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Add RViz #48

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merged 10 commits into from
Apr 29, 2023
Merged

Add RViz #48

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c33e703
Bring back micro-ros-agent and SensorGps message
hmakelin Apr 29, 2023
1c61c25
Add rviz2 docker container
hmakelin Apr 29, 2023
e4bd80a
Visualize NavSatFix and predicted GeoPose in rviz2
hmakelin Apr 29, 2023
b51be10
Add RVizPublisherNode for debugging
hmakelin Apr 29, 2023
4c8ddba
Add rviz config and fix mock gps node inheritance
hmakelin Apr 29, 2023
843bd5b
Fix easting and northing to lon lat mapping for mock GPS node rviz pub
hmakelin Apr 29, 2023
1b5ba7c
Convert to RViz pose coordinates to meters and re-center to approxima…
hmakelin Apr 29, 2023
7fae6d2
Slow down publishing of simulated (actual) GPS to RViz
hmakelin Apr 29, 2023
544a609
Rename rviz2 service to just rviz and declutter rviz config
hmakelin Apr 29, 2023
1b86012
Update launch tests
hmakelin Apr 29, 2023
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Add rviz2 docker container
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@hmakelin
hmakelin committed Apr 29, 2023
commit 1c61c257760b1c9bdc1b68e2b1dcbd943e15fb0b
4 changes: 2 additions & 2 deletions docker/Makefile
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Expand Up @@ -51,11 +51,11 @@ build-offboard-sitl-test-%: build-offboard-sitl-middleware-%
# sitl development services: Gazebo simulation, ROS middleware, mapserver, torch-serve, QGC, but excluding GISNav
. PHONY: $(addprefix offboard-sitl-dev-, $(AUTOPILOTS))
offboard-sitl-dev-%: offboard-sitl-middleware-%
@docker compose up -d $* torch-serve mapserver qgc
@docker compose up -d $* torch-serve mapserver qgc rviz2

. PHONY: $(addprefix build-offboard-sitl-dev-, $(AUTOPILOTS))
build-offboard-sitl-dev-%: build-offboard-sitl-middleware-%
@docker compose build $* torch-serve mapserver qgc
@docker compose build $* torch-serve mapserver qgc rviz2

# offboard sitl middleware
. PHONY: $(addprefix offboard-sitl-middleware-, $(AUTOPILOTS))
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23 changes: 23 additions & 0 deletions docker/docker-compose.yaml
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Expand Up @@ -142,3 +142,26 @@ services:
- driver: nvidia
count: 1
capabilities: [ gpu ]

# Note: build context is repository root
rviz2:
build:
context: rviz2
dockerfile: Dockerfile
env_file:
- env/x11.env
environment:
- FASTRTPS_DEFAULT_PROFILES_FILE=/disable_shared_memory.xml
volumes:
- /dev/dri:/dev/dri
network_mode: host
stdin_open: true
tty: true
deploy:
resources:
reservations:
devices:
- driver: nvidia
count: 1
capabilities: [ gpu ]
command: rviz2
9 changes: 9 additions & 0 deletions docker/rviz2/Dockerfile
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@@ -0,0 +1,9 @@
FROM ros:foxy

RUN apt-get update && \
apt-get -y dist-upgrade && \
apt-get -y install ros-foxy-rviz2

COPY --chmod=755 disable_shared_memory.xml entrypoint.sh /

ENTRYPOINT ["/entrypoint.sh"]
17 changes: 17 additions & 0 deletions docker/rviz2/disable_shared_memory.xml
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@@ -0,0 +1,17 @@
<?xml version="1.0" encoding="UTF-8" ?>
<profiles xmlns="http://www.eprosima.com/XMLSchemas/fastRTPS_Profiles" >
<transport_descriptors>
<transport_descriptor>
<transport_id>CustomUdpTransport</transport_id>
<type>UDPv4</type>
</transport_descriptor>
</transport_descriptors>
<participant profile_name="participant_profile" is_default_profile="true">
<rtps>
<userTransports>
<transport_id>CustomUdpTransport</transport_id>
</userTransports>
<useBuiltinTransports>false</useBuiltinTransports>
</rtps>
</participant>
</profiles>
6 changes: 6 additions & 0 deletions docker/rviz2/entrypoint.sh
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@@ -0,0 +1,6 @@
#!/bin/bash
set -e

source "/opt/ros/foxy/setup.bash"

exec "$@"