Johnliu/pegasus update (#312)

* updated pegasus version, updated docker compose version. Connects robot and px4, but WIP ogn api updates

* Fixed python path in isaac-sim container. Now properly publishes clock and connects to robot for basic flight

* uncommented example script code

* fixing lidar orientation direction in robot description

* updated two_example script as well

* added error message for stale docker compose version

* fixed example script for 2 robots to properly namespace the two different robots

* bump version to 0.16.0 for new Isaac Sim/Pegasus version and on Ubuntu 24

* Update rviz to show lidar

* sync with WIP spawn multirotor node to fix sim-airstack timesync issue

* fixes to visuals for rviz and robot description based on new default sensor positions

* enable proper extension in example script for OnPhysicsStep ogn

* properly does not play scripted environment on start if specified in env file

* Rename ISAAC_SIM_USE_STANDALONE_SCRIPT to ISAAC_SIM_USE_STANDALONE

* Add light to script, add clock display

* Update airstack cli to containerize docker compose itself, so that users don't have to manage different versions

* Bump to docker-compose 5.0.2, also get docker image tag for tagging airstack-cli image

* Fix display forwarding for containerized docker-compose

* Fix env variable propagation in containerized docker-compose

* Small changes

* added environment var to isaac docker compose to properly play sim on start from env file

* temporary fix, airstack with USD file has no wobble; scripted mode still wobbles

* Add ground plane

* update rviz

---------

Co-authored-by: John <John Liu>
Co-authored-by: Andrew Jong <ajong@andrew.cmu.edu>

Author: JohnYanxinLiu

.airstack/README.md

@@ -1,6 +1,6 @@
 # AirStack CLI Tool
 
-The `airstack` command-line tool provides a unified interface for common development tasks in the AirStack project, including setup, installation, and container management.
+The `airstack` command-line tool provides a unified interface for common development tasks in the AirStack project, including setup, installation, and container management. It uses a containerized docker-compose approach to ensure all developers use the same version (v5.0.0+) regardless of their host machine's Docker installation.
 
 ## Installation
 
@@ -19,6 +19,18 @@ The `airstack` tool is included in the AirStack repository. To set it up:
 
 This will add the `airstack` command to your PATH by modifying your shell profile (`.bashrc` or `.zshrc`).
 
+### Requirements
+
+**Minimal requirements:**
+- Docker installed (any recent version with socket at `/var/run/docker.sock`)
+- The Docker daemon must be running
+
+**NOT required:**
+- Specific docker-compose version on host
+- docker-compose CLI on host (container provides it)
+
+**Note:** The `airstack install` command will install Docker Engine and NVIDIA Container Toolkit, but will **not** install docker-compose on the host. Docker Compose runs entirely in the containerized CLI environment.
+
 ## Basic Usage
 
 ```bash
@@ -35,67 +47,79 @@ To get help for a specific command:
 airstack help <command>
 ```
 
+### First Time Setup
+
+When you run any airstack command that requires docker-compose for the first time, the CLI container will auto-build:
+```bash
+./airstack.sh up
+```
+
+The CLI container includes a pinned version of docker-compose and all necessary tools.
+
 ## Core Commands
 
-- `install`: Install dependencies (Docker Engine, Docker Compose, etc.)
+- `install`: Install dependencies (Docker Engine, NVIDIA Container Toolkit, etc.)
 - `setup`: Configure AirStack settings and add to shell profile
-- `up [service]`: Start services using Docker Compose
+- `up [service]`: Start services using containerized Docker Compose
 - `stop [service]`: Stop services
+- `down`: Stop and remove containers
 - `connect [container]`: Connect to a running container (supports partial name matching)
 - `status`: Show status of all containers
 - `logs [container]`: View logs for a container (supports partial name matching)
+- `rebuild-cli`: Rebuild the CLI container with latest docker-compose version
 
 ### Container Name Matching
 
 The `connect` and `logs` commands support partial name matching for container names. This means you can:
 
-1. Use just a portion of the container name (e.g., `airstack connect web` will match `airstack_web_1`)
+1. Use just a portion of the container name (e.g., `airstack connect robot` will match `airstack-robot-1`)
 2. If multiple containers match, you'll be shown a list and prompted to select one
 3. The matching is case-insensitive and supports fuzzy matching
 
 Example:
 ```bash
-$ airstack connect web
-[WARN] Multiple containers match 'web'. Please be more specific or select from the list below:
-NUM     CONTAINER NAME  IMAGE   STATUS
-1       airstack_web_1  nginx:latest    Up 2 hours
-2       airstack_webapi_1       node:14 Up 2 hours
+$ airstack connect robot
+[WARN] Multiple containers match 'robot'. Please be more specific or select from the list below:
+NUM     CONTAINER NAME    STATUS
+1       airstack-robot-1  Up 2 hours
+2       airstack-robot-2  Up 2 hours
 
 Options:
   1. Enter a number to select a container
   2. Type 'q' to quit
   3. Press Ctrl+C to cancel and try again with a more specific name
 
 Your selection: 1
-[INFO] Connecting to container: airstack_web_1
-[INFO] Tip: Next time, you can directly use 'airstack connect airstack_web_1' for this container
+[INFO] Connecting to container: airstack-robot-1
+[INFO] Tip: Next time, you can directly use 'airstack connect airstack-robot-1' for this container
 ```
 
-## Development Commands
+### Environment Variable Overrides
 
-- `test`: Run tests
-- `docs`: Build documentation
-- `lint`: Lint code
-- `format`: Format code
+You can override any `.env` variable on the command line:
 
-## Extending the Tool
+```bash
+# Override single variable
+ISAAC_SIM_USE_STANDALONE=true ./airstack.sh up isaac-sim robot
 
-The `airstack` tool is designed to be easily extensible. You can add new commands by creating module files in the `.airstack/modules/` directory.
+# Override multiple variables
+NUM_ROBOTS=3 AUTOLAUNCH=false ./airstack.sh up
 
-### Creating a New Module
+# Works with any .env variable
+DOCKER_IMAGE_TAG=dev-latest ./airstack.sh up
+```
 
-1. Create a new `.sh` file in the `.airstack/modules/` directory:
-   ```bash
-   touch .airstack/modules/mymodule.sh
-   ```
+The wrapper automatically:
+1. Reads all variable names from `.env`
+2. Passes them from your current shell environment into the container
+3. Command-line overrides naturally take precedence
 
-2. Add your command functions and register them:
-   ```bash
-   #!/usr/bin/env bash
+## Development Commands
 
-   # Function to implement your command
-   function cmd_mymodule_mycommand {
-       log_info "Running my command..."
+- `test`: Run tests
+- `docs`: Build documentation
+- ```
+    log_info "Running my command..."
        # Your command implementation here
    }
 
@@ -126,6 +150,216 @@ When creating modules, you can use these helper functions:
 
 The `airstack` tool stores its configuration in `~/.airstack.conf`. This file is created when you run `airstack setup`.
 
+## lint`: Lint code
+- `format`: Format code
+
+## Extending the Tool
+
+The `airstack` tool is designed to be easily extensible. You can add new commands by creating module files in the `.airstack/modules/` directory.
+
+### Creating a New Module
+
+1. Create a new `.sh` file in the `.airstack/modules/` directory:
+   ```bash
+   touch .airstack/modules/mymodule.sh
+   ```
+
+2. Add your command functions and register them:
+   ```bash
+   #!/usr/bin/env bash
+
+   # Function to implement your command
+   function cmd_mymodule_mycommand {
+   Containerized Docker Compose Implementation
+
+The AirStack CLI uses a containerized approach for docker-compose to ensure consistency across all development environments.
+
+### How It Works
+
+The solution uses **Docker socket mounting** (not Docker-in-Docker):
+- The `airstack-cli` container includes a pinned version of docker-compose (v5.0.0+)
+- It mounts the host's Docker socket (`/var/run/docker.sock`)
+- Commands run in the container but control the host's Docker daemon
+- Containers spawned by docker-compose run as siblings on the host, not nested
+
+### Key Files
+
+1. **Dockerfile.airstack-cli**
+   - Defines the containerized CLI environment
+   - Pins docker-compose to a specific version
+   - Includes bash, curl, git for full functionality
+
+2. **airstack.sh**
+   - `ensure_cli_container()` - builds CLI image if needed
+   - `run_docker_compose()` - wrapper for containerized compose
+   - `cmd_rebuild_cli()` - rebuild CLI container with new version
+
+3. **.env**
+   - Used for docker-compose variable interpolation
+   - Automatically mounted into the CLI container with project directory
+
+### Customization
+
+#### Changing Docker Compose Version
+
+Edit `Dockerfile.airstack-cli`:
+
+```dockerfile
+ARG COMPOSE_VERSION=5.1.0  # Change this version
+```
+
+Then rebuild:
+```bash
+./airstack.sh rebuild-cli
+```
+
+#### Adding Tools to the CLI
+
+Add packages to the Dockerfile:
+
+```dockerfile
+RUN apk add --no-cache \
+    bash \
+    curl \
+    git \
+    your-tool-here
+```
+
+### Migration from Direct Docker Compose
+
+If you have existing containers:
+
+1. **No action needed** - containers will continue running
+2. New `up` commands use containerized compose
+3. Existing `docker compose` commands on host still work
+4. The `.env` file works identically
+
+### Advanced: How the Wrapper Works
+
+The `run_docker_compose()` function:
+
+1. **Reads `.env` file** to extract all variable names
+2. **Passes them from current environment** using `-e VARNAME` flags
+3. **Mounts necessary resources** and executes docker-compose
+
+```bash
+docker run --rm -i \
+    -v /var/run/docker.sock:/var/run/docker.sock \  # Host Docker control
+    -v "$PROJECT_ROOT:$PROJECT_ROOT" \               # Mount project
+    -v /tmp/.X11-unix:/tmp/.X11-unix \               # X11 socket for GUI
+    -w "$PROJECT_ROOT" \                              # Set working dir
+    -e USER_ID="$(id -u)" \                          # Pass user ID
+    -e GROUP_ID="$(id -g)" \                         # Pass group ID
+    -e DISPLAY="$DISPLAY" \                          # X11 display for GUI
+    -e PROJECT_NAME \                                 # All .env variables...
+Add packages to the Dockerfile:
+
+```dockerfile
+RUN apk add --no-cache \
+    bash \
+    curl \
+    git \
+    your-tool-here
+```
+
+## Developer Requirements
+
+**Minimal requirements:**
+- Docker installed (any recent version with socket at `/var/run/docker.sock`)
+- The Docker daemon must be running
+
+**NOT required:**
+- Specific docker-compose version on host
+- docker-compose CLI on host (container provides it)
+
+**Note:** The `airstack install` command will install Docker Engine and NVIDIA Container Toolkit, but will **not** install docker-compose on the host. Docker Compose runs entirely in the containerized CLI environment.
+
+## Migration from Direct Docker Compose
+
+If you have existing containers:
+
+1. **No action needed** - containers will continue running
+2. New `up` commands use containerized compose
+3. Existing `docker compose` commands on host still work
+4. The `.env` file works identically
+
+## Troubleshooting
+
+### CLI container won't build
+```bash
+# Ensure Dockerfile.airstack-cli exists
+ls -la Dockerfile.airstack-cli
+
+# Try building manually
+docker build -f Dockerfile.airstack-cli -t airstack-cli:latest .
+```
+
+### Docker socket permission denied
+```bash
+# Check Docker group membership
+groups | grep docker
+
+# If not in docker group:
+sudo usermod -aG docker $USER
+# Then log out and back in
+```
+
+### Environment variables not propagating
+- The `.env` file must be in the project root
+- The entire project directory is mounted into the container
+- `USER_ID` and `GROUP_ID` are automatically set from host
+
+### GUI windows not displaying
+```bash
+# Check DISPLAY is set on host
+echo $DISPLAY
+# Should show something like ":0" or ":1"
+
+# Ensure xhost allows connections
+xhost +
+# Should show: "access control disabled, clients can connect from any host"
+
+# Check your docker-compose.yaml has X11 config
+# It should include:
+environment:
+  - DISPLAY=${DISPLAY}
+volumes:
+  - /tmp/.X11-unix:/tmp/.X11-unix
+
+# Verify DISPLAY is passed through
+./airstack.sh up
+# The containerized compose will have DISPLAY set
+```
+
+### Environment variable overrides not working
+```bash
+# Verify the variable is defined in .env
+grep ISAAC_SIM_USE_STANDALONE .env
+# Should show: ISAAC_SIM_USE_STANDALONE="false"
+
+# Check if the override is being set
+ISAAC_SIM_USE_STANDALONE=true env | grep ISAAC_SIM_USE_STANDALONE
+# Should show: ISAAC_SIM_USE_STANDALONE=true
+
+# The variable must be defined in .env to be passed through
+# If you need a new variable, add it to .env first (even with a default value)
+
+# Debug: Check what's passed to the container
+# Add this temporarily to run_docker_compose:
+# echo "Passing variables: ${env_args[@]}"
+```
+
+## Benefits
+
+The containerized approach provides:
+
+1. **Consistency**: All developers use identical docker-compose version
+2. **Isolation**: No host environment interference
+3. **Simplicity**: No version checking or installation logic needed
+4. **Maintainability**: Single Dockerfile defines tooling
+5. **Compatibility**: Works on any Docker-capable host
+6. **Flexibility**: Easy to update compose version or add tools
+
 ## License
 
 This tool is part of the AirStack project and is subject to the same license terms.

.env

@@ -11,7 +11,7 @@ PROJECT_NAME="airstack"
 # If you've run ./airstack.sh setup, then this will auto-generate from the git commit hash every time a change is made 
 # to a Dockerfile or docker-compose.yaml file. Otherwise this can also be set explicitly to make a release version.
 # auto-generated from git commit hash
-DOCKER_IMAGE_TAG="0.15.2"
+DOCKER_IMAGE_TAG="0.16.0"
 # Can replace with your docker hub username
 PROJECT_DOCKER_REGISTRY="airlab-docker.andrew.cmu.edu/airstack"
 # ============================================
@@ -22,12 +22,17 @@ NUM_ROBOTS="1"
 ROBOT_DEFINTIONS="/config/robot_definitions.yaml"  # Path to the robot definitions file, which is mounted at /config in containers.
 
 # ============== SIMULATION =====================
-ISAAC_SIM_GUI="/root/AirStack/simulation/isaac-sim/assets/scenes/simple_pegasus.scene.usd"
+# ISAAC_SIM_GUI="/root/AirStack/simulation/isaac-sim/assets/scenes/simple_pegasus.scene.usd"
+# ISAAC_SIM_GUI="/root/AirStack/simulation/isaac-sim/assets/robots/debug_wobble_flat.scene.usd"
+# ISAAC_SIM_GUI="/root/AirStack/simulation/isaac-sim/assets/robots/scripted_prim_old_omnigraph.usd"
+# ISAAC_SIM_GUI="/root/AirStack/simulation/isaac-sim/assets/robots/old_prim_scripted_omnigraph.usd"
+# ISAAC_SIM_GUI="/root/AirStack/simulation/isaac-sim/assets/robots/scripted_iris_prim.usd"
+ISAAC_SIM_GUI="/root/AirStack/simulation/isaac-sim/assets/robots/scripted_iris_prim_with_sensors.usd"
 # Set to "true" to launch Isaac Sim using a standalone Python script instead of USD file
-ISAAC_SIM_USE_STANDALONE_SCRIPT="false" # "true" or "false"
+ISAAC_SIM_USE_STANDALONE="false" # "true" or "false"
 # Script name (must be in /AirStack/simulation/isaac-sim/launch_scripts/)
 ISAAC_SIM_SCRIPT_NAME="example_one_px4_pegasus_launch_script.py"
-PLAY_SIM_ON_START="false" # Not supported in standalone script mode
+PLAY_SIM_ON_START="false"
 # ===============================================
 
 # ================= ROBOT =====================

.gitignore

@@ -61,3 +61,7 @@ frames_*.pdf
 nucleus_token.txt
 
 docker/sitl_integration/px
+
+
+# mkdocs
+mkdocs.log