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321 split docker image structure #340

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@geurto
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@geurto geurto commented Nov 24, 2025 •
edited by Jelmerdw
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Description

Restructuring of repository to make it more modular and future-proof. Code and dependencies are split into separate Docker images, with a compose script to create configurations to run.

TO DO:

  • port rcdt_franka
  • port rcdt_realsense
  • port rcdt_velodyne
  • port rcdt_zed
  • create rcdt_ouster
  • create rcdt_tools
  • create rcdt_nav
  • distribute pyproject.toml dependencies to relevant containers (instead of all dependencies installed in all containers)
  • expand compose script / create Python CLI tool to deal with configuration options
  • parameter remaps (such as in nav2) based on namespaces set in compose.py script (if nav2 and panther/lynx --> set namespace_vehicle=panther/lynx)
  • odom nodes for Panther/Lynx

Fixes: #321

Thins to discuss:

  • Use of subprocess to obtain robot_description inside moveit container.

Testing

Explain how you tested your changes.

Documentation

  • I have updated the documentation (if necessary)

Additional Notes

Any relevant screenshots, logs, or context.

@geurto geurto linked an issue Nov 24, 2025 that may be closed by this pull request
Split docker image structure #321
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@Jelmerdw
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Jelmerdw commented Nov 27, 2025

I think this branch is not correctly rebased from main. It shows changes in many files you didn't do, like images that are removed in the docs folder and removal of the pyflow folder. Can you fix this, so that there is more overview of what you actually changed?

@Jelmerdw
Initial splitting of docker.
2328932 
Signed-off-by: Jelmer de Wolde <jelmer.de.wolde@alliander.com>
@Jelmerdw Jelmerdw force-pushed the 321-split-docker-image-structure branch from c7b9671 to 2328932 Compare November 28, 2025 10:35
geurto and others added 26 commits December 1, 2025 11:55
@geurto
rcdt_husarion can now start a container and directly launch husarion.…
ec28b68 
…launch.py

Signed-off-by: Peter Geurts <peter.geurts@proton.me>
@geurto
rcdt_gazebo now spawns a new world and a Panther
4164867 
Signed-off-by: Peter Geurts <peter.geurts@proton.me>
@geurto
split rcdt_core up into rcdt_base and rcdt_cuda, based on if an image…
86ca907 
… needs cuda/torch; added rcdt_tools

Signed-off-by: Peter Geurts <peter.geurts@proton.me>
@geurto
added rviz/vizanti launch files -- rviz now launches with some (hardc…
ab86170 
…oded) properties

Signed-off-by: Peter Geurts <peter.geurts@proton.me>
@geurto
moving to separate platforms.yml, simulator.yml, tools.yml so you can…
6cac687 
… restart rviz/gazebo without taking down the robot compose

Signed-off-by: Peter Geurts <peter.geurts@proton.me>
@geurto
added rcdt_nav2
216e3ec 
Signed-off-by: Peter Geurts <peter.geurts@proton.me>
@rosalievanark @geurto
324 make repository compliant to alliander ospo standards (#339)
64bc153 
* Add missing docs from ospo checklist, template names still need to be updated

Signed-off-by: Rosalie <rosalie.van.ark@alliander.com>

* Update placeholder values with the correct values, and add some extra text to the README.md

Signed-off-by: Rosalie <rosalie.van.ark@alliander.com>

---------

Signed-off-by: Rosalie <rosalie.van.ark@alliander.com>
@Jelmerdw @geurto
Generalize nav2 tests and add GPS test. (#338)
ac2c6bf 
* Generalize Nav2 tests.

Signed-off-by: Jelmer de Wolde <jelmer.de.wolde@alliander.com>

* Create simplified nav2_manager using nav2 commander API.

Signed-off-by: Jelmer de Wolde <jelmer.de.wolde@alliander.com>

* Add GPS navigation and extend UI.

Signed-off-by: Jelmer de Wolde <jelmer.de.wolde@alliander.com>

* WIP

Signed-off-by: Jelmer de Wolde <jelmer.de.wolde@alliander.com>

* Fix tests.

Signed-off-by: Jelmer de Wolde <jelmer.de.wolde@alliander.com>

* Switch to using tf2 listener directly.

Signed-off-by: Jelmer de Wolde <jelmer.de.wolde@alliander.com>

* Apply feedback.

Signed-off-by: Jelmer de Wolde <jelmer.de.wolde@alliander.com>

* Try spin_once function with zero timeouts.

Signed-off-by: Jelmer de Wolde <jelmer.de.wolde@alliander.com>

* Apply feedback.

Signed-off-by: Jelmer de Wolde <jelmer.de.wolde@alliander.com>

* Apply feedback.

Signed-off-by: Jelmer de Wolde <jelmer.de.wolde@alliander.com>

---------

Signed-off-by: Jelmer de Wolde <jelmer.de.wolde@alliander.com>
@Jelmerdw @geurto
Improve stability of tests.
f7f970a 
Signed-off-by: Jelmer de Wolde <jelmer.de.wolde@alliander.com>
@geurto
rebase
27a6a52 
Signed-off-by: Peter Geurts <peter.geurts@proton.me>
@geurto
moved Husarion URDFs to rcdt_gazebo as they are only used in simulati…
8debfd5 
…on (and need ros-gz plugins)

Signed-off-by: Peter Geurts <peter.geurts@proton.me>
@geurto
small updates
e8f1ec5 
Signed-off-by: Peter Geurts <peter.geurts@proton.me>
@geurto
adding back the URDF to rcdt_husarion fixed the launch issue
fda7361 
Signed-off-by: Peter Geurts <peter.geurts@proton.me>
@geurto
basic nav2/panther/gazebo/rviz launch now runs, started additions in …
791e129 
…compose.py to fix env vars in composes

Signed-off-by: Peter Geurts <peter.geurts@proton.me>
@Jelmerdw
Add script to make compose and spin container for given platform.
4db1622 
Signed-off-by: Jelmer de Wolde <jelmer.de.wolde@alliander.com>
@Jelmerdw
Create devcontainer configurations for VSCode.
8df01c0 
Signed-off-by: Jelmer de Wolde <jelmer.de.wolde@alliander.com>
@Jelmerdw
Start integrating Franka.
db277fc 
Signed-off-by: Jelmer de Wolde <jelmer.de.wolde@alliander.com>
@Jelmerdw
Add gripper components to Franka.
91f996a 
Signed-off-by: Jelmer de Wolde <jelmer.de.wolde@alliander.com>
@Jelmerdw
Make platfroms argument optional.
9feb34a 
Signed-off-by: Jelmer de Wolde <jelmer.de.wolde@alliander.com>
@Jelmerdw
Simplify code.
1dab436 
Signed-off-by: Jelmer de Wolde <jelmer.de.wolde@alliander.com>
@Jelmerdw
Add moveit base.
54559c6 
Signed-off-by: Jelmer de Wolde <jelmer.de.wolde@alliander.com>
@Jelmerdw
Use Register and add pose_manipulator node.
0c07515 
Signed-off-by: Jelmer de Wolde <jelmer.de.wolde@alliander.com>
@Jelmerdw
First working version of Moveit with separate dockers.
cabe277 
Signed-off-by: Jelmer de Wolde <jelmer.de.wolde@alliander.com>
@Jelmerdw
Fix robot visualization in Rviz.
f7625c9 
Signed-off-by: Jelmer de Wolde <jelmer.de.wolde@alliander.com>
@Jelmerdw
Move URDF's to new rcdt_description package and install this package …
6460b1a 
…in Gazebo container.

Signed-off-by: Jelmer de Wolde <jelmer.de.wolde@alliander.com>
@Jelmerdw
Merge branch 'main' into 321-split-docker-image-structure
a8d6e90 
Signed-off-by: Jelmer de Wolde <jelmer.de.wolde@alliander.com>
@Jelmerdw
Undo change.
c746f0c 
Signed-off-by: Jelmer de Wolde <jelmer.de.wolde@alliander.com>
@Jelmerdw
Add ouster.
329f28d 
Signed-off-by: Jelmer de Wolde <jelmer.de.wolde@alliander.com>
@Jelmerdw
Add velodyne.
7a8113c 
Signed-off-by: Jelmer de Wolde <jelmer.de.wolde@alliander.com>
@Jelmerdw
Add realsense.
985c937 
Signed-off-by: Jelmer de Wolde <jelmer.de.wolde@alliander.com>
@Jelmerdw
Add zed.
65e6e5f 
Signed-off-by: Jelmer de Wolde <jelmer.de.wolde@alliander.com>
@Jelmerdw
Clean up.
c17b4fa 
Signed-off-by: Jelmer de Wolde <jelmer.de.wolde@alliander.com>
@Jelmerdw
First step towards multi platform.
88a081b 
Signed-off-by: Jelmer de Wolde <jelmer.de.wolde@alliander.com>
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Split docker image structure

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@geurto @Jelmerdw @rosalievanark