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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.

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

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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