52 lines
1.9 KiB
Markdown
52 lines
1.9 KiB
Markdown
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# Ways of running
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There are two main ways of running this software.
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Most users are recomended to install [VirtualBox](https://www.virtualbox.org/), create a new
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VM, and use the supplied VDI as the disk image. You will likely want
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to increase memory limits and CPU count above the default.
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Advanced users can also use the SDK as a docker image. It pairs well with
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[distrobox](https://github.com/89luca89/distrobox) to better
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integrate it with their existing linux workflows.
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```bash
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distrobox create --unshare-all --init --image git.spirirobotics.com/spiri/spiri-sdk-desktop:master
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distrobox enter spiri-sdk-desktop-main
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#You can optionally copy the standard SDK setup from /opt/spiri-sdk/user-home-skeleton/
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# cp -r /opt/spiri-sdk/user-home-skeleton/* ~/
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cd /opt/spiri-sdk/PX4-Autopilot/
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make px4_sitl gazebo-classic #Start the simulator
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```
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# Usage
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Each drone has it's own ros master, you can specify a ros master by adding a sys_id to your port
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To launch the drone, run the command `sim_drone.py start-group 2`. For more detailed information user
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the `--help` command. You must run the command from inside a folder with a compliant dockerfile.
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If using the VM there should be one on your desktop, if not you can run `cp -r /opt/spiri-sdk/user-home-skeleton/ ~/`
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and all relevent development resources will be added to your home folder.
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```bash
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ROS_MASTER_URI=http://localhost:11311 rostopic list #Drone with sys_id 1
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ROS_MASTER_URI=http://localhost:11312 rostopic list #Drone with sys_id 2
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```
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# Building
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```bash
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#Note that because this is running in a container, the -o output flag must be relative to the current directory.
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# We mount the current working directory in the docker container as part of this script.
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./virtualize.sh build ./ -s 100gb -o sdk.vdi
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```
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For testing the VM, I use the following
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```bash
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./virtualize.sh build ./ -s 100gb -o sdk.qcow2
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qemu-system-x87_64 -display default,show-cursor=on -enable-kvm -device virtio-gpu -m 4g -smp 4 -hda sdk.qcow2
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```
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