Tiago pro, docs, docker changes

.ci/entrypoint.sh

@@ -1,44 +1,14 @@
 #!/bin/bash
+# Exit immediately if a command exits with a non-zero status.
 set -e
 
-source "/opt/ros/${ROS_DISTRO:-jazzy}/setup.bash"
+source "/opt/ros/humble/setup.bash"
 
-# Rebuild ros2_vive_controller if setup.py has changed (e.g. new entry points)
-SETUP_FILE="/ros2_ws/src/ros2_vive_controller/setup.py"
-SETUP_HASH_FILE="/ros2_ws/.setup_py_hash"
-if [ -f "$SETUP_FILE" ]; then
-    CURRENT_HASH=$(md5sum "$SETUP_FILE" | awk '{print $1}')
-    STORED_HASH=""
-    [ -f "$SETUP_HASH_FILE" ] && STORED_HASH=$(cat "$SETUP_HASH_FILE")
-    if [ "$CURRENT_HASH" != "$STORED_HASH" ]; then
-        echo "Detected setup.py change, rebuilding ros2_vive_controller..."
-        cd /ros2_ws
-        colcon build --symlink-install --packages-select ros2_vive_controller
-        echo "$CURRENT_HASH" > "$SETUP_HASH_FILE"
-    fi
-fi
 
 if [ -f "/ros2_ws/install/setup.bash" ]; then
     source "/ros2_ws/install/setup.bash"
-fi
-
-export RMW_IMPLEMENTATION=${RMW_IMPLEMENTATION:-rmw_cyclonedds_cpp}
-export ROS_DOMAIN_ID=${ROS_DOMAIN_ID:-1}
-
-# Setup steamclient symlinks
-mkdir -p /root/.steam/sdk64 /root/.steam/sdk32
-ln -sf /home/steam/.local/share/Steam/steamcmd/linux64/steamclient.so /root/.steam/sdk64/steamclient.so
-ln -sf /home/steam/.local/share/Steam/steamcmd/linux32/steamclient.so /root/.steam/sdk32/steamclient.so
-
-# Start vrserver directly (no compositor/monitor needed for tracker-only use)
-STEAMVR_PATH="/home/steam/Steam/steamapps/common/SteamVR"
-export LD_LIBRARY_PATH="$STEAMVR_PATH/bin/linux64:${LD_LIBRARY_PATH}"
-
-if [ -d "$STEAMVR_PATH" ]; then
-    echo "Starting SteamVR vrserver..."
-    "$STEAMVR_PATH/bin/linux64/vrserver" --keepalive &
-    sleep 3
-    echo "SteamVR vrserver started."
+    # Optional: Log that the workspace was found
+    # echo "✅ Workspace sourced."
 fi
 
 exec "$@"

.env.template

@@ -0,0 +1,14 @@
+STEAM_USER=your_steam_username
+STEAM_PASSWORD=your_steam_password
+REGISTRY=registry.gitlab.inria.fr/eurobin-horizon/code/ros2-vive-controller
+TAG=latest
+
+# General
+ROS_DOMAIN_ID=2
+LINEAR_SCALE=1.75 # Scale factor for linear position, adjust as needed for your setup
+
+# Hardware Serials
+SERIAL_LEFT=LHR-97752221 # Replace with your left controller's serial number
+SERIAL_RIGHT=LHR-4BB3817E # Replace with your right controller's serial number
+REFERENCE_LIGHTHOUSE_SERIAL=LHB-2E7D2119 # Replace with your reference lighthouse's serial number (The one that will be used as origin)
+

Makefile

@@ -0,0 +1,75 @@
+# --- Configuration ---
+# Load variables from .env if it exists
+ifneq ("$(wildcard .env)","")
+	include .env
+	export $(shell sed 's/=.*//' .env)
+endif
+
+# Default shell
+SHELL := /bin/bash
+
+# --- Phony Targets ---
+.PHONY: help gui-perms build build-force push franka tiago tiago_pro g1 calibrate identify stop clean
+
+# --- Help ---
+help: ## Show this help message
+	@echo "Vive Controller Docker Management"
+	@echo "Usage: make <target>"
+	@echo ""
+	@echo "Available commands:"
+	@awk 'BEGIN {FS = ":.*?## "} /^[a-zA-Z_-]+:.*?## / {printf "  \033[36m%-15s\033[0m %s\n", $$1, $$2}' $(MAKEFILE_LIST)
+
+# --- GUI Permissions ---
+gui-perms: ## Set X11 permissions for Docker UI (used internally)
+	@echo "Setting X11 permissions for Docker..."
+	@xhost + > /dev/null
+
+# --- Build Targets ---
+build: ## Build the 'app' image (cached)
+	docker compose build
+
+build-force: ## Build from scratch (no cache)
+	docker compose build --no-cache
+
+push: ## Push built images to the registry
+	@echo "Pushing images to the configured registry..."
+	docker compose push
+
+pull: ## Pull the latest pre-built images from the registry
+	@echo "Pulling latest images..."
+	docker compose pull
+
+# --- Robot Missions ---
+franka: gui-perms ## Start Franka (Single Right Controller)
+	docker compose --profile franka up
+
+tiago: gui-perms ## Start Tiago Dual Arm
+	docker compose --profile tiago up
+
+tiago_pro: gui-perms ## Start Tiago Pro Dual Arm
+	docker compose --profile tiago_pro up
+
+g1: gui-perms ## Start G1 Dual Arm
+	docker compose --profile g1 up
+
+# --- Utilities ---
+calibrate: gui-perms ## Run workspace calibration
+	# Runs calibration inside the franka container context
+	docker compose --profile franka run --rm franka ros2 launch ros2_vive_controller calibration.launch.py
+
+identify: ## Vibrate controllers to check IDs
+	@echo "Vibrating RIGHT controller..."
+	-docker exec -it ros2_vive_franka /entrypoint.sh ros2 service call /vive/right/identify std_srvs/srv/Trigger || \
+	 docker exec -it ros2_vive_tiago /entrypoint.sh ros2 service call /vive/right/identify std_srvs/srv/Trigger || \
+	 docker exec -it ros2_vive_tiago_pro /entrypoint.sh ros2 service call /vive/right/identify std_srvs/srv/Trigger || \
+	 docker exec -it ros2_vive_g1 /entrypoint.sh ros2 service call /vive/right/identify std_srvs/srv/Trigger
+	@echo "Vibrating LEFT controller..."
+	-docker exec -it ros2_vive_tiago_pro /entrypoint.sh ros2 service call /vive/left/identify std_srvs/srv/Trigger || \
+	 docker exec -it ros2_vive_g1 /entrypoint.sh ros2 service call /vive/left/identify std_srvs/srv/Trigger
+
+stop: ## Stop all running vive containers
+	docker compose down
+
+clean: ## Remove all vive containers and networks
+	docker compose down --remove-orphans --volumes
+