Martian Mines ROS2

Requirements

• Docker (Docker CLI recommended)

  • Add your user to the Docker group to grant the necessary permissions; otherwise, you must prefix commands with sudo.

• Visual Studio Code (recommended) with the following extensions:

  • Docker
  • Dev Containers

Docker build

docker build -t highflyers/martian_mines_ros2:latest . --build-arg USER_UID=$(id -u)

Run for development

Running docker with GPU support requires nvidia-container-toolkit, but if you don't have NVIDIA GPU, you can remove the --gpus=all flag in devcontainer.json and run this container only with CPU.

Open repository in vscode:

cd /path/to/martian_mines_ros2/
code .

Click Ctrl+Shift+P and select Dev Containers: Rebuild and Reopen in Container. This will open the repository in the container and you can start developing.

To rebuild workspace use shortcut Ctrl+Shift+B in the vscode.

To execute offboard example, open terminal in vscode and run:

ros2 run offboard offboard_example

TODO List

• Nodes

  • bbox_publisher
  • detection
  • detection visualization
  • environment_visualization
  • figure_finder
  • precision_landing
  • tf_start_pose
  • trajectory_generator
  • trajectory_tracker

• Other classes/files etc

  • detector package
    • aruco detector
    • yolo detector

• NOT tested yet

  • color_detection
  • data_collector
  • ...

Throubleshoting

If you will encounter a problem with "xcb" (GUI applications won't open) just run xhost +local:docker on your host machine.