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@ -21,7 +21,7 @@ RUN apt-get install docker-ce docker-ce-cli containerd.io docker-buildx-plugin d
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RUN apt-get install ros-$ROS_DISTRO-gazebo-ros-pkgs ros-$ROS_DISTRO-gazebo-ros-control gazebo11 -y
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RUN apt-get install ros-$ROS_DISTRO-mavros -y
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RUN apt-get install lxqt-core dbus-x11 udisks2- gvfs-daemons- gvfs-backends- gvfs-fuse- -y #A few things related to FUSE need to be explicityly not installed
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RUN apt-get install vim nano htop git mesa-utils rsync -y
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RUN apt-get install vim nano htop git mesa-utils rsync iputils-ping -y
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RUN apt-get install firefox -y
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RUN apt-get remove gnome-shell -y
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@ -49,7 +49,7 @@ ARG USER_GID=$USER_UID
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RUN groupadd --gid $USER_GID $USERNAME
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RUN useradd --uid $USER_UID --gid $USER_GID --create-home --shell /bin/bash $USERNAME
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RUN usermod -aG sudo,ssl-cert $USERNAME
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RUN usermod -aG sudo,ssl-cert,docker $USERNAME
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RUN echo "$USERNAME ALL=(ALL) NOPASSWD:ALL" >> /etc/sudoers.d/$USERNAME
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RUN chmod 0440 /etc/sudoers.d/$USERNAME
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RUN echo "${USERNAME}:spiri-friend" | chpasswd
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74
README.md
74
README.md
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@ -8,75 +8,11 @@ docker run -p 127.0.0.1:8466:8466 \
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git.spirirobotics.com/spiri/spiri-sdk-desktop:master
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```
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Navigate to http://localhost:8466, and log in using the username `spiri` and the password `spiri-friend`
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Navigate to http://localhost:8466, and log in using the username `spiri` and the password `spiri-friend`.
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For a complete example try this:
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From inside the SDK use the following commands to start gazebo and a virtual drone.
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```yaml
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version: "3.3"
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#Due to a bug in moby's libnetwork DNS resolver single domains like `gazebo`
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# don't get resolved properly, even when we have ndots set to 0 like we're
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# supposed to. So we need to reference `gazebo.compose-name_network-name`.
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# We explicitly set the name variable so that changing folders doesn't break
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# the install.
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name: "spiri-sdk"
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volumes:
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user-home:
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dockeradmin:
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docker-cache:
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services:
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drone-stack:
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#The drone runs docker, so ultimately our drone stack is just a docker-in-docker container.
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## This can make it difficult to deal with GPU acceleration, but remember that ROS *is*
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## distributed. You don't need to run your GPU-accelerated rosnode on the drone-stack,
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## just make sure you can contact the ROS_MASTER.
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runtime: sysbox-runc
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image: docker:24-dind
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command: dockerd -H unix:///var/run/docker.sock -H tcp://0.0.0.0:2375 --tls=false
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healthcheck:
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test: docker info
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start_interval: 1s
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ports:
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- "127.0.0.1:5760:5760" #Ground control
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- "127.0.0.1:4560:4560" # Simulation
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- "127.0.0.1:14560:14560" # Simulation
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- "127.0.0.1:11311:11311" #Ros master
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volumes:
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- docker-cache:/var/lib/docker/
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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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gazebo:
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image: git.spirirobotics.com/spiri/gazebo-classic:main
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# command: gzserver --verbose /usr/share/gazebo-11/worlds/empty.world
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command: gzserver --verbose /usr/share/gazebo-11/worlds/citadel_hill_world.world
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ports:
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- "127.0.0.1:11345:11345" #Ros master
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desktop:
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image: git.spirirobotics.com/spiri/spiri-sdk-desktop:master
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runtime: sysbox-runc
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tty: true
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environment:
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DOCKER_HOST: tcp://drone-stack:2375
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ROS_MASTER_URI: http://drone-stack:11311
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GAZEBO_MASTER_URI: http://gazebo.spiri-sdk_default:11345
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ports:
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- 127.0.0.1:8466:8466
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volumes:
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- ./spiri-sdk-home:/home/spiri
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depends_on:
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drone-stack:
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condition: service_healthy
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```
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cd ~/sdk/
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docker compose up
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```
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@ -4,7 +4,7 @@ version: "3.3"
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# don't get resolved properly, even when we have ndots set to 0 like we're
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# supposed to. So we need to reference `gazebo.compose-name_network-name`.
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# We explicitly set the name variable so that changing folders doesn't break
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# the install.
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# the install. This only applies when using docker-in-docker
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name: "spiri-sdk"
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volumes:
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@ -0,0 +1,73 @@
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version: "3"
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name: "spiri-sdk"
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services:
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gazebo:
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image: git.spirirobotics.com/spiri/gazebo-classic:main
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# command: gzserver --verbose /usr/share/gazebo-11/worlds/empty.world
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command: gzserver --verbose /usr/share/gazebo-11/worlds/citadel_hill_world.world
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ports:
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- 127.0.0.1:11345:11345
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robot-coprocessor-simulation:
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image: git.spirirobotics.com/spiri/px4-sim:master
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environment:
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ROS_MASTER_URI: "http://ros-master:11311"
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GAZEBO_MASTER_URI: http://gazebo.spiri-sdk_default:11345
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# MAVLINK_REPORT_STATS: "True"
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PX4_SYS_AUTOSTART: 4001 #Generic Quadrotor X https://docs.px4.io/main/en/airframes/airframe_reference.html#quadrotor-x
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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.
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PX4_SIM_HOSTNAME: gazebo.spiri-sdk_default
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restart: always
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ports:
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- "5760:5760" #Ground control
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- "4560:4560" # Simulation
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- "14560:14560" # Simulation
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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: radarku/mavros
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command: roslaunch mavros px4.launch fcu_url:="udp://:14540@robot-coprocessor-simulation:14541"
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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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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: ros:noetic-ros-core
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#command: roscore
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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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healthcheck:
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test: ["CMD", "/ros_entrypoint.sh", "rostopic", "list"]
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retries: 6
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restart: always
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ports:
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- 11311:11311
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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: 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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