Spiri SDK

Overview

Spiri Robots run a number of docker containers to achieve their core functionality, we try to keep these essential docker containers in one docker compose file. The docker compose file you'll find in this repository starts an ardupilot-based UAV simulation as well as a ROS master, and mavproxy to tie it together, mirroring the core deployment of a spiri robot.

Prerequisites

This SDK was tested using Ubuntu 22.04 and an Nvidia GPU.

UI features like 3D worlds (gazebo simulation) were tested with Nvidia GPUs using CDI passthrough. Machine-learning features like image recognition are expected to only work with NVIDIA GPUs.

We use VSCode as the default IDE, and we use Copier to manage project templates.

Installing Docker

As per the official Docker documentation.

Installing Copier

As per the official Copier documentation

python3 -m pip install --user pipx
python3 -m pipx ensurepath
pipx install copier

Installing VSCode

As per the official VSCode documentation

sudo apt-get install wget gpg
wget https://code.visualstudio.com/sha/download?build=stable&os=linux-deb-x64 -O /tmp/vscode.deb
sudo dpkg -i /tmp/vscode.deb

Installing nvidia-container-toolkit

We recomend following the offical guide to install the nvidia-container-toolkit.

Make sure you run sudo nvidia-ctk runtime configure --runtime=docker and sudo systemctl restart docker.

When installed correctly you should see your gpu available in nvidia-ctk cdi list.

Quickstart

To get started you can simply clone this repository and run docker compose --profile uav-sim up.

Once the simulated UAV is running you can connect to it with QGroundControl or other MavLink compatible software. We expose the UAVs Mavlink conenction on tcp port 5760.

There is experimental GUI support you can enable by running docker compose --profile uav-sim --profile ui up.

Creating a new project

We provide project templates you can use for development that integrate seamlessly into our simulated robots.

These templates are intended to be used with VSCode.

To get started with our project templates install the copier project templating utility.

• template-service-ros1-catkin

This template uses the last stable release of ROS1 (ros noetic) and supports python and c++ programming languages.

ROS1 is considered end of life. It's recomended to use a ROS2 template instead

• ROS2 template

We're working on it...