added dogtail

docker/shared_data/camera_tests/shared_data/apriltag.yaml

@@ -19,6 +19,6 @@ transport_hint:    "raw"      # default: raw, see http://wiki.ros.org/image_tran
 #   ]
 standalone_tags:
   [
-    {id: 0, size: 0.129, name: recursive_tag_1_big},
-    {id: 10, size: 0.0255, name: recursive_tag_1_small},
+    {id: 0, size: 0.122, name: recursive_tag_1_big},
+    {id: 10, size: 0.025, name: recursive_tag_1_small},
   ]

docker/shared_data/gnss/shared_data/custom_config.yaml

@@ -16,3 +16,25 @@ mrs_uav_managers:
 
       after_takeoff:
         controller: "Se3Controller"
+
+      during_takeoff:
+        controller: "Se3Controller"
+
+    midair_activation:
+
+      after_activation:
+        controller: "Se3Controller"
+
+  gain_manager:
+
+    supersoft:
+
+      mass_estimator:
+
+        km: 0.50 # [kg/s], mass estimator max rate
+
+    soft:
+
+      mass_estimator:
+
+        km: 0.50 # [kg/s], mass estimator max rate

docker/shared_data/gnss/shared_data/precise_landing/apriltag.yaml

@@ -19,6 +19,6 @@ transport_hint:    "raw"      # default: raw, see http://wiki.ros.org/image_tran
 #   ]
 standalone_tags:
   [
-    {id: 0, size: 0.129, name: recursive_tag_1_big},
-    {id: 10, size: 0.0255, name: recursive_tag_1_small},
+    {id: 0, size: 0.120, name: recursive_tag_1_big},
+    {id: 10, size: 0.024, name: recursive_tag_1_small},
   ]

docker/shared_data/gnss/shared_data/precise_landing/landing_controller.yaml

@@ -1,3 +1,6 @@
+# what controller will be used for the landing
+controller: "Se3Controller"
+
 desired_heading:
 
   relative_to_pad:
@@ -7,7 +10,7 @@ desired_heading:
 stages:
 
   aligning:
-    speed: 0.2    # [m/s]
+    speed: 0.4    # [m/s]
     height: 1.3   # [m]
 
   repeating:
@@ -18,6 +21,15 @@ stages:
 
   descending:
     speed: 0.2    # [m/s]
+    height: 0.8   # [m]
 
   landing:
-    speed: 0.2          # [m/s]
+    speed: 0.3          # [m/s]
+    mass_factor: 0.8    # [-] mass factor for landing detection
+
+    disarming:
+      mass_factor: 0.75   # [-] mass factor for landing detection
+
+      vision:
+        enabled: true
+        distance: 0.05 # [m]

docker/shared_data/gnss/shared_data/record.sh

@@ -16,8 +16,29 @@ exclude=(
 # ROS communication hiccups, which can lead to eland, failsafe
 # or just a CRASH.
 
-# don't record cameras
-'(.*)camera_(.*)'
+'(.*)camera_front/image_raw'
+'(.*)camera_front/camera_info'
+'(.*)camera_front/image_raw/compressed(.*)'
+'(.*)camera_front/image_raw/theora(.*)'
+'(.*)camera_front/image_raw/compressedDepth(.*)'
+
+'(.*)camera_down/image_raw'
+'(.*)camera_down/camera_info'
+'(.*)camera_down/image_raw/compressed(.*)'
+'(.*)camera_down/image_raw/theora(.*)'
+'(.*)camera_down/image_raw/compressedDepth(.*)'
+
+'(.*)camera_front_throttled/image_raw'
+'(.*)camera_front_throttled/camera_info'
+# '(.*)camera_front_throttled/image_raw/compressed(.*)'
+'(.*)camera_front_throttled/image_raw/theora(.*)'
+'(.*)camera_front_throttled/image_raw/compressedDepth(.*)'
+
+'(.*)camera_down_throttled/image_raw'
+'(.*)camera_down_throttled/camera_info'
+# '(.*)camera_down_throttled/image_raw/compressed(.*)'
+'(.*)camera_down_throttled/image_raw/theora(.*)'
+'(.*)camera_down_throttled/image_raw/compressedDepth(.*)'
 
 '(.*)apriltag(.*)'
 

docker/shared_data/gnss/shared_data/world_temesvar_field.yaml

@@ -32,7 +32,7 @@ safety_area:
   vertical:
 
     # the frame of reference in which the max&min z is expressed
-    frame_name: "world_origin"
+    frame_name: "local_origin"
 
     max_z: 20.0
-    min_z: -5.0
+    min_z: -100.0

docker/shared_data/vio/shared_data/custom_config.yaml

@@ -5,7 +5,7 @@ mrs_uav_managers:
     # loaded state estimator plugins
     # available in mrs_uav_state_estimators: gps_garmin, gps_baro, rtk, aloam, ground_truth, dummy
     state_estimators: [
-    "open_vins",
+      "open_vins",
     ]
 
     initial_state_estimator: "open_vins" # will be used as the first state estimator
@@ -14,6 +14,9 @@ mrs_uav_managers:
 
     takeoff:
 
+      during_takeoff:
+        controller: "Se3Controller"
+
       after_takeoff:
         controller: "Se3Controller"
 

docker/shared_data/vio/shared_data/record.sh

@@ -16,8 +16,29 @@ exclude=(
 # ROS communication hiccups, which can lead to eland, failsafe
 # or just a CRASH.
 
-# don't record cameras
-'(.*)camera_(.*)'
+'(.*)camera_front/image_raw'
+'(.*)camera_front/camera_info'
+'(.*)camera_front/image_raw/compressed(.*)'
+'(.*)camera_front/image_raw/theora(.*)'
+'(.*)camera_front/image_raw/compressedDepth(.*)'
+
+'(.*)camera_down/image_raw'
+'(.*)camera_down/camera_info'
+'(.*)camera_down/image_raw/compressed(.*)'
+'(.*)camera_down/image_raw/theora(.*)'
+'(.*)camera_down/image_raw/compressedDepth(.*)'
+
+'(.*)camera_front_throttled/image_raw'
+'(.*)camera_front_throttled/camera_info'
+# '(.*)camera_front_throttled/image_raw/compressed(.*)'
+'(.*)camera_front_throttled/image_raw/theora(.*)'
+'(.*)camera_front_throttled/image_raw/compressedDepth(.*)'
+
+'(.*)camera_down_throttled/image_raw'
+'(.*)camera_down_throttled/camera_info'
+# '(.*)camera_down_throttled/image_raw/compressed(.*)'
+'(.*)camera_down_throttled/image_raw/theora(.*)'
+'(.*)camera_down_throttled/image_raw/compressedDepth(.*)'
 
 '(.*)apriltag(.*)'
 

docker/uav_sessions/camera_test_bottom/rviz/camera_test.rviz

@@ -53,7 +53,7 @@ Visualization Manager:
     - Class: rviz/Camera
       Enabled: true
       Image Rendering: background and overlay
-      Image Topic: /uav80/camera_down_throttled/image_raw
+      Image Topic: /uav85/camera_down_throttled/image_raw
       Name: Camera
       Overlay Alpha: 0
       Queue Size: 2
@@ -88,7 +88,7 @@ Visualization Manager:
   Global Options:
     Background Color: 48; 48; 48
     Default Light: true
-    Fixed Frame: uav80/fcu
+    Fixed Frame: uav85/fcu
     Frame Rate: 30
   Name: root
   Tools:

docker/uav_sessions/camera_test_bottom/rviz/rviz.sh

@@ -1,4 +1,4 @@
-export ROS_MASTER_URI=http://uav80:11311
+export ROS_MASTER_URI=http://uav85:11311
 export ROS_IP=192.168.12.11
 unset ROS_HOSTNAME
 

docker/uav_sessions/camera_test_bottom/variables.env

@@ -1,5 +1,5 @@
 UAV_NAME=uav80
 ROS_MASTER_URI=http://localhost:11311
 UAV_TYPE=robofly
-UAV_ID=c4750f
+UAV_ID=<insert>
 MRS_UAV_SYSTEM_VERSION=1.5.0

docker/uav_sessions/camera_test_front/rviz/camera_test.rviz

@@ -53,7 +53,7 @@ Visualization Manager:
     - Class: rviz/Camera
       Enabled: true
       Image Rendering: background and overlay
-      Image Topic: /uav80/camera_front_throttled/image_raw
+      Image Topic: /uav85/camera_front_throttled/image_raw
       Name: Camera
       Overlay Alpha: 0
       Queue Size: 2
@@ -88,7 +88,7 @@ Visualization Manager:
   Global Options:
     Background Color: 48; 48; 48
     Default Light: true
-    Fixed Frame: uav80/fcu
+    Fixed Frame: uav85/fcu
     Frame Rate: 30
   Name: root
   Tools:

docker/uav_sessions/camera_test_front/rviz/rviz.sh

@@ -1,4 +1,4 @@
-export ROS_MASTER_URI=http://uav80:11311
+export ROS_MASTER_URI=http://uav85:11311
 export ROS_IP=192.168.12.11
 unset ROS_HOSTNAME
 

docker/uav_sessions/camera_test_front/variables.env

@@ -1,5 +1,5 @@
 UAV_NAME=uav80
 ROS_MASTER_URI=http://localhost:11311
 UAV_TYPE=robofly
-UAV_ID=c4750f
+UAV_ID=<insert>
 MRS_UAV_SYSTEM_VERSION=1.5.0

docker/uav_sessions/gnss/compose.yaml → docker/uav_sessions/mrs_uav_system_gnss/compose.yaml

@@ -6,6 +6,8 @@ volumes:
 
   bag_files:
 
+  logs:
+
 services:
 
   # will copy session-specific data shared between containers from the shared_data container to a shared volume
@@ -113,6 +115,14 @@ services:
       - ./stack.env
     command: bash -c "waitForTime && /etc/docker/shared_data/record.sh"
 
+  dogtail:
+
+    image: klaxalk/dogtail:latest
+
+    volumes:
+      - /var/run/docker.sock:/var/run/docker.sock
+      - logs:/etc/logs:consistent
+
   # this container can be used to access a terminal with ROS inside the compose session
   terminal:
     image: ctumrs/mrs_uav_system:${MRS_UAV_SYSTEM_VERSION}

docker/uav_sessions/gnss/variables.env → docker/uav_sessions/mrs_uav_system_gnss/variables.env

@@ -3,5 +3,5 @@ UAV_NAME=uav80
 UAV_TYPE=robofly
 ROS_MASTER_URI=http://localhost:11311
 UAV_MASS=0.7
-UAV_ID=c4750f
+UAV_ID=<insert>
 MRS_UAV_SYSTEM_VERSION=1.5.0

docker/uav_sessions/vio/compose.yaml → docker/uav_sessions/mrs_uav_system_vio/compose.yaml

@@ -6,6 +6,8 @@ volumes:
 
   bag_files:
 
+  logs:
+
 services:
 
   # will copy session-specific data shared between containers from the shared_data container to a shared volume
@@ -128,6 +130,13 @@ services:
       - ./stack.env
     command: bash -c "waitForTime && /etc/docker/shared_data/record.sh"
 
+  dogtail:
+    image: klaxalk/dogtail:latest
+
+    volumes:
+      - /var/run/docker.sock:/var/run/docker.sock
+      - logs:/etc/logs:consistent
+
   # this container can be used to access a terminal with ROS inside the compose session
   terminal:
     image: ctumrs/mrs_uav_system:${MRS_UAV_SYSTEM_VERSION}

docker/uav_sessions/vio/variables.env → docker/uav_sessions/mrs_uav_system_vio/variables.env

@@ -3,5 +3,5 @@ UAV_NAME=uav80
 UAV_TYPE=robofly
 ROS_MASTER_URI=http://localhost:11311
 UAV_MASS=0.8
-UAV_ID=c4750f
+UAV_ID=<insert>
 MRS_UAV_SYSTEM_VERSION=1.5.0

docker/uav_sessions/user_session/compose.yaml

@@ -2,11 +2,13 @@ volumes:
 
   catkin_workspace:
 
+  logs:
+
 services:
 
   # will copy user's ROS catkin workspace from the 'transfer' alpine image to a shared volume
   copy_catkin_workspace:
-    image: user_workspace:1.0.0
+    image: catkin_workspace:1.0.0
     volumes:
       - catkin_workspace:/tmp/docker/catkin_workspace:consistent
     command: sh -c "rm -rvf /tmp/docker/catkin_workspace/*; mkdir -pv /tmp/docker/catkin_workspace; cp -rv /etc/docker/catkin_workspace/* /tmp/docker/catkin_workspace/"
@@ -23,6 +25,12 @@ services:
       - ./stack.env
     command: bash -c "source /etc/docker/catkin_workspace/devel/setup.bash && waitForRos && roslaunch mrs_robofly_example robofly_example.launch"
 
+  dogtail:
+    image: klaxalk/dogtail:latest
+    volumes:
+      - /var/run/docker.sock:/var/run/docker.sock
+      - logs:/etc/logs:consistent
+
   # this container can be used to access a terminal with ROS inside the compose session
   terminal:
     image: ctumrs/mrs_uav_system:${MRS_UAV_SYSTEM_VERSION}

docker/user_workspace/build_image.sh

@@ -15,7 +15,7 @@ cd ${MY_PATH}
 ## |                            setup                           |
 ## --------------------------------------------------------------
 
-LOCAL_TAG=precise_landing:1.0.0
+LOCAL_TAG=catkin_workspace:1.0.0
 
 ARCH=arm64 # robofly
 # ARCH=amd64

docker/user_workspace/export_image.sh

@@ -15,7 +15,7 @@ cd ${MY_PATH}
 ## |                            setup                           |
 ## --------------------------------------------------------------
 
-LOCAL_TAG=precise_landing:1.0.0
+LOCAL_TAG=catkin_workspace:1.0.0
 EXPORT_PATH=~/docker
 
 ## --------------------------------------------------------------

setup/modifier_docker_image/Dockerfile

@@ -1,5 +1,7 @@
 FROM ctumrs/mrs_uav_system:1.5.0
 
+LABEL mrs.uav.system.version=1.5.0-custom
+
 RUN curl https://ctu-mrs.github.io/ppa-unstable/add_ppa.sh | bash
 
 RUN apt-get -y update && apt-get -y upgrade --allow-downgrades

setup/modifier_docker_image/build_image.sh

@@ -5,4 +5,4 @@ REGISTRY=localhost:5000
 
 docker buildx use default
 
-docker build . --file Dockerfile --tag $REGISTRY/$LOCAL_TAG --platform=linux/arm64 --push
+docker build . --file Dockerfile --tag $REGISTRY/$LOCAL_TAG --platform=linux/arm64 --push --no-cache