ATOSFleetManagement platform: build/install + docker/service

Dockerfile

@@ -24,4 +24,9 @@ RUN --mount=type=cache,target=/var/cache/apt \
         ./scripts/installation/install_deps.sh ${REPO_DIR}
 COPY . .
 RUN ./scripts/installation/install_atos.sh ${REPO_DIR}
-WORKDIR /root/atos_ws
+WORKDIR /root/atos_ws
+RUN chmod +x /root/atos_git/scripts/run_atosfleetmanagement.sh
+
+EXPOSE 8420 8765 9090 8114
+
+CMD ["/bin/bash", "-lc", "/root/atos_git/scripts/run_atosfleetmanagement.sh"]

README.md

@@ -30,7 +30,7 @@ docker run --network="host"  --ipc=host --privileged -it -v ~/.astazero/ATOS/:/r
 ```
 If you run Docker Desktop you will need to specify the ports to expose to the host computer.
 ```bash
-docker run --ipc=host --privileged -it -v ~/.astazero/ATOS/:/root/.astazero/ATOS/ -p 80:80 -p 8080:8080 -p 8081:8081 -p 8082:8082 -p 3000:3000 -p 3443:3443 -p 55555:55555 -p 443:443 -p 9090:9090 astazero/atos_docker_env:latest bash -c "source /root/atos_ws/install/setup.sh ; ros2 launch atos launch_basic.py insecure:=True"
+docker run --ipc=host --privileged -it -v ~/.astazero/ATOS/:/root/.astazero/ATOS/ -p 80:80 -p 8080:8080 -p 8081:8081 -p 8082:8082 -p 8420:8420 -p 3443:3443 -p 55555:55555 -p 443:443 -p 9090:9090 astazero/atos_docker_env:latest bash -c "source /root/atos_ws/install/setup.sh ; ros2 launch atos launch_basic.py insecure:=True"
 ```
 
 See the [GUI](../Usage/GUI/foxglove.md) documentation on how to enable secure connections. 
@@ -46,6 +46,77 @@ ATOS comes with an installation script that automates the installation process.
 ## <a name="Native build"></a> Building from source manually
 You can find instructions on how to manually install ATOS and its dependencies from source [here](https://atos.readthedocs.io/en/latest/Installation/installation/).
 
+## ATOSFleetManagement development launch
+ATOSFleetManagement is a lightweight development stack built around `truck_object_control` and `truck_object_gui` and does not start OpenScenarioGateway, JournalControl, or EsminiAdapter.
+
+After building, start it with:
+```bash
+ros2 launch atos launch_atosfleetmanagement.py insecure:=True
+```
+
+The placeholder COT input topic for TruckObjectControl is:
+```text
+/atos/truck_objects/cot
+```
+Expected temporary payload format:
+```text
+id=<truck_id>;distance_m=<value>;tcp_connected=<0|1>
+```
+TruckObjectControl publishes speed commands on:
+```text
+/atos/truck_objects/speed_command
+```
+
+### ATOSFleetManagement in Docker (with or without simulators)
+Build and start with docker compose:
+```bash
+docker compose -f docker-compose-fleetmanagement.yml up --build
+```
+
+Start with simulated trucks enabled:
+```bash
+WITH_TRUCK_SIMULATOR=True docker compose -f docker-compose-fleetmanagement.yml up --build
+```
+
+Start with simulated trucks disabled:
+```bash
+WITH_TRUCK_SIMULATOR=False docker compose -f docker-compose-fleetmanagement.yml up --build
+```
+
+Open TruckObjectGUI at:
+```text
+http://localhost:8420
+```
+
+### Run as system service (Docker + systemd)
+Example deployment folder on server: `/opt/atos`.
+
+1. Copy repository to server:
+```bash
+sudo mkdir -p /opt/atos
+sudo rsync -a ./ /opt/atos/
+```
+
+2. Install service env file and customize:
+```bash
+sudo cp /opt/atos/scripts/atosfleetmanagement.env.example /etc/default/atosfleetmanagement
+sudo nano /etc/default/atosfleetmanagement
+```
+
+3. Install and enable service:
+```bash
+sudo cp /opt/atos/scripts/atosfleetmanagement.service /etc/systemd/system/atosfleetmanagement.service
+sudo systemctl daemon-reload
+sudo systemctl enable --now atosfleetmanagement
+```
+
+4. Service management:
+```bash
+sudo systemctl status atosfleetmanagement
+sudo systemctl restart atosfleetmanagement
+sudo journalctl -u atosfleetmanagement -f
+```
+
 # <a name="usage"></a> Using ATOS with a Graphical User Interface (GUI)
 Please click [here](https://atos.readthedocs.io/en/latest/Usage/GUI/foxglove/) for instructions on how to use ATOS with a GUI.
 
@@ -73,4 +144,3 @@ This project has partly been funded by the below organisations. The herein expre
 </picture>
 <br>
 <br>
-

ROS2_ATOSFleetManagement_cheatsheet.md

@@ -0,0 +1,185 @@
+# ROS2 for ATOSFleetManagement Cheat Sheet
+
+## 1) Source environment
+```bash
+source /opt/ros/humble/setup.bash
+source ~/atos_ws/install/setup.bash
+```
+
+## 2) Build ATOSFleetManagement packages
+```bash
+cd ~/atos_ws
+colcon build --packages-select atos atos_gui --symlink-install
+source install/setup.bash
+```
+
+## 3) Start ATOSFleetManagement (normal)
+```bash
+ros2 launch atos launch_atosfleetmanagement.py insecure:=True
+```
+
+## 4) Start ATOSFleetManagement with 3 simulators
+```bash
+ros2 launch atos launch_atosfleetmanagement.py insecure:=True with_truck_simulator:=True
+```
+
+### Default simulator setup in launch
+- `L5S-TRUCK-SIM-1`: `start_index=0`, `target_speed_kmh=80`, `ignore_warning_speed_commands=True`
+- `L5S-TRUCK-SIM-2`: `start_index=250`, `target_speed_kmh=40`
+- `L5S-TRUCK-SIM-3`: `start_index=500`, `target_speed_kmh=40`
+
+## 5) Open GUI
+- URL: `http://localhost:8420`
+- Go to tab: `RuralRoad Map`
+- UI shows live trucks + `Distance To Next Truck Ahead`
+
+## 6) Run in Docker (same image, with/without simulators)
+```bash
+cd ~/Documents/repos/ATOS
+docker compose -f docker-compose-fleetmanagement.yml up --build
+```
+With simulators:
+```bash
+WITH_TRUCK_SIMULATOR=True docker compose -f docker-compose-fleetmanagement.yml up --build
+```
+Without simulators:
+```bash
+WITH_TRUCK_SIMULATOR=False docker compose -f docker-compose-fleetmanagement.yml up --build
+```
+Start without rebuild (if image already built):
+```bash
+docker compose -f docker-compose-fleetmanagement.yml up
+```
+Start in background:
+```bash
+docker compose -f docker-compose-fleetmanagement.yml up -d
+```
+When to use `--build`:
+- Use `--build` only when image content changed (Dockerfile, dependencies, or source copied into image).
+- For normal restart, do **not** use `--build`.
+
+## 7) Run Docker as a systemd service
+```bash
+sudo mkdir -p /opt/atos
+sudo rsync -a ~/Documents/repos/ATOS/ /opt/atos/
+sudo cp /opt/atos/scripts/atosfleetmanagement.env.example /etc/default/atosfleetmanagement
+sudo cp /opt/atos/scripts/atosfleetmanagement.service /etc/systemd/system/atosfleetmanagement.service
+sudo systemctl daemon-reload
+sudo systemctl enable --now atosfleetmanagement
+```
+Service controls:
+```bash
+sudo systemctl status atosfleetmanagement
+sudo systemctl restart atosfleetmanagement
+sudo journalctl -u atosfleetmanagement -f
+```
+
+## 8) Copy to another server (what files are needed)
+Recommended (safest):
+```bash
+rsync -a ~/Documents/repos/ATOS/ user@<server>:/opt/atos/
+```
+Minimum required for Docker-based ATOSFleetManagement:
+- `Dockerfile`
+- `docker-compose-fleetmanagement.yml`
+- `scripts/run_atosfleetmanagement.sh`
+- `scripts/installation/`
+- `atos/`
+- `atos_gui/`
+- `atos_interfaces/`
+- `conf/`
+- Optional for systemd service:
+  - `scripts/atosfleetmanagement.service`
+  - `scripts/atosfleetmanagement.env.example`
+
+## 9) Check running nodes
+```bash
+ros2 node list
+```
+
+## 10) Check key topics
+```bash
+ros2 topic list | rg "truck_objects|speed_command"
+```
+
+## 11) Watch live truck states for GUI
+```bash
+ros2 topic echo /atos/truck_objects/state
+```
+
+## 12) Watch control speed commands
+```bash
+ros2 topic echo /atos/truck_objects/speed_command
+```
+
+## 13) TruckObjectControl COT interfaces
+- ROS topic input: `/atos/truck_objects/cot` (placeholder format)
+- TCP input: `0.0.0.0:8114` listener in TruckObjectControl
+- Truck clients connect to: `127.0.0.1:8114` (same machine) or `<host-ip>:8114`
+- CoT `<track speed>` is in `m/s` (GUI displays `km/h`)
+
+## 14) Placeholder ROS COT test (manual)
+```bash
+ros2 topic pub /atos/truck_objects/cot std_msgs/msg/String "data: 'id=truck_1;distance_m=1000;tcp_connected=1;lat=57.78357;lon=12.76389;speed_mps=2.8;course_deg=150'" -1
+```
+
+## 15) Start one simulator manually (custom test)
+```bash
+ros2 run atos atos_truck_simulator --ros-args \
+  -p uid:=L5S-TRUCK-UBUNTU \
+  -p start_index:=300 \
+  -p target_speed_kmh:=35.0 \
+  -p acceleration_mps2:=0.6 \
+  -p tcp_host:=127.0.0.1 \
+  -p tcp_port:=8114
+```
+
+## 16) Simulator option: ignore first-limit slowdown
+Use this only on selected trucks:
+```bash
+-p ignore_warning_speed_commands:=true
+```
+Behavior:
+- Ignores non-zero warning command (for example `30 km/h` at `< 400 m`)
+- Still obeys stop command (`0 km/h` at `< 200 m`)
+
+## 17) Fleet control algorithm (stateful, per truck)
+Initial rules (distance `X` to truck ahead on same path):
+- If `500 m >= X > 200 m` => send `command=SLOWDOWN` (`target_speed_mps=8.333333`)
+- If `200 m >= X` => send `command=STOP` (`target_speed_mps=0.000000`)
+- If `X > 300 m` AND previous command was `STOP` => send `command=SLOWDOWN`
+- If `X > 700 m` AND previous command was `SLOWDOWN` => send `command=RESUME` (`target_speed_mps=nochange`)
+
+Notes:
+- Commands are evaluated per truck, based on its own truck-ahead distance.
+- For each path, trucks are sorted by distance along trajectory before truck-ahead checks.
+
+## 18) TCP speed command manual (per truck)
+TruckObjectControl sends one newline-terminated command string per truck over the same TCP connection used by incoming CoT.
+
+Fields:
+- `command`: `STOP`, `SLOWDOWN`, or `RESUME`
+- `target_speed_mps`: target speed in `m/s`, or `nochange` to keep current truck speed
+- `distance_to_truck_ahead_m`: distance in meters from this truck to the next truck ahead in sorted trajectory order
+- `truck_ahead_path_index`: current path index for the truck ahead
+- `truck_ahead_uid`: UID for the truck ahead
+- `reason`: current command-state reason (`truck_ahead_stop_state`, `truck_ahead_slowdown_state`, `truck_ahead_resume_state`)
+- `min_gap_m`: smallest gap found among all connected/fresh trucks in current evaluation cycle
+- `connected_count`: number of trucks currently included in control logic
+- `path_name`: path used for the truck-ahead computation
+
+Typical command strings:
+```text
+command=RESUME;target_speed_mps=nochange;distance_to_truck_ahead_m=812.432100;truck_ahead_path_index=310;truck_ahead_uid=L5S-TRUCK-SIM-2;reason=truck_ahead_resume_state;min_gap_m=612.432100;connected_count=3;path_name=RuralRoad_center_of_driving_lane_ccw.geojson
+```
+
+```text
+command=SLOWDOWN;target_speed_mps=8.333333;distance_to_truck_ahead_m=312.500000;truck_ahead_path_index=412;truck_ahead_uid=L5S-TRUCK-SIM-3;reason=truck_ahead_slowdown_state;min_gap_m=154.270000;connected_count=3;path_name=RuralRoad_center_of_driving_lane_ccw.geojson
+```
+
+```text
+command=STOP;target_speed_mps=0.000000;distance_to_truck_ahead_m=92.140000;truck_ahead_path_index=418;truck_ahead_uid=L5S-TRUCK-SIM-1;reason=truck_ahead_stop_state;min_gap_m=92.140000;connected_count=3;path_name=RuralRoad_center_of_driving_lane_ccw.geojson
+```
+
+## 19) Stop everything
+- Press `Ctrl+C` in launch terminal

docker-compose-fleetmanagement.yml

@@ -0,0 +1,22 @@
+version: "3.2"
+services:
+  atos-fleetmanagement:
+    container_name: atos-fleetmanagement
+    image: astazero/atos_docker_env:latest
+    build:
+      context: .
+      dockerfile: ./Dockerfile
+    ipc: host
+    privileged: true
+    stdin_open: true
+    tty: true
+    restart: unless-stopped
+    environment:
+      - ROS_DOMAIN_ID=${ROS_DOMAIN_ID}
+      - INSECURE=${INSECURE:-True}
+      - WITH_TRUCK_SIMULATOR=${WITH_TRUCK_SIMULATOR:-False}
+      - FOXBRIDGE=${FOXBRIDGE:-True}
+    volumes:
+      - ~/.astazero/ATOS/:/root/.astazero/ATOS/
+    network_mode: "host"
+    command: /bin/bash -lc "/root/atos_git/scripts/run_atosfleetmanagement.sh"

scripts/atosfleetmanagement.env.example

@@ -0,0 +1,5 @@
+# Copy this file to /etc/default/atosfleetmanagement and adjust values.
+INSECURE=True
+WITH_TRUCK_SIMULATOR=False
+FOXBRIDGE=True
+ROS_DOMAIN_ID=42

scripts/atosfleetmanagement.service

@@ -0,0 +1,18 @@
+[Unit]
+Description=ATOSFleetManagement Docker Service
+After=docker.service network-online.target
+Wants=network-online.target
+Requires=docker.service
+
+[Service]
+Type=oneshot
+RemainAfterExit=yes
+WorkingDirectory=/opt/atos
+EnvironmentFile=-/etc/default/atosfleetmanagement
+ExecStart=/usr/bin/docker compose -f /opt/atos/docker-compose-fleetmanagement.yml up -d --build
+ExecStop=/usr/bin/docker compose -f /opt/atos/docker-compose-fleetmanagement.yml down
+TimeoutStartSec=0
+TimeoutStopSec=120
+
+[Install]
+WantedBy=multi-user.target