Why?

This repository is a set of tools meant to speed up the FTA onboarding process.

WSL

You can run the following commmand:

bash path/to/ft-ubuntu-bootstrap/install.sh # replace with actual path

This will make the directory that you run this command from your Formula Trintiy workspace.

Note that one of the final steps is cloning the FT-FSAI-XX repository, you will need to set up GitHub ssh on your machine to allow this (also makes life a lot easier, you don't have enter your password for every authenticaed GitHub command). First Generate an SSH Key and add it to the ssh-agent and then Add this key to your GitHub account.

Specific Provisions for WSL 2

You need to run the simulator with the LIBGL_ALWAYS_SOFTWARE environment variable set to 1. This looks like:

LIBGL_ALWAYS_SOFTWARE=1 ros2 launch eufs_launcher eufs_launcher.launch.py

Docker

Build the base image in ft-ubuntu-bootstrap/setup:

docker build -t mersiohw/ft-ubuntu-bootstrap -f base.Dockerfile .

[OPTIONAL] Build the vnc image from within the vnc-setup directory:

docker build -t ft/vnc -f vnc.Dockerfile .

[OPTIONAL] Run the VNC image:

docker run --name ft --rm -it -p 6900:6900 -v "$HOME:$HOME" -w "$HOME" ft/vnc \
    --home "$HOME" \
    --user "$(whoami)" \
    --shell "$SHELL" \
    --uid "$(id -u)"

Then open localhost:6900 in your web browser. This will provide a linux environment in which you can run rviz2, gazebo and eufs. You can also compile your code there. To open a terminal in the docker container while it is running, use the command:

docker exec -it ft -u $(whoami) "$SHELL"

Overlay Container Usage

This project provides a convenient way to spin up a lightweight Linux overlay container using Docker Compose and a helper script.

python3 enter-overlay.py --workdir ~/ --shell bash humble

The enter-overlay.py script launches the Docker service defined in docker-compose.yml and opens an interactive shell inside the overlay container. You can customize the working directory and shell type via the --workdir and --shell flags.

If you need to mount additional host directories inside the overlay container (for example, to access local code or configuration files), add them as volume mounts in your docker-compose.yml. For example:

services:
  overlay:
    image: mersiohw/ft-ubuntu-bootstrap:latest
    volumes:
      - ./path/on/host:/path/in/container
      - /another/host/path:/another/container/path

After updating docker-compose.yml, rerun the enter-overlay.py command to apply the new mounts.