IK and Docker implementation

.gitignore

@@ -0,0 +1,3 @@
+build_files/
+ddsconfig.xml/
+**/.vscode/

Dockerfile

@@ -0,0 +1,148 @@
+FROM nvidia/cuda:11.8.0-devel-ubuntu22.04
+
+ENV DEBIAN_FRONTEND noninteractive
+ENV LANG C.UTF-8
+ENV LC_ALL C.UTF-8
+
+ARG DEBIAN_FRONTEND=noninteractive
+
+#NVIDIA ENV
+ENV NVIDIA_VISIBLE_DEVICES all
+ENV NVIDIA_DRIVER_CAPABILITIES graphics,utility,compute
+ENV QT_X11_NO_MITSHM 1
+
+RUN apt-get update && apt-get -y --quiet --no-install-recommends install \
+    ant \
+    binutils-dev \
+		ca-certificates \
+		ccache \
+		cmake \
+		cppcheck \
+		curl \
+		dirmngr \
+		doxygen \
+		g++-multilib \
+		gcc-multilib \
+		gdb \
+    gettext \
+		git \
+		gnupg \
+		gosu \
+		lcov \
+    libelf-dev \
+		libexpat-dev \
+    libvecmath-java \
+		libfreetype6-dev \
+		libgmp-dev \
+		libgtest-dev \
+		libisl-dev \
+		libmpc-dev \
+		libmpfr-dev \
+		libpng-dev \
+		libssl-dev \
+		lsb-release \
+		make \
+		ninja-build \
+		openssh-client \
+    openjdk-11-jre \
+    openjdk-11-jdk \
+		python3 \
+		python3-dev \
+		python3-pip \
+		rsync \
+    screen \
+		shellcheck \
+		tzdata \
+    texinfo \
+    u-boot-tools \
+    util-linux \
+		unzip \
+		valgrind \
+		wget \
+		xsltproc \
+		zip \
+	&& apt-get -y autoremove \
+	&& apt-get clean autoclean \
+	&& rm -rf /var/lib/apt/lists/{apt,dpkg,cache,log} /tmp/* /var/tmp/*
+
+RUN apt update
+
+RUN apt install -y cmake
+
+RUN apt update && apt install locales && locale-gen en_US en_US.UTF-8 && update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8 && export LANG=en_US.UTF-8
+
+RUN apt install software-properties-common -y
+
+RUN add-apt-repository universe
+
+# Install vcpkg dependencies
+RUN apt install -y \
+    git \
+    curl \
+    zip \
+    unzip \
+    tar \
+    pkg-config \
+    freeglut3-dev \
+    libglew-dev \
+    libglfw3-dev \
+    libfftw3-dev \
+    libcgal-dev \
+    python3
+
+# ROS KEY
+RUN curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
+
+RUN echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | tee /etc/apt/sources.list.d/ros2.list > /dev/null
+
+# GZ-SIM KEY and GZ-SIM8 Install
+RUN wget https://packages.osrfoundation.org/gazebo.gpg -O /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg && \
+    echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" | tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null && \
+    apt-get update && apt-get install -y \
+    && rm -rf /var/lib/apt/lists/*
+
+# ROS INSTALLATION WITH DEPENDENCIES
+RUN apt update && apt-get install -y \
+    python-is-python3 \
+    nano \
+    less \
+    apt-utils \
+    python3-pip \
+    nlohmann-json3-dev \
+    git cmake python3-vcstools curl \
+    clang lldb lld wget lsb-release gnupg openssl \
+    ros-humble-desktop \
+    ros-humble-sdformat-urdf \
+    ros-humble-hardware-interface\
+    ros-humble-ros2-control\
+    ros-humble-ros2-controllers\
+    libgflags-dev \
+    ros-humble-xacro \
+    tmux \
+    ros-humble-rmw-cyclonedds-cpp \
+    ros-humble-ign-ros2-control\
+    lsb-release wget gnupg/
+
+RUN sudo wget https://packages.osrfoundation.org/gazebo.gpg -O /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg
+RUN echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null
+RUN sudo apt-get update
+RUN sudo apt-get update
+RUN sudo apt-get install lsb-release wget gnupg
+RUN sudo wget https://packages.osrfoundation.org/gazebo.gpg -O /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg
+RUN echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null
+RUN sudo apt-get update
+RUN sudo apt-get install ignition-fortress
+
+
+RUN echo "source /opt/ros/humble/setup.bash" >> ~/.bashrc
+
+RUN echo "source /workspaces/hexapod_ws/install/setup.bash" >> ~/.bashrc
+
+RUN echo "alias docker_stop='docker stop hexapod atom'" >> ~/.bashrc
+
+RUN apt update && apt install python3-colcon-common-extensions -y
+
+SHELL ["/bin/bash","-c"]
+
+# Command to run when starting the container
+CMD /bin/bash

build.sh

@@ -0,0 +1,109 @@
+#!/bin/bash
+
+# Map host's display socket to docker
+DOCKER_ARGS+=("-v /tmp/.X11-unix:/tmp/.X11-unix")
+DOCKER_ARGS+=("-v $HOME/.Xauthority:/home/admin/.Xauthority:rw")
+# DOCKER_ARGS+=("-e DISPLAY")
+DOCKER_ARGS+=("-e NVIDIA_VISIBLE_DEVICES=all")
+DOCKER_ARGS+=("-e NVIDIA_DRIVER_CAPABILITIES=all")
+gpu=$(lspci | grep -i '.* vga .* nvidia .*')
+
+# DOCKER_ARGS+=("-e FASTRTPS_DEFAULT_PROFILES_FILE=/usr/local/share/middleware_profiles/rtps_udp_profile.xml")
+
+xhost +local:root
+
+image_name="hexapod_image"
+container_name="hexapod_atom"
+
+# Initialize variables
+force_option=false 
+clean_option=false
+
+
+# Parse options
+while [[ $# -gt 0 ]]; do
+  case "$1" in
+    --force)
+      force_option=true
+      shift
+      ;;
+
+    --clean)
+      clean_option=true
+      shift
+      ;;
+
+    *)
+      echo "Invalid option: $1"
+      exit 1
+      ;;
+  esac
+done
+
+
+if $force_option; then
+  echo "Buidling Existing Docker Image: $image_name"
+  docker build -f Dockerfile -t "$image_name":1.0 .
+  # ./build_image.sh
+
+else
+  run_command='source /opt/ros/humble/setup.bash && colcon build --symlink-install && source install/setup.bash && exit'
+
+  if $clean_option; then
+    run_command='source /opt/ros/humble/setup.bash && rm -rf build log install && colcon build --symlink-install && source install/setup.bash && exit'
+    echo "Force Command Enabled"
+
+  else
+    echo "Force Command Disabled"
+  fi
+
+
+  if docker images --format '{{.Repository}}' | grep -q "$image_name"; then
+
+      echo "Found Docker Image: $image_name:1.0"
+
+      echo "Updating the existing Docker image: $image_name:1.0"
+
+    if [[ $gpu == *'NVIDIA'* ]]; then
+    printf 'Nvidia GPU is present:  %s\n' "$gpu"
+    docker run -it --rm \
+        ${DOCKER_ARGS[@]} \
+        -e DISPLAY=$DISPLAY \
+        -v $PWD/build_files:/workspaces/hexapod_ws/ \
+        -v $PWD:/workspaces/hexapod_ws/src \
+        -v /var/run/docker.sock:/var/run/docker.sock \
+        --name "$container_name" \
+        --workdir /workspaces/hexapod_ws \
+        -v $PWD/ddsconfig.xml:/ddsconfig.xml \
+        --env CYCLONEDDS_URI=/ddsconfig.xml \
+        --runtime nvidia \
+        --network host \
+        $@ \
+        "$image_name":1.0 \
+        bash -c "$run_command"
+
+    else
+    printf 'Nvidia GPU is not present: %s\n' "$gpu"
+    docker run -it --rm \
+        -e DISPLAY=$DISPLAY \
+        -v $PWD/build_files:/workspaces/hexapod_ws/ \
+        -v $PWD:/workspaces/hexapod_ws/src \
+        -v /var/run/docker.sock:/var/run/docker.sock \
+        --name "$container_name" \
+        --workdir /workspaces/hexapod_ws \
+        -v $PWD/ddsconfig.xml:/ddsconfig.xml \
+        --env CYCLONEDDS_URI=/ddsconfig.xml \
+        --network host \
+        $@ \
+        "$image_name":1.0 \
+          bash -c "$run_command"
+    fi
+
+  else
+      echo "Building a new Docker image: $image_name"
+
+      docker build -f Dockerfile -t "$image_name":1.0 .
+      ./build.sh
+  fi
+
+fi

hexapod_control/CMakeLists.txt

@@ -20,7 +20,7 @@ find_package(tf2_ros REQUIRED)
 find_package(control_msgs REQUIRED)
 find_package(rclcpp_action REQUIRED)
 find_package(std_msgs REQUIRED)
-
+find_package(rosidl_default_generators REQUIRED)
 
 
 if(BUILD_TESTING)
@@ -43,14 +43,10 @@ install(
 
 install(PROGRAMS
   scripts/bot_controller.py
-
-  DESTINATION lib/${PROJECT_NAME}
-)
-install(PROGRAMS
+  scripts/controller_backup.py
   scripts/position_subcriber.py
 
   DESTINATION lib/${PROJECT_NAME}
 )
 
-
 ament_package()

hexapod_control/package.xml

@@ -40,6 +40,8 @@
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>
+  <depend>trajectory_msgs</depend>
+
 
 
   <export>