refactor: Update and unify docker compose across all workspaces and a…

…dd tests
j3soon · Aug 21, 2024 · c4e62b6 · c4e62b6
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diff --git a/README.md b/README.md
@@ -15,12 +15,12 @@ Pulling the pre-built Docker images can bypass the time-consuming building proce
 | [j3soon/ros2-template-ws](https://hub.docker.com/r/j3soon/ros2-template-ws/tags) | [`./template_ws`](./template_ws) | ✔️ | ❌ | |
 | [j3soon/ros2-orbslam3-ws](https://hub.docker.com/r/j3soon/ros2-orbslam3-ws/tags) | [`./orbslam3_ws`](./orbslam3_ws) | ✔️ | ❌ | |
 | [j3soon/ros2-rtabmap-ws](https://hub.docker.com/r/j3soon/ros2-rtabmap-ws/tags) | [`./rtabmap_ws`](./rtabmap_ws) | ✔️ | ❌ | |
-| [j3soon/ros2-ros1-bridge-ws](https://hub.docker.com/r/j3soon/ros2-ros1-bridge-ws/tags) | [`./ros1_bridge_ws`](./ros1_bridge_ws) | ✔️ | ❌ | Linting Skipped |
-| [j3soon/ros2-ros1-bridge-build-ws](https://hub.docker.com/r/j3soon/ros2-ros1-bridge-build-ws/tags) | [`./ros1_bridge_ws`](./ros1_bridge_ws) | ✔️ | ❌ | Linting Skipped |
+| [j3soon/ros2-ros1-bridge-ws](https://hub.docker.com/r/j3soon/ros2-ros1-bridge-ws/tags) | [`./ros1_bridge_ws`](./ros1_bridge_ws) | ✔️ | ❌ | Skip linting |
+| [j3soon/ros2-ros1-bridge-build-ws](https://hub.docker.com/r/j3soon/ros2-ros1-bridge-build-ws/tags) | [`./ros1_bridge_ws`](./ros1_bridge_ws) | ✔️ | ❌ | Skip linting |
 | [j3soon/ros2-cartographer-ws](https://hub.docker.com/r/j3soon/ros2-cartographer-ws/tags) | [`./cartographer_ws`](./cartographer_ws) | ✔️ | ❌ | |
-| [j3soon/ros2-husky-ws](https://hub.docker.com/r/j3soon/ros2-husky-ws/tags) | [`./husky_ws`](./husky_ws) | ✔️ | ✔️ | |
-| [j3soon/ros2-kobuki-ws](https://hub.docker.com/r/j3soon/ros2-kobuki-ws/tags) | [`./kobuki_ws`](./kobuki_ws) | ✔️ | ✔️ | |
-| [j3soon/ros2-vlp-ws](https://hub.docker.com/r/j3soon/ros2-vlp-ws/tags) | [`./vlp_ws`](./vlp_ws) | ✔️ | ✔️ | |
+| [j3soon/ros2-husky-ws](https://hub.docker.com/r/j3soon/ros2-husky-ws/tags) | [`./husky_ws`](./husky_ws) | ✔️ | ✔️ | Support real husky |
+| [j3soon/ros2-kobuki-ws](https://hub.docker.com/r/j3soon/ros2-kobuki-ws/tags) | [`./kobuki_ws`](./kobuki_ws) | ✔️ | ✔️ | Support real kobuki |
+| [j3soon/ros2-vlp-ws](https://hub.docker.com/r/j3soon/ros2-vlp-ws/tags) | [`./vlp_ws`](./vlp_ws) | ✔️ | ✔️ | Support real vlp |
 
 ## Contributors
 

diff --git a/cartographer_ws/docker/compose.yaml b/cartographer_ws/docker/compose.yaml
@@ -53,7 +53,9 @@ services:
       - /dev/dri:/dev/dri
       # Mount sound card to prevent Gazebo warning.
       - /dev/snd:/dev/snd
-      # TODO: Uncomment the line below and comment out the two entries above to enable USB support.
+      # Mount shared memory for ROS2 communication.
+      - /dev/shm:/dev/shm
+      # TODO: Uncomment the line below and comment out the three entries above to enable USB support.
       # - /dev:/dev
       # Mount Gazebo models directory to reuse models downloaded during first launch.
       # Reference: https://answers.ros.org/question/365658

diff --git a/husky_ws/docker/compose.yaml b/husky_ws/docker/compose.yaml
@@ -53,7 +53,9 @@ services:
       # - /dev/dri:/dev/dri
       # Mount sound card to prevent Gazebo warning.
       # - /dev/snd:/dev/snd
-      # TODO: Uncomment the line below and comment out the two entries above to enable USB support.
+      # Mount shared memory for ROS2 communication.
+      # - /dev/shm:/dev/shm
+      # TODO: Uncomment the line below and comment out the three entries above to enable USB support.
       - /dev:/dev
       # Mount Gazebo models directory to reuse models downloaded during first launch.
       # Reference: https://answers.ros.org/question/365658

diff --git a/kobuki_ws/docker/compose.yaml b/kobuki_ws/docker/compose.yaml
@@ -53,9 +53,10 @@ services:
       # - /dev/dri:/dev/dri
       # Mount sound card to prevent Gazebo warning.
       # - /dev/snd:/dev/snd
-      # TODO: Uncomment the line below and comment out the two entries above to enable USB support.
+      # Mount shared memory for ROS2 communication.
+      # - /dev/shm:/dev/shm
+      # TODO: Uncomment the line below and comment out the three entries above to enable USB support.
       - /dev:/dev
-        # Kobuki is usually mounted at `/dev/ttyUSB0`
       # Mount Gazebo models directory to reuse models downloaded during first launch.
       # Reference: https://answers.ros.org/question/365658
       # Note that this volume is shared among all workspaces.

diff --git a/orbslam3_ws/docker/compose.yaml b/orbslam3_ws/docker/compose.yaml
@@ -53,7 +53,9 @@ services:
       - /dev/dri:/dev/dri
       # Mount sound card to prevent Gazebo warning.
       - /dev/snd:/dev/snd
-      # TODO: Uncomment the line below and comment out the two entries above to enable USB support.
+      # Mount shared memory for ROS2 communication.
+      - /dev/shm:/dev/shm
+      # TODO: Uncomment the line below and comment out the three entries above to enable USB support.
       # - /dev:/dev
       # Mount Gazebo models directory to reuse models downloaded during first launch.
       # Reference: https://answers.ros.org/question/365658

diff --git a/rtabmap_ws/docker/compose.yaml b/rtabmap_ws/docker/compose.yaml
@@ -53,7 +53,9 @@ services:
       - /dev/dri:/dev/dri
       # Mount sound card to prevent Gazebo warning.
       - /dev/snd:/dev/snd
-      # TODO: Uncomment the line below and comment out the two entries above to enable USB support.
+      # Mount shared memory for ROS2 communication.
+      - /dev/shm:/dev/shm
+      # TODO: Uncomment the line below and comment out the three entries above to enable USB support.
       # - /dev:/dev
       # Mount Gazebo models directory to reuse models downloaded during first launch.
       # Reference: https://answers.ros.org/question/365658

diff --git a/tests/diff_base/docker/compose.yaml b/tests/diff_base/docker/compose.yaml
@@ -53,9 +53,10 @@ services:
       PLACEHOLDER- /dev/dri:/dev/dri
       # Mount sound card to prevent Gazebo warning.
       PLACEHOLDER- /dev/snd:/dev/snd
-      # TODO: Uncomment the line below and comment out the two entries above to enable USB support.
+      # Mount shared memory for ROS2 communication.
+      PLACEHOLDER- /dev/shm:/dev/shm
+      # TODO: Uncomment the line below and comment out the three entries above to enable USB support.
       PLACEHOLDER- /dev:/dev
-MULTILINE_PLACEHOLDER
       # Mount Gazebo models directory to reuse models downloaded during first launch.
       # Reference: https://answers.ros.org/question/365658
       # Note that this volume is shared among all workspaces.

diff --git a/tests/lint_comp_template.py b/tests/lint_comp_template.py
@@ -43,6 +43,8 @@ def error(msg, i):
                     j += 1
                 k = 0
                 while k < len(stack) and diff[j+k].startswith('+ '):
+                    if "- MULTILINE_PLACEHOLDER" in diff[i+k]:
+                        raise error("MULTILINE_PLACEHOLDER is not supported in this case yet", i)
                     regexp = "^" + re.escape(diff[i+k][2:]).replace('PLACEHOLDER', '.*') + "$"
                     if not re.match(regexp, diff[j+k][2:]):
                         error("Expected line deletion and addition to differ only in the placeholder", i)
@@ -57,6 +59,8 @@ def error(msg, i):
                     j += 1
                 k = 0
                 while k < len(stack) and diff[j+k].startswith('- '):
+                    if "- MULTILINE_PLACEHOLDER" in diff[j+k]:
+                        raise error("MULTILINE_PLACEHOLDER is not supported in this case yet", i)
                     regexp = "^" + re.escape(diff[j+k][2:]).replace('PLACEHOLDER', '.*') + "$"
                     if not re.match(regexp, diff[i+k][2:]):
                         error("Expected line deletion and addition to differ only in the placeholder", i)

diff --git a/vlp_ws/docker/compose.yaml b/vlp_ws/docker/compose.yaml
@@ -53,10 +53,10 @@ services:
       - /dev/dri:/dev/dri
       # Mount sound card to prevent Gazebo warning.
       - /dev/snd:/dev/snd
-      # TODO: Uncomment the line below and comment out the two entries above to enable USB support.
-      # - /dev:/dev
       # Mount shared memory for ROS2 communication.
       - /dev/shm:/dev/shm
+      # TODO: Uncomment the line below and comment out the three entries above to enable USB support.
+      # - /dev:/dev
       # Mount Gazebo models directory to reuse models downloaded during first launch.
       # Reference: https://answers.ros.org/question/365658
       # Note that this volume is shared among all workspaces.