Docker additions and code corrections

Dockerfile

@@ -138,4 +138,21 @@ RUN echo "source /root/ws/install/setup.bash" >> ~/.bashrc
 
 COPY ./entrypoint.bash /
 ENTRYPOINT [ "/entrypoint.bash" ]
+
+# Additional configuration
+RUN chmod 1777 /tmp
+RUN git clone https://github.com/PX4/PX4-Autopilot.git /root/ws/src/px4/PX4-Autopilot
+WORKDIR /root/ws/src/px4/PX4-Autopilot
+RUN git submodule update --init --recursive
+RUN make px4_sitl
+RUN chmod +x /root/ws/install/as2_gazebo_classic_assets/share/as2_gazebo_classic_assets/scripts/run_sitl.sh
+RUN chmod +x /root/ws/install/as2_gazebo_classic_assets/share/as2_gazebo_classic_assets/scripts/default_run.sh
+RUN apt update && apt install -y dbus-x11 libcanberra-gtk-module libcanberra-gtk3-module
+RUN apt update && apt install -y alsa-utils
+RUN chmod -R +x /root/ws/install/as2_gazebo_classic_assets/share/as2_gazebo_classic_assets/scripts/
+RUN apt update && apt install -y alsa-utils pulseaudio
+RUN chown root:root /root/ws/install/as2_gazebo_classic_assets/share/as2_gazebo_classic_assets/scripts/default_run.sh
+RUN chmod +x /root/ws/install/as2_gazebo_classic_assets/share/as2_gazebo_classic_assets/scripts/default_run.sh
+
+
 CMD [ "/bin/bash" ]

HOWTODOCKER

@@ -1,7 +1,7 @@
 # HOWTODOCKER
 
 # Build and run (using docker-compose)
-```
+```bash
 xhost +
 docker compose up -d # use the -d for keep the container alive in background
 docker exec -it imitation_learning /bin/bash
@@ -28,13 +28,13 @@ make px4_sitl gazebo-classic
 
 ---
 
-```
+```bash
 chmod +x $AS2_GZ_ASSETS_SCRIPT_PATH/default_run.sh $AS2_GZ_ASSETS_SCRIPT_PATH/run_sitl.sh $AS2_GZ_ASSETS_SCRIPT_PATH/parse_json.py $AS2_GZ_ASSETS_SCRIPT_PATH/jinja_gen.py
 cd /root/ws/src/2023-tfg-adrian-madinabeitia/drone_platforms
 $AS2_GZ_ASSETS_SCRIPT_PATH/default_run.sh config/world.json
 ```
 
-```
+```bash
 cd /root/ws/src/2023-tfg-adrian-madinabeitia/drone_platforms
 tmuxinator start -n drone0 -p config/tmuxLaunch.yml drone_namespace=drone0 simulation_time=true config_path=config/
 ```

README.md

@@ -56,6 +56,10 @@ We used de [aerostack2](https://github.com/aerostack2/aerostack2) platforms to u
 ```bash
 cd /PATH_TO_PACKAGE/drone_platforms/launch
 
+# Launch default circuit
+ros2 launch drone_platforms as2_sim_circuit.launch.py
+
+# Launching with arguments
 ros2 launch drone_platforms as2_sim_circuit.launch.py world:=/PATH_TO_WORLD/NAME.world yaw:=3.14
 ```
 

drone_behaviors/src/dataset/data.py

@@ -6,7 +6,7 @@
 import albumentations as A
 import numpy as np
 import random
-from torch.utils.data import Dataset
+from torch.utils.data import Datasetf
 import torchvision.transforms.functional as F
 import os
 from PIL import Image

drone_behaviors/src/dataset/droneExpertPilot.py

@@ -16,7 +16,7 @@
 import argparse
 
 import ament_index_python
-package_path = ament_index_python.get_package_share_directory("drone_sim_driver")
+package_path = ament_index_python.get_package_share_directory("drone_behaviors")
 sys.path.append(package_path)
 
 from src.control_functions import PID, band_midpoint, search_top_line, search_bottom_line, save_timestamps, save_profiling, search_farthest_column

drone_behaviors/src/dataset/image_filter_node.py

@@ -16,7 +16,7 @@
 import os
 
 # Package includes
-package_path = ament_index_python.get_package_share_directory("drone_sim_driver")
+package_path = ament_index_python.get_package_share_directory("drone_behaviors")
 sys.path.append(package_path)
 
 from src.control_functions import band_midpoint, search_top_line, search_bottom_line, save_profiling, search_farthest_column

drone_behaviors/src/dataset/remoteControl.py

@@ -25,7 +25,7 @@
 
 
 import ament_index_python
-package_path = ament_index_python.get_package_share_directory("drone_sim_driver")
+package_path = ament_index_python.get_package_share_directory("drone_behaviors")
 sys.path.append(package_path)
 
 from src.control_functions import save_timestamps, save_profiling, PID

drone_behaviors/src/models/droneNeuralPilot.py

@@ -18,7 +18,7 @@
 from geometry_msgs.msg import Point
 
 # Package includes
-package_path = ament_index_python.get_package_share_directory("drone_sim_driver")
+package_path = ament_index_python.get_package_share_directory("drone_behaviors")
 sys.path.append(package_path)
 
 from src.control_functions import PID, save_timestamps, save_profiling

drone_behaviors/src/models/oldTrain.py

@@ -11,7 +11,7 @@
 import ament_index_python
 
 # Package includes
-package_path = ament_index_python.get_package_share_directory("drone_sim_driver")
+package_path = ament_index_python.get_package_share_directory("drone_behaviors")
 sys.path.append(package_path)
 
 from src.dataset.oldData import rosbagDataset

drone_behaviors/src/models/train.py

@@ -11,7 +11,7 @@
 import ament_index_python
 
 # Package includes
-package_path = ament_index_python.get_package_share_directory("drone_sim_driver")
+package_path = ament_index_python.get_package_share_directory("drone_behaviors")
 sys.path.append(package_path)
 
 from src.dataset.data import rosbagDataset

drone_behaviors/src/visualization/datasetGraphic.py

@@ -5,7 +5,7 @@
 from ament_index_python.packages import get_package_share_directory
 import argparse
 
-package_path = get_package_share_directory("drone_sim_driver")
+package_path = get_package_share_directory("drone_behaviors")
 sys.path.append(package_path)
 
 from src.dataset.oldData import rosbagDataset, ANGULAR_UMBRALS, LINEAR_UMBRALS

drone_behaviors/src/visualization/datasetGraphicDeepPilot.py

@@ -6,7 +6,7 @@
 from ament_index_python.packages import get_package_share_directory
 import argparse
 
-package_path = get_package_share_directory("drone_sim_driver")
+package_path = get_package_share_directory("drone_behaviors")
 sys.path.append(package_path)
 
 from src.dataset.data import rosbagDataset, ALL_UMBRALS, velsDict