From 2d65e8cb3b792ae55c953df87fc429cdde2972b5 Mon Sep 17 00:00:00 2001
From: Andreas Antener <antener_a@gmx.ch>
Date: Tue, 20 Jan 2015 16:50:59 +0100
Subject: [PATCH 01/12] initial commit for vagrant/docker based ros setup

---
 .gitignore                                    |  1 +
 Tools/ros/docker/px4-ros/Dockerfile           | 42 +++++++++++++
 .../docker/px4-ros/px4-ros-sitl/Dockerfile    | 22 +++++++
 .../px4-ros/px4-ros-sitl/get-sources.sh       | 28 +++++++++
 .../ros/vagrant/docker-host-base/Vagrantfile  | 59 +++++++++++++++++++
 .../docker-host-base/config/docker-default    | 26 ++++++++
 .../docker-host-base/config/xsessionrc        |  5 ++
 Tools/ros/vagrant/docker-host/Vagrantfile     | 25 ++++++++
 Tools/ros/vagrant/px4-ros-sitl/Vagrantfile    | 27 +++++++++
 9 files changed, 235 insertions(+)
 create mode 100644 Tools/ros/docker/px4-ros/Dockerfile
 create mode 100644 Tools/ros/docker/px4-ros/px4-ros-sitl/Dockerfile
 create mode 100644 Tools/ros/docker/px4-ros/px4-ros-sitl/get-sources.sh
 create mode 100644 Tools/ros/vagrant/docker-host-base/Vagrantfile
 create mode 100644 Tools/ros/vagrant/docker-host-base/config/docker-default
 create mode 100644 Tools/ros/vagrant/docker-host-base/config/xsessionrc
 create mode 100644 Tools/ros/vagrant/docker-host/Vagrantfile
 create mode 100644 Tools/ros/vagrant/px4-ros-sitl/Vagrantfile

diff --git a/.gitignore b/.gitignore
index 1c4f49fdea..d4e2a46379 100644
--- a/.gitignore
+++ b/.gitignore
@@ -43,3 +43,4 @@ src/modules/uORB/topics/*
 Firmware.zip
 unittests/build
 *.generated.h
+.vagrant
diff --git a/Tools/ros/docker/px4-ros/Dockerfile b/Tools/ros/docker/px4-ros/Dockerfile
new file mode 100644
index 0000000000..532a9af8b3
--- /dev/null
+++ b/Tools/ros/docker/px4-ros/Dockerfile
@@ -0,0 +1,42 @@
+#
+# Base ROS Indigo
+#
+
+FROM ubuntu:14.04.1
+MAINTAINER Andreas Antener "andreas@antener.name"
+
+# Install basics
+RUN apt-get update \
+	&& apt-get -y install wget git mercurial
+
+# Main ROS Setup
+# Following http://wiki.ros.org/indigo/Installation/Ubuntu
+# Also adding dependencies for gazebo http://gazebosim.org/tutorials?tut=drcsim_install
+
+## add ROS repositories and keys
+## install main ROS pacakges
+RUN echo "deb http://packages.ros.org/ros/ubuntu trusty main" > /etc/apt/sources.list.d/ros-latest.list \
+	&& wget https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -O - | apt-key add - \
+	&& apt-get update \
+	&& apt-get -y install ros-indigo-desktop-full
+
+RUN rosdep init \
+	&& rosdep update
+
+## setup environment variables
+RUN echo "source /opt/ros/indigo/setup.bash" >> ~/.bashrc
+
+## get rosinstall
+RUN apt-get -y install python-rosinstall
+
+## additional dependencies
+RUN apt-get -y install ros-indigo-octomap-msgs
+
+
+## install drcsim
+#RUN echo "deb http://packages.osrfoundation.org/drc/ubuntu trusty main" > /etc/apt/sources.list.d/drc-latest.list \
+#	&& wget http://packages.osrfoundation.org/drc.key -O - | apt-key add - \
+#	&& apt-get update \
+#	&& apt-get -y install drcsim
+
+CMD /bin/bash
diff --git a/Tools/ros/docker/px4-ros/px4-ros-sitl/Dockerfile b/Tools/ros/docker/px4-ros/px4-ros-sitl/Dockerfile
new file mode 100644
index 0000000000..4c47295a8f
--- /dev/null
+++ b/Tools/ros/docker/px4-ros/px4-ros-sitl/Dockerfile
@@ -0,0 +1,22 @@
+#
+# PX4 ROS SITL
+#
+
+FROM px4ros/ros-base:no-drcsim
+MAINTAINER Andreas Antener "andreas@antener.name"
+
+# TODO
+#USER px4
+
+RUN . /opt/ros/indigo/setup.sh \
+	&& mkdir -p /catkin_ws/src \
+	&& cd /catkin_ws/src \
+	&& catkin_init_workspace \
+	&& cd /catkin_ws \
+	&& catkin_make \
+	&& echo "source /catkin_ws/devel/setup.bash" >> ~/.bashrc
+
+COPY get-sources.sh /catkin_ws/src/
+RUN chmod +x /catkin_ws/src/get-sources.sh
+
+CMD /bin/bash
diff --git a/Tools/ros/docker/px4-ros/px4-ros-sitl/get-sources.sh b/Tools/ros/docker/px4-ros/px4-ros-sitl/get-sources.sh
new file mode 100644
index 0000000000..237ae7500a
--- /dev/null
+++ b/Tools/ros/docker/px4-ros/px4-ros-sitl/get-sources.sh
@@ -0,0 +1,28 @@
+#!/bin/sh
+#
+# Fetch source repositories
+#
+
+# PX4 Firmware
+git clone https://github.com/PX4/Firmware.git \
+	&& cd Firmware \
+	&& git checkout ros \
+	&& cd ..
+
+# euroc simulator
+git clone https://github.com/PX4/euroc_simulator.git \
+	&& cd euroc_simulator \
+	&& git checkout px4_nodes \
+	&& cd ..
+
+# mav comm
+git clone https://github.com/PX4/mav_comm.git
+
+# glog catkin
+git clone https://github.com/ethz-asl/glog_catkin.git
+
+# catkin simple
+git clone https://github.com/catkin/catkin_simple.git
+
+echo "Execute catkin_make to compile all the sources."
+
diff --git a/Tools/ros/vagrant/docker-host-base/Vagrantfile b/Tools/ros/vagrant/docker-host-base/Vagrantfile
new file mode 100644
index 0000000000..5897735d0f
--- /dev/null
+++ b/Tools/ros/vagrant/docker-host-base/Vagrantfile
@@ -0,0 +1,59 @@
+# -*- mode: ruby -*-
+# vi: set ft=ruby :
+
+#
+# Vagrantfile to create docker-host-base
+#
+# After build, do "vagrant package --base docker-host-base" to package,
+# and import as box: "vagrant box add --name docker-host-base package.box"
+#
+# To add local docker images into the docker host, configure your local
+# docker client to control the docker daemon on the later running docker-host VM.
+# This box configures docker to listen on any IP on port 2375.
+# You can then also load an existing image, e.g.:
+# "docker load -i px4ros_ros-sitl_no-drcsim_a4209708a04a.tar"
+#
+Vagrant.configure(2) do |config|
+  config.vm.box = "ubuntu/trusty64"
+
+  config.vm.define "docker-host-base"
+
+  config.vm.provider "virtualbox" do |vb|
+    vb.name = "docker-host-base"
+    vb.gui = true
+    vb.memory = "1024"
+  end
+  
+  config.vm.provision "file", source: "config/docker-default", destination: "/home/vagrant/docker-default"
+  config.vm.provision "file", source: "config/xsessionrc", destination: "/home/vagrant/.xsessionrc"
+
+  config.vm.provision "shell", inline: <<-SHELL
+    # Update and install apps
+    sudo apt-get update
+    sudo apt-get upgrade -y
+    sudo apt-get install -y --no-install-recommends ubuntu-desktop
+    sudo apt-get install -y gnome-terminal unity-lens-applications
+
+    # Reset the ssh key (because vagrant regenerates it during provisioning)
+    sudo wget --no-check-certificate https://raw.github.com/mitchellh/vagrant/master/keys/vagrant.pub -O /home/vagrant/.ssh/authorized_keys
+    sudo chmod 0700 /home/vagrant/.ssh
+    sudo chmod 0600 /home/vagrant/.ssh/authorized_keys
+    sudo chown -R vagrant /home/vagrant/.ssh
+
+    # Copy docker config
+    sudo mv /home/vagrant/docker-default /etc/default/docker
+
+    # Enable autologin so docker can start GUI apps
+    sudo echo "autologin-user=vagrant" >> /usr/share/lightdm/lightdm.conf.d/50-unity-greeter.conf
+    sudo echo "autologin-user-timeout=0" >> /usr/share/lightdm/lightdm.conf.d/50-unity-greeter.conf
+
+    # X session RC
+    chmod +x /home/vagrant/.xsessionrc
+  SHELL
+
+  config.vm.provision "docker"
+
+  # Shutdown after provisioning. "vagrant halt" doesn't recognize the original ssh key anymore
+  # and would just kill the VM. This might lead to FS inconsistencies (e.g. in the docker DB).
+  config.vm.provision "shell", inline: "sudo shutdown -h now"
+end
diff --git a/Tools/ros/vagrant/docker-host-base/config/docker-default b/Tools/ros/vagrant/docker-host-base/config/docker-default
new file mode 100644
index 0000000000..e8a86ce6a1
--- /dev/null
+++ b/Tools/ros/vagrant/docker-host-base/config/docker-default
@@ -0,0 +1,26 @@
+#
+# Default config for docker /etc/default/docker
+# Copied from a provisioned vagrant box
+#
+# Modifications:
+# - listen to TCP port
+# - removing deprecated "-r=true" option which apparently doesn't work anymore
+#   > use restart policies for specific containers if necessary
+#
+
+# Docker Upstart and SysVinit configuration file
+
+# Customize location of Docker binary (especially for development testing).
+#DOCKER="/usr/local/bin/docker"
+
+# Use DOCKER_OPTS to modify the daemon startup options.
+#DOCKER_OPTS="--dns 8.8.8.8 --dns 8.8.4.4"
+
+# If you need Docker to use an HTTP proxy, it can also be specified here.
+#export http_proxy="http://127.0.0.1:3128/"
+
+# This is also a handy place to tweak where Docker's temporary files go.
+#export TMPDIR="/mnt/bigdrive/docker-tmp"
+
+# Expose TCP port in addition to socket
+DOCKER_OPTS="${DOCKER_OPTS} -H unix:///var/run/docker.sock -H 0.0.0.0:2375"
diff --git a/Tools/ros/vagrant/docker-host-base/config/xsessionrc b/Tools/ros/vagrant/docker-host-base/config/xsessionrc
new file mode 100644
index 0000000000..d8ab6d53da
--- /dev/null
+++ b/Tools/ros/vagrant/docker-host-base/config/xsessionrc
@@ -0,0 +1,5 @@
+#!/bin/sh
+#
+# Disable X access control so we can easily start GUI apps
+#
+xhost +
diff --git a/Tools/ros/vagrant/docker-host/Vagrantfile b/Tools/ros/vagrant/docker-host/Vagrantfile
new file mode 100644
index 0000000000..2e5fcb774e
--- /dev/null
+++ b/Tools/ros/vagrant/docker-host/Vagrantfile
@@ -0,0 +1,25 @@
+# -*- mode: ruby -*-
+# vi: set ft=ruby :
+
+Vagrant.configure(2) do |config|
+  config.vm.box = "docker-host-base"
+
+  config.vm.define "docker-host"
+
+  config.vm.provider "virtualbox" do |vb|
+    vb.name = "docker-host"
+    vb.gui = true
+    vb.memory = "4096"
+    vb.cpus = 2
+    vb.customize ["modifyvm", :id, "--graphicscontroller", "vboxvga"]
+    vb.customize ["modifyvm", :id, "--accelerate3d", "on"]
+    vb.customize ["modifyvm", :id, "--ioapic", "on"]
+    vb.customize ["modifyvm", :id, "--vram", "128"]
+    vb.customize ["modifyvm", :id, "--hwvirtex", "on"]
+  end
+
+  config.vm.network "private_network", ip: "192.168.59.104"
+
+  # TBD: would it be better to provision docker here instead of in the base box?
+  #config.vm.provision "docker"
+end
diff --git a/Tools/ros/vagrant/px4-ros-sitl/Vagrantfile b/Tools/ros/vagrant/px4-ros-sitl/Vagrantfile
new file mode 100644
index 0000000000..5357ce94dc
--- /dev/null
+++ b/Tools/ros/vagrant/px4-ros-sitl/Vagrantfile
@@ -0,0 +1,27 @@
+# -*- mode: ruby -*-
+# vi: set ft=ruby :
+
+Vagrant.configure(2) do |config|
+  # Configure docker host
+  config.vm.provider "docker" do |d|
+    d.vagrant_machine = "docker-host"
+    d.vagrant_vagrantfile = "../docker-host/Vagrantfile"
+  end
+
+  # Configure docker apps to run
+  config.vm.define "gazebo" do |app|
+    app.vm.provider "docker" do |d|
+      d.name = "gazebo"
+      d.image = "px4ros/ros-sitl:no-drcsim"
+
+      # share docker host x11 socket
+      d.volumes = ["/tmp/.X11-unix:/tmp/.X11-unix:ro"]
+      # TODO: get display number from host system
+      d.env = {
+        "DISPLAY" => ":0"
+      }
+
+      d.cmd = ["xterm"]
+    end
+  end
+end

From 05589e40dfb39e83681ac909545d20bdb96ca773 Mon Sep 17 00:00:00 2001
From: Andreas Antener <antener_a@gmx.ch>
Date: Wed, 21 Jan 2015 00:01:55 +0100
Subject: [PATCH 02/12] updated docker instrumentalization and info

---
 Tools/ros/vagrant/px4-ros-sitl/Vagrantfile | 37 +++++++++++++++++++---
 1 file changed, 33 insertions(+), 4 deletions(-)

diff --git a/Tools/ros/vagrant/px4-ros-sitl/Vagrantfile b/Tools/ros/vagrant/px4-ros-sitl/Vagrantfile
index 5357ce94dc..5edf8f0acd 100644
--- a/Tools/ros/vagrant/px4-ros-sitl/Vagrantfile
+++ b/Tools/ros/vagrant/px4-ros-sitl/Vagrantfile
@@ -1,6 +1,14 @@
 # -*- mode: ruby -*-
 # vi: set ft=ruby :
 
+#
+# Boot docker SITL environment
+#
+# Build (first time up):
+# Use the "--no-parallel" option so the containers will be built in order.
+# e.g.: "vagrant up --no-parallel"
+#
+
 Vagrant.configure(2) do |config|
   # Configure docker host
   config.vm.provider "docker" do |d|
@@ -9,10 +17,12 @@ Vagrant.configure(2) do |config|
   end
 
   # Configure docker apps to run
-  config.vm.define "gazebo" do |app|
+  config.vm.define "ros" do |app|
     app.vm.provider "docker" do |d|
-      d.name = "gazebo"
-      d.image = "px4ros/ros-sitl:no-drcsim"
+      d.name = "ros"
+      #d.image = "px4ros/ros-base:no-drcsim"
+      d.build_dir = "../../docker/px4-ros"
+      d.build_args = ["-t=px4ros/ros-base:no-drcsim"]
 
       # share docker host x11 socket
       d.volumes = ["/tmp/.X11-unix:/tmp/.X11-unix:ro"]
@@ -21,7 +31,26 @@ Vagrant.configure(2) do |config|
         "DISPLAY" => ":0"
       }
 
-      d.cmd = ["xterm"]
+      d.cmd = ["echo", "Base image done"]
+      d.remains_running = false
+    end
+  end
+
+  config.vm.define "gazebo" do |app|
+    app.vm.provider "docker" do |d|
+      d.name = "gazebo"
+      #d.image = "px4ros/ros-sitl"
+      d.build_dir = "../../docker/px4-ros/px4-ros-sitl"
+      d.build_args = ["-t=px4ros/ros-sitl:no-drcsim"]
+
+      # share docker host x11 socket
+      d.volumes = ["/tmp/.X11-unix:/tmp/.X11-unix:ro"]
+      # TODO: get display number from host system
+      d.env = {
+        "DISPLAY" => ":0"
+      }
+
+      d.cmd = ["gazebo"]
     end
   end
 end

From 0bfeedef89785646bbb05fd5583f18f42c905770 Mon Sep 17 00:00:00 2001
From: Andreas Antener <antener_a@gmx.ch>
Date: Wed, 21 Jan 2015 14:54:55 +0100
Subject: [PATCH 03/12] updated build and notes

---
 Tools/ros/docker/px4-ros/Dockerfile           | 16 +++++++-
 .../ros/vagrant/docker-host-base/Vagrantfile  |  1 +
 Tools/ros/vagrant/docker-host/Vagrantfile     |  3 ++
 Tools/ros/vagrant/px4-ros-sitl/Vagrantfile    | 38 +++++++++----------
 4 files changed, 35 insertions(+), 23 deletions(-)

diff --git a/Tools/ros/docker/px4-ros/Dockerfile b/Tools/ros/docker/px4-ros/Dockerfile
index 532a9af8b3..668d507997 100644
--- a/Tools/ros/docker/px4-ros/Dockerfile
+++ b/Tools/ros/docker/px4-ros/Dockerfile
@@ -6,8 +6,11 @@ FROM ubuntu:14.04.1
 MAINTAINER Andreas Antener "andreas@antener.name"
 
 # Install basics
+## Use the "noninteractive" debconf frontend
+ENV DEBIAN_FRONTEND noninteractive
+
 RUN apt-get update \
-	&& apt-get -y install wget git mercurial
+	&& apt-get -y install wget git mercurial openssh-server
 
 # Main ROS Setup
 # Following http://wiki.ros.org/indigo/Installation/Ubuntu
@@ -39,4 +42,13 @@ RUN apt-get -y install ros-indigo-octomap-msgs
 #	&& apt-get update \
 #	&& apt-get -y install drcsim
 
-CMD /bin/bash
+# some QT-Apps/Gazebo don't not show controls without this
+ENV QT_X11_NO_MITSHM 1
+
+#RUN apt-get install -y openssh-server
+# Install x11-utils to get xdpyinfo, for X11 display debugging
+# mesa-utils provides glxinfo, handy for understanding the 3D support.
+#RUN apt-get -y install x11-utils
+#RUN apt-get -y install mesa-utils
+
+#CMD ["/bin/sbin/sshd", "-D"]
diff --git a/Tools/ros/vagrant/docker-host-base/Vagrantfile b/Tools/ros/vagrant/docker-host-base/Vagrantfile
index 5897735d0f..516be528cd 100644
--- a/Tools/ros/vagrant/docker-host-base/Vagrantfile
+++ b/Tools/ros/vagrant/docker-host-base/Vagrantfile
@@ -29,6 +29,7 @@ Vagrant.configure(2) do |config|
 
   config.vm.provision "shell", inline: <<-SHELL
     # Update and install apps
+    export DEBIAN_FRONTEND=noninteractive
     sudo apt-get update
     sudo apt-get upgrade -y
     sudo apt-get install -y --no-install-recommends ubuntu-desktop
diff --git a/Tools/ros/vagrant/docker-host/Vagrantfile b/Tools/ros/vagrant/docker-host/Vagrantfile
index 2e5fcb774e..42e63567ae 100644
--- a/Tools/ros/vagrant/docker-host/Vagrantfile
+++ b/Tools/ros/vagrant/docker-host/Vagrantfile
@@ -1,6 +1,9 @@
 # -*- mode: ruby -*-
 # vi: set ft=ruby :
 
+#
+# Actual docker host VM to run.
+#
 Vagrant.configure(2) do |config|
   config.vm.box = "docker-host-base"
 
diff --git a/Tools/ros/vagrant/px4-ros-sitl/Vagrantfile b/Tools/ros/vagrant/px4-ros-sitl/Vagrantfile
index 5edf8f0acd..d670e62509 100644
--- a/Tools/ros/vagrant/px4-ros-sitl/Vagrantfile
+++ b/Tools/ros/vagrant/px4-ros-sitl/Vagrantfile
@@ -4,10 +4,19 @@
 #
 # Boot docker SITL environment
 #
-# Build (first time up):
+# "vagrant up" will build the images. Should start "xterm" in the end.
+#
+# Notes
+# (will change, need proper docs)
+#
+# Build with multiple dependent docker containers:
 # Use the "--no-parallel" option so the containers will be built in order.
 # e.g.: "vagrant up --no-parallel"
 #
+# Running apps directly:
+# "vagrant docker-run ros -- <cmd>"
+# Attention: will loose all data when stopped, vagrant runs this with "--rm"
+#
 
 Vagrant.configure(2) do |config|
   # Configure docker host
@@ -25,32 +34,19 @@ Vagrant.configure(2) do |config|
       d.build_args = ["-t=px4ros/ros-base:no-drcsim"]
 
       # share docker host x11 socket
-      d.volumes = ["/tmp/.X11-unix:/tmp/.X11-unix:ro"]
+      d.volumes = [
+        "/tmp/.X11-unix:/tmp/.X11-unix:ro",
+        "/dev/dri:/dev/dri"
+      ]
       # TODO: get display number from host system
       d.env = {
         "DISPLAY" => ":0"
       }
 
-      d.cmd = ["echo", "Base image done"]
-      d.remains_running = false
+      d.remains_running = true
+      d.cmd = ["xterm"]
+      #d.has_ssh = true
     end
   end
 
-  config.vm.define "gazebo" do |app|
-    app.vm.provider "docker" do |d|
-      d.name = "gazebo"
-      #d.image = "px4ros/ros-sitl"
-      d.build_dir = "../../docker/px4-ros/px4-ros-sitl"
-      d.build_args = ["-t=px4ros/ros-sitl:no-drcsim"]
-
-      # share docker host x11 socket
-      d.volumes = ["/tmp/.X11-unix:/tmp/.X11-unix:ro"]
-      # TODO: get display number from host system
-      d.env = {
-        "DISPLAY" => ":0"
-      }
-
-      d.cmd = ["gazebo"]
-    end
-  end
 end

From 353c230db5927b3e060bbfde9a0aa34e27abbe35 Mon Sep 17 00:00:00 2001
From: Andreas Antener <antener_a@gmx.ch>
Date: Thu, 22 Jan 2015 17:31:47 +0100
Subject: [PATCH 04/12] restructured things a little bit

---
 Tools/ros/docker/px4-ros/Dockerfile           | 22 ++++++++++------
 .../docker/px4-ros/px4-ros-sitl/Dockerfile    | 22 ----------------
 .../setup-workspace.sh}                       | 25 +++++++++++++++----
 .../{px4-ros-sitl => px4-ros}/Vagrantfile     |  5 +++-
 4 files changed, 39 insertions(+), 35 deletions(-)
 delete mode 100644 Tools/ros/docker/px4-ros/px4-ros-sitl/Dockerfile
 rename Tools/ros/docker/px4-ros/{px4-ros-sitl/get-sources.sh => scripts/setup-workspace.sh} (51%)
 rename Tools/ros/vagrant/{px4-ros-sitl => px4-ros}/Vagrantfile (91%)

diff --git a/Tools/ros/docker/px4-ros/Dockerfile b/Tools/ros/docker/px4-ros/Dockerfile
index 668d507997..74291bd14b 100644
--- a/Tools/ros/docker/px4-ros/Dockerfile
+++ b/Tools/ros/docker/px4-ros/Dockerfile
@@ -1,16 +1,21 @@
 #
 # Base ROS Indigo
 #
+# TODO
+# - use https://github.com/phusion/baseimage-docker as base
+# - add user, best synced with host
+# - configure ssh to work with vagrant out of the box
+#
 
 FROM ubuntu:14.04.1
-MAINTAINER Andreas Antener "andreas@antener.name"
+MAINTAINER Andreas Antener "andreas@uaventure.com"
 
 # Install basics
 ## Use the "noninteractive" debconf frontend
 ENV DEBIAN_FRONTEND noninteractive
 
 RUN apt-get update \
-	&& apt-get -y install wget git mercurial openssh-server
+	&& apt-get -y install wget git mercurial
 
 # Main ROS Setup
 # Following http://wiki.ros.org/indigo/Installation/Ubuntu
@@ -42,13 +47,16 @@ RUN apt-get -y install ros-indigo-octomap-msgs
 #	&& apt-get update \
 #	&& apt-get -y install drcsim
 
-# some QT-Apps/Gazebo don't not show controls without this
-ENV QT_X11_NO_MITSHM 1
-
-#RUN apt-get install -y openssh-server
 # Install x11-utils to get xdpyinfo, for X11 display debugging
 # mesa-utils provides glxinfo, handy for understanding the 3D support.
 #RUN apt-get -y install x11-utils
 #RUN apt-get -y install mesa-utils
 
-#CMD ["/bin/sbin/sshd", "-D"]
+# Some QT-Apps/Gazebo don't not show controls without this
+ENV QT_X11_NO_MITSHM 1
+
+COPY scripts/setup-workspace.sh ~/
+RUN chmod +x ~/setup-workspace.sh
+
+
+CMD ["/usr/bin/xterm"]
diff --git a/Tools/ros/docker/px4-ros/px4-ros-sitl/Dockerfile b/Tools/ros/docker/px4-ros/px4-ros-sitl/Dockerfile
deleted file mode 100644
index 4c47295a8f..0000000000
--- a/Tools/ros/docker/px4-ros/px4-ros-sitl/Dockerfile
+++ /dev/null
@@ -1,22 +0,0 @@
-#
-# PX4 ROS SITL
-#
-
-FROM px4ros/ros-base:no-drcsim
-MAINTAINER Andreas Antener "andreas@antener.name"
-
-# TODO
-#USER px4
-
-RUN . /opt/ros/indigo/setup.sh \
-	&& mkdir -p /catkin_ws/src \
-	&& cd /catkin_ws/src \
-	&& catkin_init_workspace \
-	&& cd /catkin_ws \
-	&& catkin_make \
-	&& echo "source /catkin_ws/devel/setup.bash" >> ~/.bashrc
-
-COPY get-sources.sh /catkin_ws/src/
-RUN chmod +x /catkin_ws/src/get-sources.sh
-
-CMD /bin/bash
diff --git a/Tools/ros/docker/px4-ros/px4-ros-sitl/get-sources.sh b/Tools/ros/docker/px4-ros/scripts/setup-workspace.sh
similarity index 51%
rename from Tools/ros/docker/px4-ros/px4-ros-sitl/get-sources.sh
rename to Tools/ros/docker/px4-ros/scripts/setup-workspace.sh
index 237ae7500a..6b5ddb0a55 100644
--- a/Tools/ros/docker/px4-ros/px4-ros-sitl/get-sources.sh
+++ b/Tools/ros/docker/px4-ros/scripts/setup-workspace.sh
@@ -1,28 +1,43 @@
 #!/bin/sh
 #
-# Fetch source repositories
+# Create workspace at current location and fetch source repositories
 #
 
+WDIR=`pwd`
+WORKSPACE=$WDIR/catkin_ws
+
+# Setup workspace
+mkdir -p $WORKSPACE/src
+cd $WORKSPACE/src
+catkin_init_workspace
+cd $WORKSPACE
+catkin_make
+echo "source $WORKSPACE/devel/setup.bash" >> ~/.bashrc
+
 # PX4 Firmware
+cd $WORKSPACE/src
 git clone https://github.com/PX4/Firmware.git \
 	&& cd Firmware \
-	&& git checkout ros \
-	&& cd ..
+	&& git checkout ros
 
 # euroc simulator
+cd $WORKSPACE/src
 git clone https://github.com/PX4/euroc_simulator.git \
 	&& cd euroc_simulator \
-	&& git checkout px4_nodes \
-	&& cd ..
+	&& git checkout px4_nodes
 
 # mav comm
+cd $WORKSPACE/src
 git clone https://github.com/PX4/mav_comm.git
 
 # glog catkin
+cd $WORKSPACE/src
 git clone https://github.com/ethz-asl/glog_catkin.git
 
 # catkin simple
+cd $WORKSPACE/src
 git clone https://github.com/catkin/catkin_simple.git
 
+cd $WORKSPACE
 echo "Execute catkin_make to compile all the sources."
 
diff --git a/Tools/ros/vagrant/px4-ros-sitl/Vagrantfile b/Tools/ros/vagrant/px4-ros/Vagrantfile
similarity index 91%
rename from Tools/ros/vagrant/px4-ros-sitl/Vagrantfile
rename to Tools/ros/vagrant/px4-ros/Vagrantfile
index d670e62509..b5169e061a 100644
--- a/Tools/ros/vagrant/px4-ros-sitl/Vagrantfile
+++ b/Tools/ros/vagrant/px4-ros/Vagrantfile
@@ -6,7 +6,7 @@
 #
 # "vagrant up" will build the images. Should start "xterm" in the end.
 #
-# Notes
+# Notes:
 # (will change, need proper docs)
 #
 # Build with multiple dependent docker containers:
@@ -17,6 +17,9 @@
 # "vagrant docker-run ros -- <cmd>"
 # Attention: will loose all data when stopped, vagrant runs this with "--rm"
 #
+# TODO
+# - maybe map a local working directory to compile stuff without loosing it in side the docker container
+#
 
 Vagrant.configure(2) do |config|
   # Configure docker host

From da8c9af37b2aa183499fb8e2bb205633bce92ded Mon Sep 17 00:00:00 2001
From: Andreas Antener <antener_a@gmx.ch>
Date: Thu, 22 Jan 2015 18:30:15 +0100
Subject: [PATCH 05/12] fixed some stuff

---
 Tools/ros/docker/px4-ros/Dockerfile                 | 4 ++--
 Tools/ros/docker/px4-ros/scripts/setup-workspace.sh | 2 +-
 Tools/ros/vagrant/px4-ros/Vagrantfile               | 1 +
 3 files changed, 4 insertions(+), 3 deletions(-)

diff --git a/Tools/ros/docker/px4-ros/Dockerfile b/Tools/ros/docker/px4-ros/Dockerfile
index 74291bd14b..4b553fa66e 100644
--- a/Tools/ros/docker/px4-ros/Dockerfile
+++ b/Tools/ros/docker/px4-ros/Dockerfile
@@ -55,8 +55,8 @@ RUN apt-get -y install ros-indigo-octomap-msgs
 # Some QT-Apps/Gazebo don't not show controls without this
 ENV QT_X11_NO_MITSHM 1
 
-COPY scripts/setup-workspace.sh ~/
-RUN chmod +x ~/setup-workspace.sh
+COPY scripts/setup-workspace.sh /root/scripts
+RUN chmod +x /root/setup-workspace.sh
 
 
 CMD ["/usr/bin/xterm"]
diff --git a/Tools/ros/docker/px4-ros/scripts/setup-workspace.sh b/Tools/ros/docker/px4-ros/scripts/setup-workspace.sh
index 6b5ddb0a55..231166e275 100644
--- a/Tools/ros/docker/px4-ros/scripts/setup-workspace.sh
+++ b/Tools/ros/docker/px4-ros/scripts/setup-workspace.sh
@@ -39,5 +39,5 @@ cd $WORKSPACE/src
 git clone https://github.com/catkin/catkin_simple.git
 
 cd $WORKSPACE
-echo "Execute catkin_make to compile all the sources."
+catkin_make
 
diff --git a/Tools/ros/vagrant/px4-ros/Vagrantfile b/Tools/ros/vagrant/px4-ros/Vagrantfile
index b5169e061a..e54370ada5 100644
--- a/Tools/ros/vagrant/px4-ros/Vagrantfile
+++ b/Tools/ros/vagrant/px4-ros/Vagrantfile
@@ -18,6 +18,7 @@
 # Attention: will loose all data when stopped, vagrant runs this with "--rm"
 #
 # TODO
+# - do not run the docker container with "--rm" (vagrant default). is that even possible?
 # - maybe map a local working directory to compile stuff without loosing it in side the docker container
 #
 

From 4fda482a7385e132df1064d6380b762c6b11710e Mon Sep 17 00:00:00 2001
From: Andreas Antener <antener_a@gmx.ch>
Date: Thu, 22 Jan 2015 18:53:36 +0100
Subject: [PATCH 06/12] updated copy instruction

---
 Tools/ros/docker/px4-ros/Dockerfile | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/Tools/ros/docker/px4-ros/Dockerfile b/Tools/ros/docker/px4-ros/Dockerfile
index 4b553fa66e..d896c76e7e 100644
--- a/Tools/ros/docker/px4-ros/Dockerfile
+++ b/Tools/ros/docker/px4-ros/Dockerfile
@@ -55,8 +55,9 @@ RUN apt-get -y install ros-indigo-octomap-msgs
 # Some QT-Apps/Gazebo don't not show controls without this
 ENV QT_X11_NO_MITSHM 1
 
+# FIXME: this doesn't work yet when building from vagrant
 COPY scripts/setup-workspace.sh /root/scripts
-RUN chmod +x /root/setup-workspace.sh
+#RUN chmod +x /root/scripts/setup-workspace.sh
 
 
 CMD ["/usr/bin/xterm"]

From 6db56b8df08e6dfe4670e1e10a3fb391470f32b4 Mon Sep 17 00:00:00 2001
From: Andreas Antener <antener_a@gmx.ch>
Date: Thu, 22 Jan 2015 11:24:46 -0800
Subject: [PATCH 07/12] added privileged options to support hardware
 acceleration

---
 Tools/ros/vagrant/px4-ros/Vagrantfile | 8 +++++---
 1 file changed, 5 insertions(+), 3 deletions(-)

diff --git a/Tools/ros/vagrant/px4-ros/Vagrantfile b/Tools/ros/vagrant/px4-ros/Vagrantfile
index e54370ada5..ffe3a00ea0 100644
--- a/Tools/ros/vagrant/px4-ros/Vagrantfile
+++ b/Tools/ros/vagrant/px4-ros/Vagrantfile
@@ -37,11 +37,13 @@ Vagrant.configure(2) do |config|
       d.build_dir = "../../docker/px4-ros"
       d.build_args = ["-t=px4ros/ros-base:no-drcsim"]
 
-      # share docker host x11 socket
+      # Share docker host x11 socket
+      # Run privileged to support 3d acceleration
       d.volumes = [
-        "/tmp/.X11-unix:/tmp/.X11-unix:ro",
-        "/dev/dri:/dev/dri"
+        "/tmp/.X11-unix:/tmp/.X11-unix:ro"
       ]
+      d.create_args = ["--privileged"]
+
       # TODO: get display number from host system
       d.env = {
         "DISPLAY" => ":0"

From 6ab1f2168059bb7689548635ab4e746c8f320295 Mon Sep 17 00:00:00 2001
From: Andreas Antener <antener_a@gmx.ch>
Date: Thu, 22 Jan 2015 21:53:11 +0100
Subject: [PATCH 08/12] updated setup, added maintainer

---
 Tools/ros/docker/{px4-ros => px4-ros-base}/Dockerfile | 11 +++++------
 .../scripts/setup-workspace.sh                        |  0
 Tools/ros/vagrant/docker-host-base/Vagrantfile        |  2 ++
 Tools/ros/vagrant/docker-host/Vagrantfile             |  2 ++
 Tools/ros/vagrant/px4-ros/Vagrantfile                 |  8 +++++---
 5 files changed, 14 insertions(+), 9 deletions(-)
 rename Tools/ros/docker/{px4-ros => px4-ros-base}/Dockerfile (89%)
 rename Tools/ros/docker/{px4-ros => px4-ros-base}/scripts/setup-workspace.sh (100%)

diff --git a/Tools/ros/docker/px4-ros/Dockerfile b/Tools/ros/docker/px4-ros-base/Dockerfile
similarity index 89%
rename from Tools/ros/docker/px4-ros/Dockerfile
rename to Tools/ros/docker/px4-ros-base/Dockerfile
index d896c76e7e..a8c3772881 100644
--- a/Tools/ros/docker/px4-ros/Dockerfile
+++ b/Tools/ros/docker/px4-ros-base/Dockerfile
@@ -1,5 +1,5 @@
 #
-# Base ROS Indigo
+# PX4 ROS base container
 #
 # TODO
 # - use https://github.com/phusion/baseimage-docker as base
@@ -8,7 +8,7 @@
 #
 
 FROM ubuntu:14.04.1
-MAINTAINER Andreas Antener "andreas@uaventure.com"
+MAINTAINER Andreas Antener <andreas@uaventure.com>
 
 # Install basics
 ## Use the "noninteractive" debconf frontend
@@ -48,14 +48,13 @@ RUN apt-get -y install ros-indigo-octomap-msgs
 #	&& apt-get -y install drcsim
 
 # Install x11-utils to get xdpyinfo, for X11 display debugging
-# mesa-utils provides glxinfo, handy for understanding the 3D support.
-#RUN apt-get -y install x11-utils
-#RUN apt-get -y install mesa-utils
+# mesa-utils provides glxinfo, handy for understanding the 3D support
+RUN apt-get -y install x11-utils mesa-utils
 
 # Some QT-Apps/Gazebo don't not show controls without this
 ENV QT_X11_NO_MITSHM 1
 
-# FIXME: this doesn't work yet when building from vagrant
+# FIXME: this doesn't work when building from vagrant
 COPY scripts/setup-workspace.sh /root/scripts
 #RUN chmod +x /root/scripts/setup-workspace.sh
 
diff --git a/Tools/ros/docker/px4-ros/scripts/setup-workspace.sh b/Tools/ros/docker/px4-ros-base/scripts/setup-workspace.sh
similarity index 100%
rename from Tools/ros/docker/px4-ros/scripts/setup-workspace.sh
rename to Tools/ros/docker/px4-ros-base/scripts/setup-workspace.sh
diff --git a/Tools/ros/vagrant/docker-host-base/Vagrantfile b/Tools/ros/vagrant/docker-host-base/Vagrantfile
index 516be528cd..cb66d4a682 100644
--- a/Tools/ros/vagrant/docker-host-base/Vagrantfile
+++ b/Tools/ros/vagrant/docker-host-base/Vagrantfile
@@ -4,6 +4,8 @@
 #
 # Vagrantfile to create docker-host-base
 #
+# Maintainer: Andreas Antener <andreas@uaventure.com>
+#
 # After build, do "vagrant package --base docker-host-base" to package,
 # and import as box: "vagrant box add --name docker-host-base package.box"
 #
diff --git a/Tools/ros/vagrant/docker-host/Vagrantfile b/Tools/ros/vagrant/docker-host/Vagrantfile
index 42e63567ae..9fd4695dd5 100644
--- a/Tools/ros/vagrant/docker-host/Vagrantfile
+++ b/Tools/ros/vagrant/docker-host/Vagrantfile
@@ -4,6 +4,8 @@
 #
 # Actual docker host VM to run.
 #
+# Maintainer: Andreas Antener <andreas@uaventure.com>
+#
 Vagrant.configure(2) do |config|
   config.vm.box = "docker-host-base"
 
diff --git a/Tools/ros/vagrant/px4-ros/Vagrantfile b/Tools/ros/vagrant/px4-ros/Vagrantfile
index ffe3a00ea0..7009fd78ac 100644
--- a/Tools/ros/vagrant/px4-ros/Vagrantfile
+++ b/Tools/ros/vagrant/px4-ros/Vagrantfile
@@ -4,7 +4,9 @@
 #
 # Boot docker SITL environment
 #
-# "vagrant up" will build the images. Should start "xterm" in the end.
+# Maintainer: Andreas Antener <andreas@uaventure.com>
+#
+# "vagrant up" will build the images. Should eventually start "xterm" from within the docker container.
 #
 # Notes:
 # (will change, need proper docs)
@@ -33,8 +35,8 @@ Vagrant.configure(2) do |config|
   config.vm.define "ros" do |app|
     app.vm.provider "docker" do |d|
       d.name = "ros"
-      #d.image = "px4ros/ros-base:no-drcsim"
-      d.build_dir = "../../docker/px4-ros"
+      #d.image = "px4ros/ros-base"
+      d.build_dir = "../../docker/px4-ros-base"
       d.build_args = ["-t=px4ros/ros-base:no-drcsim"]
 
       # Share docker host x11 socket

From aae96a1b1631677dd07398e1134f77d4c5e38f08 Mon Sep 17 00:00:00 2001
From: Andreas Antener <antener_a@gmx.ch>
Date: Fri, 23 Jan 2015 10:51:13 +0100
Subject: [PATCH 09/12] updated docs, fixed script copy, renamed stuff

---
 .../docker/{px4-ros-base => px4-ros-full}/Dockerfile   |  8 ++++----
 .../scripts/setup-workspace.sh                         |  0
 Tools/ros/vagrant/docker-host-base/Vagrantfile         |  6 ------
 Tools/ros/vagrant/docker-host/Vagrantfile              |  6 ++++++
 Tools/ros/vagrant/px4-ros/Vagrantfile                  | 10 +++++-----
 5 files changed, 15 insertions(+), 15 deletions(-)
 rename Tools/ros/docker/{px4-ros-base => px4-ros-full}/Dockerfile (92%)
 rename Tools/ros/docker/{px4-ros-base => px4-ros-full}/scripts/setup-workspace.sh (100%)

diff --git a/Tools/ros/docker/px4-ros-base/Dockerfile b/Tools/ros/docker/px4-ros-full/Dockerfile
similarity index 92%
rename from Tools/ros/docker/px4-ros-base/Dockerfile
rename to Tools/ros/docker/px4-ros-full/Dockerfile
index a8c3772881..be98cba583 100644
--- a/Tools/ros/docker/px4-ros-base/Dockerfile
+++ b/Tools/ros/docker/px4-ros-full/Dockerfile
@@ -1,5 +1,5 @@
 #
-# PX4 ROS base container
+# PX4 full ROS container
 #
 # TODO
 # - use https://github.com/phusion/baseimage-docker as base
@@ -55,8 +55,8 @@ RUN apt-get -y install x11-utils mesa-utils
 ENV QT_X11_NO_MITSHM 1
 
 # FIXME: this doesn't work when building from vagrant
-COPY scripts/setup-workspace.sh /root/scripts
-#RUN chmod +x /root/scripts/setup-workspace.sh
-
+COPY scripts/setup-workspace.sh /root/scripts/
+RUN chmod +x -R /root/scripts/*
+RUN chown -R root:root /root/scripts/*
 
 CMD ["/usr/bin/xterm"]
diff --git a/Tools/ros/docker/px4-ros-base/scripts/setup-workspace.sh b/Tools/ros/docker/px4-ros-full/scripts/setup-workspace.sh
similarity index 100%
rename from Tools/ros/docker/px4-ros-base/scripts/setup-workspace.sh
rename to Tools/ros/docker/px4-ros-full/scripts/setup-workspace.sh
diff --git a/Tools/ros/vagrant/docker-host-base/Vagrantfile b/Tools/ros/vagrant/docker-host-base/Vagrantfile
index cb66d4a682..196a8fb121 100644
--- a/Tools/ros/vagrant/docker-host-base/Vagrantfile
+++ b/Tools/ros/vagrant/docker-host-base/Vagrantfile
@@ -9,12 +9,6 @@
 # After build, do "vagrant package --base docker-host-base" to package,
 # and import as box: "vagrant box add --name docker-host-base package.box"
 #
-# To add local docker images into the docker host, configure your local
-# docker client to control the docker daemon on the later running docker-host VM.
-# This box configures docker to listen on any IP on port 2375.
-# You can then also load an existing image, e.g.:
-# "docker load -i px4ros_ros-sitl_no-drcsim_a4209708a04a.tar"
-#
 Vagrant.configure(2) do |config|
   config.vm.box = "ubuntu/trusty64"
 
diff --git a/Tools/ros/vagrant/docker-host/Vagrantfile b/Tools/ros/vagrant/docker-host/Vagrantfile
index 9fd4695dd5..2b85bf8e95 100644
--- a/Tools/ros/vagrant/docker-host/Vagrantfile
+++ b/Tools/ros/vagrant/docker-host/Vagrantfile
@@ -6,6 +6,12 @@
 #
 # Maintainer: Andreas Antener <andreas@uaventure.com>
 #
+# To add local docker images into the docker host, configure your local
+# docker client to control the docker daemon on the running "docker-host" VM.
+# The box ("docker-host-base") configures docker to listen on any IP on port 2375.
+# You can then load an existing image, e.g.:
+# "docker load -i container-image.tar"
+#
 Vagrant.configure(2) do |config|
   config.vm.box = "docker-host-base"
 
diff --git a/Tools/ros/vagrant/px4-ros/Vagrantfile b/Tools/ros/vagrant/px4-ros/Vagrantfile
index 7009fd78ac..a122fb4a3b 100644
--- a/Tools/ros/vagrant/px4-ros/Vagrantfile
+++ b/Tools/ros/vagrant/px4-ros/Vagrantfile
@@ -12,12 +12,12 @@
 # (will change, need proper docs)
 #
 # Build with multiple dependent docker containers:
-# Use the "--no-parallel" option so the containers will be built in order.
+# Use the "--no-parallel" option so the containers will be built/started in order.
 # e.g.: "vagrant up --no-parallel"
 #
 # Running apps directly:
 # "vagrant docker-run ros -- <cmd>"
-# Attention: will loose all data when stopped, vagrant runs this with "--rm"
+# Attention: will loose all data when stopped, vagrant runs docker always with "--rm"
 #
 # TODO
 # - do not run the docker container with "--rm" (vagrant default). is that even possible?
@@ -35,9 +35,9 @@ Vagrant.configure(2) do |config|
   config.vm.define "ros" do |app|
     app.vm.provider "docker" do |d|
       d.name = "ros"
-      #d.image = "px4ros/ros-base"
-      d.build_dir = "../../docker/px4-ros-base"
-      d.build_args = ["-t=px4ros/ros-base:no-drcsim"]
+      d.image = "uaventure/px4-ros-full"
+      #d.build_dir = "../../docker/px4-ros-full"
+      #d.build_args = ["-t=uaventure/px4-ros-full"]
 
       # Share docker host x11 socket
       # Run privileged to support 3d acceleration

From c4b309c06e0063559ac8c2fce736f3296875ea5a Mon Sep 17 00:00:00 2001
From: Andreas Antener <antener_a@gmx.ch>
Date: Fri, 23 Jan 2015 10:56:25 +0100
Subject: [PATCH 10/12] added readme for docker container

---
 Tools/ros/docker/px4-ros-full/Dockerfile |  5 -----
 Tools/ros/docker/px4-ros-full/README.md  | 10 ++++++++++
 2 files changed, 10 insertions(+), 5 deletions(-)
 create mode 100644 Tools/ros/docker/px4-ros-full/README.md

diff --git a/Tools/ros/docker/px4-ros-full/Dockerfile b/Tools/ros/docker/px4-ros-full/Dockerfile
index be98cba583..c60f665396 100644
--- a/Tools/ros/docker/px4-ros-full/Dockerfile
+++ b/Tools/ros/docker/px4-ros-full/Dockerfile
@@ -1,11 +1,6 @@
 #
 # PX4 full ROS container
 #
-# TODO
-# - use https://github.com/phusion/baseimage-docker as base
-# - add user, best synced with host
-# - configure ssh to work with vagrant out of the box
-#
 
 FROM ubuntu:14.04.1
 MAINTAINER Andreas Antener <andreas@uaventure.com>
diff --git a/Tools/ros/docker/px4-ros-full/README.md b/Tools/ros/docker/px4-ros-full/README.md
new file mode 100644
index 0000000000..7d75754d9c
--- /dev/null
+++ b/Tools/ros/docker/px4-ros-full/README.md
@@ -0,0 +1,10 @@
+# PX4 ROS #
+
+Full desktop ROS container.
+
+**TODO:**
+
+- use https://github.com/phusion/baseimage-docker as base
+- add user, best synced with host
+- configure ssh to work with vagrant out of the box
+

From 700ca3c7d0b49b9c9f2403a630c3335c518ebddc Mon Sep 17 00:00:00 2001
From: Andreas Antener <antener_a@gmx.ch>
Date: Fri, 23 Jan 2015 11:53:54 +0100
Subject: [PATCH 11/12] naming updates

---
 Tools/ros/vagrant/docker-host-base/Vagrantfile | 2 +-
 Tools/ros/vagrant/docker-host/Vagrantfile      | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/Tools/ros/vagrant/docker-host-base/Vagrantfile b/Tools/ros/vagrant/docker-host-base/Vagrantfile
index 196a8fb121..bc9329bf80 100644
--- a/Tools/ros/vagrant/docker-host-base/Vagrantfile
+++ b/Tools/ros/vagrant/docker-host-base/Vagrantfile
@@ -7,7 +7,7 @@
 # Maintainer: Andreas Antener <andreas@uaventure.com>
 #
 # After build, do "vagrant package --base docker-host-base" to package,
-# and import as box: "vagrant box add --name docker-host-base package.box"
+# and import as box: "vagrant box add --name uaventure/docker-host-base package.box"
 #
 Vagrant.configure(2) do |config|
   config.vm.box = "ubuntu/trusty64"
diff --git a/Tools/ros/vagrant/docker-host/Vagrantfile b/Tools/ros/vagrant/docker-host/Vagrantfile
index 2b85bf8e95..4ae94258d3 100644
--- a/Tools/ros/vagrant/docker-host/Vagrantfile
+++ b/Tools/ros/vagrant/docker-host/Vagrantfile
@@ -13,7 +13,7 @@
 # "docker load -i container-image.tar"
 #
 Vagrant.configure(2) do |config|
-  config.vm.box = "docker-host-base"
+  config.vm.box = "uaventure/docker-host-base"
 
   config.vm.define "docker-host"
 

From 8194cb107169d7c1a642e7bbcbade92879da6c9b Mon Sep 17 00:00:00 2001
From: Andreas Antener <antener_a@gmx.ch>
Date: Fri, 23 Jan 2015 23:25:27 +0100
Subject: [PATCH 12/12] added ros-joy package and drcsim

---
 Tools/ros/docker/px4-ros-full/Dockerfile | 11 +++++------
 1 file changed, 5 insertions(+), 6 deletions(-)

diff --git a/Tools/ros/docker/px4-ros-full/Dockerfile b/Tools/ros/docker/px4-ros-full/Dockerfile
index c60f665396..9c0fbc6886 100644
--- a/Tools/ros/docker/px4-ros-full/Dockerfile
+++ b/Tools/ros/docker/px4-ros-full/Dockerfile
@@ -33,14 +33,13 @@ RUN echo "source /opt/ros/indigo/setup.bash" >> ~/.bashrc
 RUN apt-get -y install python-rosinstall
 
 ## additional dependencies
-RUN apt-get -y install ros-indigo-octomap-msgs
-
+RUN apt-get -y install ros-indigo-octomap-msgs ros-indigo-joy
 
 ## install drcsim
-#RUN echo "deb http://packages.osrfoundation.org/drc/ubuntu trusty main" > /etc/apt/sources.list.d/drc-latest.list \
-#	&& wget http://packages.osrfoundation.org/drc.key -O - | apt-key add - \
-#	&& apt-get update \
-#	&& apt-get -y install drcsim
+RUN echo "deb http://packages.osrfoundation.org/drc/ubuntu trusty main" > /etc/apt/sources.list.d/drc-latest.list \
+	&& wget http://packages.osrfoundation.org/drc.key -O - | apt-key add - \
+	&& apt-get update \
+	&& apt-get -y install drcsim
 
 # Install x11-utils to get xdpyinfo, for X11 display debugging
 # mesa-utils provides glxinfo, handy for understanding the 3D support