restructured things a little bit

4 files changed, 39 insertions, 35 deletions

diff --git a/Tools/ros/docker/px4-ros/Dockerfile b/Tools/ros/docker/px4-ros/Dockerfile
index 668d50799..74291bd14 100644
--- a/Tools/ros/docker/px4-ros/Dockerfile
+++ b/Tools/ros/docker/px4-ros/Dockerfile
@@ -1,16 +1,21 @@
 #
 # Base ROS Indigo
 #
+# 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
+#
 
 FROM ubuntu:14.04.1
-MAINTAINER Andreas Antener "andreas@antener.name"
+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 openssh-server
+	&& apt-get -y install wget git mercurial
 
 # Main ROS Setup
 # Following http://wiki.ros.org/indigo/Installation/Ubuntu
@@ -42,13 +47,16 @@ RUN apt-get -y install ros-indigo-octomap-msgs
 #	&& apt-get update \
 #	&& apt-get -y install drcsim
 
-# some QT-Apps/Gazebo don't not show controls without this
-ENV QT_X11_NO_MITSHM 1
-
-#RUN apt-get install -y openssh-server
 # 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
 #RUN apt-get -y install mesa-utils
 
-#CMD ["/bin/sbin/sshd", "-D"]
+# Some QT-Apps/Gazebo don't not show controls without this
+ENV QT_X11_NO_MITSHM 1
+
+COPY scripts/setup-workspace.sh ~/
+RUN chmod +x ~/setup-workspace.sh
+
+
+CMD ["/usr/bin/xterm"]
diff --git a/Tools/ros/docker/px4-ros/px4-ros-sitl/Dockerfile b/Tools/ros/docker/px4-ros/px4-ros-sitl/Dockerfile
deleted file mode 100644
index 4c47295a8..000000000
--- a/Tools/ros/docker/px4-ros/px4-ros-sitl/Dockerfile
+++ /dev/null
@@ -1,22 +0,0 @@
-#
-# PX4 ROS SITL
-#
-
-FROM px4ros/ros-base:no-drcsim
-MAINTAINER Andreas Antener "andreas@antener.name"
-
-# TODO
-#USER px4
-
-RUN . /opt/ros/indigo/setup.sh \
-	&& mkdir -p /catkin_ws/src \
-	&& cd /catkin_ws/src \
-	&& catkin_init_workspace \
-	&& cd /catkin_ws \
-	&& catkin_make \
-	&& echo "source /catkin_ws/devel/setup.bash" >> ~/.bashrc
-
-COPY get-sources.sh /catkin_ws/src/
-RUN chmod +x /catkin_ws/src/get-sources.sh
-
-CMD /bin/bash
diff --git a/Tools/ros/docker/px4-ros/px4-ros-sitl/get-sources.sh b/Tools/ros/docker/px4-ros/scripts/setup-workspace.sh
index 237ae7500..6b5ddb0a5 100644
--- a/Tools/ros/docker/px4-ros/px4-ros-sitl/get-sources.sh
+++ b/Tools/ros/docker/px4-ros/scripts/setup-workspace.sh
@@ -1,28 +1,43 @@
 #!/bin/sh
 #
-# Fetch source repositories
+# Create workspace at current location and fetch source repositories
 #
 
+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 \
-	&& cd ..
+	&& git checkout ros
 
 # euroc simulator
+cd $WORKSPACE/src
 git clone https://github.com/PX4/euroc_simulator.git \
 	&& cd euroc_simulator \
-	&& git checkout px4_nodes \
-	&& cd ..
+	&& 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
 echo "Execute catkin_make to compile all the sources."
 
diff --git a/Tools/ros/vagrant/px4-ros-sitl/Vagrantfile b/Tools/ros/vagrant/px4-ros/Vagrantfile
index d670e6250..b5169e061 100644
--- a/Tools/ros/vagrant/px4-ros-sitl/Vagrantfile
+++ b/Tools/ros/vagrant/px4-ros/Vagrantfile
@@ -6,7 +6,7 @@
 #
 # "vagrant up" will build the images. Should start "xterm" in the end.
 #
-# Notes
+# Notes:
 # (will change, need proper docs)
 #
 # Build with multiple dependent docker containers:
@@ -17,6 +17,9 @@
 # "vagrant docker-run ros -- <cmd>"
 # Attention: will loose all data when stopped, vagrant runs this with "--rm"
 #
+# TODO
+# - maybe map a local working directory to compile stuff without loosing it in side the docker container
+#
 
 Vagrant.configure(2) do |config|
   # Configure docker host