OpenSatKit Packed In a Docker Container

0. Introduction

• This repository is for building docker image containing OpenSatKit(OSK) and minicom inside.
• Image is based on Ubuntu 18.04 due to dependency issues related to build of QT4 apps.
• Use of container will help resolving dependency matters caused by Ubuntu distro versions.

1. Building a Container

• You need following prequisites for building this project:
  • AMD64 Linux PC with docker installed (Including WSL2).
  • Basic knowledges about Linux settings and shell commands.
• Build process is not necessary for using a docker container.
  • You can download prebuilt image from the docker hub.

• In Order to build a OSK docker image, do following:
  • First, clone this repository.
  • Then, move to directory to cloned repo. and run following command:
    • Tag of an image can be changed based on your need.

DOCKER_BUILDKIT=1 docker build --no-cache \
--build-arg BASEIMAGE=ubuntu \
--build-arg BASETAG=18.04 \
--build-arg OSK_VERSION=v2.5 \
-t kestr3l/opensatkit:18.04-v2.5-original \
-f Dockerfile .

• List of arguments used in the build are as following:
  • Currently, only OSK_VERSION is changeable.
  • Change it based on your need. Check list of tags of OSK.

ARGUMENT	DESCRIPTION	DEFAULT	CHANGEABLE
BASEIMAGE	Name of docker base image to be used	ubuntu	X
BASETAG	Tag of docker base image to be used	18.04	X
OSK_VERSION	Version of OSK to be installed inside a container	v2.5	O

2. Running a Container

• Since the docker image uses GUI, you need to run xhost + before creating a container.
• There are two ways of running a container: docker run and docker-compose.

2.1 docker run command

• Use following command for running a container.
  • Add bash at the end if you don't want to autostart COSMOS.
  • Since it has --rm, container will be deleted on exit.

docker run -it --rm \
   -e DISPLAY=$DISPLAY \
   -e WAYLAND_DISPLAY=$WAYLAND_DISPLAY \
   -e QT_NO_MITSHM=1 \
   -e XDG_RUNTIME_DIR=$XDG_RUNTIME_DIR \
   -v /tmp/.X11-unix:/tmp/.X11-unix \
   --device /dev/ttyUSB0 \
   --net host \
   --ipc host \
   --gpus all \
   --privileged \
   --name OpenSatKit \
   kestr3l/opensatkit:18.04-v2.5-original

2.2 docker-compose command

• You must have docker-compose installed on your system.
• To run a container with docker-compose, following values of the host must be known:
  • Three environment variables.
  • One serial device name connected to the host.

VARNAME	DESCRIPTION	EXAMPLE VALUE	SEARCH COMMAND
DISPLAY	Display connected to the host's X server(X11)	:0	echo $DISPLAY
WAYLAND_DISPLAY	Display connected to the host's Wayland server (Only for Desktop Environments using Wayland)	wayland-0	echo $WAYLAND_DISPLAY
XDG_RUNTIME_DIR	Directory for user-specific, non-essential runtime files	/run/user/1000/	echo $XDG_RUNTIME_DIR
ttyUSB*	Name of a serial device connected by USB	ttyUSB0	dmesg | grep tty

• You must check values of your system and should modify is based on your environment.
• You can also refer to comments written in docker-compose.yml.

2.3 Running a minicom

• After running a container, use following commmand to use minicom:
  • Name of conatiner may vary baed on modifications you made on the container name

docker exec -it OpenSatKit minicom -s

• minicom configuration will appear on a terminal.
• Modify Serial port setup. There are two values you should check:
  • Serial Device: Name of serial device mapped to the container
  • Hardware Flow Control: Must be off, otherwise, keyboard input won't work
• After the setup, choose Exit and serial data will start to be shown.

3. License

• COSMOS is a product of Ball Corportation and it is distributed under AGPLv3 license.
• Assets of COSMOS included in OSK and following parts of Dockerfile is derived from BallAerospace/COSMOS.
  • APT dependencies on requirements.txt
    • Removed libgstreamer0.10-dev and libgstreamer-plugins-base0.10-dev due to deprecation on Ubuntu 18.04
  • Installation of Ruby 2.5.8 using rbenv/rbenv
    • Modification of rbenv and ruby-build repository's name to clone

4. Applications

• For developing your own CFS app or modified 42 simulator, use docker volume mapping.
• Mapped volume will be persistent even after killing a container.

5. List of Tags

• Available tags of images distributed by docker hub are as following:
  • Naming rule: <UBUNTU VERSION> - <OpenSatKit VERSION> - <VARIANT>

TAG	DESCRIPTION
18.04-v2.5-mod	Version including modified 42 simulator and COSMOS. (For internal testing purpose)
18.04-v2.5-original	Version including OpenSatKit as it is. (For external users for development)

6. References

1. OpenSatKit/OpenSatKit - github.com
2. BallAerosapce/COSMOS - github.com
3. Install Docker Engine on Ubuntu - docker docs
4. Install the Compose standalone - docker docs
5. XDG Base Directory Specification - freedesktop.org