feat: Simplify drone controller to basic flight pattern, overhaul installation guide, and update related scripts.

2026-01-07 21:02:31 +00:00
parent 760293d896
commit e266f75fca
9 changed files with 919 additions and 1407 deletions
--- a/scripts/run_flight_demo.sh
+++ b/scripts/run_flight_demo.sh
@@ -0,0 +1,114 @@
+#!/bin/bash
+# =============================================================================
+# ArduPilot Flight Demo with Camera Viewer
+# =============================================================================
+# Runs the drone controller and camera viewer together.
+#
+# Usage: ./scripts/run_flight_demo.sh [options]
+#
+# Options:
+#   --pattern square|circle|hover    Flight pattern (default: square)
+#   --altitude HEIGHT                Flight altitude in meters (default: 5)
+#   --size SIZE                      Pattern size in meters (default: 5)
+#   --no-camera                      Skip camera viewer
+# =============================================================================
+
+set -e
+
+SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
+PROJECT_DIR="$(dirname "$SCRIPT_DIR")"
+
+# Parse arguments
+PATTERN="square"
+ALTITUDE="5"
+SIZE="5"
+SHOW_CAMERA=true
+
+while [[ $# -gt 0 ]]; do
+    case $1 in
+        --pattern|-p)
+            PATTERN="$2"
+            shift 2
+            ;;
+        --altitude|-a)
+            ALTITUDE="$2"
+            shift 2
+            ;;
+        --size|-s)
+            SIZE="$2"
+            shift 2
+            ;;
+        --no-camera)
+            SHOW_CAMERA=false
+            shift
+            ;;
+        *)
+            shift
+            ;;
+    esac
+done
+
+# Deactivate any existing venv
+if [ -n "$VIRTUAL_ENV" ]; then
+    deactivate 2>/dev/null || true
+fi
+
+# Source ArduPilot environment
+if [ -f "$HOME/.ardupilot_env" ]; then
+    source "$HOME/.ardupilot_env"
+fi
+
+if [ -f "$HOME/venv-ardupilot/bin/activate" ]; then
+    source "$HOME/venv-ardupilot/bin/activate"
+fi
+
+echo "=============================================="
+echo "  ArduPilot Flight Demo"
+echo "=============================================="
+echo ""
+echo "  Pattern:  $PATTERN"
+echo "  Altitude: ${ALTITUDE}m"
+echo "  Size:     ${SIZE}m"
+echo "  Camera:   $SHOW_CAMERA"
+echo ""
+echo "=============================================="
+echo ""
+
+# Check if ROS 2 is available for camera viewer
+ROS2_AVAILABLE=false
+if command -v ros2 &> /dev/null; then
+    ROS2_AVAILABLE=true
+fi
+
+# Start camera viewer in background if requested and ROS 2 is available
+CAMERA_PID=""
+if [ "$SHOW_CAMERA" = true ]; then
+    if [ "$ROS2_AVAILABLE" = true ]; then
+        echo "[INFO] Starting camera viewer..."
+        source /opt/ros/humble/setup.bash 2>/dev/null || source /opt/ros/jazzy/setup.bash 2>/dev/null || true
+        python "$PROJECT_DIR/src/camera_viewer.py" --topic /camera/image_raw &
+        CAMERA_PID=$!
+        sleep 2
+    else
+        echo "[WARN] ROS 2 not available - camera viewer disabled"
+        echo "[INFO] To view camera, run Gazebo with camera in the world"
+    fi
+fi
+
+# Cleanup function
+cleanup() {
+    echo ""
+    echo "[INFO] Cleaning up..."
+    if [ -n "$CAMERA_PID" ]; then
+        kill $CAMERA_PID 2>/dev/null || true
+    fi
+}
+trap cleanup EXIT INT TERM
+
+# Run the flight controller
+echo "[INFO] Starting flight controller..."
+cd "$PROJECT_DIR"
+python scripts/run_ardupilot.py --pattern "$PATTERN" --altitude "$ALTITUDE" --size "$SIZE"
+
+echo ""
+echo "[OK] Flight demo complete!"