Add simulation for model with swerve wheels

[nlamprian]

[dylanvaughn]

@nlamprian sorry for the delay on this - when I run make bringup I get this error:

dylan@dcv-thinkpad:~/src/rm/forks/nlamprian/pvc-powerchair$ make bringup
docker build --network=host -t devenv:latest .
Sending build context to Docker daemon   84.3MB
Step 1/12 : FROM ros:noetic
 ---> 078ae756058f
Step 2/12 : ENV DEBIAN_FRONTEND=noninteractive
 ---> Using cache
 ---> a290f2430eb6
Step 3/12 : RUN apt-get update && apt-get install -q -y         curl          gedit         git           gnupg         groff         jq            less          nano          tree          unzip         vim           wget          && rm -rf /var/lib/apt/lists/*
 ---> Using cache
 ---> 3d985be06154
Step 4/12 : RUN wget http://packages.osrfoundation.org/gazebo.key
 ---> Using cache
 ---> a604e2854f26
Step 5/12 : RUN apt-key add gazebo.key
 ---> Using cache
 ---> aed20b53bf59
Step 6/12 : RUN apt-get update && apt-get install -y             python3-apt                                  python3-colcon-common-extensions             python3-pip                                  python3-vcstool                              ros-noetic-cob-undercarriage-ctrl            ros-noetic-desktop-full                      ros-noetic-gazebo-ros-control                ros-noetic-teleop-tools                      ros-noetic-teleop-twist-keyboard             && rm -rf /var/lib/apt/lists/*
 ---> Using cache
 ---> 18d9414c01cf
Step 7/12 : RUN rosdep update
 ---> Using cache
 ---> e1e61363840a
Step 8/12 : WORKDIR /software
 ---> Using cache
 ---> a50ff53706f9
Step 9/12 : ENV DEBIAN_FRONTEND=newt
 ---> Using cache
 ---> 516df6748311
Step 10/12 : COPY docker-entrypoint.sh /
 ---> Using cache
 ---> eee4167c89da
Step 11/12 : ENTRYPOINT ["/docker-entrypoint.sh"]
 ---> Using cache
 ---> d92942a57192
Step 12/12 : CMD ["bash"]
 ---> Using cache
 ---> 91e0c24ae71f
Successfully built 91e0c24ae71f
Successfully tagged devenv:latest
xhost +local:docker
non-network local connections being added to access control list
docker run -it --rm --privileged --net=host --volume /home/dylan/src/rm/forks/nlamprian/pvc-powerchair/software:/software --env=DISPLAY --env=QT_X11_NO_MITSHM=1 -v /tmp/.X11-unix:/tmp/.X11-unix devenv:latest bash -c "roslaunch pvcchair_bringup_sim robot.launch"
... logging to /root/.ros/log/fecc7fea-765c-11eb-b86e-a0c589b6247f/roslaunch-dcv-thinkpad-1.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

Resource not found: The following package was not found in <arg name="world_name" default="$(find aws_robomaker_small_house_world)/worlds/small_house.world"/>: aws_robomaker_small_house_world
ROS path [0]=/opt/ros/noetic/share/ros
ROS path [1]=/software/src
ROS path [2]=/opt/ros/noetic/share
The traceback for the exception was written to the log file
make: *** [Makefile:19: bringup] Error 1
dylan@dcv-thinkpad:~/src/rm/forks/nlamprian/pvc-powerchair$ 

what do you think?

[nlamprian]

You need to run the rosws command in the Dockerfile.

You could also get rid of the list of noetic dependencies, but just running the rosdep command as well.

Do you mind taking care of it?

[dylanvaughn]

@nlamprian I get this error when trying to run the rosws command:

root@dcv-thinkpad:/software# rosws update -t src
ERROR in config: /software/src has no workspace configuration file '.rosinstall'
root@dcv-thinkpad:/software# 

Where is the .rosinstall file?

[nlamprian]

Sorry about that, added