guiTools/spiri_sdk_guitools/launcher.py

@@ -70,7 +70,7 @@ async def main():
                           ).bind_value(newRobotParams, 'sysid')
                 default_robot_compose = (
                         "/robots/spiri-mu/core/docker-compose.yaml\n"
-                        "#/robots/spiri-mu/virtual_camera/docker-compose.yaml"
+                        "#/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')

guiTools/spiri_sdk_guitools/sim_drone.py

@@ -6,6 +6,7 @@ import os
 import sh
 import subprocess
 from nicegui import ui, run, app
+import yaml
 
 import docker
 import aiodocker
@@ -96,6 +97,7 @@ class Robot:
         container_status = {}
         with element:
             while True:
+                with logger.catch():
                     # Poll for data that changes
                     for container in self.containers():
                         try:
@@ -110,18 +112,26 @@ class Robot:
                             docker_elements[container] = ui.element().classes("w-full")
                             with docker_elements[container]:
                                 ui.label().bind_text(container_status, container).classes(
-                                "text-lg"
+                                    "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:
@@ -138,7 +148,7 @@ class Robot:
                     scroll_area.clear()
                     #Filter for topics that start with self.robot_name
                     for topic in node_dummy.get_topic_names_and_types():
-                        if topic[0].startswith(f"/{self.robot_name}/") or topic[0].startswith(f"/world/{self.world_name}/model/{self.robot_name}/"):
+                        if self.robot_name in topic[0]:
                             ui.label(topic[0])
                     await asyncio.sleep(10)
 
@@ -221,6 +231,11 @@ class Robot:
                 self.spawn_gz_model()
                 logger.info("Starting drone stack, this may take some time")
                 for compose_file in self.compose_files:
+                    arguments = compose_file.split(" ")
+                    arguments = [arg.strip() for arg in arguments]
+                    compose_file = arguments[0]
+                    arguments = arguments[1:]
+
                     if not isinstance(compose_file, Path):
                         compose_file = Path(compose_file)
                     if not compose_file.exists():
@@ -236,15 +251,17 @@ class Robot:
                         "-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):

robots/spiri-mu/virtual_camera/Dockerfile

@@ -1,5 +1,8 @@
 FROM git.spirirobotics.com/spiri/services-ros2-mavros:main
 
 RUN apt-get update
-RUN apt-get --yes install ros-${ROS_DISTRO}-ros-gz-bridge ros-${ROS_DISTRO}-compressed-image-transport ros-${ROS_DISTRO}-rmw-cyclonedds-cpp
+RUN apt-get --yes install ros-${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

@@ -4,7 +4,10 @@ services:
     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