For docker setup we need docker, git and ssh. For non docker setup, we can do away with docker. Also, these scripts have been tested on Ubuntu 20.04.

Run setup-first-time.sh with desired options

skynet-ws$ ./djinn install --docker --ssh --git

Add the generated ssh key to your github account. You may have to reboot to make docker work.

This simply automates usual installation. It builds all required docker images and installs all dependency libraries, git pulls all repos and builds them. Tested for Ubuntu 20.04. BFX and its related dependencies must be manually placed within ext folder in the workspace

To build Skynet only and Skynet-ROS Images and start their containers run:

skynet-ws$ ./djinn setup docker

To build SkyNet only image and start the container:

skynet-ws$ ./djinn setup docker base

To build SkyNet-ROS image and start the container:

skynet-ws$ ./djinn setup docker ros

To build SITL Images for SkyNet and BFX and start their containers:

skynet-ws$ ./djinn setup docker sitl

To build Vision-Tools docker image and start the container:

skynet-ws$ ./djinn setup docker vision-tools

To build Kalibr docker image and start the container:

skynet-ws$ ./djinn setup docker kalibr

• Run xhost + command on laptop terminal (no inside docker). This allows Pangolin inside docker to connect host’s X server.

• Run the following initialisation commands according to need:

  • To initialise SkyNet-ROS and Vision-Tools Container for development: ./djinn init
  • To initialise vision-tools container: ./djinn init vision-tools
  • To initialise SkyNet only container: ./djinn init base
  • To initialise SkyNet-ROS container: ./djinn init ros
  • To initialise SITL containers: ./djinn init sitl
  • To initialise Kalibr containers: ./djinn init kalibr

• To build ORBSlam2, ORBSlam3, AKAZESlam, SkyNet and/or SkyNet-ROS run the following commands according to need:

  • To build all of the above: ./djinn build
  • To build SkyNet, ORBslam2, ORBSlam3 and AKAZESlam: ./djinn build skynet
  • To build SkyNet-ROS: ./djinn build ros-packages
  • To build SkyNet and all required dependencies for SITL: ./djinn build sitl

• If running the commands in a new terminal ensure, xhost + is run before hand to allow GUI applications within docker

• AirSim Environments must be currently manually placed within envs folder in the workspace

• Run one of the following commands according to need:

  • To start passive data collection and logging using AirSim: ./djinn start airsim <Environment Name>
  • To start SITL with SkyNet and BFX: ./djinn start sitl <Environment Name>
  • To start SkyNet: ./djinn start skynet
  • To start SkyNet-ROS sensors for development: ./djinn start sensors

The following commands are also available through ./djinn:

• To run commands in any initialised docker container: ./djinn exec <Container Suffix> <Command>

  • For instance to enter a bash shell in the SITL container run the following command: ./djinn exec sitl bash
  • Similarly to delete perform a task in BFX container run the following command: ./djinn exec bfx <Command>

• To Shutdown all containers: ./djinn down

• To list all active containers: ./djinn ps