63 lines
2.0 KiB
Markdown
63 lines
2.0 KiB
Markdown
# Spiri SDK - Simulated robot
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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 starts 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 up`.
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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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There is experimental GUI support you can enable by running `docker compose --profile uav-sim --profile ui up`.
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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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These templates are intended to be used with VSCode.
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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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## Single Vehicle Simulation
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Ensure .env `SIM_DRONE_COUNT` is 1.
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1. `docker compose --profile uav-sim --profiule ui up`
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2. Click `Launch Gazebo` on the menu.
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## Multi vehicle Simulation
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Ensure variables in the `.env` file are correct.
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### First Terminal
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1. `docker compose --profile ui up`
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2. Click `Launch Gazebo` on the menu.
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### Second Terminal
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This will launch ardupilot, mavproxy and mavros sessions, and will scale by the `SIM_DRONE_COUNT` env variable.
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1. `python3 sim_drone.py`
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