From 8a7493fc1bd643012c70f742055fcd5a966d1ee3 Mon Sep 17 00:00:00 2001
From: Tomas Baca <klaxalk@gmail.com>
Date: Mon, 14 Oct 2024 13:46:10 +0200
Subject: [PATCH] added more sessions

---
 docker/local_docker_registry/README.md        | 10 +++++
 docker/shared_data/apriltag_tests/Dockerfile  |  5 +++
 .../shared_data/apriltag_tests/build_arm64.sh | 12 ++++++
 .../apriltag_tests/export_image.sh            |  3 ++
 .../apriltag_tests/shared_data/apriltag.yaml  | 24 +++++++++++
 .../shared_data/apriltag_detector.launch      | 35 ++++++++++++++++
 docker/uav_session/apriltag_test/compose.yaml | 42 +++++++++++++++++++
 .../uav_session/apriltag_test/variables.env   |  2 +
 8 files changed, 133 insertions(+)
 create mode 100644 docker/local_docker_registry/README.md
 create mode 100644 docker/shared_data/apriltag_tests/Dockerfile
 create mode 100755 docker/shared_data/apriltag_tests/build_arm64.sh
 create mode 100755 docker/shared_data/apriltag_tests/export_image.sh
 create mode 100644 docker/shared_data/apriltag_tests/shared_data/apriltag.yaml
 create mode 100644 docker/shared_data/apriltag_tests/shared_data/apriltag_detector.launch
 create mode 100644 docker/uav_session/apriltag_test/compose.yaml
 create mode 100644 docker/uav_session/apriltag_test/variables.env

diff --git a/docker/local_docker_registry/README.md b/docker/local_docker_registry/README.md
new file mode 100644
index 0000000..a8f8937
--- /dev/null
+++ b/docker/local_docker_registry/README.md
@@ -0,0 +1,10 @@
+# Local docker registry
+
+You can host your own docker registry that can be used to transmit images to a drone over a local network.
+To start the regisry, spin up the compose session in this folder.
+The registry is going to be insecure without a proper SSL certificate, therefore, the client needs to treat it in a special way.
+Add the following line to `/etc/docker/daemon.json` in the client host operating system to allow pulling from your local registry:
+
+```json
+  
+```
diff --git a/docker/shared_data/apriltag_tests/Dockerfile b/docker/shared_data/apriltag_tests/Dockerfile
new file mode 100644
index 0000000..680eb1f
--- /dev/null
+++ b/docker/shared_data/apriltag_tests/Dockerfile
@@ -0,0 +1,5 @@
+FROM alpine
+
+COPY shared_data/ /etc/shared_data/
+
+CMD ["sh"]
diff --git a/docker/shared_data/apriltag_tests/build_arm64.sh b/docker/shared_data/apriltag_tests/build_arm64.sh
new file mode 100755
index 0000000..fa588f6
--- /dev/null
+++ b/docker/shared_data/apriltag_tests/build_arm64.sh
@@ -0,0 +1,12 @@
+#!/bin/bash
+
+# LOCAL_TAG=robofly:shared_data_vio
+# REGISTRY=localhost:5000
+
+LOCAL_TAG=robofly:apriltag_tests
+REGISTRY=fly4future
+
+docker buildx create --name container --driver=docker-container
+docker buildx build . --file Dockerfile --tag "$REGISTRY/$LOCAL_TAG" --platform=linux/arm64
+
+# docker push "$REGISTRY/$LOCAL_TAG"
diff --git a/docker/shared_data/apriltag_tests/export_image.sh b/docker/shared_data/apriltag_tests/export_image.sh
new file mode 100755
index 0000000..ea8a8d9
--- /dev/null
+++ b/docker/shared_data/apriltag_tests/export_image.sh
@@ -0,0 +1,3 @@
+#!/bin/bash
+
+docker save fly4future/robofly:apriltag_tests --output ~/docker/apriltag_tests.tar
diff --git a/docker/shared_data/apriltag_tests/shared_data/apriltag.yaml b/docker/shared_data/apriltag_tests/shared_data/apriltag.yaml
new file mode 100644
index 0000000..e9ad16c
--- /dev/null
+++ b/docker/shared_data/apriltag_tests/shared_data/apriltag.yaml
@@ -0,0 +1,24 @@
+# AprilTag 3 code parameters
+# Find descriptions in apriltag/include/apriltag.h:struct apriltag_detector
+#                      apriltag/include/apriltag.h:struct apriltag_family
+tag_family:        'tagCustom48h12' # options: tagStandard52h13, tagStandard41h12, tag36h11, tag25h9, tag16h5, tagCustom48h12, tagCircle21h7, tagCircle49h12
+tag_threads:       2          # default: 2
+tag_decimate:      1.0        # default: 1.0
+tag_blur:          0.0        # default: 0.0
+tag_refine_edges:  1          # default: 1
+tag_debug:         0          # default: 0
+max_hamming_dist:  2          # default: 2 (Tunable parameter with 2 being a good choice - values >=3 consume large amounts of memory. Choose the largest value possible.)
+# Other parameters
+publish_tf:        true       # default: false
+transport_hint:    "raw"      # default: raw, see http://wiki.ros.org/image_transport#Known_Transport_Packages for options
+
+# standalone_tags:
+#   [
+#     {id: ID, size: SIZE, name: NAME},
+#     ...
+#   ]
+standalone_tags:
+  [
+    {id: 0, size: 0.129, name: recursive_tag_1_big},
+    {id: 10, size: 0.021, name: recursive_tag_1_small},
+  ]
diff --git a/docker/shared_data/apriltag_tests/shared_data/apriltag_detector.launch b/docker/shared_data/apriltag_tests/shared_data/apriltag_detector.launch
new file mode 100644
index 0000000..ed70e54
--- /dev/null
+++ b/docker/shared_data/apriltag_tests/shared_data/apriltag_detector.launch
@@ -0,0 +1,35 @@
+<launch>
+
+  <arg name="UAV_NAME" default="$(optenv UAV_NAME uav1)" />
+
+  <!-- configure camera input -->
+  <arg name="camera_node" default="" />
+  <arg name="image_topic" default="" />
+  <arg name="queue_size" default="1" />
+
+  <arg name="custom_config" default="" />
+
+  <group ns="$(arg UAV_NAME)">
+
+    <!-- apriltag_ros continuous detection node -->
+    <node pkg="apriltag_ros" type="apriltag_ros_continuous_node" name="apriltag_detector" clear_params="true" output="screen">
+
+      <!-- load parameters (incl. tag family, tags, etc.) -->
+      <rosparam command="load" file="$(find mrs_landing_pad_estimation)/config/apriltag_recursive.yaml"/>
+      <rosparam if="$(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="tag_detections" to="~/tag_detections" />
+      <remap from="tag_detections_image" to="~/tag_detections_image" />
+
+      <param name="publish_tag_detections_image" type="bool" value="true" /><!-- default: false -->
+      <param name="queue_size" type="int" value="$(arg queue_size)" />
+
+    </node>
+
+  </group>
+
+</launch>
diff --git a/docker/uav_session/apriltag_test/compose.yaml b/docker/uav_session/apriltag_test/compose.yaml
new file mode 100644
index 0000000..5031365
--- /dev/null
+++ b/docker/uav_session/apriltag_test/compose.yaml
@@ -0,0 +1,42 @@
+volumes:
+
+  shared_data:
+
+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/"
+
+  # starts the HW API for connecting the MRS UAV System to PX4
+  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
+    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 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/
+    command:
+      - bash --rcfile /etc/catkin_workspace/devel/setup.bash
+    privileged: true
+    stdin_open: true
+    tty: true
diff --git a/docker/uav_session/apriltag_test/variables.env b/docker/uav_session/apriltag_test/variables.env
new file mode 100644
index 0000000..f9b9bc6
--- /dev/null
+++ b/docker/uav_session/apriltag_test/variables.env
@@ -0,0 +1,2 @@
+UAV_NAME=uav80
+ROS_MASTER_URI=http://localhost:11311