Separate dev

[marc-hanheide]

What type of PR is this? (check all applicable)

• [x] Refactor
• [X] Feature
• [ ] Bug Fix
• [X] Optimization
• [ ] Documentation Update

Description

This now does the following:

• installs zenoh-bridge-dds (see https://zenoh.io/blog/2021-04-28-ros2-integration/) which allows to easily bridge the two ROS networks (using cyclone DDS, at least only tested with Cyclone!). E.g. running zenoh-bridge-ros2dds -l tcp/0.0.0.0:8888 on the robot now starts a single TCP port server that any client can connect to via e.g zenoh-bridge-ros2dds -e tcp/IP_OF_ROBOT:8888 and it makes all ROS DDS available on the client.
• configures the setup to use Cyclone DDS (was there before!), but now is configured to only work with the local address space and not use multicast (as we connect via Zenoh, see above).
• it now has 2 separate dev containers, on for development on the desktop (amd64) and one to work on the actual robot (arm64). They are called on_amd64 and on_limo respectively. One should choose the right one depending on the situation (vscode prompts).
• correct the devcontainer format to comply with the standard, e.g. customisations
• it also installs a compiled version of the limo_ros2 repo into /opt/ros/lcas and configures its use, so this also now works without having to compile the workspace first (which can still be overlaid)

Related Tickets & Documents

• Related Issue #
• Closes #

QA Instructions, Screenshots, Recordings

Please try out the new on_amd64 dev container, e.g. run

• ros2 launch limo_gazebosim limo_gazebo_diff.launch.py
• zenoh-bridge-ros2dds -l tcp/0.0.0.0:8888

and confirm that working. Optionally, try on the real platform

[optional] Are there any post deployment tasks we need to perform?

[marc-hanheide]

@LeonardoGuevara and @francescodelduchetto let me know if you see any issues with this as I'd like to merge for my teaching. I think this is a substantial improvement, but I still need to test on the robots. But it compiles fine for arm64 already.

[francescodelduchetto]

@LeonardoGuevara and @francescodelduchetto let me know if you see any issues with this as I'd like to merge for my teaching. I think this is a substantial improvement, but I still need to test on the robots. But it compiles fine for arm64 already.

I am not using the LIMOs for RBT1001, so I don't know :-)

[marc-hanheide]

ah. okay. then it shouldn't worry you.

[marc-hanheide]

ah. okay. then it shouldn't worry you.

[marc-hanheide]

@LeonardoGuevara, this Zenoh stuff is also the way I propose talking to our real robots in AOC!

[LeonardoGuevara]

Adding @jondave to this since he is the one covering the use of LIMOs.

[marc-hanheide]

I'd like to merge tomorrow for my workshop on Wednesday if possible, please

[jondave]

I don't see any issues as we are getting the students to use the limos by remotely accessing them via SSH the same as the MSc module last semester.

[cooperj]

Resolves #15 :)