Dev tak

common/ros_packages/airstack_msgs/CMakeLists.txt

@@ -8,6 +8,7 @@ endif()
 find_package(ament_cmake REQUIRED)
 find_package(std_msgs REQUIRED)
 find_package(geometry_msgs REQUIRED)
+find_package(sensor_msgs REQUIRED)
 find_package(diagnostic_msgs REQUIRED)
 find_package(rosidl_default_generators REQUIRED)
 
@@ -22,10 +23,11 @@ rosidl_generate_interfaces(${PROJECT_NAME}
   "msg/BeliefMapData.msg"
   "msg/SearchPrior.msg"
   "msg/TaskAssignment.msg"
+  "msg/query/TextQueryResponse.msg"
   "srv/RobotCommand.srv"
   "srv/TrajectoryMode.srv"
   "srv/TakeoffLandingCommand.srv"
-  DEPENDENCIES std_msgs geometry_msgs diagnostic_msgs
+  DEPENDENCIES std_msgs geometry_msgs sensor_msgs diagnostic_msgs
 )
 
 if(BUILD_TESTING)

common/ros_packages/airstack_msgs/msg/query/TextQueryResponse.msg

@@ -0,0 +1,5 @@
+# This message type is used for the response of a text query from a robot semantic query
+
+std_msgs/Header header      # Header for the message, usually contains timestamp and frame_id
+string tag_name             # The tag associated with the query or response
+sensor_msgs/NavSatFix[] geofence  # Array of GPS fixes (NavSatFix) representing the geofence

common/ros_packages/airstack_msgs/package.xml

@@ -12,11 +12,12 @@
   <depend>std_msgs</depend>
   <depend>geometry_msgs</depend>
   <depend>diagnostic_msgs</depend>
-
+  <depend>sensor_msgs</depend>
+
   <buildtool_depend>rosidl_default_generators</buildtool_depend>
   <exec_depend>rosidl_default_runtime</exec_depend>
   <member_of_group>rosidl_interface_packages</member_of_group>
-  
+
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>
 

ground_control_station/docker/.env

@@ -20,6 +20,8 @@ TAK_SUBSCRIBER_FILEPATH=src/ros2tak_tools/scripts/tak_subscriber.py
 MQTT_USERNAME= # Enter the MQTT username
 MQTT_PASSWORD= # Enter the MQTT password
 
+# Chat interface configuration -----------------------------------------
+AI_AGENT_NAME=aerolens.ai (BOT)
 
 # GSTREAMER TO ROS NODES -----------------------------------------------
 
@@ -30,3 +32,7 @@ CAMERA1_ROS_TOPIC=/view1/image_raw
 # CAMERA 2
 CAMERA2_STREAM_IP=rtsp://
 CAMERA2_ROS_TOPIC=/view2/image_raw
+
+
+# ROS VARIABLES -------------------------------------------------------
+ROS_DOMAIN_ID=200

ground_control_station/docker/Dockerfile.ros2casevac_agent

@@ -0,0 +1,37 @@
+# Use the official ROS 2 Humble base image
+FROM ros:humble
+
+ARG ROS_WS_DIR
+
+# Set working directory
+WORKDIR ${ROS_WS_DIR}
+
+# Update and install necessary dependencies
+RUN apt-get update && apt-get install -y \
+    python3-pip \
+    ros-humble-rosbag2 \
+    ros-humble-rosbag2-storage-mcap \
+    python3-colcon-common-extensions \
+    && rm -rf /var/lib/apt/lists/*
+
+# Upgrade pip and install Python dependencies
+RUN pip3 install --upgrade pip \
+    && pip3 install setuptools==57.5.0 pytak pyyaml \
+    && pip3 install paho-mqtt
+
+# Source ROS 2 setup file to ensure environment variables are set
+# You may want to add this to ENTRYPOINT or CMD if you're working interactively
+RUN echo "source /opt/ros/humble/setup.bash" >> ~/.bashrc
+
+# COPY the agent code into the container
+COPY ground_control_station/ros_ws/src/ros2tak_tools ${ROS_WS_DIR}/src/ros2tak_tools
+COPY common/ros_packages/straps_msgs ${ROS_WS_DIR}/src/straps_msgs
+
+# Build the ROS 2 workspace
+RUN /bin/bash -c "source /opt/ros/humble/setup.bash && \
+                  colcon build --symlink-install --packages-select straps_msgs && \
+                  colcon build --symlink-install"
+
+# Source the workspace setup file to ensure environment variables are set
+RUN echo "source ${ROS_WS_DIR}/install/setup.bash" >> ~/.bashrc
+

ground_control_station/docker/docker-compose.yaml

@@ -47,3 +47,185 @@ services:
       - ../../common/ros_packages:/root/ros_ws/src/common:rw  # common ROS packages
       - ../ros_ws:/root/ros_ws:rw  # gcs-specific ROS packages
       - ../../common/ros_packages/fastdds.xml:/root/ros_ws/fastdds.xml:rw  # fastdds.xml
+
+
+  ####################### GSTREAMER TO ROS TOPICS ######################
+  # gst-ros-bridge-topic1:
+  #   container_name: "${PROJECT_NAME}-gst_ros_bridge1"
+  #   image: "${PROJECT_NAME}/gcs/gst-ros-bridge"
+  #   build:
+  #     context: .
+  #     dockerfile: Dockerfile.gst-ros-bridge
+  #   command: >
+  #     /bin/bash -c 'source /ros_ws/install/setup.bash && gst-launch-1.0 --gst-plugin-path=/ros_ws/install/gst_bridge/lib/gst_bridge/
+  #     rtspsrc location="${CAMERA1_STREAM_IP}" latency=0 !
+  #     rtph265depay ! h265parse ! avdec_h265 ! videoconvert !
+  #     rosimagesink ros-topic="${CAMERA1_ROS_TOPIC}"'
+  #   environment:
+  #     - DISPLAY=${DISPLAY}
+  #     - DOCKER_BUILDKIT=0
+  #     - CAMERA1_STREAM_IP=${CAMERA1_STREAM_IP}
+  #     - CAMERA1_ROS_TOPIC=${CAMERA1_ROS_TOPIC}
+  #   volumes:
+  #     - /tmp/.X11-unix:/tmp/.X11-unix
+  #   network_mode: host
+
+  ####################### ROS2TAK TOOLS ######################
+  ############### MQTT for the GCS
+  mqtt:
+    container_name: "mqtt"
+    image: eclipse-mosquitto:2.0.20
+    restart: always
+    volumes:
+      - ../ros_ws/src/ros2tak_tools/mosquitto/config:/mosquitto/config
+      - ../ros_ws/src/ros2tak_tools/mosquitto/data:/mosquitto/data
+      - ../ros_ws/src/ros2tak_tools/mosquitto/log:/mosquitto/log
+    env_file:
+      - .env
+    ports:
+      - "1883:1883"
+    healthcheck:
+      test: [ "CMD", "mosquitto_pub", "-h", "localhost", "-t", "healthcheck", "-m", "ping", "-u", "${MQTT_USERNAME}", "-P", "${MQTT_PASSWORD}" ]
+      interval: 5s
+      timeout: 3s
+      retries: 2
+      start_period: 5s
+    #    network_mode: host
+    networks:
+      - airstack_network
+  ################## ROS2COT_AGENT
+  ros2cot_agent:
+    build:
+      context: ../
+      dockerfile: docker/Dockerfile.ros2tak_tools
+      args:
+        - ROS_WS_DIR=${ROS_WS_DIR}
+    image: "${PROJECT_NAME}/gcs/ros2cot_agent"
+    container_name: "${PROJECT_NAME}-ros2cot_agent"
+    stdin_open: true
+    tty: true
+    restart: unless-stopped
+    environment:
+      - ROS_DOMAIN_ID=${ROS_DOMAIN_ID}
+    depends_on:
+      mqtt:
+        condition: service_healthy
+    #    network_mode: host
+    networks:
+      - airstack_network
+    command: [ "/bin/bash", "-c", "source /opt/ros/humble/setup.bash && source $ROS_WS_DIR/install/setup.bash && ./install/ros2tak_tools/bin/ros2cot_agent --config $ROS_WS_DIR/$ROS2TAK_TOOLS_CONFIG_DIR/$ROS2TAK_TOOLS_CONFIG_FILENAME" ]
+
+  # ################### TAK_PUBLISHER
+  tak_publisher:
+    build:
+      context: ../
+      dockerfile: docker/Dockerfile.tak_publisher
+      args:
+        - ROS_WS_DIR=${ROS_WS_DIR}
+    image: "${PROJECT_NAME}/gcs/tak_publisher"
+    container_name: "${PROJECT_NAME}-tak_publisher"
+    stdin_open: true
+    tty: true
+    restart: unless-stopped
+    depends_on:
+      mqtt:
+        condition: service_healthy
+    #    network_mode: host
+    networks:
+      - airstack_network
+    volumes:
+      - ../ros_ws/src/ros2tak_tools/:${ROS_WS_DIR}/src/ros2tak_tools/
+    command: [ "python3", "$TAK_PUBLISHER_FILEPATH", "--config", "$ROS2TAK_TOOLS_CONFIG_DIR/$ROS2TAK_TOOLS_CONFIG_FILENAME" ]
+  ################### TAK_SUBSCRIBER
+  tak_subscriber:
+    build:
+      context: ../
+      dockerfile: docker/Dockerfile.tak_subscriber
+      args:
+        - ROS_WS_DIR=${ROS_WS_DIR}
+    image: "${PROJECT_NAME}/gcs/tak_subscriber"
+    container_name: "${PROJECT_NAME}-tak_subscriber"
+    stdin_open: true
+    tty: true
+    restart: unless-stopped
+    depends_on:
+      mqtt:
+        condition: service_healthy
+    networks:
+      - airstack_network
+    volumes:
+      - ../ros_ws/src/ros2tak_tools/:${ROS_WS_DIR}/src/ros2tak_tools/
+    command: [ "python3", "$TAK_SUBSCRIBER_FILEPATH", "--config", "$ROS2TAK_TOOLS_CONFIG_DIR/$ROS2TAK_TOOLS_CONFIG_FILENAME" ]
+
+  ################## ROS2COT_AGENT
+  cot2planner_agent:
+    build:
+      context: ../../
+      dockerfile: ground_control_station/docker/Dockerfile.TAK
+      args:
+        - ROS_WS_DIR=${ROS_WS_DIR}
+    image: "${PROJECT_NAME}/gcs/cot2planner_agent"
+    container_name: "${PROJECT_NAME}-cot2planner_agent"
+    stdin_open: true
+    tty: true
+    restart: unless-stopped
+    depends_on:
+      mqtt:
+        condition: service_healthy
+    networks:
+      - airstack_network
+    command: [ "/bin/bash", "-c", "source /opt/ros/humble/setup.bash && source $ROS_WS_DIR/install/setup.bash && ./install/ros2tak_tools/bin/cot2planner_agent --config $ROS_WS_DIR/$ROS2TAK_TOOLS_CONFIG_DIR/$ROS2TAK_TOOLS_CONFIG_FILENAME" ]
+
+  # ################## ROS2COT_AGENT
+  ros2casevac_agent:
+    build:
+      context: ../../
+      dockerfile: ground_control_station/docker/Dockerfile.ros2casevac_agent
+      args:
+        - ROS_WS_DIR=${ROS_WS_DIR}
+    image: "${PROJECT_NAME}/gcs/ros2casevac_agent"
+    container_name: "${PROJECT_NAME}-ros2casevac_agent"
+    stdin_open: true
+    tty: true
+    restart: unless-stopped
+    depends_on:
+      mqtt:
+        condition: service_healthy
+    environment:
+      - ROS_WS_DIR=${ROS_WS_DIR}
+      - ROS_DOMAIN_ID=${ROS_DOMAIN_ID}
+    working_dir: $ROS_WS_DIR
+    #    network_mode: host
+    networks:
+      - airstack_network
+    command: [ "/bin/bash", "-c", "source /opt/ros/humble/setup.bash && source $ROS_WS_DIR/install/setup.bash && ./install/ros2tak_tools/bin/ros2casevac_agent --config $ROS_WS_DIR/$ROS2TAK_TOOLS_CONFIG_DIR/$ROS2TAK_TOOLS_CONFIG_FILENAME" ]
+
+  # ################## GCS_AI_AGENT
+  gcs_ai_agent:
+    build:
+      context: ../../
+      dockerfile: ground_control_station/docker/Dockerfile.TAK
+      args:
+        - ROS_WS_DIR=${ROS_WS_DIR}
+    image: "${PROJECT_NAME}/gcs/gcs_ai_agent"
+    container_name: "${PROJECT_NAME}-gcs_ai_agent"
+    stdin_open: true
+    tty: true
+    restart: unless-stopped
+    environment:
+      - ROS_DOMAIN_ID=${ROS_DOMAIN_ID}
+      - AI_AGENT_NAME=${AI_AGENT_NAME}
+      - PROJECT_NAME=${PROJECT_NAME}
+    depends_on:
+      mqtt:
+        condition: service_healthy
+    #    network_mode: host
+    networks:
+      - airstack_network
+    command: [ "/bin/bash", "-c", "source /opt/ros/humble/setup.bash && source $ROS_WS_DIR/install/setup.bash && ./install/ros2tak_tools/bin/chat2ros_agent --config $ROS_WS_DIR/$ROS2TAK_TOOLS_CONFIG_DIR/$ROS2TAK_TOOLS_CONFIG_FILENAME" ]
+
+
+  ########### NETWORKS ###########
+networks:
+  airstack_network:
+    driver: bridge

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

@@ -72,29 +72,46 @@ services:
       # 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.
 
+    chat2ros_agent:
+      mqtt_subcribe_topic: dsta-operator  # Topic name at MQTT for the subscriber service that sends COT messages subscribed from the TAK server.
+      ros_query_text_topic: '/query/text'  # ROS Topic name to publish the chat queries.
+      ros_query_response_topic: '/query/response'  # ROS Topic name to publish the chat responses.
+      filter_name: dsta-operator
+
+    ros2casevac_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: to_tak # MQTT topic name to send the COT messages to.
+      ros_casualty_meta_topic_name: '/casualty/meta' # ROS Topic name to publish the casevac messages.
+      ros_casualty_image_topic_name: '/casualty/image' # ROS message type for the casevac messages.
+
   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.
+        - 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: dsta-operator  # Topic name at MQTT for the subscriber service that sends COT messages subscribed from the TAK server.
+        - name: 'dsta-operator'
+          ros_topic_name: 'NA'  # ROS Topic name to publish the shapes messages.
+          ros_msg_type: NA  # ROS message type for the shapes messages.
+          mqtt_topic_name: dsta-operator  # Topic name at MQTT for the subscriber service that sends COT messages subscribed from the TAK server.
       # target: Target messages
       # planner: Planner messages

ground_control_station/ros_ws/src/ros2tak_tools/ros2tak_tools.egg-info/PKG-INFO

@@ -0,0 +1,8 @@
+Metadata-Version: 2.1
+Name: ros2tak_tools
+Version: 0.0.0
+Summary: TODO: Package description
+Maintainer: mission-operator
+Maintainer-email: [email protected]
+License: TODO: License declaration
+Requires-Dist: setuptools