Use 2024-11-08 gazebo release

.copier/answers.docs.yml

@@ -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

.github/workflows/build-docs.yaml

@@ -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 }}

.gitignore

@@ -1,4 +1,3 @@
 docs/build/
 .vscode
 *.pyc
-survey/

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.

docker-compose.yml

@@ -1,3 +1,5 @@
+version: "3.8"
+
 services:
   gui-tools:
     env_file:
@@ -7,42 +9,44 @@ services:
 
     environment:
       # Display settings
-      DISPLAY: "${DISPLAY}"
+      - DISPLAY=${DISPLAY}
-      WAYLAND_DISPLAY: "${WAYLAND_DISPLAY}"
+      - WAYLAND_DISPLAY=${WAYLAND_DISPLAY}
-      # Uncomment below if using X11
+      # - QT_QPA_PLATFORM=${QT_QPA_PLATFORM:-xcb}  # Default to X11
-      # QT_QPA_PLATFORM: "${QT_QPA_PLATFORM:-xcb}"
+      # If running with Wayland
-      XDG_RUNTIME_DIR: "${XDG_RUNTIME_DIR}"
+      - XDG_RUNTIME_DIR=${XDG_RUNTIME_DIR}
-      ROS_MASTER_URI: "http://ros-master:11311"
+      - ROS_MASTER_URI=http://ros-master:11311
-      RMW_IMPLEMENTATION: rmw_cyclonedds_cpp
+      # - NVIDIA_DRIVER_CAPABILITIES=compute,video,utility
-      SDK_ROOT: ${PWD}
+      # - 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

docs/Makefile

@@ -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)

docs/README.md

@@ -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.

docs/make.bat

@@ -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

docs/source/_static/custom.css

@@ -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; 
-}

docs/source/conf.py

@@ -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'

docs/source/index.rst

@@ -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`

guiTools/Dockerfile

@@ -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 \
+    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:2024-11-08 /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:2024-11-08 /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 /worlds /ardupilot_gazebo/worlds
 
 ENV GZ_SIM_SYSTEM_PLUGIN_PATH=/ardupilot_gazebo/plugins
 ENV GZ_SIM_RESOURCE_PATH=/ardupilot_gazebo/models:/ardupilot_gazebo/worlds

guiTools/poetry.lock

@@ -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"

guiTools/pyproject.toml

@@ -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"]

guiTools/spawn_drones.sh

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

guiTools/spiri_sdk_guitools/launcher.py

@@ -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("Add new robot").classes("text-3xl")
-                    ui.label(f"Add new {name}").classes("text-3xl")
+                newRobotParams = defaultdict(binding.BindableProperty)
-                    await robot.launch_widget(robots_widget)
+                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
+                    newRobotParams['sysid'] += 1
-async def amonitor():
+                ui.button("Add", on_click=new_robot)
-    #
-    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)

guiTools/spiri_sdk_guitools/sim_drone.py

@@ -5,15 +5,12 @@ from typing import List
 import os
 import sh
 import subprocess
-from nicegui import ui, run, app, binding
+from nicegui import ui, run, app
-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()
 
@@ -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):
+    robot_type = "spiri-mu"
-        #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:
@@ -115,60 +87,12 @@ 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:
@@ -183,26 +107,14 @@ class Spirimu(Robot):
                         docker_elements[container] = ui.element().classes("w-full")
                         with docker_elements[container]:
                             ui.label().bind_text(container_status, container).classes(
-                                    "text-2xl"
+                                "text-lg"
                             )
-                                #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:
@@ -214,31 +126,12 @@ class Spirimu(Robot):
         with element:
             node_dummy = Node("_ros2cli_dummy_to_show_topic_list")
             scroll_area = ui.scroll_area()
-            def refresh_topics():
             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)
-                            ui.label(topic[0])
+                    await asyncio.sleep(10)
-                            # 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()
@@ -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,
+                        stdout=subprocess.PIPE,
-                        # stderr=subprocess.PIPE,
+                        stderr=subprocess.PIPE,
                     )
-                    logger.info(f"Started drone stack with PID: {docker_stack.pid}")
 
-    @logger.catch
+    @staticmethod
-    def spawn_gz_model(self):
+    def spawn_gz_model(sysid):
-        sysid = self.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
+    @staticmethod
-    def delete_gz_model(self):
+    def delete_gz_model(sysid):
-        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}"
+        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()

guiTools/spiri_sdk_guitools/video_button.py

@@ -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",

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

@@ -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"

robots/spiri-mu/core/.env

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

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

@@ -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:
+    command: ros2 launch mavros apm.launch fcu_url:="udp://0.0.0.0:$MAVROS2_PORT@:14555" namespace:="spiri$DRONE_SYS_ID" tgt_system:="$DRONE_SYS_ID"
-      - RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
-    command: ros2 launch mavros apm.launch fcu_url:="udp://0.0.0.0:$MAVROS2_PORT@:14555" namespace:="$ROBOT_NAME" tgt_system:="$DRONE_SYS_ID"
     ipc: host
     network_mode: host
     restart: always
@@ -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:

robots/spiri-mu/virtual_camera/Dockerfile

@@ -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
-

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

@@ -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"

sim_drone.py

@@ -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)