From e43458de68702dbb156c8915d1f5487bff9928ed Mon Sep 17 00:00:00 2001
From: Jakub Delicat <jakub.delicat@pwr.edu.pl>
Date: Mon, 22 Jan 2024 12:47:32 +0100
Subject: [PATCH] Added rule to run

Signed-off-by: Jakub Delicat <jakub.delicat@pwr.edu.pl>
---
 Dockerfile          |  33 -----
 compose.hokuyo.yaml |   2 +-
 pioneer3dx.urdf     | 352 --------------------------------------------
 ros_entrypoint.sh   |   7 -
 4 files changed, 1 insertion(+), 393 deletions(-)
 delete mode 100644 Dockerfile
 delete mode 100644 pioneer3dx.urdf
 delete mode 100644 ros_entrypoint.sh

diff --git a/Dockerfile b/Dockerfile
deleted file mode 100644
index ce82db1..0000000
--- a/Dockerfile
+++ /dev/null
@@ -1,33 +0,0 @@
-ARG ROS_DISTRO=humble
-FROM delicjusz/ros2aria 
-SHELL ["/bin/bash", "-c"]
-RUN apt-get update && apt-get install -y \
-		git \
-        python3-colcon-common-extensions \
-        python3-rosdep \
-		build-essential
-
-WORKDIR /ros2_ws
-
-COPY src/ /ros2_ws/src/
-RUN source /opt/ros/$ROS_DISTRO/setup.bash && \
-    rm -rf /etc/ros/rosdep/sources.list.d/20-default.list && \
-    rosdep init && \
-    rosdep update --rosdistro $ROS_DISTRO && \
-    rosdep install -i --from-path src --rosdistro $ROS_DISTRO -y && \
-    colcon build
-
-
-RUN echo "source /opt/ros/$ROS_DISTRO/setup.bash" >> ~/.bashrc
-# COPY ros_entrypoint.sh /
-# ENTRYPOINT ["../ros_entrypoint.sh"]
-# RUN chmod +x /ros_entrypoint.sh
-
-# clear ubuntu packages
-# RUN	export SUDO_FORCE_REMOVE=yes && \
-#     apt-get clean && \
-# 	apt-get remove -y \
-# 		python3-colcon-common-extensions \
-# 		python3-rosdep \
-# 		build-essential && \
-# 	rm -rf /var/lib/apt/lists/*
\ No newline at end of file
diff --git a/compose.hokuyo.yaml b/compose.hokuyo.yaml
index 2a1c520..c3b4218 100644
--- a/compose.hokuyo.yaml
+++ b/compose.hokuyo.yaml
@@ -15,4 +15,4 @@ services:
       ros2 run urg_node urg_node_driver  --ros-args -r 
        __ns:=/pioneer${PIONEER_ID} -p
       laser_frame_id:=pioneer${PIONEER_ID}/laser -p 
-      serial_port:=/dev/ttyACM0
\ No newline at end of file
+      serial_port:=/dev/hokuyo
\ No newline at end of file
diff --git a/pioneer3dx.urdf b/pioneer3dx.urdf
deleted file mode 100644
index 32dd74d..0000000
--- a/pioneer3dx.urdf
+++ /dev/null
@@ -1,352 +0,0 @@
-<?xml version="1.0" ?>
-<!-- =================================================================================== -->
-<!-- |    This document was autogenerated by xacro from src/pioneer_description/urdf/pioneer3dx.urdf.xacro | -->
-<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
-<!-- =================================================================================== -->
-<robot name="pioneer3dx" xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller" xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface" xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor">
-  <!--<include filename="$(find amr_robots_description)/urdf/materials.xacro"/>-->
-  <!-- Chassis -->
-  <link name="base_link">
-    <inertial>
-      <mass value="3.5"/>
-      <!--<origin xyz="-0.025 0 -0.223"/>-->
-      <origin xyz="0 0 0"/>
-      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
-    </inertial>
-    <visual>
-      <origin rpy="0 0 0" xyz="-0.045 0 0.148"/>
-      <geometry name="pioneer_geom">
-        <mesh filename="/home/jdelicat/lab_repos/ros2aria/install/pioneer_description/share/pioneer_description/meshes/chassis.stl"/>
-      </geometry>
-      <material name="ChassisRed">
-        <color rgba="0.851 0.0 0.0 1.0"/>
-      </material>
-    </visual>
-    <collision>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <box size="0.01 0.01 0.01"/>
-      </geometry>
-    </collision>
-  </link>
-  <link name="top_plate">
-    <inertial>
-      <mass value="0.01"/>
-      <origin xyz="0 0 0"/>
-      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
-    </inertial>
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry name="pioneer_geom">
-        <mesh filename="/home/jdelicat/lab_repos/ros2aria/install/pioneer_description/share/pioneer_description/meshes/top.stl"/>
-      </geometry>
-      <material name="TopBlack">
-        <color rgba="0.038 0.038 0.038 1.0"/>
-      </material>
-    </visual>
-  </link>
-  <gazebo reference="top_plate">
-    <!-- material value="Gazebo/Black"/ -->
-    <material>Gazebo/Black</material>
-  </gazebo>
-  <joint name="base_top_joint" type="fixed">
-    <origin rpy="0 0 0" xyz="-0.045 0 0.234"/>
-    <axis xzy="0 0 1"/>
-    <parent link="base_link"/>
-    <child link="top_plate"/>
-  </joint>
-  <link name="front_sonar">
-    <inertial>
-      <mass value="0.0001"/>
-      <origin xyz="0 0 0"/>
-      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
-    </inertial>
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry name="pioneer_geom">
-        <mesh filename="/home/jdelicat/lab_repos/ros2aria/install/pioneer_description/share/pioneer_description/meshes/front_sonar.stl"/>
-      </geometry>
-      <material name="SonarYellow">
-        <color rgba="0.715 0.583 0.210 1.0"/>
-      </material>
-    </visual>
-  </link>
-  <gazebo reference="front_sonar">
-    <material value="Gazebo/Yellow"/>
-  </gazebo>
-  <joint name="base_front_joint" type="fixed">
-    <origin rpy="0 0 0" xyz="-0.198 0 0.208"/>
-    <parent link="base_link"/>
-    <child link="front_sonar"/>
-  </joint>
-  <joint name="base_back_joint" type="fixed">
-    <origin rpy="0 0 0" xyz="0.109 0 0.209"/>
-    <parent link="base_link"/>
-    <child link="back_sonar"/>
-  </joint>
-  <link name="back_sonar">
-    <inertial>
-      <mass value="0"/>
-      <origin xyz="0 0 0"/>
-      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
-    </inertial>
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry name="pioneer_geom">
-        <mesh filename="/home/jdelicat/lab_repos/ros2aria/install/pioneer_description/share/pioneer_description/meshes/back_sonar.stl"/>
-      </geometry>
-      <material name="SonarYellow">
-        <color rgba="0.715 0.583 0.210 1.0"/>
-      </material>
-    </visual>
-  </link>
-  <!-- Caster -->
-  <joint name="base_caster_swivel_joint" type="continuous">
-    <origin rpy="0 0 0" xyz="-0.185 0 0.055"/>
-    <anchor xyz="0 0 0"/>
-    <limit effort="100" k_velocity="0" velocity="100"/>
-    <joint_properties damping="0.0" friction="0.0"/>
-    <parent link="base_link"/>
-    <child link="caster_swivel"/>
-  </joint>
-  <link name="caster_swivel">
-    <inertial>
-      <mass value="0.1"/>
-      <origin xyz="0 0 0"/>
-      <inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
-    </inertial>
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry name="pioneer_geom">
-        <mesh filename="/home/jdelicat/lab_repos/ros2aria/install/pioneer_description/share/pioneer_description/meshes/caster_swivel.stl"/>
-      </geometry>
-      <material name="caster_swivel">
-        <color rgba="0.5 0.5 0.5 1"/>
-      </material>
-    </visual>
-  </link>
-  <gazebo reference="caster_swivel">
-    <material value="Gazebo/Grey"/>
-  </gazebo>
-  <!-- Center Wheel + Hubcap -->
-  <link name="caster_hubcap">
-    <inertial>
-      <mass value="0.01"/>
-      <origin xyz="0 0 0"/>
-      <inertia ixx="0.012411765597" ixy="-0.000711733678" ixz="0.00050272983" iyy="0.015218160428" iyz="-0.000004273467" izz="0.011763977943"/>
-    </inertial>
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry name="pioneer_geom">
-        <mesh filename="/home/jdelicat/lab_repos/ros2aria/install/pioneer_description/share/pioneer_description/meshes/caster_hubcap.stl"/>
-      </geometry>
-      <material name="caster_swivel">
-        <color rgba="0.5 0.5 0.5 1"/>
-      </material>
-    </visual>
-    <collision>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <box size="0.05 0.05 0.05"/>
-      </geometry>
-    </collision>
-  </link>
-  <gazebo reference="caster_hubcap">
-    <material value="Gazebo/Grey"/>
-  </gazebo>
-  <joint name="caster_swivel_hubcap_joint" type="continuous">
-    <origin rpy="0 0 0" xyz="-0.026 0 -0.016"/>
-    <axis xyz="0 1 0"/>
-    <anchor xyz="0 0 0"/>
-    <limit effort="100" k_velocity="0" velocity="100"/>
-    <joint_properties damping="0.0" friction="0.0"/>
-    <parent link="caster_swivel"/>
-    <child link="caster_wheel"/>
-  </joint>
-  <link name="caster_wheel">
-    <inertial>
-      <mass value="0.1"/>
-      <origin xyz="0 0 0"/>
-      <inertia ixx="0.012411765597" ixy="-0.000711733678" ixz="0.00050272983" iyy="0.015218160428" iyz="-0.000004273467" izz="0.011763977943"/>
-    </inertial>
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry name="pioneer_geom">
-        <mesh filename="/home/jdelicat/lab_repos/ros2aria/install/pioneer_description/share/pioneer_description/meshes/caster_wheel.stl"/>
-      </geometry>
-      <material name="WheelBlack">
-        <color rgba="0.117 0.117 0.117 1"/>
-      </material>
-    </visual>
-    <collision>
-      <origin rpy="-1.57079635 0 0" xyz="0 0 0"/>
-      <geometry>
-        <!--<mesh filename="$(find pioneer_description)/meshes/caster_wheel.stl"/>-->
-        <cylinder length="0.01" radius="0.0375"/>
-      </geometry>
-    </collision>
-  </link>
-  <gazebo reference="left_hub">
-    <material value="Gazebo/Yellow"/>
-  </gazebo>
-  <joint name="caster_wheel_joint" type="fixed">
-    <origin rpy="0 0 0" xyz="-0.0035 0 -0.001"/>
-    <parent link="caster_wheel"/>
-    <child link="caster_hubcap"/>
-  </joint>
-  <link name="left_hub">
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="/home/jdelicat/lab_repos/ros2aria/install/pioneer_description/share/pioneer_description/meshes/left_hubcap.stl"/>
-      </geometry>
-      <material name="HubcapYellow">
-        <color rgba="1.0 0.811 0.151 1.0"/>
-      </material>
-    </visual>
-    <collision>
-      <origin rpy="-1.57079635 0 0" xyz="0 0 0"/>
-      <geometry>
-        <!--<mesh filename="$(find pioneer_description)/meshes/caster_wheel.stl"/>-->
-        <cylinder length="0.01" radius="0.09"/>
-      </geometry>
-    </collision>
-  </link>
-  <joint name="left_hub_joint" type="fixed">
-    <origin rpy="0 0 0" xyz="0 0.15 0.08"/>
-    <parent link="base_link"/>
-    <child link="left_hub"/>
-    <axis xyz="0 1 0"/>
-  </joint>
-  <link name="left_wheel">
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="/home/jdelicat/lab_repos/ros2aria/install/pioneer_description/share/pioneer_description/meshes/left_wheel.stl"/>
-      </geometry>
-      <material name="WheelBlack">
-        <color rgba="0.117 0.117 0.117 1"/>
-      </material>
-    </visual>
-  </link>
-  <joint name="left_wheel_joint" type="continuous">
-    <!-- type="continuous" -->
-    <origin rpy="0 0 0" xyz="0 0 0"/>
-    <parent link="left_hub"/>
-    <child link="left_wheel"/>
-  </joint>
-  <gazebo reference="left_wheel_joint">
-    <material value="Gazebo/Black"/>
-  </gazebo>
-  <link name="right_hub">
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="/home/jdelicat/lab_repos/ros2aria/install/pioneer_description/share/pioneer_description/meshes/right_hubcap.stl"/>
-      </geometry>
-      <material name="HubcapYellow">
-        <color rgba="1.0 0.811 0.151 1.0"/>
-      </material>
-    </visual>
-    <collision>
-      <origin rpy="-1.57079635 0 0" xyz="0 0 0"/>
-      <geometry>
-        <!--<mesh filename="$(find pioneer_description)/meshes/caster_wheel.stl"/>-->
-        <cylinder length="0.01" radius="0.09"/>
-      </geometry>
-    </collision>
-  </link>
-  <gazebo reference="right_hub">
-    <material value="Gazebo/Yellow"/>
-  </gazebo>
-  <joint name="right_hub_joint" type="fixed">
-    <origin rpy="0 0 0" xyz="0 -0.15 0.08"/>
-    <parent link="base_link"/>
-    <child link="right_hub"/>
-    <axis xyz="0 1 0"/>
-  </joint>
-  <link name="right_wheel">
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="/home/jdelicat/lab_repos/ros2aria/install/pioneer_description/share/pioneer_description/meshes/right_wheel.stl"/>
-      </geometry>
-      <material name="WheelBlack">
-        <color rgba="0.117 0.117 0.117 1"/>
-      </material>
-    </visual>
-  </link>
-  <joint name="right_wheel_joint" type="continuous">
-    <!-- type="continuous" -->
-    <origin rpy="0 0 0" xyz="0 0 0"/>
-    <parent link="right_hub"/>
-    <child link="right_wheel"/>
-  </joint>
-  <gazebo reference="right_wheel_joint">
-    <material value="Gazebo/Black"/>
-  </gazebo>
-  <link name="laser">
-    <collision>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <box size="0.1 0.1 0.1"/>
-      </geometry>
-    </collision>
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="package://amr_robots_description/meshes/p3dx_meshes/hokuyo_convex.stl"/>
-      </geometry>
-      <material name="Hokuyo">
-        <color rgba="0 0 0 1"/>
-      </material>
-    </visual>
-    <inertial>
-      <mass value="1e-5"/>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6"/>
-    </inertial>
-  </link>
-  <joint name="hokuyo_joint" type="fixed">
-    <axis xyz="0 0 0"/>
-    <origin rpy="0 0 0" xyz="0.040 0 0.0625"/>
-    <parent link="front_sonar"/>
-    <child link="laser"/>
-  </joint>
-  <link name="camera_frame">
-    <collision>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <box size="0.095 0.03 0.03"/>
-      </geometry>
-    </collision>
-  </link>
-  <joint name="camera_joint" type="fixed">
-    <axis xyz="0 0 0"/>
-    <origin rpy="0 0 0" xyz="0.040 0 0.1125"/>
-    <parent link="front_sonar"/>
-    <child link="camera_frame"/>
-  </joint>
-  <create>
-    <back_sonar parent="base_link"/>
-    <top_plate parent="base_link"/>
-  </create>
-  <gazebo>
-    <plugin filename="libgazebo_ros_diff_drive.so" name="differential_drive_controller">
-      <alwaysOn>true</alwaysOn>
-      <updateRate>100</updateRate>
-      <leftJoint>left_wheel_joint</leftJoint>
-      <rightJoint>right_wheel_joint</rightJoint>
-      <wheelSeparation>0.158</wheelSeparation>
-      <wheelDiameter>0.12</wheelDiameter>
-      <torque>5</torque>
-      <!-- interface:position name="position_iface_0"/ -->
-      <commandTopic>cmd_vel</commandTopic>
-      <robotBaseFrame>base_link</robotBaseFrame>
-      <odometryTopic>odom</odometryTopic>
-      <odometryFrame>odom</odometryFrame>
-    </plugin>
-    <!-- TODO include P3D (ground truth) plugin -->
-    <!-- XXX old urdf included a gazebo_ros_controller_manager plugin with a 1 second update rate -->
-  </gazebo>
-</robot>
diff --git a/ros_entrypoint.sh b/ros_entrypoint.sh
deleted file mode 100644
index 1037048..0000000
--- a/ros_entrypoint.sh
+++ /dev/null
@@ -1,7 +0,0 @@
-#!/bin/bash
-set -e
-
-# setup ros environment
-source "/opt/ros/$ROS_DISTRO/setup.bash"
-source "install/setup.bash"
-exec "$@"
\ No newline at end of file