From e537ec50dae549452eda7c5baa328584e0a90f39 Mon Sep 17 00:00:00 2001
From: Matias Mattamala <matias@robots.ox.ac.uk>
Date: Fri, 3 Nov 2023 18:13:54 +0000
Subject: [PATCH] Initial files for WVN jackal demo

---
 docker/Dockerfile                            | 26 +++++++++++++--
 docker/docker-compose.yaml                   |  1 +
 wild_visual_navigation_sim/CMakeLists.txt    | 21 ++++++++++++
 wild_visual_navigation_sim/README.md         | 15 +++++++++
 wild_visual_navigation_sim/launch/sim.launch | 35 ++++++++++++++++++++
 wild_visual_navigation_sim/package.xml       | 19 +++++++++++
 6 files changed, 115 insertions(+), 2 deletions(-)
 create mode 100644 wild_visual_navigation_sim/CMakeLists.txt
 create mode 100644 wild_visual_navigation_sim/README.md
 create mode 100644 wild_visual_navigation_sim/launch/sim.launch
 create mode 100644 wild_visual_navigation_sim/package.xml

diff --git a/docker/Dockerfile b/docker/Dockerfile
index dc2cd7a1..5ff00a16 100644
--- a/docker/Dockerfile
+++ b/docker/Dockerfile
@@ -1,4 +1,7 @@
-FROM nvidia/cuda:11.8.0-runtime-ubuntu20.04
+#####################
+# Base image #
+#####################
+FROM nvidia/cuda:11.8.0-runtime-ubuntu20.04 as base
 
 # Labels
 LABEL maintainer="Matias Mattamala;Jonas Frey"
@@ -88,4 +91,23 @@ ARG DEBIAN_FRONTEND=dialog
 # Run bash
 # ==
 CMD ["/bin/bash"]
-WORKDIR /root
\ No newline at end of file
+WORKDIR /root
+
+
+#####################
+# Development image #
+#####################
+
+FROM base as dev
+
+ENV DEBIAN_FRONTEND=noninteractive
+
+RUN apt-get update \
+    && apt-get install -y \
+        ros-noetic-jackal-simulator \
+        ros-noetic-jackal-desktop \
+        ros-noetic-teleop-twist-keyboard \
+        ros-noetic-rqt-robot-steering \
+    && rm -rf /var/lib/apt/lists/*
+
+ENV DEBIAN_FRONTEND=dialog
\ No newline at end of file
diff --git a/docker/docker-compose.yaml b/docker/docker-compose.yaml
index 0642735d..58fc9988 100644
--- a/docker/docker-compose.yaml
+++ b/docker/docker-compose.yaml
@@ -4,6 +4,7 @@ services:
     build:
       context: ..
       dockerfile: docker/Dockerfile
+      target: dev
     stdin_open: true
     tty: true
     network_mode: "host"
diff --git a/wild_visual_navigation_sim/CMakeLists.txt b/wild_visual_navigation_sim/CMakeLists.txt
new file mode 100644
index 00000000..51ce5971
--- /dev/null
+++ b/wild_visual_navigation_sim/CMakeLists.txt
@@ -0,0 +1,21 @@
+cmake_minimum_required(VERSION 3.0.2)
+project(wild_visual_navigation_sim)
+
+find_package(catkin REQUIRED COMPONENTS
+  rospy
+  nav_msgs
+  sensor_msgs
+  std_msgs
+)
+
+catkin_package(
+  CATKIN_DEPENDS
+)
+
+# catkin_python_setup()
+# catkin_install_python(PROGRAMS  scripts/wvn_feature_extractor_node.py
+#                                 scripts/wvn_learning_node.py
+#                                 scripts/overlay_images.py
+#                                 scripts/smart_carrot.py
+#                                 scripts/rosbag_play.sh
+#                       DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
diff --git a/wild_visual_navigation_sim/README.md b/wild_visual_navigation_sim/README.md
new file mode 100644
index 00000000..e36be893
--- /dev/null
+++ b/wild_visual_navigation_sim/README.md
@@ -0,0 +1,15 @@
+# Wild Visual Navigation Sim
+
+Simulation environment to test Wild Visual Navigation (WVN). We use a modified Clearpath Jackal (adding a camera).
+
+## Requirements
+
+```sh
+sudo apt install ros-noetic-jackal-simulator
+```
+
+## Running
+
+```sh
+roslaunch wild_visual_navigation_sim sim.launch
+```
diff --git a/wild_visual_navigation_sim/launch/sim.launch b/wild_visual_navigation_sim/launch/sim.launch
new file mode 100644
index 00000000..9bab7266
--- /dev/null
+++ b/wild_visual_navigation_sim/launch/sim.launch
@@ -0,0 +1,35 @@
+<?xml version="1.0" encoding="utf-8"?>
+<launch>
+    <!-- Extras to add required sensors -->
+    <!-- <arg name="extras_file"          default="$(find wild_visual_navigation_sim)/urdf/extras.xacro"/>
+    <env name="JACKAL_URDF_EXTRAS"   value="$(arg extras_file)"/> -->
+
+    <!-- Default simulation args -->
+    <arg name="use_sim_time" default="true" />
+    <arg name="gui" default="true" />
+    <arg name="headless" default="false" />
+    <arg name="world_name" default="$(find jackal_gazebo)/worlds/scenario1.world" />
+    <arg name="jackal_config" value="front_flea3" /> <!-- add camera -->
+
+    <!-- Optionally enable teleop for the simulation -->
+    <arg name="joystick" default="false" />
+  
+    <!-- Launch Gazebo with the specified world -->
+    <include file="$(find gazebo_ros)/launch/empty_world.launch">
+      <arg name="debug" value="0" />
+      <arg name="gui" value="$(arg gui)" />
+      <arg name="use_sim_time" value="$(arg use_sim_time)" />
+      <arg name="headless" value="$(arg headless)" />
+      <arg name="world_name" value="$(arg world_name)" />
+    </include>
+  
+    <!-- Spawn Jackal -->
+    <include file="$(find jackal_gazebo)/launch/spawn_jackal.launch">
+      <arg name="x" value="0" />
+      <arg name="y" value="0" />
+      <arg name="z" value="1.0" />
+      <arg name="yaw" value="0" />
+      <arg name="config" value="$(arg jackal_config)" />
+      <arg name="joystick" value="$(arg joystick)" />
+    </include>
+</launch>
diff --git a/wild_visual_navigation_sim/package.xml b/wild_visual_navigation_sim/package.xml
new file mode 100644
index 00000000..c49453d0
--- /dev/null
+++ b/wild_visual_navigation_sim/package.xml
@@ -0,0 +1,19 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>wild_visual_navigation_sim</name>
+  <version>0.0.1</version>
+  <description>Simulation environment for wild_visual_navigation</description>
+  <maintainer email="matias@robots.ox.ac.uk">Matias Mattamala</maintainer>
+  <maintainer email="jonfrey@ethz.ch">Jonas Frey</maintainer>
+  <author email="matias@robots.ox.ac.uk">Matias Mattamala</author>
+  <author email="jonfrey@ethz.ch">Jonas Frey</author>
+
+  <license>Proprietary</license>
+
+  <buildtool_depend>catkin</buildtool_depend>
+
+  <depend>rospy</depend>
+  <depend>nav_msgs</depend>
+  <depend>sensor_msgs</depend>
+  <depend>std_msgs</depend>
+</package>