Add ros2 driver

.github/workflows/build-docker-image.yaml

@@ -1,40 +1,60 @@
-name: Build/Publish Docker Image
+name: Build/Publish ROS Docker Image 
 
-on:
-  push:
-    branches:
-      - "main"
+on: 
+  workflow_dispatch:
+    inputs:
+      build_type:
+        description: "Is it a \"development\" or a \"stable\" release?"
+        required: true
+        default: 'development'
+        type: choice
+        options:
+          - development
+          - stable
+      target_distro:
+        description: "In case of \"stable\" release specify the ROS distro of the existing docker image (eg. humble)"
+        type: string
+        default: "ardent"
+      target_release:
+        description: "In case of \"stable\" release specify the version of the existing docker image (eg. 1.0.12)"
+        type: string
+        default: "0.0.0"
+      target_date:
+        description: "In case of \"stable\" release specify the date of the existing docker image in format YYYYMMDD (eg. 20220124)"
+        type: string
+        default: "20131206"
+  repository_dispatch:
+    types: [rebuild]
+  pull_request:
+    types:
+      - closed
+      - opened
 
 jobs:
   build:
-    runs-on: ubuntu-20.04
+    runs-on: ubuntu-22.04
+    strategy:
+      fail-fast: false
+      matrix:
+        platforms: "linux/amd64, linux/arm64"
+        ros_distro: "humble"
 
     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: Checkout
+        uses: actions/checkout@v2
 
-      - name: Build and push base tag
-        uses: docker/build-push-action@v2
+      - name: Build Docker Image
+        uses: husarion-ci/ros-docker-img-action@v0.5
         with:
-          context: .
-          file: ./Dockerfile
-          platforms: linux/arm64, linux/amd64
-          push: true
-          tags: husarion/ouster:melodic
+          dockerhub_username: ${{ secrets.DOCKERHUB_USERNAME }}
+          dockerhub_token:  ${{ secrets.DOCKERHUB_TOKEN }}
+          main_branch_name: ros2
+          build_type: ${{ inputs.build_type }}
+          dockerfile: ${{ matrix.dockerfile }}
+          ros_distro: ${{ matrix.ros_distro }}
+          platforms: ${{ matrix.platforms }}
+          # variables important only for stable release
+          target_distro: ${{ inputs.target_distro }}
+          target_release: ${{ inputs.target_release }}
+          target_date: ${{ inputs.target_date }}

Dockerfile

@@ -1,35 +1,35 @@
-ARG ROS_DISTRO=melodic
+ARG ROS_DISTRO=humble
 
-FROM ros:${ROS_DISTRO}-ros-core
+FROM husarnet/ros:${ROS_DISTRO}-ros-core
 
+# select bash as default shell
 SHELL ["/bin/bash", "-c"]
 
-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/* 
+WORKDIR /ros2_ws
 
-COPY ./ros_entrypoint.sh /
-
-ENTRYPOINT ["/ros_entrypoint.sh"]
-
-CMD ["bash"]
+# install everything needed
+RUN apt-get update && apt-get install -y \
+        python3-pip \
+        python3-colcon-common-extensions \
+        python3-rosdep \
+        python3-vcstool \
+        git && \
+    apt-get upgrade -y && \
+    source "/opt/ros/$ROS_DISTRO/setup.bash" && \
+    git clone -b ros2 --recurse-submodules https://github.com/ouster-lidar/ouster-ros.git /ros2_ws/src/ouster-ros && \
+    rm -rf /etc/ros/rosdep/sources.list.d/20-default.list && \
+    rosdep init && \
+    rosdep update --rosdistro $ROS_DISTRO && \
+    rosdep install -i --from-path /ros2_ws/src --rosdistro $ROS_DISTRO -y && \
+    colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release && \
+    export SUDO_FORCE_REMOVE=yes && \
+    apt-get remove -y \
+        python3-colcon-common-extensions \
+        python3-rosdep \
+        python3-vcstool \
+        git && \       
+    apt-get autoremove -y && \
+    apt-get clean && \
+    rm -rf /var/lib/apt/lists/*
+
+RUN echo $(cat /ros2_ws/src/ouster-ros/ouster-ros/package.xml | grep '<version>' | sed -r 's/.*<version>([0-9]+.[0-9]+.[0-9]+)<\/version>/\1/g') > /version.txt

README.md

@@ -6,8 +6,8 @@ Dockerized Ouster LiDAR package from [ouster-lidar/ouster-ros](https://github.co
 
 ```bash
 docker run --rm -it \
-  husarion/ouster:melodic \
-  roslaunch ouster_ros sensor.launch \
+  husarion/ouster:humble \
+  ros2 launch ouster_ros sensor.composite.launch.xml \
     timestamp_mode:=TIME_FROM_ROS_TIME \
     metadata:=/ouster_metadata.json \
     sensor_hostname:=10.15.20.5 \
@@ -23,20 +23,22 @@ For more information about the Ouster ROS package itself, please refer to [READM
 ### 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 ./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
+On the second computer connected to the same LAN and run:
+```bash
+git clone https://github.com/husarion/ouster-docker.git
+cd ouster-docker/demo
 
+docker compose \
+-f compose.rviz.yaml \
+up
+```
 

demo/compose.ouster.yaml

@@ -1,15 +1,16 @@
-services:
+x-net-config:
+  &net-config
+  network_mode: host
+  ipc: host
+  env_file: net.env
 
+services:
   ouster-lidar:
-    image: husarion/ouster:melodic
+    image: husarion/ouster:humble
     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
+    <<: *net-config
     command: >
-      roslaunch ouster_ros sensor.launch
+      ros2 launch ouster_ros sensor.composite.launch.xml
         timestamp_mode:=TIME_FROM_ROS_TIME
         metadata:=/ouster_metadata.json
         viz:=false

demo/compose.rviz.yaml

@@ -1,16 +1,19 @@
-services:
+x-net-config:
+  &net-config
+  network_mode: host
+  ipc: host
+  env_file: net.env
+
+x-cpu-config:
+  &cpu-config
+  environment:
+    - DISPLAY=${DISPLAY:?err}
+    - LIBGL_ALWAYS_SOFTWARE=1
 
+services:
   rviz:
-    image: husarion/rviz:noetic
-    container_name: rviz
-    restart: on-failure
-    network_mode: host
-    ipc: host
+    image: husarion/rviz2:humble
+    <<: [ *net-config, *cpu-config ]
     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
+      - ./config/default.rviz:/root/.rviz2/default.rviz

demo/net.env

@@ -0,0 +1,18 @@
+# =======================================
+# Network config options (uncomment one)
+# =======================================
+
+# 1. Fast DDS + LAN
+# RMW_IMPLEMENTATION=rmw_fastrtps_cpp
+
+# 2. Cyclone DDS + LAN
+RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
+
+# 3. Fast DDS + VPN
+# RMW_IMPLEMENTATION=rmw_fastrtps_cpp
+# FASTRTPS_DEFAULT_PROFILES_FILE=/husarnet-fastdds.xml
+
+# 4. Cyclone DDS + VPN
+# RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
+# FASTRTPS_DEFAULT_PROFILES_FILE=/husarnet-fastdds.xml
+# CYCLONEDDS_URI=file:///husarnet-cyclonedds.xml