From 0bfeedef89785646bbb05fd5583f18f42c905770 Mon Sep 17 00:00:00 2001
From: Andreas Antener <antener_a@gmx.ch>
Date: Wed, 21 Jan 2015 14:54:55 +0100
Subject: updated build and notes

---
 Tools/ros/docker/px4-ros/Dockerfile            | 16 +++++++++--
 Tools/ros/vagrant/docker-host-base/Vagrantfile |  1 +
 Tools/ros/vagrant/docker-host/Vagrantfile      |  3 ++
 Tools/ros/vagrant/px4-ros-sitl/Vagrantfile     | 38 ++++++++++++--------------
 4 files changed, 35 insertions(+), 23 deletions(-)

(limited to 'Tools')

diff --git a/Tools/ros/docker/px4-ros/Dockerfile b/Tools/ros/docker/px4-ros/Dockerfile
index 532a9af8b..668d50799 100644
--- a/Tools/ros/docker/px4-ros/Dockerfile
+++ b/Tools/ros/docker/px4-ros/Dockerfile
@@ -6,8 +6,11 @@ FROM ubuntu:14.04.1
 MAINTAINER Andreas Antener "andreas@antener.name"
 
 # Install basics
+## Use the "noninteractive" debconf frontend
+ENV DEBIAN_FRONTEND noninteractive
+
 RUN apt-get update \
-	&& apt-get -y install wget git mercurial
+	&& apt-get -y install wget git mercurial openssh-server
 
 # Main ROS Setup
 # Following http://wiki.ros.org/indigo/Installation/Ubuntu
@@ -39,4 +42,13 @@ RUN apt-get -y install ros-indigo-octomap-msgs
 #	&& apt-get update \
 #	&& apt-get -y install drcsim
 
-CMD /bin/bash
+# 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"]
diff --git a/Tools/ros/vagrant/docker-host-base/Vagrantfile b/Tools/ros/vagrant/docker-host-base/Vagrantfile
index 5897735d0..516be528c 100644
--- a/Tools/ros/vagrant/docker-host-base/Vagrantfile
+++ b/Tools/ros/vagrant/docker-host-base/Vagrantfile
@@ -29,6 +29,7 @@ Vagrant.configure(2) do |config|
 
   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
diff --git a/Tools/ros/vagrant/docker-host/Vagrantfile b/Tools/ros/vagrant/docker-host/Vagrantfile
index 2e5fcb774..42e63567a 100644
--- a/Tools/ros/vagrant/docker-host/Vagrantfile
+++ b/Tools/ros/vagrant/docker-host/Vagrantfile
@@ -1,6 +1,9 @@
 # -*- mode: ruby -*-
 # vi: set ft=ruby :
 
+#
+# Actual docker host VM to run.
+#
 Vagrant.configure(2) do |config|
   config.vm.box = "docker-host-base"
 
diff --git a/Tools/ros/vagrant/px4-ros-sitl/Vagrantfile b/Tools/ros/vagrant/px4-ros-sitl/Vagrantfile
index 5edf8f0ac..d670e6250 100644
--- a/Tools/ros/vagrant/px4-ros-sitl/Vagrantfile
+++ b/Tools/ros/vagrant/px4-ros-sitl/Vagrantfile
@@ -4,10 +4,19 @@
 #
 # Boot docker SITL environment
 #
-# Build (first time up):
+# "vagrant up" will build the images. Should start "xterm" in the end.
+#
+# Notes
+# (will change, need proper docs)
+#
+# Build with multiple dependent docker containers:
 # Use the "--no-parallel" option so the containers will be built 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 this with "--rm"
+#
 
 Vagrant.configure(2) do |config|
   # Configure docker host
@@ -25,32 +34,19 @@ Vagrant.configure(2) do |config|
       d.build_args = ["-t=px4ros/ros-base:no-drcsim"]
 
       # share docker host x11 socket
-      d.volumes = ["/tmp/.X11-unix:/tmp/.X11-unix:ro"]
+      d.volumes = [
+        "/tmp/.X11-unix:/tmp/.X11-unix:ro",
+        "/dev/dri:/dev/dri"
+      ]
       # TODO: get display number from host system
       d.env = {
         "DISPLAY" => ":0"
       }
 
-      d.cmd = ["echo", "Base image done"]
-      d.remains_running = false
+      d.remains_running = true
+      d.cmd = ["xterm"]
+      #d.has_ssh = true
     end
   end
 
-  config.vm.define "gazebo" do |app|
-    app.vm.provider "docker" do |d|
-      d.name = "gazebo"
-      #d.image = "px4ros/ros-sitl"
-      d.build_dir = "../../docker/px4-ros/px4-ros-sitl"
-      d.build_args = ["-t=px4ros/ros-sitl:no-drcsim"]
-
-      # share docker host x11 socket
-      d.volumes = ["/tmp/.X11-unix:/tmp/.X11-unix:ro"]
-      # TODO: get display number from host system
-      d.env = {
-        "DISPLAY" => ":0"
-      }
-
-      d.cmd = ["gazebo"]
-    end
-  end
 end
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