Tidied permissions, installed docker daemon in VM

2024-05-28 14:30:18 -03:00 · 2024-05-28 14:30:18 -03:00 · 3345b0ba07
parent b1e8ab2f1b
commit 3345b0ba07
4 changed files with 136 additions and 82 deletions
--- a/26
+++ b/26
@ -15,14 +15,24 @@ RUN git clone --depth 1 -b v1.15.0-beta1 https://github.com/PX4/PX4-Autopilot.gi
 WORKDIR /opt/spiri-sdk/PX4-Autopilot/
 RUN DONT_RUN=1 make px4_sitl gazebo-classic

-RUN apt-get install --yes virtualbox-guest-dkms virtualbox-guest-utils
+RUN apt-get install --yes virtualbox-guest-dkms virtualbox-guest-utils spice-vdagent qemu-guest-agent
+RUN apt-get install --yes docker-compose-v2 firefox
+#Install our desktop environment last
+RUN apt-get install --yes --no-install-recommends lubuntu-desktop sddm
+
+COPY ./skel/ /opt/spiri-sdk/user-home-skeleton/
+RUN cp -r /opt/spiri-sdk/user-home-skeleton/* /etc/skel/
+
+RUN useradd -m -s /bin/bash spiri && echo 'spiri:spiri-friend' | chpasswd
+RUN usermod -aG sudo,docker spiri
+RUN userdel user
+
+
+#Install vscodium, a vscode fork with no telemetry and a worse package store
+# RUN sh -c "curl -fSsL https://gitlab.com/paulcarroty/vscodium-deb-rpm-repo/raw/master/pub.gpg | sudo gpg --dearmor | sudo tee /usr/share/keyrings/vscodium.gpg > /dev/null"
+# RUN "echo deb [signed-by=/usr/share/keyrings/vscodium.gpg] https://download.vscodium.com/debs vscodium main | sudo tee /etc/apt/sources.list.d/vscodium.list"
+# RUN apt update
+# RUN apt install codium --yes

 #This should be the first real user created and the `users` group on most linux distros
 RUN chown -R 1000:100 /opt/spiri-sdk
-#Install our desktop environment last
-RUN apt-get install --yes --no-install-recommends lxqt
-
-RUN useradd -m -s /bin/bash spiri && echo 'spiri:spiri-friend' | chpasswd
-
-# Optional: Add spiri to sudo group if needed
-RUN usermod -aG sudo spiri
--- a/README.md
+++ b/README.md
@ -14,6 +14,8 @@ integrate it with their existing linux workflows.
 ```bash
 distrobox create --image git.spirirobotics.com/spiri/spiri-sdk-desktop:main
 distrobox enter spiri-sdk-desktop-main
+#You can optionally copy the standard SDK setup from /opt/spiri-sdk/user-home-skeleton/
+# cp -r /opt/spiri-sdk/user-home-skeleton/* ~/
 cd /opt/spiri-sdk/PX4-Autopilot/
 make px4_sitl gazebo-classic #Start the simulator
 ```
@ -25,3 +27,10 @@ make px4_sitl gazebo-classic #Start the simulator
 # 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-x87_64 -display default,show-cursor=on -enable-kvm  -device virtio-gpu -m 4g -smp 4 -hda sdk.qcow2
+```
--- a/ova-compose.yml
+++ b/ova-compose.yml
@ -1,74 +0,0 @@
-system:
-    name: spiri-sdk
-    type: vmx-17
-    os_vmw: other4xLinux64Guest
-    firmware: efi
-    secure_boot: false
-
-networks:
-    vm_network:
-        name: "VM Network"
-        description: "The VM Network network"
-
-hardware:
-    cpus: 2
-    memory: 2048
-    # sata1:
-    #     type: sata_controller
-    scsi1:
-        type: scsi_controller
-    # cdrom1:
-    #     type: cd_drive
-    #     parent: sata1
-    rootdisk:
-        type: hard_disk
-        parent: scsi1
-        #Set automatically as part of our pipeline, do not change
-        disk_image: output.vmdk
-    usb1:
-        type: usb_controller
-    # ethernet1:
-    #     type: ethernet
-    #     subtype: VmxNet3
-    #     network: vm_network
-    # videocard1:
-    #     type: video_card
-    # vmci1:
-    #     type: vmci
-
-# configurations:
-#     tall:
-#         label: Tall
-#         description: too little for the money
-#     grande:
-#         label: Grande
-#         description: just right
-#     venti:
-#         label: Venti
-#         description: too much
-
-# environment:
-#     transports:
-#         - com.vmware.guestInfo
-#         - iso
-#     categories:
-#         email: Email Settings
-#     properties:
-#         guestinfo.admin.email:
-#             value: admin@company.org
-#             user_configurable: true
-#             type: string
-#             description: "The Admin's email address"
-#             label: "Email Address"
-#             category: email
-
-# extra_configs:
-#     feature.enabled:
-#         required: false
-#         value: true
-#     log.rotateSize:
-#         value: 2048000
-
-product:
-    product: Spiri SDK desktop
-    vendor: Spiri Robotics
--- a/skel/Desktop/simulated-drone/docker-compose.yaml
+++ b/skel/Desktop/simulated-drone/docker-compose.yaml
@ -0,0 +1,109 @@
+version: "3.8"
+
+services:
+
+  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"
+    
+  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"
+    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:
+      - "0.0.0.0:11311:11311"
+    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