From 4dfaed6400984a60b39d21a7144f8e56754a617e Mon Sep 17 00:00:00 2001 From: Arief Date: Wed, 8 May 2024 16:04:42 +0200 Subject: [PATCH 001/100] Removed DigitalFilters dependency --- .gitignore | 1 + .../include/interaction_controller/controller_node.h | 1 - 2 files changed, 1 insertion(+), 1 deletion(-) create mode 100644 .gitignore diff --git a/.gitignore b/.gitignore new file mode 100644 index 0000000..dbe9c82 --- /dev/null +++ b/.gitignore @@ -0,0 +1 @@ +.vscode/ \ No newline at end of file diff --git a/src/interaction_controller/include/interaction_controller/controller_node.h b/src/interaction_controller/include/interaction_controller/controller_node.h index 14a4dc4..2d355bc 100644 --- a/src/interaction_controller/include/interaction_controller/controller_node.h +++ b/src/interaction_controller/include/interaction_controller/controller_node.h @@ -51,7 +51,6 @@ #include #include -#include "interaction_controller/DigitalFilters.h" #include "interaction_controller/controller.h" class controller_node { From f83192872e04fe96de4c63ce3a4c5d606cb466ea Mon Sep 17 00:00:00 2001 From: Arief Date: Wed, 8 May 2024 17:17:32 +0200 Subject: [PATCH 002/100] added build workflow --- .github/workflows/build.yaml | 59 ++++++++++++++++++++++++++++++++++++ 1 file changed, 59 insertions(+) create mode 100644 .github/workflows/build.yaml diff --git a/.github/workflows/build.yaml b/.github/workflows/build.yaml new file mode 100644 index 0000000..9c3be61 --- /dev/null +++ b/.github/workflows/build.yaml @@ -0,0 +1,59 @@ +name: Setup and build packages +on: + push: + branches: + - main + - formatting + +env: + USER: github.actor + +jobs: + build: + runs-on: ubuntu-latest + container: + image: px4io/px4-dev-ros-noetic:latest + options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined + steps: + + - name: Check environment + run: | + export + ulimit -a + + - name: Update system + run: | + sudo apt update + sudo apt ugrade + + - name: Install wstool + run: | + python -m pip install scipy + + - name: Create new workspace + run: | + cd ~ + mkdir -p sarax_ws/src + + - name: Initialise catkin workspace + run: | + cd ~/sarax_ws/ + . /opt/ros/$ROS_DISTRO/setup.sh + catkin init + wstool init src + + - name: Clone Sarax project + run: | + cd ~/sarax_ws/src + git clone https://github.com/SaxionMechatronics/sarax.git + + - name: Get dependencies using rosdep + run: | + cd ~/sarax_ws/ + rosdep install --from-paths src --ignore-src -r -y --skip-keys="python-scipy" + + - name: Build workspace + run: | + cd ~/sarax_ws/ + . /opt/ros/$ROS_DISTRO/setup.sh + catkin build From 1b5e9a8c1a0070b796067c287eb737a368c5f66f Mon Sep 17 00:00:00 2001 From: Arief Date: Wed, 8 May 2024 17:25:02 +0200 Subject: [PATCH 003/100] updated workflow --- .github/workflows/build.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/workflows/build.yaml b/.github/workflows/build.yaml index 9c3be61..b0233f3 100644 --- a/.github/workflows/build.yaml +++ b/.github/workflows/build.yaml @@ -24,7 +24,7 @@ jobs: - name: Update system run: | sudo apt update - sudo apt ugrade + sudo apt upgrade - name: Install wstool run: | From 164d2f2830b66dba9f59901ba5848a7e46001017 Mon Sep 17 00:00:00 2001 From: Arief Date: Wed, 8 May 2024 17:28:05 +0200 Subject: [PATCH 004/100] updated workflow --- .github/workflows/build.yaml | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/.github/workflows/build.yaml b/.github/workflows/build.yaml index b0233f3..ef90aca 100644 --- a/.github/workflows/build.yaml +++ b/.github/workflows/build.yaml @@ -21,10 +21,10 @@ jobs: export ulimit -a - - name: Update system - run: | - sudo apt update - sudo apt upgrade + # - name: Update system + # run: | + # sudo apt update + # sudo apt upgrade - name: Install wstool run: | From 9a4bd253053ac5c48b080318ef6148b5d4050ab4 Mon Sep 17 00:00:00 2001 From: Muhammad Arief Kurniawan <68301676+Arief-AK@users.noreply.github.com> Date: Wed, 8 May 2024 17:40:46 +0200 Subject: [PATCH 005/100] Update build.yaml --- .github/workflows/build.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/workflows/build.yaml b/.github/workflows/build.yaml index ef90aca..e371636 100644 --- a/.github/workflows/build.yaml +++ b/.github/workflows/build.yaml @@ -28,7 +28,7 @@ jobs: - name: Install wstool run: | - python -m pip install scipy + pip install scipy - name: Create new workspace run: | From 53a6b4a8e46d22fe3c910890e09c9f489ca741ca Mon Sep 17 00:00:00 2001 From: Muhammad Arief Kurniawan <68301676+Arief-AK@users.noreply.github.com> Date: Wed, 8 May 2024 18:00:37 +0200 Subject: [PATCH 006/100] Update build.yaml --- .github/workflows/build.yaml | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/.github/workflows/build.yaml b/.github/workflows/build.yaml index e371636..1e8c1d6 100644 --- a/.github/workflows/build.yaml +++ b/.github/workflows/build.yaml @@ -26,9 +26,10 @@ jobs: # sudo apt update # sudo apt upgrade - - name: Install wstool + - name: Install build dependencies run: | pip install scipy + pip install -U wstool - name: Create new workspace run: | From 477b7d0a003ec8eccce1bd3c786306bd1a8f8496 Mon Sep 17 00:00:00 2001 From: Muhammad Arief Kurniawan <68301676+Arief-AK@users.noreply.github.com> Date: Wed, 8 May 2024 18:07:50 +0200 Subject: [PATCH 007/100] Update build.yaml --- .github/workflows/build.yaml | 2 ++ 1 file changed, 2 insertions(+) diff --git a/.github/workflows/build.yaml b/.github/workflows/build.yaml index 1e8c1d6..2e4ca75 100644 --- a/.github/workflows/build.yaml +++ b/.github/workflows/build.yaml @@ -51,6 +51,8 @@ jobs: - name: Get dependencies using rosdep run: | cd ~/sarax_ws/ + rosdep init + rosdep update rosdep install --from-paths src --ignore-src -r -y --skip-keys="python-scipy" - name: Build workspace From 124fddde34d62ec78fe700f6e0f55d6e2dd62c79 Mon Sep 17 00:00:00 2001 From: Muhammad Arief Kurniawan <68301676+Arief-AK@users.noreply.github.com> Date: Wed, 8 May 2024 18:17:31 +0200 Subject: [PATCH 008/100] Update build.yaml --- .github/workflows/build.yaml | 1 - 1 file changed, 1 deletion(-) diff --git a/.github/workflows/build.yaml b/.github/workflows/build.yaml index 2e4ca75..8a508bc 100644 --- a/.github/workflows/build.yaml +++ b/.github/workflows/build.yaml @@ -52,7 +52,6 @@ jobs: run: | cd ~/sarax_ws/ rosdep init - rosdep update rosdep install --from-paths src --ignore-src -r -y --skip-keys="python-scipy" - name: Build workspace From 3e024925a9bc402be827a90377fcdc6773b9d989 Mon Sep 17 00:00:00 2001 From: Arief Date: Thu, 9 May 2024 10:51:01 +0200 Subject: [PATCH 009/100] testing rosdep --- .github/workflows/build.yaml | 7 ++++++- 1 file changed, 6 insertions(+), 1 deletion(-) diff --git a/.github/workflows/build.yaml b/.github/workflows/build.yaml index 8a508bc..fc9ceac 100644 --- a/.github/workflows/build.yaml +++ b/.github/workflows/build.yaml @@ -21,6 +21,11 @@ jobs: export ulimit -a + - name: Perform rosdep + run: | + . /opt/ros/$ROS_DISTRO/setup.sh + sudo rosdep init && sudo rosdep update + # - name: Update system # run: | # sudo apt update @@ -51,7 +56,7 @@ jobs: - name: Get dependencies using rosdep run: | cd ~/sarax_ws/ - rosdep init + . /opt/ros/$ROS_DISTRO/setup.sh rosdep install --from-paths src --ignore-src -r -y --skip-keys="python-scipy" - name: Build workspace From 23a59b7580ff781c7fa113f6627e345deeab370d Mon Sep 17 00:00:00 2001 From: Arief Date: Thu, 9 May 2024 10:54:08 +0200 Subject: [PATCH 010/100] testing rosdep --- .github/workflows/build.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/workflows/build.yaml b/.github/workflows/build.yaml index fc9ceac..3c978be 100644 --- a/.github/workflows/build.yaml +++ b/.github/workflows/build.yaml @@ -24,7 +24,7 @@ jobs: - name: Perform rosdep run: | . /opt/ros/$ROS_DISTRO/setup.sh - sudo rosdep init && sudo rosdep update + sudo rosdep init # - name: Update system # run: | From 76ce78601de460adb7a402aa14832bb9d0386d68 Mon Sep 17 00:00:00 2001 From: Arief Date: Thu, 9 May 2024 10:55:53 +0200 Subject: [PATCH 011/100] testing rosdep --- .github/workflows/build.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/workflows/build.yaml b/.github/workflows/build.yaml index 3c978be..8679931 100644 --- a/.github/workflows/build.yaml +++ b/.github/workflows/build.yaml @@ -24,7 +24,7 @@ jobs: - name: Perform rosdep run: | . /opt/ros/$ROS_DISTRO/setup.sh - sudo rosdep init + rosdep update # - name: Update system # run: | From 64afd9e1bf9779e7cd39afb6c7961284434bb6be Mon Sep 17 00:00:00 2001 From: Arief Date: Thu, 9 May 2024 11:09:31 +0200 Subject: [PATCH 012/100] testing checkout action with specified path --- .github/workflows/build.yaml | 13 +++++++++---- 1 file changed, 9 insertions(+), 4 deletions(-) diff --git a/.github/workflows/build.yaml b/.github/workflows/build.yaml index 8679931..02ad09e 100644 --- a/.github/workflows/build.yaml +++ b/.github/workflows/build.yaml @@ -48,10 +48,15 @@ jobs: catkin init wstool init src - - name: Clone Sarax project - run: | - cd ~/sarax_ws/src - git clone https://github.com/SaxionMechatronics/sarax.git + - name: Checkout Repository + uses: actions/checkout@v4 + with: + path: "~/sarax_ws/src" + + # - name: Clone Sarax project + # run: | + # cd ~/sarax_ws/src + # git clone https://github.com/SaxionMechatronics/sarax.git - name: Get dependencies using rosdep run: | From bdd678c9cedf2019626075d6ef82f6cf1e30ab01 Mon Sep 17 00:00:00 2001 From: Arief Date: Thu, 9 May 2024 11:13:26 +0200 Subject: [PATCH 013/100] testing checkout action with specified path --- .github/workflows/build.yaml | 29 +++++++++++++++++++---------- 1 file changed, 19 insertions(+), 10 deletions(-) diff --git a/.github/workflows/build.yaml b/.github/workflows/build.yaml index 02ad09e..76e3ab2 100644 --- a/.github/workflows/build.yaml +++ b/.github/workflows/build.yaml @@ -52,20 +52,29 @@ jobs: uses: actions/checkout@v4 with: path: "~/sarax_ws/src" + + - name: Check structure of workspace + run: | + cd ~/ + ls -l + cd ~/sarax_ws/ + ls -l + cd ~/sarax_ws/src/ + ls -l # - name: Clone Sarax project # run: | # cd ~/sarax_ws/src # git clone https://github.com/SaxionMechatronics/sarax.git - - name: Get dependencies using rosdep - run: | - cd ~/sarax_ws/ - . /opt/ros/$ROS_DISTRO/setup.sh - rosdep install --from-paths src --ignore-src -r -y --skip-keys="python-scipy" + # - name: Get dependencies using rosdep + # run: | + # cd ~/sarax_ws/ + # . /opt/ros/$ROS_DISTRO/setup.sh + # rosdep install --from-paths src --ignore-src -r -y --skip-keys="python-scipy" - - name: Build workspace - run: | - cd ~/sarax_ws/ - . /opt/ros/$ROS_DISTRO/setup.sh - catkin build + # - name: Build workspace + # run: | + # cd ~/sarax_ws/ + # . /opt/ros/$ROS_DISTRO/setup.sh + # catkin build From 1f72dd3c9ea893dd76e5e3f0b684658d89285dfd Mon Sep 17 00:00:00 2001 From: Arief Date: Thu, 9 May 2024 11:16:26 +0200 Subject: [PATCH 014/100] testing checkout action with specified path --- .github/workflows/build.yaml | 2 ++ 1 file changed, 2 insertions(+) diff --git a/.github/workflows/build.yaml b/.github/workflows/build.yaml index 76e3ab2..881b6f1 100644 --- a/.github/workflows/build.yaml +++ b/.github/workflows/build.yaml @@ -55,6 +55,8 @@ jobs: - name: Check structure of workspace run: | + cd / + ls -l cd ~/ ls -l cd ~/sarax_ws/ From 9d43ed3bb31bce239b5ca648a1adaa23a96bc984 Mon Sep 17 00:00:00 2001 From: Arief Date: Thu, 9 May 2024 11:21:32 +0200 Subject: [PATCH 015/100] testing checkout action with specified path --- .github/workflows/build.yaml | 2 ++ 1 file changed, 2 insertions(+) diff --git a/.github/workflows/build.yaml b/.github/workflows/build.yaml index 881b6f1..4bd5c0b 100644 --- a/.github/workflows/build.yaml +++ b/.github/workflows/build.yaml @@ -57,6 +57,8 @@ jobs: run: | cd / ls -l + cd /github/ + ls -l cd ~/ ls -l cd ~/sarax_ws/ From 5768c4c0f31b39c10acd8206ba515d897bfa19bb Mon Sep 17 00:00:00 2001 From: Arief Date: Thu, 9 May 2024 11:36:59 +0200 Subject: [PATCH 016/100] checking the repo structure on container --- .github/workflows/build.yaml | 6 +----- 1 file changed, 1 insertion(+), 5 deletions(-) diff --git a/.github/workflows/build.yaml b/.github/workflows/build.yaml index 4bd5c0b..278cd24 100644 --- a/.github/workflows/build.yaml +++ b/.github/workflows/build.yaml @@ -55,11 +55,7 @@ jobs: - name: Check structure of workspace run: | - cd / - ls -l - cd /github/ - ls -l - cd ~/ + cd /__w/ ls -l cd ~/sarax_ws/ ls -l From 4032d44c25ef7ff610e7f02f44bf0863152d97bb Mon Sep 17 00:00:00 2001 From: Arief Date: Thu, 9 May 2024 11:42:52 +0200 Subject: [PATCH 017/100] checking the repo structure on container --- .github/workflows/build.yaml | 35 ++++++++++++++++++++--------------- 1 file changed, 20 insertions(+), 15 deletions(-) diff --git a/.github/workflows/build.yaml b/.github/workflows/build.yaml index 278cd24..0e0b036 100644 --- a/.github/workflows/build.yaml +++ b/.github/workflows/build.yaml @@ -16,15 +16,15 @@ jobs: options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined steps: - - name: Check environment - run: | - export - ulimit -a + # - name: Check environment + # run: | + # export + # ulimit -a - - name: Perform rosdep - run: | - . /opt/ros/$ROS_DISTRO/setup.sh - rosdep update + # - name: Perform rosdep + # run: | + # . /opt/ros/$ROS_DISTRO/setup.sh + # rosdep update # - name: Update system # run: | @@ -41,12 +41,12 @@ jobs: cd ~ mkdir -p sarax_ws/src - - name: Initialise catkin workspace - run: | - cd ~/sarax_ws/ - . /opt/ros/$ROS_DISTRO/setup.sh - catkin init - wstool init src + # - name: Initialise catkin workspace + # run: | + # cd ~/sarax_ws/ + # . /opt/ros/$ROS_DISTRO/setup.sh + # catkin init + # wstool init src - name: Checkout Repository uses: actions/checkout@v4 @@ -57,8 +57,13 @@ jobs: run: | cd /__w/ ls -l - cd ~/sarax_ws/ + cd /__w/sarax/ ls -l + + - name: Move the cloned repo + run: | + cd /__w/ + mv sarax ~/sarax_ws/src/ cd ~/sarax_ws/src/ ls -l From 615f9ff5486765568311473e22a450e8a31b1f70 Mon Sep 17 00:00:00 2001 From: Arief Date: Thu, 9 May 2024 11:49:05 +0200 Subject: [PATCH 018/100] checking the repo structure on container --- .github/workflows/build.yaml | 3 +++ 1 file changed, 3 insertions(+) diff --git a/.github/workflows/build.yaml b/.github/workflows/build.yaml index 0e0b036..95835ef 100644 --- a/.github/workflows/build.yaml +++ b/.github/workflows/build.yaml @@ -7,6 +7,7 @@ on: env: USER: github.actor + WORKSPACE: github.workspace jobs: build: @@ -55,6 +56,8 @@ jobs: - name: Check structure of workspace run: | + cd $WORKSPACE + ls -l cd /__w/ ls -l cd /__w/sarax/ From 035fd92fc90fb80704543b10c4e8c6858a47ca07 Mon Sep 17 00:00:00 2001 From: Arief Date: Thu, 9 May 2024 11:54:32 +0200 Subject: [PATCH 019/100] test success of cloning repo --- .github/workflows/build.yaml | 37 ++++++++---------------------------- 1 file changed, 8 insertions(+), 29 deletions(-) diff --git a/.github/workflows/build.yaml b/.github/workflows/build.yaml index 95835ef..9ce3d7e 100644 --- a/.github/workflows/build.yaml +++ b/.github/workflows/build.yaml @@ -7,7 +7,6 @@ on: env: USER: github.actor - WORKSPACE: github.workspace jobs: build: @@ -32,10 +31,10 @@ jobs: # sudo apt update # sudo apt upgrade - - name: Install build dependencies - run: | - pip install scipy - pip install -U wstool + # - name: Install build dependencies + # run: | + # pip install scipy + # pip install -U wstool - name: Create new workspace run: | @@ -48,32 +47,12 @@ jobs: # . /opt/ros/$ROS_DISTRO/setup.sh # catkin init # wstool init src - - - name: Checkout Repository - uses: actions/checkout@v4 - with: - path: "~/sarax_ws/src" - - - name: Check structure of workspace - run: | - cd $WORKSPACE - ls -l - cd /__w/ - ls -l - cd /__w/sarax/ - ls -l - - - name: Move the cloned repo + + - name: Clone Sarax project run: | - cd /__w/ - mv sarax ~/sarax_ws/src/ - cd ~/sarax_ws/src/ + cd ~/sarax_ws/src + git clone ${{ github.repositoryUrl }} ls -l - - # - name: Clone Sarax project - # run: | - # cd ~/sarax_ws/src - # git clone https://github.com/SaxionMechatronics/sarax.git # - name: Get dependencies using rosdep # run: | From 216ce68f997a97fe067042e927a2cbb9a171ea6f Mon Sep 17 00:00:00 2001 From: Arief Date: Thu, 9 May 2024 12:01:42 +0200 Subject: [PATCH 020/100] test success of cloning repo --- .github/workflows/build.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/workflows/build.yaml b/.github/workflows/build.yaml index 9ce3d7e..5749186 100644 --- a/.github/workflows/build.yaml +++ b/.github/workflows/build.yaml @@ -51,7 +51,7 @@ jobs: - name: Clone Sarax project run: | cd ~/sarax_ws/src - git clone ${{ github.repositoryUrl }} + git clone ${{ github.server_url }}/${{ github.repository }}.git ls -l # - name: Get dependencies using rosdep From 14d8f14be6dcd48f23e4bff452933c1fe2dbe6b4 Mon Sep 17 00:00:00 2001 From: Arief Date: Thu, 9 May 2024 12:04:32 +0200 Subject: [PATCH 021/100] workflow test for complete build --- .github/workflows/build.yaml | 64 ++++++++++++++++++------------------ 1 file changed, 32 insertions(+), 32 deletions(-) diff --git a/.github/workflows/build.yaml b/.github/workflows/build.yaml index 5749186..56426cb 100644 --- a/.github/workflows/build.yaml +++ b/.github/workflows/build.yaml @@ -16,37 +16,37 @@ jobs: options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined steps: - # - name: Check environment - # run: | - # export - # ulimit -a + - name: Check environment + run: | + export + ulimit -a - # - name: Perform rosdep - # run: | - # . /opt/ros/$ROS_DISTRO/setup.sh - # rosdep update + - name: Perform rosdep + run: | + . /opt/ros/$ROS_DISTRO/setup.sh + rosdep update - # - name: Update system - # run: | - # sudo apt update - # sudo apt upgrade + - name: Update system + run: | + sudo apt update + sudo apt upgrade - # - name: Install build dependencies - # run: | - # pip install scipy - # pip install -U wstool + - name: Install build dependencies + run: | + pip install scipy + pip install -U wstool - name: Create new workspace run: | cd ~ mkdir -p sarax_ws/src - # - name: Initialise catkin workspace - # run: | - # cd ~/sarax_ws/ - # . /opt/ros/$ROS_DISTRO/setup.sh - # catkin init - # wstool init src + - name: Initialise catkin workspace + run: | + cd ~/sarax_ws/ + . /opt/ros/$ROS_DISTRO/setup.sh + catkin init + wstool init src - name: Clone Sarax project run: | @@ -54,14 +54,14 @@ jobs: git clone ${{ github.server_url }}/${{ github.repository }}.git ls -l - # - name: Get dependencies using rosdep - # run: | - # cd ~/sarax_ws/ - # . /opt/ros/$ROS_DISTRO/setup.sh - # rosdep install --from-paths src --ignore-src -r -y --skip-keys="python-scipy" + - name: Get dependencies using rosdep + run: | + cd ~/sarax_ws/ + . /opt/ros/$ROS_DISTRO/setup.sh + rosdep install --from-paths src --ignore-src -r -y --skip-keys="python-scipy" - # - name: Build workspace - # run: | - # cd ~/sarax_ws/ - # . /opt/ros/$ROS_DISTRO/setup.sh - # catkin build + - name: Build workspace + run: | + cd ~/sarax_ws/ + . /opt/ros/$ROS_DISTRO/setup.sh + catkin build From 62f8d6d402084b7971ad2fbaec42b1a17f9b9adb Mon Sep 17 00:00:00 2001 From: Arief Date: Thu, 9 May 2024 12:06:37 +0200 Subject: [PATCH 022/100] workflow test for complete build --- .github/workflows/build.yaml | 5 ----- 1 file changed, 5 deletions(-) diff --git a/.github/workflows/build.yaml b/.github/workflows/build.yaml index 56426cb..39639cc 100644 --- a/.github/workflows/build.yaml +++ b/.github/workflows/build.yaml @@ -26,11 +26,6 @@ jobs: . /opt/ros/$ROS_DISTRO/setup.sh rosdep update - - name: Update system - run: | - sudo apt update - sudo apt upgrade - - name: Install build dependencies run: | pip install scipy From 1ebb95cc0e03018ac38ae4d7a16087c6d2b61ecf Mon Sep 17 00:00:00 2001 From: Arief Date: Thu, 9 May 2024 12:23:29 +0200 Subject: [PATCH 023/100] added workflow status badge in README --- README.md | 2 ++ 1 file changed, 2 insertions(+) diff --git a/README.md b/README.md index 441d1bf..043e77a 100644 --- a/README.md +++ b/README.md @@ -1,3 +1,5 @@ +![Build Workflow](https://github.com/Arief-AK/sarax/actions/workflows/build.yaml/badge.svg) + # Sarax: An Open-Source Software/Hardware Framework for Aerial Manipulators
From bcba0ca9ebdc0a6350e5a196f4d191a3341c6390 Mon Sep 17 00:00:00 2001 From: Arief Date: Thu, 9 May 2024 12:56:35 +0200 Subject: [PATCH 024/100] created sitl_build workflow --- .github/workflows/sitl_build.yaml | 37 +++++++++++++++++++++++++++++++ 1 file changed, 37 insertions(+) create mode 100644 .github/workflows/sitl_build.yaml diff --git a/.github/workflows/sitl_build.yaml b/.github/workflows/sitl_build.yaml new file mode 100644 index 0000000..40b1155 --- /dev/null +++ b/.github/workflows/sitl_build.yaml @@ -0,0 +1,37 @@ +name: Build SITL on PX4 +on: + workflow_run: + workflows: [Setup and build packages] + types: [completed] + branches: [formatting] + +jobs: + on-success: + runs-on: ubuntu-latest + if: ${{ github.event.workflow_run.conclusion == 'success' }} + steps: + - run: echo 'The Setup and build packages workflow passed' + + on-failure: + runs-on: ubuntu-latest + if: ${{ github.event.workflow_run.conclusion == 'failure' }} + steps: + - run: echo 'The Setup and build packages workflow failed' + + build: + needs: + runs-on: ubuntu-latest + container: + image: px4io/px4-dev-ros-noetic:latest + options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined + steps: + + - name: Clone the Sarax branch from PX4 repo + run: | + cd ~ + git clone --recursive -b v1.13.2-sarax-sim https://github.com/SaxionMechatronics/PX4-Autopilot.git + + - name: Run sarax SITL + run: | + cd ~/PX4-Autopilot/ + ./sarax_plus_sitl.bash From eee9c47468173fc569b306efe8e532a587f7a996 Mon Sep 17 00:00:00 2001 From: Arief Date: Thu, 9 May 2024 13:04:10 +0200 Subject: [PATCH 025/100] updated sitl_build to run on all branches --- .github/workflows/sitl_build.yaml | 39 ++++++++++++++++++------------- 1 file changed, 23 insertions(+), 16 deletions(-) diff --git a/.github/workflows/sitl_build.yaml b/.github/workflows/sitl_build.yaml index 40b1155..cd04dea 100644 --- a/.github/workflows/sitl_build.yaml +++ b/.github/workflows/sitl_build.yaml @@ -1,23 +1,30 @@ name: Build SITL on PX4 on: - workflow_run: - workflows: [Setup and build packages] - types: [completed] - branches: [formatting] + push: + branches: + - main + - formatting -jobs: - on-success: - runs-on: ubuntu-latest - if: ${{ github.event.workflow_run.conclusion == 'success' }} - steps: - - run: echo 'The Setup and build packages workflow passed' - - on-failure: - runs-on: ubuntu-latest - if: ${{ github.event.workflow_run.conclusion == 'failure' }} - steps: - - run: echo 'The Setup and build packages workflow failed' +# on: +# workflow_run: +# workflows: [Setup and build packages] +# types: [completed] +# branches: [formatting] + +# jobs: +# on-success: +# runs-on: ubuntu-latest +# if: ${{ github.event.workflow_run.conclusion == 'success' }} +# steps: +# - run: echo 'The Setup and build packages workflow passed' +# on-failure: +# runs-on: ubuntu-latest +# if: ${{ github.event.workflow_run.conclusion == 'failure' }} +# steps: +# - run: echo 'The Setup and build packages workflow failed' + +jobs: build: needs: runs-on: ubuntu-latest From 86892a429fb2ee7d5d76ea47cf0ce99dcb35ea6f Mon Sep 17 00:00:00 2001 From: Arief Date: Thu, 9 May 2024 13:05:09 +0200 Subject: [PATCH 026/100] updated sitl_build to run on all branches --- .github/workflows/sitl_build.yaml | 1 - 1 file changed, 1 deletion(-) diff --git a/.github/workflows/sitl_build.yaml b/.github/workflows/sitl_build.yaml index cd04dea..acbadb6 100644 --- a/.github/workflows/sitl_build.yaml +++ b/.github/workflows/sitl_build.yaml @@ -26,7 +26,6 @@ on: jobs: build: - needs: runs-on: ubuntu-latest container: image: px4io/px4-dev-ros-noetic:latest From 2787eafb97afccc6155028bbfefa4ebc51083155 Mon Sep 17 00:00:00 2001 From: Arief Date: Thu, 9 May 2024 13:20:04 +0200 Subject: [PATCH 027/100] added sitl_build status badge --- README.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/README.md b/README.md index 043e77a..893a691 100644 --- a/README.md +++ b/README.md @@ -1,4 +1,4 @@ -![Build Workflow](https://github.com/Arief-AK/sarax/actions/workflows/build.yaml/badge.svg) +![Build Workflow](https://github.com/Arief-AK/sarax/actions/workflows/build.yaml/badge.svg) ![PX4 Build Workflow](https://github.com/Arief-AK/sarax/actions/workflows/sitl_build.yaml/badge.svg) # Sarax: An Open-Source Software/Hardware Framework for Aerial Manipulators From 25aaacc7375481f9e2142fd0c838dc580d43244f Mon Sep 17 00:00:00 2001 From: Arief Date: Thu, 9 May 2024 13:20:26 +0200 Subject: [PATCH 028/100] used workflow run for sitl_build --- .github/workflows/sitl_build.yaml | 45 ++++++++++++++++--------------- 1 file changed, 23 insertions(+), 22 deletions(-) diff --git a/.github/workflows/sitl_build.yaml b/.github/workflows/sitl_build.yaml index acbadb6..801a512 100644 --- a/.github/workflows/sitl_build.yaml +++ b/.github/workflows/sitl_build.yaml @@ -1,31 +1,32 @@ name: Build SITL on PX4 -on: - push: - branches: - - main - - formatting - +# Uncomment when debugging # on: -# workflow_run: -# workflows: [Setup and build packages] -# types: [completed] -# branches: [formatting] +# push: +# branches: +# - main +# - formatting -# jobs: -# on-success: -# runs-on: ubuntu-latest -# if: ${{ github.event.workflow_run.conclusion == 'success' }} -# steps: -# - run: echo 'The Setup and build packages workflow passed' - -# on-failure: -# runs-on: ubuntu-latest -# if: ${{ github.event.workflow_run.conclusion == 'failure' }} -# steps: -# - run: echo 'The Setup and build packages workflow failed' +# Comment when debugging +on: + workflow_run: + workflows: [Setup and build packages] + types: [completed] jobs: + on-success: + runs-on: ubuntu-latest + if: ${{ github.event.workflow_run.conclusion == 'success' }} + steps: + - run: echo 'The Setup and build packages workflow passed' + + on-failure: + runs-on: ubuntu-latest + if: ${{ github.event.workflow_run.conclusion == 'failure' }} + steps: + - run: echo 'The Setup and build packages workflow failed' + build: + needs: on-success # Uncomment when on default branch (main) runs-on: ubuntu-latest container: image: px4io/px4-dev-ros-noetic:latest From 457b89584cd709a592a6bbd74f38d78abee9289d Mon Sep 17 00:00:00 2001 From: Arief Date: Thu, 9 May 2024 14:20:35 +0200 Subject: [PATCH 029/100] updated workflow to trigger when pull request issued --- .github/workflows/build.yaml | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/.github/workflows/build.yaml b/.github/workflows/build.yaml index 39639cc..0800ca4 100644 --- a/.github/workflows/build.yaml +++ b/.github/workflows/build.yaml @@ -3,7 +3,9 @@ on: push: branches: - main - - formatting + pull_request: + branches: + - main env: USER: github.actor From a86d9a72f0460920d3a557c10d6566ed482a709f Mon Sep 17 00:00:00 2001 From: Arief Date: Thu, 9 May 2024 14:35:48 +0200 Subject: [PATCH 030/100] created publishing of package in GHCR --- .github/workflows/publish_docker_package.yaml | 36 +++++++++++++++++++ 1 file changed, 36 insertions(+) create mode 100644 .github/workflows/publish_docker_package.yaml diff --git a/.github/workflows/publish_docker_package.yaml b/.github/workflows/publish_docker_package.yaml new file mode 100644 index 0000000..dbf7325 --- /dev/null +++ b/.github/workflows/publish_docker_package.yaml @@ -0,0 +1,36 @@ +name: Publish docker image as package +# Uncomment when debugging +on: + push: + branches: + - main + +# Comment when debugging +# on: +# workflow_run: +# workflows: [Setup and build packages] +# types: [completed] + +jobs: + publish_package: + runs-on: ubuntu-latest + steps: + + - name: Checkout repository + uses: actions/checkout@v4 + + - name: Login to GH container registry + run: | + docker login --username ${{ github.actor }} --password ${{ secrets.GH_PAT }} ghcr.io + + - name: Cleanup system + run: | + docker image prune + + - name: Build Docker image + run: | + docker build --no-cache . -t ghcr.io/${{ github.actor }}/sarax-framework:latest + + - name: Publish image + run: | + docker push ghcr.io/${{ github.actor }}/sarax-framework:latest \ No newline at end of file From f730f95a86a2561dc4858a819c3e1da46c57872e Mon Sep 17 00:00:00 2001 From: Arief Date: Thu, 9 May 2024 14:39:04 +0200 Subject: [PATCH 031/100] updated secrets and package publishing workflow --- .github/workflows/publish_docker_package.yaml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/.github/workflows/publish_docker_package.yaml b/.github/workflows/publish_docker_package.yaml index dbf7325..3cb067e 100644 --- a/.github/workflows/publish_docker_package.yaml +++ b/.github/workflows/publish_docker_package.yaml @@ -29,8 +29,8 @@ jobs: - name: Build Docker image run: | - docker build --no-cache . -t ghcr.io/${{ github.actor }}/sarax-framework:latest + docker build --no-cache . -t ghcr.io/arief-ak/sarax-framework:latest - name: Publish image run: | - docker push ghcr.io/${{ github.actor }}/sarax-framework:latest \ No newline at end of file + docker push ghcr.io/arief-ak/sarax-framework:latest \ No newline at end of file From de0292bcb3b5d4b26412e8e60ce9bb2b152805e7 Mon Sep 17 00:00:00 2001 From: Arief Date: Thu, 9 May 2024 15:05:04 +0200 Subject: [PATCH 032/100] added Dockerfile --- Dockerfile | 54 ++++++++++++++++++++++++++++++++++++++++++++++++++++++ 1 file changed, 54 insertions(+) create mode 100644 Dockerfile diff --git a/Dockerfile b/Dockerfile new file mode 100644 index 0000000..e12ed8b --- /dev/null +++ b/Dockerfile @@ -0,0 +1,54 @@ +# Pull px4-ros-noetic image +FROM px4io/px4-dev-ros-noetic + +# Update the linux environment +RUN echo "Updating environment" \ + && sudo apt update -y \ + && sudo apt upgrade -y + +# Check environment +RUN echo "Checking environment" \ + && export \ + && ulimit -a + +# Perform rosdep +RUN echo "Use rosdep to update dependencies" \ + && . /opt/ros/$ROS_DISTRO/setup.sh \ + && rosdep update + +# Install build dependencies +RUN pip install scipy \ + && pip install -U wstool + +# Create a workspace +RUN echo "Creating sarax workspace" \ + && cd /home \ + && mkdir -p user/sarax_ws/src/sarax + +# Clone the sarax branch from the PX4-Autopilot repository +RUN cd /home/user/sarax_ws/ \ + && git clone --recursive -b v1.13.2-sarax-sim https://github.com/SaxionMechatronics/PX4-Autopilot.git + +# Initialise catkin workspace +RUN cd /home/user/sarax_ws/ \ + && . /opt/ros/$ROS_DISTRO/setup.sh \ + && catkin init \ + && wstool init src + +# Copy the source into workspace source directory +COPY . /home/user/sarax_ws/src/sarax/ + +# Install dependencies using rosdep +RUN cd /home/user/sarax_ws/ \ + && . /opt/ros/$ROS_DISTRO/setup.sh \ + && rosdep install --from-paths src --ignore-src -r -y --skip-keys="python-scipy" + +# Build the workspace +RUN cd /home/user/sarax_ws/ \ + && . /opt/ros/$ROS_DISTRO/setup.sh \ + && catkin build + +# Export worskpace and update sourcing +RUN cd /home/user/sarax_ws/ \ + && echo "export SARAX_WS=$PWD" >> ~/.bashrc \ + && echo "source \$SARAX_WS/devel/setup.bash" >> ~/.bashrc From 56bdd12f498bcc049992e976a7b940ff10f25e27 Mon Sep 17 00:00:00 2001 From: Arief Date: Thu, 9 May 2024 15:24:30 +0200 Subject: [PATCH 033/100] created status badge for publishing docker image as package --- README.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/README.md b/README.md index 893a691..706980c 100644 --- a/README.md +++ b/README.md @@ -1,4 +1,4 @@ -![Build Workflow](https://github.com/Arief-AK/sarax/actions/workflows/build.yaml/badge.svg) ![PX4 Build Workflow](https://github.com/Arief-AK/sarax/actions/workflows/sitl_build.yaml/badge.svg) +![Build Workflow](https://github.com/Arief-AK/sarax/actions/workflows/build.yaml/badge.svg) ![PX4 Build Workflow](https://github.com/Arief-AK/sarax/actions/workflows/sitl_build.yaml/badge.svg) ![GHCR Package Publishing](https://github.com/Arief-AK/sarax/actions/workflows/publish_docker_package.yaml/badge.svg) # Sarax: An Open-Source Software/Hardware Framework for Aerial Manipulators From 89a4d48541902058076438a029197608047c6a5b Mon Sep 17 00:00:00 2001 From: Arief Date: Thu, 9 May 2024 15:25:22 +0200 Subject: [PATCH 034/100] updated docker publishing workflow to only run when previous wokrkflows are completed --- .github/workflows/publish_docker_package.yaml | 29 ++++++++++++++----- 1 file changed, 21 insertions(+), 8 deletions(-) diff --git a/.github/workflows/publish_docker_package.yaml b/.github/workflows/publish_docker_package.yaml index 3cb067e..db6c905 100644 --- a/.github/workflows/publish_docker_package.yaml +++ b/.github/workflows/publish_docker_package.yaml @@ -1,18 +1,31 @@ name: Publish docker image as package # Uncomment when debugging -on: - push: - branches: - - main +# on: +# push: +# branches: +# - main # Comment when debugging -# on: -# workflow_run: -# workflows: [Setup and build packages] -# types: [completed] +on: + workflow_run: + workflows: [Setup and build packages, Build SITL on PX4] + types: [completed] jobs: + on-success: + runs-on: ubuntu-latest + if: ${{ github.event.workflow_run.conclusion == 'success' }} + steps: + - run: echo 'The build workflows have passed' + + on-failure: + runs-on: ubuntu-latest + if: ${{ github.event.workflow_run.conclusion == 'failure' }} + steps: + - run: echo 'The build workflows have failed' + publish_package: + needs: on-success # Uncomment when on default branch (main) runs-on: ubuntu-latest steps: From f4f5d6f28a9115a13d3ec9fcdeb313467a7c028b Mon Sep 17 00:00:00 2001 From: Arief Date: Mon, 13 May 2024 11:06:53 +0200 Subject: [PATCH 035/100] added GAZEBO_PLUGIN_PATH --- Dockerfile | 1 + 1 file changed, 1 insertion(+) diff --git a/Dockerfile b/Dockerfile index e12ed8b..7f1cf6d 100644 --- a/Dockerfile +++ b/Dockerfile @@ -51,4 +51,5 @@ RUN cd /home/user/sarax_ws/ \ # Export worskpace and update sourcing RUN cd /home/user/sarax_ws/ \ && echo "export SARAX_WS=$PWD" >> ~/.bashrc \ + && echo "export GAZEBO_PLUGIN_PATH=$GAZEBO_PLUGIN_PATH:/usr/lib/x86_64-linux-gnu/gazebo-11/plugins" \ && echo "source \$SARAX_WS/devel/setup.bash" >> ~/.bashrc From b86ea15dc318049105b2348a296ab0361dc37258 Mon Sep 17 00:00:00 2001 From: Arief Date: Mon, 13 May 2024 11:07:51 +0200 Subject: [PATCH 036/100] added ROS_PACKAGE_PATH --- Dockerfile | 1 + 1 file changed, 1 insertion(+) diff --git a/Dockerfile b/Dockerfile index 7f1cf6d..63f1daa 100644 --- a/Dockerfile +++ b/Dockerfile @@ -51,5 +51,6 @@ RUN cd /home/user/sarax_ws/ \ # Export worskpace and update sourcing RUN cd /home/user/sarax_ws/ \ && echo "export SARAX_WS=$PWD" >> ~/.bashrc \ + && echo "export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:$SARAX_WS/PX4-Autopilot" \ && echo "export GAZEBO_PLUGIN_PATH=$GAZEBO_PLUGIN_PATH:/usr/lib/x86_64-linux-gnu/gazebo-11/plugins" \ && echo "source \$SARAX_WS/devel/setup.bash" >> ~/.bashrc From dc436606aa2503e5809b4ba83788a49f863a6c63 Mon Sep 17 00:00:00 2001 From: Arief Date: Mon, 13 May 2024 11:15:45 +0200 Subject: [PATCH 037/100] added rosdep and pip commands to setup procedure --- README.md | 11 +++++++++++ 1 file changed, 11 insertions(+) diff --git a/README.md b/README.md index 706980c..6075539 100644 --- a/README.md +++ b/README.md @@ -25,6 +25,17 @@ Welcome to the Sarax project! Sarax aims to develop an open-source aerial manipu - [QGroundControl](https://docs.qgroundcontrol.com/master/en/qgc-user-guide/getting_started/download_and_install.html#ubuntu) is installed. ### Setup software +Update the ROS dependencies using `rosdep` +```shell +rosdep update +``` + +Install build dependencies using `pip` +```shell +pip install scipy +pip install -U wstool +``` + ```shell mkdir -p sarax_ws/src && cd sarax_ws/ && catkin init && wstool init src From f45fa0e754466ce28b7b634d8aea7b3baeb60cbf Mon Sep 17 00:00:00 2001 From: Arief Date: Mon, 13 May 2024 11:22:14 +0200 Subject: [PATCH 038/100] added rosdep install dependencies command into setup procedure --- README.md | 10 +++++++--- 1 file changed, 7 insertions(+), 3 deletions(-) diff --git a/README.md b/README.md index 6075539..f8ffc93 100644 --- a/README.md +++ b/README.md @@ -36,12 +36,16 @@ pip install scipy pip install -U wstool ``` - +Create the workspace, clone the necessary repositories, and build ```shell mkdir -p sarax_ws/src && cd sarax_ws/ && catkin init && wstool init src git clone --recursive -b v1.13.2-sarax-sim https://github.com/SaxionMechatronics/PX4-Autopilot.git -cd src && git clone https://github.com/SaxionMechatronics/sarax.git && catkin build -cd .. && echo "export SARAX_WS=$PWD" >> ~/.bashrc && echo "source \$SARAX_WS/devel/setup.bash" >> ~/.bashrc +cd src && git clone https://github.com/SaxionMechatronics/sarax.git && cd .. && rosdep install --from-paths src --ignore-src -r -y --skip-keys="python-scipy" && catkin build +``` + +Export the sources into `.bashrc` +```shell +echo "export SARAX_WS=$PWD" >> ~/.bashrc && echo "source \$SARAX_WS/devel/setup.bash" >> ~/.bashrc ``` ### Run the Simulation From 42a49e81916b1af0c5644c21fb6cbd39a4df2af3 Mon Sep 17 00:00:00 2001 From: Arief Date: Mon, 13 May 2024 12:24:20 +0200 Subject: [PATCH 039/100] added Sarax with Docker document and images --- Docs/Sarax with Docker.md | 50 ++++++++++++++++++++++++++++++++++++++ Docs/images/Gazebo.png | Bin 0 -> 576121 bytes 2 files changed, 50 insertions(+) create mode 100644 Docs/Sarax with Docker.md create mode 100644 Docs/images/Gazebo.png diff --git a/Docs/Sarax with Docker.md b/Docs/Sarax with Docker.md new file mode 100644 index 0000000..a3814e5 --- /dev/null +++ b/Docs/Sarax with Docker.md @@ -0,0 +1,50 @@ +# Sarax on Docker container +> [!CAUTION]\ +> The purpose of the Docker container is to provide a portable and isolated environment for testing. It is not advised for production use-cases. + +## Using the container +> [!NOTE] +> The following procedure assumes that Docker is setup and installed properly + +### Pulling the container from GHCR +This repository creates and publishes a Docker container onto the GitHub Container Registry as a [package](https://github.com/Arief-AK/sarax/pkgs/container/sarax-framework). The container can be pulled with the command below. +```shell +docker pull ghcr.io/arief-ak/sarax-framework:latest +``` +### Building the container +Optionally, the container can be built using the [Dockerfile](../Dockerfile) in the source. This can be done after cloning the repository and building the [Dockerfile](../Dockerfile) with the command below. +```shell +docker build . +``` + +For both procedures, a Docker image is produced as shown below. +```shell +REPOSITORY TAG IMAGE ID CREATED SIZE +ghcr.io/arief-ak/sarax-framework latest b4d3bbec4f9d 3 days ago 8.65GB +``` +## Using the container (with GUI) +> [!WARNING] +> The GUI on the container is slow and unstable + +The Docker container can produce GUI for Gazebo simulator. This can be done by running the following procedure referenced from the [PX4-Autopilot Docker container reference](https://docs.px4.io/main/en/test_and_ci/docker.html). + +On the host machine, allow access for xhost from the container and setup authorisation +```shell +xhost local:root && XAUTH=/tmp/.docker.xauth +``` + +Create the container using the following command. Make sure to use the correct `IMAGE_ID` for the Docker container from the host system. +```shell +docker run -it --name sarax_container --env="DISPLAY=$DISPLAY" \ + --env="QT_X11_NO_MITSHM=1" \ + -v /tmp/.X11-unix:/tmp/.X11-unix:rw \ + --env="XAUTHORITY=$XAUTH" \ + -v $XAUTH:$XAUTH \ + --network host \ + --privileged \ + bash +``` + +Once inside the container, head to the Sarax workspace and follow the [Run the Simulation](../README.md#run-the-simulation) procedure in the [README](../README.md). 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[package](https://github.com/Arief-AK/sarax/pkgs/container/sarax-framework) or as a source with the [Dockerfile](Dockerfile). Read the [Sarax with Docker](Docs/Sarax%20with%20Docker.md) document for more information. + ## License This project is released under the [BSD 3-Clause](./LICENSE.txt). Feel free to use, modify, and distribute the software and hardware designs in accordance with the terms of the license. From b69ad6b8813af9bbcf25263a02d2fa7f3c445782 Mon Sep 17 00:00:00 2001 From: Arief Date: Mon, 13 May 2024 12:46:27 +0200 Subject: [PATCH 041/100] added always perform command on build workspace step in build workflow --- .github/workflows/build.yaml | 1 + 1 file changed, 1 insertion(+) diff --git a/.github/workflows/build.yaml b/.github/workflows/build.yaml index 0800ca4..6942bb9 100644 --- a/.github/workflows/build.yaml +++ b/.github/workflows/build.yaml @@ -58,6 +58,7 @@ jobs: rosdep install --from-paths src --ignore-src -r -y --skip-keys="python-scipy" - name: Build workspace + if: always() run: | cd ~/sarax_ws/ . /opt/ros/$ROS_DISTRO/setup.sh From 6253089aefb3283740d9adb029dd0568505212a8 Mon Sep 17 00:00:00 2001 From: Arief Date: Mon, 13 May 2024 12:56:06 +0200 Subject: [PATCH 042/100] modified workflow trigger for publishing docker package --- .github/workflows/publish_docker_package.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/workflows/publish_docker_package.yaml b/.github/workflows/publish_docker_package.yaml index db6c905..d532236 100644 --- a/.github/workflows/publish_docker_package.yaml +++ b/.github/workflows/publish_docker_package.yaml @@ -8,7 +8,7 @@ name: Publish docker image as package # Comment when debugging on: workflow_run: - workflows: [Setup and build packages, Build SITL on PX4] + workflows: [Setup and build packages] types: [completed] jobs: From 1a4141d5f770305423974ff8b0ebed0d4b7b0f9b Mon Sep 17 00:00:00 2001 From: Arief Date: Mon, 13 May 2024 14:12:08 +0200 Subject: [PATCH 043/100] test to remove rosdep --- .github/workflows/build.yaml | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) diff --git a/.github/workflows/build.yaml b/.github/workflows/build.yaml index 6942bb9..aa57370 100644 --- a/.github/workflows/build.yaml +++ b/.github/workflows/build.yaml @@ -51,11 +51,11 @@ jobs: git clone ${{ github.server_url }}/${{ github.repository }}.git ls -l - - name: Get dependencies using rosdep - run: | - cd ~/sarax_ws/ - . /opt/ros/$ROS_DISTRO/setup.sh - rosdep install --from-paths src --ignore-src -r -y --skip-keys="python-scipy" + # - name: Get dependencies using rosdep + # run: | + # cd ~/sarax_ws/ + # . /opt/ros/$ROS_DISTRO/setup.sh + # rosdep install --from-paths src --ignore-src -r -y --skip-keys="python-scipy" - name: Build workspace if: always() From cb258fb2a333b0d65ea8ca48c9a6366eeaa79397 Mon Sep 17 00:00:00 2001 From: Arief Date: Mon, 13 May 2024 14:15:27 +0200 Subject: [PATCH 044/100] updated workflow to use rosdep to install dependencies --- .github/workflows/build.yaml | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) diff --git a/.github/workflows/build.yaml b/.github/workflows/build.yaml index aa57370..6942bb9 100644 --- a/.github/workflows/build.yaml +++ b/.github/workflows/build.yaml @@ -51,11 +51,11 @@ jobs: git clone ${{ github.server_url }}/${{ github.repository }}.git ls -l - # - name: Get dependencies using rosdep - # run: | - # cd ~/sarax_ws/ - # . /opt/ros/$ROS_DISTRO/setup.sh - # rosdep install --from-paths src --ignore-src -r -y --skip-keys="python-scipy" + - name: Get dependencies using rosdep + run: | + cd ~/sarax_ws/ + . /opt/ros/$ROS_DISTRO/setup.sh + rosdep install --from-paths src --ignore-src -r -y --skip-keys="python-scipy" - name: Build workspace if: always() From 1dfece330c416b84b3295f654d69ff230fae00ec Mon Sep 17 00:00:00 2001 From: Arief Date: Mon, 13 May 2024 14:26:56 +0200 Subject: [PATCH 045/100] testing with multiple containers via matrix --- .github/workflows/build.yaml | 6 +++++- 1 file changed, 5 insertions(+), 1 deletion(-) diff --git a/.github/workflows/build.yaml b/.github/workflows/build.yaml index 6942bb9..7732fab 100644 --- a/.github/workflows/build.yaml +++ b/.github/workflows/build.yaml @@ -13,8 +13,12 @@ env: jobs: build: runs-on: ubuntu-latest + strategy: + fail-fast: false + matrix: + image: [latest, 2024-04-04] container: - image: px4io/px4-dev-ros-noetic:latest + image: px4io/px4-dev-ros-noetic: ${{ matrix.image }} options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined steps: From e57ed3ca311a7da8d93feaed0f673f7ef660051f Mon Sep 17 00:00:00 2001 From: Arief Date: Mon, 13 May 2024 14:29:57 +0200 Subject: [PATCH 046/100] code cleanup --- .github/workflows/build.yaml | 6 +----- 1 file changed, 1 insertion(+), 5 deletions(-) diff --git a/.github/workflows/build.yaml b/.github/workflows/build.yaml index 7732fab..6942bb9 100644 --- a/.github/workflows/build.yaml +++ b/.github/workflows/build.yaml @@ -13,12 +13,8 @@ env: jobs: build: runs-on: ubuntu-latest - strategy: - fail-fast: false - matrix: - image: [latest, 2024-04-04] container: - image: px4io/px4-dev-ros-noetic: ${{ matrix.image }} + image: px4io/px4-dev-ros-noetic:latest options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined steps: From d9b8b27f04a3f168a46875d49ab9835b9cd02208 Mon Sep 17 00:00:00 2001 From: Arief Date: Thu, 16 May 2024 10:26:29 +0200 Subject: [PATCH 047/100] added Docker Container Installation manual --- Docs/Docker container Installation.md | 326 ++++++++++++++++++++++++++ Docs/image.png | Bin 0 -> 32939 bytes 2 files changed, 326 insertions(+) create mode 100644 Docs/Docker container Installation.md create mode 100644 Docs/image.png diff --git a/Docs/Docker container Installation.md b/Docs/Docker container Installation.md new file mode 100644 index 0000000..f77ca75 --- /dev/null +++ b/Docs/Docker container Installation.md @@ -0,0 +1,326 @@ +# Dry-run Docker installation + +## Running the Docker container +To ensure full functionality of the Docker container, we will (create) and run the container with some privileges. + +1. On the host machine, allow access for `xhost` from the container and setup the authorisation. +```shell +xhost local:root && XAUTH=/tmp/.docker.xauth +``` + +2. Create the container and run it with the necessary privileges for running GUI applications. +```shell +docker run -it --name sarax_container --env="DISPLAY=$DISPLAY" \ + --env="QT_X11_NO_MITSHM=1" \ + -v /tmp/.X11-unix:/tmp/.X11-unix:rw \ + --env="XAUTHORITY=$XAUTH" \ + -v $XAUTH:$XAUTH \ + -p 18570:18570/udp \ + --privileged \ + bash +``` + +> [!TIP]\ +> An example would be\ +> ```docker run --name sarax_container -it --env="DISPLAY=$DISPLAY" --env="QT_X11_NO_MITSHM=1" -v /tmp/.X11-unix:/tmp/.X11-unix:rw --env="XAUTHORITY=$XAUTH" -v $XAUTH:$XAUTH -p 18570:18570/udp --privileged 52e bash``` + +## ROS Noetic +The Docker container already contains ROS Noetic. We can ensure that this is the case by running the following commands. + +1. Source the ROS noetic `setup.bash` file +```shell +source /opt/ros/noetic/setup.bash +``` + +2. Echo the `$ROS_DISTRO` +```shell +echo $ROS_DISTRO +``` + +## Installing PX4 +Following the installation from the [PX4 guide](https://docs.px4.io/main/en/dev_setup/building_px4.html). + +1. Download the PX4 source code +```shell +git clone https://github.com/PX4/PX4-Autopilot.git --recursive +``` + +2. Source the `setup.bash` for Ubuntu to install `PX4` dependencies +```shell +source ~/PX4-Autopilot/Tools/setup/ubuntu.sh +``` + +3. First build using the `gazebo-classic` simulator +```shell +cd ~/PX4-Autopilot/ && make px4_sitl gazebo-classic +``` + +## Installing MAVROS +1. Install ROS noetic building dependencies +```shell +sudo apt install python3-rosdep python3-rosinstall python3-rosinstall-generator python3-wstool build-essential -y +``` + +Followed MAVROS source installation from [MAVROS repo](https://github.com/mavlink/mavros/tree/master/mavros#installation). + +2. Install the catkin dependencies +```shell +sudo apt install python3-catkin-tools python3-rosinstall-generator python3-osrf-pycommon -y +``` + +3. Create the workspace +```shell +mkdir -p ~/catkin_ws/src && cd ~/catkin_ws && catkin init && wstool init src +``` + +4. Install `MAVLink` using the `kinetic` reference for all ROS distros as it's not distro-specific and up to date +```shell +rosinstall_generator --rosdistro kinetic mavlink | tee /tmp/mavros.rosinstall +``` + +5. Install MAVROS from the `stable` release +```shell +rosinstall_generator --upstream mavros | tee -a /tmp/mavros.rosinstall +``` + +6. Get the dependencies +```shell +wstool merge -t src /tmp/mavros.rosinstall && wstool update -t src -j4 && rosdep install --from-paths src --ignore-src -y +``` + +7. Install GeographicLib datasets +```shell +./src/mavros/mavros/scripts/install_geographiclib_datasets.sh +``` + +8. Build the source +```shell +catkin build +``` + +> [!WARNING]\ +> At time of writing, there exist a problem when attempting to build `MAVLink` and `MAVROS`. In particular, the `mavros_extras` is the source of this issue which is referenced [here](https://github.com/mavlink/mavros/issues/1938). To resolve this issue, proceed with the following section, if, all goes well, continue to installing the Sarax section. +> +>### Issue: Unsucessfull build due to `mavros_extras` +>If an error is produced after running the ```catkin build``` command, proceed with the following steps. +>
    +>The error should look similar to below +>
    +> +> Error output +> +> +> ```shell +> Errors << mavros_extras:make /root/catkin_ws/logs/mavros_extras/build.make.000.log +> /root/catkin_ws/src/mavros/mavros_extras/src/plugins/gps_status.cpp: In member function ‘void mavros::extra_plugins::GpsStatusPlugin::handle_gps2_raw(const mavlink_message_t*, mavlink::common::msg::GPS2_RAW&)’: +> /root/catkin_ws/src/mavros/mavros_extras/src/plugins/gps_status.cpp:107:40: error: ‘struct mavlink::common::msg::GPS2_RAW’ has no member named ‘alt_ellipsoid’ +> 107 | ros_msg->alt_ellipsoid = mav_msg.alt_ellipsoid; +> | ^~~~~~~~~~~~~ +> /root/catkin_ws/src/mavros/mavros_extras/src/plugins/gps_status.cpp:108:40: error: ‘struct mavlink::common::msg::GPS2_RAW’ has no member named ‘h_acc’ +> 108 | ros_msg->h_acc = mav_msg.h_acc; +> | ^~~~~ +> /root/catkin_ws/src/mavros/mavros_extras/src/plugins/gps_status.cpp:109:40: error: ‘struct mavlink::common::msg::GPS2_RAW’ has no member named ‘v_acc’ +> 109 | ros_msg->v_acc = mav_msg.v_acc; +> | ^~~~~ +> /root/catkin_ws/src/mavros/mavros_extras/src/plugins/gps_status.cpp:110:40: error: ‘struct mavlink::common::msg::GPS2_RAW’ has no member named ‘vel_acc’ +> 110 | ros_msg->vel_acc = mav_msg.vel_acc; +> | ^~~~~~~ +> /root/catkin_ws/src/mavros/mavros_extras/src/plugins/gps_status.cpp:111:40: error: ‘struct mavlink::common::msg::GPS2_RAW’ has no member named ‘hdg_acc’ +> 111 | ros_msg->hdg_acc = mav_msg.hdg_acc; +> | ^~~~~~~ +> make[2]: *** [CMakeFiles/mavros_extras.dir/build.make:232: CMakeFiles/mavros_extras.dir/src/plugins/gps_status.cpp.o] Error 1 +> make[2]: *** Waiting for unfinished jobs.... +> make[1]: *** [CMakeFiles/Makefile2:735: CMakeFiles/mavros_extras.dir/all] Error 2 +> make: *** [Makefile:141: all] Error 2 +> cd /root/catkin_ws/build/mavros_extras; catkin build --get-env mavros_extras | catkin env -si /usr/bin/make --jobserver-auth=3,4; cd - +> ``` +>
    +> +>1. Install your preferred text-editor, for this case, we will install `nano` + >```shell + >sudo apt-get install nano + >``` +> +>2. Head to the culprit of the error in `common.xml` +> ```shell +> cd src/mavlink/message_definitions/v1.0/ +> ``` +> +>3. Open the `common.xml` with a text-editor and search for the `` section +> ```shell +> nano common.xml +> ``` +> +>4. Edit the file to include the required fields for the `GPS2_RAW` message +> ```xml +> +> Second GPS data. +> ... +> +> Altitude (above WGS84, EGM96 ellipsoid). Positive for up. +> Position uncertainty. +> Altitude uncertainty. +> Speed uncertainty. +> Heading / track uncertainty +> Yaw in earth frame from north. Use 0 if this GPS does not provide yaw. Use 65535 if this GPS is configured to provide yaw and is currently unable to provide it. Use 36000 for north. +> +> ``` +> +>5. Head back to `catkin_ws` and clean +> ```shell +> cd ~/catkin_ws/ && catkin clean +> ``` +> +>6. Build the source +> ```shell +> catkin build +> ``` + +## Installing Sarax +Setup the Sarax software as mentioned in the setup procedures. + +1. Create the workspace +```shell +mkdir -p sarax_ws/src && cd sarax_ws/ && catkin init && wstool init src +``` + +2. Clone the Sarax branch of the PX4-Autopilot repository +```shell +git clone --recursive -b v1.13.2-sarax-sim https://github.com/SaxionMechatronics/PX4-Autopilot.git +``` + +3. Head to the `src` directory and clone the Sarax repository +```shell +cd src && git clone https://github.com/SaxionMechatronics/sarax.git +``` + +4. Build the workspace +```shell +cd .. && catkin build +``` + +> [!WARNING]\ +> If you run into errors, ensure that the system is equipped with the necessary dependencies by running the following command +> +>
    +> +> Issue: Build error +> +> +>If an error is produced after running the ```catkin build``` command, proceed with the following commands. +> +>1. Install the `scipy` build dependency +> ```shell +> pip install scipy +> ``` +> +>2. Install all the required dependencies using `rosdep` +> ```shell +> rosdep install --from-paths src --ignore-src -r -y --skip-keys="python-scipy" +> ``` +> +>3. Clean the workspace +> ```shell +> catkin clean +> ``` +> +>4. Run the build +> ```shell +> catkin build +> ``` +> +>
    + +5. Create the `$SARAX_WS` variable, source the `setup.bash` and append it into `.bashrc` +```shell +echo "export SARAX_WS=$PWD" >> ~/.bashrc && echo "source \$SARAX_WS/devel/setup.bash" >> ~/.bashrc +``` + +6. Install [`rqt`](https://wiki.ros.org/rqt/UserGuide/Install/Groovy) dependency to run the Sarax GUI properly +```shell +sudo apt-get install ros-noetic-rqt ros-noetic-rqt-common-plugins +``` + +## Running Sarax +To run Sarax, we need to connect the `QGroundControl` application to the simulation. + +> [!NOTE]\ +> The UDP port built on your system may vary, to find the correct UDP port, follow the steps below. +>
    +> +> Finding the correct UDP port +> +> + > 1. Head to the build directory for Sarax + >```shell + >cd ~/sarax_ws/PX4-Autopilot/build/px4_sitl_nolockstep/etc/>init.d-posix + >``` +> + > 2. Run the following command to find the >`udp_gcs_port_local` for port-forwarding + >```shell + >grep "udp_gcs_port_local=" px4-rc.mavlink | cut -d'=' -f2 + >``` +> + >The output should look (similar) to this + >```shell + >$((18570+px4_instance)) # We only need the number! + >``` +> + >Now we know that port `18570` needs to be forwarded. +> +> Since we already created the existing docker container with a port associated to it. We will create a new image from the existing container. This way we don't lose our work. +> +> 3. Exit the current container +> ```shell +> exit +> ``` +> +> 4. Stop the container +> ```shell +> docker stop sarax_container +> ``` +> +> 5. Create a new image from the existing container +> ```shell +> docker commit sarax_container new_sarax_image +> ``` +> +> 6. On the host machine, run a new terminal +> ```shell +> xhost local:root && XAUTH=/tmp/.docker.xauth +> ``` +> +> 7. Create a new container with the correct the new port +> ```shell +> docker run -it --name sarax_container_2 --env="DISPLAY=$DISPLAY" \ +> --env="QT_X11_NO_MITSHM=1" \ +> -v /tmp/.X11-unix:/tmp/.X11-unix:rw \ +> --env="XAUTHORITY=$XAUTH" \ +> -v $XAUTH:$XAUTH \ +> -p 18570:18570/udp \ +> --privileged \ +> new_sarax_image bash +> ``` +>
    + +1. Open `QGroundControl` and head to Application Settings->Comm Links + +2. Create a new Comm Link of `UDP` type and use the server the appropriate server address and `udp_gcs_port_local` port\ +![New Comm Link](image.png) + +3. Start the simulator and Gazebo +```shell +cd $SARAX_WS/PX4-Autopilot/ && ./sarax_plus_sitl.bash +``` + +4. Start another Docker container terminal +```shell +docker exec -it sarax_container_2 bash +``` + +5. Launch the Sarax framework +```shell +roslaunch m4e_mani_base sarax_plus_sitl.launch +``` + +6. 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a/Docs/Docker container Installation.md +++ b/Docs/Docker container Installation.md @@ -251,24 +251,24 @@ To run Sarax, we need to connect the `QGroundControl` application to the simulat > Finding the correct UDP port > > - > 1. Head to the build directory for Sarax - >```shell - >cd ~/sarax_ws/PX4-Autopilot/build/px4_sitl_nolockstep/etc/>init.d-posix - >``` +> 1. Head to the build directory for Sarax +> ```shell +> cd ~/sarax_ws/PX4-Autopilot/build/px4_sitl_nolockstep/etc/>init.d-posix +> ``` > - > 2. Run the following command to find the >`udp_gcs_port_local` for port-forwarding - >```shell - >grep "udp_gcs_port_local=" px4-rc.mavlink | cut -d'=' -f2 - >``` +> 2. Run the following command to find the `udp_gcs_port_local` for port-forwarding +> ```shell +> grep "udp_gcs_port_local=" px4-rc.mavlink | cut -d'=' -f2 +> ``` > - >The output should look (similar) to this - >```shell - >$((18570+px4_instance)) # We only need the number! - >``` +>The output should look (similar) to this +> ```shell +> $((18570+px4_instance)) # We only need the number! +> ``` > - >Now we know that port `18570` needs to be forwarded. +>Now we know that port `18570` needs to be forwarded. > -> Since we already created the existing docker container with a port associated to it. We will create a new image from the existing container. This way we don't lose our work. +>Since we already created the existing docker container with a port associated to it. We will create a new image from the existing container. This way we don't lose our work. > > 3. Exit the current container > ```shell From 218749798f2f9e90abcedb316d0a09fd9c449a86 Mon Sep 17 00:00:00 2001 From: Arief Date: Thu, 16 May 2024 11:18:32 +0200 Subject: [PATCH 049/100] fixed command for building docker container --- Docs/Docker container Installation.md | 16 ++++++++++++---- 1 file changed, 12 insertions(+), 4 deletions(-) diff --git a/Docs/Docker container Installation.md b/Docs/Docker container Installation.md index 2d243bf..bd775c5 100644 --- a/Docs/Docker container Installation.md +++ b/Docs/Docker container Installation.md @@ -21,9 +21,17 @@ docker run -it --name sarax_container --env="DISPLAY=$DISPLAY" \ ``` > [!TIP]\ -> An example would be\ -> ```docker run --name sarax_container -it --env="DISPLAY=$DISPLAY" --env="QT_X11_NO_MITSHM=1" -v /tmp/.X11-unix:/tmp/.X11-unix:rw --env="XAUTHORITY=$XAUTH" -v $XAUTH:$XAUTH -p 18570:18570/udp --privileged 52e bash``` - +>Find the appropriate image, in this case the image with prefix ID `0a5` is used. +> ```shell +> arief@ARIEF-ROG-G531:~$ docker image list +> REPOSITORY TAG IMAGE ID CREATED SIZE +> new_sarax_image latest 0a5fe50c2e1a 21 hours ago 16.7GB +> ``` +> +>An example command would be +> ```shell +> docker run --name sarax_container -it --env="DISPLAY=$DISPLAY" --env="QT_X11_NO_MITSHM=1" -v /tmp/.X11-unix:/tmp/.X11-unix:rw --env="XAUTHORITY=$XAUTH" -v $XAUTH:$XAUTH -p 18570:18570/udp --privileged 0a5 bash +> ``` ## ROS Noetic The Docker container already contains ROS Noetic. We can ensure that this is the case by running the following commands. @@ -313,7 +321,7 @@ To run Sarax, we need to connect the `QGroundControl` application to the simulat cd $SARAX_WS/PX4-Autopilot/ && ./sarax_plus_sitl.bash ``` -4. Start another Docker container terminal +4. In another terminal, start another Docker container terminal ```shell docker exec -it sarax_container_2 bash ``` From 6b0e93597d98805c817c9988af58804ca087b12c Mon Sep 17 00:00:00 2001 From: Arief Date: Fri, 17 May 2024 14:36:47 +0200 Subject: [PATCH 050/100] updated Docker container installation --- Docs/Docker container Installation.md | 304 +++++++++++++++++++++++++- 1 file changed, 292 insertions(+), 12 deletions(-) diff --git a/Docs/Docker container Installation.md b/Docs/Docker container Installation.md index bd775c5..872251b 100644 --- a/Docs/Docker container Installation.md +++ b/Docs/Docker container Installation.md @@ -1,5 +1,75 @@ # Dry-run Docker installation +## Installing NVIDIA drivers (Host) +If you are running on Ubuntu. Install the base installer. +```shell +wget https://developer.download.nvidia.com/compute/cuda/repos/ubuntu2004/x86_64/cuda-ubuntu2004.pin && sudo mv cuda-ubuntu2004.pin /etc/apt/preferences.d/cuda-repository-pin-600 && wget https://developer.download.nvidia.com/compute/cuda/12.4.1/local_installers/cuda-repo-ubuntu2004-12-4-local_12.4.1-550.54.15-1_amd64.deb && sudo dpkg -i cuda-repo-ubuntu2004-12-4-local_12.4.1-550.54.15-1_amd64.deb && sudo cp /var/cuda-repo-ubuntu2004-12-4-local/cuda-*-keyring.gpg /usr/share/keyrings/ && sudo apt-get update && sudo apt-get -y install cuda-toolkit-12-4 +``` + +Now we can install the Driver +```shell +sudo apt-get install -y cuda-drivers +``` + +Install the open kernel module +```shell +sudo apt-get install -y nvidia-driver-550-open && sudo apt-get install -y cuda-drivers-550 +``` + +If you are running on WSL2 +```shell +wget https://developer.download.nvidia.com/compute/cuda/repos/wsl-ubuntu/x86_64/cuda-wsl-ubuntu.pin && sudo mv cuda-wsl-ubuntu.pin /etc/apt/preferences.d/cuda-repository-pin-600 && wget https://developer.download.nvidia.com/compute/cuda/12.4.1/local_installers/cuda-repo-wsl-ubuntu-12-4-local_12.4.1-1_amd64.deb && sudo dpkg -i cuda-repo-wsl-ubuntu-12-4-local_12.4.1-1_amd64.deb && sudo cp /var/cuda-repo-wsl-ubuntu-12-4-local/cuda-*-keyring.gpg /usr/share/keyrings/ && sudo apt-get update && sudo apt-get -y install cuda-toolkit-12-4 +``` + +## Installing NVIDIA Container Toolkit (Host) +```shell +curl -fsSL https://nvidia.github.io/libnvidia-container/gpgkey | sudo gpg --dearmor -o /usr/share/keyrings/nvidia-container-toolkit-keyring.gpg \ + && curl -s -L https://nvidia.github.io/libnvidia-container/stable/deb/nvidia-container-toolkit.list | \ + sed 's#deb https://#deb [signed-by=/usr/share/keyrings/nvidia-container-toolkit-keyring.gpg] https://#g' | \ + sudo tee /etc/apt/sources.list.d/nvidia-container-toolkit.list +``` + +Update the packages +```shell +sudo apt-get update && sudo apt-get install -y nvidia-container-toolkit +``` +### Root mode +Configuring the Docker +```shell +sudo nvidia-ctk runtime configure --runtime=docker +``` + +Restart the Docker Daemon +```shell +sudo systemctl restart docker +``` + +### Rootless mode +```shell +nvidia-ctk runtime configure --runtime=docker --config=$HOME/.config/docker/daemon.json +``` + +Restart the Docker daemon +```shell +systemctl --user restart docker +``` + +Perform some configuration +```shell +sudo nvidia-ctk config --set nvidia-container-cli.no-cgroups --in-place +``` + +### Running a sample workload +```shell +sudo docker run --rm --runtime=nvidia --gpus all ubuntu nvidia-smi +``` + +## Pulling the Docker image +To download the Docker image, pull the image from `px4io` +```shell +docker pull px4io/px4-dev-ros-noetic +``` + ## Running the Docker container To ensure full functionality of the Docker container, we will (create) and run the container with some privileges. @@ -21,17 +91,114 @@ docker run -it --name sarax_container --env="DISPLAY=$DISPLAY" \ ``` > [!TIP]\ ->Find the appropriate image, in this case the image with prefix ID `0a5` is used. +>Find the appropriate image, in this case the image with prefix ID `52e` is used. > ```shell > arief@ARIEF-ROG-G531:~$ docker image list > REPOSITORY TAG IMAGE ID CREATED SIZE -> new_sarax_image latest 0a5fe50c2e1a 21 hours ago 16.7GB +> px4io/px4-dev-ros-noetic latest 52e98aa51240 6 weeks ago 4.79GB > ``` > >An example command would be > ```shell -> docker run --name sarax_container -it --env="DISPLAY=$DISPLAY" --env="QT_X11_NO_MITSHM=1" -v /tmp/.X11-unix:/tmp/.X11-unix:rw --env="XAUTHORITY=$XAUTH" -v $XAUTH:$XAUTH -p 18570:18570/udp --privileged 0a5 bash +> docker run --name sarax_container -it --env="DISPLAY=$DISPLAY" --env="QT_X11_NO_MITSHM=1" -v /tmp/.X11-unix:/tmp/.X11-unix:rw --env="XAUTHORITY=$XAUTH" -v $XAUTH:$XAUTH -p 18570:18570/udp --privileged 52e bash > ``` + +```shell +sudo apt get nano && nano ~/.bashrc +``` + +Place this in the bottom of the file +```shell +export LIBVA_DRIVER_NAME=d3d12 +export LD_LIBRARY_PATH=/usr/lib/wsl/lib +``` + +Source the `.bashrc` +```shell +source ~/.bashrc +``` + +Update the graphics library +```shell +sudo apt update && sudo apt-get install vainfo mesa-va-drives -y +``` + +Check the OpenGL info with `glxinfo` +```shell +glxinfo -B +``` + +The output should be like this +```shell +name of display: :0 +display: :0 screen: 0 +direct rendering: Yes # <-- THIS IS IMPORTANT +Extended renderer info (GLX_MESA_query_renderer): + Vendor: Microsoft Corporation (0xffffffff) + Device: D3D12 (NVIDIA GeForce GTX 1650) (0xffffffff) + Version: 21.0.3 + Accelerated: yes + Video memory: 12052MB + Unified memory: no + Preferred profile: core (0x1) + Max core profile version: 3.3 + Max compat profile version: 3.1 + Max GLES1 profile version: 1.1 + Max GLES[23] profile version: 3.0 +OpenGL vendor string: Microsoft Corporation +OpenGL renderer string: D3D12 (NVIDIA GeForce GTX 1650) +OpenGL core profile version string: 3.3 (Core Profile) Mesa 21.0.3 +OpenGL core profile shading language version string: 3.30 +OpenGL core profile context flags: (none) +OpenGL core profile profile mask: core profile + +OpenGL version string: 3.1 Mesa 21.0.3 +OpenGL shading language version string: 1.40 +OpenGL context flags: (none) + +OpenGL ES profile version string: OpenGL ES 3.0 Mesa 21.0.3 +OpenGL ES profile shading language version string: OpenGL ES GLSL ES 3.00 +``` + +Check if the dedicated graphics card can be accessed within the container +```shell +nvidia-smi +``` + +The output should look like this +```shell ++-----------------------------------------------------------------------------------------+ +| NVIDIA-SMI 550.76.01 Driver Version: 552.44 CUDA Version: 12.4 | +|-----------------------------------------+------------------------+----------------------+ +| GPU Name Persistence-M | Bus-Id Disp.A | Volatile Uncorr. ECC | +| Fan Temp Perf Pwr:Usage/Cap | Memory-Usage | GPU-Util Compute M. | +| | | MIG M. | +|=========================================+========================+======================| +| 0 NVIDIA GeForce GTX 1650 On | 00000000:01:00.0 On | N/A | +| N/A 43C P8 1W / 50W | 954MiB / 4096MiB | 4% Default | +| | | N/A | ++-----------------------------------------+------------------------+----------------------+ + ++-----------------------------------------------------------------------------------------+ +| Processes: | +| GPU GI CI PID Type Process name GPU Memory | +| ID ID Usage | +|=========================================================================================| +| 0 N/A N/A 25 G /Xwayland N/A | +| 0 N/A N/A 35 G /Xwayland N/A | +| 0 N/A N/A 36 G /Xwayland N/A | +| 0 N/A N/A 442 G /Xwayland N/A | +| 0 N/A N/A 920 G /gzserver N/A | ++-----------------------------------------------------------------------------------------+ +``` + +We can also test with Gazebo +```shell +gazebo +``` + +The following condition should be true `fps > 30` + ## ROS Noetic The Docker container already contains ROS Noetic. We can ensure that this is the case by running the following commands. @@ -48,9 +215,33 @@ echo $ROS_DISTRO ## Installing PX4 Following the installation from the [PX4 guide](https://docs.px4.io/main/en/dev_setup/building_px4.html). -1. Download the PX4 source code +### Dependency Installation +To keep things lightweight, we will only be installing the dependencies of PX4. + +1. Fetch all the required setup files and run +```shell +wget https://raw.githubusercontent.com/PX4/PX4-Autopilot/main/Tools/setup/ubuntu.sh && wget https://raw.githubusercontent.com/PX4/PX4-Autopilot/main/Tools/setup/requirements.txt && chmod +x ubuntu.sh && ./ubuntu.sh +``` + +2. Exit the container +```shell +exit +``` + +3. Restart the container +```shell +docker restart sarax_container +``` + +4. Enter the container +```shell +docker exec -it sarax_container bash +``` + +### Source Installation +1. Head to workspace area and download the PX4 source code ```shell -git clone https://github.com/PX4/PX4-Autopilot.git --recursive +cd ~ && git clone https://github.com/PX4/PX4-Autopilot.git --recursive ``` 2. Source the `setup.bash` for Ubuntu to install `PX4` dependencies @@ -64,6 +255,27 @@ cd ~/PX4-Autopilot/ && make px4_sitl gazebo-classic ``` ## Installing MAVROS +### Binary installation +Install using binaries +```shell +sudo apt-get install ros-$ROS_DISTRO-mavros ros-$ROS_DISTRO-mavros-extras +``` + +Install Geographic datasets +```shell +wget https://raw.githubusercontent.com/mavlink/mavros/master/mavros/scripts/install_geographiclib_datasets.sh && chmod +x install_geographiclib_datasets.sh && ./install_geographiclib_datasets.sh +``` +Install ROS noetic building dependencies +```shell +sudo apt install python3-rosdep python3-rosinstall python3-rosinstall-generator python3-wstool build-essential -y +``` + +Install the catkin dependencies +```shell +sudo apt install python3-catkin-tools python3-rosinstall-generator python3-osrf-pycommon -y +``` + +### Source installation 1. Install ROS noetic building dependencies ```shell sudo apt install python3-rosdep python3-rosinstall python3-rosinstall-generator python3-wstool build-essential -y @@ -202,9 +414,14 @@ git clone --recursive -b v1.13.2-sarax-sim https://github.com/SaxionMechatronics cd src && git clone https://github.com/SaxionMechatronics/sarax.git ``` -4. Build the workspace +4. Install Sarax dependencies +```shell +cd .. && source /opt/ros/noetic/setup.bash && rosdep install --from-paths src --ignore-src -r -y --skip-keys="python-scipy" +``` + +5. Build the workspace ```shell -cd .. && catkin build +cd ~/sarax_ws/ && catkin build ``` > [!WARNING]\ @@ -239,14 +456,14 @@ cd .. && catkin build > >
    -5. Create the `$SARAX_WS` variable, source the `setup.bash` and append it into `.bashrc` +6. Create the `$SARAX_WS` variable, source the `setup.bash` and append it into `.bashrc` ```shell -echo "export SARAX_WS=$PWD" >> ~/.bashrc && echo "source \$SARAX_WS/devel/setup.bash" >> ~/.bashrc +echo "export SARAX_WS=$PWD" >> ~/.bashrc && echo "source \$SARAX_WS/devel/setup.bash" >> ~/.bashrc && source ~/.bashrc ``` -6. Install [`rqt`](https://wiki.ros.org/rqt/UserGuide/Install/Groovy) dependency to run the Sarax GUI properly +7. Install [`rqt`](https://wiki.ros.org/rqt/UserGuide/Install/Groovy) dependency to run the Sarax GUI properly ```shell -sudo apt-get install ros-noetic-rqt ros-noetic-rqt-common-plugins +sudo apt-get install ros-noetic-rqt ros-noetic-rqt-common-plugins -y ``` ## Running Sarax @@ -331,4 +548,67 @@ docker exec -it sarax_container_2 bash roslaunch m4e_mani_base sarax_plus_sitl.launch ``` -6. Connect to the new `Docker Container` comm link in QGroundControl \ No newline at end of file +6. Connect to the new `Docker Container` comm link in QGroundControl + +## Running on Linux +To run the Docker container with GPU acceleration on a `Linux` machine. Proceed with the following procedure. + +1. Find the correct image +```shell +docker ps +``` + +The output should be similar to this +```shell +REPOSITORY TAG IMAGE ID CREATED SIZE +sarax_framework_gpu_accelerated latest c43261cdbb5d 9 minutes ago 11.2GB +``` + +2. Run the container and name it `sarax_container` +```shell +# TBA +``` + +## Running on WSL2 +To run the Docker container with GPU acceleration on a `Windows` machine with `WSL2` enabled. Proceed with the following procedure. + +### Docker Desktop +To provide access to the GPU, open Docker Desktop and head to `Settings->Docker Engine`. In the given code snippet, replace the following the existing script with the following. + +> [!TIP]\ +> Make sure to create a backup of the code snippet, just in case! + +```JSON +{ + "builder": { + "gc": { + "defaultKeepStorage": "20GB", + "enabled": true + } + }, + "experimental": false, + "runtimes": { + "nvidia": { + "path": "/usr/bin/nvidia-container-runtime", + "runtimeArgs": [] + } + } +} +``` + +1. Find the correct image +```shell +docker ps +``` + +The output should be similar to this +```shell +REPOSITORY TAG IMAGE ID CREATED SIZE +sarax_framework_gpu_accelerated latest c43261cdbb5d 9 minutes ago 11.2GB +``` + +2. Run the container and name it `sarax_container` +```shell +sudo docker run --name sarax_container -it -v /tmp/.X11-unix:/tmp/.X11-unix -v /mnt/wslg:/mnt/wslg -v /usr/lib/wsl:/usr/lib +/wsl --device=/dev/dxg -e DISPLAY=$DISPLAY --device /dev/dri/card0 --device /dev/dri/renderD128 -e WAYLAND_DISPLAY=$WAYLAND_DISPLAY -e XDG_RUNTIME_DIR=$XDG_RUNTIME_DIR -e PULSE_SERVER=$PULSE_SERVER --gpus all c43 bash +``` \ No newline at end of file From 0670f5ede3ea6186da3adf91db1cdbc40f8c0940 Mon Sep 17 00:00:00 2001 From: Muhammad Arief Kurniawan <68301676+Arief-AK@users.noreply.github.com> Date: Fri, 17 May 2024 14:51:14 +0200 Subject: [PATCH 051/100] Update Docker container Installation.md for running on linux --- Docs/Docker container Installation.md | 11 +++++++++-- 1 file changed, 9 insertions(+), 2 deletions(-) diff --git a/Docs/Docker container Installation.md b/Docs/Docker container Installation.md index 872251b..d5529c0 100644 --- a/Docs/Docker container Installation.md +++ b/Docs/Docker container Installation.md @@ -566,7 +566,14 @@ sarax_framework_gpu_accelerated latest c43261cdbb5d 9 minutes ago 1 2. Run the container and name it `sarax_container` ```shell -# TBA +docker run --name sarax_container --runtime nvidia --gpus all -e NVIDIA_DRIVER_CAPABILITIES=all -it -v /tmp/.X11-unix:/tmp/.X11-unix \ + -e "DISPLAY=$DISPLAY" \ + -e "QT_X11_NO_MITSHM=1" \ + -e "XAUTHORITY=$XAUTH" \ + --device /dev/dri/ \ + -e "WAYLAND_DISPLAY=$WAYLAND_DISPLAY" -e "XDG_RUNTIME_DIR=$XDG_RUNTIME_DIR" \ + -e "PULSE_SERVER=$PULSE_SERVER" \ + --privileged c43 bash ``` ## Running on WSL2 @@ -611,4 +618,4 @@ sarax_framework_gpu_accelerated latest c43261cdbb5d 9 minutes ago 1 ```shell sudo docker run --name sarax_container -it -v /tmp/.X11-unix:/tmp/.X11-unix -v /mnt/wslg:/mnt/wslg -v /usr/lib/wsl:/usr/lib /wsl --device=/dev/dxg -e DISPLAY=$DISPLAY --device /dev/dri/card0 --device /dev/dri/renderD128 -e WAYLAND_DISPLAY=$WAYLAND_DISPLAY -e XDG_RUNTIME_DIR=$XDG_RUNTIME_DIR -e PULSE_SERVER=$PULSE_SERVER --gpus all c43 bash -``` \ No newline at end of file +``` From 0d11f2bae47edb10d739b501596937b52c01afad Mon Sep 17 00:00:00 2001 From: Arief Date: Sat, 18 May 2024 03:30:23 +0200 Subject: [PATCH 052/100] added supporting documents, updated workflows, and improved Dockerfile --- .github/workflows/build.yaml | 19 +- Docs/Docker container Installation.md | 511 +++++++++++--------------- Docs/Docker prerequisites.md | 113 ++++++ Docs/Sarax with Docker.md | 56 +-- README.md | 16 +- 5 files changed, 375 insertions(+), 340 deletions(-) create mode 100644 Docs/Docker prerequisites.md diff --git a/.github/workflows/build.yaml b/.github/workflows/build.yaml index 6942bb9..e1157fa 100644 --- a/.github/workflows/build.yaml +++ b/.github/workflows/build.yaml @@ -23,15 +23,24 @@ jobs: export ulimit -a - - name: Perform rosdep + - name: Install PX4 Dependencies run: | - . /opt/ros/$ROS_DISTRO/setup.sh - rosdep update + wget https://raw.githubusercontent.com/PX4/PX4-Autopilot/main/Tools/setup/ubuntu.sh + wget https://raw.githubusercontent.com/PX4/PX4-Autopilot/main/Tools/setup/requirements.txt + chmod +x ubuntu.sh && ./ubuntu.sh + + - name: Install MAVROS using binaries + run: | + sudo apt-get install ros-$ROS_DISTRO-mavros ros-$ROS_DISTRO-mavros-extras + wget https://raw.githubusercontent.com/mavlink/mavros/master/mavros/scripts/install_geographiclib_datasets.sh + chmod +x install_geographiclib_datasets.sh && ./install_geographiclib_datasets.sh - - name: Install build dependencies + - name: Install ROS building dependencies run: | + sudo apt install python3-rosdep python3-rosinstall python3-rosinstall-generator python3-wstool build-essential + sudo apt install python3-catkin-tools python3-rosinstall-generator python3-osrf-pycommon + sudo apt-get install ros-$ROS_DISTRO-rqt ros-$ROS_DISTRO-rqt-common-plugins pip install scipy - pip install -U wstool - name: Create new workspace run: | diff --git a/Docs/Docker container Installation.md b/Docs/Docker container Installation.md index d5529c0..e41fc04 100644 --- a/Docs/Docker container Installation.md +++ b/Docs/Docker container Installation.md @@ -1,76 +1,12 @@ # Dry-run Docker installation -## Installing NVIDIA drivers (Host) -If you are running on Ubuntu. Install the base installer. -```shell -wget https://developer.download.nvidia.com/compute/cuda/repos/ubuntu2004/x86_64/cuda-ubuntu2004.pin && sudo mv cuda-ubuntu2004.pin /etc/apt/preferences.d/cuda-repository-pin-600 && wget https://developer.download.nvidia.com/compute/cuda/12.4.1/local_installers/cuda-repo-ubuntu2004-12-4-local_12.4.1-550.54.15-1_amd64.deb && sudo dpkg -i cuda-repo-ubuntu2004-12-4-local_12.4.1-550.54.15-1_amd64.deb && sudo cp /var/cuda-repo-ubuntu2004-12-4-local/cuda-*-keyring.gpg /usr/share/keyrings/ && sudo apt-get update && sudo apt-get -y install cuda-toolkit-12-4 -``` - -Now we can install the Driver -```shell -sudo apt-get install -y cuda-drivers -``` - -Install the open kernel module -```shell -sudo apt-get install -y nvidia-driver-550-open && sudo apt-get install -y cuda-drivers-550 -``` - -If you are running on WSL2 -```shell -wget https://developer.download.nvidia.com/compute/cuda/repos/wsl-ubuntu/x86_64/cuda-wsl-ubuntu.pin && sudo mv cuda-wsl-ubuntu.pin /etc/apt/preferences.d/cuda-repository-pin-600 && wget https://developer.download.nvidia.com/compute/cuda/12.4.1/local_installers/cuda-repo-wsl-ubuntu-12-4-local_12.4.1-1_amd64.deb && sudo dpkg -i cuda-repo-wsl-ubuntu-12-4-local_12.4.1-1_amd64.deb && sudo cp /var/cuda-repo-wsl-ubuntu-12-4-local/cuda-*-keyring.gpg /usr/share/keyrings/ && sudo apt-get update && sudo apt-get -y install cuda-toolkit-12-4 -``` - -## Installing NVIDIA Container Toolkit (Host) -```shell -curl -fsSL https://nvidia.github.io/libnvidia-container/gpgkey | sudo gpg --dearmor -o /usr/share/keyrings/nvidia-container-toolkit-keyring.gpg \ - && curl -s -L https://nvidia.github.io/libnvidia-container/stable/deb/nvidia-container-toolkit.list | \ - sed 's#deb https://#deb [signed-by=/usr/share/keyrings/nvidia-container-toolkit-keyring.gpg] https://#g' | \ - sudo tee /etc/apt/sources.list.d/nvidia-container-toolkit.list -``` - -Update the packages -```shell -sudo apt-get update && sudo apt-get install -y nvidia-container-toolkit -``` -### Root mode -Configuring the Docker -```shell -sudo nvidia-ctk runtime configure --runtime=docker -``` - -Restart the Docker Daemon -```shell -sudo systemctl restart docker -``` - -### Rootless mode -```shell -nvidia-ctk runtime configure --runtime=docker --config=$HOME/.config/docker/daemon.json -``` - -Restart the Docker daemon -```shell -systemctl --user restart docker -``` - -Perform some configuration -```shell -sudo nvidia-ctk config --set nvidia-container-cli.no-cgroups --in-place -``` - -### Running a sample workload -```shell -sudo docker run --rm --runtime=nvidia --gpus all ubuntu nvidia-smi -``` - ## Pulling the Docker image To download the Docker image, pull the image from `px4io` ```shell docker pull px4io/px4-dev-ros-noetic ``` -## Running the Docker container +# Building and running the Docker container To ensure full functionality of the Docker container, we will (create) and run the container with some privileges. 1. On the host machine, allow access for `xhost` from the container and setup the authorisation. @@ -78,31 +14,77 @@ To ensure full functionality of the Docker container, we will (create) and run t xhost local:root && XAUTH=/tmp/.docker.xauth ``` -2. Create the container and run it with the necessary privileges for running GUI applications. +2. Find the correct image ```shell -docker run -it --name sarax_container --env="DISPLAY=$DISPLAY" \ - --env="QT_X11_NO_MITSHM=1" \ - -v /tmp/.X11-unix:/tmp/.X11-unix:rw \ - --env="XAUTHORITY=$XAUTH" \ - -v $XAUTH:$XAUTH \ - -p 18570:18570/udp \ - --privileged \ - bash +docker image ls ``` -> [!TIP]\ ->Find the appropriate image, in this case the image with prefix ID `52e` is used. -> ```shell -> arief@ARIEF-ROG-G531:~$ docker image list -> REPOSITORY TAG IMAGE ID CREATED SIZE -> px4io/px4-dev-ros-noetic latest 52e98aa51240 6 weeks ago 4.79GB -> ``` +The output should be similar to this +```shell +arief@ARIEF-ROG-G531:~$ docker image list +REPOSITORY TAG IMAGE ID CREATED SIZE +px4io/px4-dev-ros-noetic latest 52e98aa51240 6 weeks ago 4.79GB +``` + +3. Create the container and run it with the necessary privileges for running GUI applications. +```shell +docker run --name sarax_container --runtime nvidia --gpus all -e NVIDIA_DRIVER_CAPABILITIES=all -it -v /tmp/.X11-unix:/tmp/.X11-unix \ + -e "DISPLAY=$DISPLAY" \ + -e "QT_X11_NO_MITSHM=1" \ + -e "XAUTHORITY=$XAUTH" \ + --device /dev/dri/ \ + -e "WAYLAND_DISPLAY=$WAYLAND_DISPLAY" -e "XDG_RUNTIME_DIR=$XDG_RUNTIME_DIR" \ + -e "PULSE_SERVER=$PULSE_SERVER" \ + -p 18570:18570/udp \ + --privileged 52e bash +``` +>[!NOTE] > ->An example command would be -> ```shell -> docker run --name sarax_container -it --env="DISPLAY=$DISPLAY" --env="QT_X11_NO_MITSHM=1" -v /tmp/.X11-unix:/tmp/.X11-unix:rw --env="XAUTHORITY=$XAUTH" -v $XAUTH:$XAUTH -p 18570:18570/udp --privileged 52e bash -> ``` +>## Running on WSL2 +>To run the Docker container with GPU acceleration on a `Windows` machine with `WSL2` enabled. Proceed with the following procedure. +>
    +>### Docker Desktop +>To provide access to the GPU, open Docker Desktop and head to `Settings->Docker Engine`. In the given code snippet, >replace the following the existing script with the following. +> +>> [!TIP]\ +>> Make sure to create a backup of the code snippet, just in case! +> +>```JSON +>{ + >"builder": { + >"gc": { + >"defaultKeepStorage": "20GB", + >"enabled": true + >} + >}, + >"experimental": false, + >"runtimes": { + >"nvidia": { + >"path": "/usr/bin/nvidia-container-runtime", + >"runtimeArgs": [] + >} + >} +>} +>``` +> +>1. Find the correct image +>```shell +>docker image ls +>``` +> +>The output should be similar to this +>```shell +>REPOSITORY TAG IMAGE ID CREATED SIZE +>sarax_framework_gpu_accelerated latest c43261cdbb5d 9 minutes ago 11.2GB +>``` +> +>2. Run the container and name it `sarax_container` +>```shell +>sudo docker run --name sarax_container -it -v /tmp/.X11-unix:/tmp/.X11-unix -v /mnt/wslg:/mnt/wslg -v /usr/lib/wsl:/usr/lib/wsl --device=/dev/dxg -e DISPLAY=$DISPLAY --device /dev/dri/card0 --device /dev/dri/renderD128 -e WAYLAND_DISPLAY=$WAYLAND_DISPLAY -e XDG_RUNTIME_DIR=$XDG_RUNTIME_DIR -e PULSE_SERVER=$PULSE_SERVER --gpus all c43 bash +>``` +>
    + -Check the OpenGL info with `glxinfo` +4. Inside the container,check the OpenGL info with `glxinfo` ```shell glxinfo -B ``` @@ -160,7 +142,7 @@ OpenGL ES profile version string: OpenGL ES 3.0 Mesa 21.0.3 OpenGL ES profile shading language version string: OpenGL ES GLSL ES 3.00 ``` -Check if the dedicated graphics card can be accessed within the container +5. Check if the dedicated graphics card can be accessed within the container ```shell nvidia-smi ``` @@ -192,7 +174,8 @@ The output should look like this +-----------------------------------------------------------------------------------------+ ``` -We can also test with Gazebo +#### Small performance test +We can test the performance of the container with Gazebo ```shell gazebo ``` @@ -238,21 +221,23 @@ docker restart sarax_container docker exec -it sarax_container bash ``` -### Source Installation -1. Head to workspace area and download the PX4 source code -```shell -cd ~ && git clone https://github.com/PX4/PX4-Autopilot.git --recursive -``` - -2. Source the `setup.bash` for Ubuntu to install `PX4` dependencies -```shell -source ~/PX4-Autopilot/Tools/setup/ubuntu.sh -``` - -3. First build using the `gazebo-classic` simulator -```shell -cd ~/PX4-Autopilot/ && make px4_sitl gazebo-classic -``` +>[!NOTE] +>### Source Installation +>
    +>1. Head to workspace area and download the PX4 source code +>```shell +>cd ~ && git clone https://github.com/PX4/PX4-Autopilot.git --recursive +>``` +> +>2. Source the `setup.bash` for Ubuntu to install `PX4` dependencies +>```shell +>source ~/PX4-Autopilot/Tools/setup/ubuntu.sh +>``` +> +>3. First build using the `gazebo-classic` simulator +>```shell +>cd ~/PX4-Autopilot/ && make px4_sitl gazebo-classic +>``` ## Installing MAVROS ### Binary installation @@ -274,127 +259,126 @@ Install the catkin dependencies ```shell sudo apt install python3-catkin-tools python3-rosinstall-generator python3-osrf-pycommon -y ``` - -### Source installation -1. Install ROS noetic building dependencies -```shell -sudo apt install python3-rosdep python3-rosinstall python3-rosinstall-generator python3-wstool build-essential -y -``` - -Followed MAVROS source installation from [MAVROS repo](https://github.com/mavlink/mavros/tree/master/mavros#installation). - -2. Install the catkin dependencies -```shell -sudo apt install python3-catkin-tools python3-rosinstall-generator python3-osrf-pycommon -y -``` - -3. Create the workspace -```shell -mkdir -p ~/catkin_ws/src && cd ~/catkin_ws && catkin init && wstool init src -``` - -4. Install `MAVLink` using the `kinetic` reference for all ROS distros as it's not distro-specific and up to date -```shell -rosinstall_generator --rosdistro kinetic mavlink | tee /tmp/mavros.rosinstall -``` - -5. Install MAVROS from the `stable` release -```shell -rosinstall_generator --upstream mavros | tee -a /tmp/mavros.rosinstall -``` - -6. Get the dependencies -```shell -wstool merge -t src /tmp/mavros.rosinstall && wstool update -t src -j4 && rosdep install --from-paths src --ignore-src -y -``` - -7. Install GeographicLib datasets -```shell -./src/mavros/mavros/scripts/install_geographiclib_datasets.sh -``` - -8. Build the source -```shell -catkin build -``` - -> [!WARNING]\ -> At time of writing, there exist a problem when attempting to build `MAVLink` and `MAVROS`. In particular, the `mavros_extras` is the source of this issue which is referenced [here](https://github.com/mavlink/mavros/issues/1938). To resolve this issue, proceed with the following section, if, all goes well, continue to installing the Sarax section. -> ->### Issue: Unsucessfull build due to `mavros_extras` ->If an error is produced after running the ```catkin build``` command, proceed with the following steps. +>[!NOTE] +>### Source installation >
    ->The error should look similar to below ->
    -> -> Error output -> +>1. Install ROS noetic building dependencies +>```shell +>sudo apt install python3-rosdep python3-rosinstall python3-rosinstall-generator python3-wstool build-essential -y +>``` > -> ```shell -> Errors << mavros_extras:make /root/catkin_ws/logs/mavros_extras/build.make.000.log -> /root/catkin_ws/src/mavros/mavros_extras/src/plugins/gps_status.cpp: In member function ‘void mavros::extra_plugins::GpsStatusPlugin::handle_gps2_raw(const mavlink_message_t*, mavlink::common::msg::GPS2_RAW&)’: -> /root/catkin_ws/src/mavros/mavros_extras/src/plugins/gps_status.cpp:107:40: error: ‘struct mavlink::common::msg::GPS2_RAW’ has no member named ‘alt_ellipsoid’ -> 107 | ros_msg->alt_ellipsoid = mav_msg.alt_ellipsoid; -> | ^~~~~~~~~~~~~ -> /root/catkin_ws/src/mavros/mavros_extras/src/plugins/gps_status.cpp:108:40: error: ‘struct mavlink::common::msg::GPS2_RAW’ has no member named ‘h_acc’ -> 108 | ros_msg->h_acc = mav_msg.h_acc; -> | ^~~~~ -> /root/catkin_ws/src/mavros/mavros_extras/src/plugins/gps_status.cpp:109:40: error: ‘struct mavlink::common::msg::GPS2_RAW’ has no member named ‘v_acc’ -> 109 | ros_msg->v_acc = mav_msg.v_acc; -> | ^~~~~ -> /root/catkin_ws/src/mavros/mavros_extras/src/plugins/gps_status.cpp:110:40: error: ‘struct mavlink::common::msg::GPS2_RAW’ has no member named ‘vel_acc’ -> 110 | ros_msg->vel_acc = mav_msg.vel_acc; -> | ^~~~~~~ -> /root/catkin_ws/src/mavros/mavros_extras/src/plugins/gps_status.cpp:111:40: error: ‘struct mavlink::common::msg::GPS2_RAW’ has no member named ‘hdg_acc’ -> 111 | ros_msg->hdg_acc = mav_msg.hdg_acc; -> | ^~~~~~~ -> make[2]: *** [CMakeFiles/mavros_extras.dir/build.make:232: CMakeFiles/mavros_extras.dir/src/plugins/gps_status.cpp.o] Error 1 -> make[2]: *** Waiting for unfinished jobs.... -> make[1]: *** [CMakeFiles/Makefile2:735: CMakeFiles/mavros_extras.dir/all] Error 2 -> make: *** [Makefile:141: all] Error 2 -> cd /root/catkin_ws/build/mavros_extras; catkin build --get-env mavros_extras | catkin env -si /usr/bin/make --jobserver-auth=3,4; cd - -> ``` ->
    +>Followed MAVROS source installation from [MAVROS repo](https://github.com/mavlink/mavros/tree/master/>mavros#installation). > ->1. Install your preferred text-editor, for this case, we will install `nano` - >```shell - >sudo apt-get install nano - >``` +>2. Install the catkin dependencies +>```shell +>sudo apt install python3-catkin-tools python3-rosinstall-generator python3-osrf-pycommon -y +>``` > ->2. Head to the culprit of the error in `common.xml` -> ```shell -> cd src/mavlink/message_definitions/v1.0/ -> ``` +>3. Create the workspace +>```shell +>mkdir -p ~/catkin_ws/src && cd ~/catkin_ws && catkin init && wstool init src +>``` > ->3. Open the `common.xml` with a text-editor and search for the `` section -> ```shell -> nano common.xml -> ``` +>4. Install `MAVLink` using the `kinetic` reference for all ROS distros as it's not distro-specific and up to date +>```shell +>rosinstall_generator --rosdistro kinetic mavlink | tee /tmp/mavros.rosinstall +>``` > ->4. Edit the file to include the required fields for the `GPS2_RAW` message -> ```xml -> -> Second GPS data. -> ... -> -> Altitude (above WGS84, EGM96 ellipsoid). Positive for up. -> Position uncertainty. -> Altitude uncertainty. -> Speed uncertainty. -> Heading / track uncertainty -> Yaw in earth frame from north. Use 0 if this GPS does not provide yaw. Use 65535 if this GPS is configured to provide yaw and is currently unable to provide it. Use 36000 for north. -> -> ``` +>5. Install MAVROS from the `stable` release +>```shell +>rosinstall_generator --upstream mavros | tee -a /tmp/mavros.rosinstall +>``` > ->5. Head back to `catkin_ws` and clean -> ```shell -> cd ~/catkin_ws/ && catkin clean -> ``` +>6. Get the dependencies +>```shell +>wstool merge -t src /tmp/mavros.rosinstall && wstool update -t src -j4 && rosdep install --from-paths src --ignore-src -y +>``` > ->6. Build the source -> ```shell -> catkin build -> ``` +>7. Install GeographicLib datasets +>```shell +>./src/mavros/mavros/scripts/install_geographiclib_datasets.sh +>``` +> +>8. Build the source +>```shell +>catkin build +>``` +> +>> [!WARNING]\ +> At time of writing, there exist a problem when attempting to build `MAVLink` and `MAVROS`. In particular, the `mavros_extras` is the source of this issue which is referenced [here](https://github.com/mavlink/mavros/issues/1938). >To resolve this issue, proceed with the following section, if, all goes well, continue to installing the Sarax section. +>> +>>### Issue: Unsucessfull build due to `mavros_extras` +>>If an error is produced after running the ```catkin build``` command, proceed with the following steps. +>>
    +>>The error should look similar to below +>>
    +>> +>> Error output +>> +>> +>> ```shell +>> Errors << mavros_extras:make /root/catkin_ws/logs/mavros_extras/build.make.000.log /root/catkin_ws/src/mavros/mavros_extras/src/plugins/gps_status.cpp: In member function ‘void mavros::extra_plugins::GpsStatusPlugin::handle_gps2_raw(const mavlink_message_t*, mavlink::common::msg::GPS2_RAW&)’: /root/catkin_ws/src/mavros/mavros_extras/src/plugins/gps_status.cpp:107:40: error: ‘struct mavlink::common::msg::GPS2_RAW’ has no member named ‘alt_ellipsoid’ +>> 107 | ros_msg->alt_ellipsoid = mav_msg.alt_ellipsoid; +>> | ^~~~~~~~~~~~~ +>> /root/catkin_ws/src/mavros/mavros_extras/src/plugins/gps_status.cpp:108:40: error: ‘struct mavlink::common::msg::GPS2_RAW’ has no member named ‘h_acc’ +>> 108 | ros_msg->h_acc = mav_msg.h_acc; +>> | ^~~~~ +>> /root/catkin_ws/src/mavros/mavros_extras/src/plugins/gps_status.cpp:109:40: error: ‘struct mavlink::common::msg::GPS2_RAW’ has no member named ‘v_acc’ +>> 109 | ros_msg->v_acc = mav_msg.v_acc; +>> | ^~~~~ +>> /root/catkin_ws/src/mavros/mavros_extras/src/plugins/gps_status.cpp:110:40: error: ‘struct mavlink::common::msg::GPS2_RAW’ has no member named ‘vel_acc’ +>> 110 | ros_msg->vel_acc = mav_msg.vel_acc; +>> | ^~~~~~~ +>> /root/catkin_ws/src/mavros/mavros_extras/src/plugins/gps_status.cpp:111:40: error: ‘struct mavlink::common::msg::GPS2_RAW’ has no member named ‘hdg_acc’ +>> 111 | ros_msg->hdg_acc = mav_msg.hdg_acc; +>> | ^~~~~~~ +>> make[2]: *** [CMakeFiles/mavros_extras.dir/build.make:232: CMakeFiles/mavros_extras.dir/src/plugins/gps_status.cpp.o] Error 1 +>> make[2]: *** Waiting for unfinished jobs.... +>> make[1]: *** [CMakeFiles/Makefile2:735: CMakeFiles/mavros_extras.dir/all] Error 2 +>> make: *** [Makefile:141: all] Error 2 +>> cd /root/catkin_ws/build/mavros_extras; catkin build --get-env mavros_extras | catkin env -si /usr/bin/make --jobserver-auth=3,4; cd - +>> ``` +>>
    +>> +>>1. Install your preferred text-editor, for this case, we will install `nano` +>> ```shell +>> sudo apt-get install nano +>> ``` +>> +>>2. Head to the culprit of the error in `common.xml` +>> ```shell +>> cd src/mavlink/message_definitions/v1.0/ +>> ``` +>> +>>3. Open the `common.xml` with a text-editor and search for the `` section +>> ```shell +>> nano common.xml +>> ``` +>> +>>4. Edit the file to include the required fields for the `GPS2_RAW` message +>> ```xml +>> +>> Second GPS data. +>> ... +>> +>> Altitude (above WGS84, EGM96 ellipsoid). Positive for up +>> Position uncertainty. +>> Altitude uncertainty. +>> Speed uncertainty. +>> Heading / track uncertainty +>> Yaw in earth frame from north. Use 0 if this GPS does not provide yaw. Use 65535 if this GPS is configured to provide yaw and is currently unable to provide it. Use 36000 for >north. +>> +>> ``` +>> +>>5. Head back to `catkin_ws` and clean +>> ```shell +>> cd ~/catkin_ws/ && catkin clean +>> ``` +>> +>>6. Build the source +>> ```shell +>> catkin build +>> ``` ## Installing Sarax Setup the Sarax software as mentioned in the setup procedures. @@ -424,7 +408,7 @@ cd .. && source /opt/ros/noetic/setup.bash && rosdep install --from-paths src - cd ~/sarax_ws/ && catkin build ``` -> [!WARNING]\ + 6. Create the `$SARAX_WS` variable, source the `setup.bash` and append it into `.bashrc` ```shell @@ -517,14 +501,15 @@ To run Sarax, we need to connect the `QGroundControl` application to the simulat > > 7. Create a new container with the correct the new port > ```shell -> docker run -it --name sarax_container_2 --env="DISPLAY=$DISPLAY" \ -> --env="QT_X11_NO_MITSHM=1" \ -> -v /tmp/.X11-unix:/tmp/.X11-unix:rw \ -> --env="XAUTHORITY=$XAUTH" \ -> -v $XAUTH:$XAUTH \ -> -p 18570:18570/udp \ -> --privileged \ -> new_sarax_image bash +> docker run --name sarax_container --runtime nvidia --gpus all -e NVIDIA_DRIVER_CAPABILITIES=all -it -v /tmp/.X11-unix:/tmp/.X11-unix \ +> -e "DISPLAY=$DISPLAY" \ +> -e "QT_X11_NO_MITSHM=1" \ +> -e "XAUTHORITY=$XAUTH" \ +> --device /dev/dri/ \ +> -e "WAYLAND_DISPLAY=$WAYLAND_DISPLAY" -e "XDG_RUNTIME_DIR=$XDG_RUNTIME_DIR" \ +> -e "PULSE_SERVER=$PULSE_SERVER" \ +> -p 18570:18570/udp \ +> --privileged 52e bash > ``` >
    @@ -548,74 +533,4 @@ docker exec -it sarax_container_2 bash roslaunch m4e_mani_base sarax_plus_sitl.launch ``` -6. Connect to the new `Docker Container` comm link in QGroundControl - -## Running on Linux -To run the Docker container with GPU acceleration on a `Linux` machine. Proceed with the following procedure. - -1. Find the correct image -```shell -docker ps -``` - -The output should be similar to this -```shell -REPOSITORY TAG IMAGE ID CREATED SIZE -sarax_framework_gpu_accelerated latest c43261cdbb5d 9 minutes ago 11.2GB -``` - -2. Run the container and name it `sarax_container` -```shell -docker run --name sarax_container --runtime nvidia --gpus all -e NVIDIA_DRIVER_CAPABILITIES=all -it -v /tmp/.X11-unix:/tmp/.X11-unix \ - -e "DISPLAY=$DISPLAY" \ - -e "QT_X11_NO_MITSHM=1" \ - -e "XAUTHORITY=$XAUTH" \ - --device /dev/dri/ \ - -e "WAYLAND_DISPLAY=$WAYLAND_DISPLAY" -e "XDG_RUNTIME_DIR=$XDG_RUNTIME_DIR" \ - -e "PULSE_SERVER=$PULSE_SERVER" \ - --privileged c43 bash -``` - -## Running on WSL2 -To run the Docker container with GPU acceleration on a `Windows` machine with `WSL2` enabled. Proceed with the following procedure. - -### Docker Desktop -To provide access to the GPU, open Docker Desktop and head to `Settings->Docker Engine`. In the given code snippet, replace the following the existing script with the following. - -> [!TIP]\ -> Make sure to create a backup of the code snippet, just in case! - -```JSON -{ - "builder": { - "gc": { - "defaultKeepStorage": "20GB", - "enabled": true - } - }, - "experimental": false, - "runtimes": { - "nvidia": { - "path": "/usr/bin/nvidia-container-runtime", - "runtimeArgs": [] - } - } -} -``` - -1. Find the correct image -```shell -docker ps -``` - -The output should be similar to this -```shell -REPOSITORY TAG IMAGE ID CREATED SIZE -sarax_framework_gpu_accelerated latest c43261cdbb5d 9 minutes ago 11.2GB -``` - -2. Run the container and name it `sarax_container` -```shell -sudo docker run --name sarax_container -it -v /tmp/.X11-unix:/tmp/.X11-unix -v /mnt/wslg:/mnt/wslg -v /usr/lib/wsl:/usr/lib -/wsl --device=/dev/dxg -e DISPLAY=$DISPLAY --device /dev/dri/card0 --device /dev/dri/renderD128 -e WAYLAND_DISPLAY=$WAYLAND_DISPLAY -e XDG_RUNTIME_DIR=$XDG_RUNTIME_DIR -e PULSE_SERVER=$PULSE_SERVER --gpus all c43 bash -``` +6. Connect to the new `Docker Container` comm link in QGroundControl \ No newline at end of file diff --git a/Docs/Docker prerequisites.md b/Docs/Docker prerequisites.md new file mode 100644 index 0000000..0e0a092 --- /dev/null +++ b/Docs/Docker prerequisites.md @@ -0,0 +1,113 @@ +# Docker Prerequisites +To allow effective use of the Docker container, we can utilise dedicated graphics to improve performance of GUI applications. + +## Installing NVIDIA drivers (Host) +If you are running on Ubuntu. Install NVIDIA drivers from the [PPA GPU drivers repository](https://launchpad.net/~graphics-drivers/+archive/ubuntu/ppa). + +1. Add the PPA repository +```shell +sudo add-apt-repository ppa:graphics-drivers/ppa +``` +2. Identify the GPU model and available drivers +```shell +ubuntu-drivers devices +``` + +The output should be similar to this +
    + + Devices Output + + +```shell +== /sys/devices/pci0000:00/0000:00:01.0/0000:01:00.0 == +modalias : pci:v000010DEd00001F91sv00001043sd0000106Fbc03sc00i00 +vendor : NVIDIA Corporation +model : TU117M [GeForce GTX 1650 Mobile / Max-Q] +driver : nvidia-driver-515 - third-party non-free +driver : nvidia-driver-535-server - distro non-free +driver : nvidia-driver-450-server - distro non-free +driver : nvidia-driver-545-open - third-party non-free +driver : nvidia-driver-460 - third-party non-free +driver : nvidia-driver-465 - third-party non-free +driver : nvidia-driver-418-server - distro non-free +driver : nvidia-driver-525 - third-party non-free +driver : nvidia-driver-545 - third-party non-free +driver : nvidia-driver-520 - third-party non-free +driver : nvidia-driver-535-open - distro non-free +driver : nvidia-driver-535-server-open - distro non-free +driver : nvidia-driver-495 - third-party non-free +driver : nvidia-driver-450 - third-party non-free +driver : nvidia-driver-455 - third-party non-free +driver : nvidia-driver-535 - third-party non-free +driver : nvidia-driver-550 - third-party non-free recommended # <-- Find the recommended driver +driver : nvidia-driver-470-server - distro non-free +driver : nvidia-driver-550-open - third-party non-free +driver : nvidia-driver-470 - third-party non-free +driver : nvidia-driver-510 - third-party non-free +driver : xserver-xorg-video-nouveau - distro free builtin +``` +
    + +3. Install the NVIDIA driver +```shell +sudo apt install nvidia-driver-550 +``` + +4. Reboot the system +```shell +sudo reboot +``` +> [!TIP]\ +> If you are running on `WSL2` +> ```shell +> wget https://developer.download.nvidia.com/compute/cuda/repos/wsl-ubuntu/x86_64/cuda-wsl-ubuntu.pin && sudo mv cuda-wsl-ubuntu.pin /etc/apt/preferences.d/cuda-repository-pin-600 && wget https://developer.download.nvidia.com/compute/cuda/12.4.1/local_installers/cuda-repo-wsl-ubuntu-12-4-local_12.4.1-1_amd64.deb && sudo dpkg -i cuda-repo-wsl-ubuntu-12-4-local_12.4.1-1_amd64.deb && sudo cp /var/cuda-repo-wsl-ubuntu-12-4-local/cuda-*-keyring.gpg usr/share/keyrings/ && sudo apt-get update && sudo apt-get -y install cuda-toolkit-12-4 +>``` + +## Installing NVIDIA Container Toolkit (Host) + +1. Prepare the repositories and sources +```shell +curl -fsSL https://nvidia.github.io/libnvidia-container/gpgkey | sudo gpg --dearmor -o /usr/share/keyrings/nvidia-container-toolkit-keyring.gpg \ + && curl -s -L https://nvidia.github.io/libnvidia-container/stable/deb/nvidia-container-toolkit.list | \ + sed 's#deb https://#deb [signed-by=/usr/share/keyrings/nvidia-container-toolkit-keyring.gpg] https://#g' | \ + sudo tee /etc/apt/sources.list.d/nvidia-container-toolkit.list +``` + +2. Update the packages +```shell +sudo apt-get update && sudo apt-get install -y nvidia-container-toolkit +``` +### Root mode (option 1) +> [!TIP]\ +> If you have not setup Docker yet, follow the following [Installation options](https://docs.docker.com/engine/install/). + +Configuring the Docker +```shell +sudo nvidia-ctk runtime configure --runtime=docker +``` + +Restart the Docker Daemon +```shell +sudo systemctl restart docker +``` + +### Rootless mode (option 2) +```shell +nvidia-ctk runtime configure --runtime=docker --config=$HOME/.config/docker/daemon.json +``` + +Restart the Docker daemon +```shell +systemctl --user restart docker +``` + +Perform some configuration +```shell +sudo nvidia-ctk config --set nvidia-container-cli.no-cgroups --in-place +``` + +### Running a sample workload +```shell +sudo docker run --rm --runtime=nvidia --gpus all ubuntu nvidia-smi +``` \ No newline at end of file diff --git a/Docs/Sarax with Docker.md b/Docs/Sarax with Docker.md index a3814e5..966acb2 100644 --- a/Docs/Sarax with Docker.md +++ b/Docs/Sarax with Docker.md @@ -2,49 +2,57 @@ > [!CAUTION]\ > The purpose of the Docker container is to provide a portable and isolated environment for testing. It is not advised for production use-cases. +>[!NOTE] +>## Prerequisites +>This guide assumes the following: +> +>1. [Docker](https://docs.docker.com/engine/install/) is installed and configured +>2. [Docker prerequisites](Docker%20prerequisites.md) are setup and installed + ## Using the container -> [!NOTE] -> The following procedure assumes that Docker is setup and installed properly ### Pulling the container from GHCR This repository creates and publishes a Docker container onto the GitHub Container Registry as a [package](https://github.com/Arief-AK/sarax/pkgs/container/sarax-framework). The container can be pulled with the command below. ```shell docker pull ghcr.io/arief-ak/sarax-framework:latest ``` -### Building the container + -For both procedures, a Docker image is produced as shown below. +### Running the container +To ensure full functionality of the Docker container, we will (create) and run the container with some privileges. + +1. On the host machine, allow access for `xhost` from the container and setup the authorisation. ```shell -REPOSITORY TAG IMAGE ID CREATED SIZE -ghcr.io/arief-ak/sarax-framework latest b4d3bbec4f9d 3 days ago 8.65GB +xhost local:root && XAUTH=/tmp/.docker.xauth ``` -## Using the container (with GUI) -> [!WARNING] -> The GUI on the container is slow and unstable -The Docker container can produce GUI for Gazebo simulator. This can be done by running the following procedure referenced from the [PX4-Autopilot Docker container reference](https://docs.px4.io/main/en/test_and_ci/docker.html). - -On the host machine, allow access for xhost from the container and setup authorisation +2. Find the correct image ```shell -xhost local:root && XAUTH=/tmp/.docker.xauth +docker image ls ``` -Create the container using the following command. Make sure to use the correct `IMAGE_ID` for the Docker container from the host system. +The output should be similar to this ```shell -docker run -it --name sarax_container --env="DISPLAY=$DISPLAY" \ - --env="QT_X11_NO_MITSHM=1" \ - -v /tmp/.X11-unix:/tmp/.X11-unix:rw \ - --env="XAUTHORITY=$XAUTH" \ - -v $XAUTH:$XAUTH \ - --network host \ - --privileged \ - bash +arief@ARIEF-ROG-G531:~$ docker image list +REPOSITORY TAG IMAGE ID CREATED SIZE +px4io/px4-dev-ros-noetic latest 52e98aa51240 6 weeks ago 4.79GB ``` -Once inside the container, head to the Sarax workspace and follow the [Run the Simulation](../README.md#run-the-simulation) procedure in the [README](../README.md). This should run the Gazebo simulator. +3. Create the container with the name `sarax_container` and run it with the necessary privileges for running GUI applications. +```shell +docker run --name sarax_container --runtime nvidia --gpus all -e NVIDIA_DRIVER_CAPABILITIES=all -it -v /tmp/.X11-unix:/tmp/.X11-unix \ + -e "DISPLAY=$DISPLAY" \ + -e "QT_X11_NO_MITSHM=1" \ + -e "XAUTHORITY=$XAUTH" \ + --device /dev/dri/ \ + -e "WAYLAND_DISPLAY=$WAYLAND_DISPLAY" -e "XDG_RUNTIME_DIR=$XDG_RUNTIME_DIR" \ + -e "PULSE_SERVER=$PULSE_SERVER" \ + -p 18570:18570/udp \ + --privileged 52e bash +``` ![alt text](images/Gazebo.png) \ No newline at end of file diff --git a/README.md b/README.md index 181f78f..56f9331 100644 --- a/README.md +++ b/README.md @@ -25,17 +25,6 @@ Welcome to the Sarax project! Sarax aims to develop an open-source aerial manipu - [QGroundControl](https://docs.qgroundcontrol.com/master/en/qgc-user-guide/getting_started/download_and_install.html#ubuntu) is installed. ### Setup software -Update the ROS dependencies using `rosdep` -```shell -rosdep update -``` - -Install build dependencies using `pip` -```shell -pip install scipy -pip install -U wstool -``` - Create the workspace, clone the necessary repositories, and build ```shell mkdir -p sarax_ws/src && cd sarax_ws/ && catkin init && wstool init src @@ -64,8 +53,9 @@ cd $SARAX_WS/PX4-Autopilot && ./sarax_plus_sitl.bash roslaunch m4e_mani_base sarax_plus_sitl.launch ``` -## Docker container -This repository produces a Docker container in the form of a GitHub [package](https://github.com/Arief-AK/sarax/pkgs/container/sarax-framework) or as a source with the [Dockerfile](Dockerfile). Read the [Sarax with Docker](Docs/Sarax%20with%20Docker.md) document for more information. +>[!TIP] +>## Docker container +>This repository produces a Docker container in the form of a GitHub [package](https://github.com/Arief-AK/sarax/pkgs/container/sarax-framework) or as a source with the [Dockerfile](Dockerfile). Read >the [Sarax with Docker](Docs/Sarax%20with%20Docker.md) document for more information. ## License From f47bb70ad1bc2f0a1da4161d5ede5c7d02aec746 Mon Sep 17 00:00:00 2001 From: Muhammad Arief Kurniawan <68301676+Arief-AK@users.noreply.github.com> Date: Sat, 18 May 2024 03:54:59 +0200 Subject: [PATCH 053/100] Update build.yaml Utilising source command --- .github/workflows/build.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/workflows/build.yaml b/.github/workflows/build.yaml index e1157fa..5fcc945 100644 --- a/.github/workflows/build.yaml +++ b/.github/workflows/build.yaml @@ -27,7 +27,7 @@ jobs: run: | wget https://raw.githubusercontent.com/PX4/PX4-Autopilot/main/Tools/setup/ubuntu.sh wget https://raw.githubusercontent.com/PX4/PX4-Autopilot/main/Tools/setup/requirements.txt - chmod +x ubuntu.sh && ./ubuntu.sh + source ubuntu.sh - name: Install MAVROS using binaries run: | From 86b5d4fac869223ee6382f546d2ecf8bfd722177 Mon Sep 17 00:00:00 2001 From: Arief Date: Sat, 18 May 2024 10:06:03 +0200 Subject: [PATCH 054/100] edited build workflow --- .github/workflows/build.yaml | 6 ++++-- 1 file changed, 4 insertions(+), 2 deletions(-) diff --git a/.github/workflows/build.yaml b/.github/workflows/build.yaml index 5fcc945..196aa4a 100644 --- a/.github/workflows/build.yaml +++ b/.github/workflows/build.yaml @@ -27,13 +27,15 @@ jobs: run: | wget https://raw.githubusercontent.com/PX4/PX4-Autopilot/main/Tools/setup/ubuntu.sh wget https://raw.githubusercontent.com/PX4/PX4-Autopilot/main/Tools/setup/requirements.txt - source ubuntu.sh + ls -l + . ubuntu.sh - name: Install MAVROS using binaries run: | sudo apt-get install ros-$ROS_DISTRO-mavros ros-$ROS_DISTRO-mavros-extras wget https://raw.githubusercontent.com/mavlink/mavros/master/mavros/scripts/install_geographiclib_datasets.sh - chmod +x install_geographiclib_datasets.sh && ./install_geographiclib_datasets.sh + ls -l + . install_geographiclib_datasets.sh - name: Install ROS building dependencies run: | From 182a09879c1aa56df9338242b9720f4b00b7b939 Mon Sep 17 00:00:00 2001 From: Arief Date: Sat, 18 May 2024 10:13:40 +0200 Subject: [PATCH 055/100] edited build workflow --- .github/workflows/build.yaml | 11 +++++++++-- 1 file changed, 9 insertions(+), 2 deletions(-) diff --git a/.github/workflows/build.yaml b/.github/workflows/build.yaml index 196aa4a..3d28392 100644 --- a/.github/workflows/build.yaml +++ b/.github/workflows/build.yaml @@ -23,19 +23,26 @@ jobs: export ulimit -a + - name: Create dependency workspace + run: | + mkdir -p ~/dependencies + cd ~/dependencies + - name: Install PX4 Dependencies run: | + cd ~/dependencies wget https://raw.githubusercontent.com/PX4/PX4-Autopilot/main/Tools/setup/ubuntu.sh wget https://raw.githubusercontent.com/PX4/PX4-Autopilot/main/Tools/setup/requirements.txt ls -l - . ubuntu.sh + chmod +x ubuntu.sh && . ubuntu.sh - name: Install MAVROS using binaries run: | + cd ~/dependencies sudo apt-get install ros-$ROS_DISTRO-mavros ros-$ROS_DISTRO-mavros-extras wget https://raw.githubusercontent.com/mavlink/mavros/master/mavros/scripts/install_geographiclib_datasets.sh ls -l - . install_geographiclib_datasets.sh + chmod +x install_geographiclib_datasets.sh && . install_geographiclib_datasets.sh - name: Install ROS building dependencies run: | From ad0db8a0132d19389fc2b40d85707a46141e058d Mon Sep 17 00:00:00 2001 From: Arief Date: Sat, 18 May 2024 10:16:46 +0200 Subject: [PATCH 056/100] edited build --- .github/workflows/build.yaml | 1 - 1 file changed, 1 deletion(-) diff --git a/.github/workflows/build.yaml b/.github/workflows/build.yaml index 3d28392..1ccb246 100644 --- a/.github/workflows/build.yaml +++ b/.github/workflows/build.yaml @@ -33,7 +33,6 @@ jobs: cd ~/dependencies wget https://raw.githubusercontent.com/PX4/PX4-Autopilot/main/Tools/setup/ubuntu.sh wget https://raw.githubusercontent.com/PX4/PX4-Autopilot/main/Tools/setup/requirements.txt - ls -l chmod +x ubuntu.sh && . ubuntu.sh - name: Install MAVROS using binaries From 88013be18851845cd6b01f8d9b0d04902e732f04 Mon Sep 17 00:00:00 2001 From: Arief Date: Sat, 18 May 2024 16:25:56 +0200 Subject: [PATCH 057/100] edited build --- .github/workflows/build.yaml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/.github/workflows/build.yaml b/.github/workflows/build.yaml index 1ccb246..792dfed 100644 --- a/.github/workflows/build.yaml +++ b/.github/workflows/build.yaml @@ -33,7 +33,7 @@ jobs: cd ~/dependencies wget https://raw.githubusercontent.com/PX4/PX4-Autopilot/main/Tools/setup/ubuntu.sh wget https://raw.githubusercontent.com/PX4/PX4-Autopilot/main/Tools/setup/requirements.txt - chmod +x ubuntu.sh && . ubuntu.sh + chmod +x ~/dependencies/ubuntu.sh && . ~/dependencies/ubuntu.sh/ubuntu.sh - name: Install MAVROS using binaries run: | @@ -41,7 +41,7 @@ jobs: sudo apt-get install ros-$ROS_DISTRO-mavros ros-$ROS_DISTRO-mavros-extras wget https://raw.githubusercontent.com/mavlink/mavros/master/mavros/scripts/install_geographiclib_datasets.sh ls -l - chmod +x install_geographiclib_datasets.sh && . install_geographiclib_datasets.sh + chmod +x ~/dependencies/install_geographiclib_datasets.sh && . ~/dependencies/install_geographiclib_datasets.sh - name: Install ROS building dependencies run: | From b62512ad33e0c9a67b55788d20bb4323692f3ba2 Mon Sep 17 00:00:00 2001 From: Muhammad Arief Kurniawan <68301676+Arief-AK@users.noreply.github.com> Date: Sat, 18 May 2024 16:38:37 +0200 Subject: [PATCH 058/100] Update build.yaml --- .github/workflows/build.yaml | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/.github/workflows/build.yaml b/.github/workflows/build.yaml index 792dfed..e2328f8 100644 --- a/.github/workflows/build.yaml +++ b/.github/workflows/build.yaml @@ -30,10 +30,11 @@ jobs: - name: Install PX4 Dependencies run: | + mkdir -p ~/dependencies cd ~/dependencies wget https://raw.githubusercontent.com/PX4/PX4-Autopilot/main/Tools/setup/ubuntu.sh wget https://raw.githubusercontent.com/PX4/PX4-Autopilot/main/Tools/setup/requirements.txt - chmod +x ~/dependencies/ubuntu.sh && . ~/dependencies/ubuntu.sh/ubuntu.sh + chmod +x ~/dependencies/ubuntu.sh && . ~/dependencies/ubuntu.sh - name: Install MAVROS using binaries run: | From 27ff8807f74fbe0468e77ed81e124b64fae01c8c Mon Sep 17 00:00:00 2001 From: Muhammad Arief Kurniawan <68301676+Arief-AK@users.noreply.github.com> Date: Sat, 18 May 2024 16:50:47 +0200 Subject: [PATCH 059/100] Update build.yaml --- .github/workflows/build.yaml | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/.github/workflows/build.yaml b/.github/workflows/build.yaml index e2328f8..877045c 100644 --- a/.github/workflows/build.yaml +++ b/.github/workflows/build.yaml @@ -38,11 +38,12 @@ jobs: - name: Install MAVROS using binaries run: | + mkdir -p ~/dependencies cd ~/dependencies sudo apt-get install ros-$ROS_DISTRO-mavros ros-$ROS_DISTRO-mavros-extras wget https://raw.githubusercontent.com/mavlink/mavros/master/mavros/scripts/install_geographiclib_datasets.sh ls -l - chmod +x ~/dependencies/install_geographiclib_datasets.sh && . ~/dependencies/install_geographiclib_datasets.sh + chmod +x ./install_geographiclib_datasets.sh && . ./install_geographiclib_datasets.sh - name: Install ROS building dependencies run: | From 4673e558565ffbe3a49eb0b0149ceaf0d24b0eda Mon Sep 17 00:00:00 2001 From: Arief Date: Sat, 18 May 2024 17:17:03 +0200 Subject: [PATCH 060/100] edited build --- .github/workflows/build.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/workflows/build.yaml b/.github/workflows/build.yaml index 877045c..8824aec 100644 --- a/.github/workflows/build.yaml +++ b/.github/workflows/build.yaml @@ -43,7 +43,7 @@ jobs: sudo apt-get install ros-$ROS_DISTRO-mavros ros-$ROS_DISTRO-mavros-extras wget https://raw.githubusercontent.com/mavlink/mavros/master/mavros/scripts/install_geographiclib_datasets.sh ls -l - chmod +x ./install_geographiclib_datasets.sh && . ./install_geographiclib_datasets.sh + chmod +x ~/dependencies/install_geographiclib_datasets.sh && . ~/dependencies/install_geographiclib_datasets.sh - name: Install ROS building dependencies run: | From bab4aa93cf87888b3956f01d56442353d121d6f1 Mon Sep 17 00:00:00 2001 From: Arief Date: Sat, 18 May 2024 17:25:08 +0200 Subject: [PATCH 061/100] removed installing the geographical datasets --- .github/workflows/build.yaml | 3 --- 1 file changed, 3 deletions(-) diff --git a/.github/workflows/build.yaml b/.github/workflows/build.yaml index 8824aec..c8d4331 100644 --- a/.github/workflows/build.yaml +++ b/.github/workflows/build.yaml @@ -41,9 +41,6 @@ jobs: mkdir -p ~/dependencies cd ~/dependencies sudo apt-get install ros-$ROS_DISTRO-mavros ros-$ROS_DISTRO-mavros-extras - wget https://raw.githubusercontent.com/mavlink/mavros/master/mavros/scripts/install_geographiclib_datasets.sh - ls -l - chmod +x ~/dependencies/install_geographiclib_datasets.sh && . ~/dependencies/install_geographiclib_datasets.sh - name: Install ROS building dependencies run: | From d03881fd3f7c6e85aee467a4bf696ac545187df0 Mon Sep 17 00:00:00 2001 From: Arief Date: Sat, 18 May 2024 17:28:24 +0200 Subject: [PATCH 062/100] added continue flag to all apt-get install commands in workflow --- .github/workflows/build.yaml | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/.github/workflows/build.yaml b/.github/workflows/build.yaml index c8d4331..a30803b 100644 --- a/.github/workflows/build.yaml +++ b/.github/workflows/build.yaml @@ -44,10 +44,10 @@ jobs: - name: Install ROS building dependencies run: | - sudo apt install python3-rosdep python3-rosinstall python3-rosinstall-generator python3-wstool build-essential - sudo apt install python3-catkin-tools python3-rosinstall-generator python3-osrf-pycommon - sudo apt-get install ros-$ROS_DISTRO-rqt ros-$ROS_DISTRO-rqt-common-plugins - pip install scipy + sudo apt install python3-rosdep python3-rosinstall python3-rosinstall-generator python3-wstool build-essential -y + sudo apt install python3-catkin-tools python3-rosinstall-generator python3-osrf-pycommon -y + sudo apt-get install ros-$ROS_DISTRO-rqt ros-$ROS_DISTRO-rqt-common-plugins -y + pip install scipy -y - name: Create new workspace run: | From 1aadf17f02aaf9b50e8c6a0b11c680fd606cbb63 Mon Sep 17 00:00:00 2001 From: Arief Date: Sat, 18 May 2024 17:31:26 +0200 Subject: [PATCH 063/100] removed continue flag from pip --- .github/workflows/build.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/workflows/build.yaml b/.github/workflows/build.yaml index a30803b..bbd8c9c 100644 --- a/.github/workflows/build.yaml +++ b/.github/workflows/build.yaml @@ -47,7 +47,7 @@ jobs: sudo apt install python3-rosdep python3-rosinstall python3-rosinstall-generator python3-wstool build-essential -y sudo apt install python3-catkin-tools python3-rosinstall-generator python3-osrf-pycommon -y sudo apt-get install ros-$ROS_DISTRO-rqt ros-$ROS_DISTRO-rqt-common-plugins -y - pip install scipy -y + pip install scipy - name: Create new workspace run: | From ba0cec8030b91440c8574d3c84e88a134b7061d2 Mon Sep 17 00:00:00 2001 From: Arief Date: Sat, 18 May 2024 17:35:23 +0200 Subject: [PATCH 064/100] added rosdep update command --- .github/workflows/build.yaml | 5 +++++ 1 file changed, 5 insertions(+) diff --git a/.github/workflows/build.yaml b/.github/workflows/build.yaml index bbd8c9c..fe3590b 100644 --- a/.github/workflows/build.yaml +++ b/.github/workflows/build.yaml @@ -23,6 +23,11 @@ jobs: export ulimit -a + - name: Update ROS dependencies + run: | + . /opt/ros/$ROS_DISTRO/setup.sh + rosdep update + - name: Create dependency workspace run: | mkdir -p ~/dependencies From d6f1f986698a6cf9d45a8a853f2f6bd07fade577 Mon Sep 17 00:00:00 2001 From: Arief Date: Sat, 18 May 2024 18:08:07 +0200 Subject: [PATCH 065/100] edited workflows to run on workflow_dispatch --- .github/workflows/build.yaml | 19 +++++---- .github/workflows/publish_docker_package.yaml | 40 +++++++++---------- .github/workflows/sitl_build.yaml | 40 +++++++++---------- 3 files changed, 49 insertions(+), 50 deletions(-) diff --git a/.github/workflows/build.yaml b/.github/workflows/build.yaml index fe3590b..22be16b 100644 --- a/.github/workflows/build.yaml +++ b/.github/workflows/build.yaml @@ -1,11 +1,16 @@ name: Setup and build packages -on: - push: - branches: - - main - pull_request: - branches: - - main + +# To manually run the workflow on GH, use the workflow_dispatch event trigger +on: workflow_dispatch + +# To automatically run on every push to GH, use the push and pull_request event trigger +# on: +# push: +# branches: +# - main +# pull_request: +# branches: +# - main env: USER: github.actor diff --git a/.github/workflows/publish_docker_package.yaml b/.github/workflows/publish_docker_package.yaml index d532236..5472099 100644 --- a/.github/workflows/publish_docker_package.yaml +++ b/.github/workflows/publish_docker_package.yaml @@ -1,31 +1,29 @@ name: Publish docker image as package -# Uncomment when debugging -# on: -# push: -# branches: -# - main -# Comment when debugging -on: - workflow_run: - workflows: [Setup and build packages] - types: [completed] +# To manually run the workflow on GH, use the workflow_dispatch event trigger +on: workflow_dispatch + +# To automatically run depending on the status of the build.yaml workflow, use workflow_run event trigger +# on: +# workflow_run: +# workflows: [Setup and build packages] +# types: [completed] jobs: - on-success: - runs-on: ubuntu-latest - if: ${{ github.event.workflow_run.conclusion == 'success' }} - steps: - - run: echo 'The build workflows have passed' + # on-success: + # runs-on: ubuntu-latest + # if: ${{ github.event.workflow_run.conclusion == 'success' }} + # steps: + # - run: echo 'The build workflows have passed' - on-failure: - runs-on: ubuntu-latest - if: ${{ github.event.workflow_run.conclusion == 'failure' }} - steps: - - run: echo 'The build workflows have failed' + # on-failure: + # runs-on: ubuntu-latest + # if: ${{ github.event.workflow_run.conclusion == 'failure' }} + # steps: + # - run: echo 'The build workflows have failed' publish_package: - needs: on-success # Uncomment when on default branch (main) + #needs: on-success # Uncomment when on default branch (main) runs-on: ubuntu-latest steps: diff --git a/.github/workflows/sitl_build.yaml b/.github/workflows/sitl_build.yaml index 801a512..a90d95f 100644 --- a/.github/workflows/sitl_build.yaml +++ b/.github/workflows/sitl_build.yaml @@ -1,32 +1,28 @@ name: Build SITL on PX4 -# Uncomment when debugging -# on: -# push: -# branches: -# - main -# - formatting +# To manually run the workflow on GH, use the workflow_dispatch event trigger +on: workflow_dispatch -# Comment when debugging -on: - workflow_run: - workflows: [Setup and build packages] - types: [completed] +# To automatically run depending on the status of the build.yaml workflow, use workflow_run event trigger +# on: +# workflow_run: +# workflows: [Setup and build packages] +# types: [completed] jobs: - on-success: - runs-on: ubuntu-latest - if: ${{ github.event.workflow_run.conclusion == 'success' }} - steps: - - run: echo 'The Setup and build packages workflow passed' + # on-success: + # runs-on: ubuntu-latest + # if: ${{ github.event.workflow_run.conclusion == 'success' }} + # steps: + # - run: echo 'The Setup and build packages workflow passed' - on-failure: - runs-on: ubuntu-latest - if: ${{ github.event.workflow_run.conclusion == 'failure' }} - steps: - - run: echo 'The Setup and build packages workflow failed' + # on-failure: + # runs-on: ubuntu-latest + # if: ${{ github.event.workflow_run.conclusion == 'failure' }} + # steps: + # - run: echo 'The Setup and build packages workflow failed' build: - needs: on-success # Uncomment when on default branch (main) + #needs: on-success # Uncomment when on default branch (main) runs-on: ubuntu-latest container: image: px4io/px4-dev-ros-noetic:latest From 110d6dfeb97e79cb9b8c5b97a1dc6dec414177c0 Mon Sep 17 00:00:00 2001 From: Arief Date: Sat, 18 May 2024 18:16:59 +0200 Subject: [PATCH 066/100] edited Dockerfile to ensure installation of dependencies --- Dockerfile | 24 +++++++++++++++++++++--- 1 file changed, 21 insertions(+), 3 deletions(-) diff --git a/Dockerfile b/Dockerfile index 63f1daa..54213fd 100644 --- a/Dockerfile +++ b/Dockerfile @@ -16,9 +16,27 @@ RUN echo "Use rosdep to update dependencies" \ && . /opt/ros/$ROS_DISTRO/setup.sh \ && rosdep update -# Install build dependencies -RUN pip install scipy \ - && pip install -U wstool +# Create a dependency workspace +RUN mkdir -p ~/dependencies \ + && cd ~/dependencies + +# Install PX4 Dependencies +RUN cd ~/dependencies \ + && wget https://raw.githubusercontent.com/PX4/PX4-Autopilot/main/Tools/setup/ubuntu.sh \ + && wget https://raw.githubusercontent.com/PX4/PX4-Autopilot/main/Tools/setup/requirements.txt \ + && chmod +x ~/dependencies/ubuntu.sh && . ~/dependencies/ubuntu.sh + +# Install MAVROS using binaries +RUN cd ~/dependencies \ + && sudo apt-get install ros-$ROS_DISTRO-mavros ros-$ROS_DISTRO-mavros-extras -y \ + && wget https://raw.githubusercontent.com/mavlink/mavros/master/mavros/scripts/install_geographiclib_datasets.sh \ + && chmod +x install_geographiclib_datasets.sh && ./install_geographiclib_datasets.sh + +# Install ROS build dependencies +RUN sudo apt install python3-rosdep python3-rosinstall python3-rosinstall-generator python3-wstool build-essential -y \ + && sudo apt install python3-catkin-tools python3-rosinstall-generator python3-osrf-pycommon -y \ + && sudo apt-get install ros-$ROS_DISTRO-rqt ros-$ROS_DISTRO-rqt-common-plugins -y \ + && pip install scipy # Create a workspace RUN echo "Creating sarax workspace" \ From 9b4cfe8434c32d3129e7f1688050be1867314546 Mon Sep 17 00:00:00 2001 From: Arief Date: Sat, 18 May 2024 18:32:56 +0200 Subject: [PATCH 067/100] edited sitl_build workflow to run on package container and success of package publishing --- .github/workflows/sitl_build.yaml | 22 +++++++++------------- 1 file changed, 9 insertions(+), 13 deletions(-) diff --git a/.github/workflows/sitl_build.yaml b/.github/workflows/sitl_build.yaml index a90d95f..f857470 100644 --- a/.github/workflows/sitl_build.yaml +++ b/.github/workflows/sitl_build.yaml @@ -1,12 +1,13 @@ -name: Build SITL on PX4 +name: Sarax PX4 SITL + # To manually run the workflow on GH, use the workflow_dispatch event trigger -on: workflow_dispatch +#on: workflow_dispatch # To automatically run depending on the status of the build.yaml workflow, use workflow_run event trigger -# on: -# workflow_run: -# workflows: [Setup and build packages] -# types: [completed] +on: + workflow_run: + workflows: [Publish docker image as package] + types: [completed] jobs: # on-success: @@ -25,16 +26,11 @@ jobs: #needs: on-success # Uncomment when on default branch (main) runs-on: ubuntu-latest container: - image: px4io/px4-dev-ros-noetic:latest + image: ghcr.io/arief-ak/sarax-framework:latest options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined steps: - - - name: Clone the Sarax branch from PX4 repo - run: | - cd ~ - git clone --recursive -b v1.13.2-sarax-sim https://github.com/SaxionMechatronics/PX4-Autopilot.git - name: Run sarax SITL run: | - cd ~/PX4-Autopilot/ + cd $SARAX_WS/PX4-Autopilot/ ./sarax_plus_sitl.bash From a65dfabcb29277b8ab4496f730e31e548641f12d Mon Sep 17 00:00:00 2001 From: Arief Date: Sat, 18 May 2024 18:34:46 +0200 Subject: [PATCH 068/100] testing sitl_build workflow --- .github/workflows/sitl_build.yaml | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) diff --git a/.github/workflows/sitl_build.yaml b/.github/workflows/sitl_build.yaml index f857470..08d7b6e 100644 --- a/.github/workflows/sitl_build.yaml +++ b/.github/workflows/sitl_build.yaml @@ -1,13 +1,13 @@ name: Sarax PX4 SITL # To manually run the workflow on GH, use the workflow_dispatch event trigger -#on: workflow_dispatch +on: workflow_dispatch # To automatically run depending on the status of the build.yaml workflow, use workflow_run event trigger -on: - workflow_run: - workflows: [Publish docker image as package] - types: [completed] +# on: +# workflow_run: +# workflows: [Publish docker image as package] +# types: [completed] jobs: # on-success: From 3a529fa97293c5fd1e1f3da206d3873dd339427e Mon Sep 17 00:00:00 2001 From: Arief Date: Sat, 18 May 2024 18:38:27 +0200 Subject: [PATCH 069/100] testing sitl_build workflow --- .github/workflows/sitl_build.yaml | 1 + 1 file changed, 1 insertion(+) diff --git a/.github/workflows/sitl_build.yaml b/.github/workflows/sitl_build.yaml index 08d7b6e..1258a9e 100644 --- a/.github/workflows/sitl_build.yaml +++ b/.github/workflows/sitl_build.yaml @@ -32,5 +32,6 @@ jobs: - name: Run sarax SITL run: | + . ~/.bashrc cd $SARAX_WS/PX4-Autopilot/ ./sarax_plus_sitl.bash From 40e2eff6e3a6056812e836be2b5463f0426978ca Mon Sep 17 00:00:00 2001 From: Arief Date: Sat, 18 May 2024 18:48:15 +0200 Subject: [PATCH 070/100] testing sitl_build workflow --- .github/workflows/sitl_build.yaml | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/.github/workflows/sitl_build.yaml b/.github/workflows/sitl_build.yaml index 1258a9e..a3c4997 100644 --- a/.github/workflows/sitl_build.yaml +++ b/.github/workflows/sitl_build.yaml @@ -32,6 +32,7 @@ jobs: - name: Run sarax SITL run: | - . ~/.bashrc - cd $SARAX_WS/PX4-Autopilot/ + cd ~ && ls -l + cd /home/user && ls -l + cd /home/user/sarax_ws/PX4-Autopilot/ ./sarax_plus_sitl.bash From 203a15085bb94e7195bc2ebb52661040abd41061 Mon Sep 17 00:00:00 2001 From: Arief Date: Sat, 18 May 2024 19:13:30 +0200 Subject: [PATCH 071/100] testing sitl_build workflow --- .github/workflows/sitl_build.yaml | 7 +++++-- 1 file changed, 5 insertions(+), 2 deletions(-) diff --git a/.github/workflows/sitl_build.yaml b/.github/workflows/sitl_build.yaml index a3c4997..70018d6 100644 --- a/.github/workflows/sitl_build.yaml +++ b/.github/workflows/sitl_build.yaml @@ -33,6 +33,9 @@ jobs: - name: Run sarax SITL run: | cd ~ && ls -l - cd /home/user && ls -l + cd /home/user && ls -l -a + . /home/user/.bashrc + cd /home/user/sarax_ws && ls -l cd /home/user/sarax_ws/PX4-Autopilot/ - ./sarax_plus_sitl.bash + ./sarax_plus_sitl.bash & + roslaunch m4e_mani_base sarax_plus_sitl.launch From 97a568334ad6346e80586a304d74e1b2ca44bbdb Mon Sep 17 00:00:00 2001 From: Arief Date: Sat, 18 May 2024 19:18:45 +0200 Subject: [PATCH 072/100] testing sitl_build workflow --- .github/workflows/sitl_build.yaml | 4 +--- 1 file changed, 1 insertion(+), 3 deletions(-) diff --git a/.github/workflows/sitl_build.yaml b/.github/workflows/sitl_build.yaml index 70018d6..a6b1b8f 100644 --- a/.github/workflows/sitl_build.yaml +++ b/.github/workflows/sitl_build.yaml @@ -32,10 +32,8 @@ jobs: - name: Run sarax SITL run: | - cd ~ && ls -l cd /home/user && ls -l -a . /home/user/.bashrc cd /home/user/sarax_ws && ls -l cd /home/user/sarax_ws/PX4-Autopilot/ - ./sarax_plus_sitl.bash & - roslaunch m4e_mani_base sarax_plus_sitl.launch + ./sarax_plus_sitl.bash && roslaunch m4e_mani_base sarax_plus_sitl.launch From 2bdb745fa16840075eed5f609fec721b385f2874 Mon Sep 17 00:00:00 2001 From: Arief Date: Sun, 19 May 2024 00:51:00 +0200 Subject: [PATCH 073/100] testing sitl_build workflow --- .github/workflows/sitl_build.yaml | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) diff --git a/.github/workflows/sitl_build.yaml b/.github/workflows/sitl_build.yaml index a6b1b8f..da5be41 100644 --- a/.github/workflows/sitl_build.yaml +++ b/.github/workflows/sitl_build.yaml @@ -32,8 +32,7 @@ jobs: - name: Run sarax SITL run: | - cd /home/user && ls -l -a . /home/user/.bashrc cd /home/user/sarax_ws && ls -l cd /home/user/sarax_ws/PX4-Autopilot/ - ./sarax_plus_sitl.bash && roslaunch m4e_mani_base sarax_plus_sitl.launch + ./sarax_plus_sitl.bash From 2da2e6671b0025e3d7deab79916b6f24f9e3e64c Mon Sep 17 00:00:00 2001 From: Arief Date: Sun, 19 May 2024 01:32:58 +0200 Subject: [PATCH 074/100] edited docs --- Docs/Docker prerequisites.md | 23 +++++++++++++++++++++++ Docs/Sarax with Docker.md | 24 ++++++++++++++++++------ 2 files changed, 41 insertions(+), 6 deletions(-) diff --git a/Docs/Docker prerequisites.md b/Docs/Docker prerequisites.md index 0e0a092..2b9a68b 100644 --- a/Docs/Docker prerequisites.md +++ b/Docs/Docker prerequisites.md @@ -108,6 +108,29 @@ sudo nvidia-ctk config --set nvidia-container-cli.no-cgroups --in-place ``` ### Running a sample workload +To test if a container is running with accellerated GPU from the host system, we can run a sample workload to test compatibility. ```shell sudo docker run --rm --runtime=nvidia --gpus all ubuntu nvidia-smi +``` + +In the docker container, the output should be similar to this +```shell ++-----------------------------------------------------------------------------------------+ +| NVIDIA-SMI 550.54.15 Driver Version: 550.54.15 CUDA Version: 12.4 | +|-----------------------------------------+------------------------+----------------------+ +| GPU Name Persistence-M | Bus-Id Disp.A | Volatile Uncorr. ECC | +| Fan Temp Perf Pwr:Usage/Cap | Memory-Usage | GPU-Util Compute M. | +| | | MIG M. | +|=========================================+========================+======================| +| 0 NVIDIA GeForce GTX 1650 Off | 00000000:01:00.0 On | N/A | +| N/A 37C P8 3W / 50W | 710MiB / 4096MiB | 34% Default | +| | | N/A | ++-----------------------------------------+------------------------+----------------------+ + ++-----------------------------------------------------------------------------------------+ +| Processes: | +| GPU GI CI PID Type Process name GPU Memory | +| ID ID Usage | +|=========================================================================================| ++-----------------------------------------------------------------------------------------+ ``` \ No newline at end of file diff --git a/Docs/Sarax with Docker.md b/Docs/Sarax with Docker.md index 966acb2..3ae817e 100644 --- a/Docs/Sarax with Docker.md +++ b/Docs/Sarax with Docker.md @@ -1,7 +1,4 @@ # Sarax on Docker container -> [!CAUTION]\ -> The purpose of the Docker container is to provide a portable and isolated environment for testing. It is not advised for production use-cases. - >[!NOTE] >## Prerequisites >This guide assumes the following: @@ -38,8 +35,8 @@ docker image ls The output should be similar to this ```shell arief@ARIEF-ROG-G531:~$ docker image list -REPOSITORY TAG IMAGE ID CREATED SIZE -px4io/px4-dev-ros-noetic latest 52e98aa51240 6 weeks ago 4.79GB +REPOSITORY TAG IMAGE ID CREATED SIZE +ghcr.io/arief-ak/sarax-framework latest 233c0994f583 5 days ago 8.65GB ``` 3. Create the container with the name `sarax_container` and run it with the necessary privileges for running GUI applications. @@ -52,7 +49,22 @@ docker run --name sarax_container --runtime nvidia --gpus all -e NVIDIA_DRIVER_C -e "WAYLAND_DISPLAY=$WAYLAND_DISPLAY" -e "XDG_RUNTIME_DIR=$XDG_RUNTIME_DIR" \ -e "PULSE_SERVER=$PULSE_SERVER" \ -p 18570:18570/udp \ - --privileged 52e bash + --privileged 233 bash +``` + +4. Head to the workspace and run the following bash file +```shell +cd $SARAX_WS/PX4-Autopilot && ./sarax_plus_sitl.bash +``` + +5. In another terminal, run another instance of the docker container +```shell +docker exec -it sarax_container bash +``` + +6. Run the `sarax` framework +```shell +roslaunch m4e_mani_base sarax_plus_sitl.launch ``` ![alt text](images/Gazebo.png) \ No newline at end of file From 27dcb4c45b991addfdae77bae7b0f46829be0f5b Mon Sep 17 00:00:00 2001 From: Arief Date: Sun, 19 May 2024 01:36:01 +0200 Subject: [PATCH 075/100] setup SITL build and package publishing workflow on workflow_run event --- .github/workflows/publish_docker_package.yaml | 32 +++++++++---------- .github/workflows/sitl_build.yaml | 32 +++++++++---------- 2 files changed, 32 insertions(+), 32 deletions(-) diff --git a/.github/workflows/publish_docker_package.yaml b/.github/workflows/publish_docker_package.yaml index 5472099..17fbdef 100644 --- a/.github/workflows/publish_docker_package.yaml +++ b/.github/workflows/publish_docker_package.yaml @@ -1,29 +1,29 @@ name: Publish docker image as package # To manually run the workflow on GH, use the workflow_dispatch event trigger -on: workflow_dispatch +# on: workflow_dispatch # To automatically run depending on the status of the build.yaml workflow, use workflow_run event trigger -# on: -# workflow_run: -# workflows: [Setup and build packages] -# types: [completed] +on: + workflow_run: + workflows: [Setup and build packages] + types: [completed] jobs: - # on-success: - # runs-on: ubuntu-latest - # if: ${{ github.event.workflow_run.conclusion == 'success' }} - # steps: - # - run: echo 'The build workflows have passed' + on-success: + runs-on: ubuntu-latest + if: ${{ github.event.workflow_run.conclusion == 'success' }} + steps: + - run: echo 'The build workflows have passed' - # on-failure: - # runs-on: ubuntu-latest - # if: ${{ github.event.workflow_run.conclusion == 'failure' }} - # steps: - # - run: echo 'The build workflows have failed' + on-failure: + runs-on: ubuntu-latest + if: ${{ github.event.workflow_run.conclusion == 'failure' }} + steps: + - run: echo 'The build workflows have failed' publish_package: - #needs: on-success # Uncomment when on default branch (main) + needs: on-success # Uncomment when on default branch (main) runs-on: ubuntu-latest steps: diff --git a/.github/workflows/sitl_build.yaml b/.github/workflows/sitl_build.yaml index da5be41..ad64ed5 100644 --- a/.github/workflows/sitl_build.yaml +++ b/.github/workflows/sitl_build.yaml @@ -1,29 +1,29 @@ name: Sarax PX4 SITL # To manually run the workflow on GH, use the workflow_dispatch event trigger -on: workflow_dispatch +# on: workflow_dispatch # To automatically run depending on the status of the build.yaml workflow, use workflow_run event trigger -# on: -# workflow_run: -# workflows: [Publish docker image as package] -# types: [completed] +on: + workflow_run: + workflows: [Publish docker image as package] + types: [completed] jobs: - # on-success: - # runs-on: ubuntu-latest - # if: ${{ github.event.workflow_run.conclusion == 'success' }} - # steps: - # - run: echo 'The Setup and build packages workflow passed' + on-success: + runs-on: ubuntu-latest + if: ${{ github.event.workflow_run.conclusion == 'success' }} + steps: + - run: echo 'The Setup and build packages workflow passed' - # on-failure: - # runs-on: ubuntu-latest - # if: ${{ github.event.workflow_run.conclusion == 'failure' }} - # steps: - # - run: echo 'The Setup and build packages workflow failed' + on-failure: + runs-on: ubuntu-latest + if: ${{ github.event.workflow_run.conclusion == 'failure' }} + steps: + - run: echo 'The Setup and build packages workflow failed' build: - #needs: on-success # Uncomment when on default branch (main) + needs: on-success # Uncomment when on default branch (main) runs-on: ubuntu-latest container: image: ghcr.io/arief-ak/sarax-framework:latest From 293ea4db5b1f045790cebb9764fe7d88f1398db8 Mon Sep 17 00:00:00 2001 From: Arief Date: Sun, 19 May 2024 02:50:09 +0200 Subject: [PATCH 076/100] edited docs --- Docs/Sarax with Docker.md | 28 ++++++++++++++++++++--- Docs/images/New Comm Link.png | Bin 0 -> 57464 bytes Docs/images/QGroundControl Connected.png | Bin 0 -> 1408880 bytes Docs/images/Sarax Preview.png | Bin 0 -> 648113 bytes Docs/images/Takeoff preview.png | Bin 0 -> 425316 bytes Docs/images/Virtual Joystick Setting.png | Bin 0 -> 103661 bytes 6 files changed, 25 insertions(+), 3 deletions(-) create mode 100644 Docs/images/New Comm Link.png create mode 100644 Docs/images/QGroundControl Connected.png create mode 100644 Docs/images/Sarax Preview.png create mode 100644 Docs/images/Takeoff preview.png create mode 100644 Docs/images/Virtual Joystick Setting.png diff --git a/Docs/Sarax with Docker.md b/Docs/Sarax with Docker.md index 3ae817e..57e1a3c 100644 --- a/Docs/Sarax with Docker.md +++ b/Docs/Sarax with Docker.md @@ -36,7 +36,7 @@ The output should be similar to this ```shell arief@ARIEF-ROG-G531:~$ docker image list REPOSITORY TAG IMAGE ID CREATED SIZE -ghcr.io/arief-ak/sarax-framework latest 233c0994f583 5 days ago 8.65GB +ghcr.io/arief-ak/sarax-framework latest 020e6e5b7106 8 hours ago 7.41GB ``` 3. Create the container with the name `sarax_container` and run it with the necessary privileges for running GUI applications. @@ -49,7 +49,7 @@ docker run --name sarax_container --runtime nvidia --gpus all -e NVIDIA_DRIVER_C -e "WAYLAND_DISPLAY=$WAYLAND_DISPLAY" -e "XDG_RUNTIME_DIR=$XDG_RUNTIME_DIR" \ -e "PULSE_SERVER=$PULSE_SERVER" \ -p 18570:18570/udp \ - --privileged 233 bash + --privileged 020 bash ``` 4. Head to the workspace and run the following bash file @@ -67,4 +67,26 @@ docker exec -it sarax_container bash roslaunch m4e_mani_base sarax_plus_sitl.launch ``` -![alt text](images/Gazebo.png) \ No newline at end of file +Below is a screenshot of the framework without `QGroundControl` in the docker container +![Sarax Preview](images/Sarax%20Preview.png) + +7. On the host machine, open `QGroundControl` and ensure that the `Virtual Joystick` setting is enabled in the `Application Settings` +![Joystick](images/Virtual%20Joystick%20Setting.png) + +8. Create a new `Comm Link` in `Application Settings -> Comm Link` +![New Comm Link](images/New%20Comm%20Link.png) + +9. Connect to the Comm Link by double-clicking and head back to the map view. QGroundControl should be connected to the container. +![QGround Connected](images/QGroundControl%20Connected.png) + +### Getting started with Sarax GUI +To perform a simple take-off procedure, proceed with the following commands. + +1. Arm the drone +2. Switch to Offboard +3. 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    -4. Head to the workspace and run the following bash file +## Running Sarax on Docker Container + +1. Head to the workspace and run the following bash file ```shell cd $SARAX_WS/PX4-Autopilot && ./sarax_plus_sitl.bash ``` -5. In another terminal, run another instance of the docker container +2. In another terminal, run another instance of the docker container ```shell docker exec -it sarax_container bash ``` -6. Run the `sarax` framework +3. Run the `sarax` framework ```shell roslaunch m4e_mani_base sarax_plus_sitl.launch ``` @@ -88,16 +103,16 @@ roslaunch m4e_mani_base sarax_plus_sitl.launch Below is a screenshot of the framework without `QGroundControl` in the docker container ![Sarax Preview](images/Sarax%20Preview.png) -7. On the host machine, open `QGroundControl` and ensure that the `Virtual Joystick` setting is enabled in the `Application Settings` +4. On the host machine, open `QGroundControl` and ensure that the `Virtual Joystick` setting is enabled in the `Application Settings` ![Joystick](images/Virtual%20Joystick%20Setting.png) -8. Create a new `Comm Link` in `Application Settings -> Comm Link` +5. Create a new `Comm Link` in `Application Settings -> Comm Link` ![New Comm Link](images/New%20Comm%20Link.png) -9. Connect to the Comm Link by double-clicking and head back to the map view. QGroundControl should be connected to the container. +6. Connect to the Comm Link by double-clicking and head back to the map view. QGroundControl should be connected to the container. ![QGround Connected](images/QGroundControl%20Connected.png) -### Getting started with Sarax GUI +## Getting started with Sarax GUI To perform a simple take-off procedure, proceed with the following commands. 1. 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scripts/container/container_menu.py | 7 +++++-- 1 file changed, 5 insertions(+), 2 deletions(-) diff --git a/scripts/container/container_menu.py b/scripts/container/container_menu.py index 3cc9162..526ba05 100644 --- a/scripts/container/container_menu.py +++ b/scripts/container/container_menu.py @@ -10,7 +10,7 @@ def menu(): print("2. Sarax Framework") print("3. Exit") - choice = input("\nChoice (1 - 3): ") + choice = int(input("\nChoice (1 - 3): ")) if choice == 1: os.system(". $SARAX_WS/PX4-Autopilot/sarax_plus_sitl.bash") @@ -19,4 +19,7 @@ def menu(): elif choice == 3: done = True else: - print("Invalid input") \ No newline at end of file + print("Invalid input") + +if __name__ == "__main__": + menu() \ No newline at end of file From 13534fd1f4f9e84d0a4b0d5ff412731875b509aa Mon Sep 17 00:00:00 2001 From: Arief Date: Tue, 28 May 2024 15:56:14 +0200 Subject: [PATCH 092/100] updated Dockerfile to source entrypoint --- Dockerfile | 5 ++--- 1 file changed, 2 insertions(+), 3 deletions(-) diff --git a/Dockerfile b/Dockerfile index 74d1d50..4d90f87 100644 --- a/Dockerfile +++ b/Dockerfile @@ -76,6 +76,5 @@ RUN echo "# If running on WSL2, uncomment the following lines" >> ~/.bashrc \ # Export worskpace and update sourcing RUN cd /home/user/sarax_ws/ \ && echo "export SARAX_WS=$PWD" >> ~/.bashrc \ - && echo "source \$SARAX_WS/devel/setup.bash" >> ~/.bashrc - -ENTRYPOINT [ "/home/user/sarax_ws/src/sarax/scripts/container/docker_entrypoint.sh" ] \ No newline at end of file + && echo "source \$SARAX_WS/devel/setup.bash" >> ~/.bashrc \ + && echo "source \$SARAX_WS/src/sarax/scripts/container/docker_entrypoint.sh" >> ~/.bashrc \ No newline at end of file From 3fab8f6b5bfc1906d5f6bb91c8dc1c7058c86d5a Mon Sep 17 00:00:00 2001 From: Arief Date: Tue, 28 May 2024 17:21:52 +0200 Subject: [PATCH 093/100] tested docker entrypoint on container --- scripts/container/container_menu.py | 2 +- scripts/container/docker_entrypoint.sh | 2 ++ scripts/docker_container.sh | 3 +++ scripts/menu.py | 2 +- 4 files changed, 7 insertions(+), 2 deletions(-) diff --git a/scripts/container/container_menu.py b/scripts/container/container_menu.py index 526ba05..5f8fe1c 100644 --- a/scripts/container/container_menu.py +++ b/scripts/container/container_menu.py @@ -13,7 +13,7 @@ def menu(): choice = int(input("\nChoice (1 - 3): ")) if choice == 1: - os.system(". $SARAX_WS/PX4-Autopilot/sarax_plus_sitl.bash") + os.system("cd $SARAX_WS/PX4-Autopilot && ./sarax_plus_sitl.bash") elif choice == 2: os.system("roslaunch m4e_mani_base sarax_plus_sitl.launch") elif choice == 3: diff --git a/scripts/container/docker_entrypoint.sh b/scripts/container/docker_entrypoint.sh index 065ec8e..cf3ad39 100755 --- a/scripts/container/docker_entrypoint.sh +++ b/scripts/container/docker_entrypoint.sh @@ -1,4 +1,6 @@ #!/bin/bash echo "Running SARAX CLI application" + +cd $SARAX_WS/src/sarax/scripts/container python3 container_menu.py \ No newline at end of file diff --git a/scripts/docker_container.sh b/scripts/docker_container.sh index 5eeb464..6923d55 100755 --- a/scripts/docker_container.sh +++ b/scripts/docker_container.sh @@ -67,6 +67,9 @@ fi if [ $OPTION = 'Start' ]; then echo -e "\nStarting Docker container" docker start $CONTAINER_NAME + echo -e "\nEntering Docker container" + COMMAND="docker exec -it sarax_container bash" + open_new_terminal "$COMMAND" fi if [ $OPTION = 'Stop' ]; then diff --git a/scripts/menu.py b/scripts/menu.py index 9220fc3..da28a76 100644 --- a/scripts/menu.py +++ b/scripts/menu.py @@ -53,7 +53,7 @@ def docker_config(system:str): print("4. List images") print("5. Download image") print("6. Run container") - print("7. Start container") + print("7. Start container (start another instance of the container)") print("8. Stop container") print("9. Remove container") print("0. Exit") From c35c5a049e63e5f27d7cf02309f66f2d3dccce4e Mon Sep 17 00:00:00 2001 From: Arief Date: Sat, 1 Jun 2024 07:34:43 +0200 Subject: [PATCH 094/100] modified docker scripts to fix bug on WSL2 --- scripts/docker_container.sh | 2 +- scripts/menu.py | 12 ++++++------ 2 files changed, 7 insertions(+), 7 deletions(-) diff --git a/scripts/docker_container.sh b/scripts/docker_container.sh index 6923d55..03574f7 100755 --- a/scripts/docker_container.sh +++ b/scripts/docker_container.sh @@ -54,7 +54,7 @@ if [ $OPTION = 'Run' ]; then SARAX_FRAMEWORK_COMMANDS="docker exec -it sarax_container bash && roslaunch m4e_mani_base sarax_plus_sitl.launch" fi - if [ $SYSTEM = 'Windows (WSL2)' ]; then + if [ $SYSTEM = 'WSL2' ]; then SIMULATOR_COMMANDS="sudo docker run --name sarax_container -it -v /tmp/.X11-unix:/tmp/.X11-unix -v /mnt/wslg:/mnt/wslg -v /usr/lib/wsl:/usr/lib/wsl --device=/dev/dxg -e DISPLAY=$DISPLAY --device /dev/dri/card0 --device /dev/dri/renderD128 -e WAYLAND_DISPLAY=$WAYLAND_DISPLAY -e XDG_RUNTIME_DIR=$XDG_RUNTIME_DIR -e PULSE_SERVER=$PULSE_SERVER --gpus all $IMAGE_ID bash" SARAX_FRAMEWORK_COMMANDS="docker exec -it sarax_container bash && roslaunch m4e_mani_base sarax_plus_sitl.launch" fi diff --git a/scripts/menu.py b/scripts/menu.py index da28a76..15a7b3b 100644 --- a/scripts/menu.py +++ b/scripts/menu.py @@ -33,7 +33,7 @@ def sarax_config(system:str): choice = int(input("\nOption (1 - 3): ")) if choice == 1: - install_sarax(system) + install_sarax(system) elif choice == 2: run_sarax(system) elif choice == 3: @@ -113,7 +113,7 @@ def install_docker(system:str): else: print("Invalid input") - if system == "Windows (WSL2)": + if system == "WSL2": docker_install = input("\nWould you like to install Docker? (y or n): ") print("\nIt is advised to follow the instructions from the official Docker documentation") @@ -133,8 +133,8 @@ def install_sarax(system:str): if system == "Linux": print("Running commands for Linux system") run(["$PWD/install_sarax_linux.sh"], shell=True) - if system == "Windows (WSL2)": - print("Running commands for Windows (WSL2) backend system") + if system == "WSL2": + print("Running commands for WSL2 backend system") run(["$PWD/install_sarax_wsl2.sh"], shell=True) print("Sarax Framework installed successfully.") @@ -193,13 +193,13 @@ def get_OS() -> str: while True: print("What system are you running?") print("1. Linux") - print("2. Windows (WSL2)") + print("2. WSL2") choice = int(input("Enter your choice (1-2): ")) if choice == 1: break elif choice == 2: - system = "Windows (WSL2)" + system = "WSL2" break else: print("Invalid choice. Please enter a number between 1 and .") From dbeb6dda56356af71c229620ee3db48b5cd75264 Mon Sep 17 00:00:00 2001 From: Arief Date: Mon, 3 Jun 2024 15:52:23 +0200 Subject: [PATCH 095/100] added comments for using act --- .github/workflows/publish_docker_package.yaml | 6 ++++++ .github/workflows/sitl_build.yaml | 6 ++++++ 2 files changed, 12 insertions(+) diff --git a/.github/workflows/publish_docker_package.yaml b/.github/workflows/publish_docker_package.yaml index 17fbdef..46593f8 100644 --- a/.github/workflows/publish_docker_package.yaml +++ b/.github/workflows/publish_docker_package.yaml @@ -3,6 +3,12 @@ name: Publish docker image as package # To manually run the workflow on GH, use the workflow_dispatch event trigger # on: workflow_dispatch +# To test workflow using act, use the push event +# on: +# push: +# branches: +# - main + # To automatically run depending on the status of the build.yaml workflow, use workflow_run event trigger on: workflow_run: diff --git a/.github/workflows/sitl_build.yaml b/.github/workflows/sitl_build.yaml index ad64ed5..b72522f 100644 --- a/.github/workflows/sitl_build.yaml +++ b/.github/workflows/sitl_build.yaml @@ -3,6 +3,12 @@ name: Sarax PX4 SITL # To manually run the workflow on GH, use the workflow_dispatch event trigger # on: workflow_dispatch +# To test workflow using act, use the push event +# on: +# push: +# branches: +# - main + # To automatically run depending on the status of the build.yaml workflow, use workflow_run event trigger on: workflow_run: From 6511775875adca8e91c0dca1aee4d9b0a69e2aa9 Mon Sep 17 00:00:00 2001 From: Arief Date: Mon, 3 Jun 2024 15:53:17 +0200 Subject: [PATCH 096/100] modified container script to properly initialise for Linux and WSL2 machines --- scripts/container/container_menu.py | 34 +++++++++++++++++++++++++++-- scripts/docker_container.sh | 5 +---- 2 files changed, 33 insertions(+), 6 deletions(-) diff --git a/scripts/container/container_menu.py b/scripts/container/container_menu.py index 5f8fe1c..183b5c5 100644 --- a/scripts/container/container_menu.py +++ b/scripts/container/container_menu.py @@ -1,10 +1,37 @@ import os -def menu(): +def system_init() -> str: done = False + os_sys = "Linux" while done == False: os.system("figlet -t SARAX") + print("What host system are you running?") + print("1. Linux") + print("2. Windows WSL2") + + choice = int(input("\nChoice (1 - 2): ")) + + if choice == 1: + done = True + print(f"Initialised for {os_sys} host system") + elif choice == 2: + os_sys = "WSL2" + os.system("cd ~ && sed -i 's/^# export LD_LIBRARY_PATH=\/usr\/lib\/wsl\/lib$/export LD_LIBRARY_PATH=\/usr\/lib\/wsl\/lib/' .bashrc") + os.system("cd ~ && sed -i 's/^# export LIBVA_DRIVER_NAME=d3d12$/export LIBVA_DRIVER_NAME=d3d12/' .bashrc") + print(f"Initialised for {os_sys} host system") + done = True + else: + print("Invalid input") + + return os_sys + +def menu(os_sys) -> int: + done = False + + while done == False: + os.system("figlet -t SARAX") + print(f"HOST SYSTEM: {os_sys}") print("What would you like to run?") print("1. Simulator") print("2. Sarax Framework") @@ -20,6 +47,9 @@ def menu(): done = True else: print("Invalid input") + + return choice if __name__ == "__main__": - menu() \ No newline at end of file + os_sys = system_init() + menu(os_sys) \ No newline at end of file diff --git a/scripts/docker_container.sh b/scripts/docker_container.sh index 03574f7..251b493 100755 --- a/scripts/docker_container.sh +++ b/scripts/docker_container.sh @@ -51,17 +51,14 @@ if [ $OPTION = 'Run' ]; then echo "Attempting to build Docker image" if [ $SYSTEM = 'Linux' ]; then SIMULATOR_COMMANDS="docker run --name $CONTAINER_NAME --runtime nvidia --gpus all -e NVIDIA_DRIVER_CAPABILITIES=all -it -v /tmp/.X11-unix:/tmp/.X11-unix -e "DISPLAY=$DISPLAY" -e "QT_X11_NO_MITSHM=1" -e "XAUTHORITY=$XAUTH" --device /dev/dri/ -e "WAYLAND_DISPLAY=$WAYLAND_DISPLAY" -e "XDG_RUNTIME_DIR=$XDG_RUNTIME_DIR" -e "PULSE_SERVER=$PULSE_SERVER" -p 18570:18570/udp --privileged $IMAGE_ID bash" - SARAX_FRAMEWORK_COMMANDS="docker exec -it sarax_container bash && roslaunch m4e_mani_base sarax_plus_sitl.launch" fi if [ $SYSTEM = 'WSL2' ]; then - SIMULATOR_COMMANDS="sudo docker run --name sarax_container -it -v /tmp/.X11-unix:/tmp/.X11-unix -v /mnt/wslg:/mnt/wslg -v /usr/lib/wsl:/usr/lib/wsl --device=/dev/dxg -e DISPLAY=$DISPLAY --device /dev/dri/card0 --device /dev/dri/renderD128 -e WAYLAND_DISPLAY=$WAYLAND_DISPLAY -e XDG_RUNTIME_DIR=$XDG_RUNTIME_DIR -e PULSE_SERVER=$PULSE_SERVER --gpus all $IMAGE_ID bash" - SARAX_FRAMEWORK_COMMANDS="docker exec -it sarax_container bash && roslaunch m4e_mani_base sarax_plus_sitl.launch" + SIMULATOR_COMMANDS="docker run --name sarax_container -it -v /tmp/.X11-unix:/tmp/.X11-unix -v /mnt/wslg:/mnt/wslg -v /usr/lib/wsl:/usr/lib/wsl --device=/dev/dxg --device /dev/dri/card0 --device /dev/dri/renderD128 -e DISPLAY=$DISPLAY -e WAYLAND_DISPLAY=$WAYLAND_DISPLAY -e XDG_RUNTIME_DIR=$XDG_RUNTIME_DIR -e PULSE_SERVER=$PULSE_SERVER --gpus all $IMAGE_ID bash" fi echo "Running container in a new terminal on $SYSTEM" open_new_terminal "$SIMULATOR_COMMANDS" - open_new_terminal "$SARAX_FRAMEWORK_COMMANDS" fi if [ $OPTION = 'Start' ]; then From d3134f0b42be5099f461a71944bd141fc03c69c7 Mon Sep 17 00:00:00 2001 From: Arief Date: Mon, 3 Jun 2024 17:14:12 +0200 Subject: [PATCH 097/100] modified to build simulation beforehand --- Dockerfile | 6 +++++- 1 file changed, 5 insertions(+), 1 deletion(-) diff --git a/Dockerfile b/Dockerfile index 4d90f87..27dad71 100644 --- a/Dockerfile +++ b/Dockerfile @@ -77,4 +77,8 @@ RUN echo "# If running on WSL2, uncomment the following lines" >> ~/.bashrc \ RUN cd /home/user/sarax_ws/ \ && echo "export SARAX_WS=$PWD" >> ~/.bashrc \ && echo "source \$SARAX_WS/devel/setup.bash" >> ~/.bashrc \ - && echo "source \$SARAX_WS/src/sarax/scripts/container/docker_entrypoint.sh" >> ~/.bashrc \ No newline at end of file + && echo "source \$SARAX_WS/src/sarax/scripts/container/docker_entrypoint.sh" >> ~/.bashrc + +# Build the simulator to speed up running within the container +RUN cd /home/user/sarax_ws/PX4-Autopilot \ + && ./sarax_plus_sitl.bash \ No newline at end of file From 0371d1a0ccac7395c3299f3ee4b251140276bbed Mon Sep 17 00:00:00 2001 From: Arief Date: Tue, 4 Jun 2024 14:36:29 +0200 Subject: [PATCH 098/100] updated for running docker entrypoint on both WSL2 and Linux --- scripts/container/container_menu.py | 8 +++----- scripts/container/docker_entrypoint.sh | 7 ++++++- scripts/run.sh | 1 + 3 files changed, 10 insertions(+), 6 deletions(-) diff --git a/scripts/container/container_menu.py b/scripts/container/container_menu.py index 183b5c5..f7e3db5 100644 --- a/scripts/container/container_menu.py +++ b/scripts/container/container_menu.py @@ -1,6 +1,7 @@ import os +from subprocess import run -def system_init() -> str: +def system_init() -> tuple: done = False os_sys = "Linux" @@ -14,16 +15,13 @@ def system_init() -> str: if choice == 1: done = True - print(f"Initialised for {os_sys} host system") elif choice == 2: os_sys = "WSL2" - os.system("cd ~ && sed -i 's/^# export LD_LIBRARY_PATH=\/usr\/lib\/wsl\/lib$/export LD_LIBRARY_PATH=\/usr\/lib\/wsl\/lib/' .bashrc") - os.system("cd ~ && sed -i 's/^# export LIBVA_DRIVER_NAME=d3d12$/export LIBVA_DRIVER_NAME=d3d12/' .bashrc") - print(f"Initialised for {os_sys} host system") done = True else: print("Invalid input") + print(f"Initialised for {os_sys} host system") return os_sys def menu(os_sys) -> int: diff --git a/scripts/container/docker_entrypoint.sh b/scripts/container/docker_entrypoint.sh index cf3ad39..82b3035 100755 --- a/scripts/container/docker_entrypoint.sh +++ b/scripts/container/docker_entrypoint.sh @@ -3,4 +3,9 @@ echo "Running SARAX CLI application" cd $SARAX_WS/src/sarax/scripts/container -python3 container_menu.py \ No newline at end of file + +# Check if both lines are uncommented +grep -q '^# export LD_LIBRARY_PATH=/usr/lib/wsl/lib' ~/.bashrc && sed -i 's/^# export LD_LIBRARY_PATH=\/usr\/lib\/wsl\/lib$/export LD_LIBRARY_PATH=\/usr\/lib\/wsl\/lib/' ~/.bashrc || echo "Initialised running for WSL2" +grep -q '^# export LIBVA_DRIVER_NAME=d3d12' ~/.bashrc && echo sed -i 's/^# export LIBVA_DRIVER_NAME=d3d12$/export LIBVA_DRIVER_NAME=d3d12/' ~/.bashrc || python3 container_menu.py + +echo "Please re-source the bash script using the following command: source ~/.bashrc" \ No newline at end of file diff --git a/scripts/run.sh b/scripts/run.sh index e820299..ff2f705 100755 --- a/scripts/run.sh +++ b/scripts/run.sh @@ -20,6 +20,7 @@ sudo chmod +x install_docker.sh sudo chmod +x install_sarax_linux.sh sudo chmod +x install_sarax_wsl2.sh sudo chmod +x container/docker_entrypoint.sh +sudo chmod +x container/check_and_source.sh # Run the menu application python3 menu.py \ No newline at end of file From dca903f61e7ddb3452b153225e2e958ec4a5b184 Mon Sep 17 00:00:00 2001 From: Arief Date: Tue, 4 Jun 2024 16:24:02 +0200 Subject: [PATCH 099/100] implemented re-sourcing of bash in docker container --- scripts/container/docker_entrypoint.sh | 6 ++---- 1 file changed, 2 insertions(+), 4 deletions(-) diff --git a/scripts/container/docker_entrypoint.sh b/scripts/container/docker_entrypoint.sh index 82b3035..dc2c4c8 100755 --- a/scripts/container/docker_entrypoint.sh +++ b/scripts/container/docker_entrypoint.sh @@ -1,11 +1,9 @@ #!/bin/bash -echo "Running SARAX CLI application" - cd $SARAX_WS/src/sarax/scripts/container # Check if both lines are uncommented grep -q '^# export LD_LIBRARY_PATH=/usr/lib/wsl/lib' ~/.bashrc && sed -i 's/^# export LD_LIBRARY_PATH=\/usr\/lib\/wsl\/lib$/export LD_LIBRARY_PATH=\/usr\/lib\/wsl\/lib/' ~/.bashrc || echo "Initialised running for WSL2" -grep -q '^# export LIBVA_DRIVER_NAME=d3d12' ~/.bashrc && echo sed -i 's/^# export LIBVA_DRIVER_NAME=d3d12$/export LIBVA_DRIVER_NAME=d3d12/' ~/.bashrc || python3 container_menu.py +grep -q '^# export LIBVA_DRIVER_NAME=d3d12' ~/.bashrc && sed -i 's/^# export LIBVA_DRIVER_NAME=d3d12$/export LIBVA_DRIVER_NAME=d3d12/' ~/.bashrc && echo "Please re-source the bash script using the following command: source ~/.bashrc" || python3 container_menu.py -echo "Please re-source the bash script using the following command: source ~/.bashrc" \ No newline at end of file +# echo "Please re-source the bash script using the following command: source ~/.bashrc" \ No newline at end of file From fee97ca7db09d931509466d633953310abe6a008 Mon Sep 17 00:00:00 2001 From: ayham Date: Tue, 4 Jun 2024 18:16:25 +0200 Subject: [PATCH 100/100] update urls --- .github/workflows/publish_docker_package.yaml | 4 ++-- .github/workflows/sitl_build.yaml | 2 +- Docs/Docker container Installation.md | 2 +- Docs/Sarax with Docker.md | 8 ++++---- README.md | 4 ++-- scripts/menu.py | 6 +++--- 6 files changed, 13 insertions(+), 13 deletions(-) diff --git a/.github/workflows/publish_docker_package.yaml b/.github/workflows/publish_docker_package.yaml index 46593f8..77c10a2 100644 --- a/.github/workflows/publish_docker_package.yaml +++ b/.github/workflows/publish_docker_package.yaml @@ -46,8 +46,8 @@ jobs: - name: Build Docker image run: | - docker build --no-cache . -t ghcr.io/arief-ak/sarax-framework:latest + docker build --no-cache . -t ghcr.io/SaxionMechatronics/sarax-framework:latest - name: Publish image run: | - docker push ghcr.io/arief-ak/sarax-framework:latest \ No newline at end of file + docker push ghcr.io/SaxionMechatronics/sarax-framework:latest \ No newline at end of file diff --git a/.github/workflows/sitl_build.yaml b/.github/workflows/sitl_build.yaml index b72522f..cdd5f91 100644 --- a/.github/workflows/sitl_build.yaml +++ b/.github/workflows/sitl_build.yaml @@ -32,7 +32,7 @@ jobs: needs: on-success # Uncomment when on default branch (main) runs-on: ubuntu-latest container: - image: ghcr.io/arief-ak/sarax-framework:latest + image: ghcr.io/SaxionMechatronics/sarax-framework:latest options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined steps: diff --git a/Docs/Docker container Installation.md b/Docs/Docker container Installation.md index 40dfce1..74a14b2 100644 --- a/Docs/Docker container Installation.md +++ b/Docs/Docker container Installation.md @@ -54,7 +54,7 @@ docker run --name sarax_container --runtime nvidia --gpus all -e NVIDIA_DRIVER_C >The output should be similar to this >```shell >REPOSITORY TAG IMAGE ID CREATED SIZE ->ghcr.io/arief-ak/sarax-framework latest cb4ae397281c 4 days ago 7.41GB +>ghcr.io/SaxionMechatronics/sarax-framework latest cb4ae397281c 4 days ago 7.41GB >``` > >2. Run the container from image `cb4` and name it `sarax_container` diff --git a/Docs/Sarax with Docker.md b/Docs/Sarax with Docker.md index 1332bff..b077a19 100644 --- a/Docs/Sarax with Docker.md +++ b/Docs/Sarax with Docker.md @@ -22,9 +22,9 @@ With the application, users are provided with the following options. ### Option 2: Manual Installation #### Pulling the container from GHCR -This repository creates and publishes a Docker container onto the GitHub Container Registry as a [package](https://github.com/Arief-AK/sarax/pkgs/container/sarax-framework). The container can be pulled with the command below. +This repository creates and publishes a Docker container onto the GitHub Container Registry as a [package](https://github.com/SaxionMechatronics/sarax/pkgs/container/sarax-framework). The container can be pulled with the command below. ```shell -docker pull ghcr.io/arief-ak/sarax-framework:latest +docker pull ghcr.io/SaxionMechatronics/sarax-framework:latest ``` #### Running the container @@ -43,7 +43,7 @@ docker image ls The output should be similar to this ```shell REPOSITORY TAG IMAGE ID CREATED SIZE -ghcr.io/arief-ak/sarax-framework latest cb4ae397281c 4 days ago 7.41GB +ghcr.io/SaxionMechatronics/sarax-framework latest cb4ae397281c 4 days ago 7.41GB ``` 3. Create the container with the name `sarax_container` and run it with the necessary privileges for running GUI applications. @@ -74,7 +74,7 @@ docker run --name sarax_container --runtime nvidia --gpus all -e NVIDIA_DRIVER_C >The output should be similar to this >```shell >REPOSITORY TAG IMAGE ID CREATED SIZE ->ghcr.io/arief-ak/sarax-framework latest cb4ae397281c 4 days ago 7.41GB +>ghcr.io/SaxionMechatronics/sarax-framework latest cb4ae397281c 4 days ago 7.41GB >``` > >2. Run the container from image `cb4` and name it `sarax_container` diff --git a/README.md b/README.md index cc74566..c1ff410 100644 --- a/README.md +++ b/README.md @@ -1,4 +1,4 @@ -![Build Workflow](https://github.com/Arief-AK/sarax/actions/workflows/build.yaml/badge.svg) ![PX4 Build Workflow](https://github.com/Arief-AK/sarax/actions/workflows/sitl_build.yaml/badge.svg) ![GHCR Package Publishing](https://github.com/Arief-AK/sarax/actions/workflows/publish_docker_package.yaml/badge.svg) +![Build Workflow](https://github.com/SaxionMechatronics/sarax/actions/workflows/build.yaml/badge.svg) ![PX4 Build Workflow](https://github.com/SaxionMechatronics/sarax/actions/workflows/sitl_build.yaml/badge.svg) ![GHCR Package Publishing](https://github.com/SaxionMechatronics/sarax/actions/workflows/publish_docker_package.yaml/badge.svg) # Sarax: An Open-Source Software/Hardware Framework for Aerial Manipulators @@ -70,7 +70,7 @@ roslaunch m4e_mani_base sarax_plus_sitl.launch >[!TIP] >## Docker container ->This repository produces a Docker container in the form of a GitHub [package](https://github.com/Arief-AK/sarax/pkgs/container/sarax-framework) or as a source with the [Dockerfile](Dockerfile). Read the [Sarax with Docker](Docs/Sarax%20with%20Docker.md) document for more information. +>This repository produces a Docker container in the form of a GitHub [package](https://github.com/SaxionMechatronics/sarax/pkgs/container/sarax-framework) or as a source with the [Dockerfile](Dockerfile). Read the [Sarax with Docker](Docs/Sarax%20with%20Docker.md) document for more information. ## License diff --git a/scripts/menu.py b/scripts/menu.py index 15a7b3b..00fbfa1 100644 --- a/scripts/menu.py +++ b/scripts/menu.py @@ -3,8 +3,8 @@ from subprocess import run, Popen TERMINAL = 'gnome-terminal' -DOCKER_INSTRUCTIONS_URL = "https://github.com/Arief-AK/sarax/blob/main/Docs/Sarax%20with%20Docker.md" -DOCKER_CONTAINER_REPO = "ghcr.io/arief-ak/sarax-framework" +DOCKER_INSTRUCTIONS_URL = "https://github.com/SaxionMechatronics/sarax/blob/main/Docs/Sarax%20with%20Docker.md" +DOCKER_CONTAINER_REPO = "ghcr.io/SaxionMechatronics/sarax-framework" DOCKER_COTAINER_TAG = "latest" DOCKER_CONTAINER_NAME = "sarax_container" @@ -119,7 +119,7 @@ def install_docker(system:str): print("\nIt is advised to follow the instructions from the official Docker documentation") print("Official Docker Documentation: https://docs.docker.com/desktop/install/windows-install/") print("\nPlease install Docker Desktop and enable WSL2 backend to continue with WSL2.") - print("Refer to the this document: https://github.com/Arief-AK/sarax/blob/main/Docs/Docker%20prerequisites.md") + print("Refer to the this document: https://github.com/SaxionMechatronics/sarax/blob/main/Docs/Docker%20prerequisites.md") done = True def install_sarax(system:str):

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