Integrates local planner with random walk. Still need to tune parameters, but it runs.

.vscode/c_cpp_properties.json

@@ -6,31 +6,31 @@
         "limitSymbolsToIncludedHeaders": false
       },
       "includePath": [
-        "/root/AirStack/ros_ws/install/vdb_mapping_interfaces/include/**",
-        "/root/AirStack/ros_ws/install/trajectory_library/include/**",
-        "/root/AirStack/ros_ws/install/mavros_interface/include/**",
-        "/root/AirStack/ros_ws/install/robot_interface/include/**",
-        "/root/AirStack/ros_ws/install/px4_msgs/include/**",
-        "/root/AirStack/ros_ws/install/mav_system_msgs/include/**",
-        "/root/AirStack/ros_ws/install/mav_state_machine_msgs/include/**",
-        "/root/AirStack/ros_ws/install/mav_planning_msgs/include/**",
-        "/root/AirStack/ros_ws/install/mav_msgs/include/**",
-        "/root/AirStack/ros_ws/install/disparity_map_representation/include/**",
-        "/root/AirStack/ros_ws/install/map_representation_interface/include/**",
-        "/root/AirStack/ros_ws/install/disparity_graph/include/**",
-        "/root/AirStack/ros_ws/install/behavior_tree/include/**",
-        "/root/AirStack/ros_ws/install/behavior_tree_msgs/include/**",
-        "/root/AirStack/ros_ws/install/airstack_common/include/**",
-        "/root/AirStack/ros_ws/install/airstack_msgs/include/**",
+        "${workspaceFolder}/ros_ws/install/vdb_mapping_interfaces/include/**",
+        "${workspaceFolder}/ros_ws/install/trajectory_library/include/**",
+        "${workspaceFolder}/ros_ws/install/mavros_interface/include/**",
+        "${workspaceFolder}/ros_ws/install/robot_interface/include/**",
+        "${workspaceFolder}/ros_ws/install/px4_msgs/include/**",
+        "${workspaceFolder}/ros_ws/install/mav_system_msgs/include/**",
+        "${workspaceFolder}/ros_ws/install/mav_state_machine_msgs/include/**",
+        "${workspaceFolder}/ros_ws/install/mav_planning_msgs/include/**",
+        "${workspaceFolder}/ros_ws/install/mav_msgs/include/**",
+        "${workspaceFolder}/ros_ws/install/disparity_map_representation/include/**",
+        "${workspaceFolder}/ros_ws/install/map_representation_interface/include/**",
+        "${workspaceFolder}/ros_ws/install/disparity_graph/include/**",
+        "${workspaceFolder}/ros_ws/install/behavior_tree/include/**",
+        "${workspaceFolder}/ros_ws/install/behavior_tree_msgs/include/**",
+        "${workspaceFolder}/ros_ws/install/airstack_common/include/**",
+        "${workspaceFolder}/ros_ws/install/airstack_msgs/include/**",
+        "${workspaceFolder}/ros_ws/src/**",
         "/opt/ros/humble/include/**",
-        "/usr/include/**",
-        "/root/AirStack/ros_ws/src/**"
+        "/usr/include/**"
       ],
       "name": "ROS",
       "intelliSenseMode": "gcc-x64",
       "compilerPath": "/usr/bin/gcc",
       "cStandard": "gnu11",
-      "cppStandard": "c++14"
+      "cppStandard": "c++17"
     }
   ],
   "version": 4

.vscode/extensions.json

@@ -4,6 +4,10 @@
         "ms-iot.vscode-ros",
         "ms-vscode-remote.remote-ssh",
         "ms-python.python",
-        "ms-vscode-remote.remote-containers"
+        "ms-vscode-remote.remote-containers",
+        "redhat.vscode-xml",
+        "dotjoshjohnson.xml",
+        "ms-vscode.cmake-tools",
+        "cschlosser.doxdocgen"
     ]
 }

.vscode/launch.json

@@ -2,9 +2,10 @@
   "version": "0.2.0",
   "configurations": [
     {
-      "name": "ROS2: Launch robot.launch.py",
+      "name": "ROS2: Launch robot.launch.xml",
       "type": "ros",
       "request": "launch",
+      // "preLaunchTask": "build ros_ws debug",
       "target": "${workspaceFolder}/ros_ws/install/robot_bringup/share/robot_bringup/launch/robot.launch.xml",
     }
   ]

.vscode/settings.json

@@ -14,6 +14,7 @@
     "**/install": true,
     "**/log": true
   },
+  "C_Cpp.errorSquiggles": "enabled",
   // ISAAC SIM
   "python.analysis.extraPaths": [
     "~/.local/share/ov/pkg/isaac-sim-4.0.0/exts/omni.exporter.urdf",
@@ -820,8 +821,9 @@
     "stop_token": "cpp",
     "cfenv": "cpp",
     "typeindex": "cpp",
-    "valarray": "cpp"
+    "valarray": "cpp",
+    "*.ipp": "cpp"
   },
   "C_Cpp.clang_format_fallbackStyle": "{ BasedOnStyle: Google, IndentWidth: 4, ColumnLimit: 100 }",
   "editor.formatOnSave": true
-}
+}

.vscode/tasks.json

@@ -2,7 +2,7 @@
   "version": "2.0.0",
   "tasks": [
     {
-      "label": "build ros_ws",
+      "label": "build ros_ws debug",
       "type": "shell",
       "options": {
         "cwd": "${workspaceFolder}/ros_ws"

docker/Dockerfile.isaac-ros

@@ -65,6 +65,9 @@ RUN cd /tmp/ && \
 # copy over the AscentAeroSystemsSITLPackage
 COPY docker/isaac-sim/AscentAeroSystemsSITLPackage /AscentAeroSystemsSITLPackage
 
+# the user.config.json file specifies to auto load the SITL extensions
+COPY docker/isaac-sim/user.config.json /root/.local/share/ov/data/Kit/Isaac-Sim/4.1/user.config.json
+
 COPY ros_ws/fastdds.xml /isaac-sim/fastdds.xml
 
 # Cleanup. Prevent people accidentally doing git commits as root in Docker

docker/docker-compose.yaml

@@ -2,7 +2,7 @@
 services:
   # ==============================================================================
   isaac-sim:
-    image: &isaac-sim-image airlab-storage.andrew.cmu.edu:5001/shared/isaac-sim_ros-humble:v1.0.1
+    image: &isaac-sim-image airlab-storage.andrew.cmu.edu:5001/shared/isaac-sim_ros-humble:v1.0.2
     build:
       context: ../
       dockerfile: docker/Dockerfile.isaac-ros

docker/extras/drag_and_drop/ascent_sitl.yaml

@@ -12,10 +12,21 @@ windows:
         - echo $AUTONOMY_STACK_PORT
         - mavproxy.py --streamrate=100 --master tcp:127.0.0.1:$BASE_PORT --out udp:127.0.0.1:$ASCENT_SITL_PORT --out udp:127.0.0.1:$ISAAC_SIM_PORT --out udp:127.0.0.1:$AUTONOMY_STACK_PORT
       - shell_command:
-        - sleep 5
+        # - sleep 5
         - export ROS_DOMAIN_ID=$DOMAIN_ID
-        - ros2 launch mavros apm.launch fcu_url:="udp://127.0.0.1:$AUTONOMY_STACK_PORT@$MAVROS_LAUNCH_PORT" namespace:=$NAMESPACE/interface/mavros
-      - shell_command:
-        - sleep 7
-        - export ROS_DOMAIN_ID=$DOMAIN_ID
-        - ros2 param set $NAMESPACE/interface/mavros/mavros use_sim_time true
+        # - ros2 launch mavros apm.launch fcu_url:="udp://127.0.0.1:$AUTONOMY_STACK_PORT@$MAVROS_LAUNCH_PORT" namespace:=$NAMESPACE/interface/mavros --ros-args -p use_sim_time:=true
+        - >
+          ros2 run mavros mavros_node 
+          --ros-args 
+          -r __ns:=/$NAMESPACE/interface/mavros 
+          -p fcu_url:="udp://127.0.0.1:$AUTONOMY_STACK_PORT@$MAVROS_LAUNCH_PORT" 
+          -p tgt_system:=1 
+          -p tgt_component:=1 
+          -p fcu_protocol:=v2.0
+          --params-file $(ros2 pkg prefix mavros)/share/mavros/launch/apm_pluginlists.yaml
+          --params-file $(ros2 pkg prefix mavros)/share/mavros/launch/apm_config.yaml
+          -p use_sim_time:=true
+      # - shell_command:
+      #   - sleep 7
+      #   - export ROS_DOMAIN_ID=$DOMAIN_ID
+      #   - ros2 param set $NAMESPACE/interface/mavros/mavros use_sim_time true

docker/extras/kit-app-template/source/extensions/airlab.tmux_manager/airlab/tmux_manager/extension.py

@@ -217,8 +217,16 @@ def on_startup(self, ext_id):
                     ui.Spacer(height=5)
                     self.sessions_stack = ui.VStack()
         #'''
-
         self.sessions_dict = {}
+
+        self.play_listener = self.timeline.get_timeline_event_stream().create_subscription_to_pop_by_type(
+            int(omni.timeline.TimelineEventType.PLAY), self.refresh_tmux_sessions)
+        self.pause_listener = self.timeline.get_timeline_event_stream().create_subscription_to_pop_by_type(
+            int(omni.timeline.TimelineEventType.PAUSE), self.refresh_tmux_sessions)
+        self.stop_listener = self.timeline.get_timeline_event_stream().create_subscription_to_pop_by_type(
+            int(omni.timeline.TimelineEventType.STOP), self.refresh_tmux_sessions)
+
+        self.refresh_tmux_sessions()
 
         '''
         with self.window.frame:
@@ -291,4 +299,5 @@ def kill():
             del self.sessions_dict[k]
 
     def on_shutdown(self):
+        self.refresh_tmux_sessions()
         print("[airlab.tmux_manager] Extension shutdown")