Update README.md

Reviewed-on: #11

.copier/answers.docs.yml

@@ -0,0 +1,5 @@
+# Changes here will be overwritten by Copier; NEVER EDIT MANUALLY
+_commit: v1.0.2
+_src_path: https://git.spirirobotics.com/Spiri/template-docs.git
+author_name: Spiri Robotics
+project_name: spiri-sdk

.env

@@ -0,0 +1,19 @@
+DRONE_SYS_ID=1
+INSTANCE=0
+SERIAL0_PORT=5760
+SITL_PORT=5501
+MAVROS2_PORT=14560
+MAVROS1_PORT=14561
+FDM_PORT_IN=9002
+GSTREAMER_UDP_PORT=5600
+ROS_MASTER_URI="http://0.0.0.0:11311"
+
+
+ARDUPILOT_VEHICLE="-v copter -f gazebo-mu --model=JSON -L CitadelHill"
+WORLD_FILE_NAME="citadel_hill_world.sdf"
+WORLD_NAME="citadel_hill"
+DRONE_MODEL="spiri_mu"
+
+
+SIM_DRONE_COUNT=1
+GCS_PORT=14550

.github/workflows/build-docs.yaml

@@ -0,0 +1,52 @@
+name: Build Docs
+
+on:
+  push:
+
+env:
+  REGISTRY: git.spirirobotics.com
+  IMAGE_NAME: ${{ github.repository }}
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+    container: sphinxdoc/sphinx-latexpdf
+
+    steps:
+    - name: Install sphinx-rtd-theme
+      run: pip install sphinx-rtd-theme myst-parser
+    - name: Install node so that custom actions work.
+      run : apt-get update && apt-get --yes install nodejs git
+
+    - name: Checkout Repository
+      uses: actions/checkout@v4
+
+    - name: Build Docs
+      run: make html latexpdf
+      working-directory: docs  # assuming your documentation is in a 'docs' folder
+
+    - name: Save PDF Artifacts
+      run: mv docs/build/latex/*.pdf ${{ github.workspace }}/docs.pdf
+
+    - name: Compress HTML
+      run: tar -czvf docs_html.tar.gz -C docs/build/html .
+
+    - name: Upload Docs
+      uses: actions/upload-artifact@v3
+      with:
+        name: docs_html.tar.gz
+        path: docs_html.tar.gz
+
+    - name: Upload PDF
+      uses: actions/upload-artifact@v3
+      with:
+        name: docs.pdf
+        path: docs.pdf
+
+    - name: Deploy
+      uses: s0/git-publish-subdir-action@develop
+      env:
+        REPO: http://git-spirirobotics-com-app:3000/Spiri/spiri-sdk.git/
+        BRANCH: gh-pages
+        FOLDER: ./docs/build/html
+        GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}

.gitignore

@@ -1,2 +1,3 @@
 docs/build/
-.vscode
+.vscode
+*.pyc

README.md

@@ -1,10 +1,10 @@
 # Spiri SDK - Simulated robot
 
-The Spiri SDK consists of a number of components. What you're looking at right now 
+The Spiri SDK consists of a number of components. What you're looking at right now
 is the drone simulation component, which is the core of the SDK.
 
 Spiri Robots run a number of docker containers to achieve their core functionality,
-we try to keep these essential docker containers in one docker compose file. The 
+we try to keep these essential docker containers in one docker compose file. The
 docker compose file you'll find in this repository starts an ardupilot-based UAV simulation
 as well as a ROS master, and mavproxy to tie it together.
 
@@ -13,6 +13,8 @@ To get started you can simply clone this repository and run `docker compose --pr
 Once the simulated UAV is running you can connect to it with QGroundControl or other
 MavLink compatible software. We expose the UAVs Mavlink conenction on tcp port 5760.
 
+There is experimental GUI support you can enable by running `docker compose --profile uav-sim --profile ui up`.
+
 ## Creating a new project
 
 We provide project templates you can use for development that integrate seamlessly into
@@ -23,13 +25,239 @@ These templates are intended to be used with VSCode.
 To get started with our project templates install the [copier](https://copier.readthedocs.io/en/stable/) project
 templating utility.
 
- * [template-service-ros1-catkin](https://git.spirirobotics.com/Spiri/template-service-ros1-catkin)
+- [template-service-ros1-catkin](https://git.spirirobotics.com/Spiri/template-service-ros1-catkin)
 
-This template uses the last stable release of ROS1 (ros noetic) and supports python and c++ programming 
+This template uses the last stable release of ROS1 (ros noetic) and supports python and c++ programming
 languages.
 
 ROS1 is considered end of life. It's recomended to use a ROS2 template instead
 
- * ROS2 template
+- ROS2 template
 
 We're working on it...
+
+## NVIDIA Container Toolkit
+
+[Source](https://docs.nvidia.com/datacenter/cloud-native/container-toolkit/latest/install-guide.html)
+
+### Installing with Apt
+
+```bash
+curl -fsSL https://nvidia.github.io/libnvidia-container/gpgkey | sudo gpg --dearmor -o /usr/share/keyrings/nvidia-container-toolkit-keyring.gpg \
+  && curl -s -L https://nvidia.github.io/libnvidia-container/stable/deb/nvidia-container-toolkit.list | \
+    sed 's#deb https://#deb [signed-by=/usr/share/keyrings/nvidia-container-toolkit-keyring.gpg] https://#g' | \
+    sudo tee /etc/apt/sources.list.d/nvidia-container-toolkit.list
+```
+
+```bash
+sudo apt-get update
+```
+
+```bash
+sudo apt-get install -y nvidia-container-toolkit
+```
+
+#### Configuration
+
+##### Prerequisites
+
+- You installed a supported container engine (Docker, Containerd, CRI-O, Podman).
+- You installed the NVIDIA Container Toolkit.
+
+```bash
+sudo nvidia-ctk runtime configure --runtime=docker --cdi.enabled
+```
+
+```bash
+sudo systemctl restart docker
+```
+
+### Sample Workload
+
+After you install and configure the toolkit and install an NVIDIA GPU Driver, you can verify your installation by running a sample workload.
+
+```bash
+sudo docker run --rm --runtime=nvidia --gpus all ubuntu nvidia-smi
+```
+
+Expected output:
+
+```console
++-----------------------------------------------------------------------------+
+| NVIDIA-SMI 535.86.10    Driver Version: 535.86.10    CUDA Version: 12.2     |
+|-------------------------------+----------------------+----------------------+
+| GPU  Name        Persistence-M| Bus-Id        Disp.A | Volatile Uncorr. ECC |
+| Fan  Temp  Perf  Pwr:Usage/Cap|         Memory-Usage | GPU-Util  Compute M. |
+|                               |                      |               MIG M. |
+|===============================+======================+======================|
+|   0  Tesla T4            On   | 00000000:00:1E.0 Off |                    0 |
+| N/A   34C    P8     9W /  70W |      0MiB / 15109MiB |      0%      Default |
+|                               |                      |                  N/A |
++-------------------------------+----------------------+----------------------+
+
++-----------------------------------------------------------------------------+
+| Processes:                                                                  |
+|  GPU   GI   CI        PID   Type   Process name                  GPU Memory |
+|        ID   ID                                                   Usage      |
+|=============================================================================|
+|  No running processes found                                                 |
++-----------------------------------------------------------------------------+
+```
+
+## Support for Container Device Interface(CDI)
+
+[Source](https://docs.nvidia.com/datacenter/cloud-native/container-toolkit/latest/cdi-support.html)
+
+### Prerequisites
+
+- You installed either the NVIDIA Container Toolkit or you installed the `nvidia-container-toolkit-base` package.
+  The base package includes the container runtime and the `nvidia-ctk` command-line interface, but avoids installing the container runtime hook and transitive dependencies.
+  The hook and dependencies are not needed on machines that use CDI exclusively
+- You installed an NVIDIA GPU Driver.
+
+Two common locations for CDI specifications are `/etc/cdi/` and `/var/run/cdi/`. The contents of the `/var/run/cdi/` directory are cleared on boot.
+
+1. Generate the CDI specification file:
+
+   ```bash
+   sudo nvidia-ctk cdi generate --output=/etc/cdi/nvidia.yaml
+   ```
+
+   Example output
+
+   ```console
+   INFO[0000] Auto-detected mode as "nvml"
+   INFO[0000] Selecting /dev/nvidia0 as /dev/nvidia0
+   INFO[0000] Selecting /dev/dri/card1 as /dev/dri/card1
+   INFO[0000] Selecting /dev/dri/renderD128 as /dev/dri/renderD128
+   INFO[0000] Using driver version xxx.xxx.xx
+    ...
+   ```
+
+2. (Optional) Check the names of the generated devices:
+
+   ```bash
+   nvidia-ctk cdi list
+   ```
+
+   Output
+
+   ```console
+   INFO[0000] Found 9 CDI devices
+   nvidia.com/gpu=all
+   nvidia.com/gpu=0
+   ```
+
+### Sample Workload
+
+```bash
+docker run --rm -ti --runtime=nvidia \
+    -e NVIDIA_VISIBLE_DEVICES=nvidia.com/gpu=all \
+      ubuntu nvidia-smi -L
+```
+
+Output
+
+```console
+GPU 0: NVIDIA GeForce RTX 3080 Laptop GPU (UUID: GPU-17c2b9a6-6be2-3857-f8e0-88143e2e621b)
+```
+
+## Technologies
+
+* Ubuntu 22.04.1 amd64
+* Docker Compose version v2.29.7
+* Python 3.10.12
+* pip 22.0.2
+* NVIDIA Container Toolkit CLI version 1.16.2
+* NVIDIA Driver 550.120
+* CUDA Version 12.4
+
+## How to Run
+
+Ensure variables in the `.env` file are correct.
+
+Install the required libraries in the python script.
+
+```bash
+pip install -r requirements.txt
+```
+
+### First Terminal
+
+1. Start the user interface with the following command.
+
+```bash
+docker compose --profile ui up
+```
+
+2.  Click `Launch Gazebo` on the menu.
+
+Simulated world and the drone model should be up and running in a Gazebo instance.
+
+### Second Terminal
+
+This will launch ardupilot, mavproxy and mavros services, and will scale up by the `SIM_DRONE_COUNT` env variable.
+
+1. Start the docker services with the following python script.
+
+```bash
+python3 sim_drone.py
+```
+
+### QGroundControl
+
+Simulated vehicle(s) should be connected to QGroundControl. `SIM_DRONE_COUNT` value should match the detected vehicle count on GCS.
+
+## Simulation Environment Variables
+
+`DRONE_SYS_ID` and `INSTANCE` environment variables are incremented by 1 for each additional simulated vehicle. `SERIAL0_PORT`, `SITL_PORT`, `MAVROS2_PORT`, `MAVROS1_PORT`,`FDM_PORT_IN` and `GSTREAMER_UDP_PORT` are incremented by 10. Without in-depth knowledge, changing the default value for these ports are not recommended. 
+
+|      Variable      |  Type  |                       Default                        | Description                                                                                                       |
+| :----------------: | :----: | :--------------------------------------------------: | :---------------------------------------------------------------------------------------------------------------- |
+|    DRONE_SYS_ID    |  int   |                          1                           | System-ID for the simulated drone.                                                                                |
+|      INSTANCE      |  int   |                          0                           | Instance of simulator.                                                                                            |
+|    SERIAL0_PORT    |  int   |                         5760                         | Mavproxy master port the simulation communicating on.                                                             |
+|     SITL_PORT      |  int   |                         5501                         | Mavproxy Software in the Loop(SITL) port to send simulated RC input for the simulator.                            |
+|    MAVROS2_PORT    |  int   |                        14560                         | MAVROS ROS 2 UDP port                                                                                             |
+|    MAVROS1_PORT    |  int   |                        14561                         | MAVROS ROS 1 UDP port                                                                                             |
+|    FDM_PORT_IN     |  int   |                         9002                         | Gazebo Flight Dynamics Model (FDM) UDP port                                                                       |
+| GSTREAMER_UDP_PORT |  int   |                         5600                         | UDP Video Streaming port                                                                                          |
+|   ROS_MASTER_URI   | string |                "http://0.0.0.0:11311"                | This tells ROS 1 nodes where they can locate the master                                                           |
+| ARDUPILOT_VEHICLE  | string | "-v copter -f gazebo-mu --model=JSON -L CitadelHill" | "-v" is vehicle type,"-L" start location, "-f" is vehicle frame type, "--model" overrides simulation model to use |
+|  WORLD_FILE_NAME   | string |               "citadel_hill_world.sdf"               | Name of the file that exists in the worlds folder.                                                                |
+|     WORLD_NAME     | string |                    "citadel_hill"                    | Name of the world defined in the world file.                                                                      |
+|    DRONE_MODEL     | string |                      "spiri_mu"                      | Drone model that exists in the models folder.                                                                     |
+|  SIM_DRONE_COUNT   |  int   |                          1                           | Number of drones to be simulated.                                                                                 |
+|      GCS_PORT      |  int   |                        14550                         | Ground Control Station(GCS) UDP connection port.                                                                  |
+
+### Understanding Multi-Vehicle Simulation Parameters
+
+For instance, if `SIM_DRONE_COUNT` is 2, each additional vehicle's ports are incremented by 10.
+
+First simulated vehicle would have these following values,
+
+|      Variable      | Value |
+| :----------------: | :---: |
+|    DRONE_SYS_ID    |   1   |
+|      INSTANCE      |   0   |
+|    SERIAL0_PORT    | 5760  |
+|     SITL_PORT      | 5501  |
+|    MAVROS2_PORT    | 14560 |
+|    MAVROS1_PORT    | 14561 |
+|    FDM_PORT_IN     | 9002  |
+| GSTREAMER_UDP_PORT | 5600  |
+
+Second Vehicle,
+
+|      Variable      | Value |
+| :----------------: | :---: |
+|    DRONE_SYS_ID    |   2   |
+|      INSTANCE      |   1   |
+|    SERIAL0_PORT    | 5770  |
+|     SITL_PORT      | 5511  |
+|    MAVROS2_PORT    | 14570 |
+|    MAVROS1_PORT    | 14571 |
+|    FDM_PORT_IN     | 9012  |
+| GSTREAMER_UDP_PORT | 5610  |
+
+Video stream would be available on UDP port on 5610 for the second vehicle after enabling streaming.

docker-compose.yml

@@ -1,64 +1,52 @@
-version: '3.8'
+version: "3.8"
 
 services:
-  ardupilot:
+  gui-tools:
-    image: git.spirirobotics.com/spiri/ardupilot:spiri-master
+    env_file:
-    command: >
+      - .env
-      ./Tools/autotest/sim_vehicle.py -v copter --no-rebuild
+    build:
-      --out=udpin:0.0.0.0:5000
+      context: ./guiTools/
-      --enable-dds
-    stdin_open: true
-    tty: true
 
-  mavproxy:
-    image: git.spirirobotics.com/spiri/services-mavproxy:main
-    command: >
-      mavproxy.py --non-interactive
-      --out=tcpin:0.0.0.0:5760
-      --master=udpout:ardupilot:5000
-    restart: always
-    ports:
-      - 5760:5760
-
-  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/services-ros1-mavros:master
-    command: roslaunch mavros px4.launch fcu_url:="udp://:14555@mavproxy:14550" tgt_system:="1"
     environment:
-      - "ROS_MASTER_URI=http://ros-master:11311"
+      # Display settings
-    depends_on:
+      - DISPLAY=${DISPLAY}
-      ros-master:
+      - WAYLAND_DISPLAY=${WAYLAND_DISPLAY}
-        condition: service_healthy
+      # - QT_QPA_PLATFORM=${QT_QPA_PLATFORM:-xcb}  # Default to X11
-      mavproxy:
+      # If running with Wayland
-        condition: service_started
+      - XDG_RUNTIME_DIR=${XDG_RUNTIME_DIR}
-    restart: always
+      - ROS_MASTER_URI=http://ros-master:11311
+      # - NVIDIA_DRIVER_CAPABILITIES=compute,video,utility
+      # - NVIDIA_VISIBLE_DEVICES=all
+    volumes:
+      # X11 socket
+      - /tmp/.X11-unix:/tmp/.X11-unix
+      - ${XAUTHORITY:-~/.Xauthority}:/root/.Xauthority
+      # Wayland socket
+      #- ${XDG_RUNTIME_DIR}/wayland-0:${XDG_RUNTIME_DIR}/wayland-0
+      # Allow access to the host's GPU
+      - /dev/dri:/dev/dri
+      #Auto reload on code changes
+      - ./guiTools/spiri_sdk_guitools/:/app/spiri_sdk_guitools/
+      # Enable launching the SDK from the SDK
+      # - ./:/app/sdk
+      - ./robots:/robots
+      - /var/run/docker.sock:/var/run/docker.sock
+    devices:
+      # Provide access to GPU devices
+      - /dev/dri:/dev/dri
+    network_mode: host
+    ports:
+      - 8923:8923
+    ipc: host
+    #user: "${UID}:${GID}"
+    privileged: true # Allow privileged access if necessary (e.g., for GPU access)
+    # restart: unless-stopped
+    # command: /bin/bash -c "source /opt/ros/foxy/setup.bash && rvis2"  # Replace with the actual command to run Gazebo Ignition
     deploy:
       resources:
-        limits:
+        reservations:
-          # cpus: '0.01'
+          devices:
-          memory: 200M
+            - driver: cdi
-    ulimits:
+              device_ids:
-      nofile:
+                - nvidia.com/gpu=all
-        soft: 1024
-        hard: 524288
-
-  ros-master:
-    image: git.spirirobotics.com/spiri/services-ros1-core:main
-    command: stdbuf -o L roscore
-    environment:
-      - "ROS_MASTER_URI=http://localhost:11311"
-    restart: always
-    ports:
-      - "127.0.0.1:11311:11311"
-    deploy:
-      resources:
-        limits:
-          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
 

docs/Makefile

@@ -0,0 +1,20 @@
+# Minimal makefile for Sphinx documentation
+#
+
+# You can set these variables from the command line, and also
+# from the environment for the first two.
+SPHINXOPTS    ?=
+SPHINXBUILD   ?= sphinx-build
+SOURCEDIR     = source
+BUILDDIR      = build
+
+# Put it first so that "make" without argument is like "make help".
+help:
+	@$(SPHINXBUILD) -M help "$(SOURCEDIR)" "$(BUILDDIR)" $(SPHINXOPTS) $(O)
+
+.PHONY: help Makefile
+
+# Catch-all target: route all unknown targets to Sphinx using the new
+# "make mode" option.  $(O) is meant as a shortcut for $(SPHINXOPTS).
+%: Makefile
+	@$(SPHINXBUILD) -M $@ "$(SOURCEDIR)" "$(BUILDDIR)" $(SPHINXOPTS) $(O)

docs/README.md

@@ -0,0 +1,11 @@
+If you have a correctly configured sphinx environment you can build this project
+using `make html latexpdf`.
+
+You can also use nektos/act to build this project in the same way our build does.
+```bash
+cd ../ #Make sure you're in the project root, you should have a hidden folder
+# named ./.github/workflows available.
+act --artifact-server-path ./doc-build
+```
+
+Your compiled doc project will now be in the ./doc-build folder.

docs/make.bat

@@ -0,0 +1,35 @@
+@ECHO OFF
+
+pushd %~dp0
+
+REM Command file for Sphinx documentation
+
+if "%SPHINXBUILD%" == "" (
+	set SPHINXBUILD=sphinx-build
+)
+set SOURCEDIR=source
+set BUILDDIR=build
+
+%SPHINXBUILD% >NUL 2>NUL
+if errorlevel 9009 (
+	echo.
+	echo.The 'sphinx-build' command was not found. Make sure you have Sphinx
+	echo.installed, then set the SPHINXBUILD environment variable to point
+	echo.to the full path of the 'sphinx-build' executable. Alternatively you
+	echo.may add the Sphinx directory to PATH.
+	echo.
+	echo.If you don't have Sphinx installed, grab it from
+	echo.https://www.sphinx-doc.org/
+	exit /b 1
+)
+
+if "%1" == "" goto help
+
+%SPHINXBUILD% -M %1 %SOURCEDIR% %BUILDDIR% %SPHINXOPTS% %O%
+goto end
+
+:help
+%SPHINXBUILD% -M help %SOURCEDIR% %BUILDDIR% %SPHINXOPTS% %O%
+
+:end
+popd

docs/source/_static/custom.css

@@ -0,0 +1,34 @@
+.wy-side-nav-search {
+    background: #FFFFFF !important;
+}
+
+
+.wy-nav-side {
+    background-color: #FFFFFF !important;
+}
+
+
+/* Add borders and box-shadow */
+.wy-side-nav {
+    border: 1px solid #899CA3 !important;
+}
+
+.logo {
+    width: 100px !important;
+}
+
+.wy-menu-vertical a {
+    color: #899CA3 !important; /* Change to your desired color */
+}
+
+.document-title {
+    color: #000 !important; 
+    font-size: 24px !important;
+    text-transform: uppercase !important;
+}
+
+.icon-home {
+    font-weight: bold !important;
+    text-transform: uppercase !important;
+    color: #000 !important; 
+}

docs/source/conf.py

@@ -0,0 +1,70 @@
+# Configuration file for the Sphinx documentation builder.
+#
+# For the full list of built-in configuration values, see the documentation:
+# https://www.sphinx-doc.org/en/master/usage/configuration.html
+
+# -- Project information -----------------------------------------------------
+# https://www.sphinx-doc.org/en/master/usage/configuration.html#project-information
+import sphinx_rtd_theme
+
+project = "spiri-sdk"
+copyright = "2024, Spiri Robotics"
+author = "Spiri Robotics"
+
+html_logo = "logos/SPIRI_STLockup_Mixed_RGB.png"  # For HTML output
+html_logo_width = '200px' 
+latex_logo = "logos/SPIRI_STLockup_Mixed_RGB.png"
+latex_logo_width = '5cm'
+
+
+# -- General configuration ---------------------------------------------------
+# https://www.sphinx-doc.org/en/master/usage/configuration.html#general-configuration
+
+extensions = [
+    "myst_parser",
+    "sphinx.ext.duration",
+    "sphinx.ext.doctest",
+    "sphinx.ext.autodoc",
+    "sphinx.ext.autosummary",
+    "sphinx.ext.intersphinx",
+    "sphinx.ext.todo",
+]
+
+
+numfig = True
+
+todo_include_todos = True
+todo_emit_warnings = True
+todo_link_only = True
+
+
+templates_path = ["_templates"]
+exclude_patterns = []
+
+# -- Options for HTML output -------------------------------------------------
+# https://www.sphinx-doc.org/en/master/usage/configuration.html#options-for-html-output
+
+html_theme = "sphinx_rtd_theme"
+html_theme_path = [sphinx_rtd_theme.get_html_theme_path()]
+
+html_static_path = ['_static']
+
+html_css_files = [
+    'custom.css',
+]
+
+
+html_theme_options = {
+    'collapse_navigation': True,
+    'sticky_navigation': True,
+    'navigation_depth': 4, #could be set to -1 if we want unlimited depth
+    'includehidden': True,
+    'titles_only': False
+}
+
+latex_engine = "xelatex"
+# Configure LaTeX options for PDF generation
+latex_show_urls = 'footnote'
+
+# Enable syntax highlighting for PDFs
+pygments_style = 'sphinx'

docs/source/index.rst

@@ -0,0 +1,21 @@
+.. spiri-sdk documentation master file, created by
+   sphinx-quickstart on Wed Feb 14 11:51:45 2024.
+   You can adapt this file completely to your liking, but it should at least
+   contain the root `toctree` directive.
+
+Welcome to spiri-sdk's documentation!
+============================================
+
+.. toctree::
+   :maxdepth: 2
+   :caption: Contents:
+
+.. include:: ../../README.md
+   :parser: myst_parser.sphinx_
+
+Indices and tables
+==================
+
+* :ref:`genindex`
+* :ref:`modindex`
+* :ref:`search`

guiTools/Dockerfile

@@ -0,0 +1,46 @@
+FROM osrf/ros:jazzy-desktop-full
+
+RUN apt-get update
+RUN apt-get -y install qterminal mesa-utils \
+    libgstreamer1.0-dev \
+    libgstreamer-plugins-base1.0-dev \
+    docker-compose \
+    python3.12-venv \
+    python3-pip \
+    gstreamer1.0-libav \
+    gstreamer1.0-gl \
+    gstreamer1.0-plugins-good \
+    gstreamer1.0-plugins-bad \
+    gstreamer1.0-plugins-ugly 
+
+
+COPY --from=git.spirirobotics.com/spiri/gazebo-resources:main /plugins /ardupilot_gazebo/plugins
+COPY --from=git.spirirobotics.com/spiri/gazebo-resources:main /models /ardupilot_gazebo/models
+COPY --from=git.spirirobotics.com/spiri/gazebo-resources:main /worlds /ardupilot_gazebo/worlds
+
+ENV GZ_SIM_SYSTEM_PLUGIN_PATH=/ardupilot_gazebo/plugins
+ENV GZ_SIM_RESOURCE_PATH=/ardupilot_gazebo/models:/ardupilot_gazebo/worlds
+
+COPY ./gz_entrypoint.sh /gz_entrypoint.sh
+RUN chmod +x /gz_entrypoint.sh
+
+WORKDIR /app
+
+RUN python3 -m venv /opt/venv
+ENV PATH="/opt/venv/bin:$PATH"
+
+RUN pip3 install poetry
+
+COPY ./pyproject.toml ./poetry.lock ./README.md ./
+COPY ./spiri_sdk_guitools ./spiri_sdk_guitools
+
+RUN poetry env use python3
+RUN poetry config virtualenvs.create false && poetry install --no-dev --no-interaction --no-ansi
+
+
+
+CMD poetry run python3 spiri_sdk_guitools/launcher.py
+
+
+
+

guiTools/gz_entrypoint.sh

@@ -0,0 +1,6 @@
+#!/bin/bash
+set -e #PR #6
+source /opt/ros/$ROS_DISTRO/setup.bash
+gz sim -v -r $WORLD_FILE_NAME
+
+exec "$@"

guiTools/pyproject.toml

@@ -0,0 +1,21 @@
+[tool.poetry]
+name = "spiri_sdk_guitools"
+version = "0.1.0"
+description = ""
+authors = ["Spiri Robotics"]
+readme = "README.md"
+
+[tool.poetry.dependencies]
+python = "^3.11"
+nicegui = "^2.5.0"
+pywebview = "^5.3.2"
+loguru = "^0.7.2"
+sh = "^2.1.0"
+docker = "^7.1.0"
+aiodocker = "^0.23.0"
+numpy = "^2.1.3"
+
+[build-system]
+requires = ["poetry-core"]
+build-backend = "poetry.core.masonry.api"
+

guiTools/spawn_drones.sh

@@ -0,0 +1,32 @@
+#!/bin/bash
+set -e #PR #6
+source /opt/ros/$ROS_DISTRO/setup.bash
+
+if [[ -z $SIM_DRONE_COUNT ]]
+then
+  echo "SIM_DRONE_COUNT environment variable is not set."
+  exit 1
+fi
+
+gz sim -v -r $WORLD_FILE_NAME &
+while true
+do
+  topics=$(gz topic -l)
+  if [[ $topics == *"/world/$WORLD_NAME"* ]]
+  then
+    break
+  fi
+  sleep 1
+done
+
+cd /ardupilot_gazebo/models/$DRONE_MODEL
+for (( j=0; j<$SIM_DRONE_COUNT; j++ ));
+do
+    xacro -v gstreamer_udp_port:=$(($GSTREAMER_UDP_PORT + ($j * 10))) fdm_port_in:=$(($FDM_PORT_IN + ($j * 10))) model.xacro.sdf -o model.sdf
+    #! string is better than using -file option. File is not up to date in the next iteration.
+    value=$(</ardupilot_gazebo/models/$DRONE_MODEL/model.sdf)
+    gz_drone_name=spiri-$(($j + 1))
+    #? Maybe read from text file for formation of drones? x y z r p y
+    ros2 run ros_gz_sim create -world $WORLD_NAME -string "$value" -name $gz_drone_name -x $j  -y 0 -z 0.195
+done
+exec "$@"

guiTools/spiri_sdk_guitools/launcher.py

@@ -0,0 +1,93 @@
+from nicegui import ui, binding, app, run 
+import subprocess
+from collections import defaultdict
+import docker
+import time
+
+docker_client = docker.from_env()
+
+# Dictionary of applications: key is the button text, value is the command to execute
+applications = {
+    "Terminal": ["qterminal"],
+    "rqt": ["rqt"],
+    "rviz2": ["rviz2"],
+    "Gazebo": ["/gz_entrypoint.sh"],
+    "Gazebo Standalone": "gz sim -v4".split(),
+    # Add more applications here if needed
+}
+
+# Function to launch an application
+def launch_app(command):
+    try:
+        subprocess.Popen(command)
+    except FileNotFoundError:
+        print(f"{command[0]} not found. Make sure it's installed and accessible in the PATH.")
+
+# Create the NiceGUI interface
+ui.label("Spiri Robotics SDK").style('font-size: 40px; margin-bottom: 10px;').classes('w-full text-center')
+
+robots = []
+from spiri_sdk_guitools.sim_drone import Robot
+import aiodocker
+import asyncio
+
+@ui.page('/')
+async def main():
+    with ui.tabs().classes('w-full') as tabs:
+        tab_tools = ui.tab('Tools')
+        tab_robots = ui.tab('Robots')
+        # two = ui.tab('Two')
+    with ui.tab_panels(tabs, value=tab_tools).classes("w-full"):
+        with ui.tab_panel(tab_tools):
+            # Create and place buttons dynamically based on the dictionary
+            with ui.grid(columns=3):
+                for app_name, command in applications.items():
+                    ui.button(app_name, on_click=lambda cmd=command: launch_app(cmd)).style('width: 150px; height: 50px; margin: 5px;')
+        with ui.tab_panel(tab_robots):
+            new_robot_widget = ui.element().classes("w-1/2")
+            with ui.element().classes("w-1/2"):
+                ui.label("Debug").classes("text-xl")
+                def cleanup_all_containers():
+                    #Find all containers that start with spiri-sdk
+                    containers = docker_client.containers.list(all=True)
+                    removal_count = 0
+                    for container in containers:
+                        if container.name.startswith("robot-sim-"):
+                            container.remove(force=True)
+                            removal_count += 1
+                    ui.label(f"Removed {removal_count} containers")
+                ui.button("Cleanup all containers", on_click=cleanup_all_containers)
+
+            ui.separator()
+            ui.label("Current robots").classes("text-3xl")
+            robots_widget = ui.element().classes("w-full")
+
+            #Add a new robot
+            with new_robot_widget:
+                ui.label("Add new robot").classes("text-3xl")
+                newRobotParams = defaultdict(binding.BindableProperty)
+                ui.number(value=1, label="SysID", min=1, max=254,
+                          ).bind_value(newRobotParams, 'sysid')
+                default_robot_compose = (
+                        "/robots/spiri-mu/core/docker-compose.yaml\n"
+                        "#/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')
+                async def new_robot():
+                    compose_files = []
+                    #Split on comma or newline, and remove comments
+                    for line in newRobotParams['compose_files'].split('\n'):
+                        line = line.split('#')[0].strip()
+                        if line:
+                            compose_files.append(line)
+                    current_robot = newRobotParams.copy()
+                    current_robot['compose_files'] = compose_files
+                    robot = Robot(**current_robot)
+                    asyncio.tasks.create_task(robot.ui(robots_widget))
+
+                    newRobotParams['sysid'] += 1
+                ui.button("Add", on_click=new_robot)
+
+# Start the NiceGUI application
+ui.run(title="Spiri SDK Launcher", port=8923, dark=None)

guiTools/spiri_sdk_guitools/sim_drone.py

@@ -0,0 +1,330 @@
+from loguru import logger
+from pathlib import Path
+import contextlib
+from typing import List
+import os
+import sh
+import subprocess
+from nicegui import ui, run, app
+import yaml
+
+import docker
+import aiodocker
+import asyncio
+from spiri_sdk_guitools.video_button import EnableStreamingButton
+
+docker_client = docker.from_env()
+
+from rclpy.executors import ExternalShutdownException
+from rclpy.node import Node
+import rclpy
+import threading
+
+
+def ros_main() -> None:
+    rclpy.init()
+
+
+app.on_startup(lambda: threading.Thread(target=ros_main).start())
+
+
+@contextlib.contextmanager
+def modified_environ(*remove, **update):
+    """
+    Temporarily updates the ``os.environ`` dictionary in-place.
+
+    The ``os.environ`` dictionary is updated in-place so that the modification
+    is sure to work in all situations.
+
+    :param remove: Environment variables to remove.
+    :param update: Dictionary of environment variables and values to add/update.
+    """
+    env = os.environ
+    update = update or {}
+    remove = remove or []
+
+    # List of environment variables being updated or removed.
+    stomped = (set(update.keys()) | set(remove)) & set(env.keys())
+    # Environment variables and values to restore on exit.
+    update_after = {k: env[k] for k in stomped}
+    # Environment variables and values to remove on exit.
+    remove_after = frozenset(k for k in update if k not in env)
+
+    try:
+        env.update(update)
+        [env.pop(k, None) for k in remove]
+        yield
+    finally:
+        env.update(update_after)
+        [env.pop(k) for k in remove_after]
+
+
+robots = set()
+
+
+async def container_logs(container, element):
+    adocker = aiodocker.Docker()
+    with element:
+        with ui.scroll_area():
+            acontainer = await adocker.containers.get(container.id)
+            async for log in acontainer.log(stdout=True, stderr=True, follow=True):
+                for line in log.splitlines():
+                    ui.label(line)
+                # ui.html(conv.convert(bytes(log,'utf-8').decode('utf-8', 'xmlcharrefreplace'), full=False))
+
+
+class Robot:
+    robot_type = "spiri_mu"
+
+    def __init__(self, sysid: int, compose_files: List[Path] | str):
+        if sysid > 255 or sysid < 0:
+            raise ValueError("sysid must be between 0 and 255")
+        self.sysid = int(sysid)
+        if isinstance(compose_files, str):
+            compose_files = [
+                Path(file) for file in compose_files.replace("\n", ",").split(",")
+            ]
+        self.compose_files = compose_files
+        self.processes = []
+        self.video_button = None
+        robots.add(self)
+        #Ros doesn't like dashes in node names
+        self.robot_name = f"{self.robot_type}_{self.sysid}".replace("-","_")
+        self.world_name = "citadel_hill"
+
+    async def ui_containers(self, element):
+        docker_elements = {}
+        container_status = {}
+        with element:
+            while True:
+                with logger.catch():
+                    # Poll for data that changes
+                    for container in self.containers():
+                        try:
+                            health = container.attrs["State"]["Health"]["Status"]
+                        except KeyError:
+                            health = "Unknown"
+
+                        container_status[container] = (
+                            f"{container.name} {container.status} {health}"
+                        )
+                        if container not in docker_elements:
+                            docker_elements[container] = ui.element().classes("w-full")
+                            with docker_elements[container]:
+                                ui.label().bind_text(container_status, container).classes(
+                                    "text-2xl"
+                                )
+                                #Show the command the container is running
+                                # ui.label(container.attrs["Config"]["Cmd"])
+                                cmd_widget = ui.codemirror(" ".join(container.attrs["Config"]["Cmd"]), language="bash",theme="basicDark").classes('h-auto max-h-32')
+                                cmd_widget.enabled = False
+
+                                with ui.expansion("Env Variables").classes("w-full outline outline-1").style("margin: 10px;"):
+                                    env_widget = ui.codemirror("\n".join(container.attrs["Config"]["Env"]), language="bash",theme="basicDark")
+                                    env_widget.enabled = False
+
+                                logelement = (
+                                    ui.expansion("Logs")
+                                    .style("margin: 10px;")
+                                    .classes("w-full outline outline-1")
+                                )
+                                asyncio.create_task(container_logs(container, logelement))
+                                with ui.expansion("Full details").classes("w-full outline outline-1").style("margin: 10px;"):
+                                    details_widget = ui.codemirror(yaml.dump(container.attrs), language="yaml",theme="basicDark")
+                                    details_widget.enabled = False
+                    # Check for containers that have been removed
+                    removed = set(docker_elements.keys()) - set(self.containers())
+                    for container in removed:
+                        self.robot_ui.remove(docker_elements[container])
+                        docker_elements.pop(container)
+                    await asyncio.sleep(1)
+
+    async def ui_ros(self, element):
+        with element:
+            node_dummy = Node("_ros2cli_dummy_to_show_topic_list")
+            scroll_area = ui.scroll_area()
+            with scroll_area:
+                while True:
+                    scroll_area.clear()
+                    #Filter for topics that start with self.robot_name
+                    for topic in node_dummy.get_topic_names_and_types():
+                        if self.robot_name in topic[0]:
+                            ui.label(topic[0])
+                    await asyncio.sleep(10)
+
+    async def ui(self, element):
+        adocker = aiodocker.Docker()
+
+        with element:
+            self.robot_ui = ui.element().classes("w-full outline p-4")
+            with self.robot_ui:
+                ui.label(f"{self.robot_type} {self.sysid}").classes("text-2xl")
+                ui.label(f"""Sysid: {self.sysid}""")
+                ui.button("Start", on_click=self.async_start).classes("m-2")
+                ui.button("Stop", on_click=self.async_stop).classes("m-2")
+                self.video_button = EnableStreamingButton(robot_name=self.robot_name).classes(
+                    "m-2"
+                )
+
+                async def delete_robot():
+                    await self.async_stop()
+                    robots.remove(self)
+                    element.remove(self.robot_ui)
+
+                ui.button("Delete", on_click=delete_robot).classes("m-2")
+                with ui.tabs() as tabs:
+                    tab_containers = ui.tab("Containers")
+                    tab_ros = ui.tab("ROS Topics")
+                with ui.tab_panels(tabs, value=tab_containers):
+                    tab = ui.tab_panel(tab_containers).classes("w-full")
+                    asyncio.create_task(self.ui_containers(tab))
+                    tab = ui.tab_panel(tab_ros).classes("w-full")
+                    asyncio.create_task(self.ui_ros(tab))
+
+    async def async_stop(self):
+        return await run.io_bound(self.stop)
+
+    def stop(self):
+        # If video was enabled, and we stop. Button state is wrong.
+        # Stop video if it is enabled.
+        if isinstance(self.video_button, EnableStreamingButton):
+            self.video_button.stop_video()
+        # Delete gazebo model
+        self.delete_gz_model()
+        # Signal all processes to stop
+        for process in self.processes:
+            process.terminate()
+            process.kill()
+        self.processes = []
+        for container in self.containers():
+            # container.stop()
+            container.remove(force=True)
+
+    def containers(self):
+        return docker_client.containers.list(
+            all=True, filters={"name": f"robot-sim-{self.robot_name}"}
+        )
+
+    async def async_start(self):
+        return await run.io_bound(self.start)
+
+    def start(self):
+        """Starts the simulated drone with a given sysid,
+        each drone must have it's own unique ID.
+        """
+        instance = self.sysid - 1
+        sysid = self.sysid
+        with logger.contextualize(syd_id=sysid):
+            env = os.environ
+            with modified_environ(
+                SERIAL0_PORT=str(int(env["SERIAL0_PORT"]) + 10 * instance),
+                MAVROS2_PORT=str(int(env["MAVROS2_PORT"]) + 10 * instance),
+                MAVROS1_PORT=str(int(env["MAVROS1_PORT"]) + 10 * instance),
+                FDM_PORT_IN=str(int(env["FDM_PORT_IN"]) + 10 * instance),
+                GSTREAMER_UDP_PORT=str(int(env["GSTREAMER_UDP_PORT"]) + 10 * instance),
+                SITL_PORT=str(int(env["SITL_PORT"]) + 10 * instance),
+                INSTANCE=str(instance),
+                DRONE_SYS_ID=str(self.sysid),
+                ROBOT_NAME=self.robot_name,
+                WORLD_NAME="citadel_hill",
+            ):
+                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():
+                        raise FileNotFoundError(f"File {compose_file} does not exist")
+                    #Get the folder the compose file is in
+                    compose_folder = compose_file.parent
+                    args = [
+                        "docker-compose",
+                        "--profile",
+                        "uav-sim",
+                        "-p",
+                        f"robot-sim-{self.robot_name}-{compose_folder.name}",
+                        "-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,
+                        # stderr=subprocess.PIPE,
+                    )
+                    logger.info(f"Started drone stack with PID: {docker_stack.pid}")
+
+    @logger.catch
+    def spawn_gz_model(self):
+        sysid = self.sysid
+        logger.info("")
+        env = os.environ
+        GSTREAMER_UDP_PORT = env["GSTREAMER_UDP_PORT"]
+        FDM_PORT_IN = env["FDM_PORT_IN"]
+        WORLD_NAME = env["WORLD_NAME"]
+        DRONE_MODEL = env["DRONE_MODEL"]
+        XACRO_CMD = [
+            "xacro",
+            f"gstreamer_udp_port:={GSTREAMER_UDP_PORT}",
+            f"fdm_port_in:={FDM_PORT_IN}",
+            "model.xacro.sdf",
+            "-o",
+            "model.sdf",
+        ]
+        # This path is breaking if this drone_model folder doesnt exist!
+        # TODO: fix this model path for minimal code maintenance
+        ROS2_CMD = f"ros2 run ros_gz_sim create -world {WORLD_NAME} -file /ardupilot_gazebo/models/{DRONE_MODEL}/model.sdf -name {self.robot_name} -x {sysid - 1}  -y 0 -z 0.195"
+
+        xacro_proc = subprocess.Popen(
+            XACRO_CMD,
+            cwd=f"/ardupilot_gazebo/models/{DRONE_MODEL}",
+            stdout=subprocess.PIPE,
+            stderr=subprocess.PIPE,
+        )
+        ros2_gz_create_proc = subprocess.Popen(
+            ROS2_CMD.split(),
+            stdout=subprocess.PIPE,
+            stderr=subprocess.PIPE,
+        )
+        out, err = ros2_gz_create_proc.communicate(timeout=15)
+        ros2_gz_create_proc.kill()
+        return
+
+    @logger.catch
+    def delete_gz_model(self):
+        sysid = self.sysid
+        env = os.environ
+        WORLD_NAME = env["WORLD_NAME"]
+        # http://osrf-distributions.s3.amazonaws.com/gazebo/api/7.1.0/classgazebo_1_1physics_1_1Entity.html
+        ENTITY_TYPE_MODEL = 0x00000002
+        REQUEST_ARG = f"name: '{self.robot_name}' type: {ENTITY_TYPE_MODEL}"
+        GZ_SERVICE_CMD = [
+            "gz",
+            "service",
+            "-s",
+            f"/world/{WORLD_NAME}/remove",
+            "--reqtype",
+            "gz.msgs.Entity",
+            "--reptype",
+            "gz.msgs.Boolean",
+            "--timeout",
+            "5000",
+            "--req",
+            REQUEST_ARG,
+        ]
+        remove_entity_proc = subprocess.Popen(
+            GZ_SERVICE_CMD,
+            stdout=subprocess.PIPE,
+            stderr=subprocess.PIPE,
+        )
+        out, err = remove_entity_proc.communicate(timeout=15)
+        remove_entity_proc.kill()

guiTools/spiri_sdk_guitools/video_button.py

@@ -0,0 +1,82 @@
+from nicegui import run, ui
+import subprocess
+from loguru import logger
+import os
+
+GZ_TOPIC_INFO = ["gz", "topic", "-i", "-t"]
+ENABLE_STREAMING_TOPIC = "/world/{world_name}/model/{robot_name}/link/pitch_link/sensor/camera/image/enable_streaming"
+
+
+class EnableStreamingButton(ui.element):
+    def __init__(self, robot_name, state: bool = False) -> None:
+        super().__init__()
+        self.robot_name = robot_name
+        self._state = state
+        self.button = None
+        with self.classes():
+            with ui.row():
+                self.button = ui.button(on_click=self.on_click)
+                self.button._text = (
+                    f'{"Disable" if self._state else "Enable"}' + " Video"
+                )
+                self.button.props(f'color={"red" if self._state else "green"}')
+
+    async def on_click(self) -> None:
+        spinner = ui.spinner(size="lg")
+        # So we don't block UI
+        result = await run.cpu_bound(self.enable_streaming, self.robot_name, not self._state)
+        if result:
+            ui.notify("Success", type="positive]")
+            self.set_state(state=not self._state)
+        else:
+            self.set_state(state=False)
+            ui.notify("No Video Streaming Available..", type="negative")
+        spinner.delete()
+
+    def set_state(self, state: bool):
+        self._state = state
+        self.update()
+
+    def update(self) -> None:
+        self.button._text = f'{"Disable" if self._state else "Enable"}' + " Video"
+        self.button.props(f'color={"red" if self._state else "green"}')
+
+    def stop_video(self):
+        if self._state != False:
+            self.enable_streaming(robot_name=self.robot_name, is_streaming=False)
+            self.set_state(state=False)
+
+    @staticmethod
+    def enable_streaming(robot_name: str, is_streaming: bool) -> bool:
+
+        world_name = os.environ["WORLD_NAME"]
+        # Check if this topic has any subscribers i.e. model is up
+        gz_topic_list_proc = subprocess.Popen(
+            GZ_TOPIC_INFO
+            + [ENABLE_STREAMING_TOPIC.format(world_name=world_name, robot_name=robot_name)],
+            stdout=subprocess.PIPE,
+            stderr=subprocess.PIPE,
+            text=True,
+        )
+        # Check exceptions.. timeout, error etc.
+
+        output, error = gz_topic_list_proc.communicate(timeout=15)
+        if gz_topic_list_proc.returncode != 0:
+            logger.error(error)
+            return False
+        if "No subscribers".casefold() in output.casefold():
+            logger.error("No Subscribers on enable_streaming topic.")
+            return False
+
+        gz_topic_pub = [
+            "gz",
+            "topic",
+            "-t",
+            ENABLE_STREAMING_TOPIC.format(world_name=world_name, robot_name=robot_name),
+            "-m",
+            "gz.msgs.Boolean",
+            "-p",
+            f"data:{is_streaming}",
+        ]
+        subprocess.run((gz_topic_pub))
+        return True

requirements.txt

@@ -0,0 +1,4 @@
+typer==0.12.5
+loguru==0.7.2
+sh==2.1.0
+python-dotenv==1.0.1

robots/spiri-mu/core/.env

@@ -0,0 +1,19 @@
+DRONE_SYS_ID=1
+INSTANCE=0
+SERIAL0_PORT=5760
+SITL_PORT=5501
+MAVROS2_PORT=14560
+MAVROS1_PORT=14561
+FDM_PORT_IN=9002
+GSTREAMER_UDP_PORT=5600
+ROS_MASTER_URI="http://0.0.0.0:11311"
+
+
+ARDUPILOT_VEHICLE="-v copter -f gazebo-mu --model=JSON -L CitadelHill"
+WORLD_FILE_NAME="citadel_hill_world.sdf"
+WORLD_NAME="citadel_hill"
+DRONE_MODEL="spiri_mu"
+
+
+SIM_DRONE_COUNT=1
+GCS_PORT=14550

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

@@ -0,0 +1,95 @@
+services:
+  ardupilot:
+    env_file:
+      - .env
+    image: git.spirirobotics.com/spiri/ardupilot:spiri-master
+    command:
+      - /bin/bash
+      - -c
+      - |
+        ./Tools/autotest/sim_vehicle.py $ARDUPILOT_VEHICLE --no-rebuild \
+        --no-mavproxy --enable-dds --sysid $DRONE_SYS_ID -I$INSTANCE
+    stdin_open: true
+    tty: true
+    network_mode: host
+
+  mavproxy:
+    env_file:
+      - .env
+    image: git.spirirobotics.com/spiri/services-mavproxy:main
+    command: >
+      mavproxy.py --non-interactive
+      --master tcp:127.0.0.1:$SERIAL0_PORT 
+      --out udpout:0.0.0.0:$MAVROS2_PORT
+      --out udpout:0.0.0.0:$MAVROS1_PORT
+      --sitl 127.0.0.1:$SITL_PORT
+      --out udp:0.0.0.0:$GCS_PORT
+    ipc: host
+    network_mode: host
+    restart: always
+
+  mavros2:
+    env_file:
+      - .env
+    image: git.spirirobotics.com/spiri/services-ros2-mavros:main
+    command: ros2 launch mavros apm.launch fcu_url:="udp://0.0.0.0:$MAVROS2_PORT@:14555" namespace:="$ROBOT_NAME" tgt_system:="$DRONE_SYS_ID"
+    ipc: host
+    network_mode: host
+    restart: always
+    depends_on:
+      ardupilot:
+        condition: service_started
+      mavproxy:
+        condition: service_started
+    deploy:
+      resources:
+        limits:
+          # cpus: '0.01'
+          memory: 200M
+    ulimits:
+      nofile:
+        soft: 1024
+        hard: 524288
+
+  mavros:
+    #This service bridges our mavlink-based robot-coprosessor into ROS
+    #In this example it connects to a simulated coprocessor.
+    env_file:
+      - .env
+    image: git.spirirobotics.com/spiri/services-ros1-mavros:master
+    command: rosrun mavros mavros_node __name:=spiri$DRONE_SYS_ID _fcu_url:="udp://0.0.0.0:$MAVROS1_PORT@:14559" _target_system_id:="$DRONE_SYS_ID"
+    profiles:
+      - ros1
+    ipc: host
+    network_mode: host
+    restart: always
+    deploy:
+      resources:
+        limits:
+          # cpus: '0.01'
+          memory: 200M
+    ulimits:
+      nofile:
+        soft: 1024
+        hard: 524288
+
+  ros-master:
+    env_file:
+      - .env
+    image: git.spirirobotics.com/spiri/services-ros1-core:main
+    command: stdbuf -o L roscore
+    profiles:
+      - ros1-master
+    ipc: host
+    network_mode: host
+    restart: always
+    deploy:
+      resources:
+        limits:
+          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

robots/spiri-mu/virtual_camera/Dockerfile

@@ -0,0 +1,8 @@
+FROM git.spirirobotics.com/spiri/services-ros2-mavros:main
+
+RUN apt-get update
+RUN apt-get --yes install ros-${ROS_DISTRO}-ros-gz-bridge \
+    ros-${ROS_DISTRO}-ros-gz-image \
+    ros-${ROS_DISTRO}-compressed-image-transport \
+    ros-${ROS_DISTRO}-rmw-cyclonedds-cpp
+

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

@@ -0,0 +1,13 @@
+
+services:
+  front-gimbal:
+    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