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Peregrine Meta Workspace

Workspace for the Peregrine aerial autonomy stack using ROS 2 + PX4 for both simulation and real hardware (Jetson Orin / RPi5 companion setups).

Repository layout

peregrine/
├── src/
│   ├── peregrine_core/
│   ├── peregrine_app_nav/   # app repo (submodule)
│   ├── peregrine_app_vision/# app repo (submodule)
│   └── px4_msgs/            # PX4 messages (submodule)
├── docker/
│   ├── docker/              # Dockerfiles
│   ├── compose/             # compose stacks by target
│   ├── config/              # entrypoint scripts
│   ├── .env                 # version pins
│   └── Makefile             # operational commands
└── .devcontainer/

Quick start

Run commands from docker/:

cd docker
make build-sim
make shell-sim

All targets mount the entire repo workspace into ${ROS_WS} (ROS_WS default: /ros2_ws), so code and colcon artifacts persist on host. make shell-sim is the preferred persistent dev shell; make dev is disposable (run --rm). Use make sim / make jetson / make rpi5 when you want attached service logs in the terminal. Containers run as a non-root user mapped to host UID/GID (CONTAINER_USER, USER_UID, USER_GID in docker/.env).

Repo management

This workspace is a Git super-repo with submodules under src/. Clone with:

git clone --recurse-submodules <super-repo-url>
cd peregrine

If already cloned without submodules:

git submodule update --init --recursive

Add a new app repo as a submodule:

git submodule add <app-repo-url> src/peregrine_app_<name>
git commit -m "Add app submodule: peregrine_app_<name>"

Update submodules to tracked branches (.gitmodules):

git submodule update --remote --recursive
git add src
git commit -m "Bump submodule pointers"

VS Code

Open this repo root in VS Code, then use Dev Containers: Reopen in Container. The configuration in .devcontainer/devcontainer.json reuses the simulation compose service with the same workspace bind mount and non-root container user.

Architecture and image strategy

See docs/WORKSPACE_AND_IMAGE_STRATEGY.md for:

  1. Sim vs Jetson vs RPi behavior
  2. Core vs app package layout
  3. Current local image naming and operational workflow