Saildrone

• Image at ioeslab/saildrone:ros2-amd64

• Image at ioeslab/saildrone:ros2-arm-desktop

• Image at ioeslab/saildrone:ros2-arm-rdp

The original Documentation is currently at http://dave-ros2.notion.site

Installation on Mac (Apple Silicon)

🐳 Install Docker for Mac

• Install Docker Desktop with following official document
  • https://docs.docker.com/desktop/install/mac-install/

🏗️ Install Brew, Xauth, Python, Rocker

• On Terminal (find it at spotlight)

• Install Homebrew package manager (something like app store)

  /bin/bash -c "$(curl -fsSL https://raw.githubusercontent.com/Homebrew/install/HEAD/install.sh)"

• Install python3 with Homebrew and update pip (the python package manager)

  brew install python3
  # (below is optional)
  python3 -m pip install --upgrade pip

• Install xauth with Homebrew

  brew install xauth

• Set-up virtual python environment for rocker installation

  # Make or Choose a directory for saildrone workspace
  # here, populating saildrone_ws directory at user home
  mkdir -p ~/saildrone/src && cd ~/saildrone
  
  # Make python virtual environment with python3-venv
  python3 -m venv saildrone_venv
  # Set-up virtual environment (terminal will now show saildrone_venv)
  source ~/saildrone_ws/saildrone_venv/bin/activate
  
  # Install VCS tool in virtual environment
  pip install vcstool

  • If run correctly, you will see (saildrone_venv) your terminal showing that you are in the virtual environment

• Copy saildrone source codes and install rocker in virtual environment

  cd ~/saildrone_ws/src && curl -fsSL https://raw.githubusercontent.com/IOES-Lab/Saildrone/master/extras/repos/saildrone.jazzy.repos | vcs import --skip-existing --shallow --input -

• Install downloaded rocker(the Open Robotics Docker CLI)

  python3 -m pip install rocker/.

🛠️ Build Saildrone environment

• Use pre-built docker environment (ros2-arm-rdp means that the image is for arm architecture).

  # Download pre-build image from docker hub
  # You may have to have Docker Desktop application running
  docker pull ioeslab/saildrone:ros2-arm-rdp
  # Rename downloaded image to saildrone:latest
  docker tag ioeslab/saildrone:ros2-arm-rdp saildrone:latest

• (Optional) If you want to build the image of your own, follow below. If you are using pre-built image, skip this part.

  • Unlike the Linux machine cases above, we won’t build image using build.bash of dockwater. We will use docker command instead

    • This takes quite long (longer than linux versions about 10~40 minutes depending on your machine). You may use prebuilt image (go down below)

      • You need to have docker desktop running on your machine.

      docker build -f ~/saildrone_ws/src/saildrone/.docker/jazzy.arm64v8.rdp.dockerfile -t saildrone:latest .

🚀 Start Saildrone Environment

💡 Docker Desktop should be running!

• We are using Dockwater (wrapper of rocker) to launch the Saildrone environment

  • we will use special tag -r (added RDP remote desktop connection capability and removed NVIDIA, sadly no 3D hardware acceleration) for the docker run.bash

  source ~/saildrone_ws/saildrone_venv/bin/activate
  cd ~/saildrone_ws/src/dockwater
  # Now run! (it may take some time at first run)
  ./run.bash -r saildrone:latest

  • It will launch the docker image and stop on hold

    • You will see the terminal screen stopped at this message

      [20240919-01:26:20] [INFO ] xrdp_listen_pp done

• Download and install RDP client

  • https://apps.apple.com/in/app/windows-app/id1295203466?mt=12

• Connect to localhost with username and password both docker

  💡 If you see only black screen when connected using RDP client, turn ./run.bash -r saildrone:latest off with Control + C and re-run it

  💡 The host machine’s home directory is mounted at /home/docker/HOST.

• Launch demo rexrov ROV on ocean waves with below command on Terminal app inside RDP

  ros2 launch dave_demos dave_robot.launch.py namespace:=wamv world_name:=wamv_waves paused:=false
  
  # It may take some time to load and may show NOT RESPONDING
  # Just wait until the window shows up

  • Saildrone source code is already compiled and installed at /home/docker/saildrone_ws
  • If you want something of your own, the host machine’s home directory is mounted at /home/docker/HOST

ROVER Demo

• Installed at /home/docker/ros_gz_rover

• To make this work you need to modify run.bash at ~/dave_ws/src/dockwater before running ./run.bash -r saildrone:latest

  • Add port for QGroundControl communication

  --port "$HOST_RDP_PORT":3389 --port 14551:14551/udp

  • At QGroundControl application, set the UDP link to port 14551

• To launch the rover demo, run the following command inside the RDP terminal:

  # Terminal 1:
  ros2 launch ros_gz_rover rover.launch.py
  
  # Terminal 2:
  sim_vehicle.py -N -v Rover -f rover-skid --model JSON --mavproxy-args="--out=udp:host.docker.internal:14551"
  
  # Terminal 3:
  ros2 launch ros_gz_rover mavros.launch.py
  
  # Terminal 4:
  gz sim -v4 -g