From 001df83d0192a01f32a0888fe36b264fe1429a59 Mon Sep 17 00:00:00 2001 From: CihatAltiparmak Date: Wed, 24 Jul 2024 22:07:10 +0300 Subject: [PATCH 1/3] Fixed dockerfile and dependencies. Middlewares were added as dependencies. (rmw_fastrtps, rmw_zenoh, rmw_cyclonedds) --- Dockerfile | 7 ++----- moveit_middleware_benchmark.repos | 10 +++++++++- 2 files changed, 11 insertions(+), 6 deletions(-) diff --git a/Dockerfile b/Dockerfile index ff7281a..34d78a9 100644 --- a/Dockerfile +++ b/Dockerfile @@ -7,17 +7,14 @@ RUN mkdir ws/src -p RUN . /opt/ros/rolling/setup.sh && \ cd ws/src && \ - git clone https://github.com/CihatAltiparmak/moveit_middleware_benchmark.git -b development && \ + git clone https://github.com/CihatAltiparmak/moveit_middleware_benchmark.git && \ vcs import < moveit_middleware_benchmark/moveit_middleware_benchmark.repos --recursive -RUN cd ws/src && \ - # git clone https://github.com/ros2/rmw_zenoh.git && \ - git clone https://github.com/ros2/rmw_cyclonedds.git - RUN . /opt/ros/rolling/setup.sh && \ cd ws && \ rosdep update --rosdistro=$ROS_DISTRO && \ apt-get update && \ + apt upgrade -y && \ rosdep install --from-paths src --ignore-src -r -y RUN . /opt/ros/rolling/setup.sh && \ diff --git a/moveit_middleware_benchmark.repos b/moveit_middleware_benchmark.repos index 53423c1..c20f1c4 100644 --- a/moveit_middleware_benchmark.repos +++ b/moveit_middleware_benchmark.repos @@ -1,5 +1,5 @@ repositories: - moveit_msgs: + moveit2: type: git url: https://github.com/moveit/moveit2.git version: main @@ -11,6 +11,14 @@ repositories: type: git url: https://github.com/ros2/rmw_zenoh.git version: rolling + rmw_cyclonedds: + type: git + url: https://github.com/ros2/rmw_cyclonedds.git + version: rolling + rmw_fastrtps: + type: git + url: https://github.com/ros2/rmw_fastrtps.git + version: rolling dynamic_message_introspection: type: git url: https://github.com/osrf/dynamic_message_introspection.git From f1abbb3527b877127bd7375502a6e33e055f0881 Mon Sep 17 00:00:00 2001 From: CihatAltiparmak Date: Sun, 28 Jul 2024 00:24:54 +0300 Subject: [PATCH 2/3] Used moveit's own docker image instead of building it * Used moveit's latest rolling docker image * re-edited underlay workspace in dockerfile --- Dockerfile | 8 ++++---- moveit_middleware_benchmark.repos | 4 ---- 2 files changed, 4 insertions(+), 8 deletions(-) diff --git a/Dockerfile b/Dockerfile index 34d78a9..9feb9e2 100644 --- a/Dockerfile +++ b/Dockerfile @@ -1,4 +1,4 @@ -FROM ros:rolling +FROM moveit/moveit2:rolling-source RUN apt-get update && \ apt install wget -y @@ -6,17 +6,17 @@ RUN apt-get update && \ RUN mkdir ws/src -p RUN . /opt/ros/rolling/setup.sh && \ - cd ws/src && \ + cd /root/ws_moveit/src && \ git clone https://github.com/CihatAltiparmak/moveit_middleware_benchmark.git && \ vcs import < moveit_middleware_benchmark/moveit_middleware_benchmark.repos --recursive RUN . /opt/ros/rolling/setup.sh && \ - cd ws && \ + cd /root/ws_moveit && \ rosdep update --rosdistro=$ROS_DISTRO && \ apt-get update && \ apt upgrade -y && \ rosdep install --from-paths src --ignore-src -r -y RUN . /opt/ros/rolling/setup.sh && \ - cd ws && \ + cd /root/ws_moveit && \ colcon build --mixin release --packages-skip test_dynmsg dynmsg_demo diff --git a/moveit_middleware_benchmark.repos b/moveit_middleware_benchmark.repos index c20f1c4..58ac283 100644 --- a/moveit_middleware_benchmark.repos +++ b/moveit_middleware_benchmark.repos @@ -1,8 +1,4 @@ repositories: - moveit2: - type: git - url: https://github.com/moveit/moveit2.git - version: main moveit_resources: type: git url: https://github.com/moveit/moveit_resources.git From 16601be7318a30197eda640feb91177d8c0dc37e Mon Sep 17 00:00:00 2001 From: CihatAltiparmak Date: Sun, 28 Jul 2024 01:13:59 +0300 Subject: [PATCH 3/3] Changed workspace dirs in dockerfile with moveit docker's own underlay workspace alias --- Dockerfile | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/Dockerfile b/Dockerfile index 9feb9e2..a66f927 100644 --- a/Dockerfile +++ b/Dockerfile @@ -6,17 +6,17 @@ RUN apt-get update && \ RUN mkdir ws/src -p RUN . /opt/ros/rolling/setup.sh && \ - cd /root/ws_moveit/src && \ + cd ${ROS_UNDERLAY}/../src && \ git clone https://github.com/CihatAltiparmak/moveit_middleware_benchmark.git && \ vcs import < moveit_middleware_benchmark/moveit_middleware_benchmark.repos --recursive RUN . /opt/ros/rolling/setup.sh && \ - cd /root/ws_moveit && \ + cd ${ROS_UNDERLAY}/.. && \ rosdep update --rosdistro=$ROS_DISTRO && \ apt-get update && \ apt upgrade -y && \ rosdep install --from-paths src --ignore-src -r -y RUN . /opt/ros/rolling/setup.sh && \ - cd /root/ws_moveit && \ + cd ${ROS_UNDERLAY}/.. && \ colcon build --mixin release --packages-skip test_dynmsg dynmsg_demo