Ground control station TAK related files (#116)

* Init ros2tak tools under ground_control_station

* redacting

* redacting

---------

Co-authored-by: Andrew Jong <[email protected]>

.gitignore

@@ -55,6 +55,8 @@ COLCON_IGNORE
 frames_*.gv
 frames_*.pdf
 
+.idea/
+*.code-workspace
 
 nucleus_token.txt
 

ros_ws/.gitignore

@@ -1,3 +1,4 @@
 build/
 install/
 log/
+/src/ground_control_station/ros2tak_tools/creds/

ros_ws/src/ground_control_station/ros2tak_tools/.env

@@ -0,0 +1,13 @@
+PROJECT_NAME=PROJECT_NAME
+ROS2_WS_PATH=~/ground_control_station/ros_ws
+
+CONFIG_PATH=src/ros2tak_tools/config/config.yaml
+
+TAK_PUBLISHER_FILE_PATH=src/ros2tak_tools/scripts/tak_publisher.py
+TAK_SUBSCRIBER_FILE_PATH=src/ros2tak_tools/scripts/tak_subscriber.py
+
+ROS2_AGENT_PORT=1883
+TAK_PUBLISHER_PORT=1883
+
+MQTT_USERNAME = airlab
+MQTT_PASSWORD = # Enter your password here

ros_ws/src/ground_control_station/ros2tak_tools/README.md

@@ -0,0 +1,11 @@
+# TAK Tools ROS 2 Package
+
+`ros2tak_tools` is a ROS 2 package designed for integrating TAK (Tactical Assault Kit) functionalities within ROS 2. It includes tools for publishing and subscribing to Cursor-On-Target (CoT) events, interfacing with TAK servers, and setting up search and rescue missions.
+
+
+## Features
+- **ROS 2 to TAK Communication**: Send ROS 2 messages to TAK using CoT events.
+- **CoT to ROS 2 Communication**: Receive CoT events from TAK and publish as ROS 2 messages.
+- **Mission Planning**: Custom tools to create and manage search missions using CoT and ROS.
+
+

ros_ws/src/ground_control_station/ros2tak_tools/config/config.yaml

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+# Configuration for the Basestation Syetem interacting ROS and TAK server. 
+
+# Preliminary: 
+# Tak-server: Server that receives CoT messages and sends them to the TAK clients (e.g., ATAK, WinTAK, etc.)
+# COT (Cursor on Target) message: A message format used by TAK clients to share location and other information with/without Tak-server.
+
+# Instructions: 
+# (1) Please read the comments in the configuration file to understand the configuration parameters.
+# (2) The confguration key names are case-sensitive. Please use the same key names as mentioned in the comments.
+
+# Maintainer: Aditya Rauniyar ([email protected])
+
+
+project: 
+  name: Airstack # Name of the project. This will be used to name the services.
+
+robot:
+  count: 6  # Number of robots to subscribe to (e.g., 1 for robot1, 2 for robot2 and robot3, etc.)
+  gps_topicname: '/iphone{n}/gps'  # Topic name pattern for GPS data. Use {n} as a placeholder for the robot number.
+
+trackers:
+  - name: 'base' # Note stable GPS reading 
+    ip: '10.223.132.129'
+    input_port: 2947
+  - name: 'target1'
+    ip: '10.223.132.61'
+    input_port: 2947
+  - name: 'target2' # Name of the tracker. This can be the target or the robot streaming GPS data.
+    ip: '10.223.118.110' # IP address of the tracker. (Testing using Doodle labs mesh rider)
+    input_port: 2947 # Port of the Radio link to receive GPS data.
+  - name: 'target3' # NOTE: Stable GPS reading 
+    ip: '10.223.118.94'
+    input_port: 2947
+  - name: 'drone2'
+    ip: '10.4.1.20'
+    input_port: 2947
+
+
+tak_server:
+  cot_url:  # URL for the TAK server where CoT events are sent.
+  pytak_tls_client_cert:   # Path to the client certificate for TLS connection.
+  pytak_tls_client_key:   # Path to the client key for TLS connection.
+
+
+mqtt:
+  host: mqtt # TODO: This should be set as container name for MQTT Docker
+  port: 1883
+  username: airlab
+  password: # Enter your password here
+
+services:
+  host:  '127.0.0.1'  # Host settings can be specified here (e.g., localhost or specific IP address).
+
+  # NOTE: 
+  # (1) The publishers and subscribers are in reference to the TAK server.
+  # (2) The name of the service would be in the format of <project_name>_<service_name> (e.g., dsta_tak_publisher).
+  publisher:
+    tak_publisher:
+      # this serivce is used to publish CoT messages from HOSTIP:PORT to the TAK server.
+      topic_name: to_tak 
+
+  mediator:
+    ros2cot_agent:
+      # this service is used to generate COT messages from ROS messages and send them to HOSTIP:PORT.
+      topic_name: to_tak
+    cot2ros_agent:
+      # this service is used to generate ROS messages from HOSTIP:PORT to ROS topics. 
+      # TAK_Subscriber (below) service has more information on the ROS topics.
+      topic_name: from_tak  # Port for the ROS publisher service.
+    cot2planner_agent:
+      # this service is used to generate ROS messages from HOSTIP:PORT to ROS topics. 
+      # TAK_Subscriber (below) service has more information on the ROS topics.
+      topic_name: planner_events # Topic name at MQTT for the subscriber service that sends COT messages subscribed from the TAK server.
+
+  subscriber:
+    tak_subscriber:
+      # this service is used to subscribe to CoT messages from TAK server and send them to HOSTIP:PORT.
+      filter_messages: # Type of messages to subscribe to. Options:
+      - name: 'target'
+        # ROS Topic name to publish the target messages. Use {n} as a placeholder for the robot number. 
+        # If provided, the topic name will be formatted with the robot number extracted from the message name.
+        ros_topic_name: '/target{n}/gps/gt'  
+        ros_msg_type: NavSatFix  # ROS message type for the target messages.
+        mqtt_topic_name: target_from_tak  # Topic name at MQTT for the subscriber service that sends COT messages subscribed from the TAK server.
+      - name: 'iphone'
+        # ROS Topic name to publish the target messages. Use {n} as a placeholder for the robot number. 
+        # If provided, the topic name will be formatted with the robot number extracted from the message name.
+        ros_topic_name: '/iphone{n}/gps/gt'  
+        ros_msg_type: NavSatFix  # ROS message type for the target messages.
+        mqtt_topic_name: iphone_from_tak  # Topic name at MQTT for the subscriber service that sends COT messages subscribed from the TAK server.
+      - name: 'base'
+        ros_topic_name: '/basestation/gps'  
+        ros_msg_type: NavSatFix  # ROS message type for the target messages.
+        mqtt_topic_name: base_from_tak  # Topic name at MQTT for the subscriber service that sends COT messages subscribed from the TAK server.
+      - name: 'planner'
+        ros_topic_name: '/planner/planconfig'  # ROS Topic name to publish the shapes messages.
+        ros_msg_type: MarkerArray  # ROS message type for the shapes messages.
+        mqtt_topic_name: planner_events  # Topic name at MQTT for the subscriber service that sends COT messages subscribed from the TAK server.
+      # target: Target messages
+      # planner: Planner messages

ros_ws/src/ground_control_station/ros2tak_tools/docker-compose.yaml

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+# Instructions: 
+
+# Build: docker-compose build --no-cache
+# Run as interactive mode:  docker run -it --rm tak_tools_ros2cot_agent /bin/bash
+
+version: '3.8'
+
+
+services:
+################### MQTT
+  mqtt:
+    container_name: "mqtt"
+    image: eclipse-mosquitto:2.0.20
+    restart: always
+    volumes:
+      - ./mosquitto/config:/mosquitto/config
+      - ./mosquitto/data:/mosquitto/data
+      - ./mosquitto/log:/mosquitto/log
+    ports:
+      - "1883:1883"
+      - "9001:9001"
+    healthcheck:
+      test: ["CMD", "mosquitto_pub", "-h", "localhost", "-t", "healthcheck", "-m", "ping", "-u", "${MQTT_USERNAME}", "-P", "${MQTT_PASSWORD}"]
+      interval: 5s
+      timeout: 3s
+      retries: 2
+      start_period: 5s
+    networks:
+      - basestation-network
+
+################## ROS2COT_AGENT 
+  ros2cot_agent:
+    build:
+      context: ../
+      dockerfile: ros2tak_tools/ros2tak_tools/Dockerfile.ros2cot_agent
+    container_name: "${PROJECT_NAME}_ros2cot_agent"
+    volumes: 
+      - ./config:/home/mission-operator/ros2_ws/src/ros2tak_tools/config
+    stdin_open: true
+    tty: true
+    restart: unless-stopped
+    env_file:
+      - .env
+    depends_on:
+      mqtt:
+        condition: service_healthy
+    networks:
+      - basestation-network
+    command: ["/bin/bash", "-c", "source /opt/ros/humble/setup.bash && source /home/mission-operator/ros2_ws/install/setup.bash && ros2 run ros2tak_tools ros2cot_agent --config $CONFIG_PATH"]
+
+# ################### TAK_PUBLISHER
+  tak_publisher:
+    build:
+      context: ../
+      dockerfile: ros2tak_tools/scripts/Dockerfile.tak_publisher
+    container_name: "${PROJECT_NAME}_tak_publisher"
+    volumes: 
+      - ./config:/home/mission-operator/ros2_ws/src/ros2tak_tools/config
+      - ./scripts:/home/mission-operator/ros2_ws/src/ros2tak_tools/scripts
+    stdin_open: true
+    tty: true
+    restart: unless-stopped
+    env_file:
+      - .env
+    depends_on:
+      mqtt:
+        condition: service_healthy
+    networks:
+      - basestation-network
+    command: ["python3", "$TAK_PUBLISHER_FILE_PATH", "--config", "$CONFIG_PATH"]
+
+################### TAK_SUBSCRIBER
+  tak_subscriber:
+    build:
+      context: ../
+      dockerfile: ros2tak_tools/scripts/Dockerfile.tak_subscriber
+    container_name: "${PROJECT_NAME}_tak_subscriber"
+    volumes: 
+      - ./config:/home/mission-operator/ros2_ws/src/ros2tak_tools/config
+      - ./scripts:/home/mission-operator/ros2_ws/src/ros2tak_tools/scripts
+    stdin_open: true
+    tty: true
+    restart: unless-stopped
+    env_file:
+      - .env
+    depends_on:
+      mqtt:
+        condition: service_healthy
+    networks:
+      - basestation-network
+    command: ["python3", "$TAK_SUBSCRIBER_FILE_PATH", "--config", "$CONFIG_PATH"]
+
+
+########### NETWORKS ###########
+networks:
+  basestation-network:
+    driver: bridge 
+