add ROS environment

DockerFiles/ROS1.0/ROS1.0.df

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+FROM ros:melodic-robot-bionic as base
+
+MAINTAINER Sunny <gsunny4178@gmail.com>
+
+# This Dockerfile is modified from https://github.com/fcwu/docker-ubuntu-vnc-desktop
+
+ENV ROS_DISTRO melodic
+
+# Install essential packages
+RUN apt update && \
+    DEBIAN_FRONTEND=noninteractive \
+    apt install --no-install-recommends -y \
+    vim \
+    nano \
+    tmux \
+    curl \
+    apache2-utils \
+    locales \
+    build-essential \
+    wget \
+    net-tools \
+    unzip \
+    git \
+    sudo \
+    xz-utils \
+    gpg-agent \
+    supervisor \
+    software-properties-common && \
+    rm -rf /var/lib/apt/lists/*
+
+RUN echo "en_US.UTF-8 UTF-8" > /etc/locale.gen
+RUN locale-gen
+
+# Install x11vnc and relatives
+RUN apt update && \
+    DEBIAN_FRONTEND=noninteractive \
+    apt install --no-install-recommends -y \
+    zenity \
+    dbus-x11 \
+    x11-utils \
+    alsa-utils \
+    mesa-utils \
+    libgl1-mesa-dri \
+    xvfb \
+    x11vnc && \
+    rm -rf /var/lib/apt/lists/*
+
+# Install the GUI
+RUN apt update && \
+    DEBIAN_FRONTEND=noninteractive \
+    apt install --no-install-recommends -y \
+    lxde \
+    gtk2-engines-murrine \
+    gnome-themes-standard \
+    gtk2-engines-pixbuf \
+    gtk2-engines-murrine \
+    arc-theme && \
+    rm -rf /var/lib/apt/lists/*
+
+# Kill the bell!
+RUN echo "set bell-style none" >> /etc/inputrc
+
+# Install some applications
+RUN apt update -y && \
+    DEBIAN_FRONTEND=noninteractive \
+    apt install --no-install-recommends -y \
+    ttf-ubuntu-font-family \
+    firefox && \
+    rm -rf /var/lib/apt/lists/*
+
+# sublime
+RUN apt update -y && \
+    wget -qO - https://download.sublimetext.com/sublimehq-pub.gpg | apt-key add - && \
+    apt-add-repository "deb https://download.sublimetext.com/ apt/stable/" && \
+    DEBIAN_FRONTEND=noninteractive \
+    sudo apt install -y sublime-text && \
+    rm -rf /var/lib/apt/lists/*
+
+# Install tini as init
+ARG TINI_VERSION=v0.18.0
+ADD https://github.com/krallin/tini/releases/download/${TINI_VERSION}/tini /bin/tini
+RUN chmod +x /bin/tini
+
+FROM base as robot
+
+# Install the ros packages
+RUN apt-get update -y && \
+    DEBIAN_FRONTEND=noninteractive \
+    apt-get install -y \
+    ros-${ROS_DISTRO}-tf2-geometry-msgs \
+    ros-${ROS_DISTRO}-ackermann-msgs \
+    ros-${ROS_DISTRO}-teleop-twist-keyboard \
+    ros-${ROS_DISTRO}-map-server \
+    ros-${ROS_DISTRO}-navigation \
+    ros-${ROS_DISTRO}-robot-localization \
+    ros-${ROS_DISTRO}-cv-bridge \
+    ros-${ROS_DISTRO}-image-transport \
+    ros-${ROS_DISTRO}-tf \
+    ros-${ROS_DISTRO}-diagnostic-updater \
+    ros-${ROS_DISTRO}-desktop-full \
+    ros-${ROS_DISTRO}-ddynamic-reconfigure && \
+    rm -rf /var/lib/apt/lists/*
+
+# Setup chickenbot_ws
+RUN mkdir /chickenbot_ws && \
+    cd /chickenbot_ws
+
+# Setup catkin_ws
+COPY catkin_ws /catkin_ws/
+RUN /bin/bash -c 'source /opt/ros/$ROS_DISTRO/setup.bash; cd /catkin_ws; catkin_make -DCATKIN_ENABLE_TESTING=False -DCMAKE_BUILD_TYPE=Release'
+
+# locale and user
+RUN locale-gen en_US.UTF-8 && \
+    ln -fs /usr/share/zoneinfo/Asia/Taipei /etc/localtime && \
+    dpkg-reconfigure --frontend noninteractive tzdata && \
+    useradd -ms /bin/bash ubuntu && \
+    adduser ubuntu sudo && \
+    chown -R ubuntu:ubuntu /home/ubuntu/
+
+COPY ./etc/ /etc/
+COPY ./bin/xvfb.sh /usr/local/bin/xvfb.sh
+COPY ./bin/.gtkrc-2.0 /home/ubuntu/
+
+RUN chmod +x /usr/local/bin/xvfb.sh
+
+ENV HOME /home/ubuntu
+WORKDIR "/home/ubuntu"
+
+CMD ["bash", "/home/ubuntu/.startup.sh"]
+
+# Expose the VNC port
+EXPOSE 5900

DockerFiles/ROS1.0/bin/.gtkrc-2.0

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+# DO NOT EDIT! This file will be overwritten by LXAppearance.
+# Any customization should be done in ~/.gtkrc-2.0.mine instead.
+include "/usr/share/themes/Arc/gtk-2.0/gtkrc"
+
+gtk-theme-name="Arc"
+gtk-icon-theme-name="nuoveXT2"
+gtk-font-name="Sans 10"
+gtk-cursor-theme-name="DMZ-White"
+gtk-cursor-theme-size=18
+gtk-toolbar-style=GTK_TOOLBAR_BOTH_HORIZ
+gtk-toolbar-icon-size=GTK_ICON_SIZE_LARGE_TOOLBAR
+gtk-button-images=1
+gtk-menu-images=1
+gtk-enable-event-sounds=1
+gtk-enable-input-feedback-sounds=1
+gtk-xft-antialias=1
+gtk-xft-hinting=1
+gtk-xft-hintstyle="hintslight"
+gtk-xft-rgba="rgb"
+include "/root/.gtkrc-2.0.mine"

DockerFiles/ROS1.0/bin/xvfb.sh

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+#!/bin/sh
+
+exec /usr/bin/Xvfb :1 -screen 0 1600x900x24

DockerFiles/ROS1.0/catkin_ws/src/chickenbot/CMakeLists.txt

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+cmake_minimum_required(VERSION 2.8.3)
+project(chickenbot)
+find_package(catkin REQUIRED)
+catkin_metapackage()

DockerFiles/ROS1.0/catkin_ws/src/chickenbot/config/costmap_common_params.yaml

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+obstacle_range: 4.0
+raytrace_range: 4.0
+footprint: [[-0.25, -0.15], [-0.25, 0.15], [0.25, 0.15], [0.25, -0.15]]
+#robot_radius: 0.25
+inflation_radius: 0.3
+
+inf_is_valid: true
+
+observation_sources: laser_scan_sensor
+
+laser_scan_sensor: {sensor_frame: laser_link, data_type: LaserScan, topic: scan, marking: true, clearing: true}
+
+
+plugins:
+  - {name: static_layer,                  type: "costmap_2d::StaticLayer"}
+  - {name: obstacle_layer,                type: "costmap_2d::VoxelLayer"}
+  - {name: inflation_layer,               type: "costmap_2d::InflationLayer"}
+
+obstacle_layer:
+    observation_sources: base_scan
+    base_scan: {data_type: LaserScan, sensor_frame: /laser_link, clearing: true, marking: true, topic: /scan}

DockerFiles/ROS1.0/catkin_ws/src/chickenbot/config/dwa_planner_params.yaml

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+DWAPlannerROS:
+  xy_goal_tolerance: 0.12
+  yaw_goal_tolerance: 0.1
+
+  path_distance_bias: 100.0
+  goal_distance_bias: 24.0
+  occdist_scale: 0.01
+  forward_point_distance: 0.2
+  publish_cost_grid_pc: true
+  publish_traj_pc: true
+
+  max_trans_vel: 2.0
+  min_trans_vel: 0.01
+  max_vel_x: 2.0
+  min_vel_x: -2.0
+  max_vel_y: 0.0
+  min_vel_y: 0.0
+  max_rot_vel: 2.0
+  min_rot_vel: 0.01
+  acc_lim_x: 2.0
+  acc_lim_y: 0.0
+  acc_lim_theta: 2.5
+  acc_limit_trans: 5.0
+  sim_time: 1.5
+  sim_granularity: 0.05
+  global_frame_id: "map"
+  vx_samples: 10
+  vy_samples: 1
+  vth_samples: 10
+  oscillation_reset_angle: 0.01
+  valid_trajectory_ratio: 0.0
+  max_opposite_angle: 2.35619445
+
+  cheat_factor: 25.0
+latch_xy_goal_tolerance: true
+

DockerFiles/ROS1.0/catkin_ws/src/chickenbot/config/global_costmap_params.yaml

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+global_costmap:
+  global_frame: map
+  robot_base_frame: base_link
+  update_frequency: 1
+  static_map: true
+  resolution: 0.05
+  transform_tolerance: 2.0

DockerFiles/ROS1.0/catkin_ws/src/chickenbot/config/local_costmap_params.yaml

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+local_costmap:
+  global_frame: map
+  robot_base_frame: base_link
+  update_frequency: 15
+  publish_frequency: 15
+  static_map: false
+  rolling_window: true
+
+  width: 6.0
+  height: 6.0
+  resolution: 0.01
+
+  transform_tolerance: 2.0

DockerFiles/ROS1.0/catkin_ws/src/chickenbot/launch/chicken.launch

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+<?xml version="1.0"?>
+
+<launch>
+
+  <!-- CONFIG -->
+  <!-- enable_encode = {true, false} -->
+  <arg name="enable_encode" default="false"/>
+  <!-- run_rviz = {true, false} -->
+  <arg name="run_rviz" default="true"/>
+  <!-- File to record last robot pose -->
+  <arg name="pose_file_name" value="$(find chickenbot)/config/amcl_pose.yaml"/>
+
+  <!-- TF -->
+  <node pkg="tf" type="static_transform_publisher" name="tf_laser_broadcaster" args="0 0 0 0 0 0 base_link laser 50"/>
+
+  <!-- MAP SERVER -->
+  <node name="map_server" pkg="map_server" type="map_server" args="$(find chickenbot)/map/chicken.yaml">
+    <!--remap from="map" to="global_map"/-->
+  </node>
+
+
+  <!-- MY_ODOM is a node who can publish tf(/base_link) and nav_msgs/Odometry(/odom) according to wheel encoders -->
+  <node pkg="my_odom" type="my_odom_sim" name="my_odom" output="screen">
+    <param name="cnt_per_cycle" value="75000" />
+    <param name="wheel_radius" value="0.08" />
+    <param name="wheel_distance" value="0.502" />
+    <param name="enable_encode" value="$(arg enable_encode)" />
+    <param name="enable_amcl" value="$(arg enable_amcl)" />
+    <param name="pose_file_param" value="$(arg pose_file_name)"/>
+  </node>
+
+  <arg name="costmap_common_params_file" value="$(find chickenbot)/config/costmap_common_params.yaml"/>
+  <arg name="local_costmap_params_file"  value="$(find chickenbot)/config/local_costmap_params.yaml"/>
+  <arg name="base_global_planner" value="navfn/NavfnROS"/>
+  <arg name="global_costmap_params_file" value="$(find chickenbot)/config/global_costmap_params.yaml"/>
+  <arg name="dwa_planner_params_file" default="$(find chickenbot)/config/dwa_planner_params.yaml"/>
+
+
+  <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
+    <param name="controller_frequency" value="1.0"/>
+    <param name="controller_patiente" value="10.0"/>
+    <rosparam file="$(arg costmap_common_params_file)" command="load" ns="global_costmap" />
+    <rosparam file="$(arg costmap_common_params_file)" command="load" ns="local_costmap" />
+    <rosparam file="$(arg global_costmap_params_file)"  command="load" />
+    <rosparam file="$(arg local_costmap_params_file)" command="load" />
+    <rosparam file="$(arg dwa_planner_params_file)"   command="load" />
+    <param name="base_global_planner"       value="$(arg base_global_planner)"/>
+    <param name="base_local_planner"        value="dwa_local_planner/DWAPlannerROS"/>
+  </node>
+
+
+  <!-- RVIZ -->
+  <node pkg="rviz" type="rviz" name="rviz" output="screen" if="$(arg run_rviz)" />
+
+</launch>

DockerFiles/ROS1.0/catkin_ws/src/chickenbot/launch/chicken_sim.launch

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+<?xml version="1.0"?>
+
+<launch>
+
+  <!-- CONFIG -->
+  <!-- lidar = {fake_laser, kinect, rplidar, tim551} -->
+  <arg name="lidar" default="fake_laser"/>
+  <!-- robot = { yellow, pc_robot, agv1, agv2} -->
+  <arg name="robot" default="agv2"/>
+  <!-- enable_encode = {true, false} -->
+  <arg name="enable_encode" default="false"/>
+  <!-- enable_encode = {true, false} -->
+  <arg name="enable_amcl" default="false"/>
+  <!-- run_rviz = {true, false} -->
+  <arg name="run_rviz" default="true"/>
+  <!-- File to record last robot pose -->
+  <arg name="pose_file_name" value="$(find chickenbot)/config/amcl_pose.yaml"/>
+
+
+  <!-- LIDAR SENSOR -->
+  <include file="$(find chickenbot)/launch/lidar/$(arg lidar).launch"/>
+  <arg name="init_x"                       default="-22.23"/>
+  <arg name="init_y"                       default="-16.44"/>
+  <arg name="init_a"                       default="0.0"/>
+
+  <!-- TF -->
+  <node pkg="tf" type="static_transform_publisher" name="tf_laser_broadcaster" args="0 0 0 0 0 0 base_link laser 50"/>
+
+  <!-- MAP SERVER -->
+  <node name="map_server" pkg="map_server" type="map_server" args="$(find chickenbot)/map/chicken.yaml">
+    <!--remap from="map" to="global_map"/-->
+  </node>
+
+
+  <!-- MY_ODOM is a node who can publish tf(/base_link) and nav_msgs/Odometry(/odom) according to wheel encoders -->
+  <node pkg="my_odom" type="my_odom_sim" name="my_odom" output="screen">
+    <param name="cnt_per_cycle" value="75000" />
+    <param name="wheel_radius" value="0.08" />
+    <param name="wheel_distance" value="0.502" />
+    <param name="enable_encode" value="$(arg enable_encode)" />
+    <param name="enable_amcl" value="$(arg enable_amcl)" />
+    <param name="pose_file_param" value="$(arg pose_file_name)"/>
+  </node>
+
+  <arg name="costmap_common_params_file" value="$(find chickenbot)/config/costmap_common_params.yaml"/>
+  <arg name="local_costmap_params_file"  value="$(find chickenbot)/config/local_costmap_params_sick.yaml"/>
+  <arg name="base_global_planner" value="navfn/NavfnROS"/>
+  <arg name="global_costmap_params_file" value="$(find chickenbot)/config/global_costmap_params.yaml"/>
+  <arg name="dwa_planner_params_file" default="$(find chickenbot)/config/dwa_planner_params.yaml"/>
+
+
+  <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
+    <rosparam file="$(arg costmap_common_params_file)" command="load" ns="global_costmap" />
+    <rosparam file="$(arg costmap_common_params_file)" command="load" ns="local_costmap" />
+    <rosparam file="$(arg global_costmap_params_file)"  command="load" />
+    <rosparam file="$(arg local_costmap_params_file)" command="load" />
+    <rosparam file="$(arg dwa_planner_params_file)"   command="load" />
+    <param name="base_global_planner"       value="$(arg base_global_planner)"/>
+    <param name="base_local_planner"        value="dwa_local_planner/DWAPlannerROS"/>
+  </node>
+
+
+  <!-- RVIZ -->
+  <node pkg="rviz" type="rviz" name="rviz" output="screen" if="$(arg run_rviz)" />
+
+</launch>