Creating & Programming Robots

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====== Controlling Niryo Robotic Arm with ROS ======

===== Create a ROS Melodic container =====


Creates a Dockerfile called **Dockerfile-ros-melodic** :

<code docker>
#
# this dockerfile roughly follows the 'Ubuntu install of ROS Melodic' from:
#  http://wiki.ros.org/melodic/Installation/Ubuntu
# and Niryo ROS installation :
#  https://docs.niryo.com/dev/ros/v3.2.0/en/source/simulation.html 
#
# start from base image Ubuntu 18.04
ARG BASE_IMAGE=ubuntu:18.04
FROM ${BASE_IMAGE}
 
# label this new image 
LABEL maintainer="benblop@gmail.com"
LABEL version="0.1"
LABEL description="basic ROS melodic Docker image for teaching" 
 
ENV ROS_DISTRO=melodic
ENV ROS_ROOT=/opt/ros/${ROS_DISTRO}
 
# disable prompt during package installation
ENV DEBIAN_FRONTEND=noninteractive
 
# 
# add the ROS deb repo to the apt sources list
#
RUN apt-get update && \
    apt-get install -y --no-install-recommends \
          git \
		cmake \
		build-essential \
		curl \
		wget \
		gnupg2 \
		lsb-release \
		ca-certificates \
    && rm -rf /var/lib/apt/lists/*
 
RUN sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
RUN curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | apt-key add -
 
 
# 
# install ROS packages
#
RUN apt-get update && \
    apt-get install -y --no-install-recommends \
          ros-${ROS_DISTRO}-desktop-full \
          python-rosdep \
    && rm -rf /var/lib/apt/lists/*
 
#
# init/update rosdep
#
RUN apt-get update && \
    cd ${ROS_ROOT} && \
    rosdep init && \
    rosdep update && \
    rm -rf /var/lib/apt/lists/*

#
# always initialize ROS by default
RUN echo "# init ROS" >> /etc/bash.bashrc
RUN echo "source /opt/ros/${ROS_DISTRO}/setup.bash" >> /etc/bash.bashrc

# define a user
ENV newuser=rosuser
RUN useradd -ms /bin/bash ${newuser}
USER ${newuser}
WORKDIR /home/${newuser}
</code>

Create the image :

<code bash>
docker build -f Dockerfile-ros-melodic -t ros-melodic .
</code> 

run the image interactively, try running roscore at prompt, then stop **roscore** with CTRL-C and leave the container with CTRL-D :
<code bash>
docker run -it ros-melodic:latest /bin/bash
roscore
CTRL-C
CTRL-D
</code>
In this container, a standard user (called rosuser)  has been created. To run the conatiner as root user, add **-u root** in the command line :
<code bash>
docker run -u root -it ros-melodic:latest /bin/bash
</code> 
To get the image name (ros-melodic:latest) , just type :
<code bash>
docker images
</code>

Save the container so it can be moved and restored on another host ([[https://bobcares.com/blog/move-docker-container-to-another-host/|from this link]])
<code bash>
docker export container-name | gzip > container-name.gz
zcat container-name.gz | docker import - container-name
</code>

===== Test the ROS Melodic container  =====

Open a terminal, start the container and execute **roscore** 
<code bash>
docker run --rm --name ROS-Melodic-Test -it ros-melodic:latest /bin/bash
roscore
</code>

In a second terminal, verify that ROS is running, first we need to get the ID (and the name) of the container. Here the name is **ROS-Melodic-Test** and the ID is **c012f4611c54**. Then using the ID (or the name) of the container we can get its IP address by processing the docker inspect command output :
<code bash>
docker container  ls
docker inspect -f '{{range.NetworkSettings.Networks}}{{.IPAddress}}{{end}}' ROS-Melodic-Test
</code>
Here the IP address is 172.14.0.1. We can now setup the host so it can use ROS running in the ROS-Melodic-Test container :
<code bash>
export ROS_MASTER_URI=http://172.14.0.1:11311
rostopic list
</code>

===== Automatically starts roscore =====

This container aims at starting **roscore** without starting an interactive session and typing **roscore**.
The dockerfile starts from the previous image and looks like this :
<code docker>
# start from base image ros-melodic:latest
ARG BASE_IMAGE=ros-melodic:latest
FROM ${BASE_IMAGE}
SHELL ["/bin/bash", "-c"]
COPY ./ros_init.bash .
ENTRYPOINT ["/bin/bash","/home/rosuser/ros_init.bash"]
CMD /opt/ros/melodic/bin/roscore
</code>
The command (CMD) is **roscore** and the entry point (ENTRYPOINT) is used to to initialize ROS with the following script (ros_init.bash) :
<code bash>
#!/bin/bash
set -e

#setup ros environment
source "/opt/ros/$ROS_DISTRO/setup.bash"

#setup workspace if it exists 
if [ -n "$WORKSPACE_NAME" ]; then
    if [ ! -e "/root/$WORKSPACE_NAME/devel/setup.sh" ]; then
        previousDirectory=$(pwd)
        cd /root/$WORKSPACE_NAME
        catkin_make
        cd $previousDirectory
    fi
    source "/root/$WORKSPACE_NAME/devel/setup.sh"
fi

exec "$@"
</code>

===== ROS container tests  =====

In a first terminal, **roscore** is started
<code bash>
docker run --rm --name "ROS-Melodic-roscore"  ros-melodic-roscore:latest
</code>

In a second terminal we get the IP address of the container (here 170.14.0.1) and we try to get the default topics from roscore :
<code bash>
docker inspect -f '{{range.NetworkSettings.Networks}}{{.IPAddress}}{{end}}' ROS-Melodic-roscore
export ROS_MASTER_URI=http://172.14.0.1:11311
rostopic list
</code>
We should see the default /rosout and /rosout_agg topics. Now we will wait for a /counter topic to be published :
<code bash>
rostopic echo /counter
</code>
The publication of this /counter topic we be done in a container. We start an interactive session on ROS-Melodic-Test container. In a third terminal, using docker inspect, we can get the IP address of this container (here 170.14.0.2) so we can connect both containers on the same **roscore*.
<code bash>
docker run --rm --name "ROS-Melodic-Test"  -it ros-melodic:latest /bin/bash
export ROS_MASTER_URI=http://172.14.0.1:11311
export ROS_IP=172.14.0.2
rostopic pub -r 1  /counter std_msgs/Int32 "data: 8"
</code>
In the last line we are sending an integer value (8) in the topic /counter every second. Going back in second terminal, the value 8 should be echoed every second. Other terminals can be connected to the ROS-Melodic-Test container. For example, a new session can be started in a fourth terminal as follows :
<code bash>
docker exec -it  ROS-Melodic-Test /bin/bash
export ROS_MASTER_URI=http://172.14.0.1:11311
export ROS_IP=172.14.0.2
rostopic pub -r 4  /counter std_msgs/Int32 "data: 1"
</code>
In the last line we are sending an integer value (1) in the topic /counter at 4 Hz (every 250 ms). Going back in second terminal, the values 1 and 8 should be echoed with corresponding rates , 1Hz and 4Hz.