linorobot · grassjelly · Jun 8, 2025 · Jun 8, 2025 · Jun 8, 2025 · Jun 8, 2025
diff --git a/docker/Dockerfile b/docker/Dockerfile
@@ -4,7 +4,7 @@ ARG RUNTIME=
 ARG DEPLOY=
 ARG RMW=
 
-FROM --platform=$BUILDPLATFORM ros:${USE_ROS_DISTRO}-ros-base AS ros2
+FROM --platform=$BUILDPLATFORM ros:${USE_ROS_DISTRO:-jazzy}-ros-base AS ros2
 SHELL ["/bin/bash", "-c"]
 ENV DEBIAN_FRONTEND=noninteractive
 
@@ -213,7 +213,7 @@ RUN apt-get update && apt-get install -y --no-install-recommends \
 #         && rosdep install --rosdistro=${ROS_DISTRO} --from-paths /root/preinstall -iry --os=ubuntu:$(lsb_release -sc) \
 #     && rm -rf /var/lib/apt/lists/*
 
-FROM ${DEPLOY} AS base
+FROM ${DEPLOY:-simulation} AS base
 SHELL ["/bin/bash", "-c"]
 
 COPY . /root/linorobot2_ws/src/linorobot2

diff --git a/docker/docker-compose.yaml b/docker/docker-compose.yaml
@@ -40,7 +40,12 @@ services:
   gazebo:
     container_name: gazebo
     extends: dev
-    command: ros2 launch linorobot2_gazebo gazebo.launch.py world:=/root/linorobot2_ws/install/linorobot2_gazebo/share/linorobot2_gazebo/worlds/${WORLD:-playground}.sdf
+    command: > 
+      ros2 launch linorobot2_gazebo gazebo.launch.py 
+      world:=/root/linorobot2_ws/install/linorobot2_gazebo/share/linorobot2_gazebo/worlds/${WORLD:-turtlebot3_world}.sdf
+      spawn_x:=${SPAWN_X:-0.0}
+      spawn_y:=${SPAWN_Y:-0.0}
+      spawn_yaw:=${SPAWN_Z:-0.0}
     devices:
       - /dev:/dev
 
@@ -62,33 +67,17 @@ services:
     extends: dev
     command: >
       ros2 launch linorobot2_navigation slam.launch.py
-      rviz:=false
-
-  slam-sim:
-    container_name: slam-sim
-    extends: dev
-    command: >
-      ros2 launch linorobot2_navigation slam.launch.py
-      rviz:=true
-      sim:=true
+      rviz:=${RVIZ:-false}
+      sim:=${SIM:-false}
 
   navigate:
     container_name: navigate
     extends: dev
     command: >
       ros2 launch linorobot2_navigation navigation.launch.py
-      map:=/root/linorobot2_ws/src/linorobot2/linorobot2_navigation/maps/${WORLD:-playground}.yaml
-      rviz:=false
-      sim:=false
-
-  navigate-sim:
-    container_name: navigate-sim
-    extends: dev
-    command: >
-      ros2 launch linorobot2_navigation navigation.launch.py
-      map:=/root/linorobot2_ws/src/linorobot2/linorobot2_navigation/maps/${WORLD:-playground}.yaml
-      rviz:=true
-      sim:=true
+      map:=/root/linorobot2_ws/src/linorobot2/linorobot2_navigation/maps/${WORLD:-turtlebot3_world}.yaml
+      rviz:=${RVIZ:-false}
+      sim:=${SIM:-false}
 
   save-map:
     container_name: save-map
@@ -117,38 +106,19 @@ services:
     - ../.:/root/linorobot2_ws/src/linorobot2
 
   webtop:
-    image: lscr.io/linuxserver/webtop:latest
     container_name: webtop
-    security_opt:
-      - seccomp:unconfined
+    image: lscr.io/linuxserver/webtop:latest
     environment:
-      - PUID=1000
-      - PGID=1000
-      - TZ=Etc/UTC
-      - SUBFOLDER=/
-      - TITLE=Webtop
-      - DISPLAY=:200
+    - DISPLAY=:200
     network_mode: host
-    volumes:
-      - /path/to/data:/config
-      - /var/run/docker.sock:/var/run/docker.sock
-      - /tmp/.X11-unix:/tmp/.X11-unix:rw
-      - $HOME/.Xauthority:/root/.Xauthority
     devices:
-      - /dev/dri:/dev/dri
-    shm_size: "1gb"
-    restart: unless-stopped
+    - /dev/dri:/dev/dri 
 
   kasmvnc:
-    runtime: ${RUNTIME}
     container_name: kasmvnc
-    image: ghcr.io/linuxserver/baseimage-kasmvnc:alpine318
-    privileged: true
-    network_mode: host
-    volumes:
-      - /tmp/.X11-unix:/tmp/.X11-unix:rw
-      - $HOME/.Xauthority:/root/.Xauthority
+    image: lsiobase/kasmvnc:alpine321
     environment:
-      - DISPLAY=:200
+    - DISPLAY=:200
+    network_mode: host
     devices:
-      - /dev/dri:/dev/dri
+    - /dev/dri:/dev/dri
diff --git a/docker/sim.yaml b/docker/sim.yaml
@@ -1,5 +1,11 @@
 name: linorobot2-sim-demo
-on_project_start: export DISPLAY=:200
+on_project_start: 
+- export DISPLAY=:200
+- export WORLD=turtlebot3_world
+- export SIM=true
+- export RVIZ=true
+- export SPAWN_X=0.5
+
 on_project_exit: 
 - docker compose down
 tmux_options: -f $HOME/.config/tmuxinator/eztmux/.tmux.conf
@@ -8,7 +14,7 @@ windows:
       panes:
       - docker compose up webtop
       - docker compose up gazebo
-      - docker compose up navigate-sim
+      - docker compose up navigate
 
       - # This is not limited to this line only
       - # You can add as much panes as you want.
diff --git a/linorobot2_gazebo/env-hooks/linorobot2_gazebo.sh.in b/linorobot2_gazebo/env-hooks/linorobot2_gazebo.sh.in
diff --git a/linorobot2_gazebo/launch/gazebo.launch.py b/linorobot2_gazebo/launch/gazebo.launch.py
@@ -41,7 +41,7 @@ def generate_launch_description():
     )
 
     world_path = PathJoinSubstitution(
-        [FindPackageShare("linorobot2_gazebo"), "worlds", "playground.sdf"]
+        [FindPackageShare("linorobot2_gazebo"), "worlds", "turtlebot3_world.sdf"]
     )
 
     description_launch_path = PathJoinSubstitution(

diff --git a/linorobot2_gazebo/models/turtlebot3_world/meshes/hexagon.dae b/linorobot2_gazebo/models/turtlebot3_world/meshes/hexagon.dae
@@ -0,0 +1,76 @@
+<COLLADA version="1.4.1" xmlns="http://www.collada.org/2005/11/COLLADASchema">
+ <asset>
+  <created>2017-03-30T01:06:40</created>
+  <modified>2017-03-30T01:06:40</modified>
+  <unit name="inch" meter="0.0254"/>
+  <up_axis>Y_UP</up_axis>
+ </asset>
+ <library_visual_scenes>
+  <visual_scene id="ID1">
+   <node>
+    <instance_geometry url="#ID2">
+     <bind_material>
+      <technique_common>
+       <instance_material symbol="Material0" target="#ID9"/>
+      </technique_common>
+     </bind_material>
+    </instance_geometry>
+   </node>
+  </visual_scene>
+ </library_visual_scenes>
+ <library_geometries>
+  <geometry id="ID2">
+   <mesh>
+    <source id="ID3">
+     <float_array id="ID4" count="108">-28.8675 50 100 -57.735 9.66338e-13 0 -57.735 1.13687e-12 100 -28.8675 50 0 -57.735 1.13687e-12 100 -28.8675 -50 0 -28.8675 -50 100 -57.735 9.66338e-13 0 -28.8675 -50 100 28.8675 -50 0 28.8675 -50 100 -28.8675 -50 0 28.8675 -50 100 57.735 1.7053e-12 0 57.735 1.36424e-12 100 28.8675 -50 0 57.735 1.36424e-12 100 28.8675 50 2.498e-13 28.8675 50 100 57.735 1.7053e-12 0 28.8675 50 100 -28.8675 50 0 -28.8675 50 100 28.8675 50 2.498e-13 -57.735 1.13687e-12 100 57.735 1.36424e-12 100 -28.8675 50 100 -28.8675 -50 100 28.8675 -50 100 28.8675 50 100 -57.735 9.66338e-13 0 28.8675 -50 0 -28.8675 -50 0 57.735 1.7053e-12 0 -28.8675 50 0 28.8675 50 2.498e-13</float_array>
+     <technique_common>
+      <accessor stride="3" count="36" source="#ID4">
+       <param type="float" name="X"/>
+       <param type="float" name="Y"/>
+       <param type="float" name="Z"/>
+      </accessor>
+     </technique_common>
+    </source>
+    <source id="ID5">
+     <float_array id="ID6" count="108">-0.866025 0.5 0 -0.866025 0.5 0 -0.866025 0.5 0 -0.866025 0.5 0 -0.866025 -0.5 0 -0.866025 -0.5 0 -0.866025 -0.5 0 -0.866025 -0.5 0 5.51091e-16 -1 0 5.51091e-16 -1 0 5.51091e-16 -1 0 5.51091e-16 -1 0 0.866025 -0.5 0 0.866025 -0.5 0 0.866025 -0.5 0 0.866025 -0.5 0 0.866025 0.5 0 0.866025 0.5 0 0.866025 0.5 0 0.866025 0.5 0 -4.28626e-16 1 0 -4.28626e-16 1 0 -4.28626e-16 1 0 -4.28626e-16 1 0 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 -0 -0 -1 -0 -0 -1 -0 -0 -1 -0 -0 -1 -0 -0 -1 -0 -0 -1</float_array>
+     <technique_common>
+      <accessor stride="3" count="36" source="#ID6">
+       <param type="float" name="X"/>
+       <param type="float" name="Y"/>
+       <param type="float" name="Z"/>
+      </accessor>
+     </technique_common>
+    </source>
+    <vertices id="ID7">
+     <input semantic="POSITION" source="#ID3"/>
+     <input semantic="NORMAL" source="#ID5"/>
+    </vertices>
+    <triangles count="20" material="Material0">
+     <input semantic="VERTEX" source="#ID7" offset="0"/>
+     <p>0 1 2 1 0 3 4 5 6 5 4 7 8 9 10 9 8 11 12 13 14 13 12 15 16 17 18 17 16 19 20 21 22 21 20 23 24 25 26 24 27 28 28 25 24 26 25 29 30 31 32 31 30 33 33 34 35 33 30 34</p>
+    </triangles>
+   </mesh>
+  </geometry>
+ </library_geometries>
+ <library_materials>
+  <material id="ID9">
+   <instance_effect url="#ID8"/>
+  </material>
+ </library_materials>
+ <library_effects>
+  <effect id="ID8">
+   <profile_COMMON>
+    <technique sid="COMMON">
+     <lambert>
+      <diffuse>
+       <color>0.392157 0.976471 0.121569 1</color>
+      </diffuse>
+     </lambert>
+    </technique>
+   </profile_COMMON>
+  </effect>
+ </library_effects>
+ <scene>
+  <instance_visual_scene url="#ID1"/>
+ </scene>
+</COLLADA>
diff --git a/linorobot2_gazebo/models/turtlebot3_world/meshes/wall.dae b/linorobot2_gazebo/models/turtlebot3_world/meshes/wall.dae
@@ -0,0 +1,76 @@
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+ <asset>
+  <created>2017-03-30T02:35:53</created>
+  <modified>2017-03-30T02:35:53</modified>
+  <unit name="inch" meter="0.0254"/>
+  <up_axis>Y_UP</up_axis>
+ </asset>
+ <library_visual_scenes>
+  <visual_scene id="ID1">
+   <node>
+    <instance_geometry url="#ID2">
+     <bind_material>
+      <technique_common>
+       <instance_material symbol="Material0" target="#ID9"/>
+      </technique_common>
+     </bind_material>
+    </instance_geometry>
+   </node>
+  </visual_scene>
+ </library_visual_scenes>
+ <library_geometries>
+  <geometry id="ID2">
+   <mesh>
+    <source id="ID3">
+     <float_array count="216" id="ID4">-400 230.94 0 -400 230.94 200 4.54747e-13 461.88 200 6.25278e-13 461.88 0 6.25278e-13 461.88 0 4.54747e-13 461.88 200 400 230.94 200 400 230.94 0 400 230.94 0 400 230.94 200 400 -230.94 200 400 -230.94 0 400 -230.94 0 400 -230.94 200 -1.7053e-13 -461.88 200 2.27374e-13 -461.88 0 2.27374e-13 -461.88 0 -1.7053e-13 -461.88 200 -400 -230.94 200 -400 -230.94 0 450 259.808 200 -3.69482e-13 519.615 200 -2.27374e-13 519.615 0 450 259.808 0 -3.69482e-13 519.615 200 -450 259.808 200 -450 259.808 0 -2.27374e-13 519.615 0 -450 259.808 200 -450 -259.808 200 -450 -259.808 0 -450 259.808 0 -450 -259.808 200 -1.13687e-13 -519.615 200 -2.27374e-13 -519.615 0 -450 -259.808 0 -1.13687e-13 -519.615 200 450 -259.808 200 450 -259.808 0 -2.27374e-13 -519.615 0 450 -259.808 0 450 259.808 200 450 259.808 0 450 -259.808 200 -400 -230.94 0 -400 -230.94 200 -400 230.94 200 -400 230.94 0 -1.7053e-13 -461.88 200 -1.13687e-13 -519.615 200 -400 -230.94 200 -450 -259.808 200 -450 259.808 200 450 -259.808 200 400 -230.94 200 400 230.94 200 4.54747e-13 461.88 200 -3.69482e-13 519.615 200 -400 230.94 200 450 259.808 200 -2.27374e-13 -519.615 0 400 -230.94 0 2.27374e-13 -461.88 0 400 230.94 0 -2.27374e-13 519.615 0 6.25278e-13 461.88 0 450 -259.808 0 450 259.808 0 -400 230.94 0 -450 259.808 0 -400 -230.94 0 -450 -259.808 0</float_array>
+     <technique_common>
+      <accessor count="72" source="#ID4" stride="3">
+       <param name="X" type="float"/>
+       <param name="Y" type="float"/>
+       <param name="Z" type="float"/>
+      </accessor>
+     </technique_common>
+    </source>
+    <source id="ID5">
+     <float_array count="216" id="ID6">0.5 -0.866025 0 0.5 -0.866025 0 0.5 -0.866025 0 0.5 -0.866025 0 -0.5 -0.866025 -0 -0.5 -0.866025 -0 -0.5 -0.866025 -0 -0.5 -0.866025 -0 -1 -6.12323e-17 -0 -1 -6.12323e-17 -0 -1 -6.12323e-17 -0 -1 -6.12323e-17 -0 -0.5 0.866025 0 -0.5 0.866025 0 -0.5 0.866025 0 -0.5 0.866025 0 0.5 0.866025 0 0.5 0.866025 0 0.5 0.866025 0 0.5 0.866025 0 0.5 0.866025 0 0.5 0.866025 0 0.5 0.866025 0 0.5 0.866025 0 -0.5 0.866025 0 -0.5 0.866025 0 -0.5 0.866025 0 -0.5 0.866025 0 -1 -5.21642e-16 0 -1 -5.21642e-16 0 -1 -5.21642e-16 0 -1 -5.21642e-16 0 -0.5 -0.866025 0 -0.5 -0.866025 0 -0.5 -0.866025 0 -0.5 -0.866025 0 0.5 -0.866025 0 0.5 -0.866025 0 0.5 -0.866025 0 0.5 -0.866025 0 1 0 0 1 0 0 1 0 0 1 0 0 1 1.83697e-16 0 1 1.83697e-16 0 1 1.83697e-16 0 1 1.83697e-16 0 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 -0 -0 -1 -0 -0 -1 -0 -0 -1 -0 -0 -1 -0 -0 -1 -0 -0 -1 -0 -0 -1 -0 -0 -1 -0 -0 -1 -0 -0 -1 -0 -0 -1 -0 -0 -1</float_array>
+     <technique_common>
+      <accessor count="72" source="#ID6" stride="3">
+       <param name="X" type="float"/>
+       <param name="Y" type="float"/>
+       <param name="Z" type="float"/>
+      </accessor>
+     </technique_common>
+    </source>
+    <vertices id="ID7">
+     <input semantic="POSITION" source="#ID3"/>
+     <input semantic="NORMAL" source="#ID5"/>
+    </vertices>
+    <triangles count="48" material="Material0">
+     <input semantic="VERTEX" source="#ID7" offset="0"/>
+     <p>0 2 1 0 3 2 4 6 5 4 7 6 8 10 9 8 11 10 12 14 13 12 15 14 16 18 17 16 19 18 20 22 21 22 20 23 24 26 25 26 24 27 28 30 29 30 28 31 32 34 33 34 32 35 36 38 37 38 36 39 40 42 41 40 41 43 44 46 45 44 47 46 48 50 49 50 52 51 53 54 49 55 57 56 48 49 54 57 52 58 58 56 57 53 59 55 57 55 59 53 55 54 49 50 51 52 50 58 60 62 61 63 65 64 63 67 66 68 69 64 66 61 63 64 67 63 60 61 66 60 70 62 69 70 71 60 71 70 64 65 68 69 68 70</p>
+    </triangles>
+   </mesh>
+  </geometry>
+ </library_geometries>
+ <library_materials>
+  <material id="ID9">
+   <instance_effect url="#ID8"/>
+  </material>
+ </library_materials>
+ <library_effects>
+  <effect id="ID8">
+   <profile_COMMON>
+    <technique sid="COMMON">
+     <lambert>
+      <diffuse>
+       <color>0.603922 0.647059 0.686275 1</color>
+      </diffuse>
+     </lambert>
+    </technique>
+   </profile_COMMON>
+  </effect>
+ </library_effects>
+ <scene>
+  <instance_visual_scene url="#ID1"/>
+ </scene>
+</COLLADA>