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Update codebase to ROS 2 Jazzy with SimulationInterfaces; fix docker - #323
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jhanca-robotecai
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Signed-off-by: Michał Pełka <michal.pelka@robotec.ai>
Signed-off-by: Jan Hanca <jan.hanca@robotec.ai>
Signed-off-by: Jan Hanca <jan.hanca@robotec.ai>
Signed-off-by: Jan Hanca <jan.hanca@robotec.ai>
Signed-off-by: Jan Hanca <jan.hanca@robotec.ai>
Signed-off-by: Jan Hanca <jan.hanca@robotec.ai>
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#322 is merged, this one is rebased and ready for the review |
Signed-off-by: Michał Pełka <michal.pelka@robotec.ai>
patrykantosz
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patrykantosz
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Docker does not work when following the instructions in the README file, at least not for me. The foil machine animation is not working either - in my case, it only worked once, for one robot, when I used GameLauncher. After that, the machine's arm was static and only the payload model changed.
Everything else works when it is built locally (I have only checked the level 1 demo).
| laser_likelihood_max_dist: 2.0 | ||
| laser_max_range: 100.0 | ||
| laser_min_range: -1.0 | ||
| laser_model_type: "<robot_namespace>/likelihood_field" |
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I am not sure if this particular field should be namespaced, but maybe someone more familiar with ROS 2 should check that.
| laser_likelihood_max_dist: 2.0 | ||
| laser_max_range: 100.0 | ||
| laser_min_range: -1.0 | ||
| laser_model_type: "<robot_namespace>/likelihood_field" |
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As in the otto1500Params.yaml.
| To build the Docker image using the default values, use the following command | ||
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| ``` | ||
| docker build -f Dockerfile.ROS -t roscon2023_demo/ros:latest . |
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I tried to run this command and build failed with such error:
44.11 ./clone_simulation.sh: line 63: /data/workspace/ROSCon2023Demo/engine/o3de/python/get_python.sh: No such file or directory
44.11 Error downloading/configuring O3DE Python
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Dockerfile.O3DE:103
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102 | COPY clone_simulation.sh $WORKSPACE/
103 | >>> RUN cd $WORKSPACE \
104 | >>> && ./clone_simulation.sh \
105 | >>> && rm clone_simulation.sh
106 |
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I have checked the whole /data/workspace directory and get_python.sh is not present there, so probably the engine is cloned/copied to a different localization.
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I've tested it against the latest and greatest stabilization (c963a762111301a81717bc37d0756296e61ffae8). Works as expected. Done some changes to readme. |
patrykantosz
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After a bit of effort, I managed to get Docker working.
docker build -f Dockerfile.O3DE -t roscon2023_demo/o3de:latest --build-arg ROSCON_DEMO_BRANCH=jh/update_ROS2 .
It makes sense, as the ROSCON_DEMO_BRANCH points to the main branch, which does not use Git submodules.
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@patrykantosz I would merge it, with issues opened. Could you open issues regarding those namespaced paremeterts |
What does this PR do?
This PR builds on the last commit from #320 The aforementioned is too large for the review and to it was split into smaller pieces (see #322).
This PR updates the project to use ROS 2 Jazzy, adds SimulationInterfaces and cleans Docker scripts. The following changes were added on top of the work in #320 :
--symlink-installoptionNote: this PR should be merged only after #322
How was this PR tested?
Two docker images with ROS 2 Jazzy were built and run.