Almost done

Dockerfile

@@ -21,7 +21,7 @@ RUN apt-get install docker-ce docker-ce-cli containerd.io docker-buildx-plugin d
 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 -y
+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
@@ -49,7 +49,7 @@ 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 $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

README.md

@@ -8,75 +8,11 @@ docker run -p 127.0.0.1:8466:8466 \
   git.spirirobotics.com/spiri/spiri-sdk-desktop:master
  ```
 
-Navigate to http://localhost:8466, and log in using the username `spiri` and the password `spiri-friend`
+Navigate to http://localhost:8466, and log in using the username `spiri` and the password `spiri-friend`.
 
-For a complete example try this:
+From inside the SDK use the following commands to start gazebo and a virtual drone.
 
-```yaml
+```
-version: "3.3"
+cd ~/sdk/
-
+docker compose up
-#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.
-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
 ```

docker-compose.yaml

@@ -4,7 +4,7 @@ version: "3.3"
 # 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.
+# the install. This only applies when using docker-in-docker
 name: "spiri-sdk"
 
 volumes:

skel/spiri-sdk/docker-compose.yaml

@@ -0,0 +1,73 @@
+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: radarku/mavros
+    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
+