TII Multi-Drone Simulation Environment

Submission

To write your solutions, fork this repository.

This repository consists of 4 docker containers and several source directories.

• auav_f22_sim: Simulation with ignition Gazebo Fortress.
• auav_f22_gcs: QGroundControl: Runs ground station.
• auav_f22_px4: PX4 Autopilot: This should match the Firmware on your drone (v1.12.3) do not change.
• auav_f22_onboard: Onboard computer running ROS, add your code here. It should directly deploy to the real drone. Try to keep the image small, it must be < 20G.

The source directories: sim/ws/src, onboard/ws/src are mounted inside the docker images. This allows for rapid development. We recommend that you do all git version control commands on your host machine.

Safety Requirements

• Your control code should never arm the vehicle or switch the mode during the competition.
• A manual pilot will set the mode switch and arm your vehicle.
• You must demonstrate kill switch functionality for your vehicle. You can test out these safety procedures by manually setting the mode and arming in QGroundControl.

Hardware Requirements

• Ubuntu 22.04 host computer
• NVidia graphics card

This repository uses docker and docker compose:

• https://docs.docker.com/desktop/install/ubuntu/

Docker now natively supports NVidia GPUs. We have tested docker with the following drivers:

sudo apt install nvidia-driver-515 libnvidia-gl-515-server

Docker Images

This repository consists of 4 docker containers and several source directories.

• auav_f22_sim: Simulation with ignition Gazebo Fortress.
• auav_f22_gcs: QGroundControl: Runs ground station.
• auav_f22_px4: PX4 Autopilot: This should match the Firmware on your drone (v1.12.3) do not change.
• auav_f22_onboard: Onboard computer running ROS, made modifications here.

Clone git submodules

Before you can build the PX4 Firmware, you will need to clone the submodule. Recursive clone is not necessary here as the PX4 makefile automatically handles this.

git submodule update --init

Pull

You do not need to build the images. You can download them from dockerhub with the pull command.

docker compose pull

Run

To start the simulation, run the following command:

docker compose up

Build

If you need to rebuild the docker images, you can run:

docker compose build

Connect to Running Container

If you want to login to a running container you can use. Note that we are starting all containers using terminator, and you can split the window to get a new console.

docker compose exec onboard bash