Merge pull request #6 from yellak/ros-integration-docker-improvement

Improving the usage of Docker

Dockerfile

@@ -4,16 +4,24 @@ RUN apt-get update && apt-get install -y curl build-essential python-is-python3
 RUN curl -sSL https://bootstrap.pypa.io/get-pip.py -o get-pip.py
 RUN python get-pip.py
 RUN pip install "poetry==1.1.13"
+RUN apt-get -y dist-upgrade
+
+ARG exec_file
+ARG simulation_file
+ARG map_file
 
 COPY src/ /etc/hmrsim/src
-COPY examples/ /etc/hmrsim/examples
+COPY ${exec_file} /etc/hmrsim/examples/run.py
+COPY ${simulation_file} /etc/hmrsim/examples/simulation.json
+COPY ${map_file} /etc/hmrsim/examples/
 COPY ./pyproject.toml /etc/hmrsim/pyproject.toml
 COPY ./poetry.lock /etc/hmrsim/poetry.lock
 COPY ./LICENSE /etc/hmrsim/LICENSE
 COPY ./README.md /etc/hmrsim/README.md
 
 WORKDIR /etc/hmrsim
 RUN poetry install
+WORKDIR /etc/hmrsim/examples
 
 COPY ./hmrsim_entrypoint.sh /hmrsim_entrypoint.sh
 

docker-compose.yml

@@ -1,24 +1,23 @@
 version: "3"
 
 services:
-  hmrsim-rosbridge:
-    image: hmrsim-rosbridge
-    container_name: hmrsim-rosbridge
+  hmrsim:
+    image: hmrsim
+    container_name: hmrsim
     build: .
-    ports:
-      - 9090:9090
     volumes:
       - ./src/:/etc/hmrsim/src/
-      - ./examples:/etc/hmrsim/examples
-    working_dir: /etc/hmrsim
+    working_dir: /etc/hmrsim/examples
+    ports:
+      - 9090:9090
     networks:
       - hmrsim
   roseer:
     image: roseer
     container_name: roseer
     build: https://github.com/daniloinacio/ROSeer.git#main
     depends_on:
-      - hmrsim-rosbridge
+      - hmrsim
     ports:
       - "3000:3000"
     networks:

examples/hospitalSimulationRos/simulation.json

@@ -1,6 +1,6 @@
 {
     "context": ".",
-    "map": "examples/hospitalSimulationRos/hospital_scenario.drawio",
+    "map": "hospital_scenario.drawio",
     "FPS": 60,
     "DLW": 10,
     "verbose": 20

hmrsim_entrypoint.sh

@@ -1,18 +1,13 @@
 #!/bin/bash
 set -e
 
-# setup poetry shell
-# echo "poetry shell" >> /root/.bashrc
-# echo "poetry shell" >> /root/.profile
-
 # setup ros2 environment
 echo "source \"/opt/ros/$ROS_DISTRO/setup.bash\"" >> /root/.bashrc
 echo "source \"/opt/ros/$ROS_DISTRO/setup.bash\"" >> /root/.profile
 
 source /root/.bashrc
 source /root/.profile
 
-# run rosbridge server
-ros2 launch rosbridge_server rosbridge_websocket_launch.xml
+ros2 launch rosbridge_server rosbridge_websocket_launch.xml & poetry run python run.py  simulation.json
 
 exec "$@"