WIP: Make NMEA downstream integration work

Author: hmakelin

docker/docker-compose.commands.yaml

@@ -49,6 +49,9 @@ services:
   ubx:
     command: "ros2 run ubx_publisher ubx_publisher_node --ros-args --log-level debug -p serial_port:=/dev/pts/0"  # pty created in entrypoint script, TODO try to $(readlink /tmp/gisnav-pty-link) instead of hard-coding /dev/pts/0 here
 
+  nmea:
+    command: "ros2 run nmea_publisher nmea_publisher_node --ros-args --log-level debug -p serial_port:=/dev/pts/0"  # pty created in entrypoint script, TODO try to $(readlink /tmp/gisnav-pty-link) instead of hard-coding /dev/pts/0 here
+
   fileserver:
     command: apache2ctl -D FOREGROUND
 

docker/docker-compose.dependencies.yaml

@@ -10,7 +10,8 @@ services:
   gisnav:
     depends_on:
       - micro-ros-agent
-      - ubx
+      # - ubx
+      - nmea
       - mavros
       - gscam
       - mapserver

docker/docker-compose.healthcheck.yaml

@@ -27,6 +27,14 @@ services:
       ]
       <<: *settings
 
+  nmea:
+    healthcheck:
+      test: [ "CMD", "bash", "-c", "
+        timeout 30 tcpdump -i any -c 1 tcp src port ${SOCAT_BRIDGE_PORT:?empty or not set} > /tmp/tcp_check.log 2>&1 &&
+        grep -q 'TCP' /tmp/tcp_check.log"
+      ]
+      <<: *settings
+
   mavros:
     healthcheck:
       test: ["CMD", "bash", "-c", "

docker/docker-compose.labels.yaml

@@ -75,6 +75,13 @@ services:
       homepage.name: UBX agent
       homepage.description: UBX to ROS middleware
 
+  nmea:
+    labels:
+      <<: *labels
+      homepage.group: Middleware services
+      homepage.name: NMEA ROS to serial bridge
+      homepage.description: Publishes ROS NMEA sentences to serial port
+
   qgc:
     labels:
       <<: *labels

docker/docker-compose.networking.yaml

@@ -35,6 +35,18 @@ services:
       GISNAV_FCU_URL: ${GISNAV_FCU_URL:?empty or not set}  # todo TCP bridge only for simulation?
     extra_hosts:
       - "host.docker.internal:host-gateway"  # for socat
+
+  nmea:
+    networks:
+      - dds
+    ports:
+      - "${SOCAT_BRIDGE_PORT:?empty or not set}:${SOCAT_BRIDGE_PORT:?empty or not set}/udp"
+    environment:
+      SOCAT_BRIDGE_PORT: ${SOCAT_BRIDGE_PORT:?empty or not set}
+      GISNAV_FCU_URL: ${GISNAV_FCU_URL:?empty or not set}  # todo TCP bridge only for simulation?
+    extra_hosts:
+      - "host.docker.internal:host-gateway"  # for socat
+
   qgc:
     network_mode: host
 

docker/docker-compose.ros.yaml

@@ -63,3 +63,9 @@ services:
       args:
         ROS_DISTRO: humble
     <<: *ros
+
+  nmea:
+    build:
+      args:
+        ROS_DISTRO: humble
+    <<: *ros

docker/docker-compose.yaml

@@ -95,6 +95,10 @@ services:
     build:
       context: ubx
 
+  nmea:
+    build:
+      context: nmea
+
   autoheal:
     image: willfarrell/autoheal
     restart: always

docker/nmea/Dockerfile

@@ -0,0 +1,33 @@
+ARG ROS_DISTRO
+FROM ros:${ROS_DISTRO}
+
+ARG ROS_DISTRO
+ENV ROS_DISTRO=${ROS_DISTRO}
+
+SHELL ["/bin/bash", "-c"]
+
+# tcpdump for health checks
+RUN apt-get update && \
+    apt-get -y dist-upgrade && \
+    apt-get -y install tcpdump socat python3-pip && \
+    apt-get clean && \
+    rm -rf /var/lib/apt/lists/*
+
+COPY opt/ /opt/
+
+WORKDIR /opt/colcon_ws
+
+RUN rosdep update && \
+    apt-get update && \
+    rosdep install --from-paths ./src -y -r --ignore-src && \
+    rm -rf /var/lib/apt/lists/* && \
+    apt clean
+
+RUN pip3 install ./src/nmea_publisher && \
+    source /opt/ros/${ROS_DISTRO}/setup.bash && \
+    colcon build
+
+COPY --chmod=755 entrypoint.sh /
+
+SHELL ["/bin/bash", "-c"]
+ENTRYPOINT ["/entrypoint.sh"]

docker/nmea/entrypoint.sh

@@ -0,0 +1,12 @@
+#!/bin/bash
+set -e
+
+source "/opt/ros/$ROS_DISTRO/setup.bash"
+source "/opt/colcon_ws/install/setup.bash"
+
+echo "Setting up socat bridge from serial output to simulator container over TCP port 15000..."
+socat pty,link=/tmp/gisnav-pty-link,raw,echo=0 tcp:${GISNAV_FCU_URL:?empty or not set}:${SOCAT_BRIDGE_PORT:?empty or not set} || (echo "Could not establish serial-to-TCP bridge. Is the SITL simulation container running?"; exit 1) &
+sleep 3  # Give socat time to create the pty
+echo PTS device created at: `readlink /tmp/gisnav-pty-link`
+
+exec "$@"