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hmakelinhmakelin
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Use mavros v2.8 Debian package which includes gimbal_control plugin
Prior to this release we had to build the plugin ourselves
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-86
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6 files changed

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‎debian/gisnav/DEBIAN/postinst

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -2,7 +2,7 @@
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set -e
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# Change to the directory where the docker-compose.yml is located
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cd /etc/gisnav/docker
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#cd /etc/gisnav/docker
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# The gnc CLI tool should be provided with this package
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# We prepare containers here as part of the installation process so that the

‎debian/gisnav/DEBIAN/postrm

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Original file line numberDiff line numberDiff line change
@@ -30,4 +30,12 @@ else
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echo "docker command not found. Skipping docker compose down."
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fi
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# Remove /etc/gisnav folder and all contents
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#if [ -d "/etc/gisnav" ]; then
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# rm -rf /etc/gisnav
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# echo "Successfully removed /etc/gisnav and all its contents."
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#else
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# echo "/etc/gisnav does not exist. Skipping removal."
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#fi
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exit 0

‎debian/gisnav/Makefile

Lines changed: 17 additions & 30 deletions
Original file line numberDiff line numberDiff line change
@@ -8,7 +8,7 @@ SHELL := /bin/bash
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PACKAGE_NAME = gisnav
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BUILD_DIR = build
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DIST_DIR = dist
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REPO_ROOT_PATH = ../..
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REPO_ROOT_PATH = $(shell realpath ../..)
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ARCHITECTURE = all
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# Get the latest git tag and format the version string
@@ -28,7 +28,7 @@ all: dist
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# Phony target for cleaning the build directory
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.PHONY: clean
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clean:
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@rm -rf $(BUILD_DIR) $(DIST_DIR)
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@rm -rf $(MAKEFILE_DIR)$(BUILD_DIR) $(MAKEFILE_DIR)$(DIST_DIR)
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.PHONY: distclean
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distclean:
@@ -78,31 +78,18 @@ $(BUILD_DIR)/etc/systemd:
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@mkdir -p $@
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@cp -r etc/systemd/ $@
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# We need to copy .git to make git describe work for the docs (docs are built
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# with git version string). pre-commit might also need the .git folder.
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# TODO: only copy over a shallow copy of git repo - we do not need entire history
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# nor all branches
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$(BUILD_DIR)/etc/gisnav: $(BUILD_DIR)/etc/gisnav/ros $(BUILD_DIR)/etc/gisnav/docker $(BUILD_DIR)/etc/gisnav/docs
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@dest=debian/gisnav/$@ && \
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mkdir -p $@ && \
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touch $(BUILD_DIR)/COLCON_IGNORE && \
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cd ${REPO_ROOT_PATH}; rsync -av --exclude-from='.gitignore' Makefile .pre-commit-config.yaml LICENSE.md README.md pyproject.toml .git $$dest
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$(BUILD_DIR)/etc/gisnav/ros:
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@dest=debian/gisnav/$@ && \
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mkdir -p $@ && \
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touch $(BUILD_DIR)/COLCON_IGNORE && \
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cd ${REPO_ROOT_PATH}; rsync -av --exclude-from='.gitignore' ros/ $$dest
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@echo -e "\033[1;33;40mWarning! Check the file list above that no unintended files were copied over to the distributable.\033[0m"
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$(BUILD_DIR)/etc/gisnav/docker:
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@dest=debian/gisnav/$@ && \
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mkdir -p $@ && \
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cd ${REPO_ROOT_PATH}; rsync -av --exclude-from='.gitignore' docker/ $$dest
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@echo -e "\033[1;33;40mWarning! Check the file list above that no unintended files were copied over to the distributable.\033[0m"
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$(BUILD_DIR)/etc/gisnav/docs:
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@dest=debian/gisnav/$@ && \
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mkdir -p $@ && \
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touch $(BUILD_DIR)/COLCON_IGNORE && \
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cd ${REPO_ROOT_PATH}; rsync -av --exclude-from='.gitignore' docs/ $$dest
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# We need a shallow copy of git repo to make git describe work for the docs
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# (docs are built with git version string). pre-commit might also need the
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# .git folder.
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# We also grab any uncommitted changes from the local repo and apply them
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# as a patch to the shallow copy, to make development more convenient. We apply
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# staged changes first, and then unstaged changes (we create a combined patch
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# file)
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$(BUILD_DIR)/etc/gisnav:
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@mkdir -p $@
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@touch $(BUILD_DIR)/COLCON_IGNORE
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@git clone --depth 1 file://${REPO_ROOT_PATH} $@
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@cd ${REPO_ROOT_PATH} && git diff --cached > /tmp/gisnav-diff.patch \
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&& git diff >> /tmp/gisnav-diff.patch
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@cd $@ && git apply /tmp/gisnav-diff.patch
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@rm -rf /tmp/gisnav-diff.patch

‎docker/mavros/Dockerfile

Lines changed: 12 additions & 42 deletions
Original file line numberDiff line numberDiff line change
@@ -4,59 +4,28 @@ FROM ros:${ROS_DISTRO} as mavros-msgs
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ARG ROS_DISTRO
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ENV ROS_DISTRO=${ROS_DISTRO}
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# Combine apt update, upgrade and cleaning up in one layer
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RUN apt update --fix-missing && \
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apt -y upgrade
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SHELL ["/bin/bash", "-c"]
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WORKDIR /opt/colcon_ws/src/
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# Install GeographicLib related dependencies
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# Also add universe repository for ROS packages
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# tcpdump for health checks
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RUN apt-get -y install software-properties-common wget curl tcpdump && \
12+
RUN apt-get update && \
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apt-get -y install software-properties-common wget curl tcpdump && \
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add-apt-repository ppa:ubuntugis/ppa && \
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add-apt-repository universe && \
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apt-get update && \
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apt-get -y install gdal-bin libgdal-dev geographiclib-tools && \
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geographiclib-get-geoids egm96-5
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# Get mavros with gimbal protocol v2 plugin and build mavros_msgs only
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# mavros_msgs is needed by both downstream images so it is already built here
27-
# adds an additional custom patch to gps_input.cpp
28-
RUN source /opt/ros/${ROS_DISTRO}/setup.bash && \
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git clone --branch 2.8.0 https://github.com/mavlink/mavros.git && \
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rosdep update && \
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apt-get update && \
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rosdep install --from-paths . --ignore-src -y && \
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cd .. && \
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colcon build --packages-ignore mavros mavros_extras libmavconn && \
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sed -i 's/rclcpp::Time last_pos_time;/rclcpp::Time last_pos_time{0, 0, get_clock()->get_clock_type()};/' \
36-
src/mavros/mavros_extras/src/plugins/gps_input.cpp
17+
apt-get -y install gdal-bin libgdal-dev geographiclib-tools ros-${ROS_DISTRO}-mavros && \
18+
geographiclib-get-geoids egm96-5 && \
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rm -rf /var/lib/apt/lists/* && \
20+
apt-get clean
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22+
RUN mkdir -p /opt/colcon_ws/src
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3924
FROM mavros-msgs AS mavros
4025
ARG ROS_DISTRO
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4227
WORKDIR /opt/colcon_ws/
4328

44-
COPY mavros/filter_plugins.sh /opt/colcon_ws/src/mavros
45-
46-
# Build mavros and mavros_extras gimbal protocol v2 (gimbal_control) plugin
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# We use the filter_plugins.sh script to disable unneeded plugins to significantly
48-
# speed up build time and use of memory.
49-
# mavros_msgs was built earlier so we ignore it here
50-
RUN source /opt/ros/${ROS_DISTRO}/setup.bash \
51-
&& source install/setup.bash \
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&& cd src/mavros \
53-
&& ./filter_plugins.sh \
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&& cd /opt/colcon_ws/ \
55-
&& colcon build --packages-ignore mavros_msgs
56-
57-
RUN rm -rf /var/lib/apt/lists/* && \
58-
apt clean
59-
6029
COPY mavros/entrypoint.sh /
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6231
RUN chmod 755 /entrypoint.sh
@@ -129,9 +98,10 @@ RUN curl -o- https://raw.githubusercontent.com/nvm-sh/nvm/v0.39.7/install.sh | b
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13099
COPY Makefile .pre-commit-config.yaml LICENSE.md README.md pyproject.toml /opt/colcon_ws/src/gisnav/
131100

132-
# .git needed to make pre-commit and git describe work
133-
# TODO: solve this in a better way - we have an unnecessarily large git
134-
# history in the container
135-
COPY .git /opt/colcon_ws/src/gisnav/.git
101+
# .git needed to make pre-commit and git describe work. We create a shallow
102+
# copy of the repo to avoid carrying over all of commit history.
103+
COPY .git /tmp/gisnav/.git
104+
RUN git clone --depth 1 /tmp/gisnav/.git /opt/colcon_ws/src/gisnav/.git && \
105+
rm -rf /tmp/gisnav/.git
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137107
ENTRYPOINT ["/entrypoint.sh"]

‎docker/mavros/mavros/entrypoint.sh

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@@ -2,6 +2,5 @@
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set -e
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source "/opt/ros/$ROS_DISTRO/setup.bash"
5-
source "/opt/colcon_ws/install/setup.bash" --
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exec "$@"

‎docker/mavros/mavros/filter_plugins.sh

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