Moved robot config to own folder structure

2024-11-07 12:18:53 -04:00 · 2024-11-07 12:18:53 -04:00 · 1a409a063a
parent 4ae96ff8b9
commit 1a409a063a
5 changed files with 123 additions and 108 deletions
--- a/docker-compose.yml
+++ b/docker-compose.yml
@ -28,7 +28,8 @@ services:
      #Auto reload on code changes
      - ./guiTools/spiri_sdk_guitools/:/app/spiri_sdk_guitools/
      # Enable launching the SDK from the SDK
-      - ./:/app/sdk
+      # - ./:/app/sdk
+      - ./robots:/robots
      - /var/run/docker.sock:/var/run/docker.sock
    devices:
      # Provide access to GPU devices
@ -41,7 +42,6 @@ services:
    privileged: true # Allow privileged access if necessary (e.g., for GPU access)
    # restart: unless-stopped
    # command: /bin/bash -c "source /opt/ros/foxy/setup.bash && rvis2"  # Replace with the actual command to run Gazebo Ignition
-    profiles: [ui]
    deploy:
      resources:
        reservations:
@ -50,102 +50,3 @@ services:
              device_ids:
                - nvidia.com/gpu=all

-  ardupilot:
-    env_file:
-      - .env
-    image: git.spirirobotics.com/spiri/ardupilot:spiri-master
-    command:
-      - /bin/bash
-      - -c
-      - |
-        ./Tools/autotest/sim_vehicle.py $ARDUPILOT_VEHICLE --no-rebuild \
-        --no-mavproxy --enable-dds --sysid $DRONE_SYS_ID -I$INSTANCE
-    profiles:
-      - uav-sim
-    stdin_open: true
-    tty: true
-    network_mode: host
-
-  mavproxy:
-    env_file:
-      - .env
-    image: git.spirirobotics.com/spiri/services-mavproxy:main
-    command: >
-      mavproxy.py --non-interactive
-      --master tcp:127.0.0.1:$SERIAL0_PORT 
-      --out udpout:0.0.0.0:$MAVROS2_PORT
-      --out udpout:0.0.0.0:$MAVROS1_PORT
-      --sitl 127.0.0.1:$SITL_PORT
-      --out udp:0.0.0.0:$GCS_PORT
-    profiles:
-      - uav-sim
-    ipc: host
-    network_mode: host
-    restart: always
-
-  mavros2:
-    env_file:
-      - .env
-    image: git.spirirobotics.com/spiri/services-ros2-mavros:main
-    command: ros2 launch mavros apm.launch fcu_url:="udp://0.0.0.0:$MAVROS2_PORT@:14555" namespace:="spiri$DRONE_SYS_ID" tgt_system:="$DRONE_SYS_ID"
-    profiles:
-      - uav-sim
-    ipc: host
-    network_mode: host
-    restart: always
-    depends_on:
-      ardupilot:
-        condition: service_started
-      mavproxy:
-        condition: service_started
-    deploy:
-      resources:
-        limits:
-          # cpus: '0.01'
-          memory: 200M
-    ulimits:
-      nofile:
-        soft: 1024
-        hard: 524288
-  mavros:
-    #This service bridges our mavlink-based robot-coprosessor into ROS
-    #In this example it connects to a simulated coprocessor.
-    env_file:
-      - .env
-    image: git.spirirobotics.com/spiri/services-ros1-mavros:master
-    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"
-    profiles:
-      - uav-sim
-    ipc: host
-    network_mode: host
-    restart: always
-    deploy:
-      resources:
-        limits:
-          # cpus: '0.01'
-          memory: 200M
-    ulimits:
-      nofile:
-        soft: 1024
-        hard: 524288
-
-  ros-master:
-    env_file:
-      - .env
-    image: git.spirirobotics.com/spiri/services-ros1-core:main
-    command: stdbuf -o L roscore
-    profiles:
-      - ros-master
-    ipc: host
-    network_mode: host
-    restart: always
-    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
--- a/guiTools/spiri_sdk_guitools/launcher.py
+++ b/guiTools/spiri_sdk_guitools/launcher.py
@ -46,7 +46,7 @@ async def main():
        with ui.tab_panel(tab_robots):
            new_robot_widget = ui.element().classes("w-1/2")
            with ui.element().classes("w-1/2"):
-                ui.label("Debug")
+                ui.label("Debug").classes("text-xl")
                def cleanup_all_containers():
                    #Find all containers that start with spiri-sdk
                    containers = docker_client.containers.list(all=True)
@ -59,16 +59,16 @@ async def main():
                ui.button("Cleanup all containers", on_click=cleanup_all_containers)

            ui.separator()
-            ui.label("Current robots")
+            ui.label("Current robots").classes("text-3xl")
            robots_widget = ui.element().classes("w-full")

            #Add a new robot
            with new_robot_widget:
-                ui.label("Add new robot")
+                ui.label("Add new robot").classes("text-3xl")
                newRobotParams = defaultdict(binding.BindableProperty)
                ui.number(value=1, label="SysID", min=1, max=254,
                          ).bind_value(newRobotParams, 'sysid')
-                ui.textarea(value="./sdk/docker-compose.yml", label="Compose files (comma or newline seperated)").bind_value(newRobotParams, 'compose_files')
+                ui.textarea(value="/robots/spiri-mu/core/docker-compose.yaml", label="Compose files (comma or newline seperated)").bind_value(newRobotParams, 'compose_files')
                async def new_robot():
                    robot = Robot(**newRobotParams)
                    asyncio.tasks.create_task(robot.ui(robots_widget))
--- a/guiTools/spiri_sdk_guitools/sim_drone.py
+++ b/guiTools/spiri_sdk_guitools/sim_drone.py
@ -82,8 +82,8 @@ class Robot:
                    if container not in docker_elements:
                        docker_elements[container] = ui.element().classes("w-full")
                        with docker_elements[container]:
-                            ui.label().bind_text(container_status, container)
-                            logelement = ui.expansion("Logs").style('margin: 10px;').classes('w-full')
+                            ui.label().bind_text(container_status, container).classes("text-lg")
+                            logelement = ui.expansion("Logs").style('margin: 10px;').classes('w-full outline outline-1')
                            asyncio.create_task(container_logs(container, logelement))
                #Check for containers that have been removed
                removed = set(docker_elements.keys()) - set(self.containers())
@ -98,7 +98,7 @@ class Robot:
        with element:
            self.robot_ui = ui.element().classes("w-full outline p-4")
            with self.robot_ui:
-                ui.label(f"{self.robot_type}")
+                ui.label(f"{self.robot_type} {self.sysid}").classes("text-2xl")
                ui.label(f"""Sysid: {self.sysid}""")
                ui.button("Start", on_click=self.start).classes("m-2")
                ui.button("Stop", on_click=self.async_stop).classes("m-2")
--- a/robots/spiri-mu/core/.env
+++ b/robots/spiri-mu/core/.env
@ -0,0 +1,19 @@
+DRONE_SYS_ID=1
+INSTANCE=0
+SERIAL0_PORT=5760
+SITL_PORT=5501
+MAVROS2_PORT=14560
+MAVROS1_PORT=14561
+FDM_PORT_IN=9002
+GSTREAMER_UDP_PORT=5600
+ROS_MASTER_URI="http://0.0.0.0:11311"
+
+
+ARDUPILOT_VEHICLE="-v copter -f gazebo-mu --model=JSON -L CitadelHill"
+WORLD_FILE_NAME="citadel_hill_world.sdf"
+WORLD_NAME="citadel_hill"
+DRONE_MODEL="spiri_mu"
+
+
+SIM_DRONE_COUNT=1
+GCS_PORT=14550
--- a/robots/spiri-mu/core/docker-compose.yaml
+++ b/robots/spiri-mu/core/docker-compose.yaml
@ -0,0 +1,95 @@
+services:
+  ardupilot:
+    env_file:
+      - .env
+    image: git.spirirobotics.com/spiri/ardupilot:spiri-master
+    command:
+      - /bin/bash
+      - -c
+      - |
+        ./Tools/autotest/sim_vehicle.py $ARDUPILOT_VEHICLE --no-rebuild \
+        --no-mavproxy --enable-dds --sysid $DRONE_SYS_ID -I$INSTANCE
+    stdin_open: true
+    tty: true
+    network_mode: host
+
+  mavproxy:
+    env_file:
+      - .env
+    image: git.spirirobotics.com/spiri/services-mavproxy:main
+    command: >
+      mavproxy.py --non-interactive
+      --master tcp:127.0.0.1:$SERIAL0_PORT 
+      --out udpout:0.0.0.0:$MAVROS2_PORT
+      --out udpout:0.0.0.0:$MAVROS1_PORT
+      --sitl 127.0.0.1:$SITL_PORT
+      --out udp:0.0.0.0:$GCS_PORT
+    ipc: host
+    network_mode: host
+    restart: always
+
+  mavros2:
+    env_file:
+      - .env
+    image: git.spirirobotics.com/spiri/services-ros2-mavros:main
+    command: ros2 launch mavros apm.launch fcu_url:="udp://0.0.0.0:$MAVROS2_PORT@:14555" namespace:="spiri$DRONE_SYS_ID" tgt_system:="$DRONE_SYS_ID"
+    ipc: host
+    network_mode: host
+    restart: always
+    depends_on:
+      ardupilot:
+        condition: service_started
+      mavproxy:
+        condition: service_started
+    deploy:
+      resources:
+        limits:
+          # cpus: '0.01'
+          memory: 200M
+    ulimits:
+      nofile:
+        soft: 1024
+        hard: 524288
+
+  mavros:
+    #This service bridges our mavlink-based robot-coprosessor into ROS
+    #In this example it connects to a simulated coprocessor.
+    env_file:
+      - .env
+    image: git.spirirobotics.com/spiri/services-ros1-mavros:master
+    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"
+    profiles:
+      - ros1
+    ipc: host
+    network_mode: host
+    restart: always
+    deploy:
+      resources:
+        limits:
+          # cpus: '0.01'
+          memory: 200M
+    ulimits:
+      nofile:
+        soft: 1024
+        hard: 524288
+
+  ros-master:
+    env_file:
+      - .env
+    image: git.spirirobotics.com/spiri/services-ros1-core:main
+    command: stdbuf -o L roscore
+    profiles:
+      - ros1-master
+    ipc: host
+    network_mode: host
+    restart: always
+    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