diff --git a/Dockerfile b/Dockerfile deleted file mode 100644 index b2fc1987ae0..00000000000 --- a/Dockerfile +++ /dev/null @@ -1,436 +0,0 @@ -# A Dockerfile for the gym-gazebo environment -FROM ubuntu:16.04 - -#-------------------- -# General setup -#-------------------- - -# Get the dependencies -RUN apt-get update \ - && apt-get install -y xorg-dev \ - libgl1-mesa-dev \ - xvfb \ - libxinerama1 \ - libxcursor1 \ - unzip \ - libglu1-mesa \ - libav-tools \ - python3 \ - python3-pip \ - # python3-numpy \ - # python3-scipy \ - # python3-pyglet \ - python3-setuptools \ - libpq-dev \ - libjpeg-dev \ - wget \ - curl \ - cmake \ - git \ - && apt-get clean \ - && rm -rf /var/lib/apt/lists/* - -WORKDIR /usr/local/gym - -#-------------------- -# Install gym -#-------------------- - -# # Clone the official gym -# RUN git clone https://github.com/openai/gym -# -# # Install the gym's requirements -# RUN pip install -r gym/requirements.txt -# -# # Install the gym -# RUN ls -l -# RUN pip install -e gym/ - -# Install from pip -RUN pip3 install gym - -# Checks -#RUN python --version -#RUN python -c "import gym" - -# Debug -#RUN ls -l /usr/local/gym -#RUN ls -l /usr/local/gym/gym-gazebo -#RUN ls -l /usr/local/gym/gym - -# #-------------------- -# # Install Gazebo -# #-------------------- -RUN sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable xenial main" > /etc/apt/sources.list.d/gazebo-stable.list' - -RUN wget http://packages.osrfoundation.org/gazebo.key -O - | apt-key add - - -RUN apt-get update -RUN apt-get install gazebo8 -y -# RUN apt-get install -y libglib2.0-dev libgts-dev libgts-dev -RUN apt-get install -y libgazebo8-dev - -# setup environment -EXPOSE 11345 - -#-------------------- -# Install ROS -#-------------------- - -# RUN apt-get install -y locales-all -# # setup environment -# RUN locale-gen en_US.UTF-8 -# ENV LANG en_US.UTF-8 - -# setup environment -ENV LANG C.UTF-8 -ENV LC_ALL C.UTF-8 - -# 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 -# RUN sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list' -# -# # install ros packages -ENV ROS_DISTRO kinetic -RUN apt-get install cmake gcc g++ - -# # Install from repositories (for Python 2.7) -#---------------------------- -# install bootstrap tools -# RUN apt-get update && apt-get install --no-install-recommends -y \ -# python-rosdep \ -# python-rosinstall \ -# python-vcstools \ -# && rm -rf /var/lib/apt/lists/* -# RUN apt-get update && apt-get install -y \ -# ros-kinetic-ros-base && rm -rf /var/lib/apt/lists/* -# -# RUN apt-get install ros-kinetic-* -# # Install additional dependencies -# RUN apt-get install -y ros-kinetic-cv-bridge -# RUN apt-get install -y ros-kinetic-robot-state-publisher ros-kinetic-control-msgs - -# Install from sources -#---------------------------- -# RUN apt-get install python3-rosdep python3-rosinstall-generator python3-wstool \ -# python3-rosinstall build-essential -# or alternatively, -RUN apt-get update && apt-get install libboost-all-dev -y - -RUN pip3 install --upgrade pip -RUN pip3 install -U rosdep rosinstall_generator wstool rosinstall -RUN pip3 install rospkg catkin_pkg empy - -# bootstrap rosdep -RUN rosdep init \ - && rosdep update - -RUN mkdir ~/ros_catkin_ws -# Create package set -RUN cd ~/ros_catkin_ws && rosinstall_generator ros_comm --rosdistro kinetic \ - --deps --wet-only --tar > kinetic-ros_comm-wet.rosinstall -# Fetch packages -RUN cd ~/ros_catkin_ws && wstool init -j1 src kinetic-ros_comm-wet.rosinstall -# # Solve dependencies -# RUN cd ~/ros_catkin_ws && rosdep install --from-paths src --ignore-src --rosdistro kinetic -y - -# Create symbolic link for the compilation -RUN cd /usr/bin && ln -sf python3 python - - -# Install console_bridge from packages -RUN apt-get install libconsole-bridge-dev -y -# # Compile/install console_bridge as a library -# RUN git clone git://github.com/ros/console_bridge.git -# RUN cd console_bridge && cmake . && make -# RUN cd console_bridge && make install - -RUN apt-get install -y libtinyxml-dev liblz4-dev libbz2-dev liburdfdom-dev libpoco-dev \ - libtinyxml2-dev - -# # Compile the basic ROS packages, optimize docker production -# RUN cd ~/ros_catkin_ws && ./src/catkin/bin/catkin_make_isolated -DPYTHON_VERSION=3.5 --install -DCMAKE_BUILD_TYPE=Release - -# Add a few packages and dependencies by hand -# RUN cd ~/ros_catkin_ws/src && git clone https://github.com/ros/console_bridge -RUN cd ~/ros_catkin_ws/src && git clone https://github.com/ros-controls/control_toolbox -RUN cd ~/ros_catkin_ws/src && git clone https://github.com/ros-controls/realtime_tools -RUN cd ~/ros_catkin_ws/src && git clone https://github.com/ros/actionlib -RUN cd ~/ros_catkin_ws/src && git clone https://github.com/ros/pluginlib -RUN cd ~/ros_catkin_ws/src && git clone https://github.com/ros/class_loader -RUN cd ~/ros_catkin_ws/src && git clone https://github.com/ros/urdf -RUN cd ~/ros_catkin_ws/src && git clone https://github.com/ros-simulation/gazebo_ros_pkgs -RUN cd ~/ros_catkin_ws/src && git clone https://github.com/ros/common_msgs -RUN cd ~/ros_catkin_ws/src && git clone https://github.com/ros-controls/control_msgs -RUN cd ~/ros_catkin_ws/src && git clone https://github.com/vmayoral/dynamic_reconfigure -RUN cd ~/ros_catkin_ws/src && git clone https://github.com/ros/geometry -RUN cd ~/ros_catkin_ws/src && git clone https://github.com/erlerobot/orocos_kinematics_dynamics -RUN cd ~/ros_catkin_ws/src && git clone https://github.com/ros/angles -RUN cd ~/ros_catkin_ws/src && git clone https://github.com/ros/geometry2 -RUN cd ~/ros_catkin_ws/src && git clone https://github.com/ros/rosconsole_bridge -RUN cd ~/ros_catkin_ws/src && git clone https://github.com/ros/nodelet_core -RUN cd ~/ros_catkin_ws/src && git clone https://github.com/ros/bond_core -RUN cd ~/ros_catkin_ws/src && git clone https://github.com/ros-perception/image_common -RUN cd ~/ros_catkin_ws/src && git clone https://github.com/ros-perception/vision_opencv - -# #-------------------- -# # Follow up with the ROS intallation, splited in this funny way to optimize docker's performance -# #-------------------- -RUN apt-get install -y libeigen3-dev python3-sip python3-sip-dev libyaml-cpp-dev \ - libboost-python-dev unzip -# this installs an old version, not valid: libopencv-dev - -# # Ignore some repositories due to some issues with libboost_python3 -# # https://github.com/ros/ros-overlay/issues/93 -# RUN touch /root/ros_catkin_ws/src/image_common/camera_calibration_parsers/CATKIN_IGNORE -# RUN touch /root/ros_catkin_ws/src/image_common/camera_info_manager/CATKIN_IGNORE -RUN cd /usr/lib/x86_64-linux-gnu/ && ln -s libboost_python-py35.so libboost_python3.so - -# #-------------------- -# # Install OpenCV -# #-------------------- -# # From sources -# RUN git clone https://github.com/opencv/opencv -# RUN cd opencv && mkdir build && cd build && cmake .. && make -# RUN cd opencv/build && make install - -# Compile OpenCV from sources -WORKDIR /root -RUN wget https://github.com/opencv/opencv/archive/3.2.0.zip -RUN ls /root -RUN unzip 3.2.0.zip -RUN mv opencv-3.2.0 OpenCV -RUN cd OpenCV && mkdir build && cd build && cmake -DWITH_QT=ON -DWITH_OPENGL=ON -DFORCE_VTK=ON -DWITH_TBB=ON -DWITH_GDAL=ON -DWITH_XINE=ON -DBUILD_EXAMPLES=ON -DENABLE_PRECOMPILED_HEADERS=OFF .. -RUN cd OpenCV/build && make -j4 -RUN cd OpenCV/build && make install -RUN cd OpenCV/build && ldconfig - -RUN cd ~/ros_catkin_ws/src && git clone https://github.com/ros/diagnostics -RUN cd ~/ros_catkin_ws/src && git clone https://github.com/ros-controls/ros_control - -# Compile the again the workspace -RUN cd ~/ros_catkin_ws && ./src/catkin/bin/catkin_make_isolated -DPYTHON_VERSION=3.5 \ - --install -DCMAKE_BUILD_TYPE=Release -DCATKIN_ENABLE_TESTING=OFF - - -# Debug -# RUN ls -l /opt/ros - -# upgrade pip -#RUN apt-get install python3-pyqt4 - -# #-------------------- -# # Install ROS 2 -# #-------------------- -# Inspired on https://github.com/osrf/docker_images/blob/master/ros2/source/source/Dockerfile -RUN sh -c 'echo "deb http://packages.ros.org/ros/ubuntu xenial main" > /etc/apt/sources.list.d/ros-latest.list' -RUN apt-key adv --keyserver ha.pool.sks-keyservers.net --recv-keys 421C365BD9FF1F717815A3895523BAEEB01FA116 - -# setup environment -ENV LANG C.UTF-8 -ENV LC_ALL C.UTF-8 - -RUN pip3 install configparser -# RUN apt-get install python-pkg-resources - -# install packages -RUN apt-get update && apt-get install -q -y \ - # bash-completion \ - # build-essential \ - clang-format \ - # # cmake \ - # cppcheck \ - # git \ - libasio-dev \ - # libeigen3-dev \ - # libopencv-dev \ - # libpoco-dev \ - libpocofoundation9v5 \ - libpocofoundation9v5-dbg \ - libssl-dev \ - # libtinyxml-dev \ - # libtinyxml2-dev \ - openssl \ - # pydocstyle \ - # pyflakes \ - # python-empy \ - python3-coverage \ - python3-dev \ - python3-empy \ - python3-mock \ - python3-nose \ - python3-pep8 \ - python3-pip \ - python3-setuptools \ - python3-vcstool \ - python3-yaml \ - uncrustify \ - wget \ - && rm -rf /var/lib/apt/lists/* - -# install python packages -RUN pip3 install -U \ - argcomplete \ - flake8 \ - flake8-import-order - -# clone source -ENV ROS2_WS /root/ros2_ws -RUN mkdir -p $ROS2_WS/src -WORKDIR $ROS2_WS -RUN wget https://raw.githubusercontent.com/ros2/ros2/release-latest/ros2.repos \ -&& vcs import src < ros2.repos - -RUN pip3 install pyparsing pytest - -# build source -WORKDIR $ROS2_WS -RUN src/ament/ament_tools/scripts/ament.py \ - build \ - --build-tests \ - --cmake-args -DSECURITY=OFF -- \ - --isolated \ - --parallel \ - --symlink-install - - -WORKDIR /root -#-------------------- -# Install Sophus -#-------------------- -RUN git clone https://github.com/stonier/sophus -b indigo && \ - cd sophus && mkdir build && cd build && cmake .. && make -# RUN ls -l -RUN cd sophus/build && make install -#RUN echo "## Sophus installed ##\n" - -# # FROM pip -# RUN pip3 install opencv-python -#RUN cd /usr/local/gym - -# More dependencies -RUN pip3 install h5py -RUN apt-get update && apt-get install -y bash-completion \ - python3-defusedxml python3-skimage - -#-------------------- -# Install baselines -#-------------------- -RUN pip3 install baselines - -RUN pip3 install netifaces - - -#-------------------- -# Install individual environments -#-------------------- -WORKDIR /root - -# Turtlebot -RUN cd ros_catkin_ws/src && git clone https://github.com/turtlebot/turtlebot -RUN cd ros_catkin_ws/src && git clone https://github.com/turtlebot/turtlebot_create -RUN cd ros_catkin_ws/src && git clone https://github.com/turtlebot/turtlebot_simulator -RUN cd ros_catkin_ws/src && git clone https://github.com/ros-drivers/joystick_drivers.git -RUN cd ros_catkin_ws/src && git clone https://github.com/yujinrobot/kobuki -RUN cd ros_catkin_ws/src && git clone https://github.com/yujinrobot/kobuki_core -# RUN cd ros_catkin_ws/src && git clone https://github.com/erlerobot/kobuki_desktop -RUN cd ros_catkin_ws/src && git clone https://github.com/yujinrobot/kobuki_msgs -RUN cd ros_catkin_ws/src && git clone https://github.com/ros-planning/navigation -RUN cd ros_catkin_ws/src && git clone https://github.com/ros-perception/perception_pcl.git -RUN cd ros_catkin_ws/src && git clone https://github.com/ros/xacro -RUN cd ros_catkin_ws/src && git clone https://github.com/yujinrobot/yocs_msgs -RUN cd ros_catkin_ws/src && git clone https://github.com/yujinrobot/yujin_ocs -RUN cd ros_catkin_ws/src && git clone https://github.com/stonier/ecl_core -RUN cd ros_catkin_ws/src && git clone https://github.com/stonier/ecl_lite -RUN cd ros_catkin_ws/src && git clone https://github.com/stonier/ecl_navigation -RUN cd ros_catkin_ws/src && git clone https://github.com/stonier/ecl_tools -RUN cd ros_catkin_ws/src && git clone https://github.com/ros-drivers/driver_common.git -RUN apt-get install -y libftdi-dev -RUN cd ros_catkin_ws/src && git clone https://github.com/ros-visualization/rqt_robot_dashboard -RUN apt-get install -y libsdl-dev libsdl-image1.2-dev libspnav-dev -# installing pcl-dev causes some conflicts -RUN apt-get install -y libpcl-dev; exit 0 -RUN cd ros_catkin_ws/src && git clone https://github.com/ros-perception/pcl_msgs -RUN cd ros_catkin_ws/src && git clone https://github.com/ros-perception/pcl_conversions -RUN cd ros_catkin_ws/src && git clone https://github.com/ros-gbp/bfl-release -b release/kinetic/bfl -# # CATKIN_IGNORE kobuki_gazebo_plugins -# RUN cd ros_catkin_ws/src/kobuki_desktop/kobuki_gazebo_plugins && touch CATKIN_IGNORE -RUN cd ros_catkin_ws/src && git clone https://github.com/yujinrobot/kobuki_desktop -b devel -# Fix obtained from https://aur.archlinux.org/packages/ros-indigo-kobuki-gazebo-plugins/ -# checkout version 0.5.1, which compiles -RUN cd ros_catkin_ws/src/kobuki_desktop && git checkout 3d837662928748cf1e229d2e0b0d98f1031ed4a4 -RUN cd ros_catkin_ws/src && git clone https://github.com/ros-perception/laser_geometry -RUN cd ros_catkin_ws/src && git clone https://github.com/ros-planning/navigation_msgs -RUN cd ros_catkin_ws/src && git clone https://github.com/ros/roslint -# CATKIN_IGNORE wiimote -RUN cd ros_catkin_ws/src/joystick_drivers/wiimote && touch CATKIN_IGNORE -# # CATKIN_IGNORE yocs_ar_marker_tracking -# RUN cd ros_catkin_ws/src/yujin_ocs/yocs_ar_marker_tracking && touch CATKIN_IGNORE -RUN cd ros_catkin_ws/src && git clone https://github.com/ros-perception/ar_track_alvar -RUN cd ros_catkin_ws/src && git clone https://github.com/ros/resource_retriever -# CATKIN_IGNORE kobuki test suites -RUN cd ros_catkin_ws/src/kobuki/kobuki_testsuite && touch CATKIN_IGNORE -RUN cd ros_catkin_ws/src/kobuki_desktop/kobuki_qtestsuite && touch CATKIN_IGNORE -RUN cd ros_catkin_ws/src && git clone https://github.com/ros/robot_state_publisher -RUN cd ros_catkin_ws/src && git clone https://github.com/ros/kdl_parser - -# Compile the again the workspace -RUN cd ~/ros_catkin_ws && ./src/catkin/bin/catkin_make_isolated -DPYTHON_VERSION=3.5 \ - --install -DCMAKE_BUILD_TYPE=Release -DCATKIN_ENABLE_TESTING=OFF - - -#-------------------- -# Copy the code -#-------------------- -# this invalidates the cache -RUN mkdir gym-gazebo -# COPY . /usr/local/gym/gym-gazebo -COPY . /root/gym-gazebo - -# # #-------------------- -# # # Install deep learning toolkits -# # #-------------------- -# # # install dependencies -# # RUN pip install h5py -# # RUN apt-get install gfortran -y -# # -# # # install sript specific dependencies (temporal) -# # RUN apt-get install python-skimage -y -# # -# # # install Theano -# # #RUN git clone git://github.com/Theano/Theano.git -# # #RUN cd Theano/ && python setup.py develop -# # RUN pip install Theano -# # -# # # install Keras -# # RUN pip install keras -# -#-------------------- -# Install gym-gazebo -#-------------------- - -RUN cd gym-gazebo && pip3 install -e . - -# # old method -# # install dependencies -# RUN cd /usr/local/gym/gym-gazebo/gym_gazebo/envs/installation && bash setup.bash - -#WORKDIR /root -#ENTRYPOINT ["/usr/local/gym/bin/docker_entrypoint"] - -# setup entrypoint -#RUN ls /usr/local/gym/gym-gazebo/ -#RUN ls ./gym-gazebo -#COPY /usr/local/gym/gym-gazebo/entrypoint.sh / -# -#-------------------- -# Entry point -#-------------------- - -COPY entrypoint.sh / - -ENTRYPOINT ["/entrypoint.sh"] -CMD ["bash"] diff --git a/Dockerfile.old b/Dockerfile.old deleted file mode 100644 index 05e8c41f603..00000000000 --- a/Dockerfile.old +++ /dev/null @@ -1,159 +0,0 @@ -# A Dockerfile for the gym-gazebo environment -# based in ubuntu 14.04 and Python 2.7 - -# Currently fails at: -# -# E: Version '1.1.4-0*' for 'ros-indigo-ros-core' was not found -# The command '/bin/sh -c apt-get update && apt-get install -y ros-indigo-ros-core=1.1.4-0* -# && rm -rf /var/lib/apt/lists/*' returned a non-zero code: 100 - -FROM ubuntu:14.04 - -#-------------------- -# General setup -#-------------------- - -# Get the dependencies -RUN apt-get update \ - && apt-get install -y xorg-dev \ - libgl1-mesa-dev \ - xvfb \ - libxinerama1 \ - libxcursor1 \ - unzip \ - libglu1-mesa \ - libav-tools \ - python-numpy \ - python-scipy \ - python-pyglet \ - python-setuptools \ - libpq-dev \ - libjpeg-dev \ - wget \ - curl \ - cmake \ - git \ - && apt-get clean \ - && rm -rf /var/lib/apt/lists/* \ - && easy_install pip - -WORKDIR /usr/local/gym - -# Copy the code -RUN mkdir gym-gazebo -COPY . /usr/local/gym/gym-gazebo - -#-------------------- -# Install gym -#-------------------- -# Clone the official gym -RUN git clone https://github.com/openai/gym - -# Install the gym's requirements -RUN pip install -r gym/requirements.txt - -# Install the gym -RUN ls -l -RUN pip install -e gym/ - -# Checks -#RUN python --version -#RUN python -c "import gym" - -# Debug -#RUN ls -l /usr/local/gym -#RUN ls -l /usr/local/gym/gym-gazebo -#RUN ls -l /usr/local/gym/gym - -#-------------------- -# Install ROS -#-------------------- -# setup environment -RUN locale-gen en_US.UTF-8 -ENV LANG en_US.UTF-8 - -# 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 trusty main" > /etc/apt/sources.list.d/ros-latest.list - -# install bootstrap tools -RUN apt-get update && apt-get install --no-install-recommends -y \ - python-rosdep \ - python-rosinstall \ - python-vcstools \ - && rm -rf /var/lib/apt/lists/* - -# bootstrap rosdep -RUN rosdep init \ - && rosdep update - -# install ros packages -ENV ROS_DISTRO indigo -RUN apt-get update && apt-get install -y \ - ros-indigo-ros-core=1.1.4-0* \ - && rm -rf /var/lib/apt/lists/* -# ros-indigo-desktop-full - -#-------------------- -# Install Gazebo -#-------------------- -RUN sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list' - -RUN wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add - - -RUN sudo apt-get update -RUN sudo apt-get install gazebo7 libgazebo7-dev -y - -# setup environment -EXPOSE 11345 - -# Install additional dependencies -RUN apt-get install -y ros-indigo-cv-bridge -RUN apt-get install -y ros-indigo-robot-state-publisher - - -#-------------------- -# Install deep learning toolkits -#-------------------- -# install dependencies -RUN sudo pip install h5py -RUN sudo apt-get install gfortran -y - -# install sript specific dependencies (temporal) -RUN sudo apt-get install python-skimage -y - -# install Theano -#RUN git clone git://github.com/Theano/Theano.git -#RUN cd Theano/ && sudo python setup.py develop -RUN sudo pip install Theano - -# install Keras -RUN sudo pip install keras - -#-------------------- -# Install gym-gazebo -#-------------------- - -RUN cd gym-gazebo && sudo pip install -e . - -# install dependencies -RUN cd /usr/local/gym/gym-gazebo/gym_gazebo/envs/installation && bash setup.bash - -#WORKDIR /root -#ENTRYPOINT ["/usr/local/gym/bin/docker_entrypoint"] - -# setup entrypoint -#RUN ls /usr/local/gym/gym-gazebo/ -#RUN ls ./gym-gazebo -#COPY /usr/local/gym/gym-gazebo/entrypoint.sh / - -#-------------------- -# Entry point -#-------------------- - -COPY entrypoint.sh / - -ENTRYPOINT ["/entrypoint.sh"] -CMD ["bash"] diff --git a/docker/README.md b/docker/README.md new file mode 100644 index 00000000000..7cd4ffce325 --- /dev/null +++ b/docker/README.md @@ -0,0 +1,52 @@ +# Gym-Gazebo Docker +There are two catagories of dockerfiles in this repo: base images and example images. The base images are simply versions of the gym-gazebo images with only the nessesary support libraries such as ROS and Gym. + +The application images are built on the base images described above and have examples loaded into them. + +This fodler is setup such that each image has its own folder is an image and each subfolder is a tagged version. This enbles automated build in https://hub.docker.com. For example: + + + +## Requirements +[nvidia-docker 2](https://github.com/NVIDIA/nvidia-docker) allows running cuda-based nueral nets and render displays from the container. + + +## Recommended (Easy) Method +``` +docker run \ + --runtime=nvidia \ + -v="/tmp/.gazebo/:/root/.gazebo/" \ + --rm \ + -it \ + -p 11345:11345 \ + -p 11311:11311 \ + --name=gym-gazebo-turtlebot \ + austinderic/gym-gazebo-turtlebot:kinetic-nvidia9.2 \ + /bin/bash +``` +This will open a bash shell in the container: +``` +python /root/gym-gazebo/examples/turtlebot/circuit2_turtlebot_lidar_qlearn.py +``` +then we can connect to our new container +``` +export GAZEBO_MASTER_IP=$(docker inspect --format '{{ .NetworkSettings.IPAddress }}' gym-gazebo-turtlebot) && export GAZEBO_MASTER_URI=$GAZEBO_MASTER_IP:11345 && sudo gzclient --verbose +``` + +Run tests in the base image. Simply enter the following command, all you need is nvidia-docker2 setup: +``` +docker run --runtime=nvidia --rm austinderic/gym-gazebo:kinetic-nvidia9.2 /bin/bash -c "nvidia-smi; echo $(rosversion -d); pip show gym; pip show gym-gazebo" +``` +Even easier with docker-compose: +``` +docker-compose up +``` + +## Manual Method +``` +mkdir -p ./catkin_ws/src +cd ./catkin_ws/src +wstool initW +wstool merge https://raw.githubusercontent.com/turtlebot/turtlebot/kinetic/turtlebot.rosinstall && wstool merge ../../gym-gazebo/gym_gazebo/envs/installation/gym-gazebo.rosinstall +``` + diff --git a/docker/gym-gazebo-turtlebot/kinetic/Dockerfile b/docker/gym-gazebo-turtlebot/kinetic/Dockerfile new file mode 100644 index 00000000000..32e97be0b47 --- /dev/null +++ b/docker/gym-gazebo-turtlebot/kinetic/Dockerfile @@ -0,0 +1,75 @@ +# docker build -t austinderic/gym-gazebo-turtlebot:kinetic +FROM austinderic/gym-gazebo:kinetic +LABEL maintainer "Austin.Deric@gmail.org" + +#-------------------- +# Install gzweb +#------------------ + +RUN curl -sL https://deb.nodesource.com/setup_8.x | bash - +RUN apt-get update && apt-get install -y \ + imagemagick \ + nodejs \ + libjansson-dev \ + && rm -rf /var/lib/apt/lists/* +WORKDIR /root +RUN hg clone https://bitbucket.org/osrf/gzweb +WORKDIR /root/gzweb +RUN hg up gzweb_1.4.0 +RUN echo "source /usr/share/gazebo/setup.sh" >> ~/.bashrc +RUN npm run deploy -m + +#-------------------- +# Install Gym-Gazebo Turtlebot dependencies +#------------------ + +RUN apt-get update && apt-get install -y \ + ros-kinetic-depthimage-to-laserscan \ + ros-kinetic-turtlebot-create \ + ros-kinetic-yujin-ocs \ + ros-kinetic-yocs-msgs \ + ros-kinetic-xacro \ + ros-kinetic-roslint \ + ros-kinetic-ros-control \ + ros-kinetic-image-common \ + ros-kinetic-control-toolbox \ + ros-kinetic-gazebo-ros-pkgs \ + ros-kinetic-roslint \ + ros-kinetic-driver-common \ + ros-kinetic-navigation \ + ros-kinetic-joystick-drivers \ + ros-kinetic-kobuki-desktop \ + ros-kinetic-kobuki-core \ + ros-kinetic-kobuki \ + ros-kinetic-kobuki-msgs \ + ros-kinetic-ecl \ + ros-kinetic-pcl-ros \ + libbullet-dev \ + libusb-dev \ + libsdl-dev \ + libsdl-image1.2-dev \ + python-skimage \ + mesa-utils \ + && rm -rf /var/lib/apt/lists/* + +#-------------------- +# Install Gym-Gazebo Turtlebot Example +#------------------ + +RUN mkdir -p /root/catkin_ws/src +WORKDIR /root/catkin_ws/src +RUN wstool init +RUN wstool merge https://gist.githubusercontent.com/AustinDeric/3362c86437d88347807beaba3501602e/raw/ecadfddc98a1865dfe60b29d17ff03a513b39279/gym-gazebo.rosinstall +RUN wstool update +WORKDIR /root/catkin_ws +RUN /bin/bash -c "source /opt/ros/kinetic/setup.bash && catkin build" +RUN echo "source /root/catkin_ws/devel/setup.bash" >> ~/.bashrc +RUN echo "export GYM_GAZEBO_WORLD_CIRCUIT2=/root/gym-gazebo/gym_gazebo/envs/assets/worlds/circuit2.world" >> ~/.bashrc +RUN export GYM_GAZEBO_WORLD_CIRCUIT2=/root/gym-gazebo/gym_gazebo/envs/assets/worlds/circuit2.world +RUN echo "export GAZEBO_MODEL_PATH=/root/gym-gazebo/gym_gazebo/envs/assets/models" >> ~/.bashrc + +COPY ./kobuki_description/ /root/gzweb/http/client/assets/kobuki_description/ +COPY ./turtlebot_description/ /root/gzweb/http/client/assets/turtlebot_description/ + +WORKDIR /root/ + diff --git a/docker/gym-gazebo-turtlebot/kinetic/kobuki_description/cmake/kobuki_descriptionConfig-version.cmake b/docker/gym-gazebo-turtlebot/kinetic/kobuki_description/cmake/kobuki_descriptionConfig-version.cmake new file mode 100644 index 00000000000..9052c5b20bd --- /dev/null +++ b/docker/gym-gazebo-turtlebot/kinetic/kobuki_description/cmake/kobuki_descriptionConfig-version.cmake @@ -0,0 +1,14 @@ +# generated from catkin/cmake/template/pkgConfig-version.cmake.in +set(PACKAGE_VERSION "0.7.6") + +set(PACKAGE_VERSION_EXACT False) +set(PACKAGE_VERSION_COMPATIBLE False) + +if("${PACKAGE_FIND_VERSION}" VERSION_EQUAL "${PACKAGE_VERSION}") + set(PACKAGE_VERSION_EXACT True) + set(PACKAGE_VERSION_COMPATIBLE True) +endif() + +if("${PACKAGE_FIND_VERSION}" VERSION_LESS "${PACKAGE_VERSION}") + set(PACKAGE_VERSION_COMPATIBLE True) +endif() diff --git a/docker/gym-gazebo-turtlebot/kinetic/kobuki_description/cmake/kobuki_descriptionConfig.cmake b/docker/gym-gazebo-turtlebot/kinetic/kobuki_description/cmake/kobuki_descriptionConfig.cmake new file mode 100644 index 00000000000..1330aec8f53 --- /dev/null +++ b/docker/gym-gazebo-turtlebot/kinetic/kobuki_description/cmake/kobuki_descriptionConfig.cmake @@ -0,0 +1,198 @@ +# generated from catkin/cmake/template/pkgConfig.cmake.in + +# append elements to a list and remove existing duplicates from the list +# copied from catkin/cmake/list_append_deduplicate.cmake to keep pkgConfig +# self contained +macro(_list_append_deduplicate listname) + if(NOT "${ARGN}" STREQUAL "") + if(${listname}) + list(REMOVE_ITEM ${listname} ${ARGN}) + endif() + list(APPEND ${listname} ${ARGN}) + endif() +endmacro() + +# append elements to a list if they are not already in the list +# copied from catkin/cmake/list_append_unique.cmake to keep pkgConfig +# self contained +macro(_list_append_unique listname) + foreach(_item ${ARGN}) + list(FIND ${listname} ${_item} _index) + if(_index EQUAL -1) + list(APPEND ${listname} ${_item}) + endif() + endforeach() +endmacro() + +# pack a list of libraries with optional build configuration keywords +# copied from catkin/cmake/catkin_libraries.cmake to keep pkgConfig +# self contained +macro(_pack_libraries_with_build_configuration VAR) + set(${VAR} "") + set(_argn ${ARGN}) + list(LENGTH _argn _count) + set(_index 0) + while(${_index} LESS ${_count}) + list(GET _argn ${_index} lib) + if("${lib}" MATCHES "^(debug|optimized|general)$") + math(EXPR _index "${_index} + 1") + if(${_index} EQUAL ${_count}) + message(FATAL_ERROR "_pack_libraries_with_build_configuration() the list of libraries '${ARGN}' ends with '${lib}' which is a build configuration keyword and must be followed by a library") + endif() + list(GET _argn ${_index} library) + list(APPEND ${VAR} "${lib}${CATKIN_BUILD_CONFIGURATION_KEYWORD_SEPARATOR}${library}") + else() + list(APPEND ${VAR} "${lib}") + endif() + math(EXPR _index "${_index} + 1") + endwhile() +endmacro() + +# unpack a list of libraries with optional build configuration keyword prefixes +# copied from catkin/cmake/catkin_libraries.cmake to keep pkgConfig +# self contained +macro(_unpack_libraries_with_build_configuration VAR) + set(${VAR} "") + foreach(lib ${ARGN}) + string(REGEX REPLACE "^(debug|optimized|general)${CATKIN_BUILD_CONFIGURATION_KEYWORD_SEPARATOR}(.+)$" "\\1;\\2" lib "${lib}") + list(APPEND ${VAR} "${lib}") + endforeach() +endmacro() + + +if(kobuki_description_CONFIG_INCLUDED) + return() +endif() +set(kobuki_description_CONFIG_INCLUDED TRUE) + +# set variables for source/devel/install prefixes +if("FALSE" STREQUAL "TRUE") + set(kobuki_description_SOURCE_PREFIX /tmp/binarydeb/ros-kinetic-kobuki-description-0.7.6) + set(kobuki_description_DEVEL_PREFIX /tmp/binarydeb/ros-kinetic-kobuki-description-0.7.6/obj-x86_64-linux-gnu/devel) + set(kobuki_description_INSTALL_PREFIX "") + set(kobuki_description_PREFIX ${kobuki_description_DEVEL_PREFIX}) +else() + set(kobuki_description_SOURCE_PREFIX "") + set(kobuki_description_DEVEL_PREFIX "") + set(kobuki_description_INSTALL_PREFIX /opt/ros/kinetic) + set(kobuki_description_PREFIX ${kobuki_description_INSTALL_PREFIX}) +endif() + +# warn when using a deprecated package +if(NOT "" STREQUAL "") + set(_msg "WARNING: package 'kobuki_description' is deprecated") + # append custom deprecation text if available + if(NOT "" STREQUAL "TRUE") + set(_msg "${_msg} ()") + endif() + message("${_msg}") +endif() + +# flag project as catkin-based to distinguish if a find_package()-ed project is a catkin project +set(kobuki_description_FOUND_CATKIN_PROJECT TRUE) + +if(NOT " " STREQUAL " ") + set(kobuki_description_INCLUDE_DIRS "") + set(_include_dirs "") + if(NOT "https://github.com/yujinrobot/kobuki/issues " STREQUAL " ") + set(_report "Check the issue tracker 'https://github.com/yujinrobot/kobuki/issues' and consider creating a ticket if the problem has not been reported yet.") + elseif(NOT "http://ros.org/wiki/kobuki_description " STREQUAL " ") + set(_report "Check the website 'http://ros.org/wiki/kobuki_description' for information and consider reporting the problem.") + else() + set(_report "Report the problem to the maintainer 'Younghun Ju ' and request to fix the problem.") + endif() + foreach(idir ${_include_dirs}) + if(IS_ABSOLUTE ${idir} AND IS_DIRECTORY ${idir}) + set(include ${idir}) + elseif("${idir} " STREQUAL "include ") + get_filename_component(include "${kobuki_description_DIR}/../../../include" ABSOLUTE) + if(NOT IS_DIRECTORY ${include}) + message(FATAL_ERROR "Project 'kobuki_description' specifies '${idir}' as an include dir, which is not found. It does not exist in '${include}'. ${_report}") + endif() + else() + message(FATAL_ERROR "Project 'kobuki_description' specifies '${idir}' as an include dir, which is not found. It does neither exist as an absolute directory nor in '/opt/ros/kinetic/${idir}'. ${_report}") + endif() + _list_append_unique(kobuki_description_INCLUDE_DIRS ${include}) + endforeach() +endif() + +set(libraries "") +foreach(library ${libraries}) + # keep build configuration keywords, target names and absolute libraries as-is + if("${library}" MATCHES "^(debug|optimized|general)$") + list(APPEND kobuki_description_LIBRARIES ${library}) + elseif(TARGET ${library}) + list(APPEND kobuki_description_LIBRARIES ${library}) + elseif(IS_ABSOLUTE ${library}) + list(APPEND kobuki_description_LIBRARIES ${library}) + else() + set(lib_path "") + set(lib "${library}-NOTFOUND") + # since the path where the library is found is returned we have to iterate over the paths manually + foreach(path /opt/ros/kinetic/lib;/opt/ros/kinetic/lib) + find_library(lib ${library} + PATHS ${path} + NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH) + if(lib) + set(lib_path ${path}) + break() + endif() + endforeach() + if(lib) + _list_append_unique(kobuki_description_LIBRARY_DIRS ${lib_path}) + list(APPEND kobuki_description_LIBRARIES ${lib}) + else() + # as a fall back for non-catkin libraries try to search globally + find_library(lib ${library}) + if(NOT lib) + message(FATAL_ERROR "Project '${PROJECT_NAME}' tried to find library '${library}'. The library is neither a target nor built/installed properly. Did you compile project 'kobuki_description'? Did you find_package() it before the subdirectory containing its code is included?") + endif() + list(APPEND kobuki_description_LIBRARIES ${lib}) + endif() + endif() +endforeach() + +set(kobuki_description_EXPORTED_TARGETS "") +# create dummy targets for exported code generation targets to make life of users easier +foreach(t ${kobuki_description_EXPORTED_TARGETS}) + if(NOT TARGET ${t}) + add_custom_target(${t}) + endif() +endforeach() + +set(depends "urdf;xacro") +foreach(depend ${depends}) + string(REPLACE " " ";" depend_list ${depend}) + # the package name of the dependency must be kept in a unique variable so that it is not overwritten in recursive calls + list(GET depend_list 0 kobuki_description_dep) + list(LENGTH depend_list count) + if(${count} EQUAL 1) + # simple dependencies must only be find_package()-ed once + if(NOT ${kobuki_description_dep}_FOUND) + find_package(${kobuki_description_dep} REQUIRED NO_MODULE) + endif() + else() + # dependencies with components must be find_package()-ed again + list(REMOVE_AT depend_list 0) + find_package(${kobuki_description_dep} REQUIRED NO_MODULE ${depend_list}) + endif() + _list_append_unique(kobuki_description_INCLUDE_DIRS ${${kobuki_description_dep}_INCLUDE_DIRS}) + + # merge build configuration keywords with library names to correctly deduplicate + _pack_libraries_with_build_configuration(kobuki_description_LIBRARIES ${kobuki_description_LIBRARIES}) + _pack_libraries_with_build_configuration(_libraries ${${kobuki_description_dep}_LIBRARIES}) + _list_append_deduplicate(kobuki_description_LIBRARIES ${_libraries}) + # undo build configuration keyword merging after deduplication + _unpack_libraries_with_build_configuration(kobuki_description_LIBRARIES ${kobuki_description_LIBRARIES}) + + _list_append_unique(kobuki_description_LIBRARY_DIRS ${${kobuki_description_dep}_LIBRARY_DIRS}) + list(APPEND kobuki_description_EXPORTED_TARGETS ${${kobuki_description_dep}_EXPORTED_TARGETS}) +endforeach() + +set(pkg_cfg_extras "") +foreach(extra ${pkg_cfg_extras}) + if(NOT IS_ABSOLUTE ${extra}) + set(extra ${kobuki_description_DIR}/${extra}) + endif() + include(${extra}) +endforeach() diff --git a/docker/gym-gazebo-turtlebot/kinetic/kobuki_description/launch/view_model.launch b/docker/gym-gazebo-turtlebot/kinetic/kobuki_description/launch/view_model.launch new file mode 100644 index 00000000000..9408277c73e --- /dev/null +++ b/docker/gym-gazebo-turtlebot/kinetic/kobuki_description/launch/view_model.launch @@ -0,0 +1,16 @@ + + + + + + + + + + + + + + diff --git a/docker/gym-gazebo-turtlebot/kinetic/kobuki_description/meshes/images/main_body.jpg b/docker/gym-gazebo-turtlebot/kinetic/kobuki_description/meshes/images/main_body.jpg new file mode 100644 index 00000000000..842742e4d72 Binary files /dev/null and b/docker/gym-gazebo-turtlebot/kinetic/kobuki_description/meshes/images/main_body.jpg differ diff --git a/docker/gym-gazebo-turtlebot/kinetic/kobuki_description/meshes/images/wheel.jpg b/docker/gym-gazebo-turtlebot/kinetic/kobuki_description/meshes/images/wheel.jpg new file mode 100644 index 00000000000..6b8997217c3 Binary files /dev/null and b/docker/gym-gazebo-turtlebot/kinetic/kobuki_description/meshes/images/wheel.jpg differ diff --git a/docker/gym-gazebo-turtlebot/kinetic/kobuki_description/meshes/main_body.dae b/docker/gym-gazebo-turtlebot/kinetic/kobuki_description/meshes/main_body.dae new file mode 100644 index 00000000000..9606185ab27 --- /dev/null +++ b/docker/gym-gazebo-turtlebot/kinetic/kobuki_description/meshes/main_body.dae @@ -0,0 +1,164 @@ + + + + + DesignK + OpenCOLLADA for 3ds Max; Version: 1.3.1; Revision: 847M; Platform: x64; Configuration: Release_Max2011_static + file:///E:/Windows/Documents/3dsMax/scenes/KOBUKI_MAIN_BODY_URDF.max + + 2013-02-26T14:46:10 + 2013-02-26T14:46:10 + + + + + + + + main_body_jpg + + + + + main_body_jpg-surface + + + + + + 0 0 0 1 + + + 0.5882353 0.5882353 0.5882353 1 + + + + + + 0.9 0.9 0.9 1 + + + 9.999999 + + + 0 0 0 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+ + + + + + + + + 0 0 0 + + + + + + + ./images/wheel.jpg + + + + + + + + + 1.91069e-15 -1 -4.37114e-8 0 -4.37114e-8 -4.37114e-8 1 -3.7253e-9 -1 0 -4.37114e-8 -3.0268e-7 0 0 0 1 + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/docker/gym-gazebo-turtlebot/kinetic/kobuki_description/package.xml b/docker/gym-gazebo-turtlebot/kinetic/kobuki_description/package.xml new file mode 100644 index 00000000000..1b1b57f6b3e --- /dev/null +++ b/docker/gym-gazebo-turtlebot/kinetic/kobuki_description/package.xml @@ -0,0 +1,29 @@ + + kobuki_description + 0.7.6 + + Description of the Kobuki model. + Provides the model description of Kobuki for simulation and visualisation. The files in this + package are parsed and used by a variety of other components. Most users will not interact directly + with this package. + + WARNING: This package is disabled because it cannot be catkinized by now, as xacro dependency is not + catkin still. In the interim we use a unary pre-catkin stack named kobuki_description. + + Daniel Stonier + Marcus Liebhardt + Younghun Ju + Younghun Ju + BSD + https://github.com/yujinrobot/kobuki/issues + https://github.com/yujinrobot/kobuki + http://ros.org/wiki/kobuki_description + + catkin + + urdf + xacro + + urdf + xacro + diff --git a/docker/gym-gazebo-turtlebot/kinetic/kobuki_description/rviz/model.rviz b/docker/gym-gazebo-turtlebot/kinetic/kobuki_description/rviz/model.rviz new file mode 100644 index 00000000000..59875098b09 --- /dev/null +++ b/docker/gym-gazebo-turtlebot/kinetic/kobuki_description/rviz/model.rviz @@ -0,0 +1,169 @@ +Panels: + - Class: rviz/Displays + Help Height: 78 + Name: Displays + Property Tree Widget: + Expanded: + - /Global Options1 + - /RobotModel1 + - /TF1 + - /TF1/Frames1 + Splitter Ratio: 0.5 + Tree Height: 627 + - Class: rviz/Selection + Name: Selection + - Class: rviz/Tool Properties + Expanded: + - /2D Pose Estimate1 + - /2D Nav Goal1 + Name: Tool Properties + Splitter Ratio: 0.588679 + - Class: rviz/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz/Time + Name: Time +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.03 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: + Value: true + - Alpha: 1 + Class: rviz/RobotModel + Collision Enabled: false + Enabled: true + Links: + base_footprint: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + wheel_left_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + wheel_right_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + Name: RobotModel + Robot Description: robot_description + TF Prefix: "" + Update Interval: 0 + Value: true + Visual Enabled: true + - Class: rviz/TF + Enabled: true + Frame Timeout: 15 + Frames: + /base_footprint: + Value: true + /base_link: + Value: true + /cliff_sensor_front_link: + Value: true + /cliff_sensor_left_link: + Value: true + /cliff_sensor_right_link: + Value: true + /gyro_link: + Value: true + /wheel_left_link: + Value: true + /wheel_right_link: + Value: true + All Enabled: true + Marker Scale: 1 + Name: TF + Show Arrows: false + Show Axes: false + Show Names: false + Tree: + /base_footprint: + /base_link: + /cliff_sensor_front_link: + {} + /cliff_sensor_left_link: + {} + /cliff_sensor_right_link: + {} + /gyro_link: + {} + /wheel_left_link: + {} + /wheel_right_link: + {} + Update Interval: 0 + Value: true + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Fixed Frame: /base_footprint + Name: root + Tools: + - Class: rviz/MoveCamera + - Class: rviz/Interact + - Class: rviz/Select + - Class: rviz/SetInitialPose + Topic: /initialpose + - Class: rviz/SetGoal + Topic: /move_base_simple/goal + Value: true + Views: + Current: + Class: rviz/Orbit + Distance: 1.44857 + Focal Point: + X: 0 + Y: 0 + Z: 0 + Name: Current View + Near Clip Distance: 0.01 + Pitch: 0.435398 + Target Frame: + Value: Orbit (rviz) + Yaw: 1.5654 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 880 + Hide Left Dock: false + Hide Right Dock: false + QMainWindow State: 000000ff00000000fd00000004000000000000013c000002fefc0200000005fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006901000005fb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000033000002fe000000d801000005000000010000010b000002fefc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730100000033000002fe000000ab01000005fb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004a00000003efc0100000002fb0000000800540069006d00650000000000000004a00000023a01000005fb0000000800540069006d0065010000000000000450000000000000000000000263000002fe00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: false + Width: 1210 + X: 51 + Y: -60 diff --git a/docker/gym-gazebo-turtlebot/kinetic/kobuki_description/urdf/common_properties.urdf.xacro b/docker/gym-gazebo-turtlebot/kinetic/kobuki_description/urdf/common_properties.urdf.xacro new file mode 100644 index 00000000000..0d630e9fa40 --- /dev/null +++ b/docker/gym-gazebo-turtlebot/kinetic/kobuki_description/urdf/common_properties.urdf.xacro @@ -0,0 +1,57 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/docker/gym-gazebo-turtlebot/kinetic/kobuki_description/urdf/kobuki.urdf.xacro b/docker/gym-gazebo-turtlebot/kinetic/kobuki_description/urdf/kobuki.urdf.xacro new file mode 100644 index 00000000000..1cd2e074c2c --- /dev/null +++ b/docker/gym-gazebo-turtlebot/kinetic/kobuki_description/urdf/kobuki.urdf.xacro @@ -0,0 +1,227 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/docker/gym-gazebo-turtlebot/kinetic/kobuki_description/urdf/kobuki_gazebo.urdf.xacro b/docker/gym-gazebo-turtlebot/kinetic/kobuki_description/urdf/kobuki_gazebo.urdf.xacro new file mode 100644 index 00000000000..3e08583d4da --- /dev/null +++ b/docker/gym-gazebo-turtlebot/kinetic/kobuki_description/urdf/kobuki_gazebo.urdf.xacro @@ -0,0 +1,190 @@ + + + + + + 1.0 + 1.0 + 1000000.0 + 100.0 + 0.001 + 1.0 + + + + 1.0 + 1.0 + 1000000.0 + 100.0 + 0.001 + 1.0 + + + + 0.0 + 0.0 + 1000000.0 + 100.0 + 0.001 + 1.0 + + + + 0.0 + 0.0 + 1000000.0 + 100.0 + 0.001 + 1.0 + + + + 0.3 + 0.3 + + 1 + 50.0 + true + + base_footprint_fixed_joint_lump__base_collision + + + + + + + true + 50 + true + + + + 50 + 1.0 + -0.0436 + 0.0436 + + + + + + + + + + + + 0.01 + 0.15 + 1.0 + + + + + + + + true + 50 + true + + + + 50 + 1.0 + -0.0436 + 0.0436 + + + + + + + + + + + + 0.01 + 0.15 + 1.0 + + + + + + + + true + 50 + true + + + + 50 + 1.0 + -0.0436 + 0.0436 + + + + + + + + + + + + 0.01 + 0.15 + 1.0 + + + + + + + + true + 50 + false + + + gaussian + + 0.0 + ${0.0014*0.0014} + 0.0 + 0.0 + + + 0.0 + 1.7e-2 + 0.1 + 0.001 + + + + + + + + + 1 + wheel_left_joint + wheel_right_joint + .230 + 0.070 + 1.0 + 0.6 + cliff_sensor_left + cliff_sensor_front + cliff_sensor_right + 0.04 + bumpers + imu + + + + diff --git a/docker/gym-gazebo-turtlebot/kinetic/kobuki_description/urdf/kobuki_standalone.urdf.xacro b/docker/gym-gazebo-turtlebot/kinetic/kobuki_description/urdf/kobuki_standalone.urdf.xacro new file mode 100644 index 00000000000..596937d1c36 --- /dev/null +++ b/docker/gym-gazebo-turtlebot/kinetic/kobuki_description/urdf/kobuki_standalone.urdf.xacro @@ -0,0 +1,11 @@ + + + + + + + diff --git a/docker/gym-gazebo-turtlebot/kinetic/run.bash b/docker/gym-gazebo-turtlebot/kinetic/run.bash new file mode 100755 index 00000000000..3ca04b1799e --- /dev/null +++ b/docker/gym-gazebo-turtlebot/kinetic/run.bash @@ -0,0 +1,26 @@ +XAUTH=/tmp/.docker.xauth +if [ ! -f $XAUTH ] +then + xauth_list=$(xauth nlist :0 | sed -e 's/^..../ffff/') + if [ ! -z "$xauth_list" ] + then + echo $xauth_list | xauth -f $XAUTH nmerge - + else + touch $XAUTH + fi + chmod a+r $XAUTH +fi + +echo $XAUTH + +docker run -it --rm \ + --runtime=nvidia \ + --env DISPLAY \ + --env QT_X11_NO_MITSHM=1 \ + --env XAUTHORITY=$XAUTH \ + --volume "$XAUTH:$XAUTH" \ + --volume "/tmp/.X11-unix:/tmp/.X11-unix" \ + --name=gym-gazebo-turtlebot \ + --rm \ + austinderic/gym-gazebo-turtlebot:kinetic \ + /bin/bash diff --git a/docker/gym-gazebo-turtlebot/kinetic/turtlebot_description/cmake/turtlebot_descriptionConfig-version.cmake b/docker/gym-gazebo-turtlebot/kinetic/turtlebot_description/cmake/turtlebot_descriptionConfig-version.cmake new file mode 100644 index 00000000000..a570fe61e42 --- /dev/null +++ b/docker/gym-gazebo-turtlebot/kinetic/turtlebot_description/cmake/turtlebot_descriptionConfig-version.cmake @@ -0,0 +1,14 @@ +# generated from catkin/cmake/template/pkgConfig-version.cmake.in +set(PACKAGE_VERSION "2.4.2") + +set(PACKAGE_VERSION_EXACT False) +set(PACKAGE_VERSION_COMPATIBLE False) + +if("${PACKAGE_FIND_VERSION}" VERSION_EQUAL "${PACKAGE_VERSION}") + set(PACKAGE_VERSION_EXACT True) + set(PACKAGE_VERSION_COMPATIBLE True) +endif() + +if("${PACKAGE_FIND_VERSION}" VERSION_LESS "${PACKAGE_VERSION}") + set(PACKAGE_VERSION_COMPATIBLE True) +endif() diff --git a/docker/gym-gazebo-turtlebot/kinetic/turtlebot_description/cmake/turtlebot_descriptionConfig.cmake b/docker/gym-gazebo-turtlebot/kinetic/turtlebot_description/cmake/turtlebot_descriptionConfig.cmake new file mode 100644 index 00000000000..c63c6beb90a --- /dev/null +++ b/docker/gym-gazebo-turtlebot/kinetic/turtlebot_description/cmake/turtlebot_descriptionConfig.cmake @@ -0,0 +1,198 @@ +# generated from catkin/cmake/template/pkgConfig.cmake.in + +# append elements to a list and remove existing duplicates from the list +# copied from catkin/cmake/list_append_deduplicate.cmake to keep pkgConfig +# self contained +macro(_list_append_deduplicate listname) + if(NOT "${ARGN}" STREQUAL "") + if(${listname}) + list(REMOVE_ITEM ${listname} ${ARGN}) + endif() + list(APPEND ${listname} ${ARGN}) + endif() +endmacro() + +# append elements to a list if they are not already in the list +# copied from catkin/cmake/list_append_unique.cmake to keep pkgConfig +# self contained +macro(_list_append_unique listname) + foreach(_item ${ARGN}) + list(FIND ${listname} ${_item} _index) + if(_index EQUAL -1) + list(APPEND ${listname} ${_item}) + endif() + endforeach() +endmacro() + +# pack a list of libraries with optional build configuration keywords +# copied from catkin/cmake/catkin_libraries.cmake to keep pkgConfig +# self contained +macro(_pack_libraries_with_build_configuration VAR) + set(${VAR} "") + set(_argn ${ARGN}) + list(LENGTH _argn _count) + set(_index 0) + while(${_index} LESS ${_count}) + list(GET _argn ${_index} lib) + if("${lib}" MATCHES "^(debug|optimized|general)$") + math(EXPR _index "${_index} + 1") + if(${_index} EQUAL ${_count}) + message(FATAL_ERROR "_pack_libraries_with_build_configuration() the list of libraries '${ARGN}' ends with '${lib}' which is a build configuration keyword and must be followed by a library") + endif() + list(GET _argn ${_index} library) + list(APPEND ${VAR} "${lib}${CATKIN_BUILD_CONFIGURATION_KEYWORD_SEPARATOR}${library}") + else() + list(APPEND ${VAR} "${lib}") + endif() + math(EXPR _index "${_index} + 1") + endwhile() +endmacro() + +# unpack a list of libraries with optional build configuration keyword prefixes +# copied from catkin/cmake/catkin_libraries.cmake to keep pkgConfig +# self contained +macro(_unpack_libraries_with_build_configuration VAR) + set(${VAR} "") + foreach(lib ${ARGN}) + string(REGEX REPLACE "^(debug|optimized|general)${CATKIN_BUILD_CONFIGURATION_KEYWORD_SEPARATOR}(.+)$" "\\1;\\2" lib "${lib}") + list(APPEND ${VAR} "${lib}") + endforeach() +endmacro() + + +if(turtlebot_description_CONFIG_INCLUDED) + return() +endif() +set(turtlebot_description_CONFIG_INCLUDED TRUE) + +# set variables for source/devel/install prefixes +if("FALSE" STREQUAL "TRUE") + set(turtlebot_description_SOURCE_PREFIX /tmp/binarydeb/ros-kinetic-turtlebot-description-2.4.2) + set(turtlebot_description_DEVEL_PREFIX /tmp/binarydeb/ros-kinetic-turtlebot-description-2.4.2/obj-x86_64-linux-gnu/devel) + set(turtlebot_description_INSTALL_PREFIX "") + set(turtlebot_description_PREFIX ${turtlebot_description_DEVEL_PREFIX}) +else() + set(turtlebot_description_SOURCE_PREFIX "") + set(turtlebot_description_DEVEL_PREFIX "") + set(turtlebot_description_INSTALL_PREFIX /opt/ros/kinetic) + set(turtlebot_description_PREFIX ${turtlebot_description_INSTALL_PREFIX}) +endif() + +# warn when using a deprecated package +if(NOT "" STREQUAL "") + set(_msg "WARNING: package 'turtlebot_description' is deprecated") + # append custom deprecation text if available + if(NOT "" STREQUAL "TRUE") + set(_msg "${_msg} ()") + endif() + message("${_msg}") +endif() + +# flag project as catkin-based to distinguish if a find_package()-ed project is a catkin project +set(turtlebot_description_FOUND_CATKIN_PROJECT TRUE) + +if(NOT " " STREQUAL " ") + set(turtlebot_description_INCLUDE_DIRS "") + set(_include_dirs "") + if(NOT "https://github.com/turtlebot/turtlebot/issues " STREQUAL " ") + set(_report "Check the issue tracker 'https://github.com/turtlebot/turtlebot/issues' and consider creating a ticket if the problem has not been reported yet.") + elseif(NOT "http://ros.org/wiki/turtlebot_description " STREQUAL " ") + set(_report "Check the website 'http://ros.org/wiki/turtlebot_description' for information and consider reporting the problem.") + else() + set(_report "Report the problem to the maintainer 'Daniel Stonier ' and request to fix the problem.") + endif() + foreach(idir ${_include_dirs}) + if(IS_ABSOLUTE ${idir} AND IS_DIRECTORY ${idir}) + set(include ${idir}) + elseif("${idir} " STREQUAL "include ") + get_filename_component(include "${turtlebot_description_DIR}/../../../include" ABSOLUTE) + if(NOT IS_DIRECTORY ${include}) + message(FATAL_ERROR "Project 'turtlebot_description' specifies '${idir}' as an include dir, which is not found. It does not exist in '${include}'. ${_report}") + endif() + else() + message(FATAL_ERROR "Project 'turtlebot_description' specifies '${idir}' as an include dir, which is not found. It does neither exist as an absolute directory nor in '/opt/ros/kinetic/${idir}'. ${_report}") + endif() + _list_append_unique(turtlebot_description_INCLUDE_DIRS ${include}) + endforeach() +endif() + +set(libraries "") +foreach(library ${libraries}) + # keep build configuration keywords, target names and absolute libraries as-is + if("${library}" MATCHES "^(debug|optimized|general)$") + list(APPEND turtlebot_description_LIBRARIES ${library}) + elseif(TARGET ${library}) + list(APPEND turtlebot_description_LIBRARIES ${library}) + elseif(IS_ABSOLUTE ${library}) + list(APPEND turtlebot_description_LIBRARIES ${library}) + else() + set(lib_path "") + set(lib "${library}-NOTFOUND") + # since the path where the library is found is returned we have to iterate over the paths manually + foreach(path /opt/ros/kinetic/lib;/opt/ros/kinetic/lib) + find_library(lib ${library} + PATHS ${path} + NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH) + if(lib) + set(lib_path ${path}) + break() + endif() + endforeach() + if(lib) + _list_append_unique(turtlebot_description_LIBRARY_DIRS ${lib_path}) + list(APPEND turtlebot_description_LIBRARIES ${lib}) + else() + # as a fall back for non-catkin libraries try to search globally + find_library(lib ${library}) + if(NOT lib) + message(FATAL_ERROR "Project '${PROJECT_NAME}' tried to find library '${library}'. The library is neither a target nor built/installed properly. Did you compile project 'turtlebot_description'? Did you find_package() it before the subdirectory containing its code is included?") + endif() + list(APPEND turtlebot_description_LIBRARIES ${lib}) + endif() + endif() +endforeach() + +set(turtlebot_description_EXPORTED_TARGETS "") +# create dummy targets for exported code generation targets to make life of users easier +foreach(t ${turtlebot_description_EXPORTED_TARGETS}) + if(NOT TARGET ${t}) + add_custom_target(${t}) + endif() +endforeach() + +set(depends "urdf;xacro") +foreach(depend ${depends}) + string(REPLACE " " ";" depend_list ${depend}) + # the package name of the dependency must be kept in a unique variable so that it is not overwritten in recursive calls + list(GET depend_list 0 turtlebot_description_dep) + list(LENGTH depend_list count) + if(${count} EQUAL 1) + # simple dependencies must only be find_package()-ed once + if(NOT ${turtlebot_description_dep}_FOUND) + find_package(${turtlebot_description_dep} REQUIRED NO_MODULE) + endif() + else() + # dependencies with components must be find_package()-ed again + list(REMOVE_AT depend_list 0) + find_package(${turtlebot_description_dep} REQUIRED NO_MODULE ${depend_list}) + endif() + _list_append_unique(turtlebot_description_INCLUDE_DIRS ${${turtlebot_description_dep}_INCLUDE_DIRS}) + + # merge build configuration keywords with library names to correctly deduplicate + _pack_libraries_with_build_configuration(turtlebot_description_LIBRARIES ${turtlebot_description_LIBRARIES}) + _pack_libraries_with_build_configuration(_libraries ${${turtlebot_description_dep}_LIBRARIES}) + _list_append_deduplicate(turtlebot_description_LIBRARIES ${_libraries}) + # undo build configuration keyword merging after deduplication + _unpack_libraries_with_build_configuration(turtlebot_description_LIBRARIES ${turtlebot_description_LIBRARIES}) + + _list_append_unique(turtlebot_description_LIBRARY_DIRS ${${turtlebot_description_dep}_LIBRARY_DIRS}) + list(APPEND turtlebot_description_EXPORTED_TARGETS ${${turtlebot_description_dep}_EXPORTED_TARGETS}) +endforeach() + +set(pkg_cfg_extras "") +foreach(extra ${pkg_cfg_extras}) + if(NOT IS_ABSOLUTE ${extra}) + set(extra ${turtlebot_description_DIR}/${extra}) + endif() + include(${extra}) +endforeach() diff --git a/docker/gym-gazebo-turtlebot/kinetic/turtlebot_description/meshes/sensors/0_xtion_pro.jpg b/docker/gym-gazebo-turtlebot/kinetic/turtlebot_description/meshes/sensors/0_xtion_pro.jpg new file mode 100644 index 00000000000..cc754375429 Binary files /dev/null and b/docker/gym-gazebo-turtlebot/kinetic/turtlebot_description/meshes/sensors/0_xtion_pro.jpg differ diff --git a/docker/gym-gazebo-turtlebot/kinetic/turtlebot_description/meshes/sensors/astra.dae b/docker/gym-gazebo-turtlebot/kinetic/turtlebot_description/meshes/sensors/astra.dae new file mode 100644 index 00000000000..eb1ea6be3fe --- /dev/null +++ b/docker/gym-gazebo-turtlebot/kinetic/turtlebot_description/meshes/sensors/astra.dae @@ -0,0 +1,256759 @@ + + + FBX COLLADA 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9666 3013 2943 9667 3012 2940 9668 3009 2946 9669 3015 2943 9670 3012 2944 9671 3013 2946 9672 3015 2945 9673 3014 2943 9674 3012 2948 9675 3017 2945 9676 3014 2946 9677 3015 2948 9678 3017 2947 9679 3016 2945 9680 3014 2952 9681 3021 2947 9682 3016 2948 9683 3017 2952 9684 3021 2949 9685 3018 2947 9686 3016 2952 9687 3021 2950 9688 3019 2949 9689 3018 2952 9690 3021 2951 9691 3020 2950 9692 3019 2954 9693 3023 2951 9694 3020 2952 9695 3021 2954 9696 3023 2953 9697 3022 2951 9698 3020 2959 9699 3028 2953 9700 3022 2954 9701 3023 2959 9702 3028 2955 9703 3024 2953 9704 3022 2958 9705 3027 2928 9706 2997 2956 9707 3025 2958 9708 3027 2957 9709 3026 2928 9710 2997 2922 9711 2991 2957 9712 3026 2958 9713 3027 2922 9714 2991 2959 9715 3028 2957 9716 3026 2922 9717 2991 2955 9718 3024 2959 9719 3028 3023 9720 3092 2960 9721 3029 2962 9722 3031 2962 9723 3031 2961 9724 3030 3023 9725 3092 2964 9726 3033 2961 9727 3030 2962 9728 3031 2964 9729 3033 2963 9730 3032 2961 9731 3030 2966 9732 3035 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9866 3077 3010 9867 3079 3009 9868 3078 3007 9869 3076 3012 9870 3081 3009 9871 3078 3010 9872 3079 3012 9873 3081 3011 9874 3080 3009 9875 3078 3014 9876 3083 3011 9877 3080 3012 9878 3081 3014 9879 3083 3013 9880 3082 3011 9881 3080 3016 9882 3085 3013 9883 3082 3014 9884 3083 3016 9885 3085 3015 9886 3084 3013 9887 3082 3018 9888 3087 3015 9889 3084 3016 9890 3085 3018 9891 3087 3017 9892 3086 3015 9893 3084 3020 9894 3089 3017 9895 3086 3018 9896 3087 3020 9897 3089 3019 9898 3088 3017 9899 3086 3022 9900 3091 3019 9901 3088 3020 9902 3089 3022 9903 3091 3021 9904 3090 3019 9905 3088 2960 9906 3029 3021 9907 3090 3022 9908 3091 2960 9909 3029 3023 9910 3092 3021 9911 3090 3087 9912 3156 3024 9913 3093 3026 9914 3095 3026 9915 3095 3025 9916 3094 3087 9917 3156 3028 9918 3097 3025 9919 3094 3026 9920 3095 3028 9921 3097 3027 9922 3096 3025 9923 3094 3030 9924 3099 3027 9925 3096 3028 9926 3097 3030 9927 3099 3029 9928 3098 3027 9929 3096 3032 9930 3101 3029 9931 3098 3030 9932 3099 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3123 3053 10000 3122 3051 10001 3120 3056 10002 3125 3053 10003 3122 3054 10004 3123 3056 10005 3125 3055 10006 3124 3053 10007 3122 3058 10008 3127 3055 10009 3124 3056 10010 3125 3058 10011 3127 3057 10012 3126 3055 10013 3124 3060 10014 3129 3057 10015 3126 3058 10016 3127 3060 10017 3129 3059 10018 3128 3057 10019 3126 3062 10020 3131 3059 10021 3128 3060 10022 3129 3062 10023 3131 3061 10024 3130 3059 10025 3128 3064 10026 3133 3061 10027 3130 3062 10028 3131 3064 10029 3133 3063 10030 3132 3061 10031 3130 3066 10032 3135 3063 10033 3132 3064 10034 3133 3066 10035 3135 3065 10036 3134 3063 10037 3132 3068 10038 3137 3065 10039 3134 3066 10040 3135 3068 10041 3137 3067 10042 3136 3065 10043 3134 3070 10044 3139 3067 10045 3136 3068 10046 3137 3070 10047 3139 3069 10048 3138 3067 10049 3136 3072 10050 3141 3069 10051 3138 3070 10052 3139 3072 10053 3141 3071 10054 3140 3069 10055 3138 3074 10056 3143 3071 10057 3140 3072 10058 3141 3074 10059 3143 3073 10060 3142 3071 10061 3140 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1982 2655 2381 1661 2520 1668 1981 2656 2381 1661 2520 2382 1659 2518 1667 1984 2657 1668 1981 2656 2382 1659 2518 1666 1985 2674 1667 1984 2657 2382 1659 2518 1666 1985 2674 2382 1659 2518 2383 1658 2517 1665 1986 2675 1666 1985 2674 2383 1658 2517 1665 1986 2675 2383 1658 2517 2384 1655 2502 1664 1993 2676 2384 1655 2502 2385 2655 2625 1664 1993 2676 1665 1986 2675 2384 1655 2502 1663 1994 2677 1664 1993 2676 2385 2655 2625 1663 1994 2677 2385 2655 2625 2386 2656 2642 1662 1995 2678 2386 2656 2642 2387 2657 2643 1662 1995 2678 1663 1994 2677 2386 2656 2642 1661 1980 2679 2387 2657 2643 2388 2658 2644 1661 1980 2679 1662 1995 2678 2387 2657 2643 1660 1979 2680 2388 2658 2644 2389 2659 2645 1660 1979 2680 1661 1980 2679 2388 2658 2644 1659 1978 2681 2389 2659 2645 2390 2660 2646 1659 1978 2681 1660 1979 2680 2389 2659 2645 1658 1977 2682 2390 2660 2646 2391 2661 2647 1658 1977 2682 1659 1978 2681 2390 2660 2646 1657 1976 2683 2391 2661 2647 2392 2662 2648 1657 1976 2683 1658 1977 2682 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3131 1646 1987 3182 1647 1992 3179 2403 2673 3129 1645 1969 3183 1646 1987 3182 2404 2674 3131 1645 1969 3183 2404 2674 3131 2405 2675 3133 1644 1968 3185 1645 1969 3183 2405 2675 3133 1644 1968 3185 2405 2675 3133 2406 2676 3155 1643 1967 3077 1644 1968 3185 2406 2676 3155 1643 1967 3077 2406 2676 3155 2374 2647 2406 1669 1982 2655 2413 2683 2684 2377 2654 2624 2412 2682 2654 2377 2654 2624 2413 2683 2684 1701 2015 3067 1695 2019 3074 2418 2684 3087 1669 1982 2655 1637 1983 2685 2413 2683 2684 2414 2685 2686 2413 2683 2684 1637 1983 2685 2415 2686 2687 2412 2682 2654 2413 2683 2684 2416 2687 2688 2415 2686 2687 2413 2683 2684 2414 2685 2686 2416 2687 2688 2413 2683 2684 1695 2019 3074 1696 2020 3076 2419 2688 3088 2420 2689 2689 2414 2685 2686 1637 1983 2685 2421 2690 2944 2420 2689 2945 1637 1983 2300 2421 2690 2944 1637 1983 2300 1638 1963 2280 1696 2020 3076 1712 1745 3075 2422 2691 3089 2423 1935 2235 2421 2690 2944 1638 1963 2280 2425 2692 2706 2376 1663 2522 2375 2648 2621 2425 2692 2706 2424 1744 2610 2376 1663 2522 2426 2693 2707 2425 2692 2706 2375 2648 2621 2426 2693 2707 2375 2648 2621 2379 2652 2622 2427 2694 2708 2379 2652 2622 2380 2653 2623 2427 2694 2708 2426 2693 2707 2379 2652 2622 2428 2695 2709 2427 2694 2708 2380 2653 2623 2429 2696 2710 2380 2653 2623 2408 2679 2652 2429 2696 2710 2428 2695 2709 2380 2653 2623 2430 2697 2711 2408 2679 2652 2407 2678 2651 2430 2697 2711 2429 2696 2710 2408 2679 2652 2431 2698 2712 2430 2697 2711 2407 2678 2651 2432 2699 2713 2407 2678 2651 2411 2681 2653 2432 2699 2713 2431 2698 2712 2407 2678 2651 2433 2700 2714 2411 2681 2653 2412 2682 2654 2433 2700 2714 2432 2699 2713 2411 2681 2653 2434 2701 2715 2433 2700 2714 2412 2682 2654 2434 2701 2715 2412 2682 2654 2415 2686 2687 2435 2702 2716 2415 2686 2687 2416 2687 2688 2435 2702 2716 2434 2701 2715 2415 2686 2687 2436 2703 2717 2416 2687 2688 2414 2685 2686 2436 2703 2717 2435 2702 2716 2416 2687 2688 1695 2019 3074 2417 2704 3090 2418 2684 3087 2437 2705 2718 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3182 3612 2938 3181 3611 2907 3150 3576 2940 3183 3613 2908 3151 3577 2909 3152 3578 2940 3183 3613 2939 3182 3612 2908 3151 3577 2941 3184 3614 2909 3152 3578 2910 3153 3580 2941 3184 3614 2940 3183 3613 2909 3152 3578 2942 3185 3615 2910 3153 3580 2911 3154 3582 2942 3185 3615 2941 3184 3614 2910 3153 3580 2943 3186 3616 2911 3154 3582 2912 3155 3584 2943 3186 3616 2942 3185 3615 2911 3154 3582 2944 3187 3617 2912 3155 3584 2913 3156 3586 2944 3187 3617 2943 3186 3616 2912 3155 3584 2945 3188 3618 2913 3156 3586 2439 2707 2947 2945 3188 3618 2944 3187 3617 2913 3156 3586 2440 2708 2948 2945 3188 3618 2439 2707 2947 1698 2022 2321 1699 2023 2322 2914 3157 3587 2946 3189 3619 2914 3157 3587 2915 3158 3588 2946 3189 3619 1698 2022 2321 2914 3157 3587 2947 3190 3620 2915 3158 3588 2916 3159 3589 2947 3190 3620 2946 3189 3619 2915 3158 3588 2948 3191 3621 2916 3159 3589 2917 3160 3590 2948 3191 3621 2947 3190 3620 2916 3159 3589 2949 3192 3622 2917 3160 3590 2918 3161 3591 2949 3192 3622 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2221 2506 2387 2147 2432 2249 2150 2435 2252 2221 2506 2387 2220 2505 2386 2147 2432 2249 2222 2507 2390 2150 2435 2252 2153 2438 2255 2222 2507 2390 2221 2506 2387 2150 2435 2252 2223 2508 2391 2153 2438 2255 2156 2441 2258 2223 2508 2391 2222 2507 2390 2153 2438 2255 2224 2509 2507 2156 2441 2258 2159 2444 2261 2224 2509 2507 2223 2508 2391 2156 2441 2258 2225 2510 2508 2159 2444 2261 2162 2447 2264 2225 2510 2508 2224 2509 2507 2159 2444 2261 2226 2511 2509 2162 2447 2264 2165 2450 2267 2226 2511 2509 2225 2510 2508 2162 2447 2264 2227 2512 2510 2165 2450 2267 2168 2453 2270 2227 2512 2510 2226 2511 2509 2165 2450 2267 2228 2513 2511 2168 2453 2270 2171 2456 2273 2228 2513 2511 2227 2512 2510 2168 2453 2270 2229 2514 2512 2171 2456 2273 2174 2459 2276 2229 2514 2512 2228 2513 2511 2171 2456 2273 2230 2515 2513 2174 2459 2276 2177 2462 2279 2230 2515 2513 2229 2514 2512 2174 2459 2276 2231 2516 2514 2177 2462 2279 2178 2463 2280 2231 2516 2514 2230 2515 2513 2177 2462 2279 1894 2150 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2569 3436 2253 2545 2531 2254 2546 2532 2277 2569 3436 2276 2568 3433 2253 2545 2531 2278 2570 3440 2254 2546 2532 2255 2547 2533 2278 2570 3440 2277 2569 3436 2254 2546 2532 2279 2571 3442 2255 2547 2533 2256 2548 2534 2279 2571 3442 2278 2570 3440 2255 2547 2533 2280 2572 3465 2256 2548 2534 2257 2549 2905 2280 2572 3465 2279 2571 3442 2256 2548 2534 2281 2573 3468 2257 2549 2905 2258 2550 2906 2281 2573 3468 2280 2572 3465 2257 2549 2905 2282 2574 3472 2258 2550 2906 2259 2551 3370 2282 2574 3472 2281 2573 3468 2258 2550 2906 2283 2575 3478 2259 2551 3370 2260 2552 3372 2283 2575 3478 2282 2574 3472 2259 2551 3370 2284 2576 3479 2260 2552 3372 2261 2553 3373 2284 2576 3479 2283 2575 3478 2260 2552 3372 2285 2577 3480 2261 2553 3373 2262 2554 3374 2285 2577 3480 2284 2576 3479 2261 2553 3373 2286 2578 3481 2262 2554 3374 1882 2138 1993 2286 2578 3481 2285 2577 3480 2262 2554 3374 1868 2124 1988 2286 2578 3481 1882 2138 1993 933 1069 962 2263 2555 3375 2265 2557 3387 2287 2579 3482 2263 2555 3375 933 1069 962 2287 2579 3482 2264 2556 3385 2263 2555 3375 931 1065 961 2265 2557 3387 2266 2558 3388 931 1065 961 933 1069 962 2265 2557 3387 930 1064 960 2266 2558 3388 2267 2559 3389 930 1064 960 931 1065 961 2266 2558 3388 929 1063 959 2267 2559 3389 2268 2560 3398 929 1063 959 930 1064 960 2267 2559 3389 928 1062 958 2268 2560 3398 2269 2561 3399 928 1062 958 929 1063 959 2268 2560 3398 927 1061 957 2269 2561 3399 2270 2562 3400 927 1061 957 928 1062 958 2269 2561 3399 926 1060 956 2270 2562 3400 2271 2563 3401 926 1060 956 927 1061 957 2270 2562 3400 925 1059 955 2271 2563 3401 2272 2564 3402 925 1059 955 926 1060 956 2271 2563 3401 924 1058 954 2272 2564 3402 2273 2565 3403 924 1058 954 925 1059 955 2272 2564 3402 923 1057 953 2273 2565 3403 2274 2566 3404 923 1057 953 924 1058 954 2273 2565 3403 922 1056 952 2274 2566 3404 2275 2567 3429 922 1056 952 923 1057 953 2274 2566 3404 921 1055 951 2275 2567 3429 2276 2568 3433 921 1055 951 922 1056 952 2275 2567 3429 920 1054 950 2276 2568 3433 2277 2569 3436 920 1054 950 921 1055 951 2276 2568 3433 919 1053 949 2277 2569 3436 2278 2570 3440 919 1053 949 920 1054 950 2277 2569 3436 918 1052 948 2278 2570 3440 2279 2571 3442 918 1052 948 919 1053 949 2278 2570 3440 917 1051 947 2279 2571 3442 2280 2572 3465 917 1051 947 918 1052 948 2279 2571 3442 916 1050 946 2280 2572 3465 2281 2573 3468 916 1050 946 917 1051 947 2280 2572 3465 915 1049 945 2281 2573 3468 2282 2574 3472 915 1049 945 916 1050 946 2281 2573 3468 914 1048 944 2282 2574 3472 2283 2575 3478 914 1048 944 915 1049 945 2282 2574 3472 913 1047 943 2283 2575 3478 2284 2576 3479 913 1047 943 914 1048 944 2283 2575 3478 912 1046 942 2284 2576 3479 2285 2577 3480 912 1046 942 913 1047 943 2284 2576 3479 911 1045 941 2285 2577 3480 2286 2578 3481 911 1045 941 912 1046 942 2285 2577 3480 910 1044 940 2286 2578 3481 1868 2124 1988 910 1044 940 911 1045 941 2286 2578 3481 909 1043 939 910 1044 940 1868 2124 1988 2287 2579 3482 933 1069 962 932 1070 963 2288 2580 2073 2289 2581 2074 2290 2582 2108 2291 2583 3672 2290 2584 3673 2289 2585 3674 2292 2586 2207 2288 2580 2073 2290 2582 2108 2293 2587 2208 2292 2586 2207 2290 2582 2108 2294 2588 3483 2293 2589 3484 2290 2590 3485 2294 2588 3483 2290 2590 3485 2295 2591 3529 2291 2583 3672 2295 2592 3675 2290 2584 3673 2288 2580 2073 2296 2593 2232 2289 2581 2074 2297 2594 3530 2289 2595 3531 2296 2596 3532 2298 2597 3676 2291 2583 3672 2289 2585 3674 2297 2594 3530 2298 2598 3533 2289 2595 3531 2299 2599 2233 2300 2600 2234 2296 2593 2232 2301 2601 3537 2296 2596 3532 2300 2602 3539 2288 2580 2073 2299 2599 2233 2296 2593 2232 2301 2601 3537 2297 2594 3530 2296 2596 3532 2302 2603 2235 2303 2604 2237 2300 2600 2234 2304 2605 3939 2300 2606 3940 2303 2607 3941 2299 2599 2233 2302 2603 2235 2300 2600 2234 2304 2608 3540 2301 2601 3537 2300 2602 3539 2302 2603 2235 2305 2609 2288 2303 2604 2237 2306 2610 3541 2303 2611 3542 2305 2612 3548 2307 2613 3942 2303 2607 3941 2306 2614 3943 2304 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0 0 0 1 1 1 2 2 2 3 3 108 2 4 109 1 5 110 4 6 4 0 0 0 2 2 2 5 7 5 4 6 4 2 2 2 6 8 111 5 9 112 2 4 109 6 8 111 2 4 109 3 3 108 7 10 7 8 11 8 1 1 1 9 12 113 1 5 110 8 13 114 0 0 0 7 10 7 1 1 1 9 12 113 3 3 108 1 5 110 10 14 10 11 15 11 8 11 8 12 16 115 8 13 114 11 17 116 7 10 7 10 14 10 8 11 8 9 12 113 8 13 114 12 16 115 13 18 13 14 19 14 11 15 11 15 20 117 11 17 116 14 21 118 10 14 10 13 18 13 11 15 11 12 16 115 11 17 116 15 20 117 16 22 16 17 23 17 14 19 14 18 24 119 14 21 118 17 25 120 13 18 13 16 22 16 14 19 14 15 20 117 14 21 118 18 24 119 19 26 19 20 27 20 17 23 17 21 28 121 17 25 120 20 29 122 16 22 16 19 26 19 17 23 17 18 24 119 17 25 120 21 28 121 22 30 57 23 31 59 20 27 20 24 32 123 20 29 122 23 33 124 19 26 19 22 30 57 20 27 20 21 28 121 20 29 122 24 32 123 25 34 60 26 35 62 23 31 59 27 36 22 23 33 23 26 37 25 22 30 57 25 34 60 23 31 59 24 32 123 23 33 124 27 36 125 28 38 63 29 39 65 26 35 62 30 40 26 26 37 25 29 41 27 25 34 60 28 38 63 26 35 62 27 36 22 26 37 25 30 40 26 31 42 66 32 43 68 29 39 65 33 44 28 29 41 27 32 45 29 28 38 63 31 42 66 29 39 65 30 40 26 29 41 27 33 44 28 34 46 69 35 47 71 32 43 68 36 48 30 32 45 29 35 49 31 31 42 66 34 46 69 32 43 68 33 44 28 32 45 29 36 48 30 37 50 72 38 51 196 35 47 71 39 52 32 35 49 31 38 53 33 34 46 69 37 50 72 35 47 71 36 48 30 35 49 31 39 52 32 40 54 197 41 55 198 38 51 196 42 56 34 38 53 33 41 57 35 37 50 72 40 54 197 38 51 196 39 52 32 38 53 33 42 56 34 43 58 36 41 57 35 40 59 37 42 56 34 41 57 35 43 58 36 44 60 38 40 59 37 37 61 39 43 58 36 40 59 37 44 60 38 45 62 40 37 61 39 34 63 41 44 60 38 37 61 39 45 62 40 46 64 42 34 63 41 31 65 43 45 62 40 34 63 41 46 64 42 47 66 44 31 65 43 28 67 45 46 64 42 31 65 43 47 66 44 48 68 46 28 67 45 25 69 47 47 66 44 28 67 45 48 68 46 49 70 48 25 69 47 22 71 49 48 68 46 25 69 47 49 70 48 50 72 138 22 71 139 19 73 140 49 70 48 22 71 49 50 72 50 51 74 141 19 73 140 16 75 142 50 72 138 19 73 140 51 74 141 52 76 143 16 75 142 13 77 144 51 74 141 16 75 142 52 76 143 53 78 145 13 77 144 10 79 146 52 76 143 13 77 144 53 78 145 54 80 147 10 79 146 7 81 148 53 78 145 10 79 146 54 80 147 55 82 149 7 81 148 0 83 150 54 80 147 7 81 148 55 82 149 56 84 151 0 83 150 4 85 152 55 82 149 0 83 150 56 84 151 5 7 5 57 86 199 4 6 4 58 87 153 4 85 152 57 88 154 56 84 151 4 85 152 58 87 153 59 89 200 60 90 201 57 86 199 61 91 155 57 88 154 60 92 156 5 7 5 59 89 200 57 86 199 58 87 153 57 88 154 61 91 155 62 93 202 63 94 203 60 90 201 64 95 157 60 92 156 63 96 158 59 89 200 62 93 202 60 90 201 61 91 155 60 92 156 64 95 157 65 97 204 66 98 205 63 94 203 67 99 159 63 96 158 66 100 160 62 93 202 65 97 204 63 94 203 64 95 157 63 96 158 67 99 159 68 101 206 69 102 207 66 98 205 70 103 161 66 100 160 69 104 162 65 97 204 68 101 206 66 98 205 67 99 159 66 100 160 70 103 161 71 105 208 72 106 209 69 102 207 73 107 163 69 104 162 72 108 164 68 101 206 71 105 208 69 102 207 70 103 161 69 104 162 73 107 163 74 109 210 75 110 211 72 106 209 76 111 165 72 108 164 75 112 166 71 105 208 74 109 210 72 106 209 73 107 163 72 108 164 76 111 165 77 113 212 78 114 213 75 110 211 79 115 74 75 112 75 78 116 77 74 109 210 77 113 212 75 110 211 76 111 165 75 112 166 79 115 167 80 117 214 81 118 215 78 114 213 82 119 78 78 116 77 81 120 79 77 113 212 80 117 214 78 114 213 79 115 74 78 116 77 82 119 78 83 121 216 84 122 217 81 118 215 85 123 80 81 120 79 84 124 81 80 117 214 83 121 216 81 118 215 82 119 78 81 120 79 85 123 80 86 125 218 87 126 219 84 122 217 88 127 82 84 124 81 87 128 83 83 121 216 86 125 218 84 122 217 85 123 80 84 124 81 88 127 82 89 129 220 90 130 221 87 126 219 91 131 84 87 128 83 90 132 85 86 125 218 89 129 220 87 126 219 88 127 82 87 128 83 91 131 84 92 133 222 93 134 223 90 130 221 94 135 86 90 132 85 93 136 87 89 129 220 92 133 222 90 130 221 91 131 84 90 132 85 94 135 86 95 137 88 93 136 87 92 138 89 94 135 86 93 136 87 95 137 88 96 139 90 92 138 89 89 140 91 95 137 88 92 138 89 96 139 90 97 141 92 89 140 91 86 142 93 96 139 90 89 140 91 97 141 92 98 143 94 86 142 93 83 144 95 97 141 92 86 142 93 98 143 94 99 145 96 83 144 95 80 146 97 98 143 94 83 144 95 99 145 96 100 147 98 80 146 97 77 148 99 99 145 96 80 146 97 100 147 98 101 149 100 77 148 99 74 150 101 100 147 98 77 148 99 101 149 100 102 151 126 74 150 127 71 152 128 101 149 100 74 150 101 102 151 102 103 153 129 71 152 128 68 154 130 102 151 126 71 152 128 103 153 129 104 155 131 68 154 130 65 156 132 103 153 129 68 154 130 104 155 131 105 157 133 65 156 132 62 158 134 104 155 131 65 156 132 105 157 133 106 159 135 62 158 134 59 160 136 105 157 133 62 158 134 106 159 135 107 161 137 59 160 136 5 9 112 106 159 135 59 160 136 107 161 137 107 161 137 5 9 112 6 8 111 61 162 3 6 163 6 3 164 9 58 165 12 61 162 3 3 164 9 9 166 15 58 165 12 3 164 9 64 167 18 107 168 21 6 163 6 61 162 3 64 167 18 6 163 6 67 169 24 106 170 51 107 168 21 64 167 18 67 169 24 107 168 21 70 171 52 105 172 53 106 170 51 67 169 24 70 171 52 106 170 51 73 173 54 104 174 55 105 172 53 70 171 52 73 173 54 105 172 53 76 175 56 103 176 58 104 174 55 73 173 54 76 175 56 104 174 55 79 177 61 102 178 64 103 176 58 76 175 56 79 177 61 103 176 58 82 179 67 101 180 70 102 178 64 79 177 61 82 179 67 102 178 64 85 181 73 100 182 76 101 180 70 82 179 67 85 181 73 101 180 70 88 183 103 99 184 104 100 182 76 85 181 73 88 183 103 100 182 76 91 185 105 98 186 106 99 184 104 88 183 103 91 185 105 99 184 104 94 187 107 97 188 168 98 186 106 91 185 105 94 187 107 98 186 106 95 189 169 96 190 170 97 188 168 94 187 107 95 189 169 97 188 168 9 166 15 56 191 171 58 165 12 12 192 172 55 193 173 56 191 171 9 166 15 12 192 172 56 191 171 15 194 174 54 195 175 55 193 173 12 192 172 15 194 174 55 193 173 18 196 176 53 197 177 54 195 175 15 194 174 18 196 176 54 195 175 21 198 178 52 199 179 53 197 177 18 196 176 21 198 178 53 197 177 24 200 180 51 201 181 52 199 179 21 198 178 24 200 180 52 199 179 27 202 182 50 203 183 51 201 181 24 200 180 27 202 182 51 201 181 30 204 184 49 205 185 50 203 183 27 202 182 30 204 184 50 203 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+ + + + + + + + + 0 0 0 + + + + + + + ./images/3f_pole.jpg + + + + + + + + + 1 0 0 0 0 -4.37114e-8 1 9.31323e-10 0 -1 -4.37114e-8 0 0 0 0 1 + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/docker/gym-gazebo-turtlebot/kinetic/turtlebot_description/package.xml b/docker/gym-gazebo-turtlebot/kinetic/turtlebot_description/package.xml new file mode 100644 index 00000000000..b33d0a1bc9e --- /dev/null +++ b/docker/gym-gazebo-turtlebot/kinetic/turtlebot_description/package.xml @@ -0,0 +1,24 @@ + + turtlebot_description + 2.4.2 + + turtlebot_description provides a complete 3D model of the TurtleBot for simulation and visualization. The files in this package are parsed and used by a variety of other components. Most users will not interact directly with this package. + + Melonee Wise + Daniel Stonier + Daniel Stonier + BSD + http://ros.org/wiki/turtlebot_description + https://github.com/turtlebot/turtlebot + https://github.com/turtlebot/turtlebot/issues + + catkin + + urdf + xacro + + urdf + xacro + kobuki_description + create_description + diff --git a/docker/gym-gazebo-turtlebot/kinetic/turtlebot_description/robots/create_circles_asus_xtion_pro.urdf.xacro b/docker/gym-gazebo-turtlebot/kinetic/turtlebot_description/robots/create_circles_asus_xtion_pro.urdf.xacro new file mode 100644 index 00000000000..8639394e88d --- /dev/null +++ b/docker/gym-gazebo-turtlebot/kinetic/turtlebot_description/robots/create_circles_asus_xtion_pro.urdf.xacro @@ -0,0 +1,17 @@ + + + + + + + + + + + + + diff --git a/docker/gym-gazebo-turtlebot/kinetic/turtlebot_description/robots/create_circles_kinect.urdf.xacro b/docker/gym-gazebo-turtlebot/kinetic/turtlebot_description/robots/create_circles_kinect.urdf.xacro new file mode 100644 index 00000000000..f3a26b2d518 --- /dev/null +++ b/docker/gym-gazebo-turtlebot/kinetic/turtlebot_description/robots/create_circles_kinect.urdf.xacro @@ -0,0 +1,17 @@ + + + + + + + + + + + + + diff --git a/docker/gym-gazebo-turtlebot/kinetic/turtlebot_description/robots/kobuki_hexagons_astra.urdf.xacro b/docker/gym-gazebo-turtlebot/kinetic/turtlebot_description/robots/kobuki_hexagons_astra.urdf.xacro new file mode 100644 index 00000000000..b4d0f68ac68 --- /dev/null +++ b/docker/gym-gazebo-turtlebot/kinetic/turtlebot_description/robots/kobuki_hexagons_astra.urdf.xacro @@ -0,0 +1,17 @@ + + + + + + + + + + + + + diff --git a/docker/gym-gazebo-turtlebot/kinetic/turtlebot_description/robots/kobuki_hexagons_asus_xtion_pro.urdf.xacro b/docker/gym-gazebo-turtlebot/kinetic/turtlebot_description/robots/kobuki_hexagons_asus_xtion_pro.urdf.xacro new file mode 100644 index 00000000000..871dbd092d7 --- /dev/null +++ b/docker/gym-gazebo-turtlebot/kinetic/turtlebot_description/robots/kobuki_hexagons_asus_xtion_pro.urdf.xacro @@ -0,0 +1,17 @@ + + + + + + + + + + + + + diff --git a/docker/gym-gazebo-turtlebot/kinetic/turtlebot_description/robots/kobuki_hexagons_asus_xtion_pro_offset.urdf.xacro b/docker/gym-gazebo-turtlebot/kinetic/turtlebot_description/robots/kobuki_hexagons_asus_xtion_pro_offset.urdf.xacro new file mode 100644 index 00000000000..980dc7ff5db --- /dev/null +++ b/docker/gym-gazebo-turtlebot/kinetic/turtlebot_description/robots/kobuki_hexagons_asus_xtion_pro_offset.urdf.xacro @@ -0,0 +1,17 @@ + + + + + + + + + + + + + diff --git a/docker/gym-gazebo-turtlebot/kinetic/turtlebot_description/robots/kobuki_hexagons_kinect.urdf.xacro b/docker/gym-gazebo-turtlebot/kinetic/turtlebot_description/robots/kobuki_hexagons_kinect.urdf.xacro new file mode 100644 index 00000000000..2e5fc20c6cb --- /dev/null +++ b/docker/gym-gazebo-turtlebot/kinetic/turtlebot_description/robots/kobuki_hexagons_kinect.urdf.xacro @@ -0,0 +1,17 @@ + + + + + + + + + + + + + diff --git a/docker/gym-gazebo-turtlebot/kinetic/turtlebot_description/robots/kobuki_hexagons_r200.urdf.xacro b/docker/gym-gazebo-turtlebot/kinetic/turtlebot_description/robots/kobuki_hexagons_r200.urdf.xacro new file mode 100644 index 00000000000..0f0ae1b65e0 --- /dev/null +++ b/docker/gym-gazebo-turtlebot/kinetic/turtlebot_description/robots/kobuki_hexagons_r200.urdf.xacro @@ -0,0 +1,17 @@ + + + + + + + + + + + + + diff --git a/docker/gym-gazebo-turtlebot/kinetic/turtlebot_description/robots/roomba_circles_asus_xtion_pro.urdf.xacro b/docker/gym-gazebo-turtlebot/kinetic/turtlebot_description/robots/roomba_circles_asus_xtion_pro.urdf.xacro new file mode 100644 index 00000000000..8639394e88d --- /dev/null +++ b/docker/gym-gazebo-turtlebot/kinetic/turtlebot_description/robots/roomba_circles_asus_xtion_pro.urdf.xacro @@ -0,0 +1,17 @@ + + + + + + + + + + + + + diff --git a/docker/gym-gazebo-turtlebot/kinetic/turtlebot_description/robots/roomba_circles_kinect.urdf.xacro b/docker/gym-gazebo-turtlebot/kinetic/turtlebot_description/robots/roomba_circles_kinect.urdf.xacro new file mode 100644 index 00000000000..f3a26b2d518 --- /dev/null +++ b/docker/gym-gazebo-turtlebot/kinetic/turtlebot_description/robots/roomba_circles_kinect.urdf.xacro @@ -0,0 +1,17 @@ + + + + + + + + + + + + + diff --git a/docker/gym-gazebo-turtlebot/kinetic/turtlebot_description/test/test_urdf.cpp b/docker/gym-gazebo-turtlebot/kinetic/turtlebot_description/test/test_urdf.cpp new file mode 100644 index 00000000000..a22cf6cb6f2 --- /dev/null +++ b/docker/gym-gazebo-turtlebot/kinetic/turtlebot_description/test/test_urdf.cpp @@ -0,0 +1,110 @@ +/********************************************************************* + * Software License Agreement (BSD License) + * + * Copyright (c) 2008, Willow Garage, Inc. + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/or other materials provided + * with the distribution. + * * Neither the name of the Willow Garage nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + *********************************************************************/ + +/** \author Ioan Sucan */ + +#include +#include + +#include +#include +#include +#include +#include +#include +#include + +#include + +int runExternalProcess(const std::string &executable, const std::string &args) +{ + return system((executable + " " + args).c_str()); +} + +int walker( char *result, int& test_result) +{ + DIR *d; + struct dirent *dir; + d = opendir( "robots" ); + if( d == NULL ) + { + return 1; + } + while( ( dir = readdir( d ) ) ) + { + if( strcmp( dir->d_name, "." ) == 0 || + strcmp( dir->d_name, ".." ) == 0 ) + { + continue; + } + if( dir->d_type != DT_DIR ) + { + std::string dir_name = dir->d_name; + if (dir_name.find(std::string(".urdf.xacro")) == dir_name.size()-11) + { + char pwd[MAXPATHLEN]; + getcwd( pwd, MAXPATHLEN ); + printf("\n\ntesting: %s\n",(std::string(pwd)+"/robots/"+dir_name).c_str()); + runExternalProcess("python `rospack find xacro`/xacro.py", std::string(pwd)+"/robots/"+dir_name+" > `rospack find turtlebot_description`/test/tmp.urdf" ); + test_result = test_result || runExternalProcess("`rospack find urdf_parser`/bin/check_urdf", "`rospack find turtlebot_description`/test/tmp.urdf"); + //break; + } + } + } + closedir( d ); + return *result == 0; +} + +TEST(URDF, CorrectFormat) +{ + int test_result = 0; + + char buf[MAXPATHLEN] = { 0 }; + if( walker( buf, test_result ) == 0 ) + { + printf( "Found: %s\n", buf ); + } + else + { + puts( "Not found" ); + } + + EXPECT_TRUE(test_result == 0); +} + +int main(int argc, char **argv) +{ + testing::InitGoogleTest(&argc, argv); + return RUN_ALL_TESTS(); +} diff --git a/docker/gym-gazebo-turtlebot/kinetic/turtlebot_description/urdf/common_properties.urdf.xacro b/docker/gym-gazebo-turtlebot/kinetic/turtlebot_description/urdf/common_properties.urdf.xacro new file mode 100644 index 00000000000..0d630e9fa40 --- /dev/null +++ b/docker/gym-gazebo-turtlebot/kinetic/turtlebot_description/urdf/common_properties.urdf.xacro @@ -0,0 +1,57 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/docker/gym-gazebo-turtlebot/kinetic/turtlebot_description/urdf/sensors/astra.urdf.xacro b/docker/gym-gazebo-turtlebot/kinetic/turtlebot_description/urdf/sensors/astra.urdf.xacro new file mode 100644 index 00000000000..25f6da25f93 --- /dev/null +++ b/docker/gym-gazebo-turtlebot/kinetic/turtlebot_description/urdf/sensors/astra.urdf.xacro @@ -0,0 +1,74 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/docker/gym-gazebo-turtlebot/kinetic/turtlebot_description/urdf/sensors/asus_xtion_pro.urdf.xacro b/docker/gym-gazebo-turtlebot/kinetic/turtlebot_description/urdf/sensors/asus_xtion_pro.urdf.xacro new file mode 100644 index 00000000000..bcbd51f7eb3 --- /dev/null +++ b/docker/gym-gazebo-turtlebot/kinetic/turtlebot_description/urdf/sensors/asus_xtion_pro.urdf.xacro @@ -0,0 +1,103 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/docker/gym-gazebo-turtlebot/kinetic/turtlebot_description/urdf/sensors/asus_xtion_pro_offset.urdf.xacro b/docker/gym-gazebo-turtlebot/kinetic/turtlebot_description/urdf/sensors/asus_xtion_pro_offset.urdf.xacro new file mode 100644 index 00000000000..312ccbadddd --- /dev/null +++ b/docker/gym-gazebo-turtlebot/kinetic/turtlebot_description/urdf/sensors/asus_xtion_pro_offset.urdf.xacro @@ -0,0 +1,74 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/docker/gym-gazebo-turtlebot/kinetic/turtlebot_description/urdf/sensors/kinect.urdf.xacro b/docker/gym-gazebo-turtlebot/kinetic/turtlebot_description/urdf/sensors/kinect.urdf.xacro new file mode 100644 index 00000000000..8700d5c8a20 --- /dev/null +++ b/docker/gym-gazebo-turtlebot/kinetic/turtlebot_description/urdf/sensors/kinect.urdf.xacro @@ -0,0 +1,70 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/docker/gym-gazebo-turtlebot/kinetic/turtlebot_description/urdf/sensors/r200.urdf.xacro b/docker/gym-gazebo-turtlebot/kinetic/turtlebot_description/urdf/sensors/r200.urdf.xacro new file mode 100644 index 00000000000..b026dacc2b2 --- /dev/null +++ b/docker/gym-gazebo-turtlebot/kinetic/turtlebot_description/urdf/sensors/r200.urdf.xacro @@ -0,0 +1,161 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + --> + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/docker/gym-gazebo-turtlebot/kinetic/turtlebot_description/urdf/stacks/circles.urdf.xacro b/docker/gym-gazebo-turtlebot/kinetic/turtlebot_description/urdf/stacks/circles.urdf.xacro new file mode 100644 index 00000000000..6f8ac233894 --- /dev/null +++ b/docker/gym-gazebo-turtlebot/kinetic/turtlebot_description/urdf/stacks/circles.urdf.xacro @@ -0,0 +1,310 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/docker/gym-gazebo-turtlebot/kinetic/turtlebot_description/urdf/stacks/hexagons.urdf.xacro b/docker/gym-gazebo-turtlebot/kinetic/turtlebot_description/urdf/stacks/hexagons.urdf.xacro new file mode 100644 index 00000000000..c158e409846 --- /dev/null +++ b/docker/gym-gazebo-turtlebot/kinetic/turtlebot_description/urdf/stacks/hexagons.urdf.xacro @@ -0,0 +1,235 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/docker/gym-gazebo-turtlebot/kinetic/turtlebot_description/urdf/turtlebot_common_library.urdf.xacro b/docker/gym-gazebo-turtlebot/kinetic/turtlebot_description/urdf/turtlebot_common_library.urdf.xacro new file mode 100644 index 00000000000..c5967cd2158 --- /dev/null +++ b/docker/gym-gazebo-turtlebot/kinetic/turtlebot_description/urdf/turtlebot_common_library.urdf.xacro @@ -0,0 +1,9 @@ + + + + + + + diff --git a/docker/gym-gazebo-turtlebot/kinetic/turtlebot_description/urdf/turtlebot_gazebo.urdf.xacro b/docker/gym-gazebo-turtlebot/kinetic/turtlebot_description/urdf/turtlebot_gazebo.urdf.xacro new file mode 100644 index 00000000000..2f6925bbe21 --- /dev/null +++ b/docker/gym-gazebo-turtlebot/kinetic/turtlebot_description/urdf/turtlebot_gazebo.urdf.xacro @@ -0,0 +1,42 @@ + + + + + + + true + 20.0 + + ${60.0*M_PI/180.0} + + B8G8R8 + 640 + 480 + + + 0.05 + 8.0 + + + + camera + true + 10 + rgb/image_raw + depth/image_raw + depth/points + rgb/camera_info + depth/camera_info + camera_depth_optical_frame + 0.1 + 0.0 + 0.0 + 0.0 + 0.0 + 0.0 + 0.4 + + + + + diff --git a/docker/gym-gazebo-turtlebot/kinetic/turtlebot_description/urdf/turtlebot_properties.urdf.xacro b/docker/gym-gazebo-turtlebot/kinetic/turtlebot_description/urdf/turtlebot_properties.urdf.xacro new file mode 100644 index 00000000000..d4c7d0bed31 --- /dev/null +++ b/docker/gym-gazebo-turtlebot/kinetic/turtlebot_description/urdf/turtlebot_properties.urdf.xacro @@ -0,0 +1,31 @@ + + + + + + + + + + + + diff --git a/docker/gym-gazebo-turtlebot/kinetic/turtlebot_world_headless.launch b/docker/gym-gazebo-turtlebot/kinetic/turtlebot_world_headless.launch new file mode 100644 index 00000000000..f5715284dcf --- /dev/null +++ b/docker/gym-gazebo-turtlebot/kinetic/turtlebot_world_headless.launch @@ -0,0 +1,37 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/docker/gym-gazebo-turtlebot/melodic/Dockerfile b/docker/gym-gazebo-turtlebot/melodic/Dockerfile new file mode 100644 index 00000000000..991947b177b --- /dev/null +++ b/docker/gym-gazebo-turtlebot/melodic/Dockerfile @@ -0,0 +1,52 @@ +FROM austinderic/gym-gazebo:melodic +LABEL maintainer "Austin.Deric@gmail.org" + +#-------------------- +# Install Gym-Gazebo Turtlebot dependencies +#------------------ + +RUN apt-get update && apt-get install -y \ + ros-melodic-geometry2 \ + ros-melodic-xacro \ + ros-melodic-roslint \ + ros-melodic-ros-control \ + ros-melodic-image-common \ + ros-melodic-control-toolbox \ + ros-melodic-gazebo-ros-pkgs \ + ros-melodic-roslint \ + ros-melodic-joystick-drivers \ + ros-melodic-ecl \ + ros-melodic-pcl-ros \ + ros-melodic-yocs-msgs \ + libbullet-dev \ + libusb-dev \ + libsdl-dev \ + libsdl-image1.2-dev \ + libftdi-dev \ + mesa-utils \ + && rm -rf /var/lib/apt/lists/* + +RUN pip install scikit-image + +#-------------------- +# Install Gym-Gazebo Turtlebot Example +#------------------ + +RUN mkdir -p /root/catkin_ws/src +WORKDIR /root/catkin_ws/src +RUN wstool init +RUN wstool merge https://gist.githubusercontent.com/AustinDeric/c14633f1d5bcabc14307dcca2425d133/raw/266668674782d5e1096ecd13f3ea6dcf5af5248a/gym-gazebo-turtlebot-melodic.rosinstall +RUN wstool update +WORKDIR /root/catkin_ws +RUN /bin/bash -c "source /opt/ros/melodic/setup.bash && catkin build" +RUN echo "source /root/catkin_ws/devel/setup.bash" >> ~/.bashrc + +#-------------------- +# Setup environment variables +#------------------ +RUN echo "export GYM_GAZEBO_WORLD_CIRCUIT2=/root/gym-gazebo/gym_gazebo/envs/assets/worlds/circuit2.world" >> ~/.bashrc +RUN export GYM_GAZEBO_WORLD_CIRCUIT2=/root/gym-gazebo/gym_gazebo/envs/assets/worlds/circuit2.world +RUN echo "export GAZEBO_MODEL_PATH=/root/gym-gazebo/gym_gazebo/envs/assets/models" >> ~/.bashrc + +WORKDIR /root/ + diff --git a/docker/gym-gazebo/kinetic-nvidia9.2/Dockerfile b/docker/gym-gazebo/kinetic-nvidia9.2/Dockerfile new file mode 100644 index 00000000000..ca7a6ea85d8 --- /dev/null +++ b/docker/gym-gazebo/kinetic-nvidia9.2/Dockerfile @@ -0,0 +1,37 @@ +FROM austinderic/ros-desktop-full:kinetic-nvidia9.2 +LABEL maintainer "Austin.Deric@gmail.org" + +#-------------------- +# Setup nvidia-docker2 +#-------------------- +# Reference: http://wiki.ros.org/docker/Tutorials/Hardware%20Acceleration + +ENV NVIDIA_VISIBLE_DEVICES \ + ${NVIDIA_VISIBLE_DEVICES:-all} +ENV NVIDIA_DRIVER_CAPABILITIES \ + ${NVIDIA_DRIVER_CAPABILITIES:+$NVIDIA_DRIVER_CAPABILITIES,}graphics + +#-------------------- +# Install OpenAI gym +#-------------------- + +RUN apt-get update && apt-get install -y --no-install-recommends \ + python-pip && \ + apt-get clean && \ +rm -rf /var/lib/apt/lists/* + +RUN pip install --upgrade pip + +RUN pip install gym + +#-------------------- +# Install gym-gazebo +#-------------------- + +RUN git clone https://github.com/erlerobot/gym-gazebo.git /root/gym-gazebo +WORKDIR /root/gym-gazebo +RUN pip install -e . + + + + diff --git a/docker/gym-gazebo/kinetic/Dockerfile b/docker/gym-gazebo/kinetic/Dockerfile new file mode 100644 index 00000000000..3fdaedcd67f --- /dev/null +++ b/docker/gym-gazebo/kinetic/Dockerfile @@ -0,0 +1,37 @@ +# docker build -t austinderic/gym-gazebo:kinetic . +FROM osrf/ros:kinetic-desktop-full + +# set environment variables +ENV NVIDIA_VISIBLE_DEVICES ${NVIDIA_VISIBLE_DEVICES:-all} +ENV NVIDIA_DRIVER_CAPABILITIES ${NVIDIA_DRIVER_CAPABILITIES:+$NVIDIA_DRIVER_CAPABILITIES,}graphics + +# Dependencies for building packages +RUN apt-get update && apt-get install -y \ + python-rosinstall \ + python-rosinstall-generator \ + python-wstool \ + build-essential \ + python-pip \ + nano \ + gdb \ + && rm -rf /var/lib/apt/lists/* + +# Unofficial ROS installation steps +RUN pip install --upgrade pip + +RUN pip install -U catkin_tools + +#-------------------- +# Install OpenAI gym +#------------------- + +RUN pip install gym + +#-------------------- +# Install gym-gazebo +#-------------------- + +RUN git clone -b master https://github.com/erlerobot/gym-gazebo.git /root/gym-gazebo +WORKDIR /root/gym-gazebo +RUN pip install -e . + diff --git a/docker/gym-gazebo/melodic/Dockerfile b/docker/gym-gazebo/melodic/Dockerfile new file mode 100644 index 00000000000..b63e9a20df1 --- /dev/null +++ b/docker/gym-gazebo/melodic/Dockerfile @@ -0,0 +1,36 @@ +FROM osrf/ros:melodic-desktop-full + +# set environment variables +ENV NVIDIA_VISIBLE_DEVICES ${NVIDIA_VISIBLE_DEVICES:-all} +ENV NVIDIA_DRIVER_CAPABILITIES ${NVIDIA_DRIVER_CAPABILITIES:+$NVIDIA_DRIVER_CAPABILITIES,}graphics + +# Dependencies for building packages +RUN apt-get update && apt-get install -y \ + python-rosinstall \ + python-rosinstall-generator \ + python-wstool \ + build-essential \ + python-pip \ + nano \ + gdb \ + && rm -rf /var/lib/apt/lists/* + +# Unofficial ROS installation steps +RUN pip install --upgrade pip + +RUN pip install -U catkin_tools + +#-------------------- +# Install OpenAI gym +#------------------- + +RUN pip install gym + +#-------------------- +# Install gym-gazebo +#-------------------- + +RUN git clone -b devel https://github.com/AustinDeric/gym-gazebo.git /root/gym-gazebo +WORKDIR /root/gym-gazebo +RUN pip install -e . +