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Commit f072f3dc authored by Montaño Sarria, Andres Felipe's avatar Montaño Sarria, Andres Felipe
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Single dockerfile for noetic and melodic

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dockerfiles/devenv.Dockerfile 0 → 100644
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View file @ f072f3dc
ARG ROS_DISTRO
FROM osrf/ros:${ROS_DISTRO}-desktop-full
RUN echo "Building devenv for ROS" $ROS_DISTRO
# Avoid warnings by switching to noninteractive
ENV DEBIAN_FRONTEND=noninteractive
# Setup environment
RUN apt-get update && apt-get install -y \
locales \
&& sed -i '/en_US.UTF-8/s/^# //g' /etc/locale.gen && locale-gen en_US.UTF-8
ENV LANG en_US.UTF-8
ENV LANGUAGE en_US:en
ENV LC_ALL en_US.UTF-8
# Configure apt and install packages
RUN apt-get update && apt-get -y install --no-install-recommends \
apt-transport-https \
ca-certificates \
curl \
gnupg-agent \
software-properties-common \
apt-utils dialog 2>&1 \
# Verify if git, process tools, lsb-release (common in install instructions for CLIs) are installed
# Install the https transport support package for The Artifactory debian repository
clang-format \
direnv \
git \
git-lfs \
less \
nano \
openssh-client \
terminator \
xterm \
zsh \
#
ros-${ROS_DISTRO}-catkin \
ros-${ROS_DISTRO}-plotjuggler \
ros-${ROS_DISTRO}-plotjuggler-ros \
ros-${ROS_DISTRO}-rosmon \
ros-${ROS_DISTRO}-rqt-controller-manager \
ros-${ROS_DISTRO}-rqt-joint-trajectory-controller
RUN if [ "${ROS_DISTRO}" = "noetic" ]; \
then \
apt-get -y install \
ipython3 \
python-is-python3 \
python3-catkin-tools \
python3-click \
python3-numpy \
python3-osrf-pycommon; \
elif [ "${ROS_DISTRO}" = "melodic" ]; \
then \
apt-get -y install \
ipython \
python-catkin-tools \
python-pip \
python-osrf-pycommon; \
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 $(lsb_release -cs) stable"
# RUN apt-get update && apt-get -y install \
# docker-ce \
# docker-ce-cli \
# containerd.io \
# docker-compose-plugin
# Install pip3 and packages
RUN apt-get install -y \
python3-pip \
&& pip3 install sqlite_utils
# Install node for UIs
RUN curl -sL https://deb.nodesource.com/setup_14.x | sudo -E bash \
&& apt-get install -y nodejs && npm -g install yarn
# ROS WS dependencies
RUN apt-get update && apt-get install -y \
libceres-dev \
libcomedi-dev \
libglfw3-dev \
libmodbus-dev \
python-numpy \
socat \
# ROS Distro packages
ros-${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-${ROS_DISTRO}-warehouse-ros-mongo
RUN if [ "${ROS_DISTRO}" = "noetic" ]; \
then \
apt-get -y install \
ipython3 \
python-is-python3 \
python3-catkin-tools \
python3-click \
python3-numpy \
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
# Update this date to re-run the image final update
LABEL image.date=01-12-2022
# 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 ROS_DISTRO "${ROS_DISTRO}"
ENV SHELL /usr/bin/zsh
ENV RUNNING_IN_DOCKER true
# Switch back to dialog for any ad-hoc use of apt-get
ENV DEBIAN_FRONTEND=
\ No newline at end of file
dockerfiles/melodic.Dockerfile → dockerfiles/other/melodic.Dockerfile
+ 16
− 9
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...@@ -25,26 +25,33 @@ RUN apt-get update && apt-get -y install --no-install-recommends \ ...@@ -25,26 +25,33 @@ RUN apt-get update && apt-get -y install --no-install-recommends \
git \ git \
git-lfs \ git-lfs \
nano \ nano \
less \
clang-format \ clang-format \
direnv \ direnv \
xterm \ xterm \
terminator \ terminator \
zsh \ zsh \
# #
ros-${ROS_DISTRO}-catkin \ ipython \
ros-${ROS_DISTRO}-rosmon \
ros-${ROS_DISTRO}-plotjuggler-ros \
python-catkin-tools \ python-catkin-tools \
python-numpy \ python-numpy \
python-osrf-pycommon \ python-osrf-pycommon \
ipython 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 # Install docker-ce
RUN curl -fsSL https://download.docker.com/linux/ubuntu/gpg | apt-key add - # RUN curl -fsSL https://download.docker.com/linux/ubuntu/gpg | apt-key add -
RUN add-apt-repository \ # RUN add-apt-repository \
"deb [arch=amd64] https://download.docker.com/linux/ubuntu $(lsb_release -cs) stable" # "deb [arch=amd64] https://download.docker.com/linux/ubuntu $(lsb_release -cs) stable"
RUN apt-get update && apt-get -y install --no-install-recommends \ # RUN apt-get update && apt-get -y install --no-install-recommends \
docker-ce-cli # docker-ce \
# docker-ce-cli \
# containerd.io \
# docker-compose-plugin
# && rm -rf /var/lib/apt/lists/* # && rm -rf /var/lib/apt/lists/*
# Configure system to look for debian packages in the Artifactory repository # Configure system to look for debian packages in the Artifactory repository
......
dockerfiles/noetic.Dockerfile → dockerfiles/other/noetic.Dockerfile
+ 23
− 17
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...@@ -32,26 +32,28 @@ RUN apt-get update && apt-get -y install --no-install-recommends \ ...@@ -32,26 +32,28 @@ RUN apt-get update && apt-get -y install --no-install-recommends \
terminator \ terminator \
zsh \ zsh \
# #
ipython3 \
python-is-python3 \
python3-catkin-tools \
python3-click \
python3-numpy \
python3-osrf-pycommon \
ros-${ROS_DISTRO}-catkin \ ros-${ROS_DISTRO}-catkin \
ros-${ROS_DISTRO}-plotjuggler \ ros-${ROS_DISTRO}-plotjuggler \
ros-${ROS_DISTRO}-plotjuggler-ros \ ros-${ROS_DISTRO}-plotjuggler-ros \
ros-${ROS_DISTRO}-rosmon \ ros-${ROS_DISTRO}-rosmon \
python3-catkin-tools \ ros-${ROS_DISTRO}-rqt-controller-manager \
python3-osrf-pycommon \ ros-${ROS_DISTRO}-rqt-joint-trajectory-controller
python3-numpy \
python3-click \
python-is-python3 \
ipython3
# Install docker-ce # Install docker-ce
RUN curl -fsSL https://download.docker.com/linux/ubuntu/gpg | apt-key add - # RUN curl -fsSL https://download.docker.com/linux/ubuntu/gpg | apt-key add -
RUN add-apt-repository \ # RUN add-apt-repository \
"deb [arch=amd64] https://download.docker.com/linux/ubuntu $(lsb_release -cs) stable" # "deb [arch=amd64] https://download.docker.com/linux/ubuntu $(lsb_release -cs) stable"
RUN apt-get update && apt-get -y install \ # RUN apt-get update && apt-get -y install \
docker-ce \ # docker-ce \
docker-ce-cli \ # docker-ce-cli \
containerd.io \ # containerd.io \
docker-compose-plugin # docker-compose-plugin
# Configure system to look for debian packages in the Artifactory repository # Configure system to look for debian packages in the Artifactory repository
# ARG USER_API_KEY_ARTIFACTS_TECNALIA # ARG USER_API_KEY_ARTIFACTS_TECNALIA
...@@ -74,6 +76,7 @@ RUN apt-get update && apt-get install -y \ ...@@ -74,6 +76,7 @@ RUN apt-get update && apt-get install -y \
libcomedi-dev \ libcomedi-dev \
libglfw3-dev \ libglfw3-dev \
libmodbus-dev \ libmodbus-dev \
python-numpy \
ros-${ROS_DISTRO}-ackermann-msgs \ ros-${ROS_DISTRO}-ackermann-msgs \
ros-${ROS_DISTRO}-amcl \ ros-${ROS_DISTRO}-amcl \
ros-${ROS_DISTRO}-cartesian-trajectory-controller \ ros-${ROS_DISTRO}-cartesian-trajectory-controller \
...@@ -85,11 +88,15 @@ RUN apt-get update && apt-get install -y \ ...@@ -85,11 +88,15 @@ RUN apt-get update && apt-get install -y \
ros-${ROS_DISTRO}-hector-gazebo-plugins \ ros-${ROS_DISTRO}-hector-gazebo-plugins \
ros-${ROS_DISTRO}-hector-mapping \ ros-${ROS_DISTRO}-hector-mapping \
ros-${ROS_DISTRO}-imu-complementary-filter \ ros-${ROS_DISTRO}-imu-complementary-filter \
ros-${ROS_DISTRO}-imu-tools \
ros-${ROS_DISTRO}-industrial-core \
ros-${ROS_DISTRO}-industrial-robot-simulator \ ros-${ROS_DISTRO}-industrial-robot-simulator \
ros-${ROS_DISTRO}-industrial-robot-status-controller \ ros-${ROS_DISTRO}-industrial-robot-status-controller \
ros-${ROS_DISTRO}-industrial-robot-status-interface \ ros-${ROS_DISTRO}-industrial-robot-status-interface \
ros-${ROS_DISTRO}-interactive-marker-twist-server \
ros-${ROS_DISTRO}-joint-trajectory-controller \ ros-${ROS_DISTRO}-joint-trajectory-controller \
ros-${ROS_DISTRO}-joy \ ros-${ROS_DISTRO}-joy \
ros-${ROS_DISTRO}-lms1xx \
ros-${ROS_DISTRO}-map-server \ ros-${ROS_DISTRO}-map-server \
ros-${ROS_DISTRO}-mavros-msgs \ ros-${ROS_DISTRO}-mavros-msgs \
ros-${ROS_DISTRO}-move-base \ ros-${ROS_DISTRO}-move-base \
...@@ -116,6 +123,7 @@ RUN apt-get update && apt-get install -y \ ...@@ -116,6 +123,7 @@ RUN apt-get update && apt-get install -y \
ros-${ROS_DISTRO}-ros-controllers \ ros-${ROS_DISTRO}-ros-controllers \
ros-${ROS_DISTRO}-rosbridge-server \ ros-${ROS_DISTRO}-rosbridge-server \
ros-${ROS_DISTRO}-scaled-joint-trajectory-controller \ ros-${ROS_DISTRO}-scaled-joint-trajectory-controller \
ros-${ROS_DISTRO}-serial \
ros-${ROS_DISTRO}-spacenav-node \ ros-${ROS_DISTRO}-spacenav-node \
ros-${ROS_DISTRO}-speed-scaling-interface \ ros-${ROS_DISTRO}-speed-scaling-interface \
ros-${ROS_DISTRO}-speed-scaling-state-controller \ ros-${ROS_DISTRO}-speed-scaling-state-controller \
...@@ -140,9 +148,7 @@ RUN curl -sL https://deb.nodesource.com/setup_14.x | sudo -E bash \ ...@@ -140,9 +148,7 @@ RUN curl -sL https://deb.nodesource.com/setup_14.x | sudo -E bash \
# Update final image # Update final image
RUN apt-get update \ RUN apt-get update \
&& apt-get -y upgrade \ && apt-get -y upgrade
&& apt-get clean \
&& rm -rf /var/lib/apt/lists/*
# Set entrypoint # Set entrypoint
COPY ./ros_entrypoint.sh / COPY ./ros_entrypoint.sh /
......
dotfiles/.gitconfig
+ 1
− 1
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...@@ -7,4 +7,4 @@ ...@@ -7,4 +7,4 @@
name = Andres Montano name = Andres Montano
email = andres.montano@tecnalia.com email = andres.montano@tecnalia.com
[credential] [credential]
helper = cache --timeout=3600 helper = "!f() { /home/andres/.vscode-server/bin/6261075646f055b99068d3688932416f2346dd3b/node /tmp/vscode-remote-containers-3d8c92443114dbc6ada6ba17c8fe7a517dcf20fc.js $*; }; f"
dotfiles/docker.bash
+ 3
− 2
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...@@ -9,9 +9,10 @@ alias dimp="docker image prune" ...@@ -9,9 +9,10 @@ alias dimp="docker image prune"
# Run container with rocker # Run container with rocker
# usage: rundock {noetic, melodic} [{remodel_ws, odin_ws}] [cmd] # usage: rundock {noetic, melodic} [{remodel_ws, odin_ws}] [cmd]
# To share docker --volume /var/run/docker.sock:/var/run/docker.sock:ro
function rundock() { function rundock() {
cd ~/ros/$1/$2; cd ~/ros/$1/$2;
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 rocker --home --ssh --git --user --nvidia --x11 --network host --name $1 devenv:$1 $3
} }
# Execute container, move to workspace, and source SHELL # Execute container, move to workspace, and source SHELL
...@@ -40,7 +41,7 @@ function drmui(){ ...@@ -40,7 +41,7 @@ function drmui(){
# usage: dockbuild {noetic, melodic} # usage: dockbuild {noetic, melodic}
function dockbuild(){ function dockbuild(){
cd ~/srcs/development_environment/dockerfiles; cd ~/srcs/development_environment/dockerfiles;
docker build -t devenv:$1 --build-arg USER_API_KEY_ARTIFACTS_TECNALIA="$(cat ~/.ssh/user_api_key_artifacts_tecnalia)" -f $1.Dockerfile . docker build -t devenv:$1 --build-arg ROS_DISTRO=$1 -f devenv.Dockerfile .
} }
# function runpythonsyntax(){ # function runpythonsyntax(){
......
dotfiles/ros.bash
+ 6
− 6
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...@@ -40,7 +40,7 @@ function sourceros(){ ...@@ -40,7 +40,7 @@ function sourceros(){
# Source the current workspace # Source the current workspace
function sourcethis(){ function sourcethis(){
pwd_st=${PWD} pwd_st=${PWD}
roshome && source ./devel/setup.${ext} && smon roshome && sourcews
cd ${pwd_st} cd ${pwd_st}
} }
...@@ -58,16 +58,16 @@ function cbclean(){ ...@@ -58,16 +58,16 @@ function cbclean(){
roshome && rm -rf build devel install && catkin build --summarize --cmake-args -DCMAKE_BUILD_TYPE=Release roshome && rm -rf build devel install && catkin build --summarize --cmake-args -DCMAKE_BUILD_TYPE=Release
} }
# Initialize catkin workspace, configure and build it
function cib(){
catkin init && catkin config --extend /opt/ros/${ROS_DISTRO} && catkin build --summarize --cmake-args -DCMAKE_BUILD_TYPE=Release
}
# Run ci locally # Run ci locally
function runci(){ function runci(){
rosrun industrial_ci run_ci ROS_DISTRO="$@" DOCKER_IMAGE=tecnalia-robotics-docker.artifact.tecnalia.com/flexbotics-base-devel:"$@" rosrun industrial_ci run_ci ROS_DISTRO="$@" DOCKER_IMAGE=tecnalia-robotics-docker.artifact.tecnalia.com/flexbotics-base-devel:"$@"
} }
# Initialize catkin workspace, configure and build it
function cib(){
catkin init && catkin config --extend /opt/ros/${ROS_DISTRO} && catkin build --summarize
}
# If terminal starts in a ws, auto source it (useful for vscode) # If terminal starts in a ws, auto source it (useful for vscode)
if [ -z ${ROS_DISTRO+x} ]; then ; if [ -z ${ROS_DISTRO+x} ]; then ;
else else
......
notes/IK Plugin MoveIt.md 0 → 100644
+ 23
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# 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>
notes/ik_solvers.md
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− 0
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...@@ -12,3 +12,28 @@ ...@@ -12,3 +12,28 @@
ur_kinematics/UR16eKinematicsPlugin ERROR ur_kinematics/UR16eKinematicsPlugin ERROR
descartes (cpability) is not compatible with bio_ik descartes (cpability) 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>
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, ...). The 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>
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