Update Dockerfile and dependencies, add installation guide

- Switched base image in `Dockerfile` to `nvidia/cuda:12.6.2-cudnn-devel-ubuntu22.04`. - Added non-interactive mode for Debian and streamlined package installation. - Removed unused JSON library build steps. - Enhanced ROS2 installation with keyring and repository setup. - Simplified Python package and framework dependencies installation. - Added commands for `git-lfs` installation and cloning `rbs_assets_library`. - Introduced a new Russian installation guide (`doc/ru/installation.md`) with detailed steps for setting up the framework and dependencies. - Fixed import paths in `octree.py` for consistency with project structure. - Added `all-deps.repos` and `requirements.txt` for managing dependencies.
2024-11-20 21:07:19 +03:00 · 2024-11-20 21:07:19 +03:00 · a8874fa0d7
commit a8874fa0d7
parent 17401c29a7
5 changed files with 143 additions and 26 deletions
--- a/69
+++ b/69
@ -1,46 +1,65 @@
-FROM billf1nger/ros2-humble-cuda:v12.2.2-cudnn8-ubuntu22.04-gz-nvidia
-
+FROM nvidia/cuda:12.6.2-cudnn-devel-ubuntu22.04
 ARG WSDIR=rbs_ws
-ARG config_type=sim

 ENV RBS_ASSEMBLY_DIR=/assembly
+ENV DEBIAN_FRONTEND=noninteractive

 # COPY /home/bill-finger/assembly /assembly
 ENV IGN_GAZEBO_RESOURCE_PATH=/${WSDIR}/install/rbs_simulation/share/rbs_simulation/

-RUN apt update && apt install -y \ 
+RUN apt-get update && apt-get upgrade -y && apt-get install -y \ 
    git \
+    software-properties-common \
    python3-pip \ 
    lsb-release \
-    wget \
-    gnupg
+    curl \
+    wget

-RUN pip install vcstool

-WORKDIR /libs
-RUN wget https://github.com/nlohmann/json/archive/refs/tags/v3.11.3.tar.gz &&\
-    tar -xf v3.11.3.tar.gz &&\
-    cd json-3.11.3 &&\
-    mkdir build &&\
-    cd build &&\
-    cmake .. &&\
-    make &&\
-    make install
+# WORKDIR /libs
+# RUN wget https://github.com/nlohmann/json/archive/refs/tags/v3.11.3.tar.gz &&\
+#     tar -xf v3.11.3.tar.gz &&\
+#     cd json-3.11.3 &&\
+#     mkdir build &&\
+#     cd build &&\
+#     cmake .. &&\
+#     make &&\
+#     make install

-RUN git clone https://gitlab.com/robossembler/forks/megapose6d.git &&\
-    cd megapose6d &&\
-    pip install bokeh joblib pin torch transforms3d webdataset omegaconf tqdm &&\
-    pip install -e .
-RUN git clone https://github.com/thodan/bop_toolkit &&\
-    cd bop_toolkit &&\
-    pip install -e .
+RUN add-apt-repository universe
+RUN curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
+RUN echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | tee /etc/apt/sources.list.d/ros2.list > /dev/null
+
+
+RUN apt-get update && apt-get upgrade && apt-get install -y ros-humble-ros-base
+
+# RUN git clone https://gitlab.com/robossembler/forks/megapose6d.git &&\
+#     cd megapose6d &&\
+#     pip install bokeh joblib pin torch transforms3d webdataset omegaconf tqdm &&\
+#     pip install -e .
+# RUN git clone https://github.com/thodan/bop_toolkit &&\
+#     cd bop_toolkit &&\
+#     pip install -e .

 WORKDIR /${WSDIR}

 COPY . src/robossembler-ros2/

-RUN vcs import src/. < src/robossembler-ros2/rbs.${config_type}.repos
-RUN apt update && rosdep update && \
+RUN pip install vcstool uv
+
+# Install framework and dependencies
+RUN vcs import src/. < src/robossembler-ros2/repos/all-deps.repos
+RUN uv pip install --system -r src/robossembler-ros2/repos/requirements.txt
+RUN apt-get update && rosdep update && \
    rosdep install -y -r -q --from-paths src --ignore-src --rosdistro humble
 RUN . /opt/ros/humble/setup.sh && \
    colcon build --symlink-install --cmake-args -DCMAKE_EXPORT_COMPILE_COMMANDS=1
+
+
+WORKDIR /${RBS_ASSEMBLY_DIR}
+RUN curl -s https://packagecloud.io/install/repositories/github/git-lfs/script.deb.sh | bash
+RUN apt-get install git-lfs
+RUN git clone https://github.com/solid-sinusoid/rbs_assets_library.git 
+RUN cd rbs_assets_library && git lfs pull && pip install -e .
+
+WORKDIR /${WSDIR}
--- a/doc/ru/installation.md
+++ b/doc/ru/installation.md
@ -0,0 +1,32 @@
+# Инструкция по установке фреймворка
+
+Первым делом необходимо установить [ROS2 Humble](https://docs.ros.org/en/humble/Installation/Ubuntu-Install-Debs.html). Рекомендуется минимальная установка.
+
+Вторым делом надо собрать [`ros2_control`](https://github.com/ros-controls/ros2_control) из исходников из этого [форка](https://github.com/solid-sinusoid/ros2_control/tree/gz-ros2-cartesian-controllers) стоит отметить, что также существует альтернативная установка с использованием [`vsctool`](https://github.com/dirk-thomas/vcstool) который поставляется с базовыми пакетами ROS2.
+
+Если устанавливать через `vcstool` тогда необходимые пакеты будут клонированы в тоже рабочее пространство, что и сам фреймворк. Сама команда будет выглядеть так
+```sh
+vcs import . < robossembler-ros2/repos/all-deps.repos
+```
+
+Заодно можно выполнить команду для установки всех требуемых библиотек Python
+```shell
+pip insatll -r robossembler-ros2/repos/requirements.txt
+```
+
+При этом команду надо выполнять в директории `{robossembler_ws}/src/`
+
+Более четкая последовательность команд кому лень:
+```sh
+cd 
+mkdir -p robossembler-ros2/src && cd robossembler-ros2
+git clone git clone https://seed.robossembler.org/z46gtVRpXaXrGQM7Fxiqu7pLy7kip.git robossembler-ros2
+# Или если вы предпочитаете radicle
+rad clone rad:z46gtVRpXaXrGQM7Fxiqu7pLy7kip
+cd src
+vcs import . < robossembler-ros2/repos/all-deps.repos
+pip insatll -r robossembler-ros2/repos/requirements.txt
+cd ..
+rosdep install --from-paths src -y --ignore-src
+colcon build --symlink-install
+```
--- a/env_manager/rbs_gym/rbs_gym/envs/observation/octree.py
+++ b/env_manager/rbs_gym/rbs_gym/envs/observation/octree.py
@ -7,7 +7,7 @@ import torch
 from rclpy.node import Node
 from sensor_msgs.msg import PointCloud2

-from rbs_gym.envs.utils import Tf2Listener, conversions
+from env_manager.utils import Tf2Listener, conversions


 class OctreeCreator:
--- a/repos/all-deps.repos
+++ b/repos/all-deps.repos
@ -0,0 +1,37 @@
+repositories:
+  rbs_arm:
+    type: git
+    url: https://github.com/solid-sinusoid/rbs-arm.git
+    version: main
+  robot_builder:
+    type: git
+    url: https://github.com/solid-sinusoid/robot-builder.git
+    version: main
+  rbs_gripper:
+    type: git
+    url: https://github.com/solid-sinusoid/rbs-gripper.git
+    version: main
+  behavior_tree:
+    type: git
+    url: https://github.com/BehaviorTree/BehaviorTree.ROS2.git
+    version: humble
+  dynamic_message_introspection:
+    type: git
+    url: https://github.com/osrf/dynamic_message_introspection.git
+    version: main
+  robot_builder:
+    type: git
+    url: https://github.com/solid-sinusoid/robot-builder.git
+    version: main
+  cartesian_controllers:
+    type: git
+    url: https://github.com/solid-sinusoid/cartesian_controllers.git
+    version: gazebo-simulation
+  ros2_control:
+    type: git
+    url: https://github.com/solid-sinusoid/ros2_control.git
+    version: gz-ros2-cartesian-controllers
+  gz_ros2_control:
+    type: git
+    url: https://github.com/solid-sinusoid/gz_ros2_control.git
+    version: fts-sensor
--- a/repos/requirements.txt
+++ b/repos/requirements.txt
@ -0,0 +1,29 @@
+trimesh
+pcg-gazebo
+loguru
+# markupsafe==2.0.1
+# Jinja2==2.6
+
+
+numpy!=1.24.0,>=1.20
+flask==3.0.3
+Jinja2>=3.1.2
+docutils<0.18,>=0.15
+markdown-it-py<3.0.0,>=1.0.0
+setuptools-scm
+
+dacite>=1.8.1
+gymnasium>=0.29.1
+numpy>=1.24.0
+open3d>=0.18.0
+scipy>=1.14.1
+tensorflow>=2.17.0
+torch>=2.4.1
+torchvision>=0.19.1
+trimesh>=4.4.9
+wandb>=0.18.6
+
+# Packages from devpi custom repository
+scenario @ https://devpi.solid-sinusoid.duckdns.org/narmak/dev/+f/63e/86b0583c22e52/scenario-1.4.0-cp310-cp310-linux_x86_64.whl#sha256=63e86b0583c22e52c299b9a25e74a26178fc7dbc423f661bf34e4dd26543d11f
+gym-gz @ https://devpi.solid-sinusoid.duckdns.org/narmak/dev/+f/539/1f448c1391486/gym_gz-1.4.0-py3-none-any.whl#sha256=5391f448c13914860e2a65904f6d0fac7eba71daaa3327d8399d7ae516471a68
+gym-gz-models @ https://devpi.solid-sinusoid.duckdns.org/narmak/dev/+f/f42/4784934183e88/gym_gz_models-1.2.0-cp310-cp310-linux_x86_64.whl#sha256=f424784934183e88541c703c789315ba6118661bd221a4bf9135c6a0ee012e96