feat(simulation): establish polygon S0 qualification

2026-07-24 15:29:08 +03:00
parent 7fba39a629
commit 81761067e9
11 changed files with 2318 additions and 0 deletions
@@ -0,0 +1,183 @@
+schema_version: missioncore.simulation-s0-profile/v1
+profile_id: ai-worker-px4-gazebo-v1
+
+target_host:
+  windows_release: windows-11
+  virtualization: wsl2
+  linux_distribution: ubuntu-24.04
+  architecture: x86_64
+
+storage:
+  windows_root: 'D:\NDC_MISSIONCORE'
+  wsl_root: /mnt/d/NDC_MISSIONCORE
+  minimum_free_gib: 300
+  stop_below_gib: 200
+  forbid_windows_system_drive: true
+  mutable_paths:
+    - id: wsl
+      windows_path: 'D:\NDC_MISSIONCORE\wsl'
+      wsl_path: /mnt/d/NDC_MISSIONCORE/wsl
+    - id: docker
+      windows_path: 'D:\NDC_MISSIONCORE\docker'
+      wsl_path: /mnt/d/NDC_MISSIONCORE/docker
+    - id: source
+      windows_path: 'D:\NDC_MISSIONCORE\simulation\source'
+      wsl_path: /mnt/d/NDC_MISSIONCORE/simulation/source
+    - id: build
+      windows_path: 'D:\NDC_MISSIONCORE\simulation\build'
+      wsl_path: /mnt/d/NDC_MISSIONCORE/simulation/build
+    - id: cache
+      windows_path: 'D:\NDC_MISSIONCORE\simulation\cache'
+      wsl_path: /mnt/d/NDC_MISSIONCORE/simulation/cache
+    - id: runtime
+      windows_path: 'D:\NDC_MISSIONCORE\simulation\runtime'
+      wsl_path: /mnt/d/NDC_MISSIONCORE/simulation/runtime
+    - id: artifacts
+      windows_path: 'D:\NDC_MISSIONCORE\simulation\artifacts'
+      wsl_path: /mnt/d/NDC_MISSIONCORE/simulation/artifacts
+    - id: datasets
+      windows_path: 'D:\NDC_MISSIONCORE\simulation\datasets'
+      wsl_path: /mnt/d/NDC_MISSIONCORE/simulation/datasets
+
+clock:
+  authority: gazebo:/clock
+  ros_use_sim_time: true
+  px4_uxrce_dds_sync_enabled: false
+  canonical_unit: nanoseconds
+  utc_role: provenance-only
+
+authority:
+  simulation_or_shadow_only: true
+  actuator_authority: false
+  navigation_or_safety_accepted: false
+  direct_actuator_setpoints_allowed: false
+  allowed_setpoint_profiles:
+    - rover-speed-steering/v1
+    - rover-speed-yaw-rate/v1
+
+ros:
+  domain_id: 42
+  namespace: /missioncore/polygon/s0
+
+components:
+  - id: ros2
+    source_url: https://docs.ros.org/en/jazzy/
+    requested_ref: jazzy
+    resolved_version:
+    resolved_commit:
+    license: mixed-apache-2.0-bsd
+    qualification_state: pending-worker-resolution
+  - id: gazebo
+    source_url: https://gazebosim.org/docs/harmonic/
+    requested_ref: harmonic
+    resolved_version:
+    resolved_commit:
+    license: apache-2.0
+    qualification_state: pending-worker-resolution
+  - id: px4-autopilot
+    source_url: https://github.com/PX4/PX4-Autopilot
+    requested_ref: v1.17.0
+    resolved_version: v1.17.0
+    resolved_commit: d6f12ad1c4f70ad3230afd7d86e971421e02fef4
+    license: bsd-3-clause
+    qualification_state: candidate
+  - id: px4-msgs
+    source_url: https://github.com/PX4/px4_msgs
+    requested_ref: v1.17.0
+    resolved_version: v1.17.0
+    resolved_commit: 86d8239e962f6939e05c3737784f60c02fa884db
+    license: bsd-3-clause
+    qualification_state: candidate
+  - id: px4-gazebo-models
+    source_url: https://github.com/PX4/PX4-gazebo-models
+    requested_ref: main@2026-07-24
+    resolved_version:
+    resolved_commit: e00d3b9cde682dbcb3bf6f30a2f2b8ef4325dae8
+    license: bsd-3-clause
+    qualification_state: candidate
+  - id: micro-xrce-dds-agent
+    source_url: https://github.com/eProsima/Micro-XRCE-DDS-Agent
+    requested_ref: v2.4.3
+    resolved_version: v2.4.3
+    resolved_commit: 73622810d984349b80bbac0ef55fc0b694d62222
+    license: apache-2.0
+    qualification_state: candidate
+  - id: nav2
+    source_url: https://github.com/ros-navigation/navigation2
+    requested_ref: jazzy@2026-07-24
+    resolved_version:
+    resolved_commit: c92ea2fd9008f50c0ec8447610800214b2a0dafb
+    license: apache-2.0
+    qualification_state: candidate
+
+ports:
+  - id: micro-xrce-dds
+    host_scope: worker-wsl
+    protocol: udp
+    bind: 127.0.0.1
+    port: 8888
+    owner: micro-xrce-dds-agent
+  - id: px4-mavlink-sitl
+    host_scope: worker-wsl
+    protocol: udp
+    bind: 127.0.0.1
+    port: 14540
+    owner: px4-sitl
+  - id: qgroundcontrol-reference
+    host_scope: worker-wsl
+    protocol: udp
+    bind: 127.0.0.1
+    port: 14550
+    owner: px4-sitl
+  - id: simulation-orchestrator-api
+    host_scope: worker-wsl
+    protocol: tcp
+    bind: 127.0.0.1
+    port: 18080
+    owner: simulation-orchestrator
+  - id: simulation-telemetry
+    host_scope: worker-wsl
+    protocol: tcp
+    bind: 127.0.0.1
+    port: 18081
+    owner: simulation-orchestrator
+
+processes:
+  - id: simulation-orchestrator
+    parent:
+    shutdown_order: 60
+  - id: gazebo-server
+    parent: simulation-orchestrator
+    shutdown_order: 50
+  - id: px4-sitl
+    parent: simulation-orchestrator
+    shutdown_order: 40
+  - id: micro-xrce-dds-agent
+    parent: simulation-orchestrator
+    shutdown_order: 30
+  - id: ros2-bridge
+    parent: simulation-orchestrator
+    shutdown_order: 20
+  - id: nav2
+    parent: simulation-orchestrator
+    shutdown_order: 10
+
+required_tools:
+  - git
+  - docker
+  - gz
+  - make
+  - colcon
+  - ros2
+  - MicroXRCEAgent
+
+required_evidence:
+  - worker-inventory
+  - d-only-physical-placement
+  - px4-stock-rover-launch
+  - ros2-telemetry
+  - authoritative-simulation-clock
+  - pause-step-speed
+  - clean-stop-no-orphans
+  - resource-baseline-1x
+  - resource-baseline-2x