diff options
Diffstat (limited to 'Tools/ros')
-rw-r--r-- | Tools/ros/docker/px4-ros-full/Dockerfile | 56 | ||||
-rw-r--r-- | Tools/ros/docker/px4-ros-full/README.md | 10 | ||||
-rw-r--r-- | Tools/ros/docker/px4-ros-full/scripts/setup-workspace.sh | 43 | ||||
-rwxr-xr-x | Tools/ros/px4_ros_installation_ubuntu.sh | 2 | ||||
-rw-r--r-- | Tools/ros/vagrant/docker-host-base/Vagrantfile | 56 | ||||
-rw-r--r-- | Tools/ros/vagrant/docker-host-base/config/docker-default | 26 | ||||
-rw-r--r-- | Tools/ros/vagrant/docker-host-base/config/xsessionrc | 5 | ||||
-rw-r--r-- | Tools/ros/vagrant/docker-host/Vagrantfile | 36 | ||||
-rw-r--r-- | Tools/ros/vagrant/px4-ros/Vagrantfile | 60 |
9 files changed, 293 insertions, 1 deletions
diff --git a/Tools/ros/docker/px4-ros-full/Dockerfile b/Tools/ros/docker/px4-ros-full/Dockerfile new file mode 100644 index 000000000..9c0fbc688 --- /dev/null +++ b/Tools/ros/docker/px4-ros-full/Dockerfile @@ -0,0 +1,56 @@ +# +# PX4 full ROS container +# + +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..7d75754d9 --- /dev/null +++ b/Tools/ros/docker/px4-ros-full/README.md @@ -0,0 +1,10 @@ +# PX4 ROS # + +Full desktop ROS container. + +**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..231166e27 --- /dev/null +++ b/Tools/ros/docker/px4-ros-full/scripts/setup-workspace.sh @@ -0,0 +1,43 @@ +#!/bin/sh +# +# 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 + +# 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 index 72b4f9468..3b8b29381 100755 --- a/Tools/ros/px4_ros_installation_ubuntu.sh +++ b/Tools/ros/px4_ros_installation_ubuntu.sh @@ -26,7 +26,7 @@ echo "source /opt/ros/indigo/setup.bash" >> ~/.bashrc sudo apt-get -y install python-rosinstall # additional dependencies -sudo apt-get -y install ros-indigo-octomap-msgs +sudo apt-get -y install ros-indigo-octomap-msgs ros-indigo-joy ## drcsim setup (for models) ### add osrf repository diff --git a/Tools/ros/vagrant/docker-host-base/Vagrantfile b/Tools/ros/vagrant/docker-host-base/Vagrantfile new file mode 100644 index 000000000..bc9329bf8 --- /dev/null +++ b/Tools/ros/vagrant/docker-host-base/Vagrantfile @@ -0,0 +1,56 @@ +# -*- 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" +# +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..e8a86ce6a --- /dev/null +++ b/Tools/ros/vagrant/docker-host-base/config/docker-default @@ -0,0 +1,26 @@ +# +# 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 +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..d8ab6d53d --- /dev/null +++ b/Tools/ros/vagrant/docker-host-base/config/xsessionrc @@ -0,0 +1,5 @@ +#!/bin/sh +# +# Disable X access control so we can easily start GUI apps +# +xhost + diff --git a/Tools/ros/vagrant/docker-host/Vagrantfile b/Tools/ros/vagrant/docker-host/Vagrantfile new file mode 100644 index 000000000..4ae94258d --- /dev/null +++ b/Tools/ros/vagrant/docker-host/Vagrantfile @@ -0,0 +1,36 @@ +# -*- 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" +# +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..a122fb4a3 --- /dev/null +++ b/Tools/ros/vagrant/px4-ros/Vagrantfile @@ -0,0 +1,60 @@ +# -*- 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 +# + +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 |