NASA Challenge_[@gmacario]_[Integrate FREISA Robot Dog with Space ROS Mars Rover Demo] (closes #54)

.devcontainer/devcontainer.json

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+// For format details, see https://aka.ms/devcontainer.json. For config options, see the
+// README at: https://github.com/devcontainers/templates/tree/main/src/ubuntu
+{
+	"name": "Ubuntu",
+	// Or use a Dockerfile or Docker Compose file. More info: https://containers.dev/guide/dockerfile
+	"image": "mcr.microsoft.com/devcontainers/base:jammy",
+
+	// Features to add to the dev container. More info: https://containers.dev/features.
+	"features": {
+		"ghcr.io/devcontainers/features/docker-in-docker:2": {}
+	},
+
+	// Use 'forwardPorts' to make a list of ports inside the container available locally.
+	// "forwardPorts": [],
+
+	// Use 'postCreateCommand' to run commands after the container is created.
+	// "postCreateCommand": "uname -a",
+
+	// Configure tool-specific properties.
+	"customizations": {
+		"vscode": {
+			"extensions": [
+				"mhutchie.git-graph",
+				"openrobotics.spaceros-dashboard"
+			]
+		}
+	}
+
+	// Uncomment to connect as root instead. More info: https://aka.ms/dev-containers-non-root.
+	// "remoteUser": "root"
+}

.github/dependabot.yml

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+# To get started with Dependabot version updates, you'll need to specify which
+# package ecosystems to update and where the package manifests are located.
+# Please see the documentation for more information:
+# https://docs.github.com/github/administering-a-repository/configuration-options-for-dependency-updates
+# https://containers.dev/guide/dependabot
+
+version: 2
+updates:
+ - package-ecosystem: "devcontainers"
+   directory: "/"
+   schedule:
+     interval: weekly

freisa_on_mars/Dockerfile

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+# freisa_on_mars/Dockerfile
+#
+# Adapted from https://github.com/space-ros/docker/blob/main/space_robots/Dockerfile
+
+FROM osrf/space-ros:latest
+# FROM openrobotics/moveit2:latest
+
+# Define arguments used in the metadata definition
+ARG VCS_REF
+ARG VERSION="preview"
+
+# Specify the docker image metadata
+LABEL org.label-schema.schema-version="1.0"
+LABEL org.label-schema.name="FREISA meets Curiosity Rover"
+LABEL org.label-schema.description="FREISA Robot Dog meets Curiosity rover demo on the Space ROS platform"
+LABEL org.label-schema.vendor="B-AROL-O Team"
+LABEL org.label-schema.version=${VERSION}
+LABEL org.label-schema.url="https://github.com/space-ros"
+LABEL org.label-schema.vcs-url="https://github.com/space-ros/demos"
+LABEL org.label-schema.vcs-ref=${VCS_REF}
+
+# Define a few key variables
+ENV DEMO_DIR=${HOME_DIR}/demos_ws
+ENV IGNITION_VERSION=fortress
+ENV GZ_VERSION=fortress
+
+# Disable prompting during package installation
+ARG DEBIAN_FRONTEND=noninteractive
+
+# Get rosinstall_generator
+# Using Docker BuildKit cache mounts for /var/cache/apt and /var/lib/apt ensures that
+# the cache won't make it into the built image but will be maintained between steps.
+RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
+  --mount=type=cache,target=/var/lib/apt,sharing=locked \
+  sudo apt-get update -y && sudo apt-get install -y python3-rosinstall-generator
+
+# TODO(anyone): remove demo-pkgs.txt, no packages left after exclusions
+# Generate repos file for demo dependencies, excluding packages from Space ROS core.
+# COPY --chown=${USERNAME}:${USERNAME} demo-pkgs.txt /tmp/
+# COPY --chown=${USERNAME}:${USERNAME} excluded-pkgs.txt /tmp/
+# RUN rosinstall_generator \
+#   --rosdistro ${ROSDISTRO} \
+#   --deps \
+#   --exclude-path ${SPACEROS_DIR}/src \
+#   --exclude-path ${MOVEIT2_DIR}/src \
+#   --exclude $(cat /tmp/excluded-pkgs.txt) -- \
+#   -- $(cat /tmp/demo-pkgs.txt) \
+#   > /tmp/demo_generated_pkgs.repos
+
+RUN mkdir -p ${DEMO_DIR}/src
+WORKDIR ${DEMO_DIR}
+
+
+# # Install libmongoc for development
+# RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
+#   --mount=type=cache,target=/var/lib/apt,sharing=locked \
+#   sudo apt-get install libmongoc-dev -y
+
+# # Compile mongo cxx driver https://mongocxx.org/mongocxx-v3/installation/linux/
+# RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
+#   --mount=type=cache,target=/var/lib/apt,sharing=locked \
+#   sudo apt-get install libssl-dev build-essential devscripts debian-keyring fakeroot debhelper cmake libboost-dev libsasl2-dev libicu-dev libzstd-dev doxygen -y
+# RUN wget https://github.com/mongodb/mongo-cxx-driver/releases/download/r3.6.7/mongo-cxx-driver-r3.6.7.tar.gz
+# RUN tar -xzf mongo-cxx-driver-r3.6.7.tar.gz
+# RUN cd mongo-cxx-driver-r3.6.7/build && cmake .. -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=/usr/local && sudo cmake --build . --target EP_mnmlstc_core && cmake --build . && sudo cmake --build . --target install
+
+# Get the source for the dependencies
+# RUN vcs import src < /tmp/demo_generated_pkgs.repos
+COPY --chown=${USERNAME}:${USERNAME} demo_manual_pkgs.repos /tmp/
+RUN vcs import src < /tmp/demo_manual_pkgs.repos && /bin/bash -c 'source "${SPACEROS_DIR}/install/setup.bash"' 
+
+RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
+  --mount=type=cache,target=/var/lib/apt,sharing=locked \
+  sudo apt-get update -y \
+&& /bin/bash -c 'source "${SPACEROS_DIR}/install/setup.bash"' \
+&& rosdep install --from-paths src --ignore-src -r -y --rosdistro ${ROSDISTRO}
+
+# && /bin/bash -c 'source "${MOVEIT2_DIR}/install/setup.bash"' \
+
+# # Build the demo
+# RUN /bin/bash -c 'source ${SPACEROS_DIR}/install/setup.bash && source ${MOVEIT2_DIR}/install/setup.bash \
+#   && colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release'
+
+# # Add the user to the render group so that the user can access /dev/dri/renderD128
+# RUN sudo usermod -aG render $USERNAME
+
+# # Setup the entrypoint
+# COPY ./entrypoint.sh /
+# ENTRYPOINT ["/entrypoint.sh"]
+# CMD ["bash"]
+
+# EOF

freisa_on_mars/README.md

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+# FREISA Robot Dog with Space ROS Mars Rover Demo
+
+## Introduction
+
+This demo integrates the simulation of the [FREISA Robot Dog](https://github.com/B-AROL-O/FREISA) (based on the [Mini Pupper 2 Pro](https://www.kickstarter.com/projects/mdrobotkits/md-robot-kits-open-source-support-your-genai-creativity) by [MangDang (HK) Limited](https://mangdang.store/)) inside the [Space ROS Mars Rover demo](https://space-ros.github.io/docs/rolling/Demos.html).
+
+This code is a part of the following challenge:
+
+* Challenge Name: NASA Space ROS Sim Summer Sprint Challenge
+* Team Lead Freelancer Username: [@gmacario](https://www.freelancer.com/u/gmacario)
+* Submission Title: Integrate FREISA Robot Dog with Space ROS Mars Rover Demo
+
+<!--
+## Directory Overview
+
+TODO
+-->
+
+<!--
+## Dependencies
+
+TODO
+-->
+
+<!--
+## Build Instructions
+
+TODO
+-->
+
+<!--
+## Usage Instructions
+
+TODO
+-->
+
+<!--
+## Architecture and design choices
+
+TODO
+-->
+
+## Added bonus
+
+The proposed feature is only dealing with the integration of the [Mini Pupper 2](https://github.com/mangdangroboticsclub) robot inside Space ROS demo.
+However, once the PR is merged, as an added bonus it should be possible to instantiate in the Space ROS Demo any of the quadruped robots supported by [CHAMP](https://github.com/chvmp/champ):
+
+![champ](https://raw.githubusercontent.com/chvmp/champ/master/docs/images/robots.gif)
+
+## Authors
+
+The FREISA Robot Dog with Space ROS Mars Rover Demo is another fine project by [the B-AROL-O Team](https://github.com/B-AROL-O) - a group of friends who in their spare time enjoy creating fun projects with Robotics, Computer Vision and [LEGO®](https://www.lego.com/).
+
+Everything we do - both hardware and software - is Open Source and [shared on GitHub](https://github.com/B-AROL-O).
+
+Our projects have been awarded several prizes in worldwide competitions on Computer Vision and robotics.
+As an example, project "[Four-legged Robot Ensuring Intelligent Sprinkler Automation](https://www.hackster.io/projects/845012)" (a.k.a. [FREISA](https://github.com/B-AROL-O/FREISA)) - was the Grand Prize Winner 🥇 of the [OpenCV AI Competition 2023](https://www.hackster.io/contests/opencv-ai-competition-2023) with [OpenCV](https://www.hackster.io/opencv), [Khadas](https://www.hackster.io/khadas) and [Seeed Studio](https://www.hackster.io/seeed).
+
+[![OpenCV AI Competition 2023 Grand Prize Winners - OpenCV Live 126](https://img.youtube.com/vi/iUe4N7yvpmA/0.jpg)](https://www.youtube.com/watch?v=iUe4N7yvpmA "OpenCV AI Competition 2023 Grand Prize Winners - OpenCV Live 126")
+
+### How to get in touch
+
+You can reach out to us through the following platforms:
+
+* [![Instagram](https://img.icons8.com/small/16/000000/instagram-new.png)](https://instagram.com/baroloteam) Instagram: [@baroloteam](https://instagram.com/baroloteam)
+
+* [![Twitter](https://img.icons8.com/small/16/000000/twitter.png)](https://x.com/baroloteam) X: [@baroloteam](<https://x.com/baroloteam>)
+
+* [![GitHub](https://img.icons8.com/small/16/000000/github.png)](https://github.com/B-AROL-O) GitHub: [B-AROL-O](https://github.com/B-AROL-O)
+
+<!-- EOF -->

freisa_on_mars/build.sh

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+#!/usr/bin/env bash
+
+ORG=baroloteam
+IMAGE=freisa_on_mars
+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 "##### Done! #####"
+
+# EOF

freisa_on_mars/demo_manual_pkgs.repos

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+# freisa_on_mars/demo_manual_pkgs.repos
+#
+# Adapted from https://github.com/space-ros/docker/blob/main/space_robots
+
+repositories:
+  demos:
+    type: git
+    # FIXME: Update url/version once <https://github.com/space-ros/demos/pull/56> is merged
+    #  url: https://github.com/space-ros/demos.git
+    url: https://github.com/B-AROL-O/space-ros-demos.git
+    #  version: main
+    #  version: freisa_on_mars
+    version: dev-gmacario
+
+  # === Repositories used by space_robots ===
+  # See https://github.com/space-ros/docker/blob/main/space_robots/demo_manual_pkgs.repos
+
+  gz_ros2_control:
+    type: git
+    url: https://github.com/ros-controls/gz_ros2_control.git
+    version: humble
+  qt_gui_core:
+    type: git
+    url: https://github.com/ros-visualization/qt_gui_core.git
+    version: humble
+  ros2_controllers:
+    type: git
+    url: https://github.com/tonylitianyu/ros2_controllers.git
+    version: effort_group_position_controller_2
+  actuator_msgs:
+    type: git
+    url: https://github.com/rudislabs/actuator_msgs.git
+    version: main
+  ros_gz:
+     type: git
+     url: https://github.com/gazebosim/ros_gz.git
+     version: humble
+  simulation:
+    type: git
+    url: https://github.com/space-ros/simulation.git
+    version: main
+  ros-humble-warehouse-ros-mongo:
+    type: git
+    url: https://github.com/moveit/warehouse_ros_mongo.git
+    version: ros2
+  vision_msgs:
+    type: git
+    url: https://github.com/ros-perception/vision_msgs.git
+    version: ros2
+  gps_msgs:
+    type: git
+    url: https://github.com/swri-robotics/gps_umd.git
+    path: gps_msgs
+    version: 113782d
+
+  # === Extra repositories required by freisa_on_mars ===
+  mini_pupper_ros:
+    type: git
+    url: https://github.com/B-AROL-O/mini_pupper_ros.git
+    version: ros2-dev
+
+  # From https://github.com/B-AROL-O/mini_pupper_ros/blob/ros2-dev/.minipupper.repos
+  # TODO: vcs import < mini_pupper_ros/.minipupper.repos --recursive
+  champ/champ:
+    type: git
+    url: https://github.com/mangdangroboticsclub/champ.git
+    version: ros2
+  champ/champ_teleop:
+    type: git
+    url: https://github.com/chvmp/champ_teleop.git
+    version: ros2
+  ldlidar_stl_ros:
+    type: git
+    url: https://github.com/ldrobotSensorTeam/ldlidar_stl_ros2.git
+    version: master
+
+# EOF

freisa_on_mars/entrypoint.sh

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+#!/bin/bash
+set -e
+
+# Setup the Demo environment
+source "${DEMO_DIR}/install/setup.bash"
+exec "$@"

freisa_on_mars/run.sh

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+#!/usr/bin/env bash
+
+# Runs a docker container with the image created by build.bash
+# Requires:
+#   docker
+#   an X server
+
+IMG_NAME=baroloteam/freisa_on_mars
+
+# Replace `/` with `_` to comply with docker container naming
+# And append `_runtime`
+CONTAINER_NAME="$(tr '/' '_' <<< "$IMG_NAME")"
+
+# Sanity checks
+if [ -z "$DISPLAY" ]; then
+    export DISPLAY=:0
+    echo "Warning: DISPLAY undefined, set to $DISPLAY"
+fi
+if [ -z "$TERM" ]; then
+    export TERM=xterm
+    echo "Warning: TERM undefined, set to $TERM"
+fi
+if [ -z "$XAUTHORITY" ]; then
+    export XAUTHORITY=~/.Xauthority
+    echo "Warning: XAUTHORITY undefined, set to $XAUTHORITY"
+    xauth extract \- $DISPLAY >>$XAUTHORITY
+fi
+
+# Start the container
+#
+# --rm: delete container after exiting
+# -it: Interactive TTY mode so you can use a shell.
+# --network host: Does not isolate Docker container from host's network interfaces.
+#                 Allows all traffic to pass through as if it originated from the host.
+#                 In our case, useful for DDS traffic for ROS.
+# -e DISPLAY: Pass the X11 display through to the container.
+# -e TERM: Pass the kind of terminal being used through to the container.
+# -e QT_X11_NO_MITSHM=1: Disables shared memory extension for Qt/X11, which does not work consistently inside a process namespace like a container.
+# -v "$XAUTHORITY:/.Xauthority": the $XAUTHORITY environment variable on the host contains the path to a file that grants access to X11.
+#                                We mount the path defined in that environment variable into the container at /.Xauthority.
+# -e XAUTHORITY=/.Xauthority: We set $XAUTHORITY *inside* the container to the place we just mounted the Xauthority (/.Xauthority)
+#
+# Credits:
+# * https://github.com/space-ros/docker/pull/168
+# * https://github.com/space-ros/docker/pull/175
+#
+docker run --rm -it --name $CONTAINER_NAME \
+    --network host \
+    --volume=/tmp/.X11-unix:/tmp/.X11-unix \
+    --volume "$XAUTHORITY:/.Xauthority" \
+    --device=/dev/dri:/dev/dri \
+    -e DISPLAY \
+    -e TERM \
+    -e QT_X11_NO_MITSHM=1 \
+    -e XAUTHORITY=/.Xauthority \
+    $IMG_NAME
+
+
+# EOF