ROSCon ES'24 Aerostack2 demonstration

This repository contains the demonstration used in the Aerostack2 Tutorial in ROSCon ES'24.

Slides can be found online or in the slides.

Installation steps

First step is to clone this repository:

git clone https://github.com/aerostack2/demo_ROSConES24.git
cd demo_ROSConES24

For this demo we are going to use Aerostack2 v1.1 which is available throught apt. We provide two ways of setting everything up, using binaries or using docker.

Setup using binaries

Prerequisites:

• Ubuntu 22.04
• ROS 2 Humble

You can follow Aerostack2 setup guide for installing and setting up aerostack2. Install Aerostack2 using apt:

sudo apt install ros-humble-aerostack2

Remember to source /opt/ros/humble/setup.bash on each terminal you are going to use for runnning the demo.

WARNING: Set export ROS_LOCALHOST_ONLY=1 to avoid conflicts with other ROS 2 user.

Setup using Docker (RECOMENDED)

All the demo is designed to be easily used and modify using docker. Go to the root folder of the repository and run:

xhost + # this will enable gazebo visualization
docker compose up -d # use the -d for keep the container alive in background

If your host machine is Windows, change display configuration at docker-compose.yaml. See Issue 4. Kudos to @dvdmc.

With this there is a running instance of the container with this project mounted in /root/demo_ROSConES24. Now you can run as much terminals as you need by running:

docker exec -it aerostack2_roscon /bin/bash

For stopping the container run xhost - ; docker compose down command on the repo root folder. This will also remove the access to the XServer from the container.

Examples

1. Motion reference control example
2. Plan execution control example
3. From sim to real, using Crazyflies
4. Drone-convoy example