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Examples

We have created a set of examples that the user can run to test the stack and get familiarized with it.

Each example has it's own docker compose file that contains all the services necessary to run the example.

Simulation - UAV Exploration

Upon launching the simulation, follow the steps below to start the mission

  • Click the Initialize button in the UI. Wait until you see the message initMotion() - Done in the terminal.
  • Click the Start Planner button to start the mission.

More details about the UI can be found here.

UI

Using NMPC

Cylindrical lidar

cd unified_autonomy_stack
make launch DOCKER_COMPOSE_FILE=docker-compose.uav_nmpc_sim.yml

Dome lidar

cd unified_autonomy_stack
make launch DOCKER_COMPOSE_FILE=docker-compose.uav_nmpc_unipilot_sim.yml

Using RL

Dome lidar

cd unified_autonomy_stack
make launch DOCKER_COMPOSE_FILE=docker-compose.uav_rl_sim.yml

Simulation - UGV Exploration

cd unified_autonomy_stack
make launch DOCKER_COMPOSE_FILE=docker-compose.ugv_sim.yml

SLAM Example

Download the dataset to test the SLAM from here

Terminal 1 (All necessary ROS packages):

cd unified_autonomy_stack
make launch DOCKER_COMPOSE_FILE=docker-compose.slam_demo.yml

Terminal 2 (Playing the rosbag):

If you have ROS installed locally on your system, you can play the rosbag directly on your machine:

rosbag play --clock <bag_name>.bag

If you do not have ROS installed locally, we provide a docker service to run the rosbags:

cd unified_autonomy_stack
BAG_FOLDER=<path to the directory where the bag is stored> BAG_NAME=<bag_name>.bag  docker compose -f docker-compose.rosbag_play.yml --profile launch up