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Add ardupilot dockerfile (#23)
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@Thomas-Neill
Thomas-Neill authored Oct 18, 2023
1 parent e9bea53 commit ed24f03
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2 changes: 1 addition & 1 deletion .devcontainer/Dockerfile
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FROM epedley/uavf_2024-dev
FROM t0mmyn/uavf_2024
10 changes: 5 additions & 5 deletions .devcontainer/devcontainer.json
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"workspaceFolder": "/home/ws/uavf_2024",
"workspaceMount": "source=${localWorkspaceFolder},target=/home/ws/uavf_2024,type=bind",
"containerEnv": {
"DISPLAY": "unix:0",
"ROS_LOCALHOST_ONLY": "1",
"ROS_DOMAIN_ID": "42"
"DISPLAY": "unix:0"
},
"mounts": [
"source=/tmp/.X11-unix,target=/tmp/.X11-unix,type=bind,consistency=cached"
],
"runArgs": [
"--net=host",
"-e", "DISPLAY=${env:DISPLAY}"
],
"forwardPorts": [
6080
],
"postCreateCommand": "echo 'source /opt/ros/humble/setup.sh' > /root/.bashrc"
]
}
6 changes: 5 additions & 1 deletion .gitignore
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c_generated_code
acados_ocp_nlp.json
__pycache__
*.egg-info
*.egg-info
mav.*
terrain
eeprom.bin
logs
79 changes: 56 additions & 23 deletions Dockerfile
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FROM ros:humble

RUN apt update
RUN apt-get update --fix-missing
RUN apt-get install -y python3-pip
RUN apt-get install -y ffmpeg libsm6 libxext6
# RUN apt install -y curl
# RUN apt-get install -y wget

# RUN git clone --recursive https://github.com/PX4/PX4-Autopilot.git /home/ws/PX4-Autopilot
# RUN curl -sSL http://get.gazebosim.org | sh

# WORKDIR "/home/ws/PX4-Autopilot"
# RUN Tools/setup/ubuntu.sh
# RUN make px4_sitl
WORKDIR "/home/ws/uavf_2024"
COPY setup.py setup.py
RUN pip install -e .

CMD ["/bin/bash"]


# docker build -t epedley/uavf_2024-dev .
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)
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 .


RUN apt-get install -y default-jre socat ros-humble-geographic-msgs ros-dev-tools

WORKDIR /root/ros2_ws/src

RUN wget https://raw.githubusercontent.com/ArduPilot/ardupilot/master/Tools/ros2/ros2.repos
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

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"

RUN echo 'source /opt/ros/humble/setup.bash' >> ~/.bashrc
RUN echo 'source /root/ros2_ws/install/setup.bash' >> ~/.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 pip3 install PyYAML mavproxy --user
RUN echo 'export PATH="$PATH:$HOME/.local/bin"' >> ~/.bashrc

RUN cp src/ardupilot/Tools/vagrant/mavinit.scr /root/.mavinit.scr
# i love python env management!!! <.<
RUN python -m pip uninstall matplotlib -y

CMD ["bash"]
238 changes: 44 additions & 194 deletions README.md
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# 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. Start the DDS agent.
```
MicroXRCEAgent udp4 -p 8888
```

2. In a new terminal window, cd into PX4-Autopilot and start the SITL.
```
sudo make px4_sitl gazebo-classic
```

3. In a new terminal window, run your roslaunch or script.


## 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. If you want to run in headless, `cd /home/ws/PX4-Autopilot` then `HEADLESS=1 make px4_sitl gazebo-classic`
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`.


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

#### [ROS 2 Foxy for Ubuntu 20.04 Focal](https://docs.ros.org/en/foxy/Installation/Ubuntu-Install-Debians.html)

1. Uninstall ROS Noetic.
```
sudo apt-get remove ros-*
sudo apt-get autoremove
```
Remove the installations of Noetic in /opt/ros and /mnt/c/opt/ros.
```
cd /opt/ros
sudo rm -r noetic
cd /mnt/c/opt/ros
sudo rm -r noetic
```
Edit your ~/.bashrc and remove all ROS related commands.

2. Make sure locale has UTF-8.
```
locale # check for UTF-8
sudo apt update && sudo apt install locales
sudo locale-gen en_US en_US.UTF-8
sudo update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8
export LANG=en_US.UTF-8
locale # verify settings
```

3. Set up sources.
```
sudo apt install software-properties-common
sudo add-apt-repository universe
sudo apt update && sudo apt install curl -y
sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null
```

4. Install ROS 2 packages.
```
sudo apt update
sudo apt upgrade
sudo apt install ros-foxy-desktop python3-argcomplete # full install with extra visualizer tools and tutorials (RECOMMENDED)
sudo apt install ros-foxy-ros-base python3-argcomplete # only has communication libraries and command line tools
sudo apt install ros-dev-tools
```

5. Source environment and test if it's working.
```
source /opt/ros/foxy/setup.bash
echo 'source /opt/ros/foxy/setup.bash' >> ~/.bashrc
ros2 run demo_nodes_cpp talker
```
In another window run:
```
ros2 run demo_nodes_py listener
```

6. Not sure what this is but PX4 says to install it.
```
pip install --user -U empy pyros-genmsg setuptools
```


### [PX4 SITL for Ubuntu 20.04 Focal](https://docs.px4.io/main/en/ros/ros2_comm.html#foxy)

1. Install PX4 development environment in your directory of choice.
```
git clone https://github.com/PX4/PX4-Autopilot.git --recursive
bash ./PX4-Autopilot/Tools/setup/ubuntu.sh
cd PX4-Autopilot/
make px4_sitl
```


### [Micro XRCE-DDS Agent and Client (ROS 2 Middleware)](https://docs.px4.io/main/en/ros/ros2_comm.html#foxy)

1. Clone the DDS agent library to your directory of choice.
```
git clone https://github.com/eProsima/Micro-XRCE-DDS-Agent.git
cd Micro-XRCE-DDS-Agent
mkdir build
cd build
cmake ..
make
sudo make install
sudo ldconfig /usr/local/lib/
```
If you get an error relating to "ASIO_INCLUDE_DIR" when running "make", install this package:
```
sudo apt-get install libasio-dev
```

2. Start the DDS agent.
```
MicroXRCEAgent udp4 -p 8888
```

3. The PX4 SITL contains the DDS client. Run the SITL in a new window.
```
sudo make px4_sitl gazebo-classic
```
If you get a build error, check if you have any existing installations of ROS Noetic and delete them.
After it successfully builds, you should see the simulation environment in one window and the DDS agent outputting "INFO" messages in its terminal window.


### [Set up PX4 ROS 2 workspace](https://docs.px4.io/main/en/ros/ros2_comm.html#foxy)

1. Create a ROS 2 workspace and name it whatever you want. This is where all you develop in.
```
mkdir -p ros2_ws/src
```

2. Clone PX4's packages and [our custom messages](https://github.com/Herpderk/uavf_msgs/tree/master/msg) into your ROS 2 workspace and compile it.
```
cd ros2_ws/src
git clone https://github.com/PX4/px4_msgs.git
git clone [email protected]:uci-uav-forge/uavf_ros2_msgs.git
git clone [email protected]:uci-uav-forge/uavf_2024.git
cd ..
source /opt/ros/foxy/setup.bash
```
Everytime you make a change to your workspace, rebuild with this command:
```
colcon build --merge-install
```
If you compile with only "colcon build", you will get import errors with your ROS message types.


3. Run this command after everytime you've built the workspace:
```
source install/setup.bash
```

4. Test it out with an example
```
ros2 run uavf_2024 commander_node.py
```


### Acados Installation (for MPC usage)

1. [Follow these instructions to install Acados.](https://docs.acados.org/installation/)

2. [Install the Python interface afterwards.](https://docs.acados.org/python_interface/index.html)
# 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.
39 changes: 39 additions & 0 deletions sim_instructions.md
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# Instructions for running the Gazebo sim

## Set up params
```
sim_vehicle.py -w -v ArduCopter --console -DG --enable-dds
```
This command builds the SITL for arducopter and wipes existing params.

Once it's started, type the following command and then control-c:
```
param set DDS_ENABLE 1
```

## Launch SITL

## Simple SITL

Run the following to start a simple SITL

```
ros2 launch ardupilot_sitl sitl_dds_udp.launch.py transport:=udp4 refs:=$(ros2 pkg prefix ardupilot_sitl)/share/ardupilot_sitl/config/dds_xrce_profile.xml synthetic_clock:=True wipe:=False model:=quad speedup:=1 slave:=0 instance:=0 defaults:=$(ros2 pkg prefix ardupilot_sitl)/share/ardupilot_sitl/config/default_params/copter.parm,$(ros2 pkg prefix ardupilot_sitl)/share/ardupilot_sitl/config/default_params/dds_udp.parm sim_address:=127.0.0.1 master:=tcp:127.0.0.1:5760 sitl:=127.0.0.1:5501
```

After starting the SITL you can connect to it with MAVProxy.

```
mavproxy.py --console --map --aircraft test --master=:14550
```

Follow https://ardupilot.org/dev/docs/copter-sitl-mavproxy-tutorial.html for instructions on using MAVProxy to control the sim.


### Launch Gazebo
```
ros2 launch ardupilot_gz_bringup iris_runway.launch.py
```
Gazebo is another option, but I found it very slow through the layer of virtualization on my machine, and harder to set up.


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