Merge pull request #1702 from FIWARE/demo/ros2

ros2 demo files

demo/ros2/README.md

@@ -0,0 +1,68 @@
+# Demo ROS2 < - > NGSI-LD context Broker
+
+The demo is structured in 2 directories:
+  - `demo-dockerfile`
+  - `demo-docker-compose`
+
+## Make a precompiled docker image
+This is convenient if you mean to run the demo more than once.
+This is the reason the Dockerfile is needed.
+To create the docker image with precompiled software, run:
+```
+cd demo-dockerfile
+docker build -t ros2 .
+```
+
+After this, you have a Docker image with all the needed Ros2 components for the demo, including the TurtleSim.
+
+Please, note that this image is a commodity image which makes running the software easier.
+
+## Starting the demo
+Before starting the demo, as X11 session owners, other users must be allowed to use the X Window System (to show the
+turtles on screen).
+For that, the following command is executed:
+
+```
+xhost local:root
+```
+
+Once that is done done (only needed the first time), the containers can be started:
+```
+cd demo-docker-compose
+docker compose up -d 
+```
+
+When the dockers have started, connect to bash in the container of ros2:
+```
+docker exec -ti ros2 bash
+```
+
+### Turtles
+Now the TurtleSim and the Keyboard controller can be started:
+
+```
+source /ros2-ws/install/setup.bash
+
+# Show the turtles on the screen
+ros2 run docs_turtlesim turtlesim_node_keys &
+
+# Keyboard controller to move the turtles.
+ros2 run docs_turtlesim turtlesim_multi_control 
+```
+
+# About the broker
+The file `demo-docker-compose/config-dds.json` is mounted in Orion-LD's container.
+This is the file that must be configured with the conversion from DDS topic to Entity ID+Tupe and Attribute Name, for Orion-LD.
+When the docker is started, this file is used inside Orion-LD's container as its configuration file (`/root/.orionld`).
+Orionld's docker is exporting port 1026 - It can be accessed from any terminal as `locahost:1026`
+
+
+# Restart
+Typically, the configuration file of Orion-LD will be updated and the whole thing needs to be restarted.
+Kill the system like this:
+```
+cd demo-docker-compose
+docker compose down
+```
+Then follow (again) the instructions of "Starting the demo"
+

demo/ros2/demo-docker-compose/config-dds.json

@@ -0,0 +1,48 @@
+{
+  "dds": {
+    "ddsmodule": {
+      "dds": {
+        "domain": 0,
+        "allowlist": [
+          {
+            "name": "*"
+          }
+        ],
+        "blocklist": [
+          {
+            "name": "add_blocked_topics_list_here"
+          }
+        ]
+      },
+      "topics": {
+        "name": "*",
+        "qos": {
+          "durability": "TRANSIENT_LOCAL",
+          "history-depth": 10
+        }
+      },
+      "ddsenabler": null,
+      "specs": {
+        "threads": 12,
+        "logging": {
+          "stdout": false,
+          "verbosity": "info"
+        }
+      }
+    },
+    "ngsild": {
+      "topics": {
+        "rt/cmd_vel": {
+          "entityType": "Robot",
+          "entityId": "urn:ngsi-ld:robot:1",
+          "attribute": "velocityCommand"
+        },
+        "rt/pose": {
+          "entityType": "Robot",
+          "entityId": "urn:ngsi-ld:robot:1",
+          "attribute": "pose"
+        }
+      }
+    }
+  }
+}

demo/ros2/demo-docker-compose/docker-compose.yaml

@@ -0,0 +1,52 @@
+services:
+  ros2:
+    image: ros2
+    hostname: ros2
+    container_name: ros2
+    privileged: true
+    ipc: host
+    networks:
+      - arise-demo-network
+    environment:
+      DISPLAY: ":0.0"
+    volumes:
+       - /tmp/.X11-unix:/tmp/.X11-unix
+
+  orion-ld:
+    image: quay.io/fiware/orion-ld
+    hostname: orion-ld
+    container_name: orion-ld
+    privileged: true
+    ipc: host
+    networks:
+      - arise-demo-network
+    expose:
+      - 1026
+    ports:
+      - 1026:1026
+    depends_on:
+      - mongo-db
+    command: -dbhost mongo-db -wip dds -logLevel DEBUG
+      # -mongocOnly
+    volumes:
+       - ./config-dds.json:/root/.orionld
+
+  mongo-db:
+    image: mongo:5.0
+    hostname: mongo-db
+    container_name: mongo-db
+    networks:
+      - arise-demo-network
+    expose:
+      - 27017
+    ports:
+      - 27017:27017
+    command: --nojournal
+    volumes:
+      - ./data/db:/data/db
+
+networks:
+  arise-demo-network:
+    driver: bridge
+
+

demo/ros2/demo-dockerfile/Dockerfile

@@ -0,0 +1,18 @@
+FROM eprosima/vulcanexus:jazzy-desktop 
+
+RUN mkdir -p /ros2-ws/src
+WORKDIR /ros2-ws/src
+
+RUN apt update && \
+    apt install -y x11-apps
+
+RUN git clone --depth=1  https://github.com/eProsima/vulcanexus.git tmp_dir
+
+RUN mv tmp_dir/code/turtlesim .
+RUN rm -rf tmp_dir
+WORKDIR /ros2-ws
+RUN source /opt/vulcanexus/jazzy/setup.bash && \
+    colcon build
+
+ENTRYPOINT ["/bin/bash", "-c", "sleep infinity"] 
+

scripts/check_files_compliance.py

@@ -137,6 +137,9 @@ def ignore(root, file):
     if 'ldcontext' in root:
         return True
 
+    if 'demo' in root:
+        return True
+
     # PNG files in manuals o functionalTest are ignored
     if ('manuals' in root or 'functionalTest' in root or 'apiary' in root) and file.endswith('.png'):
         return True