Jkeller/gcs docker image

.gitmodules

@@ -4,3 +4,6 @@
 [submodule "robot/ros_ws/src/autonomy/4_global/a_world_models/vdb_mapping/vdb_mapping_ros2"]
 	path = robot/ros_ws/src/autonomy/4_global/a_world_models/vdb_mapping_ros2
 	url = [email protected]:castacks/vdb_mapping_ros2.git
+[submodule "ground_control_station/ros_ws/src/ros-gst-bridge"]
+	path = ground_control_station/ros_ws/src/ros-gst-bridge
+	url = https://github.com/BrettRD/ros-gst-bridge.git

docker-compose.yaml

@@ -2,7 +2,7 @@
 include: 
   - simulation/isaac-sim/docker/docker-compose.yaml
   - robot/docker/docker-compose.yaml
-  # - ground_control_station/docker/docker-compose.yaml
+  - ground_control_station/docker/docker-compose.yaml
 
 services:
   docs:  # live mkdocs container. open localhost:8000 in browser to see the docs

ground_control_station/docker/.bashrc

@@ -156,4 +156,6 @@ function cws(){
 source /opt/ros/humble/setup.bash
 sws # source the ROS2 workspace by default
 
-export RCUTILS_COLORIZED_OUTPUT=1
+export RCUTILS_COLORIZED_OUTPUT=1
+
+export ROS_DOMAIN_ID=0

ground_control_station/docker/Dockerfile.gcs

@@ -0,0 +1,91 @@
+FROM osrf/ros:humble-desktop-full
+
+WORKDIR /root/ros_ws
+
+RUN apt update
+# Install dev tools
+RUN apt install -y \
+    vim nano emacs wget curl tree \
+    iperf3 iftop iputils-ping net-tools htop \
+    cmake build-essential \
+    less htop jq \
+    python3-pip \
+    tmux \
+    gdb
+
+# Install any additional ROS2 packages
+RUN apt update -y && apt install -y \
+    ros-dev-tools \
+    ros-humble-mavros \ 
+    ros-humble-tf2* \
+    ros-humble-stereo-image-proc \
+    ros-humble-image-view \
+    ros-humble-topic-tools \
+    ros-humble-grid-map \
+    ros-humble-domain-bridge \
+    ros-humble-ros2cli \
+    python3-colcon-common-extensions \
+    libglib2.0-dev \
+    libcgal-dev \
+    mosquitto \
+    mosquitto-clients
+
+# install gstreamer
+RUN apt-get update && apt-get install -y \
+    libgstreamer1.0-dev \
+    libgstreamer-plugins-base1.0-dev  \
+    libgstreamer-plugins-bad1.0-dev \
+    gstreamer1.0-plugins-base \
+    gstreamer1.0-plugins-good \
+    gstreamer1.0-plugins-bad \
+    gstreamer1.0-plugins-ugly \
+    gstreamer1.0-libav \
+    gstreamer1.0-tools \
+    gstreamer1.0-x \
+    gstreamer1.0-alsa
+
+RUN /opt/ros/humble/lib/mavros/install_geographiclib_datasets.sh
+
+
+# Install Python dependencies
+RUN pip3 install \
+    empy \
+    future \
+    lxml \
+    matplotlib \
+    numpy \
+    pkgconfig \
+    psutil \
+    pygments \
+    wheel \
+    pymavlink \
+    pyyaml \
+    requests \
+    setuptools \
+    six \
+    toml \
+    scipy \
+    pytak \
+    paho-mqtt
+
+
+# Add ability to SSH
+RUN apt-get update && apt-get install -y openssh-server
+RUN mkdir /var/run/sshd
+
+# Password is airstack
+RUN echo 'root:airstack' | chpasswd
+RUN sed -i 's/#PermitRootLogin prohibit-password/PermitRootLogin yes/' /etc/ssh/sshd_config
+RUN sed -i 's/#PasswordAuthentication yes/PasswordAuthentication yes/' /etc/ssh/sshd_config
+RUN sed 's@session\s*required\s*pam_loginuid.so@session optional pam_loginuid.so@g' -i /etc/pam.d/sshd
+
+EXPOSE 22
+
+
+
+# Cleanup. Prevent people accidentally doing git commits as root in Docker
+RUN apt purge git -y \
+    && apt autoremove -y \
+    && apt clean -y \
+    && rm -rf /var/lib/apt/lists/*
+

ground_control_station/docker/docker-compose.yaml

@@ -1,6 +1,11 @@
 services:
   ground-control-station:
-    image: TODO
+    image: &gcs airlab-storage.andrew.cmu.edu:5001/shared/ground-control-station_ros-humble:v1.0.0
+    build:
+      context: ../
+      dockerfile: docker/Dockerfile.gcs
+      tags:
+        - *gcs
     container_name: ground-control-station
     entrypoint: ""
     command: >
@@ -12,7 +17,7 @@ services:
     stdin_open: true # docker run -i
     tty: true # docker run -t
     # Needed to display graphical applications
-    ipc: host
+    # ipc: host
     privileged: true
     networks:
       - airstack_network
@@ -28,171 +33,17 @@ services:
               count: 1
               capabilities: [gpu]
     ports:
-      # for ssh
-      - 2222:22
+      - 2222:22 # for ssh
+      - 1883:1883 # for mosquitto
+      - 9001:9001 # for mosquitto
     volumes:
       # display stuff
       - $HOME/.Xauthority:/root/.Xauthority
       - /tmp/.X11-unix:/tmp/.X11-unix
       # developer stuff
       - .bashrc:/root/.bashrc:rw # bash config
-      - .bash_history:/root/.bash_history:rw # save cmdline history
       - /var/run/docker.sock:/var/run/docker.sock # access docker API for container name
       # autonomy stack stuff
-      - ../../common/ros_ws:/root/common/ros_ws:rw  # common ROS packages
+      - ../../common/ros_packages:/root/ros_ws/src/common:rw  # common ROS packages
       - ../ros_ws:/root/ros_ws:rw  # gcs-specific ROS packages
-
-
-####################### GSTREAMER TO ROS TOPICS ######################
-  gst-ros-bridge-topic1:
-    container_name: "${PROJECT_NAME}-gst_ros_bridge1"
-    image: "${PROJECT_NAME}/gcs/gst-ros-bridge"
-    build:
-      context: .
-      dockerfile: Dockerfile.gst-ros-bridge
-    command: >
-      /bin/bash -c 'source /ros_ws/install/setup.bash && gst-launch-1.0 --gst-plugin-path=/ros_ws/install/gst_bridge/lib/gst_bridge/ 
-      rtspsrc location="${CAMERA1_STREAM_IP}" latency=0 ! 
-      rtph265depay ! h265parse ! avdec_h265 ! videoconvert ! 
-      rosimagesink ros-topic="${CAMERA1_ROS_TOPIC}"'
-    environment:
-      - DISPLAY=${DISPLAY}
-      - DOCKER_BUILDKIT=0
-      - CAMERA1_STREAM_IP=${CAMERA1_STREAM_IP}
-      - CAMERA1_ROS_TOPIC=${CAMERA1_ROS_TOPIC}
-    volumes:
-      - /tmp/.X11-unix:/tmp/.X11-unix
-    network_mode: host
-
-
-####################### ROS2TAK TOOLS ######################
-  ############### MQTT for the GCS
-  mqtt:
-    container_name: "mqtt"
-    image: eclipse-mosquitto:2.0.20
-    restart: always
-    volumes:
-      - ../ros_ws/src/ros2tak_tools/mosquitto/config:/mosquitto/config
-      - ../ros_ws/src/ros2tak_tools/mosquitto/data:/mosquitto/data
-      - ../ros_ws/src/ros2tak_tools/mosquitto/log:/mosquitto/log
-    env_file:
-      - .env
-    ports:
-      - "1883:1883"
-      - "9001:9001"
-    healthcheck:
-      test: [ "CMD", "mosquitto_pub", "-h", "localhost", "-t", "healthcheck", "-m", "ping", "-u", "${MQTT_USERNAME}", "-P", "${MQTT_PASSWORD}" ]
-      interval: 5s
-      timeout: 3s
-      retries: 2
-      start_period: 5s
-    networks:
-      - airstack_network
-
-  ################## ROS2COT_AGENT
-  ros2cot_agent:
-    build:
-      context: ../
-      dockerfile: docker/Dockerfile.ros2cot_agent
-      args:
-        - ROS_WS_DIR=${ROS_WS_DIR}
-    image: "${PROJECT_NAME}/gcs/ros2cot_agent"
-    container_name: "${PROJECT_NAME}-ros2cot_agent"
-    stdin_open: true
-    tty: true
-    restart: unless-stopped
-    depends_on:
-      mqtt:
-        condition: service_healthy
-    networks:
-      - airstack_network
-    command: [
-      "/bin/bash",
-      "-c",
-      "source /opt/ros/humble/setup.bash && \
-       source $ROS_WS_DIR/install/setup.bash && \
-       ./install/ros2tak_tools/bin/ros2cot_agent --config $ROS_WS_DIR/$ROS2TAK_TOOLS_CONFIG_DIR/$ROS2TAK_TOOLS_CONFIG_FILENAME"
-    ]
-
-  # ################### TAK_PUBLISHER
-  tak_publisher:
-    build:
-      context: ../
-      dockerfile: docker/Dockerfile.tak_publisher
-      args:
-        - ROS_WS_DIR=${ROS_WS_DIR}
-    image: "${PROJECT_NAME}/gcs/tak_publisher"
-    container_name: "${PROJECT_NAME}-tak_publisher"
-    stdin_open: true
-    tty: true
-    restart: unless-stopped
-    depends_on:
-      mqtt:
-        condition: service_healthy
-    networks:
-      - airstack_network
-    volumes:
-      - ../ros_ws/src/ros2tak_tools/:${ROS_WS_DIR}/src/ros2tak_tools/
-    command: [
-      "python3",
-      "$TAK_PUBLISHER_FILEPATH",
-      "--config",
-      "$ROS2TAK_TOOLS_CONFIG_DIR/$ROS2TAK_TOOLS_CONFIG_FILENAME"
-    ]
-
-  ################### TAK_SUBSCRIBER
-  tak_subscriber:
-    build:
-      context: ../
-      dockerfile: docker/Dockerfile.tak_subscriber
-      args:
-        - ROS_WS_DIR=${ROS_WS_DIR}
-    image: "${PROJECT_NAME}/gcs/tak_subscriber"
-    container_name: "${PROJECT_NAME}-tak_subscriber"
-    stdin_open: true
-    tty: true
-    restart: unless-stopped
-    depends_on:
-      mqtt:
-        condition: service_healthy
-    networks:
-      - airstack_network
-    volumes:
-      - ../ros_ws/src/ros2tak_tools/:${ROS_WS_DIR}/src/ros2tak_tools/
-    command: [
-      "python3",
-      "$TAK_SUBSCRIBER_FILEPATH",
-      "--config",
-      "$ROS2TAK_TOOLS_CONFIG_DIR/$ROS2TAK_TOOLS_CONFIG_FILENAME"
-    ]
-
-
-  ################## ROS2COT_AGENT
-  cot2planner_agent:
-    build:
-      context: ../../
-      dockerfile: ground_control_station/docker/Dockerfile.cot2planner_agent
-      args:
-        - ROS_WS_DIR=${ROS_WS_DIR}
-    image: "${PROJECT_NAME}/gcs/cot2planner_agent"
-    container_name: "${PROJECT_NAME}-cot2planner_agent"
-    stdin_open: true
-    tty: true
-    restart: unless-stopped
-    depends_on:
-      mqtt:
-        condition: service_healthy
-    networks:
-      - airstack_network
-    command: [
-      "/bin/bash",
-      "-c",
-      "source /opt/ros/humble/setup.bash && \
-       source $ROS_WS_DIR/install/setup.bash && \
-       ./install/ros2tak_tools/bin/cot2planner_agent --config $ROS_WS_DIR/$ROS2TAK_TOOLS_CONFIG_DIR/$ROS2TAK_TOOLS_CONFIG_FILENAME"
-    ]
-
-########### NETWORKS ###########
-networks:
-  airstack_network:
-    driver: bridge
+      - ../../common/ros_packages/fastdds.xml:/root/ros_ws/fastdds.xml:rw  # fastdds.xml

ground_control_station/ros_ws/src/gcs_bringup/CMakeLists.txt

@@ -0,0 +1,33 @@
+cmake_minimum_required(VERSION 3.8)
+project(gcs_bringup)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+# uncomment the following section in order to fill in
+# further dependencies manually.
+# find_package(<dependency> REQUIRED)
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  # the following line skips the linter which checks for copyrights
+  # comment the line when a copyright and license is added to all source files
+  set(ament_cmake_copyright_FOUND TRUE)
+  # the following line skips cpplint (only works in a git repo)
+  # comment the line when this package is in a git repo and when
+  # a copyright and license is added to all source files
+  set(ament_cmake_cpplint_FOUND TRUE)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+# Install files.
+install(DIRECTORY launch DESTINATION share/${PROJECT_NAME})
+install(DIRECTORY rviz DESTINATION share/${PROJECT_NAME})
+install(DIRECTORY config DESTINATION share/${PROJECT_NAME})
+#install(DIRECTORY params DESTINATION share/${PROJECT_NAME})
+
+ament_package()
+

ground_control_station/ros_ws/src/gcs_bringup/config/domain_bridge.yaml

@@ -0,0 +1,11 @@
+name: my_bridge
+from_domain: 0
+to_domain: 1
+topics:
+  /robot_1/behavior/behavior_tree_commands:
+    type: behavior_tree_msgs/msg/BehaviorTreeCommands
+  /robot_1/fixed_trajectory_generator/fixed_trajectory_command:
+    type: airstack_msgs/msg/FixedTrajectory
+  /robot_1/behavior/behavior_tree_graphviz:
+    type: std_msgs/msg/String
+    reversed: True