updated sessions

ctu-mrs · Oct 15, 2024 · 65f2171 · 65f2171
1 parent e8a8625
commit 65f2171
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Showing 13 changed files with 414 additions and 4 deletions.
diff --git a/docker/shared_data/apriltag_tests/Dockerfile → docker/shared_data/camera_tests/Dockerfile b/docker/shared_data/apriltag_tests/Dockerfile → docker/shared_data/camera_tests/Dockerfile
diff --git a/...shared_data/apriltag_tests/build_arm64.sh → ...r/shared_data/camera_tests/build_arm64.sh b/...shared_data/apriltag_tests/build_arm64.sh → ...r/shared_data/camera_tests/build_arm64.sh
diff --git a/...hared_data/apriltag_tests/export_image.sh → .../shared_data/camera_tests/export_image.sh b/...hared_data/apriltag_tests/export_image.sh → .../shared_data/camera_tests/export_image.sh
diff --git a/.../apriltag_tests/shared_data/apriltag.yaml → ...ta/camera_tests/shared_data/apriltag.yaml b/.../apriltag_tests/shared_data/apriltag.yaml → ...ta/camera_tests/shared_data/apriltag.yaml
diff --git a/...ests/shared_data/apriltag_detector.launch → ...ests/shared_data/apriltag_detector.launch b/...ests/shared_data/apriltag_detector.launch → ...ests/shared_data/apriltag_detector.launch
@@ -9,7 +9,7 @@
 
   <arg name="custom_config" default="" />
 
-  <group ns="$(arg camera_node)">
+  <group ns="$(arg UAV_NAME)/$(arg camera_node)">
 
     <!-- apriltag_ros continuous detection node -->
     <node pkg="apriltag_ros" type="apriltag_ros_continuous_node" name="apriltag_detector" clear_params="true" output="screen">
@@ -19,8 +19,8 @@
       <rosparam if="$(eval not arg('custom_config') == '')" file="$(arg custom_config)" />
 
       <!-- Remap topics from those used in code to those on the ROS network -->
-      <remap from="image_rect" to="$(arg camera_node)/$(arg image_topic)" />
-      <remap from="camera_info" to="$(arg camera_node)/camera_info" />
+      <remap from="image_rect" to="$(arg image_topic)" />
+      <remap from="camera_info" to="camera_info" />
 
       <remap from="tag_detections" to="~/tag_detections" />
       <remap from="tag_detections_image" to="~/tag_detections_image" />

diff --git a/...er/uav_session/apriltag_test/compose.yaml → ...v_session/camera_test_bottom/compose.yaml b/...er/uav_session/apriltag_test/compose.yaml → ...v_session/camera_test_bottom/compose.yaml
@@ -1,7 +1,11 @@
 volumes:
 
+  uav_custom_files:
+
   shared_data:
 
+  bag_files:
+
 services:
 
   # will copy session-specific data shared between containers from the shared_data container to a shared volume
@@ -11,7 +15,37 @@ services:
       - shared_data:/etc/ctu-mrs/shared_data:consistent
     command: sh -c "rm -rvf /etc/ctu-mrs/shared_data/*; mkdir -pv /etc/ctu-mrs/shared_data; cp -rv /etc/shared_data/* /etc/ctu-mrs/shared_data/"
 
-  # starts the HW API for connecting the MRS UAV System to PX4
+  # will copy uav-specific configs, launch files and other files from the uav-specific docker image to a shared volume
+  copy_uav_custom_files:
+    image: fly4future/uav_custom_files:latest
+    volumes:
+      - uav_custom_files:/etc/fly4future/uav_custom_files:consistent
+    command: sh -c "rm -rvf /etc/fly4future/uav_custom_files/*; mkdir -pv /etc/fly4future/uav_custom_files; cp -rv /etc/uav_custom_files/${UAV_TYPE}/${UAV_ID}/* /etc/fly4future/uav_custom_files/"
+
+  # starts roscore
+  # this is the first container in the ROS pipeline
+  roscore:
+    image: ctumrs/mrs_uav_system:robofly
+    network_mode: host
+    depends_on:
+      - copy_uav_custom_files
+    env_file:
+      - ./stack.env
+    command: roscore
+
+  # starts the camera drivers
+  cameras:
+    image: ctumrs/mrs_uav_system:robofly
+    network_mode: host
+    volumes:
+      - uav_custom_files:/etc/fly4future/uav_custom_files:consistent
+    devices:
+      - /dev/:/dev/
+    privileged: true
+    env_file:
+      - ./stack.env
+    command: bash -c "waitForRos && roslaunch /etc/fly4future/uav_custom_files/launch_files/cameras.launch"
+
   apriltag_bottom:
     image: ctumrs/mrs_uav_system:robofly
     network_mode: host
@@ -35,6 +69,7 @@ services:
     volumes:
       - shared_data:/etc/ctu-mrs/shared_data:consistent
       - /dev/:/dev/
+      - bag_files:/etc/bag_files:consistent
     command:
       - bash --rcfile /etc/catkin_workspace/devel/setup.bash
     privileged: true

diff --git a/docker/uav_session/camera_test_bottom/rviz/camera_test.rviz b/docker/uav_session/camera_test_bottom/rviz/camera_test.rviz
@@ -0,0 +1,145 @@
+Panels:
+  - Class: rviz/Displays
+    Help Height: 78
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Global Options1
+        - /Status1
+      Splitter Ratio: 0.7529411911964417
+    Tree Height: 203
+  - Class: rviz/Selection
+    Name: Selection
+  - Class: rviz/Tool Properties
+    Expanded:
+      - /2D Pose Estimate1
+      - /2D Nav Goal1
+      - /Publish Point1
+    Name: Tool Properties
+    Splitter Ratio: 0.5886790156364441
+  - Class: rviz/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+  - Class: rviz/Time
+    Name: Time
+    SyncMode: 0
+    SyncSource: Camera
+Preferences:
+  PromptSaveOnExit: true
+Toolbars:
+  toolButtonStyle: 2
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz/Grid
+      Color: 160; 160; 164
+      Enabled: true
+      Line Style:
+        Line Width: 0.029999999329447746
+        Value: Lines
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 10
+      Reference Frame: <Fixed Frame>
+      Value: true
+    - Class: rviz/Camera
+      Enabled: true
+      Image Rendering: background and overlay
+      Image Topic: /uav80/camera_down/image_raw
+      Name: Camera
+      Overlay Alpha: 0.5
+      Queue Size: 2
+      Transport Hint: compressed
+      Unreliable: false
+      Value: true
+      Visibility:
+        Grid: true
+        Value: true
+        april_small: true
+      Zoom Factor: 1
+    - Alpha: 1
+      Class: rviz/Axes
+      Enabled: true
+      Length: 0.06400000303983688
+      Name: april_small
+      Radius: 0.009999999776482582
+      Reference Frame: recursive_tag_1_small
+      Show Trail: false
+      Value: true
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Default Light: true
+    Fixed Frame: uav80/fcu
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz/Interact
+      Hide Inactive Objects: true
+    - Class: rviz/MoveCamera
+    - Class: rviz/Select
+    - Class: rviz/FocusCamera
+    - Class: rviz/Measure
+    - Class: rviz/SetInitialPose
+      Theta std deviation: 0.2617993950843811
+      Topic: /initialpose
+      X std deviation: 0.5
+      Y std deviation: 0.5
+    - Class: rviz/SetGoal
+      Topic: /move_base_simple/goal
+    - Class: rviz/PublishPoint
+      Single click: true
+      Topic: /clicked_point
+  Value: true
+  Views:
+    Current:
+      Class: rviz/Orbit
+      Distance: 1.662746548652649
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.05999999865889549
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Field of View: 0.7853981852531433
+      Focal Point:
+        X: 0
+        Y: 0
+        Z: 0
+      Focal Shape Fixed Size: true
+      Focal Shape Size: 0.05000000074505806
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.009999999776482582
+      Pitch: 0.3103981614112854
+      Target Frame: <Fixed Frame>
+      Yaw: 4.828577041625977
+    Saved: ~
+Window Geometry:
+  Camera:
+    collapsed: false
+  Displays:
+    collapsed: false
+  Height: 1040
+  Hide Left Dock: false
+  Hide Right Dock: false
+  QMainWindow State: 000000ff00000000fd00000004000000000000030500000376fc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003b00000154000000c700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000c00430061006d00650072006101000001950000021c0000001600ffffff000000010000010000000376fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003b00000376000000a000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007800000003efc0100000002fb0000000800540069006d00650100000000000007800000030200fffffffb0000000800540069006d006501000000000000045000000000000000000000036f0000037600000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Time:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: false
+  Width: 1920
+  X: 0
+  Y: 40
diff --git a/docker/uav_session/camera_test_bottom/rviz/rviz.sh b/docker/uav_session/camera_test_bottom/rviz/rviz.sh
@@ -0,0 +1 @@
+rosrun rviz rviz -d ./camera_test.rviz
diff --git a/...r/uav_session/apriltag_test/variables.env → ..._session/camera_test_bottom/variables.env b/...r/uav_session/apriltag_test/variables.env → ..._session/camera_test_bottom/variables.env
@@ -1,2 +1,4 @@
 UAV_NAME=uav80
 ROS_MASTER_URI=http://localhost:11311
+UAV_TYPE=robofly
+UAV_ID=c4750f
diff --git a/docker/uav_session/camera_test_front/compose.yaml b/docker/uav_session/camera_test_front/compose.yaml
@@ -0,0 +1,77 @@
+volumes:
+
+  uav_custom_files:
+
+  shared_data:
+
+  bag_files:
+
+services:
+
+  # will copy session-specific data shared between containers from the shared_data container to a shared volume
+  copy_shared_data:
+    image: fly4future/robofly:apriltag_tests
+    volumes:
+      - shared_data:/etc/ctu-mrs/shared_data:consistent
+    command: sh -c "rm -rvf /etc/ctu-mrs/shared_data/*; mkdir -pv /etc/ctu-mrs/shared_data; cp -rv /etc/shared_data/* /etc/ctu-mrs/shared_data/"
+
+  # will copy uav-specific configs, launch files and other files from the uav-specific docker image to a shared volume
+  copy_uav_custom_files:
+    image: fly4future/uav_custom_files:latest
+    volumes:
+      - uav_custom_files:/etc/fly4future/uav_custom_files:consistent
+    command: sh -c "rm -rvf /etc/fly4future/uav_custom_files/*; mkdir -pv /etc/fly4future/uav_custom_files; cp -rv /etc/uav_custom_files/${UAV_TYPE}/${UAV_ID}/* /etc/fly4future/uav_custom_files/"
+
+  # starts roscore
+  # this is the first container in the ROS pipeline
+  roscore:
+    image: ctumrs/mrs_uav_system:robofly
+    network_mode: host
+    depends_on:
+      - copy_uav_custom_files
+    env_file:
+      - ./stack.env
+    command: roscore
+
+  # starts the camera drivers
+  cameras:
+    image: ctumrs/mrs_uav_system:robofly
+    network_mode: host
+    volumes:
+      - uav_custom_files:/etc/fly4future/uav_custom_files:consistent
+    devices:
+      - /dev/:/dev/
+    privileged: true
+    env_file:
+      - ./stack.env
+    command: bash -c "waitForRos && roslaunch /etc/fly4future/uav_custom_files/launch_files/cameras.launch"
+
+  apriltag_front:
+    image: ctumrs/mrs_uav_system:robofly
+    network_mode: host
+    depends_on:
+      - copy_shared_data
+    volumes:
+      - shared_data:/etc/ctu-mrs/shared_data:consistent
+    env_file:
+      - ./stack.env
+    command: bash -c "waitForRos && roslaunch /etc/ctu-mrs/shared_data/apriltag_detector.launch custom_config:=/etc/ctu-mrs/shared_data/apriltag.yaml camera_node:=camera_front image_topic:=image_raw"
+
+  # this container can be used to access a terminal with ROS inside the compose session
+  terminal:
+    image: ctumrs/mrs_uav_system:robofly
+    network_mode: host
+    depends_on:
+      - copy_shared_data
+    env_file:
+      - ./stack.env
+    entrypoint: ["/bin/bash", "-c"]
+    volumes:
+      - shared_data:/etc/ctu-mrs/shared_data:consistent
+      - /dev/:/dev/
+      - bag_files:/etc/bag_files:consistent
+    command:
+      - bash --rcfile /etc/catkin_workspace/devel/setup.bash
+    privileged: true
+    stdin_open: true
+    tty: true