Add AUTOLAUNCH option to airstack up

Author: andrewjong

.env

@@ -14,6 +14,9 @@ DOCKER_IMAGE_TAG="8b5529e"
 PROJECT_DOCKER_REGISTRY="airlab-storage.andrew.cmu.edu:5001/shared"
 # ============================================
 
+# ================= Common ===================
+AUTOLAUNCH="true"  # If false, the docker-compose will automatically just spawn containers with no launch command.
+
 # ================ SIMULATION =================
 ISAAC_SIM_SCENE="omniverse://airlab-storage.andrew.cmu.edu:8443/Projects/AirStack/AFCA/fire_academy_faro_with_sky.scene.usd"
 PLAY_SIM_ON_START="true"

docs/development/airstack-cli/docker_usage.md

@@ -195,18 +195,20 @@ To change the Isaac Sim scene:
 ISAAC_SIM_SCENE=path/to/your_scene.usd airstack up
 ```
 
+To disable autolaunching the stack and simply spawn idle docker containers (useful for debugging):
+```bash
+AUTOLAUNCH=false airstack up
+```
+
 A list of all available environment variables is in the default `.env` file in the project root directory, which allows specifying all the variables in one place.
 When no `--env-file` argument is passed to `docker compose`, it automatically uses this default `.env` file.
 
-The top-level env file is reproduced below:
+The default `.env` file is reproduced below:
 ```bash
 --8<-- ".env"
 ```
 
 To override the default `.env` file, you can pass the `--env-file` argument with the syntax `airstack --env-file [env_file] up` (or `docker compose --env-file [env_file] up -d`).
 
-Multiple `--env-file` arguments can be passed to compose overriding sets of variables.env` file.
-When overriding, the default `.env` file must be loaded first. The overrides are applied on top of it.
-
-
-
+Multiple `--env-file` arguments can be passed to compose overriding sets of `variables.env` files.
+All subsequent `--env-file` arguments override the previous ones, allowing you to layer configurations.

ground_control_station/docker/docker-compose.yaml

@@ -11,14 +11,6 @@ services:
     ports:
       - 2222:22 # for ssh
 
-  # -------------------------------------------------------------------------------------------------------------------
-  # dev container for developer debugging
-  gcs-dev:
-    profiles: !override
-      - dev
-    extends: gcs
-    command: "sleep infinity"
-
   # ===================================================================================================================
   # for running on a real world laptop on the local network, set network mode to host
   gcs-real:

ground_control_station/docker/ground-control-station-base-docker-compose.yaml

@@ -10,10 +10,12 @@ services:
     entrypoint: ""
     command: >
       bash -c "ssh service restart;
-      tmux new -d -s gcs_bringup
-      && tmux send-keys -t gcs_bringup 
-      'bws && sws; ros2 launch ${GCS_LAUNCH_PACKAGE} ${GCS_LAUNCH_FILE}' ENTER
-      && sleep infinity"
+      tmux new -d -s gcs_bringup;
+      autolaunch=${AUTOLAUNCH};
+      if [ $$autolaunch = 'true' ]; then
+        tmux send-keys -t gcs_bringup 'bws && sws; ros2 launch ${GCS_LAUNCH_PACKAGE} ${GCS_LAUNCH_FILE}' ENTER
+      fi;
+      sleep infinity"
     # Interactive shell
     stdin_open: true # docker run -i
     tty: true # docker run -t

robot/docker/docker-compose.yaml

@@ -19,12 +19,14 @@ services:
         - *desktop_image
     # we use tmux send-keys so that the session stays alive
     command: >
-      bash -c "service ssh restart;
-      tmux new -d -s robot_bringup
-      && tmux send-keys -t robot_bringup 
-      'bws && sws && 
-      ros2 launch ${ROBOT_LAUNCH_PACKAGE} ${ROBOT_LAUNCH_FILE}' ENTER
-      && sleep infinity"
+      bash -c "
+      service ssh restart;
+      tmux new -d -s robot_bringup;
+      autolaunch=${AUTOLAUNCH};
+      if [ $$autolaunch = 'true' ]; then
+        tmux send-keys -t robot_bringup 'bws && sws && ros2 launch ${ROBOT_LAUNCH_PACKAGE} ${ROBOT_LAUNCH_FILE}' ENTER;
+      fi;
+      sleep infinity"
     # assumes you're connected to work internet, so creates a network to isolate from other developers on your work internet
     networks:
       - airstack_network
@@ -36,14 +38,6 @@ services:
     deploy:
       replicas: ${NUM_ROBOTS:-1}
 
-  # -------------------------------------------------------------------------------------------------------------------
-  # dev container for developer debugging
-  robot-dev:
-    profiles: !override
-      - "dev"
-    extends: robot
-    command: sleep infinity
-
   # ===================================================================================================================
   # for running on an NVIIDA jetson (linux for tegra) device
   robot-l4t:

simulation/isaac-sim/docker/docker-compose.yaml

@@ -13,9 +13,13 @@ services:
     entrypoint: "" # override the default entrypoint with nothing
     # for some reason the tmux session manager only works when isaac is running in tmux
     command: >
-      bash -c "tmux new -d -s isaac 
-      && tmux send-keys -t isaac \"ros2 launch isaacsim run_isaacsim.launch.py gui:=${ISAAC_SIM_SCENE} play_sim_on_start:=${PLAY_SIM_ON_START}\" ENTER 
-      && sleep infinity"
+      bash -c "
+      tmux new -d -s isaac 
+      autolaunch=${AUTOLAUNCH};
+      if [ $$autolaunch = 'true' ]; then
+        tmux send-keys -t isaac \"ros2 launch isaacsim run_isaacsim.launch.py gui:=${ISAAC_SIM_SCENE} play_sim_on_start:=${PLAY_SIM_ON_START}\" ENTER 
+      fi;
+      sleep infinity"
     # Interactive shell
     stdin_open: true # docker run -i
     tty: true # docker run -t
@@ -68,18 +72,6 @@ services:
       - ../sitl_integration/inputrc:/etc/inputrc
       - ../sitl_integration/config:/root/.nvidia-omniverse/config:rw
 
-  # -------------------------------------------------------------------------------------------------------------------
-  # dev container for developer debugging
-  isaac-sim-dev:
-    profiles: !override
-      - dev
-    extends: isaac-sim
-    container_name: isaac-sim-dev
-    command: >
-      bash -c "tmux new -d -s isaac 
-      && tmux send-keys -t isaac \"ros2 launch isaacsim run_isaacsim.launch.py\" ENTER 
-      && sleep infinity"
-
   # ===================================================================================================================
   # for running over ethernet for hitl to stream to the NVIDIA jetson device
   isaac-sim-hitl: