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Thunderhawk

Thunderhawk is a drone developed by the Dronolab team at ÉTS. Utilizing ROS2 Humble, Thunderhawk is designed for advanced applications such as passenger transport and package delivery.

Work in a docker container (Preferred)

Working in a dev container will allow you to have the same environnement as the CI and make sure that your code will work on another computer. It will also allow you to easily switch package version and test things without breaking your computer.

Installation

  1. (Only for Windows Users) Install WSL2
wsl --install
wsl --install -d Ubuntu
wsl --set-default Ubuntu 22.04
  1. Install Docker Desktop
  2. (Only for Nvidia GPU Users) Install Nivida Container Toolkit and set nvidia as the default runtime by modifying the /etc/docker/daemon.json file and adding the default runtime line like so:
{
    "default-runtime": "nvidia",
    "runtimes": {
        "nvidia": {
            "args": [],
            "path": "nvidia-container-runtime"
        }
    }
}

Restart docker with this command:

systemctl --user restart docker
  1. Install Visual Studio Code
  2. Install the Dev Containers and Docker extension in VSCode
  3. Clone and open the repository (Do on WSL2 if on Windows)
git clone [email protected]:Dronolab/thunderhawk.git
cd thunderhawk
code .
  1. Import repos from thunderhawk.repos file
vcs import src < thunderhawk.repos
  1. Run the setup script before first use
sh setup.sh
  1. Click on the green button in the bottom left corner of VSCode and select "Dev Containers: Reopen in Container" or use the command palette to do it.
  2. Wait for the container to build

Suggestion: Configure docker to be able to run as non-root user https://docs.docker.com/engine/install/linux-postinstall/#manage-docker-as-a-non-root-user

Running Thunderhawk in simulation

colcon build --symlink-install
source install/setup.bash
ros2 launch _______

Adding New Packages

To add a package for Thunderhawk, create it using the ROS2 command (Creating Your First ROS2 Package). Name it starting with thunderhawk_ to ensure Git tracking. For non-Thunderhawk specific packages, create a separate repository and add it to thunderhawk.repos.

Updating Packages

Update Thunderhawk-specific packages directly in this repository. For Dronolab-related or external packages, update their references in thunderhawk.repos. Change the Git branch in thunderhawk.repos as needed and apply updates with vcs import src < rove.repos.

Potential package structure

Bringup: This essential package is responsible for initializing the drone in real-world settings. It activates all necessary subsidiary packages tailored for specific operational scenarios.

Description: This package is specifically designed for detailing the drone's structure in URDF (Unified Robot Description Format).

Gazebo: This package facilitates the simulation of the drone within the Gazebo environment, providing a virtual testing ground.

Hardware: Dedicated to initializing all sensors and actuators on the drone, this package is pivotal for operational readiness. It is specifically designed for use with the actual hardware and is not suitable for development machines.

Navigation: This is a wrapper package that integrates navigation functionalities, primarily based on the nav2 framework.

SLAM (Simultaneous Localization and Mapping): This package serves as a comprehensive wrapper for SLAM operations, incorporating tools like slam_toolbox, rtab map, and sensor filters for effective environment mapping and drone localization.