Merge pull request #456 from realdealneil/model_pr_426

Model pr 426 Update

.gitignore

@@ -0,0 +1,36 @@
+# Prerequisites
+*.d
+*.orig
+*.swp
+
+# Compiled Object files
+*.slo
+*.lo
+*.o
+*.obj
+
+# Precompiled Headers
+*.gch
+*.pch
+
+# Compiled Dynamic libraries
+*.so
+*.dylib
+*.dll
+
+# Fortran module files
+*.mod
+*.smod
+
+# Compiled Static libraries
+*.lai
+*.la
+*.a
+*.lib
+
+# Executables
+*.exe
+*.out
+*.app
+
+subt_ign/worlds/cave_circuit_practice_02.dat

README.md

@@ -1,3 +1,3 @@
 # DARPA SubT Virtual Competition Software
 
-Please visit the [wiki](https://bitbucket.org/osrf/subt/wiki/Home) for more information
+Please visit the [wiki](https://github.com/osrf/subt/wiki) for more information

docker/README.md

@@ -10,7 +10,7 @@ Each subdirectory contains a Dockerfile for a particular use case.
 ### `cloudsim_sim`
 
 This is the docker image that will run a simulation instance in the
-same way as CloudSim. Refer to: https://bitbucket.org/osrf/subt/wiki/cloudsim_architecture.
+same way as CloudSim. Refer to: https://github.com/osrf/subt/wiki/Cloudsim%20Architecture.
 
 This image should be used in conjunction with `cloudsim_bridge`.
 
@@ -31,7 +31,7 @@ This image should be used in conjunction with `cloudsim_bridge`.
 ### `cloudsim_bridge`
 
 This is the docker image that with run the cloudsim bridge. Refer to:
-https://bitbucket.org/osrf/subt/wiki/cloudsim_architecture.
+https://github.com/osrf/subt/wiki/Cloudsim%20Architecture.
 
 This image should be used in conjunction with `cloudsim_sim`.
 

docker/build.bash

@@ -37,14 +37,10 @@ fi
 user_id=$(id -u)
 image_name=$(basename $1)
 image_plus_tag=$image_name:$(date +%Y_%b_%d_%H%M)
-# mercurial adds a + symbol if there are uncomitted changes in the repo
-# that will break docker tag syntax
-hg_id=$(hg id -i | tr -d '+')
 
 shift
 
 docker build --rm -t $image_plus_tag --build-arg user_id=$user_id "$@" -f $DIR/$image_name/Dockerfile .
 docker tag $image_plus_tag $image_name:latest
-docker tag $image_plus_tag $image_name:$hg_id
 
-echo "Built $image_plus_tag and tagged as $image_name:latest and $image_name:$hg_id"
+echo "Built $image_plus_tag and tagged as $image_name:latest"

docker/cloudsim_bridge/Dockerfile

@@ -14,6 +14,7 @@ RUN apt-get update -qq \
  && apt-get install --no-install-recommends -y -qq \
         build-essential \
         bwm-ng \
+        atop \
         cmake \
         cppcheck \
         gdb \
@@ -24,7 +25,6 @@ RUN apt-get update -qq \
         libspnav-dev \
         libusb-dev \
         lsb-release \
-        mercurial \
         python3-dbg \
         python3-empy \
         python3-numpy \
@@ -102,7 +102,7 @@ RUN rosdep update
 # docker is run
 RUN mkdir -p subt_ws/src \
  && cd subt_ws/src \
- && hg clone https://bitbucket.org/osrf/subt
+ && git clone https://github.com/osrf/subt
 
 WORKDIR /home/$USERNAME/subt_ws
 

docker/cloudsim_bridge/run_bridge.bash

@@ -15,7 +15,10 @@ echo "log4j.logger.ros.roscpp.cached_parameters=INFO" >> /home/developer/.ros/co
 echo "log4j.logger.ros.roscpp=DEBUG" >> /home/developer/.ros/config/rosconsole.config
 
 # https://wiki.ros.org/rosconsole#Force_line_buffering_for_ROS_logger
-# See also https://bitbucket.org/osrf/subt/issues/204
+# See also https://github.com/osrf/subt/issues/204
 export ROSCONSOLE_STDOUT_LINE_BUFFERED=1
 
+# atop process monitoring
+atop -R -w /home/developer/.ros/atop_log &
+
 ign launch cloudsim_bridge.ign -v 4 $@

docker/cloudsim_sim/Dockerfile

@@ -14,6 +14,7 @@ RUN apt-get update -qq \
  && apt-get install --no-install-recommends -y -qq \
         build-essential \
         bwm-ng \
+        atop \
         cmake \
         cppcheck \
         gdb \
@@ -24,7 +25,6 @@ RUN apt-get update -qq \
         libspnav-dev \
         libusb-dev \
         lsb-release \
-        mercurial \
         python3-dbg \
         python3-empy \
         python3-numpy \
@@ -107,7 +107,7 @@ RUN rosdep update
 # docker is run
 RUN mkdir -p subt_ws/src \
  && cd subt_ws/src \
- && hg clone https://bitbucket.org/osrf/subt
+ && git clone https://github.com/osrf/subt
 
 # Download the public models
 COPY download_models.sh ./

docker/cloudsim_sim/run_sim.bash

@@ -10,4 +10,7 @@ FILE=/tmp/ign/logs/network_traffic.csv
 echo "unix timestamp;iface_name;bytes_out/s;bytes_in/s;bytes_total/s;bytes_in;bytes_out;packets_out/s;packets_in/s;packets_total/s;packets_in;packets_out;errors_out/s;errors_in/s;errors_in;errors_out" > $FILE
 bwm-ng -o csv -c 0 -t 1000 -T rate -I eth0 >> $FILE &
 
+# atop process monitoring
+atop -R -w /tmp/ign/logs/atop_log &
+
 ign launch -v 4 $@

docker/docker-compose.yml

@@ -7,7 +7,7 @@
 #   This setup replicates the cloud simulation setup for the SubT Virtual
 #   Testbed.
 #
-#   See also: https://bitbucket.org/osrf/subt/wiki/cloudsim_architecture
+#   See also: https://github.com/osrf/subt/wiki/Cloudsim%20Architecture
 #
 # Usage: 
 #