Tidied permissions, installed docker daemon in VM
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Dockerfile
26
Dockerfile
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@ -15,14 +15,24 @@ RUN git clone --depth 1 -b v1.15.0-beta1 https://github.com/PX4/PX4-Autopilot.gi
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WORKDIR /opt/spiri-sdk/PX4-Autopilot/
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WORKDIR /opt/spiri-sdk/PX4-Autopilot/
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RUN DONT_RUN=1 make px4_sitl gazebo-classic
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RUN DONT_RUN=1 make px4_sitl gazebo-classic
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RUN apt-get install --yes virtualbox-guest-dkms virtualbox-guest-utils
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RUN apt-get install --yes virtualbox-guest-dkms virtualbox-guest-utils spice-vdagent qemu-guest-agent
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RUN apt-get install --yes docker-compose-v2 firefox
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#Install our desktop environment last
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RUN apt-get install --yes --no-install-recommends lubuntu-desktop sddm
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COPY ./skel/ /opt/spiri-sdk/user-home-skeleton/
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RUN cp -r /opt/spiri-sdk/user-home-skeleton/* /etc/skel/
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RUN useradd -m -s /bin/bash spiri && echo 'spiri:spiri-friend' | chpasswd
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RUN usermod -aG sudo,docker spiri
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RUN userdel user
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#Install vscodium, a vscode fork with no telemetry and a worse package store
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# 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"
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# 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"
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# RUN apt update
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# RUN apt install codium --yes
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#This should be the first real user created and the `users` group on most linux distros
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#This should be the first real user created and the `users` group on most linux distros
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RUN chown -R 1000:100 /opt/spiri-sdk
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RUN chown -R 1000:100 /opt/spiri-sdk
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#Install our desktop environment last
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RUN apt-get install --yes --no-install-recommends lxqt
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RUN useradd -m -s /bin/bash spiri && echo 'spiri:spiri-friend' | chpasswd
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# Optional: Add spiri to sudo group if needed
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RUN usermod -aG sudo spiri
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@ -14,6 +14,8 @@ integrate it with their existing linux workflows.
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```bash
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```bash
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distrobox create --image git.spirirobotics.com/spiri/spiri-sdk-desktop:main
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distrobox create --image git.spirirobotics.com/spiri/spiri-sdk-desktop:main
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distrobox enter spiri-sdk-desktop-main
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distrobox enter spiri-sdk-desktop-main
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#You can optionally copy the standard SDK setup from /opt/spiri-sdk/user-home-skeleton/
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# cp -r /opt/spiri-sdk/user-home-skeleton/* ~/
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cd /opt/spiri-sdk/PX4-Autopilot/
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cd /opt/spiri-sdk/PX4-Autopilot/
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make px4_sitl gazebo-classic #Start the simulator
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make px4_sitl gazebo-classic #Start the simulator
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```
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```
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@ -25,3 +27,10 @@ make px4_sitl gazebo-classic #Start the simulator
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# We mount the current working directory in the docker container as part of this script.
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# We mount the current working directory in the docker container as part of this script.
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./virtualize.sh build ./ -s 100gb -o sdk.vdi
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./virtualize.sh build ./ -s 100gb -o sdk.vdi
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```
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```
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For testing the VM, I use the following
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```bash
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./virtualize.sh build ./ -s 100gb -o sdk.qcow2
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qemu-system-x87_64 -display default,show-cursor=on -enable-kvm -device virtio-gpu -m 4g -smp 4 -hda sdk.qcow2
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```
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@ -1,74 +0,0 @@
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system:
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name: spiri-sdk
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type: vmx-17
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os_vmw: other4xLinux64Guest
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firmware: efi
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secure_boot: false
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networks:
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vm_network:
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name: "VM Network"
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description: "The VM Network network"
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hardware:
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cpus: 2
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memory: 2048
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# sata1:
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# type: sata_controller
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scsi1:
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type: scsi_controller
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# cdrom1:
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# type: cd_drive
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# parent: sata1
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rootdisk:
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type: hard_disk
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parent: scsi1
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#Set automatically as part of our pipeline, do not change
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disk_image: output.vmdk
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usb1:
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type: usb_controller
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# ethernet1:
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# type: ethernet
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# subtype: VmxNet3
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# network: vm_network
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# videocard1:
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# type: video_card
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# vmci1:
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# type: vmci
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# configurations:
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# tall:
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# label: Tall
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# description: too little for the money
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# grande:
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# label: Grande
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# description: just right
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# venti:
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# label: Venti
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# description: too much
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# environment:
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# transports:
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# - com.vmware.guestInfo
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# - iso
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# categories:
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# email: Email Settings
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# properties:
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# guestinfo.admin.email:
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# value: admin@company.org
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# user_configurable: true
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# type: string
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# description: "The Admin's email address"
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# label: "Email Address"
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# category: email
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# extra_configs:
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# feature.enabled:
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# required: false
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# value: true
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# log.rotateSize:
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# value: 2048000
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product:
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product: Spiri SDK desktop
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vendor: Spiri Robotics
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@ -0,0 +1,109 @@
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version: "3.8"
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services:
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gscam:
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image: git.spirirobotics.com/spiri/services-ros1-gscam_all_in_one:main
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runtime: nvidia
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environment:
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ROS_MASTER_URI: http://localhost:11311
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ROS_LOG_LEVEL: DEBUG
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PORT_GSCAM_CONFIG: >
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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)$(arg fps)/1 ! nvvidconv flip-method=0 ! video/x-raw, format=(string)BGRx ! videoconvert ! video/x-raw, format=(string)BGR
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STARBOARD_GSCAM_CONFIG: >
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nvarguscamerasrc sensor-id=1 aelock=true awblock=true ! video/x-raw(memory:NVMM), width=(int)$(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
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volumes:
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- /tmp/argus_socket:/tmp/argus_socket
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udp-stream:
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image: git.spirirobotics.com/spiri/services-ros1-gscam_all_in_one:main
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privileged: true
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runtime: nvidia
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network_mode: host
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environment:
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DISPLAY: ":0"
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volumes:
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- /tmp/argus_socket:/tmp/argus_socket
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- /tmp/.X11-unix:/tmp/.X11-unix
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- /var/run/xauth/:/var/run/xauth/
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command: >
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gst-launch-1.0
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nvarguscamerasrc sensor-id=0
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! 'video/x-raw(memory:NVMM), width=(int)1280, height=(int)720, format=(string)NV12, framerate=(fraction)60/1'
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! tee name=raw
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raw. ! queue
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! nvegltransform ! nveglglessink sync=false async=false
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raw. ! queue
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! videorate max-rate=30 drop-only=true
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! queue max-size-buffers=3 leaky=downstream
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! nvv4l2h265enc
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bitrate=2000000
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iframeinterval=300
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vbv-size=33333
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insert-sps-pps=true
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control-rate=constant_bitrate
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profile=Main
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num-B-Frames=0
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ratecontrol-enable=true
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preset-level=UltraFastPreset
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EnableTwopassCBR=false
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maxperf-enable=true
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! rtph265pay name=pay0 pt=96 config-interval=-1 mtu=1400
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! udpsink host=192.168.1.100 auto-multicast=false port=5600 sync=false async=false
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mavproxy:
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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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--out=udpin:0.0.0.0:14551
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--out=udpin:0.0.0.0:14550
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--out=tcpin:0.0.0.0:5760
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--master=/dev/ttyTHS2 --baudrate 921600
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restart: always
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devices:
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- "/dev/ttyTHS2:/dev/ttyTHS2"
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ports:
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- "14550:14550/udp"
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- "5760:5760/tcp"
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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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image: git.spirirobotics.com/spiri/services-ros1-mavros:master
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command: roslaunch mavros px4.launch fcu_url:="udp://:14555@mavproxy:14550"
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environment:
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- "ROS_MASTER_URI=http://ros-master:11311"
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depends_on:
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ros-master:
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condition: service_healthy
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mavproxy:
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condition: service_started
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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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image: git.spirirobotics.com/spiri/services-ros1-core:main
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command: stdbuf -o L roscore
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environment:
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- "ROS_MASTER_URI=http://ros-master:11311"
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restart: always
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ports:
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- "0.0.0.0:11311:11311"
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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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