From 43f6fdd73ae065a4728f15e5e6eda2d12cf010b6 Mon Sep 17 00:00:00 2001 From: Ettore Landini Date: Tue, 10 Dec 2024 15:40:54 +0100 Subject: [PATCH 1/3] Minor corrections Signed-off-by: Ettore Landini --- .github/workflows/main.yml | 50 ----------------------------- docker_stuff/docker_sim2/Dockerfile | 4 +-- 2 files changed, 2 insertions(+), 52 deletions(-) diff --git a/.github/workflows/main.yml b/.github/workflows/main.yml index c2e9eeb..0396a4f 100644 --- a/.github/workflows/main.yml +++ b/.github/workflows/main.yml @@ -75,56 +75,6 @@ jobs: fi -# build-r1OpenPose: -# runs-on: ubuntu-latest - -# steps: -# - name: Extract branch name -# shell: bash -# run: echo "branch=${GITHUB_HEAD_REF:-${GITHUB_REF#refs/heads/}}" >> $GITHUB_OUTPUT -# id: extract_branch -# - name: Info -# run: | -# echo "Event type: ${{github.event_name}}" -# - name: Change docker to experimental mode -# run: | -# sudo rm -rf /etc/docker/daemon.json -# echo '{"experimental": true}' | sudo tee -a /etc/docker/daemon.json -# - name: Restart docker daemon -# run: sudo systemctl restart docker -# - uses: actions/checkout@v4 -# - name: Login to DockerHub -# uses: docker/login-action@v3 -# with: -# username: ${{ secrets.DOCKERHUB_USERNAME }} -# password: ${{ secrets.DOCKERHUB_TOKEN }} -# - name: Build the openPose Docker image -# working-directory: docker_stuff/docker_openPose/ -# run: | -# if [ ${{ github.event_name }} == 'schedule' ]; then -# echo "Building development tour openPose image" -# sudo docker build --build-arg ros_distro=${{steps.extract_branch.outputs.branch}} --tag elandini84/r1images:r1OpenPose_devel . -# elif [ ${{ github.event_name }} == 'workflow_dispatch' ]; then -# echo "Building stable tour openPose image" -# sudo docker build --build-arg ros_distro=${{steps.extract_branch.outputs.branch}} --tag elandini84/r1images:r1OpenPose_stable . -# else -# echo "Failure!" -# exit 1 -# fi -# - name: Push r1OpenPose image -# run: | -# if [ ${{ github.event_name }} == 'schedule' ]; then -# echo "Pushing r1OpenPose development image" -# docker push elandini84/r1images:r1OpenPose_devel -# elif [ ${{ github.event_name }} == 'workflow_dispatch' ]; then -# echo "Pushing r1OpenPose stable image" -# docker push elandini84/r1images:r1OpenPose_stable -# else -# echo "Failure!" -# exit 1 -# fi - - build-tour-docker-sim: runs-on: ubuntu-latest strategy: diff --git a/docker_stuff/docker_sim2/Dockerfile b/docker_stuff/docker_sim2/Dockerfile index d3e9c00..6ba2ba3 100644 --- a/docker_stuff/docker_sim2/Dockerfile +++ b/docker_stuff/docker_sim2/Dockerfile @@ -5,7 +5,7 @@ LABEL maintainer="Ettore Landini" ARG ros_distro ARG yarp_branch="master" ARG ros2_dev_remote="robotology" -ARG ros2_dev_branch=${ros_distro} +ARG ros2_dev_branch=${yarp_branch} # Non-interactive installation mode ENV DEBIAN_FRONTEND=noninteractive @@ -174,7 +174,7 @@ ENV GazeboYARPPlugins_DIR=${robotology_install_folder}/gazebo-yarp-plugins/build # CER USER ${robotology_install_user} WORKDIR ${robotology_install_folder} -RUN git clone https://github.com/elandini84/cer.git -b fix/compatibility/yarp_master +RUN git clone https://github.com/robotology/cer.git RUN cd cer && mkdir build && cd build && cmake .. \ -DCMAKE_BUILD_TYPE=Release \ -DENABLE_cermod_cerDoubleLidar=ON \ From 9073c7a014ee1c0cda21db325db8ccc335e84368 Mon Sep 17 00:00:00 2001 From: Ettore Landini Date: Wed, 11 Dec 2024 12:38:23 +0100 Subject: [PATCH 2/3] Fix resources paths in app files Signed-off-by: Ettore Landini --- .../conf/cyclone_dds_sim_settings.xml | 17 +++++++++++++++++ .../scripts/Navigation_ROS2_R1_SIM_office.xml | 12 ++++++------ app/navigation2/scripts/start_sim_madama.sh | 2 +- .../conf/robotInterface/audioTranscribe.xml | 2 +- 4 files changed, 25 insertions(+), 8 deletions(-) create mode 100644 app/navigation2/conf/cyclone_dds_sim_settings.xml diff --git a/app/navigation2/conf/cyclone_dds_sim_settings.xml b/app/navigation2/conf/cyclone_dds_sim_settings.xml new file mode 100644 index 0000000..0adf759 --- /dev/null +++ b/app/navigation2/conf/cyclone_dds_sim_settings.xml @@ -0,0 +1,17 @@ + + + + false + + + + + + 30 + auto + + + + + + diff --git a/app/navigation2/scripts/Navigation_ROS2_R1_SIM_office.xml b/app/navigation2/scripts/Navigation_ROS2_R1_SIM_office.xml index fdc4b06..2c24988 100644 --- a/app/navigation2/scripts/Navigation_ROS2_R1_SIM_office.xml +++ b/app/navigation2/scripts/Navigation_ROS2_R1_SIM_office.xml @@ -8,7 +8,7 @@ ros2_launch.sh robot_state_publisher.launch.py use_sim_time:=true - /home/user1/tour-guide-robot/app/navigation2/launch/ + $ENV{ROBOT_CODE}/tour-guide-robot/app/navigation2/launch/ console @@ -21,7 +21,7 @@ ./set_navigation_position_sim.sh - /home/user1/tour-guide-robot/app/navigation2/scripts/ + $ENV{ROBOT_CODE}/tour-guide-robot/app/navigation2/scripts/ console @@ -46,7 +46,7 @@ ros2_launch.sh amcl.launch.py use_sim_time:=true - /home/user1/tour-guide-robot/app/navigation2/launch/ + $ENV{ROBOT_CODE}/tour-guide-robot/app/navigation2/launch/ console @@ -58,8 +58,8 @@ ros2_launch.sh - navigation.launch.py use_sim_time:=true params_file:=/home/user1/tour-guide-robot/app/navigation2/conf/nav2_params.yaml - /home/user1/tour-guide-robot/app/navigation2/launch/ + navigation.launch.py use_sim_time:=true params_file:=$ENV{ROBOT_CODE}/tour-guide-robot/app/navigation2/conf/nav2_params.yaml + $ENV{ROBOT_CODE}/tour-guide-robot/app/navigation2/launch/ console @@ -78,7 +78,7 @@ rviz2 -d r1_visualizer.rviz --ros-args --remap use_sim_time:=true - /home/user1/tour-guide-robot/app/navigation2/conf/ + $ENV{ROBOT_CODE}/tour-guide-robot/app/navigation2/conf/ console diff --git a/app/navigation2/scripts/start_sim_madama.sh b/app/navigation2/scripts/start_sim_madama.sh index 3bb4846..2e68003 100755 --- a/app/navigation2/scripts/start_sim_madama.sh +++ b/app/navigation2/scripts/start_sim_madama.sh @@ -1,6 +1,6 @@ yarpserver & sleep 1; -ros2 launch gazebo_ros gazebo.launch.py extra_gazebo_args:=-slibgazebo_yarp_clock.so world:=/home/user1/tour-guide-robot/app/maps/SIM_MADAMA/madama.world & +ros2 launch gazebo_ros gazebo.launch.py extra_gazebo_args:=-slibgazebo_yarp_clock.so world:=/usr/local/src/robot/tour-guide-robot/app/maps/SIM_MADAMA/madama.world & sleep 1; yarprun --server /console --log & sleep 1; diff --git a/app/speechPipeline/conf/robotInterface/audioTranscribe.xml b/app/speechPipeline/conf/robotInterface/audioTranscribe.xml index 07b5f48..f649f6c 100644 --- a/app/speechPipeline/conf/robotInterface/audioTranscribe.xml +++ b/app/speechPipeline/conf/robotInterface/audioTranscribe.xml @@ -10,7 +10,7 @@ - /home/user1/yarp-device-speechTranscription-whisper/build/share/WhisperTranscribe/contexts/whisperTranscribe_demo/ggml-base.en.bin/ggml-base.en.bin + /usr/local/src/robot/yarp-device-speechTranscription-whisper/build/share/WhisperTranscribe/contexts/whisperTranscribe_demo/ggml-base.en.bin/ggml-base.en.bin From 790ff7bb00f3bd43d87f38634093123f4460f730 Mon Sep 17 00:00:00 2001 From: Ettore Landini Date: Wed, 11 Dec 2024 16:10:37 +0100 Subject: [PATCH 3/3] Final fix to dockerfile Signed-off-by: Ettore Landini --- docker_stuff/docker_tourCore2/Dockerfile | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/docker_stuff/docker_tourCore2/Dockerfile b/docker_stuff/docker_tourCore2/Dockerfile index 2c7f48e..5b1900c 100644 --- a/docker_stuff/docker_tourCore2/Dockerfile +++ b/docker_stuff/docker_tourCore2/Dockerfile @@ -119,7 +119,7 @@ RUN sudo ln -s /usr/local/share/bash-completion/completions/yarp /usr/share/bash # Build icub-firmware-shared USER ${robotology_install_user} WORKDIR ${robotology_install_folder} -RUN git clone https://github.com/robotology/icub-firmware-shared -b devel +RUN git clone https://github.com/robotology/icub-firmware-shared -b master RUN cd icub-firmware-shared && mkdir build && cd build && cmake .. -DCMAKE_BUILD_TYPE=Release && make -j11 ENV icub_firmware_shared_ROOT=${robotology_install_folder}/icub-firmware-shared ENV icub_firmware_shared_DIR=${robotology_install_folder}/icub-firmware-shared/build