Compare commits
No commits in common. "master" and "2024-09-19" have entirely different histories.
master
...
2024-09-19
@ -1,5 +0,0 @@
|
||||
# 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
|
||||
19
.env
19
.env
@ -1,19 +0,0 @@
|
||||
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
|
||||
52
.github/workflows/build-docs.yaml
vendored
52
.github/workflows/build-docs.yaml
vendored
@ -1,52 +0,0 @@
|
||||
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 }}
|
||||
4
.gitignore
vendored
4
.gitignore
vendored
@ -1,4 +1,2 @@
|
||||
docs/build/
|
||||
.vscode
|
||||
*.pyc
|
||||
survey/
|
||||
.vscode
|
||||
257
README.md
257
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.
|
||||
|
||||
@ -13,8 +13,6 @@ 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
|
||||
@ -25,258 +23,13 @@ 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...
|
||||
|
||||
## Special docker options
|
||||
|
||||
We support the following special docker options to make metadata available inside the SDK
|
||||
|
||||
* x-spiri-sdk-doc: ""
|
||||
|
||||
This will appear as a comment when creating a new robot
|
||||
|
||||
* x-spiri-sdk-default-enabled: true
|
||||
|
||||
Set this to false and that docker compose will be commented out by default when creating a new robot
|
||||
|
||||
* x-spiri-sdk-default-args: ""
|
||||
|
||||
Extra arguments to pass to docker compose. Should accept all docker compose arguments.
|
||||
|
||||
Common options would be `--build`. You might also appreciate `--pull ("always"|"missing"|"never")`.
|
||||
|
||||
|
||||
## 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.
|
||||
|
||||
@ -1,48 +1,64 @@
|
||||
version: '3.8'
|
||||
|
||||
services:
|
||||
gui-tools:
|
||||
env_file:
|
||||
- .env
|
||||
build:
|
||||
context: ./guiTools/
|
||||
ardupilot:
|
||||
image: git.spirirobotics.com/spiri/ardupilot:spiri-master
|
||||
command: >
|
||||
./Tools/autotest/sim_vehicle.py -v copter --no-rebuild
|
||||
--out=udpin:0.0.0.0:5000
|
||||
--enable-dds
|
||||
stdin_open: true
|
||||
tty: true
|
||||
|
||||
environment:
|
||||
# Display settings
|
||||
DISPLAY: "${DISPLAY}"
|
||||
WAYLAND_DISPLAY: "${WAYLAND_DISPLAY}"
|
||||
# Uncomment below if using X11
|
||||
# QT_QPA_PLATFORM: "${QT_QPA_PLATFORM:-xcb}"
|
||||
XDG_RUNTIME_DIR: "${XDG_RUNTIME_DIR}"
|
||||
ROS_MASTER_URI: "http://ros-master:11311"
|
||||
RMW_IMPLEMENTATION: rmw_cyclonedds_cpp
|
||||
SDK_ROOT: ${PWD}
|
||||
|
||||
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
|
||||
# Access to GPU devices
|
||||
- /dev/dri:/dev/dri
|
||||
# Code and configuration
|
||||
- ./guiTools/spiri_sdk_guitools/:/app/spiri_sdk_guitools/
|
||||
- ./robots:/robots
|
||||
- /var/run/docker.sock:/var/run/docker.sock
|
||||
|
||||
devices:
|
||||
# Provide access to GPU devices (supports non-NVIDIA GPUs)
|
||||
- /dev/dri:/dev/dri
|
||||
|
||||
network_mode: host
|
||||
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:
|
||||
- 8923:8923
|
||||
ipc: host
|
||||
privileged: true # Required for GPU access
|
||||
- 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"
|
||||
depends_on:
|
||||
ros-master:
|
||||
condition: service_healthy
|
||||
mavproxy:
|
||||
condition: service_started
|
||||
restart: always
|
||||
deploy:
|
||||
resources:
|
||||
limits:
|
||||
# cpus: '0.01'
|
||||
memory: 200M
|
||||
ulimits:
|
||||
nofile:
|
||||
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
|
||||
|
||||
# deploy:
|
||||
# resources:
|
||||
# reservations:
|
||||
# devices:
|
||||
# - driver: cdi # Optional for advanced resource scheduling
|
||||
# device_ids:
|
||||
# - "all" # Use "all" for all available GPUs
|
||||
|
||||
@ -1,20 +0,0 @@
|
||||
# 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)
|
||||
@ -1,11 +0,0 @@
|
||||
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.
|
||||
@ -1,35 +0,0 @@
|
||||
@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
|
||||
@ -1,34 +0,0 @@
|
||||
.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;
|
||||
}
|
||||
@ -1,70 +0,0 @@
|
||||
# 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'
|
||||
@ -1,21 +0,0 @@
|
||||
.. 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`
|
||||
Binary file not shown.
|
Before Width: | Height: | Size: 14 KiB |
@ -1,46 +0,0 @@
|
||||
FROM osrf/ros:jazzy-desktop-full
|
||||
|
||||
RUN apt-get update && 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 \
|
||||
ros-${ROS_DISTRO}-rmw-cyclonedds-cpp
|
||||
|
||||
|
||||
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:$PATH"
|
||||
|
||||
RUN pip3 install poetry
|
||||
|
||||
COPY ./pyproject.toml ./poetry.lock ./README.md ./
|
||||
COPY ./spiri_sdk_guitools ./spiri_sdk_guitools
|
||||
|
||||
RUN poetry env use python3
|
||||
RUN poetry config virtualenvs.create false && poetry install --no-dev --no-interaction --no-ansi
|
||||
|
||||
|
||||
|
||||
CMD poetry run python3 spiri_sdk_guitools/launcher.py
|
||||
|
||||
|
||||
|
||||
|
||||
@ -1,6 +0,0 @@
|
||||
#!/bin/bash
|
||||
set -e #PR #6
|
||||
source /opt/ros/$ROS_DISTRO/setup.bash
|
||||
gz sim -v -r $WORLD_FILE_NAME
|
||||
|
||||
exec "$@"
|
||||
2321
guiTools/poetry.lock
generated
2321
guiTools/poetry.lock
generated
File diff suppressed because it is too large
Load Diff
@ -1,22 +0,0 @@
|
||||
[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"
|
||||
aiomonitor = "^0.7.1"
|
||||
|
||||
[build-system]
|
||||
requires = ["poetry-core"]
|
||||
build-backend = "poetry.core.masonry.api"
|
||||
|
||||
@ -1,82 +0,0 @@
|
||||
from nicegui import ui, binding, app, run
|
||||
import subprocess
|
||||
from collections import defaultdict
|
||||
import docker
|
||||
import time
|
||||
from loguru import logger
|
||||
|
||||
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"],
|
||||
# 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_types
|
||||
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:
|
||||
for name, robot in robot_types.items():
|
||||
ui.label(f"Add new {name}").classes("text-3xl")
|
||||
await robot.launch_widget(robots_widget)
|
||||
|
||||
import aiomonitor
|
||||
async def amonitor():
|
||||
#
|
||||
logger.info("Starting aiomonitor")
|
||||
loop = asyncio.get_running_loop()
|
||||
run_forever = loop.create_future()
|
||||
with aiomonitor.start_monitor(loop):
|
||||
await run_forever
|
||||
|
||||
app.on_startup(amonitor)
|
||||
|
||||
# Start the NiceGUI application
|
||||
ui.run(title="Spiri SDK Launcher", port=8923, dark=None)
|
||||
@ -1,421 +0,0 @@
|
||||
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, binding
|
||||
import yaml
|
||||
|
||||
import docker
|
||||
import aiodocker
|
||||
import asyncio
|
||||
from spiri_sdk_guitools.video_button import EnableStreamingButton
|
||||
from collections import defaultdict
|
||||
import importlib.util
|
||||
|
||||
docker_client = docker.from_env()
|
||||
|
||||
from rclpy.executors import ExternalShutdownException
|
||||
from rclpy.node import Node
|
||||
import rclpy
|
||||
import threading
|
||||
|
||||
async def ros_loop():
|
||||
rclpy.init()
|
||||
node = rclpy.create_node('async_subscriber')
|
||||
while rclpy.ok():
|
||||
rclpy.spin_once(node, timeout_sec=0)
|
||||
await asyncio.sleep(0.1)
|
||||
|
||||
|
||||
app.on_startup(ros_loop())
|
||||
|
||||
|
||||
@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))
|
||||
|
||||
|
||||
robot_types = {}
|
||||
|
||||
class Robot:
|
||||
def __init_subclass__(self):
|
||||
#Register sub-classes as plugins
|
||||
robot_types[self.robot_type] = self
|
||||
|
||||
for file in Path("/robots").glob("**/robot_plugins.py"):
|
||||
logger.info(f"Loading plugin {file}")
|
||||
spec = importlib.util.spec_from_file_location("robot_plugins", file)
|
||||
plugin = importlib.util.module_from_spec(spec)
|
||||
spec.loader.exec_module(plugin)
|
||||
logger.info(f"Loaded plugin {file}")
|
||||
|
||||
async def topic_subscriber(element, topic_name):
|
||||
while True:
|
||||
with element:
|
||||
element.clear()
|
||||
ui.label(topic_name)
|
||||
await asyncio.sleep(1)
|
||||
|
||||
|
||||
class Spirimu(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.wold_name = os.environ.get("WORLD_NAME", "citadel_hill")
|
||||
|
||||
@classmethod
|
||||
async def launch_widget(cls, robots_widget):
|
||||
newRobotParams = defaultdict(binding.BindableProperty)
|
||||
ui.number(value=1, label="SysID", min=1, max=254,
|
||||
).bind_value(newRobotParams, 'sysid')
|
||||
default_robot_compose = ""
|
||||
for compose_file in Path("/robots").glob("**/docker-compose.yaml"):
|
||||
specialArgs = ""
|
||||
try:
|
||||
data = yaml.safe_load(compose_file.read_text())
|
||||
except yaml.YAMLError:
|
||||
default_robot_compose += f"#{compose_file} not valid \n"
|
||||
continue
|
||||
specialArgs = data.get("x-spiri-sdk-default-args", "")
|
||||
enabled = str(data.get("x-spiri-sdk-default-enabled", True))
|
||||
enabled = enabled.lower() in ["true", "yes", "1"]
|
||||
|
||||
docstring = data.get("x-spiri-sdk-doc", "")
|
||||
if docstring:
|
||||
for line in docstring.split("\n"):
|
||||
if line:
|
||||
default_robot_compose += f"# {line}\n"
|
||||
if not enabled:
|
||||
default_robot_compose += "##"
|
||||
default_robot_compose += f"{compose_file} {specialArgs}\n"
|
||||
|
||||
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 = cls(**current_robot)
|
||||
asyncio.tasks.create_task(robot.ui(robots_widget))
|
||||
|
||||
newRobotParams['sysid'] += 1
|
||||
ui.button("Add", on_click=new_robot)
|
||||
|
||||
|
||||
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()
|
||||
def refresh_topics():
|
||||
with scroll_area:
|
||||
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])
|
||||
# expander = ui.expansion(topic[0]).classes('w-full')
|
||||
# topic_subscriber(expander, topic[0])
|
||||
|
||||
ui.button("Refresh topics", on_click=refresh_topics).classes("m-2")
|
||||
|
||||
async def ui_actions(self, element):
|
||||
pass
|
||||
with element:
|
||||
node_dummy = Node("_ros2cli_dummy_to_show_service_list")
|
||||
scroll_area = ui.scroll_area()
|
||||
def refresh_topics():
|
||||
with scroll_area:
|
||||
scroll_area.clear()
|
||||
#Filter for topics that start with self.robot_name
|
||||
for topic in node_dummy.get_action_names_and_types():
|
||||
if self.robot_name in topic[0]:
|
||||
ui.label(topic[0])
|
||||
ui.button("Refresh topics", on_click=refresh_topics).classes("m-2")
|
||||
|
||||
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")
|
||||
# tab_actions = ui.tab("Actions")
|
||||
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))
|
||||
# tab = ui.tab_panel(tab_actions).classes("w-full")
|
||||
# asyncio.create_task(self.ui_actions(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=env["WORLD_NAME"],
|
||||
):
|
||||
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=3)
|
||||
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=3)
|
||||
remove_entity_proc.kill()
|
||||
@ -1,82 +0,0 @@
|
||||
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
|
||||
@ -1,4 +0,0 @@
|
||||
typer==0.12.5
|
||||
loguru==0.7.2
|
||||
sh==2.1.0
|
||||
python-dotenv==1.0.1
|
||||
@ -1,14 +0,0 @@
|
||||
x-spiri-sdk-doc: Capture camera images for mapping
|
||||
x-spiri-sdk-default-enabled: false
|
||||
|
||||
services:
|
||||
camera-capture:
|
||||
ipc: host
|
||||
network_mode: host
|
||||
restart: unless-stopped
|
||||
image: restreamio/gstreamer:2024-11-14T15-53-57Z-prod
|
||||
volumes:
|
||||
- ${SDK_ROOT}/survey/${ROBOT_NAME}:/survey/
|
||||
environment:
|
||||
- RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
|
||||
command: sh -c "rm -f /survey/*; gst-launch-1.0 -vc udpsrc port=$GSTREAMER_UDP_PORT close-socket=false auto-multicast=true ! application/x-rtp, payload=96 ! rtph264depay ! decodebin3 ! videoconvert ! videorate ! video/x-raw,framerate=1/2 ! jpegenc ! multifilesink location=/survey/img_%05d.jpg throttle-time=1"
|
||||
@ -1,91 +0,0 @@
|
||||
x-spiri-sdk-doc: |
|
||||
Runs the core services for a simulated Spiri Mu
|
||||
|
||||
services:
|
||||
ardupilot:
|
||||
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:
|
||||
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:$MAVROS1_PORT
|
||||
--out udpout:0.0.0.0:18761
|
||||
--sitl 127.0.0.1:$SITL_PORT
|
||||
--out udp:0.0.0.0:$GCS_PORT
|
||||
ipc: host
|
||||
network_mode: host
|
||||
restart: always
|
||||
|
||||
mavros2:
|
||||
image: git.spirirobotics.com/spiri/services-ros2-mavros:main
|
||||
environment:
|
||||
- RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
|
||||
command: ros2 launch mavros apm.launch fcu_url:="udp://0.0.0.0:$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.
|
||||
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:="$DRONE_SYS_ID"
|
||||
profiles:
|
||||
- ros1
|
||||
ipc: host
|
||||
network_mode: host
|
||||
restart: always
|
||||
deploy:
|
||||
resources:
|
||||
limits:
|
||||
# cpus: '0.01'
|
||||
memory: 200M
|
||||
ulimits:
|
||||
nofile:
|
||||
soft: 1024
|
||||
hard: 524288
|
||||
|
||||
ros-master:
|
||||
image: git.spirirobotics.com/spiri/services-ros1-core:main
|
||||
command: stdbuf -o L roscore
|
||||
profiles:
|
||||
- ros1-master
|
||||
ipc: host
|
||||
network_mode: host
|
||||
restart: always
|
||||
deploy:
|
||||
resources:
|
||||
limits:
|
||||
memory: 1G
|
||||
# Madness, setting a low ulimit here fixes memory leaks
|
||||
# https://answers.ros.org/question/336963/rosout-high-memory-usage/
|
||||
ulimits:
|
||||
nofile:
|
||||
soft: 1024
|
||||
hard: 524288
|
||||
@ -1,7 +0,0 @@
|
||||
FROM git.spirirobotics.com/spiri/services-ros2-mavros:main
|
||||
|
||||
RUN apt-get update && apt-get --yes install ros-${ROS_DISTRO}-ros-gz-bridge \
|
||||
ros-${ROS_DISTRO}-ros-gz-image \
|
||||
ros-${ROS_DISTRO}-compressed-image-transport \
|
||||
ros-${ROS_DISTRO}-rmw-cyclonedds-cpp
|
||||
|
||||
@ -1,19 +0,0 @@
|
||||
|
||||
x-spiri-sdk-doc: |
|
||||
Start a virtual camera that can be included in ros
|
||||
x-spiri-sdk-default-args: --build
|
||||
|
||||
services:
|
||||
front-gimbal:
|
||||
ipc: host
|
||||
network_mode: host
|
||||
# image: git.spirirobotics.com/spiri/services-ros2-mavros:main
|
||||
#Build the iamge, give it a name, don't try to pull the image
|
||||
build: ./
|
||||
image: spirisdk-virtual_camera
|
||||
pull_policy: never
|
||||
environment:
|
||||
- RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
|
||||
command: >
|
||||
bash -c "ros2 run ros_gz_image image_bridge /world/${WORLD_NAME}/model/${ROBOT_NAME}/link/pitch_link/sensor/camera/image &
|
||||
ros2 run ros_gz_bridge parameter_bridge /world/${WORLD_NAME}/model/${ROBOT_NAME}/link/pitch_link/sensor/camera/camera_info@sensor_msgs/msg/CameraInfo[gz.msgs.CameraInfo"
|
||||
Loading…
Reference in New Issue
Block a user