Menjalankan aplikasi sampel dengan ROS Melodic dan Gazebo 9

Untuk membuat gambar dasar, simpan perintah dalam contoh untuk membuat lingkungan Anda di Dockerfile. Kemudian, membangun Dockerfile.

1. Simpan perintah berikut dalam Dockerfile.

   # Copyright Amazon.com, Inc. or its affiliates. All Rights Reserved.
   # SPDX-License-Identifier: MIT-0
   FROM ros:melodic
   
   ENV DEBIAN_FRONTEND noninteractive
   
   RUN apt-get clean
   RUN apt-get update && apt-get install -y \
       lsb  \
       unzip \
       wget \
       curl \
       sudo \
       python-vcstool \
       python-rosinstall \
       python3-colcon-common-extensions \
       ros-melodic-rviz \
       ros-melodic-rqt \
       ros-melodic-rqt-common-plugins \
       devilspie \
       xfce4-terminal \
       ros-melodic-gazebo-ros-pkgs \
       ros-melodic-gazebo-ros-control \
       ros-melodic-turtlebot3
   
   ENV QT_X11_NO_MITSHM=1
   
   ARG USERNAME=robomaker
   RUN groupadd $USERNAME
   RUN useradd -ms /bin/bash -g $USERNAME $USERNAME
   RUN sh -c 'echo "$USERNAME ALL=(root) NOPASSWD:ALL" >> /etc/sudoers'
   USER $USERNAME
   
   RUN sh -c 'cd /home/$USERNAME'
   
   # Download and build our Robot and Simulation application
   RUN sh -c 'mkdir -p /home/robomaker/workspace'
   RUN sh -c 'cd /home/robomaker/workspace && wget https://github.com/aws-robotics/aws-robomaker-sample-application-helloworld/archive/ros1.zip && unzip ros1.zip'
   RUN sh -c 'cd /home/robomaker/workspace/aws-robomaker-sample-application-helloworld-ros1'
   
   RUN sudo rosdep fix-permissions
   RUN rosdep update
                           

2. Setelah Anda membuat Dockerfile, buat menggunakan perintah berikut di terminal Anda.

   cd ../HelloWorldSampleAppROSMelodicGazebo9
   docker build -t helloworldsampleapprosmelodicgazebo9:latest .
   

1. Simpan script berikut dalam Dockerfile dan membangunnya. Skrip ini mengunduh aplikasi robot Hello World dan mengaturnya.

   # Copyright Amazon.com, Inc. or its affiliates. All Rights Reserved.
   # SPDX-License-Identifier: MIT-0
   FROM helloworldsampleapprosmelodicgazebo9:latest
   
   # Build the Robot application
   RUN cd /home/robomaker/workspace/aws-robomaker-sample-application-helloworld-ros1/robot_ws && \
    /bin/bash -c "source /opt/ros/melodic/setup.bash && vcs import < .rosinstall && rosdep install --rosdistro melodic --from-paths src --ignore-src -r -y && colcon build"
   
   COPY robot-entrypoint.sh /home/robomaker/robot-entrypoint.sh
   
   RUN sh -c 'sudo chmod +x /home/robomaker/robot-entrypoint.sh'
   RUN sh -c 'sudo chown robomaker:robomaker /home/robomaker/robot-entrypoint.sh'
   
   CMD roslaunch hello_world_robot rotate.launch
   ENTRYPOINT [ "/home/robomaker/robot-entrypoint.sh" ]
   

2. Gunakan perintah berikut untuk membuat gambar untuk aplikasi robot dari Dockerfile.

   cd HelloWorldSampleAppROSMelodicGazebo9RobotApp/HelloWorldSampleAppROSMelodicGazebo9RobotApp 
   docker build -t helloworldsampleapprosmelodicgazebo9robotapp:latest image/.
   

3. Berikut ini adalah isi dari script yang dapat Anda simpan sebagairobot-entrypoint.sh. Script ini sumber lingkungan untuk aplikasi robot.

   #!/bin/bash
   
   if [ ! -z $GAZEBO_MASTER_URI ]; then
           tmp_GAZEBO_MASTER_URI=$GAZEBO_MASTER_URI
   fi
   
   cd /home/robomaker/workspace/aws-robomaker-sample-application-helloworld-ros1/robot_ws
   source /opt/ros/melodic/setup.bash
   source /usr/share/gazebo-9/setup.sh
   source ./install/setup.sh
   
   if [ ! -z $tmp_GAZEBO_MASTER_URI ]; then
           export GAZEBO_MASTER_URI=$tmp_GAZEBO_MASTER_URI
           unset tmp_GAZEBO_MASTER_URI
   fi
   
   printenv
   
   exec "${@:1}"

1. Simpan script berikut dalam Dockerfile dan membangunnya. Skrip ini mengunduh aplikasi robot Hello World dan mengaturnya.

   # Copyright Amazon.com, Inc. or its affiliates. All Rights Reserved.
   # SPDX-License-Identifier: MIT-0
   FROM helloworldsampleapprosmelodicgazebo9:latest
   
   # Build the Simulation application
   RUN cd /home/robomaker/workspace/aws-robomaker-sample-application-helloworld-ros1/simulation_ws && \
       /bin/bash -c "source /opt/ros/melodic/setup.bash && vcs import < .rosinstall && rosdep install --rosdistro melodic --from-paths src --ignore-src -r -y && colcon build"
   
   COPY simulation-entrypoint.sh /home/robomaker/simulation-entrypoint.sh
   
   RUN sh -c 'sudo chmod +x /home/robomaker/simulation-entrypoint.sh'
   RUN sh -c 'sudo chown robomaker:robomaker /home/robomaker/simulation-entrypoint.sh'
   
   CMD roslaunch hello_world_simulation empty_world.launch
   ENTRYPOINT [ "/home/robomaker/simulation-entrypoint.sh" ]
   

2. Simpan yang berikutsimulation-entrypoint.shnaskah. Script ini sumber lingkungan untuk aplikasi simulasi.

   #!/bin/bash
   
   if [ ! -z $GAZEBO_MASTER_URI ]; then
           tmp_GAZEBO_MASTER_URI=$GAZEBO_MASTER_URI
   fi
   
   cd /home/robomaker/workspace/aws-robomaker-sample-application-helloworld-ros1/simulation_ws
   source /opt/ros/melodic/setup.bash
   source /usr/share/gazebo-9/setup.sh
   source ./install/setup.sh
   
   if [ ! -z $tmp_GAZEBO_MASTER_URI ]; then
           export GAZEBO_MASTER_URI=$tmp_GAZEBO_MASTER_URI
           unset tmp_GAZEBO_MASTER_URI
   fi
   
   printenv
   
   exec "${@:1}"

1. Gunakan perintah berikut untuk menjalankan aplikasi Hello World di lingkungan Linux lokal Anda.

   docker run -it -e DISPLAY -v /tmp/.X11-unix/:/tmp/.X11-unix/ \
   -u robomaker -e ROBOMAKER_GAZEBO_MASTER_URI=http://localhost:5555 \
   -e ROBOMAKER_ROS_MASTER_URI=http://localhost:11311 \
   helloworldsampleapprosmelodicgazebo9robotapp:latest 
   

   docker run -it -e DISPLAY -v /tmp/.X11-unix/:/tmp/.X11-unix/ \
   -u robomaker -e ROBOMAKER_GAZEBO_MASTER_URI=http://localhost:5555 \
   -e ROBOMAKER_ROS_MASTER_URI=http://localhost:11311 \
   helloworldsampleapprosmelodicgazebo9simapp:latest 
   

2. Jalankan aplikasi robot dan wadah aplikasi simulasi untuk memvisualisasikan simulasi menggunakan alat Gazebo GUI. Gunakan perintah berikut untuk:

   1. Hubungkan ke wadah Anda yang menjalankan aplikasi simulasi.

   2. Visualisasikan aplikasi Anda dengan menjalankan Gazebo Graphical User Interface (GUI).

   # Enable access to X server to launch Gazebo from docker container
   $ xhost +
   
   # Check that the robot_app and sim_app containers are running. The command should list both containers
   $ docker container ls
   
   # Connect to the sim app container
   $ docker exec -it sim_app bash
   
   # Launch Gazebo from within the container
   $ rosrun gazebo_ros gzclient                   
   

3. Tambahkan tag ke gambar Anda agar tetap teratur. Gunakan perintah berikut untuk menandai gambar Anda.

   docker tag helloworldsampleapprosmelodicgazebo9robotapp:latest accountID.dkr.ecr.us-west-2.amazonaws.com/helloworldsampleapprosmelodicgazebo9robotapp:latest
                   

   docker tag helloworldsampleapprosmelodicgazebo9simapp:latest accountID.dkr.ecr.us-west-2.amazonaws.com/helloworldsampleapprosmelodicgazebo9simapp:latest
                   

4. Setelah Anda memverifikasi bahwa aplikasi berfungsi dengan benar, Anda dapat mendorong ke Amazon ECR menggunakan perintah berikut.

   aws ecr get-login-password --region us-west-2 | docker login --username AWS --password-stdin accountID.dkr.ecr.us-west-2.amazonaws.com
   docker push accountID.dkr.ecr.us-west-2.amazonaws.com/helloworldsampleapprosmelodicgazebo9robotapp:latest 
   docker push accountID.dkr.ecr.us-west-2.amazonaws.com/helloworldsampleapprosmelodicgazebo9simapp:latest