NASA Challenge_[@elementrobotics]_[LunarSim] (closes #50)

lunar_terrain/Dockerfile

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+# 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 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-ros:humble-2024.10.0
+
+# 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="Lunar Terrain"
+LABEL org.label-schema.description="Lunar terrain demo on the 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}
+
+# Clone all space-ros sources
+RUN mkdir ${SPACEROS_DIR}/src \
+  && vcs import ${SPACEROS_DIR}/src < ${SPACEROS_DIR}/exact.repos
+
+# Define a few key variables
+ENV DEMO_DIR=${HOME_DIR}/demos_ws
+ENV GZ_VERSION=garden
+ENV GZ_PARTITION=spaceros
+ENV GZ_SIM_RESOURCE_PATH=/home/spaceros-user/demos_ws/src/simulation/models/lunar_terrain/models
+ENV ROS_DISTRO=humble
+
+# Disable prompting during package installation
+ARG DEBIAN_FRONTEND=noninteractive
+
+# Update the ROS package keys
+ADD --chmod=644 https://raw.githubusercontent.com/ros/rosdistro/master/ros.key /usr/share/keyrings/ros-archive-keyring.gpg
+
+# Make sure the latest versions of packages are installed
+# Using Docker BuildKit cache mounts for /var/cache/apt and /var/lib/apt ensures that
+# the cache won't make it into the built image but will be maintained between steps.
+RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
+  --mount=type=cache,target=/var/lib/apt,sharing=locked \
+  sudo apt-get update
+RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
+  --mount=type=cache,target=/var/lib/apt,sharing=locked \
+  sudo apt-get dist-upgrade -y
+RUN rosdep update
+
+# Install the various build and test tools
+RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
+  --mount=type=cache,target=/var/lib/apt,sharing=locked \
+  sudo apt install -y \
+  build-essential \
+  clang-format \
+  cmake \
+  git \
+  libbullet-dev \
+  python3-colcon-common-extensions \
+  python3-flake8 \
+  python3-pip \
+  python3-pytest-cov \
+  python3-rosdep \
+  python3-setuptools \
+  python3-vcstool \
+  wget
+
+RUN sudo add-apt-repository ppa:kisak/kisak-mesa
+
+RUN sudo apt install xterm -y
+
+# Get rosinstall_generator
+# Using Docker BuildKit cache mounts for /var/cache/apt and /var/lib/apt ensures that
+# the cache won't make it into the built image but will be maintained between steps.
+RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
+  --mount=type=cache,target=/var/lib/apt,sharing=locked \
+  sudo apt-get update -y && sudo apt-get install -y python3-rosinstall-generator
+
+# Install Gazebo Garden
+# Using Docker BuildKit cache mounts for /var/cache/apt and /var/lib/apt ensures that
+# the cache won't make it into the built image but will be maintained between steps.
+RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
+  --mount=type=cache,target=/var/lib/apt,sharing=locked \
+  sudo wget https://packages.osrfoundation.org/gazebo.gpg -O /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg \
+  && echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null \
+  && sudo apt-get update -y && sudo apt-get install -y gz-garden && sudo apt-get install -y git-lfs && git lfs install
+
+# Generate repos file for demo dependencies, excluding packages from Space ROS core.
+COPY --chown=${USERNAME}:${USERNAME} demo-pkgs.txt /tmp/
+COPY --chown=${USERNAME}:${USERNAME} excluded-pkgs.txt /tmp/
+RUN rosinstall_generator \
+  --rosdistro ${ROS_DISTRO} \
+  --deps \
+  --exclude-path ${SPACEROS_DIR}/src \
+  --exclude $(cat /tmp/excluded-pkgs.txt) -- \
+  -- $(cat /tmp/demo-pkgs.txt) \
+  > /tmp/demo_generated_pkgs.repos
+
+RUN mkdir -p ${DEMO_DIR}/src
+WORKDIR ${DEMO_DIR}
+RUN vcs import src < /tmp/demo_generated_pkgs.repos
+
+# Install system dependencies
+RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
+  --mount=type=cache,target=/var/lib/apt,sharing=locked \
+  /bin/bash -c 'source ${SPACEROS_DIR}/install/setup.bash' \
+  && rosdep install --from-paths ${SPACEROS_DIR}/src src --ignore-src --rosdistro ${ROS_DISTRO} -r -y --skip-keys "console_bridge generate_parameter_library fastcdr fastrtps rti-connext-dds-5.3.1 urdfdom_headers rmw_connextdds ros_testing rmw_connextdds rmw_fastrtps_cpp rmw_fastrtps_dynamic_cpp composition demo_nodes_py lifecycle rosidl_typesupport_fastrtps_cpp rosidl_typesupport_fastrtps_c ikos diagnostic_aggregator diagnostic_updater joy qt_gui rqt_gui rqt_gui_py"
+
+# Get the source for the dependencies
+# RUN vcs import src < /tmp/demo_generated_pkgs.repos
+COPY --chown=${USERNAME}:${USERNAME} demo_manual_pkgs.repos /tmp/
+RUN vcs import src < /tmp/demo_manual_pkgs.repos && /bin/bash -c 'source "${SPACEROS_DIR}/install/setup.bash"'
+
+RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
+  --mount=type=cache,target=/var/lib/apt,sharing=locked \
+  sudo apt-get update -y \
+&& /bin/bash -c 'source "${SPACEROS_DIR}/install/setup.bash"' \
+&& rosdep install --from-paths src --ignore-src -r -y --rosdistro ${ROS_DISTRO}
+
+# Copy the demo source code
+COPY --chown=${USERNAME}:${USERNAME} lunar_sun_gz_plugin src/lunar_sun_gz_plugin
+COPY --chown=${USERNAME}:${USERNAME} lunar_terrain_gz_bringup src/lunar_terrain_gz_bringup
+COPY --chown=${USERNAME}:${USERNAME} lunar_terrain_gz_worlds src/lunar_terrain_gz_worlds
+
+# Build the demo
+RUN /bin/bash -c 'source ${SPACEROS_DIR}/install/setup.bash \
+  && colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release'
+
+# Create the render group if it doesn't exist
+RUN sudo groupadd -f render
+
+# Add the user to the render group so that the user can access /dev/dri/renderD128
+RUN sudo usermod -aG render $USERNAME
+
+# Setup the entrypoint
+COPY --chown=${USERNAME}:${USERNAME} ./entrypoint.sh /
+# RUN chown appuser:appuser /entrypoint.sh && chmod +x /entrypoint.sh
+ENTRYPOINT ["/entrypoint.sh"]
+CMD ["bash"]

lunar_terrain/README.md

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+# Lunar Terrain Demo
+[![Licence](https://img.shields.io/badge/License-Apache%202.0-blue.svg)](https://opensource.org/licenses/Apache-2.0)\
+<img src="./LunarSim.jpg" alt="Alt text" width="692" height="422">
+
+This folder contains three ROS2 packages to enable simulation in a lunar environment, including a lunar gazebo world using a Digital Elevation Model (DEM) and a plugin for a dynamic sun model based on Ephemeris data.
+
+# Space ROS Lunar Terrain Demo Docker Image
+
+The Space ROS Lunar Terrain Demo docker image uses the spaceros docker image (*osrf/space-ros:latest*) as its base image.
+The Dockerfile installs all of the prerequisite system dependencies along with the demo source code, then builds the Space ROS Lunar Sim Demo.
+
+This demo includes a Gazebo simulation of the lunar environment (specfically around the Shackleton crater near the south pole). It uses
+Digital Elevation Models (DEMs) from the Lunar Orbiter Laser Altimeter (LOLA) to accurately simulate the lunar surface in a specific region. It also contains a dynamic model of the Sun that moves according to Ephemeris data.  
+
+## Building the Demo Docker
+
+The demo image builds on top of the `spaceros` image.
+To build the docker image, first ensure the `spaceros` base image is available either by [building it locally](https://github.com/space-ros/space-ros) or pulling it.
+
+Then build `lunar_terrain` demo images:
+
+```bash
+cd lunar_terrain
+./build.sh
+```
+
+## Running the Demo Docker
+
+run the following to allow GUI passthrough:
+```bash
+xhost +local:docker
+```
+
+Then run:
+
+```bash
+./run.sh
+```
+
+Depending on the host computer, you might need to remove the ```--gpus all``` flag in ```run.sh```, which uses your GPUs.
+
+## Running the Demo
+
+Launch the demo:
+
+```bash
+source install/setup.bash
+ros2 launch lunar_terrain_gz_bringup lunar_terrain_world.launch.py
+```
+
+This will launch the gazebo lunar world, spawn the rover and start teleop. This will be a new terminal window which enables you to control the rover as per the instructions in the terminal window.
+
+
+## lunar_sun_gz_plugin
+This package contains a gazebo plugin to move an actor and create a light source at the location of the actor. 
+The plugin must be added to an actor named `animated_sun`, which can be done as follows:
+```
+<actor name="animated_sun">
+    <plugin name="LunarSun" filename="liblunar_sun_gz_plugin.so"/>
+    Other tags ...
+</actor>
+```
+The suns trajectory is based on the `horizons_az_el.csv` file. Detailed documentation on updating this can be found on the space-ros lunar_terrain docs page.
+
+You can adjust the sun’s position update frequency, which currently occurs every hour, by modifying the waypoint_duration variable in lunar_sun.cpp:
+```
+  std::chrono::_V2::steady_clock::duration waypointDuration =
+    std::chrono::hours(1);
+```
+
+## lunar_terrain_gz_worlds
+This package contains the lunar_terrain world files, including the world sdf, DEM files, textures and tools for creating textures. It also contains the `display.launch.py` launch file, which launches gazebo with the lunar_terrain world by default (but does not spawn the rover). For detailed documentation on updating DEM model and textures see the space-ros lunar_terrain docs page.
+
+## lunar_terrain_gz_bringup
+This package contains launch and configuration files to launch the lunar_terrain world and spawn [leo_rover](https://github.com/LeoRover) with keyboard controls. The `spawn_leo_robot.launch.py` spawns the leo model, starts`gz_bridge` and `key_teleop`. The `gz_bridge` parameters can be modified in the `leo_ros_gz_bridge.yaml` file in the config directory.
+
+Challenge Name: NASA Space ROS Sim Summer Sprint Challenge \
+Team Lead Freelancer Username: elementrobotics \
+Submission Title: LunarSim

lunar_terrain/build.sh

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

lunar_terrain/demo-pkgs.txt

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+leo_gz_plugins
+rviz2
+xacro
+teleop_twist_keyboard

lunar_terrain/demo_manual_pkgs.repos

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+repositories:
+  actuator_msgs:
+    type: git
+    url: https://github.com/rudislabs/actuator_msgs.git
+    version: main
+  ros_gz:
+    type: git
+    url: https://github.com/gazebosim/ros_gz.git
+    version: humble
+  vision_msgs:
+    type: git
+    url: https://github.com/ros-perception/vision_msgs.git
+    version: humble 
+  gps_msgs:
+    type: git
+    url: https://github.com/swri-robotics/gps_umd.git
+    path: gps_msgs
+    version: 113782d
+  leo_common-ros2:
+    type: git
+    url: https://github.com/LeoRover/leo_common-ros2.git
+    version: humble
+  simulation:
+    type: git
+    url: https://github.com/space-ros/simulation.git
+    version: main

lunar_terrain/entrypoint.sh

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+#!/bin/bash
+set -e
+
+# Setup the Demo environment
+source "${DEMO_DIR}/install/setup.bash"
+exec "$@"

lunar_terrain/excluded-pkgs.txt

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+fastcdr
+fastrtps
+fastrtps_cmake_module
+generate_parameter_library
+rmw_connextdds
+rmw_fastrtps_cpp
+rmw_fastrtps_dynamic_cpp
+rmw_fastrtps_shared_cpp
+rosidl_typesupport_fastrtps_c
+rosidl_typesupport_fastrtps_cpp

lunar_terrain/lunar_sun_gz_plugin/CMakeLists.txt

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+cmake_minimum_required(VERSION 3.8)
+project(lunar_sun_gz_plugin)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+find_package(ament_cmake REQUIRED)
+
+add_library(lunar_sun_gz_plugin SHARED
+src/lunar_sun.cpp)
+
+if(DEFINED ENV{GZ_VERSION} AND "$ENV{GZ_VERSION}" STREQUAL "garden")
+  find_package(gz-plugin2 REQUIRED COMPONENTS register)
+  set(GZ_PLUGIN_VER ${gz-plugin2_VERSION_MAJOR})
+
+  find_package(gz-sim7 REQUIRED)
+  set(GZ_SIM_VER ${gz-sim7_VERSION_MAJOR})
+
+  target_link_libraries(lunar_sun_gz_plugin
+    gz-sim${GZ_SIM_VER}::gz-sim${GZ_SIM_VER}
+    gz-plugin${GZ_PLUGIN_VER}::gz-plugin${GZ_PLUGIN_VER}
+  )
+else()
+  #If GZ_VERSION is not set default to Fortress
+  find_package(ignition-plugin1 REQUIRED COMPONENTS register)
+  set(IGN_PLUGIN_VER ${ignition-plugin1_VERSION_MAJOR})
+
+  find_package(ignition-gazebo6 REQUIRED)
+  set(IGN_GAZEBO_VER ${ignition-gazebo6_VERSION_MAJOR})
+
+  add_definitions(-DUSE_IGNITION)
+
+  target_link_libraries(lunar_sun_gz_plugin
+    ignition-gazebo${IGN_GAZEBO_VER}::ignition-gazebo${IGN_GAZEBO_VER}
+    ignition-plugin${IGN_PLUGIN_VER}::ignition-plugin${IGN_PLUGIN_VER}
+  )
+endif()
+
+set_property(TARGET lunar_sun_gz_plugin PROPERTY CXX_STANDARD 17)
+
+install(
+  TARGETS
+  lunar_sun_gz_plugin
+  DESTINATION lib
+)
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_environment_hooks("${CMAKE_CURRENT_SOURCE_DIR}/hooks/gz_sim_system_plugin_path.dsv")
+
+ament_package()

lunar_terrain/lunar_sun_gz_plugin/hooks/gz_sim_system_plugin_path.dsv

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+prepend-non-duplicate;GZ_SIM_SYSTEM_PLUGIN_PATH;lib