From 1011396402cacabe1a2217c63f2123173237e461 Mon Sep 17 00:00:00 2001
From: Alex Davies <traverse.da@gmail.com>
Date: Tue, 17 Sep 2024 12:30:08 -0300
Subject: [PATCH] Removed desktop specific items

---
 .gitmodules                                   |   3 -
 PX4-Autopilot                                 |   1 -
 docker-compose.yml                            |  65 +++++
 docs/Makefile                                 |  20 --
 docs/README.md                                |  11 -
 docs/make.bat                                 |  35 ---
 docs/source/_static/custom.css                |  34 ---
 docs/source/conf.py                           |  65 -----
 docs/source/index.rst                         |  20 --
 .../source/logos/SPIRI_STLockup_Mixed_RGB.png | Bin 14499 -> 0 bytes
 skel/.gitkeep                                 |   0
 skel/.kasmpasswd                              |   1 -
 .../simulated-drone/docker-compose.yaml       | 107 --------
 skel/Desktop/simulated-drone/sim_drone.py     | 229 ------------------
 virtualize.sh                                 |  31 ---
 15 files changed, 65 insertions(+), 557 deletions(-)
 delete mode 160000 PX4-Autopilot
 create mode 100644 docker-compose.yml
 delete mode 100644 docs/Makefile
 delete mode 100644 docs/README.md
 delete mode 100644 docs/make.bat
 delete mode 100644 docs/source/_static/custom.css
 delete mode 100644 docs/source/conf.py
 delete mode 100644 docs/source/index.rst
 delete mode 100644 docs/source/logos/SPIRI_STLockup_Mixed_RGB.png
 delete mode 100644 skel/.gitkeep
 delete mode 100644 skel/.kasmpasswd
 delete mode 100644 skel/Desktop/simulated-drone/docker-compose.yaml
 delete mode 100755 skel/Desktop/simulated-drone/sim_drone.py
 delete mode 100755 virtualize.sh

diff --git a/.gitmodules b/.gitmodules
index dfa1abd..e69de29 100644
--- a/.gitmodules
+++ b/.gitmodules
@@ -1,3 +0,0 @@
-[submodule "PX4-Autopilot"]
-	path = PX4-Autopilot
-	url = https://git.spirirobotics.com/Spiri/PX4-Autopilot.git
diff --git a/PX4-Autopilot b/PX4-Autopilot
deleted file mode 160000
index dd0fb2e..0000000
--- a/PX4-Autopilot
+++ /dev/null
@@ -1 +0,0 @@
-Subproject commit dd0fb2ef11fc6882c005b16801b1ef47b5d8683b
diff --git a/docker-compose.yml b/docker-compose.yml
new file mode 100644
index 0000000..6abc5ac
--- /dev/null
+++ b/docker-compose.yml
@@ -0,0 +1,65 @@
+version: '3.8'
+
+services:
+  ardupilot:
+    image: git.spirirobotics.com/spiri/ardupilot:spiri-master
+    command: >
+      ./Tools/autotest/sim_vehicle.py -v copter --no-rebuild
+      --out=udpin:0.0.0.0:5000
+      --enable-dds
+    stdin_open: true
+    tty: true
+
+  mavproxy:
+    image: git.spirirobotics.com/spiri/services-mavproxy:main
+    command: >
+      mavproxy.py --non-interactive
+      --out=udpbcast:192.168.7.255:14560
+      --out=tcpin:0.0.0.0:5760
+      --master=udpout:ardupilot:5000
+    restart: always
+    ports:
+      - 5760:5760
+
+  mavros:
+    #This service bridges our mavlink-based robot-coprosessor into ROS
+    #In this example it connects to a simulated coprocessor.
+    image: git.spirirobotics.com/spiri/services-ros1-mavros:master
+    command: roslaunch mavros px4.launch fcu_url:="udp://:14555@mavproxy:14550" tgt_system:="1"
+    environment:
+      - "ROS_MASTER_URI=http://ros-master:11311"
+    depends_on:
+      ros-master:
+        condition: service_healthy
+      mavproxy:
+        condition: service_started
+    restart: always
+    deploy:
+      resources:
+        limits:
+          # cpus: '0.01'
+          memory: 200M
+    ulimits:
+      nofile:
+        soft: 1024
+        hard: 524288
+
+  ros-master:
+    image: git.spirirobotics.com/spiri/services-ros1-core:main
+    command: stdbuf -o L roscore
+    environment:
+      - "ROS_MASTER_URI=http://ros-master:11311"
+    restart: always
+    ports:
+      - "127.0.0.1:11311:11311"
+    deploy:
+      resources:
+        limits:
+          memory: 1G
+    # Madness, setting a low ulimit here fixes memory leaks
+    # https://answers.ros.org/question/336963/rosout-high-memory-usage/
+    ulimits:
+      nofile:
+        soft: 1024
+        hard: 524288
+
diff --git a/docs/Makefile b/docs/Makefile
deleted file mode 100644
index d0c3cbf..0000000
--- a/docs/Makefile
+++ /dev/null
@@ -1,20 +0,0 @@
-# Minimal makefile for Sphinx documentation
-#
-
-# You can set these variables from the command line, and also
-# from the environment for the first two.
-SPHINXOPTS    ?=
-SPHINXBUILD   ?= sphinx-build
-SOURCEDIR     = source
-BUILDDIR      = build
-
-# Put it first so that "make" without argument is like "make help".
-help:
-	@$(SPHINXBUILD) -M help "$(SOURCEDIR)" "$(BUILDDIR)" $(SPHINXOPTS) $(O)
-
-.PHONY: help Makefile
-
-# Catch-all target: route all unknown targets to Sphinx using the new
-# "make mode" option.  $(O) is meant as a shortcut for $(SPHINXOPTS).
-%: Makefile
-	@$(SPHINXBUILD) -M $@ "$(SOURCEDIR)" "$(BUILDDIR)" $(SPHINXOPTS) $(O)
diff --git a/docs/README.md b/docs/README.md
deleted file mode 100644
index 44b6013..0000000
--- a/docs/README.md
+++ /dev/null
@@ -1,11 +0,0 @@
-If you have a correctly configured sphinx environment you can build this project
-using `make html latexpdf`.
-
-You can also use nektos/act to build this project in the same way our build does.
-```bash
-cd ../ #Make sure you're in the project root, you should have a hidden folder
-# named ./.github/workflows available.
-act --artifact-server-path ./doc-build
-```
-
-Your compiled doc project will now be in the ./doc-build folder.
diff --git a/docs/make.bat b/docs/make.bat
deleted file mode 100644
index 747ffb7..0000000
--- a/docs/make.bat
+++ /dev/null
@@ -1,35 +0,0 @@
-@ECHO OFF
-
-pushd %~dp0
-
-REM Command file for Sphinx documentation
-
-if "%SPHINXBUILD%" == "" (
-	set SPHINXBUILD=sphinx-build
-)
-set SOURCEDIR=source
-set BUILDDIR=build
-
-%SPHINXBUILD% >NUL 2>NUL
-if errorlevel 9009 (
-	echo.
-	echo.The 'sphinx-build' command was not found. Make sure you have Sphinx
-	echo.installed, then set the SPHINXBUILD environment variable to point
-	echo.to the full path of the 'sphinx-build' executable. Alternatively you
-	echo.may add the Sphinx directory to PATH.
-	echo.
-	echo.If you don't have Sphinx installed, grab it from
-	echo.https://www.sphinx-doc.org/
-	exit /b 1
-)
-
-if "%1" == "" goto help
-
-%SPHINXBUILD% -M %1 %SOURCEDIR% %BUILDDIR% %SPHINXOPTS% %O%
-goto end
-
-:help
-%SPHINXBUILD% -M help %SOURCEDIR% %BUILDDIR% %SPHINXOPTS% %O%
-
-:end
-popd
diff --git a/docs/source/_static/custom.css b/docs/source/_static/custom.css
deleted file mode 100644
index cdc1a92..0000000
--- a/docs/source/_static/custom.css
+++ /dev/null
@@ -1,34 +0,0 @@
-.wy-side-nav-search {
-    background: #FFFFFF !important;
-}
-
-
-.wy-nav-side {
-    background-color: #FFFFFF !important;
-}
-
-
-/* Add borders and box-shadow */
-.wy-side-nav {
-    border: 1px solid #899CA3 !important;
-}
-
-.logo {
-    width: 100px !important;
-}
-
-.wy-menu-vertical a {
-    color: #899CA3 !important; /* Change to your desired color */
-}
-
-.document-title {
-    color: #000 !important; 
-    font-size: 24px !important;
-    text-transform: uppercase !important;
-}
-
-.icon-home {
-    font-weight: bold !important;
-    text-transform: uppercase !important;
-    color: #000 !important; 
-}
diff --git a/docs/source/conf.py b/docs/source/conf.py
deleted file mode 100644
index d5b77c9..0000000
--- a/docs/source/conf.py
+++ /dev/null
@@ -1,65 +0,0 @@
-# Configuration file for the Sphinx documentation builder.
-#
-# For the full list of built-in configuration values, see the documentation:
-# https://www.sphinx-doc.org/en/master/usage/configuration.html
-
-# -- Project information -----------------------------------------------------
-# https://www.sphinx-doc.org/en/master/usage/configuration.html#project-information
-import sphinx_rtd_theme
-
-project = "spiri-sdk"
-copyright = "2024, Spiri Robotics"
-author = "Spiri Robotics"
-
-html_logo = "logos/SPIRI_STLockup_Mixed_RGB.png"  # For HTML output
-html_logo_width = '200px' 
-latex_logo = "logos/SPIRI_STLockup_Mixed_RGB.png"
-latex_logo_width = '5cm'
-
-
-# -- General configuration ---------------------------------------------------
-# https://www.sphinx-doc.org/en/master/usage/configuration.html#general-configuration
-
-extensions = [
-    "sphinx.ext.duration",
-    "sphinx.ext.doctest",
-    "sphinx.ext.autodoc",
-    "sphinx.ext.autosummary",
-    "sphinx.ext.intersphinx",
-    "sphinx.ext.todo",
-]
-
-
-numfig = True
-
-todo_include_todos = True
-todo_emit_warnings = True
-todo_link_only = True
-
-
-templates_path = ["_templates"]
-exclude_patterns = []
-
-# -- Options for HTML output -------------------------------------------------
-# https://www.sphinx-doc.org/en/master/usage/configuration.html#options-for-html-output
-
-html_theme = "sphinx_rtd_theme"
-html_theme_path = [sphinx_rtd_theme.get_html_theme_path()]
-
-html_static_path = ['_static']
-
-html_css_files = [
-    'custom.css',
-]
-
-
-html_theme_options = {
-    'collapse_navigation': True,
-    'sticky_navigation': True,
-    'navigation_depth': 4, #could be set to -1 if we want unlimited depth
-    'includehidden': True,
-    'titles_only': False
-}
-
-latex_engine = "xelatex"
-# Configure LaTeX options for PDF generation
diff --git a/docs/source/index.rst b/docs/source/index.rst
deleted file mode 100644
index e564e24..0000000
--- a/docs/source/index.rst
+++ /dev/null
@@ -1,20 +0,0 @@
-.. spiri-sdk documentation master file, created by
-   sphinx-quickstart on Wed Feb 14 11:51:45 2024.
-   You can adapt this file completely to your liking, but it should at least
-   contain the root `toctree` directive.
-
-Welcome to spiri-sdk's documentation!
-============================================
-
-.. toctree::
-   :maxdepth: 2
-   :caption: Contents:
-
-
-
-Indices and tables
-==================
-
-* :ref:`genindex`
-* :ref:`modindex`
-* :ref:`search`
diff --git a/docs/source/logos/SPIRI_STLockup_Mixed_RGB.png b/docs/source/logos/SPIRI_STLockup_Mixed_RGB.png
deleted file mode 100644
index e1a4800c7004200a51268dcea1a169e97e8051d5..0000000000000000000000000000000000000000
GIT binary patch
literal 0
HcmV?d00001

literal 14499
zcmeHuc{tQx|M!TJ781!WNmL{e#xhivlu$|u*}e?f84SkKifrHVMYgepHtR6<CEJu?
z#+GgD6JuwLeSOaO{;sS0?s<OC^}Fxqy6(T8KU_Y}oH^%pUhn0+Kj*xJ=<8}7J;Zwm
z0)ZUWzM*~>0%1ghpVWf~KnptECmH-=ak*jS4uM=0q5m)-GgLi6BM(C3A;Q4f2H|Dl
zW(~RehqI;iDQ!m!xb<CYi$A<wzgsIqAPSeX)vw+|_RS3ByYY2bu2DsCIUkk0A*U~P
z{AqW$M0krSjih74bX!mj5!I#d%V)smqSe|gQ2YvAV;)r-p4w==4^|U!(I{(pcdMQ;
zF6P|vQ~5oZ@?>K3<0ko-gJ{!ln+?$Na(54p`_Xf%yIUO=8^=kf0{q@q&t)%=q&npE
zNE$n3!MVu+>-dU&5J*p2!1l5fKGSHW#f@Y}ja0y!!SRjjqnpV#8N2;TqOahrE#$(Z
z9iI2d#fo?(hnQ=KaYwLL2L)L+_il;e%J`}u<<_M77|W$=$U(sb98@mSzMsb{B(BZQ
z;oP;X!P5{(jfkcDUnHCA)L5!#ue_+bZTd)@rTd>%i9eGH9<=5cgtfZ9ZhcwI3W2!j
zIl#V~y0@D<_%|gK-i|kUOS*x~9OfSvSS;L+Yc*nRjVtDWKo;(}u%?}CU-`0MYE}8M
z{h?OvtU4KH_{?AFT!IGsI3W;QD;GJz6k`@*#e2{8_TdUiHNE~5Cm|3Yp2Yn3D}@<f
zy^RCW?;+XSg7QVL;D-o3=Rh-wRnR^6(=<=(VP{ncWI_X>NecU1FsFxMkuH_H$xvo%
ziX68tiuzP>*k1me(=}PQlO~`W!iDwI+?U}BJf1U|-1P$fn()rYzb)NLdhWP~<q80+
zcrqz{%ExZ@v7Z0WM>eYRyy*2ugm>FY6C=_*Yz_jYdwtjwP0M23O=F=jd2E5Z*Yh^0
zj@h_MIN|(mKSq{S#MuC>$pgVU+FzB`#$)NZ8YIg~zP<gFFOJ%rzuYIh@l~E~(2o`n
zNMM%+#Ug^Bl1?2=kgD3X>qH_mC&HAJ{NMpw{>&L`{5-&oZEqtQ*L{<7C?@w!3>9=3
zHimusl+P<0Aap<N=&FY5fpr-o9yJ&lpkQmfdTpg|;ogbB=xx0=^YeC5&Siy33(a_Y
zjjS~$NFY{=l0Wf971qs4M2QG@BXWe2t?EE$4Gnnz4O`1IT@l10oI|#~GEKz5U$%>F
zWs4>i;A+kYQKPl-U_3*c!e0nZ{Wv+aizt|?u2>8M3|`&1e5ESVExwW3dI<tiBip3W
z?mYf!Zza!%hAPg!!-Y^2GS^U+;t)s*&$)MJe=NVfBS?{zdN8Pi%+yybvXZl@E{NcV
zK;mB$O5*<H%W%@v`EuK^w70c#BrbOvWuYTKWyjmShtfElaPWP|o1PEvQutNRE7RWU
zD`g6D+;U=on3q$Aqw&ns$GUx4h4|6h{Ta4H3SE|Zos5tg&!3`Ly>RvHJG<J+sKlF9
zp|jQDX0ufrTX-{@R}2uylTgA#JB3`GPd{eIz{+H+W&?WsZ1W4Gvt9vao>+@gVj9;C
z<ax`kDASI<j0htc^1r7F(k;_d!GBFm)AGWoTP?L|#3<Y4!D+cBBp^#g_q;r3UuH>L
z>+s-$EU7ox4+FANo{^0bU-));T}Q+@I0cLy3B$>eO8wF!bC<VnBgd6`%Nkr{SQi~+
zK;KlzWv1|+P2`N1^SV03`3UfXqOE>iuL4KHcheDX2Ndt}3_WFV(9IVq2RirZQB}80
zK?G7m)OhMaR48Aos%jN|vA<zAXP6z#Kb#n^xcYoSf@pwuWPqq4J!=NtN@q70bW+_P
zmbSQPzoM^Ku=z5n7RJ=G9HLgL#0-HvB)0JN>Ax6hStxWr)DHzd>pmHy6r7+USx5VZ
z<g_0003)ALRvLAYHyhG^s)RcRy3i&rqPUOApc%>f;{<6Yu$(e_=4z93ihnd5#83`n
z7mr~B%{5Sj*h=WaQYHf=Fo&D>*=YfFWLe1VIMgYC1o4cA=w_4vGR-s(?=!bLgJI4l
zk^5luoEKtam-&uDAP0f(2VQ$9Ev`&Aqlfvy7h>RhwIGfm^rsp}!qKM-V44pdwZ{(X
zb;-+vXSI{HwDwDXO#;6zy#%%m@OQ@-UI?Uhzsz-gC*<8snd|hqMU~;NQg6ic?t|3$
zd>NPM@P0w5RX}!t{>-)s*H%OAm0yAx5VgQze)5;;U<QcQTMYy{%dIEoqVJlMX8NES
zio3waxadCC70FK@oe-vRXNC==&Wi*4DQ2kMj%!FC44qQDsmtNJG?=pL?qX~YG`6um
zVLt@YHxoJ^@EUi#?615$Z0`xB25-uSE(C)7>!YxE?VhV{D=5z<Ue-ARW;jT^I2*(^
zvc4W$t-kQkY5F$UFS5DhF&`z0C1sQ~^w<X<*&K#I_@t$o!Z-4oSFj7pS73u6?phhx
zRSXew6nV$>goP~tc+}!^=KBO!bmLGMa6|{Ss`A<T8?rWw-xn&fb?nADz+^R0&s&w>
zyL<f=m1$o{rTKlI@J(6Lz|41`{)5~h*?a+8yFI4MX73HN&aFuuVT3?Bg|2o^d0~>0
zj}W(PPjve@X_=5FTL9BnzOgSg-H_$mD2MTgyW>C$p9;k@h_q2z=7^;c_7K@bFSmLq
z;W2nX|LsKqC!A)QVXRj;bxx&vy<Uv5h?j@HIo?Dy3OEh%glzPkW!~8siE~DZL`+dH
zhtJo7yi~I?`t4ZfsN-wGr0H(0p9~t0`&@A)hR<XC)ir?I^jyUFBwk+AGX3HMmW_cE
zyLoHRl}YZQN+8NVh{CMCXNw^n2vpNs4&8@{6+c&c-Z|BOJ8leuQZD8^hke4rWeti$
zbb#v*9%3-@U5vkzgHW;6V!Jg+dcxkXE{=AD-xIo+GtHm7AvK>v6QgJaAlIhqDqKy0
z6LE4ROXqu9o)J7V$Ey5@B0pndYMQ-mx<ezXY6QY$1}}srupB)KIQ(nOEMWT<Q>VR1
zz9EA3L1_*xb07$n#d#;+eUO_L?G-j{#Q;fBJC|}cT4^9>YCHUHcQ}DLC~M7Rz9SIj
zeindfUJFwiD0{!KGr>PD+GJ1iYxd$wP6Gj>cs$v)GArTZV4ECUIAI~hURiZKo;c(k
zl@46Qmc1M0e_2uJN-DNI<iT4Jd=_K(<JZ6yZL?4<ln2pT*)QZ1f(dzVc!(LhTQt48
zB~i3NX?I=H;?6Z=;w0F2RyMoMb}xT(bZ_ktMwSxX6^nV%P+0O$0Yqmy=tU?xr+9KO
z4LIXRNH`x`<wRQ~>apoisVDZkDuO)XEuuyq?HB)<L-cQK@5?Vf10qij7Bq=J<G3lX
zduPay4P|oEY9x;A{->AzNw_Mp-Scgl`&{-x2qY<z_^=n6QwH7S!6b^EQ?M_0$m?3D
zU{AqK;_b9x!X?dLq0|*dNZ{c92@9u$i#j=`<H=)%5k`dUAWAsIk+w);Q)<9K0kNwL
zeJkIKN~~rT_ERkRh8#YF31u=rM7jrJEyNlMY3eS(3yYa1#Qj3DkIJM-$H@)YxX5v#
zg*0rLCbUzP&gG0GKD-NJ@XN83I{p;mA(Xdt92W)?RTkUH#e<gLhtM}AK5L9nv_%H#
zxVc=c@B^9Q3L~PlRtB4Ow75kUXG4}(mprYk%AQ(R@xxoiR_6+FQSL+nh>D}^Wey2t
zQdg9XvA0?BjS$Ge<7uwlA9@aW!y5>`-@e##?w+0xUQ=8Z2L+dTsIcNUM@)a3qo7-_
zg-%KfZKcZbt}Wr_PH!k1(Kii&9IB2QbsIm%41pYqY_|>`v>xod5?{#*(k-N^*dEXd
zIR-M_UjF@ur@ib;&&hk)_g5bN`)Py)e6W|B|M@A9o}nT1w!J4cBw+E^(<ypt-)sBr
zX%E0&+rJLw*EaF5K>2S${Yy~(hy47;%Kwy~{|yR#Gy4Vn*VDhm<}Zf-11A1$3I9<O
z|HjHMzxxf;o)Q0BR{lK`t08%T=l>5v=Qr2*EnxnmCjJe|zv-p_riuSKc7LUo-$4Dw
z&u=C+pQP7&oz`$T<&vNGTkKf(RJvL26Erq-Yg%LQVopxZxF%1^{#}(D0Tz7wA;bAk
zq2I3ZkS;k=iJQh7D-@_Y1)n>)Wn+^|&xR=jsijAn$FL8E@u*lU+0%#^f;ZO+KOIq1
zL<@OoOd)98|8T$y8h>gBf7;2F^Yl;RBU^%-@30aoBes#w?k{vT#ObYAz64itauk2!
zrpkK0$ThLa3frlJ^kl2%_Z51>tkKT5i);}*RuWa16u*BzXb&9z(qZjUdBkfbQ=Lx6
zu|yAF5j6%7v3dRoO_xTGL|;uSQE5h>M@G*M0~P{(pS!<foT{-^R#4M&y2g};HU&&n
zh7epg7SktCf4vjl5e^@dkh*`sJbL#)9F-}Mzzk<<zvtp)((I3Z@BT3))f_)R`LM{P
zWOhCwVmY<Vc{^Xmesr@jUqqQ9g(Sv<`>{;EYJxXPmWQgDZhn^|k9>HF?2+EcR`ui!
zsaEimDB2%5hc>TodG3EKsVKC3AFiEr{W^n-60qz*7(shuG3iZD{B!<f&<FshNVQG&
zCX!Cd;8ioJLOh4)-j)`nSjm-4U#_~?C<oot_L`KB6P$ZZA1)}0I6dYLu_U|Oa?^Vk
zLKVsEg1O=9ZJB~a`{?${Zd*U&7snGa+A!cG<{iL5Z@YgM`b6AJnL_KlL?75TJSiy&
znC{~n+i19V^<I~?i7?Rw4w1H-G5!1KU0yycunTcis;nODxCHT|#R-Fo=bM+7<0efJ
zoZ?hdi5R|WLI0(BK@S&sSh&^~P~o-kx6#dfvlGkLnMlbCYfV&@#k#q$wR^rRKG<0q
zGp`l-kio}FY@4}89HPdzlU|A8$X~X)W$7M|)m9|F>sAoNgIZ~&(A8$in>RT`B!QWK
z6LU6V9Z@mIz1=0G6kcz}uLQs)Iyf~M_33t$HWWV158+!01H}<`J7%VxCTqy3C082-
zdy$oJm_bcRm+QcOElPQzU$m~otJ~^u*vHZvBs<p9TsNjzry=tFz$)Nnt*m1Et1?Tp
zTjkHKu-+=WqgxRZJj|amKl6Z2@E4nVJ<}m6p*#djXV1SFWpfy}&uY1aL@YYU?Rk1s
ztW^wxxw{yuNO9z@=Et$8WL&JiGR;D#-Br|-dF|}WepeHN-b@CaT(38=LsbO<bO+XV
zdY71i<SX(%)iE8}+dz3)`DJ_SZ<9Kh`Fp}y@D9Y!5zWnGaCi)7vNQjrTDPCgK}d>i
zM*ZXInC`)o$>*lXvAKLl)=O3p?HR80aB0;QmH3MK5yQuFLNM7CK42Ho5_dg8i@*GO
zdJSV_Qc`Bss_w@43MkLdzr542n;P+u7vXJqG2FFTx#|PexIP^|>Z{Y@w9n7Fkpt3n
zG|hrRid;CI&neH}B)<ynbIH@At+fcW?AiE=`0y1SpUYk8g&L<|E1J60FRj{DPuU@H
z<$e1C7q<TLqHf_~M-V$uJ;61Sm8T4vZ39=bqKlxrsBM%*-B9%dhUn*1hw!0AIY+as
zq17`n(<`Fw41%?HjUmGZ8%RgXW}h7tZr30E9Cccj!H|-Jh3HQOy!Y}P&4l^h_S-${
zTt2i=qV*8AIkCH)Sypvnw(|`OJ*I9kbp8x@Pwar!reu)?RadJ&PxrPUk2KX==|co@
z^x@?~t9FL-U&u93gd{WQ%t4A8v+juF2n0gZ(%7Y4@&Y<Q#U?AZTa4IZXfPoyfTJyz
z_!rbV$5E_&+q$ZgfdT*WO*`tRvJ(Wo6trHCnr9C%M1_=}kXn?xB{nCM-pmzAxw_$&
z7&+F%D!5KDZ5${xmS@cY8OKtuBEVrmG_gVE+-%5bWK@F8Q<B@8h;Z+tsyNp{w9_<q
z<iYG5XWlE$z5Zq%F%Ic+CuWWc6#tM@b-AHRUPMMzYpvR^8F>n>mGQ3osx&@E?o%rj
zi%~tSXQ&Xem7k5%^x00A#Eoawhrb_<Xo!+ix8*H9_#yqks6|!-&T-ajiV)x&xrlu*
zN^I}EJw3WSw{d|F(qvHcef~|Q+HEn4Ub~zw>GU>vdS9AMeOPB`;WmHng=al(UR?^A
zWMoJ+CV+rzL*H3f0l|Tq`eUk9Ja2ONOHM9k3;W4pedK_M>@(yWMx#Kt2QC*Escz=#
zfUJc}*RR*S(rtA<05`UIzOp!dBBlRC;-;oL$ZnDDmIskPSvD>urxc%4m_O9|rg93&
zl?cMTY`kD(zIt9gff=2GE9mQ(+Bk686nZrh;wK=#@;wrlVuqs?TH!Dt=fK2A=Hg?x
z3+A*pEMT5yh$XEsKIaxc@s0#Cbgr!8LsJP$4CtnK0XCp|<;WN0TS4g+_aECvsbe#g
zdS;m<m6%veqUyc5yBB~1k!@a9M8GGRnwQc2UTLt8Ik|q*QE)2kL~@c6=(l161qUTd
zwP`8ci%A(TQKM)4pfXEevaTPCY<q~@(uYS-)_k1|OJfX>AQT*$r<FhN7fO>!e!uEx
zBOYT(sE1ESQd~V$?49kh7nlNfO3KROPplPK_RjXR$jPVCYHWjvto+2Nsf~Onh?a>A
zFOZ%Nh9_Hj))YBbo>gps$EMNZ-p~VnHEQ#2!%WS!z?BtsQ-r@FENhS>jRP2_)*U0(
zE6<29kM$UQ!?El;TRdEOK`}RX5+QLIBqj~9Ts&mktAC_Zz$I1j#ylgjMp9l;E81QW
ztjuM0YHI4VpEs!>R=`UkTxs}m{bg*S04ZvzGZeAKcJ#Vy8&CJ}hCY335{knvdEg{$
zC9F1ulO{|h;nyT_8P4-&-M(BWlJcd_Mr&n)B@Bbt)0r9~)&Fc^+2aVl$UmUrz4~Hf
z2ookk&m~Tgm6v>0ETET_cj;`Qm8xOlTICHAo84wLXEFxmep>kENh3Goz>4~nmv3wv
z;owB?k%fuJ=3J<jw=w!uBkdO4J0WZBu>#XXjqgL0oW142cq@>=9-Rv6P7vJwCJ$G)
zvYR_?CgSrJE}7yO(Qo@XxcY(ZH{A`kxI2(Qxh<{DjZEcTx#L2K_q{b`tHwpY`zf7$
zHHnX8ec7d;hnqBK+*FC!On0naTk7-TFSbTbR0Z=@URm~$1e^UzqHX;bvt}Qk;q{{O
z7|P0Jb>kVgb%twwT;Am^!|AghtW_!g>JJp<;GR%FdJ$o&+s=hwRz5Vm%KFJHcH&Um
zV#7|{Pd}M}38A-e;;4%Bm%jYJ+)PTlqJ|W6{dX<!ryMuw`>}exLI3uZ?M0>Ze9z#<
z_Wnt$>p@zj&H3JCANe%Ldh3h^ajx6*;?5cV3LM=&to@fhd)<M4_D^c5ez-cHf-0V`
zo9gb}>2eJhgA`I#hmV?)f8<Af4Q{ndh*iPPJSvTaDo9~3U37ix|F-xz<I;WJpeStR
zt|__nEuKFP&sNIyayzN5=L#BN>Eq#dwXFOgQ995WGAgUpR$-01%BMSQmFeAC&w}(%
z)@ffU%#-%+y#4A0{LSdb=GrOyM{7eo;V-jrA0cXo$Bfcb-}D3rua;PJ5ZCi1$tY$E
z!TAKl7uJOM<&ahFzR?Y0E{*v}Mh}syQQpuLLb2P-MI?sbj3i_NH?eg_5op?Md`F%Y
z`Wc(5Dk09Z3QC-wCr)y!NdBxme)ZVqqUlwupK<8f6PPtK+!v3&vrZ;w0rPBBD0^~I
z$XJ}}xKZnyk%vaj`;Oi+#wMESX;aTBle`@QlHk-9r$Zp*tWj0c$BROYTD$ilM5Q~t
zO{R(p<YPX>9!uVgK@?Aw_{YH&_Gf|MeT;)My@}If=v(@}p0~s&JGRDu-`a!*Mf7k=
z!QLzA;97e0>6Jji4E8A`X^f)jHv3-EYd;|u^MZ}-1-y4OUp@$3dLERnBr=V7-^goW
z<`Xheqn~9}Ru!9092~dGy*(fO@bWr#BzEL^sGCYaGsX}c$+iZqh4m(0_3)!;Os$@F
zqzQs!q#*wEn5vb`y3ra^);IFHHwktF^i(sT@(`u?GtK-B;<o!=J@n_pB>N=_Lmj8d
zXBLk)X*xGsmwLKtrh#MynNEI)bLS-2cg;{dQL)!7+tV|Osi}>2_<&cgbwdHejs{_r
zxkn&H1_t3Mr-}alrlzVv5k4xnNMFRLP`hadO3SL&j~Vj)W@OArMw~84L=NLjzP!ZL
zP>wH6i=?uKB459fIa;BJYS8dRu}tJG0I+79QC2sP$##3RjCfJiZOk-CP^RtYVpD4I
z&GbH$y95}7Qz+S$mg?GP3AI(;>^R=<Gjo5y)Kh7;b<^U``mxMhU6m|4d=hjL{Zq8W
z?EcZA5d##q>5G*ru|Ks>i4xNTjB38gpm>WUzP(ueX&RSTA#<LOqZ_4L=2>xYGTg;I
zbv&33SC*SI|A>4{asvxhNMoW=d7!s<vMD5oY~j9g<f;f^purH#Gp0T<8gtOk{tv+!
z5@&K9>lXh>Pf<y)C-k#=ea{zy54!QL<kFPf^YUjOb-!oq_VuLte2cq|F`K`Bo&J`x
zD6(`~_2kl-p?Bgo*U57w&Mzh^N2M>2V|I_&DBEF*sb23aKz3K#yoPu)AEC4%u5P8-
zxg1!%Y6*wK&AC(94X)?;C4&Rvl!#;5P7>DmTerxHZ5D&0-G0>{o6bb;&oh<To5<<a
zga)iPVIa7zj*p$!Y}HpzLd!Khl@%7lbkh^9%6%OyMkS=J<Z8>7W-#ode-eB6YzlLo
z%iTD?r;dyM8~_9Hx~z>xmUnrn@@h$)FfVb1|J~E4*>QZ&Y)VRxLG&Gh8!vaFDE$Xp
z$3#rZJSqJgzI-o0U_ivh)U)L05;rNI_=xNRz2$jV4$~n)x>(xQ!zsa7=(SZ(PtS<i
zJ3UQ9e6@7zIh?s>1)Vd(`!kKui|0Tt4O<DEK&IJFep!{^J><TTW^myF3B1ibaXN>&
zh2hZ#3+1tY&N+HDYHJtB`gvNkMAVG&Nf!sbo|9y2MZ#>G&sRw<iN;fzfML{_M`Z-R
zAD0Oo;#^yNwQ`IOri>#cYZ6bZeQan#f#!M9%l+1*wM0(t<l4Pa1j2~1`zzn4R?@51
zz_|uW$s$UX-b){IM>yBY_5uB6D&_g8QSv07PlWzL2bq$+IDF;E%mMo5h`5JdMs+XX
zdy2*OhIZt*4z88xePo#E-+b5s3eMC!4_kix_|Y#;f7v!K>fwJsE9)4#6sd|+<%^E4
z{JZBG!X=_z?pF1dSKs4%)q`Kg>nFa<)E=XMWw<!s`yE_f<lW<}*@>6{$!AL;ZTsl6
ze{LL)QZDD|KC@$DN_3hVpc;<`$V{`)`I<XQcsG#v-t6KhP#HhJ;=dVUufhOmt8vWd
z!6b;u+sG&1_aZv^-`qmyvrG162-}8bOaSC5v0tIhn1tO}?EI%?8+p|+qpecSRiIYz
zcaC(oi@>p74Tk~1`u7}I+hfU78$Qk3@l`EnVrCwjnwI)b&ytDT&8$v@IN=nwW>B{B
ze05L6+Iehq|26+43|uw$TBZAc2CoJIU2k2dMrTsqz2c?6qmR??>cbYX)nm@Pr_rn4
z9v)YU#Qe!6BlANsMiW<=S1U8HbZ`b=OT${yUzy#MC>6+DLzs>%`-kx4W*w~#!_I_m
zbLU1#b~~L{J~`;O^fUtt$r~u)dC(ns6?%Sntlrcq3tA#R49z<C(?*gv*CJ>z_W6{B
z*J~~`ec&4zl8)h`RhTLqd}lp@mFOkOhb6NL?7OX5xInL96QW~_&?i?4SnJ^)kFLm*
zi)1;_m0LzH#DI-INV?tZAb~52Ls?S9L&$TEhl!P_N;lGKKu7mVStBoSrp~lZrSBKX
z7<sSNX4UEUfw6AA?Mg?I5yO`h?2y&I=!;;Oo(e=-=?$|%F2Q7+=@6TD<^@aV+`w2F
z`^ig!h2CA5KzrX7&(k2cJWAr)>N{QUe?x36%T!=Xxr0Y+d-G+*d+pF5_x@4QKC$~4
zA?4<+`@z5so<s>HxISLPquxBT94rE<ex@B&YjzWX^@y9j8%8d9iTj%J#Q$U7-Xe?a
z>%RL)RBl6UR7w8iROGfd*DCH)*jUl6C{}*F)T5H0SgLiGq_5Kj;FPxMh<2W@u7hu5
zH%~i;a-PgKF^tPKN}?pE%bFUsZ<R@6$dew8zVj&~u~h6nz=6Z}5{=v|HbGU627!$Q
zeT6OUQUM>Dj2>+!tbLPDn0h@r|2pxpnMCgL8b7`674q()eX*9>v<cL`c{m)1EI7Nf
z47>49A`c1Ta|UYcq;QlEtrKC?ot!^oWwPnfVBFaS7uNivzWI&`W7)Uvr*g+r<t=4&
z$9JV1b3c#A-W{ZTN$*~3aHW>LFF#EoTiuPubZ(g9Y|5?zN1beEv2AXye6k*ypR6|}
za!u+q#7f($>bZk}uypXWocj#HxqiHZE4=puImnaUOM`$j=NBO!;!Wr{<TFk`jML!G
znk_j`Q>^!x9fP3a^|r|P@<P*l)sMU7h`SXCb_TS_7};JcmRhzo6rp%YGuP)bxv1j8
zVuC_r@wyBJml1aOFu}#h$R-q+E&fm4Z&HgMuBx62YM;u}q?w-xnHWl<=Eg)cwp8#8
zKJoDNO|HaS9mwiU<H)M~PA*7O2+`=rj%abeb0>M>!&v-q#nQ$Zsq!7KuWd&6w>MiE
z24%=B5bFlYV%ayw^fqnk8Yf;Npz^Fj4r4ga@WDo-J}&&M0p88oM4sP_jn)+-I_2Dd
z?;x<-U!w}i!Sg(?b)mUs0oPN5g2`JSHf(u3wPGJf&N^*0fwygO9W*-+Z-{P)QKeP)
z%5r?KE`6IcK{bX^+(p`W#5@M|gGL*e*~DHk&<EsB=Aibn<StgduWqy{rx!4j)b++2
zg@zKjvK>F1=i8-So^aE5$4M&mcye|);f=*a(Q5Y!?*Y1FWUdv?7$Vv)iaCihfw1Z0
z0;8Q%wEN+DN%{yql(VVp_dP0KL@rhwPrBFL?V-pDoI~w1**&I;zwvu^n|PDE{PEM(
zQbDiihcpOb*va*uE75JXCe5(jQaJv+nV}PM`TNAu1SfsAjJ1kyG7e@BVg}{LBpja?
z3XQ8M?`TFFtwyHP9wMHB`Y`7}jqIqHqjPv;m-<9NRAbdV#`rpQU05+_&ipU{SSFY(
zy~#s79M(&87rFcS-I%ft*>9@ES7^X5l89+qd_<oHb1b-*SVGk|c@AHnwP`@Yh?vB~
zb;7XE)8*Wuy7V5zV>d_&%pdq_95i2S)wuJ_hZ8aAt#4G}`tCW)BVeBTnjb$-4?)Hw
z_bq+3?BC%Qb~c>e0VQPhr%kU%k1rOX`=$Xsfh0!Rw3_4nKc2h)VKm!^Gk!2%=<x9h
zePe2Xgo|^(pG|1G9Sq|lv)_8Md&>p3@zD6OeSdUDam=IVz%jeRo;^J79gjWOs`{WC
z<LigsAC7CSU-n_V^+et$QF5`JM3ID5NfaHR2mC44ac|FgZI4Rj0x5Q0FLQ9J){sBF
z{6wV@=xHQ;jpqtcab}-0y7I2lE1gr!*Xp}BA*9}3o=hpKN$Z+V>r){qOUsyms<?MO
z8~G<NFUbg#28^B_IN9jIhgpB+z}tb)g^&)vG-53ZZWV*7S%proL_9hkPur4dUL;-@
zW{4L-{8bgf3qzll1I2B70h`F_{^Y_n{ovK{2S-t6_>2Ue)m6{-gyscC$aIq0%nbkd
zL4lvA!gDwGtJ~CHmk>g){-Ijmv)fZs>>rnWqC6y7I3kH$@k1bWe$jQ&-+kb$LnII2
z&Jj8@o_w%f40<!Ue{K2hmQRvs4ErIxLP-f#1-|alJQLm}bc<^7)ow6GTIGxXwmDh&
zRwdDiUyMqT;=e$*i_`wepi3{9`LAP05y|}Tz2XwSf+`7!WRBiV$xzk>!U}qU@%OFR
zuP1um`-ht{Fwj5VI|9F<t6V_aZ%@G7|9BY+;^4ooMfaY7GyT8c===s{59lu_d9RZ`
zf4-0ouFe}dN|TbrCh-=GLq2Z^!Y5b$1}y#zY~cS0Y7g@N2_Bslda3n)<mW%j)IUS{
zZ$bUvjrJQ;zc~937>!;z{u}q!d*1cSK);@T^Q3>~XK%7!2Kx2%f9K~nSN=Eo`DZBq
z-&B7y@GHLlnV<h}s(*=}-yC?4J#!_PeMhKY<yt`9lJ%d(mrO>ATRJ@7U^NEEiOc~d
zdDB2ln7OsOyEShy7hkuv`#M)|Zru@|S^6zWW*0ZK+w~gTTUu6j{>o)G_lK-B-JYRg
zp#Zd3rv#QW%{>SPf#@6j!3ukl@cifwHCCQ<_T_{Qa!@D%2!`B9q|xGtq$@2-_D?i{
zkOujOgQj_e8)?RQomAc8CnIUCSx5z9Te#NI`f)#YMQsK}S`64T48vN${YJaK!yr%U
zIW@7$BSg+b_5|`X&u@;F+H-ah`j`~DS`oZ2I=bImz*m@HZ@+HU05a)@@u)49nhy)Z
zTb;U!CqO4PR>Gb8JAd>!4%SZ(+5|dDDjQ#}E4>?-xyJ9C05qM>&)pxI>gfm+ZfSW(
zGZq59QeT~nSzYhTBsT+zuL7k90BWBTiO-j;??zX?_oQo>^^AGY-bS+uj#7%KnaUQ1
zC+m_xUZtd{=QcFsv807M=@_-IFh=Wk*KxFWj0}vWXa1`+5=gD4X6f>(!-T6pDvb!`
z6*^StMHmnzH->IugK$4Tb0&)o#)DlcZbF&RR@#jb+Lmy{B~+}q1D#fEm#*)Uc8#N@
zkB{vnn5__|NRG#yR1tgzv|9b0?WAzJG`ns~yXNWjB_E)JPUHhhO<Pl!c>T?6$~l-=
zcn~~-VDzJUlCnA4;Q=)MtyL3YSm{*k$Xfr2q@rNzny_j)SgN?HBAW&!t3xWBm|jc!
zDuYgQU)Ezrv+aNi7uXqvc#=?Fxek0n&gYvmsx>TY!o<0x8MP0hmfyyMw-@WP5hX6(
zj_ty(fR9jls^ufcz=hz+q&B&j?i~26J*+#PT0#BB*;ZO*6aoILAmxZb+xn?onvCu=
z3vtV?rpnd-&){Y42rux_RqyW~v@(_Z&zSL*_b%vsMND-BYK2l0xPipbR#s7K5`S2P
zD((w~J&1p3d=4-vNRsBG$%a!xEI?tRnMT*(^M-^gJoJ#5KT52SMOXr5v{JV(04vgu
zvB99T-6|>PWzZZ-nOv5F5C~R$e|w4By1AsI`_NmGQk{%czTXpmdsp-CfN=*&MdnF-
zv1S_AeC{erA2}|H?SggNCpLPUa|5iN9M|<fXPui1vJZkE$G8e6-Q5*q+>>B0f4};(
z?cCAE?d*{__=p7KKm^=L7HoAbOzeC`$wK!rkC2Al7#An;LX{X<poBi^cF^d1sR}u|
zR)**alX-0H@mHfCxVnXyD+#MRIwdVvI5u`1C)tG2HLMO1y#zPQUHOr?`9CfM##5UG
z=+f@=!rL;IU9`2Rk+}NZi9X%Gwa}a}S4O@6QbXItfx96Hgwmzlb?5c&*ZEo*DVp*n
z7*IrSj`Uojmvu9N<e`^vYb>TDi4h3!q|D4Fj@LdL-L*lohSOgYA(T#sZ(sM+(1p!d
zabNT#y<i+gmF2N9c+PS=17DhWjgmJe&T*pYn=%maa%k0J7U-iLBw{z`ch`qToT{oi
z?jbBpDB!znZng)TNMh1t=q1)c0HM`$cUyIL^Zn(Ih7MrP>u>fX&h`f)gvBwA%}AdP
zfYRM|3UNjmZ(R+Nfe)Jd+2z?jXhVUV0FV#MTw)q~MR^K50SJUVUWvW*0qL*n1DL%w
z>XFfbqkq?Tf!FwX=m!M<P}{mB+}b-z1m|e-Otn$Vrre;+RYTrQpgdPys|T((p^mJQ
z0l}cgEOF#&>4+T^{<r$N79;bIe;mH(HJfPJ^0(5M^<4sWPqVGNMvontL$y&?yds3b
zyhWuCZibAkqZWb=D`hDQW`N1qLV@(z97&f$gX1p9!YQD${tF+lwe2ia+d(*o?*t(Q
z4AivKb3$=Y0x)%AcWrZsYZ71jM!a$9I<ky_5vSzL0}&|>$Exwp?;z2^Ql~;2cqwDy
zZJxm~o{6CsS;N$`AnSL9CiLEmA;k<M)<c058lVtwD{joZvnS)W(K&LJoLPOC7`e+F
zzpW0KJcgEB85auJB{l5A=Odi^N=6|OW|e9Z9)Sf{dsF6^w9kH!xjM;oWp_OHlG;73
zCP?1XUWi;E!}(~IiS5zk&lld+#CcIL+v_*Djx%u#hGw9)2P=*F&_WUZVc+x5R0?=K
z2I5(L&Bw;JS`@X~fS*ZEzbX(rUIL_-XT<v>@QPa}i7(+ggrxkbfo4F18k9#hRx{0u
z7L<(SM3+vDCq4D|`(Bp>2r967mGYq2V?k92{rywcNnrRH<<IEKgq+QveGAR^^`tu^
z4L*a8t>+v&BDK0b{pFQqU{*h9eLWuM4Wk|H4?qH0t&jLgA5T*9o;sX<yZX)POx=S0
zK=+#VZS2JWG@EhvN&3Q<bn!tR1({b#B_D9B{lIP2R;R>Y?@#{tW}@D4xmlOcb{PFf
zjGj8wYo`qa_dJ#7u<A+8v=X~l+v6i~##e`U@C6)Jq4Wep*&U63S@c#nSyBJPeWVSl
z@$rCam>oMD+XE!^o<ExsUlv^+<s|jq+8Lh6Aim4$S7e!r<}ip%X9Rjy^Kvk<y--;F
z=YA~9+8w-Dq^(<Mbc@M@K_ft3YCWZ*AP@Ud0W&_}-t8f`?Gg|$G$pp>L0c`^$@?Ir
z$~SMwA@f}l$i-{aP+MD9E<X3QKl5mPSrl|GGNn2Q%Ka2nNCPiAo&$vipE383W5WsI
zwK8PdS<9O!x~{p$y3`bL8fM0yM7v$(T1eG1X}qWNXL_&(c)bhOYcql=^HIGWo(Yzo
z0F>uNQ73CscSH9Vt>%UhS~px$Jr-+HOT<@C(iSCa#k?hfQ|DR1{C9YZ-);@uknnOH
zpM^ipxPg@0x6~>oJ}3ZXr;kFTLbFxXhbo}0!X<<WiFP@SIvKKzZbgz%57U6P3!zdS
z<U;3BngVIO)k)ObkeQ<WT}(m{&6BJJy&9CaEH}vVt_%$pwQ?CoE~qu~;8s$yx;i^>
zw)j@>P5NAC#3ozNx=mS%3h>7fV8T@f#g8$e_Nud!xofipU+)^*`yM5R5s^WsRy239
zT2XFBk`JKH6-*3}Ve?U$zO!82JN@Zq(~8gC+s4=?m6iDzc;}Bbe;OF{=lcr%{M>!S
z8t8?Y`BJoc<;p8cxQYW4D_7*sJwHqoVAKB!lG4oez!ly^<HJPFz($rkVvNb}L!WpH
zWDSF)P<1k;O|Iif358T|*;g??-0uSbBN90{BZc`5_<a+tE)z`azz~IDtrPJj4L?Z?
zTOO7kv<iRJr|0gU9Wl!bsAH*GP;Kgj`-M4c-QXTD=1r!Fk~X=hPu0<_4{sRX!~bac
z+P~<kKT>*DT@0#?TNiglxZc~n597kNfh?u+VuJb{doG_ubNX@RbEN42t95Q2ErdH<
zo0sxOIG>qf6Ye(5aOb=B2X&yMzm&%<Apgk5`iIhPkxtzwyBu)%KD~9J2GV&o)qrD~
Srw3#gh_;5Vdd@ZTXa5VA9&MWd

diff --git a/skel/.gitkeep b/skel/.gitkeep
deleted file mode 100644
index e69de29..0000000
diff --git a/skel/.kasmpasswd b/skel/.kasmpasswd
deleted file mode 100644
index 85c8c91..0000000
--- a/skel/.kasmpasswd
+++ /dev/null
@@ -1 +0,0 @@
-spiri:$5$kasm$bc2Fwutowq1kSiQCv2rNYVgn8.bJeARYMydYCvU1WKC:wo
diff --git a/skel/Desktop/simulated-drone/docker-compose.yaml b/skel/Desktop/simulated-drone/docker-compose.yaml
deleted file mode 100644
index 9235962..0000000
--- a/skel/Desktop/simulated-drone/docker-compose.yaml
+++ /dev/null
@@ -1,107 +0,0 @@
-version: "3.8"
-
-
-services:
-  mavros:
-    image: git.spirirobotics.com/spiri/services-ros1-mavros:master
-    command: roslaunch mavros px4.launch fcu_url:="udp://:${MAVROS_SIM_FCU_PORT}@127.0.0.1:${MAVROS_SIM_GCS_PORT:-14557}" tgt_system:=${DRONE_SYS_ID:-1}
-    environment:
-      - "ROS_MASTER_URI=http://ros-master:${ROS_MASTER_PORT:-11311}"
-    depends_on:
-      ros-master:
-        condition: service_healthy
-    restart: always
-    deploy:
-      resources:
-        limits:
-          memory: 200M
-    ulimits:
-      nofile:
-        soft: 1024
-        hard: 524288
-    ports:
-      - "${MAVROS_SIM_FCU_PORT:-14540}:${MAVROS_SIM_FCU_PORT:-14540}/udp"
-      - "${MAVROS_SIM_GCS_PORT:-14557}:${MAVROS_SIM_GCS_PORT:-14557}/udp"
-
-  ros-master:
-    image: git.spirirobotics.com/spiri/services-ros1-core:main
-    command: stdbuf -o L roscore --port ${ROS_MASTER_PORT:-11311}
-    environment:
-      - "ROS_MASTER_URI=http://ros-master:${ROS_MASTER_PORT:-11311}"
-    restart: always
-    ports:
-      - "127.0.0.1:${ROS_MASTER_PORT:-11311}:${ROS_MASTER_PORT:-11311}"
-    deploy:
-      resources:
-        limits:
-          memory: 1G
-    ulimits:
-      nofile:
-        soft: 1024
-        hard: 524288
-
-  # gscam:
-  #   image: git.spirirobotics.com/spiri/services-ros1-gscam_all_in_one:main
-  #   runtime: nvidia
-  #   environment:
-  #     ROS_MASTER_URI: http://localhost:11311
-  #     ROS_LOG_LEVEL: DEBUG
-  #     PORT_GSCAM_CONFIG: >
-  #       nvarguscamerasrc sensor-id=0 aelock=true awblock=true ! video/x-raw(memory:NVMM), width=(int)$(arg width), height=(int)$(arg height), format=(string)NV12, framerate=(fraction)$(arg fps)/1 ! nvvidconv flip-method=0 ! video/x-raw, format=(string)BGRx ! videoconvert ! video/x-raw, format=(string)BGR                
-  #     STARBOARD_GSCAM_CONFIG: >
-  #       nvarguscamerasrc sensor-id=1 aelock=true awblock=true ! video/x-raw(memory:NVMM), width=(int)$(arg width), height=(int)$(arg height), format=(string)NV12, framerate=(fraction)$(arg fps)/1 ! nvvidconv flip-method=0 ! video/x-raw, format=(string)BGRx ! videoconvert ! video/x-raw, format=(string)BGR                
-  #   volumes:
-  #     - /tmp/argus_socket:/tmp/argus_socket
-  #
-  # udp-stream:
-  #   image: git.spirirobotics.com/spiri/services-ros1-gscam_all_in_one:main
-  #   privileged: true
-  #   runtime: nvidia
-  #   network_mode: host
-  #   environment:
-  #     DISPLAY: ":0"
-  #   volumes:
-  #     - /tmp/argus_socket:/tmp/argus_socket
-  #     - /tmp/.X11-unix:/tmp/.X11-unix
-  #     - /var/run/xauth/:/var/run/xauth/
-  #   command: >
-  #     gst-launch-1.0
-  #     nvarguscamerasrc sensor-id=0
-  #     ! 'video/x-raw(memory:NVMM), width=(int)1280, height=(int)720, format=(string)NV12, framerate=(fraction)60/1'
-  #     ! tee name=raw
-  #     raw. ! queue
-  #       ! nvegltransform ! nveglglessink sync=false async=false
-  #     raw. ! queue
-  #       ! videorate max-rate=30 drop-only=true
-  #       ! queue max-size-buffers=3 leaky=downstream 
-  #       ! nvv4l2h265enc 
-  #         bitrate=2000000
-  #         iframeinterval=300
-  #         vbv-size=33333
-  #         insert-sps-pps=true
-  #         control-rate=constant_bitrate
-  #         profile=Main
-  #         num-B-Frames=0
-  #         ratecontrol-enable=true
-  #         preset-level=UltraFastPreset
-  #         EnableTwopassCBR=false
-  #         maxperf-enable=true
-  #       ! rtph265pay name=pay0 pt=96 config-interval=-1 mtu=1400
-  #       ! udpsink host=192.168.1.100 auto-multicast=false port=5600 sync=false async=false           
-  #
-  # mavproxy:
-  #   image: git.spirirobotics.com/spiri/services-mavproxy:main
-  #   command: >
-  #     mavproxy.py --non-interactive
-  #     --out=udpin:0.0.0.0:14551
-  #     --out=udpin:0.0.0.0:14550
-  #     --out=tcpin:0.0.0.0:5760
-  #     --master=/dev/ttyTHS2 --baudrate 921600
-  #   restart: always
-  #   devices:
-  #     - "/dev/ttyTHS2:/dev/ttyTHS2"
-  #   ports:
-  #     - "14550:14550/udp"
-  #     - "5760:5760/tcp"
-  #
-  #
diff --git a/skel/Desktop/simulated-drone/sim_drone.py b/skel/Desktop/simulated-drone/sim_drone.py
deleted file mode 100755
index ba77554..0000000
--- a/skel/Desktop/simulated-drone/sim_drone.py
+++ /dev/null
@@ -1,229 +0,0 @@
-#!/bin/env python3
-import typer
-import os
-import sys
-import contextlib
-import pathlib
-import time
-import functools
-from typing import List
-from loguru import logger
-import sh
-import atexit
-
-logger.remove()
-logger.add(
-    sys.stdout, format="<green>{time}</green> <level>{level}</level> {extra} {message}"
-)
-
-px4Path = os.environ.get("SPIRI_SIM_PX4_PATH", "/opt/spiri-sdk/PX4-Autopilot/")
-logger.info(f"SPIRI_SIM_PX4_PATH={px4Path}")
-
-app = typer.Typer()
-
-# This is a list of processes that we need to .kill and .wait for on exit
-processes = []
-
-
-class outputLogger:
-    """
-    Logs command output to loguru
-    """
-
-    def __init__(self, name, instance):
-        self.name = name
-        self.instance = instance
-
-    def __call__(self, message):
-        with logger.contextualize(cmd=self.name, instance=self.instance):
-            if message.endswith("\n"):
-                message = message[:-1]
-            # ToDo, this doesn't work because the output is coloured
-            if message.startswith("INFO"):
-                message = message.lstrip("INFO")
-                logger.info(message)
-            elif message.startswith("WARN"):
-                message = message.lstrip("WARN")
-                logger.warning(message)
-            elif message.startswith("ERROR"):
-                message = message.lstrip("ERROR")
-                logger.error(message)
-            elif message.startswith("DEBUG"):
-                message = message.lstrip("DEBUG")
-                logger.debug(message)
-            else:
-                logger.info(message)
-
-
-@contextlib.contextmanager
-def modified_environ(*remove, **update):
-    """
-    Temporarily updates the ``os.environ`` dictionary in-place.
-
-    The ``os.environ`` dictionary is updated in-place so that the modification
-    is sure to work in all situations.
-
-    :param remove: Environment variables to remove.
-    :param update: Dictionary of environment variables and values to add/update.
-    """
-    env = os.environ
-    update = update or {}
-    remove = remove or []
-
-    # List of environment variables being updated or removed.
-    stomped = (set(update.keys()) | set(remove)) & set(env.keys())
-    # Environment variables and values to restore on exit.
-    update_after = {k: env[k] for k in stomped}
-    # Environment variables and values to remove on exit.
-    remove_after = frozenset(k for k in update if k not in env)
-
-    try:
-        env.update(update)
-        [env.pop(k, None) for k in remove]
-        yield
-    finally:
-        env.update(update_after)
-        [env.pop(k) for k in remove_after]
-
-
-def wait_for_gazebo(timeout=60, interval=1):
-    start_time = time.time()
-    while time.time() - start_time < timeout:
-        try:
-            # Run the 'gz topic list' command
-            topics = sh.gz("topic", "-l").strip()
-            if topics:
-                logger.info("Gazebo Ignition is running.")
-                return True
-        except sh.ErrorReturnCode:
-            # If the command fails, Gazebo might not be running yet
-            pass
-        logger.info(
-            f"Gazebo Ignition is not running. Retrying in {interval} seconds..."
-        )
-        time.sleep(interval)
-
-    logger.error("Timeout reached. Gazebo Ignition is not running.")
-    return False
-
-
-def wait_for_docker_on_port(port, timeout=60, interval=1):
-    start_time = time.time()
-    while time.time() - start_time < timeout:
-        try:
-            # Check if there's a working docker daemon listening at port
-            with modified_environ(DOCKER_HOST=f"tcp://localhost:{port}"):
-                sh.docker("version")
-        except sh.ErrorReturnCode:
-            # If the command fails, Gazebo might not be running yet
-            pass
-        logger.info(f"Docker port is not running. Retrying in {interval} seconds...")
-        time.sleep(interval)
-    logger.error("Timeout reached. Docker port is not running.")
-    return False
-
-
-@app.command()
-def start(sys_id: int = 1, extra_apps: List[pathlib.Path] = []):
-    """Starts the simulated drone with a given sys_id,
-    each drone must have it's own unique ID.
-    """
-    if sys_id < 1 or sys_id > 254:
-        logger.error("sys_id must be between 1 and 254")
-        raise typer.Exit(code=1)
-    with logger.contextualize(syd_id=sys_id):
-        DOCKER_INSTANCE = (str(2375 + sys_id),)
-        with modified_environ(
-            # PX4_SIM_MODEL=os.environ.get("PX4_SIM_MODEL") or "gz_x500",
-            # ToDo: pose is not passed to gazebo classic
-            PX4_GZ_MODEL_POSE=os.environ.get("PX4_GZ_MODEL_POSE") or f"0,{(sys_id-1)}",
-            PX4_INSTANCE="intance_id",
-            DOCKER_INSTANCE=DOCKER_INSTANCE,
-            ROS_MASTER_PORT=str(11310 + sys_id),
-            MAVROS_SIM_GCS_PORT=str(14556 + sys_id),
-            MAVROS_SIM_FCU_PORT=str(14539 + sys_id),
-            DRONE_SYS_ID=str(sys_id),
-        ):
-            logger.info("Starting drone simulation")
-            # Run the make px4_sitl gazebo-classic command
-            px4_command = sh.make(
-                "px4_sitl",
-                "gazebo-classic_mu",
-                _bg=True,
-                _out=outputLogger("px4", sys_id),
-                _cwd=px4Path,
-            )
-            processes.append(px4_command)
-            logger.info("Starting drone docker instance")
-            # Here we start a docker-in-docker instance with the DOCKER_INSTANCE port exposed to localhost
-            dockerinstance = sh.docker(
-                "run",
-                "--privileged",
-                "--name",
-                f"simulated_robot_{sys_id}_docker",
-                "-p",
-                f"localhost:{DOCKER_INSTANCE}:{DOCKER_INSTANCE}",
-                # Run the docker command in forground to capture the output
-                "docker:dind",
-                _bg=True,
-                _out=outputLogger("docker", sys_id),
-            )
-            processes.append(dockerinstance)
-            # Wait for the docker daemon to start
-            logger.info(f"Waiting for docker daemon on port {DOCKER_INSTANCE}")
-            wait_for_docker_on_port(DOCKER_INSTANCE)
-
-            logger.info("Starting drone stack, this may take some time")
-            docker_stack = sh.docker.compose(
-                "--project-name",
-                f"simulated_robot_{sys_id}",
-                "up",
-                _out=outputLogger("docker_stack", sys_id),
-                _err=sys.stderr,
-                _bg=True,
-            )
-            processes.append(docker_stack)
-            for extra_app in extra_apps:
-                logger.info(f"Starting app {extra_app}, this may take some time")
-                app_name = extra_app.stem
-                app_stack = sh.docker.compose(
-                    "--project-name",
-                    f"simulated_robot_{sys_id}_{app_name}",
-                    "up",
-                    _out=outputLogger(app_name, sys_id),
-                    _err=sys.stderr,
-                    _bg=True,
-                )
-                processes.append(app_stack)
-
-
-@app.command()
-def start_group(
-    count: int = typer.Argument(min=1, max=10), extra_apps: List[pathlib.Path] = []
-):
-    """Start a group of robots"""
-    for i in range(count):
-        logger.info(f"start robot {i}")
-        start(sys_id=i + 1, extra_apps=extra_apps)
-        if i == 0:
-            wait_for_gazebo()
-
-
-def cleanup():
-    # Wait for all subprocesses to exit
-    logger.info("Waiting for commands to exit")
-    print(processes)
-    for waitable in processes:
-        waitable.kill()
-        waitable.wait()
-
-
-atexit.register(cleanup)
-
-if __name__ == "__main__":
-    try:
-        app()
-    except KeyboardInterrupt:
-        logger.info("KeyboardInterrupt caught, exiting...")
-        cleanup()
-        sys.exit(0)
diff --git a/virtualize.sh b/virtualize.sh
deleted file mode 100755
index f729386..0000000
--- a/virtualize.sh
+++ /dev/null
@@ -1,31 +0,0 @@
-#!/usr/bin/env bash
-
-# Function to extract the output file from arguments
-extract_output_file() {
-	while [[ $# -gt 0 ]]; do
-		key="$1"
-		case $key in
-		-o | --output)
-			output_file="$2"
-			shift # past argument
-			shift # past value
-			;;
-		*)
-			shift # past argument
-			;;
-		esac
-	done
-}
-
-# Extract the -o argument
-extract_output_file "$@"
-
-# Run the docker command
-#docker run --rm -it -v /var/run/docker.sock:/var/run/docker.sock --privileged -v "$PWD":/d2vm -w /d2vm vmutil "$@"
-docker run --rm -it -v /var/run/docker.sock:/var/run/docker.sock --privileged -v "$PWD":/d2vm -w /d2vm git.spirirobotics.com/spiri/utils-docker_to_ovf:2024-05-21 "$@"
-
-# Change the ownership of the output file to the current user
-if [[ -n "$output_file" ]]; then
-	echo "Setting permissions on file"
-	sudo chown $(whoami) "$output_file"
-fi