Add in dynamic image creation for ARM64 (Apple Sillicon) (#36)

.devcontainer/bashrc_setup.sh

@@ -0,0 +1,13 @@
+#!/bin/bash
+
+# Sourcing things
+echo 'source /opt/ros/humble/setup.bash' >> /root/.bashrc
+echo 'source /root/ros2_ws/install/setup.bash' >> /root/.bashrc
+
+echo "export PATH=/root/ros2_ws/src/ardupilot/Tools/autotest:$PATH" >> /root/.bashrc
+echo "export PATH=/usr/lib/ccache:$PATH" >> /root/.bashrc
+
+echo "export PATH=\"$PATH:$HOME/.local/bin\"" >> /root/.bashrc
+
+# So that the container doesn't close
+/bin/bash

.devcontainer/devcontainer.json

@@ -9,7 +9,12 @@
     "workspaceFolder": "/home/ws/uavf_2024",
     "workspaceMount": "source=${localWorkspaceFolder},target=/home/ws/uavf_2024,type=bind",
     "containerEnv": {
-        "DISPLAY": "unix:0"
+        // For x86_64
+        "DISPLAY": "unix:0",
+        // For ARM64
+        // "DISPLAY": "host.docker.internal:0",
+        "ROS_LOCALHOST_ONLY": "1",
+        "ROS_DOMAIN_ID": "42"
     },
     "mounts": [
         "source=/tmp/.X11-unix,target=/tmp/.X11-unix,type=bind,consistency=cached"
@@ -20,5 +25,15 @@
     ],
     "forwardPorts": [
         6080
-    ]
+    ],
+	"postCreateCommand": "/usr/local/bin/bashrc_setup.sh",
+	"customizations": {
+		"vscode": {
+			"extensions": [
+				"ms-python.python",
+				"ms-vscode.cmake-tools",
+				"ms-azuretools.vscode-docker"
+			]
+		}
+	}
 }

.gitignore

@@ -2,6 +2,8 @@ c_generated_code
 acados_ocp_nlp.json
 __pycache__
 *.egg-info
+.devcontainer/Dockerfile
+.devcontainer/devcontainer.json
 mav.*
 terrain
 eeprom.bin

.vscode/settings.json

@@ -0,0 +1,12 @@
+{
+    "cmake.configureOnOpen": false,
+    "python.testing.unittestArgs": [
+        "-v",
+        "-s",
+        "./tests",
+        "-p",
+        "*test*.py"
+    ],
+    "python.testing.pytestEnabled": false,
+    "python.testing.unittestEnabled": true
+}

Dockerfile

@@ -1,21 +1,140 @@
-FROM ardupilot/ardupilot-dev-ros
-
-RUN apt-get update
-
-# opencv dependencies (https://stackoverflow.com/questions/55313610/importerror-libgl-so-1-cannot-open-shared-object-file-no-such-file-or-directo)
+# This file is essentally the template file for the actual dockerfile which will be generated by setup_image.py
+# Do not change the positioning of anything until after the "---"" line
+FROM PLACEHOLDER
+
+# from ardupilot
+ENV DEBIAN_FRONTEND=noninteractive
+RUN apt-get update && apt-get install --no-install-recommends -y \
+    lsb-release \
+    sudo \
+    wget \
+    software-properties-common \
+    build-essential  \
+    ccache \
+    g++ \ 
+    gdb \
+    gawk \
+    git \
+    make \
+    cmake \
+    ninja-build \
+    libtool \
+    libxml2-dev \
+    libxslt1-dev \
+    python3-numpy \
+    python3-pyparsing \
+    python3-serial \
+    python-is-python3 \
+    libpython3-stdlib \
+    libtool-bin \
+    zip \
+    default-jre \
+    socat \
+    ros-dev-tools \
+    ros-humble-launch-pytest \
+    && apt-get clean \
+    && apt-get -y autoremove \
+    && apt-get autoclean \
+    && rm -rf /var/lib/apt/lists/* /tmp/* /var/tmp/*
+
+# TAKEN from https://github.com/docker-library/python/blob/a58630aef106c8efd710011c6a2a0a1d551319a0/3.11/bullseye/Dockerfile
+# if this is called "PIP_VERSION", pip explodes with "ValueError: invalid truth value '<VERSION>'"
+ENV PYTHON_PIP_VERSION 23.1.2
+# https://github.com/docker-library/python/issues/365
+ENV PYTHON_SETUPTOOLS_VERSION 65.5.1
+# https://github.com/pypa/get-pip
+ENV PYTHON_GET_PIP_URL https://github.com/pypa/get-pip/raw/9af82b715db434abb94a0a6f3569f43e72157346/public/get-pip.py
+ENV PYTHON_GET_PIP_SHA256 45a2bb8bf2bb5eff16fdd00faef6f29731831c7c59bd9fc2bf1f3bed511ff1fe
+
+RUN set -eux; \
+	\
+	wget -O get-pip.py "$PYTHON_GET_PIP_URL"; \
+	echo "$PYTHON_GET_PIP_SHA256 *get-pip.py" | sha256sum -c -; \
+	\
+	export PYTHONDONTWRITEBYTECODE=1; \
+	\
+	python get-pip.py \
+		--disable-pip-version-check \
+		--no-cache-dir \
+		--no-compile \
+		"pip==$PYTHON_PIP_VERSION" \
+		"setuptools==$PYTHON_SETUPTOOLS_VERSION" \
+	; \
+	rm -f get-pip.py; \
+	\
+	pip --version
+
+RUN python -m pip install --no-cache-dir -U future lxml pexpect flake8 empy pyelftools tabulate pymavlink pre-commit
+
+FROM eclipse-temurin:19-jdk-jammy as dds-gen-builder
+
+RUN apt-get update && apt-get install --no-install-recommends -y \
+    git \
+    && apt-get clean \
+    && apt-get -y autoremove \
+    && apt-get autoclean \
+    && rm -rf /var/lib/apt/lists/* /tmp/* /var/tmp/*
+
+RUN git clone -b develop --recurse-submodules https://github.com/ArduPilot/Micro-XRCE-DDS-Gen.git --depth 1 --no-single-branch --branch develop dds-gen \
+    && cd dds-gen \
+    && ./gradlew assemble
+
+FROM main-setup
+
+WORKDIR /dds-gen
+COPY --from=dds-gen-builder /dds-gen/scripts scripts/
+COPY --from=dds-gen-builder /dds-gen/share share/
+WORKDIR /
+
+# Get STM32 GCC10 toolchain
+ARG ARM_ROOT="gcc-arm-none-eabi-10"
+ARG ARM_ROOT_EXT="-2020-q4-major"
+ARG ARM_TARBALL="$ARM_ROOT$ARM_ROOT_EXT-x86_64-linux.tar.bz2"
+ARG ARM_TARBALL_URL="https://firmware.ardupilot.org/Tools/STM32-tools/$ARM_TARBALL"
+
+RUN cd /opt \
+	&& wget -qO- "$ARM_TARBALL_URL" | tar jx \
+	&& mv "/opt/$ARM_ROOT$ARM_ROOT_EXT" "/opt/$ARM_ROOT" \
+	&& rm -rf "/opt/$ARM_ROOT/share/doc"
+
+# manual ccache setup for arm-none-eabi-g++/arm-none-eabi-gcc
+RUN ln -s /usr/bin/ccache /usr/lib/ccache/arm-none-eabi-g++ \
+	&& ln -s /usr/bin/ccache /usr/lib/ccache/arm-none-eabi-gcc
+
+# Set STM32 toolchain to the PATH
+ENV PATH="/opt/$ARM_ROOT/bin:$PATH"
+
+RUN mkdir -p $HOME/arm-gcc \
+    && ln -s -f /opt/gcc-arm-none-eabi-10/ g++-10.2.1
+
+
+ENV PATH="/dds-gen/scripts:$PATH"
+# Set ccache to the PATH
+ENV PATH="/usr/lib/ccache:$PATH"
+
+# Gain some time by disabling mavnative
+ENV DISABLE_MAVNATIVE=True
+
+# Set the buildlogs directory into /tmp as other directory aren't accessible
+ENV BUILDLOGS=/tmp/buildlogs
+
+ENV TZ=UTC
+
+#-------------------------------------
+# EVERYTHING BELOW THIS LINE IS EDITABLE
+#-------------------------------------
+RUN apt update
+RUN apt-get update --fix-missing
+RUN apt-get install -y python3-pip
 RUN apt-get install -y ffmpeg libsm6 libxext6
 
-# utils (not strictly necessary)
-RUN apt-get install -y tmux vim
-
-# comment this out if you have a GPU
-RUN pip3 install torch torchvision --index-url https://download.pytorch.org/whl/cpu
-
 WORKDIR "/home/ws/uavf_2024"
 COPY setup.py setup.py
 RUN pip install -e .
 
+# GNC setup stuff (gazebo garden, ardupilot sitl, and respective ros2 plugins etc)
 
+RUN apt-get install -y tmux vim
 RUN apt-get install -y default-jre socat ros-humble-geographic-msgs ros-dev-tools
 
 WORKDIR /root/ros2_ws/src
@@ -24,33 +143,39 @@ RUN wget https://raw.githubusercontent.com/ArduPilot/ardupilot/master/Tools/ros2
 RUN vcs import --recursive < ros2.repos
 RUN wget https://raw.githubusercontent.com/ArduPilot/ardupilot_gz/main/ros2_gz.repos
 RUN vcs import --recursive < ros2_gz.repos
-ARG GZ_VERSION=garden
+# env so now its persistant for future colcon builds
+ENV GZ_VERSION=garden
 
 RUN apt-get -y install lsb-release wget gnupg
 RUN wget https://packages.osrfoundation.org/gazebo.gpg -O /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg
 RUN echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null
 RUN apt-get update
 RUN apt-get -y install gz-garden
 
-
 WORKDIR /root/ros2_ws
 RUN apt update
 RUN rosdep update
 RUN rosdep install --rosdistro ${ROS_DISTRO} --from-paths src -i -r -y
-RUN bash -c "source /opt/ros/humble/setup.bash && colcon build --cmake-args -DBUILD_TESTING=ON"
+# we dont need the extra args here
+RUN bash -c "source /opt/ros/humble/setup.bash && colcon build"
 
-RUN echo 'source /opt/ros/humble/setup.bash' >> ~/.bashrc
-RUN echo 'source /root/ros2_ws/install/setup.bash' >> ~/.bashrc
+# Unfortunately this is not persistant in docker so you need to source them during runtime with the CMD at the end
+#RUN echo 'source /opt/ros/humble/setup.bash' >> /root/.bashrc
+#RUN echo 'source /root/ros2_ws/install/setup.bash' >> /root/.bashrc
+#RUN echo 'export PATH=/root/ros2_ws/src/ardupilot/Tools/autotest:$PATH' >> /root/.bashrc
+#RUN echo 'export PATH=/usr/lib/ccache:$PATH' >> /root/.bashrc
 
-RUN echo 'export PATH=/root/ros2_ws/src/ardupilot/Tools/autotest:$PATH' >> ~/.bashrc
-RUN echo 'export PATH=/usr/lib/ccache:$PATH' >> ~/.bashrc
-
-RUN sudo apt-get install -y python3-dev python3-opencv python3-wxgtk4.0 python3-pip python3-matplotlib python3-lxml python3-pygame
+RUN sudo apt-get install -y python3-dev python3-wxgtk4.0 python3-pip python3-matplotlib python3-lxml python3-pygame
 RUN pip3 install PyYAML mavproxy --user
-RUN echo 'export PATH="$PATH:$HOME/.local/bin"' >> ~/.bashrc
+#RUN echo 'export PATH="$PATH:$HOME/.local/bin"' >> /root/.bashrc
 
 RUN cp src/ardupilot/Tools/vagrant/mavinit.scr /root/.mavinit.scr
-# i love python env management!!! <.<
-RUN python -m pip uninstall matplotlib -y
+#since apt installs the specific version we want we uninstall the pip version
+RUN python -m pip uninstall matplotlib -y 
+
+# Sourcing script at runtime
+COPY .devcontainer/bashrc_setup.sh /usr/local/bin/bashrc_setup.sh
+RUN chmod 777 /usr/local/bin/bashrc_setup.sh
+#CMD ["/usr/local/bin/bashrc_setup.sh"]
 
-CMD ["bash"]
+CMD ["/bin/bash"]

README.md

@@ -1,44 +1,50 @@
-# UAV Forge's ROS2 package for GN&C and Aerial Imagery Object Detection.
-
-## Dev Container Setup
-1. Clone the repo
-2. In VSCode, open the command palette and run `rebuild and reopen in dev container`
-3. To verify your setup, run `run_tests.sh`
-
-## Usage
-
-1. Refer to `sim_instructions.md` for instructions on starting and running the simulation.
-
-
-## Install instructions
-
-### Install required and local Python libraries
-
-1. cd into this repo's root directory.
-
-2. Run:
-	```
-	pip install -e .
-	```
-
-
-### Dev container
-
-1. Open this project in vscode
-2. Install the "Dev Containers" extension
-3. Open the command pallete (ctrl-shift-p), then search for and execute "Dev Containers: (Re-)build and Reopen in Container"
-4. Congratulations, you get to skip all those tedious steps to install ROS 2 manually, and your environment is isolated from the rest of your computer
-5. To make downloading dependencies reproducible, add any important software installation steps to the Dockerfile in this repo.
-6. To use git inside the docker container, you may have to manually log in to GitHub again if the built-in credential forwarding isn't working. I recommend using the [GitHub CLI](https://cli.github.com/) to do this.
-7. If you want to use the simulator:
-	1. Follow instructions in `sim_instructions.md`.
-	2. If you want it to run it in a GUI, one way is using the remote desktop environment in the dev container. Open `localhost:6080` in a web browser, then enter password `vscode`, then use the menu in the bottom left to open a terminal, `cd /home/ws/PX4-Autopilot`, then run `make px4_sitl gazebo-classic`.
-	3. The X sockets should also be mounted and should work if you run `xhost +` on your machine.
-
-
-I copied a lot of the config from this tutorial: https://docs.ros.org/en/foxy/How-To-Guides/Setup-ROS-2-with-VSCode-and-Docker-Container.html
-
-
-### Manual
-
-(WIP). It's recommended to use the Dockerfile for development.
+# UAV Forge's ROS2 package for GN&C and Aerial Imagery Object Detection.
+
+## Dev Container Setup (one time setup)
+1. Ensure you have Docker and X-11 forwarding installed on your device (google this)
+2. Clone the repo and edit devcontainer.json accordingly for your X-11 setup
+3. In VSCode, first run `python3 setup_image.py`
+4. Then open the command palette (cmd/ctrl+shift+p) and run `rebuild and reopen in dev container`
+5. To verify your setup, run `run_tests.sh`
+
+## Dev Container Usage
+1. Open VScode to the repo
+2. Open the command palette (cmd/ctrl+shift+p) and run `rebuild and reopen in dev container`
+
+## Sim Usage
+
+1. Refer to `sim_instructions.md` for instructions on starting and running the simulation.
+
+
+## Install instructions
+
+### Install required and local Python libraries
+
+1. cd into this repo's root directory.
+
+2. Run:
+	```
+	pip install -e .
+	```
+
+
+### Dev container
+
+1. Open this project in vscode
+2. Install the "Dev Containers" extension
+3. Open the command pallete (ctrl-shift-p), then search for and execute "Dev Containers: (Re-)build and Reopen in Container"
+4. Congratulations, you get to skip all those tedious steps to install ROS 2 manually, and your environment is isolated from the rest of your computer
+5. To make downloading dependencies reproducible, add any important software installation steps to the Dockerfile in this repo.
+6. To use git inside the docker container, you may have to manually log in to GitHub again if the built-in credential forwarding isn't working. I recommend using the [GitHub CLI](https://cli.github.com/) to do this.
+7. If you want to use the simulator:
+	1. Follow instructions in `sim_instructions.md`.
+	2. If you want it to run it in a GUI, one way is using the remote desktop environment in the dev container. Open `localhost:6080` in a web browser, then enter password `vscode`, then use the menu in the bottom left to open a terminal, `cd /home/ws/PX4-Autopilot`, then run `make px4_sitl gazebo-classic`.
+	3. The X sockets should also be mounted and should work if you run `xhost +` on your machine.
+
+
+I copied a lot of the config from this tutorial: https://docs.ros.org/en/foxy/How-To-Guides/Setup-ROS-2-with-VSCode-and-Docker-Container.html
+
+
+### Manual
+
+(WIP). It's recommended to use the Dockerfile for development.