Splits project into a docker environment folder and source code folder (for development). This change is mostly just renaming and moving files, but there are some changes to the gazebo Dockerfile to include all dependencies required for final development.

.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

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"]

docker_env/gazebo/run_rrrobot_image.sh

@@ -0,0 +1 @@
+../../run_rrrobot_image.sh

rrrobot_src/src/gazebo_models/fanuc_robotic_arm/model.sdf

@@ -22,7 +22,7 @@
         <pose frame=''>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
-            <uri>/root/.gazebo/models/fanuc_robotic_arm/meshes/base_link.STL</uri>
+            <uri>/home/rrrobot/rrrobot_src/src/gazebo_models/fanuc_robotic_arm/meshes/base_link.STL</uri>
             <scale>1 1 1</scale>
           </mesh>
         </geometry>
@@ -49,7 +49,7 @@
         <pose frame=''>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
-            <uri>/root/.gazebo/models/fanuc_robotic_arm/meshes/base_link.STL</uri>
+            <uri>/home/rrrobot/rrrobot_src/src/gazebo_models/fanuc_robotic_arm/meshes/base_link.STL</uri>
             <scale>1 1 1</scale>
           </mesh>
         </geometry>
@@ -121,7 +121,7 @@
         <pose frame=''>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
-            <uri>/root/.gazebo/models/fanuc_robotic_arm/meshes/arm_link_1.STL</uri>
+            <uri>/home/rrrobot/rrrobot_src/src/gazebo_models/fanuc_robotic_arm/meshes/arm_link_1.STL</uri>
             <scale>1 1 1</scale>
           </mesh>
         </geometry>
@@ -148,7 +148,7 @@
         <pose frame=''>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
-            <uri>/root/.gazebo/models/fanuc_robotic_arm/meshes/arm_link_1.STL</uri>
+            <uri>/home/rrrobot/rrrobot_src/src/gazebo_models/fanuc_robotic_arm/meshes/arm_link_1.STL</uri>
             <scale>1 1 1</scale>
           </mesh>
         </geometry>
@@ -220,7 +220,7 @@
         <pose frame=''>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
-            <uri>/root/.gazebo/models/fanuc_robotic_arm/meshes/arm_link_3.STL</uri>
+            <uri>/home/rrrobot/rrrobot_src/src/gazebo_models/fanuc_robotic_arm/meshes/arm_link_3.STL</uri>
             <scale>1 1 1</scale>
           </mesh>
         </geometry>
@@ -247,7 +247,7 @@
         <pose frame=''>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
-            <uri>/root/.gazebo/models/fanuc_robotic_arm/meshes/arm_link_3.STL</uri>
+            <uri>/home/rrrobot/rrrobot_src/src/gazebo_models/fanuc_robotic_arm/meshes/arm_link_3.STL</uri>
             <scale>1 1 1</scale>
           </mesh>
         </geometry>
@@ -319,7 +319,7 @@
         <pose frame=''>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
-            <uri>/root/.gazebo/models/fanuc_robotic_arm/meshes/arm_link_2.STL</uri>
+            <uri>/home/rrrobot/rrrobot_src/src/gazebo_models/fanuc_robotic_arm/meshes/arm_link_2.STL</uri>
             <scale>1 1 1</scale>
           </mesh>
         </geometry>
@@ -346,7 +346,7 @@
         <pose frame=''>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
-            <uri>/root/.gazebo/models/fanuc_robotic_arm/meshes/arm_link_2.STL</uri>
+            <uri>/home/rrrobot/rrrobot_src/src/gazebo_models/fanuc_robotic_arm/meshes/arm_link_2.STL</uri>
             <scale>1 1 1</scale>
           </mesh>
         </geometry>
@@ -418,7 +418,7 @@
         <pose frame=''>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
-            <uri>/root/.gazebo/models/fanuc_robotic_arm/meshes/arm_link_4.STL</uri>
+            <uri>/home/rrrobot/rrrobot_src/src/gazebo_models/fanuc_robotic_arm/meshes/arm_link_4.STL</uri>
             <scale>1 1 1</scale>
           </mesh>
         </geometry>
@@ -445,7 +445,7 @@
         <pose frame=''>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
-            <uri>/root/.gazebo/models/fanuc_robotic_arm/meshes/arm_link_4.STL</uri>
+            <uri>/home/rrrobot/rrrobot_src/src/gazebo_models/fanuc_robotic_arm/meshes/arm_link_4.STL</uri>
             <scale>1 1 1</scale>
           </mesh>
         </geometry>
@@ -517,7 +517,7 @@
         <pose frame=''>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
-            <uri>/root/.gazebo/models/fanuc_robotic_arm/meshes/arm_link_5.STL</uri>
+            <uri>/home/rrrobot/rrrobot_src/src/gazebo_models/fanuc_robotic_arm/meshes/arm_link_5.STL</uri>
             <scale>1 1 1</scale>
           </mesh>
         </geometry>
@@ -544,7 +544,7 @@
         <pose frame=''>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
-            <uri>/root/.gazebo/models/fanuc_robotic_arm/meshes/arm_link_5.STL</uri>
+            <uri>/home/rrrobot/rrrobot_src/src/gazebo_models/fanuc_robotic_arm/meshes/arm_link_5.STL</uri>
             <scale>1 1 1</scale>
           </mesh>
         </geometry>
@@ -616,7 +616,7 @@
         <pose frame=''>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
-            <uri>/root/.gazebo/models/fanuc_robotic_arm/meshes/arm_link_6.STL</uri>
+            <uri>/home/rrrobot/rrrobot_src/src/gazebo_models/fanuc_robotic_arm/meshes/arm_link_6.STL</uri>
             <scale>1 1 1</scale>
           </mesh>
         </geometry>
@@ -643,7 +643,7 @@
         <pose frame=''>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
-            <uri>/root/.gazebo/models/fanuc_robotic_arm/meshes/arm_link_6.STL</uri>
+            <uri>/home/rrrobot/rrrobot_src/src/gazebo_models/fanuc_robotic_arm/meshes/arm_link_6.STL</uri>
             <scale>1 1 1</scale>
           </mesh>
         </geometry>
@@ -898,5 +898,7 @@
     </joint>
     <static>0</static>
     <allow_auto_disable>0</allow_auto_disable>
+
+    <plugin name="joint_angles" filename="libarm_angles.so"/>
   </model>
 </sdf>

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

src/.env

@@ -1,3 +0,0 @@
-# .env for docker-compose
-
-IP_ADDRESS=192.168.1.14

src/gazebo/Dockerfile

@@ -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"]

src/gazebo/run_rrrobot_image.sh

@@ -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