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siddarth09siddarth09
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Dockerized
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‎docker/bash_aliases.txt

100755100644
File mode changed.

‎docker/docker-compose.yml

Lines changed: 61 additions & 61 deletions
Original file line numberDiff line numberDiff line change
@@ -1,6 +1,6 @@
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version: '3.3'
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services:
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eclss_base: &eclss_base
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nova_sanctum: &nova_sanctum
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image: nova_sanctum # Use the built image name
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ipc: host
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network_mode: host
@@ -15,77 +15,77 @@ services:
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- /dev:/dev
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command: ["/bin/bash", "-c", "source /opt/ros/humble/setup.bash && source /root/ros2_ws/install/setup.bash && tail -f /dev/null"] # Keeps container running
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collector:
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<<: *eclss_base
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container_name: collector
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command: ["ros2", "run", "demo_nova_sanctum", "collector"]
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# collector:
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# <<: *eclss_base
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# container_name: collector
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# command: ["ros2", "run", "demo_nova_sanctum", "collector"]
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desiccant:
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<<: *eclss_base
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container_name: desiccant
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command: ["ros2", "run", "demo_nova_sanctum", "desiccant"]
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# desiccant:
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# <<: *eclss_base
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# container_name: desiccant
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# command: ["ros2", "run", "demo_nova_sanctum", "desiccant"]
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adsorbent:
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<<: *eclss_base
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container_name: adsorbent
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command: ["ros2", "run", "demo_nova_sanctum", "adsorbent"]
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# adsorbent:
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# <<: *eclss_base
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# container_name: adsorbent
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# command: ["ros2", "run", "demo_nova_sanctum", "adsorbent"]
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sabatier:
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<<: *eclss_base
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container_name: sabatier
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command: ["ros2", "run", "demo_nova_sanctum", "sabatier"]
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# sabatier:
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# <<: *eclss_base
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# container_name: sabatier
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# command: ["ros2", "run", "demo_nova_sanctum", "sabatier"]
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water_pub:
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<<: *eclss_base
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container_name: water_pub
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command: ["ros2", "run", "demo_nova_sanctum", "water_pub"]
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# water_pub:
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# <<: *eclss_base
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# container_name: water_pub
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# command: ["ros2", "run", "demo_nova_sanctum", "water_pub"]
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deionization_bed:
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<<: *eclss_base
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container_name: deionization_bed
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command: ["ros2", "run", "demo_nova_sanctum", "deionization_bed"]
43+
# deionization_bed:
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# <<: *eclss_base
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# container_name: deionization_bed
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# command: ["ros2", "run", "demo_nova_sanctum", "deionization_bed"]
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electrolysis:
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<<: *eclss_base
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container_name: electrolysis
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command: ["ros2", "run", "demo_nova_sanctum", "electrolysis"]
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# electrolysis:
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# <<: *eclss_base
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# container_name: electrolysis
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# command: ["ros2", "run", "demo_nova_sanctum", "electrolysis"]
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whc:
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<<: *eclss_base
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container_name: whc
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command: ["ros2", "run", "demo_nova_sanctum", "whc"]
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# whc:
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# <<: *eclss_base
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# container_name: whc
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# command: ["ros2", "run", "demo_nova_sanctum", "whc"]
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waste_collector:
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<<: *eclss_base
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container_name: waste_collector
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command: ["ros2", "run", "demo_nova_sanctum", "waste_collector"]
58+
# waste_collector:
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# <<: *eclss_base
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# container_name: waste_collector
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# command: ["ros2", "run", "demo_nova_sanctum", "waste_collector"]
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upa:
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<<: *eclss_base
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container_name: upa
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command: ["ros2", "run", "demo_nova_sanctum", "upa"]
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# upa:
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# <<: *eclss_base
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# container_name: upa
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# command: ["ros2", "run", "demo_nova_sanctum", "upa"]
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filter:
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<<: *eclss_base
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container_name: filter
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command: ["ros2", "run", "demo_nova_sanctum", "filter"]
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# filter:
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# <<: *eclss_base
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# container_name: filter
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# command: ["ros2", "run", "demo_nova_sanctum", "filter"]
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catalytic_chamber:
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<<: *eclss_base
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container_name: catalytic_chamber
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command: ["ros2", "run", "demo_nova_sanctum", "catalytic_chamber"]
73+
# catalytic_chamber:
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# <<: *eclss_base
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# container_name: catalytic_chamber
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# command: ["ros2", "run", "demo_nova_sanctum", "catalytic_chamber"]
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ionization:
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<<: *eclss_base
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container_name: ionization
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command: ["ros2", "run", "demo_nova_sanctum", "ionization"]
78+
# ionization:
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# <<: *eclss_base
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# container_name: ionization
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# command: ["ros2", "run", "demo_nova_sanctum", "ionization"]
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clean_water_tank:
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<<: *eclss_base
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container_name: clean_water_tank
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command: ["ros2", "run", "demo_nova_sanctum", "clean_water_tank"]
83+
# clean_water_tank:
84+
# <<: *eclss_base
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# container_name: clean_water_tank
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# command: ["ros2", "run", "demo_nova_sanctum", "clean_water_tank"]
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ultrasound:
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<<: *eclss_base
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container_name: ultrasound
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command: ["ros2", "run", "demo_nova_sanctum", "ultrasound"]
88+
# ultrasound:
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# <<: *eclss_base
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# container_name: ultrasound
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# command: ["ros2", "run", "demo_nova_sanctum", "ultrasound"]

‎docker/entrypoint.sh

Lines changed: 67 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,67 @@
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#!/bin/bash
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# Set ROS distribution
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# This variable defines the ROS 2 distribution being used (e.g., "jazzy", "rolling", etc.)
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ROS_DISTRO="humble"
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# Creates required temp directory for GUI applications - needed by Linux desktop standards
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# Set up XDG runtime directory
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export XDG_RUNTIME_DIR=/tmp/runtime-$USER
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mkdir -p $XDG_RUNTIME_DIR
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chmod 700 $XDG_RUNTIME_DIR
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13+
# Set base paths for convenience
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# ROS_WS is the path to the ROS 2 workspace
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ROS_WS="/root/ros2_ws"
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# SHARED_ROS2 is the path to shared ROS 2 files
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SHARED_ROS2="/root/shared/ros2"
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20+
# Create ros_domain_id.txt file with default value 0 if it doesn't exist
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# This file stores the ROS_DOMAIN_ID, which is used for multi-robot communication
22+
ROS_DOMAIN_ID_FILE="$SHARED_ROS2/ros_domain_id.txt"
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24+
if [ ! -f "$ROS_DOMAIN_ID_FILE" ]; then
25+
# If the file doesn't exist, create it with a default value of 0
26+
echo "0" > "$ROS_DOMAIN_ID_FILE"
27+
echo "Created $ROS_DOMAIN_ID_FILE with default value 0"
28+
fi
29+
30+
# The ROS_DOMAIN_ID will need to be the same for computers that you want to communicate with each other.
31+
# This value can take any number between [0,232]. It is useful if you have multiple robots in the same environment.
32+
# Update .bashrc with ROS_DOMAIN_ID if it does not already exist
33+
if ! grep -q "export ROS_DOMAIN_ID" /root/.bashrc; then
34+
# Read the ROS_DOMAIN_ID from the file
35+
ros_domain_id=$(cat "$ROS_DOMAIN_ID_FILE")
36+
# Add the export command to .bashrc if it's not already there
37+
echo "export ROS_DOMAIN_ID=$ros_domain_id" >> /root/.bashrc
38+
fi
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40+
# Make the ROS Domain ID available to the current script
41+
# This allows the current script to use the ROS_DOMAIN_ID
42+
export ROS_DOMAIN_ID=$(cat "$ROS_DOMAIN_ID_FILE")
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44+
# Source ROS setup file
45+
# This sets up the ROS 2 environment for the current shell session
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source /opt/ros/$ROS_DISTRO/setup.bash
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48+
# Source the local workspace setup
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source $ROS_WS/install/setup.bash
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51+
# Source the .bashrc file to ensure all environment variables are up to date
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source /root/.bashrc
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# Change to the ROS 2 workspace directory
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cd $ROS_WS
56+
57+
# Build the ROS 2 workspace using colcon
58+
colcon build
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# Change back to the root directory
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cd
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63+
# Source .bashrc again to ensure any changes made during the build are applied
64+
source /root/.bashrc
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# Any command you run after this script runs in the environment set up by the script.
67+
exec "$@"

‎docker/workspace.sh

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#!/bin/bash
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set -e
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# Set ROS 2 distribution as a variable
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ROS_DISTRO="humble"
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# Source ROS 2 setup
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source /opt/ros/$ROS_DISTRO/setup.bash
9+
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# Install system dependencies for MongoDB and PCL
11+
apt-get update && apt-get install -y \
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gnupg \
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curl \
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libpcap-dev
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16+
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# Navigate to the workspace
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cd /root/ros2_ws/src
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20+
# Navigate back to the workspace root
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cd /root/ros2_ws
22+
23+
# Install ROS2 dependencies for all packages
24+
echo "Installing ROS 2 dependencies..."
25+
rosdep update
26+
rosdep install -i --from-path src --rosdistro $ROS_DISTRO -y
27+
28+
# Now apply all the fixes after dependencies are installed
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30+
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# Build the packages
32+
echo "Building packages..."
33+
# # First build without the problematic package
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# colcon build --packages-skip demo_nova_sanctum
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# source install/setup.bash
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# # Then build the problematic package with warning suppression
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# colcon build --packages-select demo_nova_sanctum--cmake-args -Wno-dev
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# source install/setup.bash
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# # Final build of everything
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colcon build
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source install/setup.bash
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echo "Workspace setup completed!"

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