Feature/u22 0.9.15

README.md

@@ -21,3 +21,7 @@
 ## Getting started and documentation
 
 Installation instructions and further documentation of the ROS bridge and additional packages are found [__here__](https://carla.readthedocs.io/projects/ros-bridge/en/latest/).
+
+## Run with Docker
+
+See [Docker](./docs/run_docker.md).

carla_ros_bridge/src/carla_ros_bridge/CARLA_VERSION

@@ -1 +1 @@
-0.9.13
+0.9.15

docker/Dockerfile

@@ -25,6 +25,8 @@ RUN /bin/bash -c 'source /opt/ros/$ROS_DISTRO/setup.bash; \
     echo "export PYTHONPATH=\$PYTHONPATH:/opt/carla/PythonAPI/carla" >> /opt/carla/setup.bash'
 
 COPY . /opt/carla-ros-bridge/src/
+RUN /bin/bash -c 'apt install ros-$ROS_DISTRO-rviz2 python3-pip -y'
+RUN /bin/bash -c 'rosdep install --from-paths src --ignore-src -r -y'
 RUN /bin/bash -c 'source /opt/ros/$ROS_DISTRO/setup.bash; \
     if [ "$ROS_VERSION" == "2" ]; then colcon build; else catkin_make install; fi'
 

docker/Dockerfile_humble

@@ -0,0 +1,36 @@
+ARG CARLA_VERSION
+ARG ROS_DISTRO
+
+FROM ros:$ROS_DISTRO-ros-base
+
+ARG CARLA_VERSION
+ARG ROS_DISTRO
+
+ENV CARLA_VERSION=$CARLA_VERSION
+ENV DEBIAN_FRONTEND=noninteractive
+
+SHELL ["/bin/bash", "-c"]
+
+RUN apt update && apt upgrade -y
+RUN apt install sudo -y
+RUN sudo apt install --no-install-recommends wget -y
+RUN apt install sudo -y
+
+RUN mkdir -p /opt/carla-ros-bridge/src
+WORKDIR /opt/carla-ros-bridge
+
+COPY . /opt/carla-ros-bridge/src/
+
+RUN sudo apt install python3-pip -y
+RUN /bin/bash -c 'sudo apt-get install ros-$ROS_DISTRO-rviz2 -y'
+RUN /bin/bash -c 'python3 -m pip install carla==0.9.15; \
+                    python3 -m pip install pygame; \
+                    sudo apt install ros-humble-derived-object-msgs -y; \
+                    python3 -m pip install numpy==1.23.1'
+RUN /bin/bash -c 'rosdep update'
+RUN /bin/bash -c 'rosdep install --from-paths src --ignore-src -r -y'
+RUN /bin/bash -c 'source /opt/ros/$ROS_DISTRO/setup.bash; \
+    colcon build --symlink-install'
+
+# replace entrypoint
+COPY ./docker/content/ros_entrypoint_humble.sh /

docker/Dockerfile_humble_user

@@ -0,0 +1,50 @@
+ARG CARLA_VERSION
+ARG ROS_DISTRO
+
+FROM ros:$ROS_DISTRO-ros-base
+
+ARG CARLA_VERSION
+ARG ROS_DISTRO
+
+ENV CARLA_VERSION=$CARLA_VERSION
+ENV DEBIAN_FRONTEND=noninteractive
+
+ARG USERNAME=devuser
+ARG UID=${UID}
+ARG GID=${GID}
+
+SHELL ["/bin/bash", "-c"]
+
+RUN apt update && apt upgrade -y
+RUN apt install sudo -y
+RUN sudo apt install --no-install-recommends wget -y
+RUN apt install sudo -y
+
+# Create new user and home directory
+RUN groupadd --gid $GID $USERNAME \
+ && useradd --uid ${UID} --gid ${GID} --create-home ${USERNAME} \
+ && echo ${USERNAME} ALL=\(root\) NOPASSWD:ALL > /etc/sudoers.d/${USERNAME} \
+ && chmod 0440 /etc/sudoers.d/${USERNAME} \
+ && mkdir -p /home/${USERNAME} \
+ && chown -R ${UID}:${GID} /home/${USERNAME}
+
+USER ${USERNAME}
+WORKDIR "/home/${USERNAME}"
+RUN mkdir -p /home/${USERNAME}/carla-ros-bridge/src
+
+COPY . /home/${USERNAME}/carla-ros-bridge/src
+
+RUN sudo apt install python3-pip -y
+RUN /bin/bash -c 'sudo apt-get install ros-$ROS_DISTRO-rviz2 -y'
+RUN /bin/bash -c 'python3 -m pip install carla==0.9.15; \
+                    python3 -m pip install pygame; \
+                    sudo apt install ros-humble-derived-object-msgs -y; \
+                    python3 -m pip install numpy==1.23.1'
+RUN /bin/bash -c 'rosdep update'
+WORKDIR "/home/${USERNAME}/carla-ros-bridge"
+RUN /bin/bash -c 'rosdep install --from-paths src --ignore-src -r -y'
+RUN /bin/bash -c 'source /opt/ros/$ROS_DISTRO/setup.bash; \
+    colcon build --symlink-install'
+
+# replace entrypoint
+COPY ./docker/content/ros_entrypoint_humble.sh /

docker/build.sh

@@ -1,8 +1,8 @@
-#!/bin/sh
+#!/bin/bash
 
 SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
 
-ROS_DISTRO="foxy"
+ROS_DISTRO="humble"
 CARLA_VERSION=$(cat ${SCRIPT_DIR}/../carla_ros_bridge/src/carla_ros_bridge/CARLA_VERSION)
 
 while getopts r:c: flag
@@ -14,8 +14,17 @@ do
     esac
 done
 
+if [[ "$ROS_DISTRO" == "humble" ]]
+then
+docker build \
+    -t carla-ros-bridge:$ROS_DISTRO \
+    -f Dockerfile_humble ${SCRIPT_DIR}/.. \
+    --build-arg ROS_DISTRO=$ROS_DISTRO \
+    --build-arg CARLA_VERSION=$CARLA_VERSION
+else
 docker build \
     -t carla-ros-bridge:$ROS_DISTRO \
     -f Dockerfile ${SCRIPT_DIR}/.. \
     --build-arg ROS_DISTRO=$ROS_DISTRO \
     --build-arg CARLA_VERSION=$CARLA_VERSION
+fi

docker/build_user.sh

@@ -0,0 +1,36 @@
+#!/bin/bash
+
+SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
+
+ROS_DISTRO="humble"
+CARLA_VERSION=$(cat ${SCRIPT_DIR}/../carla_ros_bridge/src/carla_ros_bridge/CARLA_VERSION)
+USERNAME=${USER}
+UID=$(id -u)
+GID=$(id -g)
+
+while getopts r:c: flag
+do
+    case "${flag}" in
+        r) ROS_DISTRO=${OPTARG};;
+        c) CARLA_VERSION=${OPTARG};;
+        *) error "Unexpected option ${flag}" ;;
+    esac
+done
+
+if [[ "$ROS_DISTRO" == "humble" ]]
+then
+docker build \
+    -t carla-ros-bridge:$ROS_DISTRO \
+    -f Dockerfile_humble_user ${SCRIPT_DIR}/.. \
+    --build-arg ROS_DISTRO=$ROS_DISTRO \
+    --build-arg CARLA_VERSION=$CARLA_VERSION \
+    --build-arg USERNAME=$USERNAME \
+    --build-arg UID=$UID \
+    --build-arg GID=$GID
+else
+docker build \
+    -t carla-ros-bridge:$ROS_DISTRO \
+    -f Dockerfile ${SCRIPT_DIR}/.. \
+    --build-arg ROS_DISTRO=$ROS_DISTRO \
+    --build-arg CARLA_VERSION=$CARLA_VERSION
+fi

docker/content/ros_entrypoint_humble.sh

@@ -0,0 +1,8 @@
+#!/bin/bash
+set -e
+
+# setup ros environment
+source "/opt/ros/humble/setup.bash"
+source "/opt/carla-ros-bridge/install/setup.bash"
+
+exec "$@"

docker/run.sh

@@ -4,7 +4,7 @@ usage() { echo "Usage: $0 [-t <tag>] [-i <image>]" 1>&2; exit 1; }
 
 # Defaults
 DOCKER_IMAGE_NAME="carla-ros-bridge"
-TAG="foxy"
+TAG="humble"
 
 while getopts ":ht:i:" opt; do
   case $opt in
@@ -35,4 +35,14 @@ echo "Using $DOCKER_IMAGE_NAME:$TAG"
 docker run \
     -it --rm \
     --net=host \
+    -e DISPLAY=$DISPLAY \
+    --env=NVIDIA_VISIBLE_DEVICES=all \
+    --env=NVIDIA_DRIVER_CAPABILITIES=all \
+    --env=QT_X11_NO_MITSHM=1 \
+    --runtime=nvidia \
+    --privileged \
+    --shm-size=16gb \
+    -v /tmp/.X11-unix:/tmp/.X11-unix \
+    -v /dev:/dev \
+    --gpus all \
     "$DOCKER_IMAGE_NAME:$TAG" "$@"

docs/run_docker.md

@@ -0,0 +1,35 @@
+# Run Docker
+
+Running docker is as easy as running two scripts and sending one command. One script to build the container, one to run the container and one ros launch command.
+
+This page is speficially designated for ROS 2 Humble. 
+
+# Requirements
+
+Docker has to be installed in the system. This is the only requirements.
+
+# Building the Container
+
+It is recommended for ROS 2 Humble to use the `build_user.sh` script:
+
+```
+cd <ros-bridge folder>
+./build_user.sh
+```
+
+# Running the Container
+
+```
+./run.sh
+```
+
+Now the window is inside the ros-bridge container.
+
+# Launching ROS 2
+
+Make sure the carla server is running before launching ros:
+
+```
+source install/setup.bash
+ros2 launch carla_ros_bridge carla_ros_bridge_with_example_ego_vehicle.launch
+```

install_dependencies.sh

@@ -1,6 +1,8 @@
 #!/usr/bin/env bash
 
 SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
+ROS_PYTHON_VERSION="${ROS_PYTHON_VERSION:=3}"
+ROS_VERSION="${ROS_VERSION:=2}"
 PYTHON_SUFFIX=""
 if [ "$ROS_PYTHON_VERSION" = "3" ]; then
     PYTHON_SUFFIX=3

pcl_recorder/CMakeLists.txt

@@ -66,7 +66,7 @@ elseif(${ROS_VERSION} EQUAL 2)
   add_executable(${PROJECT_NAME}_node src/PclRecorderROS2.cpp src/mainROS2.cpp)
 
   ament_target_dependencies(${PROJECT_NAME}_node rclcpp sensor_msgs
-                            pcl_conversions tf2 tf2_ros)
+                            pcl_conversions tf2 tf2_ros tf2_eigen)
 
   target_link_libraries(${PROJECT_NAME}_node ${Boost_SYSTEM_LIBRARY}
                         ${PCL_LIBRARIES})