* Attempt to clean up

* Add config and launch for droan

* fixed parameter exception and set map representation to disaprity

* fixed pluginlib not finding disparity map representation

* Clear ament_cmake_prefix and cmake_prefix on cws

* Rename core_map_representation_interface --> map_representation_interface

* Add unused mav_msgs dependency

* removed virtual destructor

* Remove old commet

* Rename .h to .hpp

---------

Co-authored-by: John Keller <[email protected]>

* Reorganize folders

* Move vdb_mapping

* Add zed-ros2-wrapper as submodule

* adding random walk files

* changing random walk folder name

* Format

* Clean droan (#32)

* Attempt to clean up

* Add config and launch for droan

* fixed parameter exception and set map representation to disaprity

* fixed pluginlib not finding disparity map representation

* Clear ament_cmake_prefix and cmake_prefix on cws

* Rename core_map_representation_interface --> map_representation_interface

* Add unused mav_msgs dependency

* removed virtual destructor

* Remove old commet

* Rename .h to .hpp

---------

Co-authored-by: John Keller <[email protected]>

* Reorganize folder structure (#33)

* Reorganize folders

* Move vdb_mapping

* Add zed-ros2-wrapper as submodule

* move trajectory library to local/planners (#34)

* Add a colcon ignore to sensors for now

* rearranging random_walk folder location

* random walker cmake and package.xml fixed

* buildable random walk

* fixing some include errors and definitions that was stopping build

* node can spin up but generating straight path takes forever

* working naive random walk planner

---------

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

* implemented ascent omnigraph node

* Add missing folder

---------

Co-authored-by: John Keller <[email protected]>

* add nucleus token; add ROS localhost only so don't interfere other desktops

* Update nucleus server to new airlab one

* Construction usd updates with sensors

…39)

* Updated dockerfile to copy simulation directly into docker image, updating docker compose to refer to images on server, updated documentation to reflect that you don't have to build the docker image and can just pull it

* Updating docker compose to refer to images on server, updated documentation to reflect that you don't have to build the docker image and can just pull it

* added environment info

* Proper docker compose now

* Add .gitignore for omni_pass.env file

* Update with Basti's instructions

* Update dockerfiles and docs

* Delete deprecated simulation/ folder

* use net=host

* oops net=host doesn't work with dynamic robots

* Fix ros2 with isaac sim. make isaac launch not by default with the main command

* Change isaac to use installed ros2 humble instead of built-in one

* Sadly: isaac sim REQUIRES network=host to launch from docker. Sadly, this means our robots need to also network=host and we must hardcode our docker compose

* Add ROS_LOCALHOST_ONLY=1; confirmed works through docker when network=host

* fix docker warnings

* Change path to use ros_ws under /root/AirStack/ros_ws

* Add stereo-image-proc, image-view

* Add isaacsim ros2 package, add entrypoint

* Change docker compose so that it just launches the containers with bash

* got ascent sitl working in isaacsim

* Updated, now works with with --scale and separate containers per robot

- Isaac can run headless in a container
- robots can run in separate containers, each with their own hostname and ROS_DOMAIN_ID
- all containers live on the private docker network, isolated from host
- Can connect to Isaac GUI via Omniverse Streaming client
- ROS communicates properly between all the containers
- connects successfully to nucleus

* reverted omni_pass

* Change the file to TEMPLATE so that the actual one isn't commited

* updated so guis work in docker

* Enable ssh into docker containers

* Add docs on network

* running mavros in isaacsim container, robot launch files moved to robot_bringup

* Update docs

* Delete deprecated central/folder, organize

---------

Co-authored-by: Sebastian Scherer <[email protected]>
Co-authored-by: John Keller <[email protected]>

* Update docs move robot with video

* Update docs

* welcome page, boilerplate

* Delete unused px4_ros_com

* Change overview.md to index.md

* Add behavior tree docs

* Add initial msgs for search and track request and assignment

* Update cmakelist to build msgs for mission managing

* [mission_manager] package boilplate created and built

* [MissionManager] node subscribers and publishers defined with stub functions

* [mission_manager] restructure node

* [mission_manager] create new classes for BeliefMap and MissionManager and refactor

* Add min and max z to keep out zones. Uint8->unint32 on task assignment

* [mission_manager] add check for if number of active agents changes

* [mission_manager] removed local Dockerfile

* added airstack_msgs to mission_manager package.xml

---------

Co-authored-by: John Keller <[email protected]>

* Delete deprecated extension

* Rename to better reflect purpose

* Organize launches into bringup packages with namespacing

* Unify launch files format

* Fix launch paths

* Remove zed-ros2-wrapper submodule for now

* Move out robot_interface stuff

* Nominally fix all topic subscriptions under new organization

* Nominally open the spirit uav USD from nucleus by default, so that it automatically connects

* Remove hard coded global topics from source files; instead, use remap in launch files

* Update tf_relay to have easy launch file

* Move tf_relay to robot/autonomy/0_interface

* Change topic namespacing organization to be based on node name

* Remove old file

* Update SITL mavros to publish to ROBOT_NAME/interface/mavros

* Update mesh path for propeller

* Remap services

* Update topic for image

* Remove scratch file

* Resolve error by adding apt update

* Fix mismatched topics

* Enable pass colcon args to bws

* Autoformat

* Add topictools to dockerfile

* Add more comment

* Replace tf_relay with topic_tools relay

* Rename variable and make print statements nicer

* Move odometry_conversion to autonomy.launch

* Remove robot name from TFs

* Remove no longer used static tf publishers

* Shut up rviz, only print error messages

* Fix ns error when waypoints size = 0

* Clarify variable name

* Fix flickering bug with Isaac, make markers set time 0.3 seconds earlier

* Add transform from map_FLU to map (ENU)

* Simplify odometry_conversion launch to only necessary parameters

* Fix bug, properly enable use_sim_time true for mavros

* updated rviz config

---------

Co-authored-by: John Keller <[email protected]>

* Fix propeller not rotating bug

* Factor out static transforms to separate launch file

* Make code cleaner

* Add lidar, vdbmap, and depth map to rviz

* I think this converts NED to FLU but not sure

* Delete old .usd files

* Update rviz again

* Update rviz lidar color to match debug color

* Bring vdb_params to global launch

* Make drones reset position when sim stopped

* Make RViz2 respawn, because sometimes VDB Mapping crashes it when TFs aren't yet initialized

… visualized in rviz, and task publisher added. (#69)

* Add stump function for checking for target changes

* Created framework and logic for the assign_tasks member function. Returns array of task msgs

* Add function to publish tasks for active agents

* Add publisher for the search map

* Fix issues in task publisher

* Add mission_manager launch file

* Add reset_map for belief map

* Add example search mission request and node. belief map visualized.

* Add ros-humble-grid-map to dockerfile

* Add grid_map to package.xml of mission_manager

* Make wait a bit longer to set mavros sim time to ensure node is up

* Fix map_FLU-->map static tf

* Update docs for global planning

* Remove no longer needed package tf_relay

* Move odometry_conversion package to robot_interface

* Update robot interface docs

* Organize Robot docs