Migrate LIMO simulation to Gazebo Fortress

.devcontainer/Dockerfile

@@ -1,14 +1,14 @@
-ARG BASE_IMAGE=lcas.lincoln.ac.uk/lcas/limo_platform:2
+ARG BASE_IMAGE=lcas.lincoln.ac.uk/lcas/limo_platform:2.2
 
-FROM ${BASE_IMAGE} as base
+FROM ${BASE_IMAGE} AS base
 
 # making the standard global variables available for target-specific builds
 ARG TARGETARCH
 
 USER root
 
 # get the source tree and analyse it for its package.xml only
-FROM base as sourcefilter
+FROM base AS sourcefilter
 RUN mkdir -p /tmp/src/
 COPY ./src/*/package.xml /tmp/src/_workspace/src/_pkgs_xmls
 COPY ./src/*/*/package.xml /tmp/src/_workspace/src/_pkgs_xmls
@@ -19,17 +19,20 @@ COPY ./src/*/*/*/*/package.xml /tmp/src/_workspace/src/_pkgs_xmls
 RUN find /tmp/src -type f \! -name "package.xml" -print | xargs rm -rf
 
 # install all dependencies listed in the package.xml
-FROM base as devcontainer
+FROM base AS devcontainer
 # copy the reduced source tree (only package.xml) from previous stage
 COPY --from=sourcefilter /tmp/src /tmp/src
+COPY .devcontainer/validate_fortress_runtime.sh /usr/local/bin/validate_fortress_runtime.sh
 RUN rosdep update --rosdistro=${ROS_DISTRO} && apt-get update
 RUN apt-get update && \
     . /opt/ros/lcas/install/setup.sh && rosdep install --from-paths /tmp/src --ignore-src -y && \
     apt-get install -y ros-${ROS_DISTRO}-rqt-reconfigure && \
+    chmod +x /usr/local/bin/validate_fortress_runtime.sh && \
+    /usr/local/bin/validate_fortress_runtime.sh && \
     apt-get clean && rm -rf /var/lib/apt/lists/* /tmp/src
 
 
-FROM devcontainer as compiled
+FROM devcontainer AS compiled
 
 COPY ./src /opt/ros/lcas/src/workspace/src
 RUN . /opt/ros/lcas/install/setup.sh && \
@@ -44,4 +47,4 @@ RUN cd /opt/ros/lcas && colcon build  && \
 
 USER ros
 WORKDIR /home/ros
-ENV SHELL=/bin/bash
+ENV SHELL=/bin/bash

.devcontainer/devcontainer.json

@@ -24,8 +24,7 @@
 
 	// Use 'postCreateCommand' to run commands after the container is created.
 	// Here we run `colcon build` to build the workspace initially, (to speed up later builds), and we keep going if it fails for some packages to get as much compiled as possible
-	"postStartCommand": "/opt/entrypoint.sh /bin/true; .devcontainer/post-create.sh",
-
+	"postStartCommand": "/opt/entrypoint.sh /bin/true; ${containerWorkspaceFolder}/.devcontainer/post-create.sh",
 	// Uncomment to connect as root instead. More info: https://aka.ms/dev-containers-non-root.
 	"remoteUser": "ros",
 	"updateRemoteUserUID": true, // ensure internal user has the same UID as the host user and update file permissions
@@ -47,4 +46,4 @@
 		"cpus": 2,
 		"memory": "6gb"
 	}
-}
+}

.devcontainer/post-create.sh

@@ -2,6 +2,9 @@
 
 set -xe
 
+SCRIPT_DIR=$(cd -- "$(dirname -- "${BASH_SOURCE[0]}")" && pwd)
+WORKSPACE_DIR=$(cd -- "$SCRIPT_DIR/.." && pwd)
+
 
 function add_config_if_not_exist {
     if ! grep -F -q "$1" $HOME/.bashrc; then
@@ -19,10 +22,14 @@ add_config_if_not_exist "source /opt/ros/lcas/install/setup.bash"
 source /opt/ros/humble/setup.bash
 source /opt/ros/lcas/install/setup.bash
 
+/usr/local/bin/validate_fortress_runtime.sh
+
+cd "$WORKSPACE_DIR"
+
 colcon build --symlink-install --continue-on-error || true
 
-LOCAL_SETUP_FILE=`pwd`/install/setup.bash
+LOCAL_SETUP_FILE="$WORKSPACE_DIR/install/setup.bash"
 add_config_if_not_exist "if [ -r $LOCAL_SETUP_FILE ]; then source $LOCAL_SETUP_FILE; fi"
 
 sleep 10
-DISPLAY=:1 xfconf-query -c xfce4-desktop -p $(xfconf-query -c xfce4-desktop -l | grep "workspace0/last-image") -s /usr/share/backgrounds/xfce/lcas.jpg  || true
+DISPLAY=:1 xfconf-query -c xfce4-desktop -p $(xfconf-query -c xfce4-desktop -l | grep "workspace0/last-image") -s /usr/share/backgrounds/xfce/lcas.jpg  || true

.devcontainer/validate_fortress_runtime.sh

@@ -0,0 +1,37 @@
+#!/usr/bin/env bash
+# Verify the non-interactive runtime contract required by the simulation launches.
+set -eo pipefail
+
+if [[ -n "${ROS_DISTRO:-}" && -r "/opt/ros/${ROS_DISTRO}/setup.bash" ]]; then
+    # shellcheck disable=SC1090
+    source "/opt/ros/${ROS_DISTRO}/setup.bash"
+elif [[ -r /opt/ros/humble/setup.bash ]]; then
+    # shellcheck disable=SC1091
+    source /opt/ros/humble/setup.bash
+else
+    echo 'ROS 2 setup.bash was not found; expected ROS 2 Humble.' >&2
+    exit 1
+fi
+
+set -u
+
+ign_version="$(ign gazebo --version)"
+if ! grep -Eq 'Gazebo[^0-9]*6(\.|$)' <<<"${ign_version}"; then
+    echo "Expected Gazebo Fortress (Gazebo Sim 6), got: ${ign_version}" >&2
+    exit 1
+fi
+
+for ros_package in ros_gz_sim ros_gz_bridge; do
+    ros2 pkg prefix "${ros_package}" >/dev/null
+done
+
+for system_plugin in \
+    'libignition-gazebo6-diff-drive-system.so*' \
+    'libignition-gazebo6-sensors-system.so*'; do
+    if ! find /usr/lib -type f -name "${system_plugin}" -print -quit | grep -q .; then
+        echo "Gazebo Fortress system plugin is not installed: ${system_plugin}" >&2
+        exit 1
+    fi
+done
+
+echo "Gazebo Fortress runtime verified: ${ign_version}"

USAGE.md

@@ -6,7 +6,9 @@ This repository (LCAS/CMP9767) serves as the **image builder repository** for cr
 
 ```
 ├── src/                          # Source packages to be included in the container
-│   └── cmp9767_tutorial/         # Course-specific ROS2 packages
+│   ├── cmp9767_tutorial/         # Course-specific ROS2 packages
+│   ├── limo_description/         # Repository-owned Fortress robot description overlay
+│   └── limo_gazebosim/           # Repository-owned Fortress simulation overlay
         ├── config/               # Configuration files
         ├── maps/                 # Map files for navigation
         ├── params/               # Parameter files
@@ -22,6 +24,16 @@ This repository (LCAS/CMP9767) serves as the **image builder repository** for cr
 
 ## How It Works
 
+### Gazebo Fortress ownership
+
+The `lcas/limo_platform:2.2` base image includes the original LIMO packages,
+which target Gazebo Classic. This repository intentionally supplies and builds
+the `limo_description` and `limo_gazebosim` source overlays in `src/`; they are
+the authoritative Gazebo Fortress versions for this image. Keep their ROS and
+Gazebo dependencies in their package manifests. The Dockerfile relies on
+`rosdep` and the pinned base image rather than installing broad ROS--Gazebo
+metapackages directly.
+
 ### 1. Package Development Phase
 
 **Add packages to the `src/` directory:**
@@ -234,4 +246,4 @@ To migrate from local Dockerfile builds to this system:
 3. **Version control**: Tag this repository for stable releases
 4. **Update documentation**: Point students to new template repository
 
-This system provides a scalable, maintainable approach to managing development environments for robotics education, separating the complexity of image building from student development workflows.
+This system provides a scalable, maintainable approach to managing development environments for robotics education, separating the complexity of image building from student development workflows.

src/cmp9767_tutorial/cmp9767_tutorial/counter_3d.py

@@ -6,22 +6,32 @@
 from std_msgs.msg import Header
 from geometry_msgs.msg import PoseStamped, PoseArray
 
+from cmp9767_tutorial.simulation_interfaces import SimulationInterfaces
+
+
 class Counter3D(Node):
-    detection_threshold = 0.2 # in meters    
+    detection_threshold = 0.2  # in meters
+
+    def __init__(self):
+        super().__init__("counter_3d")
 
-    def __init__(self):      
-        super().__init__('counter_3d')
-
-        self.detected_objects = [] # list of all detected objects
+        self.interfaces = SimulationInterfaces.from_node(self)
+        self.detected_objects = []  # list of all detected objects
 
         # subscribe to object detector
-        self.subscriber = self.create_subscription(PoseStamped, '/object_location', 
-                                                   self.counter_callback,
-                                                   qos_profile=qos.qos_profile_sensor_data)
-
+        self.subscriber = self.create_subscription(
+            PoseStamped,
+            self.interfaces.topic("object_location"),
+            self.counter_callback,
+            qos_profile=qos.qos_profile_sensor_data,
+        )
+
         # publish all detected object as an array of poses
-        self.publisher = self.create_publisher(PoseArray, '/object_count_array',
-                                                      qos.qos_profile_parameters)
+        self.publisher = self.create_publisher(
+            PoseArray,
+            self.interfaces.topic("object_count_array"),
+            qos.qos_profile_parameters,
+        )
 
     def counter_callback(self, data):
         new_object = data.pose
@@ -32,25 +42,32 @@ def counter_callback(self, data):
             # calculate the distance between the new_object and each in the list
             pos_a = object.position
             pos_b = new_object.position
-            d = math.sqrt((pos_a.x - pos_b.x) ** 2 + (pos_a.y - pos_b.y) ** 2 + (pos_a.z - pos_b.z) ** 2)
-            if d < self.detection_threshold: # found a close neighbour in the already existing list, so this one won't be added
+            d = math.sqrt(
+                (pos_a.x - pos_b.x) ** 2
+                + (pos_a.y - pos_b.y) ** 2
+                + (pos_a.z - pos_b.z) ** 2
+            )
+            if (
+                d < self.detection_threshold
+            ):  # found a close neighbour in the already existing list, so this one won't be added
                 object_exists = True
                 break
 
-        if not object_exists: # new object!
+        if not object_exists:  # new object!
             self.detected_objects.append(new_object)
 
         # publish a PoseArray of object poses for visualisation in rviz
         parray = PoseArray(header=Header(frame_id=data.header.frame_id))
         for object in self.detected_objects:
             parray.poses.append(object)
-        self.publisher.publish(parray)            
+        self.publisher.publish(parray)
 
         # print to the console
-        print(f'total count {len(self.detected_objects)}')
+        print(f"total count {len(self.detected_objects)}")
         for object in self.detected_objects:
             print(object.position)
 
+
 def main(args=None):
     rclpy.init(args=args)
     counter_3d = Counter3D()
@@ -61,5 +78,5 @@ def main(args=None):
     rclpy.shutdown()
 
 
-if __name__ == '__main__':
-    main()
+if __name__ == "__main__":
+    main()

src/cmp9767_tutorial/cmp9767_tutorial/demo_inspection.py

@@ -18,6 +18,9 @@
 from geometry_msgs.msg import PoseStamped
 from nav2_simple_commander.robot_navigator import BasicNavigator, TaskResult
 import rclpy
+from rclpy.parameter import Parameter
+
+from cmp9767_tutorial.simulation_interfaces import SimulationInterfaces
 
 """
 Basic stock inspection demo. In this demonstration, the expectation
@@ -29,7 +32,15 @@
 def main():
     rclpy.init()
 
-    navigator = BasicNavigator()
+    config_node = rclpy.create_node("demo_inspection_config")
+    interfaces = SimulationInterfaces.from_node(config_node)
+    config_node.declare_parameter("use_sim_time", True)
+    use_sim_time = config_node.get_parameter("use_sim_time").value
+    config_node.destroy_node()
+
+    navigator = BasicNavigator(namespace=interfaces.robot_namespace)
+    navigator.set_parameters([Parameter("use_sim_time", value=use_sim_time)])
+    map_frame = interfaces.frame("map")
 
     # Inspection route, probably read in from a file for a real application
     # from either a map or drive and repeat. (x, y, yaw)
@@ -44,7 +55,7 @@ def main():
 
     # Set our demo's initial pose
     initial_pose = PoseStamped()
-    initial_pose.header.frame_id = 'map'
+    initial_pose.header.frame_id = map_frame
     initial_pose.header.stamp = navigator.get_clock().now().to_msg()
     initial_pose.pose.position.x = 0.0
     initial_pose.pose.position.y = 0.0
@@ -58,7 +69,7 @@ def main():
     # Send our route
     inspection_points = []
     inspection_pose = PoseStamped()
-    inspection_pose.header.frame_id = 'map'
+    inspection_pose.header.frame_id = map_frame
     inspection_pose.header.stamp = navigator.get_clock().now().to_msg()
     for pt in inspection_route:
         inspection_pose.pose.position.x = pt[0]
@@ -78,19 +89,19 @@ def main():
         feedback = navigator.getFeedback()
         if feedback and i % 5 == 0:
             print(
-                'Executing current waypoint: '
+                "Executing current waypoint: "
                 + str(feedback.current_waypoint + 1)
-                + '/'
+                + "/"
                 + str(len(inspection_points))
             )
 
     result = navigator.getResult()
     if result == TaskResult.SUCCEEDED:
-        print('Inspection of shelves complete! Returning to start...')
+        print("Inspection of shelves complete! Returning to start...")
     elif result == TaskResult.CANCELED:
-        print('Inspection of shelving was canceled. Returning to start...')
+        print("Inspection of shelving was canceled. Returning to start...")
     elif result == TaskResult.FAILED:
-        print('Inspection of shelving failed! Returning to start...')
+        print("Inspection of shelving failed! Returning to start...")
 
     # go back to start
     initial_pose.header.stamp = navigator.get_clock().now().to_msg()
@@ -101,5 +112,5 @@ def main():
     exit(0)
 
 
-if __name__ == '__main__':
-    main()
+if __name__ == "__main__":
+    main()