Merge pull request #103 from hmakelin/add-custom-network

Use Docker bridge networks instead of sharing host network

Makefile

@@ -8,5 +8,12 @@ include docker/Makefile
 
 .PHONY: docs
 docs:
+	mkdir -p docs/_build && \
+	    d2 --font-regular="docs/_static/fonts/Poppins Regular.ttf" \
+	    --theme=0 --dark-theme=200 \
+	    --font-bold="docs/_static/fonts/Poppins Medium.ttf" \
+	    --font-italic="docs/_static/fonts/Poppins Regular.ttf" \
+	    docs/pages/developer_guide/offboard/_external_interfaces.d2 \
+	    docs/_build/external_interfaces.html
 	@$(MAKE) -C docs html
 	@cd docs/_build/html && touch .nojekyll  # for GitHub Pages

docker/Makefile

@@ -172,7 +172,7 @@ $(eval $(call compose_template,offboard-sitl-dev,offboard-sitl-middleware,,$$* q
 $(eval $(call compose_template,demo,offboard-sitl-dev,,gisnav))
 
 # List of Docker Compose service names that need GUI access
-GUI_SERVICES = px4 ardupilot qgc rviz
+GUI_SERVICES = px4 ardupilot qgc rviz qgis gisnav
 
 # Expose xhost to containers that need GUI (see x11 extension in docker-compose.yaml)
 expose-xhost:

docker/docker-compose.yaml

@@ -1,15 +1,32 @@
 version: "3.4"
 
+networks:
+  gis:
+    driver: bridge
+  mavlink:
+    driver: bridge
+
+x-mavlink-net: &mavlink-net
+  networks:
+    - mavlink
+
+x-gis-net: &gis-net
+  networks:
+    - gis
+
+x-all-net: &all-net
+  networks:
+    - mavlink
+    - gis
+
 # platforms is a sequence not a mapping so careful when merging
 # with something that defines its own platforms
 x-base: &base
   build:
     dockerfile: Dockerfile
     #platforms:
     #  - "linux/amd64"
-  network_mode: host
-  #networks:
-  #  - gisnav-network
+  #network_mode: host
 
 # devices is a sequence not a mapping so careful when merging
 # with something that defines its own devices
@@ -44,7 +61,7 @@ x-tty: &tty
 
 services:
   mapserver:
-    <<: *base
+    <<: [*base, *gis-net]
     build:
       context: mapserver
       args:
@@ -55,7 +72,7 @@ services:
     command: /usr/local/bin/start-server
 
   micro-ros-agent:
-    <<: [*base, *ros]
+    <<: [*base, *ros, *mavlink-net]
     build:
       context: micro-ros-agent
       #platforms:
@@ -64,7 +81,7 @@ services:
     command: udp4 -p 8888
 
   mavros:
-    <<: [*base, *ros]
+    <<: [*base, *ros, *mavlink-net]
     build:
       context: mavros
       args:
@@ -75,7 +92,7 @@ services:
     command: ros2 run mavros mavros_node --ros-args --param fcu_url:=udp://:14540@localhost:14557
 
   qgc:
-    <<: [*base, *x11]
+    <<: [*base, *x11, *mavlink-net]
     build:
       context: qgc
     volumes:
@@ -87,8 +104,10 @@ services:
   # Note: build context is repository root
   # Note 2: The "docker buildx build" command in the push_gisnav_images.yml workflow
   #  duplicates these build arguments. They should be changed together.
+  # *x11 anchor is needed for debugging (cv2 visualization of matches) for this
+  # service
   gisnav:
-    <<: [*base, *ros, *tty, *nvidia-gpu]
+    <<: [*base, *x11, *ros, *tty, *nvidia-gpu, *all-net]
     #image: "ghcr.io/hmakelin/gisnav:${TAG:-latest}"
     image: ghcr.io/hmakelin/gisnav:latest
     build:
@@ -99,19 +118,17 @@ services:
     command: ros2 launch gisnav px4.dev.launch.py
 
   px4:
-    <<: [*base, *x11, *tty, *nvidia-gpu]
+    <<: [*base, *x11, *tty, *nvidia-gpu, *mavlink-net]
     build:
       context: px4
-      args:
-        ROS_VERSION: foxy
     volumes:
       - /tmp/.X11-unix:/tmp/.X11-unix:ro
       - /dev/shm:/dev/shm
       - /dev/dri:/dev/dri
     command: make px4_sitl gazebo-classic_typhoon_h480__ksql_airport
 
   ardupilot:
-    <<: [*base, *x11, *nvidia-gpu]
+    <<: [*base, *x11, *nvidia-gpu, *mavlink-net]
     build:
       context: ardupilot
     volumes:
@@ -123,15 +140,15 @@ services:
 
   # Note: build context is repository root
   rviz:
-    <<: [*base, *x11, *ros, *nvidia-gpu]
+    <<: [*base, *x11, *ros, *nvidia-gpu, *mavlink-net]
     build:
       context: rviz
       args:
         ROS_VERSION: humble
     command: rviz2 -d gisnav_config.rviz
 
   gscam:
-    <<: [*base, *ros]
+    <<: [*base, *ros, *mavlink-net]
     build:
       context: gscam
       args:
@@ -148,7 +165,7 @@ services:
       - "camera_info_url:=file:///camera_calibration.yaml"
 
   autoheal:
-    <<: [*base]
+    <<: [*base, *all-net]
     image: willfarrell/autoheal
     restart: always
     environment:
@@ -157,22 +174,18 @@ services:
       - /var/run/docker.sock:/var/run/docker.sock
 
   qgis:
-    <<: [*base, *x11]
+    <<: [*base, *x11, *gis-net]
     build:
       context: qgis
     command: qgis
 
   postgres:
-    <<: [ *base ]
+    <<: [*base, *gis-net]
     build:
       context: postgres
-    ports:
-      - "5432:5432"  # Map PostgreSQL's default port to the host
+    #ports:
+    #  - "5432:5432"  # Map PostgreSQL's default port to the host
     environment:
       POSTGRES_DB: gisnav
       POSTGRES_USER: gisnav
       POSTGRES_PASSWORD: gisnav
-
-#networks:
-#  gisnav-network:
-#    driver: bridge

docker/gisnav/Dockerfile

@@ -24,7 +24,7 @@ RUN cd gisnav/gisnav && \
 
 # TODO: no need to install egm96-5 separately after pygeodesy was refactored out in gisnav-gpu branch?
 # Install GIS related dependencies
-RUN apt-get -y install software-properties-common python3-pip wget && \
+RUN apt-get -y install software-properties-common python3-pip wget curl && \
     add-apt-repository ppa:ubuntugis/ppa && \
     apt-get update && \
     apt-get -y install gdal-bin libgdal-dev geographiclib-tools && \
@@ -46,6 +46,9 @@ RUN source /opt/ros/${ROS_VERSION}/setup.bash && \
     cd .. && \
     colcon build --packages-ignore mavros mavros_extras libmavconn
 
+# Install D2 for building diagrams in docs
+RUN curl -fsSL https://d2lang.com/install.sh | sh -s --
+
 # TODO: proper health check - check that public facing topics are publishing
 HEALTHCHECK --interval=10s --timeout=3s \
   CMD /bin/bash -c "source /opt/ros/${ROS_VERSION}/setup.bash && \

docker/gscam/Dockerfile

@@ -4,9 +4,6 @@ FROM ros:${ROS_VERSION}
 ARG ROS_VERSION
 ENV ROS_VERSION=${ROS_VERSION}
 
-COPY camera_calibration.yaml gscam_params.yaml /
-COPY --chmod=755 entrypoint.sh /
-
 RUN apt-get update && \
     apt-get -y dist-upgrade && \
     apt-get -y install gstreamer1.0-tools libgstreamer1.0-dev libgstreamer-plugins-base1.0-dev \
@@ -17,7 +14,10 @@ RUN apt-get update && \
 
 HEALTHCHECK --interval=10s --timeout=3s \
   CMD /bin/bash -c "source /opt/ros/${ROS_VERSION}/setup.bash && \
-    ros2 node list | grep -q gscam_node" || exit 1
+    ros2 node list | grep -q gscam_publisher" || exit 1
+
+COPY camera_calibration.yaml gscam_params.yaml /
+COPY --chmod=755 entrypoint.sh /
 
 SHELL ["/bin/bash", "-c"]
 ENTRYPOINT ["/entrypoint.sh"]

docker/mapserver/mapfiles/mapserver.map

@@ -8,7 +8,7 @@ MAP
     METADATA
         "wms_title"           "GISNav WMS"
         "wms_abstract"        "GISNav simulation maps for KSQL airport area"
-        "wms_onlineresource"  "http://localhost:80/wms"
+        "wms_onlineresource"  "http://gisnav-mapserver-1:80/wms"
         "wms_srs"             "EPSG:3857 EPSG:4326"
         "wms_enable_request"  "GetMap GetFeatureInfo GetCapabilities"
         "wms_feature_info_mime_type" "text/plain"

docker/px4/Dockerfile

@@ -1,14 +1,11 @@
-ARG ROS_VERSION
-
-FROM px4io/px4-dev-ros2-${ROS_VERSION}
-ARG ROS_VERSION
+FROM ubuntu:focal
 
 LABEL maintainer="Harri Makelin <[email protected]>"
 
 # Update and upgrade packages, then install required packages
 RUN apt-get update && \
-    apt-get -y dist-upgrade && \
-    apt-get -y install ros-${ROS_VERSION}-gazebo-ros-pkgs gstreamer1.0-plugins-bad gstreamer1.0-libav gstreamer1.0-gl && \
+    apt-get -y upgrade && \
+    DEBIAN_FRONTEND=noninteractive apt-get -y install git python3-pip lsb-release sudo wget gstreamer1.0-plugins-bad gstreamer1.0-libav gstreamer1.0-gl && \
     rm -rf /var/lib/apt/lists/* && \
     apt clean
 
@@ -24,13 +21,25 @@ RUN git clone --branch v1.14.0 --single-branch --depth 1 \
         submodule update --init --recursive && \
     bash Tools/setup/ubuntu.sh
 
-# Explicitly add required \
+# Build and install MAVLink router
+RUN cd $HOME && \
+    git clone --branch v3 --depth 1 https://github.com/mavlink-router/mavlink-router.git && \
+    cd mavlink-router && \
+    git submodule update --init --recursive && \
+    apt install -y git ninja-build pkg-config gcc g++ systemd && \
+    pip3 install meson>=0.55 && \
+    meson setup build . && \
+    ninja -C build && \
+    ninja -C build install
+
 WORKDIR PX4-Autopilot
 
-COPY merge_xml.py merge_yaml.py dds_topics.yaml iris_hitl_ksql_airport.world 6011_typhoon_h480 .
+COPY . .
 
 # Setup ksql_airport.world for HIL
-RUN pip install --no-cache-dir lxml && \
+# empy must be version 3.3.4, see below commit
+# https://github.com/PX4/PX4-containers/commit/80df74db476adbf7a71d08c9b392023756cc1bb0
+RUN pip install --no-cache-dir lxml empy==3.3.4 && \
     python3 merge_xml.py iris_hitl_ksql_airport.world Tools/simulation/gazebo-classic/sitl_gazebo-classic/worlds/hitl_iris.world
 
 # Configure XRCE-DDS bridge
@@ -39,5 +48,16 @@ RUN python3 merge_yaml.py dds_topics.yaml src/modules/uxrce_dds_client/dds_topic
 # Apply configuration files
 #RUN cat 6011_typhoon_h480 >> ROMFS/px4fmu_common/init.d-posix/airframes/6011_gazebo-classic_typhoon_h480
 
+# The hostname of the gscam service in the network is assumed to be gisnav-gscam-1
+ENV PX4_VIDEO_HOST_IP=gisnav-gscam-1
+
+RUN mkdir -p /etc/mavlink-router && \
+    mv etc/mavlink-router/main.conf /etc/mavlink-router/main.conf && \
+    chmod +x ./entrypoint.sh
+
 # Make initial builds (for faster startup in the future)
 RUN DONT_RUN=1 make px4_sitl gazebo-classic_typhoon_h480__ksql_airport
+
+# No health check - if simulation dies makes no sense to restart via autoheal
+
+ENTRYPOINT ["./entrypoint.sh"]

docker/px4/entrypoint.sh

@@ -0,0 +1,29 @@
+#!/bin/bash
+set -e
+
+# Use MAVLink router to forward packets to remote QGC and MAVROS
+# https://docs.px4.io/main/en/simulation/#use-mavlink-router
+# See description of how PX4 uses ports for simulation here:
+# https://docs.px4.io/main/en/simulation/#default-px4-mavlink-udp-ports
+export QGC_IP=$(getent hosts gisnav-qgc-1 | awk '{ print $1 }')
+export MAVROS_IP=$(getent hosts gisnav-mavros-1 | awk '{ print $1 }')
+echo "Setting up MAVLink router to QGC host ${QGC_IP:-127.0.0.1}"
+mavlink-routerd -e ${QGC_IP:-127.0.0.1}:14550 127.0.0.1:14550 &
+echo "Setting up MAVLink router to MAVROS host ${MAVROS_IP:-127.0.0.1}"
+mavlink-routerd -e ${MAVROS_IP:-127.0.0.1}:14540 127.0.0.1:14540 &
+
+# Setup uXRCE agent IP
+# PX4 needs the IP as int32 - convert_ip.py script does the conversion
+# https://docs.px4.io/main/en/middleware/uxrce_dds.html#starting-the-client
+# UDP port 8888 used by default for SITL simulation
+export UXRCE_AGENT_IP=$(getent hosts gisnav-micro-ros-agent-1 | awk '{ print $1 }')
+export UXRCE_DDS_AG_IP=$(python3 Tools/convert_ip.py $UXRCE_AGENT_IP)
+echo "Connecting uXRCE client with agent at ${UXRCE_AGENT_IP:-127.0.0.1} (${UXRCE_DDS_AG_IP})."
+#echo "uxrce_dds_client start -h ${UXRCE_AGENT_IP}" >> ROMFS/px4fmu_common/init.d-posix/airframes/6011_gazebo-classic_typhoon_h480
+
+# Restart the uXRCE client in the main SITL startup script (rcS) with
+# the correct DDS agent IP address (rcS hard codes 127.0.0.1)
+echo "uxrce_dds_client stop" >> ROMFS/px4fmu_common/init.d-posix/rcS
+echo "uxrce_dds_client start -h ${UXRCE_AGENT_IP}" >> ROMFS/px4fmu_common/init.d-posix/rcS
+
+exec "$@"

docker/px4/etc/mavlink-router/main.conf

@@ -0,0 +1,3 @@
+[General]
+# Disable listening on 5760/TCP
+TcpServerPort = 0