Adding racs2 /cfs-ros2 bridge demo by JAXA on spaceros #81

yuyuqq · 2025-01-19T04:32:48Z

Title: Adding racs2 /cfs-ros2 bridge demo by JAXA on spaceros

Description:
This pull request adds the racs2_demos_on_spaceros demo to the SpaceROS project. (racs2 /cfs-ros2 bridge demo by jaxa)
(Issue #26 )

Changes include:

Added new demo module racs2_demos_on_spaceros.

Purpose:
This addition aims to demonstrate a function and usage of RACS2 bridge in the SpaceROS project, providing a tool for system design and showcasing functionalities.

Testing:
All new features were tested in the provided simulation environment to ensure proper functionality and integration. No issues were found.

Impact:
These changes are backward-compatible and do not affect existing functionalities.

Additional Information:
For more details, please refer to the included README file or the project documentation.

ivanperez-keera · 2025-01-23T15:35:32Z

I just added myself as reviewer for this PR. I'd like to work with @yuyuqq on this.

dsobek

I started reviewing however I got blocked with confusion: Is having the docker directory necessary here? It looks like a copy of the demos from the docker repo.

To reduce duplicate code, my first thought is that the docker repo should be a submodule, however I noticed that space_robots clones this repository via vcs within it's Docker workflow, so this is looking circular.

My second thought is that the racs2 demo docker image should be built from the docker repository and any lower level packages/nodes/cfs applications should be here in the demo repository, however this is conflicting with the demo README.

Overall I could use some clarity on the purposes of the docker and demo repositories @ivanperez-keera.

dsobek · 2025-01-23T22:36:23Z

racs2_demos_on_spaceros/Dockerfile

+RUN python3 -m pip install protobuf==3.20.0 websockets==12.0
+
+# Get the cFS source code
+RUN git clone --recursive -b v6.7.0a https://github.com/nasa/cFS/ cfs


I'm not a fan of all of this git cloneing in the Dockerfile, I've learned that this can cause issues since Docker doesn't know when to invalidate the layer cache when the upstream changes.

It would be nice if these repositories were a git submodule, downloaded via vcs before the Dockerfile is run, or at the very least, uses the ADD Dockerfile instruction .

I think this kind of clone is fine in this case because we are cloning a specific tag. The code won't change unless the tag changes, and that shouldn't happen because it's a release tag.

If it was a rolling HEAD, then I agree that we might want to do it differently.

As Ivan suggested I did not change on this.

dsobek · 2025-01-23T22:38:54Z

racs2_demos_on_spaceros/Dockerfile

+
+# Get the RACS2 source code
+WORKDIR ${RACS2_DEMO_DIR}
+RUN git clone https://github.com/jaxa/racs2_bridge


Can this repo be pinned to a specific branch/version?

Added a tag called "v1.1" and made it clone from v1.1.

dsobek · 2025-01-23T22:46:26Z

racs2_demos_on_spaceros/Dockerfile

I have a few suggestions for this Dockerfile, but generally I'm conflicted about how this is organized.

I appreciate that this goes step by step and documents how to use the RACS2 bridge, but there is a lot more file manipulation here than I would typically expect from a Dockerfile.
Since this is a demo I suppose this doesn't need to be productionized and is better off as it is now as documentation?

I think I'd feel better about having all of the code existing in the repository with this file manipulation done before-hand if this process was also documented elsewhere and referenced in this codebase (e.g. in the README or as a comment here). However, I understand that could be a lot more additional work, so I'm happy either way.

I have modified the pull request as suggested to reduce the number of clone operations in the Dockerfile, making it simpler. This should align better with typical Dockerfile practices while still providing step-by-step documentation for the RACS2 bridge.

dsobek · 2025-01-23T22:48:46Z

racs2_demos_on_spaceros/README.md

+```
+You will need three terminals to run demo.
+
+For instractions after entering docker, please read docker/racs2_demos_on_spaceros/README.md


Suggested change

For instractions after entering docker, please read docker/racs2_demos_on_spaceros/README.md

For instructions after entering docker, please read docker/racs2_demos_on_spaceros/README.md

Merged README.md, thus this description is removed.

ivanperez-keera · 2025-01-30T00:07:58Z

We met today with the JAXA team to discuss this pull request and walk them through some of the changes. They'll be working on that and submitting an updated version to this same PR.

yuyuqq · 2025-02-05T05:38:59Z

The PR is updated.

I started reviewing however I got blocked with confusion: Is having the docker directory necessary here?

We removed the docker directory, and copied necessary files in the docker file. This should have solved the "looking circular" problem.

My second thought is that the racs2 demo docker image should be built from the docker repository

Agreed, we made docker-build from the docker repository with necessary changes.

Also logs are sorted out as Ivan suggested.

ivanperez-keera · 2025-02-05T10:40:39Z

Thanks @yuyuqq.

I will take another look.

dsobek · 2025-02-10T23:14:55Z

racs2_demos_on_spaceros/cFS/apps/run_app/fsw/src/run_app.c

+       };
+
+
+void send_command(Command cmd) {


It looks like this function is not used anywhere. Can this be removed?

dsobek · 2025-02-10T23:21:11Z

racs2_demos_on_spaceros/cFS/apps/run_app/fsw/src/run_app.c

+void set_non_canonical_mode(int fd) {
+    struct termios termios;
+
+    // 現在の端末設定を取得


Could you translate these comments to english?

dsobek · 2025-02-10T23:23:51Z

racs2_demos_on_spaceros/cFS/apps/run_app/fsw/src/run_app.c

+
+    SAMPLE_TAKLKER_Init();
+
+    struct termios original_termios;


Is this line a noop? Looks like this struct is declared globally too and it is not used in the body of this function.

dsobek · 2025-02-10T23:26:30Z

racs2_demos_on_spaceros/cFS/apps/run_app/fsw/src/run_app.c

+        // message.linear->x = 2.0;
+        // message.linear->y = 0.0;
+        // message.linear->z = 0.0;
+        // message.angular->x = 0.0;
+        // message.angular->y = 0.0;
+        // message.angular->z = 0.0;


Please delete this commented out debug code if it is no longer needed.

dsobek · 2025-02-11T01:54:52Z

racs2_demos_on_spaceros/README.md

+./run.sh
+```
+
+Depending on the host computer, you might need to remove the ```--gpus all``` flag in ```run.sh```, which uses your GPUs.


I didn't see the --gpus flag in the run file. Should this be "you might want to add --gpus all..."

dsobek · 2025-02-11T02:06:36Z

racs2_demos_on_spaceros/README.md

+Launch the rover demo (calling Terminal 1):
+```bash
+source install/setup.bash
+ros2 launch mars_rover mars_rover.launch.py


FYI I'm on apple silicone using a VM and I had to set an environment variable to enable software rendering in order to get his working.

export LIBGL_ALWAYS_SOFTWARE=1

@ivanperez-keera Do we have a good place to document this. As far as I'm aware, this affects any gazebo simulation for setups like mine.
gazebosim/gz-sim#1841 (comment)

ivanperez-keera self-requested a review January 23, 2025 15:35

dsobek reviewed Jan 23, 2025

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yuyuqq force-pushed the racs2_demos_on_spaceros branch from 4ff2dda to 2893e67 Compare February 3, 2025 11:55

yuyuqq mentioned this pull request Feb 3, 2025

JAXA's RACS2 Demo integration to the Space ROS project #80

Closed

added racs2_demos_on_spaceros jaxa's demo (Issue space-ros#26)

3458c2a

yuyuqq force-pushed the racs2_demos_on_spaceros branch from 2893e67 to 3458c2a Compare February 4, 2025 12:40

dsobek reviewed Feb 11, 2025

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Adding racs2 /cfs-ros2 bridge demo by JAXA on spaceros #81

Adding racs2 /cfs-ros2 bridge demo by JAXA on spaceros #81

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	For instractions after entering docker, please read docker/racs2_demos_on_spaceros/README.md
	For instructions after entering docker, please read docker/racs2_demos_on_spaceros/README.md

Adding racs2 /cfs-ros2 bridge demo by JAXA on spaceros #81

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