Closed Rezenders closed 2 years ago
Commit b70a1a3 solves points 1, 2, and 6
I created a draft PR #31 to solve this issues. Still need to address points 13 and 14. The more urgent one is 14, since without solving this point it is not possible to reproduce the hackathon activities. I will try to address it tomorrow. Also, if we keep these changes to the dockerfile using the ignition:hackathon image as base, the submodules can also be removed since they are not used.
If I try to run the node after directly opening the container, I get the error: ros2: command not found -> it is necessary to source ros (could we done with the shortcut 's') after sourcing ros, I get the following error: Package 'tudelft_hackathon' not found: "package 'tudelft_hackathon' not found, searching: ['/opt/ros/foxy'] Which workspace do I need to source? That is, where is tudelft_hackaton installed?
Hey Olaya. Try updating the docker image rezenders/ignition:hackathon. I just updated it in the dockerhub repo. If that doesn't work let me know.
On the "Run Ardupilot with software in the loop (SITL)" step of the instructions:
ros@ubu:/workspaces/tudelft_hackathon/dockerfiles/ros1-2-ignition/ardupilot$
Tools/autotest/sim_vehicle.py -L RATBeach -v ArduSub --model=JSON --out=udp:0.0.0.0:14550 --console
I get the following error:
bash: Tools/autotest/sim_vehicle.py: No such file or directory
I added a few commits to PR #31. Now it is sourcing everything that is necessary, and it should work for a system with a nvidia gpu.
For systems without nvidia the .devcontainer Dockerfile should start from rezenders/ignition:hackathon-non-nvidia
and in devcontainer.json the build args should be different for amd and intel gpu, like here.
@olayasturias can you review that PR and check if you agree with all the changes or point out anything you don't agree with so we can close it
When running the launch file, I got the following error>
what(): UAS: GeographicLib exception: File not readable /usr/share/GeographicLib/geoids/egm96-5.pgm | Run install_geographiclib_dataset.sh script in order to install Geoid Model dataset! [ERROR] [mavros_node-4]: process has died [pid 21419, exit code -6, cmd '/home/docker/tudelft_hackathon_ws/install/mavros/lib/mavros/mavros_node --ros-args --params-file /tmp/launch_params_hjih9ox7']. [ign gazebo-1] Unable to find or download file
I fixed it by installing geographic lib as follows>
wget https://raw.githubusercontent.com/mavlink/mavros/master/mavros/scripts/install_geographiclib_datasets.sh
sudo bash ./install_geographiclib_datasets.sh
Then I get this error>
ModuleNotFoundError: No module named 'mavros_wrapper'
Despite of ros-foxy-mavros being installed. These errors don't seem to affect the performance of the bluerov anyway.
I think we can merge the PR directly :)
Some comments regarding the vscode docker integration:
Documentation:
cd ardupilot
tocd /workspaces/tudelft_hackathon/dockerfiles/ros1-2-ignition/ardupilot
. ~/.profile
from troubleshooting to before thesim_vehicle
commandGeneral comments:
/workspaces/tudelft_hackathon
and/tudelft_hackathon_ws/src/tudelft_hackathon
FROM rezenders/ignition:foxy-nvidia
toFROM rezenders/ignition:hackathon
. This would also solve points 9, 10, and 11/workspaces/
dir. Since everything that is required is already contained in the docker images, don't we just need the vscode plugin to open the graphical interface and mount the required volumes? I would suggest remove everything that is not needed, to have the minimal setup necessary