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