Martian Mines

Our system for the 2024 Droniada Challenge competition in the Martian Mines category.

Overview

The Martian Mines project is designed to participate in the 2024 Droniada Challenge. It involves a system that integrates various components to detect and manage objects in a simulated Martian environment. The system uses ROS (Robot Operating System) and includes functionalities for object detection, trajectory tracking, and precision landing.

Features

• Object Detection: Utilizes YOLO and ArUco markers for detecting objects in the environment.
• Trajectory Tracking: Implement pure pursuit alogrithm.
• Precision Landing: Use of PX4 precision landing mode to land on detected objects.
• RealSense Integration: Supports RealSense cameras for real-world applications.
• RVIZ Visualization: Real-time insights of the mission and the environment.
• Mission Control: State machine to control flow of different nodes.
• ROS Integration: Fully integrated with ROS for communication and control.

Docker

Build martian mines system image (optional) - if the newest image is not avalible on docker hub or you introduced some modifications in Dockerfile.

docker build -f docker/Dockerfile-minimal-intel-ros -t highflyers/martian-minimal-intel-ros .

Run - with main simulation

Run uav_simulation container according to a readme from repo uav_simulation

Run the container with martian mines main system:

    # replace <path_to_repo> with the absolute path to your repo, for example: /home/user/Documents/repos/martian-mines-object-detection
docker run --privileged --rm --gpus all -it --net host --ipc host \                  
    -e DISPLAY=${DISPLAY} \
    -e NVIDIA_VISIBLE_DEVICES=all \
    -e NVIDIA_DRIVER_CAPABILITIES=all \
    -e ROS_DOMAIN_ID=0 \
    -v /tmp/.X11-unix:/tmp/.X11-unix:ro \
    -v <path_to_repo>:/home/docker/ws/src/martian-mines \
    highflyers/martian-minimal-intel-ros /bin/bash

Build ros workspace and our package:

source src/martian-mines/scripts/setup.sh

Run our figure_finder - it should show a preview of video from simulation, with marked detected objects.

roslaunch martian-mines figure_finder.launch 

Run container dedicated for Xavier

Emulated ARM container on x86

docker run --platform=linux/arm64 -it --net host -v <path_to_repo>:/home/user/ws/src/martian-mines highflyers/martian-mines-jetson:realsense

Run compose on jetson (onetime container which will be removed after exit):

cd docker
sudo docker compose run martian-mines /bin/bash  

Run tmux sesion on jetson, with persistent docker compose and mavlink router

sudo ./scripts/tmux_jetson.sh

Build ros workspace and run figure_finder

catkin build
source devel/setup.bash
roslaunch martian-mines realsense.launch # to run only realsense
roslaunch martian-mines figure_finder.launch real_world:=true # to run figure_finder with realworld config

Setup scrip can be used build workspace and optionally setup IP adresses to allow ros communication between two computers

# only build and source
source src/martian-mines/scripts/setup.sh
# for setup ip for master
source src/martian-mines/scripts/setup.sh master <master_ip>
# for setup ip for client
source src/martian-mines/scripts/setup.sh client <master_ip> <client_ip>