Enable auto launch of isaac and airstack via tmux in docker (#111)

castacks · Oct 24, 2024 · 86a19c1 · 86a19c1
1 parent c3bed17
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diff --git a/docker/Dockerfile.airstack-dev b/docker/Dockerfile.airstack-dev
@@ -10,6 +10,7 @@ RUN apt install -y \
     cmake build-essential \
     less htop jq \
     python3-pip \
+    tmux \
     gdb
 
 # Package dependencies

diff --git a/docker/Dockerfile.isaac-ros b/docker/Dockerfile.isaac-ros
@@ -15,6 +15,7 @@ RUN apt-get update && apt-get install -q -y --no-install-recommends \
     dirmngr \
     gnupg2 \
     unzip \
+    tmux \
     && rm -rf /var/lib/apt/lists/*
 
 # setup keys

diff --git a/docker/docker-compose.yaml b/docker/docker-compose.yaml
@@ -2,14 +2,20 @@
 services:
   # ==============================================================================
   isaac-sim:
-    image: &isaac-sim-image airlab-storage.andrew.cmu.edu:5001/shared/isaac-sim_ros-humble:v1.0.0
+    image: &isaac-sim-image airlab-storage.andrew.cmu.edu:5001/shared/isaac-sim_ros-humble:v1.0.1
     build:
       context: ../
       dockerfile: docker/Dockerfile.isaac-ros
       tags:
         - *isaac-sim-image
     container_name: isaac-sim
-    entrypoint: bash
+    entrypoint: ""  # override the default entrypoint with nothing
+    # for some reason the tmux session manager only works when isaac is running in tmux
+    command: >
+      bash -c "
+      tmux new -d -s isaac
+      && tmux send-keys -t isaac 'runapp' ENTER
+      && sleep infinity"
     # Interactive shell
     stdin_open: true # docker run -i
     tty: true # docker run -t
@@ -59,13 +65,19 @@ services:
 
   # ==============================================================================
   robot:
-    image: &airstack-dev-image airlab-storage.andrew.cmu.edu:5001/shared/airstack-dev:v0.5.2
+    image: &airstack-dev-image airlab-storage.andrew.cmu.edu:5001/shared/airstack-dev:v0.5.3
     build:
       context: ../
       dockerfile: docker/Dockerfile.airstack-dev
       tags:
         - *airstack-dev-image
-    entrypoint: bash -c "service ssh restart && bash"
+    entrypoint: ""
+    # we use tmux send-keys so that the session stays alive
+    command: >
+      bash -c "ssh service restart;
+      tmux new -d -s robot_bringup
+      && tmux send-keys -t robot_bringup 'ros2 launch robot_bringup robot.launch.xml' ENTER
+      && sleep infinity"
     # Interactive shell
     stdin_open: true # docker run -i
     tty: true # docker run -t
@@ -102,13 +114,20 @@ services:
   ground-control-station:
     image: *airstack-dev-image
     container_name: ground-control-station
-    entrypoint: bash -c "service ssh restart && bash"
+    entrypoint: ""
+    command: >
+      bash -c "ssh service restart;
+      tmux new -d -s gcs_bringup
+      && tmux send-keys -t gcs_bringup 'ros2 launch gcs_bringup gcs.launch.xml' ENTER
+      && sleep infinity"
     # Interactive shell
     stdin_open: true # docker run -i
     tty: true # docker run -t
     # Needed to display graphical applications
     ipc: host
     privileged: true
+    networks:
+      - airstack_network
     environment:
       - DISPLAY
       - QT_X11_NO_MITSHM=1

diff --git a/...template/source/extensions/airlab.airstack/airlab/airstack/ogn/ascent_sitl_launch_tool.py b/...template/source/extensions/airlab.airstack/airlab/airstack/ogn/ascent_sitl_launch_tool.py
@@ -71,7 +71,8 @@ def kill_all_ascent_sessions():
                 sessions.append(line.split(':')[0])
 
         for session in sessions:
-            subprocess.call('tmux kill-session -t ' + session, shell=True)
+            if session.startswith(AscentSitlLaunchTool.get_tmux_session_prefix()):
+                subprocess.call('tmux kill-session -t ' + session, shell=True)
 
     def get_dronekit_address(self):
         return '127.0.0.1:' + str(self.isaac_sim_port)

diff --git a/...s/kit-app-template/source/extensions/airlab.tmux_manager/airlab/tmux_manager/extension.py b/...s/kit-app-template/source/extensions/airlab.tmux_manager/airlab/tmux_manager/extension.py
@@ -270,7 +270,7 @@ def refresh_tmux_sessions(self):
                     def get_attach(session_name):
                         def attach():
                             #print('xterm -e "tmux a -t ' + session_name + '"')
-                            subprocess.Popen('xterm -e "tmux a -t \\"' + session_name + '\\""', shell=True)
+                            subprocess.Popen('xterm -bg black -fg white -e "tmux a -t \\"' + session_name + '\\""', shell=True)
                         return attach
 
                     def get_kill(session_name):

diff --git a/docker/isaac-sim/.bashrc b/docker/isaac-sim/.bashrc
@@ -3,9 +3,6 @@
 # see /usr/share/doc/bash/examples/startup-files (in the package bash-doc)
 # for examples
 
-# If not running interactively, don't do anything
-[ -z "$PS1" ] && return
-
 # don't put duplicate lines in the history. See bash(1) for more options
 # ... or force ignoredups and ignorespace
 HISTCONTROL=ignoredups:ignorespace
@@ -88,6 +85,9 @@ alias l='ls -CF'
 # ~/.bash_aliases, instead of adding them here directly.
 # See /usr/share/doc/bash-doc/examples in the bash-doc package.
 
+# make xterm black bg
+alias xterm='xterm -bg black -fg white'
+
 alias emacs='emacs -nw'
 alias sis='source install/setup.bash'
 

diff --git a/docs/development/docker_usage.md b/docs/development/docker_usage.md
@@ -4,7 +4,6 @@ AirStack is designed for multi-robot development, and is setup to run multiple r
 
 To mimic interacting with real world robots, we use Docker Compose to manage Docker containers that isolate the simulation, each robot, and the ground control station.
 
-
 The details of the docker compose setup is in `AirStack/docker/docker-compose.yaml`.
 
 In essence, the compose file launches:
@@ -13,36 +12,39 @@ In essence, the compose file launches:
 - ground control station
 - robots
 
-all get created on the same default Docker bridge network. 
+all get created on the same default Docker bridge network.
 This lets them communicate with ROS2 on the same network.
 
-
 Each robot has its own ROS_DOMAIN_ID.
 
 ## Pull Images
+
 To use the AirLab docker registry:
+
 ```bash
 cd AirStack/docker/
 docker login airlab-storage.andrew.cmu.edu:5001
 ## <Enter your andrew id (without @andrew.cmu.edu)>
 ## <Enter your andrew password>
 
 ## Pull the images in the docker compose file
-docker compose pull 
+docker compose pull
 ```
 
 Catelog: [AirLab Registry Images](https://airlab-storage.andrew.cmu.edu:5001/v2/_catalog).
 
-Available image tags: 
+Available image tags:
 [airstack-dev](https://airlab-storage.andrew.cmu.edu:5001/v2/shared/airstack-dev/tags/list),
 [isaac-sim_ros-humble](https://airlab-storage.andrew.cmu.edu:5001/v2/shared/isaac-sim_ros-humble/tags/list)
 
 ## Build Images
+
 ```bash
 docker compose build
 ```
 
-## Start and Stop
+## Start, Stop, and Remove
+
 Start
 ```bash
 docker compose up -d --scale robot=[NUM_ROBOTS]
@@ -53,11 +55,16 @@ docker ps -a
 
 Stop
 ```bash
-docker compose down
+docker compose stop
 ```
 
+Remove
+```bash
+docker compose down
+```
 
 ## SSH into Robots
+
 The containers mimic the robots' onboard computers on the same network. Therefore we intend to interface with the robots through ssh.
 
 The `ground-control-station` and `docker-robot-*` containers are setup with ssh daemon, so you can ssh into the containers using the IP address.
@@ -67,14 +74,15 @@ You can get the IP address of each container by running the following command:
 ```bash
 docker inspect -f '{{range.NetworkSettings.Networks}}{{.IPAddress}}{{end}}' [CONTAINER-NAME]
 ```
+
 Then ssh in, for example:
+
 ```bash
 ssh [email protected]
 ```
 
 The ssh password is `airstack`.
 
-
 ## Container Details
 
 ```mermaid
@@ -91,25 +99,30 @@ graph TD
 
 ```
 
-
 ### Isaac Sim
+
 Start a bash shell in the Isaac Sim container:
+
 ```bash
-docker exec -it isaac-sim bash
+# if the isaac container is already running, execute a bash shell in it
+docker compose exec isaac-sim bash
+# or if not, start a new container
+docker compose run isaac-sim bash
 ```
 
-
-`runapp` launches Isaac Sim.
+The alias `runapp` launches Isaac Sim.
 The `--path` argument can be passed with a path to a `.usd` file to load a scene.
 
 It can also be run in headless mode with `./runheadless.native.sh` to stream to [Omniverse Streaming Client](https://docs.omniverse.nvidia.com/streaming-client/latest/user-manual.html) or `./runheadless.webrtc.sh` to [stream to a web browser](https://docs.omniverse.nvidia.com/extensions/latest/ext_livestream/webrtc.html).
 
-The container also has the isaacsim ROS2 package within that can be launched with `ros2 launch isaacsim run_isaacsim.launch.py`. 
+The container also has the isaacsim ROS2 package within that can be launched with `ros2 launch isaacsim run_isaacsim.launch.py`.
 
 ### Robot
+
 Start a bash shell in a robot container, e.g. for robot_1:
+
 ```bash
-docker exec -it docker-robot-1 bash
+docker compose exec docker-robot-1 bash
 ```
 
 ```bash
@@ -118,21 +131,23 @@ cws  # cleans workspace
 bws  # builds workspace
 bws --packages-select [your_packages] # builds only desired packages
 sws  # sources workspace
-ros2 launch robot_bringup robot.launch.xml  # top-level launch 
+ros2 launch robot_bringup robot.launch.xml  # top-level launch
 ```
 
 These aliases are in the `~/.bashrc` file.
 
 Each robot has `ROS_DOMAIN_ID` set to its ID number. `ROBOT_NAME` is set to `robot_$ROS_DOMAIN_ID`.
 
 ### Ground Control Station
+
 Currently the ground control station uses the same image as the robot container. This may change in the future.
 
 Start a bash shell in a robot container:
+
 ```bash
-docker exec -it ground-control-station bash
+docker compose exec ground-control-station bash
 ```
 
 The commands are currently the same.
 
-On the GCS `ROS_DOMAIN_ID` is set to 0.
+On the GCS `ROS_DOMAIN_ID` is set to 0.