Container Support

CONTAINER_README.md

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+# Foreward
+
+The work herein is primarily that of Rebecq et al, in the Acknowlegements section below. This fork simply impelements a dockerized version such that ESIM can be used on platforms without ROS Melodic. 
+
+## Suggested Installation
+
+After cloning this repository, simply build the dockerfile as follows.
+
+```bash
+# where $(pwd) is /the/path/to/rpg_esim
+podman build -t esim:melodic -f melodic.Dockerfile
+```
+
+Alternatively, build with docker (untested)
+
+```bash
+podman build -t esim:melodic -f melodic.Dockerfile
+```
+
+## Run
+
+Then, simply run the container, source the setup file, and launch the renderer. Please refer to specific instructions to run a given simulator in [the original rpg_esim wiki](https://github.com/uzh-rpg/rpg_esim/wiki).
+
+```bash
+# On the host
+# Running as root via rootless podman mitigates security risks that come with root access to xhost.
+# Use with caution if you are not running rootless podman!
+podman run --rm -ti -e DISPLAY -v /tmp/.X11-unix:/tmp/.X11-unix -v /etc/localtime:/etc/localtime:ro esim
+```
+
+```bash
+# In the container
+. /home/user/sim_ws/devel/setup.bash
+roscd esim_ros
+# Based on the suggested test renderer
+roslaunch esim_ros esim.launch config:=cfg/example.conf
+```
+
+An alternative, 3D, rendering option is below.
+
+### OpenGL Renderer
+
+```bash
+roscd esim_ros
+roslaunch esim_ros esim.launch config:=cfg/opengl.conf
+```
+
+## TODO
+- [x] Add a graphical run script for visualization compatibility as discussed in numerous forum posts like [this one](https://unix.stackexchange.com/questions/330366/how-can-i-run-a-graphical-application-in-a-container-under-wayland)
+
+## Acknowledgements
+
+Thank you to the [Robotics and Perception Group](https://rpg.ifi.uzh.ch/) for all of their hard work and open source implementations. 

http-dependencies.yaml

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+repositories:
+  catkin_simple:
+    type: git
+    url: https://github.com/catkin/catkin_simple.git
+    version: master
+  ze_oss:
+    type: git
+    url: https://github.com/uzh-rpg/ze_oss.git
+    version: master
+  gflags_catkin:
+    type: git
+    url: https://github.com/ethz-asl/gflags_catkin.git
+    version: master
+  glog_catkin:
+    type: git
+    url: https://github.com/ethz-asl/glog_catkin.git
+    version: master
+  eigen_catkin:
+    type: git
+    url: https://github.com/ethz-asl/eigen_catkin.git
+    version: master
+  eigen_checks:
+    type: git
+    url: https://github.com/ethz-asl/eigen_checks.git
+    version: master
+  minkindr:
+    type: git
+    url: https://github.com/ethz-asl/minkindr.git
+    version: master
+  minkindr_ros:
+    type: git
+    url: https://github.com/ethz-asl/minkindr_ros.git
+    version: master
+  yaml_cpp_catkin:
+    type: git
+    url: https://github.com/ethz-asl/yaml_cpp_catkin.git
+    version: master
+  rpg_dvs_ros:
+    type: git
+    url: https://github.com/uzh-rpg/rpg_dvs_ros.git
+    version: master
+  assimp_catkin:
+    type: git
+    url: https://github.com/uzh-rpg/assimp_catkin.git
+    version: master

melodic.Dockerfile

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+FROM ros:melodic-ros-base
+
+ARG DEBIAN_FRONTEND=noninteractive 
+ARG PROJ_PATH=/home/user/sim_ws
+ARG ESIM_PATH=$PROJ_PATH/src/rpg_esim
+
+# Installing some essential system packages
+RUN apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key 4B63CF8FDE49746E98FA01DDAD19BAB3CBF125EA
+RUN apt-get update
+RUN apt-get install -y \
+      python3-vcstool \
+      python3-catkin-tools \
+      python3-pip \
+      libproj-dev \
+      libglm-dev \
+      libopencv-dev \
+      ros-melodic-image-transport \
+      ros-melodic-cv-bridge \
+      autoconf \
+      libyaml-cpp-dev \
+      ros-melodic-eigen-conversions \
+      libtool \
+      ros-melodic-tf-conversions \
+      ros-melodic-tf \
+      ros-melodic-pcl-ros \
+      libglfw3-dev \
+      libassimp-dev \
+      ros-melodic-rviz
+
+RUN apt-get clean autoclean &&\
+    rm -rf /var/lib/apt/lists/*
+
+RUN python3 -m pip install -U pip
+
+WORKDIR $PROJ_PATH
+RUN catkin init
+RUN catkin config --extend /opt/ros/melodic --cmake-args -DCMAKE_BUILD_TYPE=Release
+
+RUN mkdir -p $ESIM_PATH
+COPY ./ $ESIM_PATH
+WORKDIR $PROJ_PATH/src
+RUN vcs-import < $ESIM_PATH/dependencies.yaml
+
+WORKDIR $PROJ_PATH/src/ze_oss
+RUN touch \
+	imp_3rdparty_cuda_toolkit/CATKIN_IGNORE \
+       imp_app_pangolin_example/CATKIN_IGNORE \
+       imp_benchmark_aligned_allocator/CATKIN_IGNORE \
+       imp_bridge_pangolin/CATKIN_IGNORE \
+       imp_cu_core/CATKIN_IGNORE \
+       imp_cu_correspondence/CATKIN_IGNORE \
+       imp_cu_imgproc/CATKIN_IGNORE \
+       imp_ros_rof_denoising/CATKIN_IGNORE \
+       imp_tools_cmd/CATKIN_IGNORE \
+       ze_data_provider/CATKIN_IGNORE \
+       ze_geometry/CATKIN_IGNORE \
+       ze_imu/CATKIN_IGNORE \
+       ze_trajectory_analysis/CATKIN_IGNORE
+
+WORKDIR $PROJ_PATH
+RUN catkin build esim_ros
+#ENTRYPOINT  [". /home/user/sim_ws/devel/setup.bash"]