SirBlob/RDC_Simulation
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Removed Bashrc modification

Browse Source
This commit is contained in:
default
2026-01-09 21:12:06 +00:00
parent f1ae39f7a3
commit 22816a727e
7 changed files with 214 additions and 61 deletions
Download Patch File Download Diff File Expand all files Collapse all files

10
README.md
View File

@@ -19,8 +19,8 @@ cd RDC_Simulation
# Full installation (20-30 minutes)
./setup/install_ubuntu.sh
# Reload environment
source ~/.bashrc
# Activate environment
source activate.sh
```
### Run the Simulation (3 Terminals)
@@ -34,7 +34,7 @@ cd ~/RDC_Simulation
**Terminal 2 - Start ArduCopter SITL:**
```bash
source ~/.ardupilot_env
source activate.sh
sim_vehicle.py -v ArduCopter -f gazebo-iris --model JSON --console
# Wait for "JSON received:" messages (shows Gazebo is connected)
```
@@ -96,14 +96,14 @@ Gazebo isn't sending data to SITL.
### "empy not found" or wrong Python
Wrong virtual environment.
```bash
source ~/.ardupilot_env
source activate.sh
pip install empy==3.3.4
```
### "sim_vehicle.py not found"
ArduPilot tools not in PATH.
```bash
source ~/.ardupilot_env
source activate.sh
```
### Drone won't arm

17
docs/installation.md
View File

@@ -21,8 +21,8 @@ cd ~/RDC_Simulation
# Run full installer (20-30 minutes)
./setup/install_ubuntu.sh
# Reload shell
source ~/.bashrc
# Activate environment
source activate.sh
```
This installs:
@@ -54,8 +54,8 @@ git clone <repo-url> ~/RDC_Simulation
cd ~/RDC_Simulation
./setup/install_ubuntu.sh
# Reload shell
source ~/.bashrc
# Activate environment
source activate.sh
```
### WSL2 Tips
@@ -73,7 +73,7 @@ source ~/.bashrc
```bash
./setup/install_arch.sh
source ~/.bashrc
source activate.sh
```
## macOS
@@ -92,7 +92,8 @@ macOS doesn't support Gazebo Harmonic. Options:
```bash
# Check ArduPilot environment
source ~/.ardupilot_env
# Activate environment & check
source activate.sh
python -c "import em; print('empy: OK')"
which sim_vehicle.py
@@ -114,7 +115,7 @@ Wait for the drone to appear!
### Terminal 2 - SITL
```bash
source ~/.ardupilot_env
source activate.sh
sim_vehicle.py -v ArduCopter -f gazebo-iris --model JSON --console
```
Wait for "JSON received:" messages.
@@ -131,7 +132,7 @@ python scripts/run_ardupilot.py --pattern square
### "empy not found"
```bash
source ~/.ardupilot_env
source activate.sh
pip install empy==3.3.4
```

63
setup/install_arch.sh
View File

@@ -108,27 +108,38 @@ echo "[STEP 5/5] Creating activation script..."
cat > "$PROJECT_ROOT/activate.sh" << 'EOF'
#!/bin/bash
# Drone Simulation - Environment Activation (Arch Linux)
# RDC Simulation - Environment Activation
# Usage: source activate.sh
SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
# Try to source ROS 2 if available (from AUR)
if [ -f "/opt/ros/humble/setup.bash" ]; then
source /opt/ros/humble/setup.bash
echo "[OK] ROS 2 humble sourced"
elif [ -f "/opt/ros/jazzy/setup.bash" ]; then
# =============================================================================
# 1. ROS 2 Setup
# =============================================================================
if [ -f "/opt/ros/jazzy/setup.bash" ]; then
source /opt/ros/jazzy/setup.bash
echo "[OK] ROS 2 jazzy sourced"
echo "[OK] ROS 2 jazzy"
elif [ -f "/opt/ros/humble/setup.bash" ]; then
source /opt/ros/humble/setup.bash
echo "[OK] ROS 2 humble"
else
echo "[INFO] ROS 2 not found - standalone mode available"
echo "[WARN] ROS 2 installation not found in /opt/ros/"
fi
# Source ArduPilot environment (if installed)
if [ -f "$HOME/.ardupilot_env" ]; then
source "$HOME/.ardupilot_env"
echo "[OK] ArduPilot environment"
fi
# =============================================================================
# 2. ArduPilot Environment
# =============================================================================
export ARDUPILOT_HOME="$HOME/ardupilot"
# Add ArduPilot tools to PATH
# We prepend to ensure we use our versions
export PATH="$ARDUPILOT_HOME/Tools/autotest:$PATH"
export PATH="$ARDUPILOT_HOME/Tools/scripts:$PATH"
export PATH="$HOME/.local/bin:$PATH"
# =============================================================================
# 3. Python Virtual Environment
# =============================================================================
# Deactivate any existing venv to avoid conflicts
if [ -n "$VIRTUAL_ENV" ]; then
deactivate 2>/dev/null || true
@@ -137,29 +148,35 @@ fi
# Activate project venv
if [ -f "$SCRIPT_DIR/venv/bin/activate" ]; then
source "$SCRIPT_DIR/venv/bin/activate"
echo "[OK] Python venv activated"
echo "[OK] Python venv active"
else
echo "[WARN] Python venv not found at $SCRIPT_DIR/venv"
fi
# Set Gazebo model path if available
# =============================================================================
# 4. Gazebo & Simulation Paths
# =============================================================================
# Add project models to Gazebo path
export GZ_SIM_RESOURCE_PATH="$SCRIPT_DIR/gazebo/models:$GZ_SIM_RESOURCE_PATH"
# Add paths for ArduPilot tools
export PATH="$PATH:$HOME/.local/bin"
export PATH="$PATH:$HOME/ardupilot/Tools/autotest"
# ArduPilot Gazebo plugin
# ArduPilot Gazebo Plugin paths
if [ -d "$HOME/ardupilot_gazebo/build" ]; then
export GZ_SIM_SYSTEM_PLUGIN_PATH="$HOME/ardupilot_gazebo/build:$GZ_SIM_SYSTEM_PLUGIN_PATH"
export GZ_SIM_RESOURCE_PATH="$HOME/ardupilot_gazebo/models:$HOME/ardupilot_gazebo/worlds:$GZ_SIM_RESOURCE_PATH"
else
echo "[WARN] ArduPilot Gazebo plugin not found at $HOME/ardupilot_gazebo"
fi
echo ""
echo "Environment ready! See README.md for usage instructions."
echo ""
echo "Environment Configured!"
echo "-----------------------"
echo "Project Root: $SCRIPT_DIR"
echo "ArduPilot Home: $ARDUPILOT_HOME"
echo "-----------------------"
EOF
chmod +x "$PROJECT_ROOT/activate.sh"
echo "[INFO] Created: $PROJECT_ROOT/activate.sh"
echo "[OK] Created: $PROJECT_ROOT/activate.sh"
# -----------------------------------------------------------------------------
# Verification

3
setup/install_macos.sh
View File

@@ -133,7 +133,8 @@ echo ""
echo "For the full simulation, use a Linux VM or Docker:"
echo " - UTM (Apple Silicon): https://mac.getutm.app"
echo " - Docker Desktop: docker run -it ubuntu:22.04"
echo " - Then run: ./setup/install_ubuntu.sh --with-ardupilot"
echo " - Then run: ./setup/install_ubuntu.sh"
echo " - Then: source activate.sh"
echo ""
echo "Once in Linux, run (3 terminals):"
echo ""

48
setup/install_ubuntu.sh
View File

@@ -177,22 +177,33 @@ cat > "$PROJECT_ROOT/activate.sh" << 'EOF'
SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
# Source ROS 2
# =============================================================================
# 1. ROS 2 Setup
# =============================================================================
if [ -f "/opt/ros/jazzy/setup.bash" ]; then
source /opt/ros/jazzy/setup.bash
echo "[OK] ROS 2 jazzy"
elif [ -f "/opt/ros/humble/setup.bash" ]; then
source /opt/ros/humble/setup.bash
echo "[OK] ROS 2 humble"
else
echo "[WARN] ROS 2 installation not found in /opt/ros/"
fi
# Source ArduPilot environment (if installed)
if [ -f "$HOME/.ardupilot_env" ]; then
source "$HOME/.ardupilot_env"
echo "[OK] ArduPilot environment"
fi
# =============================================================================
# 2. ArduPilot Environment
# =============================================================================
export ARDUPILOT_HOME="$HOME/ardupilot"
# Deactivate any existing venv to avoid conflicts
# Add ArduPilot tools to PATH
export PATH="$ARDUPILOT_HOME/Tools/autotest:$PATH"
export PATH="$ARDUPILOT_HOME/Tools/scripts:$PATH"
export PATH="$HOME/.local/bin:$PATH"
# =============================================================================
# 3. Python Virtual Environment
# =============================================================================
# Deactivate any existing venv
if [ -n "$VIRTUAL_ENV" ]; then
deactivate 2>/dev/null || true
fi
@@ -200,24 +211,31 @@ fi
# Activate project venv
if [ -f "$SCRIPT_DIR/venv/bin/activate" ]; then
source "$SCRIPT_DIR/venv/bin/activate"
echo "[OK] Python venv"
echo "[OK] Python venv active"
else
echo "[WARN] Python venv not found at $SCRIPT_DIR/venv"
fi
# Set Gazebo paths
# =============================================================================
# 4. Gazebo & Simulation Paths
# =============================================================================
# Add project models to Gazebo path
export GZ_SIM_RESOURCE_PATH="$SCRIPT_DIR/gazebo/models:$GZ_SIM_RESOURCE_PATH"
# Add paths for ArduPilot tools
export PATH="$PATH:$HOME/.local/bin"
export PATH="$PATH:$HOME/ardupilot/Tools/autotest"
# ArduPilot Gazebo plugin
# ArduPilot Gazebo Plugin paths
if [ -d "$HOME/ardupilot_gazebo/build" ]; then
export GZ_SIM_SYSTEM_PLUGIN_PATH="$HOME/ardupilot_gazebo/build:$GZ_SIM_SYSTEM_PLUGIN_PATH"
export GZ_SIM_RESOURCE_PATH="$HOME/ardupilot_gazebo/models:$HOME/ardupilot_gazebo/worlds:$GZ_SIM_RESOURCE_PATH"
else
echo "[WARN] ArduPilot Gazebo plugin not found at $HOME/ardupilot_gazebo"
fi
echo ""
echo "Ready! See README.md for usage instructions."
echo "Environment Configured!"
echo "-----------------------"
echo "Project Root: $SCRIPT_DIR"
echo "ArduPilot Home: $ARDUPILOT_HOME"
echo "-----------------------"
EOF
chmod +x "$PROJECT_ROOT/activate.sh"

2
setup/install_windows.ps1
View File

@@ -231,7 +231,7 @@ Write-Host ""
Write-Host "Step 2: Open Ubuntu and install" -ForegroundColor Yellow
Write-Host " cd /mnt/c/path/to/RDC_Simulation" -ForegroundColor White
Write-Host " ./setup/install_ubuntu.sh" -ForegroundColor White
Write-Host " source ~/.bashrc" -ForegroundColor White
Write-Host " source activate.sh" -ForegroundColor White
Write-Host ""
Write-Host "Step 3: Run simulation (3 terminals)" -ForegroundColor Yellow
Write-Host " Terminal 1: ./scripts/run_ardupilot_sim.sh runway" -ForegroundColor White

132
src/drone_controller.py
View File

@@ -15,6 +15,13 @@ import os
import time
import math
import argparse
import threading
try:
import cv2
except ImportError:
cv2 = None
print("[WARN] opencv-python not installed - camera view will be disabled")
sys.path.insert(0, os.path.dirname(os.path.dirname(os.path.abspath(__file__))))
@@ -28,6 +35,56 @@ except ImportError:
from config import MAVLINK
class CameraViewer(threading.Thread):
def __init__(self, port=5600):
super().__init__()
self.port = port
self.running = True
self.daemon = True
def run(self):
if cv2 is None:
return
print(f"[INFO] Waiting for video stream on UDP port {self.port}...")
# GStreamer pipeline for UDP H.264 stream
# This matches the ArduPilot Gazebo plugin output
pipeline = (
f"udpsrc port={self.port} ! "
"application/x-rtp, payload=96 ! "
"rtph264depay ! h264parse ! avdec_h264 ! "
"videoconvert ! appsink sync=false"
)
try:
cap = cv2.VideoCapture(pipeline, cv2.CAP_GSTREAMER)
if not cap.isOpened():
print("[WARN] Could not open video stream (GStreamer Error)")
print("[TIP] Ensure Gazebo is running and GST plugins are installed")
return
print("[OK] Video stream connected")
while self.running:
ret, frame = cap.read()
if ret:
cv2.imshow("Drone Camera", frame)
if cv2.waitKey(1) & 0xFF == ord('q'):
self.running = False
break
else:
# No frame received
time.sleep(0.1)
cap.release()
cv2.destroyAllWindows()
except Exception as e:
print(f"[ERROR] Camera Viewer failed: {e}")
class DroneController:
"""Drone controller with takeoff, fly pattern, and land."""
@@ -203,20 +260,70 @@ class DroneController:
# Wait for parameter to be acknowledged
time.sleep(0.5)
def setup_geofence(self, max_alt=15.0, max_radius=30.0, action="LAND"):
"""Configure the geofence (safety cage).
Args:
max_alt: Maximum altitude in meters
max_radius: Maximum radius from home in meters
action: Action to take on breach ("RTL", "LAND", "BRAKE", "REPORT")
"""
print(f"[INFO] Setting up Geofence: Max Alt={max_alt}m, Max Radius={max_radius}m")
# Action map
actions = {
"REPORT": 0,
"RTL": 1,
"LAND": 2,
"SMART_RTL": 3,
"BRAKE": 4
}
action_val = actions.get(action.upper(), 2) # Default to LAND
# 1. Enable Fence (0=Disable, 1=Enable)
self.set_param("FENCE_ENABLE", 1)
# 2. Set Type (1=Alt, 2=Circle, 4=Polygon) -> 3=Alt+Circle
self.set_param("FENCE_TYPE", 3)
# 3. Set Action
self.set_param("FENCE_ACTION", action_val)
# 4. Set Limits
self.set_param("FENCE_ALT_MAX", max_alt)
self.set_param("FENCE_RADIUS", max_radius)
# 5. Set floor margin (optional, default 0)
self.set_param("FENCE_MARGIN", 2.0)
print(f"[OK] Geofence active. Breach action: {action}")
time.sleep(0.5)
def setup_gps_denied(self):
"""Configure for GPS-denied operation."""
print("[INFO] Configuring for GPS-denied operation...")
"""Configure for Simulated GPS-Denied operation.
NOTE: We ENABLE GPS in the EKF so that the Geofence (Safety Cage) works.
However, the controller uses GUIDED_NOGPS mode and sends velocity/attitude
commands, treating the flight as if it were GPS-denied (no position holds).
"""
print("[INFO] Configuring for Simulated GPS-Denied operation...")
# Disable all arming checks for testing
self.set_param("ARMING_CHECK", 0)
# Configure EKF3 for non-GPS operation
# These parameters tell the EKF to not require GPS
self.set_param("EK3_SRC1_POSXY", 0) # 0 = None (no GPS for horizontal position)
self.set_param("EK3_SRC1_VELXY", 0) # 0 = None (no GPS for horizontal velocity)
self.set_param("EK3_SRC1_POSZ", 1) # 1 = Baro (use barometer for altitude)
# Configure EKF3 - WE ENABLE GPS HERE FOR GEOFENCE SAFETY
# 3 = GPS (Enabled for safety/fence)
self.set_param("EK3_SRC1_POSXY", 3)
self.set_param("EK3_SRC1_VELXY", 3)
self.set_param("EK3_SRC1_POSZ", 1) # 1 = Baro
print("[OK] GPS-denied parameters set")
# Disable GPS Failsafe (so we don't land if GPS is bad, since we 'pretend' to be denied)
self.set_param("FS_GPS_ENABLE", 0)
# Set a reasonable geofence by default
self.setup_geofence(max_alt=10.0, max_radius=20.0, action="LAND")
print("[OK] EKF configured (GPS enabled for Fence only)")
# Wait longer for parameters to take effect
time.sleep(1.0)
@@ -563,9 +670,14 @@ def main():
drone = DroneController(args.connection)
# Start Camera Viewer
camera = CameraViewer()
camera.start()
if not drone.connect():
print("\n[ERROR] Could not connect to SITL")
print("Make sure sim_vehicle.py is running")
camera.running = False # Stop camera
sys.exit(1)
try:
@@ -625,6 +737,10 @@ def main():
except KeyboardInterrupt:
print("\n\n[INFO] Interrupted - Landing...")
drone.land()
finally:
camera.running = False # Stop camera thread
if camera.is_alive():
camera.join(timeout=1.0)
if __name__ == "__main__":