fixed webots docker should be fixed. fixed compose.sim so it can laun…

…ch the docker

.pre-commit-config.yaml

@@ -57,5 +57,5 @@ repos:
 #    rev: ''  # Use the sha / tag you want to point at
 #    hooks:
 #      - id: mypy
-#        exclude: "cmake-build-debug|setup.py|external"
+#        exclude: "cmake-build-debug|setup.py|external|soccer_strategy|soccer_common|soccer_msgs|soccer_localization|soccer_description|soccer_webots|test_integration.py"
 #        args: ["--config-file","pyproject.toml"]

external/Dockerfile

@@ -21,6 +21,7 @@ RUN apt update && apt-fast install -y \
     libprotobuf-dev \
     libjpeg9-dev \
     wget \
+    ant \
     dirmngr \
     gnupg2 \
     lsb-release \
@@ -48,22 +49,18 @@ RUN echo "export WEBOTS_HOME=/usr/local/webots" >> ~/.bashrc
 RUN echo "export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:$WEBOTS_HOME/lib/controller"  >> ~/.bashrc
 RUN echo "export PYTHONPATH=$PYTHONPATH:$WEBOTS_HOME/lib/controller/python38"  >> ~/.bashrc
 
-WORKDIR /usr/local
-
+WORKDIR /usr/local/
 
 COPY hlvs_webots hlvs_webots
 RUN cd hlvs_webots/controllers/referee && \
     pip3 install numpy==1.20.2 && \
     pip3 install -r requirements.txt
 
 COPY GameController GameController
-RUN apt update && apt-fast -y install ant protobuf-compiler libprotobuf-dev && \
-   cd GameController && \
-    ant
+RUN cd GameController && ant
 
 
-RUN apt-fast install -y protobuf-compiler libprotobuf-dev && \
-    cd hlvs_webots && \
+RUN cd hlvs_webots && \
     make clean && \
     make
 

soccer_common/src/soccer_common/transformation2d.py

@@ -1,4 +1,5 @@
 """EXPERIMENTAL, USE AT YOUR OWN RISK!"""
+
 import math
 
 import numpy as np

tools/docker/compose.simulation.yaml

@@ -12,14 +12,14 @@ x-simulator: &simulator
   cap_add:
     - SYS_PTRACE
   pid: "host"
-  command: bash -c "sleep "
+  command: bash -c "webots --batch --sysinfo --log-performance=performance.log ./hlvs_webots/worlds/robocup.wbt"
   volumes:
     - /tmp/.X11-unix:/tmp/.X11-unix:rw
     - /dev/dri:/dev/dri:rw
     - /dev/snd:/dev/snd:rw
-    - ./external/hlvs_webots/worlds:/usr/local/hlvs_webots/worlds:rw
-    - ./external/hlvs_webots/controllers/referee/:/usr/local/hlvs_webots/controllers/referee/:rw
-    - ./external/hlvs_webots/protos/:/usr/local/hlvs_webots/protos/:rw
+    - /home/$USER/catkin_ws/src/soccerbot/external/hlvs_webots/worlds:/usr/local/hlvs_webots/worlds:rw
+    - /home/$USER/catkin_ws/src/soccerbot/external/hlvs_webots/controllers/referee/:/usr/local/hlvs_webots/controllers/referee/:rw
+    - /home/$USER/catkin_ws/src/soccerbot/external/hlvs_webots/protos/:/usr/local/hlvs_webots/protos/:rw
     - /var/run/docker.sock:/var/run/docker.sock
     - /dev:/dev