Adding Gstreamer and CASVAC to GCS

ground_control_station/docker/.env

@@ -19,3 +19,14 @@ TAK_SUBSCRIBER_FILEPATH=src/ros2tak_tools/scripts/tak_subscriber.py
 
 MQTT_USERNAME= # Enter the MQTT username
 MQTT_PASSWORD= # Enter the MQTT password
+
+
+# GSTREAMER TO ROS NODES -----------------------------------------------
+
+# CAMERA 1
+CAMERA1_STREAM_IP=rtsp://10.4.1.33:554/vio
+CAMERA1_ROS_TOPIC=/view1/image_raw
+
+# CAMERA 2
+CAMERA2_STREAM_IP=rtsp://
+CAMERA2_ROS_TOPIC=/view2/image_raw

ground_control_station/docker/Dockerfile.gst-ros-bridge

@@ -0,0 +1,72 @@
+FROM nvidia/cuda:12.4.1-devel-ubuntu22.04
+
+# Install humble
+RUN apt-get update && apt-get install -y locales && \
+    locale-gen en_US en_US.UTF-8 && \
+    update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8
+ENV LANG=en_US.UTF-8
+ENV DEBIAN_FRONTEND=noninteractive
+
+RUN apt-get update && \
+    apt-get install -y software-properties-common && \
+    apt-add-repository universe
+
+RUN apt-get update && \
+    apt-get install -y curl
+
+RUN curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key \
+         -o /usr/share/keyrings/ros-archive-keyring.gpg && \
+    echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | tee /etc/apt/sources.list.d/ros2.list > /dev/null
+
+RUN apt-get update && apt-get install -y \
+    ros-dev-tools \
+    ros-humble-ros-base \
+    ros-humble-image-view
+
+# Utilities
+RUN apt-get update && apt-get install -y \
+    tmux \
+    vim \
+    wget
+
+# Install DIVOTrack dependencies
+RUN apt-get update && apt-get install -y \
+    python3-pip \
+    python3-venv
+
+# Install ros-gst-bridge
+RUN apt-get update && apt-get install -y \
+    libgstreamer1.0-dev \
+    libgstreamer-plugins-base1.0-dev  \
+    libgstreamer-plugins-bad1.0-dev \
+    gstreamer1.0-plugins-base \
+    gstreamer1.0-plugins-good \
+    gstreamer1.0-plugins-bad \
+    gstreamer1.0-plugins-ugly \
+    gstreamer1.0-libav \
+    gstreamer1.0-tools \
+    gstreamer1.0-x \
+    gstreamer1.0-alsa
+RUN mkdir -p /ros_ws/src
+WORKDIR /ros_ws
+RUN git clone https://github.com/BrettRD/ros-gst-bridge.git src/ros-gst-bridge
+RUN /bin/bash -c "source /opt/ros/humble/setup.bash && \
+                  rosdep init && \
+                  rosdep update && \
+                  rosdep install --from-paths /ros_ws/src/ --ignore-src -r -y && \
+                  colcon build"
+
+RUN apt-get update && apt-get install -y \
+    libnvidia-decode-525-server \
+    libnvidia-encode-525-server
+
+# Disable shared memory for ROS
+COPY resources/fastrtps-profile.xml /fastrtps-profile.xml
+ENV FASTRTPS_DEFAULT_PROFILES_FILE=/fastrtps-profile.xml
+
+RUN echo "source /opt/ros/humble/setup.bash" >> ~/.bashrc
+RUN echo "source /ros_ws/install/setup.bash" >> ~/.bashrc
+
+# Entrypoint
+CMD ["/bin/bash"]
+

ground_control_station/docker/docker-compose.yaml

@@ -43,6 +43,28 @@ services:
       - ../ros_ws:/root/ros_ws:rw  # gcs-specific ROS packages
 
 
+####################### GSTREAMER TO ROS TOPICS ######################
+  gst-ros-bridge-topic1:
+    container_name: "${PROJECT_NAME}-gst_ros_bridge1"
+    image: "${PROJECT_NAME}/gcs/gst-ros-bridge"
+    build:
+      context: .
+      dockerfile: Dockerfile.gst-ros-bridge
+    command: >
+      /bin/bash -c 'source /ros_ws/install/setup.bash && gst-launch-1.0 --gst-plugin-path=/ros_ws/install/gst_bridge/lib/gst_bridge/ 
+      rtspsrc location="${CAMERA1_STREAM_IP}" latency=0 ! 
+      rtph265depay ! h265parse ! avdec_h265 ! videoconvert ! 
+      rosimagesink ros-topic="${CAMERA1_ROS_TOPIC}"'
+    environment:
+      - DISPLAY=${DISPLAY}
+      - DOCKER_BUILDKIT=0
+      - CAMERA1_STREAM_IP=${CAMERA1_STREAM_IP}
+      - CAMERA1_ROS_TOPIC=${CAMERA1_ROS_TOPIC}
+    volumes:
+      - /tmp/.X11-unix:/tmp/.X11-unix
+    network_mode: host
+
+
 ####################### ROS2TAK TOOLS ######################
   ############### MQTT for the GCS
   mqtt:
@@ -74,7 +96,8 @@ services:
       dockerfile: docker/Dockerfile.ros2cot_agent
       args:
         - ROS_WS_DIR=${ROS_WS_DIR}
-    container_name: "${PROJECT_NAME}_ros2cot_agent"
+    image: "${PROJECT_NAME}/gcs/ros2cot_agent"
+    container_name: "${PROJECT_NAME}-ros2cot_agent"
     stdin_open: true
     tty: true
     restart: unless-stopped
@@ -98,7 +121,8 @@ services:
       dockerfile: docker/Dockerfile.tak_publisher
       args:
         - ROS_WS_DIR=${ROS_WS_DIR}
-    container_name: "${PROJECT_NAME}_tak_publisher"
+    image: "${PROJECT_NAME}/gcs/tak_publisher"
+    container_name: "${PROJECT_NAME}-tak_publisher"
     stdin_open: true
     tty: true
     restart: unless-stopped
@@ -123,7 +147,8 @@ services:
       dockerfile: docker/Dockerfile.tak_subscriber
       args:
         - ROS_WS_DIR=${ROS_WS_DIR}
-    container_name: "${PROJECT_NAME}_tak_subscriber"
+    image: "${PROJECT_NAME}/gcs/tak_subscriber"
+    container_name: "${PROJECT_NAME}-tak_subscriber"
     stdin_open: true
     tty: true
     restart: unless-stopped
@@ -149,7 +174,8 @@ services:
       dockerfile: ground_control_station/docker/Dockerfile.cot2planner_agent
       args:
         - ROS_WS_DIR=${ROS_WS_DIR}
-    container_name: "${PROJECT_NAME}_cot2planner_agent"
+    image: "${PROJECT_NAME}/gcs/cot2planner_agent"
+    container_name: "${PROJECT_NAME}-cot2planner_agent"
     stdin_open: true
     tty: true
     restart: unless-stopped

ground_control_station/docker/resources/fastrtps-profile.xml

@@ -0,0 +1,19 @@
+<?xml version="1.0" encoding="UTF-8" ?>
+<profiles xmlns="http://www.eprosima.com/XMLSchemas/fastRTPS_Profiles" >
+    <transport_descriptors>
+        <transport_descriptor>
+            <transport_id>CustomUdpTransport</transport_id>
+            <type>UDPv4</type>
+        </transport_descriptor>
+    </transport_descriptors>
+
+    <participant profile_name="participant_profile" is_default_profile="true">
+        <rtps>
+            <userTransports>
+                <transport_id>CustomUdpTransport</transport_id>
+            </userTransports>
+
+            <useBuiltinTransports>false</useBuiltinTransports>
+        </rtps>
+    </participant>
+</profiles>