Merge pull request #118 from StarlingUAS/dev

Release v0.0.8
StarlingUAS · Nov 1, 2021 · 586e970 · 586e970
2 parents cd4e8d5 + 65cb469
commit 586e970
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diff --git a/.github/workflows/remove_container_on_close.yaml b/.github/workflows/remove_container_on_close.yaml
@@ -18,7 +18,7 @@ jobs:
     strategy:
       matrix:
         image:
-          - starling-ui
+          - rosbridge-suite
           - starling-controller-base
           - starling-mavros
           - starling-vicon
@@ -38,6 +38,6 @@ jobs:
           password: ${{ secrets.DOCKERHUB_PASSWORD }}
           organisation: uobflightlabstarling
           image: ${{matrix.image}}
-          tag: ${{github.event.pull_request.head.ref}}
+          tag: ${{github.event.pull_request.head.ref || github.event.ref }}
 
 
diff --git a/.github/workflows/update-image.yml b/.github/workflows/update-image.yml
@@ -35,7 +35,7 @@ jobs:
     strategy:
       matrix:
         include: 
-          - target: starling-ui
+          - target: rosbridge-suite
             arm64: false
           - target: starling-controller-base
             arm64: true

diff --git a/.gitmodules b/.gitmodules
@@ -1,3 +1,3 @@
 [submodule "system/vicon/vicon_udp"]
 	path = system/vicon/vicon_udp
-	url = ../vicon_udp.git
+	url = https://github.com/UoBFlightLab/vicon_udp.git
diff --git a/README.md b/README.md
@@ -16,7 +16,7 @@ This systems provides a number of key features.
 
 ## Documentation
 
-Please refer to the documentation at [uobflightlab.github.io/ProjectStarling](https://uobflightlab.github.io/ProjectStarling) for detailed instructions and explanations of how to use this system.
+Please refer to the documentation at [https://docs.starlinguas.dev/](https://docs.starlinguas.dev/) for detailed instructions and explanations of how to use this system.
 
 The documentation is built using [MKDocs](https://www.mkdocs.org/) and can be served locally.
 

diff --git a/buildtools/build_local_multiplatform.sh b/buildtools/build_local_multiplatform.sh
@@ -54,4 +54,4 @@ BAKE_REGISTRY="localhost:5000/" docker buildx bake --builder $BUILDER_NAME --pus
 
 echo "Registry at localhost:5000 has your images"
 echo "Pull the images by appending localhost:5000. e.g.:"
-echo "  $ docker pull localhost:5000/uobflightlabstarling/starling-ui"
+echo "  $ docker pull localhost:5000/uobflightlabstarling/rosbridge-suite"
diff --git a/buildtools/docker-bake.hcl b/buildtools/docker-bake.hcl
@@ -45,18 +45,18 @@ group "stage3" {
  * System targets
  */
 group "system" {
-    targets = ["starling-ui", "starling-controller-base", "starling-mavros", "starling-vicon", "mavp2p"]
+    targets = ["rosbridge-suite", "starling-controller-base", "starling-mavros", "starling-vicon", "mavp2p"]
 }
 
-target "starling-ui" {
-    context = "system/ui"
+target "rosbridge-suite" {
+    context = "system/rosbridge-suite"
     tags = [
-        "${BAKE_REGISTRY}uobflightlabstarling/starling-ui:${BAKE_VERSION}",
-        notequal("",BAKE_RELEASENAME) ? "${BAKE_REGISTRY}uobflightlabstarling/starling-ui:${BAKE_RELEASENAME}": "",
+        "${BAKE_REGISTRY}uobflightlabstarling/rosbridge-suite:${BAKE_VERSION}",
+        notequal("",BAKE_RELEASENAME) ? "${BAKE_REGISTRY}uobflightlabstarling/rosbridge-suite:${BAKE_RELEASENAME}": "",
         ]
     platforms = ["linux/amd64"]
-    cache-to = [ notequal("",BAKE_CACHETO_NAME) ? "${BAKE_CACHETO_REGISTRY}uobflightlabstarling/starling-ui:${BAKE_CACHETO_NAME}" : "" ]
-    cache-from = [ notequal("",BAKE_CACHEFROM_NAME) ? "${BAKE_CACHEFROM_REGISTRY}uobflightlabstarling/starling-ui:${BAKE_CACHEFROM_NAME}" : "" ]
+    cache-to = [ notequal("",BAKE_CACHETO_NAME) ? "${BAKE_CACHETO_REGISTRY}uobflightlabstarling/rosbridge-suite:${BAKE_CACHETO_NAME}" : "" ]
+    cache-from = [ notequal("",BAKE_CACHEFROM_NAME) ? "${BAKE_CACHEFROM_REGISTRY}uobflightlabstarling/rosbridge-suite:${BAKE_CACHEFROM_NAME}" : "" ]
 }
 
 target "starling-controller-base" {
@@ -202,6 +202,10 @@ target "starling-sim-ardupilot-plane" {
 
 target "starling-sim-ardupilot-gazebo" {
     context = "simulator/base/ardupilot"
+    args = {
+        "VERSION": "${BAKE_VERSION}",
+        "REGISTRY": "${BAKE_REGISTRY}"
+    }
     tags = [
         "${BAKE_REGISTRY}uobflightlabstarling/starling-sim-ardupilot-gazebo:${BAKE_VERSION}",
         notequal("",BAKE_RELEASENAME) ? "${BAKE_REGISTRY}uobflightlabstarling/starling-sim-ardupilot-gazebo:${BAKE_RELEASENAME}": "",

diff --git a/docker-compose-2-drones.yml b/docker-compose-2-drones.yml
@@ -1,12 +1,14 @@
 version: '3'
 
+# This docker-compose file starts 2 drones 
+# This is not network host, therefore
+
 services:
 
-  simhost: # Must be called simhost
+  simhost: # Must be called simhost, hosted 8080
     image: uobflightlabstarling/starling-sim-iris:latest
     command: [ "ros2", "launch", "launch/iris.launch.xml" , sim_only:=true]
-    ports:
-      - "8080:8080"
+    network_mode: host
     pid: "host" # Share Process ID Namespace
 
   # ----------
@@ -15,24 +17,26 @@ services:
     image: uobflightlabstarling/starling-sim-iris:latest
     command: [ "./spawn_iris.sh" ]
     environment:
-      - "PX4_SIM_HOST=simhost"
+      - "PX4_SIM_HOST=localhost"
       - "PX4_INSTANCE=0"
       - "IGNORE_FAILURE=true"
     depends_on:
       - simhost
     pid: "host" # Share Process ID Namespace
+    network_mode: host
 
   sitl_1:
     image: uobflightlabstarling/starling-sim-px4-sitl:latest
     environment:
-      - "PX4_SIM_HOST=simhost"
-      - "PX4_OFFBOARD_HOST=mavros_1"
+      - "PX4_SIM_HOST=localhost" #simhost
+      - "PX4_OFFBOARD_HOST=localhost" #mavros_1
       - "PX4_INSTANCE=0"
-    ports:
-      - "18570:18570/udp"
+    # ports:
+      # - "18570:18570/udp"
     depends_on:
       - gazebo_spawn_1
     pid: "host" # Share Process ID Namespace
+    network_mode: host
 
   mavros_1:
     image: uobflightlabstarling/starling-mavros:latest
@@ -43,6 +47,7 @@ services:
     depends_on:
       - sitl_1
     pid: "host" # Share Process ID Namespace
+    network_mode: host
 
   simple_offboard_1:
     image: uobflightlabstarling/starling-simple-offboard:latest
@@ -51,6 +56,7 @@ services:
     depends_on:
       - mavros_1
     pid: "host" # Share Process ID Namespace
+    network_mode: host
   # End Spawn Vehicle 1
   # ----------
 
@@ -60,25 +66,27 @@ services:
     image: uobflightlabstarling/starling-sim-iris:latest
     command: [ "./spawn_iris.sh" ]
     environment:
-      - "PX4_SIM_HOST=simhost"
+      - "PX4_SIM_HOST=localhost"
       - "PX4_INSTANCE=1"
       - "IGNORE_FAILURE=true"
       - "PX4_SIM_INIT_LOC_X=2"
     depends_on:
       - simhost
     pid: "host" # Share Process ID Namespace
+    network_mode: host
 
   sitl_2:
     image: uobflightlabstarling/starling-sim-px4-sitl:latest
     environment:
-      - "PX4_SIM_HOST=simhost"
-      - "PX4_OFFBOARD_HOST=mavros_2"
+      - "PX4_SIM_HOST=localhost" #simhost
+      - "PX4_OFFBOARD_HOST=localhost" #mavros_2
       - "PX4_INSTANCE=1"
-    ports:
-      - "18571:18571/udp"
+    # ports:
+      # - "18571:18571/udp"
     depends_on:
       - gazebo_spawn_2
     pid: "host" # Share Process ID Namespace
+    network_mode: host
 
   mavros_2:
     image: uobflightlabstarling/starling-mavros:latest
@@ -89,6 +97,7 @@ services:
     depends_on:
       - sitl_2
     pid: "host" # Share Process ID Namespace
+    network_mode: host
 
   simple_offboard_2:
     image: uobflightlabstarling/starling-simple-offboard:latest
@@ -97,15 +106,24 @@ services:
     depends_on:
       - mavros_2
     pid: "host" # Share Process ID Namespace
+    network_mode: host
   # End Spawn Vehicle 2
   # ----------
 
   ui:
     image: mickeyli789/starling-ui-dashly:latest
-    ports:
-      - "3000:3000"
+    # ports:
+      # - "3000:3000"
     pid: "host" # Share Process ID Namespace
+    network_mode: host
 
   allocator:
     image: uobflightlabstarling/starling-allocator:latest
     pid: "host" # Share Process ID Namespace
+    network_mode: host
+
+  rosbridge-suite:
+    image: uobflightlabstarling/rosbridge-suite:latest
+    network_mode: host
+    # ports:
+      # - "9090:9090"
diff --git a/docker-compose-3-drones.yml b/docker-compose-3-drones.yml
@@ -5,34 +5,37 @@ services:
   simhost: # Must be called simhost
     image: uobflightlabstarling/starling-sim-iris:latest
     command: [ "ros2", "launch", "launch/iris.launch.xml" , sim_only:=true]
-    ports:
-      - "8080:8080"
+    # ports:
+      # - "8080:8080"
     pid: "host" # Share Process ID Namespace
+    network_mode: host
 
   # ----------
   # Spawn Vehicle 1
   gazebo_spawn_1:
     image: uobflightlabstarling/starling-sim-iris:latest
     command: [ "./spawn_iris.sh" ]
     environment:
-      - "PX4_SIM_HOST=simhost"
+      - "PX4_SIM_HOST=localhost"
       - "PX4_INSTANCE=0"
       - "IGNORE_FAILURE=true"
     depends_on:
       - simhost
     pid: "host" # Share Process ID Namespace
+    network_mode: host
 
   sitl_1:
     image: uobflightlabstarling/starling-sim-px4-sitl:latest
     environment:
-      - "PX4_SIM_HOST=simhost"
-      - "PX4_OFFBOARD_HOST=mavros_1"
+      - "PX4_SIM_HOST=localhost"
+      - "PX4_OFFBOARD_HOST=localhost"
       - "PX4_INSTANCE=0"
-    ports:
-      - "18570:18570/udp"
+    # ports:
+      # - "18570:18570/udp"
     depends_on:
       - gazebo_spawn_1
     pid: "host" # Share Process ID Namespace
+    network_mode: host
 
   mavros_1:
     image: uobflightlabstarling/starling-mavros:latest
@@ -43,6 +46,7 @@ services:
     depends_on:
       - sitl_1
     pid: "host" # Share Process ID Namespace
+    network_mode: host
 
   simple_offboard_1:
     image: uobflightlabstarling/starling-simple-offboard:latest
@@ -51,6 +55,7 @@ services:
     depends_on:
       - mavros_1
     pid: "host" # Share Process ID Namespace
+    network_mode: host
   # End Spawn Vehicle 1
   # ----------
 
@@ -60,25 +65,27 @@ services:
     image: uobflightlabstarling/starling-sim-iris:latest
     command: [ "./spawn_iris.sh" ]
     environment:
-      - "PX4_SIM_HOST=simhost"
+      - "PX4_SIM_HOST=localhost"
       - "PX4_INSTANCE=1"
       - "IGNORE_FAILURE=true"
       - "PX4_SIM_INIT_LOC_X=2"
     depends_on:
       - simhost
     pid: "host" # Share Process ID Namespace
+    network_mode: host
 
   sitl_2:
     image: uobflightlabstarling/starling-sim-px4-sitl:latest
     environment:
-      - "PX4_SIM_HOST=simhost"
-      - "PX4_OFFBOARD_HOST=mavros_2"
+      - "PX4_SIM_HOST=localhost"
+      - "PX4_OFFBOARD_HOST=localhost"
       - "PX4_INSTANCE=1"
-    ports:
-      - "18571:18571/udp"
+    # ports:
+      # - "18571:18571/udp"
     depends_on:
       - gazebo_spawn_2
     pid: "host" # Share Process ID Namespace
+    network_mode: host
 
   mavros_2:
     image: uobflightlabstarling/starling-mavros:latest
@@ -89,6 +96,7 @@ services:
     depends_on:
       - sitl_2
     pid: "host" # Share Process ID Namespace
+    network_mode: host
 
   simple_offboard_2:
     image: uobflightlabstarling/starling-simple-offboard:latest
@@ -97,6 +105,7 @@ services:
     depends_on:
       - mavros_2
     pid: "host" # Share Process ID Namespace
+    network_mode: host
   # End Spawn Vehicle 2
   # ----------
 
@@ -107,29 +116,32 @@ services:
     image: uobflightlabstarling/starling-sim-iris:latest
     command: [ "./spawn_iris.sh" ]
     environment:
-      - "PX4_SIM_HOST=simhost"
+      - "PX4_SIM_HOST=localhost"
       - "PX4_INSTANCE=2"
       - "IGNORE_FAILURE=true"
       - "PX4_SIM_INIT_LOC_X=4"
     depends_on:
       - simhost
     pid: "host" # Share Process ID Namespace
+    network_mode: host
 
   sitl_4:
     image: uobflightlabstarling/starling-sim-px4-sitl:latest
     environment:
-      - "PX4_SIM_HOST=simhost"
-      - "PX4_OFFBOARD_HOST=mavros_3"
+      - "PX4_SIM_HOST=localhost"
+      - "PX4_OFFBOARD_HOST=localhost"
       - "PX4_INSTANCE=2"
-    ports:
-      - "18572:18572/udp"
+    network_mode: host
+    # ports:
+      # - "18572:18572/udp"
     depends_on:
       - gazebo_spawn_3
     pid: "host" # Share Process ID Namespace
 
   mavros_3:
     image: uobflightlabstarling/starling-mavros:latest
     command: ros2 launch launch/mavros_bridge.launch.xml
+    network_mode: host
     environment:
       - "MAVROS_TGT_SYSTEM=3"
       - "MAVROS_FCU_IP=0.0.0.0"
@@ -139,6 +151,7 @@ services:
 
   simple_offboard_2:
     image: uobflightlabstarling/starling-simple-offboard:latest
+    network_mode: host
     environment:
       - "VEHICLE_MAVLINK_SYSID=3"
     depends_on:
@@ -149,10 +162,18 @@ services:
 
   ui:
     image: mickeyli789/starling-ui-dashly:latest
-    ports:
-      - "3000:3000"
+    network_mode: host
+    # ports:
+      # - "3000:3000"
     pid: "host" # Share Process ID Namespace
 
   allocator:
     image: uobflightlabstarling/starling-allocator:latest
+    network_mode: host
     pid: "host" # Share Process ID Namespace
+
+  rosbridge-suite:
+    image: uobflightlabstarling/rosbridge-suite:latest
+    network_mode: host
+    # ports:
+      # - "9090:9090"