From 63a0e1037d3eaa0ab32a3e3e4f62d1b7edcc6987 Mon Sep 17 00:00:00 2001
From: Andres Montano <andres.montano@tecnalia.com>
Date: Wed, 19 Oct 2022 10:36:10 +0200
Subject: [PATCH] UPD: Dockerfiles and dotfiles
---
dockerfiles/DevenvMelodic.Dockerfile | 8 +++++
dotfiles/.gitconfig | 2 +-
dotfiles/.zshrc | 44 ++++++++++++------------
dotfiles/docker.bash | 6 +++-
dotfiles/ros.bash | 5 +++
dotfiles/system.bash | 4 ++-
notes/Irisbond.txt | 50 ++++++++++++++++++++++++++++
notes/descartes_capability_notes.md | 6 ++--
8 files changed, 97 insertions(+), 28 deletions(-)
create mode 100644 notes/Irisbond.txt
diff --git a/dockerfiles/DevenvMelodic.Dockerfile b/dockerfiles/DevenvMelodic.Dockerfile
index cabe0b5..1c4abdd 100644
--- a/dockerfiles/DevenvMelodic.Dockerfile
+++ b/dockerfiles/DevenvMelodic.Dockerfile
@@ -200,6 +200,14 @@ RUN apt-get update && apt-get install -y \
ros-melodic-spacenav-node \
spacenavd
+RUN pip3 install --upgrade pip
+
+RUN apt-get update && apt-get install -y \
+ ipython3 \
+ ipython
+
+# RUN pip3 install sqlite-utils
+
# Update final image
RUN apt-get update && apt-get -y upgrade && apt-get -y autoremove
RUN apt-get clean
diff --git a/dotfiles/.gitconfig b/dotfiles/.gitconfig
index c1ed332..df0f3f4 100644
--- a/dotfiles/.gitconfig
+++ b/dotfiles/.gitconfig
@@ -7,4 +7,4 @@
name = Andres Montano
email = andres.montano@tecnalia.com
[credential]
- helper = cache --timeout=3600
+ helper = "!f() { /home/andres/.vscode-server/bin/da76f93349a72022ca4670c1b84860304616aaa2/node /tmp/vscode-remote-containers-5a60cb1da759d14ee4cea752b3a5b9093efdb2c8.js $*; }; f"
diff --git a/dotfiles/.zshrc b/dotfiles/.zshrc
index a8f7475..9c90b43 100644
--- a/dotfiles/.zshrc
+++ b/dotfiles/.zshrc
@@ -6,31 +6,31 @@ if [[ -r "${XDG_CACHE_HOME:-$HOME/.cache}/p10k-instant-prompt-${(%):-%n}.zsh" ]]
fi
# If you come from bash you might have to change your $PATH.
-# export PATH=$HOME/bin:/usr/local/bin:$PATH
+export PATH=$HOME/.local/bin:$PATH
# Path to your oh-my-zsh installation.
export ZSH="/home/andres/.oh-my-zsh"
# Use modern completion system
-autoload -Uz compinit
-compinit
-
-zstyle ':completion:*' auto-description 'specify: %d'
-zstyle ':completion:*' completer _expand _complete _correct _approximate
-zstyle ':completion:*' format 'Completing %d'
-zstyle ':completion:*' group-name ''
-zstyle ':completion:*' menu select=2
-eval "$(dircolors -b)"
-zstyle ':completion:*:default' list-colors ${(s.:.)LS_COLORS}
-zstyle ':completion:*' list-colors ''
-zstyle ':completion:*' list-prompt %SAt %p: Hit TAB for more, or the character to insert%s
-zstyle ':completion:*' matcher-list '' 'm:{a-z}={A-Z}' 'm:{a-zA-Z}={A-Za-z}' 'r:|[._-]=* r:|=* l:|=*'
-zstyle ':completion:*' menu select=long
-zstyle ':completion:*' select-prompt %SScrolling active: current selection at %p%s
-zstyle ':completion:*' use-compctl false
-zstyle ':completion:*' verbose true
-zstyle ':completion:*:*:kill:*:processes' list-colors '=(#b) #([0-9]#)*=0=01;31'
-zstyle ':completion:*:kill:*' command 'ps -u $USER -o pid,%cpu,tty,cputime,cmd'
+# autoload -Uz compinit
+# compinit
+
+# zstyle ':completion:*' auto-description 'specify: %d'
+# zstyle ':completion:*' completer _expand _complete _correct _approximate
+# zstyle ':completion:*' format 'Completing %d'
+# zstyle ':completion:*' group-name ''
+# zstyle ':completion:*' menu select=2
+# eval "$(dircolors -b)"
+# zstyle ':completion:*:default' list-colors ${(s.:.)LS_COLORS}
+# zstyle ':completion:*' list-colors ''
+# zstyle ':completion:*' list-prompt %SAt %p: Hit TAB for more, or the character to insert%s
+# zstyle ':completion:*' matcher-list '' 'm:{a-z}={A-Z}' 'm:{a-zA-Z}={A-Za-z}' 'r:|[._-]=* r:|=* l:|=*'
+# zstyle ':completion:*' menu select=long
+# zstyle ':completion:*' select-prompt %SScrolling active: current selection at %p%s
+# zstyle ':completion:*' use-compctl false
+# zstyle ':completion:*' verbose true
+# zstyle ':completion:*:*:kill:*:processes' list-colors '=(#b) #([0-9]#)*=0=01;31'
+# zstyle ':completion:*:kill:*' command 'ps -u $USER -o pid,%cpu,tty,cputime,cmd'
# Set name of the theme to load --- if set to "random", it will
# load a random theme each time oh-my-zsh is loaded, in which case,
@@ -80,7 +80,7 @@ HIST_STAMPS="dd/mm/yyyy"
# Custom plugins may be added to $ZSH_CUSTOM/plugins/
# Example format: plugins=(rails git textmate ruby lighthouse)
# Add wisely, as too many plugins slow down shell startup.
-plugins=(git history-substring-search zsh-autosuggestions sudo last-working-dir zsh-syntax-highlighting globalias) #zsh-autosuggestions
+plugins=(sudo git last-working-dir zsh-syntax-highlighting globalias zsh-autosuggestions ) #history-substring-search
source $ZSH/oh-my-zsh.sh
@@ -104,7 +104,7 @@ source ${HOME}/srcs/development_environment/dotfiles/system.bash
eval "$(direnv hook zsh)"
-[ -f ~/.fzf.zsh ] && source ~/.fzf.zsh
+# [ -f ~/.fzf.zsh ] && source ~/.fzf.zsh
# To customize prompt, run `p10k configure` or edit ~/.p10k.zsh.
[[ ! -f ~/.p10k.zsh ]] || source ~/.p10k.zsh
diff --git a/dotfiles/docker.bash b/dotfiles/docker.bash
index 1678135..b4a068c 100644
--- a/dotfiles/docker.bash
+++ b/dotfiles/docker.bash
@@ -25,7 +25,11 @@ function rundoc() {
}
function docrun() {
- rocker --nvidia --pulse --x11 --privileged --name odin_robot --network host odin_robot:melodic $1
+ rocker --nvidia --pulse --x11 --volume /dev/video0:/dev/video0 --privileged --oyr-run-arg " -v odin_robot_volume:/root/" --name odin_robot --network host odin_robot:melodic $1
+}
+
+function runodin() {
+ rocker --nvidia --pulse --x11 --privileged --volume /dev/video0:/dev/video0 --name odin_melodic --network host devenv:melodic $1
}
function runmelodic() {
diff --git a/dotfiles/ros.bash b/dotfiles/ros.bash
index 42b2b08..e38d402 100644
--- a/dotfiles/ros.bash
+++ b/dotfiles/ros.bash
@@ -23,6 +23,11 @@ function sourcews(){
source ./devel/setup.${ext} && smon
}
+# Source the current workspace
+function sourceros(){
+ source /opt/ros/${ROS_DISTRO}/setup.${ext} && smon
+}
+
# Source the current workspace
function sourcethis(){
pwd_st=${PWD}
diff --git a/dotfiles/system.bash b/dotfiles/system.bash
index 50768e6..aa045a7 100644
--- a/dotfiles/system.bash
+++ b/dotfiles/system.bash
@@ -16,4 +16,6 @@ then
fi
# Python
-alias ipy='ipython'
\ No newline at end of file
+alias ipy='ipython'
+
+alias mountT='sudo mount -t cifs //tri.lan/tri /mnt/T --verbose -o username=110343,password=FarrukMontano\#8657,workgroup=TRI.LAN'
diff --git a/notes/Irisbond.txt b/notes/Irisbond.txt
new file mode 100644
index 0000000..798d780
--- /dev/null
+++ b/notes/Irisbond.txt
@@ -0,0 +1,50 @@
+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/descartes_capability_notes.md b/notes/descartes_capability_notes.md
index e599cee..297fb6f 100644
--- a/notes/descartes_capability_notes.md
+++ b/notes/descartes_capability_notes.md
@@ -4,7 +4,7 @@
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.
-* Only works in melodic (Possible portability to noetic, but crash on execution)
+* Works in melodic and noetic
## Examples
@@ -15,13 +15,13 @@ Alternative to get a solution in the form descartes + moveit, being descartes a
Terminal 1:
```bash
-roslaunch flexbotic_robots_iiwa iiwa_ikfast.launch
+mon launch cartesian_planner_descartes iiwa7.launch
```
Terminal 2:
```bash
-rosrun descartes_examples example_cartesian_manipulator.py
+rosrun cartesian_planner_descartes example_cartesian_manipulator.py
```
## OPW
--
GitLab