From 2d65e8cb3b792ae55c953df87fc429cdde2972b5 Mon Sep 17 00:00:00 2001 From: Andreas Antener Date: Tue, 20 Jan 2015 16:50:59 +0100 Subject: initial commit for vagrant/docker based ros setup --- Tools/ros/docker/px4-ros/Dockerfile | 42 +++++++++++++++ Tools/ros/docker/px4-ros/px4-ros-sitl/Dockerfile | 22 ++++++++ .../ros/docker/px4-ros/px4-ros-sitl/get-sources.sh | 28 ++++++++++ Tools/ros/vagrant/docker-host-base/Vagrantfile | 59 ++++++++++++++++++++++ .../vagrant/docker-host-base/config/docker-default | 26 ++++++++++ .../ros/vagrant/docker-host-base/config/xsessionrc | 5 ++ Tools/ros/vagrant/docker-host/Vagrantfile | 25 +++++++++ Tools/ros/vagrant/px4-ros-sitl/Vagrantfile | 27 ++++++++++ 8 files changed, 234 insertions(+) create mode 100644 Tools/ros/docker/px4-ros/Dockerfile create mode 100644 Tools/ros/docker/px4-ros/px4-ros-sitl/Dockerfile create mode 100644 Tools/ros/docker/px4-ros/px4-ros-sitl/get-sources.sh create mode 100644 Tools/ros/vagrant/docker-host-base/Vagrantfile create mode 100644 Tools/ros/vagrant/docker-host-base/config/docker-default create mode 100644 Tools/ros/vagrant/docker-host-base/config/xsessionrc create mode 100644 Tools/ros/vagrant/docker-host/Vagrantfile create mode 100644 Tools/ros/vagrant/px4-ros-sitl/Vagrantfile (limited to 'Tools') diff --git a/Tools/ros/docker/px4-ros/Dockerfile b/Tools/ros/docker/px4-ros/Dockerfile new file mode 100644 index 000000000..532a9af8b --- /dev/null +++ b/Tools/ros/docker/px4-ros/Dockerfile @@ -0,0 +1,42 @@ +# +# Base ROS Indigo +# + +FROM ubuntu:14.04.1 +MAINTAINER Andreas Antener "andreas@antener.name" + +# Install basics +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 + + +## 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 + +CMD /bin/bash diff --git a/Tools/ros/docker/px4-ros/px4-ros-sitl/Dockerfile b/Tools/ros/docker/px4-ros/px4-ros-sitl/Dockerfile new file mode 100644 index 000000000..4c47295a8 --- /dev/null +++ b/Tools/ros/docker/px4-ros/px4-ros-sitl/Dockerfile @@ -0,0 +1,22 @@ +# +# 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/px4-ros-sitl/get-sources.sh new file mode 100644 index 000000000..237ae7500 --- /dev/null +++ b/Tools/ros/docker/px4-ros/px4-ros-sitl/get-sources.sh @@ -0,0 +1,28 @@ +#!/bin/sh +# +# Fetch source repositories +# + +# 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 + +echo "Execute catkin_make to compile all the sources." + diff --git a/Tools/ros/vagrant/docker-host-base/Vagrantfile b/Tools/ros/vagrant/docker-host-base/Vagrantfile new file mode 100644 index 000000000..5897735d0 --- /dev/null +++ b/Tools/ros/vagrant/docker-host-base/Vagrantfile @@ -0,0 +1,59 @@ +# -*- mode: ruby -*- +# vi: set ft=ruby : + +# +# Vagrantfile to create docker-host-base +# +# After build, do "vagrant package --base docker-host-base" to package, +# and import as box: "vagrant box add --name docker-host-base package.box" +# +# To add local docker images into the docker host, configure your local +# docker client to control the docker daemon on the later running docker-host VM. +# This box configures docker to listen on any IP on port 2375. +# You can then also load an existing image, e.g.: +# "docker load -i px4ros_ros-sitl_no-drcsim_a4209708a04a.tar" +# +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 + 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..2e5fcb774 --- /dev/null +++ b/Tools/ros/vagrant/docker-host/Vagrantfile @@ -0,0 +1,25 @@ +# -*- mode: ruby -*- +# vi: set ft=ruby : + +Vagrant.configure(2) do |config| + config.vm.box = "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-sitl/Vagrantfile b/Tools/ros/vagrant/px4-ros-sitl/Vagrantfile new file mode 100644 index 000000000..5357ce94d --- /dev/null +++ b/Tools/ros/vagrant/px4-ros-sitl/Vagrantfile @@ -0,0 +1,27 @@ +# -*- mode: ruby -*- +# vi: set ft=ruby : + +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 "gazebo" do |app| + app.vm.provider "docker" do |d| + d.name = "gazebo" + d.image = "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 = ["xterm"] + end + end +end -- cgit v1.2.3