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.

Package setup

mkdir -p ~/ros2_ws/src
cd ~/ros2_ws/src
git clone https://github.com/itskalvik/ros_sgp_tools.git
cd ros_sgp_tools
python3 -m pip install -r requirements.txt
cd ~/ros2_ws
rosdep install --from-paths src --ignore-src -y
colcon build --symlink-install
source ~/ros2_ws/install/setup.bash

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

Run the following commands in separate terminals:

• Launch Gazebo with the Blue Robotics BlueBoat ASV:

  gz sim -v4 -r blueboat_waves.sdf
  

• Launch ArduPilot SITL:

  sim_vehicle.py -v Rover -f rover-skid --model JSON --console --map -N -L RATBeach
  

  Note:

  • Ensure the MAV Console shows AHRS and GPS in green before running the next command
  • Ensure the MAV Map shows the vehicle before running the next command
  • Restart sim_vechile.py if you get the following message: paramftp: bad count

• 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 install the following packages to configure the development envirnoment on your local machine:

• ROS 2 Humble
• Gazebo Garden
• ArduPilot SITL
• ardupilot_gazebo
• Wave Sim
• SITL_Models repo