Modified dockerfile and added "docking_control" ROS noetic pkg

.devcontainer/nouveau/Dockerfile

@@ -1,10 +1,10 @@
-FROM ghcr.io/robotic-decision-making-lab/ros-template:noetic-desktop
+FROM ghcr.io/robotic-decision-making-lab/underwater_docking:noetic-desktop
 
 # Install ROS dependencies
 # This is done in a previous stage, but we include it again here in case anyone wants to
 # add new dependencies during development
 ENV USERNAME=ros
-ENV USER_WORKSPACE=/home/$USERNAME/ws_ros
+ENV USER_WORKSPACE=/home/$USERNAME/ws_dock
 WORKDIR $USER_WORKSPACE
 
 COPY --chown=$USER_UID:$USER_GID . src/$PROJECT_NAME

.devcontainer/nouveau/devcontainer.json

@@ -1,9 +1,9 @@
 {
-  "name": "ROS Dev Container",
+  "name": "nouveau",
   "dockerFile": "Dockerfile",
   "context": "../..",
-  "workspaceMount": "source=${localWorkspaceFolder},target=/home/ros/ws_ros/src/ros-template,type=bind",
-  "workspaceFolder": "/home/ros/ws_ros/src/ros-template",
+  "workspaceMount": "source=${localWorkspaceFolder},target=/home/ros/ws_dock/src/underwater_docking,type=bind",
+  "workspaceFolder": "/home/ros/ws_dock/src/underwater_docking",
   "remoteUser": "ros",
   "runArgs": [
     "--network=host",

.devcontainer/nvidia/Dockerfile

@@ -1,10 +1,10 @@
-FROM ghcr.io/robotic-decision-making-lab/ros-template:noetic-desktop-nvidia
+FROM ghcr.io/robotic-decision-making-lab/underwater_docking:noetic-desktop-nvidia
 
 # Install ROS dependencies
 # This is done in a previous stage, but we include it again here in case anyone wants to
 # add new dependencies during development
 ENV USERNAME=ros
-ENV USER_WORKSPACE=/home/$USERNAME/ws_ros
+ENV USER_WORKSPACE=/home/$USERNAME/ws_dock
 WORKDIR $USER_WORKSPACE
 
 COPY --chown=$USER_UID:$USER_GID . src/$PROJECT_NAME

.devcontainer/nvidia/devcontainer.json

@@ -1,9 +1,9 @@
 {
-  "name": "ROS NVIDIA Dev Container",
+  "name": "nvidia",
   "dockerFile": "Dockerfile",
   "context": "../..",
-  "workspaceMount": "source=${localWorkspaceFolder},target=/home/ros/ws_ros/src/ros-template,type=bind",
-  "workspaceFolder": "/home/ros/ws_ros/src/ros-template",
+  "workspaceMount": "source=${localWorkspaceFolder},target=/home/ros/ws_dock/src/underwater_docking,type=bind",
+  "workspaceFolder": "/home/ros/ws_dock/src/underwater_docking",
   "remoteUser": "ros",
   "runArgs": [
     "--network=host",

.docker/Dockerfile

@@ -2,10 +2,10 @@ ARG ROS_DISTRO=noetic
 FROM ros:$ROS_DISTRO-ros-base as ci
 
 ENV DEBIAN_FRONTEND=noninteractive
-WORKDIR /root/ws_ros
+WORKDIR /root/ws_dock
 
 # Update to be your project's name
-ENV PROJECT_NAME=ros-template
+ENV PROJECT_NAME=underwater_docking
 
 COPY . src/$PROJECT_NAME
 
@@ -21,6 +21,14 @@ RUN apt-get -q update \
     clang-tools \
     python3-pip \
     python3-dev \
+    python3-rosdep \
+    python3-rosinstall \
+    python3-rosinstall-generator \
+    python3-wstool \
+    python3-catkin-tools \
+    build-essential \
+    nano \
+    vim \
     apt-utils \
     software-properties-common \
     && apt-get autoremove -y \
@@ -56,13 +64,36 @@ USER $USERNAME
 ENV USER=$USERNAME
 
 ENV DEBIAN_FRONTEND=noninteractive
-ENV USER_WORKSPACE=/home/$USERNAME/ws_ros
-WORKDIR $USER_WORKSPACE
 
+# Install MAVROS dependencies
+WORKDIR /home/$USERNAME
+RUN wget https://raw.githubusercontent.com/mavlink/mavros/ros2/mavros/scripts/install_geographiclib_datasets.sh \
+    && chmod +x install_geographiclib_datasets.sh \
+    && sudo ./install_geographiclib_datasets.sh
+
+# Install acados
+WORKDIR /home/$USERNAME
+RUN git clone https://github.com/acados/acados.git \
+    && cd acados \
+    && git submodule update --recursive --init \
+    && mkdir -p build \
+    && cd build \
+    && cmake -DACADOS_WITH_QPOASES=ON -DACADOS_WITH_OSQP=ON ..\
+    && make install -j4
+
+# Install acados python interface
+WORKDIR /home/$USERNAME
+RUN pip install -e /home/$USERNAME/acados/interfaces/acados_template \
+    && export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:"/home/$USERNAME/acados/lib" \
+    && export ACADOS_SOURCE_DIR="/home/$USERNAME/acados"
+
+
+ENV USER_WORKSPACE=/home/$USERNAME/ws_dock
+WORKDIR $USER_WORKSPACE
 COPY --chown=$USER_UID:$USER_GID . src/$PROJECT_NAME
 
 # Uncomment to download and install external repos used by the project
-# RUN vcs import src < src/$PROJECT_NAME/ros2.repos
+# RUN vcs import src < src/$PROJECT_NAME/ros.repos
 
 # Install all ROS dependencies
 WORKDIR $USER_WORKSPACE
@@ -83,16 +114,16 @@ RUN . "/opt/ros/${ROS_DISTRO}/setup.sh" \
 FROM robot as desktop
 
 ENV DEBIAN_FRONTEND=noninteractive
-ENV USER_WORKSPACE=/home/$USERNAME/ws_ros
+ENV USER_WORKSPACE=/home/$USERNAME/ws_dock
 WORKDIR $USER_WORKSPACE
 
-# Install Gazebo packages
+# Install Gazebo and RViz
 RUN sudo apt-get update \
     && sudo apt-get -q -y upgrade \
     && curl -sSL http://get.gazebosim.org | sh \
     && sudo apt-get -q install --no-install-recommends -y \
-    ros-$ROS_DISTRO-gazebo-ros-pkgs \
-    ros-$ROS_DISTRO-gazebo-ros-control \
+    ros-$ROS_DISTRO-gazebo* \
+    ros-$ROS_DISTRO-rviz \
     && sudo apt-get autoremove -y \
     && sudo apt-get clean -y \
     && sudo rm -rf /var/lib/apt/lists/*

.dockerignore

@@ -5,4 +5,4 @@
 !requirements-dev.txt
 
 # Allow your ROS packages here, e.g.:
-!example_pkg
+!bluerov2_docking

.github/workflows/ci.yml

@@ -13,7 +13,7 @@ env:
 jobs:
   test:
     name: Test Implementation
-    runs-on: ubuntu-latest
+    runs-on: ubuntu-20.04
 
     strategy:
       fail-fast: false
@@ -37,7 +37,7 @@ jobs:
       - name: Run ROS Industrial CI
         uses: ros-industrial/industrial_ci@master
         env:
-          DOCKER_IMAGE: ghcr.io/robotic-decision-making-lab/ros-template:${{ matrix.env.IMAGE }}
+          DOCKER_IMAGE: ghcr.io/robotic-decision-making-lab/underwater_docking:${{ matrix.env.IMAGE }}
           CXXFLAGS: >-
             -Wall -Wextra -Wpedantic -Wwrite-strings -Wunreachable-code -Wpointer-arith -Wredundant-decls
           CC: ${{ env.CLANG_TIDY && 'clang' }}

.github/workflows/docker.yml

@@ -11,15 +11,15 @@ on:
   workflow_dispatch:
 
 env:
-  PUSH: ${{ (github.event_name != 'pull_request') && (github.repository == 'robotic-decision-making-lab/ros-template') }}
+  PUSH: ${{ (github.event_name != 'pull_request') && (github.repository == 'robotic-decision-making-lab/underwater_docking') }}
 
 jobs:
   ci:
     strategy:
       fail-fast: false
       matrix:
         ROS_DISTRO: [noetic]
-    runs-on: ubuntu-latest
+    runs-on: ubuntu-20.04
     permissions:
       packages: write
       contents: read
@@ -60,7 +60,7 @@ jobs:
       fail-fast: false
       matrix:
         ROS_DISTRO: [noetic]
-    runs-on: ubuntu-latest
+    runs-on: ubuntu-20.04
     permissions:
       packages: write
       contents: read
@@ -108,7 +108,7 @@ jobs:
       fail-fast: false
       matrix:
         ROS_DISTRO: [noetic]
-    runs-on: ubuntu-latest
+    runs-on: ubuntu-20.04
     permissions:
       packages: write
       contents: read
@@ -149,7 +149,7 @@ jobs:
       fail-fast: false
       matrix:
         ROS_DISTRO: [noetic]
-    runs-on: ubuntu-latest
+    runs-on: ubuntu-20.04
     permissions:
       packages: write
       contents: read

.gitignore

@@ -2,3 +2,9 @@
 devel
 install
 log
+
+*.tar.gz
+*.png
+*.pyc
+*.bag
+.DS_Store

README.md

@@ -1,39 +1,126 @@
-# ROS Project Template
+# docking_control
 
-Setting up a new ROS project often requires a significant amount of
-preparation and boilerplate configuration, costing you valuable robot
-development time 🤖. Recognizing this, we have put together this template
-repository configured with a ROS development environment, continuous
-integration, and more. This project is the result of much trial and error
-across many projects, and we hope that this helps you save some effort in
-setting up your own projects.
+This package was developed to control a BlueROV2 to perform autonomous underwater docking. This package utilizes Model Predictive Control (MPC) to achieve optimal control of the vehicle.
 
-## Features
+This repository is a modified version of the [bluerov_ros_playground](https://github.com/patrickelectric/bluerov_ros_playground) repo authored by [patrickelectric](https://github.com/patrickelectric).
 
-The main features of this template are:
+## Getting Started
 
-- A development environment for Visual Studio Code including a [development container](https://code.visualstudio.com/docs/devcontainers/containers)
-and configurations for linting and auto-formatting your code
-- Docker images that support deployment to a variety of systems (e.g., arm64
-systems)
-- Continuous integration and deployment pipelines using GitHub Actions
-- GitHub Issue and Pull Request templates
+### Requirements
 
-## Quick start
+- [Python](https://www.python.org/downloads/) 3.6 or newer
+  - [Numpy](https://pypi.org/project/numpy/)
+  - [OpenCV](https://pypi.org/project/opencv-python/)
+  - [PyYAML](https://pypi.org/project/PyYAML/)
+  - [Gi & Gobject](https://wiki.ubuntu.com/Novacut/GStreamer1.0)
+  - [CasADi](https://pypi.org/project/casadi/)
+  - [acados](https://docs.acados.org/index.html)
+  - [Pandas](https://pypi.org/project/pandas/)
+- [ROS](http://wiki.ros.org/ROS/Installation)
+  - kinetic or newer
+- Geographlib
+- [imutils](https://github.com/PyImageSearch/imutils)
+- [MAVROS](http://wiki.ros.org/mavros)
 
-Using this template is as easy as 1, 2, 3...
+### Installation
 
-1. Use this repository [as a template](https://docs.github.com/en/repositories/creating-and-managing-repositories/creating-a-repository-from-a-template)
-for your project
-2. Replace all instances of "ros-template" with your own project's name and all
-instances of "robotic-decision-making-lab" with your own user's name
-3. Replace the source code with your own project!
+#### Installing ROS: *Ubuntu 20.04* (See [ROS wiki](http://wiki.ros.org/ROS/Installation) for other OS)
 
-Feel free to remove any unused configurations/pipelines and to adjust things as
-you see fit for your project!
+1. Set up sources.list
+   - `sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'`
+2. Set up keys
+   - `sudo apt install curl`
+   - `curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -`
+3. Installation
+   - `sudo apt update`
+   - Pick how much ROS you want to install: must be either Desktop or Desktop-Full
+      - ROS Desktop (includes rqt and rviz)
+         - `sudo apt install ros-noetic-desktop`
+      - Desktop-Full (includes Desktop and 2D/3D simulators)
+         - `sudo apt install ros-noetic-desktop-full`
+4. Set up environment
+   - You must source this script in every bash terminal you use ROS in
+      - `source /opt/ros/noetic/setup.bash`
+   - To automatically source this script every time a new shell is launched, run
+      - `echo "source /opt/ros/noetic/setup.bash" >> ~/.bashrc`
+      - `source ~/.bashrc`
+   - Check that *source /opt/ros/noetic/setup.bash* has been added to the end of .bashrc
+5. Install dependencies for building packages
+   - `sudo apt install python3-rosdep python3-rosinstall python3-rosinstall-generator python3-wstool build-essential`
+6. Initialize rosdep
+   - `sudo apt install python3-rosdep`
+   - `sudo rosdep init`
+   - `rosdep update`
 
-## Getting help
+#### Building a Catkin Workspace
 
-If you have questions regarding usage of this project or would like to
-contribute, please ask a question on our [Discussions](https://github.com/Robotic-Decision-Making-Lab/ros-template/discussions)
-board!
+1. Create and build workspace
+   - `mkdir -p ~/catkin_ws/src`
+   - `cd ~/catkin_ws/`
+   - `catkin_make`
+   - This will create a workspace with 'build', 'devel', and 'src' folders and a *CMakeLists.txt* in 'src'
+2. Source
+   - `source devel/setup.bash`
+   - To automatically source this script every time a new shell is launched, run
+      - `echo "source /home/<username>/catkin_ws/devel/setup.bash" >> ~/.bashrc`
+      - `source ~/.bashrc`
+      - Check that *source /home/< username>/catkin_ws/devel/setup.bash* has been added to the end of .bashrc
+3. Make sure the ROS_PACKAGE_PATH includes the directory
+   - `echo $ROS_PACKAGE_PATH`
+   /home/youruser/catkin_ws/src:/opt/ros/noetic/share
+
+#### Installing CasADi
+
+`pip install casadi`
+
+#### Installing acados
+
+Please follow the instructions provided in the following two links:
+
+- [Source Installation](https://docs.acados.org/installation/index.html)
+- [Python Interface](https://docs.acados.org/python_interface/)
+
+#### Installing MAVROS
+
+`sudo apt-get install ros-noetic-mavros ros-noetic-mavros-extras`
+
+#### Installing Geographlib
+
+`sudo /opt/ros/noetic/lib/mavros/install_geographiclib_datasets.sh`
+
+#### Installing imutils
+
+`pip install imutils`
+
+#### Installing Pandas
+
+`pip install pandas`
+
+#### Installing OpenCV
+
+1. Make sure python-opencv is not installed
+   - `pip uninstall opencv-python`
+2. Install opencv-contrib-python
+   - `pip install opencv-contrib-python`
+
+#### Cloning Project
+
+ 1. Go to your ROS package source directory:
+    - `cd catkin_ws/src`
+ 2. Clone this project
+    - `git clone https://github.com/rakeshv24/bluerov2_dock`
+ 3. Go back to your workspace:
+    - `cd ../`
+ 4. Build and install the project:
+    - `catkin_make --pkg bluerov2_dock`
+ 5. Reload your ROS env.
+    - `source devel/setup.sh`
+
+## Usage
+
+- Before proceeding further, make sure that all the steps mentioned in the guide for [Software Setup](https://bluerobotics.com/learn/bluerov2-software-setup
+) has been followed.
+- From a terminal, run `roslaunch bluerov2_dock mission_control.launch`
+  - If the terminal initially outputs *Controller error:'joy'*, move the sticks to clear the error.
+  - Press button "A" on the joystick to enable autonomous docking mode.
+    - To switch back to manual mode, move either of the sticks in any direction.