feat(cli): a command line interface for spawning robots

config/append_to_bashrc.py → .devcontainer/append_to_bashrc.py

@@ -26,7 +26,7 @@ def append_unique_lines_to_bashrc(source_file):
         print("ℹ️ No new lines were added. All lines already exist.")
 
 if __name__ == "__main__":
-    append_unique_lines_to_bashrc(os.path.abspath("/home/ws/config/append_to_bashrc.txt"))
+    append_unique_lines_to_bashrc(os.path.abspath("/home/ws/.devcontainer/append_to_bashrc.txt"))
 
     # If there are arguments passed to this container (i.e., CMD), run them
     if len(sys.argv) > 1:

config/append_to_bashrc.txt → .devcontainer/append_to_bashrc.txt

@@ -1,5 +1,5 @@
 # Custom Alias
-alias src='source /opt/ros/jazzy/setub.bash && source /home/ws/install/setup.bash'
+alias src='source /opt/ros/jazzy/setup.bash && source /home/ws/install/setup.bash'
 
 # Integrate entrypoint.sh
 source /home/ws/.devcontainer/entrypoint.sh

.devcontainer/devcontainer.json

@@ -3,7 +3,7 @@
   "privileged": true,
   "remoteUser": "htkz",
   "build": {
-      "dockerfile": "Dockerfile",
+      "dockerfile": "../docker/Dockerfile",
       "context": "..",
       "target": "dev",
       "args": {
@@ -43,7 +43,8 @@
   "mounts": [
      "source=/tmp/.X11-unix,target=/tmp/.X11-unix,type=bind,consistency=cached",
      "source=/dev/dri,target=/dev/dri,type=bind,consistency=cached",
-     "source=/dev/input,target=/dev/input,type=bind,consistency=delegated"
+     "source=/dev/input,target=/dev/input,type=bind,consistency=delegated",
+     "source=/var/run/docker.sock,target=/var/run/docker.sock,type=bind"
   ],
-  "postCreateCommand": "sudo chown -R $(whoami) /home/ws/ && python3 /home/ws/config/append_to_bashrc.py"
+  "postCreateCommand": "sudo chown -R $(whoami) /home/ws/ && python3 /home/ws/.devcontainer/append_to_bashrc.py"
 }

.github/workflows/ci.yml

@@ -29,8 +29,8 @@ jobs:
         uses: docker/build-push-action@v6
         with:
           context: .
-          file: .devcontainer/Dockerfile
-          tags: ghcr.io/helbling-technik/helmoro-software-ros2:${{ github.ref_name }}-latest
+          file: docker/Dockerfile
+          tags: helmoro
           load: true
           cache-from: |
             type=gha
@@ -41,7 +41,7 @@ jobs:
 
       - name: Start container
         shell: bash
-        run: docker run --name test_container -v /tmp/.X11-unix:/tmp/.X11-unix --detach ghcr.io/helbling-technik/helmoro-software-ros2:${{ github.ref_name }}-latest tail -f /dev/null
+        run: docker run --name test_container --net host -v /tmp/.X11-unix:/tmp/.X11-unix -v /var/run/docker.sock:/var/run/docker.sock --detach helmoro tail -f /dev/null
 
       - name: Run test
         shell: bash
@@ -51,17 +51,19 @@ jobs:
           echo "Starting virtual display (Xvfb)..."
           Xvfb :99 -screen 0 1024x768x24 &
           export DISPLAY=:99
+          export ROS_DOMAIN_ID=42
 
           echo "Start testing..."
-          docker exec -e DISPLAY=$DISPLAY test_container bash -c "
+          docker exec -e DISPLAY=$DISPLAY -e ROS_DOMAIN_ID=$ROS_DOMAIN_ID test_container bash -c "
             source ./entrypoint.sh &&
-            colcon test &&
+            colcon test --executor sequential &&
             colcon test-result --verbose
           "
 
       - name: Export logs to runner
         shell: bash
         run: docker cp test_container:/home/ws/log ./log
+        if: always() # export logs even if tests fail
 
       - name: Upload logs
         uses: actions/upload-artifact@v4

.devcontainer/Dockerfile → docker/Dockerfile

@@ -1,5 +1,18 @@
-FROM ros@sha256:9749355a0760334fa5ea3c660f2de1ecc5e8a5af8047e4bbaa9afa8a7843da80 AS dev
+FROM osrf/ros@sha256:f2f03a667950570edcaa14ed414a636912acd44ea9c25c10b5a7c5d44eea5142 AS dev
 
+# NOTE: this updates the GPG key for ros2 apt repository (to be deleted when new ros2 jazzy docker image is released)
+RUN rm /etc/apt/sources.list.d/ros2-latest.list \
+  && rm /usr/share/keyrings/ros2-latest-archive-keyring.gpg
+
+RUN apt-get update \
+  && apt-get install -y ca-certificates curl
+
+RUN export ROS_APT_SOURCE_VERSION=$(curl -s https://api.github.com/repos/ros-infrastructure/ros-apt-source/releases/latest | grep -F "tag_name" | awk -F\" '{print $4}') ;\
+    curl -L -s -o /tmp/ros2-apt-source.deb "https://github.com/ros-infrastructure/ros-apt-source/releases/download/${ROS_APT_SOURCE_VERSION}/ros2-apt-source_${ROS_APT_SOURCE_VERSION}.$(. /etc/os-release && echo $VERSION_CODENAME)_all.deb" \
+    && apt-get update \
+    && apt-get install /tmp/ros2-apt-source.deb \
+    && rm -f /tmp/ros2-apt-source.deb
+
 # ********************************************************
 # * Install Dependencies *
 # ********************************************************
@@ -18,8 +31,14 @@ RUN sudo apt update && sudo apt install -y \
 RUN apt-get update && apt-get install -y \
     xterm \
     xvfb \
+    curl \
     && rm -rf /var/lib/apt/lists/*
 
+# Install Docker Engine
+RUN curl -fsSL https://get.docker.com -o get-docker.sh && \
+    sh get-docker.sh && \
+    rm get-docker.sh
+
 # Install ROS debug packages
 RUN apt-get update && apt-get install -y \
     ros-jazzy-demo-nodes-cpp \
@@ -78,7 +97,7 @@ ENV SHELL=/bin/bash
 
 # Define entrypoint
 RUN mkdir -p /home/ws
-COPY .devcontainer/entrypoint.sh /home/ws
+COPY docker/entrypoint.sh /home/ws
 RUN chmod +x /home/ws/entrypoint.sh
 ENTRYPOINT [ "/home/ws/entrypoint.sh" ]
 CMD ["/bin/bash"]
@@ -94,7 +113,7 @@ FROM dev AS prod
 # Copy our packages into the image and build them
 USER root
 WORKDIR /home/ws
-COPY config config
 COPY src src
+COPY docker/docker-compose.yml docker/
 RUN source /opt/ros/jazzy/setup.bash \
     && colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release

docker/build.sh

@@ -0,0 +1 @@
+sudo docker build -t helmoro -f docker/Dockerfile .

docker/docker-compose.yml

@@ -0,0 +1,56 @@
+services:
+    template:
+      command: bash
+      image: helmoro
+      environment:
+        - DISPLAY=${DISPLAY}
+        - ROS_DOMAIN_ID=42
+      network_mode: host
+      ipc: host
+      volumes:
+        - /tmp/.X11-unix:/tmp/.X11-unix
+
+    cli:
+      extends: template
+      command: python3 src/helmoro_cli/helmoro_cli/main.py
+      volumes:
+        - /var/run/docker.sock:/var/run/docker.sock
+
+    simulation:
+      extends: template
+      command: bash -c "ros2 launch helmoro_simulation simulation.launch.py world:=$${WORLD}"
+      environment:
+        - WORLD
+
+    spawn_robot:
+      extends: template
+      command: bash -c "ros2 launch helmoro_simulation spawn_robot.launch.py namespace:=$${NAMESPACE} x:=$${X} y:=$${Y} z:=$${Z} yaw:=$${YAW}"
+      environment:
+        - NAMESPACE
+        - X
+        - Y
+        - Z
+        - YAW
+
+    despawn_robot:
+      extends: template
+      command: bash -c "ros2 launch ros_gz_sim gz_remove_model.launch.py world:=$${WORLD} entity_name:=$${ENTITY_NAME}"
+      environment:
+        - WORLD
+        - ENTITY_NAME
+
+    gz_ros_bridge:
+      extends: template
+      command: bash -c "ros2 launch helmoro_simulation ros_gz_bridge.launch.py namespace:=$${NAMESPACE} word:=$${WORLD}"
+      environment:
+        - NAMESPACE
+        - WORLD
+
+    robot_description:
+      extends:
+        service: template
+      command: bash -c "ros2 launch helmoro_description description.launch.py namespace:=$${NAMESPACE} run_in_simulation:=$${USE_SIM_TIME}"
+      environment:
+        - NAMESPACE
+        - USE_SIM_TIME
+

src/helmoro_cli/LICENSE

@@ -0,0 +1,202 @@
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