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ctu-mrs · Oct 17, 2024 · 4e131ee · 4e131ee
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diff --git a/docker/custom_package/Dockerfile b/docker/custom_package/Dockerfile
@@ -1,5 +1,5 @@
 ARG WORKSPACE_PATH
-ARG BASE_IMAGE=ctumrs/mrs_uav_system:latest
+ARG BASE_IMAGE=ctumrs/mrs_uav_system:robofly
 
 #############################################################################
 
@@ -38,8 +38,4 @@ COPY ./cache/${WORKSPACE_PATH}/src /${WORKSPACE_PATH}/src
 COPY ./cache/${WORKSPACE_PATH}/.catkin_tools /${WORKSPACE_PATH}/.catkin_tools
 COPY ./cache/${WORKSPACE_PATH}/devel /${WORKSPACE_PATH}/devel
 
-# COPY --from=stage_cache_workspace /${WORKSPACE_PATH}/src /${WORKSPACE_PATH}/src
-# COPY --from=stage_cache_workspace /${WORKSPACE_PATH}/.catkin_tools /${WORKSPACE_PATH}/.catkin_tools
-# COPY --from=stage_cache_workspace /${WORKSPACE_PATH}/devel /${WORKSPACE_PATH}/devel
-
 CMD ["bash"]
diff --git a/docker/custom_package/build.sh b/docker/custom_package/build.sh
@@ -11,9 +11,11 @@ CACHE_PATH=cache
 # initialize the cache
 mkdir -p ./${CACHE_PATH}/${WORKSPACE_PATH}
 
+docker buildx select default
+
 # this first build compiles the contents of "src" and storest the intermediate
-docker build . --target stage_cache_workspace --output ./${CACHE_PATH} --build-arg WORKSPACE_PATH=${WORKSPACE_PATH} --file Dockerfile --platform=linux/arm64
+docker build . --target stage_cache_workspace --output ./${CACHE_PATH} --build-arg WORKSPACE_PATH=${WORKSPACE_PATH} --file Dockerfile --platform=linux/$ARCH
 
 # this second build takes the resulting workspace and storest in in a final image
 # that can be deployed to a drone
-docker build . --target stage_finalization --file Dockerfile --build-arg WORKSPACE_PATH=${WORKSPACE_PATH} --tag $LOCAL_TAG --platform=linux/arm64
+docker build . --target stage_finalization --file Dockerfile --build-arg WORKSPACE_PATH=${WORKSPACE_PATH} --tag $LOCAL_TAG --platform=linux/$ARCH
diff --git a/docker/main_image/Dockerfile b/docker/main_image/Dockerfile
@@ -1,5 +1,7 @@
 FROM ctumrs/mrs_uav_system:latest
 
+RUN echo pes
+
 RUN curl https://ctu-mrs.github.io/ppa-unstable/add_ppa.sh | bash
 
 RUN apt-get -y update && apt-get -y upgrade --allow-downgrades

diff --git a/docker/main_image/build_arm64.sh b/docker/main_image/build_arm64.sh
@@ -3,4 +3,4 @@
 LOCAL_TAG=ctumrs/mrs_uav_system:robofly
 REGISTRY=localhost:5000
 
-docker buildx build . --file Dockerfile --tag $REGISTRY/$LOCAL_TAG --platform=linux/arm64 --push
+docker build . --file Dockerfile --tag $REGISTRY/$LOCAL_TAG --platform=linux/arm64 --push
diff --git a/docker/uav_session/camera_test_bottom/compose.yaml b/docker/uav_session/camera_test_bottom/compose.yaml
@@ -12,15 +12,15 @@ services:
   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/"
+      - shared_data:/etc/docker/shared_data:consistent
+    command: sh -c "rm -rvf /etc/docker/shared_data/*; mkdir -pv /etc/docker/shared_data; cp -rv /etc/shared_data/* /etc/docker/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/"
+      - uav_custom_files:/etc/docker/uav_custom_files:consistent
+    command: sh -c "rm -rvf /etc/docker/uav_custom_files/*; mkdir -pv /etc/docker/uav_custom_files; cp -rv /etc/uav_custom_files/${UAV_TYPE}/${UAV_ID}/* /etc/docker/uav_custom_files/"
 
   # starts roscore
   # this is the first container in the ROS pipeline
@@ -38,37 +38,38 @@ services:
     image: ctumrs/mrs_uav_system:robofly
     network_mode: host
     volumes:
-      - uav_custom_files:/etc/fly4future/uav_custom_files:consistent
+      - uav_custom_files:/etc/docker/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 throttled_rate:=5.0"
+    command: bash -c "waitForRos && roslaunch /etc/docker/uav_custom_files/launch_files/cameras.launch throttled_rate:=5.0"
 
   apriltag_bottom:
     image: ctumrs/mrs_uav_system:robofly
     network_mode: host
     depends_on:
       - copy_shared_data
     volumes:
-      - shared_data:/etc/ctu-mrs/shared_data:consistent
+      - shared_data:/etc/docker/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_down_throttled image_topic:=image_raw"
-
+    command: bash -c "waitForRos && roslaunch /etc/docker/shared_data/apriltag_detector.launch custom_config:=/etc/docker/shared_data/apriltag.yaml camera_node:=camera_down_throttled 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
+      - copy_uav_custom_files
     env_file:
       - ./stack.env
     entrypoint: ["/bin/bash", "-c"]
     volumes:
-      - shared_data:/etc/ctu-mrs/shared_data:consistent
+      - shared_data:/etc/docker/shared_data:consistent
+      - uav_custom_files:/etc/docker/uav_custom_files:consistent
       - /dev/:/dev/
       - bag_files:/etc/bag_files:consistent
     command:

diff --git a/docker/uav_session/camera_test_bottom/rviz/camera_test.rviz b/docker/uav_session/camera_test_bottom/rviz/camera_test.rviz
@@ -36,7 +36,7 @@ Visualization Manager:
       Cell Size: 1
       Class: rviz/Grid
       Color: 160; 160; 164
-      Enabled: true
+      Enabled: false
       Line Style:
         Line Width: 0.029999999329447746
         Value: Lines
@@ -49,7 +49,7 @@ Visualization Manager:
       Plane: XY
       Plane Cell Count: 10
       Reference Frame: <Fixed Frame>
-      Value: true
+      Value: false
     - Class: rviz/Camera
       Enabled: true
       Image Rendering: background and overlay

diff --git a/docker/uav_session/camera_test_front/compose.yaml b/docker/uav_session/camera_test_front/compose.yaml
@@ -12,15 +12,15 @@ services:
   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/"
+      - shared_data:/etc/docker/shared_data:consistent
+    command: sh -c "rm -rvf /etc/docker/shared_data/*; mkdir -pv /etc/docker/shared_data; cp -rv /etc/shared_data/* /etc/docker/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/"
+      - uav_custom_files:/etc/docker/uav_custom_files:consistent
+    command: sh -c "rm -rvf /etc/docker/uav_custom_files/*; mkdir -pv /etc/docker/uav_custom_files; cp -rv /etc/uav_custom_files/${UAV_TYPE}/${UAV_ID}/* /etc/docker/uav_custom_files/"
 
   # starts roscore
   # this is the first container in the ROS pipeline
@@ -38,36 +38,38 @@ services:
     image: ctumrs/mrs_uav_system:robofly
     network_mode: host
     volumes:
-      - uav_custom_files:/etc/fly4future/uav_custom_files:consistent
+      - uav_custom_files:/etc/docker/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 throttled_rate:=5"
+    command: bash -c "waitForRos && roslaunch /etc/docker/uav_custom_files/launch_files/cameras.launch throttled_rate:=5"
 
   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
+      - shared_data:/etc/docker/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_throttled image_topic:=image_raw"
+    command: bash -c "waitForRos && roslaunch /etc/docker/shared_data/apriltag_detector.launch custom_config:=/etc/docker/shared_data/apriltag.yaml camera_node:=camera_front_throttled 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
+      - copy_uav_custom_files
     env_file:
       - ./stack.env
     entrypoint: ["/bin/bash", "-c"]
     volumes:
-      - shared_data:/etc/ctu-mrs/shared_data:consistent
+      - shared_data:/etc/docker/shared_data:consistent
+      - uav_custom_files:/etc/docker/uav_custom_files:consistent
       - /dev/:/dev/
       - bag_files:/etc/bag_files:consistent
     command:

diff --git a/docker/uav_session/camera_test_front/rviz/camera_test.rviz b/docker/uav_session/camera_test_front/rviz/camera_test.rviz
@@ -36,7 +36,7 @@ Visualization Manager:
       Cell Size: 1
       Class: rviz/Grid
       Color: 160; 160; 164
-      Enabled: true
+      Enabled: false
       Line Style:
         Line Width: 0.029999999329447746
         Value: Lines
@@ -49,7 +49,7 @@ Visualization Manager:
       Plane: XY
       Plane Cell Count: 10
       Reference Frame: <Fixed Frame>
-      Value: true
+      Value: false
     - Class: rviz/Camera
       Enabled: true
       Image Rendering: background and overlay

diff --git a/docker/uav_session/gnss/compose.yaml b/docker/uav_session/gnss/compose.yaml
@@ -14,15 +14,15 @@ services:
     image: fly4future/robofly:shared_data_gnss
     # image: klaxalk:5000/robofly:shared_data_vio
     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/"
+      - shared_data:/etc/docker/shared_data:consistent
+    command: sh -c "rm -rvf /etc/docker/shared_data/*; mkdir -pv /etc/docker/shared_data; cp -rv /etc/shared_data/* /etc/docker/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/"
+      - uav_custom_files:/etc/docker/uav_custom_files:consistent
+    command: sh -c "rm -rvf /etc/docker/uav_custom_files/*; mkdir -pv /etc/docker/uav_custom_files; cp -rv /etc/uav_custom_files/${UAV_TYPE}/${UAV_ID}/* /etc/docker/uav_custom_files/"
 
   # starts roscore
   # this is the first container in the ROS pipeline
@@ -55,7 +55,7 @@ services:
       - rostime
     network_mode: host
     volumes:
-      - shared_data:/etc/ctu-mrs/shared_data:consistent
+      - shared_data:/etc/docker/shared_data:consistent
       - /dev/:/dev/
     privileged: true
     env_file:
@@ -69,10 +69,10 @@ services:
       - rostime
     network_mode: host
     volumes:
-      - shared_data:/etc/ctu-mrs/shared_data:consistent
+      - shared_data:/etc/docker/shared_data:consistent
     env_file:
       - ./stack.env
-    command: bash -c "waitForHw && roslaunch mrs_uav_core core.launch platform_config:=`rospack find mrs_robofly_core`/config/platform_config.yaml custom_config:=/etc/ctu-mrs/shared_data/custom_config.yaml world_config:=/etc/ctu-mrs/shared_data/world_local.yaml network_config:=/etc/ctu-mrs/shared_data/network_config.yaml"
+    command: bash -c "waitForHw && roslaunch mrs_uav_core core.launch platform_config:=`rospack find mrs_robofly_core`/config/platform_config.yaml custom_config:=/etc/docker/shared_data/custom_config.yaml world_config:=/etc/docker/shared_data/world_local.yaml network_config:=/etc/docker/shared_data/network_config.yaml"
 
   # starts the camera drivers
   cameras:
@@ -81,14 +81,14 @@ services:
       - rostime
     network_mode: host
     volumes:
-      - shared_data:/etc/ctu-mrs/shared_data:consistent
-      - uav_custom_files:/etc/fly4future/uav_custom_files:consistent
+      - shared_data:/etc/docker/shared_data:consistent
+      - uav_custom_files:/etc/docker/uav_custom_files:consistent
     devices:
       - /dev/:/dev/
     privileged: true
     env_file:
       - ./stack.env
-    command: bash -c "waitForTime && roslaunch /etc/fly4future/uav_custom_files/launch_files/cameras.launch"
+    command: bash -c "waitForTime && roslaunch /etc/docker/uav_custom_files/launch_files/cameras.launch"
 
   # starts the node that handles automatic initialization of the system and takeoff
   automatic_start:
@@ -97,7 +97,7 @@ services:
       - rostime
     network_mode: host
     volumes:
-      - shared_data:/etc/ctu-mrs/shared_data:consistent
+      - shared_data:/etc/docker/shared_data:consistent
     env_file:
       - ./stack.env
     command: bash -c "waitForHw && roslaunch mrs_uav_autostart automatic_start.launch"
@@ -110,10 +110,10 @@ services:
     network_mode: host
     volumes:
       - bag_files:/etc/bag_files:consistent
-      - shared_data:/etc/ctu-mrs/shared_data:consistent
+      - shared_data:/etc/docker/shared_data:consistent
     env_file:
       - ./stack.env
-    command: bash -c "waitForTime && /etc/ctu-mrs/shared_data/record.sh"
+    command: bash -c "waitForTime && /etc/docker/shared_data/record.sh"
 
   # this container can be used to access a terminal with ROS inside the compose session
   terminal:
@@ -126,8 +126,8 @@ services:
     entrypoint: ["/bin/bash", "-c"]
     volumes:
       - bag_files:/etc/bag_files:consistent
-      - shared_data:/etc/ctu-mrs/shared_data:consistent
-      - uav_custom_files:/etc/fly4future/uav_custom_files:consistent
+      - shared_data:/etc/docker/shared_data:consistent
+      - uav_custom_files:/etc/docker/uav_custom_files:consistent
       - /dev/:/dev/
     command:
       - bash --rcfile /opt/ros/noetic/setup.bash

diff --git a/docker/uav_session/sensor_diagnostics/compose.yaml b/docker/uav_session/sensor_diagnostics/compose.yaml
@@ -10,8 +10,8 @@ services:
   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/"
+      - uav_custom_files:/etc/docker/uav_custom_files:consistent
+    command: sh -c "rm -rvf /etc/docker/uav_custom_files/*; mkdir -pv /etc/docker/uav_custom_files; cp -rv /etc/uav_custom_files/${UAV_TYPE}/${UAV_ID}/* /etc/docker/uav_custom_files/"
 
   # starts roscore
   # this is the first container in the ROS pipeline
@@ -40,23 +40,25 @@ services:
     image: ctumrs/mrs_uav_system:robofly
     network_mode: host
     volumes:
-      - uav_custom_files:/etc/fly4future/uav_custom_files:consistent
+      - uav_custom_files:/etc/docker/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"
+    command: bash -c "waitForRos && roslaunch /etc/docker/uav_custom_files/launch_files/cameras.launch"
 
   # 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_uav_custom_files
     env_file:
       - ./stack.env
     entrypoint: ["/bin/bash", "-c"]
     volumes:
-      - uav_custom_files:/etc/fly4future/uav_custom_files:consistent
+      - uav_custom_files:/etc/docker/uav_custom_files:consistent
       - /dev/:/dev/
       - bag_files:/etc/bag_files:consistent
     command: