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Merge pull request #700 - Dockerfile for Dimensional and Navigation stack, also Unitree g1 EDU support
Run DimOS and ROS nav in Docker [Look at the README](https://github.com/dimensionalOS/dimos/blob/dimos-rosnav-docker/docker/navigation/README.md) for the full info. Quick instructions: * Install docker with compose, Nvidia GPU drivers, Nvidia container toolkit. * Build with: ```bash cd docker/navigation ./build.sh ``` (This will take 10+ minutes.) * Start it: ```bash ./start.sh --all ``` * It should open RViz, Unity, and start the nav_bot script which will move the robot to (2, 2, 0) Former-commit-id: 2e552b5
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‎data/.lfs/office_building_1.tar.gz‎

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version https://git-lfs.github.com/spec/v1
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oid sha256:70aac31ca76597b3eee1ddfcbe2ba71d432fd427176f66d8281d75da76641f49
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size 1061581652

‎dimos/navigation/demo_ros_navigation.py‎

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# Copyright 2025 Dimensional Inc.
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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import time
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import rclpy
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from dimos import core
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from dimos.msgs.geometry_msgs import PoseStamped, Quaternion, Twist, Vector3
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from dimos.msgs.nav_msgs import Path
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from dimos.msgs.sensor_msgs import PointCloud2
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from dimos.navigation.rosnav import ROSNav
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from dimos.protocol import pubsub
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from dimos.utils.logging_config import setup_logger
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logger = setup_logger(__file__)
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def main() -> None:
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pubsub.lcm.autoconf()
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dimos = core.start(2)
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ros_nav = dimos.deploy(ROSNav)
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ros_nav.goal_req.transport = core.LCMTransport("/goal", PoseStamped)
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ros_nav.pointcloud.transport = core.LCMTransport("/pointcloud_map", PointCloud2)
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ros_nav.global_pointcloud.transport = core.LCMTransport("/global_pointcloud", PointCloud2)
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ros_nav.goal_active.transport = core.LCMTransport("/goal_active", PoseStamped)
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ros_nav.path_active.transport = core.LCMTransport("/path_active", Path)
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ros_nav.cmd_vel.transport = core.LCMTransport("/cmd_vel", Twist)
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ros_nav.start()
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logger.info("\nTesting navigation in 2 seconds...")
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time.sleep(2)
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test_pose = PoseStamped(
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ts=time.time(),
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frame_id="map",
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position=Vector3(2.0, 2.0, 0.0),
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orientation=Quaternion(0.0, 0.0, 0.0, 1.0),
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)
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logger.info("Sending navigation goal to: (2.0, 2.0, 0.0)")
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success = ros_nav.navigate_to(test_pose, timeout=30.0)
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logger.info(f"Navigated successfully: {success}")
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try:
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logger.info("\nNavBot running. Press Ctrl+C to stop.")
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while True:
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time.sleep(1)
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except KeyboardInterrupt:
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logger.info("\nShutting down...")
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ros_nav.stop()
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if rclpy.ok():
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rclpy.shutdown()
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if __name__ == "__main__":
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main()

‎dimos/protocol/rpc/spec.py‎

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# we expect to crash if we don't get a return value after 10 seconds
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# but callers can override this timeout for extra long functions
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def call_sync(
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self, name: str, arguments: Args, rpc_timeout: float | None = 30.0
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self, name: str, arguments: Args, rpc_timeout: float | None = 120.0
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) -> tuple[Any, Callable[[], None]]:
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event = threading.Event()
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‎docker/navigation/.env.hardware‎

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# Hardware Configuration Environment Variables
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# Copy this file to .env and customize for your hardware setup
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# ============================================
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# NVIDIA GPU Support
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# ============================================
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# Set the Docker runtime to nvidia for GPU support (it's runc by default)
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#DOCKER_RUNTIME=nvidia
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# ============================================
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# ROS Configuration
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# ============================================
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# ROS domain ID for multi-robot setups
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ROS_DOMAIN_ID=42
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# Robot configuration ('mechanum_drive', 'unitree/unitree_g1', 'unitree/unitree_g1', etc)
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ROBOT_CONFIG_PATH=mechanum_drive
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# ============================================
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# Mid-360 Lidar Configuration
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# ============================================
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# Network interface connected to the lidar (e.g., eth0, enp0s3)
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# Find with: ip addr show
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LIDAR_INTERFACE=eth0
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# Processing computer IP address on the lidar subnet
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# Must be on the same subnet as the lidar (e.g., 192.168.1.5)
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# LIDAR_COMPUTER_IP=192.168.123.5 # FOR UNITREE G1 EDU
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LIDAR_COMPUTER_IP=192.168.1.5
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# Gateway IP address for the lidar subnet
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# LIDAR_GATEWAY=192.168.123.1 # FOR UNITREE G1 EDU
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LIDAR_GATEWAY=192.168.1.1
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# Full IP address of your Mid-360 lidar
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# This should match the IP configured on your lidar device
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# Common patterns: 192.168.1.1XX or 192.168.123.1XX
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# LIDAR_IP=192.168.123.120 # FOR UNITREE G1 EDU
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LIDAR_IP=192.168.1.116
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# ============================================
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# Motor Controller Configuration
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# ============================================
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# Serial device for motor controller
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# Check with: ls /dev/ttyACM* or ls /dev/ttyUSB*
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MOTOR_SERIAL_DEVICE=/dev/ttyACM0
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# ============================================
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# Network Communication (for base station)
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# ============================================
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# Enable WiFi buffer optimization for data transmission
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# Set to true if using wireless base station
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ENABLE_WIFI_BUFFER=false
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# ============================================
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# Display Configuration
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# ============================================
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# X11 display (usually auto-detected)
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# DISPLAY=:0

‎docker/navigation/.gitignore‎

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# Cloned repository
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ros-navigation-autonomy-stack/
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# Unity models (large binary files)
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unity_models/
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# ROS bag files
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bagfiles/
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# Config files (may contain local settings)
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config/
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# Docker volumes
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.docker/
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# Temporary files
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*.tmp
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*.log
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*.swp
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*~

‎docker/navigation/Dockerfile‎

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# Base image with ROS Jazzy desktop full
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FROM osrf/ros:jazzy-desktop-full
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# Set environment variables
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ENV DEBIAN_FRONTEND=noninteractive
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ENV ROS_DISTRO=jazzy
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ENV WORKSPACE=/ros2_ws
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ENV DIMOS_PATH=/workspace/dimos
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# Install system dependencies
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RUN apt-get update && apt-get install -y \
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# ROS packages
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ros-jazzy-pcl-ros \
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# Development tools
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git \
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git-lfs \
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cmake \
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build-essential \
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python3-colcon-common-extensions \
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# PCL and system libraries
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libpcl-dev \
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libgoogle-glog-dev \
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libgflags-dev \
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libatlas-base-dev \
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libeigen3-dev \
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libsuitesparse-dev \
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# X11 and GUI support for RVIZ
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x11-apps \
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xorg \
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openbox \
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# Networking tools
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iputils-ping \
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net-tools \
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iproute2 \
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ethtool \
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# USB and serial tools (for hardware support)
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usbutils \
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udev \
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# Time synchronization (for multi-computer setup)
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chrony \
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# Editor (optional but useful)
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nano \
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vim \
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# Python tools
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python3-pip \
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python3-setuptools \
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python3-venv \
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# Additional dependencies for dimos
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ffmpeg \
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portaudio19-dev \
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libsndfile1 \
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# For OpenCV
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libgl1 \
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libglib2.0-0 \
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# For Open3D
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libgomp1 \
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# For TurboJPEG
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libturbojpeg0-dev \
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# Clean up
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&& rm -rf /var/lib/apt/lists/*
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# Create workspace directory
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RUN mkdir -p ${WORKSPACE}/src
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# Copy the autonomy stack repository (should be cloned by build.sh)
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COPY docker/navigation/ros-navigation-autonomy-stack ${WORKSPACE}/src/ros-navigation-autonomy-stack
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# Set working directory
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WORKDIR ${WORKSPACE}
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# Set up ROS environment
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RUN echo "source /opt/ros/${ROS_DISTRO}/setup.bash" >> ~/.bashrc
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# Build all hardware dependencies
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RUN \
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# Build Livox-SDK2 for Mid-360 lidar
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cd ${WORKSPACE}/src/ros-navigation-autonomy-stack/src/utilities/livox_ros_driver2/Livox-SDK2 && \
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mkdir -p build && cd build && \
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cmake .. && make -j$(nproc) && make install && ldconfig && \
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# Install Sophus
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cd ${WORKSPACE}/src/ros-navigation-autonomy-stack/src/slam/dependency/Sophus && \
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mkdir -p build && cd build && \
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cmake .. -DBUILD_TESTS=OFF && make -j$(nproc) && make install && \
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# Install Ceres Solver
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cd ${WORKSPACE}/src/ros-navigation-autonomy-stack/src/slam/dependency/ceres-solver && \
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mkdir -p build && cd build && \
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cmake .. && make -j$(nproc) && make install && \
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# Install GTSAM
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cd ${WORKSPACE}/src/ros-navigation-autonomy-stack/src/slam/dependency/gtsam && \
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mkdir -p build && cd build && \
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cmake .. -DGTSAM_USE_SYSTEM_EIGEN=ON -DGTSAM_BUILD_WITH_MARCH_NATIVE=OFF && \
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make -j$(nproc) && make install && ldconfig
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# Build the autonomy stack
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RUN /bin/bash -c "source /opt/ros/${ROS_DISTRO}/setup.bash && \
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cd ${WORKSPACE} && \
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colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release"
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# Source the workspace setup
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RUN echo "source ${WORKSPACE}/install/setup.bash" >> ~/.bashrc
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# Create directory for Unity environment models
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RUN mkdir -p ${WORKSPACE}/src/ros-navigation-autonomy-stack/src/base_autonomy/vehicle_simulator/mesh/unity
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# Copy the dimos repository
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RUN mkdir -p ${DIMOS_PATH}
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COPY . ${DIMOS_PATH}/
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# Create a virtual environment in /opt (not in /workspace/dimos)
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# This ensures the venv won't be overwritten when we mount the host dimos directory
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# The container will always use its own dependencies, independent of the host
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RUN python3 -m venv /opt/dimos-venv
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# Activate Python virtual environment in interactive shells
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RUN echo "source /opt/dimos-venv/bin/activate" >> ~/.bashrc
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# Install Python dependencies for dimos
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WORKDIR ${DIMOS_PATH}
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RUN /bin/bash -c "source /opt/dimos-venv/bin/activate && \
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pip install --upgrade pip setuptools wheel && \
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pip install -e .[cpu,dev] 'mmengine>=0.10.3' 'mmcv>=2.1.0'"
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# Copy helper scripts
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COPY docker/navigation/run_both.sh /usr/local/bin/run_both.sh
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COPY docker/navigation/ros_launch_wrapper.py /usr/local/bin/ros_launch_wrapper.py
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RUN chmod +x /usr/local/bin/run_both.sh /usr/local/bin/ros_launch_wrapper.py
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# Set up udev rules for USB devices (motor controller)
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RUN echo 'SUBSYSTEM=="tty", ATTRS{idVendor}=="0483", ATTRS{idProduct}=="5740", MODE="0666", GROUP="dialout"' > /etc/udev/rules.d/99-motor-controller.rules && \
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usermod -a -G dialout root || true
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# Set up entrypoint script
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RUN echo '#!/bin/bash\n\
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set -e\n\
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\n\
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git config --global --add safe.directory /workspace/dimos\n\
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\n\
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# Source ROS setup\n\
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source /opt/ros/${ROS_DISTRO}/setup.bash\n\
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source ${WORKSPACE}/install/setup.bash\n\
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\n\
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# Activate Python virtual environment for dimos\n\
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source /opt/dimos-venv/bin/activate\n\
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\n\
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# Export ROBOT_CONFIG_PATH for autonomy stack\n\
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export ROBOT_CONFIG_PATH="${ROBOT_CONFIG_PATH:-mechanum_drive}"\n\
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\n\
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# Hardware-specific configurations\n\
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if [ "${HARDWARE_MODE}" = "true" ]; then\n\
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# Set network buffer sizes for WiFi data transmission (if needed)\n\
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if [ "${ENABLE_WIFI_BUFFER}" = "true" ]; then\n\
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sysctl -w net.core.rmem_max=67108864 net.core.rmem_default=67108864 2>/dev/null || true\n\
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sysctl -w net.core.wmem_max=67108864 net.core.wmem_default=67108864 2>/dev/null || true\n\
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fi\n\
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\n\
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# Configure network interface for Mid-360 lidar if specified\n\
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if [ -n "${LIDAR_INTERFACE}" ] && [ -n "${LIDAR_COMPUTER_IP}" ]; then\n\
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ip addr add ${LIDAR_COMPUTER_IP}/24 dev ${LIDAR_INTERFACE} 2>/dev/null || true\n\
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ip link set ${LIDAR_INTERFACE} up 2>/dev/null || true\n\
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if [ -n "${LIDAR_GATEWAY}" ]; then\n\
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ip route add default via ${LIDAR_GATEWAY} dev ${LIDAR_INTERFACE} 2>/dev/null || true\n\
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fi\n\
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fi\n\
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\n\
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# Generate MID360_config.json if LIDAR_COMPUTER_IP and LIDAR_IP are set\n\
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if [ -n "${LIDAR_COMPUTER_IP}" ] && [ -n "${LIDAR_IP}" ]; then\n\
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cat > ${WORKSPACE}/src/ros-navigation-autonomy-stack/src/utilities/livox_ros_driver2/config/MID360_config.json <<EOF\n\
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{\n\
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"lidar_summary_info": {\n\
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"lidar_type": 8\n\
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},\n\
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"MID360": {\n\
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"lidar_net_info": {\n\
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"cmd_data_port": 56100,\n\
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"push_msg_port": 56200,\n\
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"point_data_port": 56300,\n\
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"imu_data_port": 56400,\n\
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"log_data_port": 56500\n\
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},\n\
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"host_net_info": {\n\
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"cmd_data_ip": "${LIDAR_COMPUTER_IP}",\n\
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"cmd_data_port": 56101,\n\
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"push_msg_ip": "${LIDAR_COMPUTER_IP}",\n\
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"push_msg_port": 56201,\n\
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"point_data_ip": "${LIDAR_COMPUTER_IP}",\n\
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"point_data_port": 56301,\n\
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"imu_data_ip": "${LIDAR_COMPUTER_IP}",\n\
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"imu_data_port": 56401,\n\
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"log_data_ip": "${LIDAR_COMPUTER_IP}",\n\
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"log_data_port": 56501\n\
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}\n\
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},\n\
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"lidar_configs": [\n\
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{\n\
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"ip": "${LIDAR_IP}",\n\
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"pcl_data_type": 1,\n\
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"pattern_mode": 0,\n\
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"extrinsic_parameter": {\n\
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"roll": 0.0,\n\
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"pitch": 0.0,\n\
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"yaw": 0.0,\n\
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"x": 0,\n\
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"y": 0,\n\
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"z": 0\n\
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}\n\
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}\n\
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]\n\
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}\n\
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EOF\n\
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echo "Generated MID360_config.json with LIDAR_COMPUTER_IP=${LIDAR_COMPUTER_IP} and LIDAR_IP=${LIDAR_IP}"\n\
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fi\n\
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\n\
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fi\n\
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\n\
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# Execute the command\n\
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exec "$@"' > /ros_entrypoint.sh && \
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chmod +x /ros_entrypoint.sh
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# Set the entrypoint
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ENTRYPOINT ["/ros_entrypoint.sh"]
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# Default command
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CMD ["bash"]

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