diff --git a/.gitignore b/.gitignore new file mode 100644 index 0000000..229c772 --- /dev/null +++ b/.gitignore @@ -0,0 +1,26 @@ +# Don't track the content of these folders # +############################################ +rrrobot_src/lib/ +rrrobot_src/src/simulation_drivers/build +rrrobot_src/src/simulation_drivers/devel +rrrobot_src/src/simulation_drivers/install +.* +!.gitignore + +# Compiled source # +################### +*.o +*.so + +# Packages # +############ +*.tar +*.gz +*.zip + +# Other # +######### +*.backup +*.old +*.custom +*.run diff --git a/src/docker-compose.yml b/docker_env/docker-compose.yml similarity index 100% rename from src/docker-compose.yml rename to docker_env/docker-compose.yml diff --git a/docker_env/gazebo/Dockerfile b/docker_env/gazebo/Dockerfile new file mode 100644 index 0000000..c1ffdc4 --- /dev/null +++ b/docker_env/gazebo/Dockerfile @@ -0,0 +1,43 @@ +# Gazebo Dockerfile + +# Use official image for Gazebo 9.x +FROM gazebo:gzserver9 + +# COPY $PWD/gazebo_models /root/.gazebo/models + +RUN apt-get update +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 +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 + +#COPY $RRROBOT_HOME/src /home/rrrobot/src +#COPY /home/dwitcpa/eecs467/rrrobot/src /home/rrrobot + +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 + +#RUN chown -R rrrobot:rrrobot /home/rrrobot/.gazebo + +USER rrrobot + +CMD ["/bin/bash"] diff --git a/src/gazebo/build.sh b/docker_env/gazebo/build.sh similarity index 100% rename from src/gazebo/build.sh rename to docker_env/gazebo/build.sh diff --git a/docker_env/gazebo/run_rrrobot_image.sh b/docker_env/gazebo/run_rrrobot_image.sh new file mode 120000 index 0000000..a96893e --- /dev/null +++ b/docker_env/gazebo/run_rrrobot_image.sh @@ -0,0 +1 @@ +../../run_rrrobot_image.sh \ No newline at end of file diff --git a/src/ros-dev/Dockerfile b/docker_env/ros-dev/Dockerfile similarity index 100% rename from src/ros-dev/Dockerfile rename to docker_env/ros-dev/Dockerfile diff --git a/src/ros-dev/build.sh b/docker_env/ros-dev/build.sh similarity index 100% rename from src/ros-dev/build.sh rename to docker_env/ros-dev/build.sh diff --git a/src/ros-dev/run_rrrobot_image.sh b/docker_env/ros-dev/run_rrrobot_image.sh similarity index 100% rename from src/ros-dev/run_rrrobot_image.sh rename to docker_env/ros-dev/run_rrrobot_image.sh diff --git a/src/ros-turtlesim/Dockerfile b/docker_env/ros-turtlesim/Dockerfile similarity index 100% rename from src/ros-turtlesim/Dockerfile rename to docker_env/ros-turtlesim/Dockerfile diff --git a/src/ros-turtlesim/build.sh b/docker_env/ros-turtlesim/build.sh similarity index 100% rename from src/ros-turtlesim/build.sh rename to docker_env/ros-turtlesim/build.sh diff --git a/src/ros-turtlesim/run_rrrobot_image.sh b/docker_env/ros-turtlesim/run_rrrobot_image.sh similarity index 100% rename from src/ros-turtlesim/run_rrrobot_image.sh rename to docker_env/ros-turtlesim/run_rrrobot_image.sh diff --git a/src/ros-turtlesim/turtlesim.sh b/docker_env/ros-turtlesim/turtlesim.sh similarity index 100% rename from src/ros-turtlesim/turtlesim.sh rename to docker_env/ros-turtlesim/turtlesim.sh diff --git a/src/ros/Dockerfile b/docker_env/ros/Dockerfile similarity index 100% rename from src/ros/Dockerfile rename to docker_env/ros/Dockerfile diff --git a/src/ros/build.sh b/docker_env/ros/build.sh similarity index 100% rename from src/ros/build.sh rename to docker_env/ros/build.sh diff --git a/src/ros/run_rrrobot_image.sh b/docker_env/ros/run_rrrobot_image.sh similarity index 100% rename from src/ros/run_rrrobot_image.sh rename to docker_env/ros/run_rrrobot_image.sh diff --git a/src/gazebo/gazebo_models/fanuc_robotic_arm/meshes/arm_link_1.STL b/rrrobot_src/src/gazebo_models/fanuc_robotic_arm/meshes/arm_link_1.STL similarity index 100% rename from src/gazebo/gazebo_models/fanuc_robotic_arm/meshes/arm_link_1.STL rename to rrrobot_src/src/gazebo_models/fanuc_robotic_arm/meshes/arm_link_1.STL diff --git a/src/gazebo/gazebo_models/fanuc_robotic_arm/meshes/arm_link_2.STL b/rrrobot_src/src/gazebo_models/fanuc_robotic_arm/meshes/arm_link_2.STL similarity index 100% rename from src/gazebo/gazebo_models/fanuc_robotic_arm/meshes/arm_link_2.STL rename to rrrobot_src/src/gazebo_models/fanuc_robotic_arm/meshes/arm_link_2.STL diff --git a/src/gazebo/gazebo_models/fanuc_robotic_arm/meshes/arm_link_3.STL b/rrrobot_src/src/gazebo_models/fanuc_robotic_arm/meshes/arm_link_3.STL similarity index 100% rename from src/gazebo/gazebo_models/fanuc_robotic_arm/meshes/arm_link_3.STL rename to rrrobot_src/src/gazebo_models/fanuc_robotic_arm/meshes/arm_link_3.STL diff --git a/src/gazebo/gazebo_models/fanuc_robotic_arm/meshes/arm_link_4.STL b/rrrobot_src/src/gazebo_models/fanuc_robotic_arm/meshes/arm_link_4.STL similarity index 100% rename from src/gazebo/gazebo_models/fanuc_robotic_arm/meshes/arm_link_4.STL rename to rrrobot_src/src/gazebo_models/fanuc_robotic_arm/meshes/arm_link_4.STL diff --git a/src/gazebo/gazebo_models/fanuc_robotic_arm/meshes/arm_link_5.STL b/rrrobot_src/src/gazebo_models/fanuc_robotic_arm/meshes/arm_link_5.STL similarity index 100% rename from src/gazebo/gazebo_models/fanuc_robotic_arm/meshes/arm_link_5.STL rename to rrrobot_src/src/gazebo_models/fanuc_robotic_arm/meshes/arm_link_5.STL diff --git a/src/gazebo/gazebo_models/fanuc_robotic_arm/meshes/arm_link_6.STL b/rrrobot_src/src/gazebo_models/fanuc_robotic_arm/meshes/arm_link_6.STL similarity index 100% rename from src/gazebo/gazebo_models/fanuc_robotic_arm/meshes/arm_link_6.STL rename to rrrobot_src/src/gazebo_models/fanuc_robotic_arm/meshes/arm_link_6.STL diff --git a/src/gazebo/gazebo_models/fanuc_robotic_arm/meshes/base_link.STL b/rrrobot_src/src/gazebo_models/fanuc_robotic_arm/meshes/base_link.STL similarity index 100% rename from src/gazebo/gazebo_models/fanuc_robotic_arm/meshes/base_link.STL rename to rrrobot_src/src/gazebo_models/fanuc_robotic_arm/meshes/base_link.STL diff --git a/src/gazebo/gazebo_models/fanuc_robotic_arm/model.config b/rrrobot_src/src/gazebo_models/fanuc_robotic_arm/model.config similarity index 100% rename from src/gazebo/gazebo_models/fanuc_robotic_arm/model.config rename to rrrobot_src/src/gazebo_models/fanuc_robotic_arm/model.config diff --git a/src/gazebo/gazebo_models/fanuc_robotic_arm/model.sdf b/rrrobot_src/src/gazebo_models/fanuc_robotic_arm/model.sdf similarity index 94% rename from src/gazebo/gazebo_models/fanuc_robotic_arm/model.sdf rename to rrrobot_src/src/gazebo_models/fanuc_robotic_arm/model.sdf index ae0a2dd..e127921 100644 --- a/src/gazebo/gazebo_models/fanuc_robotic_arm/model.sdf +++ b/rrrobot_src/src/gazebo_models/fanuc_robotic_arm/model.sdf @@ -22,7 +22,7 @@ 0 0 0 0 -0 0 - /root/.gazebo/models/fanuc_robotic_arm/meshes/base_link.STL + /home/rrrobot/rrrobot_src/src/gazebo_models/fanuc_robotic_arm/meshes/base_link.STL 1 1 1 @@ -49,7 +49,7 @@ 0 0 0 0 -0 0 - /root/.gazebo/models/fanuc_robotic_arm/meshes/base_link.STL + /home/rrrobot/rrrobot_src/src/gazebo_models/fanuc_robotic_arm/meshes/base_link.STL 1 1 1 @@ -121,7 +121,7 @@ 0 0 0 0 -0 0 - /root/.gazebo/models/fanuc_robotic_arm/meshes/arm_link_1.STL + /home/rrrobot/rrrobot_src/src/gazebo_models/fanuc_robotic_arm/meshes/arm_link_1.STL 1 1 1 @@ -148,7 +148,7 @@ 0 0 0 0 -0 0 - /root/.gazebo/models/fanuc_robotic_arm/meshes/arm_link_1.STL + /home/rrrobot/rrrobot_src/src/gazebo_models/fanuc_robotic_arm/meshes/arm_link_1.STL 1 1 1 @@ -220,7 +220,7 @@ 0 0 0 0 -0 0 - /root/.gazebo/models/fanuc_robotic_arm/meshes/arm_link_3.STL + /home/rrrobot/rrrobot_src/src/gazebo_models/fanuc_robotic_arm/meshes/arm_link_3.STL 1 1 1 @@ -247,7 +247,7 @@ 0 0 0 0 -0 0 - /root/.gazebo/models/fanuc_robotic_arm/meshes/arm_link_3.STL + /home/rrrobot/rrrobot_src/src/gazebo_models/fanuc_robotic_arm/meshes/arm_link_3.STL 1 1 1 @@ -319,7 +319,7 @@ 0 0 0 0 -0 0 - /root/.gazebo/models/fanuc_robotic_arm/meshes/arm_link_2.STL + /home/rrrobot/rrrobot_src/src/gazebo_models/fanuc_robotic_arm/meshes/arm_link_2.STL 1 1 1 @@ -346,7 +346,7 @@ 0 0 0 0 -0 0 - /root/.gazebo/models/fanuc_robotic_arm/meshes/arm_link_2.STL + /home/rrrobot/rrrobot_src/src/gazebo_models/fanuc_robotic_arm/meshes/arm_link_2.STL 1 1 1 @@ -418,7 +418,7 @@ 0 0 0 0 -0 0 - /root/.gazebo/models/fanuc_robotic_arm/meshes/arm_link_4.STL + /home/rrrobot/rrrobot_src/src/gazebo_models/fanuc_robotic_arm/meshes/arm_link_4.STL 1 1 1 @@ -445,7 +445,7 @@ 0 0 0 0 -0 0 - /root/.gazebo/models/fanuc_robotic_arm/meshes/arm_link_4.STL + /home/rrrobot/rrrobot_src/src/gazebo_models/fanuc_robotic_arm/meshes/arm_link_4.STL 1 1 1 @@ -517,7 +517,7 @@ 0 0 0 0 -0 0 - /root/.gazebo/models/fanuc_robotic_arm/meshes/arm_link_5.STL + /home/rrrobot/rrrobot_src/src/gazebo_models/fanuc_robotic_arm/meshes/arm_link_5.STL 1 1 1 @@ -544,7 +544,7 @@ 0 0 0 0 -0 0 - /root/.gazebo/models/fanuc_robotic_arm/meshes/arm_link_5.STL + /home/rrrobot/rrrobot_src/src/gazebo_models/fanuc_robotic_arm/meshes/arm_link_5.STL 1 1 1 @@ -616,7 +616,7 @@ 0 0 0 0 -0 0 - /root/.gazebo/models/fanuc_robotic_arm/meshes/arm_link_6.STL + /home/rrrobot/rrrobot_src/src/gazebo_models/fanuc_robotic_arm/meshes/arm_link_6.STL 1 1 1 @@ -643,7 +643,7 @@ 0 0 0 0 -0 0 - /root/.gazebo/models/fanuc_robotic_arm/meshes/arm_link_6.STL + /home/rrrobot/rrrobot_src/src/gazebo_models/fanuc_robotic_arm/meshes/arm_link_6.STL 1 1 1 @@ -898,5 +898,7 @@ 0 0 + + diff --git a/src/run_rrrobot_image.sh b/run_rrrobot_image.sh similarity index 76% rename from src/run_rrrobot_image.sh rename to run_rrrobot_image.sh index 03739a6..b9fb3f5 100755 --- a/src/run_rrrobot_image.sh +++ b/run_rrrobot_image.sh @@ -1,5 +1,5 @@ #docker run -i -h rrrobot-env -t eecs467:rrrobot bash xhost +local:docker #rrrobot-env -docker run -it --rm --device=/dev/input/event4 --device=/dev/dri:/dev/dri -e DISPLAY=$DISPLAY -v /tmp/.X11-unix:/tmp/.X11-unix -v$PWD/gazebo_models:/root/.gazebo/models -h rrrobot-env eecs467:rrrobot +docker run -it --rm --device=/dev/input/event4 --device=/dev/dri:/dev/dri -e DISPLAY=$DISPLAY -v /tmp/.X11-unix:/tmp/.X11-unix -v $PWD/rrrobot_src:/home/rrrobot/rrrobot_src -h rrrobot-env eecs467:rrrobot xhost -local:docker #rrrobot-env diff --git a/src/.env b/src/.env deleted file mode 100644 index 48e746e..0000000 --- a/src/.env +++ /dev/null @@ -1,3 +0,0 @@ -# .env for docker-compose - -IP_ADDRESS=192.168.1.14 diff --git a/src/gazebo/Dockerfile b/src/gazebo/Dockerfile deleted file mode 100644 index cfbf4f4..0000000 --- a/src/gazebo/Dockerfile +++ /dev/null @@ -1,8 +0,0 @@ -# Gazebo Dockerfile - -# Use official image for Gazebo 9.x -FROM gazebo:gzserver9 - -COPY $PWD/gazebo_models /root/.gazebo/models - -CMD ["/bin/bash"] diff --git a/src/gazebo/run_rrrobot_image.sh b/src/gazebo/run_rrrobot_image.sh deleted file mode 100755 index c62c1c7..0000000 --- a/src/gazebo/run_rrrobot_image.sh +++ /dev/null @@ -1,7 +0,0 @@ -#docker run -i -h rrrobot-env -t eecs467:rrrobot bash - -#xhost +local:docker -#docker run -it --privileged --security-opt seccomp=unconfined -v $SSH_AUTH_SOCK:/ssh-agent --env SSH_AUTH_SOCK=/ssh-agent --device=/dev/dri:/dev/dri -e DISPLAY=$DISPLAY -v /tmp/.X11-unix:/tmp/.X11-unix --env QT_X11_NO_MITSHM=1 -h rrrobot-env eecs467:rrrobot -#xhost -local:docker - -../run_rrrobot_image.sh