NASA_Challenge_[Barisyaz]_[Ingenuity Flight Simulator] #39

BarisYazici · 2024-09-04T22:36:48Z

This project simulates the Ingenuity Mars Helicopter using Gazebo and ROS 2 in Space-ROS.

closes #67

Aim of this project is to develop tools to mimic the Martian environment as close as possible. This enables space robots to easily iterate over the development cycles. This is important especially for the aerial vehicles. Because the air is much thinner and the nature events are different. Having this in mind, I develop the Ingenuity Flight Simulator, calculating the lift and drag forces as close to the Martian atmosphere and gravity as possible. This could enable Nasa engineers to develop controllers that can react to the nature events or test flight controllers with sensor noise such as IMU, altimeter or Camera.

landing_e27e4Hjz.mp4

cyclic_Bx2v4jKU.mp4

dust-storm-collective_q6O5PUg9.mp4

graph TD
    A[User Input] -->|/alpha_c, /alpha_s| D[Flight Simulation Plugin]
    A -->|/desired_altitude| C[Flight Control Plugin]
    C -->|/angle_of_attack| D
    D -->|LIft/ Drag Forces & Torques| E[Gazebo Physics Engine]
    E -->|Physics Update| F[Ingenuity Model]
    F -->|State Feedback| E
    E -->|Model State| D
    D -->|Telemetry| G[Visualization]
    
    subgraph Gazebo Simulation
    E
    F
    end
    
    subgraph Gazebo Plugins
    C
    D
    end
    
    classDef userInput fill:#f9f,stroke:#333,stroke-width:2px;
    classDef gazebo fill:#cfc,stroke:#333,stroke-width:2px;
    classDef spaceROS fill:#fcf,stroke:#333,stroke-width:2px;
    classDef visualization fill:#ccf,stroke:#333,stroke-width:2px;
    
    class A userInput;
    class E,F gazebo;
    class C,D spaceROS;
    class G visual

mkhansenbot

Thanks for the submission, this looks very cool! However, I need you to follow our contribution guidelines and open a new issue for this demo (using our feature request template). Then update both the PR title and the commit message(s) to refer to that issue #. We require every commit to have an associated issue. Also, I've added a workflow to build the build.sh files automatically, so this must build successfully using your script.

BarisYazici · 2024-09-06T12:16:13Z

Thank you for your feedback. I will update the PR based on your comments. I have some questions and suggestions:

Feature Separation

I have implemented multiple features in this PR:

Realistic helicopter simulation
Automatic altitude control with PID for the collective input of simulation
Realistic Mars environment mesh and rocks
Mars dust storm simulation
Sensor support:
- Altimeter
- RGB Camera
- IMU
Realistic wind support

Would it make sense to separate these into individual issues and reference them in separate commits?

Build Script and Docker Image

Regarding the build script, there's a potential issue with the current workflow. My script relies ‘openrobotics/space_robots_demo’ that comes as an artifact from the docker repo under the space-ros project. To address this, I have two questions:

Should I base my Dockerfile on Space-ROS's publicly available Docker image?
Is there a plan to make the ‘openrobotics/space_robots_demo’ image I'm currently basing on available on Docker Hub?

mkhansenbot · 2024-09-06T21:58:19Z

Thank you for your feedback. I will update the PR based on your comments. I have some questions and suggestions:

Feature Separation

I have implemented multiple features in this PR:
* Realistic helicopter simulation

* Automatic altitude control with PID for the collective input of simulation

* Realistic Mars environment mesh and rocks

* Mars dust storm simulation

* Sensor support:
  
  * Altimeter
  * RGB Camera
  * IMU

* Realistic wind support
Would it make sense to separate these into individual issues and reference them in separate commits?
Since this is an all new demo, I don't think that's necessary. Just document what these capabilities are in your README, etc.

Build Script and Docker Image

Regarding the build script, there's a potential issue with the current workflow. My script relies ‘openrobotics/space_robots_demo’ that comes as an artifact from the docker repo under the space-ros project. To address this, I have two questions:
1. Should I base my Dockerfile on Space-ROS's publicly available Docker image?

Yes, please use the space-ros:latest image as a starting point

2. Is there a plan to make the ‘openrobotics/space_robots_demo’ image I'm currently basing on available on Docker Hub?

There's no current plan to do that. For now, you can copy that folder into your workspace and build it. In fact, can you have your build script do that at build time for now? We plan to port that folder into this repo soon anyway, then we can update the build script.

mkhansenbot

Thanks for adding the build.sh. This still needs a full review but I'm going to try to run the CI.

Needs code review

BarisYazici · 2024-09-07T08:07:24Z

Okay I will update it with space-ros docker image. I haven’t pushed anything new yet. Could you also tell me if I should open multiple issues for multiple features or one issue listing multiple features?

gmacario · 2024-09-10T03:44:24Z

Okay I will update it with space-ros docker image. I haven’t pushed anything new yet. Could you also tell me if I should open multiple issues for multiple features or one issue listing multiple features?

According to @mkhansenbot comment in #39 (comment)

Since this is an all new demo, I don't think that's necessary. Just document what these capabilities are in your README, etc.

mkhansenbot

Thanks for your submission, however this doesn't build in our CI, because you're relying on the 'space_robots' docker image, which you're not building. So there are two options:

build on the space-ros:latest image only, pull in any assets you need from the space-ros/simulation repo
Implement a multi-stage build where you first build the space_robots image then you build yours on top of that

I recommend option 1 if possible, as the space_robots demo will be refactored and moved into this repo later, so it's preferable to remove that dependency if you can

…nd control fix: docker container support

BarisYazici · 2024-09-11T19:49:01Z

Thanks for your submission, however this doesn't build in our CI, because you're relying on the 'space_robots' docker image, which you're not building. So there are two options:

build on the space-ros:latest image only, pull in any assets you need from the space-ros/simulation repo

Implement a multi-stage build where you first build the space_robots image then you build yours on top of that

I recommend option 1 if possible, as the space_robots demo will be refactored and moved into this repo later, so it's preferable to remove that dependency if you can

Thanks @mkhansenbot for the update. I updated the dockerfile to be based on space-ros public image and the build script. Workflow should hopefully work now.

mkhansenbot · 2024-09-12T00:13:46Z

Re-running the build

mkhansenbot · 2024-09-12T18:33:53Z

ingenuity_mars_helicopter/entrypoint.sh

+source /home/spaceros-user/spaceros/install/setup.sh
+source /opt/ros/humble/setup.sh
+cd /home/spaceros-user/ingenuity_helicopter
+colcon build --packages-select helicopter_flight_control helicopter_flight_simulation ingenuity_description ingenuity_bringup


Please move the colcon build into the Dockerfile so that we can ensure the build works correctly using CI

I updated the Dockerfile with the colcon build command. Also adjusted the entrypoint.sh such that it directly start the launch file.

This still needs a full code review

BarisYazici force-pushed the feat/ingenuity-helicopter-simulation branch from 6631108 to 8d4aa7d Compare September 4, 2024 22:40

mkhansenbot self-requested a review September 5, 2024 16:24

mkhansenbot previously requested changes Sep 5, 2024

View reviewed changes

mkhansenbot reviewed Sep 6, 2024

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mkhansenbot force-pushed the feat/ingenuity-helicopter-simulation branch from 8d4aa7d to 72b8d8e Compare September 11, 2024 14:52

mkhansenbot requested changes Sep 11, 2024

View reviewed changes

resolves space-ros#67 support ingenuity realistic flight simulation a…

2310827

…nd control fix: docker container support

BarisYazici force-pushed the feat/ingenuity-helicopter-simulation branch from 11373e3 to 2310827 Compare September 11, 2024 19:46

Resolves space-ros#67 update Readme

8aa0a59

mkhansenbot reviewed Sep 12, 2024

View reviewed changes

Resolves space-ros#67 moves colcon build to dockerfile

444a1d1

mkhansenbot previously approved these changes Sep 13, 2024

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mkhansenbot self-requested a review September 13, 2024 20:42

Bckempa added the Summer Sprint NASA Space ROS Sim Summer Sprint Challenge 2024 label Sep 15, 2024

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NASA_Challenge_[Barisyaz]_[Ingenuity Flight Simulator] #39

NASA_Challenge_[Barisyaz]_[Ingenuity Flight Simulator] #39

BarisYazici commented Sep 4, 2024 •

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BarisYazici commented Sep 6, 2024

mkhansenbot commented Sep 6, 2024

Feature Separation

Build Script and Docker Image

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BarisYazici commented Sep 7, 2024

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BarisYazici commented Sep 11, 2024

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BarisYazici Sep 13, 2024

NASA_Challenge_[Barisyaz]_[Ingenuity Flight Simulator] #39

Are you sure you want to change the base?

NASA_Challenge_[Barisyaz]_[Ingenuity Flight Simulator] #39

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BarisYazici commented Sep 4, 2024 • edited Loading

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BarisYazici commented Sep 6, 2024

Feature Separation

Build Script and Docker Image

mkhansenbot commented Sep 6, 2024

Feature Separation

Build Script and Docker Image

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BarisYazici commented Sep 7, 2024

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BarisYazici commented Sep 11, 2024

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BarisYazici commented Sep 4, 2024 •

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