Separate dev (#17)

* work towards cyclone

* ignore stuff in .local

* install all

* disable PR build for arm

* set up ros better

.devcontainer/Dockerfile

@@ -5,6 +5,9 @@ ENV DEBIAN_FRONTEND=noninteractive
 RUN useradd -ms /bin/bash ros && echo "ros:ros" | chpasswd && adduser ros sudo
 RUN adduser ros video
 # Builder dependencies installation
+
+RUN echo "deb [trusted=yes] https://download.eclipse.org/zenoh/debian-repo/ /" | tee -a /etc/apt/sources.list
+
 RUN apt-get update \
     && apt-get install -qq -y --no-install-recommends \
     build-essential \
@@ -51,8 +54,16 @@ RUN apt-get update \
     libssl-dev \
     python3-sphinx \
     libyaml-cpp-dev \
+    sudo \
+    ros-humble-cyclonedds \
+    ros-humble-zenoh-bridge-dds \
+    llvm-dev libclang-dev \
+    python3-rosdep \
     && rm -rf /var/lib/apt/lists/*
 
+# add sudo without password
+RUN echo "ALL ALL=(ALL) NOPASSWD: ALL" >> /etc/sudoers
+
 RUN git clone https://github.com/YDLIDAR/YDLidar-SDK.git &&\
     mkdir -p YDLidar-SDK/build && \
     cd YDLidar-SDK/build &&\
@@ -86,12 +97,23 @@ RUN git clone https://github.com/libuvc/libuvc.git &&\
     sudo ldconfig  &&\
     cd ../.. && rm -r libuvc*
 
+
+RUN mkdir -p /opt/lcas/extensions 
+WORKDIR /opt/lcas/extensions 
+RUN curl --proto '=https' --tlsv1.2 -sSf https://sh.rustup.rs | sh -s -- -y 
+RUN git clone https://github.com/eclipse-zenoh/zenoh-plugin-ros2dds.git
+WORKDIR /opt/lcas/extensions/zenoh-plugin-ros2dds
+RUN bash -c "source '$HOME/.cargo/env'; cargo build --release -p zenoh-bridge-ros2dds"
+RUN install target/release/zenoh-bridge-ros2dds /usr/local/bin/
+WORKDIR /
+
 ENV NVIDIA_VISIBLE_DEVICES all
 ENV NVIDIA_DRIVER_CAPABILITIES graphics,utility,compute
 ENV RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
 
 COPY *repos *.sh /tmp/.devcontainer/
 RUN bash /tmp/.devcontainer/install.sh
 
+RUN echo "source /opt/ros/humble/setup.bash" >> /etc/bash.bashrc
+RUN cat /tmp/.devcontainer/setup-router.sh >> /etc/bash.bashrc
 
-RUN echo "source /opt/ros/humble/setup.bash" >> /etc/bash.bashrc

.devcontainer/install.sh

@@ -3,21 +3,21 @@
 set -e
 
 source /opt/ros/humble/setup.bash
-#apt update
-#rosdep --rosdistro=humble update 
+apt update
+rosdep init
+rosdep --rosdistro=humble update 
+
 pip install -U argcomplete
 
 rm -rf /opt/ros/lcas
 mkdir -p /opt/ros/lcas/src
 cd /opt/ros/lcas/src
-vcs import < /tmp/.devcontainer/dds.repos
-#rosdep install --from-paths . -r -i -y
+vcs import < /tmp/.devcontainer/lcas.repos
+rosdep install --from-paths . -r -i -y
 cd /opt/ros/lcas
 colcon build
-colcon build --packages-select  ddsrouter_core --cmake-args -DLOG_INFO=ON
-
 
 #cd /home/lcas/ws
 #colcon build 
-echo "source /opt/ros/lcas/install/setup.bash" >> ~/.bashrc
+echo "source /opt/ros/lcas/install/setup.bash" >> /etc/bash.bashrc
 

.devcontainer/lcas.repos

@@ -0,0 +1,5 @@
+repositories:
+  limo_ros2:
+    type: git
+    url: https://github.com/LCAS/limo_ros2.git
+    version: humble

.devcontainer/on_amd64/devcontainer.json

@@ -0,0 +1,64 @@
+// https://github.com/athackst/vscode_ros2_workspace
+// See https://aka.ms/vscode-remote/devcontainer.json for format details.
+{
+    // Use "dockerFile tag to build container using Dockerfile, or image tag to build using prebuilt image
+    // "dockerFile": "Dockerfile",
+    //"image": "westonrobot/limo_ros:humble_22082023",
+    "name": "limo_ros2",
+
+    "build": {
+		"dockerfile": "../Dockerfile",
+		"context": "..",
+        "args": {
+            "WORKSPACE": "${containerWorkspaceFolder}"
+        }
+    },
+    "image": "lcas.lincoln.ac.uk/lcas/limo_ros_amd64:humble",
+    "remoteUser": "ros",
+    "runArgs": [
+        // "--network=host",
+        // "-v=/dev:/dev",
+        // "--privileged",
+        "--runtime=nvidia",
+        // "--device-cgroup-rule" "a *:* rmw",
+        "--cap-add=SYS_PTRACE",
+        "--security-opt=seccomp:unconfined",
+        "--security-opt=apparmor:unconfined",
+        "--volume=/tmp/.X11-unix:/tmp/.X11-unix",
+        "--volume=/home/agilex/.Xauthority:/home/ros/.Xauthority",
+        "--gpus=all"
+    ],
+    "containerEnv": {
+        "DISPLAY": ":0",
+        "ROS_LOCALHOST_ONLY": "0",
+        "LIBGL_ALWAYS_SOFTWARE": "1" // Needed for software rendering of opengl
+    },
+
+    // Set *default* container specific settings.json values on container create.
+    "customizations": {
+        "vscode": {
+            "settings": {
+                "terminal.integrated.profiles.linux": {
+                    "bash": {
+                        "path": "bash"
+                    },
+                },
+                "terminal.integrated.defaultProfile.linux": "bash"
+            },
+            // VSCode Extensions
+            "extensions": [
+                "dotjoshjohnson.xml",
+                "zachflower.uncrustify",
+                "ms-azuretools.vscode-docker",
+                "ms-iot.vscode-ros",
+                "ms-python.python",
+                "ms-vscode.cpptools",
+                "redhat.vscode-yaml",
+                "smilerobotics.urdf",
+                "streetsidesoftware.code-spell-checker",
+                "twxs.cmake",
+                "yzhang.markdown-all-in-one"
+            ]
+        }
+    }
+}

.devcontainer/on_limo/devcontainer.json

@@ -0,0 +1,64 @@
+// https://github.com/athackst/vscode_ros2_workspace
+// See https://aka.ms/vscode-remote/devcontainer.json for format details.
+{
+    // Use "dockerFile tag to build container using Dockerfile, or image tag to build using prebuilt image
+    // "dockerFile": "Dockerfile",
+    //"image": "westonrobot/limo_ros:humble_22082023",
+    "name": "limo_ros2_arm",
+
+    // "build": {
+	// 	"dockerfile": "../Dockerfile",
+	// 	"context": "..",
+    //     "args": {
+    //         "WORKSPACE": "${containerWorkspaceFolder}"
+    //     }
+    // },
+    "image": "lcas.lincoln.ac.uk/lcas/limo_ros_arm64:humble",
+    "remoteUser": "ros",
+    "runArgs": [
+        "--network=host",
+        "-v=/dev:/dev",
+        "--privileged",
+        "--runtime=nvidia",
+        "--device-cgroup-rule=a *:* rmw",
+        "--cap-add=SYS_PTRACE",
+        "--security-opt=seccomp:unconfined",
+        "--security-opt=apparmor:unconfined",
+        "--volume=/tmp/.X11-unix:/tmp/.X11-unix",
+        "--volume=/home/agilex/.Xauthority:/home/ros/.Xauthority",
+        "--gpus=all"
+    ],
+    "containerEnv": {
+        "DISPLAY": ":0",
+        "ROS_LOCALHOST_ONLY": "0",
+        "LIBGL_ALWAYS_SOFTWARE": "1" // Needed for software rendering of opengl
+    },
+
+    // Set *default* container specific settings.json values on container create.
+    "customizations": {
+        "vscode": {
+            "settings": {
+                "terminal.integrated.profiles.linux": {
+                    "bash": {
+                        "path": "bash"
+                    },
+                },
+                "terminal.integrated.defaultProfile.linux": "bash"
+            },
+            // VSCode Extensions
+            "extensions": [
+                "dotjoshjohnson.xml",
+                "zachflower.uncrustify",
+                "ms-azuretools.vscode-docker",
+                "ms-iot.vscode-ros",
+                "ms-python.python",
+                "ms-vscode.cpptools",
+                "redhat.vscode-yaml",
+                "smilerobotics.urdf",
+                "streetsidesoftware.code-spell-checker",
+                "twxs.cmake",
+                "yzhang.markdown-all-in-one"
+            ]
+        }
+    }
+}

.devcontainer/setup-router.sh

@@ -1,9 +1,43 @@
-source /opt/ros/lcas/install/setup.bash
-source /workspaces/limo_ros2/install/setup.bash
+#source /opt/ros/lcas/install/setup.bash
+#source /workspaces/limo_ros2/install/setup.bash
 
 unset RMW_IMPLEMENTATION
 unset ROS_LOCALHOST_ONLY
-export FASTRTPS_DEFAULT_PROFILES_FILE=/workspaces/limo_ros2/.devcontainer/super_client_configuration_file.xml
-export ROS_DISCOVERY_SERVER=localhost:11888
-unset ROS_DISCOVERY_SERVER
-unset FASTRTPS_DEFAULT_PROFILES_FILE
+RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
+
+#export FASTRTPS_DEFAULT_PROFILES_FILE=/workspaces/limo_ros2/.devcontainer/super_client_configuration_file.xml
+#export ROS_DISCOVERY_SERVER=localhost:11888
+
+
+read -r -d '' CYCLONEDDS_URI << EOM
+<?xml version="1.0" encoding="UTF-8" ?>
+<CycloneDDS xmlns="https://cdds.io/config" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:schemaLocation="https://cdds.io/config https://raw.githubusercontent.com/eclipse-cyclonedds/cyclonedds/master/etc/cyclonedds.xsd">
+    <Domain id="0">
+        <General>
+            <AllowMulticast>false</AllowMulticast>
+            <MaxMessageSize>65500B</MaxMessageSize>
+        <FragmentSize>4000B</FragmentSize>
+        <Transport>udp</Transport>
+        </General>
+    <Discovery>
+        <Peers>
+            <Peer address="localhost"/>
+            <Peer address="`hostname`"/>
+            <!--<Peer address="[IPV6-address]"/>-->
+        </Peers>
+        <ParticipantIndex>auto</ParticipantIndex>
+    </Discovery>
+        <Internal>
+            <Watermarks>
+                <WhcHigh>500kB</WhcHigh>
+            </Watermarks>
+        </Internal>
+        <Tracing>
+            <Verbosity>info</Verbosity>
+            <OutputFile>stdout</OutputFile>
+        </Tracing>
+    </Domain>
+</CycloneDDS>
+EOM
+
+export CYCLONEDDS_URI

.github/workflows/docker-build.yml

@@ -74,7 +74,7 @@ jobs:
       uses: docker/setup-qemu-action@v3  
     - name: Build and push limo_ros2 for arm64
       # only build for arm if not PR to speed things up
-      #if: ${{ github.event_name != 'pull_request' }} 
+      if: ${{ github.event_name != 'pull_request' }} 
       uses: docker/build-push-action@v5
       with:
         context: .devcontainer

.gitignore

@@ -298,4 +298,6 @@ dmypy.json
 # Cython debug symbols
 cython_debug/
 
-!src/**
+!src/**
+
+.local