TAK related files for GCS: Dev and refactoring

ground_control_station/docker/.env

@@ -0,0 +1,21 @@
+PROJECT_NAME= GCS # Enter the project name
+
+
+# ROS --------------------------------------------------------
+ROS_WS_DIR=/root/ros_ws
+
+
+
+
+
+# ROS2TAK_TOOLS --------------------------------------------------------
+
+# NOTE: Update the config file
+ROS2TAK_TOOLS_CONFIG_DIR=src/ros2tak_tools/config
+ROS2TAK_TOOLS_CONFIG_FILENAME=config.yaml
+
+TAK_PUBLISHER_FILEPATH=src/ros2tak_tools/scripts/tak_publisher.py
+TAK_SUBSCRIBER_FILEPATH=src/ros2tak_tools/scripts/tak_subscriber.py
+
+MQTT_USERNAME= # Enter the MQTT username
+MQTT_PASSWORD= # Enter the MQTT password

ground_control_station/docker/Dockerfile.cot2planner_agent

@@ -0,0 +1,34 @@
+# Base image with ROS2 Humble
+# Base image with ROS2 Humble
+FROM ros:humble
+
+ARG ROS_WS_DIR
+
+# Set working directory
+WORKDIR ${ROS_WS_DIR}
+
+# Install necessary dependencies
+RUN apt-get update && apt-get install -y \
+    python3-colcon-common-extensions \
+    ros-humble-ros2cli \
+    python3-pip \
+    libglib2.0-dev && \
+    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
+
+# Copy the local 'ros2tak_tools' directory into the container
+COPY ground_control_station/ros_ws/src/ros2tak_tools ${ROS_WS_DIR}/src/ros2tak_tools
+
+# Copy the common airstack ros_package into the container
+COPY common/ros_packages/airstack_msgs ${ROS_WS_DIR}/src/airstack_msgs
+
+# Build the ROS2 workspace
+RUN /bin/bash -c "source /opt/ros/humble/setup.bash && \
+                  colcon build --symlink-install --packages-select airstack_msgs && \
+                  colcon build --symlink-install"
+
+

ground_control_station/ros_ws/src/ros2tak_tools/ros2tak_tools/Dockerfile.ros2cot_agent → ground_control_station/docker/Dockerfile.ros2cot_agent

@@ -2,8 +2,10 @@
 # Base image with ROS2 Humble
 FROM ros:humble
 
+ARG ROS_WS_DIR
+
 # Set working directory
-WORKDIR /home/mission-operator/ros2_ws
+WORKDIR ${ROS_WS_DIR}
 
 # Install necessary dependencies
 RUN apt-get update && apt-get install -y \
@@ -19,13 +21,10 @@ RUN pip3 install --upgrade pip \
     && pip3 install paho-mqtt
 
 # Copy the local 'ros2tak_tools' directory into the container
-COPY ../../ros2tak_tools /home/mission-operator/ros2_ws/src/ros2tak_tools
+COPY /ros_ws/src/ros2tak_tools ${ROS_WS_DIR}/src/ros2tak_tools
 
 # Build the ROS2 workspace
 RUN /bin/bash -c "source /opt/ros/humble/setup.bash && \
                   colcon build --symlink-install"
 
-# Source the ROS 2 environment in .bashrc
-RUN echo 'source /opt/ros/humble/setup.bash' >> ~/.bashrc && \
-    echo 'source /home/mission-operator/ros2_ws/install/setup.bash' >> ~/.bashrc
 

ground_control_station/ros_ws/src/ros2tak_tools/scripts/Dockerfile.tak_publisher → ground_control_station/docker/Dockerfile.tak_publisher

@@ -1,12 +1,12 @@
 # Base image with Python 3
 FROM python:3.10-slim
 
+ARG ROS_WS_DIR
+
 # Set working directory
-WORKDIR /home/mission-operator/ros2_ws/
+WORKDIR ${ROS_WS_DIR}
 
 # Install necessary dependencies
 # Install necessary dependencies
 RUN pip install --no-cache-dir asyncio pytak pyyaml cryptography paho-mqtt
 
-# Copy the local 'ros2tak_tools' directory into the container
-COPY ../ros2tak_tools /home/mission-operator/ros2_ws/src/ros2tak_tools/

ground_control_station/ros_ws/src/ros2tak_tools/scripts/Dockerfile.tak_subscriber → ground_control_station/docker/Dockerfile.tak_subscriber

@@ -1,12 +1,12 @@
 # Base image with Python 3
 FROM python:3.10-slim
 
+ARG ROS_WS_DIR
+
 # Set working directory
-WORKDIR /home/mission-operator/ros2_ws/
+WORKDIR ${ROS_WS_DIR}
 
 # Install necessary dependencies
 # Install necessary dependencies
 RUN pip install --no-cache-dir asyncio pytak pyyaml cryptography paho-mqtt
 
-# Copy the local 'ros2tak_tools' directory into the container
-COPY ../ros2tak_tools /home/mission-operator/ros2_ws/src/ros2tak_tools/

ground_control_station/docker/docker-compose.yaml

@@ -41,3 +41,132 @@ services:
       # autonomy stack stuff
       - ../../common/ros_ws:/root/common/ros_ws:rw  # common ROS packages
       - ../ros_ws:/root/ros_ws:rw  # gcs-specific ROS packages
+
+
+####################### 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"
+      - "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:
+      - airstack_network
+
+  ################## ROS2COT_AGENT
+  ros2cot_agent:
+    build:
+      context: ../
+      dockerfile: docker/Dockerfile.ros2cot_agent
+      args:
+        - ROS_WS_DIR=${ROS_WS_DIR}
+    container_name: "${PROJECT_NAME}_ros2cot_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/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}
+    container_name: "${PROJECT_NAME}_tak_publisher"
+    stdin_open: true
+    tty: true
+    restart: unless-stopped
+    depends_on:
+      mqtt:
+        condition: service_healthy
+    networks:
+      - airstack_network
+    volumes:
+      - ../ros_ws/src/ros2tak_tools/:${ROS_WS_DIR}/src/ros2tak_tools/
+    command: [
+      "python3",
+      "$TAK_PUBLISHER_FILEPATH",
+      "--config",
+      "$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}
+    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/$ROS2TAK_TOOLS_CONFIG_FILENAME"
+    ]
+
+
+  ################## ROS2COT_AGENT
+  cot2planner_agent:
+    build:
+      context: ../../
+      dockerfile: ground_control_station/docker/Dockerfile.cot2planner_agent
+      args:
+        - ROS_WS_DIR=${ROS_WS_DIR}
+    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"
+    ]
+
+########### NETWORKS ###########
+networks:
+  airstack_network:
+    driver: bridge

ground_control_station/ros_ws/.gitignore

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