initial commit for updated docker process.

docker/README.md

@@ -0,0 +1,52 @@
+# Gym-Gazebo Docker
+There are two catagories of dockerfiles in this repo: base images and example images.  The base images are simply versions of the gym-gazebo images with only the nessesary support libraries such as ROS and Gym.
+
+The application images are built on the base images described above and have examples loaded into them.
+
+This fodler is setup such that each image has its own folder is an image and each subfolder is a tagged version.  This enbles automated build in https://hub.docker.com. For example:
+
+
+
+## Requirements
+[nvidia-docker 2](https://github.com/NVIDIA/nvidia-docker) allows running cuda-based nueral nets and render displays from the container.
+
+
+## Recommended (Easy) Method
+```
+docker run \
+    --runtime=nvidia \
+    -v="/tmp/.gazebo/:/root/.gazebo/" \
+    --rm \
+    -it \
+    -p 11345:11345 \
+    -p 11311:11311 \
+    --name=gym-gazebo-turtlebot \
+    austinderic/gym-gazebo-turtlebot:kinetic-nvidia9.2 \
+    /bin/bash
+```
+This will open a bash shell in the container:
+```
+python /root/gym-gazebo/examples/turtlebot/circuit2_turtlebot_lidar_qlearn.py
+```
+then we can connect to our new container 
+```
+export GAZEBO_MASTER_IP=$(docker inspect --format '{{ .NetworkSettings.IPAddress }}' gym-gazebo-turtlebot) && export GAZEBO_MASTER_URI=$GAZEBO_MASTER_IP:11345 && sudo gzclient --verbose
+```
+
+Run tests in the base image. Simply enter the following command, all you need is nvidia-docker2 setup:
+```
+docker run --runtime=nvidia --rm austinderic/gym-gazebo:kinetic-nvidia9.2 /bin/bash -c "nvidia-smi; echo $(rosversion -d); pip show gym; pip show gym-gazebo"
+``` 
+Even easier with docker-compose:
+```
+docker-compose up
+```
+
+## Manual Method
+```
+mkdir -p ./catkin_ws/src
+cd ./catkin_ws/src
+wstool initW
+wstool merge https://raw.githubusercontent.com/turtlebot/turtlebot/kinetic/turtlebot.rosinstall && wstool merge ../../gym-gazebo/gym_gazebo/envs/installation/gym-gazebo.rosinstall
+```
+

docker/gym-gazebo-turtlebot/kinetic/Dockerfile

@@ -0,0 +1,75 @@
+# docker build -t austinderic/gym-gazebo-turtlebot:kinetic
+FROM austinderic/gym-gazebo:kinetic
+LABEL maintainer "Austin.Deric@gmail.org"
+
+#--------------------
+# Install gzweb
+#------------------
+
+RUN curl -sL https://deb.nodesource.com/setup_8.x | bash -
+RUN apt-get update && apt-get install -y \
+    imagemagick \
+    nodejs \
+    libjansson-dev \
+    && rm -rf /var/lib/apt/lists/*
+WORKDIR /root
+RUN hg clone https://bitbucket.org/osrf/gzweb
+WORKDIR /root/gzweb
+RUN hg up gzweb_1.4.0
+RUN echo "source /usr/share/gazebo/setup.sh" >> ~/.bashrc
+RUN npm run deploy -m
+
+#--------------------
+# Install Gym-Gazebo Turtlebot dependencies
+#------------------
+
+RUN apt-get update && apt-get install -y \
+    ros-kinetic-depthimage-to-laserscan \
+    ros-kinetic-turtlebot-create \
+    ros-kinetic-yujin-ocs \
+    ros-kinetic-yocs-msgs \
+    ros-kinetic-xacro \
+    ros-kinetic-roslint \
+    ros-kinetic-ros-control \
+    ros-kinetic-image-common \
+    ros-kinetic-control-toolbox \
+    ros-kinetic-gazebo-ros-pkgs \
+    ros-kinetic-roslint \
+    ros-kinetic-driver-common \
+    ros-kinetic-navigation \
+    ros-kinetic-joystick-drivers \
+    ros-kinetic-kobuki-desktop \
+    ros-kinetic-kobuki-core \
+    ros-kinetic-kobuki \
+    ros-kinetic-kobuki-msgs \
+    ros-kinetic-ecl \
+    ros-kinetic-pcl-ros \
+    libbullet-dev \
+    libusb-dev \
+    libsdl-dev \
+    libsdl-image1.2-dev \
+    python-skimage \
+    mesa-utils \
+    && rm -rf /var/lib/apt/lists/*
+
+#--------------------
+# Install Gym-Gazebo Turtlebot Example
+#------------------
+
+RUN mkdir -p /root/catkin_ws/src
+WORKDIR /root/catkin_ws/src
+RUN wstool init
+RUN wstool merge https://gist.githubusercontent.com/AustinDeric/3362c86437d88347807beaba3501602e/raw/ecadfddc98a1865dfe60b29d17ff03a513b39279/gym-gazebo.rosinstall
+RUN wstool update
+WORKDIR /root/catkin_ws
+RUN /bin/bash -c "source /opt/ros/kinetic/setup.bash && catkin build"
+RUN echo "source /root/catkin_ws/devel/setup.bash" >> ~/.bashrc
+RUN echo "export GYM_GAZEBO_WORLD_CIRCUIT2=/root/gym-gazebo/gym_gazebo/envs/assets/worlds/circuit2.world" >> ~/.bashrc
+RUN export GYM_GAZEBO_WORLD_CIRCUIT2=/root/gym-gazebo/gym_gazebo/envs/assets/worlds/circuit2.world
+RUN echo "export GAZEBO_MODEL_PATH=/root/gym-gazebo/gym_gazebo/envs/assets/models" >> ~/.bashrc
+
+COPY ./kobuki_description/ /root/gzweb/http/client/assets/kobuki_description/
+COPY ./turtlebot_description/ /root/gzweb/http/client/assets/turtlebot_description/
+
+WORKDIR /root/
+

docker/gym-gazebo-turtlebot/kinetic/kobuki_description/cmake/kobuki_descriptionConfig-version.cmake

@@ -0,0 +1,14 @@
+# generated from catkin/cmake/template/pkgConfig-version.cmake.in
+set(PACKAGE_VERSION "0.7.6")
+
+set(PACKAGE_VERSION_EXACT False)
+set(PACKAGE_VERSION_COMPATIBLE False)
+
+if("${PACKAGE_FIND_VERSION}" VERSION_EQUAL "${PACKAGE_VERSION}")
+  set(PACKAGE_VERSION_EXACT True)
+  set(PACKAGE_VERSION_COMPATIBLE True)
+endif()
+
+if("${PACKAGE_FIND_VERSION}" VERSION_LESS "${PACKAGE_VERSION}")
+  set(PACKAGE_VERSION_COMPATIBLE True)
+endif()