pairs_system — Docker image

The whole PAIRS UAV system (CTU-MRS port) on ROS Noetic.

This image apt installs the system from the signed PAIRS apt repo, so the container is ready to run with no build step. Your own packages go in a mounted overlay workspace.

Contents

• osrf/ros:noetic-desktop-full base (rviz, gazebo11, rqt …)
• ros-noetic-pairs-uav-system-full — the complete ~170-package closure (gazebo simulation, all SLAM cores, control, estimation, drivers)
• tmux + the PAIRS waitFor* shell helpers the session scripts rely on
• an overlay catkin workspace at /opt/pairs_ws (mount your code here)

Build

# 1) build against your LOCAL pairs-apt/docs (works today, before publishing)
./build.sh

# 2) or, once pairs-apt/docs is pushed to GitHub Pages, build against the live repo
PAIRS_APT_SOURCE=live ./build.sh

The image is tagged thanhnc19/pairs_system:noetic (and :latest) by default. Override the account with HUB_NAMESPACE=<your-dockerhub-namespace> ./build.sh.

build.sh (local mode) serves ~/vin_dron_ws/pairs-apt/docs over a throwaway docker network and installs from it, so it does not depend on the GitHub Pages push. Override the location with APT_DOCS=/path/to/pairs-apt/docs.

Note: the published repo at https://thanhnguyencanh.github.io/apt must carry the current 102-deb index (incl. ros-noetic-pairs-uav-system-full) for PAIRS_APT_SOURCE=live and for end users to apt install directly. Push pairs-apt/docs first (see pairs-apt/README.md).

Run

./run_pairs_system.sh

Edit the top of run_pairs_system.sh for your machine:

• HUB_NAMESPACE / IMAGE — which image to run
• PAIRS_WS — host overlay workspace (default ~/pairs_ws, mounted at /opt/pairs_ws)
• BAGS_DIR — host rosbags/data (default ~/bags, mounted at /opt/bags)

It forwards X11 (rviz/gazebo GUI), uses --net host, and attaches the NVIDIA GPU if available.

Try the simulation

Inside the container:

roscd pairs_uav_gazebo_simulation/tmux/one_drone
./start.sh        # plain-tmux session: gazebo + control + rviz, takeoff ready
# ./kill.sh       # stop everything

Detach with Ctrl-b d; re-attach with tmux a -t simulation.

Push to Docker Hub

./push_docker.sh                 # docker login + push :noetic and :latest
TAG=v1.0 ./push_docker.sh        # also push a version tag (refreshes :latest)

push_docker.sh runs docker login -u thanhnc19 if you are not already authenticated, then pushes thanhnc19/pairs_system:noetic and :latest. After it finishes the image appears at https://hub.docker.com/r/thanhnc19/pairs_system/tags. Override the account with HUB_NAMESPACE=<your-dockerhub-namespace> ./push_docker.sh.

On another machine: docker pull thanhnc19/pairs_system:noetic.

Notes

• The gazebo session's final layout window calls ~/.i3/layout_manager.sh (an i3 window-manager helper). Outside i3 that one window errors harmlessly; the rest of the session runs normally.
• Set UAV_NAME / UAV_TYPE / RUN_TYPE via the run script's env if you need something other than the uav1 / x500 / simulation defaults.