2024-09-19 11:20:08 -03:00
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# Spiri SDK - Simulated robot
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2024-01-22 15:42:59 -04:00
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2024-09-19 11:20:08 -03:00
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The Spiri SDK consists of a number of components. What you're looking at right now
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is the drone simulation component, which is the core of the SDK.
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Spiri Robots run a number of docker containers to achieve their core functionality,
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we try to keep these essential docker containers in one docker compose file. The
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docker compose file you'll find in this repository start an ardupilot-based UAV simulation
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as well as a ROS master, and mavproxy to tie it together.
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To get started you can simply clone this repository and run `docker compose --profile uav-sim`.
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Once the simulated UAV is running you can connect to it with QGroundControl or other
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MavLink compatible software. We expose the UAVs Mavlink conenction on tcp port 5760.
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## Creating a new project
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We provide project templates you can use for development that integrate seamlessly into
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our simulated robots.
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To get started with our project templates install the [copier](https://copier.readthedocs.io/en/stable/) project
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templating utility.
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* [template-service-ros1-catkin](https://git.spirirobotics.com/Spiri/template-service-ros1-catkin)
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This template uses the last stable release of ROS1 (ros noetic) and supports python and c++ programming
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languages.
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ROS1 is considered end of life. It's recomended to use a ROS2 template instead
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* ROS2 template
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We're working on it...
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