hucebot · dtotsila · Mar 12, 2026 · Mar 17, 2026 · Mar 17, 2026 · Mar 17, 2026
diff --git a/.ci/entrypoint.sh b/.ci/entrypoint.sh
@@ -0,0 +1,14 @@
+#!/bin/bash
+# Exit immediately if a command exits with a non-zero status.
+set -e
+
+source "/opt/ros/humble/setup.bash"
+
+
+if [ -f "/ros2_ws/install/setup.bash" ]; then
+    source "/ros2_ws/install/setup.bash"
+    # Optional: Log that the workspace was found
+    # echo "✅ Workspace sourced."
+fi
+
+exec "$@"
diff --git a/Makefile b/Makefile
@@ -0,0 +1,79 @@
+# --- Configuration ---
+# Load variables from .env if it exists
+ifneq ("$(wildcard .env)","")
+    include .env
+    export $(shell sed 's/=.*//' .env)
+endif
+
+# Default shell
+SHELL := /bin/bash
+
+# --- Help ---
+.PHONY: help
+help:
+	@echo "Vive Controller Docker Management"
+	@echo "Usage: make <target>"
+	@echo ""
+	@echo "Robot Missions:"
+	@echo "  make franka      - Start Franka (Single Right Controller)"
+	@echo "  make tiago       - Start Tiago Dual Arm"
+	@echo "  make g1          - Start G1 Dual Arm"
+	@echo ""
+	@echo "Utility:"
+	@echo "  make build       - Build the 'app' image (cached)"
+	@echo "  make build-force - Build from scratch (no cache)"
+	@echo "  make calibrate   - Run workspace calibration"
+	@echo "  make identify    - Vibrate controllers to check IDs"
+	@echo "  make stop        - Stop all running vive containers"
+	@echo "  make clean       - Remove all vive containers and networks"
+
+# --- GUI Permissions ---
+.PHONY: gui-perms
+gui-perms:
+	@echo "Setting X11 permissions for Docker..."
+	@xhost + > /dev/null
+
+# --- Build Targets ---
+.PHONY: build
+build:
+	docker compose build
+
+.PHONY: build-force
+build-force:
+	docker compose build --no-cache
+
+# --- Robot Missions ---
+.PHONY: franka
+franka: gui-perms
+	docker compose --profile franka up
+
+.PHONY: tiago
+tiago: gui-perms
+	docker compose --profile tiago up
+
+.PHONY: g1
+g1: gui-perms
+	docker compose --profile g1 up
+
+# --- Utilities ---
+.PHONY: calibrate
+calibrate: gui-perms
+	# Runs calibration inside the franka container context
+	docker compose --profile franka run --rm franka ros2 launch ros2_vive_controller calibration.launch.py
+
+.PHONY: identify
+identify:
+	@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_g1 /entrypoint.sh ros2 service call /vive/right/identify std_srvs/srv/Trigger
+	@echo "Vibrating LEFT controller..."
+	-docker exec -it ros2_vive_tiago /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
+.PHONY: stop
+stop:
+	docker compose down
+
+.PHONY: clean
+clean:
+	docker compose down --remove-orphans --volumes
diff --git a/config/cyclonedds.xml b/config/cyclonedds.xml
@@ -1,30 +1,23 @@
-<CycloneDDS>
-    <Domain>
+<?xml version="1.0" encoding="UTF-8" ?>
+<CycloneDDS xmlns="https://cdds.io/config"
+            xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
+            xsi:schemaLocation="https://cdds.io/config https://raw.githubusercontent.com/eclipse-cyclonedds/cyclonedds/master/etc/cyclonedds.xsd">
+    <Domain id="any">
         <General>
-            <AllowMulticast>false</AllowMulticast>
-            <MaxMessageSize>1400B</MaxMessageSize>
             <Interfaces>
-                <NetworkInterface name="enx607d09178f25" priority="1" />
-                <NetworkInterface name="lo" priority="0" />
+                <NetworkInterface name="enx607d09178f25" />
             </Interfaces>
+            <AllowMulticast>true</AllowMulticast>
         </General>
         <Discovery>
-            <ParticipantIndex>auto</ParticipantIndex>
             <Peers>
-                <Peer Address="10.68.0.132" />
-                <Peer Address="10.68.0.1" />
-                <Peer Address="localhost" />
+                <Peer address="176.16.0.1"/>
+                <Peer address="192.168.1.2"/>
+                <Peer address="192.168.1.1"/>
+                <Peer address="192.168.1.42"/>
             </Peers>
-            <MaxAutoParticipantIndex>500</MaxAutoParticipantIndex>
+            <ParticipantIndex>auto</ParticipantIndex>
+            <MaxAutoParticipantIndex>200</MaxAutoParticipantIndex>
         </Discovery>
-        <Internal>
-            <Watermarks>
-                <WhcHigh>2000kB</WhcHigh>
-            </Watermarks>
-        </Internal>
-        <Tracing>
-            <Verbosity>config</Verbosity>
-            <OutputFile>${HOME}/.ros/log/cdds.log</OutputFile>
-        </Tracing>
     </Domain>
 </CycloneDDS>
diff --git a/config/franka_cyclonedds.xml b/config/franka_cyclonedds.xml
@@ -0,0 +1,23 @@
+<?xml version="1.0" encoding="UTF-8" ?>
+<CycloneDDS xmlns="https://cdds.io/config"
+            xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
+            xsi:schemaLocation="https://cdds.io/config https://raw.githubusercontent.com/eclipse-cyclonedds/cyclonedds/master/etc/cyclonedds.xsd">
+    <Domain id="any">
+        <General>
+            <Interfaces>
+                <NetworkInterface name="enx607d09178f25" />
+            </Interfaces>
+            <AllowMulticast>true</AllowMulticast>
+        </General>
+        <Discovery>
+            <Peers>
+                <Peer address="176.16.0.1"/>
+                <Peer address="192.168.1.2"/>
+                <Peer address="192.168.1.1"/>
+                <Peer address="192.168.1.42"/>
+            </Peers>
+            <ParticipantIndex>auto</ParticipantIndex>
+            <MaxAutoParticipantIndex>200</MaxAutoParticipantIndex>
+        </Discovery>
+    </Domain>
+</CycloneDDS>
diff --git a/config/tiago_cyclonedds.xml b/config/tiago_cyclonedds.xml
@@ -0,0 +1,23 @@
+<?xml version="1.0" encoding="UTF-8" ?>
+<CycloneDDS xmlns="https://cdds.io/config"
+            xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
+            xsi:schemaLocation="https://cdds.io/config https://raw.githubusercontent.com/eclipse-cyclonedds/cyclonedds/master/etc/cyclonedds.xsd">
+    <Domain id="any">
+        <General>
+            <Interfaces>
+                <NetworkInterface name="enx607d09178f25" />
+            </Interfaces>
+            <AllowMulticast>true</AllowMulticast>
+        </General>
+        <Discovery>
+            <Peers>
+                <Peer address="176.16.0.1"/>
+                <Peer address="192.168.1.2"/>
+                <Peer address="192.168.1.1"/>
+                <Peer address="192.168.1.42"/>
+            </Peers>
+            <ParticipantIndex>auto</ParticipantIndex>
+            <MaxAutoParticipantIndex>200</MaxAutoParticipantIndex>
+        </Discovery>
+    </Domain>
+</CycloneDDS>
diff --git a/docker-compose.yml b/docker-compose.yml
@@ -1,5 +1,16 @@
-services:
+# ── RULE: Common Environment Variables ─────────────────────────────────────
+x-common-env: &common_env
+  DISPLAY: ${DISPLAY}
+  NVIDIA_DRIVER_CAPABILITIES: all
+  XDG_RUNTIME_DIR: ${XDG_RUNTIME_DIR}
+  QT_X11_NO_MITSHM: 1
+
+# ── RULE: ROS Environment Variables ────────────────────────────────────────
+x-ros-env: &ros_env
+  ROS_DOMAIN_ID: ${ROS_DOMAIN_ID:-1}
+  RMW_IMPLEMENTATION: rmw_cyclonedds_cpp
 
+services:
   # ── bimanual: bimanual tracker (left + right) ─────────────────────────────
   bimanual_vive_tracker:
     profiles: [bimanual]
@@ -17,14 +28,9 @@ services:
     pid: host
     privileged: true
     environment:
-      - DISPLAY=${DISPLAY}
-      - NVIDIA_DRIVER_CAPABILITIES=all
-      - XDG_RUNTIME_DIR=${XDG_RUNTIME_DIR}
-      - QT_X11_NO_MITSHM=1
-      - ROS_DOMAIN_ID=${ROS_DOMAIN_ID:-1}
-      - RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
-      - HAND_OFFSET_LEFT=${HAND_OFFSET_LEFT:-[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0]}
-      - HAND_OFFSET_RIGHT=${HAND_OFFSET_RIGHT:-[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0]}
+      <<: [*common_env, *ros_env]
+      HAND_OFFSET_LEFT: ${HAND_OFFSET_LEFT:-[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0]}
+      HAND_OFFSET_RIGHT: ${HAND_OFFSET_RIGHT:-[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0]}
     volumes:
       - /tmp/.X11-unix:/tmp/.X11-unix
       - /dev:/dev
@@ -73,13 +79,8 @@ services:
     pid: host
     privileged: true
     environment:
-      - DISPLAY=${DISPLAY}
-      - NVIDIA_DRIVER_CAPABILITIES=all
-      - XDG_RUNTIME_DIR=${XDG_RUNTIME_DIR}
-      - QT_X11_NO_MITSHM=1
-      - ROS_DOMAIN_ID=${ROS_DOMAIN_ID:-1}
-      - RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
-      - HAND_OFFSET=${HAND_OFFSET:-[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0]}
+      <<: [*common_env, *ros_env]
+      HAND_OFFSET: ${HAND_OFFSET:-[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0]}
     volumes:
       - /tmp/.X11-unix:/tmp/.X11-unix
       - /dev:/dev
@@ -109,3 +110,89 @@ services:
             - driver: nvidia
               count: all
               capabilities: [gpu]
+
+  # ── COMMON BASE: for controllers ──────────────────────────────────────────
+  base_robot: &base_robot
+    image: ${REGISTRY:-registry.gitlab.inria.fr/eurobin-horizon/code/vive_controller_tiago}/vive-controller:${TAG:-latest}
+    build:
+      context: .
+      dockerfile: .ci/Dockerfile
+      target: app
+      args:
+        STEAM_USER: ${STEAM_USER}
+        STEAM_PASSWORD: ${STEAM_PASSWORD}
+    network_mode: host
+    ipc: host
+    pid: host
+    privileged: true
+    environment:
+      <<: [*common_env, *ros_env]
+      CYCLONEDDS_URI: file:///ros2_ws/src/ros2_vive_controller/config/cyclonedds.xml
+    volumes:
+      - /tmp/.X11-unix:/tmp/.X11-unix
+      - /dev:/dev
+      - /run/udev:/run/udev
+      - ./config/steamvr_config/openvrpaths.vrpath:/root/.config/openvr/openvrpaths.vrpath
+      - ./config/steamvr_config/default_driver_null:/home/steam/Steam/steamapps/common/SteamVR/drivers/null/resources/settings/default.vrsettings
+      - ./config/steamvr_config/default_resources:/home/steam/Steam/steamapps/common/SteamVR/resources/settings/default.vrsettings
+      - ./ros2_vive_controller:/ros2_ws/src/ros2_vive_controller/ros2_vive_controller
+      - ./launch:/ros2_ws/src/ros2_vive_controller/launch
+      - ./config:/ros2_ws/src/ros2_vive_controller/config
+      - ./rviz:/ros2_ws/src/ros2_vive_controller/rviz
+      - ./assets:/ros2_ws/src/ros2_vive_controller/assets
+      - ./setup.py:/ros2_ws/src/ros2_vive_controller/setup.py
+    working_dir: /ros2_ws
+    entrypoint: ["/entrypoint.sh"]
+    deploy:
+      resources:
+        reservations:
+          devices:
+            - driver: nvidia
+              count: all
+              capabilities: [gpu]
+
+  # ── FRANKA: (Single Arm) ────────────────────────────────────────────────
+  franka:
+    <<: *base_robot
+    profiles: [franka]
+    container_name: ros2_vive_franka
+    env_file:
+      - .env
+    environment:
+      <<: [*common_env, *ros_env]
+      CYCLONEDDS_URI: file:///ros2_ws/src/ros2_vive_controller/config/franka_cyclonedds.xml
+    command: >
+      ros2 launch ros2_vive_controller franka_single.launch.py
+      serial_right:=${SERIAL_RIGHT:-LHR-9ABF6D66}
+      reference_lighthouse_serial:=${REFERENCE_LIGHTHOUSE_SERIAL:-}
+      only_right:=true
+      linear_scale:=${LINEAR_SCALE:-2.0}
+
+  # ── TIAGO (Dual Arm) ─────────────────────────────────────────────────────
+  tiago:
+    <<: *base_robot
+    profiles: [tiago]
+    container_name: ros2_vive_tiago
+    env_file: .env
+    environment:
+      <<: [*common_env, *ros_env]
+      CYCLONEDDS_URI: file:///ros2_ws/src/ros2_vive_controller/config/tiago_cyclonedds.xml
+    command: >
+      ros2 launch ros2_vive_controller tiago_dual.launch.py
+      serial_left:=${SERIAL_LEFT:-LHR-97752221}
+      serial_right:=${SERIAL_RIGHT:-LHR-9ABF6D66}
+      linear_scale:=${LINEAR_SCALE:-1.0}
+
+  # ── G1 (Dual Arm) ────────────────────────────────────────────────────────
+  g1:
+    <<: *base_robot
+    profiles: [g1]
+    container_name: ros2_vive_g1
+    environment:
+      <<: [*common_env, *ros_env]
+      CYCLONEDDS_URI: file:///ros2_ws/src/ros2_vive_controller/config/cyclonedds.xml
+    command: >
+      ros2 launch ros2_vive_controller g1_dual.launch.py
+      serial_left:=${SERIAL_LEFT:-LHR-97752221}
+      serial_right:=${SERIAL_RIGHT:-LHR-9ABF6D66}
+      linear_scale:=${LINEAR_SCALE:-1.0}