From bc50ab6c2a4034f47df239450f2be500c26cac6e Mon Sep 17 00:00:00 2001 From: Dominic Reber <71256590+domire8@users.noreply.github.com> Date: Mon, 16 Sep 2024 17:10:18 +0200 Subject: [PATCH] feat: add default rviz config (#119) --- .github/workflows/reusable-build-push.yml | 1 + common/config.rviz | 173 ++++++++++++++++++++++ ros2_ws/.gitignore | 1 + ros2_ws/Dockerfile | 1 + ros2_ws/VERSION.jazzy | 2 +- ros2_ws/build.sh | 8 +- 6 files changed, 184 insertions(+), 2 deletions(-) create mode 100644 common/config.rviz diff --git a/.github/workflows/reusable-build-push.yml b/.github/workflows/reusable-build-push.yml index dc4e9cb..91474cc 100644 --- a/.github/workflows/reusable-build-push.yml +++ b/.github/workflows/reusable-build-push.yml @@ -122,6 +122,7 @@ jobs: CONFIG_PATH=$ROS2_WS_PATH/config mkdir -p ${CONFIG_PATH} cp common/sshd_entrypoint.sh ${CONFIG_PATH}/ + cp common/config.rviz ${CONFIG_PATH}/ - uses: aica-technology/.github/.github/actions/list-add-suffixes@v0.6.1 id: merge-tags diff --git a/common/config.rviz b/common/config.rviz new file mode 100644 index 0000000..e001d77 --- /dev/null +++ b/common/config.rviz @@ -0,0 +1,173 @@ +Panels: + - Class: rviz_common/Displays + Help Height: 78 + Name: Displays + Property Tree Widget: + Expanded: + - /Global Options1 + - /Status1 + Splitter Ratio: 0.5 + Tree Height: 555 + - Class: rviz_common/Selection + Name: Selection + - Class: rviz_common/Tool Properties + Expanded: + - /2D Goal Pose1 + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.5886790156364441 + - Class: rviz_common/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz_common/Time + Experimental: false + Name: Time + SyncMode: 0 + SyncSource: "" +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz_default_plugins/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.029999999329447746 + 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 + - Class: rviz_default_plugins/TF + Enabled: true + Frame Timeout: 15 + Frames: + All Enabled: true + Marker Scale: 0.6000000238418579 + Name: TF + Show Arrows: false + Show Axes: true + Show Names: false + Tree: + {} + Update Interval: 0 + Value: true + - Alpha: 1 + Class: rviz_default_plugins/RobotModel + Collision Enabled: false + Description File: "" + Description Source: Topic + Description Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /hardware/robot_description + Enabled: true + Links: + All Links Enabled: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + Link Tree Style: "" + Mass Properties: + Inertia: false + Mass: false + Name: RobotModel + TF Prefix: "" + Update Interval: 0 + Value: true + Visual Enabled: true + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Fixed Frame: world + Frame Rate: 30 + Name: root + Tools: + - Class: rviz_default_plugins/Interact + Hide Inactive Objects: true + - Class: rviz_default_plugins/MoveCamera + - Class: rviz_default_plugins/Select + - Class: rviz_default_plugins/FocusCamera + - Class: rviz_default_plugins/Measure + Line color: 128; 128; 0 + - Class: rviz_default_plugins/SetInitialPose + Covariance x: 0.25 + Covariance y: 0.25 + Covariance yaw: 0.06853891909122467 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /initialpose + - Class: rviz_default_plugins/SetGoal + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /goal_pose + - Class: rviz_default_plugins/PublishPoint + Single click: true + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /clicked_point + Transformation: + Current: + Class: rviz_default_plugins/TF + Value: true + Views: + Current: + Class: rviz_default_plugins/Orbit + Distance: 2 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: 0 + Y: 0 + Z: 0 + Focal Shape Fixed Size: true + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.009999999776482582 + Pitch: 0.6000000238418579 + Target Frame: + Value: Orbit (rviz) + Yaw: 1 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 846 + Hide Left Dock: false + Hide Right Dock: true + QMainWindow State: 000000ff00000000fd000000040000000000000156000002b4fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003b000002b4000000c700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c000002610000000100000110000002b4fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003b000002b4000000a000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004b00000003efc0100000002fb0000000800540069006d00650100000000000004b00000025300fffffffb0000000800540069006d0065010000000000000450000000000000000000000354000002b400000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: true + Width: 1200 + X: 62 + Y: 60 diff --git a/ros2_ws/.gitignore b/ros2_ws/.gitignore index 9fee8ae..d680fd9 100644 --- a/ros2_ws/.gitignore +++ b/ros2_ws/.gitignore @@ -1 +1,2 @@ config/sshd_entrypoint.sh +config/config.rviz diff --git a/ros2_ws/Dockerfile b/ros2_ws/Dockerfile index f80d726..c09e8ca 100644 --- a/ros2_ws/Dockerfile +++ b/ros2_ws/Dockerfile @@ -90,6 +90,7 @@ RUN echo "@realtime soft rtprio 99\n@realtime hard USER ${USER} WORKDIR ${HOME} RUN wget https://raw.githubusercontent.com/aica-technology/.github/v0.9.0/guidelines/.clang-format +COPY ./config/config.rviz config.rviz RUN mkdir -p ${COLCON_HOME} COPY --chown=${USER}:${USER} ./config/colcon ${COLCON_HOME} RUN /bin/bash ${COLCON_HOME}/setup.sh diff --git a/ros2_ws/VERSION.jazzy b/ros2_ws/VERSION.jazzy index d816485..aef49e4 100644 --- a/ros2_ws/VERSION.jazzy +++ b/ros2_ws/VERSION.jazzy @@ -1 +1 @@ -2.0.0-rc2 \ No newline at end of file +2.0.0-rc3 \ No newline at end of file diff --git a/ros2_ws/build.sh b/ros2_ws/build.sh index 5a1bb1b..bf92593 100755 --- a/ros2_ws/build.sh +++ b/ros2_ws/build.sh @@ -9,6 +9,10 @@ if [[ ! -f "${SCRIPT_DIR}"/config/sshd_entrypoint.sh ]]; then mkdir -p "${SCRIPT_DIR}"/config cp "$(dirname "${SCRIPT_DIR}")"/common/sshd_entrypoint.sh "${SCRIPT_DIR}"/config/ || exit 1 fi +if [[ ! -f "${SCRIPT_DIR}"/config/config.rviz ]]; then + mkdir -p "${SCRIPT_DIR}"/config + cp "$(dirname "${SCRIPT_DIR}")"/common/config.rviz "${SCRIPT_DIR}"/config/ || exit 1 +fi BUILD_FLAGS=() while [ "$#" -gt 0 ]; do @@ -36,6 +40,8 @@ while [ "$#" -gt 0 ]; do esac done +VERSION=$(cat "${SCRIPT_DIR}"/VERSION."${ROS_DISTRO}") BUILD_FLAGS+=(--build-arg=BASE_TAG=${BASE_TAG}) BUILD_FLAGS+=(--build-arg=ROS_DISTRO=${ROS_DISTRO}) -docker buildx build -t "${IMAGE_NAME}":"${BASE_TAG}" "${BUILD_FLAGS[@]}" . +BUILD_FLAGS+=(--build-arg=VERSION=${VERSION}-${ROS_DISTRO}) +docker buildx build -t "${IMAGE_NAME}":v"${VERSION}"-"${ROS_DISTRO}" "${BUILD_FLAGS[@]}" .