Initial commit

.gitignore

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+.tmp/
+tmp/
+
+src/CMakeLists.txt
+
+# Created by https://www.gitignore.io/api/ros,c++,clion
+# Edit at https://www.gitignore.io/?templates=ros,c++,clion
+
+### C++ ###
+# Prerequisites
+*.d
+
+# Compiled Object files
+*.slo
+*.lo
+*.o
+*.obj
+
+# Precompiled Headers
+*.gch
+*.pch
+
+# Compiled Dynamic libraries
+*.so
+*.dylib
+*.dll
+
+# Fortran module files
+*.mod
+*.smod
+
+# Compiled Static libraries
+*.lai
+*.la
+*.a
+*.lib
+
+# Executables
+*.exe
+*.out
+*.app
+
+### CLion ###
+# Covers JetBrains IDEs: IntelliJ, RubyMine, PhpStorm, AppCode, PyCharm, CLion, Android Studio and WebStorm
+# Reference: https://intellij-support.jetbrains.com/hc/en-us/articles/206544839
+
+# User-specific stuff
+.idea/**/workspace.xml
+.idea/**/tasks.xml
+.idea/**/usage.statistics.xml
+.idea/**/dictionaries
+.idea/**/shelf
+
+# Generated files
+.idea/**/contentModel.xml
+
+# Sensitive or high-churn files
+.idea/**/dataSources/
+.idea/**/dataSources.ids
+.idea/**/dataSources.local.xml
+.idea/**/sqlDataSources.xml
+.idea/**/dynamic.xml
+.idea/**/uiDesigner.xml
+.idea/**/dbnavigator.xml
+
+# Gradle
+.idea/**/gradle.xml
+.idea/**/libraries
+
+# Gradle and Maven with auto-import
+# When using Gradle or Maven with auto-import, you should exclude module files,
+# since they will be recreated, and may cause churn.  Uncomment if using
+# auto-import.
+# .idea/modules.xml
+# .idea/*.iml
+# .idea/modules
+# *.iml
+# *.ipr
+
+# CMake
+cmake-build-*/
+
+# Mongo Explorer plugin
+.idea/**/mongoSettings.xml
+
+# File-based project format
+*.iws
+
+# IntelliJ
+out/
+
+# mpeltonen/sbt-idea plugin
+.idea_modules/
+
+# JIRA plugin
+atlassian-ide-plugin.xml
+
+# Cursive Clojure plugin
+.idea/replstate.xml
+
+# Crashlytics plugin (for Android Studio and IntelliJ)
+com_crashlytics_export_strings.xml
+crashlytics.properties
+crashlytics-build.properties
+fabric.properties
+
+# Editor-based Rest Client
+.idea/httpRequests
+
+# Android studio 3.1+ serialized cache file
+.idea/caches/build_file_checksums.ser
+
+### CLion Patch ###
+# Comment Reason: https://github.com/joeblau/gitignore.io/issues/186#issuecomment-215987721
+
+# *.iml
+# modules.xml
+# .idea/misc.xml
+# *.ipr
+
+# Sonarlint plugin
+.idea/**/sonarlint/
+
+# SonarQube Plugin
+.idea/**/sonarIssues.xml
+
+# Markdown Navigator plugin
+.idea/**/markdown-navigator.xml
+.idea/**/markdown-navigator/
+
+### ROS ###
+devel/
+logs/
+build/
+bin/
+lib/
+msg_gen/
+srv_gen/
+msg/*Action.msg
+msg/*ActionFeedback.msg
+msg/*ActionGoal.msg
+msg/*ActionResult.msg
+msg/*Feedback.msg
+msg/*Goal.msg
+msg/*Result.msg
+msg/_*.py
+build_isolated/
+devel_isolated/
+
+# Generated by dynamic reconfigure
+*.cfgc
+/cfg/cpp/
+/cfg/*.py
+
+# Ignore generated docs
+*.dox
+*.wikidoc
+
+# eclipse stuff
+.project
+.cproject
+
+# qcreator stuff
+CMakeLists.txt.user
+
+srv/_*.py
+*.pcd
+*.pyc
+qtcreator-*
+*.user
+
+/planning/cfg
+/planning/docs
+/planning/src
+
+*~
+
+# Emacs
+.#*
+
+# Catkin custom files
+CATKIN_IGNORE
+
+# End of https://www.gitignore.io/api/ros,c++,clion

Dockerfile

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+FROM sunside/ros-gazebo-gpu:kinetic-nvidia
+
+USER root
+
+# Install required ROS packages, as well as GDB for debugging.
+RUN apt-get update && apt-get install -y \
+    ros-kinetic-gazebo-ros-control \
+    ros-kinetic-effort-controllers \
+    ros-kinetic-joint-state-controller \
+    gdb \
+ && rm -rf /var/lib/apt/lists/*
+
+# Install packages for Where Am I? project
+RUN apt-get update && apt-get install -y \
+    ros-kinetic-navigation \
+    ros-kinetic-map-server \
+    ros-kinetic-move-base \
+    ros-kinetic-amcl \
+    libignition-math2-dev \
+    protobuf-compiler \
+ && rm -rf /var/lib/apt/lists/*
+
+# Install packages the Home Service Robot? project
+RUN apt-get update && apt-get install -y \
+    ros-kinetic-gmapping \
+    ros-kinetic-joy \
+ && rm -rf /var/lib/apt/lists/*
+
+# Allow SSH login into the container.
+# See e.g. https://github.com/JetBrains/clion-remote/blob/master/Dockerfile.remote-cpp-env
+RUN ( \
+    echo 'LogLevel DEBUG2'; \
+    echo 'PermitRootLogin yes'; \
+    echo 'PasswordAuthentication yes'; \
+    echo 'Subsystem sftp /usr/lib/openssh/sftp-server'; \
+  ) > /etc/ssh/sshd_config_test_clion \
+  && mkdir /run/sshd
+
+# Start SSH server and run bash as the ros user.
+USER ros
+ENTRYPOINT sudo service ssh restart && bash

build-docker.sh

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+#!/usr/bin/env bash
+
+docker build -t sunside/ros-gazebo-gpu:udacity-robond-hsr -f Dockerfile .

run-nvidia.sh

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+#!/usr/bin/env bash
+set -euo pipefail
+
+CONTAINER_NAME=robond
+DOCKER_IMAGE=sunside/ros-gazebo-gpu:udacity-robond-hsr
+WORKSPACE=$(pwd)
+
+# Which GPUs to use; see https://github.com/NVIDIA/nvidia-docker
+GPUS="all"
+
+XSOCK=/tmp/.X11-unix
+
+XAUTH=`pwd`/.tmp/docker.xauth
+XAUTH_DOCKER=/tmp/.docker.xauth
+
+if [ ! -f $XAUTH ]
+then
+    xauth_list=$(xauth nlist :0 | sed -e 's/^..../ffff/')
+    if [ ! -z "$xauth_list" ]
+    then
+        mkdir -p $(dirname "$XAUTH") > /dev/null
+        echo "$xauth_list" | xauth -f $XAUTH nmerge -
+    else
+        touch $XAUTH
+    fi
+    chmod a+r $XAUTH
+fi
+
+# We add SSH port forwarding, as well as sys_ptrace capability
+# to allow for debugging.
+
+docker run --rm -it \
+    --name "$CONTAINER_NAME" \
+    --gpus "$GPUS" \
+    --publish 127.0.0.1:2222:22 \
+    --publish 127.0.0.1:11311:11311 \
+    --cap-add sys_ptrace \
+    --env="DISPLAY" \
+    --env="QT_X11_NO_MITSHM=1" \
+    --env="XAUTHORITY=$XAUTH_DOCKER" \
+    --volume="$XSOCK:$XSOCK:rw" \
+    --volume="$XAUTH:$XAUTH_DOCKER:rw" \
+    --volume="$WORKSPACE:/workspace:rw" \
+    $DOCKER_IMAGE \
+    bash