Add Hydrus simulation with basic thruster controls

.gitignore

@@ -5,6 +5,7 @@ best.pt
 .venv-formatters
 autonomy/src/autonomy.egg-info
 hydrus_software_stack.egg-info
+*build/
 
 # Generated by Cargo
 # will have compiled files and executables

.vscode/c_cpp_properties.json

@@ -0,0 +1,17 @@
+{
+    "configurations": [
+        {
+            "name": "Linux",
+            "includePath": [
+                "${workspaceFolder}/**",
+                "/usr/local/include/Stonefish/**"
+            ],
+            "defines": [],
+            "compilerPath": "/usr/bin/gcc",
+            "cStandard": "c17",
+            "cppStandard": "gnu++17",
+            "intelliSenseMode": "linux-gcc-x64"
+        }
+    ],
+    "version": 4
+}

.vscode/settings.json

@@ -1,27 +1,28 @@
 {
-        "python.autoComplete.extraPaths": [
-            "/home/catkin_ws/src/hydrus-software-stack/scripts",
-            "/catkin_ws/devel/lib/python3/dist-packages",
-            "/opt/ros/noetic/lib/python3/dist-packages"
-        ],
-        "python.analysis.extraPaths": [
-            "/home/catkin_ws/src/hydrus-software-stack/scripts",
-            "/catkin_ws/devel/lib/python3/dist-packages",
-            "/opt/ros/noetic/lib/python3/dist-packages"
-        ],
-        "pyrefly.trace.server": "verbose",
-        "editor.hover.enabled": true,
-        "editor.snippetSuggestions": "inline",
-        "python.testing.unittestArgs": [
-            "-v",
-            "-s",
-            "./test",
-            "-p",
-            "*_test.py"
-        ],
-        "python.testing.pytestEnabled": false,
-        "python.testing.unittestEnabled": true,
-        "files.associations": {
-            "*.hss": "yaml"
-        }
-}
+    "python.autoComplete.extraPaths": [
+        "/home/catkin_ws/src/hydrus-software-stack/scripts",
+        "/catkin_ws/devel/lib/python3/dist-packages",
+        "/opt/ros/noetic/lib/python3/dist-packages"
+    ],
+    "python.analysis.extraPaths": [
+        "/home/catkin_ws/src/hydrus-software-stack/scripts",
+        "/catkin_ws/devel/lib/python3/dist-packages",
+        "/opt/ros/noetic/lib/python3/dist-packages"
+    ],
+    "pyrefly.trace.server": "verbose",
+    "editor.hover.enabled": true,
+    "editor.snippetSuggestions": "inline",
+    "python.testing.unittestArgs": [
+        "-v",
+        "-s",
+        "./test",
+        "-p",
+        "*_test.py"
+    ],
+    "python.testing.pytestEnabled": false,
+    "python.testing.unittestEnabled": true,
+    "files.associations": {
+        "*.hss": "yaml"
+    },
+    "cmake.ignoreCMakeListsMissing": true
+}

docker/amd64/cpu/hydrus.Dockerfile

@@ -100,6 +100,8 @@ RUN apt-get update && apt-get install -y \
     ros-noetic-image-transport \
     ros-noetic-laser-proc
 
+
+
 COPY ./devices/Arduino/HydrusModule /root/Arduino/libraries/HydrusModule
 
 COPY ./ /catkin_ws/src/hydrus-software-stack

docker/simulation/entrypoint.sh

@@ -0,0 +1,4 @@
+#!/usr/bin/env bash
+colcon build --symlink-install
+source install/setup.bash
+ros2 launch hydrus_sim_ros2 hydrussim.launch.py

docker/simulation/simulation.Dockerfile

@@ -0,0 +1,45 @@
+FROM osrf/ros:humble-desktop-full-jammy
+RUN apt-get update
+
+ARG DEBIAN_FRONTEND=noninteractive
+
+RUN apt-get upgrade -y && \
+	apt-get install -y \
+	libglm-dev \
+	libfreetype6-dev \
+	libsdl2-dev \
+	python3-colcon-common-extensions \
+	python3-rosdep \
+	python3-vcstool \
+	python3-ament-package \
+	ros-humble-ament-cmake
+
+# Setup Stonefish
+
+WORKDIR /home/
+
+RUN git clone https://github.com/patrykcieslak/stonefish
+RUN cd stonefish && mkdir build  && cd build  && cmake ..  && make -j$(nproc) && sudo make install
+
+# ROS 2 workspace setup
+SHELL ["/bin/bash", "-c"]
+
+ENV ROS_WS=/home/ros2_ws
+
+RUN mkdir -p /${ROS_WS}/src \
+	&& echo "source /opt/ros/humble/setup.bash" >> ~/.bashrc 
+
+WORKDIR $ROS_WS/
+
+RUN cd src \
+	&& git clone https://github.com/juandelpueblo/stonefish_ros2.git
+
+RUN source /opt/ros/humble/setup.bash && colcon build --symlink-install \
+	&& source install/setup.bash
+
+WORKDIR $ROS_WS/
+
+COPY docker/simulation/entrypoint.sh .
+COPY docker/simulation/thruster_teleop.sh .
+
+CMD ["bash", "entrypoint.sh"]

docker/simulation/simulation.yaml

@@ -0,0 +1,19 @@
+services:
+  simulation:
+    build:
+      context: ../../../hydrus-software-stack
+      dockerfile: docker/simulation/simulation.Dockerfile
+    privileged: true
+    runtime: nvidia
+    environment:
+      - DISPLAY=${DISPLAY}
+      - PYTHONUNBUFFERED=1
+    ulimits:
+      nofile:
+        soft: 1024
+        hard: 524288
+    volumes:
+      - /tmp/.X11-unix:/tmp/.X11-unix
+      - ../../simulation/hydrus_sim_ros2:/home/ros2_ws/src/hydrus_sim_ros2
+    stdin_open: true
+    tty: true

docker/simulation/thruster_teleop.sh

@@ -0,0 +1,3 @@
+#!/usr/bin/env bash
+source install/setup.bash
+ros2 run hydrus_sim_ros2 thruster_teleop

simulation/README.md

@@ -0,0 +1,13 @@
+# How to run:
+
+Docker is required to run the simulation along with a Linux install (WSL works but very slow). An Nvidia GPU is also highly recommended.
+
+1. Go to docker/simulation folder
+
+2. Run `docker compose -f simulation.yaml run simulation`. This will launch a window with the simulation.
+
+To control thrusters, follow these steps after running the simulation:
+
+1. Run `docker compose -f simulation.yaml run simulation /bin/bash` in another terminal window/tab to gain access to the shell.
+
+2. Run `ros2 topic pub /hydrus_thrusters std_msgs/msg/Float64MultiArray "{layout: {}, data: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]}"`. The first 4 are the corner thrusters while the last 4 are the depth thrusters.