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README.md

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To run both pipelines:

1. Start the MAVROS node. `./mavros_start.sh` Refer to Navigation's README for further instructions.

2. Run the imaging pipeline. `py start_pipeline.py` enter the two options for using the gopro and real location when prompted

3. Run guided_mission. `./launch_scripts/mission.sh`

Right now the payload code is under navigation/guided_mission/servo_controller.py running that with a command like py navigation/guided_mission/servo_controller.py will let you open and close the motors.

navigation/guided_mission/guided_mission.py is the main script to run. If you want to test it without doing the payload drop you can add env vars to the launch script like so: MOCK_PAYLOAD=y ./launch_scripts/mission.sh. You can change the wait_for_imaging keyword argument of mission_loop in the main function to choose whether or not it waits for imaging to be done.

To kill any of the processes early, do ctrl+backslash(\\). This is necessary because a lot of our scripts don't respond to the normal ctrl+c interrupt signal.

Setting up with Docker

  1. make sure you're in the root of the repository
  2. docker build -t uavf2023 . (or use the VSCode docker build command)
  3. in VSCode, run Dev Containers: Open Folder in Container, choose "From 'DockerFile'" to create the container configuration, and you can just not select any features then press OK.

To commit your changes you'll need a separate IDE or terminal window open, or login with git inside the dev container.