Merge pull request #31 from hmakelin/hmakelin-gisnav-build

Fixes for Jetson Nano build

Author: hmakelin

docker-compose.arm64.yaml

@@ -0,0 +1,5 @@
+version: "3.4"
+
+services:
+  mapserver:
+    image: camptocamp/mapserver:latest-arm64

docker-compose.yaml

@@ -70,7 +70,10 @@ services:
             - driver: nvidia
               count: 1
               capabilities: [ gpu ]
-    command: bash -c "source /opt/ros/foxy/setup.bash && source ~/colcon_ws/install/setup.bash && ros2 launch gisnav px4.launch.py"
+    command: >
+      bash -c "source /opt/ros/foxy/setup.bash && source ~/colcon_ws/install/setup.bash &&
+      export LD_PRELOAD=$(find $(pip3 show torch |grep Location:  |cut -d' ' -f 2)/torch/lib -name 'libgomp*') &&
+      ros2 launch gisnav px4.launch.py"
 
   px4:
     build:

docker/gisnav/Dockerfile

@@ -28,6 +28,14 @@ RUN cd $HOME/colcon_ws/src/gisnav && \
     cd weights && \
     $HOME/.local/lib/$USERNAME/gdown https://drive.google.com/uc?id=1M-VD35-qdB5Iw-AtbDBCKC7hPolFW9UY
 
+# Install GDAL
+RUN sudo apt-get -y upgrade && \
+    sudo apt-get -y update && \
+    sudo apt-get -y install software-properties-common && \
+    sudo add-apt-repository ppa:ubuntugis/ppa && \
+    sudo apt-get update && \
+    sudo apt-get -y install gdal-bin libgdal-dev \
+
 # Python dependencies
 RUN cd $HOME/colcon_ws/src/gisnav && \
     pip3 install -r requirements.txt  && \

docs/pages/developer_guide/sitl_environment/docker.md

@@ -14,7 +14,7 @@ The `docker-compose.yaml` file defines the following services:
   * Starts `typhoon_h480` model at KSQL Airport
 * `mavros`
   * Used for ArduPilot SITL
-* `micro_ros_agent`
+* `micro-ros-agent`
   * Used for PX4 SITL
 * `mapserver`
   * WMS server with self-hosted [NAIP][2] and [OSM Buildings][3] data covering KSQL airport  

docs/pages/developer_guide/sitl_environment/install_gisnav.rst

@@ -26,6 +26,18 @@ ROS version with the ``whereis ros2`` command:
         echo "source /opt/ros/foxy/setup.bash" >> ~/.bashrc
         echo "source ~/colcon_ws/install/setup.bash" >> ~/.bashrc
 
+Install GDAL
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+``GDAL`` is required to install the ``geopandas`` Python dependency:
+
+.. code-block:: text
+    :caption: Install GDAL
+
+    sudo apt-get -y install software-properties-common
+    sudo add-apt-repository ppa:ubuntugis/ppa
+    sudo apt-get update
+    sudo apt-get -y install gdal-bin libgdal-dev
+
 Install GISNav
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 Install GISNav in your ROS 2 Workspace: