Merge pull request #29 from BerkeleyAutomation/keplerc/decouple-launc…

…h-from-fogros

Removing duplicated code of launch

.dockerignore

@@ -0,0 +1,6 @@
+Dockerfile
+.dockerignore
+.gitignore
+.github
+
+*.md

Dockerfile

@@ -6,12 +6,10 @@ ARG DISTRO
 RUN apt update && sudo apt install -y \
   build-essential \
   cmake \
-  git \
   python3-colcon-common-extensions \
   python3-pip \
   python3-vcstool \
-  wget \
-  emacs-nox \
+  ros-${DISTRO}-rmw-cyclonedds-cpp \
   unzip \
   wireguard \
   iproute2 \
@@ -21,7 +19,6 @@ RUN apt update && sudo apt install -y \
 
 RUN rm -rf /var/lib/apt/lists/*
 
-
 # install some pip packages needed for testing
 RUN python3 -m pip install --no-cache-dir -U \
   argcomplete \
@@ -38,25 +35,28 @@ RUN python3 -m pip install --no-cache-dir -U \
   pytest-rerunfailures \
   pytest \
   pytest-cov \
-  pytest-runner \
-  setuptools \
-  opencv-python
+  pytest-runner 
 
 RUN curl "https://awscli.amazonaws.com/awscli-exe-linux-x86_64.zip" -o "awscliv2.zip"
-# RUN curl "https://awscli.amazonaws.com/awscli-exe-linux-aarch64.zip" -o "awscliv2.zip"
 
 RUN unzip awscliv2.zip && rm awscliv2.zip
 RUN ./aws/install
-RUN pip3 install boto3 paramiko scp wgconfig
+RUN python3 -m pip install --no-cache-dir -U boto3 paramiko scp wgconfig
 
 # Create FogROS2 worspace and build it
-RUN mkdir -p /home/root/fog_ws/src
-WORKDIR /home/root/fog_ws/src
-COPY .  /home/root/fog_ws/src/fogros2
-COPY ./fogros2/configs/cyclonedds.xml /home/root/fog_ws
+ENV ROS_WS=/home/root/fog_ws
+RUN mkdir -p ${ROS_WS}/src
+WORKDIR ${ROS_WS}/src
+COPY .  ${ROS_WS}/src/
 
-WORKDIR /home/root/fog_ws
-RUN . /opt/ros/$DISTRO/setup.sh && \
+WORKDIR ${ROS_WS}
+RUN . /opt/ros/${DISTRO}/setup.sh && \
       colcon build --merge-install --cmake-clean-cache
 
+# setup entrypoint
+ENV ROS_DISTRO=${DISTRO}
+COPY ./ros_entrypoint.sh /
+RUN chmod +x /ros_entrypoint.sh
+
+ENTRYPOINT [ "/ros_entrypoint.sh" ]
 CMD ["bash"]

README.md

@@ -92,10 +92,7 @@ TODO: replace this with fogros2 tooling that's cloud-agnostic. E.g. `ros2 fog co
 docker run -it --rm --net=host --cap-add=NET_ADMIN fogros2
 # configure cloud provider CLI wrappers (e.g. AWS)
 aws configure
-# configure environment
-source install/setup.bash  # source fogros2 workspace as an overlay
-export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp  # work with CycloneDDS DDS implementation
-export CYCLONEDDS_URI=file://$(pwd)/install/share/fogros2/configs/cyclonedds.xml
+# launch talker node on the cloud
 ros2 launch fogros2_examples talker.launch.py
 ```
 

fogros2/fogros2/__init__.py

@@ -13,3 +13,4 @@
 from .aws import *
 from .cloud_node import CloudNode
 from .vpn import VPN
+from .fogros_launch_description import *

fogros2_launch/launch/fogros_launch_description.py → fogros2/fogros2/fogros_launch_description.py

@@ -18,17 +18,16 @@
 
 import launch.logging
 
-from .action import Action
-from .actions import DeclareLaunchArgument
-from .launch_context import LaunchContext
-from .launch_description_entity import LaunchDescriptionEntity
+from launch.action import Action
+from launch.actions import DeclareLaunchArgument
+from launch.launch_context import LaunchContext
+from launch.launch_description_entity import LaunchDescriptionEntity
 
 if TYPE_CHECKING:
     from .actions.include_launch_description import IncludeLaunchDescription  # noqa: F401
 
 import os
 import pickle
-import socket
 from collections import defaultdict
 from threading import Thread
 from time import sleep

fogros2_examples/launch/gqcnn_docker.launch.py

@@ -9,8 +9,7 @@
 # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 # See the License for the specific language governing permissions and
 # limitations under the License.
-
-from launch import FogROSLaunchDescription
+from fogros2 import FogROSLaunchDescription
 from launch_ros.actions import Node
 
 import fogros2

fogros2_examples/launch/talker.launch.py

@@ -10,7 +10,7 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-from launch import FogROSLaunchDescription
+from fogros2 import FogROSLaunchDescription
 from launch_ros.actions import Node
 
 import fogros2

fogros2_examples/launch/vslam.launch.py

@@ -10,7 +10,7 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-from launch import FogROSLaunchDescription
+from fogros2 import FogROSLaunchDescription
 from launch_ros.actions import Node
 
 import fogros2

fogros2_examples/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>fogros2_examples</name>
-  <version>0.0.0</version>
+  <version>0.0.1</version>
   <description>Examples using FogROS2</description>
   <author email="[email protected]">Kaiyuan (Eric) Chen</author>
   <author email="[email protected]">Víctor Mayoral-Vilches</author>

fogros2_examples/setup.py

@@ -7,11 +7,11 @@
 
 setup(
     name=package_name,
-    version="0.0.0",
+    version="0.0.1",
     packages=[package_name],
     data_files=[
-        ("share/ament_index/resource_index/packages", ["resource/" + package_name]),
-        ("share/" + package_name, ["package.xml"]),
+        ("share/ament_index/resource_index/packages", [os.path.join("resource", package_name)]),
+        (os.path.join("share", package_name), ["package.xml"]),
         (os.path.join("share", package_name), glob("launch/*.launch.py")),
     ],
     install_requires=["setuptools"],