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Merge pull request #39 from JdeRobot/update-bt-studio
Update Bt Studio
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‎.github/workflows/generate_Bt_Studio.yml

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sudo apt-get update
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cd scripts
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if [ "${{ github.event.inputs.ROS }}" == "humble" ]; then
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docker build -f Dockerfile.dependencies_humble -t jderobot/robotics-applications:dependencies-humble .
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docker build -f Dockerfile.dependencies_humble_bt_studio -t jderobot/robotics-applications:dependencies-humble .
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else
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echo "Incorrect ROS version"
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fi

‎scripts/Dockerfile.dependencies_humble_bt_studio

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FROM nvidia/opengl:1.2-glvnd-runtime-ubuntu22.04
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# Make all NVIDIA GPUS visible
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ARG NVIDIA_VISIBLE_DEVICES=all
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ENV NVIDIA_DRIVER_CAPABILITIES all
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ENV VIRTUALGL_VERSION=3.0.2
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ENV TURBOVNC_VERSION=3.0.3
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# Setup NON INTERACTIVE ENVIRONMENT
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ENV DEBIAN_FRONTEND=noninteractive
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# Install locales to prevent errors
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RUN apt-get clean && \
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apt-get update && \
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apt-get install --no-install-recommends -y locales && \
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rm -rf /var/lib/apt/lists/* && \
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locale-gen en_US.UTF-8
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ENV LANG en_US.UTF-8
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ENV LANGUAGE en_US:en
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ENV LC_ALL en_US.UTF-8
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ENV ROS_DISTRO=humble
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ENV AMENT_PREFIX_PATH=/opt/ros/${ROS_DISTRO}
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ENV COLCON_PREFIX_PATH=/opt/ros/${ROS_DISTRO}
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ENV LD_LIBRARY_PATH=/usr/lib/x86_64-linux-gnu/gazebo-11/plugins:/opt/ros/${ROS_DISTRO}/opt/rviz_ogre_vendor/lib:/opt/ros/${ROS_DISTRO}/lib/x86_64-linux-gnu:/opt/ros/${ROS_DISTRO}/lib:/usr/share/gazebo/../../lib/x86_64-linux-gnu/gazebo-11/plugins:
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ENV PATH=/opt/ros/${ROS_DISTRO}/bin:$PATH
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ENV PYTHONPATH=/opt/ros/${ROS_DISTRO}/lib/python3.10/site-packages
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ENV ROS_PYTHON_VERSION=3
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ENV ROS_VERSION=2
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# Install common tools
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RUN apt-get update && apt-get install -y \
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software-properties-common \
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bash-completion \
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apt-utils \
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build-essential \
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git curl wget cmake \
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nano vim \
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gnupg \
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lsb-release \
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sudo \
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net-tools \
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pciutils \
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&& rm -rf /var/lib/apt/lists/*
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# Install ROS2 and ROS packages
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RUN curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg \
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&& echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(lsb_release -cs) main" | tee /etc/apt/sources.list.d/ros2.list > /dev/null \
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&& apt-get update && apt-get install -y \
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ros-${ROS_DISTRO}-ros-base \
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ros-${ROS_DISTRO}-xacro \
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ros-${ROS_DISTRO}-joint-state-publisher \
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ros-${ROS_DISTRO}-rviz2 \
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python3-colcon-common-extensions \
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python3-pip python3-rosdep python3-vcstool \
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python3-argcomplete \
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&& rosdep init \
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&& rm -rf /var/lib/apt/lists/*
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# Install Gazebo 11
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RUN add-apt-repository ppa:openrobotics/gazebo11-gz-cli
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RUN apt-get update && apt-get install -y \
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gazebo11 \
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ros-humble-gazebo-ros-pkgs \
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gstreamer1.0-plugins-bad \
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gstreamer1.0-plugins-good \
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gstreamer1.0-plugins-ugly \
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gstreamer1.0-libav \
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libgstreamer-plugins-base1.0-dev \
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libimage-exiftool-perl \
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&& apt-get -y autoremove \
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&& apt-get clean autoclean \
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&& rm -rf /var/lib/apt/lists/* /tmp/* /var/tmp/*
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RUN mkdir ~/.gazebo && touch ~/.gazebo/gui.ini
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# Install Gazebo Harmonic
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RUN apt-get update \
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&& wget https://packages.osrfoundation.org/gazebo.gpg -O /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg \
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&& echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" | tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null \
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&& apt-get update && apt-get install -y -q \
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gz-harmonic \
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&& rm -rf /var/lib/apt/lists/*
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RUN apt-get update && apt-get install -y \
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ros-humble-ros-gzharmonic \
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&& rm -rf /var/lib/apt/lists/*
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# Install VNC
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# Xorg segfault error mitigation
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RUN apt-get update && apt-get install -y --no-install-recommends \
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dbus-x11 \
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libdbus-c++-1-0v5 \
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xvfb xauth xfonts-base xkb-data x11-xkb-utils \
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x11vnc \
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xterm \
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xserver-xorg-video-dummy \
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x11-apps \
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&& apt-get -y autoremove \
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&& apt-get clean autoclean \
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&& rm -rf /var/lib/apt/lists/{apt,dpkg,cache,log} /tmp/* /var/tmp/*
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RUN wget https://xpra.org/xorg.conf \
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&& rm -rf /tmp/*
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# Install noVNC and websockify
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RUN git clone -b v1.4.0 https://github.com/novnc/noVNC.git
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RUN cd /noVNC/utils && git clone -b v0.11.0 https://github.com/novnc/websockify.git
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# VirtualGL and TurboVNC
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COPY ./gpu/virtualgl_${VIRTUALGL_VERSION}_amd64.deb ./gpu/virtualgl32_${VIRTUALGL_VERSION}_amd64.deb ./gpu/turbovnc_${TURBOVNC_VERSION}_amd64.deb /
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RUN dpkg --add-architecture i386 && apt-get update && apt-get install -y \
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libxtst6:i386 \
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libxv1:i386 \
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libglu1-mesa:i386 \
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libegl1-mesa:i386 \
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libegl1-mesa:amd64
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RUN apt-get update && dpkg -i /virtualgl_${VIRTUALGL_VERSION}_amd64.deb /virtualgl32_${VIRTUALGL_VERSION}_amd64.deb \
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&& rm /virtualgl_${VIRTUALGL_VERSION}_amd64.deb /virtualgl32_${VIRTUALGL_VERSION}_amd64.deb \
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&& chmod u+s /usr/lib/libvglfaker.so \
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&& chmod u+s /usr/lib/libdlfaker.so \
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&& chmod u+s /usr/lib32/libvglfaker.so \
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&& chmod u+s /usr/lib32/libdlfaker.so \
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&& chmod u+s /usr/lib/i386-linux-gnu/libvglfaker.so \
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&& chmod u+s /usr/lib/i386-linux-gnu/libdlfaker.so \
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&& apt-get update && apt-get install -y --no-install-recommends \
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/turbovnc_${TURBOVNC_VERSION}_amd64.deb \
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&& rm turbovnc_${TURBOVNC_VERSION}_amd64.deb \
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&& rm -rf /var/lib/apt/lists/*
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RUN apt-get update && \
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apt-get install -y lxde-common && \
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rm -rf /var/lib/apt/lists/*
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# RUN echo -e "no-remote-connections\n\
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# no-httpd\n\
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# no-x11-tcp-connections\n\
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# no-pam-sessions\n\
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# permitted-security-types = None, VNC, otp\
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# " > /etc/turbovncserver-security.conf
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ENV PATH "$PATH:/opt/VirtualGL/bin:/opt/TurboVNC/bin"
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# Node
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RUN curl -sL https://deb.nodesource.com/setup_20.x | bash - \
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&& apt-get install -y nodejs \
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&& npm install -g yarn
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# Install Python 3 pip build dependencies first
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RUN python3.10 -m pip install --upgrade pip==23.3.1 wheel==0.41.3 setuptools==69.0.2
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# pip install dependencies
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RUN python3.10 -m pip install \
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pylint==3.3.1 transitions==0.9.0 pydantic==2.4.2 websocket-client==1.5.2 \
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argparse==1.4.0 coverage==6.2 cerberus==1.3.4 empy==3.3.4 jinja2==3.0.3 kconfiglib==14.1.0 \
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matplotlib==3.0.* numpy==1.24.3 nunavut==1.1.0 packaging==21.3 pkgconfig==1.5.5 pyros-genmsg==0.5.8 \
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pyulog==1.0.1 pyyaml==5.4.1 requests==2.31.0 serial==0.0.97 six==1.16.0 toml==0.10.2 psutil==5.9.0 \
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onnxruntime==1.15.0 Pillow==9.0.1 opencv-python==4.5.5.64 netron seaborn==0.11.2 watchdog==2.1.5 utm==0.7.0 psycopg2
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# monaco editor
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RUN python3.10 -m pip install black==24.10.0
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# websocket server dependency
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RUN python3.10 -m pip install websocket_server==0.6.4 posix-ipc==1.1.1 django==4.1.7 djangorestframework==3.13.1 \
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django-webpack-loader==1.5.0 django-cors-headers==3.14.0 websockets==11.0.3 asyncio==3.4.3
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# BT STUDIO hotfix
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RUN python3.10 -m pip install py-trees autopep8
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RUN curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg \
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&& echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(lsb_release -cs) main" | tee /etc/apt/sources.list.d/ros2.list > /dev/null \
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&& apt-get update && apt-get install -y \
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ros-humble-py-trees \
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ros-humble-py-trees-ros
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#-----------------------------------------
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# # PX4 pip installs
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# RUN python3.10 -m pip install jsonschema==4.18.0
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# # PX4 Dependencies
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# RUN apt-get update && apt-get install -y \
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# astyle \
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# gdb \
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# lcov \
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# libfuse2 \
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# ninja-build \
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# rsync \
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# shellcheck \
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# && rm -rf /var/lib/apt/lists/*
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# # Install PX4
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# RUN git clone -b v1.14.0 https://github.com/PX4/PX4-Autopilot.git --recursive \
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# && cd /PX4-Autopilot \
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# && DONT_RUN=1 make px4_sitl gazebo
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# # https://github.com/JdeRobot/RoboticsAcademy/issues/2310
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# RUN echo 'param set-default COM_OF_LOSS_T 5' >> /PX4-Autopilot/build/px4_sitl_default/etc/init.d-posix/px4-rc.params
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# RUN git clone -b v2.4.3 https://github.com/eProsima/Micro-XRCE-DDS-Agent.git /tmp/MicroXRCEAgent \
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# && cd /tmp/MicroXRCEAgent \
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# && mkdir build && cd build \
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# && cmake .. \
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# && make -j $(nproc) \
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# && make install \
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# && ldconfig /usr/local/lib/ \
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# && rm -rf /tmp/*
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#-----------------------------------------
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## Aerostack2
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WORKDIR /root/
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RUN apt-get update && \
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apt-get install apt-utils -y \
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software-properties-common \
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git \
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tmux \
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tmuxinator \
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python3-rosdep \
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python3-pip \
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python3-colcon-common-extensions \
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python3-colcon-mixin \
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python-is-python3 \
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ros-dev-tools \
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python3-flake8 \
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python3-flake8-builtins \
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python3-flake8-comprehensions \
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python3-flake8-docstrings \
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python3-flake8-import-order \
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python3-flake8-quotes \
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cppcheck \
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lcov \
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lsb-release \
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wget \
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gnupg \
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&& rm -rf /var/lib/apt/lists/*
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RUN pip3 install \
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pylint \
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flake8==4.0.1 \
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pycodestyle==2.8 \
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cmakelint \
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cpplint \
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colcon-lcov-result \
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PySimpleGUI-4-foss
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RUN colcon mixin add default https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml
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RUN colcon mixin update default
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RUN rm -rf log
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# remove log folder
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RUN mkdir -p /home/drones_ws/src/
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WORKDIR /home/drones_ws/src/
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RUN git clone https://github.com/aerostack2/aerostack2.git -b 733-aerostack2-shared-launch-context
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RUN touch aerostack2/as2_hardware_drivers/COLCON_IGNORE
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RUN touch aerostack2/as2_behavior_tree/COLCON_IGNORE
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RUN touch aerostack2/as2_map_server/COLCON_IGNORE
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RUN touch aerostack2/as2_behaviors/as2_behaviors_path_planning/COLCON_IGNORE
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RUN touch aerostack2/as2_utilities/as2_geozones/COLCON_IGNORE
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RUN touch aerostack2/as2_user_interfaces/as2_visualization/as2_rviz_plugins/COLCON_IGNORE
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WORKDIR /home/drones_ws/
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# RUN rosdep update
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# RUN apt update && \
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# rosdep install --from-paths src --ignore-src -r -y
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RUN apt-get update && \
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apt-get install -y \
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libbenchmark-dev \
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libeigen3-dev \
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libgeographic-dev \
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libncurses-dev \
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libyaml-cpp-dev \
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pybind11-dev \
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python3-jinja2 \
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python3-pydantic \
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python3-pymap3d \
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python3-pytest \
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ros-humble-action-msgs \
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ros-humble-ament-cmake \
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ros-humble-ament-cmake-gtest \
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ros-humble-ament-cmake-lint-cmake \
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ros-humble-ament-cmake-pytest \
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ros-humble-ament-cmake-python \
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ros-humble-ament-cmake-xmllint \
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ros-humble-ament-copyright \
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ros-humble-ament-flake8 \
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ros-humble-ament-index-cpp \
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ros-humble-ament-lint-auto \
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ros-humble-ament-lint-common \
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ros-humble-ament-pep257 \
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ros-humble-backward-ros \
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ros-humble-builtin-interfaces \
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ros-humble-cv-bridge \
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ros-humble-geographic-msgs \
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ros-humble-geometry-msgs \
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ros-humble-image-transport \
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ros-humble-mocap4r2-msgs \
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ros-humble-nav-msgs \
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ros-humble-pluginlib \
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ros-humble-rclcpp \
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ros-humble-rclcpp-action \
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ros-humble-rclcpp-components \
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ros-humble-rclcpp-lifecycle \
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ros-humble-rclpy \
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ros-humble-robot-state-publisher \
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# ros-humble-ros-gz \
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# ros-humble-ros-gz-bridge \
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# ros-humble-ros-gz-sim \
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ros-humble-rosidl-default-generators \
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ros-humble-rosidl-default-runtime \
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ros-humble-rviz2 \
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ros-humble-sdformat-urdf \
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ros-humble-sensor-msgs \
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ros-humble-std-msgs \
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ros-humble-std-srvs \
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ros-humble-tf2 \
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ros-humble-tf2-geometry-msgs \
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ros-humble-tf2-msgs \
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ros-humble-tf2-ros \
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ros-humble-trajectory-msgs \
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ros-humble-visualization-msgs \
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&& rm -rf /var/lib/apt/lists/*
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RUN . /opt/ros/$ROS_DISTRO/setup.sh && \
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colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release
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# # Create workspace and add drone packages
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# RUN mkdir -p /home/drones_ws/src/
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# RUN git clone https://github.com/aerostack2/aerostack2.git /home/drones_ws/src/
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RUN echo "source /usr/share/gazebo/setup.bash" >> ~/.bashrc
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RUN echo "source /opt/ros/$ROS_DISTRO/setup.bash" >> ~/.bashrc
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RUN echo 'export AEROSTACK2_PATH=/home/drones_ws/src/aerostack2' >> ~/.bashrc
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RUN echo 'source $AEROSTACK2_PATH/as2_cli/setup_env.bash' >> ~/.bashrc
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RUN echo "source /home/drones_ws/install/setup.bash" >> ~/.bashrc
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# # Compiling and sourcing the workspace
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# WORKDIR /home/drones_ws/
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# RUN apt-get update && rosdep update && rosdep install -y -r -q --from-paths src --ignore-src --rosdistro ${ROS_DISTRO}
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# RUN /bin/bash -c "source /opt/ros/humble/setup.bash; colcon build --symlink-install"
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# Download and install OMPL library
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COPY install-ompl-ubuntu.sh /
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WORKDIR /
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RUN chmod u+x install-ompl-ubuntu.sh
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RUN ./install-ompl-ubuntu.sh --python

‎scripts/Dockerfile.humble_BT

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# Compiling and sourcing the workspace
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WORKDIR /home/ws
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RUN /bin/bash -c "source /home/drones_ws/install/setup.bash; rosdep install --from-paths src --ignore-src -r --rosdistro humble -y"
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RUN /bin/bash -c "source /home/drones_ws/install/setup.bash"
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RUN /bin/bash -c "source /opt/ros/humble/setup.bash; colcon build --symlink-install"
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# build frontend

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