diff --git a/docker/docker-compose.yaml b/docker/docker-compose.yaml index 0a97d254..8378db52 100644 --- a/docker/docker-compose.yaml +++ b/docker/docker-compose.yaml @@ -163,3 +163,9 @@ services: AUTOHEAL_CONTAINER_LABEL: all volumes: - /var/run/docker.sock:/var/run/docker.sock + + qgis: + <<: [*base, *x11] + build: + context: qgis + command: qgis diff --git a/docker/qgis/Dockerfile b/docker/qgis/Dockerfile new file mode 100644 index 00000000..f2d1a9b7 --- /dev/null +++ b/docker/qgis/Dockerfile @@ -0,0 +1,5 @@ +FROM qgis/qgis + +LABEL maintainer="Harri Makelin " + +COPY gisnav-sitl-ksql-wms.qgs /root diff --git a/docker/qgis/gisnav-sitl-ksql-wms.qgs b/docker/qgis/gisnav-sitl-ksql-wms.qgs new file mode 100644 index 00000000..c752759b --- /dev/null +++ b/docker/qgis/gisnav-sitl-ksql-wms.qgs @@ -0,0 +1,1136 @@ + + + + + + + + + GEOGCRS["WGS 84",ENSEMBLE["World Geodetic System 1984 ensemble",MEMBER["World Geodetic System 1984 (Transit)"],MEMBER["World Geodetic System 1984 (G730)"],MEMBER["World Geodetic System 1984 (G873)"],MEMBER["World Geodetic System 1984 (G1150)"],MEMBER["World Geodetic System 1984 (G1674)"],MEMBER["World Geodetic System 1984 (G1762)"],MEMBER["World Geodetic System 1984 (G2139)"],ELLIPSOID["WGS 84",6378137,298.257223563,LENGTHUNIT["metre",1]],ENSEMBLEACCURACY[2.0]],PRIMEM["Greenwich",0,ANGLEUNIT["degree",0.0174532925199433]],CS[ellipsoidal,2],AXIS["geodetic latitude (Lat)",north,ORDER[1],ANGLEUNIT["degree",0.0174532925199433]],AXIS["geodetic longitude (Lon)",east,ORDER[2],ANGLEUNIT["degree",0.0174532925199433]],USAGE[SCOPE["Horizontal component of 3D system."],AREA["World."],BBOX[-90,-180,90,180]],ID["EPSG",4326]] + +proj=longlat +datum=WGS84 +no_defs + 3452 + 4326 + EPSG:4326 + WGS 84 + longlat + EPSG:7030 + true + + + + + + + + + + + + + + + + + + + + + + + + _a4c7ccc0_67ab_4885_9e81_a454f50a7d83 + _d6cf33d8_6ebd_44b7_8829_22a3ffc69fd2 + _a5146e71_9af4_4015_8489_b80df961ab83 + _308e0247_ac52_4b88_9a44_01670727c7b6 + + + + + + + + + degrees + + -122.27403845050875475 + 37.51538276487403323 + -122.23969347550880116 + 37.5331590023740489 + + 0 + + + GEOGCRS["WGS 84",ENSEMBLE["World Geodetic System 1984 ensemble",MEMBER["World Geodetic System 1984 (Transit)"],MEMBER["World Geodetic System 1984 (G730)"],MEMBER["World Geodetic System 1984 (G873)"],MEMBER["World Geodetic System 1984 (G1150)"],MEMBER["World Geodetic System 1984 (G1674)"],MEMBER["World Geodetic System 1984 (G1762)"],MEMBER["World Geodetic System 1984 (G2139)"],ELLIPSOID["WGS 84",6378137,298.257223563,LENGTHUNIT["metre",1]],ENSEMBLEACCURACY[2.0]],PRIMEM["Greenwich",0,ANGLEUNIT["degree",0.0174532925199433]],CS[ellipsoidal,2],AXIS["geodetic latitude (Lat)",north,ORDER[1],ANGLEUNIT["degree",0.0174532925199433]],AXIS["geodetic longitude (Lon)",east,ORDER[2],ANGLEUNIT["degree",0.0174532925199433]],USAGE[SCOPE["Horizontal component of 3D system."],AREA["World."],BBOX[-90,-180,90,180]],ID["EPSG",4326]] + +proj=longlat +datum=WGS84 +no_defs + 3452 + 4326 + EPSG:4326 + WGS 84 + longlat + EPSG:7030 + true + + + 0 + + + + + + + + + + + + + + + + + + + + Annotations_2d5fcce5_1e45_465e_aac2_1a28b7f4a24a + + + + + Annotations + + + GEOGCRS["WGS 84",ENSEMBLE["World Geodetic System 1984 ensemble",MEMBER["World Geodetic System 1984 (Transit)"],MEMBER["World Geodetic System 1984 (G730)"],MEMBER["World Geodetic System 1984 (G873)"],MEMBER["World Geodetic System 1984 (G1150)"],MEMBER["World Geodetic System 1984 (G1674)"],MEMBER["World Geodetic System 1984 (G1762)"],MEMBER["World Geodetic System 1984 (G2139)"],ELLIPSOID["WGS 84",6378137,298.257223563,LENGTHUNIT["metre",1]],ENSEMBLEACCURACY[2.0]],PRIMEM["Greenwich",0,ANGLEUNIT["degree",0.0174532925199433]],CS[ellipsoidal,2],AXIS["geodetic latitude (Lat)",north,ORDER[1],ANGLEUNIT["degree",0.0174532925199433]],AXIS["geodetic longitude (Lon)",east,ORDER[2],ANGLEUNIT["degree",0.0174532925199433]],USAGE[SCOPE["Horizontal component of 3D system."],AREA["World."],BBOX[-90,-180,90,180]],ID["EPSG",4326]] + +proj=longlat +datum=WGS84 +no_defs + 3452 + 4326 + EPSG:4326 + WGS 84 + longlat + EPSG:7030 + true + + + + + + + + + + + + + + + + + + 0 + 0 + + + + + false + + + + + + + 1 + 1 + 1 + 0 + + + + 1 + 0 + + + + + + -123.00055600000000311 + 36.99944399999999689 + -121.99944399999999689 + 38.00055600000000311 + + + -123.00055600000000311 + 36.99944399999999689 + -121.99944399999999689 + 38.00055600000000311 + + _308e0247_ac52_4b88_9a44_01670727c7b6 + crs=EPSG:4326&dpiMode=7&format=image/png&layers=usgs-dem&styles&tilePixelRatio=0&url=http://localhost:80/wms + + + + USGS DEM + + + GEOGCRS["WGS 84",ENSEMBLE["World Geodetic System 1984 ensemble",MEMBER["World Geodetic System 1984 (Transit)"],MEMBER["World Geodetic System 1984 (G730)"],MEMBER["World Geodetic System 1984 (G873)"],MEMBER["World Geodetic System 1984 (G1150)"],MEMBER["World Geodetic System 1984 (G1674)"],MEMBER["World Geodetic System 1984 (G1762)"],MEMBER["World Geodetic System 1984 (G2139)"],ELLIPSOID["WGS 84",6378137,298.257223563,LENGTHUNIT["metre",1]],ENSEMBLEACCURACY[2.0]],PRIMEM["Greenwich",0,ANGLEUNIT["degree",0.0174532925199433]],CS[ellipsoidal,2],AXIS["geodetic latitude (Lat)",north,ORDER[1],ANGLEUNIT["degree",0.0174532925199433]],AXIS["geodetic longitude (Lon)",east,ORDER[2],ANGLEUNIT["degree",0.0174532925199433]],USAGE[SCOPE["Horizontal component of 3D system."],AREA["World."],BBOX[-90,-180,90,180]],ID["EPSG",4326]] + +proj=longlat +datum=WGS84 +no_defs + 3452 + 4326 + EPSG:4326 + WGS 84 + longlat + EPSG:7030 + true + + + + + + + + + + + + + + + + + + 0 + 0 + + + + + false + + + + + wms + + + + + + + + + 1 + 1 + 1 + 0 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + None + WholeRaster + Estimated + 0.02 + 0.98 + 2 + + + + + + resamplingFilter + + 0 + + + + -122.31539600000000689 + 37.49737799999999766 + -122.18455799999999556 + 37.56509700000000151 + + + -122.31539600000000689 + 37.49737799999999766 + -122.18455799999999556 + 37.56509700000000151 + + _a4c7ccc0_67ab_4885_9e81_a454f50a7d83 + crs=EPSG:4326&dpiMode=7&format=image/png&layers=imagery&styles&tilePixelRatio=0&url=http://localhost:80/wms + + + + NAIP Imagery + + + GEOGCRS["WGS 84",ENSEMBLE["World Geodetic System 1984 ensemble",MEMBER["World Geodetic System 1984 (Transit)"],MEMBER["World Geodetic System 1984 (G730)"],MEMBER["World Geodetic System 1984 (G873)"],MEMBER["World Geodetic System 1984 (G1150)"],MEMBER["World Geodetic System 1984 (G1674)"],MEMBER["World Geodetic System 1984 (G1762)"],MEMBER["World Geodetic System 1984 (G2139)"],ELLIPSOID["WGS 84",6378137,298.257223563,LENGTHUNIT["metre",1]],ENSEMBLEACCURACY[2.0]],PRIMEM["Greenwich",0,ANGLEUNIT["degree",0.0174532925199433]],CS[ellipsoidal,2],AXIS["geodetic latitude (Lat)",north,ORDER[1],ANGLEUNIT["degree",0.0174532925199433]],AXIS["geodetic longitude (Lon)",east,ORDER[2],ANGLEUNIT["degree",0.0174532925199433]],USAGE[SCOPE["Horizontal component of 3D system."],AREA["World."],BBOX[-90,-180,90,180]],ID["EPSG",4326]] + +proj=longlat +datum=WGS84 +no_defs + 3452 + 4326 + EPSG:4326 + WGS 84 + longlat + EPSG:7030 + true + + + + + + + + + + + + + + + + + + 0 + 0 + + + + + false + + + + + wms + + + + + + + + + 1 + 1 + 1 + 0 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + None + WholeRaster + Estimated + 0.02 + 0.98 + 2 + + + + + + resamplingFilter + + 0 + + + + -122.30364899999999295 + 37.4901219999999995 + -122.21110000000000184 + 37.55616200000000049 + + + -122.30364899999999295 + 37.4901219999999995 + -122.21110000000000184 + 37.55616200000000049 + + _a5146e71_9af4_4015_8489_b80df961ab83 + crs=EPSG:4326&dpiMode=7&format=image/png&layers=osm-buildings-dem&styles&tilePixelRatio=0&url=http://localhost:80/wms + + + + OSM Buildings USGS DEM + + + GEOGCRS["WGS 84",ENSEMBLE["World Geodetic System 1984 ensemble",MEMBER["World Geodetic System 1984 (Transit)"],MEMBER["World Geodetic System 1984 (G730)"],MEMBER["World Geodetic System 1984 (G873)"],MEMBER["World Geodetic System 1984 (G1150)"],MEMBER["World Geodetic System 1984 (G1674)"],MEMBER["World Geodetic System 1984 (G1762)"],MEMBER["World Geodetic System 1984 (G2139)"],ELLIPSOID["WGS 84",6378137,298.257223563,LENGTHUNIT["metre",1]],ENSEMBLEACCURACY[2.0]],PRIMEM["Greenwich",0,ANGLEUNIT["degree",0.0174532925199433]],CS[ellipsoidal,2],AXIS["geodetic latitude (Lat)",north,ORDER[1],ANGLEUNIT["degree",0.0174532925199433]],AXIS["geodetic longitude (Lon)",east,ORDER[2],ANGLEUNIT["degree",0.0174532925199433]],USAGE[SCOPE["Horizontal component of 3D system."],AREA["World."],BBOX[-90,-180,90,180]],ID["EPSG",4326]] + +proj=longlat +datum=WGS84 +no_defs + 3452 + 4326 + EPSG:4326 + WGS 84 + longlat + EPSG:7030 + true + + + + + + + + + + + + + + + + + + 0 + 0 + + + + + false + + + + + wms + + + + + + + + + 1 + 1 + 1 + 0 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + None + WholeRaster + Estimated + 0.02 + 0.98 + 2 + + + + + + resamplingFilter + + 0 + + + + -122.30364899999999295 + 37.4901219999999995 + -122.21110000000000184 + 37.55616200000000049 + + + -122.30364899999999295 + 37.4901219999999995 + -122.21110000000000184 + 37.55616200000000049 + + _d6cf33d8_6ebd_44b7_8829_22a3ffc69fd2 + crs=EPSG:4326&dpiMode=7&format=image/png&layers=osm-buildings&styles&tilePixelRatio=0&url=http://localhost:80/wms + + + + OSM Buildings + + + GEOGCRS["WGS 84",ENSEMBLE["World Geodetic System 1984 ensemble",MEMBER["World Geodetic System 1984 (Transit)"],MEMBER["World Geodetic System 1984 (G730)"],MEMBER["World Geodetic System 1984 (G873)"],MEMBER["World Geodetic System 1984 (G1150)"],MEMBER["World Geodetic System 1984 (G1674)"],MEMBER["World Geodetic System 1984 (G1762)"],MEMBER["World Geodetic System 1984 (G2139)"],ELLIPSOID["WGS 84",6378137,298.257223563,LENGTHUNIT["metre",1]],ENSEMBLEACCURACY[2.0]],PRIMEM["Greenwich",0,ANGLEUNIT["degree",0.0174532925199433]],CS[ellipsoidal,2],AXIS["geodetic latitude (Lat)",north,ORDER[1],ANGLEUNIT["degree",0.0174532925199433]],AXIS["geodetic longitude (Lon)",east,ORDER[2],ANGLEUNIT["degree",0.0174532925199433]],USAGE[SCOPE["Horizontal component of 3D system."],AREA["World."],BBOX[-90,-180,90,180]],ID["EPSG",4326]] + +proj=longlat +datum=WGS84 +no_defs + 3452 + 4326 + EPSG:4326 + WGS 84 + longlat + EPSG:7030 + true + + + + + + + + + + + + + + + + + + 0 + 0 + + + + + false + + + + + wms + + + + + + + + + 1 + 1 + 1 + 0 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + None + WholeRaster + Estimated + 0.02 + 0.98 + 2 + + + + + + resamplingFilter + + 0 + + + + + + + + + + + 0 + + + 255 + 255 + 255 + 255 + 0 + 255 + 255 + + + false + + + EPSG:7030 + + + m2 + meters + + + 5 + 2.5 + false + false + false + 1 + 0 + false + false + true + 0 + 255,0,0,255 + + + false + + + true + 2 + + + 1 + + + + + + + + + + + + + + + + + + + root + 2023-10-05T17:23:13 + + + + + + + + + + + GEOGCRS["WGS 84",ENSEMBLE["World Geodetic System 1984 ensemble",MEMBER["World Geodetic System 1984 (Transit)"],MEMBER["World Geodetic System 1984 (G730)"],MEMBER["World Geodetic System 1984 (G873)"],MEMBER["World Geodetic System 1984 (G1150)"],MEMBER["World Geodetic System 1984 (G1674)"],MEMBER["World Geodetic System 1984 (G1762)"],MEMBER["World Geodetic System 1984 (G2139)"],ELLIPSOID["WGS 84",6378137,298.257223563,LENGTHUNIT["metre",1]],ENSEMBLEACCURACY[2.0]],PRIMEM["Greenwich",0,ANGLEUNIT["degree",0.0174532925199433]],CS[ellipsoidal,2],AXIS["geodetic latitude (Lat)",north,ORDER[1],ANGLEUNIT["degree",0.0174532925199433]],AXIS["geodetic longitude (Lon)",east,ORDER[2],ANGLEUNIT["degree",0.0174532925199433]],USAGE[SCOPE["Horizontal component of 3D system."],AREA["World."],BBOX[-90,-180,90,180]],ID["EPSG",4326]] + +proj=longlat +datum=WGS84 +no_defs + 3452 + 4326 + EPSG:4326 + WGS 84 + longlat + EPSG:7030 + true + + + + + + + + + + + + + + + + + + + + + + GEOGCRS["WGS 84",ENSEMBLE["World Geodetic System 1984 ensemble",MEMBER["World Geodetic System 1984 (Transit)"],MEMBER["World Geodetic System 1984 (G730)"],MEMBER["World Geodetic System 1984 (G873)"],MEMBER["World Geodetic System 1984 (G1150)"],MEMBER["World Geodetic System 1984 (G1674)"],MEMBER["World Geodetic System 1984 (G1762)"],MEMBER["World Geodetic System 1984 (G2139)"],ELLIPSOID["WGS 84",6378137,298.257223563,LENGTHUNIT["metre",1]],ENSEMBLEACCURACY[2.0]],PRIMEM["Greenwich",0,ANGLEUNIT["degree",0.0174532925199433]],CS[ellipsoidal,2],AXIS["geodetic latitude (Lat)",north,ORDER[1],ANGLEUNIT["degree",0.0174532925199433]],AXIS["geodetic longitude (Lon)",east,ORDER[2],ANGLEUNIT["degree",0.0174532925199433]],USAGE[SCOPE["Horizontal component of 3D system."],AREA["World."],BBOX[-90,-180,90,180]],ID["EPSG",4326]] + +proj=longlat +datum=WGS84 +no_defs + 3452 + 4326 + EPSG:4326 + WGS 84 + longlat + EPSG:7030 + true + + + + + + + diff --git a/docs/pages/developer_guide/launch/docker_compose.rst b/docs/pages/developer_guide/launch/docker_compose.rst index 9e661a39..5effcb08 100644 --- a/docs/pages/developer_guide/launch/docker_compose.rst +++ b/docs/pages/developer_guide/launch/docker_compose.rst @@ -56,7 +56,9 @@ a brief description of their intended use. | ``autoheal`` | Monitors Docker container health and restarts containers marked as unhealthy. Used in the | | | :term:`onboard` :term:`HIL` deployment configuration. | +---------------------+-----------------------------------------------------------------------------------------------+ -| ``gscam`` | Bridge for integrating video stream from camera into ROS via GStreamer | +| ``gscam`` | Bridge for integrating video stream from camera into ROS via GStreamer. | ++---------------------+-----------------------------------------------------------------------------------------------+ +| ``qgis`` | QGIS client GUI preconfigured with ``mapserver`` WMS connection for inspecting onboard maps. | +---------------------+-----------------------------------------------------------------------------------------------+ | ``gisnav`` | GISNav :term:`ROS 2` package for demonstration use only. Launches GISNav with the PX4 | | | configuration by default. Can also be launched for ArduPilot. |