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ExoMy_Software-master/docker/Dockerfile

@@ -10,15 +10,12 @@ RUN apt-get update && \
 
 # Install additional ros packages
 RUN apt-get update && apt-get install ros-melodic-rosbridge-server ros-melodic-joy -y
-RUN pip install adafruit-pca9685
+RUN apt-get update && apt-get install python-smbus -y
+RUN pip install adafruit-pureio
+RUN pip install Adafruit-GPIO==1.0.3 --no-deps
+RUN pip install Adafruit-PCA9685==1.0.1 --no-deps
 
 
-# Install packages for web application
-RUN curl -sL https://deb.nodesource.com/setup_12.x | bash -
-RUN apt-get update && \
-    apt-get install nodejs -y
-RUN npm install http-server -g
-
 # Install packages for camera use
 RUN apt-get update && \
     apt-get install ros-melodic-web-video-server ros-melodic-usb-cam -y
@@ -33,4 +30,5 @@ RUN mkdir -p $EXOMY_WS/src
 WORKDIR /root
 
 COPY ./entrypoint.sh /
+RUN chmod +x /entrypoint.sh
 ENTRYPOINT ["/entrypoint.sh"]

ExoMy_Software-master/docker/entrypoint.sh

@@ -1,19 +1,55 @@
 #!/bin/bash
+set -eo pipefail
+
+cleanup() {
+	for pid_var in HTTP_PID ROSMASTER_PID ROSBRIDGE_PID ROSAPI_PID ROBOT_PID MOTOR_PID JOYSTICK_PID JOY_PID; do
+		if [[ -n "${!pid_var:-}" ]]; then
+			kill "${!pid_var}" 2>/dev/null || true
+		fi
+	done
+	wait || true
+}
+
 if [[ $1 == "config" ]]
 then
 	cd /root/exomy_ws/src/exomy/scripts
 	bash
 elif [[ $1 == "autostart" ]]
 then
+	trap cleanup EXIT INT TERM
 	source /opt/ros/melodic/setup.bash
 	cd /root/exomy_ws
 	catkin_make
-	http-server src/exomy/gui -p 8000 &
-
+	export ROS_MASTER_URI=http://localhost:11311
 	source devel/setup.bash
-	roslaunch exomy exomy.launch
 
-	bash
+	cd src/exomy/gui
+	python -m SimpleHTTPServer 8000 &
+	HTTP_PID=$!
+	cd /root/exomy_ws
+
+	rosmaster --core -p 11311 -w 3 > /tmp/rosmaster.log 2>&1 &
+	ROSMASTER_PID=$!
+	sleep 3
+
+	rosparam load /root/exomy_ws/src/exomy/config/exomy.yaml
+	rosparam set /controller logitech-F710
+
+	/opt/ros/melodic/lib/rosbridge_server/rosbridge_websocket > /tmp/rosbridge.log 2>&1 &
+	ROSBRIDGE_PID=$!
+	/opt/ros/melodic/lib/rosapi/rosapi_node > /tmp/rosapi.log 2>&1 &
+	ROSAPI_PID=$!
+	python /root/exomy_ws/src/exomy/src/f710_joy_node.py > /tmp/joy_node.log 2>&1 &
+	JOY_PID=$!
+	python /root/exomy_ws/src/exomy/src/robot_node.py > /tmp/robot_node.log 2>&1 &
+	ROBOT_PID=$!
+	python /root/exomy_ws/src/exomy/src/motor_node.py > /tmp/motor_node.log 2>&1 &
+	MOTOR_PID=$!
+	python /root/exomy_ws/src/exomy/src/joystick_parser_node.py > /tmp/joystick_parser.log 2>&1 &
+	JOYSTICK_PID=$!
+
+	wait -n "$HTTP_PID" "$ROSMASTER_PID" "$ROSBRIDGE_PID" "$ROSAPI_PID" "$ROBOT_PID" "$MOTOR_PID" "$JOYSTICK_PID" "$JOY_PID"
+	exit 1
 elif [[ $1 == "devel" ]]
 then
 	cd /root/exomy_ws
@@ -24,4 +60,3 @@ then
 else
 	bash
 fi
-