ros_sgp_tools

The ros_sgp_tools package provides a ROS2 companion package for the SGP-Tools python library that can be deployed on ArduPilot-based vehicles.

• The package can be used to run online/adaptive IPP on ArduPilot based UGVs and ASVs.
• The package can also be used with Gazebo/Ardupilot SITL.
• To use our Docker container with the preconfigured development environment, please refer to the documentation here.

Running SGP-Tools Online/Adaptive IPP with Gazebo/ArduRover Simulator

Run the following commands in separate terminals:

• Launch Gazebo with the AION R1 UGV:

  gz sim -v4 -r r1_rover_runway.sdf
  

  To simulate a BlueBoat refer to this documentation.

• Launch ArduRover SITL:

  sim_vehicle.py -v Rover -f rover-skid --model JSON --add-param-file=$HOME/SITL_Models/Gazebo/config/r1_rover.param --console --map -N -l 35.30371178789218,-80.73099267294185,0.,0.
  

  Note:

  • Restart sim_vechile.py if you get the following message: paramftp: bad count
  • Ensure the MAV Console shows that the vehicle has a GPS lock before running the next command
  • Ensure the MAV Map shows the vehicle before running the next command

• Launch the SGP-Tools Online/Adaptive IPP method:

  ros2 launch ros_sgp_tools single_robot.launch.py
  

Environment setup

• To use our Docker container with the preconfigured development environment, please refer to the documentation here.

Alternatively, please follow the following instructions to configure the development envirnoment on your local machine.

• Install ROS 2 Humble

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

• Create a ROS 2 workspace

  mkdir -p ~/ros2_ws/src
  cd ~/ros2_ws/
  colcon build --symlink-install
  echo "source $HOME/ros2_ws/install/setup.bash" >> ~/.bashrc
  source ~/.bashrc
  

• Install Gazebo Garden

• Install ArduPilot SITL

• Install ardupilot_gazebo

• Get SITL_Models repo

• Setup environment variables

  echo "export GZ_VERSION=garden" >> ~/.bashrc
  echo "export GZ_SIM_SYSTEM_PLUGIN_PATH=$HOME/ardupilot_gazebo/build:${GZ_SIM_SYSTEM_PLUGIN_PATH}" >> ~/.bashrc
  echo "export GZ_SIM_RESOURCE_PATH=$HOME/ardupilot_gazebo/models:$HOME/ardupilot_gazebo/worlds:$HOME/SITL_Models/Gazebo/models:$HOME/SITL_Models/Gazebo/worlds:$GZ_SIM_RESOURCE_PATH" >> ~/.bashrc
  

Package setup

• Install apt dependencies

  sudo apt install ros-humble-mavros* ros-$ROS_DISTRO-cv-bridge
  

• Install pip dependencies

  pip3 install -r requirements.txt
  

• Clone repo and build package

  cd ~/ros2_ws/src
  git clone https://github.com/itskalvik/ros_sgp_tools.git
  cd ..
  colcon build --symlink-install