wip

docs/10-prerequisities/30-docker/10-building-images.md

@@ -1,61 +1,61 @@
 ---
-title: Building images
-pagination_label: Building Docker images
-description: How to build docker images.
+title:Buildingimages
+pagination_label:BuildingDockerimages
+description:Howtobuilddockerimages.
 ---
 
-# Building images
+#Buildingimages
 
-Follow the [official guide](https://docs.docker.com/build/) for more in-depth information.
+Followthe[officialguide](https://docs.docker.com/build/)formorein-depthinformation.
 
-### Building a Docker Image from a Dockerfile
+###BuildingaDockerImagefromaDockerfile
 
-A Dockerfile is a text file containing a series of instructions to create a Docker image.
-Here's how to build an image using a Dockerfile.
+ADockerfileisatextfilecontainingaseriesofinstructionstocreateaDockerimage.
+Here'showtobuildanimageusingaDockerfile.
 
-1. **Create a Dockerfile**:
-   Write a `Dockerfile` with the necessary instructions for your application. Example:
-   ```dockerfile
-   # Use the MRS UAV System the base image
-   FROM ctumrs/mrs_uav_system:latest
-   
-   # Install additional packages into the image
-   RUN sudo apt-get -y install <my_dependency>
+1.**CreateaDockerfile**:
+Writea`Dockerfile`withthenecessaryinstructionsforyourapplication.Example:
+```dockerfile
+#UsetheMRSUAVSystemthebaseimage
+FROMctumrs/mrs_uav_system:latest
+
+#Installadditionalpackagesintotheimage
+RUNsudoapt-get-yinstall<my_dependency>
 
-   # Specify the default command to run
-   CMD ["/ros_entrypoint.sh"]
-   ```
-2. **Save the Dockerfile:** Save the Dockerfile in the root directory of your project.
-3. **Build the Docker Image:** Use the docker build command to build the image. Run this command in the same directory as your Dockerfile:
+#Specifythedefaultcommandtorun
+CMD["/ros_entrypoint.sh"]
+```
+2.**SavetheDockerfile:**SavetheDockerfileintherootdirectoryofyourproject.
+3.**BuildtheDockerImage:**Usethedockerbuildcommandtobuildtheimage.RunthiscommandinthesamedirectoryasyourDockerfile:
 ```bash
-docker build -t <image-name>:<tag> .
+dockerbuild-t<image-name>:<tag>.
 ```
 Example:
 ```bash
-docker build -t my-app:latest .
+dockerbuild-tmy-app:latest.
 ```
 
-* The `-t` flag assigns a name and tag to your image (e.g., my-app:latest).
-* The `.` at the end specifies the build context (the current directory).
+*The`-t`flagassignsanameandtagtoyourimage(e.g.,my-app:latest).
+*The`.`attheendspecifiesthebuildcontext(thecurrentdirectory).
 
-## Dockerfile for the MRS UAV System
+##DockerfilefortheMRSUAVSystem
 
 ```dockerfile
-FROM ctumrs/ros:noetic
+FROMctumrs/ros:noetic
 
-RUN apt-get -y update
+RUNapt-get-yupdate
 
-# workaround interractive prompts during apt installations
-RUN echo 'debconf debconf/frontend select Noninteractive' | sudo debconf-set-selections
-RUN DEBIAN_FRONTEND=noninteractive apt-get -y install keyboard-configuration
+#workaroundinterractivepromptsduringaptinstallations
+RUNecho'debconfdebconf/frontendselectNoninteractive'|sudodebconf-set-selections
+RUNDEBIAN_FRONTEND=noninteractiveapt-get-yinstallkeyboard-configuration
 
-# INSTALL the MRS UAV System
+#INSTALLtheMRSUAVSystem
 
-RUN apt-get -y install software-properties-common curl bash
+RUNapt-get-yinstallsoftware-properties-commoncurlbash
 
-RUN curl https://ctu-mrs.github.io/ppa-stable/add_ppa.sh | bash
+RUNcurlhttps://ctu-mrs.github.io/ppa-stable/add_ppa.sh|bash
 
-RUN apt-get -y install ros-noetic-mrs-uav-system-full
+RUNapt-get-yinstallros-noetic-mrs-uav-system-full
 
-CMD ["/ros_entrypoint.sh"]
+CMD["/ros_entrypoint.sh"]
 ```

docs/10-prerequisities/30-docker/30-registries.md

@@ -1,13 +1,13 @@
 ---
-title: Registries
-pagination_label: Docker Registries
-description: Using docker registries
+title: Docker Registries
+pagination_label: Using Docker Registries
+description: Using docker Registries
 ---
 
 # Docker Registries
 
 Docker registries are storage and distribution systems for Docker images.
-They allow you to share images with others or deploy them across different environments. 
+They allow you to share images with others or deploy them across different environments.
 The default Docker registry is **Docker Hub**, but you can also use private registries, including locally hosted ones.
 
 ## Default Docker Registry: Docker Hub
@@ -26,8 +26,8 @@ Before pushing images to a Docker registry, you must authenticate.
   ```bash
   docker login
   ```
-  
-## Pushing an Image to a Docker Registry 
+
+## Pushing an Image to a Docker Registry
 
 **Tag your image:** To push an image to a registry, you must tag it with the appropriate registry URL and repository name.
 
@@ -40,7 +40,7 @@ Example for Docker Hub:
 docker tag my-app:latest username/my-app:latest
 ```
 
-**Push the image:** 
+**Push the image:**
 
 ```bash
 docker push <registry-url>/<repository-name>:<tag>
@@ -127,7 +127,7 @@ To pull an image from a local registry hosted on another computer, use the IP ad
    ```bash
    docker pull <host-ip>:<port>/<repository-name>:<tag>
    ```
-   
+
 Example
 ```bash
 docker pull 192.168.1.100:5000/my-app:latest
@@ -158,7 +158,7 @@ By default, Docker requires secure (HTTPS) connections to communicate with regis
      "insecure-registries": ["<registry-host>:<port>"]
    }
    ```
-   
+
 ### Listing Images in a Local Registry
 
 To view the list of images stored in a local Docker registry, you can use the registry's API.
@@ -170,7 +170,7 @@ To view the list of images stored in a local Docker registry, you can use the re
    ```bash
    curl http://<registry-host>:<port>/v2/_catalog
    ```
-   
+
 Replace `<registry-host>` and `<port>` with your local registry's address and port (e.g., `localhost:5000`).
 
 Example:

docs/90-hardware/raspi5_knowledgebase.md

@@ -1,8 +1,11 @@
 ---
 title: Raspberry Pi 5 Knowledge base
+pagination_label: Raspberry Pi 5 Knowledge base
+description: Raspberry Pi 5 Knowledge base
 ---
 
 # Camera firmware issues
+
 For cameras based on `ov9281` connected via the MIPI port, such as the Arducam UC-599 Rev-B, you need to set up explicit firmware overlay. This is set up in `/boot/firmware/config.txt`. You need to disable automatic detection of cameras by commenting out or setting to `0` the line:
 ```
 camera_auto_detect=1
@@ -21,11 +24,13 @@ dtoverlay=arducam-pivariety
 ```
 
 ## Warning
+
 Do not install the `vcdbg` package - it will remove the overlays needed for MIPI camera use.
 It seems that the package is currently only compatible with older versions of the Raspberry Pi.
 If you did this, remove all packages that were installed with `vcdbg` and reinstall `raspi-firmware`.
 
-# Using GPU acceleration in Singularity
+# Using GPU acceleration in Singularity/Apptainer
+
 By default, the Ubuntu 20.04 Singularity image we use to run ROS on the device has older MESA drivers that do not support hardware acceleration on the onboard Broadcom V3D 7.1 GPU.
 This can be overcome by manually adding a non-official ppa to upgrade the drivers in Singularity.
 
@@ -47,3 +52,32 @@ sudo apt install libglx-mesa0 libgl1-mesa-dri
 ```
 This should have upgraded the MESA drivers to the newest version.
 Lastly, note that the V3D 7.1 GPU only supports GLSL 3.10 - if you are using a shader that explicitly requires a newer version, try manually rewriting the requirement in the code, it may work. If not, you may be out of luck.
+
+# Using WiringPi in Singularity/Apptainer
+
+In order to control the GPIO pins inside of 20.04 Ubuntu Singularity image, you need to install an up-to-date version of the library inside the container.
+These steps worked for me:
+
+1. Enter the wrapper with `sudo`
+2. Download new versions of `autoconf` and `autoconf-archive`:
+```
+wget ftp.de.debian.org/debian/pool/main/a/autoconf/autoconf_2.71-3_all.deb
+wget ftp.de.debian.org/debian/pool/main/a/autoconf-archive/autoconf-archive_20220903-3_all.deb
+dpkg -i ./autoconf*deb
+```
+4. Build and install `libgpiod`:
+```
+git clone https://github.com/brgl/libgpiod.git
+cd libgpiod
+./autogen.sh --enable-tools=yes --prefix=/usr
+make
+make install
+```
+5. Copy (and replace if there is one already) `libgpoiod/lib/uapi/gpio.h` from the git directory to `/usr/include/linux/`
+6. Build and install new `WiringPi`:
+```
+git clone https://github.com/WiringPi/WiringPi.git
+cd WiringPi
+./build debian
+sudo dpkg -i ./debian-template/wiringpi-*.deb
+```