rezenders / mas_uav Goto Github PK

Must include following submodules:

• jason-ros
• ardupilot?

write bash script to push all 4 containers subsequently using balena cli

balena local push -s .

If there are 2 actions with the same string it will cause bugs

Check docker-compose
Try to find an alternative

Behavior expected

Develop a ROS node to communicate with mavros/SITL to generate the following behaviour:

1. Arm motors
2. Take off
3. Follow a path with multiple waypoints
4. Land
5. Turn off motors

Useful links

• http://ardupilot.org/dev/docs/copter-sitl-mavproxy-tutorial.html
• http://ardupilot.org/dev/docs/ros-sitl.html
• http://wiki.ros.org/mavros
• https://dev.px4.io/en/ros/mavros_offboard.html

Check if rosjava is more efficient than rosbridge.
Check memory usage and message types available.

Try to find specific OS for running containers

balenaOS https://www.balena.io/os

action.setResult(true) only when the action is finished

When using Jason to publish at /jason/actions topic, instead of publishing only a string publish a more complex message supporting arguments.

"body" in beagle bone
mavros + SITL in PC

When running gazebo using the docker image rezenders/ardupilot-gazebo its performance is not good. Very low fps.
Also, it is failing to execute in a machine that has nvidea proprietary drivers.

Useful links:
https://dev.px4.io/en/test_and_ci/docker.html
NVIDIA-AI-IOT/redtail#24

Accept more actions from /jason/actions topic:

• takeoff
• set_point
• land
• return to home

Send feedback informing actions status into /jason/percepts

• done
• failed

action.setResult(true) must be set to true only when the action is finished

Behavior expected

Put everything needed to run the MAS-UAV application inside docker containers.

• Ardupilot
• Roscore
• Mavros
• Agent everinomnent (Jason or JaCaMo)

Additional Information

• One container per process

Check if it possible to use java with ros2.
Check if using ros2 is more efficient than rosbridge.
Check memory usage and message types available.

Update the java version in (armv7)[https://github.com/Rezenders/armv7hf-ubuntu-openjdk-ros] docker image, apparently the bug balena-io-library/base-images#498 has been fixed

Behavior expected

Put the UAV jason agent inside a ROS node. It must communicate with the node that will talk with mavros.
Verify if it makes sense to connect the jason agent directly with the mavros node