From a2e43cc946ba4eaefcb3eefb27462bea997bcfd2 Mon Sep 17 00:00:00 2001
From: Mechazo11 <azmyin12@gmail.com>
Date: Tue, 10 Sep 2024 23:08:03 -0500
Subject: [PATCH] movit2 permission issue fixed, building moveit2 ws

---
 o3de_mars_rover/Dockerfile       | 169 ++++++++++++++++---------------
 o3de_mars_rover/octomap_fix.diff |  13 +++
 2 files changed, 101 insertions(+), 81 deletions(-)
 create mode 100644 o3de_mars_rover/octomap_fix.diff

diff --git a/o3de_mars_rover/Dockerfile b/o3de_mars_rover/Dockerfile
index 7ad3775a..4b4c1564 100644
--- a/o3de_mars_rover/Dockerfile
+++ b/o3de_mars_rover/Dockerfile
@@ -93,105 +93,112 @@ RUN colcon build --packages-ignore test_rmw_implementation
 
 ### Delete CycloneDDS and install from apt to resolve cmake conflict ###
 
-
 ####  Install MOVEIT2_WS   ####
 
-# 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
-
-# # Install some pip packages needed for testing
-# RUN python3 -m pip install -U \
-#   argcomplete \
-#   flake8-blind-except \
-#   flake8-builtins \
-#   flake8-class-newline \
-#   flake8-comprehensions \
-#   flake8-deprecated \
-#   flake8-docstrings \
-#   flake8-import-order \
-#   flake8-quotes \
-#   pytest-repeat \
-#   pytest-rerunfailures \
-#   pytest
+# 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
+
+# Install some pip packages needed for testing
+RUN python3 -m pip install -U \
+  argcomplete \
+  flake8-blind-except \
+  flake8-builtins \
+  flake8-class-newline \
+  flake8-comprehensions \
+  flake8-deprecated \
+  flake8-docstrings \
+  flake8-import-order \
+  flake8-quotes \
+  pytest-repeat \
+  pytest-rerunfailures \
+  pytest
 
 # # Get the MoveIt2 source code
-# WORKDIR ${HOME_DIR}
-# RUN sudo git clone https://github.com/moveit/moveit2.git -b ${ROSDISTRO} moveit2/src
-# RUN cd ${MOVEIT2_DIR}/src \
-#   && sudo git clone https://github.com/moveit/moveit2_tutorials.git -b ${ROSDISTRO}
+WORKDIR ${HOME_DIR}
+RUN sudo git clone https://github.com/moveit/moveit2.git -b ${ROSDISTRO} moveit2/src
+RUN cd ${MOVEIT2_DIR}/src \
+  && sudo git clone https://github.com/moveit/moveit2_tutorials.git -b ${ROSDISTRO}
 
-# # Update the ownership of the source files (had to use sudo above to work around
-# # a possible inherited 'insteadof' from the host that forces use of ssh
-# RUN sudo chown -R ${USERNAME}:${USERNAME} ${MOVEIT2_DIR}
+# Update the ownership of the source files (had to use sudo above to work around
+# a possible inherited 'insteadof' from the host that forces use of ssh
+RUN sudo chown -R ${USERNAME}:${USERNAME} ${MOVEIT2_DIR}
 
 # # Get rosinstall_generator
-# 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
+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
 
 # # Generate repos file for moveit2 dependencies, excluding packages from Space ROS core.
-# COPY --chown=${USERNAME}:${USERNAME} moveit2-pkgs.txt /tmp/
-# COPY --chown=${USERNAME}:${USERNAME} excluded-pkgs.txt /tmp/
-# RUN rosinstall_generator \
-#   --rosdistro ${ROSDISTRO} \
-#   --deps \
-#   --exclude-path ${SPACEROS_DIR}/src \
-#   --exclude $(cat /tmp/excluded-pkgs.txt) -- \
-#   -- $(cat /tmp/moveit2-pkgs.txt) \
-#   > /tmp/moveit2_generated_pkgs.repos
+COPY --chown=${USERNAME}:${USERNAME} moveit2-pkgs.txt /tmp/
+COPY --chown=${USERNAME}:${USERNAME} excluded-pkgs.txt /tmp/
+RUN rosinstall_generator \
+  --rosdistro ${ROSDISTRO} \
+  --deps \
+  --exclude-path ${SPACEROS_DIR}/src \
+  --exclude $(cat /tmp/excluded-pkgs.txt) -- \
+  -- $(cat /tmp/moveit2-pkgs.txt) \
+  > /tmp/moveit2_generated_pkgs.repos
 
 # # Get the repositories required by MoveIt2, but not included in Space ROS
-# WORKDIR ${MOVEIT2_DIR}
-# RUN vcs import src < /tmp/moveit2_generated_pkgs.repos
-# COPY --chown=${USERNAME}:${USERNAME} moveit2_tutorials.repos /tmp/
-# RUN vcs import src < /tmp/moveit2_tutorials.repos
+WORKDIR ${MOVEIT2_DIR}
+RUN vcs import src < /tmp/moveit2_generated_pkgs.repos
+COPY --chown=${USERNAME}:${USERNAME} moveit2_tutorials.repos /tmp/
+RUN vcs import src < /tmp/moveit2_tutorials.repos
 
-# # Update the ownership of the source files (had to use sudo above to work around
-# # a possible inherited 'insteadof' from the host that forces use of ssh
-# RUN sudo chown -R ${USERNAME}:${USERNAME} ${MOVEIT2_DIR}
+# TODO open PR this library is missing?
+#WORKDIR ${MOVEIT2_DIR}/src
+#RUN git clone --branch main --single-branch https://github.com/PickNikRobotics/generate_parameter_library.git
 
-# # 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/src src --ignore-src --rosdistro ${ROSDISTRO} -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"
+# Update the ownership of the source files (had to use sudo above to work around
+# a possible inherited 'insteadof' from the host that forces use of ssh
+WORKDIR ${MOVEIT2_DIR}
+RUN sudo chown -R ${USERNAME}:${USERNAME} ${MOVEIT2_DIR}
 
-# # Apply a patch to octomap_msgs to work around a build issue
-# COPY --chown=${USERNAME}:${USERNAME} octomap_fix.diff ./src/octomap_msgs
-# RUN cd src/octomap_msgs && git apply octomap_fix.diff
+# 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/src src --ignore-src --rosdistro ${ROSDISTRO} -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"
 
-# # Build MoveIt2
+# Apply a patch to octomap_msgs to work around a build issue
+COPY --chown=${USERNAME}:${USERNAME} octomap_fix.diff ./src/octomap_msgs
+RUN cd src/octomap_msgs && git apply octomap_fix.diff
+
+# Unknown issue with generate_parameter_library delete and reinstall
+WORKDIR ${MOVEIT2_DIR}/src
+RUN sudo rm -rf generate_parameter_library
+RUN git clone --branch main --single-branch https://github.com/PickNikRobotics/generate_parameter_library.git
+
+# Build MoveIt2
 # RUN /bin/bash -c 'source ${SPACEROS_DIR}/install/setup.bash \
-#   && colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release -DCMAKE_EXPORT_COMPILE_COMMANDS=ON --event-handlers desktop_notification- status-'
+#   && colcon build --packages-select generate_parameter_library --cmake-args -DCMAKE_BUILD_TYPE=Release -DCMAKE_EXPORT_COMPILE_COMMANDS=ON --event-handlers desktop_notification- status'
 
-####  Install MOVEIT2_WS   ####
+# Manually fix for permission denined error 
+RUN sudo chown -R ${USERNAME}:${USERNAME} ${SPACEROS_DIR}
+
+WORKDIR ${MOVEIT2_DIR}
 
+# Build MoveIt2
+RUN /bin/bash -c 'source ${SPACEROS_DIR}/install/setup.bash \
+  && colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release -DCMAKE_EXPORT_COMPILE_COMMANDS=ON --event-handlers desktop_notification- status-'
+
+
+####  Install MOVEIT2_WS   ####
 
 
 
diff --git a/o3de_mars_rover/octomap_fix.diff b/o3de_mars_rover/octomap_fix.diff
new file mode 100644
index 00000000..ea500e04
--- /dev/null
+++ b/o3de_mars_rover/octomap_fix.diff
@@ -0,0 +1,13 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index cd3112a..72403c5 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -36,7 +36,7 @@ rosidl_generate_interfaces(${PROJECT_NAME}
+ )
+
+ install(DIRECTORY include/
+-        DESTINATION include
++        DESTINATION include/${PROJECT_NAME}
+         FILES_MATCHING PATTERN "*.h"
+         PATTERN ".svn" EXCLUDE)
+