Drone arboricole

Documentation et code nécessaire à l'opération du drone arboricole autonome.

Dépendances principales

ROS2: https://github.com/ros2

ArduPilot: https://github.com/ArduPilot/ardupilot

Mavros: https://github.com/mavlink/mavros/tree/ros2

Intel RealSense: https://github.com/IntelRealSense/realsense-ros

RTABMap: https://github.com/introlab/rtabmap_ros

DeepForest: https://github.com/weecology/DeepForest

On-Board Computer Setup (Ubuntu 22.04)

The following guide goes through the setup required to deploy the OceanSight Docker container.

Git setup

1. Install Git

   sudo apt install -y git
   

2. Setup your ssh key
   Setup your github ssh key by following the instructions under Generating a new SSH key and Adding your SSH key to the ssh-agent

3. Verify setup
   After completing the setup, make sure that your ssh key exists at this location with the following command.

   cat ~/.ssh/id_ed25519
   

4. Clone the repository
   Clone the repository with this command to install all the submodules properly.

   git clone --recurse-submodules https://github.com/chcaya/tree_landing_ws.git
   

Docker setup

1. Install Docker Engine
   Install Docker Engine by following the instructions in this link.

2. Complete Docker Post-Installation Steps
   Complete the post-installation steps to remove the need for sudo with Docker commands by following this link.

Do not forget to periodically clean up after using docker tools

sudo docker system prune -a

Docker build and run on companion computer

1. Build the base docker image

    cd ~/tree_landing_ws/
    docker build --target base -f ~/tree_landing_ws/.devcontainer/Dockerfile -t ros:base ~/tree_landing_ws/
   

2. Run post build script from inside the container

    docker run --rm -u ubuntu -v ~/tree_landing_ws:/home/ubuntu/tree_landing_ws ros:base bash /home/ubuntu/tree_landing_ws/.devcontainer/postCreateBase.sh
   

3. Test the new docker image

   bash ~/tree_landing_ws/src/tree_landing/scripts/drone_launch.sh
   

4. Run the script to create the start up service

   bash ~/tree_landing_ws/src/tree_landing/scripts/create_startup_script.bash
   

5. Reboot the computer to test the whole pipeline

   sudo reboot