Merge pull request #5 from RonaldsonBellande/main

latest commits
This commit is contained in:
Ronaldson Bellande 2023-09-28 12:17:15 -04:00 committed by GitHub
commit 51dc527ce2
9 changed files with 283 additions and 19 deletions

10
.gitignore vendored
View File

@ -9,3 +9,13 @@ qtcreator-build
*.backup
*.user
*.autosave
# Scripts
init_setup.sh
repository_recal.sh
push.sh
publish.sh
ros_publish.sh
prerelease_test.sh
fix_errors.sh
replace_add_index.sh

View File

@ -18,7 +18,7 @@ notifications:
- ronaldsonbellande@gmail.com
env:
matrix:
- ROS_DISTRO=noetic ROS_REPO=ros-shadow-fixed UPSTREAM_WORKSPACE=file OS_NAME=ubuntu OS_CODE_NAME=focal $ROSINSTALL_FILENAME=".robotis_framework.rosinstall"
- ROS_DISTRO=noetic ROS_REPO=ros-shadow-fixed UPSTREAM_WORKSPACE=file OS_NAME=ubuntu OS_CODE_NAME=focal $ROSINSTALL_FILENAME=".humanoid_robot_framework.rosinstall"
branches:
only:
- master

View File

@ -1,22 +1,21 @@
## ROS Packages for ROBOTIS Framework
|Version|Kinetic + Ubuntu Xenial|Melodic + Ubuntu Bionic|
|:---:|:---:|:---:|
|[![GitHub version](https://badge.fury.io/gh/ROBOTIS-GIT%2FROBOTIS-Framework.svg)](https://badge.fury.io/gh/ROBOTIS-GIT%2FROBOTIS-Framework)|[![Build Status](https://travis-ci.org/ROBOTIS-GIT/ROBOTIS-Framework.svg?branch=master)](https://travis-ci.org/ROBOTIS-GIT/ROBOTIS-Framework)|-|
# ROS/ROS2 Humanoid Robot Framework
## ROBOTIS e-Manual for ROBOTIS Framework
- [ROBOTIS e-Manual for ROBOTIS Framework](http://emanual.robotis.com/docs/en/software/robotis_framework_packages)
--------------------------------------------------------------------------------------------------------
Updated Version [humanoid_robot_framework](https://github.com/Robotics-Sensors/humanoid_robot_framework) readme.
## Wiki for robotis_framework Packages
- http://wiki.ros.org/robotis_framework (metapackage)
- http://wiki.ros.org/robotis_controller
- http://wiki.ros.org/robotis_device
- http://wiki.ros.org/robotis_framework_common
Old Version/Previous Used for Different Context [ROBOTIS-Framework](https://github.com/ROBOTIS-GIT/ROBOTIS-Framework) readme.
## Open Source related to ROBOTIS Framework
- [robotis_framework](https://github.com/ROBOTIS-GIT/ROBOTIS-Framework)
- [robotis_controller_msgs](https://github.com/ROBOTIS-GIT/ROBOTIS-Framework-msgs)
- [dynamixel_sdk](https://github.com/ROBOTIS-GIT/DynamixelSDK)
--------------------------------------------------------------------------------------------------------
## Important
The repository has diverged, as the old commits and codes are under the previous License and
the new commits and codes are under New License
## Documents and Videos related to ROBOTIS Framework
- [ROBOTIS e-Manual for ROBOTIS Framework](http://emanual.robotis.com/docs/en/software/robotis_framework_packages/)
- [ROBOTIS e-Manual for Dynamixel SDK](http://emanual.robotis.com/docs/en/software/dynamixel/dynamixel_sdk/overview/)
--------------------------------------------------------------------------------------------------------
Latest versions and Maintainer is on organization https://github.com/Robotics-Sensors
### Maintainer
* Ronaldson Bellande
## License
This SDK is distributed under the [Apache License, Version 2.0](https://www.apache.org/licenses/LICENSE-2.0), see [LICENSE](https://github.com/Robotics-Sensors/humanoid_robot_framework/blob/main/LICENSE) and [NOTICE](https://github.com/Robotics-Sensors/humanoid_robot_framework/blob/main/LICENSE) for more information.

73
docker/Dockerfile Normal file
View File

@ -0,0 +1,73 @@
ARG ROS_ARCHITECTURE_VERSION=latest
FROM ubuntu:20.04 as base_build
SHELL [ "/bin/bash" , "-c" ]
ENV DEBIAN_FRONTEND noninteractive
ENV PYTHON_VERSION="3.8"
ARG ROS_ARCHITECTURE_VERSION_GIT_BRANCH=master
ARG ROS_ARCHITECTURE_VERSION_GIT_COMMIT=HEAD
LABEL maintainer=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
# RUN workspace and sourcing
WORKDIR ./
COPY requirements.txt .
COPY system_requirements.txt .
COPY ros_requirements.txt .
COPY ros_repository_requirements.txt .
# Install dependencies for system
RUN apt-get update && apt-get install -y --no-install-recommends <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.txt
# Install dependencies for ros system
RUN apt-get update && apt-get install -y --no-install-recommends <ros_requirements.txt \
&& rm -rf /var/lib/apt/lists/*
RUN apt-get update && apt-get -y upgrade \
&& <ros_repository_requirements.txt
# Create local catkin workspace
ENV CATKIN_WS=/root/catkin_ws
RUN mkdir -p $CATKIN_WS/src
WORKDIR $CATKIN_WS/src
# Initialize local catkin workspace, install dependencies and build workpsace
RUN echo "source /opt/ros/noetic/setup.bash" >> ~/.bashrc
RUN source ~/.bashrc
RUN cd $CATKIN_WS \
&& rosdep init \
&& rosdep update \
&& rosdep update --rosdistro noetic \
&& rosdep fix-permissions \
&& rosdep install -y --from-paths . --ignore-src --rosdistro noetic
# Always source catkin_setup.sh when launching bash
RUN echo "source /usr/local/bin/catkin_setup.sh" >> /root/.bashrc
COPY catkin_setup.sh /usr/local/bin/catkin_setup.sh
RUN chmod +x /usr/local/bin/catkin_setup.sh
ENTRYPOINT ["/usr/local/bin/catkin_setup.sh"]
CMD ["bash"]

90
docker/gpu.Dockerfile Normal file
View File

@ -0,0 +1,90 @@
ARG ROS_ARCHITECTURE_VERSION=latest
FROM ubuntu:20.04 as base_build
FROM nvidia/cuda:11.2.1-base-ubuntu20.04
ENV DEBIAN_FRONTEND noninteractive
ENV PYTHON_VERSION="3.8"
ENV CUDNN_VERSION=8.1.0.77
ENV TF_TENSORRT_VERSION=7.2.2
ENV CUDA=11.2
ENV LD_LIBRARY_PATH /usr/local/cuda/extras/CUPTI/lib64:$LD_LIBRARY_PATH
ARG ROS_ARCHITECTURE_VERSION_GIT_BRANCH=master
ARG ROS_ARCHITECTURE_VERSION_GIT_COMMIT=HEAD
LABEL maintainer=ronaldsonbellande@gmail.com
LABEL ROS_architecture_github_branchtag=${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
# RUN workspace and sourcing
WORKDIR ./
COPY requirements.txt .
COPY system_requirements.txt .
COPY ros_requirements.txt .
COPY ros_repository_requirements.txt .
# Install dependencies for system
RUN apt-get update && apt-get install -y --no-install-recommends <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.txt
# Install dependencies for ros system
RUN apt-get update && apt-get install -y --no-install-recommends <ros_requirements.txt \
&& rm -rf /var/lib/apt/lists/*
# Create local catkin workspace
ENV CATKIN_WS=/root/catkin_ws
RUN mkdir -p $CATKIN_WS/src
WORKDIR $CATKIN_WS/src
# Initialize local catkin workspace, install dependencies and build workpsace
RUN echo "source /opt/ros/noetic/setup.bash" >> ~/.bashrc
RUN source ~/.bashrc
RUN cd $CATKIN_WS \
&& rosdep init \
&& rosdep update \
&& rosdep update --rosdistro noetic \
&& rosdep fix-permissions \
&& rosdep install -y --from-paths . --ignore-src --rosdistro noetic
# Always source catkin_setup.sh when launching bash
RUN echo "source /usr/local/bin/catkin_setup.sh" >> /root/.bashrc
COPY catkin_setup.sh /usr/local/bin/catkin_setup.sh
RUN chmod +x /usr/local/bin/catkin_setup.sh
ENTRYPOINT ["/usr/local/bin/catkin_setup.sh"]
CMD ["bash"]
RUN apt-key adv --fetch-keys https://developer.download.nvidia.com/compute/cuda/repos/ubuntu2004/x86_64/3bf863cc.pub && \
apt-get update && apt-get install -y --no-install-recommends \
cuda-nvrtc-${CUDA/./-} \
libcudnn8=${CUDNN_VERSION}-1+cuda${CUDA} \
-r cuda_requirements.txt
# We don't install libnvinfer-dev since we don't need to build against TensorRT
RUN apt-key adv --fetch-keys https://developer.download.nvidia.com/compute/machine-learning/repos/ubuntu2004/x86_64/7fa2af80.pub && \
echo "deb https://developer.download.nvidia.com/compute/machine-learning/repos/ubuntu2004/x86_64 /" > /etc/apt/sources.list.d/tensorRT.list && \
apt-get update && \
apt-get install -y --no-install-recommends libnvinfer7=${TF_TENSORRT_VERSION}-1+cuda11.0 \
libnvinfer-plugin7=${TF_TENSORRT_VERSION}-1+cuda11.0 \
&& apt-get clean && \
rm -rf /var/lib/apt/lists/*;

View File

@ -0,0 +1,39 @@
# Recomandation for library to install in python
setuptools
pandas
scipy
sklearn
future
grpcio
h5py
requests
opencv-python
python-math
random2
pytest-warnings
os.path2
pydicom
glob2
pytest-shutil
DateTime
zipfile36
urllib3
python-time
trimesh
librosa
gym
matplotlib
image-slicer
nvidia-ml-py3
imgaug
tqdm
rosdep
protobuf==3.15.2
numpy==1.19.2
numba==0.55.2
imageio==2.9.0
pillow==7.2.0
tensorflow==2.7.0
keras==2.7.0

View File

@ -0,0 +1,9 @@
git clone -b https://github.com/Robotics-Sensors/ROBOTIS-HUMANOID_ROBOT-msgs
git clone -b https://github.com/Robotics-Sensors/ROBOTIS-HUMANOID_ROBOT
git clone -b https://github.com/Robotics-Sensors/ROBOTIS-HUMANOID_ROBOT-Tools
git clone -b https://github.com/Robotics-Sensors/ROBOTIS-Framework-msgs
git clone -b https://github.com/Robotics-Sensors/ROBOTIS-Framework
git clone -b https://github.com/Robotics-Sensors/ROBOTIS-HUMANOID_ROBOT-Common
git clone -b https://github.com/Robotics-Sensors/ROBOTIS-Utility
git clone -b https://github.com/Robotics-Sensors/ROBOTIS-HUMANOID_ROBOT-Demo
git clone -b https://github.com/Robotics-Sensors/ROBOTIS-Math

View File

@ -0,0 +1,15 @@
# Recomandation for dependencies for ros system
ros-noetic-desktop-full
build-essential
ros-noetic-catkin
python-rosdep
python-rosinstall
python-rosinstall-generator
python-wstool
python-catkin-tools
ros-noetic-pcl-ros
ros-noetic-flexbe-behavior-engine
ros-noetic-moveit
ros-noetic-gazebo-ros-pkgs
ros-noetic-gazebo-ros-control

View File

@ -0,0 +1,29 @@
# Recomandation for dependencies for linux system
software-properties-common
python3.8
neovim
apt-utils
automake
build-essential
ca-certificates
pycurl
git
python3-pip
libcurl3-dev
libfreetype6-dev
libpng-dev
libtool
libzmq3-dev
mlocate
openjdk-8-jdk
openjdk-8-jre-headless
pkg-config
python-dev
software-properties-common
swig
unzip
wget
zip
zlib1g-dev
python3-distutils