avoiding circular reference code (#2)

Author: yuyuqq

racs2_demos_on_spaceros/CMakeLists.txt

@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.8)
-project(racs2_demos_on_spaceros)
+project(mars_rover)
 
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   add_compile_options(-Wall -Wextra -Wpedantic)

racs2_demos_on_spaceros/Dockerfile

@@ -65,15 +65,17 @@ RUN git submodule update
 
 # Get the RACS2 source code
 WORKDIR ${RACS2_DEMO_DIR}
-RUN git clone https://github.com/jaxa/racs2_bridge
+RUN git clone https://github.com/jaxa/racs2_bridge -b v1.1
 
 # Get the demo source code
 # rename old demo directory and exclude from build
 WORKDIR ${DEMO_DIR}/src
-RUN mv demos demos_old
+# RUN mv demos demos_old
+RUN cp -r demos demos_old
 RUN touch demos_old/COLCON_IGNORE
 # git clone new demo
-RUN git clone https://github.com/tt-saito/demos.git -b racs2_demo
+# RUN git clone https://github.com/tt-saito/demos.git -b racs2_demo2
+# RUN git clone https://github.com/space-ros/demos
 
 # Customize cFS to run the bridge
 WORKDIR ${RACS2_DEMO_DIR}/cfs
@@ -82,8 +84,12 @@ RUN cp -r cfe/cmake/sample_defs sample_defs
 RUN cp -pr ${RACS2_DEMO_DIR}/racs2_bridge/cFS/Bridge/Client_C/apps/racs2_bridge_client apps/
 
 # Deploy the run_app application and adjust the startup scripts
-RUN cp -pr ${DEMO_DIR}/src/demos/mars_rover/cFS/sample_defs/* ${RACS2_DEMO_DIR}/cfs/sample_defs/
-RUN cp -pr ${DEMO_DIR}/src/demos/mars_rover/cFS/apps/run_app ${RACS2_DEMO_DIR}/cfs/apps/
+# RUN cp -pr ${DEMO_DIR}/src/demos/racs2_demos_on_spaceros/cFS/sample_defs/* ${RACS2_DEMO_DIR}/cfs/sample_defs/
+# RUN cp -pr ${DEMO_DIR}/src/demos/racs2_demos_on_spaceros/cFS/apps/run_app ${RACS2_DEMO_DIR}/cfs/apps/
+COPY cFS/sample_defs/cpu1_cfe_es_startup.scr  ${RACS2_DEMO_DIR}/cfs/sample_defs/cpu1_cfe_es_startup.scr
+COPY cFS/sample_defs/racs2_bridge_config.txt ${RACS2_DEMO_DIR}/cfs/sample_defs/racs2_bridge_config.txt
+COPY cFS/sample_defs/targets.cmake  ${RACS2_DEMO_DIR}/cfs/sample_defs/targets.cmake
+COPY cFS/apps/run_app  ${RACS2_DEMO_DIR}/cfs/apps/run_app
 
 # This is necessary to run cFS inside docker
 RUN sed -i -e 's/^#undef OSAL_DEBUG_PERMISSIVE_MODE/#define OSAL_DEBUG_PERMISSIVE_MODE 1/g' sample_defs/default_osconfig.h
@@ -103,14 +109,25 @@ WORKDIR ${DEMO_DIR}
 # Copy bridge & racs2_msg node
 RUN cp -pr ${RACS2_DEMO_DIR}/racs2_bridge/ROS2/Bridge/Server_Python/bridge_py_s src/
 RUN cp -pr ${RACS2_DEMO_DIR}/racs2_bridge/Example/Case.1/ROS2/racs2_msg src/
-ENV ROSDISTRO=humble
+
+
+COPY  CMakeLists.txt  ${DEMO_DIR}/src/demos/mars_rover/CMakeLists.txt
+COPY  package.xml  ${DEMO_DIR}/src/demos/mars_rover/package.xml
+# COPY  racs2_demos_on_spaceros ${DEMO_DIR}/src/demos/mars_rover/racs2_demos_on_spaceros
+COPY  launch/mars_rover.launch.py ${DEMO_DIR}/src/demos/mars_rover/launch/mars_rover.launch.py
+COPY  nodes/RACS2Bridge_geometry_msgs_pb2.py ${DEMO_DIR}/src/demos/mars_rover/nodes/RACS2Bridge_geometry_msgs_pb2.py
+COPY  nodes/move_wheel ${DEMO_DIR}/src/demos/mars_rover/nodes/move_wheel
+
+
+
+
 # Install dependencies
 RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
   --mount=type=cache,target=/var/lib/apt,sharing=locked \
   sudo apt-get update -y \
 && /bin/bash -c 'source "${SPACEROS_DIR}/install/setup.bash"' \
 && /bin/bash -c 'source "${MOVEIT2_DIR}/install/setup.bash"' \
-&& rosdep install --from-paths src --ignore-src -r -y --rosdistro ${ROSDISTRO}
+&& rosdep install --from-paths src --ignore-src -r -y --rosdistro ${ROS_DISTRO}
 
 # Build the demo
 RUN /bin/bash -c 'source ${SPACEROS_DIR}/install/setup.bash && source ${MOVEIT2_DIR}/install/setup.bash \

racs2_demos_on_spaceros/README.md

@@ -7,30 +7,87 @@ The Dockerfile installs all of the prerequisite system dependencies along with t
 This is RACS2 Bridge demo for Curiosity Mars rover.
 
 ## Building the Demo Docker
-To build:
+
+The demo image builds on top of the `spaceros`, `moveit2`, `space_robots` images.
+To build the docker image, first ensure the `spaceros` base image is available either by [building it locally](https://github.com/space-ros/space-ros) or pulling it.
+
+Then build the `moveit2`, `space_robots` and `racs2_demos_on_spaceros` demo images: 
+
 ```bash
+git clone https://github.com/space-ros/docker.git
+cd docker/moveit2
+./build.sh
+cd ../space_robots
+./build.sh
+cd ../../
 ./build.sh
 ```
-For detail and please read docker/racs2_demos_on_spaceros/README.md
 
 ## Running the Demo Docker
-To run (enter docker environment by docker run):
+
+(at /path/to/demos/racs2_demos_on_spaceros/docker/racs2_demos_on_spaceros)
+run the following to allow GUI passthrough:
+```bash
+xhost +local:docker
+```
+
+Then run:
 ```bash
 ./run.sh
 ```
-You will need three terminals to run demo.
 
-For instractions after entering docker, please read docker/racs2_demos_on_spaceros/README.md
+Depending on the host computer, you might need to remove the ```--gpus all``` flag in ```run.sh```, which uses your GPUs.
 
+## Running the Demos
 
-## Reference
+### Curiosity Mars rover demo
+Launch the rover demo (calling Terminal 1):
+```bash
+source install/setup.bash
+ros2 launch mars_rover mars_rover.launch.py
+```
 
-* [RACS2 Bridge by Japan Aerospace Exploration Agency (JAXA)](https://github.com/jaxa/racs2_bridge) 
+#### RACS2 Bridge demo
 
-* [Hiroki Kato and Tatsuhiko Saito, "RACS2: the ROS2 and cFS System - launched" Flight Software Workshop 2023.](https://drive.google.com/drive/folders/1C9fokWGDl2e4NfgX_ZU3f98FfPe9udwQ)
+##### Running racs2 bridge node
+Open a new terminal (calling Terminal 2) and attach to the currently running container:
+
+```bash
+docker exec -it <container-name> bash
+source install/setup.bash
+ros2 run bridge_py_s bridge_py_s_node  --ros-args --params-file ./src/bridge_py_s/config/params.yaml
+```
+
+##### Running cFS bridge app & run_app app
+Open a new terminal (calling Terminal 3) and attach to the currently running container:
+
+```bash
+docker exec -it <container-name> bash
+cd ~/racs2_ws
+cd cfs/build/exe/cpu1/
+./core-cpu1
+```
+
+**Executing commands to the rover must be done with this terminal active.**
 
-* [Hiroki Kato and Tatsuhiko Saito, "ROS and cFS System (RACS): Easing Space Robotic Development post-opensource activities and ROS2 integration" Flight Software Workshop 2021.](https://drive.google.com/file/d/11L48doT_pRNs7R0hdChPALqJO849TvV2/view?usp=drive_web)
 
+##### Available Commands
 
+Drive commands to the rover are input via keyboard in Terimnal 3. The keymap is as follows.
 
+* "w": Drive the rover forward
+* "s": Drive the rover backward
+* "a": Turn left
+* "d": Turn right
+* "x": Stop the rover
 
+##### Nodes
+![RACS2 demo on Space ROS Mars rover demo](racs2_demo_on_spaceros_nodes.png)
+
+## Reference
+
+* [RACS2 bridge project by Japan Aerospace Exploration Agency (JAXA)](https://github.com/jaxa/racs2_bridge) 
+
+* [Hiroki Kato and Tatsuhiko Saito, "RACS2: the ROS2 and cFS System - launched" Flight Software Workshop 2023.](https://drive.google.com/drive/folders/1C9fokWGDl2e4NfgX_ZU3f98FfPe9udwQ)
+
+* [Hiroki Kato and Tatsuhiko Saito, "ROS and cFS System (RACS): Easing Space Robotic Development post-opensource activities and ROS2 integration" Flight Software Workshop 2021.](https://drive.google.com/file/d/11L48doT_pRNs7R0hdChPALqJO849TvV2/view?usp=drive_web)

racs2_demos_on_spaceros/build.sh

@@ -12,18 +12,11 @@ set -eo pipefail
 
 echo ""
 echo "##### Building RACS2 Demo on Space ROS Docker Image #####"
-echo "##### moveit2 -> space_robots -> racs2_demos_on_spaceros #####"
 echo ""
 
-cd docker/moveit2
-./build.sh
-cd ../space_robots
-./build.sh
-cd ../racs2_demos_on_spaceros
-./build.sh
-cd ..
-cd ..
-```
+docker build -t $ORG/$IMAGE:$TAG \
+    --build-arg VCS_REF="$VCS_REF" \
+    --build-arg VERSION="$VERSION" .
 
 echo ""
 echo "##### Done! #####"