feat: Add e2e docker compose test environment

[cardboardcode]

New Feature Implementation 🌟

Implemented feature

Added docker compose.yaml (with override for headless), accompanied with modification to Dockerfile.base in order to provide an easy-to-set-up test environment that includes the demonstration of Nav2 Integration.

This addresses #50.

Implementation description

• Added docker-compose.yml and docker-compose.headless.override.yml in directory, docker.
• Modified Dockerfile.base with optimised build time and inclusion of localised codebase so in-container commands in docker-compose.yml can be executed without error.

Instructions 📘

Follow the steps below to see how it looks like in action:

git clone https://github.com/open-rmf/next_gen_prototype.git --branch [cardboardcode:cardboardcode/feat/e2e_test_env](https://github.com/cardboardcode/next_gen_prototype/tree/cardboardcode/feat/e2e_test_env) --single-branch --depth 1 && cd next_gen_prototype

BUILDKIT_PROGRESS=plain docker compose -f docker/docker-compose.yml build

Warning

This build process typically takes about 20 minutes, depending on your internet speed. So grab a coffee and take a break while it builds. ☕

xhost +local:docker && docker compose -f docker/docker-compose.yml up -d --force-recreate

Tip

To run headless, use the following command below instead:

docker compose -f docker/docker-compose.yml -f docker/docker-compose.headless.override.yml up -d --force-recreate

To stop the deployment, use the command below:

docker compose -f docker/docker-compose.yml down --remove-orphans

Verify ✅

Upon running the monolithic version, you should see 2 RViz window appear.

Send the following commands to verify that next_gen_prototype processes Nav2 Destination Goals accordingly:

docker exec -it next_gen_prototype bash -c "source /nav2_traffic_ws/install/setup.bash && \
    ros2 action send_goal robot1/navigate_to_pose nav2_msgs/action/NavigateToPose \"{
      pose: {
        header: {
          stamp: {sec: 0, nanosec: 0},
          frame_id: 'map'
        },
        pose: {
          position: {x: 9.0, y: 6.0, z: 0.0},
          orientation: {x: 0.0, y: 0.0, z: 0.0, w: 1.0}
        }
      }
    }\"
"

docker exec -it next_gen_prototype bash -c "source /nav2_traffic_ws/install/setup.bash && \
    ros2 action send_goal robot0/navigate_to_pose nav2_msgs/action/NavigateToPose \"{
      pose: {
        header: {
          stamp: {sec: 0, nanosec: 0},
          frame_id: 'map'
        },
        pose: {
          position: {x: 9.0, y: 3.0, z: 0.0},
          orientation: {x: 0.0, y: 0.0, z: 0.0, w: 1.0}
        }
      }
    }\"
"

After running both commands above, both robot0 and robot1 should start moving towards their destination, as visualized in their respective RViz windows, similar to what is shown in the .gif animation below:

https://github.com/open-rmf/next_gen_prototype/blob/main/nav2_integration/docs/images/nav2_traffic_demo.gif

GenAI Use

We follow OSRA's policy on GenAI tools

• I used a GenAI tool in this PR. ⚠️
• I did not use GenAI

Generated-by: Gemini Pro

[arjo129]

Thanks for the initial push. I've got some small recommendations. Overall this is a step in the right direction.

[arjo129]

knit: new line at end of file.

[cardboardcode]

Rectified in commit 4092d38.

[arjo129]

I think itd be good if we exercised per-container networking.

[cardboardcode]

Addressed in commit 884caa1.

[arjo129]

While I test against cyclone-dds I think it'd be better if we defaulted to zenoh. The goal of this set of docker files should be to give people a rough idea of how to configure their own local network.

[cardboardcode]

Addressed in commit 884caa1.

Left in commented out rmw_zenoh_cpp to indicate that the e2e docker compose can default to Zenoh.

As a default, using Dockerfile.base, docker_compose.yml has been verified using rmw_fastrtps_cpp, both to keep the docker image minimal.

Users would be encouraged to install rmw_zenoh_cpp on their own to utilize as default RMW via docker_compose.yml.

[arjo129]

This apt-get update is needed as containers can grow old and then the apt mirrors list can grow out of date.

[cardboardcode]

Rectified in commit 0c6bbd6.

[arjo129]

I'd rather we install these in another container. The base container should contain the bare minimum and default to the default RMW.

[cardboardcode]

Rectified in commit a91555f.