Merge pull request #128 from hmakelin/nmea

Update NMEA support

Author: hmakelin

Makefile

@@ -1,5 +1,8 @@
 SHELL := /bin/bash
 
+# Default output protocol for mock GPS messages
+PROTOCOL=nmea
+
 .PHONY: docs
 docs:
 	@cd docs/sphinx && sphinx-build -M markdown ./source ./build
@@ -62,13 +65,19 @@ format: lint
 check: lint test
 	@echo "Running code quality checks..."
 
+.PHONY: dev
+dev:
+	@echo "Launching GISNav locally using $(PROTOCOL) protocol..."
+	@ros2 launch gisnav local.launch.py protocol:=$(PROTOCOL)
+
 .PHONY: help
 help:
 	@echo "Available targets:"
 	@echo "  docs           - Build the documentation"
 	@echo "  docs preview   - Preview the documentation"
 	@echo "  docs dev       - Run the documentation development server"
 	@echo "  build          - Build the project"
+	@echo "  dev            - Run GISNav locally"
 	@echo "  dist           - Create a distribution package"
 	@echo "  clean          - Clean up all generated files"
 	@echo "  clean docs     - Clean up documentation build files only"

docker/.env

@@ -29,3 +29,6 @@ GISNAV_VIDEO_BIND_PORT=5600
 #TINYOWS_MAPFILE=/etc/mapserver/default.map
 
 SIM_HEADLESS=0
+
+# TCP port for bridging serial output from middleware to simulation container
+SOCAT_BRIDGE_PORT=15000

docker/Makefile

@@ -1,45 +1,3 @@
-# This Makefile is used as a Docker container orchestration tool to deploy
-# various Docker Compose services that support GISNav.
-#
-# The terminology used in this Makefile includes the following:
-#   - FMU: Flight Management Unit, the onboard flight controller computer
-#		board (e.g., Pixhawk) that runs the autopilot software.
-#   - HIL: Hardware-In-The-Loop, a simulation mode where the autopilot runs
-#		onboard the FMU.
-#   - SITL: Software-In-The-Loop, a simulation mode where the autopilot is
-#		executed offboard on a separate computer, replicating the drone's
-#		flight dynamics and sensors, enabling testing and development without
-#		using actual hardware.
-#   - Offboard: Refers to services that run on a computer not carried by the
-#		drone and not powered by the drone battery (e.g., a powerful desktop).
-#   - Onboard: Refers to services that run on the drone itself, powered by the
-#		drone's battery, like the FMU and onboard companion computer (e.g.,
-#  		Nvidia Jetson Nano). In the case of GISNav, all onboard services are
-#		intended to run on the companion computer and not e.g. on the FMU.
-#   - Middleware: Software that sits between the autopilot and GISNav, enabling
-#		communication between them.
-#   - QGC: QGroundControl, a ground control station software used to monitor
-#		and control drones.
-#   - Gazebo: A robotics simulator used to simulate the drone's environment and
-#		its interactions with the world.
-#
-# The target options in the Makefile are as follows:
-#   - onboard-hil-*: Targets for onboard hardware-in-the-loop services,
-#		including GIS server, ROS middleware, autoheal, and GISNav.
-#   - onboard-sitl-*: Targets for onboard software-in-the-loop services, with
-#		the same services as onboard HIL but using a different middleware
-#		configuration.
-#   - offboard-sitl-*: Targets for offboard software-in-the-loop services,
-#		including Gazebo simulation and QGroundControl.
-#   - offboard-sitl-test-*: Targets for SITL testing services, which exclude
-#		GISNav and QGC for automated testing scenarios. Gazebo in headless mode.
-#   - offboard-sitl-dev-*: Targets for SITL development services, including
-#		Gazebo simulation, ROS middleware, mapserver, and QGC, but
-#		excluding GISNav whose development version is assumed to be run locally.
-#   - demo-*: Shortcut targets for demo purposes, setting up all SITL services
-#		offboard, including GIS server, ROS middleware, Gazebo simulation, QGC,
-#		and GISNav.
-
 SHELL := /bin/bash
 
 # Supported autopilots, must match docker/docker-compose.yaml service name
@@ -48,125 +6,6 @@ AUTOPILOTS := px4 ardupilot
 # Prefix for Docker Compose service images
 PROJECT_NAME := gisnav
 
-# Define a reusable template for creating Docker Compose targets
-# Parameters:
-#   1. The prefix for the target name.
-#   2. The dependency target.
-#   3. The optional Docker Compose override files to include (if any).
-#   4. The Docker Compose services to start or build - use $$* here for
-#		autopilot, the first '$' is to escape the second '$'.
-define compose_template
-
-# Create phony create targets with the specified prefix for each autopilot
-.PHONY: $(addprefix create-$(1)-, $(AUTOPILOTS))
-
-# Generate rules for the build prefixed targets, depending on the specified build dependency target
-$(addprefix create-$(1)-, $(AUTOPILOTS)): $(if $(2),create-$(1)-%: create-$(2)-%,create-$(2)-%)
-	# Evaluate the additional Docker Compose files
-	$$(eval compose_files := $(if $(3),-f docker-compose.yaml $(foreach file,$(3),-f $(file))))
-	# Build the specified Docker Compose services and create the containers
-	@docker compose -p $(PROJECT_NAME) $$(compose_files) create $(4)
-
-# Create phony build targets with the specified prefix for each autopilot
-.PHONY: $(addprefix build-$(1)-, $(AUTOPILOTS))
-
-# Generate rules for the build prefixed targets, depending on the specified build dependency target
-$(addprefix build-$(1)-, $(AUTOPILOTS)): $(if $(2),build-$(1)-%: build-$(2)-%,build-$(2)-%)
-	# Evaluate the additional Docker Compose files
-	$$(eval compose_files := $(if $(3),-f docker-compose.yaml $(foreach file,$(3),-f $(file))))
-	# Build the specified Docker Compose services
-	@docker compose -p $(PROJECT_NAME) $$(compose_files) build $(4)
-
-# Create phony up targets with the specified prefix for each autopilot
-.PHONY: $(addprefix up-$(1)-, $(AUTOPILOTS))
-
-# Generate rules for the prefixed up targets, depending on the specified up
-# dependency target
-# IMPORTANT: Need to depend on create targets here before up targets to first
-# expose xhost to containers before running them
-$(addprefix up-$(1)-, $(AUTOPILOTS)): $(if $(2),up-$(1)-%: create-$(1)-% expose-xhost up-$(2)-%,up-$(1)-%: create-$(1)-% expose-xhost)
-	# Evaluate the additional Docker Compose files
-	$$(eval compose_files := $(if $(3),-f docker-compose.yaml $(foreach file,$(3),-f $(file))))
-	# Run Docker Compose with the specified services
-	@docker compose -p $(PROJECT_NAME) $$(compose_files) up -d $(4)
-endef
-
-# Define a reusable template for creating Docker Compose middleware targets
-#
-# Parameters:
-#   1. The prefix for the target name.
-#   2. The additional Docker Compose options, such as file overrides.
-define middleware_template
-.PHONY: up-$(1)-% build-$(1)-% create-$(1)-%
-
-up-$(1)-%:
-	$$(call run_middleware, $(2), up -d)
-
-build-$(1)-%:
-	$$(call run_middleware, $(2), build)
-
-create-$(1)-%:
-	$$(call run_middleware, $(2), create)
-endef
-
-# The run_middleware function is a helper function for executing middleware
-# targets with the necessary Docker Compose options.
-#
-# Parameters:
-#   1. Additional Docker Compose options, such as file overrides.
-#   2. The Docker Compose command to execute (either 'up -d' or 'build').
-define run_middleware
-	@if [ "$*" = "px4" ]; then \
-		docker compose -p $(PROJECT_NAME) $(1) $(2) mavros; \
-	elif [ "$*" = "ardupilot" ]; then \
-		docker compose -p $(PROJECT_NAME) $(1) $(2) mavros; \
-	else \
-		echo "Unsupported target '$*' (try 'px4' or 'ardupilot')."; \
-	fi
-endef
-
-# The empty argument check for some reason is not working in the compose_template.
-# So we will pass a dummy dependency as a dependency target instead of an empty
-# argument.
-.PHONY: $(addprefix build-dummy-dependency-, $(AUTOPILOTS))
-.PHONY: $(addprefix create-dummy-dependency-, $(AUTOPILOTS))
-.PHONY: $(addprefix up-dummy-dependency-, $(AUTOPILOTS))
-
-build-dummy-dependency-px4:
-
-create-dummy-dependency-px4:
-
-up-dummy-dependency-px4:
-
-build-dummy-dependency-ardupilot:
-
-create-dummy-dependency-ardupilot:
-
-up-dummy-dependency-ardupilot:
-
-# Define middleware targets
-$(eval $(call middleware_template,onboard-hil-middleware,-f docker-compose.yaml -f docker-compose.serial.yaml))
-$(eval $(call middleware_template,onboard-sitl-middleware,))
-$(eval $(call middleware_template,offboard-sitl-middleware,))  # same as onboard
-
-# onboard HIL services: GIS server, ROS middleware, autoheal, gscam and GISNav
-$(eval $(call compose_template,onboard-hil,onboard-hil-middleware,docker-compose.arm64.yaml,mapserver autoheal gscam gisnav))
-
-# onboard SITL services: Same as with HIL but middleware is same as offboard (UDP, not serial)
-$(eval $(call compose_template,onboard-sitl,offboard-sitl-middleware,docker-compose.arm64.yaml,mapserver gscam gisnav))
-
-# offboard SITL services: Gazebo simulation, QGC
-$(eval $(call compose_template,offboard-sitl,dummy-dependency,,$$* qgc))
-
-# SITL testing services: Gazebo simulation, ROS middleware, mapserver, gscam, but excluding GISNav and QGC
-$(eval $(call compose_template,offboard-sitl-test,offboard-sitl-middleware,docker-compose.headless.yaml,$$* gscam mapserver))
-
-# SITL development services: Gazebo simulation, ROS middleware, mapserver, QGC, gscam rviz, but excluding GISNav
-$(eval $(call compose_template,offboard-sitl-dev,offboard-sitl-middleware,,$$* qgc gscam mapserver rviz))
-
-# All SITL services offboard: GIS server, ROS middleware, Gazebo simulation, QGC, gscam, gisnav
-$(eval $(call compose_template,demo,offboard-sitl-dev,,gisnav))
-
 # List of Docker Compose service names that need GUI access
 GUI_SERVICES = px4 ardupilot qgc rviz gisnav fileserver
 
@@ -182,48 +21,3 @@ expose-xhost:
 			fi; \
 		done; \
 	fi
-
-
-# shutdown any and all services (stop and remove containers)
-.PHONY: down
-down:
-	@docker compose -p $(PROJECT_NAME) down
-
-# start existing containers
-# Note: You should create the containers with the "make create-..." first,
-# otherwise you will get an error like "no container found for project "gisnav":
-# not found"
-.PHONY: start
-start:
-	@docker compose -p $(PROJECT_NAME) start
-
-# shutdown any and all services (stop but do not remove containers)
-.PHONY: stop
-stop:
-	@docker compose -p $(PROJECT_NAME) stop
-
-# build all services
-# Note: This builds many services with overlapping functionality such as px4 and
-# arudpilot, you may want to be more specific about what to build
-.PHONY: build
-build:
-	@docker compose -p $(PROJECT_NAME) build
-
-.PHONY: dev-nmea
-dev-nmea:
-	@echo "Setting up NMEA output..."
-	@socat pty,link=/tmp/gisnav-pty-link,raw,echo=0 tcp:localhost:15000 || echo "Could not establish serial-to-TCP bridge" &
-	@sleep 3  # Give socat time to create the pty
-	@echo PTS device created at: `readlink /tmp/gisnav-pty-link`
-	@ros2 launch gisnav local.launch.py protocol:=nmea port:=`readlink /tmp/gisnav-pty-link` baudrate:=9600
-
-.PHONY: dev-uorb
-dev-uorb:
-	@ros2 launch gisnav local.launch.py protocol:=uorb
-
-# shortcut for demo
-.PHONY: demo
-demo:
-	docker compose -p gisnav create gisnav
-	$(MAKE) expose-xhost
-	docker compose -p gisnav up gisnav px4

docker/docker-compose.commands.yaml

@@ -46,6 +46,12 @@ services:
       - "-p"
       - "camera_info_url:=file:///etc/gscam/camera_calibration.yaml"
 
+  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

@@ -6,9 +6,12 @@ name: gisnav
 
 services:
 
+  # TODO: have separate profiles for uros/ubx/nmea middleware
   gisnav:
     depends_on:
       - micro-ros-agent
+      # - ubx
+      - nmea
       - mavros
       - gscam
       - mapserver

docker/docker-compose.healthcheck.yaml

@@ -19,6 +19,22 @@ services:
         ]
       <<: *settings
 
+  ubx:
+    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
+
+  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

@@ -68,6 +68,20 @@ services:
       homepage.name: micro-ROS agent
       homepage.description: uORB to ROS (PX4) middleware
 
+  ubx:
+    labels:
+      <<: *labels
+      homepage.group: Middleware 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

@@ -25,6 +25,24 @@ services:
     environment:
       UXRCE_DDS_PRT: ${UXRCE_DDS_PRT:?empty or not set}
 
+  ubx:
+    networks:
+      - dds
+    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
+
+  nmea:
+    networks:
+      - dds
+    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
 
@@ -38,6 +56,7 @@ services:
     network_mode: host
     environment:
       UXRCE_DDS_PRT: ${UXRCE_DDS_PRT:?empty or not set}
+      SOCAT_BRIDGE_PORT: ${SOCAT_BRIDGE_PORT:?empty or not set}
       GISNAV_COMPANION_HOST: ${GISNAV_COMPANION_HOST:?empty or not set}
       GISNAV_CMP_MAVROS_BIND_PORT: ${GISNAV_CMP_MAVROS_BIND_PORT:?empty or not set}
     extra_hosts:

docker/docker-compose.ros.yaml

@@ -57,3 +57,15 @@ services:
       args:
         ROS_DISTRO: humble
     <<: *ros
+
+  ubx:
+    build:
+      args:
+        ROS_DISTRO: humble
+    <<: *ros
+
+  nmea:
+    build:
+      args:
+        ROS_DISTRO: humble
+    <<: *ros

docker/docker-compose.yaml

@@ -91,6 +91,14 @@ services:
     build:
       context: gscam
 
+  ubx:
+    build:
+      context: ubx
+
+  nmea:
+    build:
+      context: nmea
+
   autoheal:
     image: willfarrell/autoheal
     restart: always