.bash"' \
- /ros_entrypoint.sh
-
-# run launch file
-CMD ["ros2", "launch", "snp_automate_2022", "start.launch.xml"]
diff --git a/dockerfiles/other/ssh.Dockerfile b/dockerfiles/other/ssh.Dockerfile
deleted file mode 100644
index e427386831d264107de6e59f279df1168795f7ba..0000000000000000000000000000000000000000
--- a/dockerfiles/other/ssh.Dockerfile
+++ /dev/null
@@ -1,155 +0,0 @@
-### FIRST LAYER TO DOWNLOAD GIT REPOS
-FROM osrf/ros:melodic-desktop-full as intermediate
-
-RUN apt-get update
-
-#################################
-# Add ssh private key
-RUN apt-get install -y ssh
-
-ARG SSH_PRIVATE_KEY
-RUN mkdir ~/.ssh/
-RUN echo "${SSH_PRIVATE_KEY}" > /root/.ssh/id_rsa
-RUN chmod 600 ~/.ssh/id_rsa
-RUN ssh-keyscan git.code.tecnalia.com >> /root/.ssh/known_hosts && chmod 644 /root/.ssh/known_hosts
-
-#Print SSH_PRIVATE_KEY (for test)
-#RUN echo "${SSH_PRIVATE_KEY}"
-
-RUN apt-get install -y git
-
-# Create workspace
-RUN mkdir -p /root/dev_ws/src
-WORKDIR /root/dev_ws/src
-
-# Install python-wstools
-RUN apt-get install -y wget
-RUN wget http://packages.ros.org/ros.key -O - | sudo apt-key add -
-RUN apt-get update
-RUN apt-get install -y python-catkin-tools
-# Clone main package
-WORKDIR /root/dev_ws/src
-RUN git clone git@git.code.tecnalia.com:tecnalia_robotics/kawada/kawada_lab_application.git
-# Populate dependencies with rosinstall
-RUN mkdir /root/dev_ws/src/dependencies
-WORKDIR /root/dev_ws/src/dependencies
-RUN wstool init && wstool merge ../kawada_lab_application/.rosinstall && wstool update
-
-
-### SECOND LAYER TO BUILD DEV-ENV
-FROM osrf/ros:melodic-desktop-full
-
-ENV ROS_DISTRO melodic
-# Avoid warnings by switching to noninteractive
-ENV DEBIAN_FRONTEND=noninteractive
-
-# Setup environment
-RUN apt-get update && apt-get install -y \
- locales && sed -i '/en_US.UTF-8/s/^# //g' /etc/locale.gen && locale-gen en_US.UTF-8
-ENV LANG en_US.UTF-8
-ENV LANGUAGE en_US:en
-ENV LC_ALL en_US.UTF-8
-
-# Configure apt and install packages
-RUN apt-get update \
- && apt-get -y install --no-install-recommends \
- apt-transport-https \
- ca-certificates \
- curl \
- gnupg-agent \
- software-properties-common \
- apt-utils dialog 2>&1 \
- #
- # Verify git, process tools, lsb-release (common in install instructions for CLIs) installed
- # Install the https transport support package for The Artifactory debian repository
- && apt-get -y install git \
- git-lfs \
- nano \
- iproute2 \
- procps \
- lsb-release \
- curl \
- cmake \
- && apt-get -y install openssh-client \
- python-catkin-tools \
- python-osrf-pycommon \
- ros-${ROS_DISTRO}-rosmon \
- xterm \
- && rosdep init || true \
- && rm -rf /var/lib/apt/lists/*
-
-# Install docker-ce
-RUN curl -fsSL https://download.docker.com/linux/ubuntu/gpg | apt-key add -
-RUN add-apt-repository \
- "deb [arch=amd64] https://download.docker.com/linux/ubuntu $(lsb_release -cs) stable"
-RUN apt-get update \
- && apt-get install -y \
- docker-ce-cli \
- && rm -rf /var/lib/apt/lists/*
-
-# Configure system to look for debian packages in the Artifactory repository
-ARG USER_API_KEY_ARTIFACTS_TECNALIA
-RUN sh -c "echo \
- 'deb https://${USER_API_KEY_ARTIFACTS_TECNALIA}@artifact.tecnalia.com/artifactory/tecnalia-robotics-debian xenial main' \
- >> /etc/apt/sources.list.d/tecnalia.list"
-
-# Import the key in order to be able to use the packages from the repository
-RUN apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-keys 7E72C5B4111A50084C63C9489E7A9B1D990CF897
-
-# Configure rosdep
-RUN sh -c "echo 'yaml https://git.code.tecnalia.com/tecnalia_robotics-public/gitlab_templates/raw/master/rosdistro/rosdep_tecnalia.yaml' \
- >> /etc/ros/rosdep/sources.list.d/20-default.list"
-
-# Packages installed as dependecies of kawada_lab_aplication
-RUN apt-get update && apt-get install -y \
- ros-melodic-ros-control-boilerplate \
- ros-melodic-moveit-planners-ompl \
- ros-melodic-moveit-plugins \
- ros-melodic-moveit-ros-visualization \
- ros-melodic-moveit-ros-planning-interface \
- ros-melodic-moveit-setup-assistant \
- ros-melodic-moveit-fake-controller-manager \
- ros-melodic-moveit-kinematics \
- ros-melodic-moveit-ros-move-group \
- ros-melodic-ur-msgs \
- ros-melodic-eigen-stl-containers \
- ros-melodic-industrial-robot-simulator \
- ros-melodic-move-base-msgs \
- ros-melodic-srdfdom \
- ros-melodic-joint-state-publisher-gui \
- python-pyside \
- python-lxml \
- python-qt4 \
- python-qt4-dev \
- libshiboken-dev \
- shiboken \
- libpyside-dev \
- libcomedi-dev \
- libmodbus-dev \
- libcanberra-gtk-module \
- libcanberra-gtk0 \
- && rm -rf /var/lib/apt/lists/*
-
-# Update final image
-RUN apt-get update && apt-get -y upgrade
-
-# Install helping packages
-RUN apt-get install -y terminator
-RUN apt-get install -y less iputils-ping
-
-# Source ros setup.sh
-RUN /bin/sh . "/opt/ros/$ROS_DISTRO/setup.bash"
-
-# Install python-wstools
-RUN apt-get install -y wget
-RUN wget http://packages.ros.org/ros.key -O - | sudo apt-key add -
-RUN apt-get update
-RUN apt-get install -y python-catkin-tools
-
-# Copy workspace with dependencies created in the previous layer
-COPY --from=intermediate /root/dev_ws /root/dev_ws
-WORKDIR /root/dev_ws
-RUN catkin init && catkin config --extend /opt/ros/melodic && catkin build
-
-# Add source ros to .bashrc
-RUN echo "#ROS\nsource /opt/ros/melodic/setup.bash\nsource /root/dev_ws/devel/setup.bash" >> /root/.bashrc
diff --git a/dockerfiles/other/urko.Dockerfile b/dockerfiles/other/urko.Dockerfile
deleted file mode 100644
index b20b9be265056248c8d2137e3bed56916438fddf..0000000000000000000000000000000000000000
--- a/dockerfiles/other/urko.Dockerfile
+++ /dev/null
@@ -1,161 +0,0 @@
-### FIRST LAYER TO DOWNLOAD GIT REPOS
-FROM osrf/ros:melodic-desktop-full as intermediate
-
-RUN apt-get update
-
-#################################
-# Add ssh private key
-RUN apt-get install -y ssh
-
-ARG SSH_PRIVATE_KEY
-RUN mkdir ~/.ssh/
-RUN echo "${SSH_PRIVATE_KEY}" > /root/.ssh/id_rsa
-RUN chmod 600 ~/.ssh/id_rsa
-RUN ssh-keyscan git.code.tecnalia.com >> /root/.ssh/known_hosts && chmod 644 /root/.ssh/known_hosts
-
-#Print SSH_PRIVATE_KEY (for test)
-RUN echo "${SSH_PRIVATE_KEY}"
-
-RUN apt-get install -y git
-
-# Create workspace
-RUN mkdir -p /root/dev_ws/src
-WORKDIR /root/dev_ws/src
-
-# Install python-wstools
-RUN apt-get install -y wget
-RUN wget http://packages.ros.org/ros.key -O - | sudo apt-key add -
-RUN apt-get update
-RUN apt-get install -y python-catkin-tools
-# Clone main package
-WORKDIR /root/dev_ws/src
-RUN git clone git@git.code.tecnalia.com:tecnalia_robotics/kawada/kawada_lab_application.git
-# Populate dependencies with rosinstall
-RUN mkdir /root/dev_ws/src/dependencies
-WORKDIR /root/dev_ws/src/dependencies
-RUN wstool init && wstool merge ../kawada_lab_application/.rosinstall && wstool update
-
-
-#FROM tecnalia-robotics-docker.artifact.tecnalia.com/flexbotics-fat-devel:melodic
-FROM osrf/ros:melodic-desktop-full
-
-ENV ROS_DISTRO melodic
-# Avoid warnings by switching to noninteractive
-ENV DEBIAN_FRONTEND=noninteractive
-
-# Setup environment
-RUN apt-get update && apt-get install -y \
- locales \
- && locale-gen en_US.UTF-8
-
-RUN sed -i '/en_US.UTF-8/s/^# //g' /etc/locale.gen && locale-gen
-ENV LANG en_US.UTF-8
-ENV LANGUAGE en_US:en
-ENV LC_ALL en_US.UTF-8
-
-# Configure apt and install packages
-RUN apt-get update \
- && apt-get -y install --no-install-recommends \
- apt-transport-https \
- ca-certificates \
- curl \
- gnupg-agent \
- software-properties-common \
- apt-utils dialog 2>&1 \
- #
- # Verify git, process tools, lsb-release (common in install instructions for CLIs) installed
- # Install the https transport support package for The Artifactory debian repository
- && apt-get -y install git \
- git-lfs \
- nano \
- iproute2 \
- procps \
- lsb-release \
- curl \
- cmake \
- && apt-get -y install openssh-client \
- python-catkin-tools \
- python-osrf-pycommon \
- ros-${ROS_DISTRO}-rosmon \
- xterm \
- && rosdep init || true \
- && rm -rf /var/lib/apt/lists/*
-
-RUN curl -fsSL https://download.docker.com/linux/ubuntu/gpg | apt-key add -
-
-RUN add-apt-repository \
- "deb [arch=amd64] https://download.docker.com/linux/ubuntu $(lsb_release -cs) stable"
-
-RUN apt-get update \
- && apt-get install -y \
- docker-ce-cli \
- && rm -rf /var/lib/apt/lists/*
-
-# Configure system to look for debian packages in the Artifactory repository
-RUN sh -c "echo \
- 'deb https://andres.montano@tecnalia.com:AKCp8jQcqPn8BQrgnqSShfsqvkS4vMbJL5WNYduVAcxaH7kbpVCyQsLnQgEhr4UeQNZoSgwwk@artifact.tecnalia.com/artifactory/tecnalia-robotics-debian xenial main' \
- >> /etc/apt/sources.list.d/tecnalia.list"
-
-# Import the key in order to be able to use the packages from the repository
-RUN apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-keys 7E72C5B4111A50084C63C9489E7A9B1D990CF897
-
-# Configure rosdep
-RUN sh -c "echo 'yaml https://git.code.tecnalia.com/tecnalia_robotics-public/gitlab_templates/raw/master/rosdistro/rosdep_tecnalia.yaml' \
- >> /etc/ros/rosdep/sources.list.d/20-default.list"
-
-# COPY ./catkin_ws_init.sh /
-# Packages installed as dependecies of kawada_lab_aplication
-RUN apt-get update && apt-get install -y \
- ros-melodic-ros-control-boilerplate \
- ros-melodic-moveit-planners-ompl \
- ros-melodic-moveit-plugins \
- ros-melodic-moveit-ros-visualization \
- ros-melodic-moveit-ros-planning-interface \
- ros-melodic-moveit-setup-assistant \
- ros-melodic-moveit-fake-controller-manager \
- ros-melodic-moveit-kinematics \
- ros-melodic-moveit-ros-move-group \
- ros-melodic-ur-msgs \
- ros-melodic-eigen-stl-containers \
- ros-melodic-industrial-robot-simulator \
- ros-melodic-move-base-msgs \
- ros-melodic-srdfdom \
- ros-melodic-joint-state-publisher-gui \
- python-pyside \
- python-lxml \
- python-qt4 \
- python-qt4-dev \
- libshiboken-dev \
- shiboken \
- libpyside-dev \
- libcomedi-dev \
- libmodbus-dev \
- libcanberra-gtk-module \
- libcanberra-gtk0 \
- && rm -rf /var/lib/apt/lists/*
-
-# Update final image
-RUN apt-get update && apt-get -y upgrade
-
-# Install helping packages
-RUN apt-get install -y terminator
-RUN apt-get install -y less iputils-ping
-
-
-# Source ros setup.sh
-RUN /bin/sh . "/opt/ros/$ROS_DISTRO/setup.bash"
-
-
-# Install python-wstools
-RUN apt-get install -y wget
-RUN wget http://packages.ros.org/ros.key -O - | sudo apt-key add -
-RUN apt-get update
-RUN apt-get install -y python-catkin-tools
-
-# Copy workspace with dependencies created in the previous layer
-COPY --from=intermediate /root/dev_ws /root/dev_ws
-WORKDIR /root/dev_ws
-RUN catkin init && catkin config --extend /opt/ros/melodic && catkin build
-
-# Add source ros to .bashrc
-RUN echo "#ROS\nsource /opt/ros/melodic/setup.bash\nsource /root/dev_ws/devel/setup.bash" >> /root/.bashrc
diff --git a/externals/bash_it b/externals/bash_it
deleted file mode 160000
index 9ea290a5ed12346784b925ad213d4448844d76de..0000000000000000000000000000000000000000
--- a/externals/bash_it
+++ /dev/null
@@ -1 +0,0 @@
-Subproject commit 9ea290a5ed12346784b925ad213d4448844d76de
diff --git a/externals/ble_sh b/externals/ble_sh
deleted file mode 160000
index a860769216ba3bc7259f0c0a0aa276ea2f0e3a8f..0000000000000000000000000000000000000000
--- a/externals/ble_sh
+++ /dev/null
@@ -1 +0,0 @@
-Subproject commit a860769216ba3bc7259f0c0a0aa276ea2f0e3a8f
diff --git a/externals/pcl-docker b/externals/pcl-docker
deleted file mode 160000
index eba53b1c238d3c8408f33abc24fd31ac981ac558..0000000000000000000000000000000000000000
--- a/externals/pcl-docker
+++ /dev/null
@@ -1 +0,0 @@
-Subproject commit eba53b1c238d3c8408f33abc24fd31ac981ac558
diff --git a/externals/ros-melodic-gui-docker b/externals/ros-melodic-gui-docker
deleted file mode 160000
index f637c1d65ebdca5474bb00bb59623e05859a4bee..0000000000000000000000000000000000000000
--- a/externals/ros-melodic-gui-docker
+++ /dev/null
@@ -1 +0,0 @@
-Subproject commit f637c1d65ebdca5474bb00bb59623e05859a4bee
diff --git a/notes/00_Notes_Godel.md b/notes/00_Notes_Godel.md
deleted file mode 100644
index 0dc03d3d5843eb8e888356ca3e31f253f91fa590..0000000000000000000000000000000000000000
--- a/notes/00_Notes_Godel.md
+++ /dev/null
@@ -1,62 +0,0 @@
-# Godel
-
-## godel_plugins
-
-## godel_process_planning
-
-## godel_process_path_generation
-
-## godel_msgs
-
-## godel_surface_detection
-
-<https://github.com/PointCloudLibrary/pcl/issues/410>
-
->>>
-It's pretty simple actually. Although the qhull dev(s) made it pretty hard to debug this due to
-obfuscated code and design flaws.. At least they put a note about the solution onto their NEWS page <http://www.qhull.org/news/qhull-news.html> .
-QHull now provides qh_QHpointer and global struct versions of the library as static and shared libraries each and the new libqhull.so is compiled without qh_QHpointer in 2012.
-PCL detects libqhull.so and uses it as if it was compiled with qh_QHpointer aaand voila, you're in the middle of a jungle of undetected code incompatibilities..
-
-I changed the library to the new "libqhull_p.so" and things work as expected.
-Would be great to see this fixed in 1.7.2 :)
-
-This brings us to politics though... It looks like ubuntu/debian didn't care to include these qh_QHpointer shared libs in their libqhull6 packages until now.
-I therefore assume pcl will only work with the static libs they provide.
-
-Also, it's important to fix PCLConfig.cmake.in:141. Not everyone's on Windows (why is this even "most likely" the case?) and this shared/wrong static mixup makes it even harder to see through this linking mess.
-
-I should get around to create a pull-request for this over the weekend..
-
->>>
-Using CMake to generate the correct solution file, works definitively, but on Windows, qhullstatic_p and qhullstatic_pd must be linked, instead of qhull_p and qhull_pd, as suggested, otherwise an undefined reference on 'qh_qh' is given.
-
->>>
-Linking pcl to libqhullstatic.a solved it, as described above. As far as I can tell, this thread is the only explanation of this issue anywhere.
-
->>>
-The only solution is to use the 8.0.0 version of qhull until PCL fixes the obsolete code.
-
-## godel_polygon_offset
-
-## godel_process_execution
-
-## godel_openvoronoi
-
-Repository that contains a ROS-Industrial Godel project-specific fork of the OpenVoronoi library.
-It has been converted to a ROS catkin package by adding a package manifest (`package.xml`) and a replacement build script (`CMakeLists.txt`). It has additionally been patched to provide a getter for the `MachiningGraph` member variable `g` in the `OffsetSorter` class.
-Apart from these changes (and this new `README.md` file), all sources and other files have been left unchanged and are identical to those in the [source repository][].
-
-## Setups
-
-### Melodic Ubuntu Bionic
-
-libqhull7:amd64 2015.2-4
-libpcl-dev 1.8.1+dfsg1-2ubuntu2.18.04.1
-
-### Noetic Ubuntu Focal
-
-libqhull7:amd64 2015.2-4
-libpcl-dev 1.10.0+dfsg-5ubuntu1
-
--- Experimental on Docker - Noetic
diff --git a/notes/ABEEE b/notes/ABEEE
deleted file mode 100644
index 1e16190e5f7d8785a0500c29fa7d6a28a3e51868..0000000000000000000000000000000000000000
--- a/notes/ABEEE
+++ /dev/null
@@ -1,65 +0,0 @@
-02/24/2022
-Danial
-Panagoitis
-
-Dismantling batteries
-
-Robotic capabilities to handling batteries
-
-Use case
-TRL 5-6
-RIA
-
-Jon --
-
-Smart handling technologies IA in background
-Recycling
-
-Outcomes:
-1- High level reconfigurable and Perseption technologies focused on the environment
-2- Dexterous resources
-3- Increase productivity, optimize the results
-
-Prodution line
-
-Security
-Recycling
-
-Target cicycling?
-Dircharging
-cell full battery pack
-
-Lost types of battery shapes, sizes
-Discuss
-
-Remove risk in dismantling task
-Cells +measure voltaje temperature to open the cells
-
-focuss on some type of batteries
-
-Depending on the requirements of the batteries choose the robot
-
---------
-
-Generic solution for different scenarios
-
-How to handling in a clever way different parts
-
---------
-
-Organize the WP
-
-Others WP typical from European projects
-WP low level -- sensors
-WP high level -- assembly secuence generator
-WP Optimization -- teachin by demos tration
-
-Currently some ideas
-
---------
-
-Partner yet have to be contacted
-
-Raúl Monday
-Kuka
-
diff --git a/notes/Docker_cheatsheet.md b/notes/Docker_cheatsheet.md
deleted file mode 100644
index 6834618f85ed4e707211755e0e5158698f37e9b1..0000000000000000000000000000000000000000
--- a/notes/Docker_cheatsheet.md
+++ /dev/null
@@ -1,22 +0,0 @@
-# Docker cheatsheet
-
-Para guardar una imagen que se hace en una máquina y se quiere transferir a otro sistema
-
-```
-docker save -o <path for generated tar file> <image name>
-```
-
-Para cargar una imagen desde un archivo tar
-
-```
-docker load -i <path to image tar file>
-```
-
-Para ver las dependent child images
-
-```
-for i in $(docker images -q)
-do
- docker history $i | grep -q <image_ID> && echo $i
-done | sort -u
-```
\ No newline at end of file
diff --git a/notes/Finite State Machine (FSM).md b/notes/Finite State Machine (FSM).md
deleted file mode 100644
index 5f62de83bb37b18c2db0d150ba0141783cf10540..0000000000000000000000000000000000000000
--- a/notes/Finite State Machine (FSM).md
+++ /dev/null
@@ -1,48 +0,0 @@
-Finite State Machine (FSM)
-
-This is the simplest type:
-You have a collection of states that the AI can be in;
-The AI is in one of these states at any given time;
-The choice of whether to continue the behaviour or move onto something else is evaluated completely inside the behaviour that the AI is currently in, i.e. there is no hierarchy.
-Here's an example, you have one script each for Idle, Attack, and Run, and on each of these scripts is a coroutine which ticks the behaviour implementation. Inside each coroutine would be a complete evaluation of the game state and whether to move onto something else. You can see that:
-You will be re-writing a lot of code, e.g. "If enemy disappears, go to idle" would be a part of the evaluation in both the Attack and the Run scripts. And this means..
-Nodes are coupled tightly to all other nodes, i.e., modifying the Idle script would directly affect whether it was still relevant to be called from any of the other behaviour scripts, or it might mean that you would have to update contextual information across all of the other scripts so that you don't get some weird behaviour. For example if you modify the Idle script to have the character wipe their brow after running from the enemy, then if it was not called from the Run behaviour it would be illogical, and then you'd have to update the context for each time Idle was called, making 'breaking' the AI very easy.
-
-Hierarchical FSM (HFSM)
-
-The only difference between the HFSM and the FSM is that in the HFSM there is a hierarchy of choices, meaning that choices are evaluated at a high-level before getting into the details.
-
-For example, instead of the Attack, Run and Idle behaviours being completely self-contained, you would have a hierarchy that began with two states "EnemyFound" and "EnemyNotFound". Attack and Run would then be children of the EnemyFound state, while Idle would be a child of the EnemyNotFound state. Since you're starting from the top each tick, you can then remove the transition to Idle from the Attack and Run states, and move it up into the parent state (writing it only once). This enables better organisation of the transitions, removes a lot of re-written code etc.
-
-However the weakness is still that in each sub-group of a hierarchy, there may be nodes that are basically a re-write of nodes in a different sub-group, because the nodes in each hierarchy are still not modular, they are still coupled tightly to their hierarchy. This is where behaviour trees come in.
-
-
-Behaviour Tree (BT)
-
-To put it simply, a behaviour tree is like an HFSM, except that the nodes in the hierarchy are modular, uncoupled and self-contained, running on a context basis from any part of any sub-group of the hierarchy.
-
-In fact, any piece of the behaviour tree is modular, and can be called from anywhere else in the tree. This makes it possible to skip to a different area on the tree and do something else if the current evaluation finds that it is no longer relevant.
-
-The way this is achieved is by using a Blackboard which is a cache of information that can be accessed by any of the nodes in the tree, and which contains information that makes it possible to provide a context for each node that does not depend on where it was called from, keeping it completely modular.
-
-And instead of creating ten different versions of a behaviour depending on where it was called from, you could simply call various modular behaviours in sequence.
-
-
-So...
-
-You can see that really, these three types are not completely different, they're just improvements on eachother. In my view the main difference in terms of implementation is the overhead of building the infrastructure - BTs being more time-consuming to set up, but ultimately great for huge behaviour structures. But because BTs have a modular nature, then for smaller structures they aren't very good for keeping information together in front of a programmer's eyes, so they aren't worth it for simple AI.
-
----------------------------------------------------------------------------------------------------
-This is a current work in progress for me. This is what I have come up with so far:
-
-FLEXBE - Python - work in progress as per this threads comments. associated tools: unknown
-SMACH - Python - orphaned in ROS1 with status: unmaintained. Did have a viewer.
-SMACC - C++ - ROS2 porting is in progress. Has a viewer.
-BehaviourTrees.CPP - C++ - has been ported to ROS2 and also the viewer (Groot) but I think that is all on Rolling.
-py_trees - Python - has been ported to ROS2. No runtime viewer, only static dot graph output.
-
-If I am wrong about any of these findings. do let me know. Or any other frameworks I am not aware of.
-
-My conclusion to date is that we do not yet have any behaviour framework ported up to ROS2 with all the bells and whistles included.
-
-It is my guess that the FLEXBE/SMACH crowd would very much want to bring their existing behaviour modules forward without having to do a complete rewrite in a new framework.
\ No newline at end of file
diff --git a/notes/For_Ubuntu20_04.adoc b/notes/For_Ubuntu20_04.adoc
deleted file mode 100644
index 3a7efb86e58248a945267093a75c136d395ccd0f..0000000000000000000000000000000000000000
--- a/notes/For_Ubuntu20_04.adoc
+++ /dev/null
@@ -1,108 +0,0 @@
-Using docker to setup a development environment
-===============================================
-//:Author: Andres Montaño
-//:Email: <andres.montano@tecnalia.com>
-:Date: 08.07.2021
-:Revision: 0.1
-
-From an Ubuntu 20.04 system
----------------------------
-
-=== 1.- Follow the instructions to get access to the Tecnalia repositories and artifacts:
-https://git.code.tecnalia.com/tecnalia_robotics/documentation/-/blob/master/good_practices/development_environment_setup.adoc
-
-.Summary
-
-- Obtain API key for internal repositories
-- Configure the Debian repository
-[source,bash]
-sudo apt-get install apt-transport-https
-sudo sh -c "echo 'deb https://USER.NAME@tecnalia.com:API_TOKEN@artifact.tecnalia.com/artifactory/tecnalia-robotics-debian xenial main' >> /etc/apt/sources.list.d/tecnalia.list"
-
-- Install Docker CE
-[source,bash]
-curl -fsSL https://download.docker.com/linux/ubuntu/gpg | sudo gpg --dearmor -o /usr/share/keyrings/docker-archive-keyring.gpg
-echo \
-"deb [arch=amd64 signed-by=/usr/share/keyrings/docker-archive-keyring.gpg] https://download.docker.com/linux/ubuntu \
-$(lsb_release -cs) stable" | sudo tee /etc/apt/sources.list.d/docker.list > /dev/null
-sudo apt update
-sudo apt-get install docker-ce docker-ce-cli containerd.io
-sudo usermod -aG docker USER_NAME
-
-- Configure the docker registry
-[source,bash]
-docker login tecnalia-robotics-docker.artifact.tecnalia.com
-
-- Configure Git LFS
-[source,bash]
-curl -s https://packagecloud.io/install/repositories/github/git-lfs/script.deb.sh | sudo bash
-sudo apt-get install git-lfs
-git lfs install
-git config --global credential.helper 'cache --timeout=3600'
-
-=== 2.- Build the docker image using the Dockerfile
-[source,bash]
-docker build -t devenv:melodic <Path_to_Dockerfile> .
-
-for example:
-[source,bash]
-docker build -t devenv:melodic \
- --build-arg SSH_PRIVATE_KEY="$(cat ~/.ssh/id_rsa_TecnaliaUB20)" \
- --build-arg USER_API_KEY_ARTIFACTS_TECNALIA="$(cat ~/.ssh/user_api_key_artifacts_tecnalia)" \
- -f Dockerfile-devenv .
-
-// docker build -t devenv:melodic --build-arg USER_API_KEY_ARTIFACTS_TECNALIA="$(cat ~/.ssh/user_api_key_artifacts_tecnalia)" -f Devenv.Dockerfile .
-// docker build -t devenv:melodic --build-arg SSH_PRIVATE_KEY="$(cat ~/.ssh/id_rsa_TecnaliaUB20)" --build-arg USER_API_KEY_ARTIFACTS_TECNALIA="$(cat ~/.ssh/user_api_key_artifacts_tecnalia)" -f ssh.Dockerfile .
-
-=== 3.- Install rocker
-
-https://github.com/osrf/rocker
-For Debian systems
-[source,bash]
-sudo apt-get install python3-rocker
-
-=== 4.- Launch the docker image
-[source,bash]
-rocker --home --x11 --nvidia --user --git --ssh IMAGE_NAME:IMAGE_TAG <COMAND>
-
-for example:
-[source,bash]
-rocker --home --x11 --nvidia --user --git --ssh devenv:melodic bash
-
-== Notes and Tricks
-
-=== Windows hosts
-
-NOTE: ON WINDOWS NOT WORKING YET!!! Because Ubuntu installations are not recognized as WSL2 distributions on the Tecnalia laptops.
-
-If you are using Ubuntu 20.04 over a Windows PC with WSL2 you need to install Docker Desktop to have integration between Ubuntu 20.04 and docker
-Following this guide:
-https://adamtheautomator.com/how-to-set-up-docker-in-wsl-step-by-step/
-
-.Summary
-
-- Download and install Docker Desktop
-https://desktop.docker.com/win/stable/amd64/Docker%20Desktop%20Installer.exe
-- Add your user to docker-users group
-From a PowerShell with admin permissions: net localgroup docker-users DOMAIN\username /add
-Where DOMAIN\username = TRI.LAN\Your_CODE
-- Configure Docker desktop integration with WSL 2
-By default, it should be configured, otherwise, follow the tutorial.
-
-WARNING: Linux version installed from MS-Store must be the one without number, i.e. Numbered version e.g. Ubuntu 20.04 or Ubuntu 18.04 are not supported by WSL2
-
-=== ssh and git
-
-- Check ssh and git permissions to access and download packages from git.code.tecnalia.com
-
-=== useful aliases
-
-- rundoc: Launch a container from the dev image
-[source,bash]
-function rundoc() {
- rocker --home --user --x11 --nvidia --ssh --git --name melodic devenv:melodic bash
-}
-
-- dat: Launch a terminal inside the runing container from the dev image
-[source,bash]
-alias dat="docker exec -it melodic bash"
diff --git a/notes/IK Plugin MoveIt.md b/notes/IK Plugin MoveIt.md
deleted file mode 100644
index c9c3cef1e6b3111f4af29275e95f138471d0a726..0000000000000000000000000000000000000000
--- a/notes/IK Plugin MoveIt.md
+++ /dev/null
@@ -1,23 +0,0 @@
-# IK Plugin MoveIt
-
-kinematics::KinematicsBase
-
-## KinematicsBase
-
-kinematics::KinematicsBase
-
-The KinematicsBase interface enables you, to:
-
-- write your own forward and inverse kinematic solvers
-- wrap external kinematic solver libraries
-
-### Interface Description
-
-The well documented interface is located here <https://github.com/ros-planning/moveit/blob/3464e3d27bd8655aa6187ca5d3a031a4f72663e2/moveit_core/kinematics_base/include/moveit/kinematics_base/kinematics_base.h>.
-
-### Concrete Implementations
-
-Examples for implementations of the KinematicsBase are
-
-- the KDL plugin: header <https://github.com/ros-planning/moveit/blob/master/moveit_kinematics/kdl_kinematics_plugin/include/moveit/kdl_kinematics_plugin/kdl_kinematics_plugin.h>, cpp <https://github.com/ros-planning/moveit/blob/master/moveit_kinematics/kdl_kinematics_plugin/src/kdl_kinematics_plugin.cpp>
-- the SrvKinematicsPlugin: header <https://github.com/ros-planning/moveit/blob/master/moveit_kinematics/srv_kinematics_plugin/include/moveit/srv_kinematics_plugin/srv_kinematics_plugin.h>, cpp <https://github.com/ros-planning/moveit/blob/master/moveit_kinematics/srv_kinematics_plugin/src/srv_kinematics_plugin.cpp>
diff --git a/notes/Irisbond.txt b/notes/Irisbond.txt
deleted file mode 100644
index 798d78061d85fcadacf15f6c9b5d4d2dfb37efca..0000000000000000000000000000000000000000
--- a/notes/Irisbond.txt
+++ /dev/null
@@ -1,50 +0,0 @@
-Pruebas funcionales
-
-Playas distancias
-Inspección optica - folio en blanco
-Movimientos
-Ojos mecatrónicos
-6 dof para el futuro
-
-Aplicación para lanzar pruebas
-
-8 min de pruebas -- muy largos
-Enchufar de manera automática
-
-Pruebas visuales - funcionales
-
------
-No operario
-
---- Celula robótica que haga las pruebas y solución completa con sw DB
-
-Plazos: Primera propuesta y presupuesto
--- Viabilidad - Financiación ayudas Industria 4.0
--- Implementación 6 meses - 1 año
-
-Problemas de distribuidores
-
-SW aplicacion para elejir la pruebas
-Robot coordenadas, se hacen la pruebas
-Resultados se envían a sistema para almacenar en base de datos
-
-HMI y aplicacion para pruebas
-Movimiento del robot
-Guardar resultados
-
-Montaje de todo
-
-Inspección visual y procesamiento
-Luces, movimiento
-USB, logos, roscado, etiqueta (ok legible, OCR)
-
-La misma célula para los dos tipos de pruebas
-
-Proyecto llave en mano -- Ingeniería vs Centro Tecnológico
-Interesante tener soporte, formación, servicio (capacidad)
-
-Tecnalia - prototipo
-Ingeniería - Mucho más servicio + soporte
-P4Pub a futuro USA
-Sistema de control de calidad
-
diff --git a/notes/Kawada.adoc b/notes/Kawada.adoc
deleted file mode 100644
index 70767e0baeb14bde1fa68dd22a3813e3f8c65a39..0000000000000000000000000000000000000000
--- a/notes/Kawada.adoc
+++ /dev/null
@@ -1,6 +0,0 @@
-# Kawada deploy
-
-
-Borrar:
-- git config
-- ssh
diff --git a/notes/Konexio Fegemu - Fegescan.md b/notes/Konexio Fegemu - Fegescan.md
deleted file mode 100644
index d1992736b3721a6ee1f03a9fd4adf2ecc6a7099d..0000000000000000000000000000000000000000
--- a/notes/Konexio Fegemu - Fegescan.md
+++ /dev/null
@@ -1,127 +0,0 @@
-# Konexio Fegemu - Fegescan
-
-Pruebas:
-
-Y rotation
-mon launch bezier_examples glual_surfacing.launch surfacing_mode:=true mesh_cad:=plane/plane_defect.ply
-
-mon launch bezier_examples glual_surfacing.launch surfacing_mode:=true mesh_cad:=plane/plane.ply
-
-Bezier example:
-
-- Generate trajectory using BezierGrindingSurfacing object
- -- reset planner: mesh_cad_path
- grinder_width
- covering_percentage
- extration_radius
- angle_value
- axis
-
- -- Publish visualization elements:
- cad_mesh_pub
- dilated_mesh_pub
- RvizVisualTools
-
- -- bezier_planner (generateTrajectory):
- way_points_vector
- is_grinding_pose
-
- Trajectory size: 1587
-
-- Copy the vector of Eigen poses into a vector of ROS poses:
- way_points_msg
-
-- Setup Moveit:
- moveit::planning_interface::MoveGroupInterface group(move_group_name);
- group.setPoseReferenceFrame("base_link");
- group.setPlannerId("RRTConnectkConfigDefault");
- group.setPlanningTime(2);
-
-- Use moveit to plan
- result = group.computeCartesianPath(way_points_msg, 0.05, 15, plan.trajectory_)
-
-- Execute robot planned trajectory
- group.execute(plan)
-
-- Return ti first point
-
-Bezier
-======
-
-# BezierGrindingSurfacing
-
-BezierGrindingSurfacing::BezierGrindingSurfacing(const std::string input_mesh,
- const double grinding_disk_machining_width,
- const unsigned covering_percentage,
- const double extrication_radius,
- const double lean_angle,
- const AXIS_OF_ROTATION axis_of_rotation,
- const Eigen::Vector3d &slicing_orientation)
-
-- Append input mesh
-- GetCenter
-- reset param_observer
- params_observer_.reset(new BezierParamsObserver());
-
-# generateTrajectory
-
-std::string BezierGrindingSurfacing::generateTrajectory(EigenSTL::vector_Isometry3d &trajectory,
- std::vector<bool> &is_grinding_pose,
- const bool display_markers)
-
-- Delete previos markers
- -- deleteAllMarkers
-
-- Make sure all parameters allows to generate a trajectory:
- -- validateParemeters()
-
-- Estimate a slicing orientation if it was not provided, otherwise, use the last/provided slicing orientation
- -- estimateSlicingOrientation(input_meshes_[SURFACE_MESH], global_mesh_normal, slicing_orientation_)
-
-- Set observer parameters
- -- params_observer_->setCurrentParams(grinding_disk_machining_width_, covering_percentage_, extrication_radius_,
- slicing_orientation_, lean_angle_, axis_of_rotation_);
-- Dilate mesh
- -- params_observer_->mustComputeDilation()
- -- Dilate the mesh using the extrication radius
- --- dilated_mesh = vtkSmartPointer<vtkPolyData>::New();
- --- dilated_mesh->DeepCopy(input_meshes_[SURFACE_MESH]);
- --- dilate(dilated_mesh, extrication_radius_)
-
-- Extract upper part of dilated mesh
- -- extrication_mesh = vtkSmartPointer<vtkPolyData>::New();
- -- keepUpperPartofDilatedMesh(input_meshes_[SURFACE_MESH], dilated_mesh, extrication_mesh)
-
-- Filter isolated triangles in extrication mesh
- -- removeIsolatedTrianglesFilter(extrication_mesh, 20)
-
-- Compute normals in extrication mesh
- -- computeNormals(extrication_mesh)
-
-- Compute mesh normals
- -- computeNormals(input_meshes_[SURFACE_MESH])
-
-- Display meshes
-
-- Compute the vector used to harmonize all the trajectories directions and display it
- -- Eigen::Vector3d direction_reference(slicing_orientation_.cross(global_mesh_normal));
-
-- Generate grinding trajectories
- -- params_observer_->mustGenerateGrindingTrajectories()
- --- Compute the plane equations to slice the mesh
- EigenSTL::vector_Vector4d grinding_planes_equations;
- estimateSlicingPlanes(input_meshes_[SURFACE_MESH], slicing_orientation_, input_mesh_centroid_,grinding_disk_machining_width_, covering_percentage_, grinding_planes_equations);
- ---
-
-
-
-plane: Global normal position: 0.99419, 0.004576, 0.358988
-plane_defect: Global normal position: 0.99328, 0.00395299, 0.395127
-Pieza_Surf_no_hole: Global normal position: 0, 0, 0.0623493
-
-
-
-
-
-
-
diff --git a/notes/MP_chat b/notes/MP_chat
deleted file mode 100644
index 38a6f1a807073c03fda9cdf9a5afced3cd26c0f7..0000000000000000000000000000000000000000
--- a/notes/MP_chat
+++ /dev/null
@@ -1,75 +0,0 @@
-Two useful tools:
-
-- Rocker to launch containerds and to develop inside them.
-
- https://github.com/osrf/rocker
-
-
- Rocker is a small (smart) tool that allows to launch containers with extra options, easier than docker alone, e.g:
-
-rocker --home --user ros:melodic bash
-
-This launches a container from the image ros:melodic, mounting your home folder and seting up an user using your UID/GID (This allows to edit files inside the container, then outside at the host, the files remain edited by yourself)
-
-This is also posible to achieve using only docker, but rocker make the task easier.
-
-An useful idea is ti set up an alias in order to launch other bash instances inside the same container, in order to get more terminals in the same environment.
-
-One drawback using rocker (docker) is, all dependecies of the software and tools must be installed everytime a container is launched for first time, this is time consuming.
-
-In order to solve this issue, there is a second tool: ddeploy
-
- https://git.code.tecnalia.com/tecnalia_robotics/flexbotics/flexbotics_utils/ddeploy
-
-This is a simple script that allows to deploy applications as docker images.
-
-ddeploy take the application sources to be container-ized, and automaticaly build an image with all dependencies installed and the provided sources compiled and installed.
-
-Therefore, in order to work in the project XYZ, the first step is to build a custom image for the project using ddeploy, and then, you can to launch a "working" container from the built imagen using rocker.
-
-Both rocker and ddeploy could be installed in their own Python venvs.
-
-Python venvs is a Python tool to build virtual environments and to allow installing inside them projects with all dependencies solved, without need to modify the Python base set up.
-
-python3 -m venv ddeploy
-git clone git@git.code.tecnalia.com:tecnalia_robotics/flexbotics/flexbotics_utils/ddeploy.git
-git checkout current-folder-fix
-source bin/activate
-pip install -e src/ddeploy
-deactivate
-./bin/ddeploy --name cosa --distro melodic -s git+ssh://github.com/ros/std_msgs.git#kinetic-devel
-
-git clone https://github.com/ros/std_msgs.git
-~/.venv/ddeploy/bin/ddeploy --name mensajes --distro melodic -s std_msgs
-
-python3 -m venv ddeploy
-
-rocker --home --user --x11 --nvidia --ssh --git osrf/ros:melodic-desktop-full bash
-
-rocker --home --user --x11 --nvidia --ssh --git ubuntu:bionic bash
-
-
-Executing command:
-docker run -it -v /etc/gitconfig:/etc/gitconfig:ro -v /home/andres/.gitconfig:/home/None/.gitconfig:ro -v /home/andres:/home/andres --gpus all -e SSH_AUTH_SOCK -v /run/user/1000/keyring/ssh:/run/user/1000/keyring/ssh -e DISPLAY -e TERM -e QT_X11_NO_MITSHM=1 -e XAUTHORITY=/tmp/.dockersd81ncol.xauth -v /tmp/.dockersd81ncol.xauth:/tmp/.dockersd81ncol.xauth -v /tmp/.X11-unix:/tmp/.X11-unix -v /etc/localtime:/etc/localtime:ro 5ba9d44fd173 bash
-
-
-sudo usermod -aG docker USER.NAME
-# docker login tecnalia-robotics-docker.artifact.tecnalia.com
-git lfs install
-# git config --global credential.helper 'cache --timeout=3600'
-rosdep update
-sudo apt update
-
-// # Lanzar imagen con parámetros básicos de rocker
-rocker --home --user --x11 --nvidia --ssh --git devenv:melodic bash
-
-rocker --mp-dev-helpers --mp-dind-host --mp-en-us-locale --x11 --nvidia --home --user --ssh --git devenv:melodic bash
-
-
-
-kawada_lab_application.ddeploy.yaml
-
-ddeploy --name dummy:noetic --distro noetic -s git@git.code.tecnalia.com:tecnalia_robotics/flexbotics/flexbotics_test/dummy_application.git#noetic-devel -s dummy_application/.rosinstall -w 1
-Repository type 'git@git.code.tecnalia.com' is not supported
-
-
diff --git a/notes/ManuWind_ScanNPlan.md b/notes/ManuWind_ScanNPlan.md
deleted file mode 100644
index e2674f3a53e233f4f1c9e63e4fc6c83e487e4142..0000000000000000000000000000000000000000
--- a/notes/ManuWind_ScanNPlan.md
+++ /dev/null
@@ -1,75 +0,0 @@
-# ManuWind - Scan and Plan DEMO
-
-**Note** This project works on Kinetic.
-
-1. Download the [godel_fanuc_config package](https://git.code.tecnalia.com/tecnalia_robotics/rosin/godel_fanuc_config/-/tree/Jon-O-laser-integration):
- ````
- mkdir -p ~/ros/kinetic/scannplan_ws/src
- cd ~/ros/kinetic/scannplan_ws/src
- git clone git@git.code.tecnalia.com:tecnalia_robotics/rosin/godel_fanuc_config.git
- ````
-
-2. Checkout the Jon-O-laser-integration branch.
-
- ````
- cd godel_fanuc_config
- git checkout Jon-O-laser-integration
- ````
-
-3. Install the additional ros packages using .rosinstall:
-
- ````
- cd ~/ros/kinetic/scannplan_ws/src
-
- wstool init
- wstool merge godel_fanuc_config/.rosinstall
- wstool update
- rosdep install -iy --from-paths .
-
- catkin build
- ````
-
-**Note** The package quelltech_laser_scanner_driver requires an Internet connection during the building process.
-
-**Note** Zivid camera requires [SDK 1.8.1](https://www.zivid.com/downloads/revisions/1.8.1):
-
-- [zivid 1.8.1+6967bc1b-1](https://www.zivid.com/hubfs/softwarefiles/releases/1.8.1+6967bc1b-1/u16/zivid_1.8.1+6967bc1b-1_amd64.deb)
-
-- [zivid-studio 1.8.1+6967bc1b-1](https://www.zivid.com/hubfs/softwarefiles/releases/1.8.1+6967bc1b-1/u16/zivid-studio_1.8.1+6967bc1b-1_amd64.deb)
-
-- [zivid-tools 1.8.1+6967bc1b-1](https://www.zivid.com/hubfs/softwarefiles/releases/1.8.1+6967bc1b-1/u16/zivid-tools_1.8.1+6967bc1b-1_amd64.deb)
-
-- [zivid-telicam-driver 3.0.1.1-1](https://www.zivid.com/hubfs/softwarefiles/releases/1.8.1+6967bc1b-1/u16/zivid-telicam-driver_3.0.1.1-1_amd64.deb)
-
-- ros-kinetic-zivid-camera 1.0.0-0xenial
-
-## Docker image
-
-Command to build the docker image to work on a host with Ubuntu 20.04:
-
-````
-docker build -t scan_and_plan --build-arg USER_API_KEY_ARTIFACTS_TECNALIA="$(cat ~/.ssh/user_api_key_artifacts_tecnalia)" -f ScanNPlan.Dockerfile .
-````
-<!-- Testing ddeploy
-Using [ddeploy](https://git.code.tecnalia.com/tecnalia_robotics/flexbotics/flexbotics_utils/ddeploy)
-
-ddeploy --name scan_and_plan_nvidia --distro kinetic -b tecnalia-robotics-docker.artifact.tecnalia.com/flexbotics-base-nvidia-devel:kinetic -s . --keep-source
-Generates: clinfo error
-
-ddeploy --name scan_and_plan_nvidia_cuda --distro kinetic -b nvidia/cuda:11.3.0-base-ubuntu16.04 -s . --keep-sources
-Generate: Missing sources etc...
--->
-
-Command to launch the docker image using [rocker](https://github.com/osrf/rocker)
-
-````
-rocker --privileged --devices /dev/bus/usb --nvidia --x11 --home --git --ssh scannplan
-````
-<!-- If --user flag is passed as argument when the container is launched with rocker then sudo privileged is required to access to the Zivid camera. -->
-
-Commands to launch the demo:
-````
-source /opt/ros/kinetic/setup.bash
-source ~/ros/kinetic/scannplan_ws/devel/setup.bash
-roslaunch godel_cr7ial_workspace_support cr7ial_blending.launch sim_laser:=false sim_sensor:=false use_sim:=false
-````
\ No newline at end of file
diff --git a/notes/Nautilus b/notes/Nautilus
deleted file mode 100644
index bffd9a793c6c150c06410765cca3e2beb476d2a3..0000000000000000000000000000000000000000
--- a/notes/Nautilus
+++ /dev/null
@@ -1,206 +0,0 @@
-Nautilus:
-libtracker-sparql-2.0-0
-libtracker-control-2.0-0
-----
-Gnome control center:
-gnome-online-accounts (>= 3.25.3)
-network-manager-gnome (>= 0.9.8)
-
-libgoa-1.0-0b
-libgoa-backend-1.0-1
-python3-macaroonbakery
-
-
-colord
-libsane
-libsane:
- Depends: libsane-common (=1.0.29-0ubuntu5) but 1.0.29-0ubuntu5.2 is to be installed
- Recommends: sane-utils (>= 1.0.29-0ubuntu5)
-
- libcolord2:i386 libcolorhug2:i386 libgusb2:i386
-
- ghostscript:amd64 9.50~dfsg-5ubuntu4.3+20.04.sav0 newer than version in archive
-ghostscript-x:amd64 9.50~dfsg-5ubuntu4.3+20.04.sav0 newer than version in archive
-gir1.2-gst-plugins-base-1.0:amd64 1.18.5-1~20.04.sav0 newer than version in archive
-gir1.2-gstreamer-1.0:amd64 1.18.5-1~20.04.sav0 newer than version in archive
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-gstreamer1.0-tools:amd64 1.18.5-1~20.04.sav0 newer than version in archive
-gstreamer1.0-x:amd64 1.18.5-1~20.04.sav0 newer than version in archive
-intel-media-va-driver:amd64 21.3.5+dfsg1-0ubuntu1~20.04.sav0 newer than version in archive
-libass9:amd64 1:0.15.2-0ubuntu1~20.04.sav0 newer than version in archive
-libbluray2:amd64 1:1.3.0-2~20.04.sav0 newer than version in archive
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-libdvdnav4:amd64 6.1.1-0ubuntu1~20.04.sav0 newer than version in archive
-libdvdread8:amd64 6.1.2-0ubuntu1~20.04.sav0 installed: No available version in archive
-libexif12:amd64 0.6.22-3~20.04.sav0 newer than version in archive
-libfaudio0:amd64 21.02-1~20.04.sav0 newer than version in archive
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-libwavpack1:amd64 5.4.0-1~20.04.sav0 newer than version in archive
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-youtube-dl:all 2021.06.06-1~20.04.sav0 newer than version in archive
-
-
-
-
-krb5-multidev:
- Depends: (=1.17-6ubuntu4) but 1.17-6ubuntu4.1 is to be installed
- Depends: libk5crypto3 (=1.17-6ubuntu4) but 1.17-6ubuntu4.1 is to be installed
- Depends: libgssapi-krb5-2 (=1.17-6ubuntu4) but 1.17-6ubuntu4.1 is to be installed
- Depends: libgssrpc4 but it is not going to be installed
- Depends: libkadm5srv-mit11 but it is not going to be installed
- Depends: libkadm5clnt-mit11 but it is not going to be installed
- Depends: comerr-dev but it is not going to be installed
-
-
- (Reading database ... 410267 files and directories currently installed.)
-Removing libcinnamon-desktop4:amd64 (4.4.1-3) ...
-Removing cinnamon-desktop-data (4.4.1-3) ...
-Removing cinnamon-l10n (4.4.2-2) ...
-Removing gist (5.0.0-4) ...
-Removing google-mock:amd64 (1.10.0-2) ...
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-Removing googletest (1.10.0-2) ...
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-Removing inxi (3.0.38-1-0ubuntu1) ...
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-Removing libaprutil1-dev (1.6.1-4ubuntu2) ...
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-Removing libjs-jquery-ui (1.12.1+dfsg-5) ...
-Removing liblog4cxx10v5:amd64 (0.10.0-15ubuntu2) ...
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-Removing python-matplotlib-data (3.1.2-1ubuntu4) ...
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-
-
-
diff --git a/notes/ROS 2.md b/notes/ROS 2.md
deleted file mode 100644
index e645ac4656231a9426fa744f4312c9e4f21b9541..0000000000000000000000000000000000000000
--- a/notes/ROS 2.md
+++ /dev/null
@@ -1,106 +0,0 @@
-ROS 2
-
-Create package
-
-ros2 pkg create --build-type ament_python cartographer_slam --dependencies rclpy
-
-rosbridge
-
-source ~/catkin_ws/devel/setup.bash
-roslaunch load_params load_params.launch
-
-source /opt/ros/noetic/setup.bash
-source /opt/ros/foxy/setup.bash
-ros2 run ros1_bridge parameter_bridge
-
-
-Gazebo simulator
-
-source ~/simulation_ws/devel/setup.bash
-roslaunch rb1_base_gazebo ros2_workshop_rb1.launch
-
-
-Program
-
-source ~/ros2_ws/instal/setup.bash
-ros2 launch exercise_robot exercise_robot.launch.py
-
-Service
-
-ros2 service call /launch_robot std_srvs/srv/Empty {}\
-
-Mapping
-
-Localization
-
-Path Planning
-
-Launching path planning in ROS Nav2
-To launch path planning you need to launch several nodes. On top of that, you need to have some other nodes required for path planning:
-
-REQUIREMENTS
-
-Prior to launching the path planning system, you need to have running the following nodes:
-
-You need to have the nav2_map_server node running
-You need to have the nav2_amcl node running
-You need to have the nav2_lifecycle_manager node running
-TO LAUNCH PATH PLANNING
-
-You need to launch 4 more nodes:
-
-The planner
-The controller
-The manager of recovery behaviors
-The behavior tree navigator
-
-MoveIT2
-ros2 launch my_moveit2_config my_planning_execution.launch.py launch_rviz:=true
-
-Action bridge
-source /home/simulations/ros2_sims_ws/install/setup.bash
-source install/setup.bash
-ros2 run ros1_bridge action_bridge ros1 control_msgs FollowJointTrajectory /arm_controller/follow_joint_trajectory
-
-Parameter Bridge
-source catkin_ws/devel/setup.bash
-roslaunch load_params load_params.launch
-source /home/simulations/ros2_sims_ws/install/setup.bash
-ros2 run ros1_bridge parameter_bridge __name:=parameter_bridge
-
-Move group test
-source ~/ros2_ws/install/setup.bash
-ros2 launch moveit2_scripts test_trajectory.launch.py
-
-
-- Translation: [-0.234, -0.171, 0.507]
-- Rotation: in Quaternion [-0.706, 0.044, 0.707, 0.000]
-
-
-The process for launching the ros1_bridge with the UR is a little different. Follow these steps:
-
- Execute in Shell #1
-roslaunch load_params load_params.launch
-source ~/catkin_ws/devel/setup.bash
-roslaunch load_params load_params.launch
- Execute in Shell #2
-source /opt/ros/noetic/setup.bash
-source /home/simulations/ros2_sims_ws/install/setup.bash
-ros2 launch start_bridge start_bridge.launch.py
- Execute in Shell #3
-
-
-
- source ~/simulation_ws/devel/setup.bash
- roslaunch rb1_base_gazebo ros2_workshop_ur3.launch
-
- source ~/catkin_ws/devel/setup.bash
- roslaunch load_params load_params.launch
-
- source /opt/ros/noetic/setup.bash
- source /home/simulations/ros2_sims_ws/install/setup.bash
- ros2 launch start_bridge start_bridge.launch.py
-
- source /opt/ros/noetic/setup.bash
- source /opt/ros/foxy/setup.bash
- ros2 run ros1_bridge parameter_bridge __name:=parameter_bridge
\ No newline at end of file
diff --git a/notes/ROS Industrial.md b/notes/ROS Industrial.md
deleted file mode 100644
index 950d92a2039190144368a810d9d262291501b831..0000000000000000000000000000000000000000
--- a/notes/ROS Industrial.md
+++ /dev/null
@@ -1,340 +0,0 @@
-# ROS Industrial -- Planning projects
-
-Git hub repositories for [community & partner](https://github.com/ros-industrial) and [Consirtium](https://github.com/ros-industrial-consortium) developed.
-
-## [Tesseract Robotics](https://github.com/tesseract-robotics)
-
-### [Tesseract Environment](https://github.com/tesseract-robotics/tesseract)
-
-The planning framework (Tesseract) was designed to be light weight, limiting the number of dependencies, mainly only using standard libraries like, eigen, boost, orocos and to the packages below. The core packages are ROS agnostic and have full python support.
-
-Warning: These packages are under heavy development and are subject to change.
-
-#### Build Instructions
- . Clone repository into your workspace
- . Clone the repositories in the dependencies.rosinstall file using wstool or some other method (e.g. manually git cloning them)
- . Run rosdep install -iy --from-paths --ignore-src src
- . Build the workspace using catkin tools, colcon, or a similar tool
-
-*NOTE:* For noetic tesseract_ext is not required. Install the following dependencies: libbullet-dev, libbullet-extras-dev and ros-noetic-fcl. Taskflow can be install using the PPA below.
-
-*NOTE:* To speed up clean build you may want to add tesseract_ext to an extended workspace.
-
-*NOTE:* Install TaskFlow from ROS-Industrial PPA.
-
-````
-RUN add-apt-repository ppa:ros-industrial/ppa \
- apt-get update && apt-get install -y \
- taskflow
-````
-#### [Tesseract Setup Wizard and Visualization Tools](https://snapcraft.io/tesseract-ignition)
-Snap from tesseract-ignition
-
-ros-noetic-ifopt
-sudo apt-get install bison flex
-
-### Documentation
-https://github.com/tesseract-robotics/tesseract_docs.git
-
-=====
-
-https://github.com/ros-industrial/fanuc.git (melodic)
-http://docs.ros.org/en/kinetic/api/moveit_tutorials/html/doc/ikfast/ikfast_tutorial.html
-
-
-fanuc_driver (melodic)
-fanuc_resources (melodic)
-fanuc_cr7ia_support (melodic)
-
-!!! ZIVID !!! (kinetic) ros-kinetic-zivid-camera Noetic from sources??
-download and install:
-
-.
-├── zivid_1.8.1+6967bc1b-1_amd64.deb
-├── zivid-studio_1.8.1+6967bc1b-1_amd64.deb
-├── zivid-telicam-driver_3.0.1.1-1_amd64.deb
-└── zivid-tools_1.8.1+6967bc1b-1_amd64.deb
-
-Download zivid-ros tag v 1.1.0 compatible with zivid_1.8.1+6967bc1b-1
-
-=============
-
-Tesseract’s interface includes plugins for several popular planning algorithms such as OMPL, TrajOpt, TrajOpt IFOPT and Descartes.
-
-
-
-
-# Tesseract CORE
-
-Tesseract Core Packages
-*Warning:* These packages are under heavy development and are subject to change.
-
-- tesseract
-- tesseract_collision
-- tesseract_common
-- tesseract_environment
-- tesseract_geometry
-- tesseract_kinematics
-- tesseract_planners
-- tesseract_scene_graph
-- tesseract_srdf
-- tesseract_support
-- tesseract_urdf
-- tesseract_visualization
-
-## Tesseract Environment
-
-## Tesseract Scene Graph
-
-## Tesseract Collision
-
-## Tesseract Kinematics
-
-# Tesseract Planning
-
-## Tesseract Motion Planning API
-
-Tesseract contains an easy to use motion planning API that enables developers to quickly create custom-tailored motion plans. Tesseract’s interface includes plugins for several popular planning algorithms such as OMPL, TrajOpt, TrajOpt IFOPT and Descartes.
-
-## Tesseract Command Language
-
-This is a high level programming language used throughout the Tesseract Planning Framework. The goal is to provide an abstraction between motion commands and motion planner specific configurations similar to programming on an industrial teach pendant.
-
-At the lowest level the command language is a set of instruction where on an industrial teach pendant these include move instructions, set I/O instruction and set Analog instruction. These are all included in the command language with a few additional instruction like plan instruction and environment instruction to start. These instructions are specific to motion planning and environment management.
-
-This high level language allows a novice user to create complex programs without the knowledge of planner specifics which is designed to encode the the whole process including motion planning, motion execution, environment management, sensor signals and much more.
-
-# Tesseract ROS
-
-For Tesseract, the most common interface will be through ROS with the tesseract_ros package. It provides functionality for common operations such as setting joint or pose goals, creating motion plans, moving the robot, adding objects into the environment, etc.
-
-Examples...
-
-=============
-
-tessearct_ros as initial package
-
-dependencies from dependencies.rosinstall
-
-- git:
- local-name: descartes_light
- uri: https://github.com/swri-robotics/descartes_light.git
- version: 0eeeaf216677112c24d8ec51b984044e7f62c209
-- git:
- local-name: ifopt
- uri: https://github.com/ethz-adrl/ifopt.git
- version: master
-- git:
- local-name: opw_kinematics
- uri: https://github.com/Jmeyer1292/opw_kinematics.git
- version: master
-- git:
- local-name: ros_industrial_cmake_boilerplate
- uri: https://github.com/ros-industrial/ros_industrial_cmake_boilerplate.git
- version: master
-- git:
- local-name: tesseract
- uri: https://github.com/ros-industrial-consortium/tesseract.git
- version: master
-- git:
- local-name: tesseract_planning
- uri: https://github.com/ros-industrial-consortium/tesseract_planning.git
- version: 0.6.3
-- git:
- local-name: trajopt
- uri: https://github.com/ros-industrial-consortium/trajopt_ros.git
- version: f7c5b27ac87eee0d2e692741003f37efd78ebb76
-
-Remove ros-noetic-ifopt, it produces compilation errors
-ros-noetic-ifopt is intalled by rosdep.
-To build everything, run:
-catkin build --force-cmake -DTESSERACT_ENABLE_TESTING=ON -DTRAJOPT_ENABLE_TESTING=ON
-
-https://githubmemory.com/repo/ros-industrial-consortium/trajopt_ros/issues/261
-
-# Tesseract ROS2
-
-WIP
-
-# Descartes (Hydro-Indigo-Melodic)
-https://index.ros.org/p/descartes/github-ros-industrial-consortium-descartes/#melodic
-
-Descartes is a ROS-Industrial project for performing path-planning on under-defined Cartesian trajectories.
-
-From a software architecture perspective, Descartes uses trajectory points, robot models, and planners to generate an joint-trajectory that complies with the constraints of a given process.
-
-- *Trajectory Points* define an individual point in time along a path. These points encapsulate the logic for how to search for valid joint solutions given a user's process requirements, including constraints / tolerances.
-
-- *Robot Models* define the physical characteristics of a robot that must complete a given trajectory. Calculations such as forward and inverse kinematics and validity checks are performed by the robot model.
-
-- *Planners* are the highest level component of Descartes' architecture. They are responsible for finding valid and optimal solutions through a sequence of trajectory points for a given robot model.
-
-## Descartes_light
-Library for generation motion plans for process toolpaths
-https://github.com/swri-robotics/descartes_light
-
-## Key Features
-
-Descartes, as a path planning library, is often compared to MoveIt. However, it differs from MoveIt in several key ways:
-
-- *Cartesian Planning:* While MoveIt plans free space motion (i.e. move from A to B), Descartes plans robot joint motion for semi-constrained Cartesian paths (i.e. ones whose waypoints may have less than a fully specified 6DOF pose).
-
-- *Efficient, Repeatable, Scale-able Planning:* The paths that result from Descartes appear very similar to human generated paths, but without all the effort. The plans are also repeatable and scale-able to the complexity of the problem (easy paths are planned very quickly, hard paths take time but are still solved).
-
-- *Dynamic Re-planning:* Path planning structures are maintained in memory after planning is complete. When changes are made to the desired path, an updated robot joint trajectory can be generated nearly instantaneously.
-
-- *Offline Planning:* Similar to MoveIt, but different than other planners, Descartes is primarily focused on offline or sense/plan/act applications. Real-time planning is not a feature of Descartes.
-
-# Fermi
-(7 years old)
-Google Summer of Code Project: Cartesian Path Planner MoveIt Plug-in
-
-# trajopt_ros
-
-trajopt_ros implements sequential convex optimization to solve the motion planning problem. It implements a penalty method to optimize for joint velocities while satisfying a set of constraints. Internally, it makes use of convex solvers that are able to solve linearly constrained quadratic problems. At the moment, the following solvers are supported:
-
-- BPMPD (interior point method, free for non-commercial use only)
-- Gurobi (simplex and interior point/parallel barrier, license required)
-- OSQP (ADMM, BSD2 license)
-- qpOASES (active set, LGPL 2.1 license)
-
-https://rosindustrial.org/news/2018/7/5/optimization-motion-planning-with-tesseract-and-trajopt-for-industrial-applications
-
-### Optimization Motion Planning with Tesseract and TrajOpt for Industrial Applications
-July 09, 2018
-
-#### Summary
-Southwest Research Institute launched an internal R&D project to integrate the existing motion planner TrajOpt (Trajectory Optimization for Motion Planning) into ROS. TrajOpt was created at UC Berkeley as a software framework for generating robot trajectories by local optimization. The integration of TrajOpt necessitated new capabilities that spawned the creation of several new packages: tesseract and trajopt_ros. The tesseract package contains a new lightweight motion planning environment designed for industrial application, while the trajopt_ros package contains packages specific to TrajOpt. We will demonstrate how these tools complement existing planners, like OMPL or Descartes, to solve complex problems quickly and robustly.
-
-#### Description
-The original implementation of TrajOpt was developed using OpenRave for Kinematics and Bullet for contact checking. The first step was to replace OpenRave with MoveIt! Kinematics and second replace the collision environment with MoveIt!’s Collision environment. Early on in the process several limitations were found in both MoveIt!’s Kinematics and Collision environment.
-
-TrajOpt requires the ability to calculate specific information about the robot not provided by MoveIt!, but it turns out KDL, which is one of the kinematics libraries used by MoveIt!, provides methods for obtaining the required information. This resulted in the development of a custom kinematics library built on KDL for both kinematic chains and non-kinematic chains. Secondly TrajOpt leverages specific characteristics of convex to convex contact checking to provide the minimum translation vector to move two objects out of collision. In the process of integrating with MoveIt!, it was determined that it did not provide detailed distance information. Also, after further evaluation it was found that MoveIt! does not support convex to convex collision checking requiring significant API changes across multiple repositories. Since the IR&D was time-sensitive, it was determined to not use MoveIt! and create a light-weight Motion Planning Environment (Tesseract).
-
-The Tesseract environment was designed to support SwRI’s work in complex industrial motion planning applications where flexibility and modularity are key to adapting to new applications. Packages include:
-
-- tesseract_core – Contains platform agnostic interfaces and data structures to be used. tesseract_ros –ROS implementation of the interfaces identified in the tesseract_core package, currently leverages Orocos/KDL libraries.
-- tesseract_collision – ROS implementation of a Bullet collision library. It includes both continuous and discrete collision checking for convex-convex and convex-concave shapes.
-- tesseract_msgs – ROS message types used by Tesseract.
-- tesseract_rviz –ROS visualization plugins for Rviz for both the environment state and trajectories.
-- tesseract_monitoring – Provides tools for monitoring the active environment state and publishing contact information. This is useful if the robot is being controlled outside of ROS, but you want to make sure it does not collide with objects in the environment. Also includes the environment monitor, which is the main environment facilitating requests to add, remove, disable and enable collision objects, while publishing its current state to keep other ROS nodes updated.
-- tesseract_planning – Contains interface bridges between Tesseract Environment and motion planners OMPL and TrajOpt.
-
-After the creation of Tesseract all necessary capabilities were available to finish the integration of TrajOpt into ROS. The new motion planner was evaluated against the following use case while minimizing joint velocity, acceleration and jerk cost along with collision avoidance cost:
-
-- Fully Constrained Cartesian Path
-- Semi-Constrained Cartesian Path
-- Free Space Path
-- Semi-Constrained Free Space Path
-- Free Space + Constrained Cartesian Path
-
-TrajOpt for moveit is in an alpha stage and it is not working yet (2-years ago).
-
-The TrajOpt planner is still an alpha feature of MoveIt from a summer 2019 intern project, and needs further hardening. Please contact hello@picknik.ai if you are interested in further development.
-https://ros-planning.github.io/moveit_tutorials/doc/trajopt_planner/trajopt_planner_tutorial.html
-
-
-# Pilz Industrial Motion Planner
-Moved to MoveIt, to install the planner run: sudo apt install '^ros-noetic-pilz-.*'
-
-To launch a demo run: roslaunch prbt_moveit_config moveit_planning_execution.launch pipeline:=pilz_industrial_motion_planner
-
-# Bezier
-
-This repository is part of the ROS-Industrial program.
-
-This project has been developed by the Institut Maupertuis, a French research institute that is working on robotic industrial processes. This project goal is to create an automatic grinding path generator for 6-axis robots working on diverse/random meshes.
-
-Bezier planner generates robot poses (3D trajectories) in harmony with a grinding process, it is as 6D tool path planner. It is able to create rectilinear trajectories on complex surfaces (3D surfaces) and to dilate them in all directions in order to grind defects with a pass principle.
-
-Examples: https://github.com/ros-industrial-consortium/bezier_examples (3 years)
-https://gitlab.com/InstitutMaupertuis/fanuc_grinding (2 years) This project is not maintained
-
-Goals
-=====
-Design a fully automated robotized grinding application
-
-Functions
-- F1: Being able to scan the part with SLS-2
-- F2: Ensure a constant material removal rate (CAM)
-- F3: Being able to respect the manufacturer's specifications (dimensions, manage tool wear)
-
-Automatically grind defects on a mechanical part thanks to:
-- A robot
-- 3D vision
-
-Defects types
-- Shocks, deformations, welding spatters, weld bead ...
-- Surface roughness
-
-How this plugin works
-=====================
-
-1. Scanning 3D
---------------
-
-With first 'Browse' button, you can import a CAD file, and visualize it if button 'Import CAD file' is pressed.
-With second 'Browse' button, you can import a YAML file which contains a list of joint values for robot.
-When 'Start scan' button is pressed, the YAML file will be parsed and the joint values will be executed in order to numerize the piece.
-
-| Parameters | Description
-------------- | -----------
-`CAD file` | Location of the CAD file in the computer
-`YAML file` | Location of the YAML file in the computer
-
-4. Path planning
-----------------
-# :construction: In Construction! :construction:
-
-The path planning will be generated with Bezier planner.
-Both labels on the top are used to indicate with which files we are dealing with ( CAD file and scan 3d )
-This tab has to be filled with these Bezier's parameters:
-
-| Parameters | Description
-------------- | -----------
-`Covering percentage` | Percentage of covering (decimal value)
-`Extrication frequency` | New extrication mesh generated each 1/`Extrication frequency` times
-`Extrication coefficient` | Extrication depth equal of the percentage of `Depth of path`
-`Grind diameter` | Width of the tool which is used
-`Depth of path` | Grinding depth
-`Axis of rotation` | Rotation axis for the lean angle of the effector
-`Angle value` | Value around `Axis of rotation`
-
-When 'Compute trajectories' button is pressed, Bezier algorithm will compute trajectories with parameters given.
-Buttons 'Visualize trajectory' and 'Simulate trajectory' are respectivly visualize trajectories in each pass and simulate robot positions during grinding process on each path.
-Warning: A warning will appear if parameters given in Qt have been changed! You will have to press again on 'Compute trajectory' button if you want to compute trajectories with the new parameters, otherwise the trajectory will be the old one!
-
-5. Post processor
------------------
-# :construction: In Construction! :construction:
-
-This tab is used to convert path planning generated before in TP/LS Fanuc program.
-So we have to fill different parameters to do it:
-
-| Parameters | Description
-------------- | -----------
-`Program name` | Name for this program
-`Location` | Location of the program in the computer
-`Comment` | To fill in order to give useful information in program as comment.
-`IP adress` | Robot's IP adress
-
-Hardware needed
----------------
-Generally speaking, this is what you need to get this package running on a real application case:
-- A computer with ROS installed
-- A 6 axis robot supported by ROS
-- A grinding effector
-- A 3D sensor (attached to the robot) supported by ROS
-- A part to be grinded (you need the CAD of this part)
-
-In this application case, here is a list of the hardware:
-- A computer with ROS installed
-- A 6 axis Fanuc R1000iA robot with ROS installed
-- A grinding effector
-- A David SLS-2 3D sensor (attached to the robot) and a Windows PC acting as David software server
-- A part to be grinded and it's CAD
-
-# Reuleaux
-Realuex is a basic package for Robot Reachability and Base Placement. It provides tools for creating various types of robot reachability maps and finding optimal base locations for a given task specified by poses through those reachability maps.
-
-# Noether
\ No newline at end of file
diff --git a/notes/Ros Diagram.drawio b/notes/Ros Diagram.drawio
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+++ /dev/null
@@ -1 +0,0 @@
-<mxfile host="app.diagrams.net" modified="2021-10-06T10:45:53.503Z" agent="5.0 (X11; Linux x86_64) AppleWebKit/537.36 (KHTML, like Gecko) Chrome/94.0.4606.71 Safari/537.36" etag="0piMLdMbxMbszjxqlkE5" version="15.4.3" type="google"><diagram id="C5RBs43oDa-KdzZeNtuy" name="Page-1">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</diagram></mxfile>
\ No newline at end of file
diff --git a/notes/ScanNPlan_notes b/notes/ScanNPlan_notes
deleted file mode 100644
index 94d7a555e6e6bee98ed16847c29745fbfaa1eb44..0000000000000000000000000000000000000000
--- a/notes/ScanNPlan_notes
+++ /dev/null
@@ -1,19 +0,0 @@
-1. Clone from git@git.code.tecnalia.com:tecnalia_robotics/rosin/godel_fanuc_config.git
-2. Switch to branch Jon-O-laser-integration
-3. Build ws with catkin build --continue-on-failure
- Failures:
- godel_surface_detection
- descartes_moveit
- irb2400_ikfast_manipulator_plugin
- abb_irb1200_5_90_ikfast_manipulator_plugin
-4. Change Affine3 by Isometry3 on:
- descartes
- cr7ial_descartes_ikfast_adapter
- godel_process_planning
- godel_robots
-5. Add eigen_conversions as dependency in package godel_surface_detection (CMakeList.txt and package.xml)
-6. Change boost::shared_ptr and boost::const_pointer_cast by std equivalents on:
- irb2400_ikfast_manipulator_plugin
- abb_irb1200_5_90_ikfast_manipulator_plugin
-7. Deal with abb_irb2400_descartes issues
-8. Install zivid-ros v1.1.0
diff --git a/notes/Sherlock_APP.md b/notes/Sherlock_APP.md
deleted file mode 100644
index b2f580bf5b95d8545d8264360839dba4a31dd19c..0000000000000000000000000000000000000000
--- a/notes/Sherlock_APP.md
+++ /dev/null
@@ -1,162 +0,0 @@
-# Sherlock Integration DEMO
-
-**Note** This project works on Melodic.
-
-1. Download the [sherlock_app package](https://git.code.tecnalia.com/tecnalia_robotics/sherlock/sherlock_app):
- ````
- mkdir -p ~/ros/melodic/sherlock_app_ws/src
- cd ~/ros/melodic/sherlock_app_ws/src
- git clone git@git.code.tecnalia.com:tecnalia_robotics/sherlock/sherlock_app.git
- ````
-
-3. Install additional ros packages using .rosinstall:
-
- ````
- cd ~/ros/melodic/sherlock_app_ws/src
-
- wstool init
- wstool merge godel_fanuc_config/.rosinstall
- wstool update
- rosdep install -iy --from-paths .
-
- catkin build
- ````
-
-30/08/2021 Tratando de hacer wstool update and rosdep install
-
-**Error:** the following packages/stacks could not have their rosdep keys resolved
-to system dependencies:
-ros_vision_pipelines: Cannot locate rosdep definition for [vision_data_all_purpose]
-
-Solved adding missing dependencies to .rosinstall:
-
-- git:
- local-name: vision_libraries
- uri: git@git.code.tecnalia.com:tecnalia_robotics/flexbotics/vision/vision_libraries.git
- version: melodic-devel
-- git:
- local-name: vision_object_detection_plugins
- uri: git@git.code.tecnalia.com:tecnalia_robotics/flexbotics/vision/vision_object_detection_plugins.git
- version: melodic-devel
-- git:
- local-name: vision_libraries_additionals_tools
- uri: git@git.code.tecnalia.com:tecnalia_robotics/flexbotics/vision/vision_libraries_additionals_tools.git
- version: melodic-devel
-- git:
- local-name: gl_depth_sim
- uri: https://github.com/Jmeyer1292/gl_depth_sim.git
- version: master
-
-
-### Branches on local
-- ira_laser_tools -- master
-- flexbotics_dynamic_docking -- front_camera_tracking
-- dual_arm_guidance_information_manager -- 1-update-to-new-ui-aspect -- fixed
-
-RuntimeError: Multiple packages found with the same name "robotnik_sensors":
-- robotnik_sensors
-- tecnalia_rbrobout_simulation/robotnik/robotnik_sensors
-
-Removed from .rosinstall
-- git:
- local-name: robotnik_sensors
- version: kinetic-devel
- uri: https://github.com/RobotnikAutomation/robotnik_sensors.git
-
-Which one is the good version?? -- On ROBOUTON * 4cd2513 (HEAD -> kinetic-devel, origin/kinetic-devel, origin/HEAD) Apply clang format
-
-ADD
-- git:
- local-name: flexbotics_action_base_classes
- version: kinetic-devel
- uri: git@git.code.tecnalia.com:tecnalia_robotics/flexbotics/flexbotics_skill_library/flexbotics_action_base_classes.git
-
-- git:
- local-name: flexbotics_execution_manager
- uri: git@git.code.tecnalia.com:tecnalia_robotics/flexbotics_execution_manager.git
- version: kinetic-devel
-
- - git:
- local-name: gl_depth_sim
- uri: https://github.com/Jmeyer1292/gl_depth_sim.git
- version: master
-
-- git:
- local-name: vision_libraries_additionals_tools
- uri: 'git@git.code.tecnalia.com:tecnalia_robotics/flexbotics/vision/vision_libraries_additionals_tools.git'
- version: 'melodic-devel'
-
-
-31/09/2021 Trabajando con el archivo con Notas despues de reunión con Aitor
-
-Remover paquete:
-1. wsg50-ros-pkg-tecnalia
-Resultado:
-Es dependencia de flexbotics_electric_gripper_manager que hace parte del package flexbotics_manipulator_manager
-Es necesario remover el paquete:
-2. flexbotics_robots_rbrobout
-
-Remover paquetes:
-3. robotnik_sensors
-4. tecnalia_rbrobout_simulation
-Resultado:
-flexbotics_robots_rbrobout_launch: Cannot locate rosdep definition for [rbrobout_gazebo]
-flexbotics_robots_rbrobout_moveit_config: Cannot locate rosdep definition for [rbrobout_description]
-
-5. flexbotic_manipulator_manager -- Estaba marcado como cosas de PAUL
-
-Remover paquete:
-6. iiwa_ros_io_server
-
-Remover paquete:
-7. sherlock_guidance_demo
-
-Remover paquete:
-8. robouton_tecnalia
-
-Remover paquete:
-9. ira_laser_tools
-
-Remover paquetes:
-10. remodel_vs_test
-11. rcomponent
-
-Rmover paquetes:
-12. dummy_application
-
-Remover paquete:
-13. flexbotics_scene_manager
-Resultado:
-Es dependencia de
-14. flexbotics_manipulation_planner
-
-Remover paquete:
-15. flexbotics_moveit_interface
-
--- El WS compila pero al hacer un launch se producen un error por la dependencia del paquete
-flexbotics_robots_rbrobout
-Siendo necesario incluir estos tres paquetes:
- - git:
- local-name: flexbotics_robots_rbrobout
- uri : 'git@git.code.tecnalia.com:tecnalia_robotics/flexbotics/flexbotics_robots/flexbotics_robots_rbrobout.git'
- version: melodic-devel
- - git:
- local-name: tecnalia_rbrobout_simulation
- version: kinetic-devel
- uri: git@git.code.tecnalia.com:tecnalia_robotics/flexbotics/flexbotics_robots/tecnalia_rbrobout_simulation
- - git:
- local-name: rcomponent
- version: master
- uri: https://github.com/RobotnikAutomation/rcomponent.git
-
--- Launch falla por dependencia del paquete:
-Resource not found: robouton_tecnalia
-Siendo necesario incluir:
- - git:
- local-name: robouton_tecnalia
- version: kinetic-devel
- uri: git@git.code.tecnalia.com:tecnalia_robotics/robouton_tecnalia.git
-
-Separados los workspaces robouton_ws y sherlock_app_dev
-
-sherlock_app_dev debe ser una extensión explicita del workspace core (robouton_ws)
\ No newline at end of file
diff --git a/notes/UE_chat b/notes/UE_chat
deleted file mode 100644
index 4b138ad6d4801c61cce1294d7694696b0d2de60b..0000000000000000000000000000000000000000
--- a/notes/UE_chat
+++ /dev/null
@@ -1,57 +0,0 @@
- El comando para hacer el build tiene que ser el siguiente
-
- docker build --build-arg SSH_PRIVATE_KEY="$(cat ~/.ssh/id_rsa)" -t nombre_imagen .
-
- como ves añade el build-arg para guardar la llave ssh
-
- Si lo pruebas y te convence estaría bien añadirlo nuestro repo de gitlab de kawada junto con el readme que creaste
-
- así el siguiente que quiera usar este paquete tardará menos que nosotros
-
-
-docker run -it --name melodic \
- --privileged \
- --env=NVIDIA_VISIBLE_DEVICES=all \
- --env=NVIDIA_DRIVER_CAPABILITIES=all \
- --env=DISPLAY \
- --env=QT_X11_NO_MITSHM=1 \
- -v /tmp/.X11-unix:/tmp/.X11-unix \
- --runtime=nvidia \
- --device /dev/snd \
- -e NVIDIA_VISIBLE_DEVICES=0 \
- devenv:melodic /bin/bash
-
-# Append history
-shopt -s histappend
-cropped=${PWD#/home/rosin/ros/}
-ws=${cropped%%/*}
-FILE=/home/rosin/ros/$ws/devel/setup.bash
-if [[ -f $FILE ]]; then
- echo "sourcing $FILE"
- source $FILE
-else
- source /opt/ros/melodic/setup.bash
-fi
-
-1. Clone from git@git.code.tecnalia.com:tecnalia_robotics/rosin/godel_fanuc_config.git
-2. Switch to branch Jon-O-laser-integration
-3. Build ws with catkin build --continue-on-failure
- Failures:
- godel_surface_detection
- descartes_moveit
- irb2400_ikfast_manipulator_plugin
- abb_irb1200_5_90_ikfast_manipulator_plugin
-4. Change Affine3 by Isometry3 on:
- descartes
- cr7ial_descartes_ikfast_adapter
- godel_process_planning
- godel_robots
-5. Add eigen_conversions as dependency in package godel_surface_detection (CMakeList.txt and package.xml)
-6. Change boost::shared_ptr and boost::const_pointer_cast by std equivalents on:
- irb2400_ikfast_manipulator_plugin
- abb_irb1200_5_90_ikfast_manipulator_plugin
-7. Deal with abb_irb2400_descartes issues
-8. Install zivid-ros v1.1.0
-
-
-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
diff --git a/notes/ci_local_test.md b/notes/ci_local_test.md
deleted file mode 100644
index c4ad4b810ea137623166bc4e01aa4b5994accbf1..0000000000000000000000000000000000000000
--- a/notes/ci_local_test.md
+++ /dev/null
@@ -1,77 +0,0 @@
-# RUN ci local
-
-Source: https://git.code.tecnalia.com/tecnalia_robotics/documentation/-/blob/master/tutorials/docker_ci.adoc
-
-## Case 1: verify that a repository passes the CI without .rosinstall file
-
-1. docker login tecnalia-robotics-docker.artifact.tecnalia.com (Optional -- only to use tecnalia docker images)
-2. docker pull tecnalia-robotics-docker.artifact.tecnalia.com/flexbotics-base-devel:ROSDISTRO (Optional -- point 4 actually done this)
-3. Download the ci repository into the workspace:
- git clone https://github.com/ros-industrial/industrial_ci.git (Optional -- pass the branch legacy (-b legacy), but the master is also working)
-4. rosrun industrial_ci run_ci ROS_DISTRO=ROSDISTRO DOCKER_IMAGE=tecnalia-robotics-docker.artifact.tecnalia.com/flexbotics-base-devel:ROSDISTRO (Replace ROSDISTRO by melodic, noetic, etc.)
-
-## Case 2: Case 2: verify that a repository passes the CI with .rosinstall file
-4. rosrun industrial_ci run_ci ROS_DISTRO=ROSDISTRO DOCKER_IMAGE=tecnalia-robotics-docker.artifact.tecnalia.com/flexbotics-base-devel:ROSDISTRO UPSTREAM_WORKSPACE=file ROSINSTALL_FILENAME=.rosinstall
-
-## Other options:
-DOCKER_COMMIT=test_ci -- Save the docker image in order to iteract later with it.
-
-## Simplify using a alias
-
-function runci(){
- rosrun industrial_ci run_ci ROS_DISTRO="$@" DOCKER_IMAGE=tecnalia-robotics-docker.artifact.tecnalia.com/flexbotics-base-devel:"$@"
-}
-
-Usage: runci noetic
- runci melodic
-
-## Check python_syntax
-
-a. Locally -- just run:
- python -m compileall -q .
-
-b. In docker (using the same docker than tecnalia ci)
-
-function runpythonsyntax(){
- rocker --home --name python_syntax tecnalia-docker-dev.artifact.tecnalia.com/docker:git
-}
-
-inside docker container run:
- apk add --update python2
-
-go to project source folder, and run:
- python -m compileall -q .
-
-
-## Check adoc_syntax
-a. Locally -- just run:
- curl -Ls https://git.code.tecnalia.com/tecnalia_robotics-public/gitlab_templates/raw/master/scripts/asciidoctor_syntax_check.bash | bash -s -- .
-
-b. In docker:
- 1. apk add --update curl asciidoctor bash
- 2. Then a.
-
-## Check bash_syntax
-a. Locally -- just run:
- 1. find . -type f -name '*.sh' -exec shellcheck -s sh {} + || RET=1
- 2. find . -type f -name '*.bash' -exec shellcheck -s bash {} + || RET=1
-
-b. In docker:
- 1. apk add --update shellcheck
-
-## Check clang format (Not tested)
-a. Locally -- just run:
- 1. wget https://git.code.tecnalia.com/tecnalia_robotics-public/gitlab_templates/raw/master/clang-format -O .clang-format
- 2. .ci_config/gitlab.sh
-
-## Check file structure
- docker run -v ${PWD}:/ac tecnalia-docker-dev.artifact.tecnalia.com/cytopia/awesome-ci file-trailing-space --path=/ac --extension=py,txt,cpp,h,md,sh,bash,xml,launch --ignore=.ci_config || RET=1
- docker run -v ${PWD}:/ac tecnalia-docker-dev.artifact.tecnalia.com/cytopia/awesome-ci file-utf8 --path=/ac --extension=py,txt,cpp,h,md,sh,bash,xml,launch --ignore=.ci_config || RET=1
-
-## More tips
- docker login tecnalia-docker-dev.artifact.tecnalia.com -u ${ARTIFACT_CI_USER} -p ${ARTIFACT_CI_TOKEN}
-
-### Black magic
- curl -L "https://git.code.tecnalia.com/tecnalia_robotics-public/gitlab_templates/-/jobs/artifacts/master/raw/dot_devcontainer.tar.gz?job=deploy_devcontainer" | tar xz
-
-
diff --git a/notes/descartes_capability.txt b/notes/descartes_capability.txt
deleted file mode 100644
index e5c289e1d02ef42546084d7f7b5cd631a6ad78f7..0000000000000000000000000000000000000000
--- a/notes/descartes_capability.txt
+++ /dev/null
@@ -1,64 +0,0 @@
-Un proyecto de ejemplo donde se está planificando con Descartes desde Moveit es el siguiente:
-
-https://git.code.tecnalia.com/tecnalia_robotics/smart3d/smart3d_workcell.git
-
-Como podrás ver las dependencias de proyecto son:
-
-# UR
-- git:
- local-name: Universal_Robots_ROS_Driver
- uri: https://github.com/UniversalRobots/Universal_Robots_ROS_Driver.git
- version: master
-- git:
- local-name: universal_robot
- uri: https://github.com/ros-industrial/universal_robot.git
- version: melodic-devel-staging
-# Advance IK
-- git:
- local-name: flexbotics_kinematics_plugin
- uri: git@git.code.tecnalia.com:tecnalia_robotics/flexbotics_kinematics_plugin.git
- version: noetic-devel
-# Descrates
-- git:
- local-name: descartes
- uri: https://github.com/tecnalia-advancedmanufacturing-robotics/descartes.git
- version: melodic-collision-minimum
-- git:
- local-name: descartes_capability
- uri: https://github.com/tecnalia-advancedmanufacturing-robotics/descartes_capability.git
- version: ikfast
-# Extras
-- git:
- local-name: robotnik_sensors
- uri: https://github.com/RobotnikAutomation/robotnik_sensors.git
- version: melodic-devel
-- git:
- local-name: smart3d_database
- uri: git@git.code.tecnalia.com:tecnalia_robotics/smart3d/smart3d_database.git
- version: main
-
-Conceptualmente, Descartes es una librería para buscar en un grafo. Las nuevas versiones <<Descartes Light>> han removido todo lo de modelo de la escena, robot y se enfocan únicamente en la construcción y búsqueda en el grafo.
-<<descartes_capability>> es un plugin para MoveIt que preparó PikNik Robotics, nosotros lo que hemos hecho es ponerlo en Noetic y con algunas modificaciones de Iñigo para que trabaje como se esperaría que lo hiciera. De ahí que usemos el fork.
-
-Descartes requiere de un solver de IK que regrese más de una solución por ello el uso de IKFast.
-
-Para generar el Plugin de MoveIt de IKFast en la dentro del repo tienes el paquete <<smart3d_workcell/smart3d_ikfast_manipulator_plugin>> como ejemplo.
-La clave está en la carpeta generate_ikfast, para que funcione necesitas:
-- docker
-- modelo URDF de la escena con el robot
-En el readme te darás cuenta que se puede llamar el script (autoría de Miguel / Jon Azpiazu) con dos opciones -i para que te de la información de la escena, lo tendrá que hacer para tomar unos numerillos y saber entre que números de joints está definido tu robot.
-Con esos números modificas el script genrate_ikfast.bash y al lanzarlo con la opción -g te generará la solución. <<Si no te aclaras me das una llamada y lo hacemos en on-line>>
-Una vez genberada la IK, queda en la carpeta /src/solvers del paquete un archivo con extensión .cpp.autogen con ese nombre en mente modicficas el CMakeLists.txt del proyecto para que la macro coja el archivo que te interese.
-Tambien madificas el ---ikfast_plugin_description.xml para que se exporte tu plugin y ahora moveit lo pueda "ver".
-
-Para que el descrates_capability esté disponible en MoveIt tienes que pasar unos argumentos cuando lanzas el move_group:
-
-<arg name="capabilities" value="descartes_capability/MoveGroupDescartesPathService"/>
-<arg name="disable_capabilities" value="move_group/MoveGroupCartesianPathService"/>
-
-Más detalles tienes en el archivo set_up_moveit.launch del paquete smart3d_workcell_launch.
-En la carpeta scripts del mismo paquete tienes entre otros, un ejemplo de interés: scan_moves.py, donde te darás cuenta que si todo está bien configurado usar descartes es tan simple como:
-(plan, fraction) = ur_group.compute_cartesian_path(waypoints, 0.01, threshold)
-donde waypoints son los puntos cartesianos sobre los que quieres planificar, usando la interfaz de MoveIt, por supuesto.
-
-
diff --git a/notes/descartes_capability_notes.md b/notes/descartes_capability_notes.md
deleted file mode 100644
index 297fb6fe5b515b2235f28cf21a9d41dbd538f631..0000000000000000000000000000000000000000
--- a/notes/descartes_capability_notes.md
+++ /dev/null
@@ -1,60 +0,0 @@
-# Descartes Notes
-
-## descartes_capability package
-
-Alternative to get a solution in the form descartes + moveit, being descartes a pluging, so it is possible to call compute cartesian path using the moveit interface.
-
-* Works in melodic and noetic
-
-## Examples
-
-* iiwa
-* doosan
-* abb
-
-Terminal 1:
-
-```bash
-mon launch cartesian_planner_descartes iiwa7.launch
-```
-
-Terminal 2:
-
-```bash
-rosrun cartesian_planner_descartes example_cartesian_manipulator.py
-```
-
-## OPW
-
-selfTest with jointVector = 0.1, -0.1, 0.2, -0.3, 0.5, -0.8
-
-## move_group
-
-iiwa_moveit (official iiwa_stack)
-
-```text
- <!-- Load MoveGroup -->
- <include file="$(find iiwa_moveit)/launch/move_group.launch">
- <arg name="publish_monitored_planning_scene" value="true" />
- <arg name="hardware_interface" value="$(arg hardware_interface)"/>
- <arg name="robot_name" value="$(arg robot_name)"/>
- <arg name="model" value="$(arg model)" />
- </include>
-```
-
-iiwa7_moveit_config (custom ikfast)
-
-```text
- <!-- Run the main MoveIt executable without trajectory execution (we do not have controllers configured by default) -->
- <include file="$(find iiwa7_moveit_config)/launch/move_group.launch">
- <arg name="allow_trajectory_execution" value="true"/>
- <arg name="moveit_controller_manager" value="$(arg moveit_controller_manager)" />
- <arg name="fake_execution_type" value="$(arg fake_execution_type)"/>
- <arg name="info" value="true"/>
- <arg name="debug" value="$(arg debug)"/>
- <arg name="pipeline" value="$(arg pipeline)"/>
- <arg name="load_robot_description" value="$(arg load_robot_description)"/>
- <arg name="capabilities" value="descartes_capability/MoveGroupDescartesPathService"/>
- <arg name="disable_capabilities" value="move_group/MoveGroupCartesianPathService"/>
- </include>
-```
diff --git a/notes/development_environment_setup.adoc b/notes/development_environment_setup.adoc
deleted file mode 100644
index 43dfa5772a2d9c8f8a54e7ed3b4582fc08bb9cbe..0000000000000000000000000000000000000000
--- a/notes/development_environment_setup.adoc
+++ /dev/null
@@ -1,172 +0,0 @@
-= Development Environment Setup instructions
-
-These are the set of steps required to set up a development environment in your local machine.
-It assumes an up to date installation of Ubuntu 16.04 and that ROS Kinetic is installed following the official instructions in the http://wiki.ros.org/kinetic/Installation/Ubuntu[wiki].
-
-Once finished, your system will be configured with:
-
-- Internal debian package repository hosting some custom dependencies
-- Additional `rosdep` key declarations for the custom dependencies
-- A docker installation configured to access the internal docker image registry
-- Git LFS settings
-- Updated CMake and g++ versions with respect to the defaults in Ubuntu 16.04
-
-The method here will do the setup locally in your machine.
-An alternate method of setting up development environments using pre-built docker images is defined in *TODO*.
-
-== Obtain API key for internal repositories
-
-Certain repositories are hosted in a private Artifactory instance, inside Tecnalia's infrastructure.
-In order to configure your machine to fetch software from those repositories, you'll need to use your user name and an API key.
-
-The steps to obtain your API are:
-
-- Navigate to https://artifact.tecnalia.com
-- Log in with your Tecnalia credentials
-- Click on your name on the top-right corner of the Artifactory portal
-- Unlock the settings by entering your password again
-- If you've never generated your _API Key_ before, click on the button shaped like a gear next to the text box labelled _API Key_
-- Click on the copy button next to the _API Key_ (or alternatively show the key with the eye-shaped button and copy it manually)
-
-== Configure the debian repository
-
-The Artifactory debian repository serves its files using _https_ in order to require authentication.
-This requires the _https_ transport support package, which can be installed with:
-
-----
-sudo apt-get install apt-transport-https
-----
-
-Then, run the following command to configure your system to look for debian packages in the Artifactory repository.
-
-----
-sudo sh -c "echo 'deb https://USER.NAME@tecnalia.com:API_TOKEN@artifact.tecnalia.com/artifactory/tecnalia-robotics-debian xenial main' >> /etc/apt/sources.list.d/tecnalia.list"
-----
-
-Import the key in order to be able to use the packages from the repository:
-
-----
-sudo apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-keys 7E72C5B4111A50084C63C9489E7A9B1D990CF897
-sudo apt-get update
-----
-
-== Configure additional rosdep sources
-
-To configure `rosdep` so that it's able to resolve packages we've added to our debian server when parsing the catkin package dependencies from the manifest files, run the following command.
-
-----
-sudo sh -c "echo 'yaml https://git.code.tecnalia.com/tecnalia_robotics-public/gitlab_templates/raw/master/rosdistro/rosdep_tecnalia.yaml' >> /etc/ros/rosdep/sources.list.d/20-default.list"
-rosdep update
-----
-
-== Install Docker CE
-
-Follow the https://docs.docker.com/install/linux/docker-ce/ubuntu/[official instructions] to install Docker CE.
-
-Or just run the following script (be patient, it takes a while):
-
-----
-wget -q -O - https://get.docker.com | sudo bash
-----
-
-If you would like to use Docker as a non-root user, you should now consider adding your user to the `docker` group with something like:
-
-----
-sudo usermod -aG docker USER.NAME
-----
-
-== Configure the docker registry
-
-Run the following command to login into the docker registry in Artifactory.
-This is required in order to use the custom docker images built by the CI/CD infrastructure.
-
-----
-docker login tecnalia-robotics-docker.artifact.tecnalia.com
-----
-
-You will be prompted for your user name and password, and you should fill these with your Tecnalia email and the API Key you got from Artifactory.
-
-== Configure Git LFS
-
-Git LFS is currently used as a way of storing large binary files. Those should never been uploaded to the Git repository, so Git LFS manages the storage backend.
-
-Run the following command to install Git LFS in your system:
-
-----
-curl -s https://packagecloud.io/install/repositories/github/git-lfs/script.deb.sh | sudo bash
-sudo apt-get install git-lfs
-----
-
-Install the Git LFS configuration running:
-
-----
-git lfs install
-----
-
-Git LFS is currently not able to use the SSH credentials, so authentication is done via HTTP. This means that every time there is a connection to Artifactory to upload or retrieve LFS files, Git LFS will ask for your Tecnalia credentials. In order to minimize the number of times you are requested for credentials, run:
-
-----
-git config --global credential.helper 'cache --timeout=3600'
-----
-
-== Additional upgrades
-
-[NOTE]
-====
-In order to support {cpp}17 standard, at least `gcc` 7 and CMake 3.8 are required.
-Ubuntu Bionic (ROS Melodic) and above already fulfill this requirement, but updates may be required for older Ubuntu versions.
-
-- `gcc` adds support to https://gcc.gnu.org/projects/cxx-status.html#cxx17[most features in {cpp}17 in version 7]
-- CMake adds support to require the {cpp}17 standard using the `CXX_STANDARD` variable in https://cmake.org/cmake/help/v3.8/prop_tgt/CXX_STANDARD.html#prop_tgt:CXX_STANDARD[version 3.8] (compare with https://cmake.org/cmake/help/v3.7/prop_tgt/CXX_STANDARD.html#prop_tgt:CXX_STANDARD[version 3.7])
-
-Both `gcc` 7 and CMake 3.8 can be installed and used on its own but in order to properly add support for the {cpp}17 standard both must be updated.
-Instructions to do so are given in the two sections below.
-====
-
-=== CMake
-
-After <<Configure the debian repository,configuring the debian repository>>, make sure to install the latest CMake version provided with.
-
-----
-sudo apt-get install -y cmake
-----
-
-=== {cpp} compiler
-
-The following script must be run as `sudo`, and it installs and configures `g++-7` to be the per-default compiler.
-
-----
-apt-get update -qq
-apt-get install --no-install-recommends -y software-properties-common
-add-apt-repository -y ppa:ubuntu-toolchain-r/test
-apt-get update -qq
-apt-get install g++-7 -y
-
-update-alternatives --install /usr/bin/gcc gcc $(readlink -f /usr/bin/gcc) 10
-update-alternatives --install /usr/bin/gcc gcc /usr/bin/gcc-7 20
-
-update-alternatives --install /usr/bin/g++ g++ $(readlink -f /usr/bin/g++) 10
-update-alternatives --install /usr/bin/g++ g++ /usr/bin/g++-7 20
-
-update-alternatives --install /usr/bin/cc cc /usr/bin/gcc 30
-update-alternatives --set cc /usr/bin/gcc
-
-update-alternatives --install /usr/bin/c++ c++ /usr/bin/g++ 30
-update-alternatives --set c++ /usr/bin/g++
-
-gcc --version
-g++ --version
-----
-
-If at any point it is required to go back to using the previous compiler, it is straightforward to select it using:
-
-----
-update-alternatives --config g++
-----
-
-, and
-
-----
-update-alternatives --config gcc
-----
-
diff --git a/notes/downgrade.sh b/notes/downgrade.sh
deleted file mode 100644
index 21513d2a4e9d4ed7d8360b8bdc6902bcff8e2e02..0000000000000000000000000000000000000000
--- a/notes/downgrade.sh
+++ /dev/null
@@ -1,29 +0,0 @@
-#!/bin/sh
-# @(#)downgrade.sh 2007-07-08 A.J.Travis
-# Modified 2012-11-05 Jeremy Stephens
-# Original post: https://lists.ubuntu.com/archives/ubuntu-uk/2007-October/008513.html
-
-#
-# Downgrade versions of packages newer than in archive
-#
-
-TMP=/tmp/downgrade.$$
-
-if [ $USER != "root" ]; then
- echo "downgrade: Only root can do this"
- exit 1
-fi
-apt-show-versions -i
-apt-show-versions |
- fgrep 'newer than version in archive' |
- cut -d' ' -f 1 >$TMP
-if [ -s $TMP ]; then
- apt-show-versions -a |
- fgrep -f $TMP |
- cut -d' ' -f 1-3 |
- grep quantal$ |
- cut -d' ' -f 1-2 |
- sed -e 's/ /=/' |
- xargs aptitude -y install
-fi
-rm $TMP
diff --git a/notes/general_notes.md b/notes/general_notes.md
deleted file mode 100644
index f1f2a9f2ce3a69c76e0b0246ba3dcfb972956e4f..0000000000000000000000000000000000000000
--- a/notes/general_notes.md
+++ /dev/null
@@ -1,107 +0,0 @@
-# Dockeriles
-
-apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-keys 7E72C5B4111A50084C63C9489E7A9B1D990CF897
-
-curl -s <https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc> | apt-key add -
-
-Warning: apt-key output should not be parsed (stdout is not a terminal)
-
-debconf: delaying package configuration, since apt-utils is not installed
-
-## Propuesta de trabajo 12/12/2022
-
-*********************************************
-
-Buenos días:
-
-Quiero agradecerte de antemano el poder contactar contigo a través de ésta red profesional y el que dediques unos minutos de tu tiempo a leer este mensaje.
-
-Mi nombre es Chema y formo parte del equipo de Organización y RRHH de Alisys Digital S.L.U. Nos dedicamos a desarrollar servicios avanzados de telecomunicaciones bajo modelos de Cloud Computing. Estamos ubicados en el centro de Gijón, Madrid y Barcelona desde donde desarrollamos nuestro negocio a nivel nacional y, cada vez más, internacional.
-
-Por nuestro modelo de negocio, el desarrollo y programación de software propio es uno de los pilares en los que nos apoyamos. Actualmente, estamos gestionando una vacante de Ingeniero/a de software I+D+i (investigador/a) en nuestro departamento de Robótica, una oportunidad que consideramos interesante en cuanto a desarrollo profesional.
-
-Después de haber visto tu perfil, pensamos que tu experiencia y trayectoria son adecuadas para cubrir el puesto, y nos hemos tomado la libertad de contactar contigo para conocer tu situación actual y que puedas valorar tu interés en conversar con nosotros, sin ningún tipo de compromiso.
-
-Agradeciéndote de nuevo tu tiempo, quedo a tu disposición para cualquier aclaración que necesites. Siéntete libre de contactar conmigo a través de este medio o en nuestro correo electrónico: rrhh@alisys.net
-
-Un cordial saludo,
-
-José María Méndez Pulido
-RRHH, Organización y Excelencia Corporativa
-
-*********************************************
-
-Buenos días José María,
-Gracias por tu contacto y por considerarme para el puesto de trabajo. Actualmente me encuentro trabajando en Tecnalia en el País Vasco, como sabrás Tecnalia es el principal centro tecnológico en España y uno de los más reconocidos en Europa. En Tecnalia trabajo en el área de Industria y Movilidad, concretamente en el equipo de Robótica Flexible, debo ser sincero y experesar que me gustan mucho los proyectos en los que me encuentro involucrado (Proyectos europeos, nacionales y en contacto directo con la industria), sin embargo, creo que es natutal que sienta curiosidad por otro tipo de propuestas como la que puede tener Alisys, por lo que me gustaría conocer mejor el tipo de proyectos en los que está involucrada la empresa y la opurtunidad que ofrece. Me llamó mucho la atención que incluso hay proyectos en Medellín - Colombia, y sobre todo el tipo de proyectos cercanos a la robótica colaborativa, asistencial y aplicada a la educación. Si te parece bien podríamoshacer una llamada por Teams, Zoom, Google, etc. y así podemos comparatir más.
-Saludos,
-Andrés
-
-## Propuesta de trabajo 12/12/2022 cont I
-
-Hola de nuevo, Andrés:
-
-En primer lugar, te agradezco tu respuesta y el interés mostrado por nuestra propuesta.
-
-En relación a la vacante, te adjunto en este mensaje la ficha descriptiva de sus funciones, condiciones y requisitos. Espero que te resulte interesante.
-
-Somos una empresa joven, en constante crecimiento y muy interesada en la continua Innovación. Tenemos implementados planes de carrera adaptados dentro de la Organización, donde podrás promocionar, desarrollar tus metas y compartir tú experiencia en un gran ambiente de trabajo rodeado de magníficos profesionales.
-
-Si la propuesta te convence y sigues interesado en conocernos, nosotros estaremos encantados de conocerte también. Pásanos un teléfono de contacto para que podamos contactar contigo antes de una futura entrevista.
-
-Muchas gracias y un saludo,
-Chema
-
-*********************************************
-
-Buenos días Chema,
-
-Después de revisar la ficha de la vacante, debo reconocer que es muy interesante y que mi perfíl encaja muy bien con el que estais buscando, de echo se menciona a Leitat, con ellos tuve un proceso de selección, el cual gané, pero que rechazacé debido a la oportunidad que se surgió en Tecnalia. Me quedan algunas dudas sobre el lugar (la ciudad) donde se encuantra la empresa y el modelo que realmente sigue Alisys, es un consultora?
-Te dejo mi número de contacto para que podamos hablar de forma más fluida. 633735056.
-
-Saludos,
-Andrés
-
-## Propuesta de trabajo 12/12/2022 Cyber
-
-Ingeniero de Robótica para compañía Internacional de Robótica en Donosti
-Kaixo Andrés:
-
-¿Cómo estás?, disculpa las molestias! Espero vaya todo genial
-
-Me llamo Aitor, Recruitment Consultant en Norconsulting, un placer conocerte!
-
-Navegando por la red en busca de los mejores profesionales del mercado, he dado con tu perfil y pienso que podría interesarte uno de los puestos abiertos para una compañía internacional dedicada al mundo de la robótica dentro del campo de la cirugía como Ingeniero de Robótica. Valorable experiencia en programación PLC y programación de Robots. Valorable conocimiento de TwinCAT
-
-Es una gran oportunidad para desarrollar una larga y exitosa carrera trabajando para una de las Compañías de Robótica más prestigiosas y con mayor crecimiento de Europa.
-
-Es tu oportunidad de dar el siguiente gran paso y convertirte en uno de los mejores profesionales del sector en una empresa donde se le da mucha importancia a la conciliación personal del profesional.
-
-Contrato: Indefinido (directamente con empresa final)
-Ubicación: Donosti, Gipuzkoa
-Condiciones salariales: 30.000-45.000€/año (negociable, de acorde a experiencia aportada)
-
-A nivel de beneficios adicionales, entre otros, los siguientes:
-Seguro medico privado, plan de pensiones, opción de teletrabajo...
-
-Puede ser de tu interés?
-
-Cuando tengas 5 minutos, por favor envíame una copia actualizada de tu CV y me comentas cuando te viene bien una breve llamada para darte más información del puesto.
-
-Quedo a la espera de tu respuesta, pasa un buen día!
-
-Saludos / Kind Regards,
-Aitor López Marante
-Recruitment Consultant
-
-+34 687082664 / +34 914367379
-E-mail: aitor@gnorcon.com
-www.gruponorconsulting.com
-
-*********************************************
-
-Kaixo Aitor,
-
-Gracias por tu contacto y por considerarme para el puesto de trabajo. Actualmente me encuentro trabajando en Tecnalia en Donostia precisamente, como sabrás Tecnalia es el principal centro tecnológico en España y uno de los más reconocidos en Europa. En Tecnalia trabajo en el área de Industria y Movilidad, concretamente en el equipo de Robótica Flexible, debo ser sincero y experesar que me gustan mucho los proyectos en los que me encuentro involucrado (Proyectos europeos, nacionales y en contacto directo con la industria), sin embargo, creo que es natutal que sienta curiosidad por otro tipo de propuestas, por lo que me gustaría conocer mejor el tipo de proyectos en los que está involucrada la empresa (sopecho que es Cyber Surgery) y la opurtunidad que ofrece.
-Te adjunto mi CV, me puedes llamar en cualquier momento, por la naturaleza de mi trabajo puedo tomar la llamada sin problema, salvo que esté en una reunión.
-Saludos,
-Andrés
\ No newline at end of file
diff --git a/notes/git_cheatsheet.md b/notes/git_cheatsheet.md
deleted file mode 100644
index 7ad4acc3f4dfc4498197f3702286011aa45243cf..0000000000000000000000000000000000000000
--- a/notes/git_cheatsheet.md
+++ /dev/null
@@ -1,13 +0,0 @@
-# Revertir un push
-
-## Obtener hash ids de los últimos commits.
-git log -10 --pretty="%H"
-
-## Retornar al commit deseado.
-git reset --hard 484121a5ed21e8b842ffe61783fde059103185b3
-
-## Enviar los cambios al repositorio.
-
-git push --force
-
-## Actualizar repositorios.
diff --git a/notes/ik_solvers.md b/notes/ik_solvers.md
deleted file mode 100644
index f3798f8d2807343dad972dbb0bdebfee04c46bb3..0000000000000000000000000000000000000000
--- a/notes/ik_solvers.md
+++ /dev/null
@@ -1,39 +0,0 @@
-# Descartes UR16e
-
- rosrun cartesian_planner_descartes example_cartesian_manipulator.py 'ur_manipulator'
-
- bio_ik/BioIKKinematicsPlugin ERROR
- cached_ik_kinematics_plugin/CachedKDLKinematicsPlugin ERROR
- cached_ik_kinematics_plugin/CachedSrvKinematicsPlugin NO SERVICE DEFINED
- kdl_kinematics_plugin/KDLKinematicsPlugin OK -- 135.412137, 155.410973, 195.175590, 89.739745, 70.448154
- lma_kinematics_plugin/LMAKinematicsPlugin OK -- 84.472389, 127.770687, 50.185328, 61.504404, 45.021191
- srv_kinematics_plugin/SrvKinematicsPlugin NO SERVICE DEFINED
- trac_ik_kinematics_plugin/TRAC_IKKinematicsPlugin OK -- 169.979193, 196.798529, 157.477506, 160.484606, 174.703986
- ur_kinematics/UR16eKinematicsPlugin ERROR
-
-descartes (descartes_capability) is not compatible with bio_ik
-
-Se generó un ikfast plugin con la escena de smart3d
- smart3d_manipulator_kinematics/IKFastKinematicsPlugin_manipulator
-
-Para limitar los joints del ur, modificar el archivo:
- /home/andres/ros/noetic/asai_ws/src/universal_robot/ur_description/config/ur16e/joint_limits.yaml
- => Esto no produce mejores resultados
-
-## Closed form IK with calibration
-
-This is an open issue in official UR repository <https://github.com/ros-industrial/universal_robot/issues/564> and a closed one here: <https://github.com/UniversalRobots/Universal_Robots_ROS_Driver/issues/226>
-
-As @miguel.prada suggest one option could be take the IKFast solutions as input seeds to other gradient descendent IK solver (e.g., KDL, bio_ik, track_ik, ...). Then package everything in a IK_moveit_pluging.
-
-## References
-
-<https://robotics.stackexchange.com/questions/9152/inverse-kinematics-after-calibration>
-<https://forum.universal-robots.com/t/inverse-kinematics-python/24735>
-<https://github.com/ros-industrial/universal_robot/pull/414>
-<https://iopscience.iop.org/article/10.1088/1742-6596/1449/1/012128>
-
-<https://github.com/ros-industrial/universal_robot/issues/357>
-<https://github.com/UniversalRobots/Universal_Robots_ROS_Driver/issues/316>
-
-<https://github.com/ros-industrial/universal_robot/issues/564>
diff --git a/notes/nextcloud.md b/notes/nextcloud.md
deleted file mode 100644
index 83de49fb05f74bf3a0a70e3ed1213ae9190c4546..0000000000000000000000000000000000000000
--- a/notes/nextcloud.md
+++ /dev/null
@@ -1,860 +0,0 @@
-# Nextcloud installation
-
-Inspired in: [sysadmindecuba](https://www.sysadminsdecuba.com/2019/11/instalacion-de-nextcloud-en-debian-9-y-10/)
-
-This guide is base on [Carsten Rieger](https://www.c-rieger.de/nextcloud-installationsanleitung/) guide, it helps to install Nextcloud in Debian 11.x.
-Including Nginx, PHP 8.1, MariaDB, Redis, y ssl certificates for HTTPS.
-
-Requirements:
-
-- Internet.
-- Server with Debian 11.x (64Bit).
-
-Optional:
-
-- External storage (HDD, FreeNAS, NFS, Cloudbox, etc) linked to container to store user data.
-
-***Notes***
-
-- All commands are executed as «root», for a different user, scale the provilegeds with «su -»
-
-## Setting up
-
-### Verify timezone configuration
-
-``` bash
-timedatectl set-timezone Europe/Madrid
-```
-
-### Configure «locales»
-
-``` bash
-dpkg-reconfigure locales
-```
-
-Search in the list: en_US.UTF-8 UTF-8
-Select it with «Space», at next screen go down until «en_US.UTF-8» then «Enter».
-
-### Reboot and check the configuration
-
-``` bash
-locale
-```
-
-### Additional packages
-
-``` bash
-apt update
-apt install -y curl gnupg2 git lsb-release ssl-cert ca-certificates apt-transport-https tree locate software-properties-common dirmngr screen htop net-tools zip unzip bzip2 ffmpeg ghostscript libfile-fcntllock-perl sudo mc
-```
-
-Add repositories:
-
-``` bash
-cd /etc/apt/sources.list.d
-echo "deb [arch=amd64] http://nginx.org/packages/mainline/debian $(lsb_release -cs) nginx" | tee nginx.list
-echo "deb [arch=amd64] https://packages.sury.org/php/ $(lsb_release -cs) main" | tee php.list
-echo "deb [arch=amd64] http://mirror2.hs-esslingen.de/mariadb/repo/10.6/debian $(lsb_release -cs) main" | tee mariadb.list
-```
-
-Install keys:
-
-``` bash
-curl -fsSL https://nginx.org/keys/nginx_signing.key | sudo apt-key add -
-wget -q https://packages.sury.org/php/apt.gpg -O- | apt-key add -
-apt-key adv --recv-keys --keyserver keyserver.ubuntu.com 0xF1656F24C74CD1D8
-```
-
-Update:
-
-``` bash
-apt update && apt upgrade -y
-```
-
-## Nginx
-
-To uninstall nginx:
-
-``` bash
-apt remove nginx nginx-extras nginx-common nginx-full -y --allow-change-held-packages
-```
-
-To remove apache and install nginx:
-
-``` bash
-systemctl stop apache2.service && apt remove --purge apache2
-apt install -y nginx && systemctl enable nginx.service
-```
-
-Configure nginx:
-
-``` bash
-mv /etc/nginx/nginx.conf /etc/nginx/nginx.conf.bak && nano /etc/nginx/nginx.conf
-```
-
-Add:
-
-``` text
-user www-data;
-worker_processes auto;
-pid /var/run/nginx.pid;
-events {
-worker_connections 1024;
-multi_accept on; use epoll;
-}
-http {
-server_names_hash_bucket_size 64;
-access_log /var/log/nginx/access.log;
-error_log /var/log/nginx/error.log warn;
-set_real_ip_from 127.0.0.1;
-set_real_ip_from 192.168.1.0/24;
-real_ip_header X-Forwarded-For;
-real_ip_recursive on;
-include /etc/nginx/mime.types;
-default_type application/octet-stream;
-sendfile on;
-send_timeout 3600;
-tcp_nopush on;
-tcp_nodelay on;
-open_file_cache max=500 inactive=10m;
-open_file_cache_errors on;
-keepalive_timeout 65;
-reset_timedout_connection on;
-server_tokens off;
-resolver 8.8.8.8 valid=30s;
-resolver_timeout 5s;
-include /etc/nginx/conf.d/*.conf;
-include /etc/nginx/sites-enabled/*;
-}
-```
-
-Notes:
-
-- Modify set_real_ip_from by proper subnet.
-- Modify resolver to another IP DNS if desired.
-
-Restart service:
-
-``` bash
-service nginx restart
-```
-
-### make directories and set up permissions
-
-Note: - El siguiente directorio puedes cambiarlo a conveniencia, pero tenlo en cuenta porque a él debes anclar el almacenamiento externo en caso que lo uses:
-/nextcloud-data = Donde estarán todos los archivos de los usuarios.
-
-``` bash
-mkdir -p /dataraid/nextcloud-data /var/www
-chown -R www-data:www-data /nextcloud-data /var/www
-```
-
-## PHP
-
-Instllation:
-
-``` bash
-apt install -y php8.1-{fpm,gd,mysql,curl,xml,zip,intl,mbstring,json,bz2,ldap,bcmath,gmp} php-{apcu,imagick,smbclient} imagemagick ldap-utils
-```
-
-Configuration:
-
-``` bash
-cp /etc/php/8.1/fpm/pool.d/www.conf /etc/php/8.1/fpm/pool.d/www.conf.bak ; cp /etc/php/8.1/cli/php.ini /etc/php/8.1/cli/php.ini.bak ; cp /etc/php/8.1/fpm/php.ini /etc/php/8.1/fpm/php.ini.bak ; cp /etc/php/8.1/fpm/php-fpm.conf /etc/php/8.1/fpm/php-fpm.conf.bak ; cp /etc/ImageMagick-6/policy.xml /etc/ImageMagick-6/policy.xml.bak
-```
-
-``` bash
-sed -i "s/;env\[HOSTNAME\] = /env[HOSTNAME] = /" /etc/php/8.1/fpm/pool.d/www.conf ; sed -i "s/;env\[TMP\] = /env[TMP] = /" /etc/php/8.1/fpm/pool.d/www.conf ; sed -i "s/;env\[TMPDIR\] = /env[TMPDIR] = /" /etc/php/8.1/fpm/pool.d/www.conf ; sed -i "s/;env\[TEMP\] = /env[TEMP] = /" /etc/php/8.1/fpm/pool.d/www.conf ; sed -i "s/;env\[PATH\] = /env[PATH] = /" /etc/php/8.1/fpm/pool.d/www.conf ; sed -i "s/pm.max_children =.*/pm.max_children = 120/" /etc/php/8.1/fpm/pool.d/www.conf ; sed -i "s/pm.start_servers =.*/pm.start_servers = 12/" /etc/php/8.1/fpm/pool.d/www.conf ; sed -i "s/pm.min_spare_servers =.*/pm.min_spare_servers = 6/" /etc/php/8.1/fpm/pool.d/www.conf ; sed -i "s/pm.max_spare_servers =.*/pm.max_spare_servers = 18/" /etc/php/8.1/fpm/pool.d/www.conf ; sed -i "s/;pm.max_requests =.*/pm.max_requests = 1000/" /etc/php/8.1/fpm/pool.d/www.conf
-```
-
-``` bash
-sed -i "s/output_buffering =.*/output_buffering = 'Off'/" /etc/php/8.1/cli/php.ini ; sed -i "s/max_execution_time =.*/max_execution_time = 3600/" /etc/php/8.1/cli/php.ini ; sed -i "s/max_input_time =.*/max_input_time = 3600/" /etc/php/8.1/cli/php.ini ; sed -i "s/post_max_size =.*/post_max_size = 10240M/" /etc/php/8.1/cli/php.ini ; sed -i "s/upload_max_filesize =.*/upload_max_filesize = 10240M/" /etc/php/8.1/cli/php.ini ; sed -i "s/;date.timezone.*/date.timezone = America\/\Havana/" /etc/php/8.1/cli/php.ini
-```
-
-``` bash
-sed -i "s/memory_limit = 128M/memory_limit = 1024M/" /etc/php/8.1/fpm/php.ini ; sed -i "s/output_buffering =.*/output_buffering = 'Off'/" /etc/php/8.1/fpm/php.ini ; sed -i "s/max_execution_time =.*/max_execution_time = 3600/" /etc/php/8.1/fpm/php.ini ; sed -i "s/max_input_time =.*/max_input_time = 3600/" /etc/php/8.1/fpm/php.ini ; sed -i "s/post_max_size =.*/post_max_size = 10240M/" /etc/php/8.1/fpm/php.ini ; sed -i "s/upload_max_filesize =.*/upload_max_filesize = 10240M/" /etc/php/8.1/fpm/php.ini ; sed -i "s/;date.timezone.*/date.timezone = America\/\Havana/" /etc/php/8.1/fpm/php.ini ; sed -i "s/;session.cookie_secure.*/session.cookie_secure = True/" /etc/php/8.1/fpm/php.ini ; sed -i "s/;opcache.enable=.*/opcache.enable=1/" /etc/php/8.1/fpm/php.ini ; sed -i "s/;opcache.enable_cli=.*/opcache.enable_cli=1/" /etc/php/8.1/fpm/php.ini ; sed -i "s/;opcache.memory_consumption=.*/opcache.memory_consumption=128/" /etc/php/8.1/fpm/php.ini ; sed -i "s/;opcache.interned_strings_buffer=.*/opcache.interned_strings_buffer=8/" /etc/php/8.1/fpm/php.ini ; sed -i "s/;opcache.max_accelerated_files=.*/opcache.max_accelerated_files=10000/" /etc/php/8.1/fpm/php.ini ; sed -i "s/;opcache.revalidate_freq=.*/opcache.revalidate_freq=1/" /etc/php/8.1/fpm/php.ini ; sed -i "s/;opcache.save_comments=.*/opcache.save_comments=1/" /etc/php/8.1/fpm/php.ini
-```
-
-``` bash
-sed -i '$aapc.enable_cli=1' /etc/php/8.1/mods-available/apcu.ini
-```
-
-``` bash
-sed -i "s/rights=\"none\" pattern=\"PS\"/rights=\"read|write\" pattern=\"PS\"/" /etc/ImageMagick-6/policy.xml ; sed -i "s/rights=\"none\" pattern=\"EPS\"/rights=\"read|write\" pattern=\"EPS\"/" /etc/ImageMagick-6/policy.xml ; sed -i "s/rights=\"none\" pattern=\"PDF\"/rights=\"read|write\" pattern=\"PDF\"/" /etc/ImageMagick-6/policy.xml ; sed -i "s/rights=\"none\" pattern=\"XPS\"/rights=\"read|write\" pattern=\"XPS\"/" /etc/ImageMagick-6/policy.xml
-```
-
-Restart php and nginx:
-
-``` bash
-service php8.1-fpm restart && service nginx restart
-```
-
-## MariaDB
-
-Installation:
-
-``` bash
-apt update && apt install -y mariadb-server
-```
-
-Secure MariaDB:
-
-``` bash
-mysql_secure_installation
-Enter current password for root (enter for none):
-```
-
-***Note***
-
-- Just press Enter since connections is made by sock.
-
-``` bash
-Switch to unix_socket authentication [Y/n] n
-Change root password? [Y/n] n
-Remove anonymous users? [Y/n] y
-Disallow root login remotely? [Y/n] y
-Remove test database and access to it? [Y/n] y
-Reload privilege tables now? [Y/n] y
-```
-
-### Configure MariaDB
-
-``` bash
-service mysql stop
-mv /etc/mysql/my.cnf /etc/mysql/my.cnf.bak && nano /etc/mysql/my.cnf
-```
-
-Add:
-
-``` text
-[client]
-default-character-set = utf8
-port = 3306
-socket = /var/run/mysqld/mysqld.sock
-
-[mysqld_safe]
-log_error=/var/log/mysql/mysql_error.log
-nice = 0
-socket = /var/run/mysqld/mysqld.sock
-
-[mysqld]
-basedir = /usr
-bind-address = 127.0.0.1
-binlog_format = ROW
-bulk_insert_buffer_size = 16M
-character-set-server = utf8
-collation-server = utf8_general_ci
-concurrent_insert = 2
-connect_timeout = 5
-datadir = /var/lib/mysql
-default_storage_engine = InnoDB
-expire_logs_days = 10
-general_log_file = /var/log/mysql/mysql.log
-general_log = 0
-innodb_buffer_pool_size = 1024M
-innodb_buffer_pool_instances = 1
-innodb_flush_log_at_trx_commit = 2
-innodb_log_buffer_size = 32M
-innodb_max_dirty_pages_pct = 90
-innodb_file_per_table = 1
-innodb_open_files = 400
-innodb_io_capacity = 4000
-innodb_flush_method = O_DIRECT
-key_buffer_size = 128M
-lc_messages_dir = /usr/share/mysql
-lc_messages = en_US
-log_bin = /var/log/mysql/mariadb-bin
-log_bin_index = /var/log/mysql/mariadb-bin.index
-log_error=/var/log/mysql/mysql_error.log
-log_slow_verbosity = query_plan
-log_warnings = 2
-long_query_time = 1
-max_allowed_packet = 16M
-max_binlog_size = 100M
-max_connections = 200
-max_heap_table_size = 64M
-myisam_recover_options = BACKUP
-myisam_sort_buffer_size = 512M
-port = 3306
-pid-file = /var/run/mysqld/mysqld.pid
-query_cache_limit = 2M
-query_cache_size = 64M
-query_cache_type = 1
-query_cache_min_res_unit = 2k
-read_buffer_size = 2M
-read_rnd_buffer_size = 1M
-skip-external-locking
-skip-name-resolve
-slow_query_log_file = /var/log/mysql/mariadb-slow.log
-slow-query-log = 1
-socket = /var/run/mysqld/mysqld.sock
-sort_buffer_size = 4M
-table_open_cache = 400
-thread_cache_size = 128
-tmp_table_size = 64M
-tmpdir = /tmp
-transaction_isolation = READ-COMMITTED
-user = mysql
-wait_timeout = 600
-
-[mysqldump]
-max_allowed_packet = 16M
-quick
-quote-names
-
-[isamchk]
-key_buffer = 16M
-```
-
-Restart service:
-
-``` bash
-service mysql restart
-```
-
-Create db, user and password:
-
-``` text
-DB = nextcloud
-User = nextcloud
-Password = passw0rd (o la que usted desee)
-```
-
-``` bash
-mysql -uroot -p
-CREATE DATABASE nextcloud CHARACTER SET utf8 COLLATE utf8_general_ci; CREATE USER nextcloud@localhost identified by 'passw0rd'; GRANT ALL PRIVILEGES on nextcloud.* to nextcloud@localhost; FLUSH privileges; quit;
-```
-
-Check that transaction isolation level is establish to READ_COMMITTED and collation to UTF8MB4:
-
-``` bash
-mysql -h localhost -uroot -p -e "SELECT @@TX_ISOLATION; SELECT SCHEMA_NAME 'database', default_character_set_name 'charset', DEFAULT_COLLATION_NAME 'collation' FROM information_schema.SCHEMATA WHERE SCHEMA_NAME='nextcloud'"
-Enter current password for root (enter for none):
-```
-
-Should be as follows:
-
-``` text
-+---------------------+
-| @@TX_ISOLATION |
-+---------------------+
-| READ-COMMITTED |
-+---------------------+
-+-----------+---------+--------------------+
-| database | charset | collation |
-+-----------+---------+--------------------+
-| nextcloud | utf8 | utf8_general_ci |
-+-----------+---------+--------------------+
-```
-
-## Redis
-
-Installation:
-
-``` bash
-apt update && apt install -y redis-server php-redis
-```
-
-Change configuration and groups:
-
-``` bash
-cp /etc/redis/redis.conf /etc/redis/redis.conf.bak
-sed -i "s/port 6379/port 0/" /etc/redis/redis.conf ; sed -i s/\#\ unixsocket/\unixsocket/g /etc/redis/redis.conf ; sed -i "s/unixsocketperm 700/unixsocketperm 770/" /etc/redis/redis.conf ; sed -i "s/# maxclients 10000/maxclients 512/" /etc/redis/redis.conf
-usermod -a -G redis www-data
-cp /etc/sysctl.conf /etc/sysctl.conf.bak && sed -i '$avm.overcommit_memory = 1' /etc/sysctl.conf
-```
-
-Ahora recomendamos reiniciar:
-
-``` bash
-reboot
-```
-
-## Nextcloud
-
-### Make nextcloud.conf
-
-``` bash
-[ -f /etc/nginx/conf.d/default.conf ] && mv /etc/nginx/conf.d/default.conf /etc/nginx/conf.d/default.conf.bak
-touch /etc/nginx/conf.d/default.conf
-nano /etc/nginx/conf.d/nextcloud.conf
-```
-
-Add:
-
-``` text
-upstream php-handler {
-server unix:/run/php/php8.1-fpm.sock;
-}
-server {
-listen 80 default_server;
-server_name nextcloud.dominio.cu;
-location / {
-return 301 https://$host$request_uri;
-}
-}
-server {
-listen 443 ssl http2 default_server;
-server_name nextcloud.dominio.cu;
-
-# Certificados autofirmados
-
-ssl_certificate /etc/nginx/certificados/nextcloud.crt;
-ssl_certificate_key /etc/nginx/certificados/nextcloud.key;
-
-# Certificados Let's Encrypt
-
-# ssl_certificate /etc/nginx/certificados/fullchain.pem;
-# ssl_certificate_key /etc/nginx/certificados/privkey.pem;
-# ssl_trusted_certificate /etc/nginx/certificados/chain.pem;
-ssl_dhparam /etc/ssl/certs/dhparam.pem;
-ssl_session_timeout 1d;
-ssl_session_cache shared:SSL:50m;
-ssl_session_tickets off;
-ssl_protocols TLSv1.3 TLSv1.2;
-ssl_ciphers 'TLS-CHACHA20-POLY1305-SHA256:TLS-AES-256-GCM-SHA384:ECDHE-RSA-AES256-GCM-SHA512:DHE-RSA-AES256-GCM-SHA512:ECDHE-RSA-AES256-GCM-SHA384:DHE-RSA-AES256-GCM-SHA384';
-ssl_ecdh_curve X448:secp521r1:secp384r1:prime256v1;
-ssl_prefer_server_ciphers on;
-
-# Descomentar si usas certificados Let's Encrypt
-
-# ssl_stapling on;
-ssl_stapling_verify on;
-add_header Strict-Transport-Security "max-age=15768000; includeSubDomains; preload;" always;
-add_header Referrer-Policy "no-referrer" always;
-add_header X-Content-Type-Options "nosniff" always;
-add_header X-Download-Options "noopen" always;
-add_header X-Frame-Options "SAMEORIGIN" always;
-add_header X-Permitted-Cross-Domain-Policies "none" always;
-add_header X-Robots-Tag "none" always;
-add_header X-XSS-Protection "1; mode=block" always;
-fastcgi_hide_header X-Powered-By;
-fastcgi_read_timeout 3600;
-fastcgi_send_timeout 3600;
-fastcgi_connect_timeout 3600;
-root /var/www/nextcloud;
-location = /robots.txt {
-allow all;
-log_not_found off;
-access_log off;
-}
-location = /.well-known/carddav {
-return 301 $scheme://$host:$server_port/remote.php/dav;
-}
-location = /.well-known/caldav {
-return 301 $scheme://$host:$server_port/remote.php/dav;
-}
-client_max_body_size 10240M;
-fastcgi_buffers 64 4K;
-gzip on;
-gzip_vary on;
-gzip_comp_level 4;
-gzip_min_length 256;
-gzip_proxied expired no-cache no-store private no_last_modified no_etag auth;
-gzip_types application/atom+xml application/javascript application/json application/ld+json application/manifest+json application/rss+xml application/vnd.geo+json application/vnd.ms-fontobject application/x-font-ttf application/x-web-app-manifest+json application/xhtml+xml application/xml font/opentype image/bmp image/svg+xml image/x-icon text/cache-manifest text/css text/plain text/vcard text/vnd.rim.location.xloc text/vtt text/x-component text/x-cross-domain-policy;
-location / {
-rewrite ^ /index.php;
-}
-location ~ ^\/(?:build|tests|config|lib|3rdparty|templates|data)\/ {
-deny all;
-}
-location ~ ^\/(?:\.|autotest|occ|issue|indie|db_|console) {
-deny all;
-}
-location ^~ /apps/rainloop/app/data {
-deny all;
-}
-location ~ ^\/(?:index|remote|public|cron|core\/ajax\/update|status|ocs\/v[12]|updater\/.+|oc[ms]-provider\/.+|.+\/richdocumentscode\/proxy)\.php(?:$|\/) {
-fastcgi_split_path_info ^(.+?\.php)(\/.*|)$;
-set $path_info $fastcgi_path_info;
-try_files $fastcgi_script_name =404;
-include fastcgi_params;
-fastcgi_param SCRIPT_FILENAME $document_root$fastcgi_script_name;
-fastcgi_param PATH_INFO $path_info;
-fastcgi_param HTTPS on;
-fastcgi_param modHeadersAvailable true;
-fastcgi_param front_controller_active true;
-fastcgi_pass php-handler;
-fastcgi_intercept_errors on;
-fastcgi_request_buffering off;
-}
-location ~ ^\/(?:updater|oc[ms]-provider)(?:$|\/) {
-try_files $uri/ =404;
-index index.php;
-}
-location ~ \.(?:css|js|woff2?|svg|gif|map)$ {
-try_files $uri /index.php$request_uri;
-add_header Cache-Control "public, max-age=15778463";
-add_header Strict-Transport-Security "max-age=15768000; includeSubDomains; preload;" always;
-add_header Referrer-Policy "no-referrer" always;
-add_header X-Content-Type-Options "nosniff" always;
-add_header X-Download-Options "noopen" always;
-add_header X-Frame-Options "SAMEORIGIN" always;
-add_header X-Permitted-Cross-Domain-Policies "none" always;
-add_header X-Robots-Tag "none" always;
-add_header X-XSS-Protection "1; mode=block" always;
-access_log off;
-}
-location ~ \.(?:png|html|ttf|ico|jpg|jpeg|bcmap|mp4|webm)$ {
-try_files $uri /index.php$request_uri;
-access_log off;
-}
-}
-```
-
-***Notes:***
-
-- Modify parameters server_name by DNS of the Nextcloud server.
-- There are two sections: «Certificados Autofirmados» y «Certificados Let’s Encrypt». Next Autosign certificates will be generated, but if certificates LE are used comment above lines, un comment below and modify the path.
-- parameter: ssl_stapling on; when using auto sign certificates produces this Warning:
-
-``` text
-[warn] 2013#2013: "ssl_stapling" ignored, issuer certificate not found for certificate "/etc/nginx/certificados/nextcloud.crt"
-```
-
-- Uncomment ssl_stapling on; only if Certificados Let’s Encrypt are used.
-
-To make a autosign SSL certificate SSL:
-
-``` bash
-mkdir /etc/nginx/certificados && cd /etc/nginx/certificados
-apt install openssl
-openssl genrsa -out nextcloud.key 2048
-openssl req -new -key nextcloud.key -out nextcloud.csr
-```
-
-Al ejecutar éste último comando vendrán una serie de preguntas las cuales voy a explicar a continuación:
-Nota.- En caso de equivocarte presionar Ctrl + C para cancelar, introducir el comando anterior y volver a empezar.
-
-Country Name (2 letter code) = Código de país en formato ISO de dos letras mayúsculas.
-State or Province Name (full name) = Estado o provincia.
-Locality Name = Localidad o ciudad.
-Organization Name = Nombre de la organización.
-Organizational Unit Name = Sector de la organización.
-Common Name = FQDN del servidor. Introducir el DNS para tu nextcloud (nextcloud.dominio.cu).
-Email Address = Dirección de correo de contacto. (o Enter para no poner nada)
-A los campos «A challenge password» y «An optional company name» dale Enter para dejarlos en blanco
-Generamos el certificado para 10 años:
-
-openssl x509 -req -days 3652 -in nextcloud.csr -signkey nextcloud.key -out nextcloud.crt
-Mejora la seguridad del servidor y del sistema usando una clave Diffie-Hellman (dhparam.pem):
-
-openssl dhparam -out /etc/ssl/certs/dhparam.pem 4096
-Nota: Por favor, sea paciente, tomará tiempo dependiendo de su hardware.
-
-Descargar, extraer Nextcloud y dar permisos:
-
-cd /var/www
-wget <https://download.nextcloud.com/server/releases/latest.tar.bz2>
-tar -xjf latest.tar.bz2 -C /var/www ; chown -R www-data:www-data /var/www/
-Si lo tienes en .zip:
-
-cd /var/www
-unzip latest.zip && chown -R www-data:www-data /var/www/
-Justo antes de instalar haremos un paréntesis para quienes quieran usar un almacenamiento externo ya quede instalado Nextcloud dentro de dicho almacenamiento.
-
-– Usando un 2do HDD dentro del mismo Proxmox haremos lo siguiente:
-
-Apagamos el contenedor:
-
-poweroff
-Nos conectamos al host Proxmox y realizamos estos pasos.
-
-Asumiremos que usted solo tiene conectado el HDD sin montar y el sistema lo nombró sdb, en caso de tenerlo ya montado desmóntelo y use la ruta /nextcloud-data (o la que especificó en dicho paso).
-
-Listamos los HDD
-
-lsblk -fm
-NAME FSTYPE LABEL UUID MOUNTPOINT NAME SIZE OWNER GROUP MODE
-sda sda 298,1G root disk brw-rw----
-├─sda1 ext4 456601bc-efa4-450c-b380-2441e3a351f0 / ├─sda1 294,1G root disk brw-rw----
-├─sda2 ├─sda2 1K root disk brw-rw----
-└─sda5 swap a964f87b-4f06-4a08-bafb-e5f29ca049f8 [SWAP] └─sda5 4G root disk brw-rw----
-sdb ext4 d515e96b-d282-4ae2-9776-385e447e67fd sdb 931,5G root disk brw-rw----
-Si como dijimos, no lo tiene montado, en la parte de MountPoint para sdb no saldrá nada.
-
-(Si el HDD es nuevo) Formateamos el HDD en Ext4:
-
-mkfs.ext4 /dev/sdb
-Creamos un directorio en el cual montaremos el nuevo HDD. Montamos y corregimos permisos:
-
-mkdir /nextcloud-data
-mount /dev/sdb /nextcloud-data/
-chown -R www-data:www-data /nextcloud-data
-Modificamos el archivo de configuración de nuestro contenedor (sustituir ID):
-
-nano /etc/pve/lxc/ID.conf
-Debajo de la línea memory agregamos lo siguiente:
-
-mp0: /nextcloud-data,mp=/nextcloud-data
-Nota.- Directorio de Proxmox mapeado a la carpeta /nextcloud-data del contenedor. La información la guardarás directamente en el 2do HDD del Proxmox.
-
-Listo! Iniciamos el contenedor nuevamente y continuamos con la Instalación del Nextcloud.
-
-– Usando un compartido NFS:
-
-Apagamos el contenedor:
-
-poweroff
-Si usted tiene un servidor NFS en su red también puede usarlo para guardar los datos de su Nextcloud. Para ello realizamos estos pasos.
-
-Asumiremos que usted sabe trabajar con su servidor NFS (nfs-kernel-server), que ya creó el directorio que va a compartir y modificó el archivo /etc/exports del NFS donde agrego el IP de su servidor Nextcloud.
-
-Un ejemplo de lo que se debería agregar al exports:
-
-/nextcloud-data/ 192.168.2.2(rw,no_wdelay,async,no_root_squash,no_subtree_check)
-Luego de esto le realizaremos unos cambios al APP ARMOR del host Proxmox donde se encuentra nuestro Nextcloud para que los Contenedores puedan conectarse al NFS.
-Para ello tenemos dos opciones: a mano, o por la web de Proxmox.
-
-– A mano:
-Si su Proxmox es versión 4.4.x:
-
-nano /etc/apparmor.d/lxc/lxc-default-cgns
-Y agregamos antes del “}” final:
-
-allow mount fstype=nfs,
-allow mount fstype=nfs4,
-allow mount fstype=rpc_pipefs,
-Si su Proxmox es versión 5.2.x:
-
-nano /etc/apparmor.d/lxc/lxc-default-cgns
-Agregamos antes del “}” final:
-
-mount fstype=nfs,
-mount fstype=nfs4,
-mount fstype=rpc_pipefs,
-Si su Proxmox es versión 6.x.x:
-Como dijimos al inicio el CT debe tener privilegios sino no conecta con el servidor NFS.
-Realice los mismos pasos que la versión 5. Y además en el archivo de configuración del contenedor:
-
-nano /etc/pve/lxc/ID.conf
-Agregamos las siguientes líneas al final:
-
-lxc.apparmor.profile: lxc-default-cgns
-lxc.apparmor.profile: unconfined
-– Por la web de Proxmox
-
-Pinchar en el ID de nuestro CT > Options > Features > Marcar NFS.
-
-Luego de acomodar el APP ARMOR instalamos el cliente NFS en el contenedor de Nextcloud:
-
-apt install nfs-common
-Creamos el archivo rc.local si no está, y le agregamos el comando para que monte el compartido del NFS cuando se inicie:
-
-nano /etc/rc.local
-Agregarle:
-
-# !/bin/bash
-mount -t nfs 192.168.2.1:/nextcloud-data /nextcloud-data
-exit 0
-Y le damos los permisos correspondientes:
-
-chmod -R 755 /etc/rc.local
-Iniciamos el contenedor y revisamos si se montó bien el compartido con el siguiente comando:
-
-lsblk -fm
-NAME FSTYPE LABEL UUID MOUNTPOINT NAME SIZE OWNER GROUP MODE
-sdb /nextcloud-data sdb 931.5G
-Ahí tenemos nuestro compartido NFS listo para utilizar.
-
-Continuamos con la instalación…
-
-Instala Nextcloud silenciosamente:
-
-Información:
--database-name “nextcloud”: La creamos anteriormente configurando base de datos y usuario.
--database-user “nextcloud”: Lo creamos anteriormente configurando base de datos y usuario.
--database-pass “passw0rd”: La conexion es por sock, no importa lo que pongamos.
--admin-user “UsuarioAdmin”: Nombre de usuario para administrar Nextcloud, el que guste.
--admin-pass “PasswordAdmin”: Contraseña del usuario de administración, la que guste.
--data-dir “/nextcloud-data”: Si modificaste al inicio del manual esta dirección, sustituyala.
-
-sudo -u www-data php /var/www/nextcloud/occ maintenance:install --database "mysql" --database-name "nextcloud" --database-user "nextcloud" --database-pass "passw0rd" --admin-user "UsuarioAdmin" --admin-pass "PasswordAdmin" --data-dir "/nextcloud-data"
-Mejorando la configuración de Nexcloud:
-
-Agregamos dominio e IP de confianza:
-
-su - www-data -s /bin/bash -c 'php /var/www/nextcloud/occ config:system:set trusted_domains 0 --value=nextcloud.dominio.cu'
-su - www-data -s /bin/bash -c 'php /var/www/nextcloud/occ config:system:set trusted_domains 1 --value=192.168.2.2'
-Sobrescriba la URL con su dominio:
-
-su - www-data -s /bin/bash -c 'php /var/www/nextcloud/occ config:system:set overwrite.cli.url --value=<https://nextcloud.dominio.cu>'
-Hacemos una copia de la configuración:
-
-cp /var/www/nextcloud/config/config.php /var/www/nextcloud/config/config.php.bak
-Amplía tu config.php de Nextcloud:
-
-``` bash
-sed -i 's/^[ ]*//' /var/www/nextcloud/config/config.php && sed -i '/);/d' /var/www/nextcloud/config/config.php
-cat <<EOF >>/var/www/nextcloud/config/config.php
-'activity_expire_days' => 14,
-'auth.bruteforce.protection.enabled' => true,
-'blacklisted_files' =>
-array (
-0 => '.htaccess',
-1 => 'Thumbs.db',
-2 => 'thumbs.db',
-),
-'cron_log' => true,
-'enable_previews' => true,
-'enabledPreviewProviders' =>
-array (
-0 => 'OC\\Preview\\PNG',
-1 => 'OC\\Preview\\JPEG',
-2 => 'OC\\Preview\\GIF',
-3 => 'OC\\Preview\\BMP',
-4 => 'OC\\Preview\\XBitmap',
-5 => 'OC\\Preview\\Movie',
-6 => 'OC\\Preview\\PDF',
-7 => 'OC\\Preview\\MP3',
-8 => 'OC\\Preview\\TXT',
-9 => 'OC\\Preview\\MarkDown',
-),
-'filesystem_check_changes' => 0,
-'filelocking.enabled' => 'true',
-'htaccess.RewriteBase' => '/',
-'integrity.check.disabled' => false,
-'knowledgebaseenabled' => false,
-'logfile' => '/var/nc_data/nextcloud.log',
-'loglevel' => 2,
-'logtimezone' => 'America/Havana',
-'log_rotate_size' => 104857600,
-'maintenance' => false,
-'memcache.local' => '\\OC\\Memcache\\APCu',
-'memcache.locking' => '\\OC\\Memcache\\Redis',
-'overwriteprotocol' => 'https',
-'preview_max_x' => 1024,
-'preview_max_y' => 768,
-'preview_max_scale_factor' => 1,
-'redis' =>
-array (
-'host' => '/var/run/redis/redis-server.sock',
-'port' => 0,
-'timeout' => 0.0,
-),
-'quota_include_external_storage' => false,
-'share_folder' => '/Shares',
-'skeletondirectory' => '',
-'theme' => '',
-'trashbin_retention_obligation' => 'auto, 7',
-'updater.release.channel' => 'stable',
-'force_language' => 'es',
-);
-EOF
-```
-
-Notas:
-– El sock de Redis está descomentado para usarse en Debian 10. Si instalaste en un CT Debian 9 comenta el otro y descomenta para esta versión.
-– Usé el párametro 'force_language' => 'es', para forzar el lenguaje a Español, puedes comentar la línea y que cada usuario elija el idioma; por defecto inicia en Ingles.
-
-sudo -u www-data sed -i "s/.*dbhost.*/\'dbhost\' \=\>\ \'localhost\:\/var\/run\/mysqld\/mysqld\.sock\'\,/g" /var/www/nextcloud/config/config.php
-Edita el .user.ini de Nextcloud:
-
-sudo -u www-data sed -i "s/output_buffering=.*/output_buffering='Off'/" /var/www/nextcloud/.user.ini
-Reinicia servicios:
-
-service nginx stop && service php8.1-fpm stop && service mysql restart && service php8.1-fpm restart && service redis-server restart && service nginx restart
-Ajustar aplicaciones de Nextcloud:
-
-su - www-data -s /bin/bash -c 'php /var/www/nextcloud/occ app:disable survey_client' && su - www-data -s /bin/bash -c 'php /var/www/nextcloud/occ app:disable firstrunwizard' && su - www-data -s /bin/bash -c 'php /var/www/nextcloud/occ app:enable admin_audit' && su - www-data -s /bin/bash -c 'php /var/www/nextcloud/occ app:enable files_pdfviewer'
-Añadir cronjobs para www-data:
-
-crontab -u www-data -e
-Si nos pide seleccionar el editor escogemos «nano» que es la opcion 1
-
-Agrega:
-
-*/5* ** * php -f /var/www/nextcloud/cron.php > /dev/null 2>&1
-Configurar Nextcloud para que use cron.php:
-
-sudo -u www-data php /var/www/nextcloud/occ background:cron
-sudo -u www-data php /var/www/nextcloud/occ background:cron
-Optimiza y Actualiza Nextcloud:
-
-cd /root
-nano /root/upgrade.sh
-# !/bin/bash
-/usr/sbin/service nginx stop
-sudo -u www-data php /var/www/nextcloud/updater/updater.phar
-sudo -u www-data php /var/www/nextcloud/occ status
-sudo -u www-data php /var/www/nextcloud/occ -V
-sudo -u www-data php /var/www/nextcloud/occ db:add-missing-indices
-sudo -u www-data php /var/www/nextcloud/occ db:add-missing-columns
-sudo -u www-data php7.4 /var/www/nextcloud/occ db:add-missing-primary-keys
-sudo -u www-data php /var/www/nextcloud/occ db:convert-filecache-bigint
-sed -i "s/output_buffering=.*/output_buffering='Off'/" /var/www/nextcloud/.user.ini
-chown -R www-data:www-data /var/www/nextcloud
-redis-cli -s /var/run/redis/redis-server.sock <<EOF
-FLUSHALL
-quit
-EOF
-sudo -u www-data php /var/www/nextcloud/occ files:scan --all
-sudo -u www-data php /var/www/nextcloud/occ files:scan-app-data
-sudo -u www-data php /var/www/nextcloud/occ app:update --all
-/usr/sbin/service php7.4-fpm restart
-/usr/sbin/service nginx restart
-exit 0
-Salva y marca como ejecutable:
-
-chmod +x /root/upgrade.sh
-Ejecutelo:
-
-/root/upgrade.sh
-Notas.- Si nos pide «Convertir columnas» le damos «Y».
-
-Si el actualizador encuentra una versión nueva le saldrán los siguientes pasos:
-– Nos preguntará si queremos iniciar la actualización «Y»
-– Una ves que termine el proceso nos dirá si queremos mantener el «Modo Mantenimiento» activado, le damos «N»
-– Nos logueamos y verificamos que todo este OK.
-
-Inicia sesión en tu nuevo servidor de Nextcloud:
-<https://nextcloud.dominio.cu/login> o <https://192.168.2.2/login>
-
-Usuario = nextcloud (El que especificamos instalando Nextcloud silenciosamente)
-Password= passw0rd (El que especificamos instalando Nextcloud silenciosamente)
-
-Vamos al apartado «Configuración» pinchando en el icono de engranaje en la parte superior derecha.
-Luego pinchamos en «Vista General» y revisamos el apartado «Avisos de seguridad y configuración«.
-Si dice «Ha pasado todos los controles» pues genial, no nos queda nada por hacer.
-Si dice «Hace mas de ‘X’ años que no se ejecutan los cron jobs» no te preocupes, dale varios minutos para que se ejecuten los que agregamos durante la instalación y la alerta desaparecerá.
-Si dice «El servidor no tiene conexión a internet» pues es algo muy evidente.
-
-Ahora pasaremos a conectar dicho servidor con nuestro Dominio, y arreglaremos las carpetas de los usuarios para que nos muestre el nombre y no el UUID.
-
-Una vez iniciada sesión como administrador vamos al apartado «Aplicaciones» y activamos «LDAP user and group backend».
-
-Luego vamos a «Configuración > Integración LDAP / AD» y comenzamos con la configuración.
-
-En el apartado «Servidor«:
-Servidor = IP o DNS de nuestro AD, y luego le damos al botón «Detectar puerto» (debe ponernos el 389).
-DN Usuario = DN del usuario que usaremos para conectar con el AD (no tiene que ser administrador).
-Contraseña = Contraseña de dicho Usuario, y le damos al botón de «Guardar credenciales».
-DN Base = Podemos poner cuantos DN de usuarios queramos, uno por línea. Al terminar le damos a «Probar Base DN» y debe darnos «Configuración correcta» en verde debajo.
-
-Nota:- Apóyese del «Editor ADSI» o «samba-tools» para sacar los DN correctamente.
-
-Aquí les muestro un ejemplo:
-
-En el apartado «Usuarios«:
-Este apartado lo dejé por defecto, aquí no realicé ningún cambio.
-
-En el apartado «Atributos de inicio de sesión«:
-Este apartado lo dejé por defecto. Viene marcada la opción de «Usuario LDAP / AD» así que no necesité cambiar nada.
-
-En el apartado «Grupos«:
-En este apartado si deseas usar grupos para tu Nextcloud pues aquí seleccionas cuales.
-
-En el apartado «Avanzado» (ala derecha):
-Este apartado lo dejé por defecto, aquí no realicé ningún cambio.
-
-En el apartado «Experto» (a la derecha):
-Aquí es donde modificaremos para que en vez del UUID del usuario (en las carpetas de Nextcloud) nos muestre solo el nombre.
-Realiza los siguientes cambios en los tres campos y borre las asignaciones:
-
-Luego pincha en «Configuración de prueba» y debe mostrarte «Configuración válida ¡Conexión establecida!»
-
-Una vez terminados estos pasos conéctate al servidor, verás que salen las carpetas con los nombres de todos los usuarios de tu dominio, las cuales se irán llenando de documentos a medida que estos copien cosas dentro.
-
-Nota:- Si aparecen las carpetas con el UUID y las de usuario puedes borrar tranquilamente las del UUID. Por supuesto, con mucho cuidado.
-
-Y nada más, a crear usuarios. Que aproveche!
diff --git a/notes/noether b/notes/noether
deleted file mode 100644
index a4e440223cb8060f3bac9cca5cdd091300d0a1fc..0000000000000000000000000000000000000000
--- a/notes/noether
+++ /dev/null
@@ -1,22 +0,0 @@
-2/11/2022
-
-To build exmaples:
-
-- git:
- local-name: ros_industrial_cmake_boilerplate
- uri: 'https://github.com/ros-industrial/ros_industrial_cmake_boilerplate.git'
- version: 0.2.8
-- git:
- local-name: perception_pcl
- uri: 'https://github.com/ros-perception/perception_pcl.git'
- version: 1.7.1
--git:
- local-name: noether
- uri: 'https://github.com/ros-industrial/noether.git'
- version: 9b500301059fc9ed3cb8cffca6aa48dbe9fdbba5
-
-mon launch noether_examples mesh_segmenter_server_client.launch filename:=/home/andres/ros/noetic/noether_ws/src/noether/noether_examples/data/plane_defect.ply
-
-mon launch noether_examples mesh_segmenter_node.launch filename:=/home/andres/ros/noetic/noether_ws/src/noether/noether_examples/data/raw_mesh.ply show_individually:=true save_outputs:=true
-
-mon launch noether_examples eigen_value_edge_generator_demo.launch mesh_file:=/home/andres/ros/noetic/noether_ws/src/noether/noether_examples/data/plane_defect.ply
diff --git a/notes/notas b/notes/notas
deleted file mode 100644
index 6a22c404f3003fc4c85b42738cf24e29ee5311a9..0000000000000000000000000000000000000000
--- a/notes/notas
+++ /dev/null
@@ -1,11 +0,0 @@
-
-python-gobject
-
-
-
-MAC WKM0125A:
- DOCKER C8:F7:50:D4:6C:EA
- WIFI 04:EA:56:36:F3:CB
- ETHERNET 62:D1:94:03:68:75
-
-
diff --git a/notes/planners.md b/notes/planners.md
deleted file mode 100644
index 80d2e95517d367b397dce6ac7d516851538dee2b..0000000000000000000000000000000000000000
--- a/notes/planners.md
+++ /dev/null
@@ -1,7 +0,0 @@
-# Descartes
-ROS-Industrial Special Project: Cartesian Path Planner
-
-# Bezier
-6D tool path planner.
-
-# Trajopt
diff --git a/notes/robouton.md b/notes/robouton.md
deleted file mode 100644
index c5cf622b13affbbcd7ae37745e834557c137d7cb..0000000000000000000000000000000000000000
--- a/notes/robouton.md
+++ /dev/null
@@ -1,21 +0,0 @@
-# Robouton instructions
-
-## Startup
-
-- Turn `On` key
-- Press `CPU-2` button
-- Switch screen to industrial pc (Turn `Splitter` clockwise)
-- Log in `sherlock:tecnalia`
-- If leds around robot are not green
- - Check that the four emergency buttons of the base are not enabled
- - On the safety remote, press the green button
- - If still not green, switch the safety remote bateries and try again
-- On each teach pendant:
- - Open `Applications`
- - Select `RosSocketServer`
- - Press play physical button (green triangle pointing to the right)
- - Press again until screen says `Current State: Running`
-- On the pc, open a terminal and `roslaunch sherlock_ui sherlock_ui_launch.launch`
-- On a phone or tablet:
- - Connect to wifi `rbrobout:R0b0tn1K`
- - Open `192.168.0.201:8000` on any browser
diff --git a/notes/tagging.md b/notes/tagging.md
deleted file mode 100644
index 67663ccdff03764ba730547f0f21169709131a87..0000000000000000000000000000000000000000
--- a/notes/tagging.md
+++ /dev/null
@@ -1,35 +0,0 @@
-# Tagging
-
-Steps for tagging a package in order to freeze a demo
-
-## Prepare a branch to tag
-
-* If the project does not have a CHANGELOG file, add and commit it in the devel branch
-
-* Create a new branch (<ROSDISTRO>-versionX.Y.Z) from <ROSDISTRO>-devel branch
-```
-git checkout <ROSDISTRO>-devel
-git branch <ROSDISTRO>-versionX.Y.Z
-git checkout <ROSDISTRO>-versionX.Y.Z
-git push --set-upstream origin <ROSDISTRO>-versionX.Y.Z
-```
-
-## Generate a versiones .rosinstall file
-
-* Generate .rosinstal from the current workspace
-```
-rosinstall --generate-versioned-rosinstall=GENERATED_FILE .
-```
-
-* Remove the tagging candidate package from .rosintsall file
-
-* Replace the .rosinstall file with the GENERATED_FILE (frozen) file
-
-* Commit the generated .rosinstall file
-```
-git add .rosinstall
-git commit -m"Freeze rosinstall in preparation for tagging vX.Y.Z"
-git push
-```
-
-* Create TAG from <ROSDISTRO>-versionX.Y.Z, using web UI
\ No newline at end of file
diff --git a/notes/tokens.md b/notes/tokens.md
deleted file mode 100644
index 15b7ee7ca5960f88668ccf6843729f768048273f..0000000000000000000000000000000000000000
--- a/notes/tokens.md
+++ /dev/null
@@ -1,11 +0,0 @@
-git-hub vscode
-vscode://vscode.github-authentication/did-authenticate?windowid=4&code=f7e05b2dd49666db5dd8&state=0073e02c-7557-43b6-ba2c-ffd1fd51ec47
-
-eyJ2ZXIiOiIyIiwidHlwIjoiSldUIiwiYWxnIjoiUlMyNTYiLCJraWQiOiJYdVNRWGU0ck9UdzFXWll1dldscnB1cm50VWRDRzE4SGFPVFJWeUd3MDhNIn0.eyJleHQiOiJ7XCJyZXZvY2FibGVcIjpcInRydWVcIn0iLCJzdWIiOiJqZmFjQDAxZHlqcjB6dmN5czRlMTh6aDZnczcwNWttXC91c2Vyc1wvYW5kcmVzLm1vbnRhbm9AdGVjbmFsaWEuY29tIiwic2NwIjoiYXBwbGllZC1wZXJtaXNzaW9uc1wvdXNlciIsImF1ZCI6IipAKiIsImlzcyI6ImpmZmVAMDAwIiwiZXhwIjoxNjY1MTUwNzU0LCJpYXQiOjE2MzM2MTQ3NTQsImp0aSI6ImYyODUxMzQ2LTI5MWMtNGNjMC05MGI3LWZiODkwYjE5MDQ5YSJ9.NuyDMeSk-Zl4YnK0JcyZVuzzApjD5vSLGbC_3qBH0vvx56GO-Ip8qImdwFTO7KDcwMQqz-HNZK1y9XPXJc18XEgvTxsAdurwn_Kp50gepLKPfq-bjLecbGIISUVwz_ojcs0J4aiYkODkGpn8hP3ycBYXiSV1dssAERJgMrOzKUYSh7DfRjPuKkE488wi5LzsPBFtXMFjlB-_HLUHic1ULwZ3pmKL_nPpRiV1s8uxTYES3xFIKH6Zq2mIYJKQEQ9KE4YVWuIDqfCQvwMbgOy9EzdxHG8Gg1n_03kkVX7Jx1JdsFaqyXipgZh_-C363i6i5c0cnMA48kTs6eg_bdaZjg
-
-git.code
-Windows
-2_8_Np6DStbpM5o_CnTn
-
-Artifactory
-AKCp8jQcqPn8BQrgnqSShfsqvkS4vMbJL5WNYduVAcxaH7kbpVCyQsLnQgEhr4UeQNZoSgwwk
diff --git a/notes/trajectory.md b/notes/trajectory.md
deleted file mode 100644
index ef9a011e9dc1a38b85f9056a0ccab3c0fbbfc708..0000000000000000000000000000000000000000
--- a/notes/trajectory.md
+++ /dev/null
@@ -1,7 +0,0 @@
-
-<!-- substitute svg with uml in the link to see the code-->
-
-Links:
-
-* [RoboticsAPI Documentation](https://download.roboticsapi.org/0.9/manual/Manual.html)
-* [RoboticsAPI Javadoc](https://download.roboticsapi.org/0.9/javadoc/)
diff --git a/notes/venv_cheatsheet.md b/notes/venv_cheatsheet.md
deleted file mode 100644
index 9094240d7496ed23117694998792af4ff2194177..0000000000000000000000000000000000000000
--- a/notes/venv_cheatsheet.md
+++ /dev/null
@@ -1,16 +0,0 @@
-python3 -m venv ddeploy
-git clone git@git.code.tecnalia.com:tecnalia_robotics/flexbotics/flexbotics_utils/ddeploy.git
-git checkout current-folder-fix
-source bin/activate
-pip install -e src/ddeploy
-deactivate
-./bin/ddeploy --name cosa --distro melodic -s git+ssh://github.com/ros/std_msgs.git#kinetic-devel
-
-git clone https://github.com/ros/std_msgs.git
-~/.venv/ddeploy/bin/ddeploy --name mensajes --distro melodic -s std_msgs
-
-python3 -m venv ddeploy
-
-rocker --home --user --x11 --nvidia --ssh --git osrf/ros:melodic-desktop-full bash
-
-rocker --home --user --x11 --nvidia --ssh --git ubuntu:bionic bash
diff --git a/packages/iscan-bundle-2.30.4.x64.deb.tar.gz b/packages/iscan-bundle-2.30.4.x64.deb.tar.gz
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diff --git a/powerlevel10k/fonts/MesloLGS NF Bold Italic.ttf b/powerlevel10k/fonts/MesloLGS NF Bold Italic.ttf
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diff --git a/powerlevel10k/fonts/MesloLGS NF Regular.ttf b/powerlevel10k/fonts/MesloLGS NF Regular.ttf
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diff --git a/srcs_list.txt b/srcs_list.txt
deleted file mode 100644
index cb2e1600f2e409517ddf387e238af33ce8b8db32..0000000000000000000000000000000000000000
--- a/srcs_list.txt
+++ /dev/null
@@ -1,57 +0,0 @@
-checkingplaneitor
-git@git.code.tecnalia.com:unai.antero/checkingplaneitor.git
-
-gdm-tools
-https://github.com/realmazharhussain/gdm-tools.git
-
-pdfmixtool
-git@gitlab.com:scarpetta/pdfmixtool.git
-
-plymouth-theme
-https://github.com/pop-os/plymouth-theme.git
-
-pop-fonts
-https://github.com/pop-os/fonts.git
-
-pop-theme
-https://github.com/pop-os/gtk-theme
-
-vortex-ubuntu-plymouth-theme
-https://github.com/emanuele-scarsella/vortex-ubuntu-plymouth-theme.git
-
-disk-usage-space
-https://github.com/anfemosa/disk-usage-space.git
-
-roscon_2015
-https://github.com/ros-industrial-consortium/roscon_2015.git
-
-roscon_workshop_2021
-https://github.com/ros-industrial-consortium/roscon_workshop_2021
-
-ros_tutorial
-https://github.com/anfemosa/ros_tutorial.git
-
-bat
-https://github.com/sharkdp/bat.git
-
-iscan-bundle
-https://support.epson.net/linux/en/iscan_c.php?version=2.30.4
-
-lsd
-https://github.com/Peltoche/lsd.git
-
-powerlevel10k
-https://github.com/mattmc3/antidote
-https://phuctm97.com/blog/zsh-antigen-ohmyzsh
-https://github.com/romkatv/powerlevel10k
-https://github.com/zsh-users
-https://github.com/mattmc3/zdotdir
-
-Antidote
-git clone --depth=1 https://github.com/mattmc3/antidote.git ${ZDOTDIR:-~}/.antidote
-
-zsh-you-shuould-use
-https://github.com/MichaelAquilina/zsh-you-should-use.git
-
-git@git.code.tecnalia.com:miguel.prada/rosem.git
-git@git.code.tecnalia.com:miguel.prada/gitlab_templates.git
diff --git a/tracebot/Dockerfile b/tracebot/Dockerfile
deleted file mode 100644
index 38a497bb875d0a42ddf5154ea41227c14b270b8a..0000000000000000000000000000000000000000
--- a/tracebot/Dockerfile
+++ /dev/null
@@ -1,117 +0,0 @@
-###################################################
-### FIRST LAYER TO DOWNLOAD GIT REPOS
-FROM osrf/ros:melodic-desktop-full as intermediate
-
-RUN apt-get update && apt-get install -y \
- ssh \
- git \
- wget
-
-ARG SSH_PRIVATE_KEY
-RUN mkdir ~/.ssh/
-RUN echo "${SSH_PRIVATE_KEY}" > /root/.ssh/id_rsa
-RUN chmod 600 ~/.ssh/id_rsa
-RUN ssh-keyscan git.code.tecnalia.com >> /root/.ssh/known_hosts && chmod 644 /root/.ssh/known_hosts
-
-# Create workspace
-RUN mkdir -p /root/dev_ws/src
-WORKDIR /root/dev_ws/src
-
-# Install python-wstools
-RUN wget http://packages.ros.org/ros.key -O - | sudo apt-key add -
-RUN apt-get update && apt-get install -y python-catkin-tools
-# Clone main package
-RUN git clone git@git.code.tecnalia.com:tecnalia_robotics/flexbotics/flexbotics_test/dummy_application.git
-# checkout working branch
-WORKDIR /root/dev_ws/src/dummy_application
-RUN git checkout testing_tracebot
-# Populate dependencies with rosinstall
-RUN mkdir /root/dev_ws/src/dependencies
-WORKDIR /root/dev_ws/src/dependencies
-RUN wstool init && wstool merge ../dummy_application/.rosinstall && wstool update
-
-###################################################
-### Setting up dev environment, so that ssh key does not stay in image
-FROM osrf/ros:melodic-desktop-full
-
-# Avoid warnings by switching to noninteractive
-ENV DEBIAN_FRONTEND=noninteractive
-
-# Setup environment locales
-RUN apt-get update && apt-get install -y \
- locales \
- && sed -i '/en_US.UTF-8/s/^# //g' /etc/locale.gen && locale-gen
-ENV LANG=en_US.UTF-8 \
- LANGUAGE=en_US:en \
- LC_ALL=en_US.UTF-8
-
-# Configure apt and install packages
-RUN apt-get update \
- && apt-get -y install --no-install-recommends \
- apt-transport-https \
- ca-certificates \
- curl \
- gnupg-agent \
- software-properties-common \
- apt-utils dialog 2>&1 \
- #
- # Verify if git, process tools, lsb-release (common in install instructions for CLIs) are installed
- # Install the https transport support package for The Artifactory debian repository
- && apt-get -y install git \
- git-lfs \
- nano \
- iproute2 \
- procps \
- lsb-release \
- curl \
- cmake \
- openssh-client \
- python-catkin-tools \
- python-osrf-pycommon \
- ros-${ROS_DISTRO}-rosmon \
- xterm \
- wget \
- && rm -rf /var/lib/apt/lists/*
-
-# Install docker-ce-cli
-RUN curl -fsSL https://download.docker.com/linux/ubuntu/gpg | apt-key add - &&\
- add-apt-repository \
- "deb [arch=amd64] https://download.docker.com/linux/ubuntu $(lsb_release -cs) stable" &&\
- apt-get update && apt-get install -y docker-ce-cli &&\
- rm -rf /var/lib/apt/lists/*
-
-# Import the key in order to be able to use the packages from the repository
-RUN apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-keys 7E72C5B4111A50084C63C9489E7A9B1D990CF897
-
-# Configure rosdep
-RUN sh -c "echo 'yaml https://git.code.tecnalia.com/tecnalia_robotics-public/gitlab_templates/raw/master/rosdistro/rosdep_tecnalia.yaml' \
- >> /etc/ros/rosdep/sources.list.d/20-default.list"
-
-# Source ros setup.sh
-RUN /bin/sh . "/opt/ros/$ROS_DISTRO/setup.bash"
-
-# Install python-wstools
-RUN wget http://packages.ros.org/ros.key -O - | sudo apt-key add - &&\
- apt-get update && apt-get install -y python-catkin-tools &&\
- rm -rf /var/lib/apt/lists/*
-
-# Copy workspace with dependencies created in the previous layer
-COPY --from=intermediate /root/dev_ws /root/dev_ws
-WORKDIR /root/dev_ws
-
-# Run rosdep
-RUN apt-get update &&\
- rosdep install -iy --from-paths src/ &&\
- rm -rf /var/lib/apt/lists/*
-
-# Build packages
-RUN catkin init && catkin config --extend /opt/ros/melodic && catkin build
-
-# Add source ros to .bashrc
-RUN echo "#ROS\nsource /opt/ros/melodic/setup.bash\nsource /root/dev_ws/devel/setup.bash" >> /root/.bashrc
-
-# Switch back to dialog for any ad-hoc use of apt-get
-ENV DEBIAN_FRONTEND=
-
-# Add source of the workspace's setup to the default entrypoint
-RUN sed -i 's/exec/source "\/root\/dev_ws\/devel\/setup.bash" \nexec/' /ros_entrypoint.sh
diff --git a/tracebot/docker-compose.yml b/tracebot/docker-compose.yml
deleted file mode 100644
index fe7c60b2a9cc9742d349d04642b03fb8de965bea..0000000000000000000000000000000000000000
--- a/tracebot/docker-compose.yml
+++ /dev/null
@@ -1,16 +0,0 @@
-version: "2"
-
-services:
- tracebot:
- image: tracebot
- build:
- context: .
- dockerfile: Dockerfile
- args:
- SSH_PRIVATE_KEY: ${SSH_PRIVATE_KEY}
- environment:
- - DISPLAY
- - QT_X11_NO_MITSHM=1
- volumes:
- - /tmp/.X11-unix:/tmp/.X11-unix
- command: stdbuf -o L roslaunch dummy_application tracebot_application.launch
diff --git a/tracebot/docker.md b/tracebot/docker.md
deleted file mode 100644
index e15a33af9265b74f08dd3f660ee089f51839d07c..0000000000000000000000000000000000000000
--- a/tracebot/docker.md
+++ /dev/null
@@ -1,64 +0,0 @@
-# Using Docker
-
-## Setup the display
-
-To provide access to an application to the graphical server.
-
-```bash
-xhost +local:docker
-```
-
-## Run everything with docker-compose
-
-To run the example using docker-compose simply run:
-
-```bash
-SSH_PRIVATE_KEY=$(cat ~/.ssh/id_rsa) docker-compose up
-```
-
-## Manually compile, generate an Docker image and run a container
-
-### Manually compile and generate a Docker image
-
-Use the Dockerfile of the repository (Tracebot.Dockerfile) to compile and make a new Docker image.
-
-**Note**: To properly compile and make the Docker image it is necessary to pass a SSH private key (id_rsa) using the --build-arg (SSH_PRIVATE_KEY="$(cat path_to_if_rsa)") option.
-
-```bash
-docker build --build-arg SSH_PRIVATE_KEY="$(cat path/to/id_rsa)" -t image_name:tag -f path_to_Dockerfile .
-```
-
-For example:
-
-```bash
-docker build --build-arg SSH_PRIVATE_KEY="$(cat ~/.ssh/id_rsa)" -t tracebot .
-```
-
-### Manually create and Run a container
-
-Create a container from the Docker image.
-
-**Note**: It is necessary to enable the docker graphics options
-
-```bash
-docker run -it --name container_name \
- --env=DISPLAY \
- --env=QT_X11_NO_MITSHM=1 \
- --volume /tmp/.X11-unix:/tmp/.X11-unix \
- image_name:tag \
- bash
-```
-
-For example:
-
-```bash
-docker run -it --rm -e DISPLAY=$DISPLAY -e QT_X11_NO_MITSHM=1 -v /tmp/.X11-unix:/tmp/.X11-unix tracebot bash
-```
-
-### Launch the execution manager
-
-To launch the application.
-
-```bash
-roslaunch dummy_application dummy_application.launch
-```