NASA Challenge_[@gmacario]_[Integrate FREISA Robot Dog with Space ROS Mars Rover Demo] (closes #54)

.devcontainer/devcontainer.json

@@ -0,0 +1,31 @@
+// For format details, see https://aka.ms/devcontainer.json. For config options, see the
+// README at: https://github.com/devcontainers/templates/tree/main/src/ubuntu
+{
+	"name": "Ubuntu",
+	// Or use a Dockerfile or Docker Compose file. More info: https://containers.dev/guide/dockerfile
+	"image": "mcr.microsoft.com/devcontainers/base:jammy",
+
+	// Features to add to the dev container. More info: https://containers.dev/features.
+	"features": {
+		"ghcr.io/devcontainers/features/docker-in-docker:2": {}
+	},
+
+	// Use 'forwardPorts' to make a list of ports inside the container available locally.
+	// "forwardPorts": [],
+
+	// Use 'postCreateCommand' to run commands after the container is created.
+	// "postCreateCommand": "uname -a",
+
+	// Configure tool-specific properties.
+	"customizations": {
+		"vscode": {
+			"extensions": [
+				"mhutchie.git-graph",
+				"openrobotics.spaceros-dashboard"
+			]
+		}
+	}
+
+	// Uncomment to connect as root instead. More info: https://aka.ms/dev-containers-non-root.
+	// "remoteUser": "root"
+}

.github/dependabot.yml

@@ -0,0 +1,12 @@
+# To get started with Dependabot version updates, you'll need to specify which
+# package ecosystems to update and where the package manifests are located.
+# Please see the documentation for more information:
+# https://docs.github.com/github/administering-a-repository/configuration-options-for-dependency-updates
+# https://containers.dev/guide/dependabot
+
+version: 2
+updates:
+ - package-ecosystem: "devcontainers"
+   directory: "/"
+   schedule:
+     interval: weekly

freisa_on_mars/Dockerfile

@@ -0,0 +1,218 @@
+# ==========================================================================
+# File: freisa_on_mars/Dockerfile
+#
+# Adapted from
+# * https://github.com/space-ros/docker/blob/main/moveit2/Dockerfile
+# * https://github.com/space-ros/docker/blob/main/space_robots/Dockerfile
+# ==========================================================================
+
+FROM osrf/space-ros:latest
+# FROM openrobotics/moveit2:latest
+
+# Define arguments used in the metadata definition
+ARG VCS_REF
+ARG VERSION="preview"
+
+# Specify the docker image metadata
+LABEL org.label-schema.schema-version="1.0"
+LABEL org.label-schema.name="FREISA meets Curiosity Rover"
+LABEL org.label-schema.description="FREISA Robot Dog meets Curiosity rover demo on the Space ROS platform"
+LABEL org.label-schema.vendor="B-AROL-O Team"
+LABEL org.label-schema.version=${VERSION}
+LABEL org.label-schema.url="https://github.com/space-ros"
+LABEL org.label-schema.vcs-url="https://github.com/space-ros/demos"
+LABEL org.label-schema.vcs-ref=${VCS_REF}
+
+# Define a few key variables
+ENV DEMO_DIR=${HOME_DIR}/demos_ws
+ENV IGNITION_VERSION=fortress
+ENV GZ_VERSION=fortress
+
+# Disable prompting during package installation
+ARG DEBIAN_FRONTEND=noninteractive
+
+# === BEGIN Adaptation from space-ros/docker/moveit2/Dockerfile ===
+
+# Define key locations
+ENV MOVEIT2_DIR=${HOME_DIR}/moveit2
+
+# Make sure the latest versions of packages are installed
+# Using Docker BuildKit cache mounts for /var/cache/apt and /var/lib/apt ensures that
+# the cache won't make it into the built image but will be maintained between steps.
+RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
+  --mount=type=cache,target=/var/lib/apt,sharing=locked \
+  sudo apt-get update
+RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
+  --mount=type=cache,target=/var/lib/apt,sharing=locked \
+  sudo apt-get dist-upgrade -y
+RUN rosdep update
+
+# Get the MoveIt2 source code
+WORKDIR ${HOME_DIR}
+RUN git clone https://github.com/moveit/moveit2.git -b ${ROSDISTRO} moveit2/src
+RUN cd ${MOVEIT2_DIR}/src \
+  && git clone https://github.com/moveit/moveit2_tutorials.git -b ${ROSDISTRO}
+
+# Get rosinstall_generator
+# Using Docker BuildKit cache mounts for /var/cache/apt and /var/lib/apt ensures that
+# the cache won't make it into the built image but will be maintained between steps.
+RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
+  --mount=type=cache,target=/var/lib/apt,sharing=locked \
+  sudo apt-get update -y && sudo apt-get install -y python3-rosinstall-generator
+
+RUN mkdir -p ${SPACEROS_DIR}/src # HACK
+
+RUN touch DEBUG-01.txt
+
+# Generate repos file for moveit2 dependencies, excluding packages from Space ROS core.
+WORKDIR ${MOVEIT2_DIR}
+COPY --chown=${USERNAME}:${USERNAME} moveit2-pkgs.txt /tmp/
+COPY --chown=${USERNAME}:${USERNAME} excluded-pkgs.txt /tmp/
+RUN rosinstall_generator \
+  --rosdistro ${ROSDISTRO} \
+  --deps \
+  --exclude-path ${SPACEROS_DIR}/src \
+  --exclude $(cat /tmp/excluded-pkgs.txt) -- \
+  -- $(cat /tmp/moveit2-pkgs.txt) \
+  > /tmp/moveit2_generated_pkgs.repos
+
+# Get the repositories required by MoveIt2, but not included in Space ROS
+WORKDIR ${MOVEIT2_DIR}
+RUN vcs import src < /tmp/moveit2_generated_pkgs.repos
+COPY --chown=${USERNAME}:${USERNAME} moveit2_tutorials.repos /tmp/
+RUN vcs import src < /tmp/moveit2_tutorials.repos
+
+# Update the ownership of the source files (had to use sudo above to work around
+# a possible inherited 'insteadof' from the host that forces use of ssh
+RUN sudo chown -R ${USERNAME}:${USERNAME} ${MOVEIT2_DIR}
+
+RUN touch DEBUG-02.txt
+
+# Install system dependencies
+RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
+  --mount=type=cache,target=/var/lib/apt,sharing=locked \
+  /bin/bash -c 'source ${SPACEROS_DIR}/install/setup.bash' \
+  && rosdep install --from-paths ../spaceros/src src --ignore-src \
+     --rosdistro ${ROSDISTRO} -r -y --skip-keys \
+     "console_bridge generate_parameter_library fastcdr fastrtps rti-connext-dds-5.3.1 urdfdom_headers rmw_connextdds ros_testing rmw_connextdds rmw_fastrtps_cpp rmw_fastrtps_dynamic_cpp composition demo_nodes_py lifecycle rosidl_typesupport_fastrtps_cpp rosidl_typesupport_fastrtps_c ikos diagnostic_aggregator diagnostic_updater joy qt_gui rqt_gui rqt_gui_py"
+
+# Apply a patch to octomap_msgs to work around a build issue
+COPY --chown=${USERNAME}:${USERNAME} octomap_fix.diff ./src/octomap_msgs
+RUN cd src/octomap_msgs && git apply octomap_fix.diff
+
+# Build MoveIt2
+RUN /bin/bash -c 'source ${SPACEROS_DIR}/install/setup.bash \
+  && colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release -DCMAKE_EXPORT_COMPILE_COMMANDS=ON --event-handlers desktop_notification- status-'
+
+# # Add a couple sample GUI apps for testing
+# RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
+#   --mount=type=cache,target=/var/lib/apt,sharing=locked \
+#   sudo apt-get install -y \
+#   firefox \
+#   glmark2 \
+#   libcanberra-gtk3-0 \
+#   libpci-dev \
+#   xauth \
+#   xterm
+
+# === END Adaptation from space-ros/docker/moveit2/Dockerfile ===
+
+RUN touch DEBUG-11.txt
+
+# TODO(anyone): remove demo-pkgs.txt, no packages left after exclusions
+# Generate repos file for demo dependencies, excluding packages from Space ROS core.
+# COPY --chown=${USERNAME}:${USERNAME} demo-pkgs.txt /tmp/
+# COPY --chown=${USERNAME}:${USERNAME} excluded-pkgs.txt /tmp/
+# RUN rosinstall_generator \
+#   --rosdistro ${ROSDISTRO} \
+#   --deps \
+#   --exclude-path ${SPACEROS_DIR}/src \
+#   --exclude-path ${MOVEIT2_DIR}/src \
+#   --exclude $(cat /tmp/excluded-pkgs.txt) -- \
+#   -- $(cat /tmp/demo-pkgs.txt) \
+#   > /tmp/demo_generated_pkgs.repos
+
+RUN mkdir -p ${DEMO_DIR}/src
+WORKDIR ${DEMO_DIR}
+
+RUN touch DEBUG-12.txt
+
+# Install libmongoc for development
+RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
+  --mount=type=cache,target=/var/lib/apt,sharing=locked \
+  sudo apt-get install libmongoc-dev -y
+
+# Compile mongo cxx driver https://mongocxx.org/mongocxx-v3/installation/linux/
+RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
+  --mount=type=cache,target=/var/lib/apt,sharing=locked \
+  sudo apt-get install libssl-dev build-essential devscripts debian-keyring fakeroot \
+       debhelper cmake libboost-dev libsasl2-dev libicu-dev libzstd-dev doxygen -y
+RUN wget https://github.com/mongodb/mongo-cxx-driver/releases/download/r3.6.7/mongo-cxx-driver-r3.6.7.tar.gz
+RUN tar -xzf mongo-cxx-driver-r3.6.7.tar.gz
+RUN cd mongo-cxx-driver-r3.6.7/build \
+  && cmake .. -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=/usr/local \
+  && sudo cmake --build . --target EP_mnmlstc_core \
+  && cmake --build . \
+  && sudo cmake --build . --target install
+
+RUN touch DEBUG-15.txt
+
+# Get the source for the dependencies
+# RUN vcs import src < /tmp/demo_generated_pkgs.repos
+COPY --chown=${USERNAME}:${USERNAME} demo_manual_pkgs.repos /tmp/
+RUN vcs import src < /tmp/demo_manual_pkgs.repos \
+  && /bin/bash -c 'source "${SPACEROS_DIR}/install/setup.bash"' 
+
+RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
+  --mount=type=cache,target=/var/lib/apt,sharing=locked \
+  sudo apt-get update -y \
+  && /bin/bash -c 'source "${SPACEROS_DIR}/install/setup.bash"' \
+  && /bin/bash -c 'source "${MOVEIT2_DIR}/install/setup.bash"' \
+  && rosdep install --from-paths src --ignore-src -r -y --rosdistro ${ROSDISTRO}
+
+RUN vcs import src < "${DEMO_DIR}/src/mini_pupper_ros/.minipupper.repos"
+
+# HACK: Move out package whose build still fails
+RUN /bin/mkdir -p ../NO_src \
+  && for d in champ ros2_controllers; do mv "src/$d" "../NO_src/"; done
+
+# Build the demo
+RUN /bin/bash -c '\
+  source "${SPACEROS_DIR}/install/setup.bash" \
+  && source "${MOVEIT2_DIR}/install/setup.bash" \
+  && colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release'
+
+# === TODO: The command above fails ============================================
+# --- stderr: forward_command_controller                            
+# CMake Error at CMakeLists.txt:26 (find_package):
+#   By not providing "Findcontroller_interface.cmake" in CMAKE_MODULE_PATH this
+#   project has asked CMake to find a package configuration file provided by
+#   "controller_interface", but CMake did not find one.
+# 
+#   Could not find a package configuration file provided by
+#   "controller_interface" with any of the following names:
+# 
+#     controller_interfaceConfig.cmake
+#     controller_interface-config.cmake
+# 
+#   Add the installation prefix of "controller_interface" to CMAKE_PREFIX_PATH
+#   or set "controller_interface_DIR" to a directory containing one of the
+#   above files.  If "controller_interface" provides a separate development
+#   package or SDK, be sure it has been installed.
+# 
+# 
+# ---
+# Failed   <<< forward_command_controller [1.84s, exited with code 1]
+# ==============================================================================
+
+RUN touch DEBUG-21.txt
+
+# # Add the user to the render group so that the user can access /dev/dri/renderD128
+# RUN sudo usermod -aG render $USERNAME
+
+# # Setup the entrypoint
+# COPY ./entrypoint.sh /
+# ENTRYPOINT ["/entrypoint.sh"]
+# CMD ["bash"]
+
+# EOF

freisa_on_mars/README.md

@@ -0,0 +1,73 @@
+# FREISA Robot Dog with Space ROS Mars Rover Demo
+
+## Introduction
+
+This demo integrates the simulation of the [FREISA Robot Dog](https://github.com/B-AROL-O/FREISA) (based on the [Mini Pupper 2 Pro](https://www.kickstarter.com/projects/mdrobotkits/md-robot-kits-open-source-support-your-genai-creativity) by [MangDang (HK) Limited](https://mangdang.store/)) inside the [Space ROS Mars Rover demo](https://space-ros.github.io/docs/rolling/Demos.html).
+
+This code is a part of the following challenge:
+
+* Challenge Name: NASA Space ROS Sim Summer Sprint Challenge
+* Team Lead Freelancer Username: [@gmacario](https://www.freelancer.com/u/gmacario)
+* Submission Title: Integrate FREISA Robot Dog with Space ROS Mars Rover Demo
+
+[![FREISA meets NASA Space ROS](https://img.youtube.com/vi/KcfOwAC_WE0/0.jpg)](https://www.youtube.com/watch?v=KcfOwAC_WE0 "FREISA meets NASA Space ROS")
+
+<!--
+## Directory Overview
+
+TODO
+-->
+
+<!--
+## Dependencies
+
+TODO
+-->
+
+<!--
+## Build Instructions
+
+TODO
+-->
+
+<!--
+## Usage Instructions
+
+TODO
+-->
+
+<!--
+## Architecture and design choices
+
+TODO
+-->
+
+## Added bonus
+
+The proposed feature is only dealing with the integration of the [Mini Pupper 2](https://github.com/mangdangroboticsclub) robot inside Space ROS demo.
+However, once the PR is merged, as an added bonus it should be possible to instantiate in the Space ROS Demo any of the quadruped robots supported by [CHAMP](https://github.com/chvmp/champ):
+
+![champ](https://raw.githubusercontent.com/chvmp/champ/master/docs/images/robots.gif)
+
+## Authors
+
+The FREISA Robot Dog with Space ROS Mars Rover Demo is another fine project by [the B-AROL-O Team](https://github.com/B-AROL-O) - a group of friends who in their spare time enjoy creating fun projects with Robotics, Computer Vision and [LEGO®](https://www.lego.com/).
+
+Everything we do - both hardware and software - is Open Source and [shared on GitHub](https://github.com/B-AROL-O).
+
+Our projects have been awarded several prizes in worldwide competitions on Computer Vision and robotics.
+As an example, project "[Four-legged Robot Ensuring Intelligent Sprinkler Automation](https://www.hackster.io/projects/845012)" (a.k.a. [FREISA](https://github.com/B-AROL-O/FREISA)) - was the Grand Prize Winner 🥇 of the [OpenCV AI Competition 2023](https://www.hackster.io/contests/opencv-ai-competition-2023) with [OpenCV](https://www.hackster.io/opencv), [Khadas](https://www.hackster.io/khadas) and [Seeed Studio](https://www.hackster.io/seeed).
+
+[![OpenCV AI Competition 2023 Grand Prize Winners - OpenCV Live 126](https://img.youtube.com/vi/iUe4N7yvpmA/0.jpg)](https://www.youtube.com/watch?v=iUe4N7yvpmA "OpenCV AI Competition 2023 Grand Prize Winners - OpenCV Live 126")
+
+### How to get in touch
+
+You can reach out to us through the following platforms:
+
+* [![Instagram](https://img.icons8.com/small/16/000000/instagram-new.png)](https://instagram.com/baroloteam) Instagram: [@baroloteam](https://instagram.com/baroloteam)
+
+* [![Twitter](https://img.icons8.com/small/16/000000/twitter.png)](https://x.com/baroloteam) X: [@baroloteam](<https://x.com/baroloteam>)
+
+* [![GitHub](https://img.icons8.com/small/16/000000/github.png)](https://github.com/B-AROL-O) GitHub: [B-AROL-O](https://github.com/B-AROL-O)
+
+<!-- EOF -->

freisa_on_mars/build.sh

@@ -0,0 +1,24 @@
+#!/usr/bin/env bash
+
+ORG=baroloteam
+IMAGE=freisa_on_mars
+TAG=latest
+
+VCS_REF=""
+VERSION=preview
+
+# Exit script with failure if build fails
+set -eo pipefail
+
+echo ""
+echo "##### Building freisa_on_mars Demo Docker Image #####"
+echo ""
+
+docker build -t $ORG/$IMAGE:$TAG \
+    --build-arg VCS_REF="$VCS_REF" \
+    --build-arg VERSION="$VERSION" .
+
+echo ""
+echo "##### Done! #####"
+
+# EOF