Add Launch Testing Demo and Docs

.env

@@ -12,7 +12,7 @@
 PROJECT_NAME="airstack"
 # If you've run ./airstack.sh setup, then this will auto-generate from the git commit hash every time a change is made 
 # to a Dockerfile or docker-compose.yaml file. Otherwise this can also be set explicitly to make a release version.
-DOCKER_IMAGE_TAG="0.14.0"
+DOCKER_IMAGE_TAG="8b5529e"
 # Can replace with your docker hub username
 PROJECT_DOCKER_REGISTRY="airlab-storage.andrew.cmu.edu:5001/shared"
 # ============================================

docs/development/docker_usage.md

@@ -71,6 +71,8 @@ docker compose up isaac-sim -d
 docker compose up gcs -d
 ```
 
+
+
 ### Isaac Sim
 
 Start a bash shell in the Isaac Sim container:
@@ -164,6 +166,20 @@ graph TD
 
 ```
 
+## Automated Testing
+
+To perform automated tests for the configured packages, please use the `autotest` service which
+extends the `robot` service with testing specific commands. Presently only `takeoff_landing_planner`
+is configured to be tested.
+
+```bash
+# On your development PC, do:
+
+docker compose up autotest
+```
+
+This command will spin up a `robot` container, build the ROS2 workspace, source the workspace and run all the configured tests for the provided packages using `colcon test`. Excessive output log from the build process is presently piped away to preserve readability.
+
 ## Docker Compose Variable Overrides
 Sometimes you may want to test different configurations of the autonomy stack. For example, you may want to disable automatically playing the sim on startup, 
 or to change a child launch file.
@@ -188,7 +204,4 @@ docker compose --env-file .env --env-file overrides/no_macvo.env up -d
 ```
 
 
-When overriding, the default `.env` file must be loaded first. The overrides are applied on top of it.
-
-
-
+When overriding, the default `.env` file must be loaded first. The overrides are applied on top of it.

ground_control_station/ros_ws/src/mission_manager/src/BeliefMap.cpp

@@ -1,3 +1,23 @@
+// Copyright (c) 2024 Carnegie Mellon University
+//
+// Permission is hereby granted, free of charge, to any person obtaining a copy
+// of this software and associated documentation files (the "Software"), to deal
+// in the Software without restriction, including without limitation the rights
+// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+// copies of the Software, and to permit persons to whom the Software is
+// furnished to do so, subject to the following conditions:
+//
+// The above copyright notice and this permission notice shall be included in all
+// copies or substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+// SOFTWARE.
+
 #include "mission_manager/BeliefMap.h"
 
 
@@ -132,4 +152,4 @@ bool BeliefMap::update_map(rclcpp::Logger logger, const airstack_msgs::msg::Beli
     cur_index_num++;
   }
   return true;
-}
+} 

ground_control_station/ros_ws/src/mission_manager/src/MissionManager.cpp

@@ -1,3 +1,23 @@
+// Copyright (c) 2024 Carnegie Mellon University
+//
+// Permission is hereby granted, free of charge, to any person obtaining a copy
+// of this software and associated documentation files (the "Software"), to deal
+// in the Software without restriction, including without limitation the rights
+// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+// copies of the Software, and to permit persons to whom the Software is
+// furnished to do so, subject to the following conditions:
+//
+// The above copyright notice and this permission notice shall be included in all
+// copies or substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+// SOFTWARE.
+
 #include "mission_manager/MissionManager.h"
 #include "mission_manager/visualization.h"
 
@@ -426,4 +446,4 @@ std::vector<airstack_msgs::msg::TaskAssignment> MissionManager::assign_tasks(
 
   scenario_coutner_++;
   return task_assignments;
-}
+} 

ground_control_station/ros_ws/src/mission_manager/src/example_search_request.cpp

@@ -1,3 +1,23 @@
+// Copyright (c) 2024 Carnegie Mellon University
+//
+// Permission is hereby granted, free of charge, to any person obtaining a copy
+// of this software and associated documentation files (the "Software"), to deal
+// in the Software without restriction, including without limitation the rights
+// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+// copies of the Software, and to permit persons to whom the Software is
+// furnished to do so, subject to the following conditions:
+//
+// The above copyright notice and this permission notice shall be included in all
+// copies or substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+// SOFTWARE.
+
 #include <chrono>
 #include <functional>
 #include <memory>
@@ -167,4 +187,4 @@ int main(int argc, char * argv[])
     y: -10
     radius: 8
 
-*/
+*/ 

ground_control_station/ros_ws/src/mission_manager/src/mission_manager_node.cpp

@@ -1,3 +1,23 @@
+// Copyright (c) 2024 Carnegie Mellon University
+//
+// Permission is hereby granted, free of charge, to any person obtaining a copy
+// of this software and associated documentation files (the "Software"), to deal
+// in the Software without restriction, including without limitation the rights
+// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+// copies of the Software, and to permit persons to whom the Software is
+// furnished to do so, subject to the following conditions:
+//
+// The above copyright notice and this permission notice shall be included in all
+// copies or substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+// SOFTWARE.
+
 
 #include "mission_manager/mission_manager_node.h"
 
@@ -7,4 +27,4 @@ int main(int argc, char * argv[])
   rclcpp::spin(std::make_shared<MissionManagerNode>());
   rclcpp::shutdown();
   return 0;
-}
+} 

mkdocs.yml

@@ -3,7 +3,7 @@ copyright: Copyright © 2024 - 2030 AirLab CMU
 docs_dir: .
 site_name: AirStack
 site_dir: ../site
-site_url: 'https://docs.theairlab.org/docs/'  # Trailing slash is recommended
+site_url: "https://docs.theairlab.org/docs/" # Trailing slash is recommended
 exclude_docs: |
   **/ros_ws/build
   **/ros_ws/install
@@ -66,39 +66,41 @@ nav:
   - Robot:
       - docs/robot/index.md
       - Autonomy Modules:
-          - Robot Interface: 
+          - Robot Interface:
               - docs/robot/autonomy/0_interface/index.md
           - Sensors:
               - docs/robot/autonomy/1_sensors/index.md
-              - docs/robot/autonomy/1_sensors/gimbal.md              
+              - docs/robot/autonomy/1_sensors/gimbal.md
           - Perception:
               - docs/robot/autonomy/2_perception/index.md
               - docs/robot/autonomy/2_perception/state_estimation.md
           - Local:
               - docs/robot/autonomy/3_local/index.md
               - World Model:
-                - docs/robot/autonomy/3_local/world_model/index.md
-                - DROAN (Obstacle Avoidance World Model):
-                  - robot/ros_ws/src/autonomy/3_local/a_world_models/disparity_expansion/README.md
-                  - robot/ros_ws/src/autonomy/3_local/a_world_models/disparity_graph/README.md
-                  - robot/ros_ws/src/autonomy/3_local/a_world_models/disparity_graph_cost_map/README.md
+                  - docs/robot/autonomy/3_local/world_model/index.md
+                  - DROAN (Obstacle Avoidance World Model):
+                      - robot/ros_ws/src/autonomy/3_local/a_world_models/disparity_expansion/README.md
+                      - robot/ros_ws/src/autonomy/3_local/a_world_models/disparity_graph/README.md
+                      - robot/ros_ws/src/autonomy/3_local/a_world_models/disparity_graph_cost_map/README.md
               - Planning:
-                - docs/robot/autonomy/3_local/planning/index.md
-                - robot/ros_ws/src/autonomy/3_local/b_planners/trajectory_library/README.md
-                - robot/ros_ws/src/autonomy/3_local/b_planners/takeoff_landing_planner/README.md
-                - DROAN (Obstacle Avoidance Planner):
-                  - robot/ros_ws/src/autonomy/3_local/b_planners/droan_local_planner/README.md
+                  - docs/robot/autonomy/3_local/planning/index.md
+                  - robot/ros_ws/src/autonomy/3_local/b_planners/trajectory_library/README.md
+                  - Takeoff Landing Planner:
+                      - robot/ros_ws/src/autonomy/3_local/b_planners/takeoff_landing_planner/README.md
+                      - robot/ros_ws/src/autonomy/3_local/b_planners/takeoff_landing_planner/test/README.md
+                  - DROAN (Obstacle Avoidance Planner):
+                      - robot/ros_ws/src/autonomy/3_local/b_planners/droan_local_planner/README.md
               - Controls:
-                - docs/robot/autonomy/3_local/controls/index.md
-                - robot/ros_ws/src/autonomy/3_local/c_controls/trajectory_controller/README.md
+                  - docs/robot/autonomy/3_local/controls/index.md
+                  - robot/ros_ws/src/autonomy/3_local/c_controls/trajectory_controller/README.md
           - Global:
               - docs/robot/autonomy/4_global/index.md
               - World Model:
-                - docs/robot/autonomy/4_global/world_model/index.md
-                - robot/ros_ws/src/autonomy/4_global/a_world_models/vdb_mapping_ros2/README.md
+                  - docs/robot/autonomy/4_global/world_model/index.md
+                  - robot/ros_ws/src/autonomy/4_global/a_world_models/vdb_mapping_ros2/README.md
               - Planning:
-                - docs/robot/autonomy/4_global/planning/index.md
-                - robot/ros_ws/src/autonomy/4_global/b_planners/random_walk/README.md
+                  - docs/robot/autonomy/4_global/planning/index.md
+                  - robot/ros_ws/src/autonomy/4_global/b_planners/random_walk/README.md
           - Behavior:
               - docs/robot/autonomy/5_behavior/index.md
               - docs/robot/autonomy/5_behavior/behavior_tree.md
@@ -170,4 +172,4 @@ theme:
       scheme: slate
       toggle:
         icon: material/brightness-4
-        name: Switch to light mode
+        name: Switch to light mode

robot/docker/docker-compose.yaml

@@ -72,3 +72,18 @@ services:
     network_mode: host
     volumes:
       - /media/airlab/Storage/airstack_collection:/bags:rw
+
+# ===================================================================================================================
+  autotest:
+    extends:
+      service: robot
+    command: >
+      bash -il -c "
+      echo 'Building and sourcing workspace...';
+      bws &> /dev/null && sws &> /dev/null &&
+      echo 'Starting tests for packages: takeoff_landing_planner';
+      colcon test --packages-select takeoff_landing_planner --event-handlers=console_direct+;
+      TEST_EXIT_CODE=$$?;
+      echo \"Tests completed with exit code: $$TEST_EXIT_CODE\";
+      exit $$TEST_EXIT_CODE"
+    entrypoint: []

robot/ros_ws/src/autonomy/0_interface/drone_safety_monitor/include/drone_safety_monitor/drone_safety_monitor.hpp

@@ -1,3 +1,23 @@
+// Copyright (c) 2024 Carnegie Mellon University
+//
+// Permission is hereby granted, free of charge, to any person obtaining a copy
+// of this software and associated documentation files (the "Software"), to deal
+// in the Software without restriction, including without limitation the rights
+// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+// copies of the Software, and to permit persons to whom the Software is
+// furnished to do so, subject to the following conditions:
+//
+// The above copyright notice and this permission notice shall be included in all
+// copies or substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+// SOFTWARE.
+
 #pragma once
 
 #include <rclcpp/rclcpp.hpp>
@@ -19,4 +39,4 @@ class TimeChecker{
   TimeChecker();
   void update(rclcpp::Time time);
   double elapsed_since_last_update(rclcpp::Time time);
-};
+}; 

robot/ros_ws/src/autonomy/0_interface/drone_safety_monitor/src/drone_safety_monitor.cpp

@@ -1,3 +1,23 @@
+// Copyright (c) 2024 Carnegie Mellon University
+//
+// Permission is hereby granted, free of charge, to any person obtaining a copy
+// of this software and associated documentation files (the "Software"), to deal
+// in the Software without restriction, including without limitation the rights
+// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+// copies of the Software, and to permit persons to whom the Software is
+// furnished to do so, subject to the following conditions:
+//
+// The above copyright notice and this permission notice shall be included in all
+// copies or substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+// SOFTWARE.
+
 #include <drone_safety_monitor/drone_safety_monitor.hpp>
 
 TimeChecker::TimeChecker()
@@ -61,4 +81,4 @@ int main(int argc, char **argv)
   rclcpp::spin(std::make_shared<DroneSafetyMonitorNode>());
   rclcpp::shutdown();
   return 0;
-}
+} 

robot/ros_ws/src/autonomy/0_interface/mavros_interface/src/mavros_interface.cpp

@@ -1,3 +1,23 @@
+// Copyright (c) 2024 Carnegie Mellon University
+//
+// Permission is hereby granted, free of charge, to any person obtaining a copy
+// of this software and associated documentation files (the "Software"), to deal
+// in the Software without restriction, including without limitation the rights
+// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+// copies of the Software, and to permit persons to whom the Software is
+// furnished to do so, subject to the following conditions:
+//
+// The above copyright notice and this permission notice shall be included in all
+// copies or substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+// SOFTWARE.
+
 /**
  * @file mavros_interface.cpp
  * @author John Keller (jkeller2@andrew.cmu.edu), Andrew Jong
@@ -669,4 +689,4 @@ class MAVROSInterface : public robot_interface::RobotInterface {
 }  // namespace mavros_interface
 #include <pluginlib/class_list_macros.hpp>
 
-PLUGINLIB_EXPORT_CLASS(mavros_interface::MAVROSInterface, robot_interface::RobotInterface)
+PLUGINLIB_EXPORT_CLASS(mavros_interface::MAVROSInterface, robot_interface::RobotInterface) 

robot/ros_ws/src/autonomy/0_interface/robot_interface/include/robot_interface/robot_interface.hpp

@@ -1,3 +1,23 @@
+// Copyright (c) 2024 Carnegie Mellon University
+//
+// Permission is hereby granted, free of charge, to any person obtaining a copy
+// of this software and associated documentation files (the "Software"), to deal
+// in the Software without restriction, including without limitation the rights
+// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+// copies of the Software, and to permit persons to whom the Software is
+// furnished to do so, subject to the following conditions:
+//
+// The above copyright notice and this permission notice shall be included in all
+// copies or substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+// SOFTWARE.
+
 /**
  *
  * @file robot_interface.hpp
@@ -142,4 +162,4 @@ namespace robot_interface {
   public:
     virtual ~RobotInterface() {}
   };
-}  // namespace robot_interface
+}  // namespace robot_interface