Merge pull request #1 from ruffsl/sros

Sros

docker/README.md

@@ -0,0 +1,11 @@
+# Dependences
+* Docker
+ * https://docs.docker.com/linux/step_one/
+* Compose
+ * https://docs.docker.com/compose/install/
+
+# Running Demo
+``` bash
+cd <path_to>/ros_comm/docker/sdemo
+docker-compose up
+```

docker/sdemo/Dockerfile

@@ -0,0 +1,58 @@
+FROM ubuntu:xenial
+
+# setup environment
+RUN locale-gen en_US.UTF-8
+ENV LANG en_US.UTF-8
+
+# setup keys
+RUN apt-key adv --keyserver ha.pool.sks-keyservers.net --recv-keys 421C365BD9FF1F717815A3895523BAEEB01FA116
+
+# setup sources.list
+RUN echo "deb http://packages.ros.org/ros/ubuntu xenial main" > /etc/apt/sources.list.d/ros-latest.list
+
+# install bootstrap tools
+RUN apt-get update && apt-get install --no-install-recommends -y \
+ python-rosdep \
+ python-rosinstall \
+ python-vcstools \
+ && rm -rf /var/lib/apt/lists/*
+
+# tempfix for https://github.com/ros-infrastructure/rosdep/pull/454
+RUN apt-get update && apt-get install --no-install-recommends -y \
+ ca-certificates \
+ && rm -rf /var/lib/apt/lists/*
+
+# bootstrap rosdep
+RUN rosdep init \
+ && rosdep update
+
+# install build/run tools
+# installing sudo and not removing apt cache for rosdep install later on
+RUN apt-get update && apt-get install --no-install-recommends -y \
+ build-essential \
+ byobu \
+ openssh-server \
+ python-catkin-tools \
+ python-wstool \
+ wget \
+ sudo
+
+# build ros packages
+ENV ROS_DISTRO kinetic
+ENV WORKSPACE /root/sros
+WORKDIR $WORKSPACE
+RUN wget https://gist.github.com/codebot/874494b34f5d02af2b24a5a312847b9c/raw -O kinetic-sros.rosinstall \
+ && wstool init src kinetic-sros.rosinstall -j8 \
+ && rosdep install -y --from-paths src --ignore-src --rosdistro kinetic \
+ && catkin config --install \
+ && catkin build
+
+RUN ssh-keygen -t rsa -f /root/.ssh/id_rsa -P ""
+ # && service ssh start \
+ # && ssh-copy-id localhost
+
+# setup entrypoint
+COPY ./ros_entrypoint.sh /
+
+ENTRYPOINT ["/ros_entrypoint.sh"]
+CMD ["bash"]

docker/sdemo/docker-compose.old.yml

@@ -0,0 +1,31 @@
+version: '2'
+
+services:
+ master:
+ build: .
+ environment:
+ - "ROS_HOSTNAME=master.sdemo_default"
+ - "ROS_SECURITY=ssl"
+ command: srosmaster
+
+ talker:
+ build: .
+ environment:
+ - "ROS_HOSTNAME=talker.sdemo_default"
+ - "ROS_MASTER_URI=http://master.sdemo_default:11311"
+ - "ROS_SECURITY=ssl"
+ command: rosrun rospy_tutorials talker
+
+ listener:
+ build: .
+ environment:
+ - "ROS_HOSTNAME=listener.sdemo_default"
+ - "ROS_MASTER_URI=http://master.sdemo_default:11311"
+ - "ROS_SECURITY=ssl"
+ command: rosrun rospy_tutorials listener
+
+ # resolvable:
+ # image: mgood/resolvable
+ # volumes:
+ # - /var/run/docker.sock:/tmp/docker.sock
+ # - /etc/resolv.conf:/tmp/resolv.conf

docker/sdemo/docker-compose.yml

@@ -0,0 +1,14 @@
+version: '2'
+
+services:
+ master:
+ build: .
+ environment:
+ - "ROS_SECURITY=ssl"
+ command: bash -c "sroscore & rosrun rospy_tutorials listener & rosrun rospy_tutorials talker"
+
+ # resolvable:
+ # image: mgood/resolvable
+ # volumes:
+ # - /var/run/docker.sock:/tmp/docker.sock
+ # - /etc/resolv.conf:/tmp/resolv.conf

docker/sdemo/ros_entrypoint.sh

@@ -0,0 +1,7 @@
+#!/bin/bash
+set -e
+
+# setup ros environment
+# source "/opt/ros/$ROS_DISTRO/setup.bash"
+source $WORKSPACE/install/setup.bash
+exec "$@"

tools/roslaunch/resources/roscore.xml

@@ -8,6 +8,7 @@
  <group ns="/">
  <param name="rosversion" command="rosversion roslaunch" />
  <param name="rosdistro" command="rosversion -d" />
- <node pkg="rosout" type="rosout" name="rosout" respawn="true"/>
+ <!-- <node pkg="rosout" type="rosout" name="rosout" respawn="true"/> -->
+ <node pkg="rosoutpy" type="rosoutpy" name="rosoutpy" respawn="true"/>
  </group>
 </launch>

tools/rosoutpy/CMakeLists.txt

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+cmake_minimum_required(VERSION 2.8.3)
+project(rosoutpy)
+
+find_package(catkin REQUIRED)
+
+catkin_package(CATKIN_DEPENDS rospy rosgraph_msgs)
+
+catkin_install_python(PROGRAMS
+ scripts/rosoutpy
+ scripts/rosoutpy.py
+ DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/scripts
+)
+install(FILES
+ launch/rosoutpy.launch
+ DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch
+)
+install(FILES
+ README
+ DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/
+)

tools/rosoutpy/README

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+# rosoutpy
+A minimal rosout implementation in python
+(no logging currently)

tools/rosoutpy/launch/rosoutpy.launch

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+<launch>
+ <node pkg="rosoutpy" type="rosoutpy" name="rosoutpy" respawn="true" output="screen"/>
+</launch>

tools/rosoutpy/package.xml

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+<?xml version="1.0"?>
+<package>
+ <name>rosoutpy</name>
+ <version>0.0.1</version>
+ <description>
+ A minimal rosout implementation in python
+ </description>
+ <maintainer email="roxfoxpox@gmail.com">Ruffin White</maintainer>
+ <license>BSD</license>
+
+ <author email="roxfoxpox@gmail.com">Ruffin White</author>
+
+ <buildtool_depend version_gte="0.5.68">catkin</buildtool_depend>
+
+ <run_depend>rospy</run_depend>
+ <run_depend>rosgraph_msgs</run_depend>
+</package>

tools/rosoutpy/scripts/rosoutpy

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+rosoutpy.py

tools/rosoutpy/scripts/rosoutpy.py

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+#!/usr/bin/env python
+
+import rospy
+import rosgraph_msgs
+
+class Rosout:
+ 'The rosout node subscribes to /rosout, logs the messages to file, and re-broadcasts the messages to /rosout_agg'
+ def __init__(self):
+ rospy.init_node('rosoutpy')
+ self.pub = rospy.Publisher("/rosout_agg", rosgraph_msgs.msg.Log, queue_size=0)
+ self.sub = rospy.Subscriber("/rosout", rosgraph_msgs.msg.Log, self.rosoutCallback, queue_size=1)
+
+ def rosoutCallback(self, msg):
+ self.pub.publish(msg)
+
+ # Main function.
+if __name__ == '__main__':
+ try:
+ rosout = Rosout()
+ rospy.spin()
+ except rospy.ROSInterruptException:
+ pass