spiri-sdk/README.md

# Ways of running

There are two main ways of running this software.

Most users are recomended to install [VirtualBox](https://www.virtualbox.org/), create a new
VM, and use the supplied VDI as the disk image. You will likely want 
to increase memory limits and CPU count above the default.

Advanced users can also use the SDK as a docker image. It pairs well with 
[distrobox](https://github.com/89luca89/distrobox) to better
integrate it with their existing linux workflows.

```bash
distrobox create --image git.spirirobotics.com/spiri/spiri-sdk-desktop:master
distrobox enter spiri-sdk-desktop-master

cp -r /opt/spiri-sdk/user-home-skeleton/* ~/
cd ~/Desktop/simulated-drone/
./sim_drone.py launch
```

# Usage

Each drone has it's own ros master, you can specify a ros master by adding a sys_id to your port

To launch the drone, run the command `sim_drone.py start-group 2`. For more detailed information user 
the `--help` command. You must run the command from inside a folder with a compliant dockerfile.

If using the VM there should be one on your desktop, if not you can run `cp -r /opt/spiri-sdk/user-home-skeleton/ ~/`
and all relevent development resources will be added to your home folder.

```bash
ROS_MASTER_URI=http://localhost:11311 rostopic list #Drone with sys_id 1
ROS_MASTER_URI=http://localhost:11312 rostopic list #Drone with sys_id 2
```

# Building

```bash
#Note that because this is running in a container, the -o output flag must be relative to the current directory.
# We mount the current working directory in the docker container as part of this script.
./virtualize.sh build ./ -s 100gb  -o sdk.vdi
```

For testing the VM, I use the following

```bash
./virtualize.sh build ./ -s 100gb  -o sdk.qcow2
qemu-system-x86_64 -display default,show-cursor=on -enable-kvm  -device virtio-gpu -m 4g -smp 4 -hda sdk.qcow2
```