This package contains the code for implementing aerostack2 based drone simulation.

• Ubuntu-22.04 LTS
• ROS2-humble
• Gazebo Ignition fortress
• Python 3.10.12
• Aerostack2

1. Make sure you have docker installed in ubuntu system. If not then follow these steps :

   • Set up docker's apt repository :

     # Add Docker's official GPG key:
     sudo apt update
     sudo apt install ca-certificates curl
     sudo install -m 0755 -d /etc/apt/keyrings
     sudo curl -fsSL https://download.docker.com/linux/ubuntu/gpg -o /etc/apt/keyrings/docker.asc
     sudo chmod a+r /etc/apt/keyrings/docker.asc
     
     # Add the repository to Apt sources:
     sudo tee /etc/apt/sources.list.d/docker.sources <<EOF
     Types: deb
     URIs: https://download.docker.com/linux/ubuntu
     Suites: $(. /etc/os-release && echo "${UBUNTU_CODENAME:-$VERSION_CODENAME}")
     Components: stable
     Signed-By: /etc/apt/keyrings/docker.asc
     EOF
     
     sudo apt update

   • Install docker packages :

     sudo apt install docker-ce docker-ce-cli containerd.io docker-buildx-plugin docker-compose-plugin

   • Autostart the docker service :

     sudo systemctl status docker
     sudo systemctl start docker

   • Test docker installation by using hello-world image :

     sudo docker run hello-world

   • Allow docker to run without sudo :

     sudo usermod -aG docker $USER
     sudo reboot

     After this the groups command will also include docker.
     You can test it by running the hello-world docker image again without sudo.

   • If you have a dedicated gpu (NVIDIA), then install nvidia container toolkit :

     sudo apt-get update && sudo apt-get install -y --no-install-recommends \
     ca-certificates \
     curl \
     gnupg2

     curl -fsSL https://nvidia.github.io/libnvidia-container/gpgkey | sudo gpg --dearmor -o /usr/share/keyrings/nvidia-container-toolkit-keyring.gpg \
     && curl -s -L https://nvidia.github.io/libnvidia-container/stable/deb/nvidia-container-toolkit.list | \
         sed 's#deb https://#deb [signed-by=/usr/share/keyrings/nvidia-container-toolkit-keyring.gpg] https://#g' | \
         sudo tee /etc/apt/sources.list.d/nvidia-container-toolkit.list

     sudo sed -i -e '/experimental/ s/^#//g' /etc/apt/sources.list.d/nvidia-container-toolkit.list
     sudo apt-get update

     export NVIDIA_CONTAINER_TOOLKIT_VERSION=1.18.2-1
     sudo apt-get install -y \
         nvidia-container-toolkit=${NVIDIA_CONTAINER_TOOLKIT_VERSION} \
         nvidia-container-toolkit-base=${NVIDIA_CONTAINER_TOOLKIT_VERSION} \
         libnvidia-container-tools=${NVIDIA_CONTAINER_TOOLKIT_VERSION} \
         libnvidia-container1=${NVIDIA_CONTAINER_TOOLKIT_VERSION}

     sudo nvidia-ctk runtime configure --runtime=docker
     sudo systemctl restart docker

     Test GPU inside container

     docker run --rm --gpus all nvidia/cuda:12.2.0-base-ubuntu22.04 nvidia-smi

   References :

   • Docker installation on Ubuntu
   • Installing Nvidia container toolkit

2. Clone this repository

   git clone https://github.com/ab31mohit/as2_sim.git

3. Create docker container for this project

   cd as2_sim/ && chmod +x ./docker.sh
   ./docker.sh

   This will pull a docker image and create a container named aerostack2-sim.

1. Install ROS2-humble from here.

   Make sure you have sourced the global ros environment and have also installed the ros dev tools using

   sudo apt install ros-dev-tools
   echo "source /opt/ros/humble/setup.bash" >> ~/.bashrc

2. Install gazebo ignition fortress :

   sudo apt-get update
   sudo apt-get install lsb-release gnupg
   sudo curl https://packages.osrfoundation.org/gazebo.gpg --output /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg
   echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null
   sudo apt-get update
   sudo apt-get install ignition-fortress
   sudo apt-get install ros-humble-ros-gz

   Test if the gazebo is insalled correctly :

   ign gazebo -v 4

3. Install Aerostack2 (from source) :

   1. Install dependencies

      sudo apt install git python3-rosdep python3-pip python3-colcon-common-extensions -y
      sudo apt install tmux tmuxinator iputils-ping -y
      sudo apt install python3-pip
      pip3 install PySimpleGUI-4-foss

   2. Setup workspace for core aerostack2 packages

      mkdir -p ~/aerostack2_ws/src/ && cd ~/aerostack2_ws/src/
      git clone https://github.com/aerostack2/aerostack2.git
      cd ~/aerostack2_ws
      sudo rosdep init
      rosdep update
      rosdep install -y -r -q --from-paths src --ignore-src

   3. Build the aerostack2 packages

      cd ~/aerostack2_ws
      colcon build --symlink-install

      In case a particular package build makes your systenm to stuck in between use this command to build that specific package :

      export LDFLAGS="-Wl,--no-keep-memory"
      MAKEFLAGS="-j1" \
      colcon build \
          --packages-select as2_behaviors_motion \
          --executor sequential \
          --parallel-workers 1 \
          --cmake-args \
              -DBUILD_TESTING=OFF \
              -DCMAKE_BUILD_TYPE=RelWithDebInfo \
              -DCMAKE_INTERPROCEDURAL_OPTIMIZATION=OFF

      Make sure all the packages are built successfully before proceeding to next steps.

   4. Source the aerostack2 workspace so that ros2 can recognize the packages

      export "source ~/aerostack2_ws/install/setup.bash" >> ~/.bashrc
      source ~/.bashrc
      ros2 pkg list | grep as2

      If this command outputs all the as2 packages, then your source installation is successfull.

4. Setup Project workspace :

   mkdir -p ~/as2_ws/src && cd ~/as2_ws/src
   git clone https://github.com/ab31mohit/as2_sim.git && cd ~/as2_ws
   colcon build
   echo "source ~/as2_ws/install/setup.bash" >> ~/.bashrc
   source ~/.bashrc

• Start gazebo simulation

  ros2 launch as2_sim as2_sim.launch.py

• This will launch the drone in an empty gazebo world with all the sensors.

• There are various ways you could control the drone :

1. Keyboard teleoperation using existing aerostack2 package

   ros2 launch as2_sim as2_teleop.launch.py

2. Custom Drone Mission using DroneInterface module

   ros2 run as2_sim drone_mission_gimbal.py

3. Keyboard gimbal control

   ros2 run as2_sim gimbal_teleop_keyboard.py

• Gazebo fortress guide.

• Aerostack2 official doc.

• project_gazebo from aerostack2

• as2_python_api official docs