Change of direction, we're now deploying as a virtual machine image

Dockerfile

@@ -1,75 +1,21 @@
-FROM nestybox/ubuntu-focal-systemd
+FROM px4io/px4-dev-simulation-focal
 
-ENV ROS_DISTRO noetic
-ENV DEBIAN_FRONTEND noninteractive
-
-RUN apt-get update
-RUN apt-get install curl gnupg2 software-properties-common -y
-
-RUN sh -c 'curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | apt-key add -'
-RUN sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
-RUN sh -c 'curl -fsSL https://download.docker.com/linux/ubuntu/gpg | apt-key add -'
-RUN sh -c 'add-apt-repository "deb [arch=amd64] https://download.docker.com/linux/ubuntu focal stable"'
-# RUN add-apt-repository ppa:flatpak/stable
-
-#Make sure we're running latest gazebo11, since px4io/px4-dev-ros-noetic does.
-RUN sh -c "curl -sSL http://get.gazebosim.org | sh"
-
-RUN apt-get update
-RUN apt-get install ros-$ROS_DISTRO-ros-core -y
-RUN apt-get install docker-ce docker-ce-cli containerd.io docker-buildx-plugin docker-compose-plugin -y
-RUN apt-get install ros-$ROS_DISTRO-gazebo-ros-pkgs ros-$ROS_DISTRO-gazebo-ros-control gazebo11 -y
-RUN apt-get install ros-$ROS_DISTRO-mavros -y
-RUN apt-get install lxqt-core dbus-x11 udisks2- gvfs-daemons- gvfs-backends- gvfs-fuse- -y  #A few things related to FUSE need to be explicityly not installed
-RUN apt-get install vim nano htop git mesa-utils rsync iputils-ping -y
-RUN apt-get install firefox -y
-
-RUN apt-get remove gnome-shell -y
-RUN apt-get autoremove -y
-
-RUN wget https://github.com/kasmtech/KasmVNC/releases/download/v1.2.0/kasmvncserver_focal_1.2.0_amd64.deb
-RUN apt-get install ./kasmvncserver_focal_1.2.0_amd64.deb --yes
-RUN rm ./kasmvncserver_focal_1.2.0_amd64.deb
-
-COPY ./kasmvnc.yaml /etc/kasmvnc/kasmvnc.yaml
-COPY ./userhome.service /etc/systemd/system/
-RUN systemctl enable userhome
-COPY ./kasmvnc.service /etc/systemd/system/
-RUN systemctl enable kasmvnc
-
-#Custom user skel overrides. We're not going to be too worried about permissions for this one.
-COPY ./skel /etc/skel/
-
-#Delete default user and replace it with our own
-RUN userdel -r admin
-
-ARG USERNAME=spiri
-ARG USER_UID=1000
-ARG USER_GID=$USER_UID
-
-RUN groupadd --gid $USER_GID $USERNAME
-RUN useradd --uid $USER_UID --gid $USER_GID --create-home --shell /bin/bash $USERNAME
-RUN usermod -aG sudo,ssl-cert,docker $USERNAME
-RUN echo "$USERNAME ALL=(ALL) NOPASSWD:ALL" >> /etc/sudoers.d/$USERNAME
-RUN chmod 0440 /etc/sudoers.d/$USERNAME
-RUN echo "${USERNAME}:spiri-friend" | chpasswd
-
-COPY --chown=$USER_UID:$USER_GID --chmod=0755 ./xstartup /opt/xstartup
-
-COPY ./background.png /opt/spiri-wallpaper.png
-run sed -i 's|/usr/share/lxqt/themes/debian/wallpaper.svg|/opt/spiri-wallpaper.png|' /etc/xdg/pcmanfm-qt/lxqt/settings.conf
-#Remove transparency it can make lead to compression artifacts
-run sed -i 's|TerminalTransparency=10|/TerminalTransparency=0|' /etc/xdg/qterminal.org/qterminal.ini
-
-#Copy in our custom gazebo resources
 COPY --link --from=git.spirirobotics.com/spiri/gazebo-resources:latest /models /usr/share/gazebo-11/models/
 COPY --link --from=git.spirirobotics.com/spiri/gazebo-resources:latest /worlds /usr/share/gazebo-11/worlds/
 COPY --link --from=git.spirirobotics.com/spiri/gazebo-resources:latest /plugins /usr/lib/x86_64-linux-gnu/gazebo-11/plugins
 
-VOLUME /home/spiri/
+RUN apt-get update && apt-get upgrade --yes
 
-# # #Install nix, for easy mixin packages. Homebrew would also work...
+#Install base packages for distrobox
-# RUN curl -L https://nixos.org/nix/install | sh -s -- --no-daemon
+# RUN apt-get install --yes bc bzip2 chpasswd curl diff find findmnt gpg hostname less lsof man mount passwd pigz pinentry ping ps rsync script ssh sudo time tree umount unzip useradd wc wget xauth zip
-# COPY ./nix.conf /etc/nix/nix.conf
+
-# # # RUN nix flake init
+WORKDIR /opt/spiri-sdk
-# USER 0
+
+RUN git clone --depth 1 -b v1.15.0-beta1 https://github.com/PX4/PX4-Autopilot.git --recursive
+WORKDIR /opt/spiri-sdk/PX4-Autopilot/
+RUN DONT_RUN=1 make px4_sitl gazebo-classic
+
+#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 lxqt

README.md

@@ -1,20 +1,18 @@
 
-Make sure sysbox and docker are installed and run
+# Ways of running
 
-```sh
+There are two main ways of running this software.
-docker run -p 127.0.0.1:8466:8466 \
+
-  --volume ./spiri-sdk-home:/home/spiri:rw \
+Most users are recomended to install [VirtualBox](https://www.virtualbox.org/) and load the 
-  --runtime=sysbox-runc -it \
+virtual appliance file into it.
-  git.spirirobotics.com/spiri/spiri-sdk-desktop:master
+
+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:main
+distrobox enter spiri-sdk-desktop-main
+cd /opt/spiri-sdk/PX4-Autopilot/
+make px4_sitl gazebo-classic #Start the simulator
 ```
-
-Navigate to http://localhost:8466, and log in using the username `spiri` and the password `spiri-friend`.
-
-From inside the SDK use the following commands to start gazebo and a virtual drone.
-
-```
-cd ~/sdk/
-docker compose up
-```
-
-Run `gzclient` to launch gazebo, then insert a `3DR Iris` and your simulated drone will be ready for takeoff.

docker-compose.yaml

@@ -1,67 +0,0 @@
-version: "3.3"
-
-#Due to a bug in moby's libnetwork DNS resolver single domains like `gazebo`
-# don't get resolved properly, even when we have ndots set to 0 like we're
-# supposed to. So we need to reference `gazebo.compose-name_network-name`.
-# We explicitly set the name variable so that changing folders doesn't break
-# the install. This only applies when using docker-in-docker
-name: "spiri-sdk"
-
-volumes:
-  user-home:
-  dockeradmin:
-  docker-cache:
-
-services:
-
-  drone-stack:
-    #The drone runs docker, so ultimately our drone stack is just a docker-in-docker container.
-    ## This can make it difficult to deal with GPU acceleration, but remember that ROS *is*
-    ## distributed. You don't need to run your GPU-accelerated rosnode on the drone-stack,
-    ## just make sure you can contact the ROS_MASTER.
-    runtime: sysbox-runc
-    image: docker:24-dind
-    command: dockerd -H unix:///var/run/docker.sock -H tcp://0.0.0.0:2375 --tls=false
-    healthcheck:
-      test: docker info
-      start_interval: 1s
-    ports:
-      - "127.0.0.1:5760:5760" #Ground control
-      - "127.0.0.1:4560:4560" # Simulation
-      - "127.0.0.1:14560:14560" # Simulation
-      - "127.0.0.1:11311:11311" #Ros master
-
-    volumes:
-      - docker-cache:/var/lib/docker/
-
-    #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
-
-  gazebo:
-    image: git.spirirobotics.com/spiri/gazebo-classic:main
-    # command: gzserver --verbose /usr/share/gazebo-11/worlds/empty.world
-    command: gzserver --verbose /usr/share/gazebo-11/worlds/citadel_hill_world.world
-    ports:
-      - "127.0.0.1:11345:11345" #Ros master
-
-  desktop:
-    image: git.spirirobotics.com/spiri/spiri-sdk-desktop:master
-    runtime: sysbox-runc
-    tty: true
-    environment:
-      DOCKER_HOST: tcp://drone-stack:2375
-      ROS_MASTER_URI: http://drone-stack:11311
-      GAZEBO_MASTER_URI: http://gazebo.spiri-sdk_default:11345
-
-    ports:
-      - "127.0.0.1:8466:8466"
-    volumes:
-      - ./spiri-sdk-home:/home/spiri
-    depends_on:
-      drone-stack:
-        condition: service_healthy
-

kasmvnc.service

@@ -1,19 +0,0 @@
-[Unit]
-Description=KasmVNC
-After=network.target
-
-[Service]
-Type=simple
-ExecStart=kasmvncserver :23 -fg -select-de LXQT -xstartup /opt/xstartup
-ExectStop=kasmvncserver -kill :23
-User=spiri
-Group=spiri
-Requires=userhome.service
-After=userhome.service
-
-Restart=on-failure
-RestartSec=3
-
-[Install]
-WantedBy=default.target
-

kasmvnc.yaml

@@ -1,131 +0,0 @@
-desktop:
-  resolution:
-    width: 1024
-    height: 768
-  allow_resize: true
-  pixel_depth: 24
-  gpu:
-    hw3d: false
-    drinode: /dev/dri/renderD128
-
-network:
-  protocol: http
-  interface: 0.0.0.0
-  websocket_port: auto
-  use_ipv4: true
-  use_ipv6: true
-  udp:
-    public_ip: auto
-    port: auto
-    stun_server: auto
-  ssl:
-    pem_certificate: /etc/ssl/certs/ssl-cert-snakeoil.pem
-    pem_key: /etc/ssl/private/ssl-cert-snakeoil.key
-    require_ssl: false
-
-user_session:
-  new_session_disconnects_existing_exclusive_session: false
-  concurrent_connections_prompt: false
-  concurrent_connections_prompt_timeout: 10
-  idle_timeout: never
-
-keyboard:
-  remap_keys:
-  ignore_numlock: false
-  raw_keyboard: false
-
-pointer:
-  enabled: true
-
-runtime_configuration:
-  allow_client_to_override_kasm_server_settings: true
-  allow_override_standard_vnc_server_settings: true
-  allow_override_list:
-    - pointer.enabled
-    - data_loss_prevention.clipboard.server_to_client.enabled
-    - data_loss_prevention.clipboard.client_to_server.enabled
-    - data_loss_prevention.clipboard.server_to_client.primary_clipboard_enabled
-
-logging:
-  log_writer_name: all
-  log_dest: logfile
-  level: 30
-
-security:
-  brute_force_protection:
-    blacklist_threshold: 5
-    blacklist_timeout: 10
-
-data_loss_prevention:
-  visible_region:
-    # top: 10
-    # left: 10
-    # right: 40
-    # bottom: 40
-    concealed_region:
-      allow_click_down: false
-      allow_click_release: false
-  clipboard:
-    delay_between_operations: none
-    allow_mimetypes:
-      - chromium/x-web-custom-data
-      - text/html
-      - image/png
-    server_to_client:
-      enabled: true
-      size: unlimited
-      primary_clipboard_enabled: false
-    client_to_server:
-      enabled: true
-      size: unlimited
-  keyboard:
-    enabled: true
-    rate_limit: unlimited
-  logging:
-    level: off
-
-encoding:
-  max_frame_rate: 60
-  full_frame_updates: none
-  rect_encoding_mode:
-    min_quality: 7
-    max_quality: 8
-    consider_lossless_quality: 10
-    rectangle_compress_threads: auto
-
-  video_encoding_mode:
-    jpeg_quality: -1
-    webp_quality: -1
-    max_resolution:
-      width: 1920
-      height: 1080
-    enter_video_encoding_mode:
-      time_threshold: 5
-      area_threshold: 45%
-    exit_video_encoding_mode:
-      time_threshold: 3
-    logging:
-      level: off
-    scaling_algorithm: progressive_bilinear
-
-  compare_framebuffer: auto
-  zrle_zlib_level: auto
-  hextile_improved_compression: true
-
-server:
-  http:
-    headers:
-      - Cross-Origin-Embedder-Policy=require-corp
-      - Cross-Origin-Opener-Policy=same-origin
-    httpd_directory: /usr/share/kasmvnc/www
-  advanced:
-    x_font_path: auto
-    kasm_password_file: ${HOME}/.kasmpasswd
-    x_authority_file: auto
-  auto_shutdown:
-    no_user_session_timeout: never
-    active_user_session_timeout: never
-    inactive_user_session_timeout: never
-
-command_line:
-  prompt: true

nix.conf

@@ -1 +0,0 @@
-experimental-features = nix-command flakes

skel/spiri-sdk/docker-compose.yaml

@@ -1,73 +0,0 @@
-version: "3"
-
-name: "spiri-sdk"
-
-services:
-
-  gazebo:
-    image: git.spirirobotics.com/spiri/gazebo-classic:main
-    # command: gzserver --verbose /usr/share/gazebo-11/worlds/empty.world
-    command: gzserver --verbose /usr/share/gazebo-11/worlds/citadel_hill_world.world
-    ports:
-      - "127.0.0.1:11345:11345"
-
-  robot-coprocessor-simulation:
-    image: git.spirirobotics.com/spiri/px4-sim:master
-    environment:
-      ROS_MASTER_URI: "http://ros-master:11311"
-      GAZEBO_MASTER_URI: http://gazebo.spiri-sdk_default:11345
-
-      # MAVLINK_REPORT_STATS: "True"
-      PX4_SYS_AUTOSTART: 4001 #Generic Quadrotor X https://docs.px4.io/main/en/airframes/airframe_reference.html#quadrotor-x
-      PX4_SIMULATOR: "remote" # If we leave this field blank in the config file, the simulator will be set to 'gz' by default. To override this and use a remote simulator instead, we need to assign any value (in this case, "remote") to this field.
-      PX4_SIM_HOSTNAME: gazebo.spiri-sdk_default
-    restart: always
-    ports:
-      - "5760:5760" #Ground control
-      - "4560:4560" # Simulation
-      - "14560:14560" # Simulation
-
-  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/spiri-sdk-mavros:master
-    command: roslaunch mavros px4.launch fcu_url:="udp://:14540@robot-coprocessor-simulation:14541"
-    environment:
-      - "ROS_MASTER_URI=http://ros-master:11311"
-    depends_on:
-      ros-master:
-        condition: service_healthy
-    deploy:
-      resources:
-        limits:
-          # cpus: '0.01'
-          memory: 200M
-    ulimits:
-      nofile:
-        soft: 1024
-        hard: 524288
-
-  ros-master:
-    image: ros:noetic-ros-core
-    #command: roscore
-    command: stdbuf -o L roscore
-    environment:
-      - "ROS_MASTER_URI=http://ros-master:11311"
-    healthcheck:
-      test: ["CMD", "/ros_entrypoint.sh", "rostopic", "list"]
-      retries: 6
-    restart: always
-    ports:
-      - 11311:11311
-    deploy:
-      resources:
-        limits:
-          # cpus: '0.01'
-          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
-

userhome.service

@@ -1,16 +0,0 @@
-[Unit]
-Description=Sets permissions on user home, in case user home is a docker mount
-After=network.target
-
-[Service]
-Type=oneshot
-ExecStart=sh -c "rsync /etc/skel/ /home/spiri -r --update && chown spiri:spiri /home/spiri -R"
-User=root
-Group=root
-
-Restart=on-failure
-RestartSec=3
-
-[Install]
-WantedBy=default.target
-

xstartup

@@ -1,5 +0,0 @@
-#!/bin/sh
-export QT_X11_NO_MITSHM=1
-#Set up the users home folder
-xdg-user-dirs-update
-exec startlxqt