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Add nav2_demo docker files (#126).
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‎nav2_demo/Dockerfile

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# Copyright 2021 Open Source Robotics Foundation, Inc.
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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#
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# A Docker configuration script to build the Navigation2/Space ROS image.
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#
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# The script provides the following build arguments:
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#
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# VCS_REF - The git revision of the Space ROS source code (no default value).
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# VERSION - The version of Space ROS (default: "preview")
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FROM osrf/space_nav2:latest
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# Define arguments used in the metadata definition
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ARG VCS_REF
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ARG VERSION="preview"
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# Specify the docker image metadata
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LABEL org.label-schema.schema-version="1.0"
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LABEL org.label-schema.name="Navigation2 demo"
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LABEL org.label-schema.description="Preview version of the Navigation2/Space ROS platform"
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LABEL org.label-schema.vendor="Open Robotics"
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LABEL org.label-schema.version=${VERSION}
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LABEL org.label-schema.url="https://github.com/space-ros"
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LABEL org.label-schema.vcs-url="https://github.com/space-ros/docker"
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LABEL org.label-schema.vcs-ref=${VCS_REF}
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# Disable prompting during package installation
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ARG DEBIAN_FRONTEND=noninteractive
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# Define workspace locations
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ENV NAVIGATION2_WS=${HOME_DIR}/nav2_ws
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ENV NAV2_DEPS_WS=${HOME_DIR}/nav2_deps_ws
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# Setup mars_rover demo
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# Install map file for localization
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COPY mars_map* /home/spaceros-user/nav2_ws
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# Install nav2 config file for mars rover demo
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COPY nav2_params.yaml /home/spaceros-user/nav2_ws
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# Set up the entrypoint
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COPY ./entrypoint.sh /
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ENTRYPOINT ["/entrypoint.sh"]
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CMD ["bash"]

‎nav2_demo/README.md

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

‎nav2_demo/build.sh

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#!/usr/bin/env bash
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ORG=osrf
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IMAGE=space_nav2_demo
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TAG=latest
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VCS_REF=""
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VERSION=preview
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# Exit script with failure if build fails
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set -eo pipefail
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echo ""
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echo "##### Building Navigation2/Space ROS Docker Image #####"
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echo ""
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docker build -t $ORG/$IMAGE:$TAG \
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--build-arg VCS_REF="$VCS_REF" \
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--build-arg VERSION="$VERSION" .
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echo ""
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echo "##### Done! #####"
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‎nav2_demo/entrypoint.sh

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

‎nav2_demo/mars_map.pgm

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‎nav2_demo/mars_map.yaml

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

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