Merge ROS into master

14 files changed, 548 insertions, 0 deletions

diff --git a/Tools/gencpp b/Tools/gencpp
new file mode 160000
+Subproject 26a86f04bcec0018af6652b3ddd3f680e6e3fa2
diff --git a/Tools/genmsg b/Tools/genmsg
new file mode 160000
+Subproject 72f0383f0e6a489214c51802ae12d6e271b1e45
diff --git a/Tools/px_generate_uorb_topic_headers.py b/Tools/px_generate_uorb_topic_headers.py
new file mode 100755
index 000000000..4bcab4d54
--- /dev/null
+++ b/Tools/px_generate_uorb_topic_headers.py
@@ -0,0 +1,159 @@
+#!/usr/bin/env python
+#############################################################################
+#
+#   Copyright (C) 2013-2014 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+#############################################################################
+
+"""
+px_generate_uorb_topic_headers.py
+Generates c/cpp header files for uorb topics from .msg (ROS syntax)
+message files
+"""
+from __future__ import print_function
+import os
+import shutil
+import filecmp
+import argparse
+import genmsg.template_tools
+
+__author__ = "Thomas Gubler"
+__copyright__ = "Copyright (C) 2013-2014 PX4 Development Team."
+__license__ = "BSD"
+__email__ = "thomasgubler@gmail.com"
+
+
+msg_template_map = {'msg.h.template': '@NAME@.h'}
+srv_template_map = {}
+incl_default = ['std_msgs:./msg/std_msgs']
+package = 'px4'
+
+
+def convert_file(filename, outputdir, templatedir, includepath):
+        """
+        Converts a single .msg file to a uorb header
+        """
+        print("Generating headers from {0}".format(filename))
+        genmsg.template_tools.generate_from_file(filename,
+                                                 package,
+                                                 outputdir,
+                                                 templatedir,
+                                                 includepath,
+                                                 msg_template_map,
+                                                 srv_template_map)
+
+
+def convert_dir(inputdir, outputdir, templatedir):
+        """
+        Converts all .msg files in inputdir to uORB header files
+        """
+        includepath = incl_default + [':'.join([package, inputdir])]
+        for f in os.listdir(inputdir):
+                fn = os.path.join(inputdir, f)
+                if os.path.isfile(fn):
+                        convert_file(
+                            fn,
+                            outputdir,
+                            templatedir,
+                            includepath)
+
+
+def copy_changed(inputdir, outputdir, prefix=''):
+        """
+        Copies files from inputdir to outputdir if they don't exist in
+        ouputdir or if their content changed
+        """
+
+        # Make sure output directory exists:
+        if not os.path.isdir(outputdir):
+                os.makedirs(outputdir)
+
+        for f in os.listdir(inputdir):
+                fni = os.path.join(inputdir, f)
+                if os.path.isfile(fni):
+                        # Check if f exists in outpoutdir, copy the file if not
+                        fno = os.path.join(outputdir, prefix + f)
+                        if not os.path.isfile(fno):
+                                shutil.copy(fni, fno)
+                                print("{0}: new header file".format(f))
+                                continue
+                        # The file exists in inputdir and outputdir
+                        # only copy if contents do not match
+                        if not filecmp.cmp(fni, fno):
+                                shutil.copy(fni, fno)
+                                print("{0}: updated".format(f))
+                                continue
+
+                        print("{0}: unchanged".format(f))
+
+
+def convert_dir_save(inputdir, outputdir, templatedir, temporarydir, prefix):
+        """
+        Converts all .msg files in inputdir to uORB header files
+        Unchanged existing files are not overwritten.
+        """
+        # Create new headers in temporary output directory
+        convert_dir(inputdir, temporarydir, templatedir)
+
+        # Copy changed headers from temporary dir to output dir
+        copy_changed(temporarydir, outputdir, prefix)
+
+if __name__ == "__main__":
+        parser = argparse.ArgumentParser(
+            description='Convert msg files to uorb headers')
+        parser.add_argument('-d', dest='dir', help='directory with msg files')
+        parser.add_argument('-f', dest='file',
+                            help="files to convert (use only without -d)",
+                            nargs="+")
+        parser.add_argument('-e', dest='templatedir',
+                            help='directory with template files',)
+        parser.add_argument('-o', dest='outputdir',
+                            help='output directory for header files')
+        parser.add_argument('-t', dest='temporarydir',
+                            help='temporary directory')
+        parser.add_argument('-p', dest='prefix', default='',
+                            help='string added as prefix to the output file '
+                            ' name when converting directories')
+        args = parser.parse_args()
+
+        if args.file is not None:
+                for f in args.file:
+                        convert_file(
+                            f,
+                            args.outputdir,
+                            args.templatedir,
+                            incl_default)
+        elif args.dir is not None:
+                convert_dir_save(
+                    args.dir,
+                    args.outputdir,
+                    args.templatedir,
+                    args.temporarydir,
+                    args.prefix)
diff --git a/Tools/ros/docker/px4-ros-full/Dockerfile b/Tools/ros/docker/px4-ros-full/Dockerfile
new file mode 100644
index 000000000..1242b56b5
--- /dev/null
+++ b/Tools/ros/docker/px4-ros-full/Dockerfile
@@ -0,0 +1,57 @@
+#
+# PX4 full ROS container
+#
+# License: according to LICENSE.md in the root directory of the PX4 Firmware repository
+
+FROM ubuntu:14.04.1
+MAINTAINER Andreas Antener <andreas@uaventure.com>
+
+# Install basics
+## Use the "noninteractive" debconf frontend
+ENV DEBIAN_FRONTEND noninteractive
+
+RUN apt-get update \
+	&& apt-get -y install wget git mercurial
+
+# Main ROS Setup
+# Following http://wiki.ros.org/indigo/Installation/Ubuntu
+# Also adding dependencies for gazebo http://gazebosim.org/tutorials?tut=drcsim_install
+
+## add ROS repositories and keys
+## install main ROS pacakges
+RUN echo "deb http://packages.ros.org/ros/ubuntu trusty main" > /etc/apt/sources.list.d/ros-latest.list \
+	&& wget https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -O - | apt-key add - \
+	&& apt-get update \
+	&& apt-get -y install ros-indigo-desktop-full
+
+RUN rosdep init \
+	&& rosdep update
+
+## setup environment variables
+RUN echo "source /opt/ros/indigo/setup.bash" >> ~/.bashrc
+
+## get rosinstall
+RUN apt-get -y install python-rosinstall
+
+## additional dependencies
+RUN apt-get -y install ros-indigo-octomap-msgs ros-indigo-joy
+
+## install drcsim
+RUN echo "deb http://packages.osrfoundation.org/drc/ubuntu trusty main" > /etc/apt/sources.list.d/drc-latest.list \
+	&& wget http://packages.osrfoundation.org/drc.key -O - | apt-key add - \
+	&& apt-get update \
+	&& apt-get -y install drcsim
+
+# Install x11-utils to get xdpyinfo, for X11 display debugging
+# mesa-utils provides glxinfo, handy for understanding the 3D support
+RUN apt-get -y install x11-utils mesa-utils
+
+# Some QT-Apps/Gazebo don't not show controls without this
+ENV QT_X11_NO_MITSHM 1
+
+# FIXME: this doesn't work when building from vagrant
+COPY scripts/setup-workspace.sh /root/scripts/
+RUN chmod +x -R /root/scripts/*
+RUN chown -R root:root /root/scripts/*
+
+CMD ["/usr/bin/xterm"]
diff --git a/Tools/ros/docker/px4-ros-full/README.md b/Tools/ros/docker/px4-ros-full/README.md
new file mode 100644
index 000000000..af5170c70
--- /dev/null
+++ b/Tools/ros/docker/px4-ros-full/README.md
@@ -0,0 +1,12 @@
+# PX4 ROS #
+
+Full desktop ROS container.
+
+License: according to LICENSE.md in the root directory of the PX4 Firmware repository
+
+**TODO:**
+
+- use https://github.com/phusion/baseimage-docker as base
+- add user, best synced with host
+- configure ssh to work with vagrant out of the box
+
diff --git a/Tools/ros/docker/px4-ros-full/scripts/setup-workspace.sh b/Tools/ros/docker/px4-ros-full/scripts/setup-workspace.sh
new file mode 100644
index 000000000..2de5f8bec
--- /dev/null
+++ b/Tools/ros/docker/px4-ros-full/scripts/setup-workspace.sh
@@ -0,0 +1,45 @@
+#!/bin/sh
+#
+# Create workspace at current location and fetch source repositories
+#
+
+# License: according to LICENSE.md in the root directory of the PX4 Firmware repository
+
+WDIR=`pwd`
+WORKSPACE=$WDIR/catkin_ws
+
+# Setup workspace
+mkdir -p $WORKSPACE/src
+cd $WORKSPACE/src
+catkin_init_workspace
+cd $WORKSPACE
+catkin_make
+echo "source $WORKSPACE/devel/setup.bash" >> ~/.bashrc
+
+# PX4 Firmware
+cd $WORKSPACE/src
+git clone https://github.com/PX4/Firmware.git \
+	&& cd Firmware \
+	&& git checkout ros
+
+# euroc simulator
+cd $WORKSPACE/src
+git clone https://github.com/PX4/euroc_simulator.git \
+	&& cd euroc_simulator \
+	&& git checkout px4_nodes
+
+# mav comm
+cd $WORKSPACE/src
+git clone https://github.com/PX4/mav_comm.git
+
+# glog catkin
+cd $WORKSPACE/src
+git clone https://github.com/ethz-asl/glog_catkin.git
+
+# catkin simple
+cd $WORKSPACE/src
+git clone https://github.com/catkin/catkin_simple.git
+
+cd $WORKSPACE
+catkin_make
+
diff --git a/Tools/ros/px4_ros_installation_ubuntu.sh b/Tools/ros/px4_ros_installation_ubuntu.sh
new file mode 100755
index 000000000..7efc400cd
--- /dev/null
+++ b/Tools/ros/px4_ros_installation_ubuntu.sh
@@ -0,0 +1,41 @@
+#!/bin/sh
+# License: according to LICENSE.md in the root directory of the PX4 Firmware repository
+
+# main ROS Setup
+# following http://wiki.ros.org/indigo/Installation/Ubuntu
+# also adding drcsim http://gazebosim.org/tutorials?tut=drcsim_install
+# run this file with . ./px4_ros_setup_ubuntu.sh
+
+## add ROS repository
+sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu trusty main" > /etc/apt/sources.list.d/ros-latest.list'
+
+## add key
+wget https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -O - | \
+    sudo apt-key add -
+
+## Install main ROS pacakges
+sudo apt-get update
+sudo apt-get -y install ros-indigo-desktop-full
+sudo rosdep init
+rosdep update
+
+## Setup environment variables
+echo "source /opt/ros/indigo/setup.bash" >> ~/.bashrc
+. ~/.bashrc
+
+# get rosinstall
+sudo apt-get -y install python-rosinstall
+
+# additional dependencies
+sudo apt-get -y install ros-indigo-octomap-msgs ros-indigo-joy
+
+## drcsim setup (for models)
+### add osrf repository
+sudo sh -c 'echo "deb http://packages.osrfoundation.org/drc/ubuntu trusty main" > /etc/apt/sources.list.d/drc-latest.list'
+
+### add key
+wget http://packages.osrfoundation.org/drc.key -O - | sudo apt-key add -
+
+### install drcsim
+sudo apt-get update
+sudo apt-get -y install drcsim
diff --git a/Tools/ros/px4_workspace_create.sh b/Tools/ros/px4_workspace_create.sh
new file mode 100755
index 000000000..cf80bcf8d
--- /dev/null
+++ b/Tools/ros/px4_workspace_create.sh
@@ -0,0 +1,9 @@
+#!/bin/sh
+# this script creates a catkin_ws in the current folder
+# License: according to LICENSE.md in the root directory of the PX4 Firmware repository
+
+mkdir -p catkin_ws/src
+cd catkin_ws/src
+catkin_init_workspace
+cd ..
+catkin_make
diff --git a/Tools/ros/px4_workspace_setup.sh b/Tools/ros/px4_workspace_setup.sh
new file mode 100755
index 000000000..53568b4fb
--- /dev/null
+++ b/Tools/ros/px4_workspace_setup.sh
@@ -0,0 +1,33 @@
+#!/bin/bash
+# License: according to LICENSE.md in the root directory of the PX4 Firmware repository
+
+# run this script from the root of your catkin_ws
+source devel/setup.bash
+cd src
+
+# PX4 Firmware
+git clone https://github.com/PX4/Firmware.git
+cd Firmware
+git checkout ros
+cd ..
+
+# euroc simulator
+git clone https://github.com/PX4/euroc_simulator.git
+cd euroc_simulator
+git checkout px4_nodes
+cd ..
+
+# mav comm
+git clone https://github.com/PX4/mav_comm.git
+
+# glog catkin
+git clone https://github.com/ethz-asl/glog_catkin.git
+
+# catkin simple
+git clone https://github.com/catkin/catkin_simple.git
+
+# drcsim (for scenery and models)
+
+cd ..
+
+catkin_make
diff --git a/Tools/ros/vagrant/docker-host-base/Vagrantfile b/Tools/ros/vagrant/docker-host-base/Vagrantfile
new file mode 100644
index 000000000..06e4e897d
--- /dev/null
+++ b/Tools/ros/vagrant/docker-host-base/Vagrantfile
@@ -0,0 +1,58 @@
+# -*- mode: ruby -*-
+# vi: set ft=ruby :
+
+#
+# Vagrantfile to create docker-host-base
+#
+# Maintainer: Andreas Antener <andreas@uaventure.com>
+#
+# After build, do "vagrant package --base docker-host-base" to package,
+# and import as box: "vagrant box add --name uaventure/docker-host-base package.box"
+#
+# License: according to LICENSE.md in the root directory of the PX4 Firmware repository
+
+Vagrant.configure(2) do |config|
+  config.vm.box = "ubuntu/trusty64"
+
+  config.vm.define "docker-host-base"
+
+  config.vm.provider "virtualbox" do |vb|
+    vb.name = "docker-host-base"
+    vb.gui = true
+    vb.memory = "1024"
+  end
+
+  config.vm.provision "file", source: "config/docker-default", destination: "/home/vagrant/docker-default"
+  config.vm.provision "file", source: "config/xsessionrc", destination: "/home/vagrant/.xsessionrc"
+
+  config.vm.provision "shell", inline: <<-SHELL
+    # Update and install apps
+    export DEBIAN_FRONTEND=noninteractive
+    sudo apt-get update
+    sudo apt-get upgrade -y
+    sudo apt-get install -y --no-install-recommends ubuntu-desktop
+    sudo apt-get install -y gnome-terminal unity-lens-applications
+
+    # Reset the ssh key (because vagrant regenerates it during provisioning)
+    sudo wget --no-check-certificate https://raw.github.com/mitchellh/vagrant/master/keys/vagrant.pub -O /home/vagrant/.ssh/authorized_keys
+    sudo chmod 0700 /home/vagrant/.ssh
+    sudo chmod 0600 /home/vagrant/.ssh/authorized_keys
+    sudo chown -R vagrant /home/vagrant/.ssh
+
+    # Copy docker config
+    sudo mv /home/vagrant/docker-default /etc/default/docker
+
+    # Enable autologin so docker can start GUI apps
+    sudo echo "autologin-user=vagrant" >> /usr/share/lightdm/lightdm.conf.d/50-unity-greeter.conf
+    sudo echo "autologin-user-timeout=0" >> /usr/share/lightdm/lightdm.conf.d/50-unity-greeter.conf
+
+    # X session RC
+    chmod +x /home/vagrant/.xsessionrc
+  SHELL
+
+  config.vm.provision "docker"
+
+  # Shutdown after provisioning. "vagrant halt" doesn't recognize the original ssh key anymore
+  # and would just kill the VM. This might lead to FS inconsistencies (e.g. in the docker DB).
+  config.vm.provision "shell", inline: "sudo shutdown -h now"
+end
diff --git a/Tools/ros/vagrant/docker-host-base/config/docker-default b/Tools/ros/vagrant/docker-host-base/config/docker-default
new file mode 100644
index 000000000..19c466b6b
--- /dev/null
+++ b/Tools/ros/vagrant/docker-host-base/config/docker-default
@@ -0,0 +1,29 @@
+#
+# Default config for docker /etc/default/docker
+# Copied from a provisioned vagrant box
+#
+# Modifications:
+# - listen to TCP port
+# - removing deprecated "-r=true" option which apparently doesn't work anymore
+#   > use restart policies for specific containers if necessary
+#
+
+# Docker Upstart and SysVinit configuration file
+
+# Customize location of Docker binary (especially for development testing).
+#DOCKER="/usr/local/bin/docker"
+
+# Use DOCKER_OPTS to modify the daemon startup options.
+#DOCKER_OPTS="--dns 8.8.8.8 --dns 8.8.4.4"
+
+# If you need Docker to use an HTTP proxy, it can also be specified here.
+#export http_proxy="http://127.0.0.1:3128/"
+
+# This is also a handy place to tweak where Docker's temporary files go.
+#export TMPDIR="/mnt/bigdrive/docker-tmp"
+
+# Expose TCP port in addition to socket
+
+# License: according to LICENSE.md in the root directory of the PX4 Firmware repository
+
+DOCKER_OPTS="${DOCKER_OPTS} -H unix:///var/run/docker.sock -H 0.0.0.0:2375"
diff --git a/Tools/ros/vagrant/docker-host-base/config/xsessionrc b/Tools/ros/vagrant/docker-host-base/config/xsessionrc
new file mode 100644
index 000000000..1bd4f8d3f
--- /dev/null
+++ b/Tools/ros/vagrant/docker-host-base/config/xsessionrc
@@ -0,0 +1,6 @@
+#!/bin/sh
+#
+# Disable X access control so we can easily start GUI apps
+#
+# License: according to LICENSE.md in the root directory of the PX4 Firmware repository
+xhost +
diff --git a/Tools/ros/vagrant/docker-host/Vagrantfile b/Tools/ros/vagrant/docker-host/Vagrantfile
new file mode 100644
index 000000000..2a0a02271
--- /dev/null
+++ b/Tools/ros/vagrant/docker-host/Vagrantfile
@@ -0,0 +1,38 @@
+# -*- mode: ruby -*-
+# vi: set ft=ruby :
+
+#
+# Actual docker host VM to run.
+#
+# Maintainer: Andreas Antener <andreas@uaventure.com>
+#
+# To add local docker images into the docker host, configure your local
+# docker client to control the docker daemon on the running "docker-host" VM.
+# The box ("docker-host-base") configures docker to listen on any IP on port 2375.
+# You can then load an existing image, e.g.:
+# "docker load -i container-image.tar"
+#
+# License: according to LICENSE.md in the root directory of the PX4 Firmware repository
+
+Vagrant.configure(2) do |config|
+  config.vm.box = "uaventure/docker-host-base"
+
+  config.vm.define "docker-host"
+
+  config.vm.provider "virtualbox" do |vb|
+    vb.name = "docker-host"
+    vb.gui = true
+    vb.memory = "4096"
+    vb.cpus = 2
+    vb.customize ["modifyvm", :id, "--graphicscontroller", "vboxvga"]
+    vb.customize ["modifyvm", :id, "--accelerate3d", "on"]
+    vb.customize ["modifyvm", :id, "--ioapic", "on"]
+    vb.customize ["modifyvm", :id, "--vram", "128"]
+    vb.customize ["modifyvm", :id, "--hwvirtex", "on"]
+  end
+
+  config.vm.network "private_network", ip: "192.168.59.104"
+
+  # TBD: would it be better to provision docker here instead of in the base box?
+  #config.vm.provision "docker"
+end
diff --git a/Tools/ros/vagrant/px4-ros/Vagrantfile b/Tools/ros/vagrant/px4-ros/Vagrantfile
new file mode 100644
index 000000000..5b372a94d
--- /dev/null
+++ b/Tools/ros/vagrant/px4-ros/Vagrantfile
@@ -0,0 +1,61 @@
+# -*- mode: ruby -*-
+# vi: set ft=ruby :
+
+#
+# Boot docker SITL environment
+#
+# Maintainer: Andreas Antener <andreas@uaventure.com>
+#
+# "vagrant up" will build the images. Should eventually start "xterm" from within the docker container.
+#
+# Notes:
+# (will change, need proper docs)
+#
+# Build with multiple dependent docker containers:
+# Use the "--no-parallel" option so the containers will be built/started in order.
+# e.g.: "vagrant up --no-parallel"
+#
+# Running apps directly:
+# "vagrant docker-run ros -- <cmd>"
+# Attention: will loose all data when stopped, vagrant runs docker always with "--rm"
+#
+# TODO
+# - do not run the docker container with "--rm" (vagrant default). is that even possible?
+# - maybe map a local working directory to compile stuff without loosing it in side the docker container
+#
+# License: according to LICENSE.md in the root directory of the PX4 Firmware repository
+
+Vagrant.configure(2) do |config|
+  # Configure docker host
+  config.vm.provider "docker" do |d|
+    d.vagrant_machine = "docker-host"
+    d.vagrant_vagrantfile = "../docker-host/Vagrantfile"
+  end
+
+  # Configure docker apps to run
+  config.vm.define "ros" do |app|
+    app.vm.provider "docker" do |d|
+      d.name = "ros"
+      d.image = "uaventure/px4-ros-full"
+      #d.build_dir = "../../docker/px4-ros-full"
+      #d.build_args = ["-t=uaventure/px4-ros-full"]
+
+      # Share docker host x11 socket
+      # Run privileged to support 3d acceleration
+      d.volumes = [
+        "/tmp/.X11-unix:/tmp/.X11-unix:ro"
+      ]
+      d.create_args = ["--privileged"]
+
+      # TODO: get display number from host system
+      d.env = {
+        "DISPLAY" => ":0"
+      }
+
+      d.remains_running = true
+      d.cmd = ["xterm"]
+      #d.has_ssh = true
+    end
+  end
+
+end