Add Flag to Enable IPC (#234)

* enable ipc flag added - To support the workspace that required IPC for communcation bw different workspace * Add Documentation for Setting Up ROS2 RTW Inter-Communication using --enable-ipc flag * newline at EOF * setup command for rocker added and each arg per line for visibility purposes * [rtwcli] update docs --------- Co-authored-by: Daniel Azanov <[email protected]>
b-robotized · Sep 5, 2024 · 7167a7a · 7167a7a
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diff --git a/docs/rtwcli/index.rst b/docs/rtwcli/index.rst
@@ -16,7 +16,8 @@ How to install the CLI
 """"""""""""""""""""""""
 .. _rtwcli-setup:
 
-Follow the instructions in the ``README.md`` inside the ``rtwcli`` folder `#here <https://github.com/StoglRobotics/ros_team_workspace/blob/master/rtwcli/README.md>`_.
+Follow the instructions in the ``README.md`` inside the ``rtwcli`` folder
+`#here <https://github.com/StoglRobotics/ros_team_workspace/blob/master/rtwcli/README.md>`_.
 
 
 How to use the CLI
@@ -41,20 +42,14 @@ The CLI currently supports the following commands:
 
 
 Setting up a new workspace
-"""""""""""""""""""""""""""""
+""""""""""""""""""""""""""""
 .. _rtwcli-setup-workspace:
 
-PR `#169 <https://github.com/StoglRobotics/ros_team_workspace/pull/169>`_ introduced a new feature to create a new local or dockerized workspace.
-The workspace can additionally be created using ``.repos`` files in your repository, streamlining the setup process for complex projects with multiple repositories.
-
-.. important::
-   **From May 2024** If you want to setup a dockerized workspace with nvidia support based on Ubuntu 24.04 (for Jazzy and Rolling) - make sure to use the updated ``rocker`` from `PR #279 <https://github.com/osrf/rocker/pull/279>`_. Until this PR is merged you are encoruged to setup the rocker with:
-
-   .. code-block:: bash
-
-      pip3 uninstall rocker   # is you have installed it with `sudo` use it here too
-      git clone https://github.com/StoglRobotics-forks/rocker.git --branch try_24
-      cd rocker && pip3 install -e . && cd -
+PR `#169 <https://github.com/StoglRobotics/ros_team_workspace/pull/169>`_
+introduced a new feature to create a new local or dockerized workspace.
+The workspace can additionally be created using ``.repos`` files in your
+repository, streamlining the setup process for complex projects with multiple
+repositories.
 
 * Usage:
    * ``rtw workspace create``
@@ -142,3 +137,44 @@ The workspace can additionally be created using ``.repos`` files in your reposit
 
    This is done due to the fact that the setting up of the rocker container
    fails often.
+
+
+How to setup ROS2 RTW for inter communication
+"""""""""""""""""""""""""""""""""""""""""""""""
+.. _rtwcli-ipc-usage:
+
+The CLI provides a way to setup ROS2 RTW for inter communication between RTW
+workspaces.
+
+* Example:
+
+.. code-block:: bash
+
+   rtw workspace create \
+      --ws-folder humble_ws \
+      --ros-distro humble \
+      --docker \
+      --enable-ipc
+
+   rtw workspace create \
+      --ws-folder rolling_ws \
+      --ros-distro rolling \
+      --docker \
+      --enable-ipc
+
+   (humble_ws)$ ros2 run demo_nodes_cpp talker
+
+   (rolling_ws)$ ros2 run demo_nodes_cpp listener
+
+
+How to install rocker fork with the new features
+""""""""""""""""""""""""""""""""""""""""""""""""""
+.. _rtwcli-setup-rocker-fork:
+
+Until rocker PR is merged you are encouraged to install your rocker fork with:
+
+.. code-block:: bash
+
+   pip3 uninstall rocker   # if you have installed it with 'sudo' use it here too
+   git clone https://github.com/StoglRobotics-forks/rocker.git --branch <your-feature-branch>
+   cd rocker && pip3 install -e . && cd -
diff --git a/rtwcli/rtw_cmds/rtw_cmds/workspace/create_verb.py b/rtwcli/rtw_cmds/rtw_cmds/workspace/create_verb.py
@@ -122,6 +122,7 @@ class CreateVerbArgs:
     repos_no_skip_existing: bool = False
     disable_nvidia: bool = False
     docker: bool = False
+    enable_ipc: bool = False
     disable_upgrade: bool = False
 
     @property
@@ -386,6 +387,12 @@ def add_arguments(self, parser: argparse.ArgumentParser, cli_name: str):
             help="Disable nvidia rocker flag",
             default=False,
         )
+        parser.add_argument(
+            "--enable-ipc",
+            action="store_true",
+            help="Enable IPC for the docker workspace.",
+            default=False,
+        )
         parser.add_argument(
             "--disable-upgrade",
             action="store_true",
@@ -923,6 +930,7 @@ def main(self, *, args):
                 disable_nvidia=create_args.disable_nvidia,
                 container_name=create_args.container_name,
                 hostname=create_args.hostname,
+                enable_ipc=create_args.enable_ipc,
                 ssh_abs_path=create_args.ssh_abs_path,
                 ssh_abs_path_in_docker=create_args.ssh_abs_path_in_docker,
                 final_image_name=create_args.final_image_name,

diff --git a/rtwcli/rtw_cmds/rtw_cmds/workspace/import_verb.py b/rtwcli/rtw_cmds/rtw_cmds/workspace/import_verb.py
@@ -36,6 +36,7 @@ class ImportVerbArgs:
     standalone_docker_image: str
     docker: bool = True
     disable_nvidia: bool = False
+    enable_ipc: bool = False
     standalone: bool = True
     final_image_name: str = ""
     container_name: str = ""
@@ -88,6 +89,12 @@ def add_arguments(self, parser: argparse.ArgumentParser, cli_name: str):
             help="Disable nvidia rocker flag",
             default=False,
         )
+        parser.add_argument(
+            "--enable-ipc",
+            action="store_true",
+            help="Enable IPC for the docker workspace.",
+            default=False,
+        )
         parser.add_argument(
             "--final-image-name",
             type=str,
@@ -136,6 +143,7 @@ def main(self, *, args):
             disable_nvidia=import_args.disable_nvidia,
             container_name=import_args.container_name,
             hostname=import_args.hostname,
+            enable_ipc=import_args.enable_ipc,
             ssh_abs_path=import_args.ssh_abs_path,
             ssh_abs_path_in_docker=import_args.ssh_abs_path_in_docker,
             final_image_name=import_args.final_image_name,

diff --git a/rtwcli/rtwcli/rtwcli/rocker_utils.py b/rtwcli/rtwcli/rtwcli/rocker_utils.py
@@ -24,6 +24,7 @@ def generate_rocker_flags(
     disable_nvidia: bool,
     container_name: str,
     hostname: str,
+    enable_ipc: bool,
     ssh_abs_path: str,
     ssh_abs_path_in_docker: str,
     final_image_name: str,
@@ -54,6 +55,9 @@ def generate_rocker_flags(
     rocker_flags.extend(["--name", container_name])
     rocker_flags.extend(["--network", "host"])
 
+    if enable_ipc:
+        rocker_flags.extend(["--ipc", "host"])
+
     if not disable_nvidia:
         rocker_flags.extend(["--nvidia", "gpus"])