Update files

deploy_config/ISR.Dockerfile

+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

deploy_config/README.md

+# 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
+```

deploy_config/build_docker.bash

+#!/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

deploy_config/iiwa_state_recorder.ddeploy.yaml

+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 {} \;"

deploy_config/iiwa_state_recorder.rosinstall

+- 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
+

deploy_config/ros_entrypoint.sh

+#!/bin/bash
+set -e
+
+# setup ros environment
+# shellcheck source=/dev/null
+. "/opt/ros/${ROS_DISTRO}-extra/setup.bash"
+exec "$@"

dockerfiles/DevenvMelodic.Dockerfile

@@ -147,7 +147,6 @@ RUN apt-get install -y \
     python3-gi-cairo \
     python3-numpy \
     python3-pip \
-    python-pip \
     graphviz \
     xdot \
     ros-melodic-image-view \

dockerfiles/DevenvMelodicFlexbotics.Dockerfile

+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=

dotfiles/.gitconfig

@@ -7,4 +7,4 @@
 	name = Andres Montano
 	email = andres.montano@tecnalia.com
 [credential]
-	helper = "!f() { /home/andres/.vscode-server/bin/da76f93349a72022ca4670c1b84860304616aaa2/node /tmp/vscode-remote-containers-5a60cb1da759d14ee4cea752b3a5b9093efdb2c8.js $*; }; f"
+	helper = cache --timeout=3600

dotfiles/.zshrc

@@ -11,40 +11,13 @@ 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'
-
 # 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,
 # to know which specific one was loaded, run: echo $RANDOM_THEME
 # See https://github.com/ohmyzsh/ohmyzsh/wiki/Themes
-#ZSH_THEME="robbyrussell"
-#ZSH_THEME="avit"
-#ZSH_THEME="dst"
-#ZSH_THEME="bira"
-#ZSH_THEME="agnoster"
 ZSH_THEME="powerlevel10k/powerlevel10k"
 
 # Set up the prompt
-
 autoload -Uz promptinit
 promptinit
 prompt adam1
@@ -52,12 +25,6 @@ prompt adam1
 setopt histignorealldups # sharehistory
 setopt no_share_history
 
-# Set list of themes to pick from when loading at random
-# Setting this variable when ZSH_THEME=random will cause zsh to load
-# a theme from this variable instead of looking in $ZSH/themes/
-# If set to an empty array, this variable will have no effect.
-# ZSH_THEME_RANDOM_CANDIDATES=( "robbyrussell" "agnoster" )
-
 # Uncomment the following line to enable command auto-correction.
 ENABLE_CORRECTION="true"
 
@@ -80,7 +47,7 @@ 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=(sudo git last-working-dir zsh-syntax-highlighting globalias zsh-autosuggestions ) #history-substring-search  
+plugins=(zsh-syntax-highlighting sudo git last-working-dir globalias you-should-use zsh-autosuggestions history-substring-search)  
 
 source $ZSH/oh-my-zsh.sh
 
@@ -104,6 +71,7 @@ source ${HOME}/srcs/development_environment/dotfiles/system.bash
 
 eval "$(direnv hook zsh)"
 
+# Add fuzzy search app
 [ -f ~/.fzf.zsh ] && source ~/.fzf.zsh
 
 # To customize prompt, run `p10k configure` or edit ~/.p10k.zsh.
@@ -112,4 +80,3 @@ eval "$(direnv hook zsh)"
 # Finalize Powerlevel10k instant prompt. Should stay at the bottom of ~/.zshrc.
 (( ! ${+functions[p10k-instant-prompt-finalize]} )) || p10k-instant-prompt-finalize
 
-

dotfiles/docker.bash

 # Poining to pip venv
 # alias rocker="~/.venv/rocker/bin/rocker"
-alias ddeploy="~/.venv/ddeploy/bin/ddeploy"
+# alias ddeploy="~/.venv/ddeploy/bin/ddeploy"
 
 # docker common commands
 alias dim="docker images"
@@ -20,6 +20,10 @@ function dsr() {
 	docker stop $1;docker rm $1
 }
 
+function runremodel() {
+	rocker --x11 --nvidia --privileged --network=host --name remodel_docker --oyr-run-arg " -v iiwa_state_recorder:/home/remodel/iiwa_state_recorder -v /home/andres/test/remodel_shared:/home/remodel/remodel_shared" -- remodel_app:melodic bash -c "'roslaunch remodel_app remodel_app.launch use_sim:=true docker:=true skill_manager:=true collision_detector:=true ui:=true cad:=true joystick:=false'"
+}
+
 function rundoc() {
 	rocker --home --user --nvidia --pulse --x11 --ssh --git --volume /dev/video0:/dev/video0 --privileged --name melodic --network host devenv:melodic $1
 }
@@ -60,6 +64,10 @@ function datnoetic() {
 	docker exec -it noetic -c "cd ~/ros/noetic/$1 && $ext"
 }
 
+function datremodel() {
+	docker exec -it remodel_docker bash
+}
+
 function datkinetic() {
 	docker exec -it kinetic -c "cd ~/ros/kinetic/$1 && $ext"
 }

dotfiles/ros.bash

@@ -3,7 +3,7 @@
 ###################################################################
 
 # Define ROS_DISTRO before source ROS
-# if [ -z $ROS_DISTRO ]; then export ROS_DISTRO=noetic; fi
+if [ -z $ROS_DISTRO ]; then export ROS_DISTRO=noetic; fi
 
 # Determine shell extension
 if [ -z $SHELL ]; then echo "SHELL not set"; else ext=$(basename ${SHELL}); fi
@@ -55,15 +55,15 @@ function cib(){
 }
 
 # If terminal starts in a ws, auto source it (useful for vscode)
-#pwd_init=${PWD}
-#cropped=${PWD#${HOME}/ros/${ROS_DISTRO}/}
-#WS_name=${cropped%%/*}
-#WS_path=${HOME}/ros/${ROS_DISTRO}/${WS_name}
-#FILE=${WS_path}/devel/setup.${ext}
-#if [[ -f $FILE ]]; then
-#  cd ${WS_path}
-#  source $FILE
-#  cd ${pwd_init}
-#else
-#  source /opt/ros/${ROS_DISTRO}/setup.${ext}
-#fi
+pwd_init=${PWD}
+cropped=${PWD#${HOME}/ros/${ROS_DISTRO}/}
+WS_name=${cropped%%/*}
+WS_path=${HOME}/ros/${ROS_DISTRO}/${WS_name}
+FILE=${WS_path}/devel/setup.${ext}
+if [[ -f $FILE ]]; then
+  cd ${WS_path}
+  source $FILE
+  cd ${pwd_init}
+else
+  source /opt/ros/${ROS_DISTRO}/setup.${ext}
+fi

dotfiles/system.bash

@@ -16,6 +16,9 @@ then
 fi
 
 # Python
+if command -v ipython &> /dev/null
+then
     alias ipy='ipython'
+fi
 
 alias mountT='sudo mount -t cifs //tri.lan/tri /mnt/T --verbose -o username=110343,password=FarrukMontano\#8657,workgroup=TRI.LAN'

srcs_list.txt

+checkingplaneitor
+git@git.code.tecnalia.com:unai.antero/checkingplaneitor.git
+
 gdm-tools
 https://github.com/realmazharhussain/gdm-tools.git
 
@@ -19,8 +22,6 @@ https://github.com/emanuele-scarsella/vortex-ubuntu-plymouth-theme.git
 disk-usage-space
 https://github.com/anfemosa/disk-usage-space.git
 
-powerlevel10k
-
 roscon_2015
 https://github.com/ros-industrial-consortium/roscon_2015.git
 
@@ -38,3 +39,16 @@ 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