Initial commit

For_Ubuntu20_04.adoc

+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"

VS_Code_ROS/.gitignore

+.vscode/*
+!.vscode/settings.json
+!.vscode/tasks.json
+!.vscode/extensions.json
+!.vscode/launch.json
+!.vscode/c_cpp_properties.json

VS_Code_ROS/.vscode/c_cpp_properties.json

+{
+    "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

VS_Code_ROS/.vscode/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
+                    }
+                ]
+            }
+        ]
+}
\ No newline at end of file

VS_Code_ROS/.vscode/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": "$gcc",
+            "options": {
+				"cwd": "${workspaceFolder}/../../"
+			},
+            "group": {
+                "kind": "build",
+                "isDefault": true
+            },
+            "presentation": {
+                "reveal": "always",
+                "revealProblems": "onProblem",
+                "panel": "new"
+            }
+        }
+    ]
+}
\ No newline at end of file

VS_Code_ROS/LICENSE

+    
+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

VS_Code_ROS/hello_vs_code/CMakeLists.txt

+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)

VS_Code_ROS/hello_vs_code/package.xml

+<?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>

VS_Code_ROS/hello_vs_code/src/listener.cpp

+#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

VS_Code_ROS/hello_vs_code/src/listener2.cpp

+#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

VS_Code_ROS/hello_vs_code/src/talker.cpp

+#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