SpartanLIFT (Swarm dePloyment in Autonomous Robot TeleoperAtioNs for Load-Intensive Flight and Transport)
MSc thesis regarding the application of a teleoperated multi-UAV system for cooperative payload transport.
$ lsb_release -a
No LSB modules are available.
Distributor ID: Ubuntu
Description: Ubuntu 22.04.2 LTS
Release: 22.04
Codename: jammy$ echo $ROS_DISTRO
humbleThe general ROS2 underlay is automatically sourced during each terminal startup in my configuration. I've achieved so simply by
adding source /opt/ros/humble/setup.bash to the ~/.bashrc file. If you don't want to do so, always remember to manually source it.
Additionally, at the time of this project's creation, to correctly use ROS2 and Gazebo Garden we need to configure ros_gz in the local machine from source: this contains all additional packages needed for the ROS2-Gazebo integration.
We can simply clone the repository in a workspace as a ROS2 package. Precise instructions can be found in the GitHub repository.
Once configured, be sure to also source that overlay before using this project.
Note: if you don't want to configure ros_gz, check if pre-compiled packages are available.
$ gz sim --version
Gazebo Sim, version 7.7.0
Copyright (C) 2018 Open Source Robotics Foundation.
Released under the Apache 2.0 License.I initially started with Ardupilot, but I soon had to switch over to PX4 because the former was not yet ready to be used in ROS2 projects when I started out. Among many things, this meant migrating from Gazebo 6 (Ignition) to Gazebo (Garden).
Drone models and world files downloaded from the Fuel models page:
- X3 drone by OpenRobotics
- X4 drone by OpenRobotics
- Tugbot depot by MovAi
- Tugbot warehouse by MovAi I modified them in order to use it for my project.
To build this project you can easily follow the official guidelines to build and execute ROS2 nodes. Here's a short step-by-step:
git clonethis project in a local folder- Install all dependencies, specified in the Requirements chapter
- Source your global ROS2 environment (aka the underlay)
- Build the project using
colcon build - (optional) Execute smoke and unit tests with
colcon test - Source the
install/setup.bashscript (aka the overlay) - Start the desired node or launch file
For a more specific list, see the output of the "discover dependencies" task task.
A simple list:
- ROS2 Humble → Installed as per official guide
- colcon → Installed as per official guide (with autocompletion)
- fmt → Installed from source
- pugixml → Installed from source
- PX4 → Installed as per official guide
- eProsima Micro XRCE-DDS Agent → Installed as per official guide
To this you should also add all the other dependencies specified by third-party libraries used by the project.
As per this version, the output of colcon build has some warning messages to it. Moreover, I still have some warning myself, which I'll eventually resolve.
Here's an example of output after a complete run, for the sake of completeness.
$ colcon build
Starting >>> px4_msgs
Starting >>> comms
Starting >>> cargo
Starting >>> microxrcedds_agent
Starting >>> odst
Starting >>> reach
Finished <<< cargo [2.08s]
Finished <<< reach [2.50s]
--- stderr: odst
/home/slim71/.local/lib/python3.10/site-packages/setuptools/_distutils/cmd.py:66: SetuptoolsDeprecationWarning: setup.py install is deprecated.
!!
********************************************************************************
Please avoid running ``setup.py`` directly.
Instead, use pypa/build, pypa/installer, pypa/build or
other standards-based tools.
See https://blog.ganssle.io/articles/2021/10/setup-py-deprecated.html for details.
********************************************************************************
!!
self.initialize_options()
---
Finished <<< odst [3.02s]
Finished <<< comms [13.9s]
[Processing: microxrcedds_agent, px4_msgs]
[Processing: microxrcedds_agent, px4_msgs]
[Processing: microxrcedds_agent, px4_msgs]
--- stderr: microxrcedds_agent
Cloning into 'spdlog'...
HEAD is now at 7e635fca Fixed #2724 by excluding bin_to_hex sink if using std::format
CMake Warning (dev) at /usr/share/cmake-3.22/Modules/FindPackageHandleStandardArgs.cmake:438 (message):
The package name passed to `find_package_handle_standard_args` (tinyxml2)
does not match the name of the calling package (TinyXML2). This can lead
to problems in calling code that expects `find_package` result variables
(e.g., `_FOUND`) to follow a certain pattern.
Call Stack (most recent call first):
cmake/modules/FindTinyXML2.cmake:40 (find_package_handle_standard_args)
/opt/ros/humble/share/fastrtps/cmake/fastrtps-config.cmake:51 (find_package)
CMakeLists.txt:153 (find_package)
This warning is for project developers. Use -Wno-dev to suppress it.
---
Finished <<< microxrcedds_agent [1min 53s]
[Processing: px4_msgs]
[Processing: px4_msgs]
[Processing: px4_msgs]
[Processing: px4_msgs]
[Processing: px4_msgs]
[Processing: px4_msgs]
[Processing: px4_msgs]
[Processing: px4_msgs]
[Processing: px4_msgs]
[Processing: px4_msgs]
Finished <<< px4_msgs [7min 10s]
Starting >>> pelican
Starting >>> px4_ros_com
Finished <<< px4_ros_com [20.8s]
[Processing: pelican]
--- stderr: pelican
/home/slim71/Documents/git/SpartanLIFT/src/pelican/src/PelicanModule/pelican.cpp: In static member function ‘static void Pelican::signalHandler(int)’:
/home/slim71/Documents/git/SpartanLIFT/src/pelican/src/PelicanModule/pelican.cpp:84:33: warning: unused parameter ‘signum’ [-Wunused-parameter]
84 | void Pelican::signalHandler(int signum) {
| ~~~~^~~~~~
/home/slim71/Documents/git/SpartanLIFT/src/pelican/src/PelicanModule/pelican.cpp: In static member function ‘static void Pelican::signalHandler(int)’:
/home/slim71/Documents/git/SpartanLIFT/src/pelican/src/PelicanModule/pelican.cpp:84:33: warning: unused parameter ‘signum’ [-Wunused-parameter]
84 | void Pelican::signalHandler(int signum) {
| ~~~~^~~~~~
/home/slim71/Documents/git/SpartanLIFT/src/pelican/test/src/fixtures.cpp: In lambda function:
/home/slim71/Documents/git/SpartanLIFT/src/pelican/test/src/fixtures.cpp:68:69: warning: unused parameter ‘msg’ [-Wunused-parameter]
68 | [this](const px4_msgs::msg::VehicleLocalPosition::SharedPtr msg) {
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~
/home/slim71/Documents/git/SpartanLIFT/src/pelican/test/src/fixtures.cpp: In lambda function:
/home/slim71/Documents/git/SpartanLIFT/src/pelican/test/src/fixtures.cpp:79:55: warning: unused parameter ‘msg’ [-Wunused-parameter]
79 | [this](const comms::msg::Heartbeat::SharedPtr msg) {
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~
/home/slim71/Documents/git/SpartanLIFT/src/pelican/test/src/fixtures.cpp: In lambda function:
/home/slim71/Documents/git/SpartanLIFT/src/pelican/test/src/fixtures.cpp:90:53: warning: unused parameter ‘msg’ [-Wunused-parameter]
90 | [this](const comms::msg::Datapad::SharedPtr msg) {
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~
/home/slim71/Documents/git/SpartanLIFT/src/pelican/src/ElectionModule/election.cpp: In member function ‘void ElectionModule::serveVoteRequest(comms::msg::RequestVoteRPC) const’:
/home/slim71/Documents/git/SpartanLIFT/src/pelican/src/ElectionModule/election.cpp:192:72: warning: unused parameter ‘msg’ [-Wunused-parameter]
192 | void ElectionModule::serveVoteRequest(const comms::msg::RequestVoteRPC msg) const {
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~
/home/slim71/Documents/git/SpartanLIFT/src/pelican/src/PelicanModule/pelican.cpp: In static member function ‘static void Pelican::signalHandler(int)’:
/home/slim71/Documents/git/SpartanLIFT/src/pelican/src/PelicanModule/pelican.cpp:84:33: warning: unused parameter ‘signum’ [-Wunused-parameter]
84 | void Pelican::signalHandler(int signum) {
| ~~~~^~~~~~
/home/slim71/Documents/git/SpartanLIFT/src/pelican/src/ElectionModule/election.cpp: In member function ‘void ElectionModule::serveVoteRequest(comms::msg::RequestVoteRPC) const’:
/home/slim71/Documents/git/SpartanLIFT/src/pelican/src/ElectionModule/election.cpp:192:72: warning: unused parameter ‘msg’ [-Wunused-parameter]
192 | void ElectionModule::serveVoteRequest(const comms::msg::RequestVoteRPC msg) const {
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~
---
Finished <<< pelican [1min 20s]
Summary: 8 packages finished [8min 31s]
3 packages had stderr output: microxrcedds_agent odst pelican