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

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

README.md

@@ -72,6 +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.

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

@@ -14,9 +14,9 @@ RUN apt-get -y install qterminal mesa-utils \
     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: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/spiri_sdk_guitools/launcher.py

@@ -68,22 +68,9 @@ async def main():
                 newRobotParams = defaultdict(binding.BindableProperty)
                 ui.number(value=1, label="SysID", min=1, max=254,
                           ).bind_value(newRobotParams, 'sysid')
-                default_robot_compose = (
+                ui.textarea(value="/robots/spiri-mu/core/docker-compose.yaml", label="Compose files (comma or newline seperated)").bind_value(newRobotParams, 'compose_files')
-                        "/robots/spiri-mu/core/docker-compose.yaml\n"
-                        "#/robots/spiri-mu/virtual_camera/docker-compose.yaml --build"
-                )
-                ui.label("Compose files").classes("text-xl")
-                ui.codemirror(value=default_robot_compose, language="bash", theme="basicDark").bind_value(newRobotParams, 'compose_files')
                 async def new_robot():
-                    compose_files = []
+                    robot = Robot(**newRobotParams)
-                    #Split on comma or newline, and remove comments
-                    for line in newRobotParams['compose_files'].split('\n'):
-                        line = line.split('#')[0].strip()
-                        if line:
-                            compose_files.append(line)
-                    current_robot = newRobotParams.copy()
-                    current_robot['compose_files'] = compose_files
-                    robot = Robot(**current_robot)
                     asyncio.tasks.create_task(robot.ui(robots_widget))
 
                     newRobotParams['sysid'] += 1

guiTools/spiri_sdk_guitools/sim_drone.py

@@ -6,7 +6,6 @@ import os
 import sh
 import subprocess
 from nicegui import ui, run, app
-import yaml
 
 import docker
 import aiodocker
@@ -74,7 +73,7 @@ async def container_logs(container, element):
 
 
 class 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:
@@ -88,56 +87,40 @@ class 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.world_name = "citadel_hill"
 
     async def ui_containers(self, element):
         docker_elements = {}
         container_status = {}
         with element:
             while True:
-                with logger.catch():
+                # Poll for data that changes
-                    # Poll for data that changes
+                for container in self.containers():
-                    for container in self.containers():
+                    try:
-                        try:
+                        health = container.attrs["State"]["Health"]["Status"]
-                            health = container.attrs["State"]["Health"]["Status"]
+                    except KeyError:
-                        except KeyError:
+                        health = "Unknown"
-                            health = "Unknown"
 
-                        container_status[container] = (
+                    container_status[container] = (
-                            f"{container.name} {container.status} {health}"
+                        f"{container.name} {container.status} {health}"
-                        )
+                    )
-                        if container not in docker_elements:
+                    if container not in docker_elements:
-                            docker_elements[container] = ui.element().classes("w-full")
+                        docker_elements[container] = ui.element().classes("w-full")
-                            with docker_elements[container]:
+                        with docker_elements[container]:
-                                ui.label().bind_text(container_status, container).classes(
+                            ui.label().bind_text(container_status, container).classes(
-                                    "text-2xl"
+                                "text-lg"
-                                )
+                            )
-                                #Show the command the container is running
+                            logelement = (
-                                # ui.label(container.attrs["Config"]["Cmd"])
+                                ui.expansion("Logs")
-                                cmd_widget = ui.codemirror(" ".join(container.attrs["Config"]["Cmd"]), language="bash",theme="basicDark").classes('h-auto max-h-32')
+                                .style("margin: 10px;")
-                                cmd_widget.enabled = False
+                                .classes("w-full outline outline-1")
-
+                            )
-                                with ui.expansion("Env Variables").classes("w-full outline outline-1").style("margin: 10px;"):
+                            asyncio.create_task(container_logs(container, logelement))
-                                    env_widget = ui.codemirror("\n".join(container.attrs["Config"]["Env"]), language="bash",theme="basicDark")
+                # Check for containers that have been removed
-                                    env_widget.enabled = False
+                removed = set(docker_elements.keys()) - set(self.containers())
-
+                for container in removed:
-                                logelement = (
+                    self.robot_ui.remove(docker_elements[container])
-                                    ui.expansion("Logs")
+                    docker_elements.pop(container)
-                                    .style("margin: 10px;")
+                await asyncio.sleep(1)
-                                    .classes("w-full outline outline-1")
-                                )
-                                asyncio.create_task(container_logs(container, logelement))
-                                with ui.expansion("Full details").classes("w-full outline outline-1").style("margin: 10px;"):
-                                    details_widget = ui.codemirror(yaml.dump(container.attrs), language="yaml",theme="basicDark")
-                                    details_widget.enabled = False
-                    # Check for containers that have been removed
-                    removed = set(docker_elements.keys()) - set(self.containers())
-                    for container in removed:
-                        self.robot_ui.remove(docker_elements[container])
-                        docker_elements.pop(container)
-                    await asyncio.sleep(1)
 
     async def ui_ros(self, element):
         with element:
@@ -146,10 +129,8 @@ class Robot:
             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)
 
     async def ui(self, element):
@@ -162,7 +143,7 @@ class 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"
                 )
 
@@ -178,6 +159,7 @@ class Robot:
                 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))
 
@@ -190,7 +172,7 @@ class 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()
@@ -202,7 +184,7 @@ class 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):
@@ -225,47 +207,35 @@ class 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="citadel_hill",
             ):
-                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"]
@@ -282,7 +252,7 @@ class 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,
@@ -299,14 +269,13 @@ class Robot:
         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",

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/core/docker-compose.yaml

@@ -32,7 +32,7 @@ services:
     env_file:
       - .env
     image: git.spirirobotics.com/spiri/services-ros2-mavros:main
-    command: ros2 launch mavros apm.launch fcu_url:="udp://0.0.0.0:$MAVROS2_PORT@:14555" namespace:="$ROBOT_NAME" tgt_system:="$DRONE_SYS_ID"
+    command: ros2 launch mavros apm.launch fcu_url:="udp://0.0.0.0:$MAVROS2_PORT@:14555" namespace:="spiri$DRONE_SYS_ID" tgt_system:="$DRONE_SYS_ID"
     ipc: host
     network_mode: host
     restart: always

robots/spiri-mu/virtual_camera/Dockerfile

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

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

@@ -1,13 +0,0 @@
-
-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

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)