JdeRobot · BkPankaj · Jun 9, 2025 · Jul 7, 2025 · Jul 7, 2025
diff --git a/scripts/VCDI/Dockerfile b/scripts/VCDI/Dockerfile
@@ -0,0 +1,45 @@
+FROM python:3.11-slim
+
+RUN apt-get update && apt-get install -y \
+    git \
+    curl \
+    build-essential \
+    gnupg \
+    && rm -rf /var/lib/apt/lists/*
+
+
+RUN curl -fsSL https://deb.nodesource.com/setup_18.x | bash - && \
+    apt-get update && apt-get install -y nodejs
+
+
+WORKDIR /app
+
+
+ARG BRANCH=master
+
+RUN git clone --branch ${BRANCH} --single-branch https://github.com/JdeRobot/VisualCircuit.git
+
+
+
+WORKDIR /app/VisualCircuit/frontend
+RUN npm install --legacy-peer-deps
+
+
+WORKDIR /app/VisualCircuit/backend
+RUN pip install --upgrade pip && pip install -r requirements.txt
+
+RUN echo "DJANGO_DEBUG=true" >> /app/VisualCircuit/backend/.env && \
+    echo "VISUAL_CIRCUIT_FRONTEND_HOST='http://localhost:4000'" >> /app/VisualCircuit/backend/.env && \
+    echo "DJANGO_ALLOWED_HOSTS=localhost,127.0.0.1" >> /app/VisualCircuit/backend/.env && \
+    echo "DJANGO_SECRET_KEY=xxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxx" >> /app/VisualCircuit/backend/.env
+
+# Collect static files
+RUN python manage.py collectstatic 
+
+WORKDIR /app/VisualCircuit
+COPY entrypoint.sh /entrypoint.sh
+RUN chmod +x /entrypoint.sh
+
+EXPOSE 4000 8080
+ENTRYPOINT ["/entrypoint.sh"]
+
diff --git a/scripts/VCDI/entrypoint.sh b/scripts/VCDI/entrypoint.sh
@@ -0,0 +1,11 @@
+#!/bin/bash
+set -e
+
+echo "Starting backend server on port 8080..."
+cd /app/VisualCircuit/backend
+python3 manage.py migrate || true
+python3 manage.py runserver 0.0.0.0:8080 &
+
+echo "Starting frontend server on port 4000..."
+cd /app/VisualCircuit/frontend
+npm start
diff --git a/scripts/VCDI_with_RI/Dockerfile.dependencies_humble b/scripts/VCDI_with_RI/Dockerfile.dependencies_humble
@@ -0,0 +1,318 @@
+FROM nvidia/opengl:1.2-glvnd-runtime-ubuntu22.04
+
+# Make all NVIDIA GPUS visible
+ARG NVIDIA_VISIBLE_DEVICES=all
+ENV NVIDIA_DRIVER_CAPABILITIES=all
+ENV VIRTUALGL_VERSION=3.0.2
+ENV TURBOVNC_VERSION=3.0.3
+
+# Setup NON INTERACTIVE ENVIRONMENT
+ENV DEBIAN_FRONTEND=noninteractive
+
+# Install locales to prevent errors
+RUN apt-get clean && \
+    apt-get update && \
+    apt-get install --no-install-recommends -y locales && \
+    rm -rf /var/lib/apt/lists/* && \
+    locale-gen en_US.UTF-8
+ENV LANG=en_US.UTF-8
+ENV LANGUAGE=en_US:en
+ENV LC_ALL=en_US.UTF-8
+
+ENV ROS_DISTRO=humble
+ENV AMENT_PREFIX_PATH=/opt/ros/${ROS_DISTRO}
+ENV COLCON_PREFIX_PATH=/opt/ros/${ROS_DISTRO}
+ENV LD_LIBRARY_PATH=/usr/lib/x86_64-linux-gnu/gazebo-11/plugins:/opt/ros/${ROS_DISTRO}/opt/rviz_ogre_vendor/lib:/opt/ros/${ROS_DISTRO}/lib/x86_64-linux-gnu:/opt/ros/${ROS_DISTRO}/lib:/usr/share/gazebo/../../lib/x86_64-linux-gnu/gazebo-11/plugins:
+ENV PATH=/opt/ros/${ROS_DISTRO}/bin:$PATH
+ENV PYTHONPATH=/opt/ros/${ROS_DISTRO}/lib/python3.10/site-packages
+ENV ROS_PYTHON_VERSION=3
+ENV ROS_VERSION=2
+
+# Install common tools
+RUN apt-get update && apt-get install -y \
+  software-properties-common \
+  bash-completion \
+  apt-utils \
+  build-essential \
+  git curl wget cmake \
+  nano vim \
+  gnupg \
+  lsb-release \
+  sudo \
+  net-tools \
+  pciutils \
+  && rm -rf /var/lib/apt/lists/*
+
+# Install ROS2 and ROS packages
+RUN curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg \
+  && echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(lsb_release -cs) main" | tee /etc/apt/sources.list.d/ros2.list > /dev/null \
+  && apt-get update && apt-get install -y \
+    ros-${ROS_DISTRO}-ros-base \
+    ros-${ROS_DISTRO}-xacro \
+    ros-${ROS_DISTRO}-joint-state-publisher \
+    ros-${ROS_DISTRO}-rviz2 \
+    python3-colcon-common-extensions \
+    python3-pip python3-rosdep python3-vcstool \
+    python3-argcomplete \
+  && rosdep init \
+  && rm -rf /var/lib/apt/lists/*
+
+# Install Gazebo 11
+RUN add-apt-repository ppa:openrobotics/gazebo11-gz-cli
+RUN apt-get update && apt-get install -y \
+        gazebo11 \
+        ros-humble-gazebo-ros-pkgs \
+        gstreamer1.0-plugins-bad \
+        gstreamer1.0-plugins-good \
+        gstreamer1.0-plugins-ugly \
+        gstreamer1.0-libav \
+        libgstreamer-plugins-base1.0-dev \
+        libimage-exiftool-perl \
+    && apt-get -y autoremove \
+    && apt-get clean autoclean \
+    && rm -rf /var/lib/apt/lists/* /tmp/* /var/tmp/*
+RUN mkdir ~/.gazebo && touch ~/.gazebo/gui.ini
+
+# Install Gazebo Harmonic
+RUN apt-get update \
+  && wget https://packages.osrfoundation.org/gazebo.gpg -O /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg \
+  && echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" | tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null \
+  && apt-get update && apt-get install -y -q \
+      gz-harmonic \
+  && rm -rf /var/lib/apt/lists/*
+
+RUN apt-get update && apt-get install -y \
+      ros-humble-ros-gzharmonic \
+  && rm -rf /var/lib/apt/lists/*
+
+# Install VNC
+# Xorg segfault error mitigation
+RUN apt-get update && apt-get install -y --no-install-recommends \
+    dbus-x11 \
+    libdbus-c++-1-0v5 \
+    xvfb xauth xfonts-base xkb-data x11-xkb-utils \
+    x11vnc \
+    xterm \
+    xserver-xorg-video-dummy \
+    x11-apps \
+	&& apt-get -y autoremove \
+	&& apt-get clean autoclean \
+  && rm -rf /var/lib/apt/lists/{apt,dpkg,cache,log} /tmp/* /var/tmp/*
+
+RUN wget https://xpra.org/xorg.conf \
+  && rm -rf /tmp/*
+
+# Install noVNC and websockify
+RUN git clone -b v1.4.0 https://github.com/novnc/noVNC.git
+RUN cd /noVNC/utils && git clone -b v0.11.0 https://github.com/novnc/websockify.git
+
+# VirtualGL and TurboVNC
+COPY ./gpu/virtualgl_${VIRTUALGL_VERSION}_amd64.deb ./gpu/virtualgl32_${VIRTUALGL_VERSION}_amd64.deb ./gpu/turbovnc_${TURBOVNC_VERSION}_amd64.deb /
+
+RUN dpkg --add-architecture i386 && apt-get update && apt-get install -y \
+    libxtst6:i386 \
+    libxv1:i386 \
+    libglu1-mesa:i386 \
+    libegl1-mesa:i386 \
+    libegl1-mesa:amd64
+
+RUN apt-get update && dpkg -i /virtualgl_${VIRTUALGL_VERSION}_amd64.deb /virtualgl32_${VIRTUALGL_VERSION}_amd64.deb \
+  && rm /virtualgl_${VIRTUALGL_VERSION}_amd64.deb /virtualgl32_${VIRTUALGL_VERSION}_amd64.deb \
+  && chmod u+s /usr/lib/libvglfaker.so \
+  && chmod u+s /usr/lib/libdlfaker.so \
+  && chmod u+s /usr/lib32/libvglfaker.so \
+  && chmod u+s /usr/lib32/libdlfaker.so \
+  && chmod u+s /usr/lib/i386-linux-gnu/libvglfaker.so \
+  && chmod u+s /usr/lib/i386-linux-gnu/libdlfaker.so \
+  && apt-get update && apt-get install -y --no-install-recommends \
+    /turbovnc_${TURBOVNC_VERSION}_amd64.deb \
+  && rm turbovnc_${TURBOVNC_VERSION}_amd64.deb \
+  && rm -rf /var/lib/apt/lists/*
+
+RUN apt-get update && \
+  apt-get install -y lxde-common && \
+  rm -rf /var/lib/apt/lists/*
+
+ENV PATH="$PATH:/opt/VirtualGL/bin:/opt/TurboVNC/bin"
+
+# Node
+RUN curl -sL https://deb.nodesource.com/setup_20.x | bash - \
+  && apt-get install -y nodejs \
+  && npm install -g yarn
+
+# Install Python 3 pip build dependencies first
+RUN python3.10 -m pip install --upgrade pip==23.3.1 wheel==0.41.3 setuptools==69.0.2 selenium
+
+# pip install dependencies
+RUN python3.10 -m pip install \
+    pylint==3.3.1 transitions==0.9.0 pydantic==2.4.2 websocket-client==1.5.2 \
+    argparse==1.4.0 coverage==6.2 cerberus==1.3.4 empy==3.3.4 jinja2==3.0.3 kconfiglib==14.1.0 \
+    matplotlib==3.0.* numpy==1.24.3 nunavut==1.1.0 packaging==21.3 pkgconfig==1.5.5 pyros-genmsg==0.5.8 \
+    pyulog==1.0.1 pyyaml==5.4.1 requests==2.31.0 serial==0.0.97 six==1.16.0 toml==0.10.2 psutil==5.9.0 \
+    onnxruntime==1.15.0 Pillow==9.0.1 opencv-python==4.5.5.64 netron seaborn==0.11.2 watchdog==2.1.5 utm==0.7.0 psycopg2 jedi pyapriltags
+
+# monaco editor
+RUN python3.10 -m pip install black==24.10.0
+
+# websocket server dependency
+RUN python3.10 -m pip install websocket_server==0.6.4 posix-ipc==1.1.1 django==4.1.7 djangorestframework==3.13.1 \
+    django-webpack-loader==1.5.0 django-cors-headers==3.14.0 websockets==11.0.3 asyncio==3.4.3
+
+
+## Aerostack2
+WORKDIR /root/
+
+RUN apt-get update && \
+    apt-get install apt-utils -y \
+        software-properties-common \
+        git \
+        tmux \
+        tmuxinator \
+        python3-rosdep \
+        python3-pip \
+        python3-colcon-common-extensions \
+        python3-colcon-mixin \
+        python-is-python3 \
+        ros-dev-tools \
+        python3-flake8 \
+        python3-flake8-builtins  \
+        python3-flake8-comprehensions \
+        python3-flake8-docstrings \
+        python3-flake8-import-order \
+        python3-flake8-quotes \
+        cppcheck \
+        lcov \
+        lsb-release \
+        wget \
+        gnupg \
+    && rm -rf /var/lib/apt/lists/* 
+
+RUN pip3 install \
+        pylint \
+        flake8==4.0.1 \
+        pycodestyle==2.8 \
+        cmakelint \
+        cpplint \
+        colcon-lcov-result \
+        PySimpleGUI-4-foss
+
+RUN colcon mixin add default https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml
+RUN colcon mixin update default
+RUN rm -rf log 
+# remove log folder
+RUN mkdir -p /home/drones_ws/src/
+WORKDIR /home/drones_ws/src/
+RUN git clone https://github.com/aerostack2/aerostack2.git -b robotics-academy-fix
+RUN touch aerostack2/as2_hardware_drivers/COLCON_IGNORE
+RUN touch aerostack2/as2_behavior_tree/COLCON_IGNORE
+RUN touch aerostack2/as2_map_server/COLCON_IGNORE
+RUN touch aerostack2/as2_behaviors/as2_behaviors_path_planning/COLCON_IGNORE
+RUN touch aerostack2/as2_utilities/as2_geozones/COLCON_IGNORE
+RUN touch aerostack2/as2_user_interfaces/as2_visualization/as2_rviz_plugins/COLCON_IGNORE
+
+WORKDIR /home/drones_ws/
+
+RUN apt-get update && \
+    apt-get install -y \
+        libbenchmark-dev \
+        libeigen3-dev \
+        libgeographic-dev \
+        libncurses-dev \
+        libyaml-cpp-dev \
+        pybind11-dev \
+        python3-jinja2 \
+        python3-pydantic \
+        python3-pymap3d \
+        python3-pytest \
+        ros-humble-action-msgs \
+        ros-humble-ament-cmake \
+        ros-humble-ament-cmake-gtest \
+        ros-humble-ament-cmake-lint-cmake \
+        ros-humble-ament-cmake-pytest \
+        ros-humble-ament-cmake-python \
+        ros-humble-ament-cmake-xmllint \
+        ros-humble-ament-copyright \
+        ros-humble-ament-flake8 \
+        ros-humble-ament-index-cpp \
+        ros-humble-ament-lint-auto \
+        ros-humble-ament-lint-common \
+        ros-humble-ament-pep257 \
+        ros-humble-backward-ros \
+        ros-humble-builtin-interfaces \
+        ros-humble-cv-bridge \
+        ros-humble-geographic-msgs \
+        ros-humble-geometry-msgs \
+        ros-humble-image-transport \
+        ros-humble-mocap4r2-msgs \
+        ros-humble-nav-msgs \
+        ros-humble-pluginlib \
+        ros-humble-rclcpp \
+        ros-humble-rclcpp-action \
+        ros-humble-rclcpp-components \
+        ros-humble-rclcpp-lifecycle \
+        ros-humble-rclpy \
+        ros-humble-robot-state-publisher \
+        ros-humble-rosidl-default-generators \
+        ros-humble-rosidl-default-runtime \
+        ros-humble-rviz2 \
+        ros-humble-sdformat-urdf \
+        ros-humble-sensor-msgs \
+        ros-humble-std-msgs \
+        ros-humble-std-srvs \
+        ros-humble-tf2 \
+        ros-humble-tf2-geometry-msgs \
+        ros-humble-tf2-msgs \
+        ros-humble-tf2-ros \
+        ros-humble-trajectory-msgs \
+        ros-humble-visualization-msgs \
+        ros-humble-moveit \
+        ros-humble-ros2-control \
+        ros-humble-ros2-controllers \
+        ros-humble-gripper-controllers \
+        ros-humble-rmw-cyclonedds-cpp \
+        ros-humble-ur \
+        ros-humble-ros-testing \
+        libpoco-dev \
+      && rm -rf /var/lib/apt/lists/*
+
+RUN . /opt/ros/$ROS_DISTRO/setup.sh && \
+    colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release
+
+# Install CycloneDDS RMW for ROS 2 Humble to fix cycle time issues in humble-moveit (temporary fix)    
+RUN echo 'export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp' >> ~/.bashrc
+
+# Instalation for industrial robots
+
+RUN mkdir -p /home/industrial_ws/src/ABBDriver
+WORKDIR /home/industrial_ws/src/ABBDriver
+RUN git clone https://github.com/PickNikRobotics/abb_ros2.git -b rolling
+RUN . /opt/ros/$ROS_DISTRO/setup.sh && rosdep update
+RUN vcs import < abb_ros2/abb.repos
+RUN . /opt/ros/$ROS_DISTRO/setup.sh && rosdep install -r --from-paths . --ignore-src --rosdistro $ROS_DISTRO -y
+WORKDIR /home/industrial_ws/src
+RUN git clone https://github.com/ros-controls/gazebo_ros2_control.git
+RUN cd gazebo_ros2_control && git reset --hard 9a3736c # Commit for the 0.4.6 version!
+RUN git clone https://github.com/IFRA-Cranfield/IFRA_LinkAttacher.git
+RUN git clone https://github.com/IFRA-Cranfield/IFRA_ObjectPose.git
+RUN git clone https://github.com/IFRA-Cranfield/IFRA_LinkPose.git
+RUN git clone https://github.com/IFRA-Cranfield/ros2_RobotiqGripper.git
+# Forked needed in order to read the parameters from main launcher
+RUN git clone https://github.com/javizqh/ros2_SimRealRobotControl
+RUN sudo cp /home/industrial_ws/src/ros2_SimRealRobotControl/include/move_group_interface_improved.h /opt/ros/humble/include/moveit/move_group_interface/move_group_interface_improved.h
+WORKDIR /home/industrial_ws
+RUN . /opt/ros/$ROS_DISTRO/setup.sh && \
+    colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release
+
+# Create workspace and add drone packages
+RUN echo "source /usr/share/gazebo/setup.bash" >> ~/.bashrc
+RUN echo "source /opt/ros/$ROS_DISTRO/setup.bash" >> ~/.bashrc
+RUN echo 'export AEROSTACK2_PATH=/home/drones_ws/src/aerostack2' >> ~/.bashrc
+RUN echo 'source $AEROSTACK2_PATH/as2_cli/setup_env.bash' >> ~/.bashrc
+RUN echo "source /home/drones_ws/install/setup.bash" >> ~/.bashrc
+RUN echo "source /home/industrial_ws/install/setup.bash" >> ~/.bashrc
+
+# Download and install OMPL library
+COPY install-ompl-ubuntu.sh /
+WORKDIR /
+RUN chmod u+x install-ompl-ubuntu.sh
+RUN ./install-ompl-ubuntu.sh --github --python