BRSRI/bellande_functionality_api
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This commit is contained in:
Ronaldson Bellande 2024-05-12 22:26:46 -04:00
parent 4d1847e631
commit 7cb8db5000
3 changed files with 45 additions and 56 deletions
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53
docker/Dockerfile.ros1
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@ -32,47 +32,6 @@ LABEL author=ronaldsonbellande@gmail.com
LABEL ROS_architecture_github_branchtag=${ROS_ARCHITECTURE_VERSION_GIT_BRANCH}
LABEL ROS_architecture_github_commit=${ROS_ARCHITECTURE_VERSION_GIT_COMMIT}
# Ubuntu setup
RUN apt-get update -y
RUN apt-get upgrade -y
# Set the working directory inside the Docker image
WORKDIR /
# Create a directory for the requirements
RUN mkdir -p /requirements
# Copy specific files from the requirements directory to the "requirements" directory in the Docker image
COPY ../requirements/requirements.txt /requirements/requirements.txt
COPY ../requirements/system_requirements.txt /requirements/system_requirements.txt
COPY ../requirements/ros_requirements.txt /requirements/ros_requirements.txt
COPY ../requirements/ros_repository_requirements.txt /requirements/ros_repository_requirements.txt
# Install dependencies for system
RUN apt-get update && apt-get install -y --no-install-recommends <requirements/system_requirements.txt\
&& apt-get upgrade -y \
&& apt-get clean \
&& rm -rf /var/lib/apt/lists/*
# Install python 3.8 and make primary
RUN apt-get update && apt-get install -y \
python3.8 python3.8-dev python3-pip python3.8-venv \
&& update-alternatives --install /usr/bin/python python /usr/bin/python3.8 1
# Pip install update
RUN pip3 install --upgrade pip
# Install python libraries
RUN pip --no-cache-dir install -r requirements/requirements.txt
# Install dependencies for ros system
RUN apt-get update \
&& apt-get install -y --no-install-recommends <requirements/ros_requirements.txt \
&& rm -rf /var/lib/apt/lists/*
# Add /usr/bin to the PATH
ENV PATH="/usr/bin:${PATH}"
# Create local catkin workspace
RUN mkdir -p $CATKIN_WS/src
@ -82,10 +41,20 @@ COPY ../ ${CATKIN_WS}/src
# Set the working directory for Catkin
WORKDIR $CATKIN_WS
RUN export ROS_INSTALL_PATH=$(find / -name setup.bash -print)
RUN ROS_VERSION=$(rosversion -d)
# Print ROS installation path and version
RUN echo "ROS installed in: $ROS_INSTALL_PATH"
RUN echo "ROS version: $ROS_VERSION"
# Initialize catkin workspace
RUN catkin init \
&& catkin config --cmake-args -DCATKIN_ENABLE_TESTING=0
# Initialize local catkin workspace, install dependencies and build workpsace
RUN echo "source /opt/ros/${ROS_VERSION}/setup.bash" >> ~/.bashrc
RUN source ~/.bashrc
RUN catkin config --extend "/opt/ros/"${ROS_VERSION}"
RUN cd $CATKIN_WS \
&& rosdep init \

6
ros_web_api_bellande_step/launch/bellande_step_api_2d.launch.py
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@ -1,13 +1,17 @@
import os
import sys
import subprocess
from launch import LaunchDescription
from launch_ros.actions import Node
from launch.actions import DeclareLaunchArgument
from launch.substitutions import LaunchConfiguration
def ros1_launch_description():
# Get command-line arguments
args = sys.argv[1:]
# Construct the ROS 1 launch command
# Construct the ROS 1 launch commandi
roslaunch_command = ["roslaunch", "ros_web_api_bellande_step", "bellande_step_api_2d.launch"] + args
# Execute the launch command

42
ros_web_api_bellande_step/launch/ros1/bellande_step_api_2d.launch
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@ -1,16 +1,32 @@
<?xml version="1.0"?>
<launch>
<arg name="x1"/>
<arg name="y1"/>
<arg name="x2"/>
<arg name="y2"/>
<arg name="limit"/>
<!--
Copyright (C) 2024 Bellande Robotics Sensors Research Innovation Center, Ronaldson Bellande
<node pkg="ros_web_api_bellande_step" type="bellande_step_api_2d.py" name="bellande_step_api_2d_node" output="screen">
<param name="x1" value="$(arg x1)"/>
<param name="y1" value="$(arg y1)"/>
<param name="x2" value="$(arg x2)"/>
<param name="y2" value="$(arg y2)"/>
<param name="limit" value="$(arg limit)"/>
</node>
Licensed under the Apache License, Version 2.0 (the "License"); you may not
use this file except in compliance with the License. You may obtain a copy of
the License at
http://www.apache.org/licenses/LICENSE-2.0
Unless required by applicable law or agreed to in writing, software
distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
License for the specific language governing permissions and limitations under
the License.
-->
<launch>
<arg name="x1" />
<arg name="y1" />
<arg name="x2" />
<arg name="y2" />
<arg name="limit" />
<node pkg="ros_web_api_bellande_step" type="bellande_step_api_2d.py"
name="bellande_step_api_2d_node" output="screen">
<param name="x1" value="$(arg x1)" />
<param name="y1" value="$(arg y1)" />
<param name="x2" value="$(arg x2)" />
<param name="y2" value="$(arg y2)" />
<param name="limit" value="$(arg limit)" />
</node>
</launch>