Johnliu/pegasus integration #295
Merged
Conversation
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
…isher in sim + added camera publishers in sim
…Stack into johnliu/pegasus_integration
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
Pegasus Simulator Integration
Addresses issue #43
What does this pull request do?
changes the simulation container of AirStack to include a Pegasus and PX4 installation in the docker image. Additionally,, it connects to a fork of the Pegasus Simulator that has a developed API to quickly create an omnigraph node (https://docs.isaacsim.omniverse.nvidia.com/4.5.0/omnigraph/index.html) to allow for saving entire scenes.
Within the robot container, urdf descriptions of the pegasus drone and robot_state_publisher application are added to estimate robot position with forwarded mavros odometry.
Testing
How do you run the tests?
run
airstack up isaac-sim robotby default, usd loading is enabled to a default environment. To test scripted pegasus scene creation, go into the
.env' file and setISAAC_SIM_USE_STANDALONE_SCRIPT="true"`What do the tests do?
Only load the pegasus scene and start the robot stack. You can manually observe the minimal necessary topic publishing occurs in the robot rviz gui.
What are the expected results of the tests?
Robot should be able to launch and pursue a global plan or autonomously explore. Controller-tuned variables may not be optimal, but commands should clearly actuate, and topics should visually publish to the rviz gui.
Did you update the docs (and where)?
Docs are updated via mkdocs.yml and markdown files under
docs/. It should render at localhost:8000 when you rundocker compose up docs.TBD