kas-lab · Rezenders · May 20, 2025 · May 13, 2025 · May 13, 2025 · May 16, 2025
diff --git a/.github/workflows/container.yml b/.github/workflows/container.yml
@@ -67,3 +67,12 @@ jobs:
           tags: ${{ steps.meta.outputs.tags }}
           labels: ${{ steps.meta.outputs.labels }}
           build-args: BASE_IMAGE=${{ env.REGISTRY }}/kas-lab/kasm-jammy:latest
+
+      - name: Build and push suave image
+        uses: docker/build-push-action@v4
+        with:
+          context: suave_runner/docker/
+          file: suave_runner/docker/Dockerfile
+          push: true
+          tags: ${{ env.REGISTRY }}/kas-lab/suave-headless
+          labels: ${{ steps.meta.outputs.labels }}
diff --git a/.github/workflows/doc.yml b/.github/workflows/doc.yml
@@ -12,6 +12,7 @@ permissions:
 jobs:
   docs:
     runs-on: ubuntu-latest
+    container: ubuntu:22.04
     steps:
       - uses: actions/checkout@v3.3.0
       - uses: ros-tooling/setup-ros@0.7.1
@@ -20,16 +21,18 @@ jobs:
       - uses: ros-tooling/action-ros-ci@0.3.5
         id: action_ros_ci_step
         with:
-          package-name: suave suave_monitor suave_metrics suave_msgs suave_missions suave_metacontrol system_modes mavros mavros_wrapper mros2_reasoner mros2_msgs
+          package-name: suave suave_monitor suave_metrics suave_msgs suave_missions suave_metacontrol system_modes mavros mavros_wrapper mros2_reasoner mros2_msgs suave_runner
           target-ros2-distro: humble
           skip-tests: true
           vcs-repo-file-url: https://raw.githubusercontent.com/kas-lab/suave/main/suave.repos
       - name: Install dependencies
         run: |
           pip install sphinx sphinx_rtd_theme myst_parser sphinx-autopackagesummary myst-parser
       - name: Sphinx build
+        shell: bash
         run: |
-          source ${{ steps.action_ros_ci_step.outputs.ros-workspace-directory-name }}/install/setup.bash && sphinx-build docs/source docs/build
+          source ${{ steps.action_ros_ci_step.outputs.ros-workspace-directory-name }}/install/setup.bash
+          sphinx-build docs/source docs/build
       - name: Deploy to GitHub Pages
         uses: peaceiris/actions-gh-pages@v3
         if: ${{ github.event_name == 'push' && github.ref == 'refs/heads/main' }}

diff --git a/.gitignore b/.gitignore
@@ -1,3 +1,4 @@
+*error.owl
 docs/source/_autosummary/
 docs/build/
 

diff --git a/CHANGELOG.md b/CHANGELOG.md
@@ -5,6 +5,16 @@ All notable changes to this project will be documented in this file.
 The format is based on [Keep a Changelog](http://keepachangelog.com/)
 and this project adheres to [Semantic Versioning](http://semver.org/).
 
+## 1.4.0
+
+### Added
+
+1. New suave_runner package containing a new python-based runner script
+
+2. A new docker image without vnc, allowing it to be executed without the web interface
+
+3. Move to gazebo harmonic
+
 ## 1.3.0
 
 ### Added

diff --git a/README.md b/README.md
@@ -84,16 +84,22 @@ To build the docker images locally, run:
 ```
 
 ## Install SUAVE locally
-To install the exemplar locally, you have to [install Gazebo Garden](#install-gazebo-garden), [install ROS2 Humble](#install-ros2-humble), [install ArduSub](#install-ardusub), [install the ArduSub plugin](#install-ardusub_plugin), and finally [install the SUAVE workspace](#install-suave-workspace).
+To install the exemplar locally, you have to [install Gazebo Harmonic](#install-gazebo-harmonic), [install ROS2 Humble](#install-ros2-humble), [install ArduSub](#install-ardusub), [install the ArduSub plugin](#install-ardusub_plugin), and finally [install the SUAVE workspace](#install-suave-workspace).
 
-#### Install Gazebo Garden
+#### Install Gazebo Harmonic
 
-Follow the [official instructions](https://gazebosim.org/docs/garden/install_ubuntu) for installing Gazebo Garden.
+Follow the [official instructions](https://gazebosim.org/docs/harmonic/install_ubuntu/#binary-installation-on-ubuntu) for installing Gazebo Harmonic.
 
 #### Install ROS2 Humble
 
 Follow the [official instructions](https://docs.ros.org/en/humble/Installation/Ubuntu-Install-Debians.html) for installing ROS2 Humble.
 
+#### Install ROS_GZ
+
+```Bash
+apt install ros-humble-ros-gzharmonic
+```
+
 #### Install ArduSub
 ArduSub is a subproject within ArduPilot for piloting underwater vehicles.
 
@@ -135,7 +141,18 @@ ArduPilot SITL should open and a console plus a map should appear.
 Install the dependencies:
 
 ```Bash
-sudo apt install libgz-sim7-dev rapidjson-dev
+sudo apt update
+sudo apt install libgz-sim8-dev rapidjson-dev
+sudo apt install libopencv-dev libgstreamer1.0-dev libgstreamer-plugins-base1.0-dev gstreamer1.0-plugins-bad gstreamer1.0-libav gstreamer1.0-gl
+```
+
+```Bash
+export GZ_VERSION=harmonic 
+sudo bash -c 'wget https://raw.githubusercontent.com/osrf/osrf-rosdep/master/gz/00-gazebo.list -O /etc/ros/rosdep/sources.list.d/00-gazebo.list'
+rosdep update
+rosdep resolve gz-harmonic
+# Navigate to your ROS workspace before the next command.
+rosdep install --from-paths src --ignore-src -y
 ```
 
 Clone and build the repository:

diff --git a/docker/dockerfile-suave b/docker/dockerfile-suave
@@ -3,9 +3,8 @@ FROM $BASE_IMAGE
 
 USER root
 
-
 ### Envrionment config
-ENV DEBIAN_FRONTEND noninteractive
+ENV DEBIAN_FRONTEND=noninteractive
 
 ###Add Sudo
 RUN add-apt-repository ppa:kisak/kisak-mesa \
@@ -31,21 +30,9 @@ RUN add-apt-repository ppa:kisak/kisak-mesa \
 # Set the locale
 RUN sed -i '/en_US.UTF-8/s/^# //g' /etc/locale.gen && \
     locale-gen
-ENV LANG en_US.UTF-8
-ENV LANGUAGE en_US:en
-ENV LC_ALL en_US.UTF-8
-### Install Visual Studio Code
-# COPY ./docker/src/ubuntu/install/vs_code $INST_SCRIPTS/vs_code/
-# RUN bash $INST_SCRIPTS/vs_code/install_vs_code.sh  && rm -rf $INST_SCRIPTS/vs_code/
-
-### Install Gazebo
-RUN wget https://packages.osrfoundation.org/gazebo.gpg -O /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg
-RUN echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" | tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null
-
-RUN apt update && apt install -y \
-  # gz-garden \
-  gz-harmonic \
-	&& rm -rf /var/lib/apt/lists/
+ENV LANG=en_US.UTF-8
+ENV LANGUAGE=en_US:en
+ENV LC_ALL=en_US.UTF-8
 
 RUN pip uninstall empy && pip install empy==3.3.4 && pip install -U colcon-common-extensions
 
@@ -61,12 +48,25 @@ RUN apt update && apt install -y \
   python3-vcstool \
   && rm -rf /var/lib/apt/lists/
 
+RUN rosdep init 
+
+### Install Gazebo
+RUN curl https://packages.osrfoundation.org/gazebo.gpg --output /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg && \
+    echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" | tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null
+
+RUN bash -c 'curl https://raw.githubusercontent.com/osrf/osrf-rosdep/master/gz/00-gazebo.list --output /etc/ros/rosdep/sources.list.d/00-gazebo.list'
+ENV GZ_VERSION=harmonic 
+
+RUN apt update && apt install -y \
+    gz-harmonic \
+    ros-humble-ros-gzharmonic \
+	&& rm -rf /var/lib/apt/lists/
 
 ###Add the USER env var
 RUN echo 'kasm-user ALL=(ALL) NOPASSWD: ALL' >> /etc/sudoers
-ENV HOME /home/kasm-user
+ENV HOME=/home/kasm-user
 USER kasm-user
-ENV DEBIAN_FRONTEND noninteractive
+ENV DEBIAN_FRONTEND=noninteractive
 
 WORKDIR $HOME
 
@@ -86,7 +86,7 @@ ENV PATH=/opt/gcc-arm-none-eabi-10-2020-q4-major/bin:$PATH
 ENV PATH=$PATH:$HOME/ardupilot/Tools/autotest
 ENV PATH=/usr/lib/ccache:$PATH
 
-RUN ["/bin/bash","-c","./waf configure && make sub"]
+RUN ["/bin/bash","-c","cd $HOME/ardupilot && ./waf configure && make sub"]
 
 # install ardupilot gazebo plugin
 RUN sudo apt update && sudo apt install -y \
@@ -101,26 +101,18 @@ RUN sudo apt update && sudo apt install -y \
     gstreamer1.0-gl \
     && sudo rm -rf /var/lib/apt/list/
 
-WORKDIR $HOME
-RUN git clone https://github.com/ArduPilot/ardupilot_gazebo
-
 ENV GZ_VERSION=harmonic
-RUN ["/bin/bash", "-c", "source /opt/ros/humble/setup.bash \
-    && sudo rosdep init \
-    && sudo wget https://raw.githubusercontent.com/osrf/osrf-rosdep/master/gz/00-gazebo.list -O /etc/ros/rosdep/sources.list.d/00-gazebo.list \
-    && rosdep update \
-    && rosdep resolve gz-$GZ_VERSION"]
-
-WORKDIR $HOME/ardupilot_gazebo
-RUN [ "/bin/bash","-c","mkdir build && cd build \
-    && cmake .. -DCMAKE_BUILD_TYPE=RelWithDebInfo\
-    && make"]
+WORKDIR $HOME
+RUN git clone https://github.com/ArduPilot/ardupilot_gazebo && \
+    cd ardupilot_gazebo && \
+    mkdir build && cd build && \
+    cmake .. -DCMAKE_BUILD_TYPE=RelWithDebInfo && \
+    make -j4
 
-ENV GZ_SIM_SYSTEM_PLUGIN_PATH=$HOME/ardupilot_gazebo/build:${GZ_SIM_SYSTEM_PLUGIN_PATH}
-ENV GZ_SIM_RESOURCE_PATH=$HOME/ardupilot_gazebo/models:$HOME/ardupilot_gazebo/worlds:${GZ_SIM_RESOURCE_PATH}
+ENV GZ_SIM_SYSTEM_PLUGIN_PATH=$HOME/ardupilot_gazebo/build
+ENV GZ_SIM_RESOURCE_PATH=$HOME/ardupilot_gazebo/models:$HOME/ardupilot_gazebo/worlds
 
 # Copy suave files
-ENV GZ_VERSION=harmonic
 RUN mkdir -p $HOME/suave_ws/src
 COPY --chown=kasm-user:kasm-user suave.repos $HOME/suave_ws/suave.repos
 WORKDIR $HOME/suave_ws/

diff --git a/docs/source/docker.md b/docs/source/docker.md
@@ -25,6 +25,44 @@ A dialog will request a username and password, these are shown below, with the p
 
 <!-- Now you can proceed to [run the exemplar](#run-suave). -->
 
+## Headless docker image
+
+We also provide a docker image without VCN/Web interface, so you can just run the experiments directly from your terminal without needing to log in into the web interface.
+
+Pull image:
+```Bash
+docker pull ghcr.io/kas-lab/suave-headless:main
+```
+
+Run image (without gpu):
+```Bash
+docker run -it --rm --name suave_runner -e DISPLAY=$DISPLAY -e QT_X11_NO_MITSHM=1 -v /tmp/.X11-unix:/tmp/.X11-unix -v /etc/localtime:/etc/localtime:ro -v $HOME/suave_ws/src/suave:/home/ubuntu-user/suave_ws/src/suave suave-headless
+```
+
+Run image (with nvidia)(don't forget to install nvidia docker toolkit)[https://docs.nvidia.com/datacenter/cloud-native/container-toolkit/latest/install-guide.html]:
+```Bash
+docker run -it --rm --gpus all --runtime=nvidia --name suave_runner -e DISPLAY=$DISPLAY -e QT_X11_NO_MITSHM=1 -e NVIDIA_VISIBLE_DEVICES=all -e NVIDIA_DRIVER_CAPABILITIES=all -v /dev/dri:/dev/dri -v /tmp/.X11-unix:/tmp/.X11-unix -v /etc/localtime:/etc/localtime:ro -v $HOME/suave_ws/src/suave:/home/ubuntu-user/suave_ws/src/suave suave-headless
+```
+
+You can try by running:
+
+```Bash
+ros2 run suave_runner suave_runner \
+  --ros-args \
+  -p gui:=False \
+  -p experiments:='[
+    "{\"experiment_launch\": \"ros2 launch suave_bt suave_bt.launch.py\", \
+      \"num_runs\": 2, \
+      \"adaptation_manager\": \"bt\", \
+      \"mission_name\": \"suave\"}"
+  ]'
+```
+
+If you want the image to have acess to the host GUI run the following command before running the image:
+```Bash
+xhost +
+```
+
 ## Build Docker images locally
 To build the docker images locally, run:
 

diff --git a/docs/source/run.md b/docs/source/run.md
@@ -16,29 +16,48 @@ To follow the robot as it progresses along its m
10000
ission make sure to right click
 
 ### Full Runner
 
-To run the exemplar with the runner, first make sure you are in the suave workspace:
+To run the exemplar with the runner, first make sure you source the suave workspace:
 
 ```Bash
-cd ~/suave_ws/src/suave/runner/
+cd ~/suave_ws/
+source ~/suave_ws/install/setup.bash
 ```
 
 Then run:
 
 Without gui:
 ```Bash
-./runner.sh false metacontrol time 2
+ros2 run suave_runner suave_runner \
+  --ros-args \
+  -p gui:=False \
+  -p experiments:='[
+    "{\"experiment_launch\": \"ros2 launch suave_bt suave_bt.launch.py\", \
+      \"num_runs\": 2, \
+      \"adaptation_manager\": \"bt\", \
+      \"mission_name\": \"suave\"}"
+  ]'
 ```
 
 With gui:
 ```Bash
-./runner.sh true metacontrol time 2
+ros2 run suave_runner suave_runner \
+  --ros-args \
+  -p gui:=True \
+  -p experiments:='[
+    "{\"experiment_launch\": \"ros2 launch suave_bt suave_bt.launch.py\", \
+      \"num_runs\": 2, \
+      \"adaptation_manager\": \"bt\", \
+      \"mission_name\": \"suave\"}"
+  ]'
 ```
 
-The runner script takes 4 positional parameters:
-1. true or false -> indicates if the gui should be used
-2. metacontrol or random or none -> indicates which managing subsystem to use
-3. time or distance -> indicates which mission to run
-4. number of runs
+You can also use a launch file with a [config file](https://github.com/kas-lab/suave/blob/main/suave_runner/config/runner_config.yml) to make it easier to run the experiments:
+
+```Bash
+ros2 launch suave_runner suave_runner.launch.py
+```
+
+To run SUAVE with different managing subsystems. Just replace the `experiment_launch` with the proper launch file.
 
 ## Without the runner
 
@@ -86,14 +105,9 @@ Launching the mission file without launch arguments will start a time-constraine
 ```
 'adaptation_manager':
     Managing subsystem to be used
-    available values: none/metacontrol/random
+    available values: none/metacontrol/random/bt
     (default: 'none')
 
-'mission_type':
-    Type of mission to be executed
-    available values: time_constrained_mission/const_dist_mission
-    (default: 'time_constrained_mission')
-
 'result_filename':
     Filename for the mission measured metrics
     available values: any name
@@ -105,5 +119,5 @@ The arguments can be defined by adding the above arguments with the notation `<n
 An example of running the constant distance mission with metacontrol saving to a file called 'measurement_1':
 
 ```Bash
-ros2 launch suave_missions mission.launch.py adaptation_manager:=metacontrol mission_type:=const_dist_mission result_filename:=measurement_1
+ros2 launch suave_missions mission.launch.py adaptation_manager:=metacontrol result_filename:=measurement_1
 ```
diff --git a/suave.repos b/suave.repos
@@ -14,7 +14,7 @@ repositories:
   remaro_worlds:
     type: git
     url: https://github.com/remaro-network/remaro_worlds.git
-    version: 2650f19
+    version: 0e50a98
   mc_mdl_tomasys:
     type: git
     url: https://github.com/meta-control/mc_mdl_tomasys.git
@@ -30,8 +30,4 @@ repositories:
   system_modes:
     type: git
     url: https://github.com/micro-ROS/system_modes
-    version: 682ecb7
-  ros_gz:
-    type: git
-    url: https://github.com/gazebosim/ros_gz.git
-    version: 5cc92f8
+    version: 682ecb7