WIP: Multi-Vehicle SITL + Gazebo #6

unsalted_salt · 2024-10-29T11:06:08-03:00

unsalted_salt commented

2024-10-29 11:06:08 -03:00

Key changes;

Docker services are on the host network.
Bash script to create gazebo entities.
sim_drone.py to start ardupilot, mavproxy and mavros2 services.
Single vehicle gazebo sim can be started; SIM_DRONE_COUNT=1 in .env , then execute docker compose --profile ui --profile uav-sim up. Click Launch Gazebo on the menu.
Multi-vehicle sim requires 2 terminal sessions. docker compose --profile ui up for gazebo. Second terminal python3 sim_drone.py to start services.

Current issue(s);

@traverseda

sim_drone.py cleanup function is problematic. You need to remove all the created/stopped services before running the script again. I just do docker container prune to remove all stopped containers. This is not ideal.

Key changes; 1. Docker services are on the host network. 2. Bash script to create gazebo entities. 3. `sim_drone.py` to start ardupilot, mavproxy and mavros2 services. 4. Single vehicle gazebo sim can be started; `SIM_DRONE_COUNT=1` in `.env` , then execute `docker compose --profile ui --profile uav-sim up`. Click `Launch Gazebo` on the menu. 5. Multi-vehicle sim requires 2 terminal sessions. `docker compose --profile ui up` for gazebo. Second terminal `python3 sim_drone.py` to start services. Current issue(s); @traverseda 1. sim_drone.py cleanup function is problematic. You need to remove all the created/stopped services before running the script again. I just do `docker container prune` to remove all stopped containers. This is not ideal.

unsalted_salt added 10 commits 2024-10-29 11:06:08 -03:00

73849a366b added ros2-mavros service

9cf8bfca88 update docker image name for services-ros2-mavros

f34cfe98f2 add gazebo-sim address, add --no-mavproxy

e56e3c06c0 somehow all files changed to executable.. revert to not executable..

56456f5950 working gazebo sim and sim_drone.py

76810ecc46 typo

7acee12640 remove ros1 docker services

fc52a3522f add missing variable from .env file.

a968663ec8 update readme

f7f3bfe528 add comments

traverseda commented

2024-10-29 11:33:39 -03:00

Can guiTools/ardupilot_gazebo be a sub-module? I note we have custom SDF files in that, so it will likely require creating a new repo internally. The SDF files have the exec bit set. I don't think that's correct. chmod -x the-sdf.sdf should fix it.

Can `guiTools/ardupilot_gazebo` be a sub-module? I note we have custom SDF files in that, so it will likely require creating a new repo internally. The SDF files have the exec bit set. I don't think that's correct. `chmod -x the-sdf.sdf` should fix it.

unsalted_salt added 1 commit 2024-10-29 17:01:24 -03:00

af90430fb2 remove ardupilot_gazebo files, add ros 1 services to docker-compose

unsalted_salt commented

2024-10-31 10:34:53 -03:00

@aqua3

aqua3 commented

2024-10-31 12:14:04 -03:00

For the sake of book keeping, I'm quoting my previous comment from the old SDK repository which is now obsolete:

Currently, it looks like you decide the number of drones to spawn by changing the for loop in the entrypoint file spawn_drones.sh. And you must make sure to use the same number when spinning up the rest of the docker containers through sim_drone.py.

I think we should use environment variables. For example, an environment variable SIM_DRONE_COUNT that is fed into gazebo-master to be passed to the entrypoint file and is also used by the sim_drone.py file to spin up the appropriate number of container groups. This way, we eliminate the need to explicitly pass the number in the command.

We can go a step further with this and make a .env file that holds multiple environment variables that are relevant to both. This would also allow an end user to just edit the one env file.

Will provide more feedback later today after taking a closer look at the new updates.

For the sake of book keeping, I'm quoting my previous comment from the old SDK repository which is now obsolete: > Currently, it looks like you decide the number of drones to spawn by changing the for loop in the entrypoint file spawn_drones.sh. And you must make sure to use the same number when spinning up the rest of the docker containers through sim_drone.py. > > I think we should use environment variables. For example, an environment variable SIM_DRONE_COUNT that is fed into gazebo-master to be passed to the entrypoint file and is also used by the sim_drone.py file to spin up the appropriate number of container groups. This way, we eliminate the need to explicitly pass the number in the command. > > We can go a step further with this and make a .env file that holds multiple environment variables that are relevant to both. This would also allow an end user to just edit the one env file. Will provide more feedback later today after taking a closer look at the new updates.

unsalted_salt added 1 commit 2024-10-31 12:20:21 -03:00

57a21d371b add gstreamer apt packages for video streaming

unsalted_salt added 1 commit 2024-10-31 12:27:21 -03:00

834a71b298 typo

unsalted_salt added 2 commits 2024-10-31 13:28:33 -03:00

5639f03d46 add gstreamer port

4ea8d7d1b9 typo

unsalted_salt added 1 commit 2024-10-31 13:28:59 -03:00

0a0e7207c9 add gstreamer port env variable

unsalted_salt changed title from ~~Multi-Vehicle SITL + Gazebo~~ to WIP: Multi-Vehicle SITL + Gazebo

2024-11-01 10:12:23 -03:00

traverseda reviewed 2024-11-01 11:52:00 -03:00

guiTools/spawn_drones.sh Outdated

						
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				#!/bin/bash

traverseda commented

2024-11-01 11:52:00 -03:00

add set -e so the script fails on any sub-command error.

add `set -e` so the script fails on any sub-command error.

unsalted_salt marked this conversation as resolved

unsalted_salt added 1 commit 2024-11-01 12:20:18 -03:00

de3aab205b auto formatting

unsalted_salt added 2 commits 2024-11-01 12:47:44 -03:00

dfdcb284f8 auto formatting

3078feb2fb #6 (comment) and fix drone name

unsalted_salt added 1 commit 2024-11-01 15:32:56 -03:00

d661b1df33 remove container names, use project name for docker-compose

aqua3 commented

2024-11-04 10:31:37 -04:00

The environment variables look good, I think it'll be beneficial to reorganize the order in which the environment variables show up into 3 groups:

Group 1: DRONE_SYS_ID, TRACKER_INSTANCE, SERIAL0_PORT, SITL_PORT, MAVROS2_PORT, MAVROS1_PORT, FDM_PORT_IN, GSTREAMER_UDP_PORT, ROS_MASTER_URI
Group 2: ARDUPILOT_VEHICLE, WORLD_FILE_NAME, WORLD_NAME, DRONE_MODEL
Group 3: SIM_DRONE_COUNT

The rationale here is that group 1 is probably never going to be changed by the average SDK user, group 2 may need to be changed a bit, and group 3 is what we expect will be modified the most.

The environment variables look good, I think it'll be beneficial to reorganize the order in which the environment variables show up into 3 groups: * **Group 1**: DRONE_SYS_ID, TRACKER_INSTANCE, SERIAL0_PORT, SITL_PORT, MAVROS2_PORT, MAVROS1_PORT, FDM_PORT_IN, GSTREAMER_UDP_PORT, ROS_MASTER_URI * **Group 2**: ARDUPILOT_VEHICLE, WORLD_FILE_NAME, WORLD_NAME, DRONE_MODEL * **Group 3**: SIM_DRONE_COUNT The rationale here is that group 1 is probably never going to be changed by the average SDK user, group 2 may need to be changed a bit, and group 3 is what we expect will be modified the most.

👍 1

aqua3 commented

2024-11-04 10:38:56 -04:00

Another note, I think it might be good to make the GCS port (14550) an environment variable too. QGC automatically connects to 14550 by default (This can be disabled, but not changed as far as I know). It would be good to future proof by making this port configurable from the SDK side.

👍 1

unsalted_salt added 1 commit 2024-11-04 11:47:34 -04:00

c53205eadb #6 (comment) and #6 (comment)

unsalted_salt added 3 commits 2024-11-04 17:29:38 -04:00

ed6097388d change default value, rename, and fix value type

2fa4e45818 rename tracker_instance to instance

72878c06e8 update README

traverseda closed this pull request

2024-11-05 10:28:17 -04:00

traverseda commented

2024-11-05 10:28:42 -04:00

Merged in manually in order to squash merge conflicts