Map management - load GeoJSON map (#20)

jkaflik · Dec 1, 2023 · 787837f · 787837f
1 parent dacdb7a
commit 787837f
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Showing 39 changed files with 1,908 additions and 154 deletions.
diff --git a/.devcontainer/Dockerfile b/.devcontainer/Dockerfile
@@ -13,6 +13,7 @@ RUN apt-get update \
   && apt-get install -y ssh \
     python3-pip \
     curl \
+    rsync \
   && rm -rf /var/lib/apt/lists/*
 
 RUN echo $USERNAME ALL=\(root\) NOPASSWD:ALL > /etc/sudoers.d/$USERNAME \
@@ -26,7 +27,7 @@ RUN mkdir -p /home/ws/build /home/ws/install /home/ws/log \
 RUN ( \
     echo "source /opt/ros/iron/setup.bash"; \
     echo "source /home/ws/install/setup.bash"; \
-    echo "source /home/ws/src/openmower/config/sim-config.env.sh"; \
+    echo "source /home/ws/.devcontainer/openmower_config.env"; \
     echo "export DISPLAY=:0"; \
   ) >> /home/$USERNAME/.bashrc
 
@@ -38,4 +39,11 @@ RUN ( \
 RUN sed -i 's/#Port 22/Port 2222/' /etc/ssh/sshd_config
 RUN mkdir /run/sshd
 
-CMD ["/usr/sbin/sshd", "-D", "-e", "-f", "/etc/ssh/sshd_config"]
+COPY entrypoint.sh /entrypoint.sh
+RUN chmod +x /entrypoint.sh
+
+USER $USERNAME
+
+ENTRYPOINT ["/entrypoint.sh"]
+
+CMD ["/usr/bin/sudo", "/usr/sbin/sshd", "-D", "-e", "-f", "/etc/ssh/sshd_config"]
diff --git a/.devcontainer/Makefile b/.devcontainer/Makefile
@@ -0,0 +1,5 @@
+groot-build:
+	docker buildx build --push --platform linux/arm64/v8,linux/amd64 --tag jkaflik/behaviortree-groot:latest -f groot.Dockerfile .
+
+groot-publish:
+	docker push jkaflik/behaviortree-groot:latest
diff --git a/.devcontainer/devcontainer.json b/.devcontainer/devcontainer.json
@@ -19,6 +19,5 @@
 			]
         }
     },
-    "containerUser": "openmower",
-    "postCreateCommand": "sudo apt update && rosdep update && make custom-deps deps"
+    "containerUser": "openmower"
 }
diff --git a/.devcontainer/docker-compose.yaml b/.devcontainer/docker-compose.yaml
@@ -24,6 +24,8 @@ services:
       - "8765:8765" # Foxglove Studio websocket
       - "9002:9002" # Gazebo websocket
     volumes:
+    - ./home:/home/openmower/.openmower
+    - /opt/ros
     - ../:/home/ws
     - build:/home/ws/build # keep container pre-build
     - install:/home/ws/install # keep container pre-build
@@ -34,6 +36,26 @@ services:
     - xserver
     depends_on:
     - xserver
+  groot:
+    profiles:
+      - with_groot
+    image: jkaflik/behaviortree-groot:latest
+    ipc: host
+    pid: host
+    security_opt:
+    - seccomp:unconfined
+    cap_add:
+      - SYS_PTRACE
+    volumes:
+    - ../:/home/ws
+    environment:
+    - DISPLAY=:0
+    volumes_from:
+    - xserver
+    - workspace
+    depends_on:
+    - xserver
+    - workspace
 volumes:
   build:
   install:

diff --git a/.devcontainer/entrypoint.sh b/.devcontainer/entrypoint.sh
@@ -0,0 +1,15 @@
+#!/usr/bin/env bash
+set -e
+
+if [ ! -d "/home/ws" ]; then
+    echo "ERROR: /home/ws does not exist. Please mount your workspace to /home/ws"
+    exit 1
+fi
+
+cd /home/ws
+
+sudo apt update
+rosdep update
+make custom-deps deps
+
+exec "$@"
diff --git a/.devcontainer/groot.Dockerfile b/.devcontainer/groot.Dockerfile
@@ -0,0 +1,36 @@
+FROM ubuntu:jammy
+
+ENV DEBIAN_FRONTEND=noninteractive
+RUN apt-get update && apt-get install -y -q \
+    git \
+    build-essential \
+    cmake \
+    python3 \
+    qtbase5-dev \
+    libqt5svg5-dev \
+    libzmq3-dev \
+    libdw-dev \
+    libtinfo-dev \
+    libncurses5-dev \
+    libncursesw5-dev
+
+RUN git clone https://github.com/BehaviorTree/Groot.git &&\
+    cd Groot &&\
+    git submodule update --init --recursive &&\
+    cd depend/BehaviorTree.CPP &&\
+    mkdir build ; cd build &&\
+    cmake .. &&\
+    make &&\
+    make install &&\
+    cd /Groot &&\
+    mkdir build; cd build &&\
+    cmake .. &&\
+    make &&\
+    # add alias for Groot GUI (simply type "Groot" in terminal)
+    echo 'alias Groot="cd /Groot/build && ./Groot"' >> ~/.bashrc
+
+# fixes: "error while loading shared libraries: libbehaviortree_cpp_v3.so: cannot open shared object"
+RUN ldconfig
+
+WORKDIR /Groot/build
+CMD ./Groot
diff --git a/.devcontainer/home/map.geojson b/.devcontainer/home/map.geojson
@@ -0,0 +1,237 @@
+{
+  "type": "FeatureCollection",
+  "features": [
+    {
+      "type": "Feature",
+      "properties": {
+        "id": "0859c0c1-ec2d-4197-96b7-2d12f6cf1cd9",
+        "name": "backyard",
+        "type": "lawn",
+        "fill": "#00ff00"
+      },
+      "geometry": {
+        "coordinates": [
+          [
+            [
+              -43.20007309019093,
+              -22.899998069679626
+            ],
+            [
+              -43.20006688758278,
+              -22.900006871946417
+            ],
+            [
+              -43.200002346928954,
+              -22.899972743856168
+            ],
+            [
+              -43.19999715014916,
+              -22.899979847441557
+            ],
+            [
+              -43.200002011652515,
+              -22.899984943491773
+            ],
+            [
+              -43.20000352039554,
+              -22.899987877581054
+            ],
+            [
+              -43.200001508737785,
+              -22.89999529001645
+            ],
+            [
+              -43.19999882652931,
+              -22.899998687383203
+            ],
+            [
+              -43.199989774073345,
+              -22.900001003768594
+            ],
+            [
+              -43.19998390674169,
+              -22.900001621472214
+            ],
+            [
+              -43.199976027752285,
+              -22.89999992278834
+            ],
+            [
+              -43.199966304744464,
+              -22.899997143125205
+            ],
+            [
+              -43.19991584568825,
+              -22.89996363273525
+            ],
+            [
+              -43.199949708576725,
+              -22.89991792269754
+            ],
+            [
+              -43.20007309019093,
+              -22.899998069679626
+            ]
+          ]
+        ],
+        "type": "Polygon"
+      },
+      "id": 0
+    },
+    {
+      "type": "Feature",
+      "properties": {
+        "id": "6387f8e9-bc4e-48a5-95e2-fedd3b3b5c09",
+        "name": "driveway",
+        "type": "navigation",
+        "fill": "#ffffff"
+      },
+      "geometry": {
+        "coordinates": [
+          [
+            [
+              -43.19991601332646,
+              -22.89996363273525
+            ],
+            [
+              -43.19996664002096,
+              -22.899996988699343
+            ],
+            [
+              -43.19995825811796,
+              -22.90000887948092
+            ],
+            [
+              -43.19990629031864,
+              -22.8999759867976
+            ],
+            [
+              -43.19991601332646,
+              -22.89996363273525
+            ]
+          ]
+        ],
+        "type": "Polygon"
+      },
+      "id": 1
+    },
+    {
+      "type": "Feature",
+      "properties": {
+        "id": "a7a3e913-5e9e-4959-8044-059f40356996",
+        "type": "lawn",
+        "fill": "#00ff00"
+      },
+      "geometry": {
+        "coordinates": [
+          [
+            [
+              -43.19990654164289,
+              -22.899975703751664
+            ],
+            [
+              -43.19995834180392,
+              -22.900008596436095
+            ],
+            [
+              -43.19996638843159,
+              -22.899996860080364
+            ],
+            [
+              -43.199998742577066,
+              -22.899998713189134
+            ],
+            [
+              -43.20000008368183,
+              -22.899983116188707
+            ],
+            [
+              -43.200020703164,
+              -22.90003299569868
+            ],
+            [
+              -43.20000259825318,
+              -22.900055850700596
+            ],
+            [
+              -43.199891286578776,
+              -22.899990528624386
+            ],
+            [
+              -43.19990654164289,
+              -22.899975703751664
+            ]
+          ]
+        ],
+        "type": "Polygon"
+      },
+      "id": 2
+    },
+    {
+      "type": "Feature",
+      "properties": {
+        "fill": "#ff0000",
+        "type": "obstacle",
+        "name": "tree",
+        "id": "90cd67cb-a606-4878-be1c-2c08f8fc085d"
+      },
+      "geometry": {
+        "coordinates": [
+          [
+            [
+              -43.19996538260324,
+              -22.899949451369395
+            ],
+            [
+              -43.199974435058095,
+              -22.899951304478776
+            ],
+            [
+              -43.199975776162916,
+              -22.899958871343117
+            ],
+            [
+              -43.199966891345184,
+              -22.899964585096825
+            ],
+            [
+              -43.1999563301473,
+              -22.899959180193974
+            ],
+            [
+              -43.19995666542377,
+              -22.899953312014105
+            ],
+            [
+              -43.19996538260324,
+              -22.899949451369395
+            ]
+          ]
+        ],
+        "type": "Polygon"
+      },
+      "id": 3
+    },
+    {
+      "type": "Feature",
+      "properties": {
+        "id": "0706aa36-bf67-4831-9472-be2c4275815d",
+        "type": "docking_station",
+        "name": "First docking station"
+      },
+      "geometry": {
+        "coordinates": [
+          [
+            -43.1999118467661,
+            -22.899969157137434
+          ],
+          [
+            -43.19991519952754,
+            -22.89997131909847
+          ]
+        ],
+        "type": "LineString"
+      }
+    }
+  ]
+}
diff --git a/src/openmower/config/sim-config.env.sh → .devcontainer/openmower_config.env b/src/openmower/config/sim-config.env.sh → .devcontainer/openmower_config.env
@@ -1,2 +1,3 @@
 export OM_DATUM_LAT=-22.9
 export OM_DATUM_LONG=-43.2
+export OM_MAP_PATH=$HOME/.openmower/map.geojson
diff --git a/Makefile b/Makefile
@@ -25,6 +25,9 @@ sim:
 run:
 	ros2 launch src/openmower/launch/openmower.launch.py
 
+dev:
+	cd .devcontainer && docker-compose up -d
+
 run-realsense:
 	ros2 launch realsense2_camera rs_launch.py initial_reset:=true pointcloud.enable:=true publish_tf:=false enable_infra1:=true enable_depth:=true enable_gyro:=true enable_accel:=true unite_imu_method:=1
 

diff --git a/docs/.vitepress/config.mts b/docs/.vitepress/config.mts
@@ -34,6 +34,7 @@ export default withMermaid({
           { text: 'ROS workspace', link: '/ros-workspace' },
           { text: 'Mainboard firmware', link: '/omros2-firmware' },
           { text: 'Robot localization', link: '/localization' },
+          { text: 'Map management', link: '/map-management' },
         ]
       },
       {