Warehouse Documentation & Docker

- Add instructions for running warehouse simulation to README
- Create new warehouse docker service based on gazebo service
- Add new warehouse Dockerfile with commands for installing GEAR

README.md

@@ -8,8 +8,8 @@
   - [Docker Compose Services](#docker-compose-services)
   - [GUI Support](#gui-support)
   - [Running Docker Containers](#running-docker-containers)
-  - [Building the simulation environment](#building-the-simulation-environment)
-  - [Running the simulation](#running-the-simulation)
+  - [Warehouse Simulation](#warehouse-simulation)
+  - [Gazebo Grasping Simulation](#gazebo-grasping-simulation)
 
 ## Contributors
 
@@ -100,18 +100,40 @@ Additionally, be sure to update the `IP_ADDRESS` variable in [.env](src/.env) wi
 4. Use Docker Compose to run a service (refer to [docker-compose.yml](src/docker-compose.yml) or [Docker Compose Services](#docker-compose-services))
    - `docker-compose run --rm <service_name>`
 
-### Building the simulation environment
+### Warehouse Simulation
+
+1. Clone repo
+   - HTTPS: `git clone https://github.com/EECS-467-W20-RRRobot-Project/RRRobot.git`
+   - SSH: `git clone git@github.com:EECS-467-W20-RRRobot-Project/RRRobot.git`
+2. Go to `RRRobot` folder
+   - `cd /PATH/TO/RRRobot`
+3. Get submodule(s)
+   - `git submodule init`
+4. Go to `docker_env` folder
+     - `cd /PATH/TO/RRRobot/docker_env`
+5. Start gazebo docker container
+   - `docker-compose run --rm warehouse`
+6. Source ROS Setup
+   - `source /opt/ros/melodic/setup.bash`
+7. Go to warehouse folder in container
+   - `cd /app/rrrobot_src/warehouse`
+8. Build package
+   - `catkin_make clean`
+   - `catkin_make`
+   - `catkin_make install`
+   - `source devel/setup.bash`
+9. Run sample environment
+   - `roslaunch osrf_gear sample_environment.launch`
+
+### Gazebo Grasping Simulation
 
 1. Source ROS Setup
    - `source /opt/ros/melodic/setup.bash`
 2. Build the drivers for the simulation
    - `cd /app/rrrobot_src/src/simulation_drivers/`
    - `source build.sh`
-
-### Running the simulation
-
-1. Start ros master node
+3. Start ros master node
    - `roscore &`
-2. Run the gazebo simulator - this will bring up gazebo with a robotic arm
+4. Run the gazebo simulator - this will bring up gazebo with a robotic arm
    - `gazebo /app/rrrobot_src/world/rrrobot.world`
-3. Run control and perception programs
+5. Run control and perception programs

docker_env/docker-compose.yml

@@ -70,3 +70,19 @@ services:
         hostname: "rrrobot-env"
         networks:
             - ros
+    
+    # Warehouse Production Service
+    warehouse:
+        # Use Dockerfile in warehouse folder
+        build: ./warehouse
+        # Mount warehouse folder on host to app folder in container
+        volumes:
+            - ../rrrobot_src:/app/rrrobot_src
+        # Set DISPLAY variable and network mode for GUIs
+        environment:
+            - DISPLAY=${IP_ADDRESS}:0.0
+        # Set working directory in container to app folder
+        # working_dir: /home/rrrobot
+        hostname: "rrrobot-env"
+        networks:
+            - ros

docker_env/warehouse/Dockerfile

@@ -0,0 +1,49 @@
+# Warehouse Dockerfile
+
+# Use official image for Gazebo 9.x 
+FROM gazebo:gzserver9
+
+RUN apt-get update
+# Install packages required for developing with gazebo
+RUN apt-get install -y libgazebo9-dev
+RUN sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
+RUN apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
+RUN apt-get install -y curl
+RUN curl -sSL 'http://keyserver.ubuntu.com/pks/lookup?op=get&search=0xC1CF6E31E6BADE8868B172B4F42ED6FBAB17C654' | apt-key add -
+RUN apt-get update
+# Install packages required for developing with ROS
+RUN apt-get install -y ros-melodic-desktop-full
+RUN echo "source /opt/ros/melodic/setup.bash" >> ~/.bashrc
+RUN apt install -y python-rosdep
+RUN rosdep init
+RUN rosdep update
+# user id 1000 should be the same as the host user, so that you can access files
+# from inside the docker container and also on the host
+RUN useradd -u 1000 rrrobot
+# set to no password
+RUN passwd --delete rrrobot
+# add to sudo users
+RUN usermod -aG sudo rrrobot
+# set the entry point
+WORKDIR /home/rrrobot
+RUN chown -R rrrobot:rrrobot /home/rrrobot
+
+# Initialize the environment in .bashrc
+RUN echo "source /opt/ros/melodic/setup.bash" >> /home/rrrobot/.bashrc
+RUN echo "source /usr/share/gazebo/setup.sh" >> /home/rrrobot/.bashrc
+RUN echo "export GAZEBO_MODEL_PATH=/home/rrrobot/rrrobot_src/src/gazebo_models:\$GAZEBO_MODEL_PATH" >> /home/rrrobot/.bashrc
+RUN echo "export GAZEBO_PLUGIN_PATH=/home/rrrobot/rrrobot_src/lib:\$GAZEBO_PLUGIN_PATH" >> /home/rrrobot/.bashrc
+
+USER rrrobot
+
+RUN sudo apt-get update && \
+    sudo apt-get install -y \
+        wget
+
+RUN sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable bionic main" > /etc/apt/sources.list.d/gazebo-stable.list' && \
+    wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add - && \
+    apt-get update && \
+    apt-get install -y \
+        ariac3
+
+CMD ["/bin/bash"]