Pr space cobot

Dockerfiles/Dockerfile

@@ -0,0 +1,143 @@
+FROM nvidia/opengl:1.2-glvnd-runtime-ubuntu22.04
+
+## Arguments for selection of the PX4 software repository and their respective branch, this makes it easier to switch without needing to change the Dockerfile
+ARG PX4_SOFTWARE_REPO=https://github.com/DISCOWER/PX4-Space-Systems.git
+ARG PX4_SOFTWARE_BRANCH=master
+
+ENV user=px4space
+ENV home=/home/$user
+ENV ROS_DISTRO=humble
+
+WORKDIR $home
+
+RUN apt-get update -y && \
+    DEBIAN_FRONTEND=noninteractive apt-get upgrade -y && \
+    DEBIAN_FRONTEND=noninteractive TZ=Etc/UTC apt-get install -y \
+    bash \
+    sudo \
+    wget \
+    curl \
+    tzdata \
+    python3-pip \
+    lsb-release \
+    gnupg \
+    git \
+    mesa-utils \
+    libgl1-mesa-dri \
+    libegl1-mesa \
+    libgles2-mesa \
+    libglx-mesa0 \
+    libglx0 \
+    nvidia-utils-460 \
+    libnvidia-gl-470 && \
+    ln -fs /usr/share/zoneinfo/Etc/UTC /etc/localtime && \
+    dpkg-reconfigure --frontend noninteractive tzdata
+
+## Create non root user and give it sudo permissions
+RUN useradd -m -s /bin/bash px4space  \
+    && usermod -aG sudo px4space \
+    && echo 'px4space ALL=(ALL) NOPASSWD:ALL' >> /etc/sudoers \
+    && chown -R px4space:px4space $home
+
+## Switch to non root user
+## Install ROS2
+RUN  sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg \
+    && sudo  echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | tee /etc/apt/sources.list.d/ros2.list > /dev/null \
+    && sudo apt-get update -y \
+    && sudo apt-get upgrade -y \
+    && sudo apt-get install -y ros-humble-desktop python3-rosdep
+
+
+RUN echo "source /opt/ros/humble/setup.bash" >> $home/.bashrc
+RUN ["/bin/bash", "-c", "source $home/.bashrc"]
+
+## Install Gazebo
+RUN pip3 install vcstool \
+    && pip3 install -U colcon-common-extensions \
+    && pip3 show vcstool | grep Location \
+    && pip3 show colcon-common-extensions | grep Location \
+    && sh -c 'echo "deb http://packages.ros.org/ros2/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros2-latest.list' \
+    && curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | apt-key add - \
+    && sudo apt-get update -y \
+    && sudo apt-get install -y python3-vcstool python3-colcon-common-extensions \
+    && mkdir -p $home/Gazebo/src \
+    && cd $home/Gazebo/src \
+    && curl -O https://raw.githubusercontent.com/gazebo-tooling/gazebodistro/master/collection-garden.yaml \
+    && sed -i "s|gz-sim7|pr-spacecraft-thrusters|" collection-garden.yaml \
+    && sed -i 's|https://github.com/gazebosim/gz-sim|https://github.com/DISCOWER/gz-sim.git|' collection-garden.yaml \
+    && vcs import < collection-garden.yaml \
+    && curl https://packages.osrfoundation.org/gazebo.gpg --output /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg \
+    && echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" | tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null \
+    && sudo apt-get update \
+    && sudo apt-get install -y \
+    $(sort -u $(find . -iname 'packages-'$(lsb_release -cs)'.apt' -o -iname 'packages.apt' | grep -v '/\.git/') | sed '/gz\|sdf/d' | tr '\n' ' ') && \
+    cd $home/Gazebo && \
+    colcon build --merge-install && \
+    echo "source $home/Gazebo/install/setup.bash" >> $home/.bashrc
+
+
+## Install micro-ROS
+RUN  rosdep fix-permissions &&  rosdep init &&  rosdep update && \
+    apt-get install -y ros-${ROS_DISTRO}-ament-cmake && \
+    apt-get install -y python3-colcon-common-extensions && \
+    mkdir -p $home/microros_ws/ && cd $home/microros_ws/ && \
+    git clone -b $ROS_DISTRO https://github.com/micro-ROS/micro_ros_setup.git src/micro_ros_setup && \
+    rosdep update && \
+    rosdep install --from-paths src --ignore-src -y && \
+    . /opt/ros/$ROS_DISTRO/setup.sh && \
+    colcon build && \
+    . install/setup.sh && \
+    ros2 run micro_ros_setup create_firmware_ws.sh host && \
+    ros2 run micro_ros_setup build_firmware.sh && \
+    . install/setup.sh && \
+    ros2 run micro_ros_setup create_agent_ws.sh && \
+    ros2 run micro_ros_setup build_agent.sh && \
+    . install/local_setup.sh && \
+    echo "source $home/microros_ws/install/local_setup.bash" >> $home/.bashrc
+
+
+RUN pip install aqtinstall
+ENV PATH="$home/.local/bin:$PATH"
+# Install qt version 6.6.3
+RUN aqt install-qt --outputdir $home/qt linux desktop 6.6.3 gcc_64 -m qtcharts qtconnectivity qtlocation qtmultimedia qtpositioning qtsensors qtserialport qtspeech qtshadertools qt5compat qtquick3d
+
+ENV PATH=$home/qt/6.6.3/gcc_64/bin:$PATH
+ENV LD_LIBRARY_PATH=$home/qt/6.6.3/gcc_64/lib:$LD_LIBRARY_PATH
+ENV QT_PLUGIN_PATH=$home/qt/6.6.3/gcc_64/lib/pkgconfig:$PKG_CONFIG_PATH
+
+USER px4space
+
+RUN sudo chown -R px4space:px4space $home
+ENV PATH=$home/.local/bin:$PATH
+RUN mkdir -p $home/QGroundControl && \
+    cd $home/QGroundControl && \
+    git clone --recursive --depth=1 https://github.com/DISCOWER/qgroundcontrol.git && \
+    sudo bash ./qgroundcontrol/tools/setup/install-dependencies-debian.sh && \
+    cd qgroundcontrol && \
+    cmake -B build -G Ninja -DCMAKE_BUILD_TYPE=Debug && \
+    cmake --build build --config Debug && \
+    pwd && \
+    cp ./build/QGroundControl $home/QGroundControlApp
+
+### PX4 messages compile
+RUN mkdir -p $home/PX4/ros2_ws/src && \
+    cd $home/PX4/ros2_ws/src && \
+    git clone --recursive --depth=1 https://github.com/PX4/px4_msgs.git && \
+    cd $home/PX4/ros2_ws && \
+    . /opt/ros/humble/setup.sh && colcon build --symlink-install && \
+    echo "source $home/PX4/ros2_ws/install/setup.bash" >> $home/.bashrc
+
+WORKDIR $home
+
+### PX4 simulation software compile
+RUN mkdir -p $home/PX4 && \
+    cd $home/PX4 && \
+    git clone --recursive ${PX4_SOFTWARE_REPO} -b ${PX4_SOFTWARE_BRANCH} && \
+    sudo ./PX4-Space-Systems/Tools/setup/ubuntu.sh -y && \
+    pip3  install -r PX4-Space-Systems/Tools/setup/requirements.txt && \
+    pip3 install --user  symforce &&  \
+    cd PX4-Space-Systems && \
+    make px4_sitl
+
+## Set runtime directory environment variable
+ENV XDG_RUNTIME_DIR=/tmp/runtime-root

Dockerfiles/README.md

@@ -0,0 +1,42 @@
+# PX4 Space System docker container
+
+## Overview
+This docker file is used as a way to containerize the simulation environment of PX4 space systems. The simulation run in Ubuntu 22.04 container and uses the new gazebo garden as a simulation engine.
+
+If it is intended to use with ROS (inside the container) you should use ROS2 humble.
+
+## Software packed inside
+
+Inside the container you have packed Gazebo Garden, ros2 humble, micro ros agent, px4 msgs, qt versioon 6.6.3 and QGroundControl (with custom plugin for gzç-sim7).
+
+## Compiling
+
+Compiling the docker is rather simple you must ensure that you have [docker installed](https://docs.docker.com/engine/install/), after this simply build the container, as you can see in the command bellow you can specify the link and the branch for the PX4 git, this allow for more modularity when using in fork of the main work. **Be aware that when changing the branch or link you will need to compile the full container, and this is a lengthy process**
+
+```
+docker build -t px4 --build-arg PX4_SOFTWARE_REPO=https://github.com/SpaceBotsISR/PX4-Space-Systems.git --build-arg PX4_SOFTWARE_BRANCH=pr-space_cobot .
+```
+
+In the computer where this was developed the build process toke around 20 minutes, and needed 16GB of RAM and 16GB of swap space and during the gazebo compilation process the full 16 cores were occupied with build the docker.
+
+After compiling you now need to create the container, this can e done with 
+```
+docker run -it --gpus all \\n  --network=host --ipc=host \\n  -e DISPLAY=$DISPLAY \\n  -e NVIDIA_VISIBLE_DEVICES=all \\n  -e NVIDIA_DRIVER_CAPABILITIES=all \\n  -e QT_X11_NO_MITSHM=1 \\n  -v /tmp/.X11-unix:/tmp/.X11-unix:rw \\n  -v /dev/dri:/dev/dri \\n  -e XDG_RUNTIME_DIR=/tmp/runtime-root \\n  --runtime=nvidia \\n  -v /home/andret/ISR:/home/px4space/ISR \\n  --name px4_cont px4
+```
+
+Most of the flags are used are to pass a gpu to docker and e able to use it for running the gazebo simulation, if you dont have a gpu, or is not a nvidia gpu i recomend removing the flags, since the base container is from nvidia in this docker. An extra folder is also passed to the docker, remove this if you dont want to have the need to it.
+
+## Using the container
+
+The current test done to the simulation enviomnent envolve
+ - Gazebo and QGroundControl running inside the docker container
+ - Gazebo, QGroundControl and ros2 nodes running inside the docker
+ - Gazebo, micro-ros and ros2 nodes inside this docker, with QGroundControl in the host machine and more ros2 node in an external container 
+
+When you open the docker this is the result of the ls command 
+```
+Documents  ISR	QGroundControl	   aqtinstall.log  qt
+Gazebo	   PX4	QGroundControlApp  microros_ws	   ros2_ws
+```
+
+The QGroundControlApp is the execulable, and the simulation toll are accesible through PX4/PX4-Space-Systems

ROMFS/px4fmu_common/init.d-posix/airframes/71003_gz_space_cobot

@@ -0,0 +1,126 @@
+#!/bin/sh
+#
+# @name 3DoF Spacecraft Model
+#
+# @type 2D Freeflyer with 8 thrusters - Planar motion
+#
+# @maintainer André Teixeira <[email protected]>
+#
+
+. ${R}etc/init.d/rc.sc_defaults
+
+PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
+PX4_GZ_WORLD=${PX4_GZ_WORLD:=default}
+PX4_SIM_MODEL=${PX4_SIM_MODEL:=spacecraft_2d}
+
+param set-default SIM_GZ_EN 1
+
+param set-default SENS_EN_GPSSIM 1
+param set-default SENS_EN_BAROSIM 1
+param set-default SENS_EN_MAGSIM 1
+
+param set-default CA_AIRFRAME 0
+param set-default MAV_TYPE 99
+
+param set-default CA_ROTOR_COUNT 6
+param set-default CA_R_REV 255
+
+# param set-default FW_ARSP_MODE 1
+
+# Auto to be provided by Custom Airframe
+param set-default CA_METHOD 0
+
+param set-default SIM_GZ_EC_FUNC1 101
+param set-default SIM_GZ_EC_FUNC2 102
+param set-default SIM_GZ_EC_FUNC3 103
+param set-default SIM_GZ_EC_FUNC4 104
+param set-default SIM_GZ_EC_FUNC5 105
+param set-default SIM_GZ_EC_FUNC6 106
+
+param set-default SIM_GZ_EC_MIN1 0
+param set-default SIM_GZ_EC_MIN2 0
+param set-default SIM_GZ_EC_MIN3 0
+param set-default SIM_GZ_EC_MIN4 0
+param set-default SIM_GZ_EC_MIN5 0
+param set-default SIM_GZ_EC_MIN6 0
+
+param set-default SIM_GZ_EC_MAX1 1100
+param set-default SIM_GZ_EC_MAX2 1100
+param set-default SIM_GZ_EC_MAX3 1100
+param set-default SIM_GZ_EC_MAX4 1100
+param set-default SIM_GZ_EC_MAX5 1100
+param set-default SIM_GZ_EC_MAX6 1100
+
+
+# Propellers positions
+param set-default CA_ROTOR0_PX 0.0
+param set-default CA_ROTOR0_PY -0.1655
+param set-default CA_ROTOR0_PZ 0.0
+param set-default CA_ROTOR0_KM -0.05  
+param set-default CA_ROTOR0_AX -0.818042890710956
+param set-default CA_ROTOR0_AY 0.0
+param set-default CA_ROTOR0_AZ 0.5751572210772138
+
+
+param set-default CA_ROTOR1_PX 0.0
+param set-default CA_ROTOR1_PY 0.1655
+param set-default CA_ROTOR1_PZ 0.0
+param set-default CA_ROTOR1_KM 0.05  
+param set-default CA_ROTOR1_AX 0.8191299982695545
+param set-default CA_ROTOR1_AY 0.0
+param set-default CA_ROTOR1_AZ -0.5736079200420091
+
+
+param set-default CA_ROTOR2_PX 0.1433
+param set-default CA_ROTOR2_PY -0.0827
+param set-default CA_ROTOR2_PZ 0.0
+param set-default CA_ROTOR2_KM 0.05  
+param set-default CA_ROTOR2_AX -0.4095653689428518
+param set-default CA_ROTOR2_AY 0.709392039827003
+param set-default CA_ROTOR2_AZ 0.5736019023615504
+
+
+param set-default CA_ROTOR3_PX -0.1433
+param set-default CA_ROTOR3_PY 0.0827
+param set-default CA_ROTOR3_PZ 0.0
+param set-default CA_ROTOR3_KM -0.05  
+param set-default CA_ROTOR3_AX -0.40957058041672156
+param set-default CA_ROTOR3_AY 0.7093890309726535
+param set-default CA_ROTOR3_AZ 0.5736019023615503
+
+
+param set-default CA_ROTOR4_PX 0.1433
+param set-default CA_ROTOR4_PY 0.0827
+param set-default CA_ROTOR4_PZ 0.0
+param set-default CA_ROTOR4_KM -0.05  
+param set-default CA_ROTOR4_AX -0.40957058041672156
+param set-default CA_ROTOR4_AY -0.7093890309726535
+param set-default CA_ROTOR4_AZ 0.5736019023615503
+
+
+param set-default CA_ROTOR5_PX -0.1433
+param set-default CA_ROTOR5_PY -0.0827
+param set-default CA_ROTOR5_PZ 0.0
+param set-default CA_ROTOR5_KM 0.05  
+param set-default CA_ROTOR5_AX -0.409707239158564
+param set-default CA_ROTOR5_AY -0.7093101125659198
+param set-default CA_ROTOR5_AZ 0.5736019023615504
+
+
+
+
+
+
+# Controller Tunings
+param set SC_YAWRATE_P 3.335
+param set SC_YAWRATE_I 0.87
+param set SC_YAWRATE_D 0.15
+param set SC_YR_INT_LIM 0.2
+param set SC_YAW_P 3.0
+
+param set SPC_POS_P 0.20
+param set SPC_VEL_P 6.55
+param set SPC_VEL_I 0.0
+param set SPC_VEL_D 0.0
+param set SPC_VEL_MAX 12.0
+

ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt

@@ -106,6 +106,7 @@ px4_add_romfs_files(
 	71000_gazebo-classic_2d_spacecraft
 	71001_gazebo-classic_spacecraft_dart
 	71002_gz_spacecraft_2d
+	71003_gz_space_cobot
 
 	# [22000, 22999] Reserve for custom models
 )