Merge Foxy devel to Main

.docker_utils/Dockerfile.f1tenth_arm

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+# --------------------------------------------------------------------------------------------------------------------------------------------------
+# Getting Base image (ubuntu 20.04)
+# --------------------------------------------------------------------------------------------------------------------------------------------------
+FROM ghcr.io/ucsd-ecemae-148/donkeycontainer:ros
+SHELL ["/bin/bash", "-o", "pipefail", "-c"]
+
+ARG WORKSPACE=/home/projects/f1tenth_ws/
+
+WORKDIR /
+# --------------------------------------------------------------------------------------------------------------------------------------------------
+# apt update & upgrade
+# --------------------------------------------------------------------------------------------------------------------------------------------------
+# RUN apt update &&\
+#     apt upgrade -y
+
+####################################################################################################################################################
+# Install required packages/dependencies for f1tenth_arm
+####################################################################################################################################################
+RUN apt-get update --fix-missing && \
+    apt-get install -y --no-install-recommends \
+                    git \
+                    nano \
+                    vim \
+                    libeigen3-dev \
+                    tmux \
+                    ros-foxy-rviz2
+
+RUN apt-get update && apt-get install -y --no-install-recommends \
+    ros-foxy-desktop \
+    ros-foxy-message-filters \
+    ros-foxy-image-transport \
+    ros-foxy-teleop-twist-joy \
+    ros-foxy-joy \
+    ros-foxy-joy-teleop \
+    ros-foxy-rviz-default-plugins \
+    ros-foxy-rviz-rendering \
+    ros-foxy-ros2bag \
+    ros-foxy-rosbag2-converter-default-plugins \
+    ros-foxy-rosbag2-storage-default-plugins \
+    ros-foxy-robot-localization \
+    ros-foxy-slam-toolbox \
+    ros-foxy-ackermann-msgs \
+    ros-foxy-serial-driver \
+    ros-foxy-depthai-ros \
+    ros-foxy-pcl-ros \
+    ros-foxy-robot-state-publisher \
+    ros-foxy-joint-state-publisher \
+    && rm -rf /var/lib/apt/lists/*
+
+# --------------------------------------------------------------------------------------------------------------------------------------------------
+# install useful packages
+# --------------------------------------------------------------------------------------------------------------------------------------------------
+RUN apt-get update && \
+    apt-get install -y --no-install-recommends \
+    python3-pip \
+    python3-dev \
+    python3-argcomplete \
+    cmake \
+    nano \
+    iputils-ping \
+    x11-apps \
+    xauth \
+    nautilus \
+    usbutils \
+    vim \
+    tmux \
+    tmuxp \
+    htop \
+    network-manager \
+    firefox \
+    git-all \
+    cheese \
+    jstest-gtk \
+    joystick \
+    # gedit \
+    # gedit-plugin-multi-edit \
+    # gedit-plugins \
+    python3-tk \
+    python3-rosdep \
+    python3-vcstool \
+    ros-dev-tools
+
+RUN apt-get update && \
+    apt-get install -y --no-install-recommends \
+    ros-foxy-rmw-cyclonedds-cpp \
+    ros-foxy-rosbridge-suite \
+    ros-foxy-nav2* \
+    ros-foxy-navigation2 \
+    ros-foxy-smac-planner \
+    ros-foxy-spatio-temporal-voxel-layer \
+    ros-foxy-nonpersistent-voxel-layer \
+    ros-foxy-tf-transformations
+
+RUN apt-get -y dist-upgrade
+
+WORKDIR /home/projects/
+####### CREATE VIRTUAL ENVIRONMENTS #######
+RUN apt install python3.8-venv
+RUN echo "alias python=python3" >> ~/.bashrc
+ENV VIRTUAL_ENV=/opt/venv
+RUN python3 -m venv "${VIRTUAL_ENV}/donkey" --system-site-packages
+
+################ DEPTHAI ##################
+WORKDIR /home/projects/
+RUN git clone https://github.com/luxonis/depthai.git && \
+    git clone https://github.com/luxonis/depthai-python.git && \
+    cd depthai && \
+    source ${VIRTUAL_ENV}/donkey/bin/activate && \
+    curl -fL https://docs.luxonis.com/install_dependencies.sh | bash && \
+    python3 install_requirements.py && \
+    cd ../depthai-python/examples && \
+    python3 install_requirements.py 
+RUN echo "export OPENBLAS_CORETYPE=ARMV8" >> ~/.bashrc
+RUN echo 'SUBSYSTEM=="usb", ATTRS{idVendor}=="03e7", MODE="0666"' | tee /etc/udev/rules.d/80-movidius.rules
+
+########### Install Groot ###########
+WORKDIR /home
+
+RUN apt-get update --fix-missing
+RUN apt-get install -y --no-install-recommends ros-foxy-behaviortree-cpp-v3 \
+    libtool \
+    pkg-config \
+    build-essential \
+    autoconf \
+    automake \
+    # libzmq-dev \
+    qtbase5-dev \
+    libqt5svg5-dev \
+    libzmq3-dev \
+    libdw-dev
+
+RUN git clone --recurse-submodules https://github.com/BehaviorTree/Groot.git
+WORKDIR /home/Groot
+RUN cmake -S . -B build
+RUN cmake --build build
+
+### Create f1tenth workspace
+WORKDIR $WORKSPACE
+
+RUN git clone -b foxy_devel https://github.com/Triton-AI/robocar.git && \
+    mv robocar .. && \
+    cd .. && \
+    rm -rf $WORKSPACE && \
+    mv robocar/ $WORKSPACE && \
+    cd $WORKSPACE
+
+# Global Planner Dependencies
+RUN pip install trajectory_planning_helpers==0.78 \
+    scipy==1.7.3 \
+    matplotlib==3.5.1 \
+    casadi \ 
+    scikit-image==0.19.2 \
+    scikit-learn \
+    transforms3d
+
+########### Build Basic ROS 2 Packages ###########
+RUN source source_ros2.sh && \
+    vcs import < repos/common.repos && \
+    vcs import < repos/lidar_utils.repos && \
+    vcs import < repos/racer.repos && \ 
+    sed -i '/#include <tf2_geometry_msgs/d' src/external/state_estimation/rf2o_laser_odometry/include/rf2o_laser_odometry/CLaserOdometry2DNode.hpp && \
+    make gb_opt && \
+    make rosdep-install && \ 
+    build_ros2
+
+########### Build livox_sdk2, livox_ros_driver2 ###########
+RUN source source_ros2.sh && \
+    vcs import < repos/livox.repos && \ 
+    make livox-driver
+
+# f1tenth gym
+WORKDIR $WORKSPACE/src/external/f1tenth_sim
+RUN git clone https://github.com/f1tenth/f1tenth_gym
+RUN cd f1tenth_gym && \
+    pip install -e .
+# ros2 gym bridge
+RUN cd ..
+RUN git clone https://github.com/f1tenth/f1tenth_gym_ros
+RUN cd ../../.. && \
+    source source_ros2.sh && \
+    apt-get update --fix-missing && \
+    build_ros2
+
+########### ADD CUSTOM FUNCTIONS ###########
+WORKDIR /home/scripts/
+COPY scripts/bashrc.sh ./bashrc.sh
+RUN ["/bin/bash", "-c", "echo '. /home/scripts/bashrc.sh' >> /root/.bashrc"]
+
+WORKDIR $WORKSPACE
+RUN echo export WORKSPACE=$WORKSPACE >> /root/.bashrc
+# RUN echo 'export LD_PRELOAD=/usr/local/lib/python3.8/dist-packages/sklearn/__check_build/../../scikit_learn.libs/libgomp-d22c30c5.so.1.0.0' >> ~/.bashrc
+ENTRYPOINT ["/bin/bash"]

.docker_utils/Dockerfile.f1tenth_x86

@@ -0,0 +1,192 @@
+# --------------------------------------------------------------------------------------------------------------------------------------------------
+# Getting Base image (ubuntu 20.04)
+# --------------------------------------------------------------------------------------------------------------------------------------------------
+FROM ros:foxy
+SHELL ["/bin/bash", "-o", "pipefail", "-c"]
+
+ARG WORKSPACE=/home/projects/f1tenth_ws/
+
+WORKDIR /
+# --------------------------------------------------------------------------------------------------------------------------------------------------
+# apt update & upgrade
+# --------------------------------------------------------------------------------------------------------------------------------------------------
+# RUN apt update && \
+#     apt upgrade -y
+
+####################################################################################################################################################
+# Install required packages/dependencies for f1tenth_x86
+####################################################################################################################################################
+RUN apt-get update --fix-missing && \
+    apt-get install -y --no-install-recommends \ 
+                    git \
+                    nano \
+                    vim \
+                    libeigen3-dev \
+                    tmux \
+                    ros-foxy-rviz2
+
+RUN apt-get update && apt-get install -y --no-install-recommends \
+    ros-foxy-desktop \
+    ros-foxy-message-filters \
+    ros-foxy-image-transport \
+    ros-foxy-teleop-twist-joy \
+    ros-foxy-joy \
+    ros-foxy-joy-teleop \
+    ros-foxy-rviz-default-plugins \
+    ros-foxy-rviz-rendering \
+    ros-foxy-ros2bag \
+    ros-foxy-rosbag2-converter-default-plugins \
+    ros-foxy-rosbag2-storage-default-plugins \
+    ros-foxy-robot-localization \
+    ros-foxy-slam-toolbox \
+    ros-foxy-ackermann-msgs \
+    ros-foxy-serial-driver \
+    ros-foxy-depthai-ros \
+    ros-foxy-pcl-ros \
+    ros-foxy-robot-state-publisher \
+    ros-foxy-joint-state-publisher \
+    && rm -rf /var/lib/apt/lists/*
+
+# --------------------------------------------------------------------------------------------------------------------------------------------------
+# install useful packages
+# --------------------------------------------------------------------------------------------------------------------------------------------------
+RUN apt-get update && \
+    apt-get install -y --no-install-recommends \
+    python3-pip \
+    python3-dev \
+    python3-argcomplete \
+    cmake \
+    nano \
+    iputils-ping \
+    x11-apps \
+    xauth \
+    nautilus \
+    usbutils \
+    vim \
+    tmux \
+    tmuxp \
+    # htop \
+    network-manager \
+    firefox \
+    git-all \
+    cheese \
+    jstest-gtk \
+    joystick \
+    # gedit \
+    # gedit-plugin-multi-edit \
+    # gedit-plugins \
+    python3-tk \
+    python3-rosdep \
+    python3-vcstool \
+    ros-dev-tools
+
+RUN apt-get update && \
+    apt-get install -y --no-install-recommends \
+    ros-foxy-rmw-cyclonedds-cpp \
+    ros-foxy-rosbridge-suite \
+    ros-foxy-nav2* \
+    ros-foxy-navigation2 \
+    ros-foxy-smac-planner \
+    ros-foxy-spatio-temporal-voxel-layer \
+    ros-foxy-nonpersistent-voxel-layer \
+    ros-foxy-tf-transformations
+
+RUN apt-get -y dist-upgrade
+
+WORKDIR /home/projects
+####### CREATE VIRTUAL ENVIRONMENTS #######
+RUN apt install python3.8-venv
+RUN echo "alias python=python3" >> ~/.bashrc
+ENV VIRTUAL_ENV=/opt/venv
+RUN python3 -m venv "${VIRTUAL_ENV}/donkey" --system-site-packages
+
+################ DEPTHAI ##################
+WORKDIR /home/projects/
+RUN git clone https://github.com/luxonis/depthai.git && \
+    git clone https://github.com/luxonis/depthai-python.git && \
+    cd depthai && \
+    source ${VIRTUAL_ENV}/donkey/bin/activate && \
+    curl -fL https://docs.luxonis.com/install_dependencies.sh | bash && \
+    python3 install_requirements.py && \
+    cd ../depthai-python/examples && \
+    python3 install_requirements.py 
+RUN echo "export OPENBLAS_CORETYPE=ARMV8" >> ~/.bashrc
+RUN echo 'SUBSYSTEM=="usb", ATTRS{idVendor}=="03e7", MODE="0666"' | tee /etc/udev/rules.d/80-movidius.rules
+
+########### Install Groot ###########
+WORKDIR /home
+
+RUN apt-get update --fix-missing
+RUN apt-get install -y --no-install-recommends ros-foxy-behaviortree-cpp-v3 \
+    libtool \
+    pkg-config \
+    build-essential \
+    autoconf \
+    automake \
+    # libzmq-dev \
+    qtbase5-dev \
+    libqt5svg5-dev \
+    libzmq3-dev \
+    libdw-dev
+
+RUN git clone --recurse-submodules https://github.com/BehaviorTree/Groot.git
+WORKDIR /home/Groot
+RUN cmake -S . -B build
+RUN cmake --build build
+
+### Create f1tenth workspace
+WORKDIR $WORKSPACE
+
+RUN git clone -b foxy_devel https://github.com/Triton-AI/robocar.git && \
+    mv robocar .. && \
+    cd .. && \
+    rm -rf $WORKSPACE && \
+    mv robocar/ $WORKSPACE && \
+    cd $WORKSPACE
+
+# Global Planner Dependencies
+RUN pip install trajectory_planning_helpers==0.78 \
+    scipy==1.7.3 \
+    matplotlib==3.5.1 \
+    casadi \ 
+    scikit-image==0.19.2 \
+    scikit-learn \
+    transforms3d
+
+########### Build Basic ROS 2 Packages ###########
+RUN source source_ros2.sh && \
+    vcs import < repos/common.repos && \
+    vcs import < repos/lidar_utils.repos && \
+    vcs import < repos/racer.repos && \ 
+    sed -i '/#include <tf2_geometry_msgs/d' src/external/state_estimation/rf2o_laser_odometry/include/rf2o_laser_odometry/CLaserOdometry2DNode.hpp && \
+    make gb_opt && \
+    make rosdep-install && \ 
+    build_ros2
+
+########### Build livox_sdk2, livox_ros_driver2 ###########
+RUN source source_ros2.sh && \
+    vcs import < repos/livox.repos && \ 
+    make livox-driver
+
+# f1tenth gym
+WORKDIR $WORKSPACE/src/external/f1tenth_sim
+RUN git clone https://github.com/f1tenth/f1tenth_gym
+RUN cd f1tenth_gym && \
+    pip install -e .
+# ros2 gym bridge
+RUN cd ..
+RUN git clone https://github.com/f1tenth/f1tenth_gym_ros
+RUN cd ../../.. && \
+    source source_ros2.sh && \
+    apt-get update --fix-missing && \
+    build_ros2
+
+########### ADD CUSTOM FUNCTIONS ###########
+WORKDIR /home/scripts/
+COPY scripts/bashrc.sh ./bashrc.sh
+RUN ["/bin/bash", "-c", "echo '. /home/scripts/bashrc.sh' >> /root/.bashrc"]
+
+WORKDIR $WORKSPACE
+RUN echo export WORKSPACE=$WORKSPACE >> /root/.bashrc
+# RUN echo 'export LD_PRELOAD=/usr/local/lib/python3.8/dist-packages/sklearn/__check_build/../../scikit_learn.libs/libgomp-d22c30c5.so.1.0.0' >> ~/.bashrc
+ENTRYPOINT ["/bin/bash"]