diff --git a/dockerfiles/melodic.Dockerfile b/dockerfiles/melodic.Dockerfile index 95d5199b519e91bc823de09c7bee30329fae2055..4cd3f35df01150d23381f04c3afc53b248c099e2 100644 --- a/dockerfiles/melodic.Dockerfile +++ b/dockerfiles/melodic.Dockerfile @@ -33,24 +33,26 @@ RUN apt-get update && apt-get -y install --no-install-recommends \ # ros-${ROS_DISTRO}-catkin \ ros-${ROS_DISTRO}-rosmon \ + ros-${ROS_DISTRO}-plotjuggler-ros \ python-catkin-tools \ python-numpy \ python-osrf-pycommon \ ipython # 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 \ +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" +# ARG USER_API_KEY_ARTIFACTS_TECNALIA +# RUN sh -c "echo \ +# 'deb https://${USER_API_KEY_ARTIFACTS_TECNALIA}@artifact.tecnalia.com/artifactory/tecnalia-robotics-debian xenial main' \ +# >> /etc/apt/sources.list.d/tecnalia.list" +COPY auth.conf /etc/apt/auth.conf.d/tecnalia.conf # Import the key in order to be able to use the packages from the repository RUN apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-keys 7E72C5B4111A50084C63C9489E7A9B1D990CF897 diff --git a/dockerfiles/noetic.Dockerfile b/dockerfiles/noetic.Dockerfile index 3e98908acdf2e4c2cb018251262239a9b10c5cb1..c710749362323250375e9ab06380fc5afa8d4513 100644 --- a/dockerfiles/noetic.Dockerfile +++ b/dockerfiles/noetic.Dockerfile @@ -24,6 +24,7 @@ RUN apt-get update && apt-get -y install --no-install-recommends \ # Install the https transport support package for The Artifactory debian repository git \ git-lfs \ + less \ nano \ clang-format \ direnv \ @@ -32,6 +33,8 @@ RUN apt-get update && apt-get -y install --no-install-recommends \ zsh \ # ros-${ROS_DISTRO}-catkin \ + ros-${ROS_DISTRO}-plotjuggler \ + ros-${ROS_DISTRO}-plotjuggler-ros \ ros-${ROS_DISTRO}-rosmon \ python3-catkin-tools \ python3-osrf-pycommon \ @@ -40,11 +43,22 @@ RUN apt-get update && apt-get -y install --no-install-recommends \ python-is-python3 \ ipython3 +# 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" +# ARG USER_API_KEY_ARTIFACTS_TECNALIA +# RUN sh -c "echo \ +# 'deb https://${USER_API_KEY_ARTIFACTS_TECNALIA}@artifact.tecnalia.com/artifactory/tecnalia-robotics-debian xenial main' \ +# >> /etc/apt/sources.list.d/tecnalia.list" +COPY auth.conf /etc/apt/auth.conf.d/tecnalia.conf # Import the key in order to be able to use the packages from the repository RUN apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-keys 7E72C5B4111A50084C63C9489E7A9B1D990CF897 @@ -56,13 +70,15 @@ RUN sh -c "echo 'yaml https://git.code.tecnalia.com/tecnalia_robotics-public/git # Ros WS dependencies RUN apt-get update && apt-get install -y \ - # Remodel app libceres-dev \ libcomedi-dev \ libglfw3-dev \ libmodbus-dev \ ros-${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-${ROS_DISTRO}-gmapping \ @@ -70,6 +86,8 @@ RUN apt-get update && apt-get install -y \ ros-${ROS_DISTRO}-hector-mapping \ ros-${ROS_DISTRO}-imu-complementary-filter \ ros-${ROS_DISTRO}-industrial-robot-simulator \ + ros-${ROS_DISTRO}-industrial-robot-status-controller \ + ros-${ROS_DISTRO}-industrial-robot-status-interface \ ros-${ROS_DISTRO}-joint-trajectory-controller \ ros-${ROS_DISTRO}-joy \ ros-${ROS_DISTRO}-map-server \ @@ -77,8 +95,10 @@ RUN apt-get update && apt-get install -y \ ros-${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-${ROS_DISTRO}-moveit-ros-visualization \ @@ -86,33 +106,28 @@ RUN apt-get update && apt-get install -y \ ros-${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}-spacenav-node \ - ros-${ROS_DISTRO}-teb-local-planner \ - ros-${ROS_DISTRO}-twist-mux \ - ros-${ROS_DISTRO}-ur-msgs \ - ros-${ROS_DISTRO}-velocity-controllers \ - # Smart3D - socat \ - ros-${ROS_DISTRO}-cartesian-trajectory-controller \ - ros-${ROS_DISTRO}-industrial-robot-status-controller \ - ros-${ROS_DISTRO}-industrial-robot-status-interface \ - ros-${ROS_DISTRO}-moveit-ros-benchmarks \ - ros-${ROS_DISTRO}-pass-through-controllers \ ros-${ROS_DISTRO}-scaled-joint-trajectory-controller \ + 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-${ROS_DISTRO}-warehouse-ros-mongo \ - # Odin_robot - ros-${ROS_DISTRO}-navigation \ - ros-${ROS_DISTRO}-ros-control \ - ros-${ROS_DISTRO}-ros-controllers + socat # Install pip3 and packages RUN apt-get install -y \ diff --git a/dotfiles/docker.bash b/dotfiles/docker.bash index 8ee26606a962f149edec5021e1beb945063b1755..0a88239b1bb1b1ea50b4d3307a88daf3da190340 100644 --- a/dotfiles/docker.bash +++ b/dotfiles/docker.bash @@ -11,7 +11,7 @@ alias dimp="docker image prune" # usage: rundock {noetic, melodic} [{remodel_ws, odin_ws}] [cmd] function rundock() { cd ~/ros/$1/$2; - rocker --home --user --nvidia --x11 --ssh --git --network host --privileged --name $1 devenv:$1 $3 + rocker --home --user --ssh --git --privileged --nvidia --x11 --volume /var/run/docker.sock:/var/run/docker.sock:ro --network host --name $1 devenv:$1 $3 } # Execute container, move to workspace, and source SHELL diff --git a/notes/ik_solvers.md b/notes/ik_solvers.md new file mode 100644 index 0000000000000000000000000000000000000000..c4175d9b43e04accf44eb56057596bde2b33847e --- /dev/null +++ b/notes/ik_solvers.md @@ -0,0 +1,14 @@ +# 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 (cpability) is not compatible with bio_ik