Technical/finish up package (#1)

* Readme update * Workflow added * Demo created * gitignore added * workflow fix * Added time synchro * Removed unnecessary events from workflow * Removed unnecessary time synchro container * Update Dockerfile and demo * Update docker containers * small fixes * containers configuration update * fix typo Co-authored-by: Pawel Kowalski <[email protected]>
husarion · Oct 12, 2022 · 17703d0 · 17703d0
1 parent 1f72dcc
commit 17703d0
Show file tree

Hide file tree

Showing 10 changed files with 314 additions and 62 deletions.
diff --git a/.github/workflows/build-docker-image.yaml b/.github/workflows/build-docker-image.yaml
@@ -0,0 +1,40 @@
+name: Build/Publish Docker Image
+
+on:
+  push:
+    branches:
+      - "main"
+
+jobs:
+  build:
+    runs-on: ubuntu-20.04
+
+    steps:
+      - name: Checkout
+        uses: actions/checkout@v1
+        with:
+          ref: ${{ github.event.inputs.branch }}
+
+      - name: Set up QEMU
+        uses: docker/setup-qemu-action@v1
+
+      - name: Set up Docker Buildx
+        uses: docker/setup-buildx-action@v1
+        with:
+          version: latest
+
+      - name: Login to Docker Registry
+        uses: docker/login-action@v1
+        with:
+          registry: docker.io
+          username: ${{ secrets.DOCKERHUB_USERNAME }}
+          password: ${{ secrets.DOCKERHUB_TOKEN }}
+
+      - name: Build and push base tag
+        uses: docker/build-push-action@v2
+        with:
+          context: .
+          file: ./Dockerfile
+          platforms: linux/arm64, linux/amd64
+          push: true
+          tags: husarion/ouster:melodic
diff --git a/.gitignore b/.gitignore
@@ -0,0 +1 @@
+/.vscode
diff --git a/Dockerfile b/Dockerfile
@@ -4,34 +4,29 @@ FROM ros:${ROS_DISTRO}-ros-core
 
 SHELL ["/bin/bash", "-c"]
 
-ENV DEBIAN_FRONTEND=noninteractive \
-    BUILD_HOME=/ros_ws \
-    OUSTER_SDK_PATH=/opt/ouster_example
-
-# Kinetic and melodic have python3 packages but they seem to conflict
-RUN [ $ROS_DISTRO = "noetic" ] && PY=python3 || PY=python && \
-    # Turn off installing extra packages globally to slim down rosdep install
-    echo 'APT::Install-Recommends "0";' > /etc/apt/apt.conf.d/01norecommend && \
-    apt-get update && apt-get install -y \
-        git \
-        build-essential cmake \
-        fakeroot dpkg-dev debhelper \
-        $PY-rosdep $PY-rospkg $PY-bloom \
-        linuxptp \
-        ros-melodic-tf && \
-    git clone https://github.com/ouster-lidar/ouster_example.git ${OUSTER_SDK_PATH}
-
-RUN apt-get update && \
-    rosdep init && \
-    rosdep update --rosdistro=${ROS_DISTRO} && \
-    rosdep install -y --from-paths ${OUSTER_SDK_PATH}
-
-WORKDIR ${BUILD_HOME}
-
-RUN mkdir src && \
-    ln -s ${OUSTER_SDK_PATH} ./src
-
-RUN /opt/ros/${ROS_DISTRO}/env.sh catkin_make -DCMAKE_BUILD_TYPE=Release
+RUN apt-get update && apt-get install -y \
+        build-essential \
+        cmake \
+        curl \
+        debhelper \
+        dpkg-dev \
+        fakeroot \
+        python-bloom \
+        python-rosdep \
+        python-rospkg 
+
+WORKDIR /ros_ws
+
+RUN git clone --recurse-submodules https://github.com/ouster-lidar/ouster-ros.git src/ouster-ros
+
+# RUN apt-get update && \
+RUN rosdep init && \
+    rosdep update --rosdistro=$ROS_DISTRO && \
+    rosdep install --from-paths src --ignore-src -y && \
+    source /opt/ros/$ROS_DISTRO/setup.bash && \
+    catkin_make -DCATKIN_ENABLE_TESTING=0 -DCMAKE_BUILD_TYPE=Release && \
+    apt clean && \
+    rm -rf /var/lib/apt/lists/* 
 
 COPY ./ros_entrypoint.sh /
 

diff --git a/README.md b/README.md
@@ -1,2 +1,50 @@
 # ouster-docker
-Building docker images for Ouster LIDARs
+
+Dockerized Ouster LiDAR package from [ouster-lidar/ouster-ros](https://github.com/ouster-lidar/ouster-ros) repository.
+
+## Time synchronizing
+
+Before launching the Ouster ROS driver, the Precision Time Protocol (PTP) should be configured on the host computer.
+
+```bash
+sudo ptp4l -i eno1 -m [global] tx_timestamp_timeout 10
+```
+
+## Running a Docker container
+
+```bash
+docker run --rm -it \
+  husarion/ouster:melodic \
+  roslaunch ouster_ros sensor.launch \
+    timestamp_mode:=TIME_FROM_PTP_1588 \
+    metadata:=/ouster_metadata.json \
+    sensor_hostname:=10.15.20.5 \
+    lidar_mode:=1024x20 
+```
+
+## ROS node
+
+For more information about the Ouster ROS package itself, please refer to [README.md](https://github.com/ouster-lidar/ouster-ros#readme)
+
+## Demo
+
+### Ouster LiDAR container + rviz container
+
+Connect Ouster LiDAR to the first computer and run:
+
+```bash
+git clone https://github.com/husarion/ouster-docker.git
+cd ouster-docker/demo
+
+source ./config/setup_virtual_desktop.sh
+
+docker compose \
+-f compose.ouster.yaml \
+-f compose.rviz.yaml \
+-f compose.vnc.yaml \
+up
+```
+
+On the second computer connected to the same LAN with a connected display open `http://localhost:8080/vnc_auto.html` in the web browser
+
+
diff --git a/compose.ouster.yaml b/compose.ouster.yaml
diff --git a/demo/compose.ouster.yaml b/demo/compose.ouster.yaml
@@ -0,0 +1,17 @@
+services:
+
+  ouster-lidar:
+    image: husarion/ouster:melodic
+    container_name: ouster-ros
+    restart: on-failure
+    network_mode: host
+    environment:
+      - ROS_IP=10.15.20.3
+      - ROS_MASTER_URI=http://10.15.20.2:11311
+    command: >
+      roslaunch ouster_ros sensor.launch
+        timestamp_mode:=TIME_FROM_PTP_1588
+        metadata:=/ouster_metadata.json
+        viz:=false
+        sensor_hostname:=10.15.20.5
+        lidar_mode:=1024x20
diff --git a/demo/compose.rviz.yaml b/demo/compose.rviz.yaml
@@ -0,0 +1,16 @@
+services:
+
+  rviz:
+    image: husarion/rviz:noetic
+    container_name: rviz
+    restart: on-failure
+    network_mode: host
+    ipc: host
+    volumes:
+      - /tmp/.X11-unix:/tmp/.X11-unix:rw
+      - ./config/default.rviz:/root/.rviz/default.rviz
+    environment:
+      - DISPLAY
+      - LIBGL_ALWAYS_SOFTWARE=1
+      - ROS_IP=10.15.20.3
+      - ROS_MASTER_URI=http://10.15.20.2:11311
diff --git a/demo/compose.vnc.yaml b/demo/compose.vnc.yaml
@@ -0,0 +1,14 @@
+services:
+
+  remote-desktop:
+    image: donowak/remote-desktop:lan
+    container_name: vnc-remote-desktop
+    restart: on-failure
+    volumes:
+      - /tmp/.X11-unix:/tmp/.X11-unix:rw
+    ipc: host
+    ports:
+      - 8080:8080
+    environment:
+      - VNC_PASSWORD=husarion
+      - DISPLAY
diff --git a/demo/config/default.rviz b/demo/config/default.rviz
@@ -0,0 +1,146 @@
+Panels:
+  - Class: rviz/Displays
+    Help Height: 0
+    Name: Displays
+    Property Tree Widget:
+      Expanded: ~
+      Splitter Ratio: 0.49561402201652527
+    Tree Height: 1004
+  - Class: rviz/Selection
+    Name: Selection
+  - Class: rviz/Tool Properties
+    Expanded:
+      - /2D Pose Estimate1
+      - /2D Nav Goal1
+      - /Publish Point1
+    Name: Tool Properties
+    Splitter Ratio: 0.5886790156364441
+  - Class: rviz/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+  - Class: rviz/Time
+    Experimental: false
+    Name: Time
+    SyncMode: 0
+    SyncSource: PointCloud2
+Preferences:
+  PromptSaveOnExit: true
+Toolbars:
+  toolButtonStyle: 2
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz/Grid
+      Color: 160; 160; 164
+      Enabled: true
+      Line Style:
+        Line Width: 0.029999999329447746
+        Value: Lines
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 10
+      Reference Frame: <Fixed Frame>
+      Value: true
+    - Alpha: 1
+      Autocompute Intensity Bounds: true
+      Autocompute Value Bounds:
+        Max Value: 10
+        Min Value: -10
+        Value: true
+      Axis: Z
+      Channel Name: intensity
+      Class: rviz/PointCloud2
+      Color: 255; 255; 255
+      Color Transformer: Intensity
+      Decay Time: 0
+      Enabled: true
+      Invert Rainbow: false
+      Max Color: 255; 255; 255
+      Min Color: 0; 0; 0
+      Name: PointCloud2
+      Position Transformer: XYZ
+      Queue Size: 10
+      Selectable: true
+      Size (Pixels): 3
+      Size (m): 0.009999999776482582
+      Style: Flat Squares
+      Topic: /ouster/points
+      Unreliable: false
+      Use Fixed Frame: true
+      Use rainbow: true
+      Value: true
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Default Light: true
+    Fixed Frame: os_sensor
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz/Interact
+      Hide Inactive Objects: true
+    - Class: rviz/MoveCamera
+    - Class: rviz/Select
+    - Class: rviz/FocusCamera
+    - Class: rviz/Measure
+    - Class: rviz/SetInitialPose
+      Theta std deviation: 0.2617993950843811
+      Topic: /initialpose
+      X std deviation: 0.5
+      Y std deviation: 0.5
+    - Class: rviz/SetGoal
+      Topic: /move_base_simple/goal
+    - Class: rviz/PublishPoint
+      Single click: true
+      Topic: /clicked_point
+  Value: true
+  Views:
+    Current:
+      Class: rviz/Orbit
+      Distance: 11.139487266540527
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.05999999865889549
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Field of View: 0.7853981852531433
+      Focal Point:
+        X: -0.24446001648902893
+        Y: 1.0967316627502441
+        Z: -1.2604460716247559
+      Focal Shape Fixed Size: true
+      Focal Shape Size: 0.05000000074505806
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.009999999776482582
+      Pitch: 0.800398051738739
+      Target Frame: <Fixed Frame>
+      Yaw: 0.8753982186317444
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 1149
+  Hide Left Dock: false
+  Hide Right Dock: false
+  QMainWindow State: 000000ff00000000fd00000004000000000000015600000427fc020000000bfb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003b00000427000000c700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb000000280020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000000000000000fb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e0067000000003b000002f80000000000000000fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c0069006400650072000000003b000002f80000000000000000000000010000010f000002f8fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003b000002f8000000a000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000061e0000003efc0100000002fb0000000800540069006d006500000000000000061e0000042700fffffffb0000000800540069006d00650100000000000004500000000000000000000006100000042700000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Time:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: false
+  Width: 1900
+  X: 0
+  Y: 27
diff --git a/demo/config/setup_virtual_desktop.sh b/demo/config/setup_virtual_desktop.sh
@@ -0,0 +1,8 @@
+#! /bin/bash
+
+# init virtual desktop
+vncserver
+
+# make desktop accessible
+export DISPLAY=:1
+xhost local:root