Add ROS Launchpad

* Use PyPi yaml validation package

* Use ROS Launchpad

* Add ROS setup step to bash.bashrc

* Remove obviated environment prep

Author: figuernd

Dockerfile

@@ -38,7 +38,7 @@ RUN python3 -m pip install "Cython<3.1"
 
 # Install Python dependencies
 COPY deps/python3-requirements.txt ./
-RUN python3 -m pip install -r python3-requirements.txt
+RUN python3 -m pip install --ignore-installed -r python3-requirements.txt
 
 
 # Clone third-party dependencies from VCS
@@ -75,9 +75,8 @@ RUN apt update \
  && rosdep install --default-yes --from-paths ./src --ignore-src \
  && rm -rf /var/lib/apt/lists/*
 
-# Copy the rest of the sources
+# Copy the rest of the source
 COPY ./src ./src
-COPY ./scripts ./scripts
 
 # Build
 RUN bash -c "source devel/setup.bash \
@@ -91,7 +90,23 @@ RUN bash -c "source devel/setup.bash \
         rbr_maestro3_ctd \
 "
 
-# Copy the launch tool
+# Clone the ROS Launchpad management server
+RUN mkdir -p /launchpad
+RUN curl -L http://github.com/WHOIGit/ros-launchpad/archive/v1.0.13.tar.gz | tar zxf - --strip-components=1 -C /launchpad
+RUN python3 -m pip install --ignore-installed -r /launchpad/requirements.txt
+
+# Copy the launch tools and server files
 ENV DONT_SCREEN=1
 ENV NO_VIRTUALENV=1
 COPY ./phyto-arm ./phyto-arm
+
+# Expose web interface port
+EXPOSE 8080
+
+# Source ROS environment automatically for all bash sessions
+RUN echo "source /app/devel/setup.bash" >> /etc/bash.bashrc
+
+ENTRYPOINT ["/bin/bash", "-c", "source /app/devel/setup.bash && exec \"$@\"", "--"]
+
+# Default command runs the server with ROS environment sourced
+CMD ["/bin/bash", "-c", "cd /launchpad && python3 server.py --package phyto_arm --config /app/mounted_config.yaml /app/configs/example.yaml"]

README.md

@@ -120,9 +120,15 @@ These steps assume that ROS Noetic has been installed already.
     sudo systemctl start phyto-arm
 
 
-## Running
+## Running 
 
-The `phyto-arm` tool starts all of the ROS nodes and loads the provided configuration file.
+### Using ROS Launchpad (NEW)
+
+ROS Launchpad is a simple web dashboard for managing ROS processes and config. The default Docker command will start it up, so simply starting the container is sufficient. `./scripts/docker_run.sh -d` will also run the dashboard.
+
+### Using `phyto-arm`
+
+The `phyto-arm` tool starts all of the ROS nodes and loads the provided configuration file. This is typically run within the container.
 
 ```
 phyto-arm start [-h] [--config_schema <schema file>] [--skip_validation] \
@@ -194,6 +200,14 @@ To launch all three simultaneously as separate panes in a tmux session, run the
 
 ### Running natively
 
+*Not recommended*: Running as a Docker container is preferable in most scenarios.
+
+Source any environments that are in use:
+```
+. venv/bin/activate # Python environment
+. devel/setup.bash  # ROS environment
+```
+
 The `phyto-arm` tool starts the main ROS nodes and loads the provided configuration file.
 
     $ ./phyto-arm start main config/config.yaml
@@ -243,10 +257,8 @@ You can also provide your own schema by passing in the `--config_schema <file>`
   3. The datatype for every parameter present in both config and schema must match.
   4. Parameters in config but not schema are ignored.
 
-The config validation script includes a separate set of unit tests that can be run with
-```bash
-python3 scripts/config_validation.test.py
-```
+For more information see https://github.com/WHOIGit/example-yaml-validator
+
 
 ### Configuring host address
 

deps/python3-requirements.txt

@@ -13,3 +13,5 @@ git+https://github.com/WHOIGit/pyifcbclient.git#egg=pyifcbclient
 # Use an older version of grpcio that's available as a pre-built wheel.
 # TODO: Remove this when we move beyond Python 3.8 (Ubuntu 20.04).
 grpcio<1.71
+
+yaml-validator==0.3.0

phyto-arm

@@ -19,38 +19,7 @@ import urllib.request
 
 import yaml
 
-from scripts.config_validation import validate_config
-
-# Load the virtual environment and Catkin workspace and return the resulting
-# environment
-def prep_environment():
-    # Due to a long-standing bug in the setup.sh script, we must provide to the
-    # devel/ directory in the _CATKIN_SETUP_DIR environment variable.
-    #
-    # This also needs to be an absolute path so that Python can locate packages.
-    #
-    # Ref: https://github.com/catkin/catkin_tools/issues/376
-    parent_dir = os.path.dirname(__file__)
-    setup_dir = os.path.abspath(os.path.join(parent_dir, 'devel'))
-    env = {
-        '_CATKIN_SETUP_DIR': setup_dir
-    }
-
-    # Build command to load the catkin workspace (and optionally a virtual
-    # environment) and dump the environment.
-    command = f'. {shlex.quote(setup_dir)}/setup.sh && env'
-
-    if os.getenv('NO_VIRTUALENV') is None:
-        command = f'. {shlex.quote(parent_dir)}/.venv/bin/activate && ' + \
-                  command
-
-    # Dump the environment and parse the output
-    env_out = subprocess.check_output(command, shell=True, env=env)
-    for line in env_out.rstrip().split(b'\n'):
-        var, _, value = line.partition(b'=')
-        env[var] = value
-
-    return env
+from yaml_validator import validate_config
 
 
 # Prepare a command and environment for roslaunch
@@ -112,7 +81,7 @@ def _start(args):
         config = yaml.safe_load(f)
 
     # Prepare the environment
-    env = prep_environment()
+    env = dict(os.environ)
 
     # Define an atexit handler that can be used to terminate subprocesses.
     # Recall that these handlers are invoked in reverse order, so since we start

phyto-arm.service

@@ -7,8 +7,9 @@ After=network.target
 [Service]
 Type=simple
 Restart=on-failure
+RestartSec=10
 WorkingDirectory=/home/hablab/PhytO-ARM
-ExecStart=/bin/bash -c ". devel/setup.bash; roslaunch pa_base phyto_arm.launch"
+ExecStart=/bin/bash scripts/docker_run_daemon.sh
 
 [Install]
 WantedBy=multi-user.target