NASA Challenge_[franklinselva]_[IsaacSim Integration for Canadarm2 demo]

README.md

@@ -11,3 +11,8 @@ Submissions to this repo should include:
     - - See example here: https://github.com/space-ros/docker/blob/main/space_robots/run.sh
 
 Please refer to the [dockerfile repo](https://github.com/space-ros/docker/tree/main/space_robots) for instructions on running the existing demos
+
+## Demos
+
+1. [Canadarm2](canadarm2/README.md)
+2. [Curiosity Rover](curiosity_rover/README.md)

canadarm2/.defaults.yaml

@@ -0,0 +1,7 @@
+{
+  "build":
+    {
+      "symlink-install": true,
+      "cmake_args": "-DCMAKE_BUILD_TYPE=Release -Wno-dev",
+    },
+}

canadarm2/.gitignore

@@ -0,0 +1,3 @@
+build/
+install/
+log/

canadarm2/Dockerfile

@@ -0,0 +1,27 @@
+FROM osrf/space-ros:latest
+
+ENV RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
+ENV ROS_DISTRO=humble
+ENV HOME=/home/spaceros-user
+
+# Install dependencies
+# Related to space-ros/space-ros#195 and space-ros/space-ros#196
+RUN sudo apt update && sudo apt install -y ros-${ROS_DISTRO}-control-msgs \
+    ros-${ROS_DISTRO}-rmw-cyclonedds-cpp
+
+# Prepare the workspace
+SHELL ["bash", "-c"]
+RUN mkdir -p ${HOME}/canadarm_ws/src
+WORKDIR ${HOME}/canadarm_ws
+
+COPY ./canadarm_demo src/canadarm_demo
+COPY ./canadarm_common src/canadarm_common
+COPY .defaults.yaml .defaults.yaml
+
+# Build the workspace
+RUN source /opt/ros/${ROS_DISTRO}/setup.bash \
+    && source $HOME/spaceros/install/setup.bash \
+    && colcon build
+
+# Source the workspace
+RUN echo "source ${HOME}/canadarm_ws/install/setup.bash" >> ${HOME}/.bashrc