Compare commits
1 Commits
master
...
release/20
| Author | SHA1 | Date |
|---|---|---|
 Alex Davies
|
996dcc3437 |
|
|
@ -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
|
||||
2
.env
2
.env
|
|
@ -16,4 +16,4 @@ DRONE_MODEL="spiri_mu"
|
|||
|
||||
|
||||
SIM_DRONE_COUNT=1
|
||||
GCS_PORT=14550
|
||||
GCS_PORT=14550
|
||||
|
|
@ -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: ${{ secrets.GITHUB_TOKEN }}
|
||||
|
|
@ -1,4 +1,3 @@
|
|||
docs/build/
|
||||
.vscode
|
||||
*.pyc
|
||||
survey/
|
||||
*.pyc
|
||||
41
README.md
41
README.md
|
|
@ -36,25 +36,6 @@ ROS1 is considered end of life. It's recomended to use a ROS2 template instead
|
|||
|
||||
We're working on it...
|
||||
|
||||
## Special docker options
|
||||
|
||||
We support the following special docker options to make metadata available inside the SDK
|
||||
|
||||
* x-spiri-sdk-doc: ""
|
||||
|
||||
This will appear as a comment when creating a new robot
|
||||
|
||||
* x-spiri-sdk-default-enabled: true
|
||||
|
||||
Set this to false and that docker compose will be commented out by default when creating a new robot
|
||||
|
||||
* x-spiri-sdk-default-args: ""
|
||||
|
||||
Extra arguments to pass to docker compose. Should accept all docker compose arguments.
|
||||
|
||||
Common options would be `--build`. You might also appreciate `--pull ("always"|"missing"|"never")`.
|
||||
|
||||
|
||||
## NVIDIA Container Toolkit
|
||||
|
||||
[Source](https://docs.nvidia.com/datacenter/cloud-native/container-toolkit/latest/install-guide.html)
|
||||
|
|
@ -91,6 +72,28 @@ sudo nvidia-ctk runtime configure --runtime=docker --cdi.enabled
|
|||
sudo systemctl restart docker
|
||||
```
|
||||
|
||||
##### Rootless Mode
|
||||
|
||||
To configure the container runtime for Docker running in [Rootless mode](https://docs.docker.com/engine/security/rootless/), follow these steps:
|
||||
|
||||
1. Configure the container runtime by using the nvidia-ctk command:
|
||||
|
||||
```bash
|
||||
nvidia-ctk runtime configure --runtime=docker --config=$HOME/.config/docker/daemon.json
|
||||
```
|
||||
|
||||
2. Restart the Rootless Docker daemon
|
||||
|
||||
```bash
|
||||
systemctl --user restart docker
|
||||
```
|
||||
|
||||
3. Configure /etc/nvidia-container-runtime/config.toml by using the sudo nvidia-ctk command:
|
||||
|
||||
```bash
|
||||
sudo nvidia-ctk config --set nvidia-container-cli.no-cgroups --in-place
|
||||
```
|
||||
|
||||
### 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.
|
||||
|
|
|
|||
|
|
@ -1,3 +1,5 @@
|
|||
version: "3.8"
|
||||
|
||||
services:
|
||||
gui-tools:
|
||||
env_file:
|
||||
|
|
@ -7,42 +9,44 @@ services:
|
|||
|
||||
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: ${PWD}
|
||||
|
||||
- DISPLAY=${DISPLAY}
|
||||
- WAYLAND_DISPLAY=${WAYLAND_DISPLAY}
|
||||
# - QT_QPA_PLATFORM=${QT_QPA_PLATFORM:-xcb} # Default to X11
|
||||
# If running with Wayland
|
||||
- XDG_RUNTIME_DIR=${XDG_RUNTIME_DIR}
|
||||
- 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
|
||||
# Access to GPU devices
|
||||
# Allow access to the host's GPU
|
||||
- /dev/dri:/dev/dri
|
||||
# Code and configuration
|
||||
#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 (supports non-NVIDIA GPUs)
|
||||
# Provide access to GPU devices
|
||||
- /dev/dri:/dev/dri
|
||||
|
||||
network_mode: host
|
||||
ports:
|
||||
- 8923:8923
|
||||
ipc: host
|
||||
privileged: true # Required for GPU access
|
||||
#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:
|
||||
reservations:
|
||||
devices:
|
||||
- driver: cdi
|
||||
device_ids:
|
||||
- nvidia.com/gpu=all
|
||||
|
||||
# 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 |
|
|
@ -1,6 +1,7 @@
|
|||
FROM osrf/ros:jazzy-desktop-full
|
||||
|
||||
RUN apt-get update && apt-get -y install qterminal mesa-utils \
|
||||
|
||||
RUN apt-get update
|
||||
RUN apt-get -y install qterminal mesa-utils \
|
||||
libgstreamer1.0-dev \
|
||||
libgstreamer-plugins-base1.0-dev \
|
||||
docker-compose \
|
||||
|
|
@ -10,13 +11,12 @@ RUN apt-get update && apt-get -y install qterminal mesa-utils \
|
|||
gstreamer1.0-gl \
|
||||
gstreamer1.0-plugins-good \
|
||||
gstreamer1.0-plugins-bad \
|
||||
gstreamer1.0-plugins-ugly \
|
||||
ros-${ROS_DISTRO}-rmw-cyclonedds-cpp
|
||||
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
|
||||
COPY --from=git.spirirobotics.com/spiri/gazebo-resources:2024-11-08 /plugins /ardupilot_gazebo/plugins
|
||||
COPY --from=git.spirirobotics.com/spiri/gazebo-resources:2024-11-08 /models /ardupilot_gazebo/models
|
||||
COPY --from=git.spirirobotics.com/spiri/gazebo-resources:2024-11-08 /worlds /ardupilot_gazebo/worlds
|
||||
|
||||
ENV GZ_SIM_SYSTEM_PLUGIN_PATH=/ardupilot_gazebo/plugins
|
||||
ENV GZ_SIM_RESOURCE_PATH=/ardupilot_gazebo/models:/ardupilot_gazebo/worlds
|
||||
|
|
|
|||
|
|
@ -1,19 +1,5 @@
|
|||
# This file is automatically @generated by Poetry 1.8.3 and should not be changed by hand.
|
||||
|
||||
[[package]]
|
||||
name = "aioconsole"
|
||||
version = "0.8.1"
|
||||
description = "Asynchronous console and interfaces for asyncio"
|
||||
optional = false
|
||||
python-versions = ">=3.8"
|
||||
files = [
|
||||
{file = "aioconsole-0.8.1-py3-none-any.whl", hash = "sha256:e1023685cde35dde909fbf00631ffb2ed1c67fe0b7058ebb0892afbde5f213e5"},
|
||||
{file = "aioconsole-0.8.1.tar.gz", hash = "sha256:0535ce743ba468fb21a1ba43c9563032c779534d4ecd923a46dbd350ad91d234"},
|
||||
]
|
||||
|
||||
[package.extras]
|
||||
dev = ["pytest", "pytest-asyncio", "pytest-cov", "pytest-repeat", "uvloop"]
|
||||
|
||||
[[package]]
|
||||
name = "aiodocker"
|
||||
version = "0.23.0"
|
||||
|
|
@ -166,30 +152,6 @@ yarl = ">=1.12.0,<2.0"
|
|||
[package.extras]
|
||||
speedups = ["Brotli", "aiodns (>=3.2.0)", "brotlicffi"]
|
||||
|
||||
[[package]]
|
||||
name = "aiomonitor"
|
||||
version = "0.7.1"
|
||||
description = "Adds monitor and Python REPL capabilities for asyncio applications"
|
||||
optional = false
|
||||
python-versions = ">=3.8"
|
||||
files = [
|
||||
{file = "aiomonitor-0.7.1-py3-none-any.whl", hash = "sha256:10f50418ef8e60cd4b57efb3d2b984f62e01b3a7272772c6916e54f26877fd09"},
|
||||
{file = "aiomonitor-0.7.1.tar.gz", hash = "sha256:beb1f14429bc4a3135bbac32381d242fe2019d74fcf9c86d3f4bd7405dc562e4"},
|
||||
]
|
||||
|
||||
[package.dependencies]
|
||||
aioconsole = ">=0.7.0"
|
||||
aiohttp = ">=3.8.5"
|
||||
attrs = ">=20"
|
||||
click = ">=8.0"
|
||||
janus = ">=1.0"
|
||||
jinja2 = ">=3.1.2"
|
||||
prompt-toolkit = ">=3.0"
|
||||
telnetlib3 = ">=2.0.4"
|
||||
terminaltables = "*"
|
||||
trafaret = ">=2.1.1"
|
||||
typing-extensions = ">=4.1"
|
||||
|
||||
[[package]]
|
||||
name = "aiosignal"
|
||||
version = "1.3.1"
|
||||
|
|
@ -728,17 +690,6 @@ files = [
|
|||
{file = "itsdangerous-2.2.0.tar.gz", hash = "sha256:e0050c0b7da1eea53ffaf149c0cfbb5c6e2e2b69c4bef22c81fa6eb73e5f6173"},
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "janus"
|
||||
version = "1.1.0"
|
||||
description = "Mixed sync-async queue to interoperate between asyncio tasks and classic threads"
|
||||
optional = false
|
||||
python-versions = ">=3.9"
|
||||
files = [
|
||||
{file = "janus-1.1.0-py3-none-any.whl", hash = "sha256:9a3daf0f1a16abda1a7c976e28dc1f6caf3b8d1de9b8c93b2ea84de424de7705"},
|
||||
{file = "janus-1.1.0.tar.gz", hash = "sha256:0634df8b2b31f8afda4311abcf7fea912686fef717d13769eeaa01ae08d2b84c"},
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "jinja2"
|
||||
version = "3.1.4"
|
||||
|
|
@ -1144,20 +1095,6 @@ files = [
|
|||
{file = "packaging-24.1.tar.gz", hash = "sha256:026ed72c8ed3fcce5bf8950572258698927fd1dbda10a5e981cdf0ac37f4f002"},
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "prompt-toolkit"
|
||||
version = "3.0.48"
|
||||
description = "Library for building powerful interactive command lines in Python"
|
||||
optional = false
|
||||
python-versions = ">=3.7.0"
|
||||
files = [
|
||||
{file = "prompt_toolkit-3.0.48-py3-none-any.whl", hash = "sha256:f49a827f90062e411f1ce1f854f2aedb3c23353244f8108b89283587397ac10e"},
|
||||
{file = "prompt_toolkit-3.0.48.tar.gz", hash = "sha256:d6623ab0477a80df74e646bdbc93621143f5caf104206aa29294d53de1a03d90"},
|
||||
]
|
||||
|
||||
[package.dependencies]
|
||||
wcwidth = "*"
|
||||
|
||||
[[package]]
|
||||
name = "propcache"
|
||||
version = "0.2.0"
|
||||
|
|
@ -1835,43 +1772,6 @@ anyio = ">=3.4.0,<5"
|
|||
[package.extras]
|
||||
full = ["httpx (>=0.22.0)", "itsdangerous", "jinja2", "python-multipart (>=0.0.7)", "pyyaml"]
|
||||
|
||||
[[package]]
|
||||
name = "telnetlib3"
|
||||
version = "2.0.4"
|
||||
description = "Python 3 asyncio Telnet server and client Protocol library"
|
||||
optional = false
|
||||
python-versions = ">=3.7"
|
||||
files = [
|
||||
{file = "telnetlib3-2.0.4-py2.py3-none-any.whl", hash = "sha256:b3c0f984a7fb1b6ee16e6fdaa410c56389b0dc492174a99c6661b1ba4c9d457d"},
|
||||
{file = "telnetlib3-2.0.4.tar.gz", hash = "sha256:dbcbc16456a0e03a62431be7cfefff00515ab2f4ce2afbaf0d3a0e51a98c948d"},
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "terminaltables"
|
||||
version = "3.1.10"
|
||||
description = "Generate simple tables in terminals from a nested list of strings."
|
||||
optional = false
|
||||
python-versions = ">=2.6"
|
||||
files = [
|
||||
{file = "terminaltables-3.1.10-py2.py3-none-any.whl", hash = "sha256:e4fdc4179c9e4aab5f674d80f09d76fa436b96fdc698a8505e0a36bf0804a874"},
|
||||
{file = "terminaltables-3.1.10.tar.gz", hash = "sha256:ba6eca5cb5ba02bba4c9f4f985af80c54ec3dccf94cfcd190154386255e47543"},
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "trafaret"
|
||||
version = "2.1.1"
|
||||
description = "Validation and parsing library"
|
||||
optional = false
|
||||
python-versions = "*"
|
||||
files = [
|
||||
{file = "trafaret-2.1.1-py3-none-any.whl", hash = "sha256:1966f432586797aed663edd54cbc201fd7ba59eed1638f1a7a33f17977b3a569"},
|
||||
{file = "trafaret-2.1.1.tar.gz", hash = "sha256:d9d00800318fbd343fdfb3353e947b2ebb5557159c844696c5ac24846f76d41c"},
|
||||
]
|
||||
|
||||
[package.extras]
|
||||
objectid = ["pymongo (>=2.4.1)"]
|
||||
rfc3339 = ["python-dateutil (>=1.5)"]
|
||||
|
||||
[[package]]
|
||||
name = "typing-extensions"
|
||||
version = "4.12.2"
|
||||
|
|
@ -2085,17 +1985,6 @@ files = [
|
|||
[package.dependencies]
|
||||
anyio = ">=3.0.0"
|
||||
|
||||
[[package]]
|
||||
name = "wcwidth"
|
||||
version = "0.2.13"
|
||||
description = "Measures the displayed width of unicode strings in a terminal"
|
||||
optional = false
|
||||
python-versions = "*"
|
||||
files = [
|
||||
{file = "wcwidth-0.2.13-py2.py3-none-any.whl", hash = "sha256:3da69048e4540d84af32131829ff948f1e022c1c6bdb8d6102117aac784f6859"},
|
||||
{file = "wcwidth-0.2.13.tar.gz", hash = "sha256:72ea0c06399eb286d978fdedb6923a9eb47e1c486ce63e9b4e64fc18303972b5"},
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "websockets"
|
||||
version = "13.1"
|
||||
|
|
@ -2318,4 +2207,4 @@ propcache = ">=0.2.0"
|
|||
[metadata]
|
||||
lock-version = "2.0"
|
||||
python-versions = "^3.11"
|
||||
content-hash = "bf8122985963391df3c60a13513784f7533309ec22095a82cac34034b6dae399"
|
||||
content-hash = "7607ff77762b700b8f487fd9b5ef6c07e875eccd429feace40047276d2f84280"
|
||||
|
|
|
|||
|
|
@ -14,7 +14,6 @@ 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"]
|
||||
|
|
|
|||
|
|
@ -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 $j -y 0 -z 0.195
|
||||
done
|
||||
exec "$@"
|
||||
|
|
@ -3,7 +3,6 @@ import subprocess
|
|||
from collections import defaultdict
|
||||
import docker
|
||||
import time
|
||||
from loguru import logger
|
||||
|
||||
docker_client = docker.from_env()
|
||||
|
||||
|
|
@ -13,6 +12,7 @@ applications = {
|
|||
"rqt": ["rqt"],
|
||||
"rviz2": ["rviz2"],
|
||||
"Gazebo": ["/gz_entrypoint.sh"],
|
||||
"Gazebo Standalone": "gz sim -v4".split(),
|
||||
# Add more applications here if needed
|
||||
}
|
||||
|
||||
|
|
@ -27,7 +27,8 @@ def launch_app(command):
|
|||
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
|
||||
from spiri_sdk_guitools.sim_drone import Robot
|
||||
import aiodocker
|
||||
import asyncio
|
||||
|
||||
@ui.page('/')
|
||||
|
|
@ -63,20 +64,17 @@ async def main():
|
|||
|
||||
#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)
|
||||
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')
|
||||
ui.textarea(value="/robots/spiri-mu/core/docker-compose.yaml", label="Compose files (comma or newline seperated)").bind_value(newRobotParams, 'compose_files')
|
||||
async def new_robot():
|
||||
robot = Robot(**newRobotParams)
|
||||
asyncio.tasks.create_task(robot.ui(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)
|
||||
newRobotParams['sysid'] += 1
|
||||
ui.button("Add", on_click=new_robot)
|
||||
|
||||
# Start the NiceGUI application
|
||||
ui.run(title="Spiri SDK Launcher", port=8923, dark=None)
|
||||
|
|
|
|||
|
|
@ -5,15 +5,12 @@ from typing import List
|
|||
import os
|
||||
import sh
|
||||
import subprocess
|
||||
from nicegui import ui, run, app, binding
|
||||
import yaml
|
||||
from nicegui import ui, run, app
|
||||
|
||||
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()
|
||||
|
||||
|
|
@ -22,15 +19,12 @@ from rclpy.node import Node
|
|||
import rclpy
|
||||
import threading
|
||||
|
||||
async def ros_loop():
|
||||
|
||||
def ros_main() -> None:
|
||||
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())
|
||||
app.on_startup(lambda: threading.Thread(target=ros_main).start())
|
||||
|
||||
|
||||
@contextlib.contextmanager
|
||||
|
|
@ -78,30 +72,8 @@ async def container_logs(container, element):
|
|||
# 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"
|
||||
robot_type = "spiri-mu"
|
||||
|
||||
def __init__(self, sysid: int, compose_files: List[Path] | str):
|
||||
if sysid > 255 or sysid < 0:
|
||||
|
|
@ -115,130 +87,51 @@ class Spirimu(Robot):
|
|||
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"
|
||||
# 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)
|
||||
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-lg"
|
||||
)
|
||||
logelement = (
|
||||
ui.expansion("Logs")
|
||||
.style("margin: 10px;")
|
||||
.classes("w-full outline outline-1")
|
||||
)
|
||||
asyncio.create_task(container_logs(container, logelement))
|
||||
# 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:
|
||||
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])
|
||||
# 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")
|
||||
ui.label(topic)
|
||||
await asyncio.sleep(10)
|
||||
|
||||
async def ui(self, element):
|
||||
adocker = aiodocker.Docker()
|
||||
|
|
@ -250,7 +143,7 @@ class Spirimu(Robot):
|
|||
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(
|
||||
self.video_button = EnableStreamingButton(sysid=self.sysid).classes(
|
||||
"m-2"
|
||||
)
|
||||
|
||||
|
|
@ -263,14 +156,12 @@ class Spirimu(Robot):
|
|||
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))
|
||||
with ui.tab_panels(tabs, value=tab_ros):
|
||||
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)
|
||||
|
|
@ -281,7 +172,7 @@ class Spirimu(Robot):
|
|||
if isinstance(self.video_button, EnableStreamingButton):
|
||||
self.video_button.stop_video()
|
||||
# Delete gazebo model
|
||||
self.delete_gz_model()
|
||||
self.delete_gz_model(sysid=self.sysid)
|
||||
# Signal all processes to stop
|
||||
for process in self.processes:
|
||||
process.terminate()
|
||||
|
|
@ -293,7 +184,7 @@ class Spirimu(Robot):
|
|||
|
||||
def containers(self):
|
||||
return docker_client.containers.list(
|
||||
all=True, filters={"name": f"robot-sim-{self.robot_name}"}
|
||||
all=True, filters={"name": f"robot-sim-{self.robot_type}-{self.sysid}"}
|
||||
)
|
||||
|
||||
async def async_start(self):
|
||||
|
|
@ -316,47 +207,35 @@ class Spirimu(Robot):
|
|||
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()
|
||||
self.spawn_gz_model(self.sysid)
|
||||
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"robot-sim-{self.robot_type}-{sysid}",
|
||||
"-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,
|
||||
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
|
||||
@staticmethod
|
||||
def spawn_gz_model(sysid):
|
||||
logger.info("")
|
||||
env = os.environ
|
||||
GSTREAMER_UDP_PORT = env["GSTREAMER_UDP_PORT"]
|
||||
|
|
@ -373,7 +252,7 @@ class Spirimu(Robot):
|
|||
]
|
||||
# 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"
|
||||
ROS2_CMD = f"ros2 run ros_gz_sim create -world {WORLD_NAME} -file /ardupilot_gazebo/models/{DRONE_MODEL}/model.sdf -name spiri-{sysid} -x {sysid - 1} -y 0 -z 0.195"
|
||||
|
||||
xacro_proc = subprocess.Popen(
|
||||
XACRO_CMD,
|
||||
|
|
@ -386,18 +265,17 @@ class Spirimu(Robot):
|
|||
stdout=subprocess.PIPE,
|
||||
stderr=subprocess.PIPE,
|
||||
)
|
||||
out, err = ros2_gz_create_proc.communicate(timeout=3)
|
||||
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
|
||||
@staticmethod
|
||||
def delete_gz_model(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}"
|
||||
REQUEST_ARG = f"name: 'spiri-{sysid}' type: {ENTITY_TYPE_MODEL}"
|
||||
GZ_SERVICE_CMD = [
|
||||
"gz",
|
||||
"service",
|
||||
|
|
@ -417,5 +295,5 @@ class Spirimu(Robot):
|
|||
stdout=subprocess.PIPE,
|
||||
stderr=subprocess.PIPE,
|
||||
)
|
||||
out, err = remove_entity_proc.communicate(timeout=3)
|
||||
out, err = remove_entity_proc.communicate(timeout=15)
|
||||
remove_entity_proc.kill()
|
||||
|
|
|
|||
|
|
@ -4,13 +4,13 @@ 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"
|
||||
ENABLE_STREAMING_TOPIC = "/world/{world_name}/model/spiri-{sysid}/link/pitch_link/sensor/camera/image/enable_streaming"
|
||||
|
||||
|
||||
class EnableStreamingButton(ui.element):
|
||||
def __init__(self, robot_name, state: bool = False) -> None:
|
||||
def __init__(self, sysid, state: bool = False) -> None:
|
||||
super().__init__()
|
||||
self.robot_name = robot_name
|
||||
self.sysid = sysid
|
||||
self._state = state
|
||||
self.button = None
|
||||
with self.classes():
|
||||
|
|
@ -24,7 +24,7 @@ class EnableStreamingButton(ui.element):
|
|||
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)
|
||||
result = await run.cpu_bound(self.enable_streaming, self.sysid, not self._state)
|
||||
if result:
|
||||
ui.notify("Success", type="positive]")
|
||||
self.set_state(state=not self._state)
|
||||
|
|
@ -43,17 +43,17 @@ class EnableStreamingButton(ui.element):
|
|||
|
||||
def stop_video(self):
|
||||
if self._state != False:
|
||||
self.enable_streaming(robot_name=self.robot_name, is_streaming=False)
|
||||
self.enable_streaming(sysid=self.sysid, is_streaming=False)
|
||||
self.set_state(state=False)
|
||||
|
||||
@staticmethod
|
||||
def enable_streaming(robot_name: str, is_streaming: bool) -> bool:
|
||||
def enable_streaming(sysid: int, 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)],
|
||||
+ [ENABLE_STREAMING_TOPIC.format(world_name=world_name, sysid=sysid)],
|
||||
stdout=subprocess.PIPE,
|
||||
stderr=subprocess.PIPE,
|
||||
text=True,
|
||||
|
|
@ -72,7 +72,7 @@ class EnableStreamingButton(ui.element):
|
|||
"gz",
|
||||
"topic",
|
||||
"-t",
|
||||
ENABLE_STREAMING_TOPIC.format(world_name=world_name, robot_name=robot_name),
|
||||
ENABLE_STREAMING_TOPIC.format(world_name=world_name, sysid=sysid),
|
||||
"-m",
|
||||
"gz.msgs.Boolean",
|
||||
"-p",
|
||||
|
|
|
|||
|
|
@ -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=$GSTREAMER_UDP_PORT close-socket=false auto-multicast=true ! application/x-rtp, payload=96 ! rtph264depay ! decodebin3 ! videoconvert ! videorate ! video/x-raw,framerate=1/2 ! jpegenc ! multifilesink location=/survey/img_%05d.jpg throttle-time=1"
|
||||
|
|
@ -0,0 +1,19 @@
|
|||
DRONE_SYS_ID=1
|
||||
INSTANCE=0
|
||||
SERIAL0_PORT=5760
|
||||
SITL_PORT=5501
|
||||
MAVROS2_PORT=14560
|
||||
MAVROS1_PORT=14561
|
||||
FDM_PORT_IN=9002
|
||||
GSTREAMER_UDP_PORT=5600
|
||||
ROS_MASTER_URI="http://0.0.0.0:11311"
|
||||
|
||||
|
||||
ARDUPILOT_VEHICLE="-v copter -f gazebo-mu --model=JSON -L CitadelHill"
|
||||
WORLD_FILE_NAME="citadel_hill_world.sdf"
|
||||
WORLD_NAME="citadel_hill"
|
||||
DRONE_MODEL="spiri_mu"
|
||||
|
||||
|
||||
SIM_DRONE_COUNT=1
|
||||
GCS_PORT=14550
|
||||
|
|
@ -1,8 +1,7 @@
|
|||
x-spiri-sdk-doc: |
|
||||
Runs the core services for a simulated Spiri Mu
|
||||
|
||||
services:
|
||||
ardupilot:
|
||||
env_file:
|
||||
- .env
|
||||
image: git.spirirobotics.com/spiri/ardupilot:spiri-master
|
||||
command:
|
||||
- /bin/bash
|
||||
|
|
@ -15,13 +14,14 @@ services:
|
|||
network_mode: host
|
||||
|
||||
mavproxy:
|
||||
env_file:
|
||||
- .env
|
||||
image: git.spirirobotics.com/spiri/services-mavproxy:main
|
||||
command: >
|
||||
mavproxy.py --non-interactive
|
||||
--master tcp:127.0.0.1:$SERIAL0_PORT
|
||||
--out udpout:0.0.0.0:$MAVROS2_PORT
|
||||
--out udpout:0.0.0.0:$MAVROS1_PORT
|
||||
--out udpout:0.0.0.0:18761
|
||||
--sitl 127.0.0.1:$SITL_PORT
|
||||
--out udp:0.0.0.0:$GCS_PORT
|
||||
ipc: host
|
||||
|
|
@ -29,10 +29,10 @@ services:
|
|||
restart: always
|
||||
|
||||
mavros2:
|
||||
env_file:
|
||||
- .env
|
||||
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:="$DRONE_SYS_ID"
|
||||
command: ros2 launch mavros apm.launch fcu_url:="udp://0.0.0.0:$MAVROS2_PORT@:14555" namespace:="spiri$DRONE_SYS_ID" tgt_system:="$DRONE_SYS_ID"
|
||||
ipc: host
|
||||
network_mode: host
|
||||
restart: always
|
||||
|
|
@ -54,6 +54,8 @@ services:
|
|||
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:="$DRONE_SYS_ID"
|
||||
profiles:
|
||||
|
|
@ -72,6 +74,8 @@ services:
|
|||
hard: 524288
|
||||
|
||||
ros-master:
|
||||
env_file:
|
||||
- .env
|
||||
image: git.spirirobotics.com/spiri/services-ros1-core:main
|
||||
command: stdbuf -o L roscore
|
||||
profiles:
|
||||
|
|
|
|||
|
|
@ -1,7 +0,0 @@
|
|||
FROM git.spirirobotics.com/spiri/services-ros2-mavros:main
|
||||
|
||||
RUN apt-get update && apt-get --yes install ros-${ROS_DISTRO}-ros-gz-bridge \
|
||||
ros-${ROS_DISTRO}-ros-gz-image \
|
||||
ros-${ROS_DISTRO}-compressed-image-transport \
|
||||
ros-${ROS_DISTRO}-rmw-cyclonedds-cpp
|
||||
|
||||
|
|
@ -1,17 +0,0 @@
|
|||
|
||||
x-spiri-sdk-doc: |
|
||||
Start a virtual camera that can be included in ros
|
||||
x-spiri-sdk-default-args: --build
|
||||
|
||||
services:
|
||||
front-gimbal:
|
||||
ipc: host
|
||||
network_mode: host
|
||||
# image: git.spirirobotics.com/spiri/services-ros2-mavros:main
|
||||
#Build the iamge, give it a name, don't try to pull the image
|
||||
build: ./
|
||||
image: spirisdk-virtual_camera
|
||||
pull_policy: never
|
||||
environment:
|
||||
- RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
|
||||
command: ros2 run ros_gz_image image_bridge /world/${WORLD_NAME}/model/${ROBOT_NAME}/link/pitch_link/sensor/camera/image
|
||||
|
|
@ -0,0 +1,167 @@
|
|||
#!/bin/env python3
|
||||
import typer
|
||||
import os
|
||||
import sys
|
||||
import contextlib
|
||||
from dotenv import load_dotenv
|
||||
from typing import List
|
||||
from loguru import logger
|
||||
import sh
|
||||
import atexit
|
||||
|
||||
load_dotenv()
|
||||
logger.remove()
|
||||
logger.add(
|
||||
sys.stdout, format="<green>{time}</green> <level>{level}</level> {extra} {message}"
|
||||
)
|
||||
|
||||
# px4Path = os.environ.get("SPIRI_SIM_PX4_PATH", "/opt/spiri-sdk/PX4-Autopilot/")
|
||||
# logger.info(f"SPIRI_SIM_PX4_PATH={px4Path}")
|
||||
|
||||
app = typer.Typer()
|
||||
|
||||
# This is a list of processes that we need to .kill and .wait for on exit
|
||||
processes = []
|
||||
|
||||
|
||||
class outputLogger:
|
||||
"""
|
||||
Logs command output to loguru
|
||||
"""
|
||||
|
||||
def __init__(self, name, instance):
|
||||
self.name = name
|
||||
self.instance = instance
|
||||
|
||||
def __call__(self, message):
|
||||
with logger.contextualize(cmd=self.name, instance=self.instance):
|
||||
if message.endswith("\n"):
|
||||
message = message[:-1]
|
||||
# ToDo, this doesn't work because the output is coloured
|
||||
if message.startswith("INFO"):
|
||||
message = message.lstrip("INFO")
|
||||
logger.info(message)
|
||||
elif message.startswith("WARN"):
|
||||
message = message.lstrip("WARN")
|
||||
logger.warning(message)
|
||||
elif message.startswith("ERROR"):
|
||||
message = message.lstrip("ERROR")
|
||||
logger.error(message)
|
||||
elif message.startswith("DEBUG"):
|
||||
message = message.lstrip("DEBUG")
|
||||
logger.debug(message)
|
||||
else:
|
||||
logger.info(message)
|
||||
|
||||
|
||||
@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]
|
||||
|
||||
|
||||
# @app.command()
|
||||
def start(instance: int = 0, sys_id: int = 1):
|
||||
"""Starts the simulated drone with a given sys_id,
|
||||
each drone must have it's own unique ID.
|
||||
"""
|
||||
if sys_id < 1 or sys_id > 254:
|
||||
logger.error("sys_id must be between 1 and 254")
|
||||
raise typer.Exit(code=1)
|
||||
with logger.contextualize(syd_id=sys_id):
|
||||
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),
|
||||
SITL_PORT=str(int(env["SITL_PORT"]) + 10 * instance),
|
||||
INSTANCE=str(instance),
|
||||
DRONE_SYS_ID=str(sys_id),
|
||||
):
|
||||
logger.info("Starting drone stack, this may take some time")
|
||||
docker_stack = sh.docker.compose(
|
||||
"--profile",
|
||||
"uav-sim",
|
||||
"-p",
|
||||
f"robot-sim-{sys_id}",
|
||||
"up",
|
||||
_out=outputLogger("docker_stack", sys_id),
|
||||
_err=sys.stderr,
|
||||
_bg=True,
|
||||
)
|
||||
processes.append(docker_stack)
|
||||
|
||||
|
||||
@app.command()
|
||||
def start_group():
|
||||
env = os.environ
|
||||
sim_drone_count = int(env["SIM_DRONE_COUNT"])
|
||||
start_ros_master()
|
||||
"""Start a group of robots"""
|
||||
for i in range(sim_drone_count):
|
||||
logger.info(f"start robot {i}")
|
||||
start(instance=i, sys_id=i + 1)
|
||||
# if i == 0:
|
||||
# wait_for_gazebo()
|
||||
|
||||
|
||||
def start_ros_master():
|
||||
docker_stack = sh.docker.compose(
|
||||
"--profile",
|
||||
"ros-master",
|
||||
"up",
|
||||
_out=outputLogger("docker_stack", "ros-master"),
|
||||
_err=sys.stderr,
|
||||
_bg=True,
|
||||
)
|
||||
processes.append(docker_stack)
|
||||
|
||||
|
||||
def cleanup():
|
||||
# Wait for all subprocesses to exit
|
||||
logger.info("Waiting for commands to exit")
|
||||
try:
|
||||
if processes:
|
||||
print(processes)
|
||||
for waitable in processes:
|
||||
waitable.kill()
|
||||
waitable.wait()
|
||||
except Exception as e:
|
||||
print(e)
|
||||
|
||||
|
||||
atexit.register(cleanup)
|
||||
|
||||
if __name__ == "__main__":
|
||||
try:
|
||||
app()
|
||||
except KeyboardInterrupt:
|
||||
logger.info("KeyboardInterrupt caught, exiting...")
|
||||
cleanup()
|
||||
sys.exit(0)
|
||||
Loading…
Reference in New Issue