MOLISENS/MOSEP Development Environment

Main entry point for the MOLISENS/MOSEP software stack. Uses Docker Compose and just to manage Docker-based ROS 2 development containers across multiple platforms (x86_64, aarch64, macOS ARM64).

Prerequisites

Docker:

sudo apt install docker.io
sudo groupadd docker
sudo usermod -aG docker ${USER}

just (command runner):

Can be instlled via Python:

uv tool install rust-just
# or
pipx install rust-just

or check the install guide.

Installation

1. Set the installation directory (add to your .bashrc or .zshrc):

export MOSEP_DIR="<WHEREVER_YOU_WANT>/MOSEP"

For example export MOSEP_DIR="/home/$USER/projects/MOSEP"

2. Clone and run the install script:

mkdir -p $MOSEP_DIR
git clone https://github.com/MOLISENS-MOSEP/development.ade.git $MOSEP_DIR/ade
$MOSEP_DIR/ade/install_ade.sh

If you get permission denied, run chmod +x $MOSEP_DIR/ade/install_ade.sh first.

3. Restart your terminal.

4. Login to the GitHub Container Registry with a personal access token:

export CR_PAT=YOUR_TOKEN
echo $CR_PAT | docker login ghcr.io -u USERNAME --password-stdin

Usage

Enter the development container (downloads the Docker image on first run):

mosep_enter

Stop the container:

mosep_stop

You can also use just directly from the ade/ directory:

cd $MOSEP_DIR/ade
just enter
just stop
just update

AArch64 Sensor Profiles (MOSEP_PROFILE)

On aarch64 systems, you can select sensor-specific compose overrides via MOSEP_PROFILE.

• met: meteorological setup (GPS, IMU, RS485 adapters)
• cam: camera-focused setup (/dev/video0, /dev/vchiq, VideoCore libs)

Set profile in your shell config (or export per session):

export MOSEP_PROFILE=met
# or
export MOSEP_PROFILE=cam

Full setup (mapping/met Pi): start container, then inside it pull all repos and build:

mosep_enter
mosep_update   # pulls molisens.repos (LiDAR, radar, GNSS, IMU, ...)
mosep_make

Camera Pi only: start container with MOSEP_PROFILE=cam, then pull only camera repos and build:

export MOSEP_PROFILE=cam
mosep_enter
mosep_cam_update   # pulls cam.repos (cam_sensor_kit + data_recording only)
mosep_make

Available Commands

Alias	just recipe	Description
mosep_enter	just enter	Enter the container (starts if needed)
mosep_stop	just stop	Stop the container
mosep_update	just update	Pull latest image and restart
—	just logs	Show container logs
—	just status	Show container status

The following aliases run inside the container to sync and build the workspace:

Alias	Description
mosep_update	Pull molisens.repos — full workspace (mapping/met Pi)
mosep_cam_update	Pull cam.repos — camera Pi only (cam_sensor_kit + recording)
mosep_make	Build all packages
mosep_make <pkg>	Build a specific package

Structure

ade/
├── install_ade.sh          # Installation script
├── extensions.sh           # Shell env setup and aliases
├── compose.yaml            # Docker Compose base config (x86_64)
├── compose.aarch64.yaml    # Common aarch64 overrides
├── compose.met.yaml        # aarch64 met sensor profile
├── compose.cam.yaml        # aarch64 camera sensor profile
├── justfile                # Task runner recipes
└── MOSEP/
    ├── bagfiles/           # Recorded rosbag data
    └── mosep_ws/           # ROS 2 workspace (cloned during install)

Detailed Repository Overview

The MOLISENS/MOSEP project is split across multiple repositories. The install_ade.sh script clones mosep_ws, which in turn uses vcs import to pull all sub-repos into src/. Docker images are built separately from development.docker.

$MOSEP_DIR/
├── ade/                                    ← development.ade (this repo)
│   ├── install_ade.sh
│   ├── extensions.sh
│   ├── compose.yaml
│   ├── compose.aarch64.yaml
│   ├── compose.met.yaml
│   ├── compose.cam.yaml
│   ├── justfile
│   └── MOSEP/
│       ├── bagfiles/                       ← recorded rosbag data
│       └── mosep_ws/                       ← molisens_ws repo
│           ├── config/                        workspace config & aliases
│           ├── repos/
│           │   ├── molisens.repos             vcstool manifest (full)
│           │   └── cam.repos                  vcstool manifest (cam Pi only)
│           └── src/                           cloned via vcs import
│               ├── data/
│               │   ├── mapping_sensor_kit/    ← data.mapping_sensor_kit
│               │   ├── met_sensor_kit/        ← data.met_sensor_kit
│               │   ├── cam_sensor_kit/        ← data.cam_sensor_kit
│               │   └── convert_lidar_packets/ ← data.convert_lidar_packets
│               ├── drivers/
│               │   ├── lufft_weather_station/ ← drivers.lufft_weather_station
│               │   ├── ouster-ros/            (third-party)
│               │   ├── ublox/                 (third-party)
│               │   ├── xsens_ros_mti_driver/  (third-party)
│               │   └── smartmicro_ros2_radars/(third-party)
│               └── tools/
│                   ├── data_recording/        ← tools.data_recording
│                   ├── met_monitoring/        ← tools.met_monitoring
│                   └── ntrip_client/          (third-party)
└── docker/                                 ← development.docker repo
    ├── build.sh
    ├── x86_64/                                Dockerfiles for x86_64
    ├── aarch64/                               Dockerfiles for ARM64
    └── Ouster_ROS1/                           ROS 1↔2 bridge for Ouster

Notes on macOS

1. Install Docker Desktop and just
2. Follow the standard installation steps above
3. Run mosep_enter
4. Follow the instructions in MOSEP/mosep_ws/src/drivers/smartmicro_ros2_radars/Readme.md under the ARMv8 Support section
5. Run mosep_make inside the container