base image 2020-11-11 octomap server (#744)

* base image 2020-11-11 includes ros-melodic-octomap-server
* subt/docker/base: add back python-laser-geometry package
* freyja.launch: disable octomap server using if=0

subt/docker/base/Dockerfile

@@ -36,12 +36,13 @@ RUN /bin/sh -c 'echo "deb [trusted=yes] http://packages.ros.org/ros/ubuntu $(lsb
  && apt-get update \
  && apt-get install -y \
     python-catkin-tools \
+    python-laser-geometry \
     python-rosdep \
     python-rosinstall \
     ros-melodic-desktop \
     ros-melodic-joystick-drivers \
-    ros-melodic-octomap-server \
     ros-melodic-octomap-rviz-plugins \
+    ros-melodic-octomap-server \
     ros-melodic-pointcloud-to-laserscan \
     ros-melodic-robot-localization \
     ros-melodic-rotors-control \
@@ -53,9 +54,7 @@ RUN /bin/sh -c 'echo "deb [trusted=yes] http://packages.ros.org/ros/ubuntu $(lsb
  && rosdep init \
  && apt-get clean
 
-# sdformat8-sdf conflicts with sdformat-sdf installed from gazebo
-# so we need to workaround this using a force overwrite
-# Do this before installing ign-gazebo
+# add gazebo package repository
 RUN /bin/sh -c 'echo "deb [trusted=yes] http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list' \
  && /bin/sh -c 'wget http://packages.osrfoundation.org/gazebo.key -O - | apt-key add -' \
  && /bin/sh -c 'apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654'
@@ -69,6 +68,7 @@ RUN apt-get update \
 
 SHELL ["/bin/bash", "-c"]
 
+# build osrf/subt repository
 FROM stage1 as build
 WORKDIR /tmp
 RUN mkdir subt-ws \
@@ -79,24 +79,23 @@ RUN mkdir subt-ws \
 
 FROM stage1
 
+# copy the binary packages of osrf/subt
 COPY --from=build /opt/subt/ /opt/subt/
 COPY --from=build /tmp/subt-ws/src/.git/refs/heads/master /opt/subt/HEAD
 
 WORKDIR /osgar-ws
 
 RUN /usr/bin/python3 -m venv env
 
-RUN ./env/bin/pip install --no-cache-dir --upgrade pip
+RUN ./env/bin/pip install --no-cache-dir --upgrade pip wheel setuptools
 
 RUN ./env/bin/pip install --no-cache-dir \
   "msgpack==1.0.0" \
-  "numpy==1.19.2" \
-  "opencv-python==4.4.0.42" \
+  "numpy==1.19.4" \
+  "opencv-python==4.4.0.46" \
+  "protobuf==3.13.0" \
   "pyzmq==19.0.2"
 
-RUN ./env/bin/pip install --no-cache-dir \
-  "http://osgar.robotika.cz/subt/pip/tensorflow/tensorflow-2.2.0rc3-cp36-cp36m-linux_x86_64.whl"
-
 RUN ./env/bin/pip install --no-cache-dir \
   "torch==1.5.0+cu101" -f https://download.pytorch.org/whl/torch_stable.html
 

subt/docker/robotika/Dockerfile

@@ -1,11 +1,12 @@
-FROM robotika/subt-base:2020-09-22
+FROM robotika/subt-base:2020-11-11
 
 # ADD always downloads the file to calculate checksum, RUN checksum only the cmdline
-RUN curl -O# http://osgar.robotika.cz/subt/virtual/model/mdnet3.64.64.13.4.relu.pth
-RUN curl -O# http://osgar.robotika.cz/subt/virtual/model/ssd_inception_v2_201009/frozen_inference_graph.pb
-RUN curl -O# http://osgar.robotika.cz/subt/virtual/model/ssd_inception_v2_201009/cv_graph.pbtxt
+RUN curl -O# http://osgar.robotika.cz/subt/virtual/model/mdnet3.64.64.13.4.relu.pth 2>&1
+RUN curl -O# http://osgar.robotika.cz/subt/virtual/model/ssd_inception_v2_201009/frozen_inference_graph.pb 2>&1
+RUN curl -O# http://osgar.robotika.cz/subt/virtual/model/ssd_inception_v2_201009/cv_graph.pbtxt 2>&1
 
-RUN sudo apt-get update && sudo apt install -y ros-melodic-teleop-twist-keyboard python-laser-geometry
+# example how to install an ubuntu package
+# RUN sudo apt-get update && sudo apt install -y ros-melodic-teleop-twist-keyboard
 
 ENTRYPOINT ["./src/osgar/subt/docker/robotika/entrypoint.bash"]
 
@@ -17,7 +18,7 @@ RUN echo "source /osgar-ws/devel/setup.sh" >> ~/.bashrc
 # copy whole build context
 COPY . ./src/osgar/
 
-RUN /osgar-ws/env/bin/pip install -e src/osgar/
+RUN /osgar-ws/env/bin/pip install --no-cache-dir -e src/osgar/
 
 RUN source /opt/subt/setup.bash && catkin_make -DCMAKE_BUILD_TYPE=Release
 

subt/docker/robotika/Makefile

@@ -0,0 +1,2 @@
+all:
+	cd build && $(MAKE) --no-print-directory

subt/ros/robot/launch/freyja.launch

@@ -174,7 +174,7 @@
   <node pkg="topic_tools" type="relay" name="points_merge_front" args="$(arg robot_name)/rgbd_front/points $(arg robot_name)/rgbd_all/points"/>
   <node pkg="topic_tools" type="relay" name="points_merge_rear" args="$(arg robot_name)/rgbd_rear/points $(arg robot_name)/rgbd_all/points"/>
 
-  <node ns="mapping" pkg="octomap_server" type="octomap_server_node" name="octomap">
+  <node if="0" ns="mapping" pkg="octomap_server" type="octomap_server_node" name="octomap">
     <remap from="cloud_in" to="/$(arg robot_name)/rgbd_all/points"/>
     <param name="frame_id" value="odom"/>
     <!-- In case we want to filter out ceilings.