2024-11-24 13:14:57 -04:00
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x-spiri-sdk-doc: |
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Runs the core services for a simulated Spiri Mu
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2024-11-07 12:18:53 -04:00
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services:
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ardupilot:
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env_file:
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- .env
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image: git.spirirobotics.com/spiri/ardupilot:spiri-master
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command:
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- /bin/bash
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- -c
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- |
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./Tools/autotest/sim_vehicle.py $ARDUPILOT_VEHICLE --no-rebuild \
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--no-mavproxy --enable-dds --sysid $DRONE_SYS_ID -I$INSTANCE
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stdin_open: true
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tty: true
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network_mode: host
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mavproxy:
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env_file:
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- .env
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image: git.spirirobotics.com/spiri/services-mavproxy:main
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command: >
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mavproxy.py --non-interactive
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--master tcp:127.0.0.1:$SERIAL0_PORT
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--out udpout:0.0.0.0:$MAVROS2_PORT
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--out udpout:0.0.0.0:$MAVROS1_PORT
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--sitl 127.0.0.1:$SITL_PORT
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--out udp:0.0.0.0:$GCS_PORT
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ipc: host
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network_mode: host
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restart: always
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mavros2:
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env_file:
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- .env
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image: git.spirirobotics.com/spiri/services-ros2-mavros:main
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2024-11-14 11:46:00 -04:00
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command: ros2 launch mavros apm.launch fcu_url:="udp://0.0.0.0:$MAVROS2_PORT@:14555" namespace:="$ROBOT_NAME" tgt_system:="$DRONE_SYS_ID"
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2024-11-07 12:18:53 -04:00
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ipc: host
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network_mode: host
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restart: always
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depends_on:
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ardupilot:
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condition: service_started
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mavproxy:
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condition: service_started
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deploy:
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resources:
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limits:
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# cpus: '0.01'
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memory: 200M
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ulimits:
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nofile:
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soft: 1024
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hard: 524288
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mavros:
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#This service bridges our mavlink-based robot-coprosessor into ROS
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#In this example it connects to a simulated coprocessor.
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env_file:
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- .env
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image: git.spirirobotics.com/spiri/services-ros1-mavros:master
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command: rosrun mavros mavros_node __name:=spiri$DRONE_SYS_ID _fcu_url:="udp://0.0.0.0:$MAVROS1_PORT@:14559" _target_system_id:="$DRONE_SYS_ID"
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profiles:
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- ros1
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ipc: host
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network_mode: host
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restart: always
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deploy:
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resources:
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limits:
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# cpus: '0.01'
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memory: 200M
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ulimits:
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nofile:
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soft: 1024
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hard: 524288
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ros-master:
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env_file:
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- .env
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image: git.spirirobotics.com/spiri/services-ros1-core:main
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command: stdbuf -o L roscore
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profiles:
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- ros1-master
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ipc: host
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network_mode: host
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restart: always
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deploy:
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resources:
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limits:
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memory: 1G
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# Madness, setting a low ulimit here fixes memory leaks
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# https://answers.ros.org/question/336963/rosout-high-memory-usage/
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ulimits:
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nofile:
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soft: 1024
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hard: 524288
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