Ardusub install

[woensug-choi]

PR for new baseline docker image to resolve #19

What's been added

• Ardupilot and Ardusub install from source at /opt/ardupilot_dave
• Mavros install from source at /opt/mavros

Image is being built from dockertest branch

• Github action is only set to run on ros2 and dockertest. The latest update of this branch is merged to dockertest which triggered the Github CI build using self-hosted runner (a local linux machine in my lab). It may take upto 24 hours for full ARM and AMD build.
  • Below badges are targeted to dockertest branch. It will show failing until action is done. Check Actions tab on top.
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To-do before merge to ros2

• Change branch name from ardusub_install to $BRANCH at

  • dave/.docker/jazzy.amd64.dockerfile

    Line 57 in f91e807

    ADD https://raw.githubusercontent.com/IOES-Lab/dave/ardusub_install/\

  • dave/.docker/jazzy.amd64.dockerfile

    Line 61 in f91e807

    ADD https://raw.githubusercontent.com/IOES-Lab/dave/ardusub_install/\

  • dave/.docker/jazzy.arm64v8.dockerfile

    Line 108 in f91e807

    ADD https://raw.githubusercontent.com/IOES-Lab/dave/ardusub_install/\

  • dave/.docker/jazzy.arm64v8.dockerfile

    Line 112 in f91e807

    ADD https://raw.githubusercontent.com/IOES-Lab/dave/ardusub_install/\

  • dave/extras/mavros-ubuntu-install.sh

    Lines 21 to 22 in f91e807

    	vcs import --force --shallow --retry 0 \
    	--input https://raw.githubusercontent.com/IOES-Lab/dave/ardusub_install/extras/repos/mavros.jazzy.repos src

[woensug-choi]

@rakeshv24 Pinging you that the image ioeslab/dave:ros2 for amd64 and ioeslab/dave:ros2-arm-rdp for apple silicon is ready to test.

[rakeshv24]

Will test it soon!

[rakeshv24]

@woensug-choi I tested ioeslab/dave:ros2-arm-rdp and it works fine! Since I don't have access to an ubuntu machine currently, I couldn't test the other image.

[woensug-choi]

@rakeshv24 Lovely! 👍

[woensug-choi]

@rakeshv24 new ioeslab/dave:ros2-arm-rdp is up! I've tested sim_vehicle.py -L RATBeach -v ArduSub -f vectored --model=JSON --out=udp:0.0.0.0:14550 --console and shows console window just fine.

Also pushed ioeslab/dave:ros2 for amd machines. I've decided to run the docker image as root user. This modification is made at ioeslab/dockwater repository.

• Reasonings
  • It was particularly tricky since the rocker-dockwater mounts the host machines user when running it. Unable to install ardupilot in user space. If I were to use custom user (e.g. docker as the case in rdp of arm), the x11 windows doesn't show on dockwater.

[woensug-choi]

If we were to use mavros-extras package, I saw some errors relating YAML.
I've found mavlink/mavros#1960 and mavlink/mavros#1988. I've tested and found that the evan's PR did fix it. At the moment, we are using 5884e2f5010cc811398d92eddede9b0c7454e68a commit (which happend 5 days ago) in the

dave/extras/repos/mavros.jazzy.repos

Line 5 in b77235d

ref: 5884e2f5010cc811398d92eddede9b0c7454e68a

instead of 2.8.0 (that of the latest release). We may need to change it later to official release version.

[rakeshv24]

We need to fix and merge this PR as well @woensug-choi

[woensug-choi]

@rakeshv24 You mean fixing branch names in dockerfile and install script right? Does the functionality you intended using ardusub work? or are we postponding ardusub functions to ver 1.1?

[rakeshv24]

@woensug-choi yes that is what I meant (changing branch names in docker file and installation scripts). Also, the functionality I intended works fine. In this version, the bluerov models will be launched with ardusub process. In later releases, we will target advanced functionality.