Add GUI stack for Space ROS

Dockerfile.gui

@@ -0,0 +1,60 @@
+FROM ros:humble-ros-core-jammy
+
+ARG DEBIAN_FRONTEND=noninteractive
+
+ENV RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
+ENV ROS_DISTRO=humble
+ENV USERNAME=spaceros-user
+ENV HOME=/home/spaceros-user
+ENV IGNITION_VERSION=fortress
+ENV GZ_VERSION=fortress
+
+# Install dependencies
+RUN apt update && apt install -y ros-${ROS_DISTRO}-rmw-cyclonedds-cpp \
+    python3-rosdep python3-colcon-common-extensions \
+    wget \
+    curl \
+    && apt clean  \
+    && rm -rf /var/lib/apt/lists/*
+
+# Run rosdep
+RUN rosdep init \
+    && rosdep update
+
+RUN wget https://packages.osrfoundation.org/gazebo.gpg -O /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg\
+    && echo "deb [arch=amd64 signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" | tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null
+
+# Install Gazebo
+RUN apt-get update -qq \
+    && apt-get install -y \
+    gz-${GZ_VERSION} \
+    libgz-sim7 \
+    libgz-transport12 \
+    libgz-gui7 \
+    build-essential\
+    ros-${ROS_DISTRO}-rcl-interfaces\
+    ros-${ROS_DISTRO}-rclcpp\
+    ros-${ROS_DISTRO}-builtin-interfaces\
+    ros-${ROS_DISTRO}-ros-gz\
+    ros-${ROS_DISTRO}-sdformat-urdf\
+    ros-${ROS_DISTRO}-vision-msgs\
+    ros-${ROS_DISTRO}-actuator-msgs\
+    ros-${ROS_DISTRO}-image-transport\
+    ros-${ROS_DISTRO}-xacro\
+    ros-${ROS_DISTRO}-ros-ign-gazebo \
+    && rm -rf /var/lib/apt/lists/*
+
+
+# Install Rviz2
+RUN apt-get update -qq \
+    && apt-get install -y \
+    ros-${ROS_DISTRO}-rviz2 \
+    ros-${ROS_DISTRO}-moveit-ros-visualization \
+    ros-${ROS_DISTRO}-nav2-rviz-plugins \
+    && rm -rf /var/lib/apt/lists/*
+
+WORKDIR ${HOME}
+
+RUN echo "source /opt/ros/humble/setup.bash" >> ${HOME}/.bashrc
+
+CMD ign gazebo

README.md

@@ -12,3 +12,42 @@ See individual template directories for details.
 * [rtems](./rtems)
 * [space_robots](./space_robots)
 * [zynq_rtems](./zynq_rtems)
+
+
+### Build stacks
+
+To build the docker images available in the stack, run the following command:
+
+```bash
+# To show the available options
+./build.sh -help
+# Usage: ./build.sh stack-name [options]
+# USAGE
+# -h, --help: display this help message
+#   stack-name: the name of the stack to build. Must be one of the following:
+#     - gui
+#     - nav2
+#     - moveit2
+
+# To build GUI stack
+./build.sh gui
+```
+
+### Starting a stack container
+
+To run the docker images available in the stack, run the following command:
+
+```bash
+# To show the available options
+./run.sh -help
+# Usage: ./build.sh stack-name [options]
+# USAGE
+# -h, --help: display this help message
+#   stack-name: the name of the stack to build. Must be one of the following:
+#     - gui
+#     - nav2
+#     - moveit2
+
+# To run GUI stack
+./run.sh gui
+```

build.sh

@@ -0,0 +1,37 @@
+#!/bin/bash
+
+IMAGE_NAME="osrf/ros2"
+
+set -e
+
+# Build the stack
+
+# Helper function
+function help {
+    echo "Usage: $0 stack-name [options]"
+    echo "USAGE"
+    echo "-h, --help: display this help message"
+    echo "  stack-name: the name of the stack to build. Must be one of the following:"
+    echo "    - gui"
+    echo "    - nav2"
+    echo "    - moveit2"
+}
+
+function build_gui {
+    echo "Building GUI stack"
+    docker build -t $IMAGE_NAME:gui -f Dockerfile.gui .
+}
+
+# Parse command line arguments
+if [ "$1" == "-h" ] || [ "$1" == "--help" ]; then
+    help
+    exit 0
+fi
+
+if [ "$1" == "gui" ]; then
+    build_gui
+else
+    echo "Invalid stack name"
+    help
+    exit 1
+fi

run.sh

@@ -0,0 +1,49 @@
+#!/bin/bash
+
+IMAGE_NAME="osrf/ros2"
+CONTAINER_NAME="space-ros"
+
+set -e
+
+# Helper function
+function help {
+    echo "Usage: $0 stack-name [options]"
+    echo "USAGE"
+    echo "-h, --help: display this help message"
+    echo "  stack-name: the name of the stack to build. Must be one of the following:"
+    echo "    - gui"
+    echo "    - nav2"
+    echo "    - moveit2"
+}
+
+function run_gui {
+    echo "Running GUI stack"
+    docker run -it --rm --name $CONTAINER_NAME-gui \
+        -e DISPLAY=$DISPLAY \
+        -e QT_X11_NO_MITSHM=1 \
+        -e NVIDIA_VISIBLE_DEVICES=all \
+        -e NVIDIA_DRIVER_CAPABILITIES=all \
+        -e XDG_RUNTIME_DIR=$XDG_RUNTIME_DIR \
+        -e __NV_PRIME_RENDER_OFFLOAD=1 \
+        -e __GLX_VENDOR_LIBRARY_NAME=nvidia \
+        -e RMW_IMPLEMENTATION=rmw_cyclonedds_cpp \
+        -e XAUTHORITY=$XAUTHORITY \
+        -v /run/user:/run/user:ro \
+        -v /tmp/.X11-unix:/tmp/.X11-unix \
+        $IMAGE_NAME:gui
+
+}
+
+# Parse command line arguments
+if [ "$1" == "-h" ] || [ "$1" == "--help" ]; then
+    help
+    exit 0
+fi
+
+if [ "$1" == "gui" ]; then
+    run_gui
+else
+    echo "Invalid stack name"
+    help
+    exit 1
+fi