Merge branch 'dev-space-nav2' into main. Close #126.

.github/workflows/docker-build.yml

@@ -39,3 +39,19 @@ jobs:
           docker load --input /tmp/moveit2.tar
           docker images
           cd space_robots && ./build.sh
+  space_nav2:
+    runs-on: ubuntu-20.04
+    steps:
+      - name: Checkout
+        uses: actions/checkout@v2
+      - name: Set up buildx
+        uses: docker/setup-buildx-action@v1
+      - name: Build space_nav2 image
+        uses: docker/build-push-action@v2
+        with:
+          context: navigation2
+          push: false
+          tags: osrf/space_nav2:latest
+          cache-from: type=gha
+          cache-to: type=gha,mode=max
+          no-cache: false

nav2_demo/Dockerfile

@@ -0,0 +1,55 @@
+# Copyright 2021 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+#
+# A Docker configuration script to build the Navigation2/Space ROS image.
+#
+# The script provides the following build arguments:
+#
+#   VCS_REF     - The git revision of the Space ROS source code (no default value).
+#   VERSION     - The version of Space ROS (default: "preview")
+
+FROM osrf/space_nav2: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="Navigation2 demo"
+LABEL org.label-schema.description="Preview version of the Navigation2/Space ROS platform"
+LABEL org.label-schema.vendor="Open Robotics"
+LABEL org.label-schema.version=${VERSION}
+LABEL org.label-schema.url="https://github.com/space-ros"
+LABEL org.label-schema.vcs-url="https://github.com/space-ros/docker"
+LABEL org.label-schema.vcs-ref=${VCS_REF}
+
+# Disable prompting during package installation
+ARG DEBIAN_FRONTEND=noninteractive
+
+# Define workspace locations
+ENV NAVIGATION2_WS=${HOME_DIR}/nav2_ws
+ENV NAV2_DEPS_WS=${HOME_DIR}/nav2_deps_ws
+
+# Setup mars_rover demo
+# Install map file for localization
+COPY mars_map* /home/spaceros-user/nav2_ws
+
+# Install nav2 config file for mars rover demo
+COPY nav2_params.yaml /home/spaceros-user/nav2_ws
+
+# Set up the entrypoint
+COPY ./entrypoint.sh /
+ENTRYPOINT ["/entrypoint.sh"]
+CMD ["bash"]

nav2_demo/README.md

@@ -0,0 +1,51 @@
+# This folder contains the necessary files for running Nav2 on the Mars Rover demo
+
+# This demo is a preliminary release, please file any issues found
+
+## First build this container using the build script
+
+```
+build.sh
+```
+
+There will now be a docker image called "osrf/space_nav2_demo:latest".
+
+# Run the Mars Rover demo with Nav2 and SLAM toolbox
+
+## Terminal 1 - launch the mars_rover demo
+
+Follow instructions on space-ros/docker/space-robots/README.md.
+
+## Terminal 2 - launch Nav2
+
+Start the space_nav2 container and launch the navigation2 nodes:
+
+```
+./run.sh
+ros2 launch nav2_bringup navigation_launch.py use_sim_time:=True params_file:=nav2_params.yaml
+```
+
+## Terminal 3 - launch localization with map
+
+```
+docker exec -it osrf_space_nav2_demo bash
+source install/setup.bash
+ros2 launch nav2_bringup localization_launch.py use_sim_time:=True map:=mars_map.yaml
+```
+
+## Terminal 4 - launch Rviz
+
+Exec into the same space_nav2 container and launch Rviz2:
+
+```
+docker exec -it -e DISPLAY=:0 osrf_space_nav2_demo bash
+source /opt/ros/humble/setup.bash
+source install/setup.bash
+ros2 launch nav2_bringup rviz_launch.py
+```
+
+## Localize the robot and send a Nav2 goal
+
+In the Rviz GUI, localize robot in Rviz using 2D Pose estimate tool, with an arrow pointing up at the center of the grid.
+Wait for Nav2 to initialize / costmaps to appear.
+When the costmap appears, send a goal using the "Nav2 goal" tool in Rviz

nav2_demo/build.sh

@@ -0,0 +1,23 @@
+#!/usr/bin/env bash
+
+ORG=osrf
+IMAGE=space_nav2_demo
+TAG=latest
+
+VCS_REF=""
+VERSION=preview
+
+# Exit script with failure if build fails
+set -eo pipefail
+
+echo ""
+echo "##### Building Navigation2/Space ROS Docker Image #####"
+echo ""
+
+docker build -t $ORG/$IMAGE:$TAG \
+    --build-arg VCS_REF="$VCS_REF" \
+    --build-arg VERSION="$VERSION" .
+
+echo ""
+echo "##### Done! #####"
+

nav2_demo/entrypoint.sh

@@ -0,0 +1,6 @@
+#!/bin/bash
+set -e
+
+# Setup the Navigation2 environment
+source "/home/spaceros-user/nav2_ws/install/setup.bash"
+exec "$@"

nav2_demo/mars_map.yaml

@@ -0,0 +1,7 @@
+image: mars_map.pgm
+mode: trinary
+resolution: 0.05
+origin: [-28.2, -22.1, 0]
+negate: 0
+occupied_thresh: 0.65
+free_thresh: 0.25