Adder Docker build, Updated README.md and fixed controller topics

Dockerfile

@@ -0,0 +1,48 @@
+
+FROM ros:humble
+
+# Define a few key variables
+ENV USERNAME=spaceros-user
+ENV HOME_DIR=/home/spaceros-user
+ENV DEMO_DIR=${HOME_DIR}/demo_ws
+ENV ROSDISTRO=humble
+
+
+# Disable prompting during package installation
+ARG DEBIAN_FRONTEND=noninteractive
+
+# Get rosinstall_generator
+# Using Docker BuildKit cache mounts for /var/cache/apt and /var/lib/apt ensures that
+# the cache won't make it into the built image but will be maintained between steps.
+RUN sudo apt update && sudo apt install -y python3-pip \
+    ros-${ROSDISTRO}-control-msgs \
+    ros-${ROSDISTRO}-rviz-common \
+    ros-${ROSDISTRO}-rmw-cyclonedds-cpp \
+    ros-${ROSDISTRO}-geometry-msgs \
+    ros-${ROSDISTRO}-sensor-msgs \
+    ros-${ROSDISTRO}-std-msgs \
+    ros-${ROSDISTRO}-rosidl-typesupport-fastrtps-cpp \
+    ros-${ROSDISTRO}-rosidl-typesupport-fastrtps-c \
+    ros-${ROSDISTRO}-rviz2 \
+    && sudo rm -rf /var/lib/apt/lists/*
+
+RUN pip install vcstool
+RUN mkdir -p ${DEMO_DIR}/src
+WORKDIR ${DEMO_DIR}
+
+
+# Get the source for the dependencies
+COPY --chown=${USERNAME}:${USERNAME} demo_manual_pkgs.repos /tmp/
+RUN vcs import src < /tmp/demo_manual_pkgs.repos
+
+#RUN sudo apt-get update -y && rosdep install --from-paths src --ignore-src -r -y --rosdistro ${ROSDISTRO}
+
+
+# Build the demo
+RUN /bin/bash -c 'source /opt/ros/${ROSDISTRO}/setup.bash \
+     && colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release -Wno-dev'
+
+# Setup the entrypoint
+COPY ./entrypoint.sh /
+ENTRYPOINT ["/entrypoint.sh"]
+CMD ["bash"]

build.sh

@@ -0,0 +1,23 @@
+#!/usr/bin/env bash
+
+ORG=openrobotics
+IMAGE=space_robots_demo
+TAG=latest
+
+VCS_REF=""
+VERSION=preview
+
+# Exit script with failure if build fails
+set -eo pipefail
+
+echo ""
+echo "##### Building Space ROS Demo Docker Image #####"
+echo ""
+
+docker build -t $ORG/$IMAGE:$TAG \
+    --build-arg VCS_REF="$VCS_REF" \
+    --build-arg VERSION="$VERSION" .
+
+echo ""
+echo "##### Space ROS Demo Docker Image Build Completed! #####"
+

demo_manual_pkgs.repos

@@ -0,0 +1,9 @@
+repositories:
+  demos:
+    type: git
+    url: https://github.com/magnivia4Consulting/demos.git
+    version: main
+  simulation:
+    type: git
+    url: https://github.com/magnivia4Consulting/simulation.git
+    version: main

entrypoint.sh

@@ -0,0 +1,7 @@
+#!/bin/bash
+set -e
+
+# Setup the Demo environment
+# source "${DEMO_DIR}/install/setup.bash"
+source "/home/spaceros-user/demo_ws/install/setup.bash"
+exec "$@"

mars_rover_nvidia_isaac/README.md

@@ -4,17 +4,29 @@ This pacakge reconfigures the controllers implemented in **mars_rover** package
 
 To run the demo with NVIDIA ISAAC, following steps need to be followed:
 
-1. Clone the **simulation** repository of SpaceROS into a ROS2 workspace and follow the setup steps mendtioned in **simulation/curiosity_nvidia_isaac/README.md** to setup Nvidia ISAAC Simulation.
-2. Once NVIDIA ISAAC is up and runnnig, clone the **demos** repository of SpaceROS in the same ROS2 workspace as in step 1.
-3. Build the code using _colocon build_ following standard ROS2 build steps. This will build both **mars_rover_nvidia_isaac** and **mars_rover_teleop** pacakges along with any dependency in the simulation reository as well.
-4. Open a new terminal, go to the created ROS2 workspace and execute the following commands to run the demo
+1. **build.sh** script will create a docker image with name **openrobotics/space_robots_demo**
+
+2. To enable execution of UI applications in the container, execute the following command on the host PC:
+  ```bash
+  xhost +
+  ```
+3. Create a container from the docker image created in step 1, using the following command:
+  ```bash
+  docker run -it --env="DISPLAY=$DISPLAY" --env="QT_X11_NO_MITSHM=1" --volume="/tmp/.X11-unix:/tmp/.X11-unix:rw" --env="XAUTHORITY=$XAUTH" --volume="$XAUTH:$XAUTH" --net=host openrobotics/space_robots_demo bash
+  ```  
+4. Container will start in the directory **/home/spaceros-user/demo_ws**. 
+
+5. Follow the setup instructions mendtioned in **src/simulation/curiosity_nvidia_isaac/README.md** to setup Nvidia ISAAC Simulation.
+
+6. Once NVIDIA ISAAC is up and runnnig, execute the following commands (inside the container created in step 3) to run the demo
    ```bash
-    source install/local_setup.bash
+    cd /home/spaceros-user/demo_ws
+    source install/setup.bash
     ros2 launch mars_rover_nvidia_isaac mars_rover_nvidia_isaac_launch.py
     ```
-5. Above command will load all the supported controllers and launch RViz2(_half width and right aligned_) with the custom teleop plugin. _(Plugin will be located towards bottom-left on the rviz2 window)_
+7. Above command will load all the supported controllers and launch RViz2 with the custom teleop plugin, camera window and LIDAR data enabled.
 <p align="center">
-  <img src="./documents/images/spaceROS_Rviz.png" alt="Controllers and RViz2 Plugin">
+  <img src="./documents/images/spaceROS_Rviz_Sensor.png" alt="Controllers and RViz2 Plugin">
 </p>
 
-6. At this point rover in Nvidia ISAAC simulation should move as per the tele-op command given.
+8. At this point rover in Nvidia ISAAC simulation should move as per the tele-op command given and sensor data from ISAAC should be visible on RViz2

mars_rover_nvidia_isaac/launch/mars_rover_nvidia_isaac_launch.py

@@ -54,7 +54,7 @@ def generate_launch_description():
     nodes.append(run_node)
 
     rviz_teleop_pkg_path = get_package_share_directory('mars_rover_teleop')
-    rviz_config_file = Path(rviz_teleop_pkg_path, 'config', 'rviz_with_teleop.rviz')
+    rviz_config_file = Path(rviz_teleop_pkg_path, 'config', 'rviz_teleop_sensors.rviz')
     logger.info("RVIZ config file:: {}".format(rviz_config_file))
 
     rviz_node = Node(

mars_rover_nvidia_isaac/mars_rover_nvidia_isaac/nodes/arm_joint_trajectory_controller.py

@@ -20,7 +20,7 @@ def __init__(self, joints):
         self.joints_ = joints.split(",")
 
         # Publisher for JointState
-        self.arm_publisher_ = self.create_publisher(JointState, '/arm_joint_position', 10)
+        self.arm_publisher_ = self.create_publisher(JointState, '/arm_joint_state_controller/commands', 10)
 
         # Services for controlling the arm
         self.open_srv = self.create_service(Empty, 'open_arm', self.open_arm_callback)

mars_rover_nvidia_isaac/mars_rover_nvidia_isaac/nodes/mast_joint_trajectory_controller.py

@@ -21,7 +21,7 @@ def __init__(self, joints):
         self.joints_ = joints.split(",")
 
         # Publisher for JointState
-        self.mast_publisher_ = self.create_publisher(JointState, '/mast_joint_position', 10)
+        self.mast_publisher_ = self.create_publisher(JointState, '/mast_joint_state_controller/commands', 10)
 
         # Services for controlling the mast
         self.mast_open_srv = self.create_service(Empty, 'mast_open', self.mast_open_callback)

mars_rover_nvidia_isaac/mars_rover_nvidia_isaac/nodes/steer_position_controller.py

@@ -21,7 +21,7 @@ def __init__(self, joints):
         self.joints_ = joints.split(",")
 
         # self.get_logger().info("TESTING STEER...")
-        self.steer_publisher_ = self.create_publisher(JointState, '/steer_position', 10)
+        self.steer_publisher_ = self.create_publisher(JointState, '/steer_position_controller/commands', 10)
 
         timer_period = 0.1  # seconds
         self.timer = self.create_timer(timer_period, self.timer_callback)

mars_rover_nvidia_isaac/mars_rover_nvidia_isaac/nodes/wheel_tree_position_controller.py

@@ -16,7 +16,7 @@ def __init__(self, joints):
 
         self.joints_ = joints.split(",")
 
-        self.suspension_publisher_ = self.create_publisher(JointState, '/wheel_tree_position',10)
+        self.suspension_publisher_ = self.create_publisher(JointState, '/wheel_tree_position_controller/commands',10)
         timer_period = 0.1  # seconds
         self.timer = self.create_timer(timer_period, self.timer_callback)
 

mars_rover_teleop/README.md

@@ -5,7 +5,7 @@
    ```bash
    rviz2 -d <path/to/rviz_with_teleop.rviz>
    ```
-3. Config file **config > rviz_teleop_sensors.rviz** loads RViz2 with the plugin as well as sensor data.
+3. Config file **config > rviz_teleop_sensors.rviz** loads RViz2 with the teleop plugin, camera window as well as lidar data.
    ```bash
    rviz2 -d <path/to/rviz_teleop_sensors.rviz>
    ```