osrf
diff --git a/‎bitbucket-pipelines.yml
+6-6 b/‎bitbucket-pipelines.yml
+6-6
diff --git a/‎docker/build.bash
+1-1 b/‎docker/build.bash
+1-1
diff --git a/‎docker/cloudsim_bridge/Dockerfile
+21-43 b/‎docker/cloudsim_bridge/Dockerfile
+21-43
diff --git a/‎docker/cloudsim_sim/Dockerfile
+10-3 b/‎docker/cloudsim_sim/Dockerfile
+10-3
diff --git a/‎docker/subt_models/Dockerfile
+3-3 b/‎docker/subt_models/Dockerfile
+3-3
diff --git a/‎docker/subt_sim_entry/Dockerfile
+6-5 b/‎docker/subt_sim_entry/Dockerfile
+6-5
diff --git a/‎submitted_models/ctu_cras_norlab_absolem_sensor_config_1/CMakeLists.txt
+3-3 b/‎submitted_models/ctu_cras_norlab_absolem_sensor_config_1/CMakeLists.txt
+3-3
diff --git a/‎subt-communication/subt_communication_broker/CMakeLists.txt
+7-7 b/‎subt-communication/subt_communication_broker/CMakeLists.txt
+7-7
diff --git a/‎subt-communication/subt_communication_broker/cmake/subt_communication_broker-extras.cmake.in
+3-3 b/‎subt-communication/subt_communication_broker/cmake/subt_communication_broker-extras.cmake.in
+3-3
diff --git a/‎subt-communication/subt_communication_broker/package.xml
+2-2 b/‎subt-communication/subt_communication_broker/package.xml
+2-2
diff --git a/‎subt-communication/subt_communication_broker/src/protobuf/CMakeLists.txt
+1-1 b/‎subt-communication/subt_communication_broker/src/protobuf/CMakeLists.txt
+1-1
diff --git a/‎subt_example/CMakeLists.txt
+10-1 b/‎subt_example/CMakeLists.txt
+10-1
@@ -24,14 +24,14 @@ pipelines:
           - rosdep update
           - rosdep install --from-paths ./ -i -y --rosdistro melodic
               --skip-keys=ignition-common3
-              --skip-keys=ignition-gazebo2
-              --skip-keys=ignition-launch1
+              --skip-keys=ignition-gazebo3
+              --skip-keys=ignition-launch2
               --skip-keys=ignition-math6
-              --skip-keys=ignition-msgs4
+              --skip-keys=ignition-msgs5
               --skip-keys=ignition-plugin1
-              --skip-keys=ignition-rendering2
-              --skip-keys=ignition-sensors2
-              --skip-keys=ignition-transport7
+              --skip-keys=ignition-rendering3
+              --skip-keys=ignition-sensors3
+              --skip-keys=ignition-transport8
               --skip-keys=ros_ign_bridge
               --skip-keys=ros_ign_image
           # SubT
 
@@ -36,7 +36,7 @@ fi
 
 user_id=$(id -u)
 image_name=$(basename $1)
-image_plus_tag=$image_name:$(date +%Y_%b_%d_%H%M)
+image_plus_tag=$image_name:latest-$(date +%Y_%b_%d_%H%M)
 
 shift
 
 
@@ -1,24 +1,17 @@
 # Ubuntu 18.04 with nvidia-docker2 beta opengl support
-FROM nvidia/opengl:1.0-glvnd-devel-ubuntu18.04
-
-RUN export DEBIAN_FRONTEND=noninteractive \
- && apt-get update \
- && apt-get install -y \
-    tzdata \
- && ln -fs /usr/share/zoneinfo/America/Los_Angeles /etc/localtime \
- && dpkg-reconfigure --frontend noninteractive tzdata \
- && apt-get clean
+FROM osrf/subt-virtual-testbed:models_latest
 
 # Tools I find useful during development
-RUN apt-get update -qq \
- && apt-get install --no-install-recommends -y -qq \
+RUN sudo apt-get update -qq \
+ && sudo apt-get install --no-install-recommends -y -qq \
         build-essential \
         bwm-ng \
         atop \
         cmake \
         cppcheck \
         gdb \
         git \
+        gnutls-bin \
         libbluetooth-dev \
         libccd-dev \
         libcwiid-dev \
@@ -41,16 +34,16 @@ RUN apt-get update -qq \
         wget \
         net-tools \
         iputils-ping \
- && apt-get clean -qq
+ && sudo apt-get clean -qq
 
 # Install AWS CLI. This is needed by cloudsim to capture ROS logs.
 RUN pip3 install --upgrade awscli=="1.16.220"
 VOLUME /root/.aws
 
 # install ROS and required packages
-RUN /bin/sh -c 'echo "deb [trusted=yes] http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list' \
- && apt-get update \
- && apt-get install -y \
+RUN sudo /bin/sh -c 'echo "deb [trusted=yes] http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list' \
+ && sudo apt-get update \
+ && sudo apt-get install -y \
     python-catkin-tools \
     python-rosdep \
     python-rosinstall \
@@ -63,34 +56,22 @@ RUN /bin/sh -c 'echo "deb [trusted=yes] http://packages.ros.org/ros/ubuntu $(lsb
     ros-melodic-twist-mux \
     ros-melodic-rviz-imu-plugin \
     ros-melodic-rotors-control \
- && rosdep init \
- && apt-get clean
+    ros-melodic-theora-image-transport \
+ && sudo rosdep init \
+ && sudo apt-get clean
 
 # sdformat8-sdf conflicts with sdformat-sdf installed from gazebo
 # so we need to workaround this using a force overwrite
 # Do this before installing ign-gazebo
-RUN /bin/sh -c 'echo "deb [trusted=yes] http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list' \
- && /bin/sh -c 'wget http://packages.osrfoundation.org/gazebo.key -O - | apt-key add -' \
- && /bin/sh -c 'apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654'
-
-# install ign-blueprint and the ign-bridge
-RUN apt-get update \
-&&  apt-get install -y \
-    ignition-blueprint \
-    ros-melodic-ros-ign \
- && apt-get clean
-
-# Add a user with the same user_id as the user outside the container
-# Requires a docker build argument `user_id`
-ARG user_id
-ENV USERNAME developer
-RUN useradd -U --uid ${user_id} -ms /bin/bash $USERNAME \
- && echo "$USERNAME:$USERNAME" | chpasswd \
- && adduser $USERNAME sudo \
- && echo "$USERNAME ALL=NOPASSWD: ALL" >> /etc/sudoers.d/$USERNAME
+RUN sudo /bin/sh -c 'echo "deb [trusted=yes] http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list' \
+ && sudo /bin/sh -c 'wget http://packages.osrfoundation.org/gazebo.key -O - | apt-key add -' \
+ && sudo /bin/sh -c 'apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654'
 
-# Commands below run as the developer user
-USER $USERNAME
+# install ign-dome and the ign-bridge
+RUN sudo apt-get update \
+&&  sudo apt-get install -y \
+    ignition-dome \
+ && sudo apt-get clean
 
 # Make a couple folders for organizing docker volumes
 RUN mkdir ~/workspaces ~/other
@@ -104,16 +85,13 @@ RUN rosdep update
 # docker is run
 RUN mkdir -p subt_ws/src \
  && cd subt_ws/src \
+ && git config --global http.postBuffer 1048576000 \
+ && git clone https://github.com/ignitionrobotics/ros_ign -b melodic \
  && git clone https://github.com/osrf/subt
 
 WORKDIR /home/$USERNAME/subt_ws
 
-# Install Rotors
-# RUN wget https://s3.amazonaws.com/osrf-distributions/subt_robot_examples/releases/subt_robot_examples_latest.tgz
-# RUN tar xvf subt_robot_examples_latest.tgz
-
 RUN /bin/bash -c 'source /opt/ros/melodic/setup.bash && catkin_make install'
-
 RUN /bin/sh -c 'echo ". /opt/ros/melodic/setup.bash" >> ~/.bashrc' \
  && /bin/sh -c 'echo ". ~/subt_ws/install/setup.sh" >> ~/.bashrc'
 
 
@@ -11,6 +11,7 @@ RUN sudo apt-get update -qq \
         cppcheck \
         gdb \
         git \
+        gnutls-bin \
         libbluetooth-dev \
         libccd-dev \
         libcwiid-dev \
@@ -33,8 +34,13 @@ RUN sudo apt-get update -qq \
         iputils-ping \
         libyaml-cpp-dev \
         xvfb \
+        g++-8 \
  && sudo apt-get clean -qq
 
+RUN sudo update-alternatives --install /usr/bin/gcc gcc /usr/bin/gcc-8 800 --slave /usr/bin/g++ g++ /usr/bin/g++-8 --slave /usr/bin/gcov gcov /usr/bin/gcov-8
+
+RUN gcc --version
+
 # Install AWS CLI. This is needed by cloudsim to capture ROS logs.
 RUN pip3 install --upgrade awscli=="1.16.220"
 VOLUME /root/.aws
@@ -55,6 +61,7 @@ RUN sudo /bin/sh -c 'echo "deb [trusted=yes] http://packages.ros.org/ros/ubuntu
     ros-melodic-twist-mux \
     ros-melodic-rviz-imu-plugin \
     ros-melodic-rotors-control \
+    ros-melodic-theora-image-transport \
  && sudo rosdep init \
  && sudo apt-get clean
 
@@ -65,10 +72,10 @@ RUN sudo /bin/sh -c 'echo "deb [trusted=yes] http://packages.osrfoundation.org/g
  && sudo /bin/sh -c 'wget http://packages.osrfoundation.org/gazebo.key -O - | apt-key add -' \
  && sudo /bin/sh -c 'apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654'
 
-# install ign-blueprint
+# install ign-dome
 RUN sudo apt-get update \
 &&  sudo apt-get install -y \
-    ignition-blueprint \
+    ignition-dome \
  && sudo apt-get clean
 
 # install the ros to ign bridge
@@ -88,12 +95,12 @@ RUN rosdep update
 # Install subt sim
 RUN mkdir -p subt_ws/src \
  && cd subt_ws/src \
+ && git config --global http.postBuffer 1048576000 \
  && git clone https://github.com/osrf/subt
 
 WORKDIR /home/$USERNAME/subt_ws
 
 RUN /bin/bash -c 'source /opt/ros/melodic/setup.bash && catkin_make install'
-
 RUN /bin/sh -c 'echo ". /opt/ros/melodic/setup.bash" >> ~/.bashrc' \
  && /bin/sh -c 'echo ". ~/subt_ws/install/setup.sh" >> ~/.bashrc'
 
 
@@ -20,10 +20,10 @@ RUN /bin/sh -c 'echo "deb [trusted=yes] http://packages.osrfoundation.org/gazebo
  && /bin/sh -c 'wget http://packages.osrfoundation.org/gazebo.key -O - | apt-key add -' \
  && /bin/sh -c 'apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654'
 
-# install ign-citadel
+# install ign-dome
 RUN apt-get update \
 &&  apt-get install -y \
-    ignition-citadel \
+    ignition-dome \
  && apt-get clean
 
 # Add a user with the same user_id as the user outside the container
@@ -45,5 +45,5 @@ WORKDIR /home/$USERNAME
 RUN ign fuel download -v 4 -j 8 --type model -u "https://fuel.ignitionrobotics.org/OpenRobotics/collections/SubT Tech Repo"
 
 # Cleanup ignition
-RUN sudo apt-get remove ignition-citadel -y \
+RUN sudo apt-get remove ignition-dome -y \
  && sudo apt-get clean
@@ -48,6 +48,7 @@ RUN sudo /bin/sh -c 'echo "deb [trusted=yes] http://packages.ros.org/ros/ubuntu
     ros-melodic-twist-mux \
     ros-melodic-rviz-imu-plugin \
     ros-melodic-rotors-control \
+    ros-melodic-theora-image-transport \
  && sudo rosdep init \
  && sudo apt-get clean -qq
 
@@ -66,10 +67,10 @@ RUN sudo /bin/sh -c 'echo "deb [trusted=yes] http://packages.osrfoundation.org/g
  && sudo /bin/sh -c 'wget http://packages.osrfoundation.org/gazebo.key -O - | apt-key add -' \
  && sudo /bin/sh -c 'apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654'
 
-# install ign-blueprint
-RUN sudo apt-get update \
-&&  sudo apt-get install -y \
-    ignition-blueprint \
+# install ign-dome
+RUN sudo apt-get update -qq \
+ && sudo apt-get install -y -qq \
+    ignition-dome \
  && sudo apt-get clean
 
 # install the ros to ign bridge
@@ -82,7 +83,7 @@ RUN sudo apt-get update \
 # docker is run
 RUN mkdir -p subt_ws/src \
  && cd subt_ws/src \
- && git clone https://github.com/osrf/subt
+ && git clone https://github.com/osrf/subt -b dome
 
 WORKDIR /home/$USERNAME/subt_ws
 
 
@@ -3,18 +3,18 @@ project(ctu_cras_norlab_absolem_sensor_config_1)
 
 set(CMAKE_CXX_STANDARD 17)
 
-find_package(ignition-gazebo2 REQUIRED)
+find_package(ignition-gazebo4 REQUIRED)
 find_package(ignition-common3 REQUIRED)
 
 find_package(catkin REQUIRED)
 
 catkin_package()
 
 add_library(laser_rotate_plugin src/laser_rotate_plugin.cpp)
-target_link_libraries(laser_rotate_plugin PRIVATE ignition-gazebo2::core ignition-common3::ignition-common3)
+target_link_libraries(laser_rotate_plugin PRIVATE ignition-gazebo4::core ignition-common3::ignition-common3)
 
 add_library(flipper_control_plugin src/flipper_control_plugin.cpp)
-target_link_libraries(flipper_control_plugin PRIVATE ignition-gazebo2::core ignition-common3::ignition-common3)
+target_link_libraries(flipper_control_plugin PRIVATE ignition-gazebo4::core ignition-common3::ignition-common3)
 
 install(TARGETS laser_rotate_plugin flipper_control_plugin
         ARCHIVE DESTINATION lib
 
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.5.1 FATAL_ERROR)
 project(subt_communication_broker)
 
 set(PKG_DEPENDS
@@ -18,22 +18,22 @@ set(RUN_DEPENDS
 find_package(catkin REQUIRED ${BUILD_DEPENDS})
 
 find_package(ignition-common3 REQUIRED)
-find_package(ignition-msgs4 REQUIRED)
-find_package(ignition-transport7 REQUIRED)
+find_package(ignition-msgs6 REQUIRED)
+find_package(ignition-transport9 REQUIRED)
 
 include_directories(
   include
   ${CATKIN_DEVEL_PREFIX}/include
   ${catkin_INCLUDE_DIRS}
-  ${ignition-transport7_INCLUDE_DIRS}
-  ${ignition-msgs4_INCLUDE_DIRS}
+  ${ignition-transport9_INCLUDE_DIRS}
+  ${ignition-msgs6_INCLUDE_DIRS}
   ${ignition-common3_INCLUDE_DIRS}
   )
 
 set(project_libs
   ${catkin_LIBRARIES}
-  ${ignition-transport7_LIBRARIES}
-  ${ignition-msgs4_LIBRARIES}
+  ${ignition-transport9_LIBRARIES}
+  ${ignition-msgs6_LIBRARIES}
   ${ignition-common3_LIBRARIES})
 
 #######################################
 
@@ -1,6 +1,6 @@
-find_package(ignition-transport7 REQUIRED)
+find_package(ignition-transport9 REQUIRED)
 
-list(APPEND catkin_INCLUDE_DIRS ${ignition-transport7_INCLUDE_DIRS})
-list(APPEND catkin_LIBRARIES ${ignition-transport7_LIBRARIES} ${Protobuf_LIBRARIES})
+list(APPEND catkin_INCLUDE_DIRS ${ignition-transport9_INCLUDE_DIRS})
+list(APPEND catkin_LIBRARIES ${ignition-transport9_LIBRARIES} ${Protobuf_LIBRARIES})
 
 include_directories(@CATKIN_DEVEL_PREFIX@/include)
@@ -16,8 +16,8 @@
   <depend>roscpp</depend>
   <depend>subt_communication_model</depend>
   <depend>subt_rf_interface</depend>
-  <depend>ignition-msgs4</depend>
-  <depend>ignition-transport7</depend>
+  <depend>ignition-msgs6</depend>
+  <depend>ignition-transport9</depend>
   <depend>subt_msgs</depend>
 
 </package>
@@ -18,7 +18,7 @@ protobuf_generate_cpp_with_descriptor(
   PROTO_HEADERS
   PROTO_DESCRIPTORS
   IMPORT_DIRS
-    ${ignition-msgs4_INCLUDE_DIRS}
+    ${ignition-msgs6_INCLUDE_DIRS}
   DESTINATION
     ${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_INCLUDE_DESTINATION}/protobuf
   ${PROTO_MESSAGES}
 
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.5.1)
+cmake_minimum_required(VERSION 3.5.1 FATAL_ERROR)
 project(subt_example)
 
 if(NOT WIN32)
@@ -11,6 +11,12 @@ find_package(catkin REQUIRED
   subt_ign
   message_generation
   subt_communication_broker
+  geometry_msgs
+  nav_msgs
+  angles
+  tf2
+  tf2_ros
+  eigen_conversions
 )
 
 add_service_files(DIRECTORY srv
@@ -40,6 +46,9 @@ add_executable(teleop_node src/teleop_node.cc)
 add_dependencies(teleop_node ${catkin_EXPORTED_TARGETS})
 target_link_libraries(teleop_node ${catkin_LIBRARIES})
 
+# add_subdirectory(src/truth_controller)
+
+
 ###########
 ## Tests ##
 ###########