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Basic testing on docker image for tf works
Signed-off-by: Aaron Chong <[email protected]>
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| version: "3" | ||
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| services: | ||
| minimal-ros1-sim: | ||
| image: ghcr.io/open-rmf/free_fleet/minimal-ros1-sim:noetic-latest | ||
| stop_signal: SIGINT | ||
| network_mode: host | ||
| privileged: true | ||
| stdin_open: true | ||
| tty: true | ||
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| minimal-nav1-bringup: | ||
| image: ghcr.io/open-rmf/free_fleet/minimal-nav1-bringup:noetic-latest | ||
| stop_signal: SIGINT | ||
| network_mode: host | ||
| privileged: true | ||
| stdin_open: true | ||
| tty: true | ||
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| minimal-zenoh-bridge-ros1: | ||
| image: ghcr.io/open-rmf/free_fleet/minimal-zenoh-bridge-ros1:noetic-latest | ||
| network_mode: host | ||
| stdin_open: true | ||
| tty: true | ||
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| minimal-zenoh-router: | ||
| image: eclipse/zenoh | ||
| restart: unless-stopped | ||
| network_mode: host | ||
| stdin_open: true | ||
| tty: true | ||
| environment: | ||
| - RUST_LOG=debug |
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| ARG ROS_DISTRO=noetic | ||
| FROM docker.io/ros:$ROS_DISTRO-ros-base | ||
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| RUN apt update && apt install -y curl ros-$ROS_DISTRO-turtlebot3-navigation ros-$ROS_DISTRO-dwa-local-planner | ||
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| RUN mkdir -p /tb3 && cd /tb3 \ | ||
| && curl -sL https://github.com/ros-navigation/navigation2/archive/refs/heads/master.tar.gz -o navigation2.tar.gz \ | ||
| && mkdir -p /tb3/navigation2 && tar zxf navigation2.tar.gz -C /tb3/navigation2 --strip-components=1 && rm navigation2.tar.gz | ||
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| ENV TURTLEBOT3_MODEL burger | ||
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| RUN rm -rf \ | ||
| /var/lib/apt/lists \ | ||
| /dist | ||
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| ENTRYPOINT ["bash", "-c", ". /opt/ros/$ROS_DISTRO/setup.bash && roslaunch turtlebot3_navigation turtlebot3_navigation.launch map_file:=/tb3/navigation2/nav2_bringup/maps/tb3_sandbox.yaml open_rviz:=false initial_pose_x:=-2.0 initial_pose_y:=-0.5 initial_pose_a:=0.0"] |
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| ARG ROS_DISTRO=noetic | ||
| FROM docker.io/ros:$ROS_DISTRO-ros-base | ||
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| RUN apt update && apt install -y ros-$ROS_DISTRO-turtlebot3-gazebo ros-$ROS_DISTRO-gazebo-ros-pkgs | ||
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| ENV TURTLEBOT3_MODEL burger | ||
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| RUN rm -rf \ | ||
| /var/lib/apt/lists \ | ||
| /dist | ||
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| ENTRYPOINT ["bash", "-c", ". /opt/ros/$ROS_DISTRO/setup.bash && roslaunch turtlebot3_gazebo turtlebot3_world.launch gui:=false"] |
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| ARG ROS_DISTRO=noetic | ||
| FROM docker.io/ros:$ROS_DISTRO-ros-base | ||
| ARG ZENOH_VERSION=1.0.0-beta.2 | ||
| ARG FREE_FLEET_BRANCH=main | ||
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| RUN apt update && apt install -y wget unzip ros-jazzy-rmw-cyclonedds-cpp | ||
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| RUN mkdir -p /zenoh-bridge && cd /zenoh-bridge \ | ||
| && wget -O zenoh-plugin-ros1.zip https://github.com/eclipse-zenoh/zenoh-plugin-ros1/releases/download/$ZENOH_VERSION/zenoh-plugin-ros1-$ZENOH_VERSION-x86_64-unknown-linux-gnu-standalone.zip \ | ||
| && unzip zenoh-plugin-ros1.zip \ | ||
| && rm zenoh-plugin-ros1.zip | ||
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| RUN cd /zenoh-bridge \ | ||
| && wget -O turtlebot3_1_client_zenoh_config.json5 https://raw.githubusercontent.com/open-rmf/free_fleet/refs/heads/$FREE_FLEET_BRANCH/free_fleet_examples/config/zenoh/turtlebot3_1_client_zenoh_config.json5 | ||
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| ENV RMW_IMPLEMENTATION rmw_cyclonedds_cpp | ||
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| RUN rm -rf \ | ||
| /var/lib/apt/lists \ | ||
| /dist | ||
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| ENTRYPOINT ["bash", "-c", ". /opt/ros/$ROS_DISTRO/setup.bash && /zenoh-bridge/zenoh-bridge-ros2dds -c /zenoh-bridge/turtlebot3_1_client_zenoh_config.json5"] |
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free_fleet_examples/config/zenoh/turtlebot3_zenoh_bridge_ros1_client_config.json5
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| //// | ||
| //// This file presents the default configuration used by `zenoh-plugin-ros1` plugin. | ||
| //// The "ros1" JSON5 object below can be used as such in the "plugins" part of a config file for the zenoh router (zenohd). | ||
| //// | ||
| { | ||
| plugins: { | ||
| //// | ||
| //// ROS1 bridge related configuration | ||
| //// All settings are optional and are unset by default - uncomment the ones you want to set | ||
| //// | ||
| ros1: { | ||
| //// | ||
| //// ros_master_uri: A URI of the ROS1 Master to connect to, the defailt is http://localhost:11311/ | ||
| //// | ||
| // ros_master_uri: "http://localhost:11311/", | ||
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| //// | ||
| //// ros_hostname: A hostname to send to ROS1 Master, the default is system's hostname | ||
| //// | ||
| // ros_hostname: "hostname", | ||
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| //// | ||
| //// ros_name: A bridge node's name for ROS1, the default is "ros1_to_zenoh_bridge" | ||
| //// | ||
| // ros_name: "ros1_to_zenoh_bridge", | ||
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| //// | ||
| //// with_rosmaster: An option wether the bridge should run it's own rosmaster process, the default is "false" | ||
| //// | ||
| // with_rosmaster: "false", | ||
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| //// | ||
| //// subscriber_bridging_mode: Global subscriber's topic bridging mode. Accepted values: | ||
| //// - "auto"(default) - bridge topics once they are declared locally or discovered remotely | ||
| //// - "lazy_auto" - bridge topics once they are both declared locally and discovered remotely | ||
| //// - "disabled" - never bridge topics. This setting will also suppress the topic discovery."# | ||
| subscriber_bridging_mode: "disabled", | ||
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| //// | ||
| //// publisher_bridging_mode: Global publisher's topic bridging mode. Accepted values: | ||
| //// - "auto"(default) - bridge topics once they are declared locally or discovered remotely | ||
| //// - "lazy_auto" - bridge topics once they are both declared locally and discovered remotely | ||
| //// - "disabled" - never bridge topics. This setting will also suppress the topic discovery."# | ||
| publisher_bridging_mode: "disabled", | ||
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| //// | ||
| //// service_bridging_mode: Global service's topic bridging mode. Accepted values: | ||
| //// - "auto"(default) - bridge topics once they are declared locally or discovered remotely | ||
| //// - "lazy_auto" - bridge topics once they are both declared locally and discovered remotely | ||
| //// - "disabled" - never bridge topics. This setting will also suppress the topic discovery."# | ||
| service_bridging_mode: "disabled", | ||
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| //// | ||
| //// client_bridging_mode: Mode of client's topic bridging. Accepted values: | ||
| //// - "auto" - bridge topics once they are discovered remotely | ||
| //// - "disabled"(default) - never bridge topics. This setting will also suppress the topic discovery. | ||
| //// NOTE: there are some pecularities on how ROS1 handles clients: | ||
| //// - ROS1 doesn't provide any client discovery mechanism | ||
| //// - ROS1 doesn't allow multiple services on the same topic | ||
| //// Due to this, client's bridging works differently compared to pub\sub bridging: | ||
| //// - lazy bridging mode is not available as there is no way to discover local ROS1 clients | ||
| //// - client bridging is disabled by default, as it may brake the local ROS1 system if it intends to have client and service interacting on the same topic | ||
| //// In order to use client bridging, you have two options: | ||
| //// - globally select auto bridging mode (with caution!) with this option | ||
| //// - bridge specific topics using 'client_topic_custom_bridging_mode' option (with a little bit less caution!)"# | ||
| client_bridging_mode: "disabled", | ||
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| //// | ||
| //// subscriber_topic_custom_bridging_mode: A JSON Map describing custom bridging modes for particular topics. | ||
| //// Custom bridging mode overrides the global one. | ||
| //// Format: {"topic1":"mode", "topic2":"mode"} | ||
| //// Example: {"/my/topic1":"lazy_auto","/my/topic2":"auto"} | ||
| //// where | ||
| //// - topic: ROS1 topic name | ||
| //// - mode (auto/lazy_auto/disabled) as described above | ||
| //// The default is empty | ||
| //// Zenoh -> ROS 1 | ||
| // subscriber_topic_custom_bridging_mode: { | ||
| // "/tf": "auto" | ||
| // }, | ||
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| //// | ||
| //// publisher_topic_custom_bridging_mode: A JSON Map describing custom bridging modes for particular topics. | ||
| //// Custom bridging mode overrides the global one. | ||
| //// Format: {"topic1":"mode", "topic2":"mode"} | ||
| //// Example: {"/my/topic1":"lazy_auto","/my/topic2":"auto"} | ||
| //// where | ||
| //// - topic: ROS1 topic name | ||
| //// - mode (auto/lazy_auto/disabled) as described above | ||
| //// The default is empty | ||
| //// ROS 1 -> Zenoh | ||
| publisher_topic_custom_bridging_mode: { | ||
| "/tf": "auto" | ||
| }, | ||
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| //// | ||
| //// service_topic_custom_bridging_mode: A JSON Map describing custom bridging modes for particular topics. | ||
| //// Custom bridging mode overrides the global one. | ||
| //// Format: {"topic1":"mode", "topic2":"mode"} | ||
| //// Example: {"/my/topic1":"lazy_auto","/my/topic2":"auto"} | ||
| //// where | ||
| //// - topic: ROS1 topic name | ||
| //// - mode (auto/lazy_auto/disabled) as described above | ||
| //// The default is empty | ||
| // service_topic_custom_bridging_mode: "" | ||
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| //// | ||
| //// client_topic_custom_bridging_mode: A JSON Map describing custom bridging modes for particular topics. | ||
| //// Custom bridging mode overrides the global one. | ||
| //// Format: {"topic1":"mode", "topic2":"mode"} | ||
| //// Example: {"/my/topic1":"auto","/my/topic2":"auto"} | ||
| //// where | ||
| //// - topic: ROS1 topic name | ||
| //// - mode (auto/disabled) as described above | ||
| //// The default is empty | ||
| // client_topic_custom_bridging_mode: "" | ||
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| //// | ||
| //// ros_master_polling_interval: An interval how to poll the ROS1 master for status | ||
| //// Bridge polls ROS1 master to get information on local topics, as this is the only way to keep | ||
| //// this info updated. This is the interval of this polling. The default is "100ms" | ||
| //// | ||
| //// Takes a string such as 100ms, 2s, 5m | ||
| //// The string format is [0-9]+(ns|us|ms|[smhdwy]) | ||
| //// | ||
| // ros_master_polling_interval: "100ms", | ||
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| //// | ||
| //// This plugin uses Tokio (https://tokio.rs/) for asynchronous programming. | ||
| //// When running as a plugin within a Zenoh router, the plugin creates its own Runtime managing 2 pools of threads: | ||
| //// - worker threads for non-blocking tasks. Those threads are spawn at Runtime creation. | ||
| //// - blocking threads for blocking tasks (e.g. I/O). Those threads are spawn when needed. | ||
| //// For more details see https://github.com/tokio-rs/tokio/discussions/3858#discussioncomment-869878 | ||
| //// When running as a standalone bridge the Zenoh Session's Runtime is used and can be configured via the | ||
| //// `ZENOH_RUNTIME` environment variable. See https://docs.rs/zenoh-runtime/latest/zenoh_runtime/enum.ZRuntime.html | ||
| //// | ||
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| //// work_thread_num: The number of worker thread in the asynchronous runtime will use. (default: 2) | ||
| //// Only for a plugin, no effect on a bridge. | ||
| // work_thread_num: 2, | ||
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| //// max_block_thread_num: The number of blocking thread in the asynchronous runtime will use. (default: 50) | ||
| //// Only for a plugin, no effect on a bridge. | ||
| // max_block_thread_num: 50, | ||
| }, | ||
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| //// | ||
| //// REST API configuration (active only if this part is defined) | ||
| //// | ||
| // rest: { | ||
| // //// | ||
| // //// The HTTP port number (for all network interfaces). | ||
| // //// You can bind on a specific interface setting a "<local_ip>:<port>" string. | ||
| // //// | ||
| // http_port: 8000, | ||
| // }, | ||
| }, | ||
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| //// | ||
| //// zenoh related configuration (see zenoh documentation for more details) | ||
| //// | ||
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| //// | ||
| //// id: The identifier (as hex-string) that zenoh-bridge-ros1 must use. If not set, a random UUIDv4 will be used. | ||
| //// WARNING: this id must be unique in your zenoh network. | ||
| // id: "A00001", | ||
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| //// | ||
| //// mode: The bridge's mode (peer or client) | ||
| //// | ||
| //mode: "client", | ||
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| //// | ||
| //// Which endpoints to connect to. E.g. tcp/localhost:7447. | ||
| //// By configuring the endpoints, it is possible to tell zenoh which router/peer to connect to at startup. | ||
| //// | ||
| connect: { | ||
| endpoints: [ | ||
| // "<proto>/<ip>:<port>" | ||
| ] | ||
| }, | ||
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| //// | ||
| //// Which endpoints to listen on. E.g. tcp/localhost:7447. | ||
| //// By configuring the endpoints, it is possible to tell zenoh which are the endpoints that other routers, | ||
| //// peers, or client can use to establish a zenoh session. | ||
| //// | ||
| listen: { | ||
| endpoints: [ | ||
| // "<proto>/<ip>:<port>" | ||
| ] | ||
| }, | ||
| } |
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