fix(docker): Fix ardupilot SITL docker scripts

Updates related documentation

[skip ci]

Author: hmakelin

docker-compose.yaml

@@ -113,11 +113,11 @@ services:
     network_mode: host
     stdin_open: true
     tty: true
+    #privileged: True
     deploy:
       resources:
         reservations:
           devices:
             - driver: nvidia
               count: 1
               capabilities: [ gpu ]
-    command: bash -c "cd ~ && make gazebo"

docker/ardupilot/Dockerfile

@@ -38,7 +38,7 @@ RUN cd $HOME/ardupilot/ && \
     Tools/environment_install/install-prereqs-ubuntu.sh -y
 
 # Update PATH
-ENV PATH="/usr/lib/ccache:${PATH}:${HOME}/ardupilot/Tools/autotest"
+ENV PATH="/usr/lib/ccache:/home/$USERNAME/.local/bin:${PATH}:/home/$USERNAME/ardupilot/Tools/autotest"
 
 # Install Gazebo plugin
 RUN cd $HOME && \
@@ -64,4 +64,4 @@ 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"]
+CMD cd $HOME && make sim_vehicle

docker/ardupilot/Makefile

@@ -1,14 +1,14 @@
 SHELL:=/bin/bash
 
-sim_vehicle:
-	sim_vehicle.py -v ArduCopter -f gazebo-iris -L KSQL_Airport -m '--cmd="module load GPSInput"' &
+sim_vehicle: gazebo
+	sim_vehicle.py -v ArduCopter -f gazebo-iris -L KSQL_Airport -m '--cmd="module load GPSInput"'
 
-gazebo: sim_vehicle
+gazebo:
 	cd ${HOME} && \
 	if [ -z ${GAZEBO_HEADLESS} ]; then \
 		echo "Launching Gazebo client & server..."; \
-		gazebo --verbose worlds/ksql_airport.world; \
+		gazebo --verbose worlds/ksql_airport.world & \
 	else \
 		echo "Launching Gazebo in headless mode..."; \
-		gzserver --verbose worlds/ksql_airport.world; \
+		gzserver --verbose worlds/ksql_airport.world & \
 	fi

docs/pages/developer_guide/sitl_environment/docker.md

@@ -48,16 +48,6 @@ Follow these instructions to launch the SITL simulation used in the [mock GPS de
 
 [7]: https://github.com/hmakelin/gisnav/blob/master/README.md#mock-gps-example
 
-### Clone
-
-Clone this repository and change to its root directory:
-
-```bash
-cd $HOME
-git clone https://github.com/hmakelin/gisnav-docker.git
-cd gisnav-docker
-```
-
 ### Build
 
 To build the `mapserver`, `px4`,  `micro-ros-agent`, and `gisnav` services by running the following command:
@@ -162,6 +152,11 @@ ros2 daemon start
 
 ### Disable AppArmor for ArduPilot SITL
 
+> dbus[33]: The last reference on a connection was dropped without closing the connection. This is a bug in an 
+> application. See dbus_connection_unref() documentation for details. Most likely, the application was supposed to call 
+> dbus_connection_close(), since this is a private connection. D-Bus not built with -rdynamic so unable to print a 
+> backtrace
+
 **Caution advised**: Possibly needed if using `--network host`: If QGroundControl or Gazebo do not seem to be starting 
 when running the containers, you may need to run them image with `--security-opt apparmor:unconfined` or `--privileged` 
 options.
@@ -181,5 +176,5 @@ docker run -it \
   --tty \
   --network host \
   --entrypoint="/bin/bash" \
-  gisnav-docker-px4
+  gisnav-px4
 ```