init custom_bridge for jammy

README.md

+# ROS1 Bridge Custom Interfaces w/ Humble on 22.04 (jammy)
+
+

custom_bridge.Dockerfile

+FROM ubuntu:jammy
+
+
+ARG USERNAME=nx
+ARG USER_UID=1000
+ARG USER_GID=$USER_UID
+ENV HOME=/home/nx
+
+RUN addgroup \
+    --gid $USER_GID $USERNAME && adduser \
+    --uid $USER_UID \
+    --gid $USER_GID \
+    --disabled-password \
+    --gecos "$USERNAME user" $USERNAME
+
+ARG DBF=noninteractive
+ENV DEBIAN_FRONTEND=${DBF}
+
+
+ENV MAKEFLAGS=-j4
+ARG PW=10
+
+
+
+
+ENV ROS2_DISTRO=humble
+ENV ROS2_INSTALL_PATH=$HOME/ros2_humble
+RUN mkdir -p $ROS2_INSTALL_PATH/src
+ENV ROS2_INSTALL=$ROS2_INSTALL_PATH/install/setup.bash
+
+
+#### GENERAL LINUX/ROS DEPENDENCIES
+RUN apt-get update
+RUN apt-get install -y \
+    build-essential \
+    cmake \
+    curl \
+    git \
+    gnupg \
+    locales \
+    lsb-release \
+    wget
+
+RUN locale-gen en_US en_US.UTF-8 &&\
+    update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8
+
+ENV LANG=en_US.UTF-8
+
+
+
+#### INSTALL ROS2 HUMBLE FROM SRC
+RUN apt install software-properties-common -y
+RUN add-apt-repository universe -y
+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
+
+# Install additional packages
+RUN apt update && apt install -y \
+    python3-flake8 \
+    python3-flake8-blind-except \
+    python3-flake8-builtins \
+    python3-flake8-class-newline \
+    python3-flake8-comprehensions \
+    python3-flake8-deprecated \
+    python3-flake8-docstrings \
+    python3-flake8-import-order \
+    python3-flake8-quotes \
+    python3-pip \
+    python3-pytest \
+    python3-pytest-cov \
+    python3-pytest-repeat \
+    python3-pytest-rerunfailures \
+    python3-rosdep \
+    python3-setuptools \
+    ros-dev-tools
+
+# Install colcon from PyPI, rather than apt packages
+RUN python3 -m pip install -U colcon-common-extensions vcstool
+
+
+WORKDIR $ROS2_INSTALL_PATH
+# RUN vcs import --input https://raw.githubusercontent.com/ros2/ros2/humble/ros2.repos src
+
+# RUN apt upgrade -y
+# RUN rosdep init
+RUN wget https://raw.githubusercontent.com/ros2/ros2/humble/ros2.repos
+RUN vcs import src < ros2.repos
+RUN sudo rosdep init
+RUN rosdep update
+
+RUN rosdep install --from-paths src --ignore-src -y --rosdistro humble --skip-keys "fastcdr rti-connext-dds-6.0.1 urdfdom_headers"
+RUN colcon build --symlink-install --parallel-workers $PW
+
+
+
+
+#### INSTALL ROS1 w/ ros-core-dev
+RUN rm /etc/apt/sources.list.d/ros2.list && apt-get update -y
+
+RUN apt remove -y \
+    python3-catkin-pkg \
+    python3-catkin-pkg-modules
+
+RUN apt update && apt install -y \
+    ros-core-dev
+
+
+
+
+#### INSTALL ROS2 HUMBLE DEPENDENCIES FROM SRC
+ARG ROSV=ros2
+# primarily conflict with catkin-pkg-modules (rqd by ros-core-dev)
+# systematically discovered ros2 dependencies installed from src
+RUN apt install -y \ 
+    libboost-python-dev \
+    libboost-iostreams-dev \
+    libceres-dev \
+    libgraphicsmagick++1-dev \
+    libompl-dev \
+    libpcl-dev \
+    libxtensor-dev \
+    libzmq3-dev \
+    libgazebo-dev 
+
+
+WORKDIR $HOME
+COPY ./rosbridge_general_update_ament.sh .
+RUN bash -c "./rosbridge_general_update_ament.sh"
+
+
+
+
+#### COPY CUSTOM_BRIDGE
+WORKDIR $HOME
+COPY ./custom_bridge_ros1_ws $HOME/custom_bridge_ros1_ws/src
+WORKDIR $HOME/custom_bridge_ros1_ws
+RUN bash -c "catkin_make"
+
+
+
+
+#### COPY NEW BRIDGE WS
+COPY ./custom_bridge_ros2_ws $HOME/custom_bridge_ros2_ws
+WORKDIR $HOME/custom_bridge_ros2_ws
+RUN bash -c "source $HOME/ros2_humble/install/setup.bash && colcon build --symlink-install" 
+
+
+RUN mkdir -p $HOME/.ros/log && \
+    chown -R $USERNAME:$USERNAME $HOME/.ros && \
+    chmod -R 755 $HOME/.ros
+
+RUN chown -R $USERNAME:$USERNAME $HOME/custom_bridge_ros1_ws && \
+    chmod -R 755 $HOME/custom_bridge_ros1_ws
+
+RUN chown -R $USERNAME:$USERNAME $HOME/custom_bridge_ros2_ws && \
+    chmod -R 755 $HOME/custom_bridge_ros2_ws
+
+
+
+
+#### INSTALL ROS1_BRIDGE
+ARG ROS1_BRIDGE_ROOT_DIR=/ros1_bridge_ws
+ENV ROS1_BRIDGE_ROOT_DIR=$ROS1_BRIDGE_ROOT_DIR
+
+ARG ROS1_BRIDGE_INSTALL_DIR=$ROS1_BRIDGE_ROOT_DIR/src
+ENV ROS1_BRIDGE_INSTALL_DIR=$ROS1_BRIDGE_INSTALL_DIR
+
+WORKDIR $ROS1_BRIDGE_INSTALL_DIR
+RUN git clone https://github.com/ros2/ros1_bridge
+# update cmakelist of ros1_bridge to cpp17
+RUN sed -i 's/# Default to C++14/# Default to C++17/' ${ROS1_BRIDGE_INSTALL_DIR}/ros1_bridge/CMakeLists.txt
+RUN sed -i 's/set(CMAKE_CXX_STANDARD 14)/set(CMAKE_CXX_STANDARD 17)/' ${ROS1_BRIDGE_INSTALL_DIR}/ros1_bridge/CMakeLists.txt
+
+WORKDIR $ROS1_BRIDGE_ROOT_DIR
+
+
+#### BUILD/COMPILE ROS1_BRIDGE
+# RUN bash -c "cd ${HOME}/ht_planner_ws \
+#     && source ./scripts/rosbridge_source.sh \
+#     && cd ${ROS1_BRIDGE_ROOT_DIR} \
+#     && colcon build --packages-select ros1_bridge --cmake-force-configure --parallel-workers $PW \
+#     "
+
+

custom_bridge_ros1_ws/src/custom_bridge_msgs/CMakeLists.txt

+cmake_minimum_required(VERSION 2.8.3)
+project(custom_bridge_msgs)
+
+set(CMAKE_CXX_STANDARD 17)
+set(CMAKE_CXX_STANDARD_REQUIRED ON)
+set(CMAKE_CXX_EXTENSIONS OFF)
+add_compile_options(-Og)
+
+
+
+find_package(catkin REQUIRED COMPONENTS
+  roscpp
+  geometry_msgs
+  nav_msgs
+  std_msgs
+)
+
+
+################################################
+## Declare ROS messages, services and actions ##
+################################################
+
+## Generate messages in the 'msg' folder
+add_message_files(
+  FILES
+  Intent.msg
+  IntentComponent.msg
+)
+
+## Generate services in the 'srv' folder
+add_service_files(
+  FILES
+  BeginPlanning.srv
+  CustomSrvRes.srv
+)
+
+## Generate added messages and services with any dependencies listed here
+generate_messages(
+  DEPENDENCIES
+  geometry_msgs
+  nav_msgs
+  std_msgs
+)
+
+
+catkin_package(
+  CATKIN_DEPENDS
+  roscpp 
+  nav_msgs
+  std_msgs
+  geometry_msgs
+)
+
+include_directories(
+  ${catkin_INCLUDE_DIRS}
+)
+
+
+
+# # Declare a C++ executable
+# add_executable(dummy_start_planning_service src/custom_service.cpp)
+
+# # Specify the dependencies for this executable
+# add_dependencies(dummy_start_planning_service ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+
+# target_link_libraries(dummy_start_planning_service ${catkin_LIBRARIES})
+
+# # Install the executable
+# install(TARGETS dummy_start_planning_service
+#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+

custom_bridge_ros1_ws/src/custom_bridge_msgs/README.md

+# decmcts_msgs
+
+## decmcts_msgs for ros1 (and ros1_bridge)
+
+mount this directory into custom jammy docker image to bridge custom interfaces on 22.04
+

custom_bridge_ros1_ws/src/custom_bridge_msgs/msg/Intent.msg

+std_msgs/Header header
+IntentComponent[] components
+

custom_bridge_ros1_ws/src/custom_bridge_msgs/msg/IntentComponent.msg

+float32 prob
+nav_msgs/Path path
\ No newline at end of file

custom_bridge_ros1_ws/src/custom_bridge_msgs/package.xml

+<?xml version="1.0"?>
+<package format="2">
+  <name>custom_bridge_msgs</name>
+  <version>0.0.0</version>
+  <description>The decmcts_msgs package</description>
+
+  <author>university of technology sydney</author>
+  <maintainer email="uts@uts.edu.au">uts</maintainer>
+  <license>tbd</license>
+
+  <buildtool_depend>catkin</buildtool_depend>
+  <depend>roscpp</depend>
+  <depend>nav_msgs</depend>
+  <depend>std_msgs</depend>
+  <depend>geometry_msgs</depend>
+
+
+  <!-- The export tag contains other, unspecified, tags -->
+  <export>
+    <!-- Other tools can request additional information be placed here -->
+
+  </export>
+</package>

custom_bridge_ros1_ws/src/custom_bridge_msgs/src/custom_service.cpp

+// #include "ros/ros.h"
+// #include "custom_bridge_msgs/BeginPlanning.h"
+
+// class DummyStartPlanning
+// {
+// public:
+//     DummyStartPlanning()
+//     {
+//         service_ = nh_.advertiseService("dummy_start_planning", &DummyStartPlanning::handle_service, this);
+//     }
+
+// private:
+//     bool handle_service(custom_bridge_msgs::BeginPlanning::Request &request, custom_bridge_msgs::BeginPlanning::Response &response)
+//     {
+//         ROS_INFO_STREAM("Received request: " << request.start_pose.pose.position.x);
+//         response.start = true;
+//         // response.message = std::to_string(request.spose); // Commented out as in the original code
+//         return true;
+//     }
+
+//     ros::NodeHandle nh_;
+//     ros::ServiceServer service_;
+// };
+
+// int main(int argc, char **argv)
+// {
+//     ros::init(argc, argv, "dummy_start_planning");
+//     DummyStartPlanning dummyStartPlanning;
+//     ros::spin();
+//     return 0;
+// }
+

custom_bridge_ros1_ws/src/custom_bridge_msgs/srv/BeginPlanning.srv

+# decmcts_msgs/StartPlanning
+# https://gitlab.com/dst-uts-aerial/decmcts_msgs/-/blob/master/srv/StartPlanning.srv
+
+geometry_msgs/PoseStamped start_pose
+float32 horizon_m
+---
+bool start
\ No newline at end of file

custom_bridge_ros1_ws/src/custom_bridge_msgs/srv/CustomSrvRes.srv

+# decmcts_msgs/CompletePlanning
+# https://gitlab.com/dst-uts-aerial/decmcts_msgs/-/blob/master/srv/CompletePlanning.srv
+
+---
+bool success
+float32 reward
+int32   num_iterations
+nav_msgs/Path path
\ No newline at end of file

custom_bridge_ros2_ws/src/custom_bridge_msgs/CMakeLists.txt

+cmake_minimum_required(VERSION 3.8)
+project(custom_bridge_msgs)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+#set(CMAKE_CXX_FLAGS "--std=c++20 ${CMAKE_CXX_FLAGS} -g -rdynamic")
+
+# Find dependencies
+find_package(ament_cmake REQUIRED)
+find_package(rosidl_default_generators REQUIRED)
+find_package(nav_msgs REQUIRED)
+find_package(std_msgs REQUIRED)
+find_package(geometry_msgs REQUIRED)
+find_package(visualization_msgs REQUIRED)
+
+rosidl_generate_interfaces(${PROJECT_NAME}
+  "msg/Intent.msg"
+  "msg/IntentComponent.msg"
+  "srv/BeginPlanning.srv"
+  "srv/CustomSrvRes.srv"
+  DEPENDENCIES nav_msgs
+)
+
+
+# Include directories
+include_directories(
+  include
+  ${ament_INCLUDE_DIRS}
+)
+
+
+
+
+
+
+# Export dependencies for downstream packages
+ament_export_dependencies(rosidl_default_runtime)
+
+# Finalize the package setup
+ament_package()

custom_bridge_ros2_ws/src/custom_bridge_msgs/msg/Intent.msg

+std_msgs/Header header
+IntentComponent[] components
+

custom_bridge_ros2_ws/src/custom_bridge_msgs/msg/IntentComponent.msg

+float32 prob
+nav_msgs/Path path
\ No newline at end of file

custom_bridge_ros2_ws/src/custom_bridge_msgs/package.xml

+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+
+<package format="3">
+
+
+  <name>custom_bridge_msgs</name>
+  <version>0.0.0</version>
+  <description>decmcts_msgs pkg</description>
+
+
+  <author>university of technology sydney</author>
+  <maintainer email="uts@uts.edu.au">uts</maintainer>
+  <license>tbd</license>
+
+
+  <!-- Build Tool -->
+  <buildtool_depend>ament_cmake</buildtool_depend>
+  <buildtool_depend>rosidl_default_generators</buildtool_depend>
+  <exec_depend>rosidl_default_runtime</exec_depend>
+  <member_of_group>rosidl_interface_packages</member_of_group>
+
+
+  <!-- ROS 2 Message Generation Dependencies -->
+  <depend>geometry_msgs</depend>
+  <depend>nav_msgs</depend>
+  <depend>sensor_msgs</depend>
+  <depend>std_msgs</depend>
+  <depend>visualization_msgs</depend>
+
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+  
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+
+
+</package>

custom_bridge_ros2_ws/src/custom_bridge_msgs/srv/BeginPlanning.srv

+
+geometry_msgs/PoseStamped start_pose
+float32 horizon_m
+---
+bool start
\ No newline at end of file

custom_bridge_ros2_ws/src/custom_bridge_msgs/srv/CustomSrvRes.srv

+
+---
+bool success
+float32 reward
+int32   num_iterations
+nav_msgs/Path path
\ No newline at end of file

rosbridge_general_update_ament.sh

+#!/bin/bash
+
+DIR="$1"
+shift
+
+for pkg in "$@"; do
+    echo "Processing $DIR $pkg"
+    export AMENT_PREFIX_PATH="$AMENT_PREFIX_PATH:$DIR/$pkg" && echo "$DIR/$pkg"
+    export AMENT_PREFIX_PATH="$AMENT_PREFIX_PATH:$DIR/$pkg/lib/$pkg" && echo "$DIR/$pkg/lib/$pkg"
+    export AMENT_PREFIX_PATH="$AMENT_PREFIX_PATH:$DIR/$pkg/share/$pkg" && echo "$DIR/$pkg/share/$pkg"
+    export PYTHONPATH="$PYTHONPATH:$DIR/$pkg/local/lib/python3.10/dist-packages" && echo "$DIR/$pkg/local/lib/python3.10/dist-packages"
+done
\ No newline at end of file

run.sh

+
+
+if [ "$1" == "-b" ]; then
+    docker build -f custom_bridge.Dockerfile -t custom_bridge_example:jammy .
+
+else
+
+    docker run \
+        -it \
+        --rm \
+        --user "0" \
+        -v /tmp/.X11-unix:/tmp/.X11-unix:rw \
+        --env DISPLAY=$DISPLAY \
+        --env NVIDIA_DRIVER_CAPABILITIES=compute,utility,graphics \
+        --env NVIDIA_VISIBLE_DEVICES=all \
+        --name ros1_bridge_example3 \
+        ros1_bridge_example_cb:jammy \
+        "/bin/bash"
+
+fi