initial commit for vagrant/docker based ros setup

.gitignore

@@ -43,3 +43,4 @@ src/modules/uORB/topics/*
 Firmware.zip
 unittests/build
 *.generated.h
+.vagrant

Tools/ros/docker/px4-ros/Dockerfile

+#
+# Base ROS Indigo
+#
+
+FROM ubuntu:14.04.1
+MAINTAINER Andreas Antener "andreas@antener.name"
+
+# Install basics
+RUN apt-get update \
+	&& apt-get -y install wget git mercurial
+
+# Main ROS Setup
+# Following http://wiki.ros.org/indigo/Installation/Ubuntu
+# Also adding dependencies for gazebo http://gazebosim.org/tutorials?tut=drcsim_install
+
+## add ROS repositories and keys
+## install main ROS pacakges
+RUN echo "deb http://packages.ros.org/ros/ubuntu trusty main" > /etc/apt/sources.list.d/ros-latest.list \
+	&& wget https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -O - | apt-key add - \
+	&& apt-get update \
+	&& apt-get -y install ros-indigo-desktop-full
+
+RUN rosdep init \
+	&& rosdep update
+
+## setup environment variables
+RUN echo "source /opt/ros/indigo/setup.bash" >> ~/.bashrc
+
+## get rosinstall
+RUN apt-get -y install python-rosinstall
+
+## additional dependencies
+RUN apt-get -y install ros-indigo-octomap-msgs
+
+
+## install drcsim
+#RUN echo "deb http://packages.osrfoundation.org/drc/ubuntu trusty main" > /etc/apt/sources.list.d/drc-latest.list \
+#	&& wget http://packages.osrfoundation.org/drc.key -O - | apt-key add - \
+#	&& apt-get update \
+#	&& apt-get -y install drcsim
+
+CMD /bin/bash

Tools/ros/docker/px4-ros/px4-ros-sitl/Dockerfile

+#
+# PX4 ROS SITL
+#
+
+FROM px4ros/ros-base:no-drcsim
+MAINTAINER Andreas Antener "andreas@antener.name"
+
+# TODO
+#USER px4
+
+RUN . /opt/ros/indigo/setup.sh \
+	&& mkdir -p /catkin_ws/src \
+	&& cd /catkin_ws/src \
+	&& catkin_init_workspace \
+	&& cd /catkin_ws \
+	&& catkin_make \
+	&& echo "source /catkin_ws/devel/setup.bash" >> ~/.bashrc
+
+COPY get-sources.sh /catkin_ws/src/
+RUN chmod +x /catkin_ws/src/get-sources.sh
+
+CMD /bin/bash

Tools/ros/docker/px4-ros/px4-ros-sitl/get-sources.sh

+#!/bin/sh
+#
+# Fetch source repositories
+#
+
+# PX4 Firmware
+git clone https://github.com/PX4/Firmware.git \
+	&& cd Firmware \
+	&& git checkout ros \
+	&& cd ..
+
+# euroc simulator
+git clone https://github.com/PX4/euroc_simulator.git \
+	&& cd euroc_simulator \
+	&& git checkout px4_nodes \
+	&& cd ..
+
+# mav comm
+git clone https://github.com/PX4/mav_comm.git
+
+# glog catkin
+git clone https://github.com/ethz-asl/glog_catkin.git
+
+# catkin simple
+git clone https://github.com/catkin/catkin_simple.git
+
+echo "Execute catkin_make to compile all the sources."
+

Tools/ros/vagrant/docker-host-base/Vagrantfile

+# -*- mode: ruby -*-
+# vi: set ft=ruby :
+
+#
+# Vagrantfile to create docker-host-base
+#
+# After build, do "vagrant package --base docker-host-base" to package,
+# and import as box: "vagrant box add --name docker-host-base package.box"
+#
+# To add local docker images into the docker host, configure your local
+# docker client to control the docker daemon on the later running docker-host VM.
+# This box configures docker to listen on any IP on port 2375.
+# You can then also load an existing image, e.g.:
+# "docker load -i px4ros_ros-sitl_no-drcsim_a4209708a04a.tar"
+#
+Vagrant.configure(2) do |config|
+  config.vm.box = "ubuntu/trusty64"
+
+  config.vm.define "docker-host-base"
+
+  config.vm.provider "virtualbox" do |vb|
+    vb.name = "docker-host-base"
+    vb.gui = true
+    vb.memory = "1024"
+  end
+  
+  config.vm.provision "file", source: "config/docker-default", destination: "/home/vagrant/docker-default"
+  config.vm.provision "file", source: "config/xsessionrc", destination: "/home/vagrant/.xsessionrc"
+
+  config.vm.provision "shell", inline: <<-SHELL
+    # Update and install apps
+    sudo apt-get update
+    sudo apt-get upgrade -y
+    sudo apt-get install -y --no-install-recommends ubuntu-desktop
+    sudo apt-get install -y gnome-terminal unity-lens-applications
+
+    # Reset the ssh key (because vagrant regenerates it during provisioning)
+    sudo wget --no-check-certificate https://raw.github.com/mitchellh/vagrant/master/keys/vagrant.pub -O /home/vagrant/.ssh/authorized_keys
+    sudo chmod 0700 /home/vagrant/.ssh
+    sudo chmod 0600 /home/vagrant/.ssh/authorized_keys
+    sudo chown -R vagrant /home/vagrant/.ssh
+
+    # Copy docker config
+    sudo mv /home/vagrant/docker-default /etc/default/docker
+
+    # Enable autologin so docker can start GUI apps
+    sudo echo "autologin-user=vagrant" >> /usr/share/lightdm/lightdm.conf.d/50-unity-greeter.conf
+    sudo echo "autologin-user-timeout=0" >> /usr/share/lightdm/lightdm.conf.d/50-unity-greeter.conf
+
+    # X session RC
+    chmod +x /home/vagrant/.xsessionrc
+  SHELL
+
+  config.vm.provision "docker"
+
+  # Shutdown after provisioning. "vagrant halt" doesn't recognize the original ssh key anymore
+  # and would just kill the VM. This might lead to FS inconsistencies (e.g. in the docker DB).
+  config.vm.provision "shell", inline: "sudo shutdown -h now"
+end

Tools/ros/vagrant/docker-host-base/config/docker-default

+#
+# Default config for docker /etc/default/docker
+# Copied from a provisioned vagrant box
+#
+# Modifications:
+# - listen to TCP port
+# - removing deprecated "-r=true" option which apparently doesn't work anymore
+#   > use restart policies for specific containers if necessary
+#
+
+# Docker Upstart and SysVinit configuration file
+
+# Customize location of Docker binary (especially for development testing).
+#DOCKER="/usr/local/bin/docker"
+
+# Use DOCKER_OPTS to modify the daemon startup options.
+#DOCKER_OPTS="--dns 8.8.8.8 --dns 8.8.4.4"
+
+# If you need Docker to use an HTTP proxy, it can also be specified here.
+#export http_proxy="http://127.0.0.1:3128/"
+
+# This is also a handy place to tweak where Docker's temporary files go.
+#export TMPDIR="/mnt/bigdrive/docker-tmp"
+
+# Expose TCP port in addition to socket
+DOCKER_OPTS="${DOCKER_OPTS} -H unix:///var/run/docker.sock -H 0.0.0.0:2375"

Tools/ros/vagrant/docker-host-base/config/xsessionrc

+#!/bin/sh
+#
+# Disable X access control so we can easily start GUI apps
+#
+xhost +

Tools/ros/vagrant/docker-host/Vagrantfile

+# -*- mode: ruby -*-
+# vi: set ft=ruby :
+
+Vagrant.configure(2) do |config|
+  config.vm.box = "docker-host-base"
+
+  config.vm.define "docker-host"
+
+  config.vm.provider "virtualbox" do |vb|
+    vb.name = "docker-host"
+    vb.gui = true
+    vb.memory = "4096"
+    vb.cpus = 2
+    vb.customize ["modifyvm", :id, "--graphicscontroller", "vboxvga"]
+    vb.customize ["modifyvm", :id, "--accelerate3d", "on"]
+    vb.customize ["modifyvm", :id, "--ioapic", "on"]
+    vb.customize ["modifyvm", :id, "--vram", "128"]
+    vb.customize ["modifyvm", :id, "--hwvirtex", "on"]
+  end
+
+  config.vm.network "private_network", ip: "192.168.59.104"
+
+  # TBD: would it be better to provision docker here instead of in the base box?
+  #config.vm.provision "docker"
+end

Tools/ros/vagrant/px4-ros-sitl/Vagrantfile

+# -*- mode: ruby -*-
+# vi: set ft=ruby :
+
+Vagrant.configure(2) do |config|
+  # Configure docker host
+  config.vm.provider "docker" do |d|
+    d.vagrant_machine = "docker-host"
+    d.vagrant_vagrantfile = "../docker-host/Vagrantfile"
+  end
+
+  # Configure docker apps to run
+  config.vm.define "gazebo" do |app|
+    app.vm.provider "docker" do |d|
+      d.name = "gazebo"
+      d.image = "px4ros/ros-sitl:no-drcsim"
+
+      # share docker host x11 socket
+      d.volumes = ["/tmp/.X11-unix:/tmp/.X11-unix:ro"]
+      # TODO: get display number from host system
+      d.env = {
+        "DISPLAY" => ":0"
+      }
+
+      d.cmd = ["xterm"]
+    end
+  end
+end