Vnc display and local execution

devdocs/Architecture.md

@@ -0,0 +1,5 @@
+# VisualCircuit 
+
+![Architecture](./images/Architecture.png)
+
+## Frontend

docker/.env

@@ -0,0 +1,17 @@
+#!/bin/bash
+
+# GAZEBO
+export GAZEBO_RESOURCE_PATH=$GAZEBO_RESOURCE_PATH:/usr/share/gazebo-11:/RoboticsAcademy/exercises/follow_line/web-template/launch/:/RoboticsAcademy/exercises/obstacle_avoidance/web-template/launch/:/RoboticsAcademy/exercises/vacuum_cleaner/web-template/launch/:/RoboticsAcademy/exercises/vacuum_cleaner_loc/web-template/launch/:/RoboticsAcademy/exercises/3d_reconstruction/web-template/launch/:/RoboticsAcademy/exercises/global_navigation/web-template/launch/:/RoboticsAcademy/exercises/car_junction/web-template/:/RoboticsAcademy/exercises/opticalflow_teleop/web-template/launch/:/RoboticsAcademy/exercises/autoparking/web-template/:/RoboticsAcademy/exercises/montecarlo_visual_loc/web-template/launch/
+export GAZEBO_PLUGIN_PATH=$GAZEBO_PLUGIN_PATH:/usr/lib/x86_64-linux-gnu/gazebo-11/plugins:/PX4-Autopilot/build/px4_sitl_default/build_gazebo
+export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:/usr/share/gazebo-11/models:/opt/jderobot/CustomRobots/f1/models:/opt/jderobot/CustomRobots/roomba_robot/models:/opt/jderobot/CustomRobots/3d_reconstruction/models:/opt/jderobot/CustomRobots/Taxi_navigator/models:/opt/jderobot/CustomRobots/car_junction/models:/PX4-Autopilot/Tools/sitl_gazebo/models:/catkin_ws/src/drones/drone_assets/models:/opt/jderobot/CustomRobots/package_delivery/models:/opt/jderobot/CustomRobots/power_tower_inspection/models
+export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/usr/lib/x86_64-linux-gnu/gazebo-11/plugins:/PX4-Autopilot/build/px4_sitl_default/build_gazebo
+
+# PX4 (and ROS)
+export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:/PX4-Autopilot:/PX4-Autopilot/Tools/sitl_gazebo
+
+# STDR
+export STDR_LAUNCH=/opt/jderobot/CustomRobots/stdr_simulator/stdr_launchers/launch
+export STDR_RESOURCES=/opt/jderobot/CustomRobots/stdr_simulator/stdr_resources
+
+# Default rendering display
+export DISPLAY=:0

docker/.rosinstall

@@ -0,0 +1,21 @@
+repositories:
+
+  mavlink:
+    type: git
+    url: https://github.com/mavlink/mavlink-gbp-release.git
+    version: release/kinetic/mavlink/2021.3.3-1
+
+  mavros:
+    type: git
+    url: https://github.com/mavlink/mavros.git
+    version: 1.9.0
+
+  drones:
+    type: git
+    url: https://github.com/JdeRobot/drones.git
+    version: noetic-devel
+
+  stdr_simulator:
+    type: git
+    url: https://github.com/stdr-simulator-ros-pkg/stdr_simulator.git
+    version: indigo-devel

docker/Dockerfile

@@ -0,0 +1,60 @@
+FROM jderobot/base:3.2
+
+RUN python3.8 -m pip install aiohttp cchardet python-socketio
+
+# Custom Robot Repository
+RUN mkdir -p /opt/jderobot && cd /opt/jderobot && \
+	git clone -b $ROS_DISTRO-devel https://github.com/JdeRobot/CustomRobots.git
+
+# bootstrap rosdep
+RUN rosdep init && rosdep update
+
+# jderobot_drones src and stdr simulator
+RUN add-apt-repository ppa:rock-core/qt4 -y && \
+    apt update --fix-missing
+RUN rm -rf /catkin_ws && \
+    mkdir -p /catkin_ws/src && \
+    cd /catkin_ws && \
+    catkin init
+COPY .rosinstall /tmp/
+RUN vcs import /catkin_ws/src  < /tmp/.rosinstall
+
+RUN cd /catkin_ws && rosdep install --from-paths src --ignore-src -y --rosdistro $ROS_DISTRO
+RUN cd /catkin_ws && rosdep update && rosdep install --from-paths . --ignore-src --rosdistro $ROS_DISTRO -y 
+RUN /bin/bash -c '. /opt/ros/$ROS_DISTRO/setup.bash; cd /catkin_ws; catkin build -p 1 -j 1'
+
+
+# Scripts copy
+COPY [".env", "manager.py","entrypoint.sh", "./"]
+
+RUN rm -rf /usr/bin/python /usr/bin/python2 /usr/bin/python2.7 \
+    && ln -s /usr/bin/python3.8 /usr/bin/python
+
+# Django server
+EXPOSE 8000
+
+# Manager websocket
+EXPOSE 8765
+
+# Code websocket
+EXPOSE 1905
+EXPOSE 1904
+
+# GUI websockets
+EXPOSE 2303
+EXPOSE 2304
+
+# noVNC Console
+EXPOSE 1108
+
+# noVNC Gazebo
+EXPOSE 6080
+
+# WebRtc
+EXPOSE 1831
+
+EXPOSE 5900
+
+
+ENTRYPOINT [ "./entrypoint.sh" ]
+# CMD ["--help"]