From 2a9a4a011a367737fb0f1ebe62077c6e30c68dde Mon Sep 17 00:00:00 2001
From: Austin Deric <Austin.Deric@gmail.com>
Date: Fri, 20 Jul 2018 14:59:18 -0500
Subject: [PATCH] Devel (#1)

WIP
---
 docker/README.md                              | 38 +++++++++++--
 docker/gym-gazebo-turtlebot/Dockerfile        | 54 +++++++++++++++++++
 .../gym-gazebo/kinetic-nvidia9.2/Dockerfile   | 19 +------
 .../envs/installation/turtlebot_setup.bash    |  4 +-
 4 files changed, 92 insertions(+), 23 deletions(-)
 create mode 100644 docker/gym-gazebo-turtlebot/Dockerfile

diff --git a/docker/README.md b/docker/README.md
index 447923c8a9d..cf2cf713835 100644
--- a/docker/README.md
+++ b/docker/README.md
@@ -8,15 +8,47 @@ This fodler is setup such that each image has its own folder is an image and eac
 
 
 ## Requirements
-nvidia-docker 2
-https://github.com/NVIDIA/nvidia-docker
+[nvidia-docker 2](https://github.com/NVIDIA/nvidia-docker) allows running cuda-based nueral nets and render displays from the container.
 
-Allows running cuda-based nueral nets and render displays from the container.
 
 ## Recommended (Easy) Method
+```
+docker run \
+    --runtime=nvidia \
+    -v="/tmp/.gazebo/:/root/.gazebo/" \
+    --rm \
+    -it \
+    -p 11345:11345 \
+    -p 11311:11311 \
+    --name=gym-gazebo-turtlebot \
+    austinderic/gym-gazebo-turtlebot:kinetic-nvidia9.2 \
+    /bin/bash
+```
+This will open a bash shell in the container:
+```
+python ./gym-gazebo/examples/turtlebot/circuit2_turtlebot_lidar_qlearn.py
+```
+then we can connect to our new container 
+```
+export GAZEBO_MASTER_IP=$(docker inspect --format '{{ .NetworkSettings.IPAddress }}' gym-gazebo-turtlebot)
+export GAZEBO_MASTER_URI=$GAZEBO_MASTER_IP:11345
+sudo gzclient --verbose
+```
+
 Run tests in the base image. Simply enter the following command, all you need is nvidia-docker2 setup:
 ```
 docker run --runtime=nvidia --rm austinderic/gym-gazebo:kinetic-nvidia9.2 /bin/bash -c "nvidia-smi; echo $(rosversion -d); pip show gym; pip show gym-gazebo"
+``` 
+Even easier with docker-compose:
+```
+docker-compose up
 ```
 
+## Manual Method
+```
+mkdir -p ./catkin_ws/src
+cd ./catkin_ws/src
+wstool initW
+wstool merge https://raw.githubusercontent.com/turtlebot/turtlebot/kinetic/turtlebot.rosinstall && wstool merge ../../gym-gazebo/gym_gazebo/envs/installation/gym-gazebo.rosinstall
+```
 
diff --git a/docker/gym-gazebo-turtlebot/Dockerfile b/docker/gym-gazebo-turtlebot/Dockerfile
new file mode 100644
index 00000000000..2b7132864f8
--- /dev/null
+++ b/docker/gym-gazebo-turtlebot/Dockerfile
@@ -0,0 +1,54 @@
+FROM austinderic/gym-gazebo:kinetic-nvidia9.2
+LABEL maintainer "Austin.Deric@gmail.org"
+
+#--------------------
+# Install Gym-Gazebo Turtlebot dependencies
+#------------------
+
+RUN apt-get update && apt-get install -y \
+    ros-kinetic-turtlebot-create \
+    ros-kinetic-yujin-ocs \
+    ros-kinetic-yocs-msgs \
+    ros-kinetic-xacro \
+    ros-kinetic-roslint \
+    ros-kinetic-ros-control \
+    ros-kinetic-image-common \
+    ros-kinetic-control-toolbox \
+    ros-kinetic-gazebo-ros-pkgs \
+    ros-kinetic-roslint \
+    ros-kinetic-driver-common \
+    ros-kinetic-navigation \
+    ros-kinetic-joystick-drivers \
+    ros-kinetic-kobuki-desktop \
+    ros-kinetic-kobuki-core \
+    ros-kinetic-kobuki \
+    ros-kinetic-kobuki-msgs \
+    ros-kinetic-ecl \
+    ros-kinetic-pcl-ros \
+    libbullet-dev \
+    libusb-dev \
+    libsdl-dev \
+    libsdl-image1.2-dev \
+    python-skimage \
+    && rm -rf /var/lib/apt/lists/*
+
+#--------------------
+# Install Gym-Gazebo Turtlebot Example
+#------------------
+
+RUN mkdir -p /root/catkin_ws/src
+WORKDIR /root/catkin_ws/src
+RUN wstool init
+RUN wstool merge https://gist.githubusercontent.com/AustinDeric/3362c86437d88347807beaba3501602e/raw/ecadfddc98a1865dfe60b29d17ff03a513b39279/gym-gazebo.rosinstall
+RUN wstool update
+WORKDIR /root/catkin_ws
+RUN /bin/bash -c "source /opt/ros/kinetic/setup.bash && catkin build"
+RUN echo "source /root/catkin_ws/devel/setup.bash" >> ~/.bashrc
+
+#--------------------
+# Setup environment variables
+#------------------
+RUN echo "export GYM_GAZEBO_WORLD_CIRCUIT2=/root/gym-gazebo/gym_gazebo/envs/assets/worlds/circuit2.world" >> ~/.bashrc
+RUN export GYM_GAZEBO_WORLD_CIRCUIT2=/root/gym-gazebo/gym_gazebo/envs/assets/worlds/circuit2.world
+
+WORKDIR /root/
diff --git a/docker/gym-gazebo/kinetic-nvidia9.2/Dockerfile b/docker/gym-gazebo/kinetic-nvidia9.2/Dockerfile
index ca7a6ea85d8..307835799e6 100644
--- a/docker/gym-gazebo/kinetic-nvidia9.2/Dockerfile
+++ b/docker/gym-gazebo/kinetic-nvidia9.2/Dockerfile
@@ -1,26 +1,9 @@
 FROM austinderic/ros-desktop-full:kinetic-nvidia9.2
 LABEL maintainer "Austin.Deric@gmail.org"
 
-#--------------------
-# Setup nvidia-docker2
-#--------------------
-# Reference: http://wiki.ros.org/docker/Tutorials/Hardware%20Acceleration
-
-ENV NVIDIA_VISIBLE_DEVICES \
-    ${NVIDIA_VISIBLE_DEVICES:-all}
-ENV NVIDIA_DRIVER_CAPABILITIES \
-    ${NVIDIA_DRIVER_CAPABILITIES:+$NVIDIA_DRIVER_CAPABILITIES,}graphics
-
 #--------------------
 # Install OpenAI gym
-#--------------------
-
-RUN apt-get update && apt-get install -y --no-install-recommends \
-    python-pip && \
-    apt-get clean && \
-rm -rf /var/lib/apt/lists/*
-
-RUN pip install --upgrade pip
+#-------------------
 
 RUN pip install gym
 
diff --git a/gym_gazebo/envs/installation/turtlebot_setup.bash b/gym_gazebo/envs/installation/turtlebot_setup.bash
index 3f22562b68a..d4ebfbe0c76 100755
--- a/gym_gazebo/envs/installation/turtlebot_setup.bash
+++ b/gym_gazebo/envs/installation/turtlebot_setup.bash
@@ -38,10 +38,10 @@ else
 fi
 
 #copy altered urdf model
-cp -r ../assets/urdf/kobuki_urdf/urdf/ catkin_ws/src/kobuki/kobuki_description
+cp -r ../assets/urdf/kobuki_urdf/urdf/ ./catkin_ws/src/kobuki/kobuki_description
 
 #copy laser mesh file
-cp ../assets/meshes/lidar_lite_v2_withRay.dae catkin_ws/src/kobuki/kobuki_description/meshes
+cp ../assets/meshes/lidar_lite_v2_withRay.dae ./catkin_ws/src/kobuki/kobuki_description/meshes
  
 exec bash # reload bash