Update PX4 docker compose service

hmakelin · hmakelin · Apr 7, 2023 · Apr 1, 2023 · Apr 2, 2023 · Apr 2, 2023
commit b67f6f3489e4b1f97a043cd778b7bb22921e0fb2
diff --git a/docker/docker-compose.yaml b/docker/docker-compose.yaml
@@ -103,6 +103,7 @@ services:
             - driver: nvidia
               count: 1
               capabilities: [ gpu ]
+    command: make px4_sitl gazebo_typhoon_h480__ksql_airport
 
   ardupilot:
     build:

diff --git a/docker/px4/6011_typhoon_h480 b/docker/px4/6011_typhoon_h480
@@ -1,5 +1,6 @@
 # SIMULATION USE ONLY
-# PX4 mock GPS SITL simulation demo default parameters
+# GISNav PX4 mock GPS SITL simulation demo default parameters
+# PX4 v1.13
 param set-default NAV_ACC_RAD 20.0
 param set-default MPC_YAWRAUTO_MAX 22.5.0
 param set-default COM_POS_FS_DELAY 5
@@ -9,5 +10,5 @@ param set-default EKF2_GPS_P_GATE 7
 param set-default EKF2_GPS_V_NOISE 3
 param set-default SENS_GPS_MASK 4
 
-param set-default EKF2_GPS_CTRL 3
-param set-default EKF2_GPS_CHECK 12
+#param set-default EKF2_GPS_CTRL 3
+#param set-default EKF2_GPS_CHECK 12
diff --git a/docker/px4/Dockerfile b/docker/px4/Dockerfile
@@ -2,52 +2,33 @@ FROM px4io/px4-dev-ros2-foxy
 
 LABEL maintainer="Harri Makelin <hmakelin@protonmail.com>"
 
-ARG USERNAME=gisnav
-ARG UID=1000
-ARG GID=$UID
-
-ARG ROS_DOMAIN_ID=0
-ENV ROS_DOMAIN_ID=${ROS_DOMAIN_ID}
-
-# Set 'gisnav' as default user and add it to sudo'ers
-# QGroundControl will not run as 'root'
-RUN apt-get update --fix-missing && \
-    apt-get install sudo && \
-    groupadd --gid $GID $USERNAME && useradd --uid $UID --gid $GID -m $USERNAME && \
-    echo "${USERNAME} ALL=(ALL) NOPASSWD:ALL" > /etc/sudoers.d/$USERNAME
-USER $USERNAME
-
 # gstreamer and Gazebo plugins for getting video stream out of gazebo
-RUN sudo apt-get -y install ros-foxy-gazebo-ros-pkgs gstreamer1.0-plugins-bad gstreamer1.0-libav gstreamer1.0-gl
+RUN apt-get update && \
+    apt-get -y dist-upgrade && \
+    apt-get -y install ros-foxy-gazebo-ros-pkgs gstreamer1.0-plugins-bad  \
+    gstreamer1.0-libav gstreamer1.0-gl
 
-# Install PX4-Autopilot, pull latest commit from PX4-SITL_gazebo submodule fork
+# Install PX4-Autopilot
 RUN sudo apt-get -y install -o Dpkg::Options::="--force-overwrite" \
         libignition-common3-core-dev libignition-common3-av-dev expect && \
-    git clone --branch hmakelin-v1.14.0-beta1 \
-        https://github.com/hmakelin/PX4-Autopilot.git $HOME/PX4-Autopilot --recursive && \
-    cd $HOME/PX4-Autopilot && \
-    git fetch --all --tags && \
-    git checkout tags/v1.14.0-1.0.1-beta1 -b gisnav && \
-    git submodule update --init --recursive && \
-    cd Tools/simulation/gazebo/sitl_gazebo && \
-    git pull origin hmakelin-v1.14.0-beta1 && \
-    cd $HOME/PX4-Autopilot && \
+    git clone --branch v1.13.3 --single-branch \
+        https://github.com/PX4/PX4-Autopilot.git --recursive && \
+    cd PX4-Autopilot && \
     bash Tools/setup/ubuntu.sh --no-nuttx
 
+# Add ROS camera plugin
+COPY * /
+RUN pip install lxml && \
+    python3 merge_xml.py ros_camera.xml PX4-Autopilot/Tools/sitl_gazebo/models/typhoon_h480/typhoon_h480.sdf.jinja
+
 # Make initial PX4 build (for faster startup in the future)
-RUN cd $HOME/PX4-Autopilot && \
-    yes | DONT_RUN=1 make px4_sitl gazebo_typhoon_h480__ksql_airport
+RUN cd PX4-Autopilot && \
+    DONT_RUN=1 make px4_sitl gazebo_typhoon_h480__ksql_airport
 
 # Apply configuration files
-COPY * /
-RUN sudo mv -t $HOME/ /6011_typhoon_h480 && \
-    cat $HOME/6011_typhoon_h480 >> $HOME/PX4-Autopilot/ROMFS/px4fmu_common/init.d-posix/airframes/6011_typhoon_h480
-
-# Run SITL simulation - answer 'y' to prompt about custom commit in submodule (temp fix until 1.14 stable comes out)
-CMD cd ${HOME}/PX4-Autopilot && \
-	expect -c \
-		"set timeout -1; \
-		spawn make px4_sitl gazebo_typhoon_h480__ksql_airport; \
-		expect \"Hit 'y' and <ENTER> to continue the build with this version. Hit <ENTER> to resolve manually.\"; \
-		send \"y\n\"; \
-		interact"
+RUN cat 6011_typhoon_h480 >> PX4-Autopilot/ROMFS/px4fmu_common/init.d-posix/airframes/6011_typhoon_h480
+
+RUN rm -rf /var/lib/apt/lists/* && \
+    apt clean
+
+WORKDIR PX4-Autopilot
diff --git a/docker/px4/merge_xml.py b/docker/px4/merge_xml.py
@@ -0,0 +1,83 @@
+"""
+This script merges an XML file containing a Gazebo plugin definition with a
+typhoon_h480.sdf.jinja file, which is part of the PX4 SITL Gazebo plugin. The
+XML file should include a plugin definition that needs to be placed under the
+camera sensor element in the typhoon_h480.sdf.jinja file.
+
+Usage:
+    python merge_xml.py path/to/xml_file.xml path/to/typhoon_h480.sdf.jinja
+
+Arguments:
+    xml_file: Path to the XML file containing the plugin definition.
+    sdf_jinja_file: Path to the typhoon_h480.sdf.jinja file.
+
+The script will merge the plugin definition from the provided XML file into the
+typhoon_h480.sdf.jinja file "in-place". If the camera sensor element is not
+found in the typhoon_h480.sdf.jinja file, the script will print an error
+message and exit.
+"""
+import argparse
+import os
+
+from lxml import etree
+
+
+def merge_xml(xml_file, sdf_jinja_file):
+    """
+    Merge an XML file containing a Gazebo plugin definition into a
+    typhoon_h480.sdf.jinja file.
+
+    This function reads the plugin definition from the provided XML file and
+    inserts it under the camera sensor element in the typhoon_h480.sdf.jinja file.
+    The modified content is then written back to the typhoon_h480.sdf.jinja file.
+
+    Args:
+        xml_file (str): Path to the XML file containing the plugin definition.
+        sdf_jinja_file (str): Path to the typhoon_h480.sdf.jinja file.
+
+    If the camera sensor element is not found in the typhoon_h480.sdf.jinja file,
+    an error message is printed and the function returns without modifying the file.
+    """
+    # Parse the provided XML file
+    with open(xml_file, "r") as file:
+        xml_content = file.read()
+    snippet_tree = etree.fromstring(xml_content)
+
+    # Parse the typhoon_h480.sdf.jinja file
+    with open(sdf_jinja_file, "r") as file:
+        sdf_jinja_content = file.read()
+    sdf_jinja_tree = etree.fromstring(sdf_jinja_content)
+
+    # Find the camera sensor in the typhoon_h480.sdf.jinja file
+    camera_sensor = sdf_jinja_tree.xpath("//sensor[@name='camera']")
+
+    if camera_sensor:
+        # Insert the plugin from the XML file under the camera sensor element
+        camera_sensor[0].append(snippet_tree.find(".//plugin"))
+
+        # Write the modified content back to the typhoon_h480.sdf.jinja file
+        with open(sdf_jinja_file, "wb") as file:
+            file.write(etree.tostring(sdf_jinja_tree, pretty_print=True))
+    else:
+        print("Camera sensor not found in the typhoon_h480.sdf.jinja file.")
+
+
+if __name__ == "__main__":
+    parser = argparse.ArgumentParser(description="Merge XML files.")
+    parser.add_argument(
+        "xml_file", type=str, help="Path to the XML file with the plugin data."
+    )
+    parser.add_argument(
+        "sdf_jinja_file", type=str, help="Path to the typhoon_h480.sdf.jinja file."
+    )
+
+    args = parser.parse_args()
+
+    if os.path.exists(args.xml_file) and os.path.exists(args.sdf_jinja_file):
+        merge_xml(args.xml_file, args.sdf_jinja_file)
+        print("XML snippet merged successfully!")
+    else:
+        if not os.path.exists(args.xml_file):
+            print(f"File '{args.xml_file}' not found.")
+        if not os.path.exists(args.sdf_jinja_file):
+            print(f"File '{args.sdf_jinja_file}' not found.")
diff --git a/docker/px4/ros_camera.xml b/docker/px4/ros_camera.xml
@@ -0,0 +1,13 @@
+<sdf version='1.5'>
+    <model name='typhoon_h480'>
+        <link name="cgo3_camera_link">
+            <sensor name="camera" type="camera">
+                <plugin name="camera_plugin" filename="libgazebo_ros_camera.so">
+                    <alwaysOn>true</alwaysOn>
+                    <imageTopicName>image_raw</imageTopicName>
+                    <cameraInfoTopicName>camera_info</cameraInfoTopicName>
+                </plugin>
+            </sensor>
+        </link>
+    </model>
+</sdf>