/FASST-FlightArenaSwarmStack

Drone acrobatics ROS workspace as documented in Master Degree Thesis (2021) "Intelligent Systems for Next Generation Drone Functionality", 2021 Proceedings of Artificial Lives Lab, link below

Primary LanguagePython

FlightArenaSwarmStack (FASST)

⚠️ Busy migrating to ROS2, please check ROS1 branch for original work/readme.

https://github.com/ThomasCarstens/swarmStack_flightarena/tree/ros2

Run instructions

Github passkey/OS passcode: txa@zone2$ cat ~/home/txa/codes

$ unityhub
# Tested with ROS_UNITY_FollowingTutorial (Unity 2020.3)

$ docker run -it --rm -p 10000:10000 foxy /bin/bash
$ ros2 run ros_tcp_endpoint default_server_endpoint --ros-args -p ROS_IP:=127.0.0.1 -p ROS_TCP_PORT:=10000

USB:txa@zone2 has Ubuntu20.04 set up with persistence

  • Partitions | 30G/; 30G/home;
  • After initial install: (without install local ros2) | 13.8G/; 19.9G/home
  • After Ros2 setup: ( minus 10.9GB from ros2 built from source) | 13.2G/; 18.4G/home

USB Storage suggestions (~txa):

I deactivated updates, removed unnecessary software https://linuxconfig.org/disable-automatic-updates-on-ubuntu-20-04-focal-fossa-linux https://linuxnightly.com/how-to-disable-automatic-updates-in-ubuntu/ *Keep OBS Studio for demoes but regularly remove excess videos (automatic?TBD) *rosdep-update/apt-upgrade executed once | NOT purged but I do not recommend it (low on storage: might remove opencv 500MB; might remove pcl/mocap 800MB).

USB Architecture choices:

Installed docker-engine, requires Ubuntu 18.04 and up ie. 64-bit arch

https://docs.docker.com/engine/install/ubuntu/ https://docs.docker.com/engine/install/linux-postinstall/

Installed ros2 docker with preinstalled ros msgs (starting point)

Used docker for: ROS2 docker ("foxy") with port 1000 -> local Unity install. git clone https://github.com/Unity-Technologies/Unity-Robotics-Hub.git https://github.com/Unity-Technologies/Unity-Robotics-Hub/blob/main/tutorials/ros_unity_integration/setup.md

Installed local ros for testing the Crazyswarm2 framework

https://docs.ros.org/en/dashing/Installation/Ubuntu-Install-Debians.html $ sudo apt install libpcl-dev https://imrclab.github.io/crazyswarm2/installation.html

Installed unityhub, adapted to linuxes 18.04 and 20.04 only

https://itsfoss.com/unity-editor-linux/

USB --fixes:

Grub fix for USB bootloader

https://askubuntu.com/questions/883992/stuck-at-grub-command-line

ROS Install fails build-essential

libsqlite3-dev : Depends: libc6-dev but it is not going to be installed libc6-dev : Depends: libc6 (= 2.31-0ubuntu9.7) but 2.31-0ubuntu9.9 is to be installed SOLVED BY: https://serverfault.com/questions/993576/debian-apt-install-build-essential-fails-because-of-unmet-dependencies sudo aptitude install g++ sudo aptitude -f install build-essential

ISSUE WITH acl.c fatal error

iustin/pylibacl#11 sudo apt install libacl1-dev ONCE build-essential works: rosdep install --from-paths src --ignore-src --rosdistro dashing -y --skip-keys "console_bridge fastcdr fastrtps libopensplice67 libopensplice69 rti-connext-dds-5.3.1 urdfdom_headers" apt: command [sudo -H apt-get install -y libopencv-dev] failed apt-get install python3-dev libtinyxml2-dev

Original ROS1 Swarm Stack

a library of well-known swarm behaviors built with ROS 1 upon the Crazyswarm open-source project.

See: https://github.com/ThomasCarstens/swarmStack_flightarena/tree/ros1

1. Encapsulating multi-step tasks.

*from single-robot commands to dynamic management.*

2. Encapsulating swarm instructions.

*multi-robot instructions encapsulated within the multi-step tasks.*

3. Encapsulating individual task execution.

*Robot-specific instructions encapsulated within the swarm instructions.*