Mission Control App

A web application responsible for displaying the current state of the rocket and the entire ground segment system.

Prerequisites

• Ubuntu 22.04
• Python 3.10 (Should be already available in Ubuntu 22.04)
• Git ( sudo apt install git-all )

Setup

1. Clone this repo and its submodules

   git clone --recursive https://github.com/Simba-Avionic/gs_web_app
   

2. Run the ./scripts/install.sh. It will try to install Docker, ROS2, npm and some other related packages. After completion restart the system. If script fails, try to install ROS2 and/or Docker manually:

   • ROS2 Humble (https://docs.ros.org/en/humble/Installation.html)
   • Docker (https://docs.docker.com/engine/install/) App was only tested with Python3.10 so make sure you have it installed.

Launching the app (step by step)

1. Activate the Python environment (you can also add to ~/.bashrc)

   source venv/bin/activate

2. Make sure to source ROS environment (you can also add to ~/.bashrc)

   source build/install/setup.bash

3. Run the app (Make sure to chmod +x the script!):

   sudo chmod +x ./run.sh
   sudo chmod +x ./scripts/*.sh

   ./run.sh run_all

   You can also check available commands:

   ./run.sh help

Hope it works! - but I guess it doesn't.

Common errors

• ModuleNotFoundError: No module named 'gs_interfaces'

  You need to source the environment from the main directory: source install/setup.bash. If you don't see the folder install refer to gs_interfaces submodule README.

• (InfluxDB) <>:8086: connect: connection refused

  Make sure to set correct IP of your device (IP_ADDRESS) inside .env file.

• await import('source-map-support').then((r) => r.default.install())
  SyntaxError: Unexpected reserved word

  Fix:

  sudo npm cache clean -f
  sudo npm install -g n
  sudo n stable

Knowledge Base

In a nutshell the app reads the config.json file, then dynamically creates instances of NodeHandler which are responsible for subscribing to single ROS topic, creating Websocket connection and inserting data to InfluxDB.

It's worth mentioning that messages related to rocket are send through MAVLink protocol and because of that they need to be parsed and copied into the config.json using xml_to_json.py script inside mavlink directory.

Single entry of the config.json looks like this:

{
    "topic_name": "example/topic",
    "msg_type": "ExampleTopic",
    "msg_fields": [
        {
            "type": "std_msgs/Header",
            "val_name": "header"
        },
        {
            "type": "float32",
            "val_name": "temperature",
            "alt_name": "Tank Temperature",
            "unit": "°C",
            "display": "value",
            "range": [
                -10,
                20
            ],
        },
        {
            "type": "int32",
            "val_name": "load_cell",
            "unit": "kg"
        },
        {
            "type": "bool",
            "val_name": "is_alive",
            "unit": "bool"
        }
    ]
}

config.json is just a wrapper for messages found inside gs_interfaces submodule. So any change in gs_interfaces should be reflected inside the config as well. You may ask: "So what's the point of keeping redundant definitions in both places?". The reason is that config.json allows us to dynamically populate the app with custom ranges, names and units for incoming data. In that way there is almost no need for hardcoded values inside server or frontend codebase. With that in mind, below are the available options (keys) you can use when adding a new message.

topic_name -
msg_type -
interval -
msg_fields - # std_msgs/Header is required in every msg!

Project Structure

gs_web_app/
├── backend
│   ├── main.js
│   ├── App.svelte
│   └── components/
│       └── NavBar.svelte
├── frontend
├── gs_interfaces
├── mavlink
├── scripts
├── services
├── shared
├── tests
├── .env
├── config.json
├── oled_display.py
├── run.sh