Merge pull request #117 from StarlingUAS/ap-sim-address

Add host-based lookups for ArduPilot/Gazebo

buildtools/docker-bake.hcl

@@ -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}": "",

docs/details/build_system.md

@@ -86,3 +86,12 @@ The set of images are automatically updated on DockerHub. Each image will have a
  - `:nightly` tracking the most recent push to the `dev` branch
  - `:vX.Y.Z` fixed release tags
  - `:${BRANCH}` tracking most recent push to PR branches while active
+
+#### Updating the cache
+
+The builds can be run locally to update the cache if GitHub is timing out. `starling-mavros` is usually the culprit.
+The command below will update the nightly tag on Docker Hub, both caching from and to the dev caches.
+
+```bash
+BAKE_VERSION=nightly BAKE_CACHEFROM_NAME=cache-dev BAKE_CACHETO_NAME=cache-dev docker buildx bake -f buildtools/docker-bake.hcl --push starling-mavros
+```

docs/docker-images/sim-ardupilot-vehicle.md

@@ -21,6 +21,8 @@ Name                  | Default Value                | Description
 `AP_OFFSET_Y`         | 0                            | Start location y offset for SITL
 `AP_DISTRIBUTE`       | {null}                       | If set, automatically generate `AP_OFFSET_X` and `AP_OFFSET_Y`
 `AP_USE_GAZEBO`       | {null}                       | If set, use a Gazebo model as physics backend
+`AP_SIM_ADDRESS`      | 127.0.0.1                    | IP address to use for talking to Gazebo instance
+`AP_SIM_HOST`         | {null}                       | Hostname to use for talking to Gazebo instance. Will __override__ `AP_SIM_ADDRESS`
 
 ### `AP_SYSID`
 
@@ -86,6 +88,17 @@ grid lines are laid out at 1m separations. As a SYSID of 0 is invalid, no vehicl
 When set, `AP_USE_GAZEBO` will cause the SITL to connect to an instance of the ArduPilot plugin running as part of a
 Gazebo model. At present, this will use the default IP and port pair: 127.0.0.1:9002/9003
 
+### `AP_SIM_ADDRESS`
+
+Use this to adjust the IP address that the SITL uses to connect to the simulator backend. At present, this is only
+relevant when `AP_USE_GAZEBO` is set.
+
+### `AP_SIM_HOST`
+
+When set, the container will resolve the hostname stored in this variable using `getent hosts`. The value from the
+lookup will be used in preference to any address set in `AP_SIM_ADDRESS`. If the hostname lookup fails, the container
+will exit early.
+
 ## Dockerfile Build Arguments
 
 ### `VEHICLE`

docs/docker-images/sim-iris-ap.md

@@ -4,4 +4,11 @@ Based on [`staring-sim-ardupilot-gazebo`](../sim-ardupilot-gazebo)
 
 ## Overview
 
-This image adds the launch files required to launch an Iris model with the ArduPilot plugin using Gazebo.
+This image adds the launch files required to launch an Iris model with the ArduPilot plugin using Gazebo.
+
+## Environment Variables
+
+Name                  | Default Value                | Description
+----------------------|------------------------------|------------
+`AP_SITL_ADDRESS`     | 127.0.0.1                    | IP address for Gazebo plugin to use to talk to ArduPilot instance
+`AP_SITL_HOST`        | {null}                       | Hostname for Gazebo plugin to use to talk to ArduPilot instance. Set to __override__ IP address.

simulator/base/ardupilot/entrypoint.sh

@@ -56,7 +56,20 @@ if [ ! -z "$AP_DISTRIBUTE" ]; then
     AP_OFFSET_Y=$(( AP_SYSID % 16 ))
 fi
 
+if [ ! -z "${AP_SIM_HOST}" ]; then
+    # AP_SIM_HOST has been set, use it to set AP_SIM_ADDRESS
+    AP_SIM_ADDRESS="$(getent hosts ${AP_SIM_HOST} | cut -d ' ' -f1)"
+    if [ -z "${AP_SIM_ADDRESS}" ]; then
+        # Address lookup failed
+        echo "Error: Failed to lookup IP address for host '${AP_SIM_HOST}'"
+        exit 1
+    fi
+fi
+
+AP_SIM_ADDRESS=${AP_SIM_ADDRESS:-127.0.0.1}
+
 exec /src/ardupilot/build/sitl/bin/ardu${AP_VEHICLE} \
     --model=${AP_MODEL} \
     --home=$(/home/root/offset_location.py ${AP_HOME} ${AP_OFFSET_X} ${AP_OFFSET_Y}) \
-    --defaults=${AP_PARAM_FILES},$(pwd)/set_sysid.parm
+    --defaults=${AP_PARAM_FILES},$(pwd)/set_sysid.parm \
+    --sim-address=${AP_SIM_ADDRESS}

simulator/base/ardupilot/sitl.Dockerfile

@@ -33,6 +33,9 @@ ENV AP_PARAM_FILES ""
 ENV AP_HOME 51.4235413,-2.6708488,50,250
 ENV AP_OFFSET_X 0
 ENV AP_OFFSET_Y 0
+# AP_DISTRIBUTE
 # AP_USE_GAZEBO
+ENV AP_SIM_ADDRESS 127.0.0.1
+# AP_SIM_HOST
 
 ENTRYPOINT [ "/home/root/entrypoint.sh" ]

simulator/vehicles/iris-ap/Dockerfile

@@ -5,9 +5,14 @@ FROM ${REGISTRY}uobflightlabstarling/starling-sim-ardupilot-gazebo:${VERSION}
 # Copy in the vehicle launch file
 COPY iris.launch.xml /ros_ws/launch/
 COPY spawn_iris.sh /ros_ws/
-#COPY xacro_launch.sh /ros.env.d/xacro/setup.bash
 
-RUN echo 'export PX4_SITL_PORT=$((PX4_SITL_PORT + PX4_INSTANCE))' >> /ros.env
+ENV AP_SITL_ADDRESS 127.0.0.1
+# AP_SITL_HOST
+
+# Copy in the xacro & bash file to setup the model with a specific address
+RUN mkdir /ros.env.d/iris_ap
+COPY model.sdf.xacro /ros.env.d/iris_ap/model.sdf.xacro
+COPY iris_setup.sh /ros.env.d/iris_ap/setup.bash
 
 WORKDIR /ros_ws
 

simulator/vehicles/iris-ap/iris_setup.sh

@@ -0,0 +1,16 @@
+#!/bin/bash
+
+if [ ! -z "${AP_SITL_HOST}" ]; then
+    # AP_SITL_HOST has been set, use it to set AP_SITL_ADDRESS
+    AP_SITL_ADDRESS="$(getent hosts ${AP_SITL_HOST} | cut -d ' ' -f1)"
+    if [ -z "${AP_SITL_ADDRESS}" ]; then
+        # Address lookup failed
+        echo "Error: Failed to lookup IP address for host '${AP_SITL_HOST}'"
+        exit 1
+    fi
+fi
+
+XACRO_PATH=/ros.env.d/iris_ap/model.sdf.xacro
+MODEL_PATH=/ardupilot_gazebo/models/iris_with_ardupilot/model.sdf
+
+xacro ${XACRO_PATH} fdm_addr:=${AP_SITL_ADDRESS} listen_addr:=0.0.0.0 > ${MODEL_PATH}