Separate dev #17
Separate dev #17
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| RUN bash -c "source '$HOME/.cargo/env'; cargo build --release -p zenoh-bridge-ros2dds" | ||
| RUN install target/release/zenoh-bridge-ros2dds /usr/local/bin/ | ||
| WORKDIR / | ||
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install zenoh DDS ROS2 bridge
marc-hanheide
requested review from
francescodelduchetto and
LeonardoGuevara
| pip install -U argcomplete | ||
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| rm -rf /opt/ros/lcas | ||
| mkdir -p /opt/ros/lcas/src | ||
| cd /opt/ros/lcas/src | ||
| vcs import < /tmp/.devcontainer/dds.repos | ||
| #rosdep install --from-paths . -r -i -y | ||
| vcs import < /tmp/.devcontainer/lcas.repos |
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install the version from this repo globally (not just as workspace)
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| #cd /home/lcas/ws | ||
| #colcon build | ||
| echo "source /opt/ros/lcas/install/setup.bash" >> ~/.bashrc | ||
| echo "source /opt/ros/lcas/install/setup.bash" >> /etc/bash.bashrc |
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configure globally, not just for root user
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| // https://github.com/athackst/vscode_ros2_workspace | |||
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new dev container for desktop, that shouldn't use host networking and elevated permissions (and GPU)
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| // https://github.com/athackst/vscode_ros2_workspace | |||
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the devcontainer to use on the robot
| RMW_IMPLEMENTATION=rmw_cyclonedds_cpp |
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use CYCLONE and configure it without multicast to avoid the robots all talking over one another.
| @@ -74,7 +74,7 @@ jobs: | |||
| uses: docker/setup-qemu-action@v3 | |||
| - name: Build and push limo_ros2 for arm64 | |||
| # only build for arm if not PR to speed things up | |||
| #if: ${{ github.event_name != 'pull_request' }} | |||
| if: ${{ github.event_name != 'pull_request' }} | |||
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only build arm when it is not a PR (to save time)
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@LeonardoGuevara and @francescodelduchetto let me know if you see any issues with this as I'd like to merge for my teaching. I think this is a substantial improvement, but I still need to test on the robots. But it compiles fine for arm64 already. |
I am not using the LIMOs for RBT1001, so I don't know :-) |
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ah. okay. then it shouldn't worry you. |
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ah. okay. then it shouldn't worry you. |
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@LeonardoGuevara, this Zenoh stuff is also the way I propose talking to our real robots in AOC! |
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Adding @jondave to this since he is the one covering the use of LIMOs. |
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I'd like to merge tomorrow for my workshop on Wednesday if possible, please |
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I don't see any issues as we are getting the students to use the limos by remotely accessing them via SSH the same as the MSc module last semester. |
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Resolves #15 :) |
What type of PR is this? (check all applicable)
Description
This now does the following:
zenoh-bridge-dds(see https://zenoh.io/blog/2021-04-28-ros2-integration/) which allows to easily bridge the two ROS networks (using cyclone DDS, at least only tested with Cyclone!). E.g. runningzenoh-bridge-ros2dds -l tcp/0.0.0.0:8888on the robot now starts a single TCP port server that any client can connect to via e.gzenoh-bridge-ros2dds -e tcp/IP_OF_ROBOT:8888and it makes all ROS DDS available on the client.on_amd64andon_limorespectively. One should choose the right one depending on the situation (vscode prompts).devcontainerformat to comply with the standard, e.g. customisations/opt/ros/lcasand configures its use, so this also now works without having to compile the workspace first (which can still be overlaid)Related Tickets & Documents
QA Instructions, Screenshots, Recordings
Please try out the new
on_amd64dev container, e.g. runros2 launch limo_gazebosim limo_gazebo_diff.launch.pyzenoh-bridge-ros2dds -l tcp/0.0.0.0:8888and confirm that working. Optionally, try on the real platform
[optional] Are there any post deployment tasks we need to perform?