ros2-crazyswarm initial commit

Dockerfile

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+ARG ROS_DISTRO=humble
+FROM osrf/ros:${ROS_DISTRO}-desktop
+
+# Avoid prompts from apt
+ENV DEBIAN_FRONTEND=noninteractive
+
+# Declare an ARG for setting RUN_MODE at build time (optional)
+ARG RUN_MODE=cli
+
+# Set an ENV variable based on the ARG (to make it available at runtime)
+ENV RUN_MODE=${RUN_MODE}
+
+# Ignore setup.py warnings in building phase
+ENV PYTHONWARNINGS="ignore:setup.py install is deprecated::setuptools.command.install"
+
+# Install required apps
+RUN apt-get update \
+  && apt-get install -y \
+  nano \
+  git \
+  python3-pip \
+  && rm -rf /var/lib/apt/list/*
+
+# Install gazebo dependencies
+RUN apt-get update \
+  && apt-get install -y \
+  curl \
+  lsb-release \
+  gnupg \
+  python3-colcon-common-extensions \
+  && rm -rf /var/lib/apt/list/*
+
+# Set up colcon_cd for future bash sessions
+RUN echo "source /usr/share/colcon_cd/function/colcon_cd.sh" >> ~/.bashrc
+RUN echo "export _colcon_cd_root=/opt/ros/humble/" >> ~/.bashrc
+RUN echo "source /usr/share/colcon_argcomplete/hook/colcon-argcomplete.bash" >> ~/.bashrc
+
+# Add Gazebo repository
+RUN curl https://packages.osrfoundation.org/gazebo.gpg --output /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 $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null
+
+# Set up the gazebo version
+ARG GZ_VERSION=fortress
+
+# Install Gazebo
+RUN apt-get update \
+  && apt-get install -y \
+  gz-${GZ_VERSION} \
+  ros-${ROS_DISTRO}-ros-gz-sim \
+  ros-${ROS_DISTRO}-ros-gz-bridge \
+  && rm -rf /var/lib/apt/lists/*
+
+# Set up the environment
+ENV GZ_RESOURCE_PATH=/usr/share/gazebo-${GZ_VERSION}
+
+# Install crazyswarm2 dependencies
+RUN apt-get update \
+  && apt-get install -y \
+  libboost-program-options-dev \
+  libusb-1.0-0-dev \
+  ros-${ROS_DISTRO}-motion-capture-tracking \
+  ros-${ROS_DISTRO}-tf-transformations \
+  ros-${ROS_DISTRO}-teleop-twist-keyboard \
+  && rm -rf /var/lib/apt/lists/*
+
+# Install Python packages dependencies
+RUN pip3 install rowan nicegui
+RUN pip3 install cflib transform3D
+
+# Set the working directory inside the container
+WORKDIR /home
+
+# Create the necessary workspace
+RUN mkdir -p ros2_ws/src 
+
+# Set the workingspace inside the container
+WORKDIR /home/ros2_ws
+
+# Clone the repositorys into ros2 workspace
+RUN git clone https://github.com/IMRCLab/crazyswarm2 --recursive
+
+# Set the working directory inside the container
+# WORKDIR /home/ros2_ws/src
+
+# Change permissions
+RUN sudo chmod 777 -R /home/ros2_ws
+
+# Set working directory to ros2_ws and build using colcon
+WORKDIR /home/ros2_ws
+
+# Build
+RUN . /opt/ros/${ROS_DISTRO}/setup.sh \
+  && colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release
+
+# Source ROS 2 workspace setup
+RUN echo "source /home/ros2_ws/install/setup.bash" >> ~/.bashrc 
+
+# Set the working directory inside the container
+WORKDIR /home
+
+# Clone the repositorys for the SITL simulation
+RUN git clone --recursive https://github.com/bitcraze/crazyflie-firmware.git
+
+# Build python bindings & dependencies
+WORKDIR /home/crazyflie-firmware
+
+RUN apt-get update \
+  && apt-get install -y \
+  swig \
+  && rm -rf /var/lib/apt/lists/*
+
+RUN make cf2_defconfig \
+  && make bindings_python \
+  && cd build \
+  && python3 setup.py install --user
+
+# Set PYTHONPATH environment variable
+ENV PYTHONPATH=${PYTHONPATH:-}/home/crazyflie-firmware/build:$PYTHONPATH
+
+# Set working directory to ros2_ws
+WORKDIR /home/ros2_ws
+
+# Entrypoint
+COPY entrypoint.sh /
+RUN chmod +x /entrypoint.sh
+ENTRYPOINT ["/entrypoint.sh"]
+
+# Interactive bash shell
+CMD ["/bin/bash"]
+# CMD ["sleep", "infinity"]

docker-compose.yml

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+services:
+  ros2-crazyswarm:
+    build: .
+    container_name: ros2-crazyswarm-container
+    network_mode: "host"
+    ipc: host
+    volumes:
+      - "/tmp/.X11-unix:/tmp/.X11-unix:rw"
+    environment:
+      - DISPLAY=$DISPLAY
+      - RUN_MODE=compose
+    tty: true
+    stdin_open: true

entrypoint.sh

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+#!/bin/bash
+set -e
+
+# Setup the Demo environment
+cd /home/ros2_ws/
+source /opt/ros/humble/setup.bash
+
+# Check if the environment variable RUN_MODE is set to "compose"
+if [ "$RUN_MODE" = "compose" ]; then
+    # Run sleep infinity if it's Docker Compose
+    exec sleep infinity
+else
+    # Otherwise, run /bin/bash for CLI usage
+    exec /bin/bash
+fi
+
+exec "$@"

readme.md

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+# ROS 2 Crazyswarm docker
+
+This is an image that I generated using installation guide in [Crazyswarm official page](https://crazyswarm.readthedocs.io/en/latest/).
+
+
+## Using CLI 
+To build the image, you need to type:
+```$
+docker build --no-cache -t ros2-crazyswarm  .
+```
+
+To run the container, you need to type:
+```$
+docker run -it --rm --network=host --ipc=host -v /tmp/.X11-unix:/tmp/.X11-unix:rw --env=DISPLAY --name ros2-crazyswarm swarm -container ros2-crazyswarm 
+```
+
+## Using docker compose
+To start the docker compose, you need to type:
+```$
+docker compose up -d
+```
+To get access in the container, you need to type:
+```$
+docker exec -it ros2-crazyswarm -container /bin/bash
+```
+To stop the docker compose, you need to type:
+```$
+docker compose down
+```
+
+## Levevl of readiness
+Not tested exhaustively. Use it on your own risk. If you discover issues, please report them.
+
+## Environment (or it works in my machine)
+It was testes in an Ubuntu 24.04.1 LTS machine
+
+### Author (to blame)
+Angelos Plastropoulos