first commit

.gitignore

@@ -0,0 +1,5 @@
+.hg*
+.vscode
+Changelog.md
+bitbucket-pipelines.yml
+*CHANGELOG.rst

README.md

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+# Virtual RobotX (VRX)
+
+This repository is the home to the source code and software documentation for the VRX Competition.  [Competition documentation](https://bitbucket.org/osrf/vrx/wiki/documentation) is available on the project wiki, including links to registration information and documentation of the tasks and technical specifications.
+
+This is an active development project.  We are adding and improving things all the time.  The project contains a simulation foundation, including an environment similar to the RobotX venue and description of the WAM-V platform.  It is intended as a first step for teams that would then extend the tools for their specific development needs.
+
+
+![VRX](images/sand_island.png)
+
+## Getting Started
+
+ * Watch the [Release 0.2 Highlight Video](https://www.youtube.com/watch?v=v23cI4H9RKM)
+ * The [VRX Wiki](https://bitbucket.org/osrf/vrx/wiki) provides documentation and tutorials.
+ * The instructions assume a basic familiarity with the ROS environment and Gazebo.  If these tools are new to you, we recommend starting with the excellent [ROS Tutorials](http://wiki.ros.org/ROS/Tutorials)
+ * For technical problems, please us the [project issue tracker](https://bitbucket.org/osrf/vrx/issues?status=new&status=open) to describe your problem or request support. 
+
+## Contributing
+
+The simulation tools under active development to support the RobotX teams.  We are starting simple with the important fundamental aspects of the robot and environment, but will rely on the community to develop additional functionality around their particular use cases.
+
+If you have any questions about these topics, or would like to work on other aspects, please contribute.  You can contact us directly (see below), submit an [issue](https://bitbucket.org/osrf/vrx/issues) or, better yet, submit a [pull request](https://bitbucket.org/osrf/vrx/pull-requests/)!
+
+## Contributors
+
+We continue to receive important improvements from the community.  We have done our best to document this on our [Contributors Wiki](https://bitbucket.org/osrf/vrx/wiki/Contributors).
+
+## Contacts
+
+ * Carlos Aguero <[email protected]>
+ * Brian Bingham <[email protected]>

docker/Dockerfile

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+# Ubuntu 18.04 with nvidia-docker2 beta opengl support.
+ARG BASEIMG=ubuntu:bionic
+FROM $BASEIMG
+
+# Set ROS distribution
+ARG DIST=melodic
+
+# Set Gazebo verison
+ARG GAZ=gazebo9
+
+# Tools useful during development.
+RUN apt update \
+ && apt install -y \
+        build-essential \
+        cppcheck \
+        curl \
+        cmake \
+        lsb-release \
+        gdb \
+        git \
+        mercurial \
+        python3-dbg \
+        python3-pip \
+        python3-venv \
+        ruby \
+        software-properties-common \
+        sudo \
+        vim \
+        wget \
+        libeigen3-dev \
+        pkg-config \
+        protobuf-compiler \
+ && apt clean
+
+RUN export DEBIAN_FRONTEND=noninteractive \
+ && apt update \
+ && apt install -y \
+    tzdata \
+ && ln -fs /usr/share/zoneinfo/America/Los_Angeles /etc/localtime \
+ && dpkg-reconfigure --frontend noninteractive tzdata \
+ && apt clean
+
+# Get ROS melodic and Gazebo 9.
+COPY docker/keys/gazebo.key /tmp/gazebo.key
+COPY docker/keys/ros.key /tmp/ros.key
+RUN /bin/sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list' \
+ && apt-key add /tmp/ros.key \
+ && /bin/sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" > /etc/apt/sources.list.d/gazebo-stable.list' \
+ && apt-key add /tmp/gazebo.key \
+ && apt update \
+ && apt install -y \
+    qtbase5-dev \
+    libgles2-mesa-dev \
+    ${GAZ} \
+    lib${GAZ}-dev \
+    ros-${DIST}-ros-base \
+    ros-${DIST}-xacro \
+    ros-${DIST}-gazebo-ros \
+    ros-${DIST}-gazebo-plugins \
+    ros-${DIST}-hector-gazebo-plugins \
+    ros-${DIST}-joy \
+    ros-${DIST}-joy-teleop \
+    ros-${DIST}-key-teleop \
+    ros-${DIST}-robot-localization \
+    ros-${DIST}-robot-state-publisher \
+    ros-${DIST}-rviz \
+    ros-${DIST}-teleop-tools \
+    ros-${DIST}-teleop-twist-keyboard \
+    ros-${DIST}-velodyne-simulator \
+    ros-${DIST}-rqt \
+    ros-${DIST}-rqt-common-plugins \
+ && rosdep init \
+ && apt clean
+
+RUN rosdep update
+
+# Set USER and GROUP
+ARG USER=developer
+ARG GROUP=developer
+
+# Add a user with the same user_id as the user outside the container
+# Requires a docker build argument `user_id`.
+
+RUN curl -SsL https://github.com/boxboat/fixuid/releases/download/v0.4/fixuid-0.4-linux-amd64.tar.gz | tar -C /usr/local/bin -xzf - && \
+    chown root:root /usr/local/bin/fixuid && \
+    chmod 4755 /usr/local/bin/fixuid && \
+    mkdir -p /etc/fixuid && \
+    printf "user: $USER\ngroup: $GROUP\n" > /etc/fixuid/config.yml
+
+RUN addgroup --gid 1000 $USER && \
+    adduser --uid 1000 --ingroup $USER --home /home/$USER --shell /bin/sh --disabled-password --gecos "" $USER
+
+RUN adduser $USER sudo \
+ && echo "$USER ALL=NOPASSWD: ALL" >> /etc/sudoers.d/$USER
+
+# Commands below run as the developer user.
+USER $USER:$GROUP
+
+# When running a container start in the developer's home folder.
+WORKDIR /home/$USER
+
+# Create workspace
+RUN mkdir -p vrx_ws/src/vrx
+
+# Copy the VRX repository from the local file system
+# We can't use the USER:GROUP variables until Docker adds support to --chown
+COPY --chown=developer:developer . vrx_ws/src/vrx/
+
+# Compile the VRX project.
+RUN /bin/bash -c ". /opt/ros/${DIST}/setup.bash && cd vrx_ws && catkin_make"
+
+# Source all the needed environment files.
+RUN /bin/sh -c 'echo ". /opt/ros/${DIST}/setup.bash" >> ~/.bashrc' \
+ && /bin/sh -c 'echo ". /usr/share/gazebo/setup.sh" >> ~/.bashrc' \
+ && /bin/sh -c 'echo ". ~/vrx_ws/devel/setup.sh" >> ~/.bashrc'
+
+ENTRYPOINT ["fixuid"]
+
+CMD ["/bin/bash"]
+# Customize your image here.
+
+
+# ...

docker/build.bash

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+#!/usr/bin/env bash
+
+#
+# Copyright (C) 2018 Open Source Robotics Foundation
+#
+# 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.
+#
+#
+
+# Builds a Docker image.
+BUILD_BASE=""
+BUILD_ROS_GAZ=""
+image_name="vrx"
+
+POSITIONAL=()
+while [[ $# -gt 0 ]]
+do
+key="$1"
+
+case $key in
+    -n|--nvidia)
+    BUILD_BASE="--build-arg BASEIMG=nvidia/opengl:1.0-glvnd-devel-ubuntu18.04"
+    image_name="vrx_nvidia"
+    shift
+    ;;
+    -k|--kinetic)
+    BUILD_BASE="--build-arg BASEIMG=ubuntu:xenial"
+    image_name="vrx_gaz7"
+    BUILD_ROS_GAZ="--build-arg DIST=kinetic --build-arg GAZ=gazebo7"
+    shift
+    ;;
+    -K|--kinetic-nvidia)
+    BUILD_BASE="--build-arg BASEIMG=nvidia/opengl:1.1-glvnd-devel-ubuntu16.04"
+    image_name="vrx_nvidia_gaz7"
+    BUILD_ROS_GAZ="--build-arg DIST=kinetic --build-arg GAZ=gazebo7"
+    shift
+    ;;
+    *)    # unknown option
+    POSITIONAL+=("$1")
+    shift
+    ;;
+esac
+done
+
+set -- "${POSITIONAL[@]}"
+
+if [ $# -lt 1 ]
+then
+    echo "Usage: $0 [-n --nvidia] <root of vrx repo>"
+    exit 1
+fi
+
+if [ ! -f $1/docker/Dockerfile ]
+then
+    echo "Err: Directory does not contain a Dockerfile to build."
+    exit 1
+fi
+
+
+image_plus_tag=$image_name:$(export LC_ALL=C; date +%Y_%m_%d_%H%M)
+echo ".*" > "${1}"/.dockerignore
+docker build --rm -t $image_plus_tag -f "${1}"/docker/Dockerfile "${1}" $BUILD_BASE $BUILD_ROS_GAZ && \
+docker tag $image_plus_tag $image_name:latest && \
+echo "Built $image_plus_tag and tagged as $image_name:latest"
+rm "${1}"/.dockerignore

docker/join.bash

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+#!/usr/bin/env bash
+#
+# Typical usage: ./join.bash vrx
+#
+
+IMG=$(basename $1)
+
+xhost +
+containerid=$(docker ps -aqf "ancestor=${IMG}")
+docker exec --privileged -e DISPLAY=${DISPLAY} -e LINES=`tput lines` -it ${containerid} bash
+xhost -

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docker/keys/ros.key

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