feat(docker): Add docker scripts from gisnav-docker repo

Author: hmakelin

docker-compose.ardupilot.yaml

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+version: "3.4"
+
+services:
+  gisnav:
+    command: bash -c "source ~/colcon_ws/install/setup.bash && ros2 launch gisnav ardupilot.launch.py"

docker-compose.yaml

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+version: "3.4"
+
+services:
+  mapserver:
+    image: camptocamp/mapserver
+    network_mode: host
+    environment:
+      - NAIP_GDOWN_ID=16M_kbsLpF3t87KC2n9YgqGEBA5h0lG7U
+      - OSM_GDOWN_ID=1snGYjWxs71m6I-qxKsmUzch_bAfQtrEW
+    volumes:
+      - $PWD/mapserver/mapfiles/mapserver.map:/etc/mapserver/mapserver.map:ro
+      - $PWD/mapserver/setup_mapserver.sh:/etc/mapserver/setup_mapserver.sh:ro
+    entrypoint: /etc/mapserver/setup_mapserver.sh
+
+  mapproxy:
+    build:
+      context: docker/mapproxy
+      dockerfile: Dockerfile
+    network_mode: host
+
+  micro-ros-agent:
+    image: microros/micro-ros-agent:foxy
+    command: udp4 -p 8888
+    network_mode: host
+    volumes:
+      - /dev/shm:/dev/shm
+
+  mavros:
+    build:
+      context: docker/mavros
+      dockerfile: Dockerfile
+    environment:
+      - FASTRTPS_DEFAULT_PROFILES_FILE=/disable_shared_memory.xml
+    network_mode: host
+    volumes:
+      - /dev/shm:/dev/shm
+
+  qgc:
+    build:
+      context: docker/qgc
+      dockerfile: Dockerfile
+    environment:
+      - QT_X11_NO_MITSHM=1
+      - DISPLAY=${DISPLAY}
+    volumes:
+      - /tmp/.X11-unix:/tmp/.X11-unix:ro
+      - /dev/shm:/dev/shm
+      - /dev/dri:/dev/dri
+    network_mode: host
+    stdin_open: true
+    tty: true
+
+  gisnav:
+    build:
+      context: docker/gisnav
+      dockerfile: Dockerfile
+    environment:
+      - FASTRTPS_DEFAULT_PROFILES_FILE=/disable_shared_memory.xml
+    volumes:
+      - /dev/dri:/dev/dri
+    network_mode: host
+    stdin_open: true
+    tty: true
+    deploy:
+      resources:
+        reservations:
+          devices:
+            - 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"
+
+  px4:
+    build:
+      context: docker/px4
+      dockerfile: Dockerfile
+    environment:
+      - QT_X11_NO_MITSHM=1
+      - DISPLAY=${DISPLAY}
+      - GAZEBO_HEADLESS=${GAZEBO_HEADLESS}
+    volumes:
+      - /tmp/.X11-unix:/tmp/.X11-unix:ro
+      - /dev/shm:/dev/shm
+      - /dev/dri:/dev/dri
+    network_mode: host
+    stdin_open: true
+    tty: true
+    deploy:
+      resources:
+        reservations:
+          devices:
+            - driver: nvidia
+              count: 1
+              capabilities: [ gpu ]
+
+  #ardupilot:
+  #  build:
+  #    context: https://github.com/ArduPilot/ardupilot.git
+  #    dockerfile: https://raw.githubusercontent.com/ArduPilot/ardupilot/master/Dockerfile
+
+  ardupilot:
+    build:
+      context: docker/ardupilot
+      dockerfile: Dockerfile
+    environment:
+      - QT_X11_NO_MITSHM=1
+      - DISPLAY=${DISPLAY}
+      - GAZEBO_HEADLESS=${GAZEBO_HEADLESS}
+    volumes:
+      - /tmp/.X11-unix:/tmp/.X11-unix:ro
+      - /dev/shm:/dev/shm
+      - /dev/dri:/dev/dri
+    network_mode: host
+    stdin_open: true
+    tty: true
+    deploy:
+      resources:
+        reservations:
+          devices:
+            - driver: nvidia
+              count: 1
+              capabilities: [ gpu ]
+    command: bash -c "cd ~ && make gazebo"

docker/ardupilot/Dockerfile

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+FROM ros:foxy
+
+LABEL maintainer="Harri Makelin <hmakelin@protonmail.com>"
+
+ARG USERNAME=gisnav
+ARG UID=1000
+ARG GID=$UID
+
+# Set 'gisnav' as default user and add it to sudo'ers
+RUN apt-get update --fix-missing && \
+    apt-get install -y sudo wget && \
+    groupadd --gid $GID $USERNAME && useradd --uid $UID --gid $GID -m $USERNAME && \
+    echo "${USERNAME} ALL=(ALL) NOPASSWD:ALL" > /etc/sudoers.d/$USERNAME
+USER $USERNAME
+
+# Install required tools
+RUN sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main"  \
+      > /etc/apt/sources.list.d/gazebo-stable.list' && \
+    wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add - && \
+    sudo apt-get update && \
+    sudo DEBIAN_FRONTEND=noninteractive apt-get -y install git gitk git-gui python3-pip python-is-python3 gazebo11 \
+      gazebo11-common libgazebo11-dev libgazebo11 ros-foxy-gazebo-ros-pkgs ros-foxy-gazebo-plugins ros-foxy-gazebo-dev \
+      ros-foxy-gazebo-ros && \
+    pip install --upgrade pymavlink MAVProxy pexpect
+
+# Clone ArduPilot and update submodules
+RUN cd $HOME && \
+    git clone https://github.com/ArduPilot/ardupilot && \
+    cd ardupilot && \
+    git submodule update --init --recursive
+
+# Install ArduPilot prerequisites
+# The script requires the USER env variable be set to ${USERNAME}
+SHELL ["/bin/bash", "-c"]
+RUN cd $HOME/ardupilot/ && \
+    export USER=$USERNAME && \
+    sudo DEBIAN_FRONTEND=noninteractive apt-get install -y keyboard-configuration && \
+    Tools/environment_install/install-prereqs-ubuntu.sh -y
+
+# Update PATH
+ENV PATH="/usr/lib/ccache:${PATH}:${HOME}/ardupilot/Tools/autotest"
+
+# Install Gazebo plugin
+RUN cd $HOME && \
+    git clone https://github.com/hmakelin/ardupilot_gazebo && \
+    cd ardupilot_gazebo && \
+    mkdir build && \
+    cd build && \
+    cmake .. && \
+    make -j4 && \
+    sudo make install && \
+    echo 'source /usr/share/gazebo/setup.sh' >> ~/.bashrc && \
+    echo 'export GAZEBO_MODEL_PATH=~/ardupilot_gazebo/models' >> ~/.bashrc && \
+    echo 'export GAZEBO_RESOURCE_PATH=~/ardupilot_gazebo/worlds:${GAZEBO_RESOURCE_PATH}' >> ~/.bashrc
+
+# Make initial build
+RUN cd $HOME/ardupilot && \
+    source ~/.profile && \
+    $(sim_vehicle.py -v ArduCopter -f gazebo-iris -L KSQL_Airport | grep -m 1 "BUILD SUMMARY") || echo "Gazebo built."
+
+# Copy and apply configuration files, add SITL simulation demo location
+COPY * /
+RUN sudo mv -t $HOME/ /gazebo-iris.parm /Makefile && \
+    cat $HOME/gazebo-iris.parm >> $HOME/ardupilot/Tools/autotest/default_params/gazebo-iris.parm && \
+    echo "KSQL_Airport=37.523640,-122.255122,1.7,90" >> $HOME/ardupilot/Tools/autotest/locations.txt
+
+CMD ["bash"]

docker/ardupilot/Makefile

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+SHELL:=/bin/bash
+
+sim_vehicle:
+	sim_vehicle.py -v ArduCopter -f gazebo-iris -L KSQL_Airport -m '--cmd="module load GPSInput"' &
+
+gazebo: sim_vehicle
+	cd ${HOME} && \
+	if [ -z ${GAZEBO_HEADLESS} ]; then \
+		echo "Launching Gazebo client & server..."; \
+		gazebo --verbose worlds/ksql_airport.world; \
+	else \
+		echo "Launching Gazebo in headless mode..."; \
+		gzserver --verbose worlds/ksql_airport.world; \
+	fi

docker/ardupilot/gazebo-iris.parm

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+# SIMULATION USE ONLY
+# ArduPilot mock GPS SITL simulation demo default parameters
+# Disable GPS arming check (GPS2 will not work until already flying) and use best GPS
+# Use MAVLink (14) for second GPS type
+# Use 2D position only with EK2 (no velocity estimates)
+ARMING_CHECK 0
+AHRS_EKF_TYPE 2
+EK2_ENABLE 1
+EK3_ENABLE 0
+EK2_GPS_TYPE 2
+GPS_TYPE2 14
+SIM_GPS2_TYPE 14
+GPS_AUTO_SWITCH 1

docker/gisnav/Dockerfile

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+FROM ros:foxy
+
+ARG USERNAME=gisnav
+ARG UID=1000
+ARG GID=$UID
+
+RUN apt-get update --fix-missing && \
+    apt-get install sudo && \
+    groupadd --gid $GID $USERNAME && useradd --uid $UID --gid $GID -m $USERNAME && \
+    echo "${USERNAME} ALL=(ALL) NOPASSWD:ALL" > /etc/sudoers.d/$USERNAME
+USER $USERNAME
+
+# Install GISNav & colcon dependencies
+RUN mkdir -p $HOME/colcon_ws/src && \
+    cd $HOME/colcon_ws/src && \
+    git clone --branch hmakelin-update-px4-v1.14 https://github.com/hmakelin/gisnav.git && \
+    git clone https://github.com/hmakelin/gisnav_msgs.git && \
+    git clone https://github.com/px4/px4_msgs.git && \
+    rosdep update && \
+    rosdep install --from-paths . -y --ignore-src
+
+# Install LoFTR
+RUN cd $HOME/colcon_ws/src/gisnav && \
+    git submodule update --init gisnav/pose_estimators/third_party/LoFTR && \
+    sudo apt-get -y install python3-pip && \
+    pip3 install gdown && \
+    mkdir weights && \
+    cd weights && \
+    $HOME/.local/lib/$USERNAME/gdown https://drive.google.com/uc?id=1M-VD35-qdB5Iw-AtbDBCKC7hPolFW9UY
+
+# Python dependencies
+RUN cd $HOME/colcon_ws/src/gisnav && \
+    pip3 install -r requirements.txt  && \
+    pip3 install --upgrade numpy python-dateutil
+
+# GeographicLib
+RUN sudo apt-get -y install ros-foxy-mavros ros-foxy-mavros-extras && \
+    cd $HOME && \
+    wget https://raw.githubusercontent.com/mavlink/mavros/master/mavros/scripts/install_geographiclib_datasets.sh && \
+    sudo bash ./install_geographiclib_datasets.sh
+
+# Build
+SHELL ["/bin/bash", "-c"]
+RUN cd $HOME/colcon_ws && \
+    source /opt/ros/foxy/setup.bash && \
+    colcon build
+
+# Clean
+RUN sudo apt-get clean && \
+    sudo rm -rf /var/lib/apt/lists/*
+
+COPY * /
+RUN sudo chmod 755 /disable_shared_memory.xml

docker/gisnav/disable_shared_memory.xml

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+<?xml version="1.0" encoding="UTF-8" ?>
+<profiles xmlns="http://www.eprosima.com/XMLSchemas/fastRTPS_Profiles" >
+    <transport_descriptors>
+        <transport_descriptor>
+            <transport_id>CustomUdpTransport</transport_id>
+            <type>UDPv4</type>
+        </transport_descriptor>
+    </transport_descriptors>
+    <participant profile_name="participant_profile" is_default_profile="true">
+        <rtps>
+            <userTransports>
+                <transport_id>CustomUdpTransport</transport_id>
+            </userTransports>
+            <useBuiltinTransports>false</useBuiltinTransports>
+        </rtps>
+    </participant>
+</profiles>

docker/mapproxy/Dockerfile

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+FROM ubuntu:20.04
+
+ARG CONFIG_FILE=yaml/mapproxy.yaml
+ARG HOST=localhost
+ARG PORT=80
+ARG MAPPROXY_TILE_URL
+
+ENV CONFIG_FILE=${CONFIG_FILE}
+ENV HOST=${HOST}
+ENV PORT=${PORT}
+ENV MAPPROXY_TILE_URL=${MAPPROXY_TILE_URL}
+
+# Check that the tile endpoint url was provided as build argument
+RUN if [ -z "$MAPPROXY_TILE_URL" ]; \
+        then \
+            tput setaf 1; \
+            echo -e "\$MAPPROXY_TILE_URL is empty! Provide it with --build-arg MAPPROXY_TILE_URL=\"url\"."; \
+            tput sgr0; \
+            false; \
+        else \
+            echo "Using ${MAPPROXY_TILE_URL} for tile endpoint."; \
+    fi
+
+# Install MapProxy along with required & optional dependencies
+RUN apt-get update && \
+    DEBIAN_FRONTEND=noninteractive apt-get install -y python3-pip python3-pil python3-yaml libproj-dev libgeos-dev \
+        python3-lxml libgdal-dev python3-shapely && \
+    pip3 install MapProxy
+
+# Copy configuration file over to $HOME
+# MapProxy config files can't use environment variables so do tile URL substitution manually
+COPY ${CONFIG_FILE} /
+RUN mv $(basename $CONFIG_FILE) $HOME/$(basename $CONFIG_FILE) && \
+    sed -i -e "s#\$MAPPROXY_TILE_URL#$MAPPROXY_TILE_URL#g" $HOME/$(basename $CONFIG_FILE)
+
+# Expose port for incoming WMS requests
+EXPOSE $PORT/tcp
+
+# Start the MapProxy server
+CMD mapproxy-util serve-develop -b ${HOST}:${PORT} ${HOME}/$(basename $CONFIG_FILE)

docker/mapproxy/yaml/mapproxy.yaml

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+layers:
+  - name: imagery
+    title: High resolution satellite or aerial imagery.
+    sources: [imagery_cache]
+
+caches:
+  imagery_cache:
+    grids: [GLOBAL_WEBMERCATOR]
+    sources: [imagery_source]
+
+sources:
+  imagery_source:
+    type: tile
+    grid: GLOBAL_WEBMERCATOR
+    url: $MAPPROXY_TILE_URL
+
+services:
+  wms:
+    md:
+      title: MapProxy WMS Proxy
+      abstract: Example MapProxy configuration for proxying a tile-based endpoint as a cached WMS service.