Change Server Simulation Docker image to use branch of Gazebo with limited exposed topics

[osrf-migration]

Original report (archived issue) by Tyler Lum (Bitbucket: tylerlum).

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For competition purposes, we need to use a different branch of Gazebo ROS packages such that there will be limited exposure of topics that are not meant for competitors to use. This will involve updating the VRX server Dockerfile to use the custom gazebo_ros packages and to make a new branch of Gazebo based on the template given by ARIAC. We need to figure out which topics need to be removed and which should stay.

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ARIAC

The Gazebo server running in the ARIAC server container is configured to not accept communication from external clients such as the competitor container. A custom version of the Gazebo-ROS interface that runs in the ARIAC server container is used, which does not expose ROS interfaces that can be used to interface with the simulator. Only the ARIAC ROS interface is exposed.

https://github.com/osrf/ariac-docker/blob/master/ariac-server/ariac-server/Dockerfile

https://github.com/ros-simulation/gazebo_ros_pkgs/tree/ariac-network-kinetic

https://github.com/ros-simulation/gazebo_ros_pkgs/tree/ariac-network-melodic

[osrf-migration]

Original comment by Tyler Lum (Bitbucket: tylerlum).

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• Edited issue description

[osrf-migration]

Original comment by Tyler Lum (Bitbucket: tylerlum).

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Currently, the goal is the use the enable_ros_network:=false argument to resolve this, but we first need to find a way to spawn the WAM-V model with this.

[osrf-migration]

Original comment by Tyler Lum (Bitbucket: tylerlum).

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Resolved with https://osrf-migration.github.io/vrx-gh-pages/#!/osrf/vrx/pull-requests/149/add-enable_ros_network-argument/diff

non_competition_mode:=false

[osrf-migration]

Original comment by Tyler Lum (Bitbucket: tylerlum).

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• changed state from "new" to "resolved"

Resolved with https://osrf-migration.github.io/vrx-gh-pages/#!/osrf/vrx/pull-requests/149/add-enable_ros_network-argument/diff

non_competition_mode:=false

[osrf-migration]

Original comment by Tyler Lum (Bitbucket: tylerlum).

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Types of Topics to Block

• Gazebo transport topics: (`gz topic -l`) resolved by simulation container not sending those topics to the competitor container
• Gazebo ros topics: (`rostopic echo /gazebo/model_states`) resolved by setting enable_ros_network=false (set by non_competition_mode:=false)
• VRX debug ros topics: (`rostopic echo /vrx/debug/wind/direction`): resolved by setting VRX_DEBUG=false (set by non_competition_mode:=false)