Add lunar_pole_exploration_rover demo (fix issue space-ros#36)

Add the demo launch files and control nodes. Also adds
the controller configuration and a gazebo lunar world.

A dockerfile is included for test.

lunar_pole_exploration_rover/CMakeLists.txt

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+cmake_minimum_required(VERSION 3.8)
+project(lunar_pole_exploration_rover)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+find_package(ament_cmake_python REQUIRED)
+find_package(control_msgs REQUIRED)
+find_package(geometry_msgs REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(rclcpp_action REQUIRED)
+find_package(rclpy REQUIRED)
+find_package(simulation REQUIRED)
+find_package(std_msgs REQUIRED)
+# uncomment the following section in order to fill in
+# further dependencies manually.
+# find_package(<dependency> REQUIRED)
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  # the following line skips the linter which checks for copyrights
+  # comment the line when a copyright and license is added to all source files
+  set(ament_cmake_copyright_FOUND TRUE)
+  # the following line skips cpplint (only works in a git repo)
+  # comment the line when this package is in a git repo and when
+  # a copyright and license is added to all source files
+  set(ament_cmake_cpplint_FOUND TRUE)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+install(DIRECTORY
+  config
+  launch
+  worlds
+  DESTINATION share/${PROJECT_NAME}
+)
+
+ament_python_install_package(${PROJECT_NAME})
+
+install(PROGRAMS
+  nodes/move_mast
+  nodes/move_wheel
+  nodes/run_demo
+  nodes/odom_tf_publisher
+  DESTINATION lib/${PROJECT_NAME}
+)
+
+ament_package()

lunar_pole_exploration_rover/config/lunar_pole_exploration_rover_control.yaml

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+controller_manager:
+  ros__parameters:
+    update_rate: 100
+
+    mast_camera_joint_trajectory_controller:
+      type: joint_trajectory_controller/JointTrajectoryController
+
+    wheel_velocity_controller:
+      type: velocity_controllers/JointGroupVelocityController
+
+    steer_position_controller:
+      type: joint_trajectory_controller/JointTrajectoryController
+
+    joint_state_broadcaster:
+      type: joint_state_broadcaster/JointStateBroadcaster
+
+
+mast_camera_joint_trajectory_controller:
+  ros__parameters:
+    joints:
+      - mast_head_pivot_joint
+      - mast_camera_joint
+    interface_name: position
+    command_interfaces:
+      - position
+    state_interfaces:
+      - position
+      - velocity
+
+wheel_velocity_controller:
+  ros__parameters:
+    joints:
+      - front_left_wheel_joint
+      - rear_left_wheel_joint
+      - front_right_wheel_joint
+      - rear_right_wheel_joint
+    interface_name: velocity
+
+steer_position_controller:
+  ros__parameters:
+    joints:
+      - front_left_wheel_axle_joint
+      - rear_left_wheel_axle_joint
+      - front_right_wheel_axle_joint
+      - rear_right_wheel_axle_joint
+    interface_name: position
+    command_interfaces:
+      - position
+    state_interfaces:
+      - position
+      - velocity

lunar_pole_exploration_rover/docker/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 openrobotics/moveit2:latest
+
+# 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 Pole Exploration Rover"
+LABEL org.label-schema.description="Lunar Pole Exploration Rover entry for the NASA Space ROS Sim Summer Sprint Challenge"
+LABEL org.label-schema.vendor="Open Robotics"
+LABEL org.label-schema.version=${VERSION}
+LABEL org.label-schema.url="https://github.com/space-ros"
+LABEL org.label-schema.vcs-url="https://github.com/space-ros/demos"
+LABEL org.label-schema.vcs-ref=${VCS_REF}
+
+# Define a few key variables
+ENV DEMO_DIR=${HOME_DIR}/demos_ws
+ENV IGNITION_VERSION=fortress
+ENV GZ_VERSION=fortress
+
+# Disable prompting during package installation
+ARG DEBIAN_FRONTEND=noninteractive
+
+# 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
+
+
+RUN mkdir -p ${DEMO_DIR}/src
+WORKDIR ${DEMO_DIR}
+
+
+# Install libmongoc for development
+RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
+  --mount=type=cache,target=/var/lib/apt,sharing=locked \
+  sudo apt-get install libmongoc-dev -y
+
+# Compile mongo cxx driver https://mongocxx.org/mongocxx-v3/installation/linux/
+RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
+  --mount=type=cache,target=/var/lib/apt,sharing=locked \
+  sudo apt-get install libssl-dev build-essential devscripts debian-keyring fakeroot debhelper cmake libboost-dev libsasl2-dev libicu-dev libzstd-dev doxygen -y
+RUN wget https://github.com/mongodb/mongo-cxx-driver/releases/download/r3.6.7/mongo-cxx-driver-r3.6.7.tar.gz
+RUN tar -xzf mongo-cxx-driver-r3.6.7.tar.gz
+RUN cd mongo-cxx-driver-r3.6.7/build && cmake .. -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=/usr/local && sudo cmake --build . --target EP_mnmlstc_core && cmake --build . && sudo cmake --build . --target install
+
+# Get the source for the dependencies
+# RUN vcs import src < /tmp/demo_generated_pkgs.repos
+COPY --chown=${USERNAME}:${USERNAME} demos/lunar_pole_exploration_rover/docker/demo_manual_pkgs.repos /tmp/
+RUN vcs import src < /tmp/demo_manual_pkgs.repos && /bin/bash -c 'source "${SPACEROS_DIR}/install/setup.bash"' 
+
+# Copy the "demos" and "simulation" repos into the workspace
+COPY demos ./src/demos
+COPY simulation ./src/simulation
+
+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 "${SPACEROS_DIR}/install/setup.bash"' \
+&& /bin/bash -c 'source "${MOVEIT2_DIR}/install/setup.bash"' \
+&& rosdep install --from-paths src --ignore-src -r -y --rosdistro ${ROSDISTRO}
+
+# Build the demo
+RUN /bin/bash -c 'source ${SPACEROS_DIR}/install/setup.bash && source ${MOVEIT2_DIR}/install/setup.bash \
+  && colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release'
+
+# 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 demos/lunar_pole_exploration_rover/docker/entrypoint.sh /
+ENTRYPOINT ["/entrypoint.sh"]
+CMD ["bash"]

lunar_pole_exploration_rover/docker/demo_manual_pkgs.repos

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+repositories:
+  gz_ros2_control:
+    type: git
+    url: https://github.com/ros-controls/gz_ros2_control.git
+    version: humble
+  qt_gui_core:
+    type: git
+    url: https://github.com/ros-visualization/qt_gui_core.git
+    version: humble
+  ros2_controllers:
+    type: git
+    url: https://github.com/tonylitianyu/ros2_controllers.git
+    version: effort_group_position_controller_2
+  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
+  ros-humble-warehouse-ros-mongo:
+    type: git
+    url: https://github.com/ros-planning/warehouse_ros_mongo.git
+    version: ros2
+  vision_msgs:
+    type: git
+    url: https://github.com/ros-perception/vision_msgs.git
+    version: ros2
+  gps_msgs:
+    type: git
+    url: https://github.com/swri-robotics/gps_umd.git
+    path: gps_msgs
+    version: 113782d

lunar_pole_exploration_rover/docker/entrypoint.sh

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