Andreas Daniel Antener
10 years ago
8 changed files with 0 additions and 304 deletions
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# |
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# PX4 full ROS container |
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# |
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# License: according to LICENSE.md in the root directory of the PX4 Firmware repository |
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FROM ubuntu:14.04.1 |
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MAINTAINER Andreas Antener <andreas@uaventure.com> |
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# Install basics |
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## Use the "noninteractive" debconf frontend |
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ENV DEBIAN_FRONTEND noninteractive |
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RUN apt-get update \ |
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&& apt-get -y install wget git mercurial |
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# Main ROS Setup |
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# Following http://wiki.ros.org/indigo/Installation/Ubuntu |
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# Also adding dependencies for gazebo http://gazebosim.org/tutorials?tut=drcsim_install |
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## add ROS repositories and keys |
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## install main ROS pacakges |
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RUN echo "deb http://packages.ros.org/ros/ubuntu trusty main" > /etc/apt/sources.list.d/ros-latest.list \ |
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&& wget https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -O - | apt-key add - \ |
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&& apt-get update \ |
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&& apt-get -y install ros-indigo-desktop-full |
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RUN rosdep init \ |
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&& rosdep update |
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## setup environment variables |
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RUN echo "source /opt/ros/indigo/setup.bash" >> ~/.bashrc |
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## get rosinstall |
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RUN apt-get -y install python-rosinstall |
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## additional dependencies |
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RUN apt-get -y install ros-indigo-octomap-msgs ros-indigo-joy |
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## install drcsim |
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RUN echo "deb http://packages.osrfoundation.org/drc/ubuntu trusty main" > /etc/apt/sources.list.d/drc-latest.list \ |
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&& wget http://packages.osrfoundation.org/drc.key -O - | apt-key add - \ |
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&& apt-get update \ |
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&& apt-get -y install drcsim |
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# Install x11-utils to get xdpyinfo, for X11 display debugging |
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# mesa-utils provides glxinfo, handy for understanding the 3D support |
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RUN apt-get -y install x11-utils mesa-utils |
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# Some QT-Apps/Gazebo don't not show controls without this |
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ENV QT_X11_NO_MITSHM 1 |
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# FIXME: this doesn't work when building from vagrant |
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COPY scripts/setup-workspace.sh /root/scripts/ |
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RUN chmod +x -R /root/scripts/* |
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RUN chown -R root:root /root/scripts/* |
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CMD ["/usr/bin/xterm"] |
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# PX4 ROS # |
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Full desktop ROS container. |
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License: according to LICENSE.md in the root directory of the PX4 Firmware repository |
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**TODO:** |
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- use https://github.com/phusion/baseimage-docker as base |
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- add user, best synced with host |
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- configure ssh to work with vagrant out of the box |
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#!/bin/sh |
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# |
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# Create workspace at current location and fetch source repositories |
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# |
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# License: according to LICENSE.md in the root directory of the PX4 Firmware repository |
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WDIR=`pwd` |
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WORKSPACE=$WDIR/catkin_ws |
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# Setup workspace |
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mkdir -p $WORKSPACE/src |
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cd $WORKSPACE/src |
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catkin_init_workspace |
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cd $WORKSPACE |
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catkin_make |
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echo "source $WORKSPACE/devel/setup.bash" >> ~/.bashrc |
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# PX4 Firmware |
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cd $WORKSPACE/src |
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git clone https://github.com/PX4/Firmware.git |
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# euroc simulator |
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cd $WORKSPACE/src |
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git clone https://github.com/PX4/euroc_simulator.git \ |
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&& cd euroc_simulator \ |
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&& git checkout px4_nodes |
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# mav comm |
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cd $WORKSPACE/src |
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git clone https://github.com/PX4/mav_comm.git |
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# glog catkin |
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cd $WORKSPACE/src |
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git clone https://github.com/ethz-asl/glog_catkin.git |
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# catkin simple |
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cd $WORKSPACE/src |
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git clone https://github.com/catkin/catkin_simple.git |
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cd $WORKSPACE |
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catkin_make |
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# -*- mode: ruby -*- |
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# vi: set ft=ruby : |
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# |
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# Vagrantfile to create docker-host-base |
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# |
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# Maintainer: Andreas Antener <andreas@uaventure.com> |
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# |
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# After build, do "vagrant package --base docker-host-base" to package, |
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# and import as box: "vagrant box add --name uaventure/docker-host-base package.box" |
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# |
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# License: according to LICENSE.md in the root directory of the PX4 Firmware repository |
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Vagrant.configure(2) do |config| |
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config.vm.box = "ubuntu/trusty64" |
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config.vm.define "docker-host-base" |
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config.vm.provider "virtualbox" do |vb| |
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vb.name = "docker-host-base" |
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vb.gui = true |
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vb.memory = "1024" |
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end |
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config.vm.provision "file", source: "config/docker-default", destination: "/home/vagrant/docker-default" |
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config.vm.provision "file", source: "config/xsessionrc", destination: "/home/vagrant/.xsessionrc" |
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config.vm.provision "shell", inline: <<-SHELL |
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# Update and install apps |
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export DEBIAN_FRONTEND=noninteractive |
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sudo apt-get update |
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sudo apt-get upgrade -y |
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sudo apt-get install -y --no-install-recommends ubuntu-desktop |
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sudo apt-get install -y gnome-terminal unity-lens-applications |
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# Reset the ssh key (because vagrant regenerates it during provisioning) |
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sudo wget --no-check-certificate https://raw.github.com/mitchellh/vagrant/master/keys/vagrant.pub -O /home/vagrant/.ssh/authorized_keys |
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sudo chmod 0700 /home/vagrant/.ssh |
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sudo chmod 0600 /home/vagrant/.ssh/authorized_keys |
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sudo chown -R vagrant /home/vagrant/.ssh |
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# Copy docker config |
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sudo mv /home/vagrant/docker-default /etc/default/docker |
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# Enable autologin so docker can start GUI apps |
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sudo echo "autologin-user=vagrant" >> /usr/share/lightdm/lightdm.conf.d/50-unity-greeter.conf |
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sudo echo "autologin-user-timeout=0" >> /usr/share/lightdm/lightdm.conf.d/50-unity-greeter.conf |
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# X session RC |
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chmod +x /home/vagrant/.xsessionrc |
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SHELL |
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config.vm.provision "docker" |
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# Shutdown after provisioning. "vagrant halt" doesn't recognize the original ssh key anymore |
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# and would just kill the VM. This might lead to FS inconsistencies (e.g. in the docker DB). |
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config.vm.provision "shell", inline: "sudo shutdown -h now" |
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end |
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# |
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# Default config for docker /etc/default/docker |
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# Copied from a provisioned vagrant box |
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# |
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# Modifications: |
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# - listen to TCP port |
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# - removing deprecated "-r=true" option which apparently doesn't work anymore |
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# > use restart policies for specific containers if necessary |
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# |
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# Docker Upstart and SysVinit configuration file |
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# Customize location of Docker binary (especially for development testing). |
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#DOCKER="/usr/local/bin/docker" |
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# Use DOCKER_OPTS to modify the daemon startup options. |
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#DOCKER_OPTS="--dns 8.8.8.8 --dns 8.8.4.4" |
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# If you need Docker to use an HTTP proxy, it can also be specified here. |
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#export http_proxy="http://127.0.0.1:3128/" |
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# This is also a handy place to tweak where Docker's temporary files go. |
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#export TMPDIR="/mnt/bigdrive/docker-tmp" |
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# Expose TCP port in addition to socket |
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# License: according to LICENSE.md in the root directory of the PX4 Firmware repository |
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DOCKER_OPTS="${DOCKER_OPTS} -H unix:///var/run/docker.sock -H 0.0.0.0:2375" |
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#!/bin/sh |
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# |
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# Disable X access control so we can easily start GUI apps |
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# |
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# License: according to LICENSE.md in the root directory of the PX4 Firmware repository |
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xhost + |
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# -*- mode: ruby -*- |
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# vi: set ft=ruby : |
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# |
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# Actual docker host VM to run. |
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# |
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# Maintainer: Andreas Antener <andreas@uaventure.com> |
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# |
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# To add local docker images into the docker host, configure your local |
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# docker client to control the docker daemon on the running "docker-host" VM. |
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# The box ("docker-host-base") configures docker to listen on any IP on port 2375. |
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# You can then load an existing image, e.g.: |
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# "docker load -i container-image.tar" |
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# |
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# License: according to LICENSE.md in the root directory of the PX4 Firmware repository |
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Vagrant.configure(2) do |config| |
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config.vm.box = "uaventure/docker-host-base" |
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config.vm.define "docker-host" |
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config.vm.provider "virtualbox" do |vb| |
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vb.name = "docker-host" |
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vb.gui = true |
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vb.memory = "4096" |
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vb.cpus = 2 |
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vb.customize ["modifyvm", :id, "--graphicscontroller", "vboxvga"] |
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vb.customize ["modifyvm", :id, "--accelerate3d", "on"] |
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vb.customize ["modifyvm", :id, "--ioapic", "on"] |
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vb.customize ["modifyvm", :id, "--vram", "128"] |
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vb.customize ["modifyvm", :id, "--hwvirtex", "on"] |
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end |
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config.vm.network "private_network", ip: "192.168.59.104" |
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# TBD: would it be better to provision docker here instead of in the base box? |
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#config.vm.provision "docker" |
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end |
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# -*- mode: ruby -*- |
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# vi: set ft=ruby : |
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# |
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# Boot docker SITL environment |
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# |
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# Maintainer: Andreas Antener <andreas@uaventure.com> |
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# |
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# "vagrant up" will build the images. Should eventually start "xterm" from within the docker container. |
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# |
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# Notes: |
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# (will change, need proper docs) |
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# |
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# Build with multiple dependent docker containers: |
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# Use the "--no-parallel" option so the containers will be built/started in order. |
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# e.g.: "vagrant up --no-parallel" |
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# |
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# Running apps directly: |
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# "vagrant docker-run ros -- <cmd>" |
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# Attention: will loose all data when stopped, vagrant runs docker always with "--rm" |
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# |
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# TODO |
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# - do not run the docker container with "--rm" (vagrant default). is that even possible? |
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# - maybe map a local working directory to compile stuff without loosing it in side the docker container |
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# |
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# License: according to LICENSE.md in the root directory of the PX4 Firmware repository |
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Vagrant.configure(2) do |config| |
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# Configure docker host |
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config.vm.provider "docker" do |d| |
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d.vagrant_machine = "docker-host" |
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d.vagrant_vagrantfile = "../docker-host/Vagrantfile" |
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end |
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# Configure docker apps to run |
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config.vm.define "ros" do |app| |
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app.vm.provider "docker" do |d| |
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d.name = "ros" |
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d.image = "uaventure/px4-ros-full" |
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#d.build_dir = "../../docker/px4-ros-full" |
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#d.build_args = ["-t=uaventure/px4-ros-full"] |
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# Share docker host x11 socket |
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# Run privileged to support 3d acceleration |
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d.volumes = [ |
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"/tmp/.X11-unix:/tmp/.X11-unix:ro" |
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] |
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d.create_args = ["--privileged"] |
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# TODO: get display number from host system |
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d.env = { |
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"DISPLAY" => ":0" |
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} |
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d.remains_running = true |
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d.cmd = ["xterm"] |
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#d.has_ssh = true |
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end |
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end |
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end |
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