Update for more reliable compose

guiTools/spiri_sdk_guitools/launcher.py

@@ -70,7 +70,7 @@ async def main():
                           ).bind_value(newRobotParams, 'sysid')
                 default_robot_compose = (
                         "/robots/spiri-mu/core/docker-compose.yaml\n"
-                        "#/robots/spiri-mu/virtual_camera/docker-compose.yaml"
+                        "#/robots/spiri-mu/virtual_camera/docker-compose.yaml --build"
                 )
                 ui.label("Compose files").classes("text-xl")
                 ui.codemirror(value=default_robot_compose, language="bash", theme="basicDark").bind_value(newRobotParams, 'compose_files')

guiTools/spiri_sdk_guitools/sim_drone.py

@@ -96,6 +96,7 @@ class Robot:
         container_status = {}
         with element:
             while True:
+                with logger.catch():
                     # Poll for data that changes
                     for container in self.containers():
                         try:
@@ -221,6 +222,11 @@ class Robot:
                 self.spawn_gz_model()
                 logger.info("Starting drone stack, this may take some time")
                 for compose_file in self.compose_files:
+                    arguments = compose_file.split(" ")
+                    arguments = [arg.strip() for arg in arguments]
+                    compose_file = arguments[0]
+                    arguments = arguments[1:]
+
                     if not isinstance(compose_file, Path):
                         compose_file = Path(compose_file)
                     if not compose_file.exists():
@@ -236,15 +242,17 @@ class Robot:
                         "-f",
                         compose_file.as_posix(),
                         "up",
+                        *arguments,
                     ]
                     command = " ".join(args)
 
                     logger.info(f"Starting drone stack with command: {command}")
                     docker_stack = subprocess.Popen(
                         args,
-                        stdout=subprocess.PIPE,
+                        # stdout=subprocess.PIPE,
-                        stderr=subprocess.PIPE,
+                        # stderr=subprocess.PIPE,
                     )
+                    logger.info(f"Started drone stack with PID: {docker_stack.pid}")
 
     @logger.catch
     def spawn_gz_model(self):

robots/spiri-mu/virtual_camera/docker-compose.yaml

@@ -4,7 +4,10 @@ services:
     ipc: host
     network_mode: host
     # image: git.spirirobotics.com/spiri/services-ros2-mavros:main
+    #Build the iamge, give it a name, don't try to pull the image
     build: ./
+    image: spirisdk-virtual_camera
+    pull_policy: never
     environment:
       - RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
     command: ros2 run ros_gz_image image_bridge /world/${WORLD_NAME}/model/${ROBOT_NAME}/link/pitch_link/sensor/camera/image