Initial commit

Author: LanderU

Dockerfile

@@ -0,0 +1,86 @@
+FROM gazebo:libgazebo9-xenial
+
+MAINTAINER Lander Usategui <lander@aliasrobotics.com>
+
+# 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
+
+EXPOSE 8080
+
+# install bootstrap tools
+RUN apt-get update && apt-get install --no-install-recommends -y \
+    libassimp-dev \
+    python-rosdep \
+    python-rosinstall \
+    python-vcstools \
+    python-pyassimp \
+    ros-kinetic-robot ros-kinetic-perception \
+    ros-kinetic-control-toolbox \
+    ros-kinetic-controller-manager\
+    ros-kinetic-transmission-interface\
+    ros-kinetic-joint-limits-interface\
+    ros-kinetic-moveit\
+    ros-kinetic-joint-state-controller\
+    ros-kinetic-position-controllers \
+    ros-kinetic-joint-trajectory-controller \
+    ros-kinetic-trac-ik* \
+    ros-kinetic-gazebo9* \
+    xvfb  \ 
+    libjansson-dev imagemagick \
+    && rm -rf /var/lib/apt/lists/*
+#Download the necessary nodjs and npm version
+RUN curl -sL https://deb.nodesource.com/setup_4.x | bash -
+RUN apt-get install -y nodejs && rm -rf /var/lib/apt/lists/*
+
+# bootstrap rosdep
+RUN rosdep init \
+    && rosdep update
+
+# install ros packages
+ENV ROS_DISTRO kinetic
+
+RUN /bin/bash -c "mkdir -p /root/ros_catkin_ws/src && cd /root/ros_catkin_ws/src \
+	&& git clone https://github.com/ros-industrial/universal_robot  \
+  && cd /root/ros_catkin_ws/ \
+  && source /opt/ros/kinetic/setup.bash \
+  && catkin_make_isolated --install --install-space /opt/ros/kinetic \
+  && cd && rm -r /root/ros_catkin_ws"
+
+RUN /bin/bash -c "cd /root \
+                  && hg clone https://bitbucket.org/osrf/gzweb"
+
+RUN /bin/bash -c "cd /root/gzweb && hg up gzweb_1.4.0 \
+                  && source /usr/share/gazebo/setup.sh \
+                  && npm run deploy \
+                  && rm -r /root/gzweb/http/client/assets \
+                  && ln -s /root/.gazebo/models/ /root/gzweb/http/client/assets"
+
+RUN sed -i 's/kdl_kinematics_plugin/trac_ik_kinematics_plugin/g' /opt/ros/kinetic/share/ur10_moveit_config/config/kinematics.yaml \
+ && sed -i 's/KDLKinematicsPlugin/TRAC_IKKinematicsPlugin/g' /opt/ros/kinetic/share/ur10_moveit_config/config/kinematics.yaml \
+ && sed -i 's/load_robot_description\" default=\"false\"/load_robot_description\" default=\"true\"/g' /opt/ros/kinetic/share/ur10_moveit_config/launch/planning_context.launch \
+ && sed -i 's/ur_description/robotctf_scenario4/g'  /opt/ros/kinetic/share/ur10_moveit_config/launch/planning_context.launch \
+ && sed -i 's/ur10_robot.urdf.xacro/robot_description_original.urdf.xacro/g' /opt/ros/kinetic/share/ur10_moveit_config/launch/planning_context.launch
+
+COPY scenario4-local /root/ros_catkin_ws/src/scenario4
+COPY ariac_utils/ /root/ros_catkin_ws/src/ariac_utils
+
+RUN /bin/bash -c "mkdir -p /root/.gazebo/models/ && cp -r /root/ros_catkin_ws/src/scenario4/models/* /root/.gazebo/models/"
+
+RUN /bin/bash -c "cd /root/ros_catkin_ws \
+  && source /opt/ros/kinetic/setup.bash \
+  && catkin_make_isolated --install --install-space /opt/ros/kinetic \
+  && cd && rm -r /root/ros_catkin_ws"
+
+RUN rm -rf /etc/update-motd.d/* && rm -rf /etc/legal && sed -i 's/\#force_color_prompt=yes/force_color_prompt=yes/' /root/.bashrc \
+   && sed -i 's/robotctf_scenario1/robotctf_scenario4/g' /opt/ros/kinetic/share/ur10_moveit_config/launch/planning_context.launch
+
+COPY motd /etc/motd
+
+RUN echo "cat /etc/motd" >> /root/.bashrc && echo "source /opt/ros/kinetic/setup.bash" >> /root/.bashrc
+
+COPY launch_script.bash /root/
+
+ENTRYPOINT ["/root/launch_script.bash"]

LICENSE

@@ -0,0 +1,36 @@
+# rctf-scemario4
+
+## How to run it?
+
+### Download and compile the image:
+
+```bash
+git clone https://github.com/aliasrobotics/rctf-scenario4
+cd rctf-scenario4
+docker build -t rctf-scenario4 .
+```
+
+### Play with the scenario:
+
+#### In one terminal:
+
+```bash
+docker run -it -p 8080:8080 rctf-scenario4
+```
+
+#### In another terminal, list the current running docker images, select the image id for the rctf-scenario4 and run it:
+
+```bash
+docker ps
+----------
+ CONTAINER ID        IMAGE               COMMAND                  CREATED             STATUS              PORTS                               NAMES
+caccd5e51f6f        rctf-scenario4           "/root/launch_script…"   8 minutes ago       Up 8 minutes        0.0.0.0:8080->8080/tcp, 11345/tcp   stupefied_nightingale
+-----------
+docker exec -it caccd5e51f6f bash
+```
+
+#### Check the simulation, open a web browser and copy the following URL:
+
+```bash
+127.0.0.1:8080
+```

README.md

@@ -0,0 +1,115 @@
+cmake_minimum_required(VERSION 3.5)
+project(ariac_utils)
+
+set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wno-deprecated-declarations")
+
+if(NOT WIN32)
+  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11 -Wall -Wextra")
+endif()
+
+find_package(catkin REQUIRED COMPONENTS
+  gazebo_ros
+  gazebo_plugins
+  roscpp
+  std_msgs
+  std_srvs
+  tf
+  geometry_msgs
+  message_generation
+)
+find_package(gazebo REQUIRED)
+
+add_message_files(DIRECTORY msg
+  FILES
+  ConveyorBeltState.msg
+  DetectedProduct.msg
+  Shipment.msg
+  Product.msg
+  ShippingBox.msg
+  LogicalCameraImage.msg
+  Model.msg
+  Order.msg
+  PopulationState.msg
+  Proximity.msg
+  StorageUnit.msg
+  ShippingBoxContents.msg
+  VacuumGripperState.msg
+)
+
+add_service_files(DIRECTORY srv
+  FILES
+  DroneControl.srv
+  ConveyorBeltControl.srv
+  GetMaterialLocations.srv
+  PopulationControl.srv
+  SubmitShipment.srv
+  VacuumGripperControl.srv
+)
+
+generate_messages(
+  DEPENDENCIES
+  geometry_msgs
+  std_msgs
+)
+
+catkin_package(
+  CATKIN_DEPENDS
+  message_runtime
+  std_srvs
+  tf
+)
+
+include_directories(
+  include
+  ${GAZEBO_INCLUDE_DIRS}
+  ${roscpp_INCLUDE_DIRS}
+  ${catkin_INCLUDE_DIRS}
+)
+link_directories(
+  ${GAZEBO_LIBRARY_DIRS}
+)
+
+# Create the libConveyorBeltPlugin.so library.
+set(conveyor_belt_plugin_name ConveyorBeltPlugin)
+add_library(${conveyor_belt_plugin_name} src/ConveyorBeltPlugin.cc)
+target_link_libraries(${conveyor_belt_plugin_name}
+  ${GAZEBO_LIBRARIES}
+  ${side_contact_plugin_name}
+)
+install(TARGETS ${conveyor_belt_plugin_name}
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+  RUNTIME DESTINATION bin
+)
+
+#Create the libROSConveyorBeltPlugin.so library.
+set(ros_conveyor_belt_plugin_name ROSConveyorBeltPlugin)
+add_library(${ros_conveyor_belt_plugin_name} src/ROSConveyorBeltPlugin.cc)
+target_link_libraries(${ros_conveyor_belt_plugin_name}
+  ${conveyor_belt_plugin_name}
+  ${GAZEBO_LIBRARIES}
+)
+add_dependencies(${ros_conveyor_belt_plugin_name}
+  ${${PROJECT_NAME}_EXPORTED_TARGETS}
+)
+install(TARGETS ${ros_conveyor_belt_plugin_name}
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+  RUNTIME DESTINATION bin
+)
+
+# Create the libROSLogicalCameraPlugin.so library.
+set(ros_logical_camera_plugin_name ROSLogicalCameraPlugin)
+add_library(${ros_logical_camera_plugin_name} src/ROSLogicalCameraPlugin.cc)
+target_link_libraries(${ros_logical_camera_plugin_name}
+  ${GAZEBO_LIBRARIES}
+  ${catkin_LIBRARIES}
+)
+add_dependencies(${ros_logical_camera_plugin_name}
+  ${${PROJECT_NAME}_EXPORTED_TARGETS}
+)
+install(TARGETS ${ros_logical_camera_plugin_name}
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+  RUNTIME DESTINATION bin
+)