dockerfiles/devenv.Dockerfile

@@ -37,6 +37,7 @@ RUN apt-get update && \
     # ccmake
     cmake-curses-gui \
     direnv \
+    gawk \
     gdb \
     git \
     git-lfs \
@@ -54,26 +55,6 @@ RUN if [ "$EXT_SHELL" = "zsh" ]; \
         apt-get -y install zsh; \
     fi
 
-# Install extra libs from .deb files
-WORKDIR /tmp/srcs/
-COPY /extra_libs/* ./
-
-# Enviroment tools based on ubuntu version
-RUN if [ -f "common_libs.txt" ]; \
-    then \
-        grep -v '^#' common_libs.txt | xargs dpkg -i ;\
-    fi
-
-# Extra libs, e.g. vtk-7.1_20221201-1_amd64.deb
-RUN if [ -f "${ROS_DISTRO}_libs.txt" ]; \
-    then \
-        grep -v '^#' ${ROS_DISTRO}_libs.txt | xargs dpkg -i ;\
-    fi
-
-RUN rm -rf *
-
-RUN apt-get --reinstall install -y libnotify-bin notify-osd
-
 # Configure system to look for debian packages in the Artifactory repository
 COPY auth.conf /etc/apt/auth.conf.d/tecnalia.conf
 
@@ -106,6 +87,8 @@ RUN if [ "${ROS_DISTRO}" = "melodic"  ]; \
         python-osrf-pycommon\
         python-vcstool; \
     else\
+        if [ "${ROS_DISTRO}" = "noetic"  ]; \
+        then \
             apt-get update && \
             apt-get -y install \
             ipython3 \
@@ -117,6 +100,7 @@ RUN if [ "${ROS_DISTRO}" = "melodic"  ]; \
             python3-pip \
             # clang
             clangd liblldb-dev libllvm-ocaml-dev python3-clang; \
+        fi \
     fi
 
 # Install ROS 1 tools
@@ -149,8 +133,45 @@ RUN if [ -f "${ROS_DISTRO}_requirements.txt" ]; \
 
 RUN rm -rf *
 
+# Install extra libs from .deb files
+WORKDIR /tmp/srcs/
+COPY /extra_libs/* ./
+
+# Enviroment tools based on ubuntu version
+RUN if [ -f "common_libs.txt" ]; \
+    then \
+        grep -v '^#' common_libs.txt | xargs dpkg -i ;\
+    fi
+
+# Extra libs, e.g. vtk-7.1_20221201-1_amd64.deb
+RUN if [ -f "${ROS_DISTRO}_libs.txt" ]; \
+    then \
+        grep -v '^#' ${ROS_DISTRO}_libs.txt | xargs dpkg -i ;\
+    fi
+
+# Read the plugin list and copy the plugins to their destinations
+RUN if [ -f "${ROS_DISTRO}_plugins.txt" ]; \
+    then \
+        while IFS= read -r line; \
+        do \
+            echo "Processing line: $line"; \
+            if [[ "$line" == \#* ]]; \
+            then \
+                echo "Skipping ${line}"; \
+            else \
+                plugin_name=$(echo "$line" | awk '{print $1}'); \
+                destination=$(echo "$line" | awk '{print $2}'); \
+                echo "Coping ${plugin_name} into ${destination}"; \
+                mkdir -p "$destination" && cp -r "$plugin_name" "$destination/"; \
+            fi; \
+        done < ${ROS_DISTRO}_plugins.txt ; \
+    fi
+
+RUN rm -rf *
+RUN apt-get --reinstall install -y libnotify-bin notify-osd
+
 # Update this date to re-run the image final update
-LABEL image.date=23-10-2023
+LABEL image.date=25-10-2023
 
 # Update final image
 RUN apt-get update \

dockerfiles/extra_libs/humble_plugins.txt

+# list of files and destination folders
+librealsense_gazebo_plugin.so /usr/lib/x86_64-linux-gnu/gazebo-11/plugins

dotfiles/docker.bck

+# docker common commands
+export dockerfiles_DIR=~/srcs/development_environment/dockerfiles;
+
+alias dim="docker images"
+alias dpsa="docker ps -a"
+alias dps="docker ps"
+alias drm="docker rm"
+alias drmi="docker rmi"
+alias dsp="docker system prune --all"
+alias dimp="docker image prune"
+
+# Build docker image
+# usage: dockbuild {noetic, melodic}
+function dockbuild(){
+    if [ $# -lt 1 ]; then
+        echo "Usage: dockbuild <ROS_DISTRO> [build_args]"
+        echo "build_args:"
+        echo "      SHELL - zsh (default) or bash"
+        return 1
+    fi
+
+	cd $dockerfiles_DIR;
+
+    if [ $# -lt 2 ]; then
+        echo "Building ROS_DISTRO:"$1 "with SHELL_VERISON: zsh"
+        docker build -t devenv:$1 --build-arg ROS_DISTRO=$1 --build-arg SHELL="zsh" -f devenv.Dockerfile .
+    else
+        if [ $2 = "bash" ]; then
+            echo "Building ROS_DISTRO:"$1 "with SHELL_VERISON:"$2
+            docker build -t devenv:$1 --build-arg ROS_DISTRO=$1 --build-arg SHELL=$2 -f devenv.Dockerfile .
+        else
+            echo "SHELL_VERISON:"$2 "not supported"
+        fi
+    fi
+}
+
+# Run container with rocker
+# usage: rundock {noetic, melodic} [{remodel_ws, odin_ws}] [cmd]
+# ToDo Add extra parameters by arg
+# To share docker --volume /var/run/docker.sock:/var/run/docker.sock:ro
+# To share video (usb-cam) --volume /dev/video0:/dev/video0
+function dockrun() {
+    # Check if the image exist
+    if [[ "$(docker images -q devenv:$1 2> /dev/null)" == "" ]]; then
+        # build the image
+        dockbuild $1
+    fi
+
+    # Check if the container exist
+    if [[ $(docker ps -aq -f name=$1) ]]; then
+        # Attach to conayiner
+        docker exec -it $1 bash -c "cd ~/ros/$1/$2 && $ext"
+    else
+        # Launch container
+        cd ~/ros/$1/$2;
+        rocker --home --ssh --git --user --privileged --nvidia --x11 --network host --name $1 devenv:$1 $3
+    fi
+}
+
+# Remove all stoped containers
+function drma() {
+	drm $(docker ps -a -f status=exited -q)
+}
+
+
+# Remove all unused or dangling immages
+function drmui(){
+	drmi $(dim --filter "dangling=true" -q --no-trunc)
+}
+
+# Stop and remove
+function dsr() {
+	docker stop $1;
+	docker rm $1
+}
+
+# function runpythonsyntax(){
+# 	rocker --home --name python_syntax tecnalia-docker-dev.artifact.tecnalia.com/docker:git
+# }
+
+# 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 docrun() {
+# 	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 $1
+# }
+
+#DOCKER
+alias dexec='f(){ docker exec -w /root/ --detach-keys="ctrl-@" -e DISPLAY=$DISPLAY -it $1  /bin/bash -c "terminator --no-dbus";  unset -f f; }; f'
+alias dexec_nt='f(){ docker exec --detach-keys="ctrl-@" -e DISPLAY=$DISPLAY -it $1  /bin/bash ;  unset -f f; }; f'
+alias dstart='f(){ docker start $1; dexec $1;  unset -f f; }; f'
+# Run using same X and .ssh folder
+alias drun='f(){ docker run -it -e DISPLAY=$DISPLAY --detach-keys="ctrl-@" -v /tmp/.X11-unix:/tmp/.X11-unix -v ~/.ssh:/root/.ssh:ro -v ~/docker_share/:/root/docker_share/ --net=host --name $2 $1; unset -f f; }; f'
+alias drun_nvidia='f(){ docker run -it --name $2 --privileged \
+    --net=host \
+    --env=NVIDIA_VISIBLE_DEVICES=all \
+    --env=NVIDIA_DRIVER_CAPABILITIES=all \
+    --env=DISPLAY \
+    --env=QT_X11_NO_MITSHM=1 \
+    -v /tmp/.X11-unix:/tmp/.X11-unix \
+    --gpus all \
+    --device /dev/snd \
+    -e NVIDIA_VISIBLE_DEVICES=0 \
+    --detach-keys="ctrl-@" \
+    -v ~/.ssh:/root/.ssh:ro \
+    -v ~/docker_share/:/root/docker_share/ \
+    $1 /bin/bash; unset -f f; }; f'

dotfiles/docker.sh

@@ -9,11 +9,22 @@ alias drmi="docker rmi"
 alias dsp="docker system prune --all"
 alias dimp="docker image prune"
 
+# Determine shell extension
+if [ -z $SHELL ]; then
+    echo "SHELL not set"
+    export SHELL=/usr/bin/zsh
+    ext=$(basename ${SHELL});
+else
+    ext=$(basename ${SHELL});
+fi
+
 # Build docker image
 # usage: dockbuild {noetic, melodic}
 function dockbuild(){
     if [ $# -lt 1 ]; then
         echo "Usage: dockbuild <ROS_DISTRO> [build_args]"
+        echo "ROS_DISTRO:"
+        echo "      melodic, noetic, humble, etc."
         echo "build_args:"
         echo "      EXT_SHELL - zsh (default) or bash"
         return 1
@@ -39,7 +50,23 @@ function dockbuild(){
 # ToDo Add extra parameters by arg
 # To share docker --volume /var/run/docker.sock:/var/run/docker.sock:ro
 # To share video (usb-cam) --volume /dev/video0:/dev/video0
+# To share pcan --volume /dev/pcanusb32:/dev/pcanusb32
 function dockrun() {
+    if [ $# -lt 1 ]; then
+        echo "Usage: dockrun <ROS_DISTRO> [posicional options]"
+        echo "ROS_DISTRO:"
+        echo "      melodic, noetic, humble, etc."
+        echo "Options:"
+        echo "      Passing 1 option   --> path_to_workspace. E.g., dockrun humble mairon_ws"
+        echo "      Passing 2 options  --> path_to_workspace + extra_config. E.g., dockrun humble mairon_ws video"
+        echo "          extra_config: pcan, video, pcan_video"
+        echo "Examples:"
+        echo "dockrun humble mairon_ws"
+        echo "dockrun noetic neurondones_ws pcan_video"
+        echo "dockrun melodic odinrobot_ws video"
+        return 1
+    fi
+
     # Check if the image exist
     if [[ "$(docker images -q devenv:$1 2> /dev/null)" == "" ]]; then
         # build the image
@@ -48,12 +75,55 @@ function dockrun() {
 
     # Check if the container exist
     if [[ $(docker ps -aq -f name=$1) ]]; then
-        # Attach to conayiner
+        # Attach to container
+        if [ $# -lt 2 ]; then
+            docker exec -it $1 bash -c "cd ~/ros/$1 && $ext"
+        else
             docker exec -it $1 bash -c "cd ~/ros/$1/$2 && $ext"
+        fi
     else
         # Launch container
         cd ~/ros/$1/$2;
-        rocker --home --ssh --git --user --privileged --nvidia --x11 --network host --name $1 devenv:$1 $3
+
+        if [ $# -lt 4 ]; then
+            rocker --home --ssh --git --user --privileged --nvidia --x11 --network host --name $1 devenv:$1
+        else
+            if [ $3 = "pcan" ]; then
+                rocker --home --ssh --git --user --privileged --nvidia --x11 --volume /dev/pcanusb32:/dev/pcanusb32 --network host --name $1 devenv:$1
+            else
+            fi
+        fi
+    fi
+}
+
+function dockexec() {
+    if [ $# -lt 1 ]; then
+        echo "Usage: dockexec <ROS_DISTRO> [workspace] [command]"
+        echo "ROS_DISTRO:"
+        echo "      melodic, noetic, humble, etc."
+        echo "Example:"
+        echo "dockexec noetic neurondones_ws roscore"
+        return 1
+    fi
+
+    # Check if the image exist
+    if [[ "$(docker images -q devenv:$1 2> /dev/null)" == "" ]]; then
+        # build the image
+        echo "Docker image for ${1} does not exist"
+        return 1
+    fi
+
+    # Check if the container exist
+    if [[ $(docker ps -aq -f name=$1) ]]; then
+        # Attach to container
+        if [ $# -lt 2 ]; then
+            docker exec -it $1 bash -c "cd ~/ros/$1 && $ext"
+        else
+            docker exec -it $1 bash -c "cd ~/ros/$1/$2 && $ext"
+        fi
+    else
+        # Launch container
+        echo "Container for ${1} does not exist"
     fi
 }
 

dotfiles/ros.bck

+###################################################################
+# ROS aliases and functions
+###################################################################
+
+# Define ROS_DISTRO before source ROS on native OS
+# if [ -z $ROS_DISTRO ]; then export ROS_DISTRO=noetic; fi
+if [[ -z "${ROS_DISTRO}" ]]; then
+    ROS_DIR=/opt/ros
+    if [ -d "$ROS_DIR" ];
+    then
+        export ROS_DISTRO=$(basename $(find /opt/ros/* -maxdepth 0 -type d | head -1))
+    else
+        unset ROS_DISTRO
+    fi
+fi
+
+# Determine shell extension
+if [ -z $SHELL ]; then echo "SHELL not set"; else ext=$(basename ${SHELL}); fi
+
+# Source rosmon
+function smon(){
+    if [[ -f "/opt/ros/${ROS_DISTRO}/etc/catkin/profile.d/50-rosmon.${ext}" ]]; then
+        source /opt/ros/${ROS_DISTRO}/etc/catkin/profile.d/50-rosmon.${ext}
+    fi
+}
+
+# cd to the root of the workspace
+function roshome(){
+    roscd && cd ..
+    ROS_HOME=${PWD}
+}
+
+# Source the current workspace
+function sourcews(){
+    source ./devel/setup.${ext} && smon
+}
+
+# Source the current workspace
+function sourceros(){
+    source /opt/ros/${ROS_DISTRO}/setup.${ext} && smon
+    ROS_HOME="/opt/ros/${ROS_DISTRO}/"
+}
+
+# Source the current workspace
+function sourcethis(){
+    pwd_st=${PWD}
+    roshome && sourcews
+    echo "Sourcing: ${ROS_HOME}"
+    cd ${pwd_st}
+}
+
+# Automatic catkin build
+function cb() {
+    pwd_cb=${PWD}
+    roshome
+    catkin build --summarize --cmake-args -DCMAKE_BUILD_TYPE=Release -- "$@"
+    sourcethis
+    cd ${pwd_cb}
+}
+
+# Clean workspace (delete the generated folders, then catkin build)
+function cbclean(){
+    roshome && rm -rf build devel install && catkin build --summarize --cmake-args -DCMAKE_BUILD_TYPE=Release
+}
+
+# Initialize catkin workspace, configure and build it
+function cib(){
+    catkin init && catkin config --extend /opt/ros/${ROS_DISTRO} && catkin build --summarize --cmake-args -DCMAKE_BUILD_TYPE=Release
+}
+
+# Run ci locally
+function runci(){
+    # check if exist .rosinstall file
+    if [ -f ./.rosinstall ]; then
+        echo ".rosinstall in package"
+        find ../ -name run_ci -exec bash {} ROS_DISTRO="$@" DOCKER_IMAGE=tecnalia-robotics-docker.artifact.tecnalia.com/flexbotics-base-devel:"$@" UPSTREAM_WORKSPACE=.rosinstall \;
+    else
+        echo "No .rosinstall in package"
+        find ../ -name run_ci -exec bash {} ROS_DISTRO="$@" DOCKER_IMAGE=tecnalia-robotics-docker.artifact.tecnalia.com/flexbotics-base-devel:"$@" \;
+    fi
+}
+
+# if a new terminal starts in a ws, auto source it (useful for vscode)
+if [ -z ${ROS_DISTRO+x} ]; then ;
+else
+    pwd_init=${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 PWD belongs to ROS ws then source it
+    if [[ -f $FILE ]]; then
+        cd ${WS_path}
+        source $FILE
+        cd ${pwd_init}
+        ROS_HOME=${WS_path}
+    else
+        sourceros
+    fi
+fi
+
+alias sc=sourcethis
\ No newline at end of file

dotfiles/ros.sh

@@ -88,7 +88,7 @@ function cbclean(){
     then
         roshome && rm -rf build devel install && catkin build --summarize --cmake-args -DCMAKE_BUILD_TYPE=Release
     else
-        rm -rf build devel install && cb
+        rm -rf build log install && cb "$@"
     fi
 }
 

dotfiles/sysem.bck

+# Determine shell extension
+if [ -z $SHELL ]; then
+    echo "SHELL not set"
+    export SHELL=/usr/bin/zsh
+    ext=$(basename ${SHELL});
+else
+    ext=$(basename ${SHELL});
+fi
+
+if command -v lsd &> /dev/null
+then
+    # Directories
+    alias ll='lsd -lh --group-dirs=first'
+    alias la='lsd -a --group-dirs=first'
+    alias l='lsd --group-dirs=first'
+    alias lla='lsd -lha --group-dirs=first'
+    alias ls='lsd --group-dirs=first'
+else
+    alias ll='ls -lh'
+    alias la='ls -a'
+    alias l='ls'
+    alias lla='ls -lha'
+    alias ls='ls'
+fi
+
+if command -v bat &> /dev/null
+then
+    # Files
+    alias cat='bat'
+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=Bageera\#1983,workgroup=TRI.LAN'

dotfiles/zshrc.bck

+# Enable Powerlevel10k instant prompt. Should stay close to the top of ~/.zshrc.
+# Initialization code that may require console input (password prompts, [y/n]
+# confirmations, etc.) must go above this block; everything else may go below.
+if [[ -r "${XDG_CACHE_HOME:-$HOME/.cache}/p10k-instant-prompt-${(%):-%n}.zsh" ]]; then
+  source "${XDG_CACHE_HOME:-$HOME/.cache}/p10k-instant-prompt-${(%):-%n}.zsh"
+fi
+
+#zmodload zsh/zprof
+
+# If you come from bash you might have to change your $PATH.
+# export PATH=$HOME/bin:/usr/local/bin:$PATH
+
+# Path to your oh-my-zsh installation.
+export ZSH=~/.oh-my-zsh
+
+# Uncomment the following line to display red dots whilst waiting for completion.
+COMPLETION_WAITING_DOTS="true"
+
+source "$HOME/.homesick/repos/homeshick/homeshick.sh"
+fpath=($HOME/.homesick/repos/homeshick/completions $fpath)
+
+source ~/antigen.zsh
+antigen use oh-my-zsh
+
+antigen theme romkatv/powerlevel10k
+
+antigen bundle docker
+antigen bundle git
+antigen bundle globalias
+antigen bundle last-working-dir
+antigen bundle sudo
+antigen bundle zsh-users/zsh-history-substring-search
+antigen bundle zsh-users/zsh-syntax-highlighting
+antigen bundle wfxr/forgit
+antigen bundle paulirish/git-open
+antigen bundle popstas/zsh-command-time
+antigen bundle MichaelAquilina/zsh-auto-notify
+antigen bundle MichaelAquilina/zsh-you-should-use
+antigen bundle zsh-users/zsh-autosuggestions
+
+antigen apply
+
+#ZSH_AUTOSUGGEST_HIGHLIGHT_STYLE='fg=0'
+
+# command-line fuzzy finder
+[ -f ~/.fzf.zsh ] && source ~/.fzf.zsh
+
+source $HOME/.init_shell
+
+if [ -f ~/.bash_aliases ]; then
+    . ~/.bash_aliases
+fi
+
+#zprof
+
+export FZF_DEFAULT_COMMAND='rg --files --hidden --follow --no-ignore-vcs'
+export FZF_CTRL_T_COMMAND="$FZF_DEFAULT_COMMAND"
+#export FZF_ALT_C_COMMAND="fd -t d --hidden --follow --exclude \".git\" . $HOME"
+export FZF_ALT_C_COMMAND="fd -t d --hidden --follow --exclude \".git\" ."
+
+# Create a cache folder if it isn't exists
+if [ ! -d "$HOME/.cache/zsh" ]; then
+    mkdir -p $HOME/.cache/zsh
+fi
+
+# Define a custom file for compdump
+export ZSH_COMPDUMP="$HOME/.cache/zsh/zcompdump-$HOST-$ZSH_VERSION"
+
+# User configuration
+
+export EDITOR="code -r"
+
+# Include dotfiles
+source ${HOME}/srcs/development_environment/dotfiles/system.bash
+source ${HOME}/srcs/development_environment/dotfiles/git.bash
+source ${HOME}/srcs/development_environment/dotfiles/docker.bash
+source ${HOME}/srcs/development_environment/dotfiles/ros.bash
+
+# To add direnv app
+# eval "$(direnv hook zsh)"
+
+# To customize prompt, run `p10k configure` or edit ~/.p10k.zsh.
+[[ ! -f ~/.p10k.zsh ]] || source ~/.p10k.zsh
+
+# Finalize Powerlevel10k instant prompt. Should stay at the bottom of ~/.zshrc.
+(( ! ${+functions[p10k-instant-prompt-finalize]} )) || p10k-instant-prompt-finalize