Prepare for the first dive

README.md

@@ -12,17 +12,15 @@ visual odometry to a [BlueRobotics BlueROV2](https://www.bluerobotics.com) runni
 * [ardupilot_gazebo](https://github.com/ArduPilot/ardupilot_gazebo/tree/ros2)
 * [orb_slam3_ros](https://github.com/clydemcqueen/orb_slam3_ros); this includes ORB_SLAM3
 
-See [orca_bridge](orca_bridge/README.md) for more details.
-
 See the [Dockerfile](docker/Dockerfile) for details.
 
 ## Build and Run
 
 Build a docker image, then run it:
 ~~~
 cd docker
-./build.sh
-./run.sh
+./build.sh sim
+./run.sh sim nvidia
 ~~~
 
 This is a dev container, so the orca5 directory will be mounted inside the container.
@@ -46,7 +44,7 @@ ORB_SLAM3 should initialize and start tracking the seafloor.
 
 Open a second terminal into the container:
 ~~~
-docker exec -it orca5 /bin/bash
+docker exec -it orca5_sim /bin/bash
 ~~~
 
 Launch mavproxy as the GCS:
@@ -59,15 +57,10 @@ ArduSub will initialize and start sending MAVLink messages to the SLAM bridge no
 In response, the bridge node will start sending visual odometry messages to ArduSub.
 Wait for these messages from mavproxy:
 ~~~
-AP: EKF3 IMU1 fusing odometry
-AP: EKF3 IMU0 fusing odometry
-AP: EKF3 IMU1 started relative aiding
-AP: EKF3 IMU0 started relative aiding
+AP: EKF3 IMU1 is using external nav data
+AP: EKF3 IMU0 is using external nav data
 ~~~
 
-Note: it may take ~30 seconds for the ArduSub EKF to learn the gyro bias before it will accept
-the visual odometry messages.
-
 Mavproxy is interactive, so we can execute commands. Arm the motors:
 ~~~
 MANUAL> arm throttle

common.repos

@@ -0,0 +1,7 @@
+# Repositories required by all build targets
+repositories:
+
+  orb_slam3_ros:
+    type: git
+    url: https://github.com/clydemcqueen/orb_slam3_ros.git
+    version: cda4ae6

docker/Dockerfile

@@ -1,3 +1,7 @@
+###############################
+# base stage, common to all targets
+###############################
+
 FROM osrf/ros:jazzy-desktop AS base
 
 ARG USERNAME=orca5
@@ -7,7 +11,6 @@ ARG DEBIAN_FRONTEND=noninteractive
 
 RUN apt-get update && apt-get upgrade -y
 
-# Install a few handy tools
 RUN apt-get update \
   && apt-get -y --quiet --no-install-recommends install \
     bash-completion \
@@ -16,32 +19,98 @@ RUN apt-get update \
     gnupg \
     iputils-ping \
     lsb-release \
+    libglvnd0 \
+    libgl1 \
+    libglx0 \
+    libegl1 \
+    libxext6 \
+    libx11-6 \
+    python3-venv \
     software-properties-common \
     sudo \
     wget \
     vim \
   && rm -rf /var/lib/apt/lists/*
 
+# Create a non-root user
+# Required for ardupilot install, but generally a good idea
+RUN groupadd --gid $USER_GID $USERNAME \
+  && useradd -s /bin/bash --uid $USER_UID --gid $USER_GID -m $USERNAME \
+  && echo $USERNAME ALL=\(root\) NOPASSWD:ALL > /etc/sudoers.d/$USERNAME \
+  && chmod 0440 /etc/sudoers.d/$USERNAME \
+  && echo "\n# Added by orca5 Dockerfile:" >> /home/$USERNAME/.bashrc \
+  && echo "source /usr/share/bash-completion/completions/git" >> /home/$USERNAME/.bashrc
+
+# Switch to our new user
+USER $USERNAME
+
+# install-prereqs-ubuntu.sh looks at $USER
+ENV USER=$USERNAME
+
+# Create colcon workspace and the mount point for orca5
+WORKDIR /home/$USERNAME
+RUN mkdir -p colcon_ws/src/orca5
+
+# Get common repos
+WORKDIR /home/$USERNAME/colcon_ws/src
+COPY --chown=$USER_UID:$USER_GID common.repos orca5
+RUN vcs import --recursive < orca5/common.repos
+
+# Copy orca5 package.xml files
+WORKDIR /home/$USERNAME/colcon_ws
+COPY --chown=$USER_UID:$USER_GID orca_bridge/package.xml src/orca5/orca_bridge/
+COPY --chown=$USER_UID:$USER_GID orca_bringup/package.xml src/orca5/orca_bringup/
+COPY --chown=$USER_UID:$USER_GID orca_msgs/package.xml src/orca5/orca_msgs/
+
+# Run rosdep over all repos
+# Fun fact: rosdep will automatically elevate permissions, but apt-get will not, so it requires sudo
+WORKDIR /home/$USERNAME/colcon_ws
+RUN sudo apt-get update \
+  && rosdep update \
+  && rosdep install -y --from-paths . --ignore-src
+
+# Do not build orca5 yet
+WORKDIR /home/$USERNAME/colcon_ws
+RUN touch src/orca5/COLCON_IGNORE
+
+# Build everything so far
+WORKDIR /home/$USERNAME/colcon_ws
+RUN [ "/bin/bash" , "-c" , "\
+  source /opt/ros/jazzy/setup.bash \
+  && colcon build --event-handlers console_direct+" ]
+
+# Copy orca5 requirements.txt file
+WORKDIR /home/$USERNAME/colcon_ws
+COPY --chown=$USER_UID:$USER_GID requirements.txt src/orca5/
+
+# Set up the Python environment
+WORKDIR /home/$USERNAME/colcon_ws
+RUN python3 -m venv venv --system-site-packages \
+  && touch venv/COLCON_IGNORE \
+  && . venv/bin/activate \
+  && pip install -r src/orca5/requirements.txt
+
+# Configure the shell environment
+RUN echo "source /home/$USERNAME/colcon_ws/install/setup.bash" >> /home/$USERNAME/.bashrc
+
+# Create a mount point for orca5 source, this will shadow the existing orca5 directory
+VOLUME /home/$USERNAME/colcon_ws/src/orca5
+
+###############################
+# sim target
+###############################
+
+FROM base AS sim
+
+# Switch to root to install stuff
+USER root
+
 # Install Gazebo Harmonic for use with ROS2 Jazzy
 RUN apt-get update \
   && apt-get -y --quiet --no-install-recommends install ros-jazzy-ros-gz \
   && rm -rf /var/lib/apt/lists/*
 
-# Install NVIDIA software
-RUN apt-get update \
- && apt-get -y --quiet --no-install-recommends install \
-    libglvnd0 \
-    libgl1 \
-    libglx0 \
-    libegl1 \
-    libxext6 \
-    libx11-6 \
-  && rm -rf /var/lib/apt/lists/* \
-ENV NVIDIA_VISIBLE_DEVICES=all
-ENV NVIDIA_DRIVER_CAPABILITIES=graphics,utility,compute
-ENV QT_X11_NO_MITSHM=1
-
-# Install some ardupilot and ardupilot_gazebo prereqs
+# Install ardupilot and ardupilot_gazebo prereqs
 RUN apt-get update \
   && apt-get -y --quiet --no-install-recommends install \
     python3-pip \
@@ -64,18 +133,8 @@ RUN curl https://packages.osrfoundation.org/gazebo.gpg --output /usr/share/keyri
 # Ref https://github.com/ArduPilot/ardupilot_gazebo#Rosdep
 RUN wget https://raw.githubusercontent.com/osrf/osrf-rosdep/master/gz/00-gazebo.list -O /etc/ros/rosdep/sources.list.d/00-gazebo.list
 
-# Create a non-root user
-# Required for ardupilot install, but generally a good idea
-RUN groupadd --gid $USER_GID $USERNAME \
-  && useradd -s /bin/bash --uid $USER_UID --gid $USER_GID -m $USERNAME \
-  && echo $USERNAME ALL=\(root\) NOPASSWD:ALL > /etc/sudoers.d/$USERNAME \
-  && chmod 0440 /etc/sudoers.d/$USERNAME \
-  && echo "\n# Added by orca5 Dockerfile:" >> /home/$USERNAME/.bashrc \
-  && echo "source /usr/share/bash-completion/completions/git" >> /home/$USERNAME/.bashrc
-
-# Switch to our new user
+# Switch back to new user
 USER $USERNAME
-ENV USER=$USERNAME
 
 # Clone ArduSub code
 WORKDIR /home/$USERNAME
@@ -99,17 +158,12 @@ RUN modules/waf/waf-light configure --board sitl \
 # Build for Gazebo Harmonic, define this before building ardupilot_gazebo
 ENV GZ_VERSION=harmonic
 
-# Create colcon workspace and the mount point for orca5
-WORKDIR /home/$USERNAME
-RUN mkdir -p colcon_ws/src/orca5
-
-# Get workspace repos
+# Get sim repos
 WORKDIR /home/$USERNAME/colcon_ws/src
-COPY --chown=$USER_UID:$USER_GID workspace.repos orca5
-RUN vcs import --recursive < orca5/workspace.repos
+COPY --chown=$USER_UID:$USER_GID sim.repos orca5
+RUN vcs import --recursive < orca5/sim.repos
 
-# Run rosdep over workspace repos
-# Fun fact: rosdep will automatically elevate permissions, but apt-get will not, so it requires sudo
+# Run rosdep over sim repos
 WORKDIR /home/$USERNAME/colcon_ws
 RUN sudo apt-get update \
   && rosdep update \
@@ -121,32 +175,54 @@ RUN [ "/bin/bash" , "-c" , "\
   source /opt/ros/jazzy/setup.bash \
   && colcon build --event-handlers console_direct+" ]
 
-# Copy orca5 package.xml files
-COPY --chown=$USER_UID:$USER_GID orca_bridge/package.xml src/orca5/orca_bridge/
-COPY --chown=$USER_UID:$USER_GID orca_bringup/package.xml src/orca5/orca_bringup/
-COPY --chown=$USER_UID:$USER_GID orca_msgs/package.xml src/orca5/orca_msgs/
+# Configure the shell environment
+RUN echo "export PATH=\"/home/$USERNAME/ardupilot/build/sitl/bin:\$PATH\"" >> /home/$USERNAME/.bashrc
+
+# Use bash as the default shell
+SHELL ["/bin/bash", "-c"]
+ENTRYPOINT ["/bin/bash"]
+
+###############################
+# hw target (assumes CPU)
+###############################
+
+FROM base AS hw
+
+# Switch to root to install stuff
+USER root
+
+# Install gscam2 prereqs
+RUN apt-get update \
+  && apt-get -y --quiet --no-install-recommends install \
+    libgstreamer1.0-0 \
+    gstreamer1.0-plugins-base \
+    gstreamer1.0-plugins-good \
+    gstreamer1.0-plugins-bad \
+    gstreamer1.0-plugins-ugly \
+    gstreamer1.0-libav \
+    gstreamer1.0-tools \
+    gstreamer1.0-x \
+  && rm -rf /var/lib/apt/lists/*
+
+# Switch back to new user
+USER $USERNAME
+
+# Get hw repos
+WORKDIR /home/$USERNAME/colcon_ws/src
+COPY --chown=$USER_UID:$USER_GID hw.repos orca5
+RUN vcs import --recursive < orca5/hw.repos
 
-# Run rosdep over orca5 package.xml files
+# Run rosdep over hw repos
 WORKDIR /home/$USERNAME/colcon_ws
 RUN sudo apt-get update \
   && rosdep update \
   && rosdep install -y --from-paths . --ignore-src
 
-# Copy orca5 requirements.txt file
-COPY --chown=$USER_UID:$USER_GID requirements.txt src/orca5/
-
-# Set up the Python environment
-RUN python3 -m venv venv --system-site-packages \
-  && touch venv/COLCON_IGNORE \
-  && . venv/bin/activate \
-  && pip install -r src/orca5/requirements.txt
-
-# Configure the shell environment
-RUN echo "export PATH=\"/home/$USERNAME/ardupilot/build/sitl/bin:\$PATH\"" >> /home/$USERNAME/.bashrc \
-  && echo "source /home/$USERNAME/colcon_ws/install/setup.bash" >> /home/$USERNAME/.bashrc
-
-# Create a mount point for orca5 source, this will shadow the files we copied
-VOLUME /home/$USERNAME/colcon_ws/src/orca5
+# Build everything so far
+WORKDIR /home/$USERNAME/colcon_ws
+RUN [ "/bin/bash" , "-c" , "\
+  source /opt/ros/jazzy/setup.bash \
+  && colcon build --event-handlers console_direct+" ]
 
 # Use bash as the default shell
 SHELL ["/bin/bash", "-c"]

docker/build.sh

@@ -1,8 +1,23 @@
 #!/usr/bin/env bash
 
+# Usage:
+# ./build.sh <target>
+
+if [ -z "$1" ]; then
+  echo "Error: <target> argument required."
+  echo "Usage: ./build.sh <target>"
+  echo "where <target> can be:"
+  echo "  sim:  includes Gazebo and ArduSub"
+  echo "  hw:   minimal install for topside computer"
+  exit 1
+fi
+
+TARGET=$1
+TAG="orca5:${TARGET}"
+
 DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null 2>&1 && pwd )"
 
-cd $DIR
+cd $DIR || exit
 
 # --progress-plain will show more output, handy for debugging
-docker build --progress=plain -f $DIR/Dockerfile -t orca5:latest ..
+docker build --progress=plain --target ${TARGET} -f $DIR/Dockerfile -t ${TAG} ..