CNS Flight Stack: SkiffOS Environment

Maintainers: Christian Brommer and Martin Scheiber

License

This software is made available to the public to use (source-available), licensed under the terms of the BSD-2-Clause-License with no commercial use allowed, the full terms of which are made available in the LICENSE file. No license in patents is granted.

Usage for academic purposes

If you use this software in an academic research setting, please cite the corresponding paper and consult the LICENSE file for a detailed explanation.

@article{cns_flightstack22,
    title        = {CNS Flight Stack for Reproducible, Customizable, and Fully Autonomous Applications},
    author       = {Scheiber, Martin and Fornasier, Alessandro and Jung, Roland and Böhm, Christoph and Dhakate, Rohit and Stewart, Christian and Steinbrener, Jan and Weiss, Stephan and Brommer, Christian},
    journal      = {IEEE Robotics and Automation Letters},
    volume       = {7},
    number       = {4},
    year         = {2022},
    doi          = {10.1109/LRA.2022.3196117},
    url          = {https://ieeexplore.ieee.org/document/9849131},
    pages        = {11283--11290}
}

Setup

New SkiffOS Workspace

We provide a full setup SkiffOS workspace with github.com/aau-cns/flight_stack_skiffos. You can set this up as follows and then continue below with the build instructions.

git clone https://github.com/aau-cns/flight_stack_skiffos.git
cd flight_stack_skiffos
./setup.sh

Existing SkiffOS Workspace

Add the flight stack environment to your additional SkiffOS configs

mkdir -p skiff_configs/ && cd skiff_configs/
git pull https://github.com/aau-cns/flight_stack_env.git flightstack

This can be used as part of SkiffOS as a config. Before compiling SkiffOS add this directory to the SKIFF_EXTRA_CONFIGS_PATH

cd skiff_configs/
export SKIFF_EXTRA_CONFIGS_PATH=${PWD}
cd <path_to_skiffos>
make # this will print now a config called flight_stack/full and flight_stack/virtual

If you then change the directory to Skiffos and perform a make this configuration should appear in the list.

Usage

Build Full

For embedded hardware, use the full configuration of the flight stack environment

# for RPi4 use
export SKIFF_CONFIG=pi/4,flightstack/full
# for Odroid XU4 use
export SKIFF_CONFIG=odroid/xu,flightstack/full

Build for Virtual Environments

For virtual environments such as the virtualbox or v86, use the virtual environment from the flight stack. This excludes the WiFi driver, which is not required for virtual environments.

# for virtualbox use
export SKIFF_CONFIG=virt/virtualbox,flightstack/virtual
# for v86 emulator use
export SKIFF_CONFIG=browser/v86,flightstack/virtual

Pull the Skiff Flight Stack image from a docker registry

Optionally you can also pull a pre-compiled docker container for the flight stack inside your skiff root system.

1. Stop the skiff core service

systemctl stop skiff-core

2. Delete the previously built image

docker rmi aaucns/flightstack
# additionally if a container was already instatiated, remove that as well
docker rm -f flightstack

3. Pull the image

docker pull aaucns/flightstack:latest

4. Restart the skiff-core service

systemctl start skiff-core

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Developer Information

Images are auto-built through the GitHub workflows. If you want to (cross-) compile them on your own device use

export DOCKER_REGISTRY=aaucns/flightstack

# compile base image
docker buildx build \
  --platform=linux/amd64,linux/arm64,linux/arm/v7 \
  --tag ${DOCKER_REGISTRY}-base:dev \
  --tag ${DOCKER_REGISTRY}-base:$(git log -1 --pretty=%h) \
  --build-arg VERSION="$(git log -1 --pretty=%h)" \
  --build-arg BUILD_TIMESTAMP="$( date '+%F-%H-%M-%S' )" \
  --build-arg ROS_BUILD_DISTRO="noetic" \
  --build-arg UNIX_BASE="ubuntu:focal" \
  --compress --force-rm \
  -f ./common/rootfs_part/coreenv/flightstack/Dockerfile.base \
  ./common/rootfs_part/coreenv/flightstack/
  # --push #if you want to commit

# compile skiff image (includes users)
docker buildx build \
  --platform=linux/amd64,linux/arm64,linux/arm/v7 \
  --tag ${DOCKER_REGISTRY}:dev \
  --tag ${DOCKER_REGISTRY}:$(git log -1 --pretty=%h) \
  --build-arg BASE_REGISTRY="${DOCKER_REGISTRY}-base" \
  --build-arg BASE_TAG="dev" \
  --build-arg VERSION="$(git log -1 --pretty=%h)" \
  --build-arg BUILD_TIMESTAMP="$( date '+%F-%H-%M-%S' )" \
  --compress --force-rm \
  -f ./common/rootfs_part/coreenv/flightstack/Dockerfile \
  ./common/rootfs_part/coreenv/flightstack/
  # --push #if you want to commit

If you want to compile for other hardware, feel free to edit the platform and UNIX_BASE variables. E.g., for the jetson, the build steps are

export DOCKER_REGISTRY=aaucns/flightstack

# compile base image
docker buildx build \
  --platform=linux/arm/v7 \
  --tag ${DOCKER_REGISTRY}-base:dev_jetson \
  --tag ${DOCKER_REGISTRY}-base:$(git log -1 --pretty=%h) \
  --build-arg VERSION="$(git log -1 --pretty=%h)" \
  --build-arg BUILD_TIMESTAMP="$( date '+%F-%H-%M-%S' )" \
  --build-arg ROS_BUILD_DISTRO="noetic" \
  --build-arg UNIX_BASE="skiffos/skiff-core-linux4tegra:latest" \
  --compress --force-rm \
  -f ./common/rootfs_part/coreenv/flightstack/Dockerfile.base \
  ./common/rootfs_part/coreenv/flightstack/
  # --push #if you want to commit

# compile skiff image (includes users)
docker buildx build \
  --platform=linux/arm/v7 \
  --tag ${DOCKER_REGISTRY}:dev_jetson \
  --tag ${DOCKER_REGISTRY}:$(git log -1 --pretty=%h) \
  --build-arg BASE_REGISTRY="${DOCKER_REGISTRY}-base" \
  --build-arg BASE_TAG="dev_jetson" \
  --build-arg VERSION="$(git log -1 --pretty=%h)" \
  --build-arg BUILD_TIMESTAMP="$( date '+%F-%H-%M-%S' )" \
  --compress --force-rm \
  -f ./common/rootfs_part/coreenv/flightstack/Dockerfile \
  ./common/rootfs_part/coreenv/flightstack/
  # --push #if you want to commit

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Copyright (C) 2021-2023 Christian Brommer and Martin Scheiber, Control of Networked Systems, University of Klagenfurt, Austria. You can contact the authors at [email protected], [email protected].