Support multi-robot Foxglove port mapping#325
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OasisArtisan
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* Add 'clean' command to airstack for removing ROS 2 build artifacts and clean up egg-info and bytecode caches * Remove unused overrides. (perception_no_macvo does not exist) * Support multi-robot Foxglove port mapping (#325) * Initial airsim integration (Airsim launched successfully through airstack) Control and sensors still in progress. * Delete unintended changes from previous commit. * Switch default airsim config to stereo since this is what Airstack expects at the moment. Will add support to switch to mono later but will need to modify DROAN-GL * Add PX4 SITL (Robot still cannot communicate with PX4 SITL over MAVROS) Some networking issue that we need to figure out. Also Ports are hardcoded when they need to be dynamically set based on ROS_DOMAIN_ID or robot id. * Publish sim clock * Create minimal urdf for airsim. Robot state publisher now published the transforms, not the bridge node. * Lazy airsim ros bridge, only render and publish if there's a subscriber. * Disable disparity expansion by default since its not used by the default DROAN_GL * Decouple clock publishing from image publishing. * Airsim multi-drone * Factor out airsim container entry commands. Make sure airsim is ready before launching the PX4 SITL * Replace all absolute topic names with relative names in rviz * Decouple isaacsim profile from docker * It should be MAV_1_BROADCAST for all vehicles. The 1 refers to the mavlink instance within each PX4 process — instance 1 is always the onboard mavlink that MAVROS connects to. * Flock colcon build for robot since multiple may share the volume in dev mode. * Rename airsim to ms-airsim * Change default to isaac sim, but make it easy to run airsim via env overrides * Add link to ms airsim * Update DOCKER_IMAGE_TAG --> VERSION * Update docs and file paths to fix the envs --------- Co-authored-by: Krrish Jain <krrishj@andrew.cmu.edu> Co-authored-by: Andrew Jong <ajong@andrew.cmu.edu>
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8765:8765to a range8767-8787:8765, supporting up to 21 robot containers