.gitignore

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

README.md

@@ -36,6 +36,25 @@ 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)

docker-compose.yml

@@ -1,5 +1,3 @@
-version: "3.8"
-
 services:
   gui-tools:
     env_file:
@@ -9,44 +7,42 @@ services:
 
     environment:
       # Display settings
-      - DISPLAY=${DISPLAY}
+      DISPLAY: "${DISPLAY}"
-      - WAYLAND_DISPLAY=${WAYLAND_DISPLAY}
+      WAYLAND_DISPLAY: "${WAYLAND_DISPLAY}"
-      # - QT_QPA_PLATFORM=${QT_QPA_PLATFORM:-xcb}  # Default to X11
+      # Uncomment below if using X11
-      # If running with Wayland
+      # QT_QPA_PLATFORM: "${QT_QPA_PLATFORM:-xcb}"
-      - 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"
-      # - NVIDIA_DRIVER_CAPABILITIES=compute,video,utility
+      RMW_IMPLEMENTATION: rmw_cyclonedds_cpp
-      # - NVIDIA_VISIBLE_DEVICES=all
+      SDK_ROOT: ${PWD}
+
     volumes:
       # X11 socket
       - /tmp/.X11-unix:/tmp/.X11-unix
       - ${XAUTHORITY:-~/.Xauthority}:/root/.Xauthority
       # Wayland socket
       #- ${XDG_RUNTIME_DIR}/wayland-0:${XDG_RUNTIME_DIR}/wayland-0
-      # Allow access to the host's GPU
+      # Access to GPU devices
       - /dev/dri:/dev/dri
-      #Auto reload on code changes
+      # Code and configuration
       - ./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
+      # Provide access to GPU devices (supports non-NVIDIA GPUs)
       - /dev/dri:/dev/dri
+
     network_mode: host
     ports:
       - 8923:8923
     ipc: host
-    #user: "${UID}:${GID}"
+    privileged: true # Required for GPU access
-    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

guiTools/Dockerfile

@@ -1,7 +1,6 @@
 FROM osrf/ros:jazzy-desktop-full
  
-RUN apt-get update
+RUN apt-get update && apt-get -y install qterminal mesa-utils \
-RUN apt-get -y install qterminal mesa-utils \
     libgstreamer1.0-dev \
     libgstreamer-plugins-base1.0-dev \
     docker-compose \
@@ -11,7 +10,8 @@ RUN 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

guiTools/poetry.lock

@@ -1,5 +1,19 @@
 # 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"
@@ -152,6 +166,30 @@ 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"
@@ -690,6 +728,17 @@ 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"
@@ -1095,6 +1144,20 @@ 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"
@@ -1772,6 +1835,43 @@ 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"
@@ -1985,6 +2085,17 @@ 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"
@@ -2207,4 +2318,4 @@ propcache = ">=0.2.0"
 [metadata]
 lock-version = "2.0"
 python-versions = "^3.11"
-content-hash = "7607ff77762b700b8f487fd9b5ef6c07e875eccd429feace40047276d2f84280"
+content-hash = "bf8122985963391df3c60a13513784f7533309ec22095a82cac34034b6dae399"

guiTools/pyproject.toml

@@ -14,6 +14,7 @@ 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

@@ -1,32 +0,0 @@
-#!/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

@@ -3,6 +3,7 @@ import subprocess
 from collections import defaultdict
 import docker
 import time
+from loguru import logger
 
 docker_client = docker.from_env()
 
@@ -12,7 +13,6 @@ applications = {
     "rqt": ["rqt"],
     "rviz2": ["rviz2"],
     "Gazebo": ["/gz_entrypoint.sh"],
-    "Gazebo Standalone": "gz sim -v4".split(),
     # Add more applications here if needed
 }
 
@@ -27,8 +27,7 @@ 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
+from spiri_sdk_guitools.sim_drone import robot_types
-import aiodocker
 import asyncio
 
 @ui.page('/')
@@ -64,30 +63,20 @@ async def main():
 
             #Add a new robot
             with new_robot_widget:
-                ui.label("Add new robot").classes("text-3xl")
+                for name, robot in robot_types.items():
-                newRobotParams = defaultdict(binding.BindableProperty)
+                    ui.label(f"Add new {name}").classes("text-3xl")
-                ui.number(value=1, label="SysID", min=1, max=254,
+                    await robot.launch_widget(robots_widget)
-                          ).bind_value(newRobotParams, 'sysid')
-                default_robot_compose = (
-                        "/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 = []
-                    #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
+import aiomonitor
-                ui.button("Add", on_click=new_robot)
+async def amonitor():
+    #
+    logger.info("Starting aiomonitor")
+    loop = asyncio.get_running_loop()
+    run_forever = loop.create_future()
+    with aiomonitor.start_monitor(loop):
+        await run_forever
+
+app.on_startup(amonitor)
 
 # Start the NiceGUI application
 ui.run(title="Spiri SDK Launcher", port=8923, dark=None)

guiTools/spiri_sdk_guitools/sim_drone.py

@@ -5,13 +5,15 @@ from typing import List
 import os
 import sh
 import subprocess
-from nicegui import ui, run, app
+from nicegui import ui, run, app, binding
 import yaml
 
 import docker
 import aiodocker
 import asyncio
 from spiri_sdk_guitools.video_button import EnableStreamingButton
+from collections import defaultdict
+import importlib.util
 
 docker_client = docker.from_env()
 
@@ -20,12 +22,15 @@ 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(lambda: threading.Thread(target=ros_main).start())
+app.on_startup(ros_loop())
 
 
 @contextlib.contextmanager
@@ -73,7 +78,29 @@ 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"
 
     def __init__(self, sysid: int, compose_files: List[Path] | str):
@@ -90,7 +117,51 @@ class Robot:
         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"
+        # 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 = {}
@@ -143,14 +214,31 @@ class 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[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()
@@ -175,11 +263,14 @@ class 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))
                     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)
@@ -226,7 +317,7 @@ class Robot:
                 INSTANCE=str(instance),
                 DRONE_SYS_ID=str(self.sysid),
                 ROBOT_NAME=self.robot_name,
-                WORLD_NAME="citadel_hill",
+                WORLD_NAME=env["WORLD_NAME"],
             ):
                 self.spawn_gz_model()
                 logger.info("Starting drone stack, this may take some time")
@@ -295,7 +386,7 @@ class Robot:
             stdout=subprocess.PIPE,
             stderr=subprocess.PIPE,
         )
-        out, err = ros2_gz_create_proc.communicate(timeout=15)
+        out, err = ros2_gz_create_proc.communicate(timeout=3)
         ros2_gz_create_proc.kill()
         return
 
@@ -326,5 +417,5 @@ class Robot:
             stdout=subprocess.PIPE,
             stderr=subprocess.PIPE,
         )
-        out, err = remove_entity_proc.communicate(timeout=15)
+        out, err = remove_entity_proc.communicate(timeout=3)
         remove_entity_proc.kill()

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

@@ -0,0 +1,14 @@
+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

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

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

@@ -1,7 +1,8 @@
+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
@@ -14,14 +15,13 @@ 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
@@ -29,9 +29,9 @@ 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:="$DRONE_SYS_ID"
     ipc: host
     network_mode: host
@@ -54,8 +54,6 @@ services:
   mavros:
     #This service bridges our mavlink-based robot-coprosessor into ROS
     #In this example it connects to a simulated coprocessor.
-    env_file:
-      - .env
     image: git.spirirobotics.com/spiri/services-ros1-mavros:master
     command: rosrun mavros mavros_node __name:=spiri$DRONE_SYS_ID _fcu_url:="udp://0.0.0.0:$MAVROS1_PORT@:14559" _target_system_id:="$DRONE_SYS_ID"
     profiles:
@@ -74,8 +72,6 @@ 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 +1,6 @@
 FROM git.spirirobotics.com/spiri/services-ros2-mavros:main
 
-RUN apt-get update
+RUN apt-get update && apt-get --yes install ros-${ROS_DISTRO}-ros-gz-bridge \
-RUN apt-get --yes install ros-${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

@@ -1,4 +1,8 @@
 
+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