Merge remote-tracking branch 'clyde_remote/main'

.dockerignore

@@ -0,0 +1,3 @@
+.idea/
+cmake-build-*
+.cmake-build-*

README.md

@@ -1,43 +1,44 @@
-# BlueROV2 in Ignition Gazebo
+# BlueROV2 in Gazebo Garden
 
-> Status: proof-of-concept
+> Status: proof-of-concept, updated for Gazebo Garden binaries
 
-This is a model of the BlueROV2 that runs in Ignition Gazebo.
+This is a model of the BlueROV2 that runs in Gazebo Garden.
 It uses the BuoyancyPlugin, HydrodynamicsPlugin and ThrusterPlugin.
 
-Requirements:
-* Ignition Gazebo, built from source with [this patch](https://github.com/ignitionrobotics/ign-gazebo/pull/1402)
-  * See [garden.repos](garden.repos) for commit hashes
-  * See [Dockerfile_galactic_garden](Dockerfile_galactic_garden) for build instructions
-* ardupilot_gazebo, built from source on [this branch](https://github.com/ArduPilot/ardupilot_gazebo/tree/ignition-garden)
-* ArduSub
-* MAVProxy
+![RVIZ2_GUI](images/gazebo.png)
 
-Running Ignition Gazebo:
+
+## Requirements
+
+* [Gazebo Garden 7.1.0](https://gazebosim.org/docs/garden/install)
+* [ardupilot_gazebo](https://github.com/ArduPilot/ardupilot_gazebo)
+* [ArduSub and MAVProxy](https://ardupilot.org/dev/docs/building-setup-linux.html)
+
+See the [Dockerfile](docker/Dockerfile) for installation details.
+
+## Running Gazebo
+
+Launch Gazebo:
 ~~~
-$ . ~/ignition_ws/install/setup.bash
-$ ign gazebo --version
-Ignition Gazebo, version 7.0.0~pre1
-$ export IGN_GAZEBO_RESOURCE_PATH=~/colcon_ws/src/bluerov2_ignition/models:~/colcon_ws/src/bluerov2_ignition/worlds
-$ export IGN_GAZEBO_SYSTEM_PLUGIN_PATH=~/ardupilot_gazebo/build
-$ ign gazebo -v 3 -r underwater.world
+export GZ_SIM_RESOURCE_PATH=~/colcon_ws/src/bluerov2_ignition/models:~/colcon_ws/src/bluerov2_ignition/worlds
+export GZ_SIM_SYSTEM_PLUGIN_PATH=~/ardupilot_gazebo/build
+gz sim -v 3 -r underwater.world
 ~~~
 
-Directly send thrust commands:
+You can directly send thrust commands to the BlueROV2 model in Gazebo:
 ~~~
-$ . ~/ignition_ws/install/setup.bash
-$ cd ~/colcon_ws/src/bluerov2_ignition
-$ . scripts/cw.sh
-$ . scripts/stop.sh
+cd ~/colcon_ws/src/bluerov2_ignition
+. scripts/cw.sh
+. scripts/stop.sh
 ~~~
 
-Running ArduSub:
+Now Launch ArduSub and ardupilot_gazebo:
 ~~~
-$ cd ~/ardupilot
-$ Tools/autotest/sim_vehicle.py -L RATBeach -v ArduSub --model=JSON --out=udp:0.0.0.0:14550 --console
+cd ~/ardupilot
+Tools/autotest/sim_vehicle.py -L RATBeach -v ArduSub --model=JSON --out=udp:0.0.0.0:14550 --console
 ~~~
 
-Sending commands to ArduSub:
+Use MAVProxy to send commands to ArduSub:
 ~~~
 arm throttle
 rc 3 1450     
@@ -47,14 +48,15 @@ rc 5 1550
 disarm
 ~~~
 
-Caveats:
+## Caveats:
 * The model needs tuning
 * The visuals are quite basic
 
-References:
+## References:
 * https://github.com/ardupilot/ardupilot_gazebo/wiki
-* https://ignitionrobotics.org/docs/garden
+* https://gazebosim.org/docs/garden/install
 * https://ardupilot.org/dev/docs/building-setup-linux.html
 * https://ardupilot.org/dev/docs/setting-up-sitl-on-linux.html
 * https://ardupilot.org/mavproxy/docs/getting_started/download_and_installation.html
 * https://www.ardusub.com/developers/rc-input-and-output.html
+* https://docs.nvidia.com/datacenter/cloud-native/container-toolkit/install-guide.html

docker/Dockerfile

@@ -0,0 +1,128 @@
+FROM ubuntu:22.04 AS base
+
+ARG USERNAME=bluerov2
+ARG USER_UID=1000
+ARG USER_GID=$USER_UID
+ARG DEBIAN_FRONTEND=noninteractive
+
+RUN apt-get update && apt-get upgrade -y
+
+# Install language
+RUN apt-get update \
+  && apt-get -y --quiet --no-install-recommends install \
+    locales \
+  && locale-gen en_US.UTF-8 \
+  && update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8 \
+  && rm -rf /var/lib/apt/lists/*
+ENV LANG=en_US.UTF-8
+
+# Install timezone
+RUN ln -fs /usr/share/zoneinfo/UTC /etc/localtime \
+  && apt-get update \
+  && apt-get -y --quiet --no-install-recommends install \
+     tzdata \
+  && dpkg-reconfigure --frontend noninteractive tzdata \
+  && rm -rf /var/lib/apt/lists/*
+
+# Install a few handy tools
+RUN apt-get update \
+  && apt-get -y --quiet --no-install-recommends install \
+    bash-completion \
+    build-essential \
+    git \
+    glmark2 \
+    gnupg \
+    iputils-ping \
+    lsb-release \
+    mlocate \
+    software-properties-common \
+    sudo \
+    wget \
+    vim \
+  && rm -rf /var/lib/apt/lists/*
+
+# Install Gazebo Garden
+RUN wget https://packages.osrfoundation.org/gazebo.gpg -O /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg
+RUN echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" | tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null
+RUN apt-get update \
+  && apt-get -y --quiet --no-install-recommends install \
+    gz-garden \
+  && rm -rf /var/lib/apt/lists/*
+
+# Install NVIDIA software
+RUN apt-get update \
+ && apt-get -y --quiet --no-install-recommends install \
+    libglvnd0 \
+    libgl1 \
+    libglx0 \
+    libegl1 \
+    libxext6 \
+    libx11-6 \
+  && rm -rf /var/lib/apt/lists/* \
+ENV NVIDIA_VISIBLE_DEVICES=all
+ENV NVIDIA_DRIVER_CAPABILITIES=graphics,utility,compute
+ENV QT_X11_NO_MITSHM=1
+
+# Install some ardupilot and ardupilot_gazebo prereqs
+RUN apt-get update \
+ && apt-get -y --quiet --no-install-recommends install \
+    python3-wxgtk4.0 \
+    rapidjson-dev \
+    xterm \
+  && rm -rf /var/lib/apt/lists/*
+
+# Create a non-root user
+# Required for ArduSub install, but generally a good idea
+RUN groupadd --gid $USER_GID $USERNAME \
+  && useradd -s /bin/bash --uid $USER_UID --gid $USER_GID -m $USERNAME \
+  && echo $USERNAME ALL=\(root\) NOPASSWD:ALL > /etc/sudoers.d/$USERNAME \
+  && chmod 0440 /etc/sudoers.d/$USERNAME \
+  && echo "\n# Added by bluerov2_ignition Dockerfile:" >> /home/$USERNAME/.bashrc \
+  && echo "source /usr/share/bash-completion/completions/git" >> /home/$USERNAME/.bashrc
+
+# Switch to our new user
+USER $USERNAME
+ENV USER=$USERNAME
+
+# Clone ArduSub code
+WORKDIR /home/$USERNAME
+RUN git clone https://github.com/ArduPilot/ardupilot.git --recurse-submodules
+
+# Install ArduSub prereqs (this also appends to .bashrc)
+WORKDIR /home/$USERNAME/ardupilot
+ENV SKIP_AP_EXT_ENV=1 SKIP_AP_GRAPHIC_ENV=1 SKIP_AP_COV_ENV=1 SKIP_AP_GIT_CHECK=1
+RUN Tools/environment_install/install-prereqs-ubuntu.sh -y
+
+# Build ArduSub
+# Note: waf will capture all of the environment variables in ardupilot/.lock-waf_linux_build.
+# Any change to enviroment variables will cause a re-build.
+# To avoid this call sim_vehicle.py with the "--no-rebuild" option.
+WORKDIR /home/$USERNAME/ardupilot
+RUN modules/waf/waf-light configure --board sitl \
+  && modules/waf/waf-light build --target bin/ardusub
+
+# Clone ardupilot_gazebo code
+WORKDIR /home/$USERNAME
+RUN git clone https://github.com/ArduPilot/ardupilot_gazebo.git
+
+# Build ardupilot_gazebo
+RUN [ "/bin/bash" , "-c" , " \
+  cd ardupilot_gazebo \
+  && mkdir build \
+  && cd build \
+  && cmake .. -DCMAKE_BUILD_TYPE=RelWithDebInfo \
+  && make -j4" ]
+
+# Copy bluerov2_ignition code
+WORKDIR /home/$USERNAME/bluerov2_ignition
+COPY --chown=$USER_UID:$USER_GID . .
+
+# Set up the environment
+WORKDIR /home/$USERNAME
+RUN echo "export PATH=/home/$USERNAME/.local/bin:\$PATH" >> /home/$USERNAME/.bashrc \
+  && echo "export PATH=/home/$USERNAME/.local/lib/python3.10/site-packages:\$PATH" >> /home/$USERNAME/.bashrc \
+  && echo "export GZ_SIM_SYSTEM_PLUGIN_PATH=/home/$USERNAME/ardupilot_gazebo/build" >> /home/$USERNAME/.bashrc \
+  && echo "export GZ_SIM_RESOURCE_PATH=/home/$USERNAME/bluerov2_ignition/models:/home/$USERNAME/bluerov2_ignition/worlds" >> /home/$USERNAME/.bashrc
+
+# Required to use the --console option on sim_vehicle.py
+# RUN pip3 install matplotlib

docker/README.md

@@ -0,0 +1,16 @@
+To build the docker image:
+~~~
+./build.sh
+~~~
+
+To run the demo, start the container in the 1st terminal, and start ArduSub:
+~~~
+./run.sh
+sim_vehicle.py -L RATBeach -v ArduSub --model=JSON --out=udp:0.0.0.0:14550 --no-rebuild
+~~~
+
+In the 2nd terminal start Gazebo:
+~~~
+docker exec -it bluerov2_ignition /bin/bash
+gz sim -v 3 -r underwater.world
+~~~

docker/build.sh

@@ -0,0 +1,7 @@
+#!/usr/bin/env bash
+
+DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null 2>&1 && pwd )"
+
+cd $DIR
+
+docker build -f $DIR/Dockerfile -t bluerov2_ignition:latest ..

docker/run.sh

@@ -0,0 +1,33 @@
+#!/usr/bin/env bash
+
+XAUTH=/tmp/.docker.xauth
+if [ ! -f $XAUTH ]
+then
+    xauth_list=$(xauth nlist $DISPLAY)
+    xauth_list=$(sed -e 's/^..../ffff/' <<< "$xauth_list")
+    if [ ! -z "$xauth_list" ]
+    then
+        echo "$xauth_list" | xauth -f $XAUTH nmerge -
+    else
+        touch $XAUTH
+    fi
+    chmod a+r $XAUTH
+fi
+
+# Specific for NVIDIA drivers, required for OpenGL >= 3.3
+docker run -it \
+    --rm \
+    --name bluerov2_ignition \
+    -e DISPLAY \
+    -e QT_X11_NO_MITSHM=1 \
+    -e XAUTHORITY=$XAUTH \
+    -e NVIDIA_VISIBLE_DEVICES=all \
+    -e NVIDIA_DRIVER_CAPABILITIES=all \
+    -v "$XAUTH:$XAUTH" \
+    -v "/tmp/.X11-unix:/tmp/.X11-unix" \
+    -v "/etc/localtime:/etc/localtime:ro" \
+    -v "/dev/input:/dev/input" \
+    --privileged \
+    --security-opt seccomp=unconfined \
+    --gpus all \
+    bluerov2_ignition:latest