diff --git a/sig-robotics/examples/Simulation-of-multi-robot-cooperation-based-on-KubeEdge/cloud/Cloud.launch b/sig-robotics/examples/Simulation-of-multi-robot-cooperation-based-on-KubeEdge/cloud/Cloud.launch new file mode 100644 index 0000000..b141e26 --- /dev/null +++ b/sig-robotics/examples/Simulation-of-multi-robot-cooperation-based-on-KubeEdge/cloud/Cloud.launch @@ -0,0 +1,61 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/sig-robotics/examples/Simulation-of-multi-robot-cooperation-based-on-KubeEdge/cloud/Dockerfile b/sig-robotics/examples/Simulation-of-multi-robot-cooperation-based-on-KubeEdge/cloud/Dockerfile new file mode 100644 index 0000000..73d9ac9 --- /dev/null +++ b/sig-robotics/examples/Simulation-of-multi-robot-cooperation-based-on-KubeEdge/cloud/Dockerfile @@ -0,0 +1,57 @@ +# enviroment core + +ARG OWNER=326737089@qq.com +ARG ROOT_CONTAINER=$OWNER/${ROS_DISTRO}-enviroment-core + +FROM ubuntu as intermediate + +# install git +RUN apt-get update +RUN apt-get install -y git + +# add credentials on build +ARG SSH_PRIVATE_KEY +RUN mkdir /root/.ssh/ +RUN echo "${SSH_PRIVATE_KEY}" > /root/.ssh/id_rsa +RUN chmod 600 /root/.ssh/id_rsa + +# Add git providers to known_hosts +RUN touch /root/.ssh/known_hosts +RUN ssh-keyscan github.com >> /root/.ssh/known_hosts + +RUN git clone --branch master git@github.com:tuw-robotics/rosaria.git p3dx/src/rosaria +RUN git clone --branch master git@github.com:tuw-robotics/tuw_p3dx.git p3dx/src/tuw_p3dx + +FROM $ROOT_CONTAINER +USER root + +ENV PRJ_DIR=${MY_HOME}/projects/p3dx + +RUN apt-get update && apt-get -y upgrade + +# Install locale and set +RUN apt-get install -y iputils-ping bash-completion + +COPY --chown=${MY_USER}:${MY_USER} --from=intermediate /p3dx ${PRJ_DIR} +COPY --chown=${MY_USER}:${MY_USER} --from=intermediate /root/.ssh ${MY_HOME}/.ssh + +RUN /bin/bash -c '. /opt/ros/${ROS_DISTRO}/setup.bash; cd ${PRJ_DIR}/; rosdep update; rosdep install -i --from-path src --rosdistro noetic -y' +# ros-${ROS_DISTRO}-hokuyo-node +USER ${MY_USER} + + + +RUN /bin/bash -c '. /opt/ros/${ROS_DISTRO}/setup.bash; cd ${PRJ_DIR}; catkin_make' +RUN echo 'source ${PRJ_DIR}/devel/setup.bash' >> ~/.bashrc +RUN echo 'roslaunch tuw_p3dx aria_twist.launch' >> ~/.bash_history +# clean apt +USER root +RUN rm -rf ${MY_HOME}/.ros +#RUN apt-get autoclean && apt-get autoremove && rm -rf /var/lib/apt/lists/* + +USER ${MY_USER} +WORKDIR ${PRJ_DIR} +ENV HOME=${MY_HOME} +COPY --chown=${MY_USER}:${MY_USER} ./cloud.sh / +ENTRYPOINT ["/cloud.sh"] +CMD [/bin/bash] diff --git a/sig-robotics/examples/Simulation-of-multi-robot-cooperation-based-on-KubeEdge/cloud/cloud.sh b/sig-robotics/examples/Simulation-of-multi-robot-cooperation-based-on-KubeEdge/cloud/cloud.sh new file mode 100644 index 0000000..dbb0d88 --- /dev/null +++ b/sig-robotics/examples/Simulation-of-multi-robot-cooperation-based-on-KubeEdge/cloud/cloud.sh @@ -0,0 +1,8 @@ +#!/bin/bash +#script to run with a host network +#export ROS_MASTER_URI=http://$(hostname --ip-address):11311 +#export ROS_HOSTNAME=$(hostname --ip-address) +# setup ros environment +source "/opt/ros/$ROS_DISTRO/setup.bash" +source "${PRJ_DIR}/devel/setup.bash" +roslaunch tuw_multi_robot_demo Cloud.launch room:=cave nr_of_robots:=3 diff --git a/sig-robotics/examples/Simulation-of-multi-robot-cooperation-based-on-KubeEdge/edge/Dockerfile b/sig-robotics/examples/Simulation-of-multi-robot-cooperation-based-on-KubeEdge/edge/Dockerfile new file mode 100644 index 0000000..55a5ef7 --- /dev/null +++ b/sig-robotics/examples/Simulation-of-multi-robot-cooperation-based-on-KubeEdge/edge/Dockerfile @@ -0,0 +1,58 @@ +# enviroment core + + +ARG OWNER=326737089@qq.com +ARG ROOT_CONTAINER=$OWNER/${ROS_DISTRO}-enviroment-core + +FROM ubuntu as intermediate + +# install git +RUN apt-get update +RUN apt-get install -y git + +# add credentials on build +ARG SSH_PRIVATE_KEY +RUN mkdir /root/.ssh/ +RUN echo "${SSH_PRIVATE_KEY}" > /root/.ssh/id_rsa +RUN chmod 600 /root/.ssh/id_rsa + +# Add git providers to known_hosts +RUN touch /root/.ssh/known_hosts +RUN ssh-keyscan github.com >> /root/.ssh/known_hosts + +RUN git clone --branch master git@github.com:tuw-robotics/rosaria.git p3dx/src/rosaria +RUN git clone --branch master git@github.com:tuw-robotics/tuw_p3dx.git p3dx/src/tuw_p3dx + +FROM $ROOT_CONTAINER +USER root + +ENV PRJ_DIR=${MY_HOME}/projects/p3dx + +RUN apt-get update && apt-get -y upgrade + +# Install locale and set +RUN apt-get install -y iputils-ping bash-completion + +COPY --chown=${MY_USER}:${MY_USER} --from=intermediate /p3dx ${PRJ_DIR} +COPY --chown=${MY_USER}:${MY_USER} --from=intermediate /root/.ssh ${MY_HOME}/.ssh + +RUN /bin/bash -c '. /opt/ros/${ROS_DISTRO}/setup.bash; cd ${PRJ_DIR}/; rosdep update; rosdep install -i --from-path src --rosdistro noetic -y' +# ros-${ROS_DISTRO}-hokuyo-node +USER ${MY_USER} + + + +RUN /bin/bash -c '. /opt/ros/${ROS_DISTRO}/setup.bash; cd ${PRJ_DIR}; catkin_make' +RUN echo 'source ${PRJ_DIR}/devel/setup.bash' >> ~/.bashrc +RUN echo 'roslaunch tuw_p3dx aria_twist.launch' >> ~/.bash_history +# clean apt +USER root +RUN rm -rf ${MY_HOME}/.ros +#RUN apt-get autoclean && apt-get autoremove && rm -rf /var/lib/apt/lists/* + +USER ${MY_USER} +WORKDIR ${PRJ_DIR} +ENV HOME=${MY_HOME} +COPY --chown=${MY_USER}:${MY_USER} ./edge.sh / +ENTRYPOINT ["/edge.sh"] +CMD [/bin/bash] diff --git a/sig-robotics/examples/Simulation-of-multi-robot-cooperation-based-on-KubeEdge/edge/edge.launch b/sig-robotics/examples/Simulation-of-multi-robot-cooperation-based-on-KubeEdge/edge/edge.launch new file mode 100644 index 0000000..cb8c169 --- /dev/null +++ b/sig-robotics/examples/Simulation-of-multi-robot-cooperation-based-on-KubeEdge/edge/edge.launch @@ -0,0 +1,51 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/sig-robotics/examples/Simulation-of-multi-robot-cooperation-based-on-KubeEdge/edge/edge.sh b/sig-robotics/examples/Simulation-of-multi-robot-cooperation-based-on-KubeEdge/edge/edge.sh new file mode 100644 index 0000000..3e443ad --- /dev/null +++ b/sig-robotics/examples/Simulation-of-multi-robot-cooperation-based-on-KubeEdge/edge/edge.sh @@ -0,0 +1,8 @@ +#!/bin/bash +#script to run with a host network +#export ROS_MASTER_URI=http://$(hostname --ip-address):11311 +#export ROS_HOSTNAME=$(hostname --ip-address) +# setup ros environment +source "/opt/ros/$ROS_DISTRO/setup.bash" +source "${PRJ_DIR}/devel/setup.bash" +roslaunch tuw_multi_robot_demo edge.launch \ No newline at end of file diff --git a/sig-robotics/examples/Simulation-of-multi-robot-cooperation-based-on-KubeEdge/images/cloud_node-16669964198223.png b/sig-robotics/examples/Simulation-of-multi-robot-cooperation-based-on-KubeEdge/images/cloud_node-16669964198223.png new file mode 100644 index 0000000..0fcb2d1 Binary files 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a/sig-robotics/examples/Simulation-of-multi-robot-cooperation-based-on-KubeEdge/images/edge_show.png b/sig-robotics/examples/Simulation-of-multi-robot-cooperation-based-on-KubeEdge/images/edge_show.png new file mode 100644 index 0000000..a904c53 Binary files /dev/null and b/sig-robotics/examples/Simulation-of-multi-robot-cooperation-based-on-KubeEdge/images/edge_show.png differ diff --git a/sig-robotics/examples/Simulation-of-multi-robot-cooperation-based-on-KubeEdge/readme.md b/sig-robotics/examples/Simulation-of-multi-robot-cooperation-based-on-KubeEdge/readme.md new file mode 100644 index 0000000..cfdf3c3 --- /dev/null +++ b/sig-robotics/examples/Simulation-of-multi-robot-cooperation-based-on-KubeEdge/readme.md @@ -0,0 +1,87 @@ +## README + +### Environment + +**Cloud**: + +- ubuntu 20.04 +- ROS - neotic +- OpencCV 4.5 + +**Edge** + +- ubuntu 20.04 +- ROS - neotic + +### Setup + +**Step 1**: You should set the ROS host on the cloud and the edge, and install the relevant dependencies + +**Cloud** + +``` +sudo apt install libdxflib-dev +sudo apt install ros-neotic-map-server + +# ~/.bash add +export ROS_MASTER_URI=http://CLOUD_IP:11311 +export ROS_HOSTNAME=CLOUD_HOSTNAME +export ROS_IP=CLOUD_IP +source ~/.bashrc +``` + +**Edge** + +``` +sudo apt install ros-neotic-stage-ros + +# ~/.bash add +export ROS_MASTER_URI=http://EDGE_IP:11311 +export ROS_HOSTNAME=EDGE_HOSTNAME +export ROS_IP=CLOUD_IPCD .. +source ~/.bashrc +``` + + + +### **Edge Install and Run** + +``` +cd edge_ws/ +git clone --branch $ROS_VERSION git@github.com:tuw-robotics/tuw_geometry.git +git clone git@github.com:tuw-robotics/tuw_msgs.git +catkin_make +source devel/setup.bash +roslaunch tuw_multi_robot_demo edge.launch +``` + +**Step 2**: First run the edge node, and you will see three robots in the environment in the window, and the terminal displays that three robots have been successfully online. + +**Edge_show** + +![edge_show](images/edge_show.png) + +**Edge ROS node** + +![cloud_node](images/cloud_node-16669964198223.png) + +### **Cloud Install and Run** + +``` +cd cloud_ws/ +git clone --branch $ROS_VERSION git@github.com:tuw-robotics/tuw_geometry.git +git clone git@github.com:tuw-robotics/tuw_msgs.git +catkin_make +source devel/setup.bash +roslaunch tuw_multi_robot_demo Cloud.launch room:=cave nr_of_robots:=3 +``` + +**Step 3**: Run the cloud node. At this time, you will see the rviz interface and generate the split path node. You can set the target point positions for the three robots in order. + +**Cloud show** + +![cloud_show](images/cloud_show.png) + +**Cloud ROS node** + +![cloud_node](images/cloud_node.png)