ROS-I Training Build

Build tools for the re.je ROS-I training.

NOTE: This repo is a WIP

Usage - Bare Metal

Install ansible and git

sudo apt update
sudo apt install -y ansible git

Clone this repo:

git clone https://github.com/re-je/ros-training-build.git
cd ros-training-build

Run the bare metal playbooks.

sudo ansible-playbook -i localhost bootstrap-ubuntu.yml
sudo ansible-playbook -i localhost playbook.yml --skip-tags=chroot

Remove any networks used during install:

nmcli --fields UUID con show | tail -n+2 | while read line; do nmcli con delete uuid  $line; done

Usage - Container

These commands use the ansible-bender project and need the requirements of that project.

pip3 install --user ansible ansible-bender
ansible-bender build container.yml

Run one-off

The container will be removed when closed.

podman run --rm -it \
    --userns=keep-id \
    --security-opt label=disable \
    --privileged \
    --device /dev/dri:/dev/dri \
    --network host \
    --hostname re-je-tmp --add-host re-je-tmp:127.0.0.1 \
    -v /etc/localtime:/etc/localtime:ro \
    -v /tmp/.X11-unix:/tmp/.X11-unix \
    -e DISPLAY=:0 \
    -v /run/user/1000:/run/user/1000 \
    -e XDG_RUNTIME_DIR=/run/user/1000 \
    -e PULSE_SERVER=/run/user/1000/pulse/native \
    localhost/ros:melodic-training-bionic

Persistent

Create a persistent container

podman create -it \
    --name reje-ros \
    --userns=keep-id \
    --security-opt label=disable \
    --privileged \
    --device /dev/dri:/dev/dri \
    --network host \
    --hostname re-je --add-host re-je:127.0.0.1 \
    -v /etc/localtime:/etc/localtime:ro \
    -v /tmp/.X11-unix:/tmp/.X11-unix \
    -e DISPLAY=:0 \
    -v /run/user/1000:/run/user/1000 \
    -e XDG_RUNTIME_DIR=/run/user/1000 \
    -e PULSE_SERVER=/run/user/1000/pulse/native \
    localhost/ros:melodic-training-bionic

Start the persistent container

podman start reje-ros

Usage - Chroot Minimal base image

Set up mirrors:

cat <<EOF > /etc/apt/sources.list
deb http://gb.archive.ubuntu.com/ubuntu/ bionic main restricted universe multiverse 
deb-src http://gb.archive.ubuntu.com/ubuntu/ bionic main restricted universe multiverse 

deb http://gb.archive.ubuntu.com/ubuntu/ bionic-security main restricted universe multiverse 
deb-src http://gb.archive.ubuntu.com/ubuntu/ bionic-security main restricted universe multiverse 

deb http://gb.archive.ubuntu.com/ubuntu/ bionic-updates main restricted universe multiverse 
deb-src http://gb.archive.ubuntu.com/ubuntu/ bionic-updates main restricted universe multiverse    
EOF

Run the setup ansible and run chroot role:

apt update
apt install -y ansible git
git clone https://github.com/re-je/ros-training-build.git
cd ros-training-build/
ansible-playbook -i localhost bootstrap-ubuntu.yml
ansible-playbook -i localhost chroot.yml
cd ..
rm -rf ros-training-build/

Attribution

This EP has received funding from the European Union’s Horizon 2020 research and innovation programme under the project ROSIN with the grant agreement No 732287.