Work on development environment.

doc/minimal_dockers.md

+# Minimal Dockers
+
+## Minimal LRS Dockers 
+
+There is a set of minimal dockers that contains a set or related functionalities. The idea is that these dockers can be used in conjunction with a native ROS installation.
+
+The set of minimal dockers are currently:
+
+- base-dji-minimal
+- dji-minimal
+- exec-common-minimal
+- exec-dji-minimal
+- exec-exec-minimal
+- exec-minimal
+- gazebo_minimal
+- mqtt_minimal
+- rtsp_minimal
+- rviz_minimal
+- tst-minimal
+- wdb-minimal
+
+Missing:
+
+- delegation_minimal
+
+### Using Minimal Dockers
+
+The simplest way is to check ouy the repo:
+```bash
+git clone git@gitlab.liu.se:lrs/waraps.git
+```
+and make sure that waraps/script is in the path
+
+The following scripts will then be available:
+
+- [base_dji](https://gitlab.liu.se/lrs/waraps/-/blob/master/script/base_dji)
+- [dji_system](https://gitlab.liu.se/lrs/waraps/-/blob/master/script/dji_system)
+- [wdb](https://gitlab.liu.se/lrs/waraps/-/blob/master/script/wdb)
+- [tst](https://gitlab.liu.se/lrs/waraps/-/blob/master/script/tst)
+- [exec_system](https://gitlab.liu.se/lrs/waraps/-/blob/master/script/exec_system)
+- [exec_exec](https://gitlab.liu.se/lrs/waraps/-/blob/master/script/exec_exec)
+- [exec_common](https://gitlab.liu.se/lrs/waraps/-/blob/master/script/exec_common)
+- [exec_dji](https://gitlab.liu.se/lrs/waraps/-/blob/master/script/exec_dji)
+- [rviz_gpu](https://gitlab.liu.se/lrs/waraps/-/blob/master/script/rviz_gpu) Use if you have the NVIDIA docker extension.
+- [rviz_no_gpu](https://gitlab.liu.se/lrs/waraps/-/blob/master/script/rviz_no_gpu) Use if you do not have the NVIDIA docker extension.
+- [gazebo](https://gitlab.liu.se/lrs/waraps/-/blob/master/script/gazebo) Must have the NVIDIA docker extension.
+
+For example base_dji is defined as:
+```bash
+#!/bin/bash
+
+tag=gitlab.liu.se:5000/lrs/lrs_docker_images/base-dji-minimal:v01
+
+if [ $1 = "pull" ]; then
+    docker pull $tag
+    exit 0
+fi
+
+
+docker run \
+       --init \
+       --network host \
+       --security-opt apparmor:unconfined \
+       --ulimit nofile=1024 \
+       -e ROS_HOSTNAME=localhost \
+       --rm -it ${tag}  "$@"
+```
+
+### base-dji-minimal
+
+#### Contains repos
+- dji_sdk
+- motion_models
+- converter_mavdjisdk
+- nonlinearmpc
+- lrs_gazebo
+
+#### Example of usage
+```bash
+base_dji roslaunch lrs_dji_sim sim.launch dynamics:=true mpc:=true inair:=true ns:=/dji0 gazebo:=true
+base_dji bash
+base_dji more ws_install/install/share/lrs_dji_sim/launch/sim.launch
+```
+
+### dji-minimal
+
+#### Contains repos
+- lrs_basic
+- lrs_common
+- lrs_dji
+- lrs_kdb_bridge_msgs
+- lrs_kdb_msgs
+- lrs_launch
+- lrs_msgs_common
+- lrs_srvs_wdb
+- lrs_util_kdb
+- Onboard-SDK-ROS
+
+#### Example of usage
+
+Create an LRS DJI 
+```bash
+dji_system roslaunch lrs_launch lrsdji.launch publish_pose:=false ns:=/dji0
+```
+
+### wdb-minimal
+
+#### Contains repos
+- lrs_basic
+- lrs_common
+- lrs_launch
+- lrs_msgs_common
+- lrs_srvs_wdb
+- lrs_team_msgs
+- lrs_util_wdb
+- lrs_wdb
+
+#### Example of usage
+
+Create a WDB LRS DJI 
+```bash
+wdb roslaunch lrs_launch wdb.launch vehicle:=dji ns:=/dji0
+```
+
+### tst-minimal
+
+#### Contain repos
+
+- lrs_basic
+- lrs_common
+- lrs_launch
+- lrs_msgs
+- lrs_msgs_common
+- lrs_msgs_del
+- lrs_msgs_mp
+- lrs_msgs_tfpop
+- lrs_msgs_tst
+- lrs_pyutil
+- lrs_srvs
+- lrs_srvs_exec
+- lrs_srvs_tst
+- lrs_srvs_wdb
+- lrs_tst
+- lrs_util_tst
+- lrs_util_wdb
+
+#### Example of usage
+
+Create TST Factory for Execution Trees
+```
+tst roslaunch lrs_launch tst_part ns:=/dji0
+```
+
+### exec-minimal
+
+#### Contain repos
+- lrs_exec
+- lrs_launch
+- lrs_msgs_common
+- lrs_msgs_del
+- lrs_msgs_tfpop
+- lrs_msgs_tst
+- lrs_resource
+- lrs_srvs_exec
+- lrs_srvs_ra
+- lrs_srvs_tst
+- lrs_srvs_wdb
+- lrs_util_tst
+- lrs_util_wdb
+
+#### Example of usage
+
+Start the nodes_
+- tstexecmanager
+- resourceagent
+
+```bash
+exec_system roslaunch lrs_launch exec_part.launch ns:=/dji0
+
+```
+
+### exec-exec-minimal
+
+#### Contain repos
+- lrs_exec_exec
+- lrs_interaction_msgs
+- lrs_srvs_tfpop
+- lrs_util_interaction
+- lrs_util_tfpop
+
+#### Example of usage
+
+```bash
+exec_exec roslaunch lrs_launch exec_exec.launch ns:=/dji0
+```
+
+### exec-common-minimal
+
+#### Contain repos
+
+- lrs_basic
+- lrs_common
+- lrs_exec_common
+- lrs_exec_scan
+- lrs_interaction_msgs
+- lrs_kdb_bridge_msgs
+- lrs_kdb_msgs
+- lrs_launch
+- lrs_msgs
+- lrs_msgs_mp
+- lrs_scan_msgs
+- lrs_srvs_del
+- lrs_srvs_mp
+- lrs_util
+- lrs_util_del
+- lrs_util_interaction
+- lrs_util_kdb
+- lrs_util_mp
+- lrs_util_scan
+
+#### Example of usage
+
+```bash
+exec_common roslaunch lrs_launch exec_common.launch ns:=/dji0
+```
+
+### exec-dji-minimal
+
+#### Contain repos
+
+- lrs_basic
+- lrs_common
+- lrs_exec_dji
+- lrs_interaction_msgs
+- lrs_launch
+- lrs_msgs
+- lrs_msgs_mp
+- lrs_srvs
+- lrs_util_interaction
+- Onboard-SDK-ROS
+
+
+#### Example of usage
+
+```bash
+exec_dji roslaunch lrs_launch exec_vehicle.launch vehicle:=dji ns:=/dji0
+```
+
+## Examples
+
+How to load vehicle config file, cannot be loaded in location since it depends on unit
+
+We assume a roscore have been started on the development machine:
+```bash
+roscore
+```
+
+### /op0
+
+```bash
+roslaunch lrs_launch config.launch location:=granso kdb:=true ns:=/op0
+wdb roslaunch lrs_launch wdb.launch vehicle:=op ns:=/op0
+tst roslaunch lrs_launch tst_part ns:=/op0
+exec_system roslaunch lrs_launch exec_part.launch ns:=/op0
+exec_exec roslaunch lrs_launch exec_exec.launch ns:=/op0
+```
+
+### /dji0
+```bash
+roslaunch lrs_launch config.launch location:=granso kdb:=true ns:=/dji0
+base_dji roslaunch lrs_dji_sim sim.launch dynamics:=true mpc:=true inair:=true ns:=/dji0 gazebo:=true
+dji_system roslaunch lrs_launch lrsdji.launch publish_pose:=false ns:=/dji0
+wdb roslaunch lrs_launch wdb.launch vehicle:=dji ns:=/dji0
+tst roslaunch lrs_launch tst_part ns:=/dji0
+exec_system roslaunch lrs_launch exec_part.launch ns:=/dji0
+exec_exec roslaunch lrs_launch exec_exec.launch ns:=/dji0
+exec_dji roslaunch lrs_launch exec_vehicle.launch vehicle:=dji ns:=/dji0
+```
+
+### Using Your Own Controller for the DJI
+
+```bash
+roslaunch lrs_launch config.launch location:=granso kdb:=true ns:=/dji0
+# Start your own controller here
+base_dji roslaunch lrs_dji_sim sim.launch dynamics:=true mpc:=false pid:=false inair:=true ns:=/dji0 gazebo:=true
+dji_system roslaunch lrs_launch lrsdji.launch publish_pose:=false ns:=/dji0
+```
+
+### Running RVIZ
+
+```bash
+rviz_gpu roslaunch lrs_launch rviz_outside.launch
+```
+
+or
+
+```bash
+rviz_no_gpu roslaunch lrs_launch rviz_outside.launch
+```
+
+### Running Gazebo
+
+For gazebo we have to start gazebo first and since it uses simtime.
+```bash
+roslaunch lrs_launch config.launch location:=granso kdb:=true ns:=/dji0
+gazebo roslaunch lrs_wara_gazebo gazebo.launch world:=granso.world
+gazebo roslaunch lrs_wara_gazebo dji_to_gazebo.launch name:=dji0 with_laser:=true x:=5
+base_dji roslaunch lrs_dji_sim sim.launch dynamics:=true mpc:=false pid:=false inair:=true ns:=/dji0 gazebo:=true
+# Start your own controller here
+dji_system roslaunch lrs_launch lrsdji.launch publish_pose:=false ns:=/dji0
+```
+
+BUG:
+
+[ INFO] [1599222870.282665159, 565.980000000]: Updating LinkState: reference_frame is empty/world/map, using inertial frame
+

script/tst

@@ -12,6 +12,7 @@ exec docker run \
      --network host \
      --security-opt apparmor:unconfined \
      --ulimit nofile=1024 \
+     --ipc=host \
      -v /tmp/.X11-unix:/tmp/.X11-unix \
      -e DISPLAY=unix${DISPLAY} \
      -e ROS_HOSTNAME=localhost \

script/tst_noetic

@@ -15,4 +15,7 @@ exec docker run \
      -v /tmp/.X11-unix:/tmp/.X11-unix \
      -e DISPLAY=unix${DISPLAY} \
      -e ROS_HOSTNAME=localhost \
+     --ipc=host \
      --rm -it ${tag} "$@"
+
+## --ipc=host Solves problem with crash in tstdisplayserver