Merge pull request #1 from miferco97/TB2_simulation

First TB2 simulation environment tutorial

Author: rsanz

.gitignore

@@ -0,0 +1,2 @@
+.vscode/
+_build/

index.rst

@@ -21,6 +21,9 @@ CoreSense Project (CoreSense in short) is a project... TBD
    build_instructions/index.rst
    design/index.rst
    tutorials/index.rst
+   testbeds/index.rst
    demos/index.rst
    about/index.rst
+
+   
 

testbeds/docs/inspection_testbed.rst

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+.. _inspection_testbeds:
+
+TB2: Inspection Testbed
+**************
+
+The objective of this testbed is to validate the CoreSense architecture with a Drone Swarm Autonomous Inspection. In this guide we present a configurable simulation environment that will be used for validate in simulation the architecture developed in this project.
+
+In this testbed we leverage on the `Aerostack2 <https://github.com/aerostack2/aerostack2>`_ framework, a ROS 2 based framework for the development of autonomous aerial systems.
+
+---------
+Setup
+---------
+
+Aerostack2 Installation
+=======================
+
+Follow the instructions in `Aerostack2 Getting Started <https://aerostack2.github.io/_00_getting_started/index.html>`_.
+
+An additional ROS2 package shall be installed for this project:
+
+.. attention:: We encourage users to use the github ssh keys for cloning the repo. More information can be found at `github ssh docs <https://docs.github.com/en/get-started/getting-started-with-git/about-remote-repositories#cloning-with-ssh-urls>`_
+
+.. code-block:: bash
+
+   mkdir ~/aerostack2_ws/src -p # avoid if aerostack2 has been installed from source
+   cd ~/aerostack2_ws/src
+   git clone [email protected]:CoreSenseEU/TB2_Panel_Inspection_Simulation.git
+   cd .. 
+   rosdep install -y -r -q --from-paths src --ignore-src
+   colcon build --symlink-install
+
+
+
+AS2 project requirements
+=======================
+
+Additionally install the project execution dependencies, in `Aerostack2 project prerequisites <https://aerostack2.github.io/_02_examples/index.html#prerequisites>`_.
+
+Inspection Testbed project
+==========================
+
+
+First clone the project repo with:
+
+.. code-block:: bash
+
+   git clone [email protected]:CoreSenseEU/TB2_Panel_Inspection_Simulation.git
+
+To start using this project, please go to the root folder of the project.
+
+----------------------
+Simulation Environment
+----------------------
+
+.. figure:: ../images/GazeboView2.png
+   :scale: 50
+   :class: with-shadow
+
+---------
+Execution
+---------
+
+The execution will open a simulation in Gazebo and the Aerostack2 components will use simulation time.
+
+
+In order to launch the simulation for the photovoltaic inspection launch:
+
+.. code-block:: bash
+
+    ./launch_as2.bash -n 4 -p 5 -r 4
+
+The flags for the launcher are:
+
+- ``-n``: especify the number of drones.
+- ``-p``: the number of pannel per row
+- ``-r``: the number of rows
+
+.. _project_gazebo_simulated_single_drone:
+
+This will open a simulation for **N** drones alongside the Aerostack2 components necessary for the mission execution (one per drone). We use `tmux <https://github.com/tmux/tmux/wiki>`_ for handling the execution of multiple sessions one per drone.
+
+Each drone is equipped with:
+  1. GPS
+  2. RGB Camera
+  3. Gimbal
+
+See `Aerostack2 Common Interfaces Documentation <https://aerostack2.github.io/_08_ros2_common_interfaces/aerial_platform/index.html#topics>`_ for more information about them.
+Below an example of an image retrieved from one drone can be found.
+
+.. figure:: ../images/PanelImage.png
+   :scale: 30
+   :class: with-shadow
+
+
+An example mission can be launch for making the drones go to a target panel by launching:
+
+.. code-block:: bash
+
+    python3 mission.py
+
+
+To do a clean exit of tmux, execute:
+
+.. code-block:: bash
+
+    ./stop.bash

testbeds/images/GazeboView.png

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+.. _testbeds:
+
+Testbeds
+#########
+
+CoreSense Testbeds
+
+.. toctree::
+   :maxdepth: 1
+
+   docs/inspection_testbed.rst