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Merge pull request #101 from j3soon/feat/stretch3
Hello Robot Stretch 3 (basic differential drive control)
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‎docs/mkdocs.yml‎

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- delto-gripper-ws/index.md
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- go2-ws/index.md
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- h1-ws/index.md
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- stretch3-ws/index.md
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- dependencies.md

‎docs/stretch3-ws/assets/stretch3_og_wasd.mp4‎

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‎docs/stretch3-ws/index.md‎

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# Hello Robot Stretch 3
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[![GitHub code](https://img.shields.io/badge/code-blue?logo=github&label=github)](https://github.com/j3soon/ros2-essentials/tree/main/stretch3_ws)
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[![build](https://img.shields.io/github/actions/workflow/status/j3soon/ros2-essentials/build-stretch3-ws.yaml?label=build)](https://github.com/j3soon/ros2-essentials/actions/workflows/build-stretch3-ws.yaml)
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[![GitHub last commit](https://img.shields.io/github/last-commit/j3soon/ros2-essentials?path=stretch3_ws)](https://github.com/j3soon/ros2-essentials/commits/main/stretch3_ws)
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[![DockerHub image](https://img.shields.io/badge/dockerhub-j3soon/ros2--stretch3--ws-important.svg?logo=docker)](https://hub.docker.com/r/j3soon/ros2-stretch3-ws/tags)
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![Docker image arch](https://img.shields.io/badge/arch-amd64-blueviolet)
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![Docker image version](https://img.shields.io/docker/v/j3soon/ros2-stretch3-ws)
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![Docker image size](https://img.shields.io/docker/image-size/j3soon/ros2-stretch3-ws)
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> Please note that this workspace is only tested in simulation.
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## 🐳 Start Container
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> Make sure your system meets the [system requirements](https://j3soon.github.io/ros2-essentials/#system-requirements) and have followed the [setup instructions](https://j3soon.github.io/ros2-essentials/#setup) before using this workspace.
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Run the following commands in a Ubuntu desktop environment. If you are using a remote server, make sure you're using a terminal within a remote desktop session (e.g., VNC) instead of SSH (i.e., don't use `ssh -X` or `ssh -Y`).
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```sh
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cd ~/ros2-essentials/stretch3_ws/docker
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docker compose build
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xhost +local:docker
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docker compose up -d
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# The initial build will take a while, please wait patiently.
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```
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> If your user's UID is `1000`, you may replace the `docker compose build` command with `docker compose pull`.
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The commands in the following sections assume that you are inside the Docker container:
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```sh
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# in a new terminal
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docker exec -it ros2-stretch3-ws bash
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```
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If the initial build somehow failed, run:
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```sh
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rm -r build install
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colcon build --symlink-install
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```
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Once you have finished testing, you can stop and remove the container with:
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```sh
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docker compose down
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```
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> If you encountered unexpected issues when using Isaac Sim, see [Known Issues](../docker-modules/isaac-sim.md#known-issues) for more details.
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### Isaac Sim Keyboard Control
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Run `~/isaacsim/isaac-sim.sh` and open `/home/ros2-essentials/stretch3_ws/isaacsim/assets/stretch3_og_wasd.usda` in Isaac Sim, and then press Play and use WASD to control the robot.
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<video controls>
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<source src="assets/stretch3_og_wasd.mp4" type="video/mp4">
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Your browser does not support the video tag.
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</video>
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### Known Issues
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If the robot moves too fast, it will become a bit unstable and starts rotating. This may be due to the tool causing mass inbalance.
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### References
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- [Stretch Docs](https://docs.hello-robot.com/0.3/)
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- [Stretch 3 Hardware Guide - Stretch Docs](https://docs.hello-robot.com/0.3/hardware/hardware_guide_stretch_3)
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- [Hello Robot GitHub](https://github.com/hello-robot)
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- [hello-robot/stretch_urdf](https://github.com/hello-robot/stretch_urdf)

‎stretch3_ws/.devcontainer/devcontainer.json‎

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/* Reference: https://aka.ms/devcontainer.json */
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{
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"name": "TODO",
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"dockerComposeFile": "../docker/compose.yaml",
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"service": "stretch3-ws",
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// Workspace settings
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"workspaceFolder": "/home/ros2-essentials/stretch3_ws",
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// Vscode extensions
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"customizations": {
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"vscode": {
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"extensions": [
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"ms-vscode.cpptools",
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"ms-vscode.cpptools-themes",
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"twxs.cmake",
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"donjayamanne.python-extension-pack",
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"eamodio.gitlens",
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"mhutchie.git-graph",
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"streetsidesoftware.code-spell-checker",
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"ms-iot.vscode-ros"
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]
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}
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}
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}

‎stretch3_ws/.gitignore‎

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# Visual Studio Code
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.vscode
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# ROS2 basic directories
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/build
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/install
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/log
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# Hard Links
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/docker/modules

‎stretch3_ws/README.md‎

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# ROS 2 Essentials Workspace
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Please visit <https://j3soon.github.io/ros2-essentials/> for documentation.

‎stretch3_ws/docker/.bashrc‎

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# Setup paths in `~/.profile` to allow unified environment variable across login/non-login shells
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# set PATH so it includes user's private bin if it exists
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if [ -d "$HOME/bin" ] ; then
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PATH="$HOME/bin:$PATH"
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fi
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# set PATH so it includes user's private bin if it exists
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if [ -d "$HOME/.local/bin" ] ; then
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PATH="$HOME/.local/bin:$PATH"
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fi
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# Source global ROS2 environment
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source /opt/ros/$ROS_DISTRO/setup.bash
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# Source colcon-argcomplete
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source /usr/share/colcon_argcomplete/hook/colcon-argcomplete.bash
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# Optionally perform apt update if it has not been executed yet
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if [ -z "$( ls -A '/var/lib/apt/lists' )" ]; then
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echo "apt-get update has not been executed yet. Running sudo apt-get update..."
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sudo apt-get update
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fi
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# Optionally perform rosdep update if it has not been executed yet
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if [ ! -d $HOME/.ros/rosdep/sources.cache ]; then
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echo "rosdep update has not been executed yet. Running rosdep update..."
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rosdep update --rosdistro $ROS_DISTRO
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cd $ROS2_WS
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# Ref: https://docs.ros.org/en/humble/Tutorials/Intermediate/Rosdep.html
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rosdep install --from-paths src --ignore-src -y -r
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fi
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# Optionally build the workspace if it has not been built yet
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if [ ! -f $ROS2_WS/install/setup.bash ]; then
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echo "Workspace has not been built yet. Building workspace..."
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cd $ROS2_WS
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# TODO: If command `arch` outputs `aarch64`, consider adding `--packages-ignore <package>` to ignore x86 packages
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# Ref: https://docs.ros.org/en/humble/Tutorials/Beginner-Client-Libraries/Creating-Your-First-ROS2-Package.html
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if [ $(arch) == "aarch64" ]; then
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colcon build --symlink-install
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else
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colcon build --symlink-install
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fi
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echo "Workspace built."
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fi
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# Source gazebo environment
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# Ref: https://classic.gazebosim.org/tutorials?tut=ros2_installing&cat=connect_ros#InstallGazebo
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if [ $(arch) == "x86_64" ]; then
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source /usr/share/gazebo/setup.bash
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fi
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# TODO: Source other workspace environments as underlay
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# Source workspace environment
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source $ROS2_WS/install/setup.bash
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echo "Successfully built workspace and configured environment variables."

‎stretch3_ws/docker/.dockerignore‎

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*
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!.bashrc
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!modules

‎stretch3_ws/docker/Dockerfile‎

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# Base Image: https://hub.docker.com/_/ubuntu/tags?name=22.04
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FROM ubuntu:22.04 AS amd64
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# Base Image: https://hub.docker.com/_/ubuntu/tags?name=22.04
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FROM ubuntu:22.04 AS arm64
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# Use docker automatic platform args to select the base image.
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# It may be `arm64` or `amd64` depending on the platform.
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# Ref: https://docs.docker.com/reference/dockerfile/#automatic-platform-args-in-the-global-scope
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FROM $TARGETARCH
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ARG TARGETARCH
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# Keep downloaded packages for caching purposes
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# Ref: https://github.com/moby/buildkit/blob/master/frontend/dockerfile/docs/reference.md#example-cache-apt-packages
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RUN rm -f /etc/apt/apt.conf.d/docker-clean; echo 'Binary::apt::APT::Keep-Downloaded-Packages "true";' > /etc/apt/apt.conf.d/keep-cache
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# Upgrade packages
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# Ref: https://pythonspeed.com/articles/security-updates-in-docker/
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# Ref: https://github.com/moby/buildkit/blob/master/frontend/dockerfile/docs/reference.md#example-cache-apt-packages
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# Ref: https://github.com/moby/buildkit/issues/1673#issuecomment-1264502398
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# Ref: https://github.com/moby/buildkit/issues/1673#issuecomment-1987107404
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RUN --mount=type=cache,target=/var/cache/apt,sharing=private \
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apt-get update && apt-get upgrade -y \
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&& rm -rf /var/lib/apt/lists/*
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# Install common tools
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RUN --mount=type=cache,target=/var/cache/apt,sharing=private \
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apt-get update && apt-get install -y \
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curl \
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git \
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git-lfs \
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htop \
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iputils-ping \
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jq \
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nano \
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net-tools \
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netcat-openbsd \
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nmap \
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p7zip-full \
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tmux \
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tree \
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unzip \
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vim \
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wget \
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zip \
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&& rm -rf /var/lib/apt/lists/*
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# Install Python pip
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RUN --mount=type=cache,target=/var/cache/apt,sharing=private \
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apt-get update && apt-get install -y \
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python3-pip \
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&& rm -rf /var/lib/apt/lists/*
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# ROS version configuration
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ARG ROS_DISTRO=humble
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ENV ROS_DISTRO=$ROS_DISTRO
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# Copy and run ROS installation script
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COPY modules/install_ros.sh /tmp/install_ros.sh
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RUN --mount=type=cache,target=/var/cache/apt,sharing=private \
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/tmp/install_ros.sh && rm /tmp/install_ros.sh
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# Set the CycloneDDS configuration file
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ENV CYCLONEDDS_URI=/home/user/cyclonedds.xml
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# Setup the required capabilities for the container runtime
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# Ref: https://docs.nvidia.com/datacenter/cloud-native/container-toolkit/latest/docker-specialized.html#driver-capabilities
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ENV NVIDIA_VISIBLE_DEVICES=all
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ENV NVIDIA_DRIVER_CAPABILITIES=all
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# Install GUI debugging tools and configure Vulkan
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COPY modules/install_x11_opengl_vulkan.sh /tmp/install_x11_opengl_vulkan.sh
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RUN --mount=type=cache,target=/var/cache/apt,sharing=private \
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/tmp/install_x11_opengl_vulkan.sh && rm /tmp/install_x11_opengl_vulkan.sh
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# Install CUDA Toolkit (not installed by default)
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ARG CUDA_TOOLKIT_VERSION=""
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# Copy and run CUDA Toolkit installation script
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COPY modules/install_cuda_toolkit.sh /tmp/install_cuda_toolkit.sh
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RUN --mount=type=cache,target=/var/cache/apt,sharing=private \
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/tmp/install_cuda_toolkit.sh && rm /tmp/install_cuda_toolkit.sh
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# Ref: https://docs.nvidia.com/cuda/cuda-installation-guide-linux/#post-installation-actions
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ENV PATH="${PATH}:/usr/local/cuda-${CUDA_TOOLKIT_VERSION}/bin"
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ENV LD_LIBRARY_PATH="${LD_LIBRARY_PATH}:/usr/local/cuda-${CUDA_TOOLKIT_VERSION}/lib64"
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# Arguments for the default user
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ARG USERNAME=user
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ARG USER_UID=1000
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# Install sudo and create a user with sudo privileges
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# Ref: https://stackoverflow.com/a/65434659
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RUN --mount=type=cache,target=/var/cache/apt,sharing=private \
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apt-get update && apt-get install -y sudo \
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&& useradd -m -s /bin/bash -u $USER_UID -G sudo $USERNAME \
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&& echo '%sudo ALL=(ALL) NOPASSWD:ALL' >> /etc/sudoers \
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&& rm -rf /var/lib/apt/lists/*
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USER $USERNAME
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# Create user bin directories specified in `~/.profile`
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# Together with .bashrc, this allows invoking executables in the same shell after installing to either location
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RUN mkdir /home/$USERNAME/bin
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RUN mkdir -p /home/$USERNAME/.local/bin
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# Create cache directories with correct ownership to avoid permission issues after volume mount
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RUN mkdir -p /home/$USERNAME/.cache/pip
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# Create Gazebo cache directory with correct ownership to avoid permission issues after volume mount
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RUN mkdir /home/$USERNAME/.gazebo
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# Isaac Sim version configuration
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ARG ISAAC_SIM_VERSION=5.0.0
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# Ref: https://isaac-sim.github.io/IsaacLab/v2.2.1/source/setup/installation/binaries_installation.html
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ENV ISAACSIM_PATH="/home/$USERNAME/isaacsim"
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# Copy and run Isaac Sim installation script
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COPY --chown=$USERNAME:$USERNAME \
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modules/install_isaac_sim.sh /tmp/install_isaac_sim.sh
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RUN --mount=type=cache,target=/var/cache/apt,sharing=private \
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--mount=type=cache,target=/home/$USERNAME/.cache/pip,sharing=private,uid=$USER_UID,gid=$USER_UID \
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/tmp/install_isaac_sim.sh && rm /tmp/install_isaac_sim.sh
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# Set Isaac Sim environment variables
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# Ref: https://docs.omniverse.nvidia.com/isaacsim/latest/installation/install_python.html#running-isaac-sim
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# Ref: https://github.com/NVIDIA-Omniverse/IsaacSim-dockerfiles/blob/e3c09375c2d110b39c3fab3611352870aa3ce6ee/Dockerfile.2023.1.0-ubuntu22.04#L49-L53
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ENV OMNI_USER=admin
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ENV OMNI_PASS=admin
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ENV OMNI_KIT_ACCEPT_EULA=YES
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# Ref: https://isaac-sim.github.io/IsaacLab/v2.2.1/source/setup/installation/binaries_installation.html
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ENV ISAACSIM_PYTHON_EXE="${ISAACSIM_PATH}/python.sh"
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# Set TERM to prevent Isaac Lab error during docker build:
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# 'ansi+tabs': unknown terminal type.
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ENV TERM=xterm-256color
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# Isaac Lab version configuration
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ARG ISAAC_LAB_VERSION=2.2.1
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# Ref: https://isaac-sim.github.io/IsaacLab/v2.2.1/source/policy_deployment/00_hover/hover_policy.html
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ENV ISAACLAB_PATH="/home/$USERNAME/IsaacLab"
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COPY --chown=$USERNAME:$USERNAME \
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modules/install_isaac_lab.sh /tmp/install_isaac_lab.sh
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RUN --mount=type=cache,target=/var/cache/apt,sharing=private \
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--mount=type=cache,target=/home/$USERNAME/.cache/pip,sharing=private,uid=$USER_UID,gid=$USER_UID \
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/tmp/install_isaac_lab.sh && rm /tmp/install_isaac_lab.sh
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# Isaac ROS version configuration
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ARG ISAAC_ROS=""
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ENV ISAAC_ROS_WS="/home/$USERNAME/workspaces/isaac_ros-dev/"
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# Copy and run Isaac ROS installation script
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COPY --chown=$USERNAME:$USERNAME \
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modules/install_isaac_ros.sh /tmp/install_isaac_ros.sh
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RUN --mount=type=cache,target=/var/cache/apt,sharing=private \
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/tmp/install_isaac_ros.sh && rm /tmp/install_isaac_ros.sh
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# Ref: https://nvidia-isaac-ros.github.io/getting_started/dev_env_setup.html
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# Install custom tools
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RUN --mount=type=cache,target=/var/cache/apt,sharing=private \
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sudo apt-get update && sudo apt-get install -y \
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git-extras \
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&& sudo rm -rf /var/lib/apt/lists/*
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# Cartographer configuration
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ARG CARTOGRAPHER=""
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COPY --chown=$USERNAME:$USERNAME \
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modules/install_cartographer.sh /tmp/install_cartographer.sh
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RUN --mount=type=cache,target=/var/cache/apt,sharing=private \
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/tmp/install_cartographer.sh && rm /tmp/install_cartographer.sh
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# rtabmap configuration
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ARG RTABMAP=""
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COPY --chown=$USERNAME:$USERNAME \
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modules/install_rtabmap.sh /tmp/install_rtabmap.sh
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RUN --mount=type=cache,target=/var/cache/apt,sharing=private \
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/tmp/install_rtabmap.sh && rm /tmp/install_rtabmap.sh
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# TODO: Add more commands here
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COPY --chown=$USERNAME:$USERNAME \
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.bashrc /home/$USERNAME/.bashrc
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# TODO: Copy additional files here
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ENTRYPOINT []
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CMD ["/bin/bash"]

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