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Adding initial docker files
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‎docker/bash_aliases.txt

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# Aliases for the ~/.bashrc file
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alias build='cd ~/ros2_ws/ && colcon build && source ~/.bashrc'
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alias cleanup='echo "Cleaning up..." && \
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sleep 5.0 && \
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pkill -9 -f "ros2|demo_nova_sanctum"'
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alias elephant='ros2 launch mycobot_description robot_state_publisher.launch.py'
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alias ars_system='ros2 launch demo_nova_sanctum ars_systems_v2.launch.py'
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alias ogs_system='ros2 launch demo_nova_sanctum ogs_systems_v2.launch.py'
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alias wrs_system='ros2 launch demo_nova_sanctum wrs_systems.launch.py'

‎docker/build.sh

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#!/bin/bash
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# Get the absolute path of the directory containing this script (docker directory)
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SCRIPT_PATH=$(dirname $(realpath "$0"))
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# Get the parent directory path (mycobot_ros2 directory)
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# This is where our actual ROS 2 package code lives
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PARENT_PATH=$(dirname "$SCRIPT_PATH")
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# Function to build the Docker image
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# This function handles the actual Docker build process
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build_docker_image()
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{
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# Set a log message for the build process
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LOG="Building Docker image nova_sanctum:latest ..."
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# Print the log message using our debug function
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print_debug
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# Build the Docker image
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# -f $SCRIPT_PATH/Dockerfile: Specify the path to the Dockerfile in the docker directory
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# -t nova_sanctum:latest: Tag the image as nova_sanctum:latest
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# $PARENT_PATH: Use the parent directory as the build context, allowing access to all package files
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# --no-cache: Build the image without using the cache, ensuring fresh dependencies
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sudo docker image build -f $SCRIPT_PATH/Dockerfile -t nova_sanctum:latest $PARENT_PATH --no-cache
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}
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# Function to create a shared folder
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# This folder will be used to share files between the host and the Docker container
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create_shared_folder()
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{
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# Check if the directory doesn't exist
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if [ ! -d "$HOME/siddarth/shared/ros2" ]; then
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# Set a log message for folder creation
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LOG="Creating $HOME/siddarth/shared/ros2 ..."
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# Print the log message
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print_debug
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# Create the directory and its parent directories if they don't exist
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# -p flag creates parent directories as needed
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mkdir -p $HOME/siddarth/shared/ros2
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fi
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}
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# Function to print debug messages
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# This provides consistent formatting for our log messages
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print_debug()
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{
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# Print an empty line for readability
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echo ""
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# Print the log message
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echo $LOG
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# Print another empty line for readability
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echo ""
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}
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# Main execution flow
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# First, create the shared folder that will be mounted in the container
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create_shared_folder
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# Then, build the Docker image
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build_docker_image

‎docker/docker-compose.yml

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version: '3.3'
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services:
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eclss_base: &eclss_base
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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
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privileged: true
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environment:
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- DISPLAY
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- XAUTHORITY=/tmp/.Xauthority
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volumes:
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- $HOME/siddarth/shared/ros2:/root/shared/ros2
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- $HOME/.Xauthority:/tmp/.Xauthority
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- /tmp/.X11-unix:/tmp/.X11-unix:rw
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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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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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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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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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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"]
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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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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"]
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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"]
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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"]

‎docker/dockerfile

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# Set the ROS distribution as an argument, defaulting to 'jazzy'
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ARG ROS_DISTRO=humble
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# The base image comes from the official ROS repository hosted on Docker Hub
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# You can find available ROS images here: https://hub.docker.com/_/ros/tags
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# We're using the ros-base image which includes core ROS 2 packages
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FROM ros:${ROS_DISTRO}-ros-base
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# Set the maintainer information for this Dockerfile
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LABEL maintainer="AutomaticAddison<[email protected]>"
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# Set environment variables
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ENV PIP_BREAK_SYSTEM_PACKAGES=1
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ENV DEBIAN_FRONTEND=noninteractive
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# Set the default shell to bash for RUN commands
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# This ensures all RUN commands use bash instead of sh
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SHELL ["/bin/bash", "-c"]
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# Update the system and install essential tools
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# This step upgrades all packages and installs utilities needed for development
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RUN apt-get update -q && \
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apt-get upgrade -yq && \
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apt-get install -yq --no-install-recommends apt-utils wget curl git build-essential \
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vim sudo lsb-release locales bash-completion tzdata gosu gedit htop nano libserial-dev
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# Install additional tools required for ROS 2 development
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# These packages help with building and managing ROS 2 workspaces
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RUN apt-get update -q && \
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apt-get install -y gnupg2 iputils-ping usbutils \
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python3-argcomplete python3-colcon-common-extensions python3-networkx python3-pip python3-rosdep python3-vcstool
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# Set up the ROS 2 environment
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# This ensures that ROS 2 commands are available in the shell
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# rosdep is a tool for installing system dependencies for ROS packages
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RUN rosdep update && \
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grep -F "source /opt/ros/${ROS_DISTRO}/setup.bash" /root/.bashrc || echo "source /opt/ros/${ROS_DISTRO}/setup.bash" >> /root/.bashrc && \
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grep -F "source /usr/share/colcon_argcomplete/hook/colcon-argcomplete.bash" /root/.bashrc || echo "source /usr/share/colcon_argcomplete/hook/colcon-argcomplete.bash" >> /root/.bashrc
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# Install additional ROS 2 packages
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RUN apt-get update && \
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apt-get install -y \
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ros-${ROS_DISTRO}-joint-state-publisher-gui \
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ros-${ROS_DISTRO}-xacro \
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ros-${ROS_DISTRO}-demo-nodes-cpp \
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ros-${ROS_DISTRO}-demo-nodes-py \
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ros-${ROS_DISTRO}-rviz2 \
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ros-${ROS_DISTRO}-rqt-reconfigure
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# Install Mesa graphics drivers
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# Mesa is an open-source implementation of OpenGL and other graphics APIs
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# It's crucial for 3D rendering in many applications, including RViz in ROS
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RUN apt-get update && \
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apt-get install -y software-properties-common && \
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DEBIAN_FRONTEND=noninteractive add-apt-repository ppa:kisak/kisak-mesa
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# Create necessary directories
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RUN mkdir -p /etc/udev/rules.d && \
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mkdir -p /root/ros2_ws/src/demo_nova_sanctum
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# Copy the entire project into the container
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# Since we're using the parent directory as context, we can copy everything
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COPY . /root/ros2_ws/src/demo_nova_sanctum
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# Copy configuration files from docker directory
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# Note the docker/ prefix since we're in the parent context
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COPY docker/workspace.sh /root/
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COPY docker/entrypoint.sh /root/
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COPY docker/bash_aliases.txt /root/.bashrc_aliases
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# Make scripts executable
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RUN chmod +x /root/workspace.sh /root/entrypoint.sh
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# Add custom bash aliases
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RUN cat /root/.bashrc_aliases >> /root/.bashrc
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# Run the workspace setup script
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# This typically installs workspace dependencies and builds the ROS 2 packages
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WORKDIR /root
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RUN ./workspace.sh
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# Ensure the ROS 2 workspace is sourced in every new shell
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RUN echo "source /root/ros2_ws/install/setup.bash" >> /root/.bashrc
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# Set the entrypoint for the container
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# This script will be run every time the container starts
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ENTRYPOINT ["/root/entrypoint.sh"]
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# Set the default command
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# This keeps the container running indefinitely, allowing you to exec into it
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RUN echo "source /opt/ros/humble/setup.bash" >> ~/.bashrc
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RUN echo "source /root/ros2_ws/install/setup.bash" >> ~/.bashrc
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CMD ["/bin/bash", "-c", "tail -f /dev/null"]

‎docker/entrypoint.sh

Whitespace-only changes.

‎docker/workspace.sh

Whitespace-only changes.

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