From c53205eadbe197cd684e566260bbeb330ef0c825 Mon Sep 17 00:00:00 2001
From: Burak Ozter <burak.ozter@spirirobotics.com>
Date: Mon, 4 Nov 2024 11:47:21 -0400
Subject: [PATCH] 
 https://git.spirirobotics.com/Spiri/spiri-sdk/pulls/6#issuecomment-823 and
 https://git.spirirobotics.com/Spiri/spiri-sdk/pulls/6#issuecomment-824

---
 .env               | 33 ++++++++++++---------------------
 docker-compose.yml | 17 ++++++++---------
 2 files changed, 20 insertions(+), 30 deletions(-)

diff --git a/.env b/.env
index 546f8cd..695498e 100644
--- a/.env
+++ b/.env
@@ -1,28 +1,19 @@
-#Manual edit not needed unless desired set of DRONE_SYS_ID's are different.
-DRONE_SYS_ID=1 #sim_drone.py increments this env variable.
-#this is used for multi-vehicle sim. first/single vehicle would have these.
+DRONE_SYS_ID=1
 TRACKER_INSTANCE=0
 SERIAL0_PORT=5760
 SITL_PORT=5501
 MAVROS2_PORT=14560
 MAVROS1_PORT=14561
-#This is the vehicle ardupilot will use. Default value is for SITL + Gazebo
-#E.g. "-v copter" , "-v rover"
-ARDUPILOT_VEHICLE="-v ArduCopter -f gazebo-iris --model=JSON"
-
-#these below are used in spawn_drones.sh to create the world with the correct entities.
-#Number of drones to be spawned in the gazebo world.
-SIM_DRONE_COUNT=2
-#This is not needed to be modified.
 FDM_PORT_IN=9002
-#The world file you want to use.
-WORLD_FILE_NAME="citadel_hill_world.sdf"
-#World name in your world file. Not the same as world file name necessarily.
-#Important for spawning entities in the correct world.
-WORLD_NAME="citadel_hill"
-#Vehicle model folder name where model.config and model.xacro.sdf are present.
-DRONE_MODEL="spiri_mu"
-#Gstreamer UDP Port for each drone
 GSTREAMER_UDP_PORT=5600
-#ros 1
-ROS_MASTER_URI=http://0.0.0.0:11311
\ No newline at end of file
+ROS_MASTER_URI=http://0.0.0.0:11311
+
+
+ARDUPILOT_VEHICLE="-v ArduCopter -f gazebo-iris --model=JSON"
+WORLD_FILE_NAME="citadel_hill_world.sdf"
+WORLD_NAME="citadel_hill"
+DRONE_MODEL="spiri_mu"
+
+
+SIM_DRONE_COUNT=1
+GCS_PORT=14550
\ No newline at end of file
diff --git a/docker-compose.yml b/docker-compose.yml
index 613aa63..37d83e6 100644
--- a/docker-compose.yml
+++ b/docker-compose.yml
@@ -2,7 +2,6 @@ version: "3.8"
 
 services:
   gui-tools:
-    runtime: nvidia
     env_file:
       - .env
     build:
@@ -36,13 +35,13 @@ services:
     # restart: unless-stopped
     # command: /bin/bash -c "source /opt/ros/foxy/setup.bash && rvis2"  # Replace with the actual command to run Gazebo Ignition
     profiles: [ui]
-    # deploy:
-    #   resources:
-    #     reservations:
-    #       devices:
-    #        - driver: cdi
-    #          device_ids:
-    #             - nvidia.com/gpu=all
+    deploy:
+      resources:
+        reservations:
+          devices:
+            - driver: cdi
+              device_ids:
+                - nvidia.com/gpu=all
 
   ardupilot:
     env_file:
@@ -70,7 +69,7 @@ services:
       --out udpout:0.0.0.0:$MAVROS2_PORT
       --out udpout:0.0.0.0:$MAVROS1_PORT
       --sitl 127.0.0.1:$SITL_PORT
-      --out udp:0.0.0.0:14550
+      --out udp:0.0.0.0:$GCS_PORT
     profiles:
       - uav-sim
     ipc: host