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.
- make sure you're in the root of the repository
docker build -t uavf2023 .(or use the VSCode docker build command)- 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.