Merge pull request #104 from hmakelin/docker-compose-profiles

Enforce Docker Compose service dependencies

Makefile

@@ -8,12 +8,5 @@ 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/docker-compose.yaml

@@ -24,9 +24,6 @@ x-all-net: &all-net
 x-base: &base
   build:
     dockerfile: Dockerfile
-    #platforms:
-    #  - "linux/amd64"
-  #network_mode: host
 
 # devices is a sequence not a mapping so careful when merging
 # with something that defines its own devices
@@ -66,18 +63,12 @@ services:
       context: mapserver
       args:
         DOCKER_TAG: latest
-      #platforms:
-      #  - "linux/amd64"
-      #  - "linux/arm64"
     command: /usr/local/bin/start-server
 
   micro-ros-agent:
     <<: [*base, *ros, *mavlink-net]
     build:
       context: micro-ros-agent
-      #platforms:
-      #  - "linux/amd64"
-      #  - "linux/arm64"
     command: udp4 -p 8888
 
   mavros:
@@ -86,9 +77,6 @@ services:
       context: mavros
       args:
         ROS_VERSION: humble
-      #platforms:
-      #  - "linux/amd64"
-      #  - "linux/arm64"
     command: ros2 run mavros mavros_node --ros-args --param fcu_url:=udp://:14540@localhost:14557
 
   qgc:
@@ -116,7 +104,15 @@ services:
       args:
         ROS_VERSION: humble
     command: ros2 launch gisnav px4.dev.launch.py
-
+    depends_on:
+      - px4
+      - mavros
+      - micro-ros-agent
+      - gscam
+      - mapserver
+
+  # The px4 service depends on mavros, mapserver and micro-ros-agent because
+  # their IP addresses are used in the px4 service entrypoint.sh script
   px4:
     <<: [*base, *x11, *tty, *nvidia-gpu, *mavlink-net]
     build:
@@ -126,6 +122,10 @@ services:
       - /dev/shm:/dev/shm
       - /dev/dri:/dev/dri
     command: make px4_sitl gazebo-classic_typhoon_h480__ksql_airport
+    depends_on:
+      - mavros
+      - mapserver
+      - micro-ros-agent
 
   ardupilot:
     <<: [*base, *x11, *nvidia-gpu, *mavlink-net]
@@ -178,13 +178,14 @@ services:
     build:
       context: qgis
     command: qgis
+    depends_on:
+      - postgres
+      - mapserver
 
   postgres:
     <<: [*base, *gis-net]
     build:
       context: postgres
-    #ports:
-    #  - "5432:5432"  # Map PostgreSQL's default port to the host
     environment:
       POSTGRES_DB: gisnav
       POSTGRES_USER: gisnav

docker/gisnav/Dockerfile

@@ -46,9 +46,6 @@ 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/px4/Dockerfile

@@ -34,7 +34,9 @@ RUN cd $HOME && \
 
 WORKDIR PX4-Autopilot
 
-COPY . .
+# Do not copy Dockerfile so that it can be edited without invalidating this
+# layer
+COPY 6011_typhoon_h480 merge_yaml.py merge_xml.py dds_topics.yaml iris_hitl_ksql_airport.world entrypoint.sh etc .
 
 # Setup ksql_airport.world for HIL
 # empy must be version 3.3.4, see below commit
@@ -52,7 +54,7 @@ RUN python3 merge_yaml.py dds_topics.yaml src/modules/uxrce_dds_client/dds_topic
 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 && \
+    mv mavlink-router/main.conf /etc/mavlink-router/main.conf && \
     chmod +x ./entrypoint.sh
 
 # Make initial builds (for faster startup in the future)

docs/conf.py

@@ -195,7 +195,9 @@ def parse_package_data(cls, package_file: str) -> PackageData:
 .. |ros_version_capitalized| replace:: Humble
 .. |ROS 2 install instructions| replace:: ROS 2 install instructions
 .. _ROS 2 install instructions: https://docs.ros.org/en/{ros_version}/Installation.html
-"""
+.. |Docker Compose file| replace:: Docker Compose file
+.. _Docker Compose file: https://github.com/hmakelin/gisnav/blob/v{version}/docker/docker-compose.yaml
+"""  # noqa: E501
 
 rst_epilog = f"""
 Updated on {datetime.datetime.today().strftime("%b %d, %Y")}

docs/index.rst

@@ -22,8 +22,7 @@ Welcome to GISNav's developer documentation!
 Generate documentation
 _________________________________________
 To build this Sphinx documentation yourself, first :ref:`Install locally` including
-the development dependencies, then `install D2 <https://d2lang.com/tour/install/>`_
-and then run:
+the development dependencies and then run:
 
 .. code-block:: bash
     :caption: Build Sphinx documentation